A humanoid dual-arm robot and its humanoid collaborative path planning method

Abstract

The present invention discloses a humanoid dual-arm robot and a humanoid collaborative path planning method thereof, which relates to the field of dual-arm collaborative robots, and is characterized in that it comprises a head module, dual mechanical arms and a trunk, wherein the head module comprises a binocular stereoscopic vision component, a two-degree-of-freedom neck and a center plate; the binocular stereoscopic vision component comprises a first driving structure, a second driving structure, an eye socket and an eyeball, the first driving structure is used to drive the left and right movement of the eyeball, and the second driving structure is used to drive the eye socket to do pitching movement; the two-degree-of-freedom neck can drive the center plate to do reciprocating circular motion and head pitching movement. The humanoid dual-arm robot of the present invention is more like human eyes and neck, taking into account the autonomy and anthropomorphism of collaborative paths, making it easier to determine the three-dimensional contour of an object and adjust the field of view in real time, thereby ensuring the accuracy of the dual-arm movements, and expanding the application potential in scenarios such as education, accompanying, and helping the elderly and the disabled.

Description

Technical Field

[0001] The present invention relates to the field of dual-arm collaborative robots, and in particular to a humanoid dual-arm robot and a humanoid collaborative path planning method thereof. Background Art

[0002] Collaborative robot technology has developed rapidly in recent years. Compared with traditional industrial robots, collaborative robots are simple to deploy, flexible, compact and low-cost, and are widely used in industrial automation, elderly care, family services and other scenarios. With the aging of my country's population and the rising labor costs, the application prospects of collaborative robots in shopping malls, medical treatment, exploration and special environments are becoming more and more broad. Compared with single-arm robots, dual-arm collaborative robots are not a simple addition of the number of mechanical arms, but through the coordination of the two arms to complete more complex, flexible and delicate operations.

[0003] The key point of the dual-arm collaborative robot is "collaboration", which is reflected in the posture and force constraint relationship between the two arms. The control program of the dual-arm robot collaboration is relatively complex, and the cumbersome programming increases the user's usage burden. In addition, the existing dual-arm collaborative robots are usually used in scenes isolated from humans, and lack the anthropomorphic morphology and anthropomorphic operation behavior. In the growing demand for education and accompanying scenes, dual-arm collaborative robots should be as close to human morphology and behavior as possible. Therefore, the ideal dual-arm collaborative robot in the human living environment not only needs to complete specific operation tasks, but also be able to present anthropomorphic behavior. The above requirements are difficult to achieve only by traditional visual sensors and model-based operation planning methods. For example, traditional vision can only provide environmental and target position information to provide a basis for the action decision-making of dual-arm robots, but how to generate anthropomorphic postures and paths for grasping complex objects is still a great challenge.

[0004] The problem to be solved by the present invention is how to provide a humanoid dual-arm robot anthropomorphic collaborative path planning method, taking into account the autonomy and anthropomorphism of the dual-arm collaborative robot. Therefore, the technicians in this field are committed to developing a humanoid dual-arm robot and anthropomorphic collaborative path planning method thereof, which simulates the human form through the humanoid appearance, arm joint degree of freedom configuration, head structure and stereo binocular vision, and endows the humanoid dual-arm robot with the functions of target attribute recognition and tracking, hand-eye coordination, anthropomorphic grasping path planning and dual-arm collaboration, and finally realizes the anthropomorphic dual-arm collaboration and operation behavior. Summary of the invention

[0005] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is to simulate the human form through humanoid appearance, arm joint freedom configuration, head structure and stereo binocular vision, and to give the humanoid dual-arm robot the functions of target attribute recognition and tracking, hand-eye coordination, humanoid grasping path planning and dual-arm collaboration, so as to finally realize humanoid dual-arm collaboration and operation behavior.

