Arm shell, arm structure and robot

Abstract

The utility model discloses an arm shell, an arm structure and a robot, the arm shell comprises a first shell, the first shell comprises a first edge and a second edge, the inner wall of the first shell is provided with a first clamping piece and a first mounting part, the first clamping piece is close to the first edge, and the second clamping piece is close to the second edge; the first mounting part is close to the second edge, and the first mounting part is configured to be connected with a skeleton structure; the second shell comprises a third edge and a fourth edge, a second clamping piece and a second mounting part are arranged on the inner wall of the second shell, the second clamping piece is close to the third edge, the second mounting part is close to the fourth edge, and the second mounting part is configured to be connected with a framework structure; wherein the first edge is connected with the third edge in an abutting mode, the second edge is connected with the fourth edge in an abutting mode, and the first clamping piece is connected with the second clamping piece in a clamping mode.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robots, and particularly relates to an arm shell, an arm structure and a robot. BACKGROUND

[0002] At present, the humanoid robot industry is developing rapidly. In order to make the robot more human-like and the appearance more close to the human body configuration, more curved surface appearance modeling is used.

[0003] In the related art, due to thermal expansion and cold contraction of the plastic shell in the manufacturing process, the product size tolerance is large. In order to avoid the problems of hole offset and adjacent two shell installation interference, a larger gap is reserved in the design of the robot shell to facilitate the absorption of the tolerance. This causes the actual product to have inconsistent gap size and poor surface difference after installation. CONTENT OF THE UTILITY MODEL

[0004] The purpose of the embodiment of the application is to provide an arm shell, an arm structure and a robot.

[0005] According to a first aspect of the embodiment of the application, an arm shell is provided, comprising:

[0006] A first shell comprises a first edge and a second edge, an inner wall of the first shell is provided with a first clamping piece and a first mounting portion, the first clamping piece is close to the first edge, and the first mounting portion is close to the second edge, and the first mounting portion is configured to be connected with a skeleton structure;

[0007] A second shell comprises a third edge and a fourth edge, an inner wall of the second shell is provided with a second clamping piece and a second mounting portion, the second clamping piece is close to the third edge, and the second mounting portion is close to the fourth edge, and the second mounting portion is configured to be connected with the skeleton structure;

[0008] Wherein, the first edge and the third edge are in abutment, the second edge and the fourth edge are in abutment, and the first clamping piece and the second clamping piece are clamped.

[0009] Optionally, the first clamping piece comprises a clamping groove, the second clamping piece comprises a clamping portion and a limiting portion, one end of the clamping portion is arranged on the inner wall of the second shell, the limiting portion is arranged on the other end of the clamping portion, the clamping portion is matched with the clamping groove, and the limiting portion is located on the side of the clamping groove away from the inner wall of the first shell; or

[0010] The first clamping piece comprises a clamping portion and a limiting portion, one end of the clamping portion is arranged on the inner wall of the first shell, and the limiting portion is arranged on the other end of the clamping portion; the second clamping piece comprises a clamping groove, the clamping portion is matched with the clamping groove, and the limiting portion is located on the side of the clamping groove away from the inner wall of the second shell.

[0011] Optionally, the clamping groove comprises a first portion, a second portion and a third portion which are sequentially communicated, the inner diameter of the second portion is greater than the inner diameter of the first portion, and the inner diameter of the third portion is less than the inner diameter of the first portion.

[0012] The outer diameter of the clamping portion is greater than the inner diameter of the first portion, and the outer diameter of the clamping portion is less than the inner diameter of the second portion.

[0013] Optionally, the inner wall of the first shell is provided with a third mounting portion, the third mounting portion is close to the first edge, the third mounting portion is arranged adjacent to the first clamping piece, and the third mounting portion is configured to be connected with a skeleton structure.

[0014] Optionally, the first mounting portion is an internal hidden mounting portion, and / or the second mounting portion is an internal hidden mounting portion.

[0015] Optionally, the first shell further comprises a fifth edge, the second shell further comprises a sixth edge, and an accommodation space is formed between the fifth edge and the sixth edge.

