Integrated seven-degree-of-freedom humanoid robot arm

Abstract

The application discloses an integrated seven-freedom-degree humanoid robot arm, the humanoid robot arm (1) comprises an upper arm module (2) and a forearm module (3), the upper arm module (2) is connected with the forearm module (3); the upper arm module (2) comprises a shoulder joint two-freedom-degree integrated module (4), an upper arm rotation freedom degree and electric adjustment installation module (5), an upper arm main control core module (6) and an elbow joint integrated module (7); the forearm module (3) comprises a forearm wrist rotating module (27), a wrist connecting rod system, a wrist turning module and a humanoid shell. The application selects a proper motor rotor and a harmonic reducer, more reasonably and compactly arranges the drivers of the relatively key wrist joint and the shoulder joint, so that the system is more compact, and has proper joint limit angles. The application provides a layout configuration suitable for the humanoid robot arm, so that the system is more reasonable and natural in layout under the premise of ensuring that strength and torque performance are stable and reliable.

Description

Technical Field

[0001] This invention relates to the field of robotic arms, and more particularly to an integrated seven-degree-of-freedom humanoid robotic arm. Background Technology

[0002] With the development of technologies such as actuators and reducers, humanoid robots and their core modules have significant scientific research value and application potential. To achieve more human-like movements, humanoid robots need to analyze the degrees of freedom of a human arm and appropriately map them to the joints of the robotic arm to set suitable numbers and positions of these degrees of freedom. Because humanoid robots need basic anthropomorphism, their overall mass, volume, and shape design are subject to significant constraints. The layout of internal mechanisms and power sources, as well as the spatial range for the positions of various functional modules, are relatively small, and the space for stacking necessary functional components is limited. Considering practicality and functionality, the humanoid arm needs to maximize the system's power within these limited volume and mass requirements to achieve a higher effective payload.

[0003] Currently, traditional robotic arms lack the humanoid degrees of freedom and joint angles, and the arrangement of joint motors and reducers is not compact enough. Robotic arm systems all require external controllers or external electrical control cabinets for system control and operation, which greatly limits the scope and possibilities of their application. Robotic arms of similar size and weight (around 700mm arm span and 6kg weight) do not possess motion performance similar to that of a human arm in terms of motion rhythm, joint angular velocity, and angular acceleration, resulting in limited response speed and low work efficiency. Summary of the Invention

[0004] In view of the above-mentioned defects of the prior art, the purpose of the present invention is to provide an integrated seven-degree-of-freedom humanoid robotic arm. The technical problem to be solved by the present invention is that: traditional robotic arms do not have humanoid degrees of freedom and joint angles, the arrangement of joint motors and reducers is not compact enough, the response speed is limited, the working efficiency is low, and the system is controlled and operated by external controllers or electrical control cabinets, which greatly limits the scope and possibilities of the use of robotic arms.

[0005] To achieve the above objectives, the present invention provides an integrated seven-degree-of-freedom humanoid robotic arm, characterized in that the humanoid robotic arm (1) includes an upper arm module (2) and a forearm module (3), the upper arm module (2) being connected to the forearm module (3); the upper arm module (2) includes a shoulder joint two-degree-of-freedom integrated module (4), an upper arm rotational degree-of-freedom and ESC mounting module (5), an upper arm main control core module (6), and an elbow joint integrated module (7); the forearm module (3) includes a forearm wrist rotation module (27), a wrist cutting linkage system, a wrist flipping module, and a humanoid shell.