[0006] To achieve the above-mentioned purpose, the present invention provides a humanoid dual-arm robot, characterized in that it includes a head module, dual robotic arms and a torso, wherein the head module includes a binocular stereoscopic vision component, a two-degree-of-freedom neck and a center plate; the binocular stereoscopic vision component includes a first driving structure, a second driving structure, an eye socket and an eyeball, the first driving structure is connected to the center plate, the first driving structure is used to drive the eyeball to move left and right, the second driving structure is connected to the center plate, and the second driving structure is used to drive the eye socket to do pitch and tilt motion; the head module is connected to the torso through the two-degree-of-freedom neck, the two-degree-of-freedom neck is connected to the center plate, the two-degree-of-freedom neck can drive the center plate to do reciprocating circular motion and head pitch motion, and the dual robotic arms are connected to the torso.

[0007] Furthermore, the eyeballs are imitating human eyes, and there are two eyeballs. The binocular stereoscopic vision component also includes an orbital bracket, which is connected to the center plate and the orbits. The first driving structure includes two first linear motors, a first mounting plate, and a first fixed plate. The first linear motor is mounted on the first mounting plate and fixed by the first fixed plate. The orbits are connected to the first mounting plate, and the two first linear motors respectively drive the left and right movements of the two eyeballs.

[0008] Furthermore, the first driving structure also includes a first linear motor connector and a first connecting rod, the first linear motor connector is connected to the motor shaft of the first linear motor, and the first linear motor connector is connected to the eyeball through the first connecting rod.

[0009] Furthermore, the second driving structure includes a second linear motor, a second linear motor connecting member, a second connecting rod, a special-shaped connecting rod, a second mounting plate and a second fixed plate, the second linear motor is fixed on the second mounting plate, the second linear motor is fixed to the center plate by the second fixed plate, the second linear motor connecting member is connected to the motor shaft of the second linear motor, the second linear motor connecting member is connected to the special-shaped connecting rod through the second connecting rod, the special-shaped connecting rod is connected to the first mounting plate, and the second linear motor is used to drive the eye socket to perform pitch and pitch movements.

[0010] Furthermore, the two-degree-of-freedom neck includes a dual-axis servo, a dual-axis shaft disc connector, a servo center plate connector and a dual-axis servo seat, the dual-axis servo is installed on the dual-axis servo seat, the dual-axis servo is connected to the dual-axis shaft disc connector, the dual-axis shaft disc connector is connected to the center plate via the servo center plate connector, and the dual-axis servo drives the center plate to perform head pitch movement.

[0011] Furthermore, the two-degree-of-freedom neck also includes a single-axis servo and a single-axis servo seat, the single-axis servo seat is connected to the trunk, the single-axis servo is installed on the single-axis servo seat, the double-axis servo seat is connected to the single-axis servo, and the single-axis servo drives the center plate to perform reciprocating circular motion.

[0012] Furthermore, the dual robotic arms include a left shoulder joint, a right shoulder joint, a left elbow joint, a right elbow joint, a left five-finger dexterous hand and a right five-finger dexterous hand, and the dual robotic arms are connected to the torso via the left shoulder joint and the right shoulder joint.

[0013] Furthermore, the head module further includes a shell support, and the shell support is mounted on the center plate.

[0014] Furthermore, the head module also includes a shell, which includes a front shell and a rear shell, the front shell is connected to the shell support and the center plate, and the rear shell is connected and installed to the front shell.

[0015] The present invention also relates to a humanoid collaborative path planning method for operating a humanoid dual-arm robot, characterized in that the method comprises the following steps:

[0016] Step 1: Collect the motion trajectory dataset of human arms in daily activities;

[0017] Step 2: Planning a natural and smooth humanoid collaborative path model corresponding to different operation tasks through cluster analysis of the motion trajectory data set;

[0018] Step 3: The two humanoid eyes of the binocular stereo vision component collect image information of the environment and the target object and calculate the three-dimensional geometric information, and track the spatial postures of the left five-finger dexterous hand and the right five-finger dexterous hand in real time to establish a hand-eye relationship model;

[0019] Step 4: Confirm the starting point of the robot arm's hand and the end point of the operation task according to the hand-eye relationship model, and predict the optimal anthropomorphic collaboration path by matching the anthropomorphic collaboration path model. The optimal anthropomorphic collaboration path is based on the geometric properties and spatial position of the target object, and multiple grasping gestures and the motion trajectory of the robot arm are jointly planned, and the trajectory and grasping gesture of the robot arm are selected online.