[0016] The arm shell further comprises a third shell, the third shell is located in the accommodation space, and the third shell is provided with a fourth mounting portion configured to be connected with a skeleton structure.

[0017] Optionally, the arm shell further comprises a support, the support is located in the accommodation space, the third shell is located on the inner side of the support, the support comprises a shielding portion capable of shielding the fourth mounting portion.

[0018] Optionally, the support further comprises a first connecting portion and a second connecting portion, the first connecting portion and the second connecting portion are located on two sides of the shielding portion respectively, the first connecting portion is close to the first shell, the second connecting portion is close to the second shell, the first connecting portion is provided with a fifth mounting portion, and the second connecting portion is provided with a sixth mounting portion.

[0019] According to a second aspect of the embodiment of the present application, an arm structure is provided, comprising the arm shell.

[0020] According to a third aspect of the embodiment of the present application, a robot is provided, comprising:

[0021] The arm shell; or

[0022] The arm structure described above.

[0023] One technical effect of the embodiment of the present application is that by cooperation of the first clamping piece and the second clamping piece, the gap difference between the first shell and the second shell is controlled, which can effectively avoid the problem of excessive gap between the first shell and the second shell due to thermal expansion and contraction during injection molding, thereby improving the integrity of the arm shell and further improving the user experience.

[0024] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments thereof, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0025] The accompanying drawings incorporated in and forming a part of the specification illustrate embodiments of the present application and, together with the description, serve to explain the principles of the present application.

[0026] Figure 1 A structural schematic diagram of an arm shell in the embodiment of the present application;

[0027] Figure 2 A structural schematic diagram of an arm shell in the embodiment of the present application;

[0028] Figure 3 A structural schematic diagram of an arm shell in the embodiment of the present application;

[0029] Figure 4 A structural schematic diagram of a first shell and a second shell in the embodiment of the present application;

[0030] Figure 5 A structural schematic diagram of a first shell in the embodiment of the present application;

[0031] Figure 6 A structural schematic diagram of a first shell in the embodiment of the present application;

[0032] Figure 7 A structural schematic diagram of a first shell in the embodiment of the present application;

[0033] Figure 8 A structural schematic diagram of a second shell in the embodiment of the present application;

[0034] Figure 9 A structural schematic diagram of a second shell in the embodiment of the present application;

[0035] Figure 10 A structural schematic diagram of a third shell in the embodiment of the present application;

[0036] Figure 11 A structural schematic diagram of a support in the embodiment of the present application.

[0037] Explanation of reference signs: arm shell 100; first shell 1; first clamping piece 11; mounting plate 111; clamping groove 112; first part 112a; second part 112b; third part 112c; opening 112d; first mounting portion 12; first edge 13; second edge 14; fifth edge 15; third mounting portion 16; second shell 2; second clamping piece 21; clamping portion 211; limiting portion 212; second mounting portion 22; third edge 23; fourth edge 24; sixth edge 25; third shell 3; fourth mounting portion 31; bracket 4; shielding portion 41; first connecting portion 42; fifth mounting portion 421; second connecting portion 43; sixth mounting portion 431; accommodating space 5. DETAILED DESCRIPTION

[0038] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of the components and steps set forth in the examples, as well as the numerical expressions and values, are not limitations on the scope of the present application, unless otherwise specifically stated.

[0039] The following description of at least one example embodiment is merely illustrative in nature and is in no way limiting to the scope of the application or its applications or uses.

[0040] Techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail herein. However, where appropriate, such techniques, methods, and devices can be viewed as part of the specification.

[0041] In all of the examples shown and discussed herein, any specific values should be interpreted as merely illustrative and not as a limitation on the scope of the exemplary embodiments.

[0042] It should be noted that like reference numerals and letters in the various figures indicate similar items, and thus, once an item is defined in one figure, it is not necessary to discuss it further in subsequent figures.

[0043] First, it is explained that the first direction and the second direction mentioned in the embodiments of the present application refer to the directions marked in the accompanying Figure 1 , Figure 3 figures. The first direction intersects the second direction.

