Robot

Abstract

The embodiment of the utility model provides a robot. The robot comprises a trunk structure, a head structure, a mechanical arm, a clamping jaw structure and a chassis driving structure. Wherein the trunk structure comprises a shank assembly, a thigh assembly and a thoracic cavity assembly, in a plane formed in the first direction and the second direction, a first trunk motor, a second trunk motor and a third trunk motor achieve multi-joint rotation, and in a plane formed in the second direction and the third direction, a third trunk motor achieves multi-joint rotation. The fourth trunk motor drives the chest assembly to rotate around an output shaft of the fourth trunk motor relative to the thigh assembly; the head structure is arranged in the middle of the end, away from the thigh assembly, of the thoracic cavity assembly, the two opposite sides of the end, away from the thigh assembly, of the thoracic cavity assembly are each provided with a mechanical arm, the tail end of each mechanical arm is fixedly provided with a clamping jaw structure, and the end, away from the thigh assembly, of the shank assembly is fixedly connected to the chassis driving structure. The robot disclosed by the utility model is light in overall weight, and can flexibly control each joint to move so as to realize multi-posture actions.

Description

Technical Field

[0001] The utility model relates to the technical field of robot equipment, in particular to a robot. Background Art

[0002] With the development of computer technology, microelectronics technology, and network technology, robotics has also experienced rapid growth. Currently, robots are used not only in the industrial sector but also in areas closely related to human life, such as service robots, educational robots, and entertainment robots. These robots, which consist of a head, torso, and base, have brought convenience and enjoyment to human life through their production and application. The torso structure of a robot is the primary support for the overall structure. However, existing torso structures have limited swinging directions and angles, resulting in poor flexibility. Furthermore, the torso structure is relatively heavy, resulting in poor overall robot stability. Utility Model Content

[0003] The present application provides a robot to solve at least one problem in the above-mentioned prior art.

[0004] According to an embodiment of the present application, a robot is provided, comprising: a torso structure, a head structure, a robotic arm, a gripper structure, and a chassis drive structure;

[0005] The torso structure includes a calf assembly, a thigh assembly and a thorax assembly; the calf assembly includes a first torso motor, and the calf assembly is rotatably connected to the robot chassis structure through the first torso motor. When the first torso motor is working, the first torso motor drives the calf assembly to rotate relative to the robot chassis structure around the output shaft of the first torso motor within a plane formed by a first direction and a second direction; the thigh assembly includes a second torso motor, and the thigh assembly is rotatably connected to the calf assembly through the second torso motor. When the second torso motor is working, the second torso motor drives the thigh assembly to rotate relative to the calf assembly around the output shaft of the second torso motor within a plane formed by the first direction and the second direction; the thorax assembly includes a third torso motor, a third torso motor seat, a fourth torso motor and a fourth torso motor seat. The third torso motor is arranged in the third torso motor seat, and the output shaft of the third torso motor is rotatably connected to the thigh assembly. The fourth torso motor seat is fixedly connected to the third torso motor On the outer surface of the seat, the fourth torso motor is arranged on the fourth torso motor seat, and the output shaft of the fourth torso motor is rotatably connected to the fourth torso motor seat. The chest assembly is rotatably connected to the thigh assembly through the third torso motor and the fourth torso motor. When the third torso motor is working, the third torso motor drives the chest assembly to rotate relative to the thigh assembly around the output shaft of the third torso motor within the plane formed by the first direction and the second direction. When the fourth torso motor is working, the fourth torso motor drives the chest assembly to rotate relative to the thigh assembly around the output shaft of the fourth torso motor within the plane formed by the second direction and the third direction. The head structure is arranged at the middle of the end of the chest assembly away from the thigh assembly, and the end of the chest assembly away from the thigh assembly is respectively provided with a said mechanical arm, and the end of each said mechanical arm is fixedly mounted with a said clamping structure. The end of the calf assembly away from the thigh assembly is fixedly connected to the chassis drive structure.

[0006] The first direction is a direction perpendicular to the ground, and the first direction, the second direction and the third direction are perpendicular to each other.

[0007] The beneficial effects of the embodiments of the present application are as follows: the trunk structure in the robot has multiple degrees of freedom, can flexibly control the activities of each joint, and make different movements, and the overall weight of the robot trunk structure is relatively light and low in cost. At the same time, the robot trunk structure adopts wiring inside the shell, which makes the overall structure more beautiful. The overall structure of the head structure is compact and easy to disassemble, which is convenient for maintenance and inspection during the test process, greatly improving the efficiency of maintenance work. The robot arm can realize the multi-degree-of-freedom rotation of the robot arm through the setting of multiple joint mechanisms and large and small arms, and the end weight is relatively light, which increases the end load. The gripper structure converts the rotational motion of the motor into linear motion, so that it has large torque while being as small as possible, and its reliability is high. In addition, the chassis structure of the entire robot forms a compact structure similar to a triangle, and since the upper chassis shell is installed on the middle chassis shell, the middle chassis shell, the front chassis shell, the rear chassis shell and the lower chassis shell are all installed on the chassis frame assembly. Therefore, when maintenance and inspection are required during the test process, it is only necessary to remove the upper chassis shell from the middle chassis shell, and then remove the middle chassis shell, the front chassis shell and the rear chassis shell from the chassis frame assembly, and maintain and inspect its internal structure. The overall structure of the chassis structure is compact and easy to disassemble, which is convenient for maintenance and inspection during the test process, greatly improving the efficiency of maintenance work. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0009] Figure 1 A schematic structural diagram of a torso structure provided in an embodiment of the present application;

[0010] Figure 2 A structural diagram of the trunk structure provided in an embodiment of the present application without the trunk shell installed;

[0011] Figure 3 A schematic structural diagram of the calf assembly in the torso structure provided in an embodiment of the present application;

[0012] Figure 4 Schematic diagram of the structure of the calf output connecting rod in the torso structure provided by an embodiment of the present application, wherein (a) is an axonometric view of the calf output connecting rod from the inside, and (b) is an axonometric view of the calf output connecting rod from the outside;

[0013] Figure 5Schematic diagram of the structure of the calf auxiliary link in the torso structure provided by an embodiment of the present application, wherein (a) is an axonometric view of the calf auxiliary link from the outside perspective, and (b) is an axonometric view of the calf auxiliary link from the inside perspective;

[0014] Figure 6 A schematic diagram of the structure of the calf connecting rod in the torso structure provided in an embodiment of the present application;

[0015] Figure 7 A schematic structural diagram of the second torso motor base in the torso structure provided in an embodiment of the present application;

[0016] Figure 8 A schematic structural diagram of a thigh component in a torso structure provided in an embodiment of the present application;

[0017] Figure 9 Schematic diagram of the structure of the thigh output connecting rod in the torso structure provided by an embodiment of the present application, wherein (a) is an axonometric view of the thigh output connecting rod from the inner side, and (b) is an axonometric view of the thigh output connecting rod from the outer side;

[0018] Figure 10 Schematic diagram of the structure of the thigh auxiliary link in the torso structure provided by an embodiment of the present application, wherein (a) is an axonometric view of the thigh auxiliary link from the outside perspective, and (b) is an axonometric view of the thigh auxiliary link from the inside perspective;

[0019] Figure 11 A rear-view axonometric view of a thoracic support in a torso structure provided in an embodiment of the present application;

[0020] Figure 12 An axonometric view from the front side of the chest support in the torso structure provided in an embodiment of the present application;

[0021] Figure 13 A structural diagram of the chest support in the torso structure provided in an embodiment of the present application, in which various mounting seats and mounting frames are installed;

[0022] Figure 14 A schematic diagram of the structure of the chest support in the torso structure provided in an embodiment of the present application, in which various mounting seats, mounting frames and components are installed;

[0023] Figure 15 A schematic structural diagram of the chest cavity component in the torso structure provided in an embodiment of the present application;

[0024] Figure 16 A rear-view axonometric diagram of the chest shell of the torso structure provided in an embodiment of the present application;

[0025] Figure 17 A schematic diagram of the assembly of the front shoulder shell in the torso structure provided in an embodiment of the present application;

[0026] Figure 18A schematic diagram of the assembly of the front chest shell of the torso structure provided in an embodiment of the present application;

[0027] Figure 19 This is a schematic diagram of the assembly of the front and rear bottom shells in the trunk structure provided in an embodiment of the present application;

[0028] Figure 20 A schematic diagram of the structure of the front and rear bottom shells in the trunk structure provided in an embodiment of the present application;

[0029] Figure 21 A schematic diagram of the structure of the rear chest shell and the front and rear bottom shells of the torso structure provided in an embodiment of the present application;

[0030] Figure 22 A schematic diagram of the structure of the head provided in an embodiment of the present application;

[0031] Figure 23 An exploded schematic diagram of a head structure provided in an embodiment of the present application;

[0032] Figure 24 A schematic structural diagram of the head front shell and head frame assembly in the head structure provided in an embodiment of the present application;

[0033] Figure 25 A schematic structural diagram of the head middle shell and the connecting plate in the head structure provided in an embodiment of the present application;

[0034] Figure 26 A schematic diagram of the structure of the robotic arm provided in an embodiment of the present application;

[0035] Figure 27 This is a schematic diagram of the assembly of the robotic arm base, the first joint mechanism, and the second joint mechanism in the robotic arm provided in an embodiment of the present application;

[0036] Figure 28 A schematic diagram of a portion of the structure of the first joint mechanism in the robotic arm provided in an embodiment of the present application;

[0037] Figure 29 A schematic cross-sectional view of a first joint mechanism in a robotic arm provided in an embodiment of the present application;

[0038] Figure 30 This is a schematic diagram of the assembly of the first joint output component of the robotic arm provided in an embodiment of the present application;

[0039] Figure 31 A schematic structural diagram of the first joint mechanism, the second joint mechanism, and the mechanical arm structure in the mechanical arm provided in an embodiment of the present application;

[0040] Figure 32 A schematic diagram of the assembly of the lower shell of the upper arm of the robotic arm provided in an embodiment of the present application;

[0041] Figure 33 An assembly diagram of the second joint mechanism, upper arm frame, and lower arm frame in the robotic arm provided in an embodiment of the present application;

[0042] Figure 34 An assembly diagram of the upper arm frame, lower arm frame, and third joint mechanism of the robotic arm provided in an embodiment of the present application;

[0043] Figure 35 Schematic diagram of the assembly of the third joint mechanism, the fourth joint mechanism, the mechanical arm structure, the fifth joint mechanism, and the sixth joint mechanism in the robotic arm provided in an embodiment of the present application;

[0044] Figure 36 This is a schematic diagram of the structure of the third joint mechanism, the fourth joint mechanism, the mechanical forearm structure, the fifth joint mechanism, and the sixth joint mechanism of the robotic arm provided in an embodiment of the present application without the motor bearings and the forearm upper shell and the forearm snap shell installed;

[0045] Figure 37 A schematic structural diagram of the first joint auxiliary portion of the robotic arm provided in an embodiment of the present application;

[0046] Figure 38 A schematic diagram of a portion of the structure of the fourth joint mechanism in the robotic arm provided in an embodiment of the present application;

[0047] Figure 39 A schematic structural diagram of the fourth arm motor and the fourth arm bearing seat in the robotic arm provided in an embodiment of the present application;

[0048] Figure 40 A schematic diagram of the assembly of the connecting rods of the mechanical arm structure in the mechanical arm provided in an embodiment of the present application;

[0049] Figure 41 This is a schematic diagram of the assembly of the forearm lower shell and the forearm snap shell in the robotic arm provided in an embodiment of the present application;

[0050] Figure 42 A schematic diagram of the structure of the forearm snap-on housing of the robotic arm provided in an embodiment of the present application;

[0051] Figure 43 A schematic diagram of the structure of the upper shell of the forearm of the robotic arm provided in an embodiment of the present application;

[0052] Figure 44 An assembly diagram of the sixth joint mechanism and the fifth joint mechanism of the robotic arm provided in an embodiment of the present application;

[0053] Figure 45 A schematic diagram of the first perspective structure of the clamping structure provided in an embodiment of the present application;

[0054] Figure 46A schematic structural diagram of the clamping structure provided by an embodiment of the present application from a second perspective;

[0055] Figure 47 An exploded schematic diagram of the structure of the clamping claw structure provided in an embodiment of the present application;

[0056] Figure 48 A schematic diagram of the assembly of a sheave in a clamping jaw structure according to an embodiment of the present application;

[0057] Figure 49 Partial structure of the bending-straightening mechanism in the clamping structure provided in the embodiment of the present application Figure 1 ;

[0058] Figure 50 Partial structure of the bending-straightening mechanism in the clamping structure provided in the embodiment of the present application Figure 2 ;

[0059] Figure 51 A schematic diagram of the chassis drive structure provided in an embodiment of the present application;

[0060] Figure 52 An exploded schematic diagram of the chassis drive structure provided in an embodiment of the present application;

[0061] Figure 53 A schematic structural diagram of a chassis frame assembly of a chassis drive structure provided by an embodiment of the present application from one angle;

[0062] Figure 54 A structural diagram of the chassis frame assembly of the chassis drive structure provided by an embodiment of the present application from another angle;

[0063] Figure 55 A schematic diagram of the structure of the robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0064] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this utility model, not all of them. Based on the embodiments of this utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this utility model.

[0065] It should be noted that the terms "including," "having," and any variations thereof in the embodiments and drawings of this application are intended to cover non-exclusive inclusions. For example, "including" is not limited to the listed structures, but may optionally include structures not listed, or may optionally include other components inherent to those structures.

[0066] The embodiments of the present application disclose a robot, which is described in detail below.

[0067] Figure 1 – Figure 55 A robot according to an embodiment of the present application is shown. Figure 1 – Figure 55As shown, the robot comprises: a trunk structure 1, a head structure 2, a robotic arm 3, a gripper structure 4, and a chassis drive structure 5. The head structure 2 is disposed in the middle of the end of the thorax assembly of the trunk structure 1 away from the thigh assembly. A robotic arm 3 is disposed on opposite sides of the end of the thorax assembly of the trunk structure 1 away from the thigh assembly, and a gripper structure 4 is fixedly mounted at the end of each robotic arm 3. The end of the calf assembly of the trunk structure 1 away from the thigh assembly is fixedly connected to the chassis drive structure 5. The trunk structure 1 includes a calf assembly 6, a thigh assembly 7, and a thorax assembly 8. The calf assembly 6 is connected to the chassis drive structure 5 and is connected to the thorax assembly 8 via the thigh assembly 7. The head structure 2, the left and right robotic arms 3, and various robot components (e.g., a PC host 9, a robot controller 10, etc.) are all disposed on the thorax assembly 8. The thorax assembly 8 serves as a connection to the remaining components of the robot. The calf assembly 6 and the thigh assembly 7 enable multi-degree-of-freedom motion of the robot thorax assembly 8. Specifically, the calf assembly 6 includes a first torso motor 11, and the calf assembly 6 is rotationally connected to the chassis drive structure 5 through the first torso motor 11; the thigh assembly 7 includes a second torso motor 12, and the thigh assembly 7 is rotationally connected to the calf assembly 6 through the second torso motor 12; the thoracic assembly 8 includes a third torso motor 13, a third torso motor seat 14, a fourth torso motor 15 and a fourth torso motor seat 16, wherein the third torso motor 13 is arranged in the third torso motor seat 14, and the output shaft of the third torso motor 13 is rotationally connected to the thigh assembly 7, the fourth torso motor seat 16 is fixedly connected to the outer surface of the third torso motor seat 14, the fourth torso motor 15 is arranged on the fourth torso motor seat 16, and the output shaft of the fourth torso motor 15 is rotationally connected to the fourth torso motor seat 16, and the thoracic assembly 8 is rotationally connected to the thigh assembly 7 through the third torso motor 13 and the fourth torso motor 15. When the first torso motor 11 is working, within the plane formed by the first direction and the second direction, the first torso motor 11 drives the calf assembly 6 to rotate relative to the robot chassis drive structure 5 around the output shaft of the first torso motor 11; when the second torso motor 12 is working, within the plane formed by the first direction and the second direction, the second torso motor 12 drives the thigh assembly 7 to rotate relative to the calf assembly 6 around the output shaft of the second torso motor 12; when the third torso motor 13 is working, within the plane formed by the first direction and the second direction, the third torso motor 13 drives the thorax assembly 8 to rotate relative to the thigh assembly 7 around the output shaft of the third torso motor 13; when the fourth torso motor 15 is working, within the plane formed by the second direction and the third direction, the fourth torso motor 15 drives the thorax assembly 8 to rotate relative to the thigh assembly 7 around the output shaft of the fourth torso motor 15.Thus, the torso structure 1 realizes multi-part rotation within the plane formed by the first direction and the second direction through the first torso motor 11, the second torso motor 12 and the third torso motor 13, making the robot movement more flexible, and realizes the rotation of the chest cavity component 8 within the plane formed by the second direction and the third direction through the fourth torso motor 15, so that the robot can obtain a wider viewing angle.

[0068] In this application, the first direction is perpendicular to the ground, the second direction is the visual direction of the head structure 2, and the second direction, the first direction, and the third direction are mutually perpendicular. However, it should be noted that "perpendicular" in this application is not absolutely perpendicular and can be 90°±10°. Similarly, "parallel" in this application is not absolutely parallel and can be 180°±10°.

[0069] In some embodiments, as Figure 1 – Figure 3As shown, the shank assembly 6 also includes a first torso motor base 17, a first torso bearing (not shown in the figure), a shank output link 18, a shank auxiliary link 19, a shank connecting support rod 20, a second torso motor base 21 and a shank housing 22. In detail, the first torso motor base 17 is provided with a plurality of mounting ears 23 at one end close to the robot chassis drive structure 5. Each mounting ear 23 extends in a direction away from the first torso motor base 17 within a plane formed by the second direction and the third direction. Each mounting ear 23 is provided with a plurality of bolt mounting holes, and the first torso motor base 17 is fixedly connected to the robot chassis drive structure 5 by bolts through the plurality of mounting ears 23. In a specific implementation, a mounting ear 23 can be provided on three sides or two opposite sides of the first torso motor base 17 to ensure the overall fixed installation stability of the torso structure 1 while not interfering with the robot's kneeling movement. The first trunk motor 11 is installed on the first trunk motor seat 17, and the output shaft of the first trunk motor 11 is extended along the third direction, and the output shaft and the motor tail cover of the first trunk motor 11 are both passed through the outside of the first trunk motor seat 17. At the same time, the first trunk bearing seat 24 is fixedly set at the motor tail cover of the first trunk motor seat 17, and the first trunk bearing is set on the first trunk motor seat 17 through the first trunk bearing seat 24, and is located at one end of the motor tail cover of the first trunk motor 11. The first end of the calf output link 18 is fixedly connected to the output shaft of the first torso motor 11, and the first end of the calf auxiliary link 19 is rotatably connected to the first torso motor seat 17 through the first torso bearing. The second end of the calf output link 18 and the second end of the calf auxiliary link 19 are respectively fixedly connected to the two ends of the second torso motor seat 21, so that the first torso motor 11 realizes the bending action of the robot's calf by driving the calf output link 18 to rotate. The calf auxiliary link 19 assists the rotation of the calf output link 18, and by fixing the two ends of the calf connecting support rod 20 along the third direction with the calf output link 18 and the calf auxiliary link 19, the calf connecting support rod 20, the calf auxiliary link 19, and the calf output link 18 are connected, which further ensures the support strength and rotation stability of the calf and reduces the overall cost of the robot. Furthermore, during implementation, the materials of the calf connecting rod 20, the calf auxiliary link 19, and the calf output link 18 can be selected as needed, and can be the same or different. A calf housing 22 is provided on the outer surface of each of the calf output link 18 and the calf auxiliary link 19 to enhance the aesthetics of the robot's calf.

