Upper limb structure and robot

Abstract

The utility model provides an upper limb structure and a robot, and relates to the field of robots, and the upper limb structure comprises a shoulder part, a big arm part, a small arm part, a wrist joint part, a dexterous hand and a plurality of quick release assemblies. The shoulder part is provided with a shoulder part first joint module and a shoulder part second joint module. The big arm part is provided with a big arm first joint module and a big arm second joint module. The small arm part is provided with a small arm first joint module and a small arm second joint module. The wrist joint part is provided with a wrist joint module. The first shoulder joint module is connected to the trunk of the robot, the second shoulder joint module and the first large arm joint module, the second large arm joint module and the first small arm joint module, the second small arm joint module and the wrist joint module, and the wrist joint module and the dexterous hand are connected and assembled through corresponding quick-release assemblies. The quick-release assembly is adopted for connection and assembly, so that design and manufacturing of the upper limb structure for the robot can be greatly simplified, and assembly and maintenance are extremely convenient.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and more specifically, to an upper limb structure and a robot. Background Technology

[0002] Currently, humanoid robots can mimic the shape and movement of the human body. As an important component of humanoid robots, their upper limbs need to participate in the picking and grasping operations. However, the current upper limb structure of humanoid robots is complex, which is not conducive to actual installation and subsequent maintenance and disassembly. This results in excessively long design cycles and high manufacturing costs for humanoid robots, which is not conducive to the promotion of humanoid robots. Utility Model Content

[0003] The purpose of this invention is to provide an upper limb structure and robot, which aims to solve the technical problem that the installation and disassembly of the upper limbs of existing robots are not convenient.

[0004] In a first aspect, this utility model embodiment provides an upper limb structure (100) applied to a robot, comprising:

[0005] The shoulder (1) has a first shoulder joint module (11) and a second shoulder joint module (12);

[0006] The upper arm (2) has a first joint module (21) and a second joint module (22);

[0007] The forearm part (3) has a first joint module (31) and a second joint module (32);

[0008] The wrist joint portion (4) has a wrist joint module (41); and

[0009] Dexterous hands;

[0010] The upper limb structure (100) also includes:

[0011] The first quick-release assembly (51) is configured to connect the first shoulder joint module (11) to the torso of the robot;

[0012] The second quick-release assembly (52) is configured to connect the second shoulder joint module (12) and the first upper arm joint module (21);

[0013] The third quick-release assembly (53) is configured to connect the upper arm second joint module (22) and the forearm first joint module (31);

[0014] The fourth quick-release assembly (54) is configured to connect the forearm second joint module (32) and the wrist joint module (41); and

[0015] The fifth quick-release assembly (55) is configured to connect the wrist joint module (41) and the dexterous hand.

[0016] In some embodiments, the first quick-release assembly (51) includes an annular flange (510) having a first screw hole (511) and a second screw hole (512). The annular flange (510) is connected and fixed to the fixed end of the shoulder first joint module (11) by passing a first screw through the first screw hole (511); the annular flange (510) is connected and fixed to the torso of the robot by passing a second screw through the second screw hole (512).

[0017] In some embodiments, the second quick-release assembly (52) includes an integrally formed first fixing ring (521) and a first connecting plate (522). The first fixing ring (521) is used to fit onto the fixing end of the first joint module (21) of the upper arm; the first connecting plate (522) is used to connect to the output end of the second joint module (12) of the shoulder.

[0018] In some embodiments, the first retaining ring (521) has a retaining hole for a screw to pass through to fix the first retaining ring (521) to the retaining end of the upper arm first joint module (21); the first connecting plate (522) has a retaining hole for a screw to pass through to fix the first connecting plate (522) to the output end of the shoulder second joint module (12).

[0019] In some embodiments, the third quick-release assembly (53) includes an integrally formed second fixing ring (531) and a second connecting plate (532). The second fixing ring (531) is used to fit onto the fixing end of the forearm first joint module (31); the second connecting plate (532) is used to connect to the output end of the upper arm second joint module (22).