[0044] As Figures 1-11As shown, according to the first aspect of the embodiments of the present application, a hand arm shell 100 is provided, comprising a first shell 1 and a second shell 2; the first shell 1 comprises a first edge 13 and a second edge 14, and an inner wall of the first shell 1 is provided with a first clamping piece 11 and a first mounting portion 12, the first clamping piece 11 is close to the first edge 13, and the first mounting portion 12 is close to the second edge 14, and the first mounting portion 12 is configured to be connected with a skeleton structure; the second shell 2 comprises a third edge 23 and a fourth edge 24, and an inner wall of the second shell 2 is provided with a second clamping piece 21 and a second mounting portion 22, the second clamping piece 21 is close to the third edge 23, and the second mounting portion 22 is close to the fourth edge 24, and the second mounting portion 22 is configured to be connected with the skeleton structure; wherein the first edge 13 abuts against the third edge 23, the second edge 14 abuts against the fourth edge 24, and the first clamping piece 11 cooperates with the second clamping piece 21.

[0045] As shown in Figures 1-9 , the arm shell 100 comprises a first shell 1 and a second shell 2, and after the first shell 1 and the second shell 2 are connected, the arm shell 100 is used to wrap the skeleton structure of the arm, in other words, the skeleton structure of the arm is located in the cavity formed by the first shell 1 and the second shell 2. Among them, the skeleton structure is not included in the arm shell 100.

[0046] Further as shown in Figure 5 , Figure 6 and Figure 7 , the first shell 1 comprises a first edge 13 and a second edge 14, and the first edge 13 and the second edge 14 are located on both sides of the first shell 1 in the first direction, and the first shell 1 comprises an inner wall and an outer wall, and the first clamping piece 11 and the first mounting portion 12 are arranged on the inner wall of the first shell 1; wherein the first clamping piece 11 is close to the first edge 13, and the first mounting portion 12 is close to the second edge 14. As shown in Figure 8 and Figure 9 , the second shell 2 comprises a third edge 23 and a fourth edge 24, and the third edge 23 and the fourth edge 24 are located on both sides of the second shell 2 in the first direction, and the second shell 2 comprises an inner wall and an outer wall, and the second clamping piece 21 and the second mounting portion 22 are arranged on the inner wall of the second shell 2; wherein the second clamping piece 21 is close to the third edge 23, and the second mounting portion 22 is close to the fourth edge 24.

[0047] Specifically, when the first shell 1 and the second shell 2 are mounted to the skeleton structure, the first clamping piece 11 cooperates with the second clamping piece 21 to control the gap difference between the first shell 1 and the second shell 2, which can effectively avoid the problem of excessive gap between the first shell 1 and the second shell 2 due to thermal expansion and contraction during injection molding, thereby improving the integrity of the arm shell 100 and further improving the user experience. The first shell 1 is connected to the skeleton structure at the first mounting portion 12, and the second shell 2 is connected to the skeleton structure at the second mounting portion 22. Since the first mounting portion 12 and the first clamping piece 11 are oppositely arranged in the first direction, and the second mounting portion 22 and the second clamping piece 21 are oppositely arranged in the first direction, by cooperating the first clamping piece 11 with the second clamping piece 21, the first mounting portion 12 and the second mounting portion 22 are connected to the skeleton structure, which can improve the installation stability of the first shell 1 and the second shell 2 to the skeleton structure.

[0048] In a preferred embodiment, as shown in Figures 5-9 The first clamping piece 11 includes two first clamping pieces 11 spaced apart in the second direction, and the second clamping piece 21 includes two second clamping pieces 21 spaced apart in the second direction. One of the first clamping pieces 11 cooperates with one of the second clamping pieces 21, and the other first clamping piece 11 cooperates with the other second clamping piece 21, which can further control the gap difference between the first shell 1 and the second shell 2. The first mounting portion 12 includes two first mounting portions 12 spaced apart in the second direction, and the second mounting portion 22 includes two second mounting portions 22 spaced apart in the second direction. Both the two first mounting portions 12 and the two second mounting portions 22 are connected to the skeleton structure, thereby further improving the installation stability of the first shell 1 and the second shell 2 to the skeleton structure.