[0070] In a specific embodiment, Figure 2 – Figure 4 and Figure 7As shown, the calf output link 18 includes a first calf output portion 25, a second calf output portion 26, and a calf output connection portion 27. The first calf output portion 25 is an annular plate structure, and the first calf output portion 25 is evenly spaced along the circumference of the first calf output portion 25. The calf output link 18 is fixedly connected to the output shaft of the first torso motor 11 by bolts through the multiple first output mounting holes 28. The second calf output part 26 is a circular cylindrical structure, and its shape and size are adapted to the shape and size of the second torso motor seat 21, and at least one output positioning groove 29 is provided on the circular end face of the second calf output part 26 close to the second torso motor seat 21. Correspondingly, at least one output positioning block 30 is provided on the circular end face of the second torso motor seat 21 close to the second calf output part 26, and each output positioning block 30 is arranged in a one-to-one correspondence with each output positioning groove 29. When the calf output connecting rod 18 and the second torso motor seat 21 are assembled, the positioning connection between the calf output connecting rod 18 and the second torso motor seat 21 is achieved by clamping each output positioning block 30 into the output positioning groove 29 that is uniquely corresponding to it, and then the second calf output part 26 and the second torso motor seat 21 are fixedly connected by bolts. During the specific implementation process, three output positioning grooves 29 can be set on one half-circular end face of the second calf output part 26, and the distance between adjacent output positioning grooves 29 is equal. An output positioning groove 29 is set in the middle of the other half-circular end face of the second calf output part 26, thereby playing a role in preventing misplacement installation. In addition, the two ends of the calf output connection part 27 along the first direction are respectively integrally connected with the first calf output part 25 and the second calf output part 26, and the calf output connection part 27 is provided with an output notch 31 in the middle part along the first direction to provide an installation position for the calf auxiliary link 19, so that the calf output connection part 27 and the calf auxiliary link 19 have a larger contact and fixed connection surface, and the calf output connection part 27 is provided with a calf output wire groove 32 on the side away from the calf auxiliary link 19 in the third direction. The calf output wire groove 32 extends from one end of the first calf output part 25 to one end of the second calf output part 26, and the calf shell 22 is provided on the outer surface of the calf output link 18, that is, the calf output wire groove 32 is located between the calf shell 22 and the calf output link 18, thereby realizing the internal routing of the calf component 6, making the overall appearance of the robot more tidy.

[0071] like Figure 2 、 Figure 3 and Figure 5As shown, the calf auxiliary link 19 includes a first calf auxiliary portion 33, a second calf auxiliary portion 34, and a calf auxiliary connecting portion 35. The first calf auxiliary portion 33 includes a stepped circular portion 36 and an arcuate plate portion 37. The stepped circular portion 36 is inserted into the first torso motor seat 17 and is rotatably connected to the first torso bearing seat 24 via the first torso bearing. The arcuate plate portion 37 is integrally connected to the end of the stepped circular portion 36 away from the first torso motor seat 17. The arcuate plate portion 37 is used to connect the first calf auxiliary portion 33 and the calf auxiliary connecting portion 35. The second calf auxiliary portion 34 is a stepped circular ring structure, including a small diameter end 38 and a large diameter end 39. The small diameter end 38 of the second calf auxiliary portion 34 is inserted into the second torso motor base 21, and the large diameter end 39 of the second calf auxiliary portion 34 is arranged on the circular end face of the second torso motor base 21 away from the second calf output portion 26. The second calf auxiliary portion 34 is bolted to the second torso motor base 21. The stepped circular ring structure of the second calf auxiliary portion 34 increases the contact surface between the calf auxiliary link 19 and the second torso motor base 21, making the connection between the two more stable. Thus, by fixing the second calf output portion 26 and the second calf auxiliary portion 34 at the two ends of the second torso motor base 21, the second torso motor base 21 is fixed to the end of the calf assembly 6, thereby achieving a rotational connection between the calf assembly 6 and the thigh assembly 7. In addition, the two ends of the calf auxiliary connection part 35 along the first direction are respectively integrally connected with the first calf auxiliary part 33 and the second calf auxiliary part 34, and the calf auxiliary connection part 35 is symmetrically arranged with the calf output connection part 27. The calf auxiliary connection part 35 is provided with an auxiliary notch 40 in the middle part along the first direction to provide an installation position for the calf auxiliary link 19, so that the calf auxiliary connection part 35 and the calf auxiliary link 19 have a larger contact and fixed connection surface, and the calf auxiliary connection part 35 is provided with a calf auxiliary wire groove 41 on the side away from the calf output link 18 in the third direction. The calf auxiliary wire groove 41 extends from one end of the arc plate part 37 to one end of the second calf auxiliary part 34, and the calf shell 22 is provided on the outer surface of the calf auxiliary link 19, that is, the calf auxiliary wire groove 41 is located between the calf shell 22 and the calf auxiliary link 19, thereby realizing the internal routing of the calf component 6, making the overall appearance of the robot more tidy.

[0072] like Figure 3 – Figure 6As shown, the calf connecting rod 20 includes a first connecting portion 42, a second connecting portion 43, and a third connecting portion 44. The first connecting portion 42 is integrally connected to the second connecting portion 43 and the third connecting portion 44 at both ends along the third direction. The second connecting portion 43 and the third connecting portion 44 are both perpendicularly arranged between the first connecting portion 42, and the second connecting portion 43 and the third connecting portion 44 extend in the same direction. The second connecting portion 43 and the third connecting portion 44 are symmetrically arranged at the output notch 31 and the auxiliary notch 40, respectively. In a specific implementation, the second connecting portion 43 and the third connecting portion 44 can be positioned and installed with positioning blocks and positioning groove structures between the output notch 31 and the auxiliary notch 40, respectively, to improve assembly efficiency and connection stability. Furthermore, at least one fixing block 45 is respectively provided at both ends of the second connecting portion 43 and the third connecting portion 44 along the first direction, and a plurality of fixing grooves 46 are respectively provided on the calf output connecting portion 27 and the calf auxiliary connecting portion 35, each fixing groove 46 is respectively arranged in a one-to-one correspondence with a plurality of fixing blocks 45, and the calf connecting support rod 20 is positioned and connected to the calf output link 18 and the calf auxiliary link 19 through the plurality of fixing blocks 45 respectively clamped in each fixing groove 46, and the calf connecting support rod 20 is fixedly connected to the calf output link 18 and the calf auxiliary link 19 through the plurality of fixing blocks 45 and the calf output connecting portion 27 or the calf auxiliary connecting portion 35. In the specific implementation process, the shapes and sizes of the fixing blocks 45 provided at both ends of the second connecting portion 43 are different. Similarly, the shapes and sizes of the fixing blocks 45 provided at both ends of the third connecting portion 44 are different, thereby further preventing misalignment of the installation. In addition, the distance between the calf output link 18 and the calf auxiliary link 19 close to the first torso motor 11 is greater than the distance between the two ends close to the second torso motor 12. The end of the calf output connection part 27 close to the second torso motor 12 is a vertical rod, and the end of the calf output connection part 27 close to the first torso motor 11 is an inclined rod at a certain angle. The calf auxiliary connection part 35 is set in the same way to meet the installation requirements of each part and make the overall structure more beautiful.

[0073] In other embodiments, Figure 1 、 Figure 2 and Figure 8As shown, the thigh assembly 7 further includes a second trunk bearing (not shown), a thigh output connecting rod 47, a thigh auxiliary connecting rod 48, a thigh connecting support rod 49, and a thigh housing 50. Specifically, the second trunk motor 12 is mounted on the second trunk motor base 21, and the output shaft of the second trunk motor 12 extends along the third direction. The output shaft and the motor tail cover of the second trunk motor 12 are both inserted into the outside of the second trunk motor base 21. Meanwhile, the second trunk bearing is disposed within the second trunk motor base 21 and is located at one end of the motor tail cover of the second trunk motor 12. The first end of the thigh output link 47 is fixedly connected to the output shaft of the second torso motor 12. The first end of the thigh auxiliary link 48 is rotationally connected to the second torso motor base 21 via the second torso bearing. The second ends of the thigh output link 47 and the second ends of the thigh auxiliary link 48 are respectively rotationally connected to the thorax assembly 8. Thus, the second torso motor 12 drives the thigh output link 47 to rotate, thereby achieving bending of the robot's thigh. The thigh auxiliary link 48 assists the rotation of the thigh output link 47. By fixing the ends of the thigh connecting support rod 49 along the third direction to the thigh output link 47 and the thigh auxiliary link 48, the thigh auxiliary link 48 and the thigh output link 47 are indirectly fixed, further ensuring the support strength and rotational stability of the thigh and reducing the overall cost of the robot. In addition, a thigh housing 50 is provided on the outer surface of each thigh output link 47 and thigh auxiliary link 48 to enhance the aesthetics of the robot's thigh.

[0074] In a specific embodiment, Figure 2 、 Figure 8 and Figure 9As shown, the thigh output link 47 includes a first thigh output portion 51, a second thigh output portion 52, and a thigh output connection portion 53. The first thigh output portion 51 is an annular plate structure, and is provided with a plurality of second output mounting holes 54 equidistantly spaced along the circumference. The thigh output link 47 is fixedly bolted to the output shaft of the second torso motor 12 via these second output mounting holes 54. The second thigh output portion 52 is an annular plate structure, and is provided with a plurality of third output mounting holes 55 equidistantly spaced along the circumference. The thigh output link 47 is fixedly bolted to the output shaft of the third torso motor 13 via these third output mounting holes 55. Furthermore, the thigh output connection portion 53 is integrally connected to the first thigh output portion 51 and the second thigh output portion 52 at both ends along the first direction, thereby forming the main rotating member of the second torso motor 12. In addition, a thigh output cable duct 56 is provided on the side of the thigh output connection 53 away from the thigh auxiliary link 48. The thigh output cable duct 56 extends from the end of the first thigh output portion 51 away from the thigh output connection 53 to the end of the second thigh output portion 52 away from the thigh output connection 53. The thigh housing 50 is provided on the outer surface of the thigh output link 47, that is, the thigh output cable duct 56 is located between the thigh housing 50 and the thigh output link 47, thereby achieving internal wiring of the thigh assembly 7 and making the overall appearance of the robot more neat. Furthermore, a thigh housing positioning groove 351 can be provided on the thigh output link 47, and a positioning block can be provided on the thigh housing 50 to match the thigh housing positioning groove 351 to achieve a positioning connection between the thigh housing 50 and the thigh output link 47.

[0075] like Figure 2 、 Figure 8 and Figure 10As shown, the thigh auxiliary link 48 includes a first thigh auxiliary portion 57, a second thigh auxiliary portion 58, and a thigh auxiliary connecting portion 59. The first thigh auxiliary portion 57 is a three-step circular ring structure, comprising a small diameter end 60, a middle diameter end 61, and a large diameter end 62. The small diameter ends 60 and 61 of the first thigh auxiliary portion 57 are inserted into the second torso motor base 21 and are rotationally connected to the second torso motor base 21 via a second torso bearing. The second thigh auxiliary portion 58 is also a three-step circular ring structure, comprising a small diameter end 63, a middle diameter end 64, and a large diameter end 65. The small diameter ends 63 and 64 of the second thigh auxiliary portion 58 are inserted into the third torso motor base 14 and are rotationally connected to the third torso motor base 14 via a third torso bearing. At the same time, the two ends of the thigh auxiliary connection portion 59 along the first direction are integrally connected to the large-diameter end 62 of the first thigh auxiliary portion 57 and the large-diameter end 65 of the second thigh auxiliary portion 58, respectively, thereby forming an auxiliary rotating member of the second torso motor 12. In addition, a thigh auxiliary wire groove 66 is provided on the side of the thigh auxiliary connection portion 59 away from the thigh output link 47. The thigh auxiliary wire groove 66 extends from the end of the first thigh auxiliary portion 57 away from the thigh auxiliary connection portion 59 to the end of the second thigh auxiliary portion 58 away from the thigh auxiliary connection portion 59. The thigh housing 50 is provided on the outer surface of the thigh auxiliary link 48, that is, the thigh auxiliary wire groove 66 is located between the thigh housing 50 and the thigh auxiliary link 48, thereby realizing internal wiring of the thigh assembly 7 and making the overall appearance of the robot more neat. Furthermore, one end of the first thigh output part 51 away from the thigh output connection part 53, one end of the second thigh output part 52 away from the thigh output connection part 53, one end of the first thigh auxiliary part 57 away from the thigh auxiliary connection part 59, and one end of the second thigh auxiliary part 58 away from the thigh auxiliary connection part 59 are all provided with thigh wiring gaps 67. The design of the thigh wiring gaps 67 further facilitates the internal wiring of the robot.

[0076] In some specific embodiments of the present application, a wiring harness fixing block structure can also be set between the thigh shell 50 and the thigh auxiliary link 48, and between the calf shell 22 and the calf auxiliary link 19 to ensure the routing of multiple wiring harnesses in the thigh auxiliary wire groove 66 or the calf auxiliary wire groove 41 to avoid leakage of the wiring harness.

[0077] like Figure 8 、 Figure 9 and Figure 10 As shown, the thigh connecting support rod 49 is a long rod structure, and the thigh connecting support rod 49 is extended along the third direction. The two ends of the thigh connecting support rod 49 are respectively fixedly connected with the middle bolts of the thigh output connecting part 53 and the thigh auxiliary connecting part 59, thereby realizing indirect fixation of the thigh output connecting rod 47 and the thigh auxiliary connecting rod 48, thereby improving the reliability of the rotation of the thigh component 7.

[0078] Further, such as Figure 2 、 Figure 8 、 Figure 9 and Figure 10 As shown, the thigh connecting support rod 49 is located on one side of the thigh output connecting part 53 and the thigh auxiliary connecting part 59, and the side of the thigh output connecting part 53 close to the thigh connecting support rod 49 is tangent to the first thigh output part 51 and the second thigh output part 52 respectively. The other side of the thigh output connecting part 53 away from the thigh connecting support rod 49 is provided with an output limiting part 68 and an output groove 69. The output limiting part 68 is tangent to the second thigh output part 52, and the output groove 69 is located at the connection between the thigh output connecting part 53 and the first thigh output part 51. The output groove 69 and the output limiting part 68 are connected by a transition straight line. Similarly, the side of the thigh auxiliary connecting portion 59 close to the thigh connecting support rod 49 is tangentially arranged with the first thigh auxiliary portion 57 and the second thigh auxiliary portion 58, respectively. The other side of the thigh auxiliary connecting portion 59 away from the thigh connecting support rod 49 is provided with an auxiliary limiting portion 70 and an auxiliary groove 71. The auxiliary limiting portion 70 is tangentially arranged with the second thigh auxiliary portion 58, and the auxiliary groove 71 is located at the connection between the thigh auxiliary connecting portion 59 and the first thigh auxiliary portion 57. The auxiliary groove 71 and the auxiliary limiting portion 70 are connected by a transition straight line. Therefore, when the second torso motor 12 is working to drive the other components of the thigh assembly 7 to rotate, the thigh assembly 7 is limited in its forward rotation by the thigh connecting support rod 49 abutting against the calf output connecting rod 18 and the calf auxiliary connecting rod 19, and the thigh assembly 7 is limited in its backward rotation by the output limiting portion 68 and the auxiliary limiting portion 70 abutting against the calf connecting support rod 20.

[0079] In some embodiments, as Figure 1 、 Figure 2 、 Figure 11 – Figure 21As shown, the chest assembly 8 also includes a third torso bearing, a chest support 72, a left arm mounting base 73, a right arm mounting base 74, a mainframe mounting frame 75, a controller mounting frame 76, a head mounting base 77 and a chest shell 78. In detail, the third torso bearing is arranged in the third torso motor seat 14 and is located at one end of the motor tail cover of the third torso motor 13. The end of the thigh assembly 7 close to the chest assembly 8 is rotatably connected to the third torso motor seat 14 through the third torso bearing and the third torso motor 13. At the same time, one end of the chest support 72 along the first direction is fixedly connected to the stator of the fourth torso motor 15, thereby realizing the connection between the thigh assembly 7 and the chest assembly 8. In addition, the head mounting base 77 is arranged at the other end of the chest support 72 along the first direction for mounting the head structure 2. The left arm mounting base 73 and the right arm mounting base 74 are respectively disposed at the ends of the chest support 72 along the third direction, and are both located at the end of the chest support 72 along the first direction, close to the head mounting base 77. A robotic arm 3 is fixedly mounted on each of the left and right arm mounting bases 73 and 74. A host mounting bracket 75 and a controller mounting bracket 76 are both disposed in the middle of the chest support 72 along the first direction. The host mounting bracket 75 is used to mount the PC host 9 and the torso radiator 352, while the controller mounting bracket 76 is used to mount the robot controller 10 and the main data interface 353 connected to the robot controller 10. The chest shell 78 is fixedly connected to the chest support 72, and the fourth torso motor 15, chest support 72, left arm mounting base 73, right arm mounting base 74, main unit mounting frame 75, controller mounting frame 76 and head mounting base 77 are all placed in the chest shell 78, thereby realizing the fixed connection between the torso structure 1 and other structures of the robot through the head mounting base 77, left arm mounting base 73, right arm mounting base 74, main unit mounting frame 75 and controller mounting frame 76.

[0080] In other embodiments, the chest assembly 8 also includes a third torso bearing, a chest support 72, a left arm mounting base 73, a right arm mounting base 74, multiple controller mounting frames 76, a head mounting base 77 and a chest shell 78. The difference from the aforementioned embodiments is that the host mounting frame 75 is not provided in the chest assembly 8. The PC host 9 in this embodiment can be set in the chassis drive structure 5 to move the center of gravity downward to make the overall structure of the robot more stable.