[0020] In some embodiments, the second retaining ring (531) has a retaining hole for a screw to pass through to fix the second retaining ring (531) to the retaining end of the forearm first joint module (31); the second connecting plate (532) has a retaining hole for a screw to pass through to fix the second connecting plate (532) to the output end of the upper arm second joint module (22).

[0021] In some embodiments, the fourth quick-release assembly (54) includes an integrally formed third fixing ring (541) and a third connecting plate (542). The third fixing ring (541) is used to fit and fix the fixing end of the wrist joint module (41). The third connecting plate (542) is used to connect and fix the output end of the forearm second joint module (32). The fifth quick-release assembly (55) includes an integrally formed and mutually perpendicular fourth fixing plate (551) and a fourth connecting plate (552). The fourth fixing plate (551) is used to connect and fix the output end of the wrist joint module (41). The fourth connecting plate (552) is used to connect and fix the dexterous hand.

[0022] In some embodiments, in the fourth quick-release assembly (54), the third retaining ring (541) has a retaining hole for a screw to pass through to fix the third retaining ring (541) to the retaining end of the wrist joint module (41), and the third connecting plate (542) has a retaining hole for a screw to pass through to fix the third connecting plate (542) to the output end of the forearm second joint module (32); in the fifth quick-release assembly (55), the fourth retaining plate (551) has a retaining hole for a screw to pass through to fix the fourth retaining plate (551) to the output end of the wrist joint module (41), and the fourth connecting plate (552) has a retaining hole for a screw to pass through to fix the fourth connecting plate (552) together with the dexterous hand.

[0023] In some embodiments, the boom portion (2) includes a boom body (23), the boom body (23) including a connecting sleeve (231) with a weight-reducing hole (2311) on the side wall, and a boom first connecting flange (232) and a boom connector (233) respectively connected to both ends of the connecting sleeve (231); the boom first connecting flange (232) has a first flange bolt hole (2321) for screws to pass through to connect and fix the boom first connecting flange (232) and the connecting sleeve (231), and a bolt hole for screws to pass through to connect and fix the boom first connecting flange (232) and the connecting sleeve (231). The upper arm connector (233) has a second flange screw hole (2322) through which screws pass to connect and fix the output end of the first connecting flange (232) of the upper arm and the first joint module (21) of the upper arm; the upper arm connector (233) has an integrally formed upper arm connector head (2331) and a clamp (2332). The upper arm connector head (2331) has a fixing hole through which screws pass to fix the upper arm connector (233) to the connecting sleeve (231). The clamp (2332) is sleeved and fixed to the fixing end of the second joint module (22) of the upper arm.

[0024] In a second aspect, this utility model provides a robot including the above-described upper limb structure (100).

[0025] In the upper limb structure (100) provided in this embodiment, the first joint module can be quickly connected to the robot's torso and quickly removed by the first quick-release assembly (51); the second shoulder joint module (12) and the first upper arm joint module (21) can be quickly connected together and quickly removed by the second quick-release assembly (52); the second upper arm joint module (22) and the first forearm joint module (31) can be quickly connected together and quickly removed by the third quick-release assembly (53); the second forearm joint module (32) and the wrist joint module (41) can be quickly connected together and quickly removed by the fourth quick-release assembly (54); and the wrist joint module (41) and the dexterous hand can be quickly connected together and quickly removed by the fifth quick-release assembly (55). In this way, the design and manufacturing of the upper limb structure for the robot can be greatly simplified, and the assembly and maintenance are extremely convenient. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the external structure of an upper limb provided in an embodiment of the present invention;

[0028] Figure 2 for Figure 1 Exploded view of the structure of the upper and middle limbs;

[0029] Figure 3 for Figure 1 Schematic diagram of the structure of the middle shoulder shell;

[0030] Figure 4 for Figure 1 Schematic diagram of the structure of the central ring flange;

[0031] Figure 5 for Figure 1 A schematic diagram of the main structure of the upper boom.