[0049] In an alternative embodiment, the first clamping piece 11 includes a clamping groove 112, the second clamping piece 21 includes a clamping portion 211 and a limiting portion 212, one end of the clamping portion 211 is arranged on the inner wall of the second shell 2, the limiting portion 212 is arranged at the other end of the clamping portion 211, the clamping portion 211 cooperates with the clamping groove 112, and the limiting portion 212 is located on the side of the clamping groove 112 away from the inner wall of the first shell 1; or

[0050] The first clamping piece 11 includes a clamping portion 211 and a limiting portion 212, one end of the clamping portion 211 is arranged on the inner wall of the first shell 1, and the limiting portion 212 is arranged at the other end of the clamping portion 211. The second clamping piece 21 includes a clamping groove 112, the clamping portion 211 cooperates with the clamping groove 112, and the limiting portion 212 is located on the side of the clamping groove 112 away from the inner wall of the second shell 2.

[0051] In one specific embodiment, the first clamping member 11 comprises a clamping portion 211 and a limiting portion 212; the second clamping member 21 comprises a clamping groove 112.

[0052] In another specific embodiment, the first clamping member 11 comprises a clamping groove 112, and the second clamping portion 211 comprises a clamping portion 211 and a limiting portion 212.

[0053] In the above two embodiments, the clamping groove 112 is of the same structure, the clamping portion 211 is of the same structure, and the limiting portion 212 is of the same structure; the difference between the two embodiments is that the first clamping member 11 comprising the clamping groove 112 means that the clamping groove 112 is arranged on the first shell 1, and the second clamping member 21 comprising the clamping portion 211 and the limiting portion 212 means that the clamping portion 211 and the limiting portion 212 are arranged on the second shell 2; the first clamping member 11 comprising the clamping portion 211 and the limiting portion 212 means that the clamping portion 211 and the limiting portion 212 are arranged on the first shell 1, and the second clamping member 21 comprising the clamping groove 112 means that the clamping groove 112 is arranged on the second shell 2.

[0054] Take the first clamping member 11 comprising the clamping groove 112 and the second clamping portion 211 comprising the clamping portion 211 and the limiting portion 212 as an example for description.

[0055] Specifically, as shown in Figure 5 and Figure 6 , the first clamping member 11 comprises the clamping groove 112, and specifically, the first clamping member 11 comprises a mounting plate 111, the mounting plate 111 is arranged on the inner wall of the first shell 1, the mounting plate 111 protrudes from the first edge 13, the clamping groove 112 is arranged on the mounting plate 111, the clamping groove 112 comprises an opening 112d, and the opening 112d is located at the end of the mounting plate 111, so, that is to say, the clamping groove 112 is arranged at the end of the mounting plate 111 along the second direction. As shown in Figure 8 and Figure 9As shown, the second clamping piece 21 comprises a clamping portion 211 and a limiting portion 212, specifically, the clamping portion 211 comprises a first connecting end and a second connecting end, the first connecting end is connected with the inner wall of the second shell 2, and the second connecting end is connected with the limiting portion 212; when the second shell 2 is installed with the first shell 1, the clamping portion 211 is installed into the clamping groove 112 at the opening 112d of the clamping groove 112, and the limiting portion 212 is located outside the clamping groove 112, and the limiting portion 212 can abut against the side of the mounting plate 111 away from the inner wall of the first shell 1; therefore, when the first clamping piece 11 cooperates with the second clamping piece 21, the clamping groove 112 can restrict the first shell 1 and the second shell 2 to move in the first direction, and the limiting portion 212 can restrict the first shell 1 and the second shell 2 to move in the second direction; the first clamping piece 11 and the second clamping piece 21 adopted by the present application have simple structure, are easy to install, have low precision requirement, and can realize the function of reducing the gap surface difference between the first shell 1 and the second shell 2.