[0081] In a specific embodiment, Figure 2 and Figure 11 – Figure 14As shown, the chest support 72 includes a chest base 79, a chest left rib 80, a chest right rib 81, a chest middle rib 82, a plurality of chest ribs 83 and an outer shell support 84. Among them, the chest base 79 includes a motor connecting portion 85 and a rib connecting portion 86. The motor connecting portion 85 is used for the fixed connection between the chest support 72 and the fourth trunk motor 15, and the rib connecting portion 86 is used for the fixed connection of other components of the chest support 72. In detail, the motor connecting portion 85 is a circular cylindrical structure. The motor connecting portion 85 is evenly and evenly provided with a plurality of motor mounting holes 87 at equal distances along the circumferential direction. The motor connecting portion 85 is sleeved on the fourth trunk motor 15 and is fixedly connected to the stator of the fourth trunk motor 15 through the plurality of motor mounting holes 87. The rib connecting portion 86 is a hexagonal plate structure with two sets of parallel sides, and the two inclined sides of the rib connecting portion 86 are equal in length. A circular arc notch 88 is provided on one side of the longest side of the rib connecting portion 86. One end of the motor connecting portion 85 is provided in the circular arc notch 88 and is integrally connected to the rib connecting portion 86. The other five sides of the rib connecting portion 86 are respectively fixedly connected to other components of the chest support 72. The left chest rib 80 includes a left vertical portion 89 and a left horizontal portion 90. The left vertical portion 89 extends along the first direction, and one end of the left vertical portion 89 is fixedly connected to the end surface of the chest base 79 away from the third torso motor 13, and is located at the edge of one of the sides adjacent to the longest side in the rib connection portion 86. The length of one end of the left vertical portion 89 is equal to the length of one side adjacent to the longest side in the rib connection portion 86. The other end of the left vertical portion 89 is integrally connected to one end of the left horizontal portion 90, and the left vertical portion 89 and the left horizontal portion 90 are vertically arranged, and the left horizontal portion 90 extends along the second direction. At the same time, the right chest rib 81 is symmetrically arranged with the left chest rib 80, that is, the right chest rib 81 includes a right vertical portion 91 and a right horizontal portion 92. The right vertical portion 91 extends along the first direction, and one end of the right vertical portion 91 is fixedly connected to the end surface of the chest base 79 away from the third torso motor 13, and is located at the edge of the other side adjacent to the longest side in the rib connection portion 86. The length of one end of the right vertical portion 91 is equal to the length of one side adjacent to the longest side in the rib connection portion 86. The other end of the right vertical portion 91 is integrally connected to one end of the right horizontal portion 92, and the right vertical portion 91 and the right horizontal portion 92 are vertically arranged, and the right horizontal portion 92 extends along the second direction. The chest rib plate 82 is a rectangular plate structure, and a rectangular notch 93 is provided in the middle of the chest rib plate 82 to reduce the overall weight of the trunk structure 1. One of the wide sides of the chest rib plate 82 is fixedly connected to the end surface of the chest base plate 79 away from the third trunk motor 13, and is located at the edge of the side parallel to the longest side of the rib plate connection part 86. The length of the wide side of the chest rib plate 82 is equal to the length of the side parallel to the longest side of the rib plate connection part 86.Furthermore, multiple chest ribs 83 are symmetrically arranged between the middle chest rib 82 and the left chest rib 80 and the right chest rib 81. One end of each chest rib 83 is fixedly connected to the long side of the middle chest rib 82, and the other end is fixedly connected to the left vertical portion 89 or the right vertical portion 91. Two chest ribs 83 are fixed to the two edges of the rib connecting portion 86. Furthermore, the head mounting base 77 is a rectangular plate structure. The two wide ends of the head mounting base 77 are bolted to the left horizontal portion 90 and the right horizontal portion 92, respectively. The head structure 2 is mounted in the middle of the head mounting base 77 along the third direction. The left arm mounting base 73 is bolted to one end of the left vertical portion 89 connecting to the left horizontal portion 90. The right arm mounting base 74 is bolted to one end of the right vertical portion 91 connecting to the right horizontal portion 92. The mainframe mounting frame 75 and the controller mounting frame 76 are both bolted to the chest center rib 82. In the first direction, the controller mounting frame 76 is located between the mainframe mounting frame 75 and the head mounting base 77. The chest shell 78 is bolted to the chest left rib 80, the chest right rib 81, and the head mounting base 77 via a shell bracket 84.

[0082] Further, such as Figure 2 and Figure 11 – Figure 21As shown, the chest shell 78 includes a front shoulder shell 94, a rear shoulder shell 95, a front chest shell 96, a rear chest shell 97, a front bottom shell 98 and a rear bottom shell 99. Correspondingly, the shell bracket 84 includes two first shell mounting frames 100, two second shell mounting frames 101, two third shell mounting frames 102 and two fourth shell mounting frames 103. Among them, each first shell mounting frame 100 is a triangular plate structure, and one of the right-angled sides of the two first shell mounting frames 100 is integrally connected with the left vertical portion 89 and the right vertical portion 91 respectively, and is located at one end of the left vertical portion 89 and the right vertical portion 91 close to the rib connecting portion 86. The other right-angled sides of the two first shell mounting frames 100 are away from the rib connecting portion 86 and are arranged parallel to it, and the two first shell mounting frames 100 are respectively on the same horizontal plane with the left vertical portion 89 and the right vertical portion 91. The first shell mounting frame 100 is sequentially provided with a first shell mounting hole 104 and a second shell mounting hole 105 along the right-angled side parallel to the rib connecting portion 86, and the first shell mounting hole 104 is arranged away from the left vertical portion 89 or the right vertical portion 91. At the same time, each third housing mounting frame 102 includes a first bracket portion 106, a second bracket portion 107 and a third bracket portion 108, the two ends of the second bracket portion 107 are respectively vertically connected to one end of the first bracket portion 106 and the third bracket portion 108, the first bracket portion 106 and the third bracket portion 108 are parallel to each other and extend in the same direction, and a bracket limiting groove 109 is respectively provided on the outer surface of the left vertical portion 89 and the right vertical portion 91, and the two bracket limiting grooves 109 are both located below the left arm mounting base 73 and the right arm mounting base 74 along the first direction, and the bracket limiting groove 109 is n-shaped The two first bracket portions 106 are inserted into the bracket limiting slots 109 through the open ends of the bracket limiting slots 109 and are fixedly connected to the left vertical portion 89 or the right vertical portion 91 with bolts. The bracket limiting slots 109 thereby position the third outer shell mounting bracket 102 and enhance the stability of the third outer shell mounting bracket 102 on the left and right chest ribs 80 and 81. The third bracket portion 108 is sequentially provided with a fifth outer shell mounting hole 110 and a sixth outer shell mounting hole 111 along the second direction. The fifth outer shell mounting hole 110 is located away from the left and right vertical portions 89 and 91. Thus, the two first outer shell mounting brackets 100 and the two third outer shell mounting brackets 102 achieve a fixed connection between the front chest shell 96 and the rear chest shell 97. In addition, the two second shell mounting frames 101 are respectively arranged on the outer side surfaces of the two first shell mounting frames 100, and are both located at the oblique edges of the two first shell mounting frames 100. A third shell mounting hole 112 is provided on the end surface of the second shell mounting frame 101 located at the oblique edge of the first shell mounting frame 100, and a fourth shell mounting hole 113 is provided on the end surface of the second shell mounting frame 101 close to the rib connecting portion 86, thereby realizing the fixed connection of the front bottom shell 98 and the rear bottom shell 99 through the two second shell mounting frames 101.Each fourth shell mounting frame 103 is a rectangular plate structure. The two fourth shell mounting frames 103 are both arranged on the head mounting base 77 and are respectively located on both sides of the head structure 2. At least one seventh shell mounting hole 114 is provided on the side surface of the fourth shell mounting frame 103 away from the head structure 2, and an eighth shell mounting hole 115 is provided on the end surface of the fourth shell mounting frame 103 away from the head mounting base 77, so as to realize the fixed connection of the front shoulder shell 94 and the rear shoulder shell 95 through the two fourth shell mounting frames 103. Specifically, two first shell fixing frames 116 are provided in the front shoulder shell 94, and the two first shell fixing frames 116 are extended along the second direction. Each first shell fixing frame 116 is provided with at least one first fixing hole 117, and the two first shell fixing frames 116 are respectively corresponding to the two fourth shell mounting frames 103, and the first fixing holes 117 are respectively corresponding to the seventh shell mounting holes 114. The two first shell fixing frames 116 are respectively fitted with the side surfaces of a fourth shell mounting frame 103, and are fixedly connected by bolts through the seventh shell mounting holes 114 and the first fixing holes 117, thereby fixing the front shoulder shell 94 on the chest support 72. Two second fixing holes 118 are provided on the rear shoulder shell 95, and the two second fixing holes 118 are respectively provided in one-to-one correspondence with the two eighth shell mounting holes 115. The rear shoulder shell 95 is fixedly connected to the fourth shell mounting frame 103 through the second fixing holes 118 and the eighth shell mounting holes 115 bolts. In the specific implementation process, the front shoulder shell 94 is first fixedly connected to the chest support 72, and then the rear shoulder shell 95 is assembled and installed on the chest support 72, so that only the second fixing holes 118 on the rear shoulder shell 95 are exposed on the outer surface of the chest shell 78, thereby minimizing the exposure of the mounting bolts.Two second shell fixing frames 119 and two third shell fixing frames 120 are provided in the front chest shell 96. The two second shell fixing frames 119 and the two third shell fixing frames 120 are all extended along the second direction. Each second shell fixing frame 119 is provided with a third fixing hole 121 and a fourth fixing hole 122. The two second shell fixing frames 119 are respectively provided with a one-to-one correspondence with the two first shell mounting frames 100. The third fixing hole 121 is provided correspondingly to the first shell mounting hole 104, and the fourth fixing hole 122 is provided correspondingly to the second shell mounting hole 105. The two second shell fixing frames 119 are respectively provided with an outer surface of a first shell mounting frame 100, and the second shell fixing frame 119 abuts against the second shell mounting frame On the end surface of 101 away from the rib connecting portion 86, the second shell fixing frame 119 is fixedly connected to the first shell mounting frame 100 through the first shell mounting hole 104 and the third fixing hole 121. Similarly, each third shell fixing frame 120 is provided with a fifth fixing hole 123 and a sixth fixing hole 124, and the two third shell fixing frames 120 are respectively arranged in a one-to-one correspondence with the two third shell mounting frames 102, the fifth fixing hole 123 is arranged corresponding to the fifth shell mounting hole 110, and the sixth fixing hole 124 is arranged corresponding to the sixth shell mounting hole 111. The two third shell fixing frames 120 are respectively fitted with a third bracket portion 108 and fixedly connected by bolts through the fifth shell mounting hole 110 and the fifth fixing hole 123. In addition, two fourth shell fixing frames 125 and two fifth shell fixing frames 126 are provided in the rear chest shell 97. The two fourth shell fixing frames 125 and the two fifth shell fixing frames 126 are all extended along the second direction and in the direction away from the rear chest shell 97. Each fourth shell fixing frame 125 is provided with a seventh fixing hole 127, and the two fourth shell fixing frames 125 are respectively arranged in a one-to-one correspondence with the two second shell fixing frames 119. The seventh fixing hole 127 is arranged corresponding to the fourth fixing hole 122. The two fourth shell fixing frames 125 are respectively fitted with one second shell fixing frame 119, and the seventh fixing hole 127, the fourth fixing hole 122 and the second shell mounting hole 105 are sequentially penetrated by bolts and fixed. The fourth shell fixing frame 125, the second shell fixing frame 119 and the first shell mounting frame 100 are fixedly connected. Similarly, each fifth shell fixing frame 126 is provided with an eighth fixing hole 128, and the two fifth shell fixing frames 126 are respectively arranged in a one-to-one correspondence with the two third shell fixing frames 120, and the eighth fixing hole 128 is corresponding to the sixth fixing hole 124. The two fifth shell fixing frames 126 are respectively fitted with one third shell fixing frame 120, and the eighth fixing hole 128, the sixth fixing hole 124 and the sixth shell mounting hole 111 are sequentially penetrated by bolts and fixed. The fifth shell fixing frame 126, the third shell fixing frame 120 and the third shell mounting frame 102 are fixedly connected.Thus, the fourth and fifth housing fixing brackets 125 and 126 are respectively overlaid on the second and third housing fixing brackets 119 and 120, leaving only four mounting holes exposed during assembly of the front and rear chest housings 96 and 97. Furthermore, the front bottom shell 98 is provided with two ninth fixing holes 129, which correspond one-to-one with the two fourth housing mounting holes 113. The front bottom shell 98 is bolted to the second housing mounting bracket 101 via the ninth fixing holes 129 and the fourth housing mounting holes 113. Simultaneously, the rear bottom shell 99 is provided with two tenth fixing holes 130, which correspond one-to-one with the two third housing mounting holes 112. The rear bottom shell 99 is bolted to the second housing mounting bracket 101 via the tenth fixing holes 130 and the third housing mounting holes 112, thereby achieving a fixed connection between the front and rear bottom shells 98 and 99.

[0083] In addition, a USB interface (not shown in the figure) and a power interface (not shown in the figure) can be set on the rear shoulder shell 95 to connect to the robot controller 10 in the chest assembly 8 through the USB interface and the power interface to realize power supply and data transmission functions.

[0084] In the embodiments of this application, Figure 1 and Figure 11 – Figure 21 As shown, the front shoulder shell 94 and the rear shoulder shell 95, the front chest shell 96 and the rear chest shell 97, the front bottom shell 98 and the rear bottom shell 99, the front shoulder shell 94 and the front chest shell 96, the rear shoulder shell 95 and the rear chest shell 97, the front bottom shell 98 and the front chest shell 96, and the rear bottom shell 99 and the rear chest shell 97 are connected by straight-mouth limiters to ensure the connection between each adjacent shell, thereby forming a relatively closed space between the front chest shell 96, the rear chest shell 97, the front shoulder shell 94, the rear shoulder shell 95, the front bottom shell 98 and the rear bottom shell 99. The chest structure, the chest support 72, the left arm mounting base 73, the right arm mounting base 74, the main unit mounting frame 75, the controller mounting frame 76, the head mounting base 77 and the fourth torso motor 15 are located in the chest structure, and the front shoulder shell 94 and the rear shoulder shell 95 form a robot neck for passing the head structure 2 in the middle along the third direction, and form a left arm hole for passing the left robotic arm 3 at one end close to the left arm mounting base 73 along the third direction, and form a right arm hole for passing the right robotic arm 3 at one end close to the right arm mounting base 74 along the third direction.

[0085] In addition, in the specific implementation process, such as Figure 15 and Figure 18 – Figure 20As shown, an inclined opening is formed between the front chest shell 96 and the rear chest shell 97, and the inclined opening is located on one side of the front bottom shell 98 and the rear bottom shell 99. In detail, the front bottom shell 98 includes a first front shell portion 131 and a second front shell portion 132. The first front shell portion 131 is a semi-cylindrical shell structure, and the end of the first front shell portion 131 near the front chest shell 96 is an inclined end surface. The second front shell portion 132 is an inclined plate structure. The second front shell portion 132 is integrally connected to the inclined end surface of the first front shell portion 131. The ninth fixing hole 129 is provided on the second front shell portion 132. Similarly, the rear bottom shell 99 includes a first rear shell portion 133 and a second rear shell portion 134. The first rear shell portion 133 is a semi-cylindrical shell structure, and the end of the first rear shell portion 133 near the rear chest shell 97 is an inclined end surface. The second rear shell portion 134 is an inclined plate structure. The second rear shell portion 134 is integrally connected to the inclined end surface of the first rear shell portion 133, and the tenth fixing hole 130 is provided in the second rear shell portion 134. The front bottom shell 98 and the rear bottom shell 99 are connected by a straight opening. The first front shell portion 131 and the first rear shell portion 133 together form a cylindrical shell structure, which is sleeved on the fourth torso motor base 16. The fourth torso motor 15 is located within the cylindrical shell structure. The second front shell portion 132 and the second rear shell portion 134 together form an inclined plate structure for closing the inclined opening. Furthermore, heat dissipation holes are provided on the second front shell portion 132 and the second rear shell portion 134. At the same time, heat dissipation holes are also provided on the end face of the rear shoulder shell 95 away from the rear chest shell 97, thereby forming a straight heat dissipation channel from top to bottom to prevent the internal components of the chest cavity assembly 8 from overheating during operation.

[0086] In the embodiments of this application, Figure 22 – Figure 25As shown, the head structure 2 mainly includes a head middle shell 135, a head front shell 145, a head back shell 153, a head frame assembly 155, and a camera 171. The head middle shell 135, the head front shell 145, and the head back shell 153 together constitute the shell structure of the head structure 2. The camera 171, as the environment sensing component of the head structure 2, is arranged in the shell structure, and the head frame assembly 155 is used to connect the head structure 2 to the torso structure 1, support the head structure 2, and provide a fixed installation position for the camera 171. Specifically, the head middle shell 135 is a shell structure with two ends open along the second direction. The head front shell 145 is installed at one of the open ends of the head middle shell 135, and the head back shell 153 is installed at the other open end of the head middle shell 135, so that the head front shell 145, the head middle shell 135, and the head back shell 153 are assembled together to form a relatively closed cavity. In addition, a neck opening 136 is provided on one side surface of the head middle shell 135 along the first direction. Neck opening 136 provides an opening for one end of the head frame assembly 155 to be placed within the cavity of the shell structure. The head frame assembly 155 passes through the neck opening 136, allowing one end of the head frame assembly 155 to be placed within the cavity. The end of the head frame assembly 155 placed within the cavity is fixedly connected to the inner surface of the head middle shell 135, while the other end of the head frame assembly 155 is located outside the cavity and connected to the torso structure 1 to provide fixed support for the shell structure. Simultaneously, the end of the head frame assembly 155 placed within the cavity provides a fixed mounting position for a camera 171. At least one camera 171 is provided on the end of the head frame assembly 155 located within the cavity. The head front shell 145 is provided with a viewport 146 corresponding to the camera 171. The lens 172 of the camera 171 is disposed within the viewport 146, so that the lens 172 of the camera 171 can obtain image or video data of the robot's surrounding environment through the viewport 146.

[0087] In some embodiments, as Figure 22 and Figure 23As shown, the head structure 2 also includes a neck shell 173 to protect the head skeleton component 155 between the robot head structure 2 and the torso structure 1. In detail, the neck shell 173 is a cylindrical structure with two ends opened along the first direction. One end of the neck shell 173 is arranged at the neck opening 136, and the other end is arranged on the torso structure 1, and the end of the head skeleton component 155 located outside the cavity is accommodated in the neck shell 173, so that the neck shell 173 encloses and protects the head skeleton component 155 between the robot head structure 2 and the torso structure 1, preventing it from being directly exposed to the environment, improving the overall appearance of the robot, and increasing the service life of the relevant components of the robot. During the specific implementation process, a neck fixing plate (not shown in the figure) is provided inside the neck shell 173, and the neck fixing plate is fixedly connected to the head frame assembly 155 by bolts, so as to realize the fixed connection between the neck shell 173 and the head frame assembly 155. One end of the neck shell 173 located at the neck opening 136 is directly fixed to the shell structure of the neck opening 136, avoiding the bolts used for connection from being exposed outside the shell, making the overall appearance more beautiful and easy to assemble and disassemble.

[0088] In other embodiments, Figure 23 and Figure 24As shown, the head skeleton assembly 155 includes a head support skeleton plate 156, a head connection skeleton plate 163 and a connection support 166, wherein the head support skeleton plate 156 is a component of the head skeleton assembly 155 for supporting the shell structure and providing a fixed installation position for the camera 171, the head connection skeleton plate 163 is a component connecting the head skeleton assembly 155 with the torso structure 1, and the connection support 166 is a connection component between the head support skeleton plate 156 and the head connection skeleton plate 163. The head skeleton assembly 155 adopts a multi-component assembly structure, which is not only easy to process and low in cost, but also applicable to various types of cameras 171. When the type of camera 171 is replaced, it is only necessary to replace the head support skeleton plate 156 that is compatible with the replaced camera 171, thereby further reducing the overall cost of the robot. Specifically, the two ends of the connecting support member 166 are connected to the head support frame plate 156 and the head connecting frame plate 163, respectively. The connecting support member 166 passes through the neck opening 136. The head support frame plate 156 is located within the cavity, while the head connecting frame plate 163 is located outside the cavity. The head support frame plate 156 extends along the third direction and is fixedly connected to the inner surface of the head middle shell 135 at its two ends along the third direction, thereby achieving the support function of the head support frame plate 156 on the shell structure. The camera 171 is disposed on a side surface of the head support frame plate 156 close to the head front shell 145, so that the camera 171 faces the head front shell 145, thereby allowing the lens 172 of the camera 171 to obtain images or video data of the robot's surrounding environment through the visual port 146 of the head front shell 145. The head connecting frame plate 163 is arranged parallel to the plane formed by the second direction and the third direction. The head structure 2 is fixedly connected to the trunk structure 1 through the head connecting frame plate 163, thereby connecting the head structure 2 to the trunk structure 1. The head connecting frame plate 163 is designed to be arranged parallel to the ground. The contact area between the head connecting frame plate 163 and the trunk structure 1 is maximized as much as possible and arranged horizontally to improve the force-bearing capacity of the head frame assembly 155, thereby ensuring the installation stability of the head structure 2.