[0032] Icons: 100 - Upper limb structure; 1 - Shoulder; 11 - Shoulder first joint module; 12 - Shoulder second joint module; 13 - Shoulder shell; 131 - First mounting cavity; 132 - Second mounting cavity; 2 - Upper arm; 21 - Upper arm first joint module; 22 - Upper arm second joint module; 23 - Upper arm body; 2311 - Weight reduction hole; 232 - Upper arm first connecting flange; 2321 - First flange bolt hole; 2322 - Second flange bolt hole; 233 - Upper arm connector; 2331 - Upper arm connector head; 2332 - Clamp; 3 - Forearm;

[0033] 31-Forearm first joint module; 32-Forearm second joint module; 4-Wrist joint; 41-Wrist joint module; 51-First quick-release assembly; 510-Annular flange; 511-First screw hole; 512-Second screw hole; 52-Second quick-release assembly; 521-First retaining ring; 522-First connecting plate; 53-Third quick-release assembly; 531-Second retaining ring; 532-Second connecting plate; 54-Fourth quick-release assembly; 541-Third retaining ring; 542-Third connecting plate; 55-Fifth quick-release assembly; 551-Fourth retaining plate; 552-Fourth connecting plate. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0035] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0036] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0037] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0038] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0039] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0040] It's important to understand that the joint module is the core power system of a humanoid robot. A joint module can include, for example, a frameless torque motor, a harmonic / planetary reducer, and an encoder. In the following text, the "fixed end" of the joint module refers to the non-rotating part, such as the body, while the "output end" refers to the rotating part, such as a rotating flange.

[0041] Please refer to Figures 1 to 5 This embodiment provides an upper limb structure 100 for use in a robot. The upper limb structure 100 includes a shoulder 1, an upper arm 2, a forearm 3, a wrist joint 4, a dexterous hand (not shown), a first quick-release assembly 51, a second quick-release assembly 52, a third quick-release assembly 53, a fourth quick-release assembly 54, and a fifth quick-release assembly 55.

[0042] The shoulder 1 has a first shoulder joint module 11 and a second shoulder joint module 12. The shoulder 1 may also include a shoulder shell 13, which is used to support and fix the first joint module 11 and the second shoulder joint module 12. The shoulder shell 13 has a T-shaped cylindrical structure. The first joint module 11 and the second shoulder joint module 12 are both embedded in the cylindrical structure. The shoulder shell 13 has a first mounting cavity 131 and a second mounting cavity 132 arranged orthogonally.

[0043] The output end of the first joint module 11 is fixedly installed inside the first mounting cavity 131, and the fixed end of the first joint module 11 extends out of the first mounting cavity 131.

[0044] The fixed end of the second shoulder joint module 12 is connected to the output end of the first shoulder joint module 11 and fixedly installed inside the first mounting cavity 131, while the output end of the second shoulder joint module 12 extends out of the second mounting cavity 132.

[0045] The upper arm 2 has a first upper arm joint module 21 and a second upper arm joint module 22.

[0046] The forearm part 3 has a first forearm joint module 31 and a second forearm joint module 32.

[0047] The wrist joint portion 4 has a wrist joint module 41.

[0048] The first quick-release assembly 51 is configured to connect the first joint module to the robot's torso.

[0049] The second quick-release assembly 52 is configured to connect the second shoulder joint module 12 and the first upper arm joint module 21.

[0050] The third quick-release assembly 53 is configured to connect the upper arm second joint module 22 and the forearm first joint module 31.

[0051] The fourth quick-release assembly 54 is configured to connect the forearm second joint module 32 and the wrist joint module 41.

[0052] The fifth quick-release component 55 is configured to connect the wrist joint module 41 and the dexterous hand.