[0006] Furthermore, the shoulder joint two-degree-of-freedom integrated module (4) includes a shoulder joint first-degree-of-freedom motor rotor (8), a shoulder joint second-degree-of-freedom motor rotor (9), a shoulder joint first-degree-of-freedom reduction gear set (10), a shoulder joint first-degree-of-freedom harmonic reducer (11), a power supply and CAN signal port (12), a shoulder joint second-degree-of-freedom reduction gear set (13), a shoulder joint second-degree-of-freedom harmonic reducer (14), and a shoulder joint second-degree-of-freedom transmission flange (15); the shoulder joint two-degree-of-freedom integrated module (4) is fixed to the root of the upper arm module (2), and is connected to the upper arm module (2) via the shoulder joint second-degree-of-freedom harmonic reducer (14) and the upper arm module (2) through the shoulder joint second-degree-of-freedom transmission flange (15). The arm rotational degree of freedom and ESC mounting module (5) is fixed with bolts; the shoulder joint two-degree of freedom integrated module (4) is fixed with the main aluminum part of the module to the shoulder joint first degree of freedom motor rotor (8), the shoulder joint second degree of freedom motor rotor (9), the shoulder joint first degree of freedom harmonic reducer (11), and the shoulder joint second degree of freedom harmonic reducer (14); the shoulder joint two-degree of freedom integrated module (4) is fixed with the shoulder joint first degree of freedom reduction gear set (10) and the shoulder joint second degree of freedom reduction gear set (13) respectively through the fixing parts of the disassembled parts; the power supply and CAN signal port (12) is fixed to the outer fixed end of the shoulder joint end.

[0007] Furthermore, the upper arm rotational degree of freedom and ESC mounting module (5) includes an upper arm rotational degree of freedom motor rotor (16), an upper arm part ESC integration (17), an upper arm rotational degree of freedom harmonic reducer (18), and an upper arm rotational degree of freedom transmission gear set (19); the outer shell of the upper arm rotational degree of freedom and ESC mounting module (5) is fixedly connected to the shoulder joint second degree of freedom transmission flange (15) of the shoulder joint two degree of freedom integration module (4) by bolts; the upper arm rotational degree of freedom and ESC mounting module (5) and the upper arm main control core module (6) are connected by the upper arm rotational degree of freedom and ESC mounting module (5) through the upper arm rotational degree of freedom and ESC mounting module (5) and the upper arm main control core module (6) through the upper arm rotational degree of freedom and ESC mounting module (5) and ESC mounting ...5) through the upper arm rotational degree of freedom and ESC mounting module (5) and ESC mounting module (6) through the upper arm rotational degree of freedom and ESC mounting module (5) and ESC mounting module (5) through the upper arm rotational degree of freedom and ESC mounting module (5) and ESC mounting module (5) through the upper arm rotational degree of freedom and ESC mounting module (5) and ESC mounting module (5) through the upper arm rotational degree of freedom and ESC mounting module (5) and ESC mounting module (5) through the upper arm rotational degree of freedom and ESC mounting module (5) and ESC mounting module (5) through the upper arm rotational The upper arm rotation degree of freedom harmonic reducer (18) is fixedly connected to the mounting parts; the upper arm rotation degree of freedom and ESC mounting module (5) is internally equipped with multiple upper arm part ESC integration (17) for controlling the upper arm rotation degree of freedom motor rotor (16), the shoulder joint first degree of freedom motor rotor (8) and the shoulder joint second degree of freedom motor rotor (9); the upper arm rotation degree of freedom motor rotor (16) is transmitted to the upper arm rotation degree of freedom harmonic reducer (18) through the upper arm rotation degree of freedom transmission gear set (19) to form a transmission chain.

[0008] Furthermore, the upper arm rotational degree of freedom and ESC mounting module (5) is configured with a hollow center hole for wiring.

[0009] Furthermore, the upper arm main control core module (6) also includes a main control microcontroller (20); the main control microcontroller (20) is fixed on the structural plate inside the upper arm main control core module (6).

[0010] Furthermore, the elbow joint integrated module (7) includes an elbow joint groove (21), an elbow joint harmonic reducer (22), and an elbow joint motor rotor (23); the elbow joint integrated module (7) is fixedly connected to the upper arm main control core module (6) by bolts, the elbow joint motor rotor (23) is placed inside the elbow joint integrated module (7) and fixedly connected to its outer shell; the output shaft of the elbow joint motor rotor (23) is directly connected to the input shaft of the elbow joint harmonic reducer (22); the output shaft of the elbow joint harmonic reducer (22) is connected to the forearm module (3).

