Integrated humanoid robot arm shell structure integrating wiring channel and heat dissipation channel

Abstract

The invention discloses an integrated humanoid robot arm shell structure integrating a wiring groove and a heat dissipation channel, and relates to the technical field of robot arm shells. The half-arm shell comprises a first half-arm shell assembly and a second half-arm shell assembly which are arranged in a butt joint mode. The robot arm shell comprises a first half arm shell assembly and a second half arm shell assembly, the first half arm shell assembly comprises a first half arm shell piece, a wiring piece and a dismounting piece, the first half arm shell piece and the second half arm shell piece are connected through the wiring piece and the dismounting piece, and the robot arm shell further comprises a wiring heat dissipation channel piece inserted into the first half arm shell piece. The technical problems of inconvenience in operation, high maintenance cost and low efficiency due to the fact that the two half arm shells are assembled in a bolt fastening mode in the prior art are solved, quick connection of the two half arm shells can be achieved through disassembly parts and wire conditions, an original bolt fixing mode is replaced, and the installation mode of the whole arm shell is simplified.

Description

Technical Field

[0001] This invention belongs to the field of robot arm shell technology, and in particular relates to an integrated humanoid robot arm shell structure that integrates wiring channels and heat dissipation channels. Background Technology

[0002] Humanoid robots are increasingly being used in service, healthcare, education, and industrial fields. As the core execution component of a robot, the robotic arm integrates a large number of drive motors, sensors, controllers, and cable assemblies. The rationality of its structural design and the degree of integration directly affect the robot's performance, reliability, and ease of maintenance.

[0003] In existing technologies, the shell structure of humanoid robot arms typically suffers from the following problems:

[0004] The robotic arm has numerous internal cables, and traditional designs often lack dedicated cable routing channels. Cables are often randomly arranged or simply bundled, leading to a chaotic internal space that can cause interference and wear between cables and between cables and moving parts, increasing the risk of failure. In addition, traditional arm housings are mostly assembled using bolt fastening, making the disassembly and assembly process cumbersome. Especially when inspecting cables or replacing parts in a confined internal space, the operation is extremely inconvenient, resulting in high maintenance costs and low efficiency. Summary of the Invention

[0005] The purpose of this invention is to provide an integrated humanoid robot arm shell structure that integrates wiring channels and heat dissipation channels, thereby solving the existing problems.

[0006] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution: The present invention is an integrated humanoid robot arm shell structure integrating wiring channels and heat dissipation channels, including a first half-arm shell assembly and a second half-arm shell piece that are connected to each other; the first half-arm shell assembly includes a first half-arm shell piece, and wiring and disassembly components connecting the first half-arm shell piece and the second half-arm shell piece, and also includes wiring and heat dissipation channel components inserted inside the first half-arm shell piece; the first half-arm shell piece includes a first half-arm shell, and the open end of the first half-arm shell piece has two slidably fitted with the two wiring and disassembly components respectively. The first half-arm shell includes a first T-shaped sliding groove, and the two first T-shaped sliding grooves are arranged in a curved manner. The end of the first half-arm shell has two symmetrical first placement grooves. The inner wall of the first placement groove is fixed with a first rectangular plate that is inserted and engaged with the disassembly component. The second half-arm shell includes a second half-arm shell that is mated with the first half-arm shell. The open end of the second half-arm shell has two second T-shaped sliding grooves that are respectively slidably engaged with the two lines. The two second T-shaped sliding grooves are arranged in a curved manner. The end of the first half-arm shell has two symmetrical second placement grooves. The inner wall of the second placement groove is fixed with a second rectangular plate that is inserted and engaged with the disassembly component.

[0007] Furthermore, the line condition includes a curved line plate, which is made of a high-elasticity alloy material and has an I-shaped cross-section. A positioning post is fixed at the end of the curved line plate, and a first insertion hole is opened through the periphery of the positioning post.