[0053] As described above, in the upper limb structure 100 provided in this embodiment, the first joint module can be quickly connected to the robot's torso and quickly detached via the first quick-release component 51; the second shoulder joint module 12 and the upper arm first joint module 21 can be quickly connected together and quickly detached via the second quick-release component 52; the second upper arm joint module 22 and the forearm first joint module 31 can be quickly connected together and quickly detached via the third quick-release component 53; the second forearm joint module 32 and the wrist joint module 41 can be quickly connected together and quickly detached via the fourth quick-release component 54; and the wrist joint module 41 and the dexterous hand can be quickly connected together and quickly detached via the fifth quick-release component 55. In this way, the design and manufacturing of the upper limb structure for the robot can be greatly simplified, and assembly and maintenance are extremely convenient.

[0054] Specifically, in this embodiment, the first quick-release assembly 51 includes an annular flange 510, which has a first screw hole 511 and a second screw hole 512. The annular flange 510 is connected and fixed to the fixed end of the shoulder first joint module 11 by a first screw passing through the first screw hole 511; the annular flange 510 is connected and fixed to the robot's torso by a second screw passing through the second screw hole 512.

[0055] The use of annular flange 510 in conjunction with threaded adapter screws allows for easy connection and fixation of the annular flange 510 to the first shoulder joint module 11 and the robot's torso, followed by disassembly. This structure not only provides a reliable connection but also offers a low-cost connection method, greatly simplifying the design and manufacturing of the robot's upper limb structure and making assembly and maintenance extremely convenient.

[0056] Specifically, in this embodiment, the second quick-release assembly 52 includes an integrally formed first fixing ring 521 and a first connecting plate 522. The first fixing ring 521 is used to fit and fix the fixing end of the first joint module 21 of the upper arm; the first connecting plate 522 is used to connect and fix the output end of the second joint module 12 of the shoulder.

[0057] For example, the first retaining ring 521 may have a retaining hole for a screw to pass through to secure the first retaining ring 521 to the retaining end of the upper arm first joint module 21. The first connecting plate 522 may have a retaining hole for a screw to pass through to secure the first connecting plate 522 to the output end of the shoulder second joint module 12.

[0058] The first fixing ring 521 and the first connecting plate 522 are integrally formed, which not only makes the structure reliable, but also makes it easy to connect the fixed end of the first joint module 21 of the upper arm and the output end of the first joint module 11 of the shoulder together and quickly disassemble them. The above structure not only has a reliable connection structure, but also has a low connection cost, which can greatly simplify the design and manufacturing of the upper limb structure used in robots, and makes assembly and maintenance extremely convenient.

[0059] Specifically, in this embodiment, the third quick-release assembly 53 includes an integrally formed second retaining ring 531 and a second connecting plate 532. The second retaining ring 531 is used to fit and fix to the fixed end of the forearm first joint module 31; the second connecting plate 532 is used to connect and fix to the output end of the upper arm second joint module 22. For example, the second retaining ring 531 may have a fixing hole for a screw to pass through to fix the second retaining ring 531 to the fixed end of the forearm first joint module 31. The second connecting plate 532 may have a fixing hole for a screw to pass through to fix the second connecting plate 532 to the output end of the upper arm second joint module 22.

[0060] The second fixing ring 531 and the second connecting plate 532 are integrally formed, which not only makes the structure reliable, but also makes it easy to connect the fixed end of the forearm first joint module 31 and the output end of the upper arm second joint module 22 and quickly disassemble them. The above structure not only has a reliable connection structure, but also has a low connection cost, which can greatly simplify the design and manufacturing of the upper limb structure used in robots, and makes assembly and maintenance extremely convenient.

[0061] Specifically, in this embodiment, the fourth quick-release assembly 54 includes an integrally formed third fixing ring 541 and a third connecting plate 542. The third fixing ring 541 is used to fit and fix the fixing end of the wrist joint module 41; the third connecting plate 542 is used to connect and fix the output end of the forearm second joint module 32. The fifth quick-release assembly 55 includes an integrally formed and mutually perpendicular fourth fixing plate 551 and a fourth connecting plate 552. The fourth fixing plate 551 is used to connect and fix the output end of the wrist joint module 41; the fourth connecting plate 552 is used to connect and fix the dexterous hand.