[0020] In a preferred embodiment of the present invention, it is achieved through a humanoid dual-arm robot body and a dual-arm robot anthropomorphic collaborative path planning method; the humanoid dual-arm robot body includes a head module, dual robotic arms and a torso; the head module is composed of a binocular stereo vision component, a two-degree-of-freedom neck, a shell connecting structure, a center plate and a shell; the dual robotic arms include a left shoulder joint, a right shoulder joint, a left elbow joint, a right elbow joint, a left five-finger dexterous hand and a right five-finger dexterous hand.

[0021] The binocular stereo vision component consists of two linear motors, two mounting plates and corresponding fixed plates, two connecting rods, a motor connecting piece, a special-shaped connecting rod, two small connecting rods, an eyeball, an eye socket and an eye socket bracket; two first linear motors are mounted on the first mounting plate and fixed by the first fixed plate; the motor connecting piece connects the first motor shaft and the first connecting rod, the first connecting rod is connected to the first connecting rod mounting hole of the eyeball, the eyeball is mounted on the eye socket, and then the eye socket is mounted on the eye socket bracket, the eye socket bracket is mounted on the center plate, the first linear motor drives the left and right movement of a single eyeball, and at the same time controls the two first linear motors to achieve synchronous movement of the eyeballs.

[0022] The second linear motor of the binocular stereo vision component is fixed on the second mounting plate, which is fixed to the center plate by the second fixing plate. The motor connecting piece is installed on the second motor shaft and the special-shaped connecting rod, and the special-shaped connecting rod is installed on the first mounting plate, so that the eye movement structure forms a whole, and the eye socket is driven by the second linear motor to perform pitch and pitch movements.

[0023] The two-degree-of-freedom neck is composed of a single-axis servo, a single-axis servo seat, a double-axis servo seat, a double-axis servo, a double-axis shaft disc connector, a servo center plate connector, and a center plate; the single-axis servo is installed on the single-axis servo seat, the double-axis servo seat is installed on the single-axis shaft disc, the double-axis servo is installed on the double-axis servo seat, and the double-axis servo is connected to the center plate by connecting the double-axis shaft disc connector, the servo center plate connector and the center plate; the single-axis servo drives the center plate to perform reciprocating circular motion, and the double-axis servo drives the center plate to perform head pitch motion.

[0024] The binocular stereo vision component includes two humanoid eyes, which are used to collect image information of the environment and the target object and calculate three-dimensional geometric information; the binocular stereo vision component tracks the spatial posture of the left five-fingered dexterous hand and the right five-fingered dexterous hand in real time to establish a hand-eye relationship model. The anthropomorphic collaborative path planning method of the dual-arm robot uses the similarity of the motion trajectories of human arms for similar tasks. According to the operation task, the motion trajectory data set of human arms in daily activities is collected, and further through cluster analysis of the motion trajectory, a natural and smooth anthropomorphic collaborative path model corresponding to different operation tasks is planned.

[0025] The anthropomorphic collaborative path planning method of a dual-arm robot can predict the optimal anthropomorphic collaborative path by matching the anthropomorphic collaborative path model according to the starting point of the robot hand and the end point of the operation task. The optimal anthropomorphic collaborative path is to jointly plan multiple grasping gestures and the motion trajectory of the robot arm based on the geometric properties and spatial position of the target object, and select the trajectory and grasping gesture of the robot arm online.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] 1. The humanoid dual-arm robot head uses binocular vision components and is equipped with a two-degree-of-freedom neck. The structure is more like human eyes and neck, making it easier to determine the three-dimensional contour of an object and adjust the field of view in real time, thereby ensuring more precise dual-arm movements;

[0028] 2. It takes into account the autonomy and anthropomorphism of the collaborative path of the dual-arm collaborative robot, expanding its application potential in scenarios such as education, care, and assistance for the elderly and the disabled.

