Bionic upper limb and load-carrying robot for heavy load working conditions

Abstract

The application relates to the field of mechanical hands, in particular to a bionic upper limb and a load-carrying robot for heavy-load working conditions. The application comprises a plurality of base bodies which are rotationally connected through joints between adjacent base bodies; a plurality of power sources are fixed on the base bodies, and any power source is transmissionally connected with the joint through a flexible mechanism, and is used for driving the base body to move in space relative to the adjacent base body. In the application, the power source is rear-mounted in the base body, and the flexible mechanism is used for long-distance power transmission, so that the driving elements such as motors with large mass are far away from the rotation center of the joint, the rotational inertia of the moving limb is effectively reduced, and the acceleration / deceleration response performance and the load self-weight ratio of the upper limb are obviously improved.

Description

Technical Field

[0001] This invention relates to the field of robotic arms, and more particularly to a bionic upper limb and a load-bearing robot for heavy-duty working conditions. Background Technology

[0002] With the development of robotics technology, the requirements for robots' human-like operational capabilities are becoming increasingly stringent.

[0003] As described in patent CN202210311745.4, traditional robotic arms often employ a series drive method where the motor is directly mounted at the joint. While this structure is simple to control, it results in a large end-effector inertia, limited load capacity, and a bulky appearance, making it difficult to simulate the flexible movement and lightweight characteristics of a human arm. Furthermore, existing bionic upper limbs designed for heavy-duty applications often struggle to achieve high torque output and precise spatial trajectory control within a compact space during shoulder, elbow, and wrist movements.

[0004] Especially in the field of heavy-duty robots, the upper limb not only needs to have flexible degrees of freedom of operation, but also needs to maintain structural stability during lifting, lowering, or walking. Therefore, how to design a bionic upper limb for heavy-duty working conditions that is compact in structure, has efficient power transmission, and has the ability of multi-joint coordinated movement is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide a bionic upper limb and load-bearing robot for heavy-duty working conditions, so as to solve the problems of bulky size and large motion inertia caused by the direct drive design of robot joints in the prior art.

[0006] The technical solution of the present invention is: a bionic upper limb for heavy-duty working conditions, comprising a base, wherein multiple bases are configured, and adjacent bases are rotatably connected by joints; a plurality of power sources are fixed on the base, and any one of the power sources is transmitted to the joints through a flexible mechanism, for driving the base to perform spatial movement relative to adjacent bases.

[0007] Preferably, the joint includes a first drive shaft and a second drive shaft arranged coaxially, with adjacent ends of the first drive shaft and the second drive shaft connected to a flexible mechanism. A first bevel gear is fixed to the end of the first drive shaft away from the flexible mechanism, and a second bevel gear is provided to mesh with the first bevel gear. The base is rotatably connected to a rotating support frame, the rotating support frame is fixed to the second transmission shaft, and the base is fixed to the second bevel gear.

[0008] Preferably, it includes an upper arm module and a lower arm module; The upper arm module has at least one base configured as a humerus and at least two power sources configured as forearm actuators. The lower arm module has at least one base configured as a forearm, the lower arm module is rotatably connected to the upper arm module via a joint configured as an elbow, and the forearm driver is drive-connected to the elbow.

[0009] Preferably, the two forearm actuators are arranged along the length of the humerus, and the output shafts of the two forearm actuators pass through the humerus in the same direction; It also includes an upper arm stabilizing frame fixed to the humerus, which is connected to the ends of the output shafts of the two forearm actuators.

[0010] Preferably, the elbow includes a first drive shaft configured as a flexion-extension drive shaft and a second drive shaft configured as a rotation drive shaft, as well as an elbow stabilizing frame; The elbow stabilizing frame is fixed at both ends to the humerus, and the middle part is connected to the end of the flexion-extension drive shaft and the rotation drive shaft away from the humerus; the end connected to the humerus forms a limit on the rotation angle of the rotation drive shaft.

[0011] Preferably, the device includes a torso module, which is rotatably connected to an upper arm module via a joint configured as a shoulder; the torso module includes a base configured as a first torso mounting plate, on which two power sources configured as upper arm actuators are disposed, and the two upper arm actuators are connected to the shoulder via a flexible mechanism.

[0012] Preferably, the torso module includes a base configured as a second torso mounting plate, the second torso mounting plate being parallel to the first torso mounting plate, and the shoulder being sandwiched between the first torso mounting plate and the second torso mounting plate.