[0062] For example, in the fourth quick-release assembly 54, its third retaining ring 541 may have a retaining hole for a screw to pass through to fix the third retaining ring 541 to the retaining end of the wrist joint module 41, and the third connecting plate 542 may have a retaining hole for a screw to pass through to fix the third connecting plate 542 to the output end of the forearm second joint module 32.

[0063] In the fifth quick-release assembly 55, the fourth fixing plate 551 may have a fixing hole for a screw to pass through to fix the fourth fixing plate 551 to the output end of the wrist joint module 41, and the fourth connecting plate 552 may have a fixing hole for a screw to pass through to fix the fourth connecting plate 552 to the dexterous hand.

[0064] The third fixing ring 541 and the third connecting plate 542 are integrally formed, which not only makes the structure robust, but also makes it easy to connect the fixed end of the wrist joint module 41 and the output end of the forearm second joint module 32 and quickly detach them. The above structure not only has a robust connection structure, but also has a low connection cost, which can greatly simplify the design and manufacturing of the upper limb structure for robots, and makes assembly and maintenance extremely convenient.

[0065] As a preferred embodiment, in this implementation, the boom section 2 may further include a boom body 23, which includes a connecting sleeve 231 with weight-reducing holes 2311 on its side wall. The weight-reducing holes 2311 can effectively reduce the weight of the boom body 23. The boom section 2 may also include a first boom connecting flange 232 and a boom connector 233 respectively connected to both ends of the connecting sleeve 231. This facilitates the design, manufacture, installation, and disassembly of the boom section 2.

[0066] The first connecting flange 232 of the boom has a first flange bolt hole 2321 for screws to pass through to connect and fix the first connecting flange 232 of the boom and the connecting sleeve 231, and a second flange bolt hole 2322 for screws to pass through to connect and fix the first connecting flange 232 of the boom and the output end of the first joint module 21 of the boom.

[0067] The boom connector 233 has an integrally formed boom connector head 2331 and a clamp 2332. The integral molding effectively improves the structural strength. The boom connector head 2331 has a fixing hole through which screws pass to fix the boom connector 233 to the connecting sleeve 231. The clamp 2332 is sleeved and fixed to the fixing end of the second joint module 22 of the boom.

[0068] The first connecting flange 232 of the boom can be conveniently and quickly connected to, fixed, and disassembled to the output end of the first joint module 21 of the boom through its second flange bolt hole 2322. The boom connector 233 can be conveniently and quickly connected to, fixed, and disassembled to the fixed end of the second joint module 22 of the boom through its clamp 2332.

[0069] The above structure not only has a robust connection structure, but also a low-cost connection method, which can greatly simplify the design and manufacturing of upper limb structures for robots, and is extremely convenient for assembly and maintenance.

[0070] In another embodiment of this utility model, a robot is also provided, which includes the above-described upper limb structure 100. Since this robot adopts all the technical solutions of all the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated upon here.

[0071] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An upper limb structure (100) applied to a robot, characterized in that, include: The shoulder (1) has a first shoulder joint module (11) and a second shoulder joint module (12); The upper arm (2) has a first joint module (21) and a second joint module (22); The forearm part (3) has a first joint module (31) and a second joint module (32); The wrist joint (4) has a wrist joint module (41); as well as Dexterous hands; The upper limb structure (100) further includes: The first quick-release assembly (51) is configured to connect the first shoulder joint module (11) to the torso of the robot; The second quick-release assembly (52) is configured to connect the second shoulder joint module (12) and the first upper arm joint module (21); The third quick-release assembly (53) is configured to connect the upper arm second joint module (22) and the lower arm first joint module (31); A fourth quick-release assembly (54) is configured to connect the forearm second joint module (32) and the wrist joint module (41); and The fifth quick-release assembly (55) is configured to connect the wrist joint module (41) and the dexterous hand.