[0056] In an alternative embodiment, the clamping groove 112 comprises a first portion 112a, a second portion 112b and a third portion 112c which are sequentially communicated, the inner diameter of the second portion 112b is greater than the inner diameter of the first portion 112a, and the inner diameter of the third portion 112c is less than the inner diameter of the first portion 112a; the outer diameter of the clamping portion 211 is greater than the inner diameter of the first portion 112a, and the outer diameter of the clamping portion 211 is less than the inner diameter of the second portion 112b.

[0057] As shown in the drawings, Figure 7 As shown, the clamping groove 112 comprises a first portion 112a, a second portion 112b and a third portion 112c which are sequentially communicated; specifically, the first portion 112a is communicated with the opening 112d, the second portion 112b is located between the first portion 112a and the third portion 112c, and the first portion 112a, the second portion 112b and the third portion 112c are arranged along the second direction; wherein the inner diameter of the first portion 112a is less than the inner diameter of the second portion 112b, the inner diameter of the third portion 112c is less than the inner diameter of the first portion 112a, the outer diameter of the clamping portion 211 is greater than the inner diameter of the first portion 112a, and the outer diameter of the clamping portion 211 is less than the inner diameter of the second portion 112b.

[0058] Further, the first clamping member 11 cooperates with the second clamping member 21, that is, the clamping portion 211 is clamped in the second part 112b; during the process of installing the clamping portion 211 from the opening 112d to the clamping groove 112, since the inner diameter of the first part 112a is smaller than the outer diameter of the clamping portion 211, the third part 112c can provide the expansion degree for the clamping from the first part 112a to the second part 112b, so that the clamping portion 211 can pass through the first part 112a; since the inner diameter of the second part 112b is larger than the outer diameter of the clamping portion 211, when the clamping portion 211 is located in the second part 112b, the expansion force of the clamping portion 211 to the clamping groove 112 disappears, therefore, the outer diameter of the clamping portion 211 is larger than the inner diameter of the first part 112a, which can limit the clamping portion 211 from separating from the clamping groove 112, and can also limit the clamping portion 211 from moving upward in the second direction, and the inner diameter of the third part 112c is smaller than the inner diameter of the first part 112a, which can limit the clamping portion 211 from moving downward in the second direction. Therefore, the structure of the clamping groove 112 in this embodiment can improve the installation stability between the first clamping member 11 and the second clamping member 21.

[0059] In an optional embodiment, the inner wall of the first shell 1 is provided with a third mounting portion 16, the third mounting portion 16 is adjacent to the first edge 13, the third mounting portion 16 is arranged adjacent to the first clamping member 11, and the third mounting portion 16 is configured to be connected with the framework structure.

[0060] As shown in Figure 5 , Figure 6 and Figure 7 , the inner wall of the first shell 1 is further provided with a third mounting portion 16, the third mounting portion 16 is adjacent to the first edge 13, and the third mounting portion 16 is arranged adjacent to the first clamping member 11 in the second direction; specifically, when the first shell 1 and the second shell 2 are installed with the framework structure, the first shell 1 is first connected with the framework structure, and the first shell 1 and the framework structure are connected together at the third mounting portion 16, and the installation mode is that the framework structure is connected with the first shell 1 inside the first shell 1, so that the connecting member is located inside the first shell 1, the first edge 13 abuts against the third edge 23, and the connecting member is not exposed outside the first shell 1; after the first shell 1 is connected with the framework structure, the second shell 2 is connected with the first shell 1, that is, the second clamping member 21 cooperates with the second clamping member 21. By arranging the third mounting portion 16, the installation difficulty between the first shell 1 and the second shell 2 can be reduced, and the installation stability between the first shell 1 and the framework structure can be improved, so that the installation stability between the arm shell 100 and the framework structure can be improved.

[0061] In an optional embodiment, the first mounting portion 12 is an internal hidden mounting portion; and / or the second mounting portion 22 is an internal hidden mounting portion.

[0062] In one specific embodiment, the first mounting part 12 is an internally concealed mounting part.

[0063] In another specific embodiment, the second mounting part 22 is an internally concealed mounting part.

[0064] In another specific embodiment, the first mounting part 12 is a concealed mounting part, and the second mounting part 22 is a concealed mounting part. This embodiment will be described as an example.