[0013] Preferably, the lower arm module includes a wrist, which is located at the end of the forearm away from the upper arm module; the wrist includes a carpal bone, an end effector, and a wrist actuator. The end effector is rotatably mounted on the end of the wrist bone away from the forearm, and the output end of the wrist actuator is configured as an eccentric wheel, which is connected to the end of the end effector via a connecting rod.

[0014] Preferably, the lower arm module includes an auxiliary support arm and a support arm driver. One end of the auxiliary support arm is configured as a support end, and the other end is rotatably connected to the middle section of the forearm, and has a different rotation angle than the forearm under the drive of the support arm driver.

[0015] A heavy-duty robot employs a bionic upper limb for heavy-duty working conditions and also includes a lower limb. The lower limb includes a walking mechanism and a lifting mechanism. The walking mechanism is connected to the bionic upper limb for heavy-duty working conditions through the lifting mechanism, enabling the bionic upper limb for heavy-duty working conditions to move along a plane and rise and fall in the vertical direction.

[0016] Compared with the prior art, the advantages of the present invention are: (1) By placing the power source in the base and using a flexible mechanism for long-distance power transmission, the driving components such as the large-mass motor are moved away from the joint rotation center, effectively reducing the rotational inertia of the moving limb and significantly improving the acceleration and deceleration response performance and load-weight ratio of the upper limb.

[0017] (2) By using the first and second transmission shafts set coaxially, combined with the bevel gear pair reversing and the rotating support frame structure, two independent power transmission channels are realized in the compact space of a single joint. One channel drives the base body to rotate relative to the rotating support frame, and the other channel drives the rotating support frame to drive the base body to swing as a whole, realizing multi-degree-of-freedom motion in space.

[0018] (3) In the upper arm module, the output shaft ends of the two forearm drivers are fixedly connected by the upper arm stabilizing frame to form a closed-loop force closed frame, which enhances the overall torsional stiffness of the humerus; the elbow is provided with an elbow stabilizing frame, which not only provides a stable bridging support, but also forms a mechanical limiting surface on its side, which can physically limit the rotation range of the rotating support frame and effectively prevent damage to the internal pipeline caused by excessive torsion.

[0019] (4) The torso module uses a first torso mounting plate and a second torso mounting plate arranged in parallel, and clamps and fixes the shoulder and upper arm driver between the two, so that the front and back sides of the shoulder are supported, effectively avoiding the problem of joint axis misalignment and transmission accuracy reduction caused by cantilever force when supporting one side. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a first-view structural diagram of a bionic upper limb for heavy-duty working conditions as described in this invention; Figure 2 This is a second-view structural diagram of a bionic upper limb for heavy-duty working conditions as described in this invention; Figure 3 This is a diagram of the joint structure described in this invention (taking a joint constructed as an elbow as an example). Figure 4 As described in this invention Figure 3 A sectional view; Figure 5 This is a structural diagram of the rotating support frame described in this invention; Figure 6 This is an exploded view of a bionic upper limb for heavy-duty working conditions as described in this invention. Figure 7 This is a structural diagram of the upper arm module in some embodiments of the present invention; Figure 8 This is a structural diagram of the upper arm module in a preferred embodiment of the present invention; Figure 9 This is a diagram of the wrist structure described in this invention; Figure 10 This is a structural diagram of the lower arm module described in this invention, used to illustrate the auxiliary support arm; Figure 11 for Figure 1 A close-up view showing the tensioning device; Figure 12 This is a structural diagram of a heavy-duty robot according to the present invention; Among them: 100, base; 200, joint; 201, elbow; 202, shoulder; 210, first drive shaft; 211, flexion-extension drive shaft; 220, second drive shaft; 221, rotary drive shaft; 230, first bevel gear; 240, second bevel gear; 250, rotary support frame; 251, rotary input end; 252, rotary output end; 300, power source; 310, forearm actuator; 311, output shaft; 320, upper arm actuator; 400, flexible mechanism; 500, upper arm module; 510, upper arm stabilizing frame; 520, elbow stabilizer. Frame, 521, Mechanical limiting surface, 530, Humerus, 540, Bracket, 600, Lower arm module, 610, Forearm, 620, Wrist, 621, Carpal bone, 622, End effector, 623, Wrist actuator, 624, Eccentric wheel, 625, Linkage rod, 630, Auxiliary support arm, 631, Support arm actuator, 632, Support end, 700, Torso module, 710, First torso mounting plate, 720, Second torso mounting plate, 800, Tensioning device, 810, Tensioning support arm, 820, Tensioning wheel, 910, Traveling mechanism, 920, Lifting mechanism. Detailed Implementation

[0021] The present invention will be further described in detail below with reference to specific embodiments.