[0011] Furthermore, the forearm wrist rotation module (27) includes a forearm root hub PCB (29), other electronic components (30), a wrist rotation motor rotor (31), and a wrist rotation harmonic reducer (32); the forearm root hub PCB (29) is provided with an elbow joint transmission flange (24) for fixed connection with the elbow joint integrated module (7); the other electronic components (30), the wrist rotation motor rotor (31), and the wrist rotation harmonic reducer (32) are fixed on the internal structural components of the forearm wrist rotation module (27), and the wrist rotation motor rotor (31) is connected to the input shaft of the wrist rotation harmonic reducer (32).

[0012] Furthermore, the wrist-cutting linkage system includes a wrist-cutting motor rotor (33), a wrist-cutting harmonic reducer (34), and a wrist-cutting linkage (35); the wrist-cutting motor rotor (33) and the wrist-cutting harmonic reducer (34) are installed at the root of the wrist-rotating motion side, and the wrist-cutting motion is realized through the wrist-cutting linkage (35).

[0013] Furthermore, the wrist-turning module includes a wrist-turning motor rotor (36), a wrist-turning harmonic reducer (37), and a hand connection flange (28); the wrist-turning motor rotor (36) and the wrist-turning harmonic reducer (37) are mounted on the wrist-cutting shaft; the output shaft of the wrist-turning harmonic reducer (37) is fixed with the hand connection flange (28) for connection to the hand part.

[0014] Furthermore, the humanoid shell includes a forearm root shell (25) and a forearm front shell (26); the forearm root shell (25) and the forearm front shell (26) are used to enclose the internal structure and electronic components and ensure that the shape conforms to the human form.

[0015] Compared with traditional methods and apparatus, the present invention has the following advantages:

[0016] This invention, by selecting appropriate motor rotors and harmonic reducers, achieves a more rational and compact actuator arrangement for the critical wrist and shoulder joints, resulting in a more compact system with suitable joint limit angles. This invention provides a layout configuration suitable for humanoid robotic arms, particularly the dual-degree-of-freedom joint module of the shoulder joint system and the linkage system of the wrist joint, making the system layout more rational and natural while ensuring stable and reliable strength and torque performance. This invention offers highly integrated and simplified control schemes, minimizing size and peripheral requirements for subsequent fixed or mobile robot platforms, miniaturization needs, and external system requirements, thus achieving system simplicity and efficiency. Compared to robotic arms of the same level, it has a higher cycle time and faster movement capabilities, enabling the robotic arm to complete target tasks more quickly.

[0017] The following will further explain the concept, specific structure, and technical effects of the present invention in conjunction with the accompanying drawings, so as to fully understand the purpose, features, and effects of the present invention. Attached Figure Description

[0018] Figure 1 This is a general view of an integrated seven-DOF humanoid robotic arm according to a preferred embodiment of the present invention;

[0019] Figure 2 This is an assembly drawing of the upper arm according to a preferred embodiment of the present invention;

[0020] Figure 3 This is a axial diagram of a preferred embodiment of the shoulder joint 2-DOF integrated module;

[0021] Figure 4 This is a axial diagram of a preferred embodiment of the shoulder joint 2-DOF integrated module;

[0022] Figure 5 This is a preferred embodiment of the present invention, showing the upper arm rotational degrees of freedom and the axis system of the electronic control module.

[0023] Figure 6 This is a diagram of the upper arm main control core module of a preferred embodiment of the present invention;

[0024] Figure 7 This is a diagram of an elbow joint integrated module according to a preferred embodiment of the present invention;

[0025] Figure 8 This is a forearm assembly drawing of a preferred embodiment of the present invention;

[0026] Figure 9 This is a cross-sectional axis diagram of the wrist-cutting linkage system and wrist-rotating module according to a preferred embodiment of the present invention;

[0027] Figure 10 This is a axial diagram of a forearm wrist-turning module according to a preferred embodiment of the present invention.