[0089] In some specific embodiments, such as Figure 23 and Figure 24As shown, the camera 171 can be two monocular cameras. Two mounting holes 157 are provided on the head support frame plate 156, so that the ends of the two cameras 171 away from the lens 172 can be fixed through the two mounting holes 157. A plurality of first threaded holes 158 are provided around each mounting hole 157. For example, two first threaded holes 158 are provided at a set of opposite corners of each mounting hole 157. By placing the end of each camera 171 away from the lens 172 in a mounting hole 157 and fixing it to the head support frame plate 156 through the two first threaded holes 158, the two cameras 171 can be fixedly installed in the head structure 2. In other specific embodiments, the camera 171 can also be a binocular camera, and the head support frame plate 156 can be designed as a mounting structure compatible with the binocular camera.

[0090] Furthermore, in some specific embodiments, Figure 23 and Figure 24 As shown, a slot 147 is provided on the edge of the surface of one side of the head front shell 145 close to the head middle shell 135. The slot 147 is arranged around the peripheral edge of the head front shell 145, and one of the open ends of the head middle shell 135 is clamped in the slot 147. The head middle shell 135 and the head front shell 145 are fixed in position and connected through the slot 147. In addition, the head middle shell 135 and the head front shell 145 are fixed with bolts through an inverted T-shaped frame 148 and a head support frame plate 156, thereby achieving a stable connection between the head middle shell 135 and the head front shell 145. In detail, the inverted T-shaped frame 148 includes a vertical portion 149 and a horizontal portion 150, one end of the vertical portion 149 is integrally connected to the middle portion of the horizontal portion 150, and the inverted T-shaped frame 148 is arranged on a side surface of the head front shell 145 close to the head middle shell 135, the vertical portion 149 extends along the first direction, and the horizontal portion 150 extends along the third direction. The two visual ports 146 are respectively located on both sides of the vertical portion 149 of the inverted T-shaped frame 148 extending in the first direction, and the three ends of the inverted T-shaped frame 148 are respectively A ninth threaded hole 151 is provided, and correspondingly, three tenth threaded holes 159 are provided on the head support frame plate 156. The three tenth threaded holes 159 are arranged in one-to-one correspondence with the three ninth threaded holes 151, so that the front head shell 145 is positioned and fixed between the card slot 147 and the middle head shell 135, and is fixedly connected to the head support frame plate 156 through bolts between the ninth threaded hole 151 and the tenth threaded hole 159, thereby realizing a fixed connection between the front head shell 145 and the middle head shell 135.

[0091] In other specific embodiments, Figure 23 and Figure 24As shown, the head connecting frame plate 163 is a horizontal rectangular plate, the long side of which extends along the second direction, and a positioning groove 164 is provided at one end of the head connecting frame plate 163 along the second direction, and the positioning groove 164 is located on the side surface of the head connecting frame plate 163 close to the head support frame plate 156 and the connecting support 166. At the same time, a plurality of second threaded holes (not shown in the figure) are provided in the positioning groove 164, and one end of the connecting support 166 is positioned in the positioning groove 164. The positioning connection between the connecting support 166 and the head connecting frame plate 163 is realized through the positioning groove 164, and the bolted fixed connection between the connecting support 166 and the head connecting frame plate 163 is realized through the plurality of second threaded holes.

[0092] In addition, if Figure 24 As shown, a clamping plate 169 is further provided at the other end of the head connecting frame plate 163 along the second direction, and the clamping plate 169 is vertically connected to the head connecting frame plate 163. The clamping plate 169 is extended along the first direction, and the clamping plate 169 is extended in a direction away from the head supporting frame plate 156. When the head connecting frame plate 163 is connected to the torso structure 1, the clamping plate 169 is used to realize the positioning and fixation between the head connecting frame plate 163 and the torso structure 1. At the same time, a chamfer structure 170 is also provided at the connection between the head connecting frame plate 163 and the clamping plate 169, so that the chamfer structure 170 ensures that the head frame assembly 155 and the torso structure 1 can be smoothly positioned and connected, thereby avoiding the connection between the head frame assembly 155 and the torso structure 1 due to processing problems, which makes it impossible for the head connecting frame plate 163 and the clamping plate 169 to be unable to perform contact and positioning connection with the torso structure 1.

[0093] In some embodiments, as Figure 23 and Figure 25As shown, the ends of the head support frame plate 156 along the third direction are fixedly connected to the two opposing inner surfaces of the head middle shell 135 along the third direction via a connecting plate 174. Specifically, a transverse boss 137 is provided on each of the two opposing inner surfaces of the head middle shell 135 along the third direction. Each transverse boss 137 has a runway-shaped structure extending along the second direction. Furthermore, a longitudinal boss 138 is provided on both sides of the middle portion of each transverse boss 137 along the second direction. Each longitudinal boss 138 extends in the first direction away from the transverse boss 137. Each longitudinal boss 138 is provided with a fourth threaded hole 139, each connecting plate 174 is extended along the second direction, and each connecting plate 174 is provided with a limiting groove 175 on the surface of one side close to the head middle shell 135, the limiting groove 175 is located at one end of the connecting plate 174 along the second direction, and the shape and size of the limiting groove 175 are the same as the shape and size of one end of the transverse boss 137, the connecting plate 174 is fixed on the transverse boss 137 by the limiting groove 175, and at the same time, each connecting plate 174 is provided with two fifth threaded holes 176 corresponding to the two fourth threaded holes 139 one by one, the connecting plate 174 is fixedly connected to the longitudinal boss 138 by bolts between the fifth threaded hole 176 and the fourth threaded hole 139, thereby realizing a fixed connection between the connecting plate 174 and the head middle shell 135. Furthermore, a plurality of sixth threaded holes 177 are provided on the surface of one end of each connecting plate 174 away from the limiting groove 175, and two mounting grooves 160 are provided on the surface of one side of the head support frame plate 156 away from the head front shell 145, and the two mounting grooves 160 are located at both ends of the head support frame plate 156 along the third direction, and a plurality of seventh threaded holes 161 are provided in each mounting groove 160, and the plurality of seventh threaded holes 161 correspond one-to-one to the plurality of sixth threaded holes 177, and the ends of the two connecting plates 174 away from the limiting groove 175 are respectively arranged in the two mounting grooves 160, and each connecting plate 174 is fixedly connected to the head support frame plate 156 by bolts between the sixth threaded hole 177 and the seventh threaded hole 161, thereby realizing a fixed connection between the head support frame plate 156 and the connecting plate 174, and then realizing a fixed connection between the head support frame plate 156 and the head middle shell 135 through the connecting plate 174.

[0094] In some specific embodiments, such as Figure 22 、 Figure 23 and Figure 25As shown, each fourth threaded hole 139 passes through the inner and outer sides of the head middle shell 135. At the same time, the head structure 2 also includes a head side shell 179, so that the fourth threaded hole 139 is covered by the setting of the head side shell 179, making the head structure 2 more beautiful as a whole. In detail, a head side shell 179 is respectively provided on the two opposite outer surfaces of the head middle shell 135 along the third direction, and each head side shell 179 is provided with two fixing platforms 180 on the side surface close to the head middle shell 135, and each fixing platform 180 is provided with an eighth threaded hole 181, and a fixing groove 140 corresponding to each fixing platform 180 is provided on the outer surface of the head middle shell 135, and the four fixing grooves 140 are respectively located at the two ends of the two transverse bosses 137, and a third threaded hole 141 is provided in each fixing groove 140, and each third threaded hole 141 passes through the inner and outer sides of the head middle shell 135, and each connecting plate 174 is provided with two through holes 178 corresponding to the two third threaded holes 141. The head side shell 179 is fixedly connected to the head middle shell 135 by bolts between the eighth threaded hole 181, the third threaded hole 141 and the through hole 178. Furthermore, an inner groove 142 is respectively provided on the two opposite outer surfaces of the head middle shell 135 along the third direction, the fourth threaded hole 139 and the fixing groove 140 are both located in the inner groove 142, the shape of the head side shell 179 is the same as the shape of the inner groove 142, and in the first direction, the width of the head side shell 179 is the same as the width of the inner groove 142. In addition, a plurality of long strips 144 extending along the second direction are also provided in the inner groove 142 to decorate the appearance of the head structure 2.

[0095] In other embodiments, Figure 22 、 Figure 23 and Figure 25 As shown, a plurality of first rear shell mounting brackets 143 are provided at the open end of the head middle shell 135 near the head rear shell 153, and correspondingly, a plurality of second rear shell mounting brackets 154 are provided on the head rear shell 153. The plurality of second rear shell mounting brackets 154 are arranged in a one-to-one correspondence with the plurality of first rear shell mounting brackets 143, and threaded holes are provided on the first rear shell mounting brackets 143 and the second rear shell mounting brackets 154, so that the bolted fixed connection between the head middle shell 135 and the head rear shell 153 is realized through the first rear shell mounting brackets 143 and the second rear shell mounting brackets 154.

[0096] When assembling the head structure 2 in the embodiment of the present application, the head connecting frame plate 163 and the connecting support 166 are fixedly connected by bolts through the positioning groove 164 and the second threaded hole, and then the connected head connecting frame plate 163 and the connecting support 166 are fixedly installed on the torso structure 1, and the neck shell 173 is placed on the connecting support 166, and the neck shell 173 and the head connecting frame plate 163 are fixedly connected by bolts through the neck fixing plate. At the same time, the head support frame plate 156 and the connecting plate 174 are bolted together through the sixth threaded hole 177 and the seventh threaded hole 161. Subsequently, the connecting plate 174 and the head middle shell 135 are bolted together through the fifth threaded hole 176 and the fourth threaded hole 139. Furthermore, the head side shell 179 is bolted together on both sides of the head middle shell 135 through the third threaded hole 141, the eighth threaded hole 181, and the through hole 178, thereby completing the assembly of the head middle shell 135, the head support frame plate 156, the two connecting plates 174, and the two head side shells 179. Subsequently, the assembled connecting support member 166 is inserted into the assembled head middle shell 135 through the neck opening 136, and the connecting support member 166 is bolted together with the head support frame plate 156, thereby completing the assembly of the head frame assembly 155, the head middle shell 135, the two connecting plates 174, the two head side shells 179, and the neck shell 173 on the torso structure 1. Next, the camera 171 is bolted to the head support frame plate 156 through the mounting holes 157 and the first threaded holes 158. The front head shell 145 is secured to the middle head shell 135 through the slots 147. The ninth threaded holes 151 and the tenth threaded holes 159 are used to securely connect the front head shell 145 and the middle head shell 135. Meanwhile, the lens 172 of the camera 171 is secured within the viewing port 146. Finally, the rear head shell 153 is secured to the middle head shell 135 via the second rear housing mounting bracket 154 on the rear head shell 153 and the first rear housing mounting bracket 143 on the middle head shell 135. If maintenance or inspection is required during testing, the rear head shell 153 can be removed from the middle head shell 135 to perform maintenance or inspection on its internal structure.

[0097] In the embodiments of this application, Figure 26 – Figure 44As shown, the robot 3 includes a robot base 182, a robot control board 183, a first joint mechanism 184, a second joint mechanism 185, a robot arm structure 186, a third joint mechanism 187, a fourth joint mechanism 188, a robot arm structure 189, a fifth joint mechanism 190, and a sixth joint mechanism 200. Specifically, the robot control board 183 is disposed in the robot base 182, the robot 3 is fixedly connected to the trunk structure 1 through the robot base 182, the robot arm structure 186 is connected to the robot base 182 through the second joint mechanism 185 and the first joint mechanism 184, the robot arm structure 189 is connected to the robot arm structure 186 through the fourth joint mechanism 188 and the third joint mechanism 187, and the fifth joint mechanism 190 and the sixth joint mechanism 200 are disposed at the end of the robot arm structure 189, and the robot arm structure 189 is connected to the gripper structure 4 through the fifth joint mechanism 190 and the sixth joint mechanism 200. At the same time, the first joint mechanism 184 includes a first arm motor 201, and the second joint mechanism 185 includes a second arm motor. The first arm motor 201 is fixedly mounted on the robot arm base 182, and the output shaft of the first arm motor 201 is fixedly connected to the second joint mechanism 185, and the output shaft of the second arm motor is fixedly connected to the robot arm structure 186. When the first arm motor 201 is in operation, the first arm motor 201 drives the robot arm 3 to rotate along a central axis perpendicular to the robot arm base 182, and when the second arm motor is in operation, the second arm motor drives the robot arm structure 186 to rotate along the central axis of the output shaft of the second arm motor, and the central axis of the output shaft of the second arm motor is perpendicular to the central axis of the robot arm base 182. The third joint mechanism 187 includes a third arm motor, and the fourth joint mechanism 188 includes a fourth arm motor 202. The third arm motor is fixedly arranged at the end of the mechanical arm structure 186, and the output shaft of the third arm motor is fixedly connected to the fourth joint mechanism 188, and the output shaft of the fourth arm motor 202 is fixedly connected to the mechanical arm structure 189. When the third arm motor is working, the third arm motor drives the mechanical arm structure 189 to rotate along the central axis of the output shaft of the third arm motor, and the central axis of the output shaft of the third arm motor is parallel to the central axis of the output shaft of the second arm motor. When the fourth arm motor 202 is working, the fourth arm motor 202 drives the mechanical arm structure 189 to rotate along the central axis of the output shaft of the fourth arm motor 202, and the central axis of the output shaft of the fourth arm motor 202 is perpendicular to the central axis of the output shaft of the third arm motor. In addition, the fifth joint mechanism 190 includes a fifth arm motor, the sixth joint mechanism 200 includes a sixth arm motor, the fifth arm motor is fixedly arranged at the end of the mechanical forearm structure 189, and the output shaft of the fifth arm motor is fixedly connected to the sixth joint mechanism 200, and the output shaft of the sixth arm motor is fixedly connected to the clamping structure 4.When the fifth arm motor is working, the fifth arm motor drives the gripper structure 4 to rotate along the central axis of the output shaft of the fifth arm motor, and the central axis of the output shaft of the fifth arm motor is perpendicular to the central axis of the output shaft of the fourth arm motor 202. When the sixth arm motor is working, the sixth arm motor drives the gripper structure 4 to rotate along the central axis of the output shaft of the sixth arm motor, and the central axis of the output shaft of the sixth arm motor is perpendicular to the central axis of the output shaft of the fifth arm motor. In addition, the manipulator control board 183 is electrically connected to the first arm motor 201, the second arm motor, the third arm motor, the fourth arm motor 202, the fifth arm motor and the sixth arm motor respectively, for controlling the movement of the manipulator 3. It should be noted that in the embodiment of the present application, when the manipulator 3 is extended to the farthest distance, that is, when the manipulator arm structure 186, the manipulator arm structure 189 and the first joint mechanism 184 extend in the same direction, the central axis of the manipulator base 182, the central axis of the output shaft of the fourth arm motor 202 and the central axis of the output shaft of the sixth arm motor are in the same straight line.

[0098] In some embodiments, as Figure 27 – Figure 30As shown, the first joint mechanism 184 also includes a first arm bearing (not shown), a first arm bearing seat 204, a base housing 205, a first joint output member 206, and a second joint output member 207. The base housing 205 is fixedly mounted on the robotic arm base 182. The base housing 205 and the robotic arm base 182 together form a cavity structure for accommodating the first arm motor 201, the first arm bearing, the first arm bearing seat 204, and the robotic arm control board 183. The first arm motor 201 is fixedly mounted on the robotic arm base 182 via a motor mounting bracket, and the robotic arm control board 183 is disposed between the robotic arm base 182 and the motor mounting bracket. The first arm bearing is fixedly mounted on the first arm motor 201 via the first arm bearing seat 204. To achieve connection and torque transmission between the first joint mechanism 184 and the second joint mechanism 185, the second joint mechanism 185 is connected to the output shaft of the first arm motor 201 via the first joint output member 206 and the second joint output member 207. Specifically, the first joint output component 206 is fixedly mounted on the output shaft of the first arm motor 201. A first joint connection portion 208 is disposed in the middle of the first joint output component 206. Both ends of the first joint connection portion 208 extend perpendicularly to the first joint output component 206, respectively, away from the first joint output component 206. Furthermore, first joint mounting holes 209 are disposed through opposite end surfaces of the first joint connection portion 208. The second joint output component 207 is rotatably connected to the open end of the base housing 205 away from the robotic arm base 182 via a first arm bearing, thereby sealing the cavity formed by the base housing 205 and the robotic arm base 182. Furthermore, a second joint mounting hole 210 is disposed in the middle of the second joint output component 207, extending through the second joint output component 207 and corresponding to the first joint mounting hole 209. One end of the first joint connecting part 208 close to the first arm motor 201 is inserted into the output shaft of the first arm motor 201, and the other end of the first joint connecting part 208 away from the first arm motor 201 is inserted into the middle of the second joint output part 207. The second joint mounting hole 210 and the first joint mounting hole 209 are penetrated in sequence by bolts, and are fixedly connected to the output shaft of the first arm motor 201. The second joint output part 207, the first joint output part 206 and the output shaft of the first arm motor 201 are fixedly connected, and the end face of the second joint output part 207 located outside the base shell 205 is fixedly connected to the second arm motor seat 211 of the second arm motor, thereby realizing the connection between the first joint mechanism 184 and the second joint mechanism 185.During the specific implementation process, a first joint protrusion 212 is further provided on the end surface of the first joint output component 206 close to the second joint output component 207. Correspondingly, a first joint groove (not shown in the figure) is provided on the end surface of the second joint output component 207 close to the first joint output component 206. The first joint groove and the first joint protrusion 212 are arranged correspondingly. The first joint protrusion 212 is clamped in the first joint groove to achieve a positioning connection between the first joint output component 206 and the second joint output component 207, and the contact area between the two is increased, thereby ensuring the stability of the connection between the first joint mechanism 184 and the second joint mechanism 185. In addition, a first joint annular groove 213 is further provided on the end surface of the second joint output component 207 located within the base housing 205, and the second joint output component 207 is provided with at least one first arm threading hole 214 that passes through the inside and outside of the base housing 205. When the first joint output component 206 and the second joint output component 207 are assembled, the provision of the first joint annular groove 213 forms a first wiring gap between the second joint output component 207, the first joint output component 206, and the first arm motor 201. The first arm bearing seat 204 is also provided with a first arm threading block 215 that passes through the inside and outside thereof, so that the wires outside the base housing 205 are electrically connected to the robot arm control board 183 through the first arm threading hole 214, the first wiring gap, the first arm threading block 215, and the shell gap between the first arm motor 201 and the base housing 205. In addition, a first joint limit block 216 is provided on the outer surface of the first arm bearing seat 204, and a second joint limit block 217 is provided on the second joint output member 207. The second joint limit block 217 is provided in correspondence with the first joint limit block 216. When the first arm motor 201 is in operation, the first arm motor 201 drives the first joint output member 206 and the second joint output member 207 to rotate. During this process, the first joint limit block 216 blocks the second joint limit block 217, thereby limiting the rotation of the output shaft of the first arm motor 201. This prevents the wiring inside the base housing 205 from becoming entangled and affecting the operation of the first arm motor 201. Furthermore, the base housing 205 is also provided with at least one data interface 218 electrically connected to the robot arm control board 183, so that the robot arm control board 183 transmits data through the data interface 218.

[0099] In other embodiments, Figure 26 、 Figure 27 、 Figure 29 and Figure 31As shown, the second joint mechanism 185 also includes a second arm bearing, a second arm motor seat 211 and a second arm bearing seat 219. The second arm motor is arranged in the second arm motor seat 211, the second arm bearing is arranged in the second arm bearing seat 219, and the second arm motor seat 211 and the second arm bearing seat 219 are fixedly connected to each other. At the same time, the second arm motor seat 211 and the second arm bearing seat 219 are fixedly connected to the output shaft of the first arm motor 201, and the output shaft of the second arm motor is fixedly connected to the mechanical arm structure 186. The mechanical arm structure 186 is rotationally connected between the second arm bearing and the second arm bearing seat 219, and then the second arm motor drives the mechanical arm structure 186 to rotate.