[0029] The concept, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a structural schematic diagram of a humanoid dual-arm robot according to a preferred embodiment of the present invention;

[0031] Figure 2 It is a schematic diagram of the head structure of a humanoid dual-arm robot according to a preferred embodiment of the present invention;

[0032] Figure 3 It is a schematic diagram of a two-degree-of-freedom neck structure of a humanoid dual-arm robot according to a preferred embodiment of the present invention;

[0033] Figure 4 It is a schematic diagram of a first driving structure of a binocular stereo vision component of a humanoid dual-arm robot according to a preferred embodiment of the present invention;

[0034] Figure 5 It is a schematic diagram of a second driving structure of a binocular stereo vision component of a humanoid dual-arm robot according to a preferred embodiment of the present invention;

[0035] Figure 6 It is a schematic diagram of the main support structure of the head module of a humanoid dual-arm robot according to a preferred embodiment of the present invention;

[0036] Figure 7 It is a schematic diagram of the front shell structure of a head module of a humanoid dual-arm robot according to a preferred embodiment of the present invention;

[0037] Figure 8 It is a block diagram of a humanoid collaborative path planning method for a humanoid dual-arm robot according to a preferred embodiment of the present invention;

[0038] Among them, 1-head module, 2-robot right eye, 3-robot left eye; 4-two-degree-of-freedom neck; 5-right shoulder joint; 6-left shoulder joint; 7-right elbow joint, 8-left elbow joint, 9-right five-finger dexterous hand, 10-left five-finger dexterous hand, 11-kettle, 12-cup, 13-neck motion component, 14-eye motion component, 15-shell connection structure, 16-center plate, 161-servo center plate connecting part fixing hole, 162-shell fixing hole, 163-second mounting plate fixing hole, 164-shell support fixing hole, 165-orbital bracket fixing hole, 17-single-axis servo seat, 171-single-axis servo fixing hole, 18-dual-axis Servo seat, 181-double-axis servo fixing hole, 182-single-axis shaft disc connection hole, 19-double-axis servo, 191-double-axis servo connection hole, 192-double-axis shaft disc, 193-double-axis shaft disc connector fixing hole, 20-servo center plate connector, 201-center plate connection hole, 202-double-axis shaft disc connector connection hole, 21-double-axis shaft disc connector, 211-servo center plate connector fixing hole, 212-double-axis shaft disc connection hole, 22-single-axis servo, 221-single-axis servo connection hole, 222-single-axis servo shaft disc connection hole, 23-eyeball, 231-eyeball center connection hole, 232-first connecting rod mounting hole, 24-orbital bracket, 2 41- orbital mounting hole, 242- orbital bracket connecting hole, 25- first linear motor connecting piece, 251- connecting rod mounting hole, 252- motor connecting hole, 26- first linear motor, 261- motor shaft, 262- first motor connecting hole, 27- first fixing plate, 271- first fixing plate connecting hole, 272- first motor fixing hole, 28- first connecting rod, 281- first connecting rod connecting hole, 29- orbit, 291- orbital bracket connecting hole, 292- first mounting plate connecting hole, 293- eyeball mounting hole, 30- first mounting plate, 301- orbital fixing hole, 302- first fixing plate fixing hole, 303- first fixing plate center Fixed hole, 304-special-shaped connecting rod fixing hole, 31-special-shaped connecting rod, 311-first mounting plate connecting hole, 312-second connecting rod mounting hole, 32-second linear motor, 321-second motor shaft, 33-second connecting rod, 331-second connecting rod connecting hole, 250-second linear motor connecting piece, 34-second mounting plate, 341-second mounting plate connecting hole, 35-housing support, 351-housing support connecting hole, 352-housing fixing hole, 36-second fixing plate, 361-second fixing plate connecting hole, 37-front housing, 371-housing side connection holes, 372-housing connection hole, 373-rear housing fixing hole. DETAILED DESCRIPTION

[0039] The following describes several preferred embodiments of the present invention with reference to the drawings in the specification, so that the technical content is clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned in the text.