[0028] Among them, 1-integrated seven-degree-of-freedom humanoid robotic arm, 2-upper arm module, 3-forearm module, 4-shoulder joint two-degree-of-freedom integrated module, 5-upper arm rotational degree-of-freedom and ESC mounting module, 6-upper arm main control core module, 7-elbow joint integrated module, 8-shoulder joint first-degree-of-freedom motor rotor, 9-shoulder joint second-degree-of-freedom motor rotor, 10-shoulder joint first-degree-of-freedom reduction gear set, 11-shoulder joint first-degree-of-freedom harmonic reducer, 12-power supply and CAN signal port, 13-shoulder joint second-degree-of-freedom reduction gear set, 14-shoulder joint second-degree-of-freedom harmonic reducer, 15-shoulder joint second-degree-of-freedom transmission flange, 16-upper arm rotational degree-of-freedom motor rotor, 17-... - Upper arm ESC integration, 18- Upper arm rotational degree of freedom harmonic reducer, 19- Upper arm rotational degree of freedom transmission gear set, 20- Main control microcontroller, 21- Elbow joint cable groove, 22- Elbow joint harmonic reducer, 23- Elbow joint motor rotor, 24- Elbow joint transmission flange, 25- Forearm root housing, 26- Forearm front housing, 27- Forearm wrist rotation module, 28- Hand connection flange, 29- Forearm root hub PCB, 30- Other electronic components, 31- Wrist rotation motor rotor, 32- Wrist rotation harmonic reducer, 33- Wrist cutting motor rotor, 34- Wrist cutting harmonic reducer, 35- Wrist cutting linkage, 36- Wrist flipping motor rotor, 37- Wrist flipping harmonic reducer. Detailed Implementation

[0029] The following description, with reference to the accompanying drawings, illustrates several preferred embodiments of the present invention to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms, and the scope of protection of the present invention is not limited to the embodiments mentioned herein.

[0030] In the accompanying drawings, components with the same structure are indicated by the same numerical designation, and components with similar structures or functions are indicated by similar numerical designations. The dimensions and thicknesses of each component shown in the drawings are arbitrary, and the present invention does not limit the dimensions and thicknesses of each component. To make the illustrations clearer, the thickness of some components has been appropriately exaggerated in the drawings.

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] This invention provides a seven-DOF humanoid robotic arm mechanism, namely, an integrated seven-DOF humanoid robotic arm 1, such as... Figure 1As shown, its sub-assemblies include upper arm module 2 and forearm module 3. The technical details of the design of the two module mechanisms are described below.

[0033] like Figure 2 As shown, the upper arm module 2 mainly includes a shoulder joint two-degree-of-freedom integrated module 4, an upper arm rotation degree-of-freedom and ESC mounting module 5, an upper arm main control core module 6, and an elbow joint integrated module 7.

[0034] like Figure 3 and Figure 4 As shown, the shoulder joint two-degree-of-freedom integrated module 4 utilizes two identical motor rotors (shoulder joint first-degree-of-freedom motor rotor 8 and shoulder joint second-degree-of-freedom motor rotor 9) and a single-stage reduction gear (shoulder joint first-degree-of-freedom reduction gear set 10 and shoulder joint second-degree-of-freedom reduction gear set 13) to reduce speed before transmitting power to harmonic reducers (shoulder joint first-degree-of-freedom harmonic reducer 11 and shoulder joint second-degree-of-freedom harmonic reducer 14), ultimately connecting to the output shaft. This part uses reduction gears to cause the two rotors to be offset relative to the output shaft, thereby integrating the power system within a relatively small orthogonal dual-axis joint. The joint of the robotic arm, which is based on the fixed shoulder joint, is hollowed out, and a DC power interface and a CAN interface (power and CAN signal port 12) are installed on the outside to enable signal communication and power supply from external sources.