[0100] Further, such as Figure 31 – Figure 34As shown, the mechanical boom structure 186 includes a boom connecting frame 220, a boom upper frame 221, a boom lower frame 222, and a boom housing 223. The boom connecting frame 220 includes a boom output portion 224 and a boom auxiliary portion 225. One end of the boom output portion 224 is fixedly connected to the output shaft of the second arm motor, while one end of the boom auxiliary portion 225 is rotatably connected to the second arm bearing seat 219 via a second arm bearing. The other ends of the boom output portion 224 and the other ends of the boom auxiliary portion 225 are respectively provided with a boom mounting plate 226, which are fixedly connected to the boom upper frame 221 and the boom lower frame 222 via the two boom mounting plates 226. In detail, each boom mounting plate 226 is a rectangular plate structure, and a boom mounting groove 227 is provided on the opposite side surfaces of the boom upper frame 221 and the opposite side surfaces of the boom lower frame 222, and the boom upper frame 221 and the boom lower frame 222 are symmetrically arranged. When the boom upper frame 221 and the boom lower frame 222 are relatively buckled and fixedly connected by bolts, the two boom mounting grooves 227 on the same side of the boom upper frame 221 and the boom lower frame 222 together constitute a rectangular groove matching the boom mounting plate 226, and each boom mounting plate 226 is respectively clamped in the two boom mounting grooves 227 on the same side of the boom upper frame 221 and the boom lower frame 222, and each boom mounting plate 226 is respectively bolted to the boom upper frame 221 and the boom lower frame 222, so that the boom connecting frame 220, the boom upper frame 221 and the boom lower frame 222 are fixedly connected. At the same time, the ends of the upper arm frame 221 and the lower arm frame 222 away from the upper arm connecting frame 220 are respectively fixedly connected to the third joint mechanism 187. In addition, the structural design of the upper arm frame 221 and the lower arm frame 222 forms a second wiring gap between the upper arm frame 221 and the lower arm frame 222 of the mechanical arm structure 186. The wires of the third joint mechanism 187 are routed to the second joint mechanism 185 through the second wiring gap, and the upper arm housing 223 surrounds the outside of the upper arm frame 221 and the lower arm frame 222, so that the mechanical arm structure 186 has no external wiring and is more beautiful. In further detail, the boom housing 223 includes a boom upper shell 228 and a boom lower shell 229. The boom lower shell 229 is bolted to the boom lower frame 222. The boom upper shell 228 is bolted to the boom connecting frame 220, and the boom upper shell 228 and the boom lower shell 229 are snap-fitted and connected, so that the boom connecting frame 220, the boom upper frame 221 and the boom lower frame 222 are located inside the shell of the boom housing 223.In addition, a first joint limiting groove 230 is provided on the outer surface of the second arm motor seat 211 and the second arm bearing seat 219. The first joint limiting groove 230 is a groove structure with a preset rotation angle. The upper arm output part 224 and the upper arm auxiliary part 225 are both arranged in the first joint limiting groove 230. When the second arm motor is working, the second arm motor drives the upper arm output part 224 and the upper arm auxiliary part 225 to rotate in the first joint limiting groove 230. Therefore, through the setting of the first joint limiting groove 230, the rotation of the output shaft of the second arm motor is limited to prevent the wires from being entangled.

[0101] In other embodiments, Figure 26 、 Figure 32 and Figure 34 – Figure 37 As shown, the third joint mechanism 187 further includes a third arm motor base 231, a third arm bearing, a third arm bearing base 232, and a first joint connecting frame 233. The third arm motor is fixedly mounted within the third arm motor base 231, the third arm bearing is mounted within the third arm bearing base 232, and the third arm bearing base 232 is fixedly engaged with the third arm motor base 231. The first joint connecting frame 233 includes a first joint output portion 234, a first joint auxiliary portion 235, and a second joint connecting portion 236. The fourth joint mechanism 188 is disposed on one end surface of the second joint connecting portion 236, with one end of the first joint output portion 234 and one end of the first joint auxiliary portion 235 being fixedly bolted to opposite side surfaces of the second joint connecting portion 236. The other end of the first joint output portion 234 is fixedly connected to the output shaft of the third arm motor, and the other end of the first joint auxiliary portion 235 is rotatably connected to the third arm bearing base 232 via the third arm bearing, thereby driving the fourth joint mechanism 188 to rotate via the third arm motor. Furthermore, a second joint limiting groove 237 is provided on the outer surface of the third arm motor seat 231 and the outer surface of the third arm bearing seat 232. Correspondingly, a third joint limiting block 238 is provided on the inner surface of the first joint output part 234 and the inner surface of the first joint auxiliary part 235, and the two third joint limiting blocks 238 are respectively arranged in a one-to-one correspondence with the two second joint limiting grooves 237. The third joint limiting block 238 is arranged in the second joint limiting groove 237. When the third arm motor is working, the third arm motor drives the first joint output part 234 and the first joint auxiliary part 235 to rotate, and the third joint limiting block 238 moves in the second joint limiting groove 237 to limit the rotation of the output shaft of the third arm motor to prevent the wires from being entangled.

[0102] Further, such as Figure 38 – Figure 40As shown, the fourth joint mechanism 188 also includes a fourth arm motor seat 239, a fourth arm bearing 240, a fifth arm bearing 241, a fourth arm bearing seat 242, and a joint output shaft 243. The fourth arm motor 202 is fixedly mounted in the fourth arm motor seat 239, the fourth arm bearing 240 and the fifth arm bearing 241 are both mounted in the fourth arm bearing seat 242, and the fourth arm bearing seat 242 is fixedly engaged with the fourth arm motor seat 239. One end of the joint output shaft 243 is fixedly connected to the output shaft of the fourth arm motor 202, and the other end of the joint output shaft 243 is fixedly connected to the mechanical arm structure 189 via the fourth arm bearing 240 and the fifth arm bearing 241. In a specific implementation, the fifth arm bearing 241 and the fourth arm bearing seat 242 are paired angular contact bearings. Furthermore, a fourth joint limit block 244 is provided on the output shaft of the fourth arm motor 202, and a fifth joint limit block 245 is provided on the inner surface of the fourth arm bearing seat 242, and the fifth joint limit block 245 is provided corresponding to the fourth joint limit block 244. When the fourth arm motor 202 is working, the output shaft of the fourth arm motor 202 rotates, and the fourth joint limit block 244 is blocked by the fifth joint limit block 245, thereby limiting the rotation of the output shaft of the fourth arm motor 202 to prevent the wires from being entangled.

[0103] like Figure 35 – Figure 43As shown, the mechanical arm structure 189 includes a first arm connecting rod 246, a second arm connecting rod 247, a third arm connecting rod 248, an arm housing bracket 249, and an arm housing 250. The two ends of the second arm connecting rod 247 are fixedly connected to one end of the first arm connecting rod 246 and one end of the third arm connecting rod 248, respectively. The other end of the first arm connecting rod 246 is fixedly connected to the other end of the joint output shaft 243. The other end of the third arm connecting rod 248 is fixedly connected to the fifth arm motor base 251 of the fifth arm motor. Furthermore, through the arrangement of the first arm connecting rod 246, the second arm connecting rod 247, and the third arm connecting rod 248, torque transmission between the fourth joint mechanism 188 and the fifth joint mechanism 190 is achieved. In addition, one end of the forearm shell bracket 249 is fixedly connected to the end face of the fourth arm bearing seat 242, and the forearm shell 250 is fixedly connected through the forearm shell bracket 249. The first forearm connecting rod 246, the second forearm connecting rod 247, the third forearm connecting rod 248 and the forearm shell bracket 249 are located in the forearm shell 250. To be more specific, the forearm housing 250 includes a forearm upper shell 252, a forearm lower shell 253 and a forearm snap shell 254. The forearm lower shell 253 is fixedly connected to the forearm housing bracket 249 with bolts, and an forearm snap slot 255 is respectively provided at the opposite ends of the inner surface of the forearm lower shell 253 near the fifth arm motor. Two forearm clamping blocks 256 are provided on the forearm snap shell 254, and the two forearm clamping blocks 256 are respectively corresponding to the two forearm snap slots 255. The forearm clamping blocks 256 are fixedly clamped in the forearm snap slots 255, and the forearm snap shell 254 is fixedly connected to one end of the forearm lower shell 253 to form a circular through hole connecting the mechanical forearm structure 189 and the fifth joint mechanism 190. The separation of the forearm snap shell 254 and the forearm lower shell 253 facilitates the assembly of the forearm housing 250. In addition, two arm connecting card shells 257 are provided at one end of the forearm upper shell 252 close to the fourth arm motor seat 239, and a joint housing 258 is provided on the outer surface of the first joint output part 234 and the first joint auxiliary part 235 respectively. A circular groove 259 is provided on the circumferential side end surface of each joint housing 258, and the two arm connecting card shells 257 are respectively snap-connected to the circular groove 259, and the forearm upper shell 252 and the forearm snap shell 254 are snap-connected. The buckle connection is fixed, and the upper shell 252 of the forearm is fixedly connected with the lower shell 253 of the forearm by bolts, so that the upper shell 252 of the forearm, the lower shell 253 of the forearm and the forearm snap shell 254 together form a relatively closed forearm inner cavity, and the first forearm connecting rod 246, the second forearm connecting rod 247, the third forearm connecting rod 248, the forearm shell bracket 249, the fourth arm bearing 240, the fifth arm bearing 241, the fourth arm bearing seat 242 and the joint output shaft 243 are located in the forearm inner cavity.

[0104] In other embodiments, Figure 36 and Figure 44 As shown, the fifth joint mechanism 190 also includes a fifth arm motor base 251, an arm output frame 260, an arm wire buckle 261, and an arm wire housing 262. The fifth arm motor is fixedly mounted within the fifth arm motor base 251. The arm output frame 260 is an L-shaped bracket structure. The end of the vertical portion 263 of the arm output frame 260, away from the horizontal portion 264, is fixedly connected to the output shaft of the fifth arm motor. The sixth arm motor base 265 of the sixth arm motor is fixedly mounted on the horizontal portion 264 of the arm output frame 260. Thus, the design of the arm output frame 260 achieves the connection between the fifth joint mechanism 190 and the sixth joint mechanism 200. Furthermore, a sixth joint limit block 266 is provided on the motor base end face of the fifth arm motor base 251 near its output shaft. When the fifth arm motor is working, the fifth arm motor drives the arm output frame 260 to rotate, and the sixth joint limit block 266 blocks the vertical portion 263 of the arm output frame 260, thereby limiting the rotation of the output shaft of the fifth arm motor to prevent the wires from being entangled. Furthermore, an arm wire pressing buckle 261 is provided on the motor tail cover of the fifth arm motor base 251. The wires of the sixth arm motor are pressed and limited by the arm wire pressing buckle 261, and are passed through the arm wire pressing buckle 261 to enter the arm housing 250 of the mechanical arm structure 189. At the same time, an arm wire pressing shell 262 is fixedly connected to the motor tail cover of the fifth arm motor base 251, shielding the arm wire pressing buckle 261 to avoid external wiring, making the mechanical arm 3 more beautiful as a whole.

[0105] In addition, if Figure 44 As shown, the sixth joint mechanism 200 further includes a sixth arm motor base 265 and a clamping claw fixing base 267. The sixth arm motor is fixedly mounted in the sixth arm motor base 265, and the sixth arm motor base 265 is disposed on the end surface of the horizontal portion 264 of the arm output frame 260 close to the fifth arm motor base 251. Meanwhile, the output shaft of the sixth arm motor passes through the horizontal portion 264 of the arm output frame 260 and is fixedly connected to the clamping claw fixing base 267, thereby fixing the clamping claw structure 4 on the clamping claw fixing base 267.

[0106] In the embodiments of this application, Figure 45 – Figure 50As shown, the clamping structure 4 includes: a clamping mounting base 268, a clamping drive motor 269, a bending and straightening mechanism 276 and two fingers 300. The clamping mounting base 268 is used for fixing the connection between the clamping structure 4 as a whole and the robotic arm 3. The clamping drive motor 269 is the driving part of the clamping structure 4, which drives the two fingers 300 to perform linear motion through the bending and straightening mechanism 276 to realize the clamping and releasing action. Specifically, the gripper structure 4 is fixedly mounted on the robotic arm 3 through the gripper mounting base 268; the motor tail cover end of the gripper drive motor 269 is fixedly mounted on the gripper mounting base 268; the curved-straightening mechanism 276 is fixedly connected to the output shaft 270 of the gripper drive motor 269, and the two fingers 300 are respectively connected to the curved-straightening mechanism 276, and the curved-straightening mechanism 276 converts the rotational motion of the output shaft 270 of the gripper drive motor 269 into linear motion of the two fingers 300. When the gripper drive motor 269 is working, the gripper drive motor 269 drives the two fingers 300 to perform opposite opening and closing movements through the curved-straightening mechanism 276, so that the gripper structure 4 performs a clamping and releasing action through the two fingers 300.

[0107] In some embodiments, as Figure 47 – Figure 50As shown, the curved-to-straight mechanism 276 includes a sheave 277, a pulley pin 281, a linear structure 282, a linear slider 291, and a finger mounting member 295. The sheave 277 is fixedly connected to the output shaft 270 of the gripper drive motor 269. Two rotating grooves 278 are symmetrically disposed on the sheave 277, with a pulley pin 281 disposed within each rotating groove 278. The linear structure 282 is fixedly connected to the motor housing 273 of the gripper drive motor 269. Two linear grooves are symmetrically disposed on the linear structure 282, with a linear slider 291 disposed within each linear groove. The sheave 277 is located in a cavity between the linear structure 282 and the gripper drive motor 269. The two pulley pins 281 disposed within the two rotating grooves 278 are each fixedly connected to one end face of a linear slider 291. The pulley pins 281 and linear slider 291 convert the rotational motion of the sheave 277 into linear motion of the linear structure 282. The other end surfaces of the two linear sliders 291 are fixedly connected to the two fingers 300 via finger mounting members 295. When the gripper drive motor 269 is in operation, the output shaft 270 of the gripper drive motor 269 drives the sheave 277 to rotate. The two pulley pins 281 slide within the two rotating grooves 278, respectively, and drive the two linear sliders 291 to move linearly along the linear grooves. The two linear sliders 291 move closer or further away from each other, thereby causing the two fingers 300 to open and close in opposite directions via the finger mounting members 295, thereby achieving the object clamping and releasing action of the gripper structure 4. In a specific embodiment, the pulley pin 281 is fixedly connected to the threaded hole at the bottom of the linear slider 291 via its own screw. The pulley pin 281 itself has a rotatable bearing, thus acting as a pulley that can rotate within the rotating groove 278 and drive the linear slider 291 to move.

[0108] In some specific embodiments, Figure 47 and Figure 48As shown, the sheave 277 is a plate structure, the middle portion of which is bolted to the output shaft 270 of the clamping jaw drive motor 269. Two rotational slots 278 are symmetrically disposed on the end surface of the sheave 277 away from the clamping jaw drive motor 269. Each rotational slot 278 is a linear slot structure, and the diameter of the pulley pin 281 matches the width of the rotational slot 278 to ensure that the pulley pin 281 can move within the rotational slot 278 along the extension direction of the rotational slot 278. In addition, the middle part of the groove wheel 277 is a circular plate structure, the diameter of which is adapted to the diameter of the output shaft 270 of the clamp drive motor 269, and is bolted fixedly connected to the end face of the output shaft 270 of the clamp drive motor 269, and the groove wheel 277 is provided with two rotating grooves 278, the two end edges of which are straight edges, and the two end edges of the groove wheel 277 are transitionally connected with the middle part of the groove wheel 277 as a whole, that is, the groove wheel 277 is a nearly elliptical plate structure, thereby ensuring the fixed installation stability of the groove wheel 277 while making the overall structure of the groove wheel 277 as small as possible.

[0109] Further, such as Figure 47 and Figure 50 As shown, a plurality of fourth mounting holes 272 are uniformly arranged at equal distances along the circumferential direction on the end face of the output shaft 270 of the clamp driving motor 269. Correspondingly, a plurality of fifth mounting holes 280 are arranged on the sheave 277, that is, a plurality of fifth mounting holes 280 are uniformly arranged at equal distances along the circumferential direction in the middle part of the sheave 277, and the plurality of fifth mounting holes 280 are respectively arranged in one-to-one correspondence with the plurality of fourth mounting holes 272. The fifth mounting holes 280 and the fourth mounting holes 272 are sequentially penetrated and fixed by bolts to realize the fixed installation of the sheave 277 on the output shaft 270 of the clamp driving motor 269. Furthermore, a plurality of third positioning through holes 279 are provided on the groove wheel 277. Correspondingly, a plurality of second positioning groove holes 271 are provided on the end face of the output shaft 270 of the clamping drive motor 269, and the plurality of second positioning groove holes 271 are respectively arranged in one-to-one correspondence with the plurality of third positioning through holes 279. The third positioning through holes 279 and the second positioning groove holes 271 are sequentially penetrated by positioning pins to realize the positioning connection between the groove wheel 277 and the output shaft 270 of the clamping drive motor 269, and improve the assembly efficiency between the two.

[0110] In other specific embodiments, Figure 47 、 Figure 49 and Figure 50As shown, the linear structure 282 includes a linear slide seat 283 and a linear slide cover 287. A linear slider 291 is disposed between the linear slide seat 283 and the linear slide cover 287 to limit and secure the linear slider 291. The linear slide seat 283 also positions the sheave 277 between the linear structure 282 and the clamping jaw drive motor 269, allowing it to rotate with the rotation of the clamping jaw drive motor 269. The linear slide seat 283 is a housing structure with one end open. The open end of the linear slide seat 283 is fixedly connected to the motor housing 273 of the clamping jaw drive motor 269. A cavity is formed between the linear slide seat 283 and the motor housing 273 for accommodating the sheave 277. The sheave 277 is located within the housing of the linear slide seat 283. At the same time, the linear slide cover 287 is fixedly connected to the end surface of the linear slide seat 283 away from the clamping jaw drive motor 269, and a setting space for the linear slider 291 is reserved between the linear slide cover 287 and the linear slide seat 283, and it is limited. In detail, two first linear slides 284 are provided on the end surface of the linear slide seat 283, and each first linear slide 284 passes through the inside and outside of the shell of the linear slide seat 283. Similarly, two second linear slides 288 are also provided on the linear slide cover 287, and each second linear slide 288 passes through the opposite end surfaces of the linear slide cover 287, and the two second linear slides 288 are respectively arranged in a one-to-one correspondence with the two first linear slides 284. When the linear slide seat 283 and the linear slide cover 287 are assembled and fixed therebetween, the linear slider 291 is clamped between the linear slide seat 283 and the linear slide cover 287, and the two ends of the linear slider 291 are respectively arranged in the first linear slide 284 and the second linear slide 288, so that the first linear slide 284 and the second linear slide 288 together constitute a horizontal linear slide, so that the linear slider 291 can only move linearly, and the two linear sliders 291 move relatively independently.