[0008] Furthermore, the disassembly component includes two rectangular sleeves respectively inserted into the first rectangular plate and the second rectangular plate. An arc-shaped pull plate is fixed to one outer side of the two rectangular sleeves, an L-shaped plate is fixed to the bottom of the arc-shaped pull plate, a baffle is fixed to the bottom of the L-shaped plate, a first sliding rod is slidably fitted through the side of the baffle, a first circular plate is fixed to one end face of the first sliding rod, a first spring is fixed between the first circular plate and the baffle and fitted onto the first sliding rod, the first sliding rod is dome-shaped relative to the other end face, and the dome-shaped top of the first sliding rod is inserted into the first insertion hole; a cross slider is fixed to one outer side of the L-shaped plate, a limit groove is opened at the bottom of the L-shaped plate, and a limit plate fixedly connected to the periphery of the first sliding rod is slidably fitted inside the limit groove; two symmetrical first positioning grooves and second positioning grooves are sequentially opened at the ends of the first half-arm shell and the second half-arm shell, and the first positioning grooves and second positioning grooves are aligned with each other in a cross shape, and the first positioning grooves and second positioning grooves are slidably fitted with the cross slider.

[0009] Furthermore, an extension plate is fixed to the outer side of each of the two rectangular sleeves, an arc-shaped connecting plate is fixed to the side of each extension plate, an arc-shaped bottom plate is fixed to the bottom of the arc-shaped connecting plate, and a special-shaped plate is fixed inside the arc-shaped bottom plate; two symmetrical L-shaped positioning plates are fixed to the inner wall of the first half-arm shell, and a stabilizing groove for inserting and cooperating with the special-shaped plate is opened on one side of each of the two L-shaped positioning plates.

[0010] Furthermore, the wiring and heat dissipation channel component includes a curved wiring frame, with a second slide rod that slides through and is slidably fitted to the outside of the two inner sidewalls of the curved wiring frame. The end of the second slide rod is dome-shaped at the tail of the curved wiring frame, and the other end of the second slide rod is fixed inside the curved wiring frame with a second circular plate. A second spring is fixed between the second circular plate and the curved wiring frame and fitted onto the second slide rod. One side of the irregular plate is provided with an inclined surface that slides and engages with the dome-shaped top of the second slide rod, and the inclined surface of the irregular plate is provided with a second insertion hole that engages and engages with the dome-shaped top of the second slide rod.

[0011] Furthermore, the curved wiring frame has T-shaped sliding grooves on both outer sides below the second slide bar; an L-shaped positioning plate has a sliding plate fixed on one outer side that slides in cooperation with the T-shaped sliding grooves.

[0012] Furthermore, two symmetrical arc-shaped panels are fixed to the inner wall of the first half-arm shell near the other end face, and plug-in posts are fixed to the sides of the two arc-shaped panels; two plug-in ear plates are fixed to the bottom of the curved wiring frame and are respectively plugged into the two plug-in posts.

[0013] Furthermore, two symmetrical ventilation slots are provided on the top of the curved wiring frame, and a lower extension plate is fixed on the top of the curved wiring frame. A flow pipe is fixed at the bottom of the lower extension plate inside the curved wiring frame, and an air guide is fixed at the end of the flow pipe. Several heat dissipation holes are provided in a linear array on the outer side of the flow pipe. Several heat dissipation slots are provided in a linear array through the outer wall of the first half-arm shell. The spray direction of the several heat dissipation holes on the flow pipe is directly facing the cable laying area inside the curved wiring frame, so as to form a directional cold air spray on the cable surface.

[0014] Furthermore, two symmetrical third mounting slots are provided at the end of the first half-arm shell between the two first mounting slots. A side plate is fixed to the inner wall of the third mounting slot. A third sliding rod is slidably fitted through one side of the side plate. One end of the third sliding rod is located inside the first half-arm shell and is dome-shaped. A pressing circular plate is fixed to the other end of the third sliding rod. A second ring is fixed to the periphery of the third sliding rod inside the first half-arm shell. A third spring is fixed between the second ring and the side plate and fitted onto the third sliding rod.