[0040] In the drawings, components with the same structure are indicated by the same numerical reference numerals, and components with similar structures or functions are indicated by similar numerical reference numerals. The size and thickness of each component shown in the drawings are arbitrarily shown, and the present invention does not limit the size and thickness of each component. In order to make the illustration clearer, the thickness of the components is appropriately exaggerated in some places in the drawings.

[0041] like Figure 1 As shown, the present invention provides a humanoid dual-arm robot and a humanoid collaborative path planning method thereof, which are implemented by a humanoid dual-arm robot body and a dual-arm robot humanoid collaborative path planning method. The humanoid dual-arm robot body includes a head module 1, dual robotic arms and a torso. The head module 1 is composed of a binocular stereo vision component, a two-degree-of-freedom neck 4, a shell connection structure, a center plate and a shell. The dual robotic arms include a right shoulder joint 5 and a left shoulder joint 6, a right elbow joint 7 and a left elbow joint 8, a right five-finger dexterous hand 9 and a left five-finger dexterous hand 10. In this embodiment, the collaborative task that the humanoid dual-arm robot needs to complete is that the right five-finger dexterous hand 9 grabs a kettle 11 and pours water into a water cup 12 grasped by the left five-finger dexterous hand 10.

[0042] like Figure 2 As shown, after removing the shell, the head of the humanoid dual-arm robot is composed of a neck motion component 13, an eye motion component 14, a shell connection component 15 and a center plate 16. Figure 3 As shown, the neck motion assembly 13 is installed: the single-axis steering gear 22 is installed on the single-axis steering gear fixing hole 171 of the single-axis steering gear seat 17 through the single-axis steering gear connecting hole 221; the double-axis steering gear seat 18 is installed on the single-axis steering gear shaft disc connecting hole 222 through the single-axis shaft disc connecting hole 182; the double-axis steering gear 19 is installed on the double-axis steering gear seat 18 through the double-axis steering gear fixing hole 181 through the double-axis steering gear connecting hole 191, so that the double-axis steering gear 19 and the double-axis steering gear seat 18 are in contact with each other over a large area; the double-axis shaft disc connecting piece 21 is installed on the double-axis shaft disc connector fixing hole 193 of the double-axis shaft disc 192 through the double-axis shaft disc connecting hole 212; the servo center plate connector 20 is installed on the servo center plate connector fixing hole 211 of the double-axis shaft disc connector 21 through the double-axis shaft disc connecting hole 202; the servo center plate connector 20 is installed on the servo center plate connector fixing holes 161 on both sides of the center plate 16 through the center plate connecting hole 201, and the neck motion assembly 13 and the center plate 16 are installed.

[0043] like Figure 4 and Figure 5As shown, the first eye driving structure is installed: the first linear motor 26 is placed on the first mounting plate 30, the first motor connecting hole 262 is aligned with the first fixing plate fixing hole 302, the first fixing plate 27 is installed on the first fixing plate middle fixing hole 303 of the first mounting plate 30 through the first fixing plate connecting hole 271, the first motor fixing hole 272 is installed on the first fixing plate fixing hole 302 of the first mounting plate 30, the first linear motor 26 on the opposite side is installed in the same way, the first linear motor connecting member 25 is installed on the motor shaft 261 of the first linear motor 26 through the motor connecting hole 252; the first connecting rod 28 is installed through the first A connecting rod connecting hole 281 is respectively installed on the connecting rod mounting hole 251 of the first linear motor connecting member 25 and the first connecting rod mounting hole 232 of the eyeball 23; the eyeball 23 is installed on the eyeball mounting hole 293 of the eye socket 29 through the eyeball center connecting hole 231, and the other eyeball is installed in the same way; the eye socket 29 is installed on the eye socket fixing hole 301 of the first mounting plate 30 through the first mounting plate connecting hole 292; the orbital bracket 24 is installed on the orbital bracket connecting hole 291 through the orbital mounting hole 241; the orbital bracket 24 is installed on the orbital bracket fixing hole 165 of the center plate 16 through the orbital bracket connecting hole 242.