[0111] Further, such as Figure 46 and Figure 49As shown, the end face shape and size of the linear slide seat 283 are adapted to the end face shape and size of the linear slide cover 287, so that after the linear slide seat 283 and the linear slide cover 287 are assembled, the outer surfaces of the two overlap, thereby making the clamping claw structure 4 more beautiful. In addition, a plurality of first mounting holes 289 are provided at the two opposite edges of the linear slide cover 287, and correspondingly, a plurality of second mounting holes 285 are provided at the two opposite edges of the linear slide seat 283, and the plurality of second mounting holes 285 are respectively arranged in one-to-one correspondence with the plurality of first mounting holes 289. At the same time, a plurality of third mounting holes 274 are provided on the motor housing 273 of the clamping jaw drive motor 269, and the plurality of third mounting holes 274 are respectively arranged in one-to-one correspondence with the plurality of second mounting holes 285, so that the first mounting holes 289, the second mounting holes 285 and the third mounting holes 274 are sequentially penetrated and fixed by bolts, thereby realizing a fixed connection between the linear slide cover 287, the linear slide seat 283 and the motor housing 273 of the clamping jaw drive motor 269, thereby reducing the number of bolts for the overall connection of the clamping jaw structure 4.

[0112] like Figure 49 and Figure 50 As shown, the vertical cross-section of the linear slider 291 is a cross shape, the vertical cross-section of the first linear slide 284 is an inverted convex groove shape, and the vertical cross-section of the second linear slide 288 is a convex groove shape, and the two ends of the large diameter portion 292 of the linear slider 291 are respectively arranged at the large diameter portion of the first linear slide 284 and the large diameter portion of the second linear slide 288, and the two small diameter portions 293 of the linear slider 291 are respectively arranged at the small diameter portion of the first linear slide 284 and the small diameter portion of the second linear slide 288. At the same time, the small diameter width of the linear slider 291 is adapted to the small diameter width of the first linear slide 284 and the small diameter width of the second linear slide 288, and the large diameter width of the linear slider 291 is adapted to the large diameter width of the first linear slide 284 and the large diameter width of the second linear slide 288. Therefore, when the linear slide cover 287 and the linear slide seat 283 are assembled, the first linear slide 284 and the second linear slide 288 form a linear slide structure for limiting the cross-shaped linear slider 291.

[0113] like Figure 47 – Figure 50As shown, a plurality of first positioning through holes 286 are provided on the linear slide seat 283, and correspondingly, a plurality of second positioning through holes 290 are provided on the linear slide cover 287, and the plurality of second positioning through holes 290 are respectively arranged in one-to-one correspondence with the plurality of first positioning through holes 286. At the same time, a plurality of first positioning slots 275 are provided on the motor housing 273 of the clamping jaw driving motor 269, and the plurality of first positioning slots 275 are respectively arranged in one-to-one correspondence with the plurality of first positioning through holes 286, so that the second positioning through holes 290, the first positioning through holes 286 and the first positioning slots 275 are sequentially penetrated by positioning pins to realize the positioning connection between the linear slide cover 287, the linear slide seat 283 and the motor housing 273 of the clamping jaw driving motor 269.

[0114] In other embodiments, Figure 49 As shown, each finger mounting member 295 includes a slider connecting portion 296 and a finger connecting portion 298 that are integrally formed. The slider connecting portion 296 is used for fixed connection between the finger mounting member 295 and the linear slider 291, and the finger connecting portion 298 is used for fixed connection between the finger mounting member 295 and the finger 300. In detail, the slider connection part 296 and the finger connection part 298 are both rectangular structures. The slider connection part 296 is extended along the linear slide groove. The slider connection part 296 is fixedly connected to the end face of the linear slider 291 away from the linear structure 282 by bolts. At the same time, the finger connection part 298 is vertically connected to one end of the slider connection part 296. The finger 300 is fixedly connected to the inner end face of the finger connection part 298 by bolts. The finger 300 is fixedly connected to the linear slider 291 through the finger mounting part 295, so that the finger 300 can move linearly with the linear slider 291. The finger mounting part 295 is set to realize the fixed connection between the finger 300 and the curved-straightening mechanism 276. The finger 300 of the corresponding model can be replaced at will according to needs, which is more practical. Furthermore, a clamping jaw positioning block 294 is provided on the middle of the end face of the linear slider 291 away from the linear structure 282. The clamping jaw positioning block 294 is a rectangular structure. Correspondingly, a slider positioning groove 297 is provided on the end face of the slider connecting portion 296 close to the linear slider 291. The slider positioning groove 297 is provided corresponding to the clamping jaw positioning block 294, and the shape and size of the slider positioning groove 297 are equal to the shape and size of the clamping jaw positioning block 294. Therefore, by clamping the clamping jaw positioning block 294 in the slider positioning groove 297, the positioning connection between the linear slider 291 and the finger mounting member 295 is realized.

[0115] When the jaw drive motor 269 is operating, the output shaft 270 of the jaw drive motor 269 drives the sheave 277 to rotate. Because the pulley pin 281 is embedded in the rotating groove 278 of the sheave 277, as the sheave 277 rotates, the pulley pin 281 slides in the rotating groove 278, driving the linear slider 291 to move. Furthermore, because the linear slider 291 is constrained by the linear groove seat 283 and the linear groove cover 287, it can only move linearly, driving the finger mounting member 295 and the fingers 300 thereon to move linearly, thereby converting the rotational motion of the jaw drive motor 269 into the opposing opening and closing motion of the two fingers.

[0116] In the embodiment of the present application, as shown in FIG. Figures 51-54 As shown, the chassis drive structure 5 includes a chassis mid-shell 301, a chassis upper shell 304, a chassis mid-front shell 305, a chassis mid-rear shell 312, a chassis lower shell 315, a chassis skeleton assembly 316, a front left steering wheel assembly 332, a front right steering wheel assembly 334 and a rear steering wheel assembly 349. The chassis mid-shell 301, the chassis upper shell 304, the chassis mid-front shell 305, the chassis mid-rear shell 312 and the chassis lower shell 315 together constitute the shell structure of the chassis drive structure 5. The chassis frame assembly 316 is the main internal supporting structure of the chassis drive structure 5. The chassis mid-shell 301, the chassis mid-front shell 305, the chassis mid-rear shell 312 and the chassis lower shell 315 are all installed on the chassis frame assembly 316. The front left steering wheel assembly 332, the front right steering wheel assembly 334 and the rear steering wheel assembly 349 serve as the mobile drive units of the chassis drive structure 5. The three form a triangular stable structure installed below the shell structure for steering and movement of the chassis drive structure 5.

[0117] Specifically, such as Figure 52 As shown, the chassis mid-shell 301 is a shell structure with two openings along the first direction, one of the two ends along the second direction being narrower and the other being wider. The mid-shell 301 is provided with an opening at the wide end along the second direction. The chassis upper shell 304 is mounted to one of the open ends of the chassis mid-shell 301. A notch is provided in the middle portion of the chassis upper shell 304 along the second direction, with the open end of the notch facing the wide end. The notch consists of an open end and a non-open end. The mid-shell 305 is mounted to the open end of the notch at one end along the first direction, the mid-shell 305 is mounted to the open end of the notch at one end along the second direction, and the mid-shell 312 is mounted to the non-open end of the notch at one end along the second direction. The chassis lower shell 315 is installed on the other open end of the chassis middle shell 301, so that the chassis middle shell 301, the chassis upper shell 304, the chassis middle front shell 305, the chassis middle rear shell 312 and the chassis lower shell 315 are assembled together to form a relatively closed cavity. In the embodiment of the present utility model, it is an incompletely closed cavity. The cavity is not closed in order to install the three steering wheel assemblies on the chassis frame assembly 316. See below for details.

[0118] Continue to see Figure 51 and Figure 52 A rectangular protrusion 350 is provided on the side surface of the chassis frame component 316 close to the chassis upper shell 304 along the first direction, and one end of the rectangular protrusion 350 along the second direction is fixed to each other with the other end of the chassis front shell 305 along the second direction, and the other end of the rectangular protrusion 350 along the second direction is fixed to each other with the other end of the chassis rear shell 312 along the second direction. The parts of the chassis frame component 316 except the rectangular protrusion 350 are all arranged in the cavity, and the chassis outer shell 301, the chassis front shell 305, the chassis rear shell 312 and the chassis lower shell 315 are all installed on the chassis frame component 316, and the motor bearing seat of the calf component 6 in the torso structure 1 is fixedly installed on the rectangular protrusion 350.

[0119] Continue to see Figure 51 and Figure 52 One end of the front left steering wheel assembly 332 is located in the cavity and is fixedly connected to one end of the chassis frame assembly 316 along the third direction, the other end of the front left steering wheel assembly 332 is located outside the cavity, one end of the front right steering wheel assembly 334 is located in the cavity and is fixedly connected to the other end of the chassis frame assembly 316 along the third direction, the other end of the front right steering wheel assembly 334 is located outside the cavity, one end of the rear steering wheel assembly 349 is located in the cavity and is fixedly connected to one end of the chassis frame assembly 316 away from the wide end along the second direction, the other end of the rear steering wheel assembly 349 is located outside the cavity, and the positions of the front left steering wheel assembly 332, the front right steering wheel assembly 334 and the rear steering wheel assembly 349 form a triangle, which can ensure that the three steering wheel assemblies can land stably at the same time and move flexibly.

[0120] In summary, the chassis drive structure 5 provided by the embodiment of the present invention includes a chassis mid-shell 301, a chassis upper shell 304, a chassis mid-front shell 305, a chassis mid-rear shell 312, a chassis lower shell 315, a chassis skeleton assembly 316, a front left steering wheel assembly 332, a front right steering wheel assembly 334 and a rear steering wheel assembly 349. The chassis mid-shell 301 is a shell structure with two openings along the first direction, one of the two ends along the second direction is narrow and the other end is wide, and the wide end of the chassis mid-shell 301 along the second direction is provided with an opening; the chassis upper shell 304 is installed at one of the open ends of the chassis mid-shell 301, and the chassis upper shell 304 is provided with a plurality of openings. A notch is provided in the middle portion along the second direction, and the open end of the notch faces the wide end; one end of the front shell 305 in the chassis along the first direction is mounted on the open end of the notch, and one end of the front shell 305 in the chassis along the second direction is mounted on the open end of the wide end; one end of the rear shell 312 in the chassis along the second direction is mounted on the non-open end of the notch; the lower chassis shell 315 is mounted on the other open end of the chassis shell, and the chassis shell 301, the upper chassis shell 304, the front chassis shell 305, the rear chassis shell 312 and the lower chassis shell 315 are assembled to form a relatively closed cavity; the chassis frame assembly 316 is close to the side of the upper chassis shell 304 along the first direction. A rectangular protrusion 350 is provided on the surface, one end of the rectangular protrusion 350 along the second direction is fixed to each other with the other end of the chassis front shell 305 along the second direction, and the other end of the rectangular protrusion 350 along the second direction is fixed to each other with the other end of the chassis rear shell 312 along the second direction. The chassis frame assembly 316 except the rectangular protrusion 350 is arranged in the cavity, and the chassis outer shell 301, the chassis front shell 305, the chassis rear shell 312 and the chassis lower shell 315 are all installed on the chassis frame assembly 316; one end of the front left steering wheel assembly 332 is located in the cavity and is fixed to one end of the chassis frame assembly 316 along the third direction The other end of the front left steering wheel assembly 332 is located outside the cavity; one end of the front right steering wheel assembly 334 is located in the cavity and is fixedly connected to the other end of the chassis frame assembly 316 along the third direction, and the other end of the front right steering wheel assembly 334 is located outside the cavity; one end of the rear steering wheel assembly 349 is located in the cavity and is fixedly connected to the end of the chassis frame assembly 316 along the second direction away from the wide end, and the other end of the rear steering wheel assembly 349 is located outside the cavity, and the positions of the front left steering wheel assembly 332, the front right steering wheel assembly 334 and the rear steering wheel assembly 349 form a triangle; wherein the first direction, the second direction and the third direction are perpendicular to each other.Since the chassis middle shell 301 is a shell structure with one end being narrow and the other end being wide along the second direction, the entire chassis driving structure 5 forms a compact structure similar to a triangle, and since the chassis upper shell 304 is installed on the chassis middle shell 301, the chassis middle shell 301, the chassis middle front shell 305, the chassis middle rear shell 312 and the chassis lower shell 315 are all installed on the chassis frame assembly 316. Therefore, when maintenance and inspection are required during the test process, it is only necessary to remove the chassis upper shell 304 from the chassis middle shell 301, and then remove the chassis middle shell 301, the chassis middle front shell 305 and the chassis middle rear shell 312 from the chassis frame assembly 316, and then perform maintenance and inspection on its internal structure. It can be seen that the chassis driving structure 5 provided by the embodiment of the present utility model has a compact structure and is easy to disassemble, which is convenient for maintenance and inspection during the test process, and greatly improves the efficiency of maintenance work.

[0121] Continue to see Figure 52-54 The chassis frame assembly 316 provided by the embodiment of the present invention includes a chassis frame upper panel 317, a chassis frame middle panel 318, a chassis frame lower panel 326, a middle panel left support frame 327, a middle panel right support frame 328, a panel rear support plate 329, a panel left support plate 330, and a panel right support plate 331. The chassis frame upper panel 317, the chassis frame middle panel 318, and the chassis frame lower panel 326 are sequentially arranged along the first direction. Figure 52 The narrow end of the chassis mid-shell 301 is provided with an upper panel mounting bracket 302. The chassis frame upper panel 317 is mounted to the upper panel mounting bracket 302, which can be screwed. Thus, by providing the upper panel mounting bracket 302 on the narrow end of the chassis mid-shell 301, the chassis frame upper panel 317 is mounted to the chassis mid-shell 301.

[0122] Continue to see Figure 52 The chassis upper shell 304 is installed on one of the open ends of the chassis middle shell 301 in the following manner: the chassis upper shell 304 is installed on the chassis frame upper panel 317 along one side surface of the first direction, and the installation method can be screw connection.

[0123] Continue to see Figure 52The chassis lower shell 315 is a shell structure with one end open along the first direction, and the chassis frame middle panel 318 is installed at the open end of the chassis lower shell 315. A specific installation method can be: the chassis frame middle panel 318 is provided with a plurality of first threaded holes, and the shell structure at the open end of the chassis lower shell 315 is correspondingly provided with a plurality of mounting posts, each mounting post having an internal thread. The chassis frame middle panel 318 is screwed to the chassis lower shell 315 via the first threaded holes and the mounting posts. For example, the number of first threaded holes is at least two. Thus, by installing the chassis frame middle panel 318 at the open end of the chassis lower shell 315, the chassis lower shell 315 is installed on the chassis frame assembly 316.

[0124] Continue to see Figure 52 and Figure 53 The panel rear support plate 329, the panel left support plate 330, and the panel right support plate 331 are each mounted on the chassis frame upper panel 317 at one end and on the chassis frame lower panel 326 at the other end, for supporting the three chassis frame panels. Specifically, the panel rear support plate 329 extends along a first direction and is close to the rear steering wheel assembly 349, and the panel rear support plate 329 has two ends along the first direction connected to the chassis frame upper panel 317 and the chassis frame lower panel 326, respectively. The panel left support plate 330 extends along a first direction and is close to the front left steering wheel assembly 332, and the panel left support plate 330 has two ends along the first direction connected to the chassis frame upper panel 317 and the chassis frame lower panel 326, respectively. The panel right support plate 331 extends along a first direction and is close to the front right steering wheel assembly 334, and the panel right support plate 331 has two ends along the first direction connected to the chassis frame upper panel 317 and the chassis frame lower panel 326, respectively, wherein the connection method can be screw connection.

[0125] Continue to see Figure 53The middle panel 318 of the chassis frame includes a front left steering wheel assembly mounting plate 319, a front right steering wheel assembly mounting plate 320 and a rear steering wheel assembly mounting plate 322. One end of the middle panel left support frame 327 is fixedly mounted on a side surface of the chassis frame upper panel 317 close to the front left steering wheel assembly 332, and the other end of the middle panel left support frame 327 is fixedly mounted on the front left steering wheel assembly mounting plate 319. One end of the middle panel right support frame 328 is fixedly mounted on a side surface of the chassis frame upper panel 317 close to the front right steering wheel assembly 334, and the other end of the middle panel right support frame 328 is fixedly mounted on the front right steering wheel assembly mounting plate 320, wherein the connection method can be a screw connection. That is to say, the front left steering wheel assembly mounting plate 319 is installed on the upper panel 317 of the chassis frame through the middle panel left support frame 327, and the front right steering wheel assembly mounting plate 320 is installed on the upper panel 317 of the chassis frame through the middle panel right support frame 328. The specific forms of the middle panel left support frame 327 and the middle panel right support frame 328 can be set according to actual conditions. In the embodiment of the present utility model, the middle panel left support frame 327 and the middle panel right support frame 328 are both L-shaped support frames.

[0126] Continue to see Figure 53 and Figure 54 One end of the rear steering wheel assembly mounting plate 322, which is located near the rear steering wheel assembly 349 along the second direction, is fixedly mounted on the panel rear support plate 329. The two ends of the rear steering wheel assembly mounting plate 322, which are located along the third direction, are respectively connected to the front left steering wheel assembly 332 and the front right steering wheel assembly 334. The connection method may be screw connection.

[0127] Continue to see Figure 54The specific form of the rear steering wheel assembly mounting plate 322 can be set according to actual conditions. In the embodiment of the present invention, the rear steering wheel assembly mounting plate 322 has a symmetrical structure and includes a steering wheel mounting plate 323 and a left bracket 324 and a right bracket 325 extending from either side of the steering wheel mounting plate 323 toward the front left steering wheel assembly 332 and the front right steering wheel assembly 334, respectively. One end of the steering wheel mounting plate 323 along the second direction is mounted to the panel rear support plate 329, the left bracket 324 is mounted to the front left steering wheel assembly 332, and the right bracket 325 is mounted to the front right steering wheel assembly 334. The rear steering wheel assembly 349 is mounted to the steering wheel mounting plate 323. The mounting method can be screw connection. Therefore, by setting the panel rear support plate 329, the panel left support plate 330 and the panel right support plate 331, each of which is installed on the chassis frame upper panel 317 at one end and installed on the chassis frame lower panel 326 at the other end, and the rear steering wheel assembly mounting plate 322 is fixedly installed on the panel rear support plate 329 at one end close to the rear steering wheel assembly 349 along the second direction, the purpose of supporting the three chassis frame panels is achieved, and the front left steering wheel assembly mounting plate 319 is installed on the chassis frame upper panel 317 through the middle panel left support frame 327, and the front right steering wheel assembly mounting plate 320 is installed on the chassis frame upper panel 317 through the middle panel right support frame 328.

[0128] Continue to see Figure 52 The narrow end of the chassis middle housing 301 near the chassis upper housing 304 is mounted to the chassis frame upper panel 317. Specifically, a mounting bar 303 is provided on the edge of the chassis middle housing 301 near the narrow end of the chassis upper housing 304. The mounting bar 303 is provided with multiple second threaded holes. The chassis frame upper panel 317 is provided with multiple third threaded holes corresponding to the second threaded holes. The mounting bar 303 is screwed to the chassis frame upper panel 317 through the second and third threaded holes. The number of second and third threaded holes is four. The wide end of the chassis middle shell 301 close to the chassis upper shell 304 is installed on the chassis middle front shell 305. Specifically, two fourth threaded holes are provided on the inner wall of the wide end of the chassis middle shell 301 close to the chassis upper shell 304, and the inner wall of the chassis middle front shell 305 is provided with fifth threaded holes 311 corresponding to the two fourth threaded holes one by one. The wide end of the chassis middle shell 301 close to the chassis upper shell 304 is screwed to the chassis middle front shell 305 through the fourth threaded holes and the fifth threaded holes.