[0022] Example 1

[0023] like Figure 1 and Figure 2 As shown, a bionic upper limb for heavy-duty working conditions is described. Structurally, this bionic upper limb simulates the skeletal and joint layout of a human upper limb, mainly comprising multiple bases 100 and joints 200 connecting adjacent bases 100. Through the rotation of the joints 200, each base 100 can achieve relative spatial movement, thereby enabling the upper limb to perform complex tasks.

[0024] A plurality of power sources 300 are fixedly mounted on the base 100. The output end of any power source 300 is not directly fixed to the rotating component of the joint 200, but is connected to the joint 200 through a flexible mechanism 400, thereby driving the target base 100 to move spatially relative to adjacent bases 100. The flexible mechanism 400 described here can be a flexible or flexible element capable of long-distance power transmission, such as a wire rope, synchronous belt, steel belt, or chain. In a preferred embodiment of this application, the flexible mechanism 400 includes a sprocket and a chain.

[0025] With this structure, the larger power source 300 can be concentrated in a position away from the end body 100, which reduces the moment of inertia and increases the load-weight ratio of the upper limb.

[0026] like Figure 3 - Figure 5 As shown, to achieve multi-degree-of-freedom movement of a single joint 200 in space, the joint 200 includes a first drive shaft 210 and a second drive shaft 220 coaxially arranged. The first drive shaft 210 is formed as a hollow structure, allowing the second drive shaft 220 to be embedded within it. One adjacent end of the first drive shaft 210 and the second drive shaft 220 is designated as the input end, and the other end as the output end. The input ends of the first drive shaft 210 and the second drive shaft 220 are respectively connected to different flexible mechanisms 400 to receive torque input from different power sources 300, achieving coaxial but independent rotation without interference.

[0027] A first bevel gear 230 is fixed on the output end of the first drive shaft 210 away from the flexible mechanism 400 connected thereto, and a second bevel gear 240 is provided to mesh with the first bevel gear 230. At the same time, a rotating support frame 250 is rotatably connected to the base 100, the rotating support frame 250 is fixedly connected to the second drive shaft 220, and the base 100 is fixedly connected to the second bevel gear 240.

[0028] The connection methods of the base 100, the rotating support frame 250 and the joint 200 are as follows: like Figure 5 As shown, the rotating support frame 250 has a rotating input end 251 through which the second drive shaft 220 passes and is fixed, and a rotating output end 252 perpendicular to the rotating input end 251. One end of the base 100 has a connecting end perpendicular to its own length direction, and the connecting end is rotatably connected to the rotating output end 252. The torque from the rotating input end 251 will cause the rotating support frame 250 to drive the base 100 of the rotating output end 252 to rotate around the axis of the second drive shaft 220.

[0029] The specific way in which joint 200 drives the movement of base 100 is as follows: like Figure 3 and Figure 4 As shown, when one of the power sources 300 drives the first transmission shaft 210 to rotate via the flexible mechanism 400, the torque is transmitted through the first bevel gear 230 to the second bevel gear 240 that meshes with it. Since the second bevel gear 240 is fixed to the base 100, the rotational motion of the first transmission shaft 210 is reversed by the bevel gear pair and directly drives the base 100 to swing relative to the rotating support frame 250 around the axis B in the figure, thereby realizing the bending and stretching between adjacent bases 100.

[0030] Meanwhile, when another power source 300 drives the second transmission shaft 220 to rotate via the corresponding flexible mechanism 400, the torque is directly transmitted to the rotating support frame 250 fixed to the second transmission shaft 220, and the rotating support frame 250 drives the base 100 connected to it to rotate around axis A. The above means work together to achieve multi-degree-of-freedom motion of the base 100.

[0031] Furthermore, such as Figure 6 As shown, the bionic upper limb for heavy-duty working conditions described in this application is composed of three large modules: an upper arm module 500, a lower arm module 600, and a torso module 700, and has joints 200 configured as elbows 201 and shoulders 202 to rotatably connect them.