[0015] The present invention has the following beneficial effects: 1. During use, the present invention enables the quick connection of the two halves of the arm shell through the disassembly component, and the wiring and heat dissipation channel component completes the final wiring and heat dissipation function. Each component has a clear division of labor and is highly integrated, making the overall structure compact and orderly, replacing the original bolt fixing method and simplifying the installation method of the entire arm shell.

[0016] 2. During use, the present invention simultaneously undertakes the dual functions of cable management and air circulation through the curved cable tray, integrating the cable tray and heat dissipation channel into the same structure, avoiding the redundant structure of needing to set up separate air ducts or cable trays in traditional designs, and greatly improving the space utilization rate inside the arm housing.

[0017] 3. In the process of using this invention, the first half-arm shell assembly, the second half-arm shell component, the wiring conditions, the disassembly components, and the wiring and heat dissipation channel components are all modularly designed. Each component can be quickly installed through sliding grooves, plug-in connections, elastic locking, etc., without the need for complicated tools, which significantly improves assembly efficiency. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of an integrated humanoid robot arm shell structure that combines wiring channels and heat dissipation channels.

[0020] Figure 2This is a schematic diagram of the structure of the first half-arm shell assembly.

[0021] Figure 3 This is a structural schematic diagram of the second half-arm shell component.

[0022] Figure 4 This is a schematic diagram of the structure of the first half-arm shell component.

[0023] Figure 5 This is a schematic diagram of the structure under the condition of line.

[0024] Figure 6 This is a structural diagram of the disassembled component.

[0025] Figure 7 This is a structural diagram of the disassembled component from another angle.

[0026] Figure 8 This is a schematic diagram of the structure of the heat dissipation channel component for wiring.

[0027] Figure 9 This is a side view of the wiring and heat dissipation channel component.

[0028] Figure 10 This is a schematic diagram of the wiring and heat dissipation channel component from another angle.