[0065] Specifically, the internal concealed mounting portion can be a structure that conceals bolts or screw holes. After the first housing 1 is installed with the frame structure at the first mounting portion 12, and the second housing 2 is installed with the frame structure at the second mounting portion 22, there will be no exposed mounting holes or connectors on the outer walls of the first housing 1 and the second housing 2. This improves the neatness of the arm housing 100, makes the overall structure of the arm housing 100 more aesthetically pleasing, and avoids damage to the appearance caused by bolts.

[0066] In an alternative embodiment, the first housing 1 further includes a fifth edge 15, and the second housing 2 further includes a sixth edge 25, with a receiving space 5 formed between the fifth edge 15 and the sixth edge 25; the arm housing 100 further includes a third housing 3, which is located in the receiving space 5, and the third housing 3 is provided with a fourth mounting part 31, which is configured to be connected to the skeleton structure.

[0067] like Figures 4-9 As shown, the first housing 1 further includes a fifth edge 15, which is spaced apart from the first edge 13 and the second edge 14 in a second direction; the second housing 2 further includes a sixth edge 25, which is spaced apart from the third edge 23 and the fourth edge 24 in a second direction, and a receiving space 5 is formed between the fifth edge 15 and the sixth edge 25, in other words, there is a gap between the fifth edge 15 and the sixth edge 25.

[0068] like Figures 1-3 As shown, the arm housing 100 also includes a third housing 3; in this embodiment, the arm housing 100 is suitable for mounting at the joint of the skeleton structure. Specifically, the third housing 3 is located in the receiving space 5 between the first housing 1 and the second housing 2; as shown Figure 10 As shown, a fourth mounting part 31 is provided on the third housing 3, and the third housing 3 is connected to the frame structure at the fourth mounting part 31.

[0069] In a specific embodiment, the fourth mounting portion 31 is arranged on an inner wall of the third shell 3, and the fourth mounting portion 31 is a hidden mounting portion. When the third shell 3 is connected to the framework structure through the fourth mounting portion 31, there is no exposed mounting hole and bolt on the outer wall of the third shell 3.

[0070] In another specific embodiment, the arm shell 100 further comprises a bracket 4, the bracket 4 is located in the accommodating space 5, the third shell 3 is located on the inner side of the bracket 4, and the bracket 4 comprises a shielding portion 41 capable of shielding the fourth mounting portion 31.

[0071] As shown in Figures 1-3 , Figure 11 , the arm shell 100 further comprises a bracket 4, the bracket 4 is arranged in the accommodating space 5 between the first shell 1 and the second shell 2, the third shell 3 is located on the inner side of the bracket 4, and the bracket 4 comprises a shielding portion 41 capable of shielding the fourth mounting portion 31. In this embodiment, the third shell 3 and the framework structure can be connected together through the connecting piece on the side of the third shell 3 away from the framework structure, and the installation is more simple. The fourth mounting portion 31 is shielded by the shielding portion 41 of the bracket 4, so that the fourth mounting portion 31 can be prevented from being exposed on the appearance surface of the arm shell 100.

[0072] Further, the bracket 4 is fixedly connected to the framework structure, that is, at the joint of the framework structure, the bracket 4 is relatively static, and the third shell 3 rotates with the joint. During the rotation of the third shell 3, the fourth mounting portion 31 is shielded by the shielding portion 41.

[0073] In an alternative embodiment, as shown in Figure 2 and Figure 11 , the bracket 4 further comprises a first connecting portion 42 and a second connecting portion 43, the first connecting portion 42 and the second connecting portion 43 are respectively located on two sides of the shielding portion 41, the first connecting portion 42 is close to the first shell 1, the second connecting portion 43 is close to the second shell 2, the first connecting portion 42 is provided with a fifth mounting portion 421, and the second connecting portion 43 is provided with a sixth mounting portion 431. The fifth mounting portion 421 and the sixth mounting portion 431 are connected to the framework structure. Since the first connecting portion 42 is close to the first shell 1, and the second connecting portion 43 is close to the second shell 2, the first shell 1 can shield the fifth mounting portion 421, and the second shell 2 can shield the sixth mounting portion 431. Therefore, the fifth mounting portion 421 and the sixth mounting portion 431 can be prevented from being exposed on the appearance surface of the arm shell 100.