[0032] The upper arm module 500 has at least one base 100 configured as a humerus 530 and is rotatably connected to the trunk module 700 via a shoulder 202. Two power sources 300 configured as forearm actuators 310 are fixedly disposed along the length of the humerus 530. The two forearm actuators 310 are used to drive the lower arm module 600 to perform multi-degree-of-freedom movements relative to the upper arm module 500. The lower arm module 600 has at least one base 100 configured as a forearm 610 and is rotatably connected to the end of the humerus 530 away from the trunk module 700 via an elbow 201, and performs flexion, extension, and rotation movements under the control of the forearm actuators 310.

[0033] like Figure 7 As shown in some embodiments of this application, the humerus 530 can be constructed as a hollow structure, with the inner wall of the hollow structure forming a wall surface for the two forearm actuators 310 to be independently mounted via the bracket 540. Although this arrangement can also achieve the function of controlling the forearm 610, the bracket 540 itself will interfere with the setting of the flexible mechanism 400, requiring the flexible mechanism 400 to avoid the bracket 540, thereby increasing the width of the upper arm module 500 and making the structure less compact.

[0034] Therefore, as Figure 8As shown, in a preferred embodiment of this application, in order to optimize the internal spatial layout of the upper arm module 500, the humerus 530 is configured as a solid plate structure, and two forearm actuators 310 are distributed parallel to each other along the length direction of the humerus 530. The output shafts 311 of the two forearm actuators 310 pass through the humerus 530 to achieve fixation with the humerus 530 without the need for an additional mounting bracket 540. Furthermore, the output shafts 311 of the two forearm actuators 310 extend toward the same side, allowing the two sets of flexible mechanisms 400 to be compactly arranged on the same side of the humerus 530.

[0035] Furthermore, in this configuration of the humerus 530 and the mounting method of the forearm actuator 310, a rigid upper arm stabilizing frame 510 is provided at the end of the humerus 530 away from the elbow 201. This upper arm stabilizing frame 510 is fixedly connected to the ends of the output shafts 311 of the two forearm actuators 310. The purpose of this structural design is to provide rotational support for the distal ends of the output shafts 311 of the upper arm actuator 320, ensuring that they do not wobble when rotating at high speeds or subjected to the tension of the flexible mechanism 400; simultaneously, by fixing the ends of the two output shafts 311 together, the overall torsional stiffness of the humerus 530 is enhanced.

[0036] like Figure 3 and Figure 4 As shown, the elbow 201 includes a first drive shaft 210 configured as a flexion-extension drive shaft 211 and a second drive shaft 220 configured as a rotation drive shaft 221. Based on the same design concept as the upper arm stabilizing frame 510, an elbow stabilizing frame 520 is also provided in the elbow 201. The elbow stabilizing frame 520 is formed into a C-shape, with both ends mounted on the humerus 530. A shaft hole is provided in the middle of the elbow stabilizing frame 520 for the flexion-extension drive shaft 211 or the rotation drive shaft 221 to pass through, thereby supporting the ends of the corresponding flexion-extension drive shaft 211 or rotation drive shaft 221 away from the humerus 530.

[0037] Furthermore, a mechanical limiting surface 521 is formed on the side of the elbow stabilizing frame 520. Figure 3 (In the shaded area) When the rotating support frame 250 rotates to the preset maximum allowable angle under the drive of the rotating drive shaft 221, the rotating support frame 250 will touch the side of the elbow stabilizing frame 520, thereby physically preventing the rotating drive shaft 221 from rotating further, forming a hard limit on the angle of rotation of the rotating drive shaft 221. This mechanical limit can effectively prevent the forearm 610 from being excessively twisted, which could lead to the breakage of internal pipelines.

[0038] like Figure 6As shown, the torso module 700 includes a base 100 configured as a first torso mounting plate 710. The first torso mounting plate 710 serves as the main structural support, on which two power sources 300 configured as upper arm actuators 320 are fixed. Similar to the structure of the upper arm module 500, the output ends of the two upper arm actuators 320 in the torso module 700 are also fixed through the first torso mounting plate 710 and extend towards the same side, allowing the two sets of flexible mechanisms 400 to be compactly arranged on the same side of the first torso mounting plate 710.

[0039] Two upper arm actuators 320 are connected to the shoulder 202 via two sets of flexible mechanisms 400. Similar to the working principle of the elbow 201, the shoulder 202 includes a first drive shaft 210 configured as a swing drive shaft and a second drive shaft 220 configured as a lifting drive shaft, which are used to drive the upper arm module 500 to complete the spatial movements of swinging back and forth and lifting laterally relative to the torso module 700, respectively.