[0029] The attached diagram lists the components represented by each number as follows: 1-First half-arm shell assembly, 2-Second half-arm shell component, 3-First half-arm shell component, 4-Wire condition, 5-Disassembly component, 6-Wire routing and heat dissipation channel component, 201-Second half-arm shell, 202-Second T-shaped slide, 203-Second mounting slot, 204-Second rectangular plate, 205-Second positioning slot, 301-First half-arm shell, 302-First T-shaped slide, 303-First mounting slot, 304-First rectangular plate, 305-First positioning slot, 306-L-shaped positioning plate, 307-Stabilizing slot, 308-Sliding plate, 309-Arc panel, 310-Plug-in post, 311-Heat dissipation channel, 312-Third mounting slot, 313-Side plate, 314-Third slide rod, 315-Third circular plate, 316-Third spring, 40 1-Curved line plate, 402-Positioning post, 403-First insertion hole, 501-Rectangular sleeve, 502-Arc-shaped pull plate, 503-L-shaped plate, 504-Baffle, 505-First slide rod, 506-First circular plate, 507-First spring, 508-Cross slider, 509-Limiting groove, 510-Limiting plate, 511-Extension plate, 512-Arc-shaped connecting plate, 513-Arc-shaped base plate, 514-Irregular plate, 515-Second insertion hole, 601-Curved wiring frame, 602-Second slide rod, 603-Second circular plate, 604-Second spring, 605-T-shaped sliding groove, 606-Insertion ear plate, 607-Ventilation groove, 608-Lower extension plate, 609-Flow pipe, 610-Air guide cover, 611-Heat dissipation hole. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] Please see Figures 1-10This invention relates to an integrated humanoid robot arm shell structure that integrates wiring channels and heat dissipation channels. It includes a first half-arm shell assembly 1 and a second half-arm shell 2 that are connected to each other. The first half-arm shell assembly 1 includes a first half-arm shell 3, wiring conditions 4 connecting the first half-arm shell 3 and the second half-arm shell 2, and a disassembly component 5. It also includes a wiring and heat dissipation channel component 6 inserted inside the first half-arm shell 3. The first half-arm shell 3 includes a first half-arm shell 301. The open end of the first half-arm shell 301 has two first T-shaped grooves 302 that slide and engage with the two wiring conditions 4, respectively, and the two first T-shaped grooves 302 are curved. The end of the first half-arm shell 301 has two symmetrical first mounting grooves 303, and the inner wall of the first mounting groove 303 is fixed with the disassembly component 5. The first rectangular plate 304 is inserted and fitted; the second half-arm shell 2 includes a second half-arm shell 201 that is mated with the first half-arm shell 301. The open end of the second half-arm shell 201 has two second T-shaped grooves 202 that are respectively slidably fitted with the two line conditions 4, and the two second T-shaped grooves 202 are curved. The end of the first half-arm shell 301 has two symmetrical second placement grooves 203. The inner wall of the second placement groove 203 is fixed with a second rectangular plate 204 that is inserted and fitted with the disassembly part 5; the line condition 4 includes a curved line plate 401. The curved line plate 401 is made of a high-elasticity alloy material, and the cross section of the curved line plate 401 is I-shaped. The end of the curved line plate 401 is fixed with a positioning post 402. The periphery of the positioning post 402 has a first The insertion hole 403; the disassembly component 5 includes two rectangular sleeves 501 respectively inserted into the first rectangular plate 304 and the second rectangular plate 204. An arc-shaped pull plate 502 is fixed to one outer side of each rectangular sleeve 501. An L-shaped plate 503 is fixed to the bottom of the arc-shaped pull plate 502. A baffle 504 is fixed to the bottom of the L-shaped plate 503. A first sliding rod 505 is slidably fitted through the side of the baffle 504. A first circular plate 506 is fixed to one end face of the first sliding rod 505. A first spring 507 is fixed between the first circular plate 506 and the baffle 504, sleeved on the first sliding rod 505. The first sliding rod 505 is dome-shaped relative to its other end face, and the dome-shaped tip of the first sliding rod 505 is inserted into the first insertion hole 403. A cross slider is fixed to one outer side of the L-shaped plate 503. 508, A limiting groove 509 is provided on the bottom of the L-shaped plate 503, and a limiting plate 510 is slidably fitted inside the limiting groove 509 and fixedly connected to the side of the first slide rod 505; The ends of the first half-arm shell 301 and the second half-arm shell 201 are provided with two symmetrical first positioning grooves 305 and second positioning grooves 205, which are aligned with each other in a cross shape, and the first positioning grooves 305 and second positioning grooves 205 are slidably fitted with the cross slider 508; An extension plate 511 is fixed on one outer side of each of the two rectangular sleeves 501, and an arc-shaped connecting plate 512 is fixed on the side of the two extension plates 511. An arc-shaped base plate 513 is fixed at the bottom of the arc-shaped connecting plate 512, and a special-shaped plate 514 is fixed inside the arc-shaped base plate 513;The inner wall of the first half-arm shell 301 is fixed with two symmetrical L-shaped positioning plates 306. Each of the two L-shaped positioning plates 306 has a stabilizing groove 307 on one side that is inserted into the irregular plate 514.