[0074] According to a second aspect of the embodiment of the present application, an arm structure is provided, comprising the arm shell 100 described above.

[0075] According to a third aspect of the embodiments of the present application, a robot is provided, comprising the arm housing 100 described above; or the arm structure described above.

[0076] Although some specific embodiments of the present application have been described in detail by way of example with reference to the drawings, it is to be understood that the above examples are intended to be illustrative only and the application is not limited to those examples. It will be apparent to those skilled in the art that various modifications, additions and substitutions can be made without departing from the scope and spirit of the application. The scope of the application is limited only by the claims that follow.

Claims

1. An arm shell, characterized in that, The arm shell comprises: a first shell comprising a first edge and a second edge, an inner wall of the first shell being provided with a first clamping piece and a first mounting portion, the first clamping piece being close to the first edge, the first mounting portion being close to the second edge, the first mounting portion being configured to be connected with a framework structure; a second shell comprising a third edge and a fourth edge, an inner wall of the second shell being provided with a second clamping piece and a second mounting portion, the second clamping piece being close to the third edge, the second mounting portion being close to the fourth edge, the second mounting portion being configured to be connected with the framework structure; wherein the first edge abuts against the third edge, the second edge abuts against the fourth edge, and the first clamping piece is clamped with the second clamping piece.

2. The arm shell of claim 1, wherein, The first clamping piece comprises a clamping groove, the second clamping piece comprises a clamping portion and a limiting portion, one end of the clamping portion is arranged on the inner wall of the second shell, the limiting portion is arranged on the other end of the clamping portion, the clamping portion is matched with the clamping groove, and the limiting portion is located on a side of the clamping groove away from the inner wall of the first shell; or The first clamping piece comprises a clamping portion and a limiting portion, one end of the clamping portion is arranged on the inner wall of the first shell, the limiting portion is arranged on the other end of the clamping portion, the second clamping piece comprises a clamping groove, the clamping portion is matched with the clamping groove, and the limiting portion is located on a side of the clamping groove away from the inner wall of the second shell.

3. The arm shell of claim 2, wherein, The clamping groove comprises a first portion, a second portion and a third portion which are sequentially communicated, the inner diameter of the second portion is greater than that of the first portion, and the inner diameter of the third portion is smaller than that of the first portion; The outer diameter of the clamping portion is greater than the inner diameter of the first portion, and the outer diameter of the clamping portion is smaller than the inner diameter of the second portion.

4. The arm shell of claim 1, wherein, The inner wall of the first shell is provided with a third mounting portion, the third mounting portion is close to the first edge, the third mounting portion is arranged adjacent to the first clamping piece, and the third mounting portion is configured to be connected with the framework structure.

5. The arm shell of claim 1, wherein, The first mounting portion is an internal hidden mounting portion, and / or the second mounting portion is an internal hidden mounting portion.

6. The arm shell according to any one of claims 1-5, wherein, The first shell further comprises a fifth edge, and the second shell further comprises a sixth edge, and an accommodation space is formed between the fifth edge and the sixth edge; The arm shell further comprises a third shell, the third shell is located in the accommodation space, and the third shell is provided with a fourth mounting portion configured to be connected with the framework structure.

7. The arm shell of claim 6, wherein, The arm shell further comprises a support, the support is located in the accommodation space, the third shell is located on the inner side of the support, the support comprises a shielding portion capable of shielding the fourth mounting portion.

8. The arm shell of claim 7, wherein, The support further comprises a first connecting portion and a second connecting portion, the first connecting portion and the second connecting portion are located on two sides of the shielding portion respectively, the first connecting portion is close to the first shell, the second connecting portion is close to the second shell, the first connecting portion is provided with a fifth mounting portion, and the second connecting portion is provided with a sixth mounting portion.

9. An arm structure characterized by comprising: The arm shell comprises:

10. A robot, characterized in that ​ An arm shell as claimed in any one of claims 1-8; or An arm structure as claimed in claim 9.

Images