[0040] Furthermore, to improve the support stiffness of the shoulder 202, the torso module 700 also includes a base 100 configured as a second torso mounting plate 720. The second torso mounting plate 720 is parallel to and spaced apart from the first torso mounting plate 710. The main bodies of the shoulder 202 and the two upper arm actuators 320 are clamped and fixed in the interlayer space between the first torso mounting plate 710 and the second torso mounting plate 720. Through the clamping and fixing by the first torso mounting plate 710 and the second torso mounting plate 720, the shoulder 202 is supported on both the front and rear sides, effectively avoiding the problem of joint 200 axis misalignment and decreased transmission accuracy caused by cantilever force when supported on one side.

[0041] In addition, such as Figure 9 As shown, the lower arm module 600 also includes a wrist 620, which is located at the end of the forearm 610 away from the upper arm module 500. The wrist 620 includes a carpal bone 621, an end effector 622, and a wrist actuator 623.

[0042] The wrist bone 621 serves as a connecting structure for the wrist 620. One end of it is fixed to the end of the forearm 610 away from the upper arm module 500, and the other end is connected to the end effector 622. The end effector 622 can be configured as an actuator such as a mechanical gripper, suction cup, tray, or tool interface, depending on the specific application scenario.

[0043] Specifically, one end of the end effector 622 is rotatably connected to the carpal bone 621, and the other end is rotatably connected to the wrist actuator 623. The wrist actuator 623 includes a motor, the output of which is connected to an eccentric wheel 624. A connecting rod 625 is hinged to the eccentric wheel 624, and the other end of the connecting rod 625 is hinged to the other end of the end effector 622. When the wrist actuator 623 drives the eccentric wheel 624 to rotate, the cam action of the eccentric wheel 624 is converted into rotation of the end effector 622 relative to the carpal bone 621 through the connecting rod 625, thereby adjusting the orientation of the end effector 622.

[0044] like Figure 10 As shown in the preferred embodiment of this application, an auxiliary support arm 630 and a support arm driver 631 are also provided on one side of the lower arm module 600. The auxiliary support arm 630 is configured as a planar plate structure, with one end directly connected to the output end of the support arm driver 631. Under the drive of the support arm driver 631, it swings relative to the forearm 610. The other end has a protruding support end 632. When it is necessary to support a large item, the wrist driver 623 operates, rotating the auxiliary support arm 630 from a state parallel to the forearm 610 to a state perpendicular to the forearm 610. At this time, the support end 632 on the auxiliary support arm 630 can engage with a preset slot or edge on the specific item, and in conjunction with the end effector 622, provide multi-point support for large items, avoiding the problem of the item tipping over due to the single connection point of the end effector 622.

[0045] In addition, such as Figure 11 As shown, a tensioning device 800 is provided for the flexible mechanism 400 in this application. The tensioning device 800 includes a tensioning arm 810. One end of the tensioning arm 810 is lockably connected to the base 100 by a fastener, and the other end is fixed with a tensioning wheel 820. The tensioning arm 810 drives the tensioning wheel 820 to abut against the chain in the flexible mechanism 400, thereby tensioning the flexible mechanism 400.

[0046] Example 2

[0047] like Figure 12 As shown, a heavy-duty robot employs the bionic upper limbs described in Embodiment 1 for heavy-duty working conditions, and also includes lower limbs, to achieve overall movement and lifting functions.

[0048] The lower limb includes a walking mechanism 910 and a lifting mechanism 920. The walking mechanism 910 is located at the bottom and, in this embodiment, is a four-wheel differential drive chassis, capable of driving the entire robot to move along any planar trajectory on a horizontal surface. The lifting mechanism 920 is mounted on the chassis of the walking mechanism 910, and its top support platform is fixedly connected to the torso module 700 of the bionic upper limb used for heavy-duty operations. The lifting mechanism 920 can specifically adopt an electric cylinder-driven scissor lift structure or a screw lift column structure. Through the extension and retraction of the lifting mechanism 920, the entire bionic upper limb used for heavy-duty operations can be driven to move vertically up and down, allowing the operating height of the bionic upper limb used for heavy-duty operations to be dynamically adjusted according to the needs of the task. This combination gives the heavy-duty robot both the mobility for moving and transporting and the vertical space accessibility for a wide range of high and low operations.

[0049] The above embodiments are merely illustrative of the technical concept and features of the present invention, intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly, and should not be construed as limiting the scope of protection of the present invention. It will be apparent to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of the present invention is defined by the appended claims rather than the foregoing description, and thus all changes falling within the meaning and scope of the equivalents of the claims are intended to be included within the present invention.