[0129] Continue to see Figure 52-54The two sides of the opening at the wide end of the chassis middle shell 301 away from the chassis upper shell 304 are respectively connected to the front left steering wheel assembly mounting plate 319 and the front right steering wheel assembly mounting plate 320. Specifically, two sixth threaded holes and two seventh threaded holes are respectively provided on the housing on both sides of the opening at the wide end of the chassis middle shell 301 away from the chassis upper shell 304. The front left steering wheel assembly mounting plate 319 is provided with two eighth threaded holes corresponding one-to-one with the two sixth threaded holes, and the front right steering wheel assembly mounting plate 320 is provided with two ninth threaded holes corresponding one-to-one with the two seventh threaded holes. The housing on both sides of the opening at the wide end of the chassis middle shell 301 away from the chassis upper shell 304 is respectively bolted to the front left steering wheel assembly mounting plate 319 through the sixth threaded holes and the eighth threaded holes, and is respectively bolted to the front right steering wheel assembly mounting plate 320 through the seventh threaded holes and the ninth threaded holes 321. Thus, the chassis mid-shell 301 is connected to the chassis mid-front shell 305, the front left steering wheel assembly mounting plate 319 and the front right steering wheel assembly mounting plate 320 by installing the narrow end of the chassis mid-shell 301 close to the chassis upper shell 304 on the chassis frame upper panel 317, installing the wide end of the chassis mid-shell 301 close to the chassis upper shell 304 on the chassis mid-front shell 305, and connecting the two sides of the opening of the wide end of the chassis mid-shell 301 away from the chassis upper shell 304 to the front left steering wheel assembly mounting plate 319 and the front right steering wheel assembly mounting plate 320 respectively.

[0130] Continue to see Figure 52 The chassis mid-rear housing 312 includes a gate-shaped bottom plate 313 and an outer support plate 314 extending in a first direction along the outer edge of the gate-shaped bottom plate. One side surface of the gate-shaped bottom plate 313 along the first direction is fixedly mounted to the upper chassis frame upper panel 317. The inner edge of the gate-shaped bottom plate 313 abuts against and secures the other end of the rectangular protrusion 350 along the second direction. The outer edge of the outer support plate 314, near the outer edge of the chassis upper housing 304, abuts against and secures the housing structure of the chassis upper housing 304 at the non-open end. Thus, the rear shell 312 of the chassis is installed on the upper panel 317 of the chassis frame by fixing the side surface of the door-shaped bottom plate 313 along the first direction on the upper chassis frame, the inner edge of the door-shaped bottom plate 313 and the other end of the rectangular protrusion 350 along the second direction are fixed in contact with each other, and the outer edge of the outer support plate 314 close to the chassis upper shell 304 is fixed in contact with the shell structure of the chassis upper shell 304 at the non-open end.

[0131] Continue to see Figure 52In the case where the rear shell 312 of the chassis includes a gate-shaped bottom plate 313 and an outer support plate 314 extending in the first direction along the outer edge of the gate-shaped bottom plate, the front shell 305 of the chassis includes a sloped fixing plate 306, a right support plate 307, and a left support plate 308 with a certain inclination. The two ends of the sloped fixing plate 306 along the third direction are respectively connected to the right support plate 307 and the left support plate 308, and the left support plate 308 and the right support plate 307 are both extended in the second direction. The sloped fixing plate 306 is a panel with a certain inclination. The purpose of providing the inclination is to allow the trunk of the robot to be accommodated here when it is bent. The inclination of the sloped fixing plate 306 needs to be determined according to actual conditions. Therefore, by providing the sloped fixing plate 306 with a certain inclination, it is convenient for the trunk of the robot to be accommodated here when it is bent. One end of the left support plate 308 along the first direction is mounted on the chassis frame upper panel 317, and the other end of the left support plate 308 along the first direction is mounted on the front left steering wheel assembly mounting plate 319. Specifically, at least two tenth threaded holes 309 are provided on one end of the left support plate 308 along the first direction, and at least two eleventh threaded holes are provided on the chassis frame upper panel 317 corresponding one-to-one to the at least two tenth threaded holes 309. The one end of the left support plate 308 along the first direction is bolted to the chassis frame upper panel 317 via the tenth and eleventh threaded holes. The other end of the left support plate 308 along the first direction is bolted to the front left steering wheel assembly mounting plate 319 via the twelfth and thirteenth threaded holes. One end of the right support plate 307 along the first direction is installed on the upper panel 317 of the chassis frame, and the other end of the right support plate 307 along the first direction is connected to the front right steering wheel assembly mounting plate 320. The installation method of the right support plate 307 is the same as that of the left support plate 308. For details, please refer to the relevant description of the left support plate 308, which will not be repeated here.

[0132] Continue to see Figure 52The upslope end of the slope fixing plate 306 is provided with a rectangular notch. The rectangular notch and one end of the rectangular protrusion 350 along the second direction are mutually abutted and fixed. Both sides of the rectangular notch at the upslope end are mutually abutted and fixed with the gate-shaped bottom plate 313. The downslope end of the slope fixing plate 306 is mutually abutted and fixed with the chassis lower shell 315. One end of the left support plate 308 along the second direction is mutually abutted and fixed with the outer support plate 314. The other end of the left support plate 308 along the second direction extends beyond the slope fixing plate 306 and is mutually abutted and fixed with the shell structure on one side of the wide end opening of the chassis shell 301. One end of the right support plate 307 along the second direction is mutually abutted and fixed with the outer support plate 314. The other end of the right support plate 307 along the second direction extends beyond the slope fixing plate 306 and is mutually abutted and fixed with the shell structure on the other side of the wide end opening of the chassis shell 301.

[0133] Continue to see Figure 52 and Figure 54The structure of each steering wheel assembly is the same. Here, the front right steering wheel assembly 334 is used as an example for explanation. The front right steering wheel assembly 334 includes a limit block 335 and a steering motor 336, a steering motor support plate 337, a hub motor support plate 341 and a hub motor assembly 342 arranged in sequence along the first direction. The end portion of the steering motor support plate 337 on one side along the second direction is mounted on the stator of the steering motor 336, and the end portion of the steering motor support plate 337 on the other side along the second direction is mounted on the corresponding panel support plate, here the right panel support plate 331, wherein the connection method can be screw connection. Thus, each steering wheel assembly is screwed to the corresponding panel support plate through the steering motor support plate 337, so that each steering wheel assembly has a unified threaded mounting port, which is convenient for replacement and maintenance. The in-wheel motor support plate 341 is mounted to the rotor of the steering motor 336. The in-wheel motor assembly 342 is mounted to the in-wheel motor support plate 341. A stopper 335 is mounted to the end of the in-wheel motor support plate 341 that is closer to the stator along the second direction. The steering motor support plate 337 limits the rotation range of the stopper 335. The connection method can be a screw connection. During use, the steering motor 336 drives the rotor to rotate, and the rotor drives the in-wheel motor assembly 342 to rotate via the in-wheel motor support plate 341. The steering motor support plate 337 limits the rotation range of the stopper 335. Specifically, the steering motor support plate 337 includes a stator fixing ring 338 and a limit plate 339, which are sequentially arranged along the second direction. The stator fixing ring 338 is mounted on the stator. Two limit portions 340 extend outward along the second direction on either side of the connection between the limit plate 339 and the stator fixing ring 338. When the limit block 335 rotates to a first limit position with the steering motor 336, the limit block 335 abuts one of the two limit portions 340. When the limit block 335 rotates to a second limit position with the steering motor 336, the limit block 335 abuts the other of the two limit portions 340. Therefore, the limit block 335 functions to limit the rotation range of the hub motor assembly 342, preventing the hub motor assembly 342 from rotating excessively and breaking its wiring harness. In addition, each steering wheel assembly realizes the limiting function through the steering motor support plate 337 and the limiting block 335, without the need for an external structure to limit the position, and without sacrificing external space to install the limiting structure, making the limiting structure simple and compact.

[0134] Continue to see Figure 52 and Figure 54The hub motor assembly 342 includes a hub motor 343, a hub motor cover 345, a hub motor base 346, a gasket 347, and a nut 348. One end of the hub motor cover 345 along the first direction is fixedly mounted to the hub motor support plate 341, and the other end of the hub motor cover 345 along the first direction is fixedly mounted to the hub motor base 346. The fixing method can be screw mounting. The other end of the hub motor cover 345 along the first direction is provided with a notch for mounting the first hub motor output shaft. The fixing method can be screw connection. A second hub motor output shaft mounting notch is provided at one end of the hub motor base 346, located along the first direction and proximal to the hub motor cover 345. The hub motor output shaft mounting hole formed by the first and second hub motor output shaft mounting notches clamps the output shaft 344 of the hub motor 343. A gasket 347 is sleeved around the outer circumference of the output shaft 344, and a nut 348 is tightened onto the output shaft 344, pressing the gasket 347 against the hub motor cover 345. The hub motor 343 can rotate about the output shaft 344. Thus, by sleeved the gasket 347 around the outer circumference of the output shaft 344, tightened the nut 348 onto the output shaft 344, and pressing the gasket 347 against the hub motor cover 345, the hub motor 343 is mounted on the hub motor cover 345, allowing the hub motor support plate 341 to drive the hub motor 343 to rotate via the hub motor cover 345. Therefore, each steering wheel assembly can provide steering power to achieve its own rotation by setting a steering motor 336, and can provide driving power to achieve its own movement by setting a hub motor 343. Through the cooperation of the two, its own steering and movement can be achieved.

[0135] Continue to see Figures 52-54One end of the steering motor support plate of the front left steering wheel assembly 332 along the third direction is mounted on the front left steering wheel assembly mounting plate 319, and the other end of the steering motor support plate of the front left steering wheel assembly 332 along the third direction is mounted on the end of the rear steering wheel assembly mounting plate 322 near the left panel support plate 330. Specifically, two fourteenth threaded holes are defined on one end of the steering motor support plate of the front left steering wheel assembly 332 along the third direction, and two fifteenth threaded holes are defined on the front left steering wheel assembly mounting plate 319 corresponding to the two fourteenth threaded holes. The end of the steering motor support plate of the front left steering wheel assembly 332 along the third direction is bolted to the front left steering wheel assembly mounting plate 319 via the fourteenth and fifteenth threaded holes. The other end of the steering motor support plate of the front left steering wheel assembly 332, along the third direction, is provided with two sixteenth threaded holes 333. The end of the rear steering wheel assembly mounting plate 322, near the left panel support plate 330, is provided with two seventeenth threaded holes, corresponding one to the two sixteenth threaded holes 333. The other end of the steering motor support plate of the front left steering wheel assembly 332, along the third direction, is bolted to the end of the rear steering wheel assembly mounting plate 322, near the left panel support plate 330, via the sixteenth and seventeenth threaded holes 333. One end of the steering motor support plate of the front right steering wheel assembly 334, along the third direction, is mounted to the front right steering wheel assembly mounting plate 320. The other end of the steering motor support plate of the front right steering wheel assembly 334, along the third direction, is mounted to the end of the rear steering wheel assembly mounting plate 322, near the right panel support plate 331. The steering motor support plate of the rear steering wheel assembly 349 is mounted to the end of the rear steering wheel assembly mounting plate 322, near the rear panel support plate 329. The steering motor support plates of the front right steering wheel assembly 334 and the rear steering wheel assembly 349 are installed in the same manner as the steering motor support plates of the front left steering wheel assembly 332. For details, please refer to the description of the steering motor support plates of the front left steering wheel assembly 332, which will not be repeated here. Thus, the three steering wheel assemblies are respectively mounted on the chassis frame assembly 316 via the three steering motor support plates. Since each steering wheel assembly can provide steering power and drive power, the three steering wheel assemblies can achieve steering and flexible movement of the chassis drive structure 5.

[0136] It should be noted that the bearing model and the structural size of each component in this application can be selected and set accordingly according to the overall structural stability and strength of the robot to ensure the stability of the overall structure of the robot and the structural stability of the robot during movement, and there is no restriction on this.

[0137] In summary, the present application discloses a robot whose trunk structure has multiple degrees of freedom, which can flexibly control the activities of each joint and perform different actions, and the overall weight of the robot trunk structure is relatively light and the cost is low. At the same time, the robot trunk structure adopts wiring inside the shell, which makes the overall structure more beautiful. The overall structure of the head structure is compact and easy to disassemble, which is convenient for maintenance and inspection during the test process, greatly improving the efficiency of maintenance work. The robot arm can realize multi-degree-of-freedom rotation of the robot arm through the arrangement of multiple joint mechanisms and large and small arms, and the end weight is relatively light, which increases the end load. The gripper structure converts the rotational motion of the motor into linear motion, so that it has large torque while being as small as possible, and its reliability is high. In addition, the chassis structure of the entire robot forms a compact structure similar to a triangle, and since the upper chassis shell is installed on the middle chassis shell, the middle chassis shell, the front chassis shell, the rear chassis shell and the lower chassis shell are all installed on the chassis frame assembly. Therefore, when maintenance and inspection are required during the test process, it is only necessary to remove the upper chassis shell from the middle chassis shell, and then remove the middle chassis shell, the front chassis shell and the rear chassis shell from the chassis frame assembly, and maintain and inspect its internal structure. The overall structure of the chassis structure is compact and easy to disassemble, which is convenient for maintenance and inspection during the test process, greatly improving the efficiency of maintenance work.

[0138] Those skilled in the art will understand that the drawings are merely schematic diagrams of one embodiment, and that the components shown in the drawings are not necessarily essential to the practice of the present invention. It should also be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it need not be further defined or explained in subsequent drawings.

[0139] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be a communication between the two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to the specific circumstances. In addition, in the description of the embodiments of the present application, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model.

[0140] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the above-described embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-described embodiments within the technical scope disclosed by the present invention, or replace some of the technical features therein with equivalents. Such modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection described in the claims.

Claims

1. A robot, characterized in that: include: Torso structure, head structure, robotic arm, gripper structure and chassis drive structure; The torso structure includes a calf assembly, a thigh assembly and a thorax assembly; the calf assembly includes a first torso motor, and the calf assembly is rotatably connected to the robot chassis structure through the first torso motor. When the first torso motor is working, the first torso motor drives the calf assembly to rotate relative to the robot chassis structure around the output shaft of the first torso motor within a plane formed by a first direction and a second direction; the thigh assembly includes a second torso motor, and the thigh assembly is rotatably connected to the calf assembly through the second torso motor. When the second torso motor is working, the second torso motor drives the thigh assembly to rotate relative to the calf assembly around the output shaft of the second torso motor within a plane formed by the first direction and the second direction; the thorax assembly includes a third torso motor, a third torso motor seat, a fourth torso motor and a fourth torso motor seat. The third torso motor is arranged in the third torso motor seat, and the output shaft of the third torso motor is rotatably connected to the thigh assembly. The fourth torso motor seat is fixedly connected to the third torso motor On the outer surface of the seat, the fourth torso motor is arranged on the fourth torso motor seat, and the output shaft of the fourth torso motor is rotatably connected to the fourth torso motor seat. The chest assembly is rotatably connected to the thigh assembly through the third torso motor and the fourth torso motor. When the third torso motor is working, the third torso motor drives the chest assembly to rotate relative to the thigh assembly around the output shaft of the third torso motor within the plane formed by the first direction and the second direction. When the fourth torso motor is working, the fourth torso motor drives the chest assembly to rotate relative to the thigh assembly around the output shaft of the fourth torso motor within the plane formed by the second direction and the third direction. The head structure is arranged at the middle of the end of the chest assembly away from the thigh assembly, and the end of the chest assembly away from the thigh assembly is respectively provided with a said mechanical arm, and the end of each said mechanical arm is fixedly mounted with a said clamping structure. The end of the calf assembly away from the thigh assembly is fixedly connected to the chassis drive structure. The first direction is a direction perpendicular to the ground, and the first direction, the second direction and the third direction are perpendicular to each other.

2. The robot according to claim 1, characterized in that The calf assembly also includes a first torso motor seat, a first torso bearing, a first torso bearing seat, a calf output connecting rod, a calf auxiliary connecting rod, a calf connecting support rod, a second torso motor seat and a calf shell; the first torso motor seat is provided with a plurality of mounting ears at one end close to the robot chassis structure, each of the mounting ears extending in a direction away from the first torso motor seat within a plane formed by the second direction and the third direction, and the first torso motor seat is fixedly connected to the robot chassis structure by a plurality of the mounting ear bolts; the first torso motor is installed on the first torso motor seat, the output shaft of the first torso motor extends along the third direction, and the output shaft and motor tail cover of the first torso motor are both passed through to the outside of the first torso motor seat; the first torso bearing is passed through The first torso bearing seat is arranged on the first torso motor seat and is located at one end of the motor tail cover of the first torso motor; the first torso motor seat and the first torso bearing seat are fixedly connected to the chassis drive structure; the first end of the calf output connecting rod is fixedly connected to the output shaft of the first torso motor, and the first end of the calf auxiliary connecting rod is rotatably connected to the first torso motor seat through the first torso bearing, and the second end of the calf output connecting rod and the second end of the calf auxiliary connecting rod are respectively fixedly connected to the two ends of the second torso motor seat; the two ends of the calf connecting support rod along the third direction are respectively fixedly connected to the calf output connecting rod and the calf auxiliary connecting rod; a calf shell is respectively provided on the outer surface of the calf output connecting rod and the calf auxiliary connecting rod; The thigh assembly also includes a second torso bearing, a thigh output connecting rod, a thigh auxiliary connecting rod, a thigh connecting support rod and a thigh shell; the second torso motor is installed on the second torso motor seat, the output shaft of the second torso motor extends along the third direction, and the output shaft and the motor tail cover of the second torso motor are both passed through the outside of the second torso motor seat; the second torso bearing is arranged in the second torso motor seat and is located at one end of the motor tail cover of the second torso motor; the first end of the thigh output connecting rod is fixedly connected to the output shaft of the second torso motor, the first end of the thigh auxiliary connecting rod is rotatably connected to the second torso motor seat through the second torso bearing, the second end of the thigh output connecting rod and the second end of the thigh auxiliary connecting rod are respectively rotatably connected to the thorax assembly; the two ends of the thigh connecting support rod along the third direction are respectively fixedly connected to the thigh output connecting rod and the thigh auxiliary connecting rod; a thigh shell is respectively provided on the outer surface of the thigh output connecting rod and the thigh auxiliary connecting rod; The chest assembly also includes a third torso bearing, a chest support, a left arm mounting base, a right arm mounting base, a host mounting frame, a controller mounting frame, a head mounting base and a chest shell; the third torso bearing is arranged in the third torso motor seat and is located at one end of the motor tail cover of the third torso motor, and the end of the thigh assembly close to the chest assembly is rotatably connected to the third torso motor seat through the third torso bearing and the third torso motor; one end of the chest support along the first direction is fixedly connected to the stator of the fourth torso motor; the head mounting base is arranged at the other end of the chest support along the first direction for mounting the head structure; the left arm mounting base and the right arm mounting base are respectively They are arranged at both ends of the chest support along the third direction, and are both located at one end of the chest support along the first direction close to the head mounting base, and one of the robotic arms is fixedly connected to the left arm mounting base and the right arm mounting base respectively; the host mounting frame and the controller mounting frame are both arranged in the middle of the chest support along the first direction, the host mounting frame is used to install the PC host, and the controller mounting frame is used to install the robot controller; the chest shell is fixedly connected to the chest support, and the fourth torso motor, the chest support, the left arm mounting base, the right arm mounting base, the host mounting frame, the controller mounting frame and the head mounting base are all placed in the chest shell.

3. The robot according to claim 1, characterized in that The head structure includes a head middle shell, a head front shell, a head back shell, a head skeleton assembly, a camera and a neck shell; The head middle shell is a shell structure with openings at both ends along the second direction, and a neck opening is provided on one side surface of the head middle shell along the first direction; the head front shell is installed at one of the open ends of the head middle shell; the head back shell is installed at the other open end of the head middle shell, and the head front shell, the head middle shell and the head back shell are assembled to form a relatively closed cavity; the head frame assembly passes through the neck opening, one end of the head frame assembly is located in the cavity and fixedly connected to the inner surface of the head middle shell, and the other end of the head frame assembly is located outside the cavity and fixedly connected to the middle part of the end of the chest assembly away from the thigh assembly; at least one camera is provided on the end of the head frame assembly located in the cavity, the head front shell is provided with a visual port corresponding to the camera, and the lens of the camera is provided in the visual port; the neck shell is a tubular structure with openings at both ends along the first direction, one end of the neck shell is provided at the neck opening, and the end of the head frame assembly located outside the cavity is accommodated in the neck shell.