[0032] The working principle of this embodiment is as follows: Before assembling the arm shell, the line condition 4 needs to be installed to the open ends of the first half-arm shell 301 and the second half-arm shell 201. During the installation process, the curved line plate 401 of the line condition 4 has an I-shaped cross-section and is made of a high-elasticity alloy material, which has a certain elastic deformation capacity. The operator inserts the curved line plate 401 along the first T-shaped groove 302 at the open end of the first half-arm shell 301. Since the first T-shaped groove 302 is curved, the curved line plate 401 undergoes adaptive bending during insertion and fits tightly against the inner wall of the groove. Similarly, the second T-shaped groove 302 at the open end of the second half-arm shell 201... The T-shaped groove 202 is also curved to accommodate another curved line plate 401. After the curved line plate 401 is inserted, its end-fixed positioning post 402 extends to the outer side of the ends of the first half-arm shell 301 and the second half-arm shell 201 (the positioning post 402 has a first insertion hole 403 through its circumferential side, providing an interface for the locking of the subsequent disassembly component 5). After the curved line plate 401 is installed, its I-shaped cross-section forms an internal cavity, which can serve as a preliminary cable channel. Simultaneously, its flexibility can adapt to the curved shape of the robot arm shell. After line condition 4 is installed, the first half-arm shell 301 and the second half-arm shell 201 are then connected. The two parts are connected and fixed by the disassembly piece 5. In specific use, the open ends of the first half-arm shell 301 and the second half-arm shell 201 are aligned, so that the curved line plates 401 inside are positioned opposite each other. Then, the operator inserts the two rectangular sleeves 501 of the disassembly piece 5 into the first rectangular plate 304 and the second rectangular plate 204 respectively. Simultaneously, the cross slider 508 on the disassembly piece 5 slides into the first positioning groove 305 at the end of the first half-arm shell 301 and the second positioning groove 205 at the end of the second half-arm shell 201, ensuring that the disassembly piece 5 is inserted in the correct direction and moves smoothly. As the disassembly piece 5 is inserted... The rounded top of the first slide bar 505 inside gradually approaches the first insertion hole 403 on the positioning post 402 of line condition 4. When the disassembly part 5 is inserted into place, the first slide bar 505 automatically springs into the first insertion hole 403 under the action of the first spring 507, making a "click" sound as a prompt of being in place, and completing the automatic locking (the cooperation between the limit plate 510 and the limit groove 509 ensures the accuracy of the movement trajectory of the first slide bar 505 and prevents deviation). In this way, the structural integration of the wiring channel and the heat dissipation channel is realized. Furthermore, the modular assembly method improves the assembly efficiency and maintenance convenience, providing a compact and reliable structural solution for the humanoid robot arm shell system. When it is necessary to disassemble the first half-arm shell 301 and the second half-arm shell 201 that are connected to each other, the limiting plate 510 (the part of the limiting plate 510 that slides inside the limiting groove 509 is T-shaped, and the shape of the limiting groove 509 is also T-shaped) is pulled outward, so that the limiting plate 510 slides in a straight line inside the limiting groove 509, thereby driving the first slide rod 505 to slide synchronously on the baffle 504, and thereby stretching the first spring 507 fixedly connected between the first circular plate 506 and the baffle 504, so that the round top end of the first slide rod 505 gradually moves away from the inside of the first insertion hole 403, until the round top end of the first slide rod 505 is completely separated from the first insertion hole 403, and then the second half-arm shell 201 is pushed, so that the second half-arm shell 201 gradually separates from the first half-arm shell 301, thereby completing the disassembly work between the first half-arm shell 301 and the second half-arm shell 201.

[0033] For a specific embodiment two, please refer to Figures 1-10This second embodiment is an improvement on the first embodiment, specifically, the wiring and heat dissipation channel component 6 includes a curved wiring frame 601, with a second slide rod 602 slidably fitted to the outside of both inner sidewalls of the curved wiring frame 601. The end of the second slide rod 602 is dome-shaped at the tail of the curved wiring frame 601, and the other end of the second slide rod 602 is fixed inside the curved wiring frame 601 with a second circular plate 603. A second spring 604 is fixed between the second circular plate 603 and the curved wiring frame 601, sleeved and fitted on the second slide rod 602. One side of the irregular plate 514 is provided with an inclined surface that slidably fits with the dome of the second slide rod 602. Furthermore, the inclined surface of the irregular plate 514 is provided with a second insertion hole 515 that engages with the rounded top end of the second slide rod 602; T-shaped sliding grooves 605 are provided on both outer sides of the curved wiring frame 601 below the second slide rod 602; a sliding plate 308 that engages with the T-shaped sliding groove 605 is fixed on one outer side of the L-shaped positioning plate 306; two symmetrical arc-shaped panels 309 are fixed on the inner wall of the first half-arm shell 301 near the other end face, and insertion posts 310 are fixed on the sides of the two arc-shaped panels 309; two insertion ear plates 606 that engage with the two insertion posts 310 are fixed on the bottom outer surface of the curved wiring frame 601; and a second insertion hole 515 is provided on the top outer surface of the curved wiring frame 601. Two symmetrical ventilation slots 607 are provided. A lower extension plate 608 is fixed to the top of the curved wiring frame 601. A flow pipe 609 is fixed to the bottom of the lower extension plate 608 inside the curved wiring frame 601. A guide shroud 610 is fixed to the end of the flow pipe 609. Several heat dissipation holes 611 are linearly arrayed on the outer periphery of the flow pipe 609. Several heat dissipation slots 311 are linearly arrayed through the outer wall of the first half-arm shell 301 (reinforcing ribs or local thickening are added around the slotted area of ​​the heat dissipation slots 311 to avoid affecting the structural strength of the shell). The spray direction of the several heat dissipation holes 611 on the flow pipe 609 is directly facing the cable routing area inside the curved wiring frame 601 to form a... Directional cold air is sprayed onto the surface of the cable; two symmetrical third mounting grooves 312 are provided at the end of the first half-arm shell 301 between the two first mounting grooves 303. A side plate 313 is fixed to the inner wall of the third mounting groove 312. A third slide rod 314 is slidably fitted through one side of the side plate 313. One end of the third slide rod 314 is located inside the first half-arm shell 301 and is set in a dome shape. A pressing circular plate 315 is fixed to the other end of the third slide rod 314. A second ring 316 is fixed to the periphery of the third slide rod 314 inside the first half-arm shell 301. A third spring 317 is fixed between the second ring 316 and the side plate 313 and fitted onto the third slide rod 314.