[0044] like Figure 5 As shown, the second eye drive is installed: the second linear motor connecting member 250 is installed on the second motor shaft 321 of the second linear motor 32 through the connecting hole of the second linear motor connecting member 250, and the second connecting rod 33 is installed on the connecting rod mounting hole of the second linear motor connecting member 250 and the second connecting rod mounting hole 312 of the special-shaped connecting rod 31 through the second connecting rod connecting hole 331; the special-shaped connecting rod 31 is installed on the special-shaped connecting rod fixing hole 304 of the first mounting plate 30 through the first mounting plate connecting hole 311.

[0045] like Figure 6 As shown, the second mounting plate 34 is fastened to the second linear motor 32 through structural features. The second mounting plate 34 is mounted on the second mounting plate fixing hole 163 on one side of the center plate 16 through the second mounting plate connecting hole 341. The second fixing plate 36 is mounted on the second mounting plate fixing hole 163 on the opposite side of the center plate 16 through the second fixing plate connecting hole 361. The shell support 35 is mounted on the shell support fixing hole 164 of the center plate 16 through the shell support connecting hole 351. Figure 7 As shown, the various components are assembled, the front shell 37 is fixed to the shell fixing holes 352 of the shell support 35 through the shell connecting holes 371 on both sides of the shell, and the front shell 37 is installed on the shell fixing holes 162 of the center plate 16 through the shell connecting holes 372; the rear shell is installed with the front shell 37 through the rear shell fixing holes 373.

[0046] like Figure 8As shown in the figure, the humanoid collaborative path planning method for a dual-arm robot utilizes the similarity of the motion trajectories of human arms for similar tasks. According to the operation task, the motion trajectory data set of human arms in daily activities is collected, and further the natural and smooth humanoid collaborative path model corresponding to different operation tasks is planned through cluster analysis of the motion trajectory. The two humanoid eyes of the binocular stereo vision component collect image information of the environment and the target object and calculate the three-dimensional geometric information, and track the spatial posture of the left and right five-fingered dexterous hands in real time to establish a hand-eye relationship model. The humanoid collaborative path planning method for a dual-arm robot can predict the optimal humanoid collaborative path by matching the humanoid collaborative path model according to the starting point of the robot hand and the end point of the operation task. The optimal humanoid collaborative path can be based on the geometric properties and spatial position of the target object, and the multiple grasping gestures and the motion trajectory of the robot arm are jointly planned at the same time, and the trajectory and grasping gesture of the robot arm are selected online.

[0047] Compared with the prior art, the beneficial effects brought about by the present invention are as follows: the head of the humanoid dual-arm robot adopts a binocular vision component and is equipped with a two-degree-of-freedom neck. The structure is more like human eyes and neck, which makes it easier to determine the three-dimensional contour of an object and adjust the field of view in real time, thereby ensuring that the movements of both arms are more precise; the autonomy and anthropomorphism of the collaborative path of the dual-arm collaborative robot are taken into account, expanding the application potential in scenarios such as education, care, and assistance to the elderly and the disabled.