4. The robot according to claim 3, characterized in that The head frame assembly includes a head support frame plate, a head connection frame plate and a connection support member; the two ends of the connection support member are respectively connected to the head support frame plate and the head connection frame plate, and the connection support member passes through the neck opening; the head support frame plate is located in the cavity, and the head support frame plate is extended along the third direction, and the two ends of the head support frame plate along the third direction are respectively fixedly connected to the inner surface of the head middle shell, and the camera is arranged on a side surface of the head support frame plate close to the head front shell; The head connection skeleton plate is located outside the cavity, and the head connection skeleton plate is arranged parallel to the plane formed by the second direction and the third direction. The head structure is fixedly connected to the torso of the robot through the head connection skeleton plate.

5. The robot according to claim 1, characterized in that The robotic arm includes a robotic arm base, a robotic arm control panel, a first joint mechanism, a second joint mechanism, a robotic arm structure, a third joint mechanism, a fourth joint mechanism, a robotic arm structure, a fifth joint mechanism, and a sixth joint mechanism; The robotic arm control board is arranged in the robotic arm base, the robotic arm is fixedly connected to the robot torso through the robotic arm base, the robotic arm structure is connected to the robotic arm base through the second joint mechanism and the first joint mechanism, the robotic arm structure is connected to the robotic arm structure through the fourth joint mechanism and the third joint mechanism, and the fifth joint mechanism and the sixth joint mechanism are arranged at the end of the robotic arm structure, the robotic arm structure is connected to the clamping claw structure through the fifth joint mechanism and the sixth joint mechanism; wherein, the first joint mechanism includes a first arm motor, the second joint mechanism includes a second arm motor, The first arm motor is fixedly installed on the robot arm base, and the output shaft of the first arm motor is fixedly connected to the second joint mechanism, and the output shaft of the second arm motor is fixedly connected to the robot arm structure; when the first arm motor is working, the first arm motor drives the robot arm to rotate along the central axis perpendicular to the robot arm base; when the second arm motor is working, the second arm motor drives the robot arm structure to rotate along the central axis of the output shaft of the second arm motor, and the central axis of the output shaft of the second arm motor is perpendicular to the central axis of the robot arm base; the third joint mechanism includes a third arm motor, and the fourth joint mechanism It includes a fourth arm motor, the third arm motor is fixedly arranged at the end of the mechanical big arm structure, and the output shaft of the third arm motor is fixedly connected to the fourth joint mechanism, and the output shaft of the fourth arm motor is fixedly connected to the mechanical small arm structure; when the third arm motor is working, the third arm motor drives the mechanical small arm structure to rotate along the central axis of the output shaft of the third arm motor, and the central axis of the output shaft of the third arm motor is parallel to the central axis of the output shaft of the second arm motor; when the fourth arm motor is working, the fourth arm motor drives the mechanical small arm structure to rotate along the central axis of the output shaft of the fourth arm motor, and the fourth The central axis of the output shaft of the arm motor is perpendicular to the central axis of the output shaft of the third arm motor; the fifth joint mechanism includes a fifth arm motor, and the sixth joint mechanism includes a sixth arm motor. The fifth arm motor is fixedly arranged at the end of the mechanical forearm structure, and the output shaft of the fifth arm motor is fixedly connected to the sixth joint mechanism, and the output shaft of the sixth arm motor is fixedly connected to the clamping structure; when the fifth arm motor is working, the fifth arm motor drives the clamping structure to rotate along the central axis of the output shaft of the fifth arm motor, and the central axis of the output shaft of the fifth arm motor is perpendicular to the central axis of the output shaft of the fourth arm motor;When the sixth arm motor is in operation, the sixth arm motor drives the gripper structure to rotate along the central axis of the output shaft of the sixth arm motor, and the central axis of the output shaft of the sixth arm motor is perpendicular to the central axis of the output shaft of the fifth arm motor. The robot arm control board is electrically connected to the first arm motor, the second arm motor, the third arm motor, the fourth arm motor, the fifth arm motor, and the sixth arm motor, respectively.

6. The robot according to claim 5, characterized in that The first joint mechanism also includes a first arm bearing, a first arm bearing seat, a base shell, a first joint output member and a second joint output member; the base shell is fixedly mounted on the robotic arm base, and the first arm motor and the robotic arm control board are arranged in the base shell; the first arm bearing is fixedly mounted on the first arm motor through the first arm bearing seat; the first joint output member is fixedly mounted on the output shaft of the first arm motor, and a first joint connecting part is provided in the middle of the first joint output member, and the two ends of the first joint connecting part extend in a direction perpendicular to the first joint output member and respectively in a direction away from the first joint output member, and the first joint connecting part is provided with a first joint mounting hole running through its opposite end surfaces; the second joint output member is rotatably connected to the first joint output member through the first arm bearing. The base shell is away from the open end of the robotic arm base, and a second joint mounting hole that penetrates the second joint output member is provided in the middle of the second joint output member, the second joint mounting hole is arranged corresponding to the first joint mounting hole, and the end surface of the second joint output member located outside the base shell is fixedly connected to the second arm motor seat of the second arm motor; one end of the first joint connecting part close to the first arm motor is inserted into the output shaft of the first arm motor, and the other end of the first joint connecting part away from the first arm motor is inserted into the middle of the second joint output member, and the second joint mounting hole and the first joint mounting hole are sequentially penetrated by bolts, and are fixedly connected to the output shaft of the first arm motor, and the second joint output member, the first joint output member and the output shaft of the first arm motor are fixedly connected; The second joint mechanism also includes a second arm bearing, a second arm motor seat and a second arm bearing seat; the second arm motor is arranged in the second arm motor seat, the second arm bearing is arranged in the second arm bearing seat, the second arm motor seat and the second arm bearing seat are fixedly arranged in a docking relationship, and the second arm motor seat and the second arm bearing seat are both fixedly connected to the output shaft of the first arm motor, the output shaft of the second arm motor is fixedly connected to the mechanical arm structure, and the mechanical arm structure is rotatably connected between the second arm bearing and the second arm bearing seat; The mechanical arm structure includes an arm connecting frame, an arm upper frame, an arm lower frame and an arm shell; The arm connecting frame includes a arm output part and an arm auxiliary part; one end of the arm output part is fixedly connected to the output shaft of the second arm motor, and one end of the arm auxiliary part is rotatably connected to the second arm bearing seat through the second arm bearing; the other end of the arm output part and the other end of the arm auxiliary part are respectively provided with a arm mounting plate, and each arm mounting plate is a rectangular plate structure; the arm upper frame and the arm lower frame are relatively buckled and fixedly connected by bolts, and the arm upper frame and the arm lower frame are symmetrically arranged, and the opposite side surfaces of the arm upper frame and the opposite side surfaces of the arm lower frame are provided with a arm mounting groove, and each arm mounting plate is respectively clamped on the arm upper frame and the The two boom mounting grooves on the same side of the boom lower frame, and each boom mounting plate is respectively fixedly connected to the boom upper frame and the boom lower frame with bolts, so that the boom connecting frame, the boom upper frame and the boom lower frame are fixedly connected, and one end of the boom upper frame and the boom lower frame away from the boom connecting frame are respectively fixedly connected to the third joint mechanism; the boom housing includes an boom upper shell and a boom lower shell, the boom lower shell is fixedly connected to the boom lower frame with bolts, the boom upper shell is fixedly connected to the boom connecting frame with bolts, and the boom upper shell and the boom lower shell are buckled and connected, so that the boom connecting frame, the boom upper frame and the boom lower frame are located inside the shell of the boom housing; The third joint mechanism also includes a third arm motor seat, a third arm bearing, a third arm bearing seat and a first joint connecting frame; the third arm motor is fixedly installed in the third arm motor seat, the third arm bearing is installed in the third arm bearing seat, and the third arm bearing seat is snap-fitted and fixedly connected to the third arm motor seat; the first joint connecting frame includes a first joint output part, a first joint auxiliary part and a second joint connecting part, the fourth joint mechanism is arranged on one end face of the second joint connecting part, and one end of the first joint output part and one end of the first joint auxiliary part are respectively fixedly connected with the opposite two side faces of the second joint connecting part by bolts, the other end of the first joint output part is fixedly connected to the output shaft of the third arm motor, and the other end of the first joint auxiliary part is rotatably connected to the third arm bearing seat through the third arm bearing; The fourth joint mechanism also includes a fourth arm motor seat, a fourth arm bearing, a fifth arm bearing, a fourth arm bearing seat and a joint output shaft; the fourth arm motor is fixedly installed in the fourth arm motor seat, the fourth arm bearing and the fifth arm bearing are both installed in the fourth arm bearing seat, and the fourth arm bearing seat is buckled and fixedly connected to the fourth arm motor seat, one end of the joint output shaft is fixedly connected to the output shaft of the fourth arm motor, and the other end of the joint output shaft is fixedly connected to the mechanical forearm structure through the fourth arm bearing and the fifth arm bearing; The mechanical forearm structure includes a first forearm connecting rod, a second forearm connecting rod, a third forearm connecting rod, a forearm shell bracket and a forearm shell; two ends of the second forearm connecting rod are respectively fixedly connected to one end of the first forearm connecting rod and one end of the third forearm connecting rod, the other end of the first forearm connecting rod is fixedly connected to the other end of the joint output shaft, and the other end of the third forearm connecting rod is fixedly connected to the fifth arm motor seat of the fifth arm motor; one end of the forearm shell bracket is fixedly connected to the end surface of the fourth arm bearing seat, and the forearm shell is fixedly connected through the forearm shell bracket, and the first forearm connecting rod, the second forearm connecting rod, the third forearm connecting rod and the forearm shell bracket are located in the forearm shell; The forearm housing includes an forearm upper shell, a forearm lower shell and a forearm snap shell; the forearm lower shell is fixedly connected to the forearm shell bracket bolt, and the forearm lower shell is close to the fifth arm motor and is respectively provided with a forearm snap slot at the opposite ends thereof, and two forearm snap blocks are provided on the forearm snap shell, and the two forearm snap blocks are respectively provided with a one-to-one correspondence with the two forearm snap slots, and are fixedly clamped in the forearm snap slots by the forearm snap blocks, and the forearm snap shell is fixedly connected to one end of the forearm lower shell to form a circular through hole connecting the mechanical forearm structure and the fifth joint mechanism; the forearm upper shell is provided with two forearm connecting snap shell parts at one end thereof near the fourth arm motor seat, and the first joint output A joint housing is respectively provided on the outer surface of the forearm and the first joint auxiliary part, and a circular groove is provided on the circumferential side end surface of each joint housing, and the two forearm connecting housing parts are respectively snap-connected to the circular groove, and the forearm upper shell is snap-connected and fixed to the forearm snap housing, and the forearm upper shell is bolt-fixedly connected to the forearm lower shell, so that the forearm upper shell, the forearm lower shell and the forearm snap housing jointly form a relatively closed forearm inner cavity, and the first forearm connecting rod, the second forearm connecting rod, the third forearm connecting rod, the forearm housing bracket, the fourth arm bearing, the fifth arm bearing, the fourth arm bearing seat and the joint output shaft are located in the forearm inner cavity; The fifth joint mechanism also includes a fifth arm motor seat, an arm output frame, an arm wire pressing buckle and an arm wire pressing shell; the fifth arm motor is fixedly installed in the fifth arm motor seat; the arm output frame is an L-shaped bracket structure, and one end of the vertical part of the arm output frame away from the horizontal part is fixedly connected to the output shaft of the fifth arm motor, and the sixth arm motor seat of the sixth arm motor is fixedly arranged on the horizontal part of the arm output frame; the arm wire pressing buckle is arranged on the motor tail cover of the fifth arm motor seat, and the wires of the sixth arm motor are pressed and limited by the arm wire pressing buckle, and pass through the arm wire pressing buckle to enter the forearm housing of the mechanical forearm structure; the arm wire pressing shell is fixedly connected to the motor tail cover of the fifth arm motor seat to shield the arm wire pressing buckle; The sixth joint mechanism also includes a sixth arm motor seat and a clamp fixing seat; the sixth arm motor is fixedly installed in the sixth arm motor seat; and the sixth arm motor seat is arranged on the end surface of the horizontal part of the arm output frame close to the fifth arm motor seat, and the output shaft of the sixth arm motor passes through the horizontal part of the arm output frame and is fixedly connected to the clamp fixing seat, and the clamp structure is fixedly installed on the clamp fixing seat.

7. The robot according to claim 1, characterized in that The clamping structure includes a clamping mount, a clamping motor, a curved-to-straight mechanism and two fingers; the clamping structure is fixedly mounted on the robotic arm through the clamping mount; the motor tail cover end of the clamping motor is fixedly mounted on the clamping mount; the curved-to-straight mechanism is fixedly connected to the output shaft of the clamping motor, and the two fingers are respectively connected to the curved-to-straight mechanism, and the curved-to-straight mechanism converts the rotational motion of the output shaft of the clamping motor into linear motion of the two fingers. When the clamping motor is working, the clamping motor drives the two fingers to perform opposite opening and closing movements through the curved-to-straight mechanism, so that the clamping structure performs a clamping and releasing action through the two fingers.

8. The robot according to claim 7, characterized in that The curved-to-straight mechanism includes a groove wheel, a pulley pin, a linear structure, a linear slider and a finger mounting member; The two wheels are fixedly connected to the output shaft of the clamping jaw driving motor, and the two wheel gears are symmetrically provided with two rotating slide grooves on the wheel gear; each of the rotating slide grooves is provided with a pulley pin; the linear structure is fixedly connected to the motor housing of the clamping jaw driving motor, and the linear structure is symmetrically provided with two linear slide grooves; each linear slide groove is provided with a linear slider; the wheel gear is located in a cavity between the linear structure and the clamping jaw driving motor, and the two pulley pins are respectively fixedly connected to one end face of one linear slider; the other end faces of the two linear sliders are respectively fixedly connected to the two fingers through the finger mounting members; when the clamping jaw driving motor works, the output shaft of the clamping jaw driving motor drives the wheel to rotate, and the two pulley pins respectively slide in the two rotating slide grooves, and respectively drive the two linear sliders to move linearly along the linear slide grooves, and the two linear sliders are relatively close to or away from each other, so as to make the two fingers perform opposite opening and closing movements through the finger mounting members.

9. The robot according to claim 1, characterized in that The chassis drive structure includes a chassis middle shell, a chassis upper shell, a chassis middle front shell, a chassis middle rear shell, a chassis lower shell, a chassis frame assembly, a front left steering wheel assembly, a front right steering wheel assembly, and a rear steering wheel assembly; The outer shell of the chassis is a shell structure with two ends opened along the first direction, one end of the two ends along the second direction is narrow and the other end is wide, and the wide end of the outer shell of the chassis along the second direction is provided with an opening; the upper shell of the chassis is installed at one of the open ends of the outer shell of the chassis, and the middle part of the upper shell of the chassis is provided with a notch along the second direction, and the open end of the notch faces the wide end; one end of the front shell of the chassis along the first direction is installed at the open end of the notch, and one end of the front shell of the chassis along the second direction is installed at the The open end of the wide end; one end of the rear shell in the chassis along the second direction is installed at the non-open end of the notch; the lower shell of the chassis is installed at the other open end of the outer shell in the chassis, and the outer shell in the chassis, the upper shell in the chassis, the front shell in the chassis, the rear shell in the chassis and the lower shell in the chassis are assembled to form a relatively closed cavity; a rectangular protrusion is provided on the surface of one side of the chassis frame assembly close to the upper shell in the first direction, and one end of the rectangular protrusion in the second direction is aligned with the front shell in the chassis along the second direction The other ends of the rectangular protrusions along the second direction are fixed to each other, and the other end of the rectangular protrusions along the second direction are fixed to each other except the other end of the chassis middle and rear shells along the second direction, and the parts of the chassis frame assembly except the rectangular protrusions are arranged in the cavity, and the chassis middle shell, the chassis middle front shell, the chassis middle and rear shell and the chassis lower shell are all installed in the chassis frame assembly; one end of the front left steering wheel assembly is located in the cavity and fixedly connected to one end of the chassis frame assembly along the third direction, and the other end of the front left steering wheel assembly is located outside the cavity; one end of the front right steering wheel assembly is located in the cavity and fixedly connected to the other end of the chassis frame assembly along the third direction, and the other end of the front right steering wheel assembly is located outside the cavity; one end of the rear steering wheel assembly is located in the cavity and fixedly connected to the end of the chassis frame assembly away from the wide end along the second direction, and the other end of the rear steering wheel assembly is located outside the cavity, and the positions of the front left steering wheel assembly, the front right steering wheel assembly and the rear steering wheel assembly form a triangle.

10. The robot according to claim 9, characterized in that The chassis frame assembly includes an upper chassis frame panel, a middle chassis frame panel, a lower chassis frame panel, a left middle panel support frame, a right middle panel support frame, a rear panel support plate, a left panel support plate and a right panel support plate; the upper chassis frame panel, the middle chassis frame panel and the lower chassis frame panel are sequentially arranged along the first direction; the rear panel support plate is extended along the first direction and close to the rear steering wheel assembly, and the two ends of the rear panel support plate along the first direction are respectively connected to the upper chassis frame panel and the lower chassis frame panel; the left panel support plate is extended along the first direction and close to the front left The steering wheel assembly, and the two ends of the left support plate of the panel along the first direction are respectively connected to the upper panel of the chassis frame and the lower panel of the chassis frame; the right support plate of the panel is extended along the first direction and is close to the front right steering wheel assembly, and the two ends of the right support plate of the panel along the first direction are respectively connected to the upper panel of the chassis frame and the lower panel of the chassis frame; the middle panel of the chassis frame includes a front left steering wheel assembly mounting plate, a front right steering wheel assembly mounting plate and a rear steering wheel assembly mounting plate; one end of the left support frame of the middle panel is fixedly installed on a side surface of the upper panel of the chassis frame close to the front left steering wheel assembly, and the left support frame of the middle panel is fixedly installed on the side surface of the upper panel of the chassis frame close to the front left steering wheel assembly The other end of the support frame is fixedly mounted on the front left steering wheel assembly mounting plate; one end of the middle panel right support frame is fixedly mounted on a side surface of the upper panel of the chassis frame close to the front right steering wheel assembly, and the other end of the middle panel right support frame is fixedly mounted on the front right steering wheel assembly mounting plate; the rear steering wheel assembly mounting plate is fixedly mounted on the panel rear support plate at one end close to the rear steering wheel assembly along the second direction, and the two ends of the rear steering wheel assembly mounting plate along the third direction are respectively connected to the front left steering wheel assembly and the front right steering wheel assembly; the front left steering wheel assembly, the front right steering wheel assembly and the rear steering wheel assembly respectively include A limit block and a steering motor, a steering motor support plate, a hub motor support plate and a hub motor assembly arranged in sequence along the first direction; one end of the steering motor support plate along the second direction is mounted on the stator of the steering motor, and the other end of the steering motor support plate along the second direction is mounted on the corresponding panel support plate; the hub motor support plate is mounted on the rotor of the steering motor; the hub motor assembly is mounted on the hub motor support plate, the limit block is mounted on the end of the hub motor support plate along the second direction close to the stator, and the steering motor support plate limits the rotation range of the limit block.

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