[0034] The working principle of this embodiment is as follows: Before use, the T-shaped sliding grooves 605 on both sides of the curved wiring frame 601 and the sliding plate 308 on the L-shaped positioning plate 306 form a sliding fit, providing a straight guide path for the insertion of the wiring heat dissipation channel component 6 and preventing deviation. At the same time, the insertion ear plate 606 on the curved wiring frame 601 is aligned with the insertion post 310 on the inner wall of the first half-arm shell 301 and inserted to achieve initial fixation of the end, ensuring the positional accuracy of the curved wiring frame 601 in the length direction. During the insertion process, the inner side of the curved wiring frame 601... The rounded tip of the second slide bar 602 contacts the inclined surface of the profile plate 514 and is gradually stretched (the inclined surface of the profile plate 514 is coated with a wear-resistant coating or uses a self-lubricating material to avoid wear during sliding contact). The second spring 604 stores force. When the curved wire frame 601 reaches the preset position, the rounded tip of the second slide bar 602 springs into the second insertion hole 515 on the profile plate 514 under the action of the second spring 604, making a "click" sound as a positioning indication. At the same time, it automatically locks to prevent loosening. Later, when the curved wire frame needs to be installed... During disassembly and maintenance of 601, the operator can press the circular plate 315 inward to stretch the third spring 317, which is fixedly connected between the second ring 316 and the side plate 313. This causes the rounded tip of the second ring 316 to gradually enter the interior of the second insertion hole 515, thereby generating a pushing force on the rounded tip of the second slide rod 602. This causes the rounded tip of the second slide rod 602 to gradually separate from the second insertion hole 515. After the second slide rod 602 is completely separated from the second insertion hole 515, it can be pulled outward. The surface wiring frame 601 allows the T-shaped sliding grooves 605 on both sides of the curved wiring frame 601 to form a reverse sliding fit with the sliding plate 308 on the L-shaped positioning plate 306. At the same time, the plug-in ear plate 606 on the curved wiring frame 601 gradually separates from the plug-in post 310 on the inner wall of the first half-arm shell 301, thereby removing the wiring heat dissipation channel component 6. Throughout the process, multiple constraints are formed by the third slide rod 314, the second slide rod 602, the special-shaped plate 514, and the plug-in ear plate 606, which together ensure that the wiring heat dissipation channel component 6 has a fixed degree of freedom in three-dimensional space. After the above positioning is completed, when the humanoid robot is in use, its internal heat dissipation system enters the working state. When in working state, the internal cold circulation system (the cold circulation system is existing technology, and its specific implementation process can continuously transfer cold air through the cooperation between the flow hose and the air guide 610) introduces the internal cold air into the flow pipe 609 through the air guide 610, and then sprays the cold air evenly onto the cable surface and surrounding electronic component area through the heat dissipation holes 611 distributed in a linear array around the flow pipe 609 to remove heat. Under the continuous wind pressure provided by the cold circulation system, the hot air flows directionally within the curved wiring frame 601, and finally exits through the ventilation slot 607 at the top of the curved wiring frame 601 and the heat dissipation channel 311 on the upper part of the first half-arm shell 301, forming a forced convection circulation, avoiding the accumulation of internal heat that would cause the cables and electronic components to age. In this way, the curved wiring frame 601 simultaneously undertakes the dual functions of cable management and air passage, avoiding the need for additional air duct structures, saving internal space and improving heat dissipation efficiency.