Claims

1. A bionic upper limb for heavy-duty working conditions, characterized in that, Includes a base (100), wherein multiple bases (100) are configured, and adjacent bases (100) are rotatably connected by joints (200); a plurality of power sources (300) are fixed on the base (100), and any one of the power sources (300) is connected to the joint (200) through a flexible mechanism (400) for driving the base (100) to perform spatial movement relative to adjacent bases (100); The joint (200) includes a first drive shaft (210) and a second drive shaft (220) arranged coaxially. The adjacent ends of the first drive shaft (210) and the second drive shaft (220) are connected to the flexible mechanism (400). A first bevel gear (230) is fixed at the end of the first drive shaft (210) away from the flexible mechanism (400), and a second bevel gear (240) is meshed with the first bevel gear (230). The base (100) is rotatably connected to a rotating support frame (250), the rotating support frame (250) is fixed to the second transmission shaft (220), and the base (100) is fixed to the second bevel gear (240); Includes upper arm module (500) and lower arm module (600); The upper arm module (500) has at least one base (100) configured as a humerus (530) and at least two power sources (300) configured as forearm actuators (310). The lower arm module (600) has at least one base (100) configured as a forearm (610), the lower arm module (600) is rotatably connected to the upper arm module (500) via a joint (200) configured as an elbow (201), and the forearm driver (310) is drively connected to the elbow (201). The elbow (201) includes a first drive shaft (210) configured as a flexion drive shaft (211) and a second drive shaft (220) configured as a rotation drive shaft (221), as well as an elbow stabilizing frame (520). The elbow stabilizing frame (520) is fixed at both ends to the humerus (530), and the middle part is connected to the end of the flexion-extension drive shaft (211) and the rotation drive shaft (221) away from the humerus (530); the end connected to the humerus (530) forms a limit on the rotation angle of the rotation drive shaft (221).

2. The bionic upper limb for heavy-duty working conditions according to claim 1, characterized in that, The two forearm actuators (310) are arranged along the length of the humerus (530), and the output shafts (311) of the two forearm actuators (310) pass through the humerus (530) in the same direction; An upper arm stabilizing frame (510) fixed to the humerus (530) is also provided, the upper arm stabilizing frame (510) being connected to the ends of the output shafts (311) of the two forearm actuators (310).

3. The bionic upper limb for heavy-duty working conditions according to claim 1, characterized in that, The system includes a torso module (700) which is rotatably connected to an upper arm module (500) via a joint (200) configured as a shoulder (202); the torso module (700) includes a base (100) configured as a first torso mounting plate (710) on which two power sources (300) configured as upper arm actuators (320) are provided, and the two upper arm actuators (320) are connected to the shoulder (202) via a flexible mechanism (400).

4. A bionic upper limb for heavy-duty working conditions according to claim 3, characterized in that, The torso module (700) includes a base (100) configured as a second torso mounting plate (720) parallel to a first torso mounting plate (710), and the shoulder (202) is sandwiched between the first torso mounting plate (710) and the second torso mounting plate (720).

5. A bionic upper limb for heavy-duty working conditions according to claim 1, characterized in that, The lower arm module (600) includes a wrist (620) located at one end of the forearm (610) away from the upper arm module (500); the wrist (620) includes a carpal bone (621), an end effector (622), and a wrist actuator (623). The end effector (622) is rotatably mounted on the end of the wrist bone (621) away from the forearm (610), and the output end of the wrist actuator (623) is configured as an eccentric wheel (624), which is connected to the end of the end effector (622) via a connecting rod (625).

6. A bionic upper limb for heavy-duty working conditions according to claim 1, characterized in that, The lower arm module (600) includes an auxiliary arm (630) and an arm driver (631). One end of the auxiliary arm (630) is configured as a support end (632), and the other end is rotatably connected to the middle section of the forearm (610). Under the drive of the arm driver (631), it has a different rotation angle than the forearm (610).

7. A heavy-duty robot, employing a bionic upper limb for heavy-duty working conditions as described in any one of claims 1-6, characterized in that, It also includes a lower limb, which includes a walking mechanism (910) and a lifting mechanism (920). The walking mechanism (910) is connected to the bionic upper limb for heavy-duty working conditions through the lifting mechanism (920), so that the bionic upper limb for heavy-duty working conditions can move along the plane and rise and fall in the vertical direction.

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