2. The upper limb structure (100) according to claim 1, characterized in that, The first quick-release assembly (51) includes an annular flange (510) having a first screw hole (511) and a second screw hole (512). The annular flange (510) is connected and fixed to the fixed end of the first shoulder joint module (11) by a first screw passing through the first screw hole (511); the annular flange (510) is connected and fixed to the torso of the robot by a second screw passing through the second screw hole (512).

3. The upper limb structure (100) according to claim 1, characterized in that, The second quick-release assembly (52) includes an integrally formed first fixing ring (521) and a first connecting plate (522). The first fixing ring (521) is used to fit and fix the fixing end of the first joint module (21) of the upper arm; the first connecting plate (522) is used to connect and fix the output end of the second joint module (12) of the shoulder.

4. The upper limb structure (100) according to claim 3, characterized in that, The first fixing ring (521) has a fixing hole for a screw to pass through to fix the first fixing ring (521) to the fixing end of the first joint module (21) of the upper arm; the first connecting plate (522) has a fixing hole for a screw to pass through to fix the first connecting plate (522) to the output end of the second joint module (12) of the shoulder.

5. The upper limb structure (100) according to claim 1, characterized in that, The third quick-release assembly (53) includes an integrally formed second fixing ring (531) and a second connecting plate (532). The second fixing ring (531) is used to fit and fix the fixing end of the forearm first joint module (31); the second connecting plate (532) is used to connect and fix the output end of the upper arm second joint module (22).

6. The upper limb structure (100) according to claim 5, characterized in that, The second fixing ring (531) has a fixing hole for a screw to pass through to fix the second fixing ring (531) to the fixing end of the forearm first joint module (31); the second connecting plate (532) has a fixing hole for a screw to pass through to fix the second connecting plate (532) to the output end of the upper arm second joint module (22).

7. The upper limb structure (100) according to claim 1, characterized in that, The fourth quick-release assembly (54) includes an integrally formed third fixing ring (541) and a third connecting plate (542). The third fixing ring (541) is used to fit and fix the fixing end of the wrist joint module (41). The third connecting plate (542) is used to connect and fix the output end of the forearm second joint module (32). The fifth quick-release assembly (55) includes an integrally formed and mutually perpendicular fourth fixing plate (551) and a fourth connecting plate (552). The fourth fixing plate (551) is used to connect and fix the output end of the wrist joint module (41). The fourth connecting plate (552) is used to connect and fix the dexterous hand.

8. The upper limb structure (100) according to claim 7, characterized in that, In the fourth quick-release assembly (54), the third fixing ring (541) has a fixing hole for a screw to pass through to fix the third fixing ring (541) to the fixing end of the wrist joint module (41), and the third connecting plate (542) has a fixing hole for a screw to pass through to fix the third connecting plate (542) to the output end of the forearm second joint module (32); in the fifth quick-release assembly (55), the fourth fixing plate (551) has a fixing hole for a screw to pass through to fix the fourth fixing plate (551) to the output end of the wrist joint module (41), and the fourth connecting plate (552) has a fixing hole for a screw to pass through to fix the fourth connecting plate (552) together with the dexterous hand.

9. The upper limb structure (100) according to any one of claims 1-8, characterized in that, The boom section (2) includes a boom body (23), which includes a connecting sleeve (231) with a weight-reducing hole (2311) on its side wall, and a boom first connecting flange (232) and a boom connector (233) respectively connected to both ends of the connecting sleeve (231). The boom first connecting flange (232) has a first flange bolt hole (2321) for screws to pass through to connect and fix the boom first connecting flange (232) and the connecting sleeve (231), and a bolt hole for screws to pass through. The boom first connecting flange (2322) and the output end of the boom first joint module (21) are connected and fixed by a second flange screw hole (2322); the boom connector (233) has an integrally formed boom connector head (2331) and a clamp (2332), the boom connector head (2331) has a fixing hole through which a screw passes to fix the boom connector (233) to the connecting sleeve (231), and the clamp (2332) is sleeved and fixed to the fixing end of the boom second joint module (22).

10. A robot, characterized in that, Includes the upper limb structure (100) as described in any one of claims 1-9.

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