[0035] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0036] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. An integrated humanoid robot arm shell structure integrating a wiring channel and a heat dissipation channel, comprising a first half arm shell component (1) and a second half arm shell component (2) arranged in abutment with each other; characterized in that: The first half-arm shell assembly (1) includes a first half-arm shell component (3), a wire condition (4) and a disassembly component (5) connecting the first half-arm shell component (3) and the second half-arm shell component (2), and also includes a wiring heat dissipation channel component (6) inserted inside the first half-arm shell component (3). The first half-arm shell (3) includes a first half-arm shell (301). The first half-arm shell (301) has two first T-shaped grooves (302) that are respectively slidably engaged with the two line conditions (4) at its open end. The two first T-shaped grooves (302) are arranged in a curved manner. The first half-arm shell (301) has two symmetrical first placement grooves (303) at its end. The inner wall of the first placement groove (303) is fixed with a first rectangular plate (304) that is inserted into the disassembly part (5). The second half-arm shell (2) includes a second half-arm shell (201) that is mated with the first half-arm shell (301). The second half-arm shell (201) has two second T-shaped grooves (202) that are respectively slidably engaged with the two line conditions (4) at the open end. The two second T-shaped grooves (202) are arranged in a curved manner. The first half-arm shell (301) has two symmetrical second mounting grooves (203) at the end. The inner wall of the second mounting groove (203) is fixed with a second rectangular plate (204) that is inserted into the disassembly part (5).

2. The integrated humanoid robot arm shell structure with integrated wiring channels and heat dissipation channels according to claim 1, characterized in that, The line condition (4) includes a curved line plate (401), which is made of a high elastic alloy material and has an I-shaped cross section. A positioning post (402) is fixed at the end of the curved line plate (401), and a first insertion hole (403) is opened through the periphery of the positioning post (402).

3. The integrated humanoid robot arm shell structure with integrated wiring channels and heat dissipation channels according to claim 2, characterized in that, The disassembly component (5) includes two rectangular sleeves (501) respectively inserted into the first rectangular plate (304) and the second rectangular plate (204). An arc-shaped pull plate (502) is fixed on one outer side of the two rectangular sleeves (501). An L-shaped plate (503) is fixed at the bottom of the arc-shaped pull plate (502). A baffle (504) is fixed at the bottom of the L-shaped plate (503). A first slide rod (505) is slidably fitted through the side of the baffle (504). A first circular plate (506) is fixed on one end face of the first slide rod (505). A first spring (507) is fixed between the first circular plate (506) and the baffle (504) and fitted on the first slide rod (505). The first slide rod (505) is dome-shaped relative to the other end face. The dome of the first slide rod (505) is inserted into the first insertion hole (403). A cross slider (508) is fixed on one outer side of the L-shaped plate (503). A limiting groove (509) is opened on the bottom of the L-shaped plate (503). A limiting plate (510) fixedly connected to the side of the first slide rod (505) is slidably fitted inside the limiting groove (509). The first half-arm shell (301) and the second half-arm shell (201) are provided with two symmetrical first positioning grooves (305) and second positioning grooves (205) in sequence at their ends. The first positioning grooves (305) and second positioning grooves (205) are aligned with each other in a cross shape. The first positioning grooves (305) and second positioning grooves (205) are slidably engaged with the cross slider (508).