[0048] The preferred specific embodiments of the present invention are described in detail above. It should be understood that ordinary technicians in the field can make many modifications and changes based on the concept of the present invention without creative work. Therefore, all technical solutions that can be obtained by technicians in the technical field based on the concept of the present invention through logical analysis, reasoning or limited experiments on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A humanoid dual-arm robot, characterized in that: It includes a head module, dual robotic arms and a torso, wherein the head module includes a binocular stereoscopic vision component, a two-degree-of-freedom neck and a center plate; the binocular stereoscopic vision component includes a first driving structure, a second driving structure, an eye socket and an eyeball, the first driving structure is connected to the center plate, the first driving structure is used to drive the left and right movement of the eyeball, the second driving structure is connected to the center plate, the second driving structure is used to drive the eye socket to do pitch movement, the eyeball is an imitation of a human eye, and the number of eyeballs is 2, the binocular stereoscopic vision component also includes an eye socket bracket, the eye socket bracket is connected to the center plate and the eye socket, the first driving structure includes 2 first linear motors, a first mounting plate, and a first fixing plate, the first linear motor is mounted on the first mounting plate and fixed by the first fixing plate, the eye socket is connected to the first mounting plate, and the 2 The first linear motor drives the left and right movements of the two eyeballs respectively, and the second driving structure includes a second linear motor, a second linear motor connector, a second connecting rod, a special-shaped connecting rod, a second mounting plate and a second fixed plate, the second linear motor is fixed on the second mounting plate, the second linear motor is fixed to the center plate by the second fixed plate, the second linear motor connector is connected to the motor shaft of the second linear motor, the second linear motor connector is connected to the special-shaped connecting rod through the second connecting rod, the special-shaped connecting rod is connected to the first mounting plate, and the second linear motor is used to drive the eye socket to perform pitch and tilt movements; the head module is connected to the torso through the two-degree-of-freedom neck, the two-degree-of-freedom neck is connected to the center plate, the two-degree-of-freedom neck can drive the center plate to perform reciprocating circular motion and head pitch motion, and the dual robotic arms are connected to the torso.

2. A humanoid dual-arm robot as claimed in claim 1, characterized in that: The first driving structure also includes a first linear motor connector and a first connecting rod. The first linear motor connector is connected to the motor shaft of the first linear motor. The first linear motor connector is connected to the eyeball through the first connecting rod.

3. The humanoid dual-arm robot according to claim 1, characterized in that: The two-degree-of-freedom neck includes a biaxial servo, a biaxial shaft disc connector, a servo center plate connector and a biaxial servo seat, the biaxial servo is installed on the biaxial servo seat, the biaxial servo is connected to the biaxial shaft disc connector, the biaxial shaft disc connector is connected to the center plate via the servo center plate connector, and the biaxial servo drives the center plate to perform head pitch motion.

4. A humanoid dual-arm robot as claimed in claim 3, characterized in that: The two-degree-of-freedom neck also includes a single-axis steering gear and a single-axis steering gear seat. The single-axis steering gear seat is connected to the trunk, the single-axis steering gear is installed on the single-axis steering gear seat, the double-axis steering gear seat is connected to the single-axis steering gear, and the single-axis steering gear drives the center plate to perform reciprocating circular motion.

5. The humanoid dual-arm robot according to claim 1, characterized in that: The dual robotic arms include a left shoulder joint, a right shoulder joint, a left elbow joint, a right elbow joint, a left five-finger dexterous hand and a right five-finger dexterous hand, and the dual robotic arms are connected to the trunk via the left shoulder joint and the right shoulder joint.

6. The humanoid dual-arm robot according to claim 1, characterized in that: The head module also includes a housing support mounted on the center plate.

7. The humanoid dual-arm robot according to claim 6, characterized in that: The head module further includes a shell, which includes a front shell and a rear shell, wherein the front shell is connected to the shell support and the center plate, and the rear shell is connected and installed to the front shell.

8. A humanoid collaborative path planning method for operating a humanoid dual-arm robot as claimed in any one of claims 1 to 7, characterized in that: The method comprises the following steps: Step 1: Collect the motion trajectory dataset of human arms in daily activities; Step 2: Planning a natural and smooth humanoid collaborative path model corresponding to different operation tasks through cluster analysis of the motion trajectory data set; Step 3: The two humanoid eyes of the binocular stereo vision component collect image information of the environment and the target object and calculate the three-dimensional geometric information, and track the spatial postures of the left five-finger dexterous hand and the right five-finger dexterous hand in real time to establish a hand-eye relationship model; Step 4: Confirm the starting point of the robot arm's hand and the end point of the operation task according to the hand-eye relationship model, and predict the optimal anthropomorphic collaboration path by matching the anthropomorphic collaboration path model. The optimal anthropomorphic collaboration path is based on the geometric properties and spatial position of the target object, and multiple grasping gestures and the motion trajectory of the robot arm are jointly planned, and the trajectory and grasping gesture of the robot arm are selected online.

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