4. The integrated humanoid robot arm shell structure with integrated wiring channels and heat dissipation channels according to claim 3, characterized in that, An extension plate (511) is fixed to one outer side of each of the two rectangular sleeves (501), an arc-shaped connecting plate (512) is fixed to the side of the two extension plates (511), an arc-shaped bottom plate (513) is fixed to the bottom of the arc-shaped connecting plate (512), and a special-shaped plate (514) is fixed inside the arc-shaped bottom plate (513). The inner wall of the first half-arm shell (301) is fixed with two symmetrical L-shaped positioning plates (306), and each of the two L-shaped positioning plates (306) has a stabilizing groove (307) on one side that is inserted into the irregular plate (514).

5. The integrated humanoid robot arm shell structure with integrated wiring channels and heat dissipation channels according to claim 4, characterized in that, The wiring heat dissipation channel component (6) includes a curved wiring frame (601). The curved wiring frame (601) has two inner side walls near the ends of which are connected to a second slide rod (602) that is slidably fitted to the outside. The end of the second slide rod (602) is located at the tail of the curved wiring frame (601) and is dome-shaped. The other end of the second slide rod (602) is located inside the curved wiring frame (601) and a second circular plate (603) is fixed thereon. A second spring (604) is fixed between the second circular plate (603) and the curved wiring frame (601) and is fitted on the second slide rod (602). One side of the irregular plate (514) is provided with an inclined surface that slides and engages with the round top end of the second slide rod (602), and the inclined surface of the irregular plate (514) is provided with a second insertion hole (515) that engages and engages with the round top end of the second slide rod (602).

6. The integrated humanoid robot arm shell structure with integrated wiring channels and heat dissipation channels according to claim 5, characterized in that, The curved wiring frame (601) has T-shaped sliding grooves (605) on both outer sides below the second slide bar (602); The outer side of the L-shaped positioning plate (306) is fixed with a sliding plate (308) that slides in conjunction with the T-shaped sliding groove (605).

7. The integrated humanoid robot arm shell structure with integrated wiring channels and heat dissipation channels according to claim 6, characterized in that, Two symmetrical arc-shaped panels (309) are fixed on the inner wall of the first half-arm shell (301) near the other end face, and plug-in posts (310) are fixed on the sides of the two arc-shaped panels (309). Two plug-in ear plates (606) are fixed on the bottom of the curved wiring frame (601) and respectively plugged into the two plug-in posts (310).

8. The integrated humanoid robot arm shell structure with integrated wiring channels and heat dissipation channels according to claim 7, characterized in that, The curved wiring frame (601) has two symmetrical ventilation slots (607) on its outer top. The curved wiring frame (601) has a lower extension plate (608) fixed on its inner top. The bottom of the lower extension plate (608) is located inside the curved wiring frame (601) and a flow pipe (609) is fixed therein. The end of the flow pipe (609) is fixed with a wind guide hood (610). The outer side of the flow pipe (609) has a number of heat dissipation holes (611) in a linear array. The outer wall of the first half-arm shell (301) has a number of heat dissipation slots (311) in a linear array. The spray direction of the number of heat dissipation holes (611) on the flow pipe (609) is directly facing the cable laying area inside the curved wiring frame (601) to form a directional cold air spray on the cable surface.

9. The integrated humanoid robot arm shell structure with integrated wiring channels and heat dissipation channels according to claim 8, characterized in that, The first half-arm shell (301) has two symmetrical third mounting grooves (312) located between the two first mounting grooves (303) at its end. A side plate (313) is fixed to the inner wall of the third mounting groove (312). A third slide rod (314) is slidably fitted through one side of the side plate (313). One end of the third slide rod (314) is located inside the first half-arm shell (301) and is dome-shaped. A pressing circular plate (315) is fixed to the other end of the third slide rod (314). A second ring (316) is fixed to the periphery of the third slide rod (314) inside the first half-arm shell (301). A third spring (317) is fixed between the second ring (316) and the side plate (313) and fitted onto the third slide rod (314).

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