[0035] like Figure 5 As shown, the upper arm rotation degree of freedom and ESC mounting module 5 and the shoulder joint two-degree-of-freedom integrated module 4 can be fixed in two ways, left and right arms. The modular design allows this part to switch between left and right arms by changing the installation method. The main body cavity of this part is used to fix the upper arm ESC integrated module 17 and the wiring PCB board. The front side uses a drive system similar to the shoulder joint integrated module, and uses an offset motor scheme to fix the motor and hollow wiring.

[0036] like Figure 6 As shown, the upper arm main control core module 6 uses carbon fiber plate as the internal load-bearing frame, and is equipped with an STM32 microcontroller processor (main control microcontroller 20) for handling CAN communication integration of the internal motors and CAN communication with the external host computer. This part is externally encased in a nylon plastic shell, so that other custom microcontrollers can also be fixed in the cavity according to user needs.

[0037] like Figure 7 As shown, the elbow joint integrated module 7 is fixed to the front of the upper arm main control core module 6. This system adopts a classic harmonic reduction geared motor configuration, with the elbow joint motor rotor 23 directly connected to the elbow joint harmonic reducer 22, forming the basic drive unit. The other side is used for wiring. To prevent the wiring from tangling with the motor rotor during the wiring process, a suitable cable management groove, namely the elbow joint cable groove 21, is provided.

[0038] like Figure 8 , Figure 9 , Figure 10 As shown, the forearm module 3 includes a forearm wrist rotation module 27, a wrist-cutting linkage system, a wrist-flipping module, and a humanoid shell. The forearm wrist rotation module 27 includes a forearm root wiring PCB 29, other electronic components 30, a wrist rotation motor rotor 31, and a wrist rotation harmonic reducer 32. The forearm root wiring PCB 29 has an elbow joint transmission flange 24 for fixed connection with the elbow joint integrated module 7. The other electronic components 30, the wrist rotation motor rotor 31, and the wrist rotation harmonic reducer 32 are fixed to the internal structural components of the forearm wrist rotation module 27. The wrist rotation motor rotor 31 is connected to the input shaft of the wrist rotation harmonic reducer 32. Because the wrist rotation motor rotor 31 and the wrist rotation harmonic reducer 32 are relatively small and not suitable for hollow wiring, the forearm wrist rotation module 27 uses a side-cutout wiring design. The outer frame of the cutout wiring groove has mechanical limits to ensure that the internal circuitry is not damaged due to motor malfunction.

[0039] like Figure 9 , Figure 10 As shown, the wrist-cutting linkage system includes a wrist-cutting motor rotor 33, a wrist-cutting harmonic reducer 34, and a wrist-cutting linkage 35. The harmonic reducer motor system (wrist-cutting motor rotor 33 and wrist-cutting harmonic reducer 34) of the wrist-cutting linkage system is fixed to the root of the forearm rotation part, and transmits power to the wrist rotation shaft part through the wrist-cutting linkage 35, and is directly fixed to the wrist-turning module. The wrist-turning module is a traditional harmonic reducer motor system, including a wrist-turning motor rotor 6, a wrist-turning harmonic reducer 37, and a hand connection flange 28; the wrist-turning motor rotor 36 and the wrist-turning harmonic reducer 37 are mounted on the wrist-cutting shaft; the output shaft of the wrist-turning harmonic reducer 37 is fixed to the hand connection flange 28 for connection to the hand part.

[0040] like Figure 8 , Figure 9 As shown, the humanoid shell includes a forearm root shell 25 and a forearm front shell 26; the forearm root shell 25 and the forearm front shell 26 are used to enclose the internal structure and electronic components and ensure that the shape conforms to the human form.

[0041] The aforementioned functional modules are mainly supported by machined aluminum parts and carbon fiber sheets, and the outer shell is covered by glass fiber nylon plastic parts, making the shape more human-shaped.

[0042] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. An integrated seven-degree-of-freedom humanoid robotic arm, characterized in that, The humanoid robotic arm (1) includes an upper arm module (2) and a forearm module (3), the upper arm module (2) being connected to the forearm module (3); the upper arm module (2) includes a shoulder joint two-degree-of-freedom integrated module (4), an upper arm rotational degree-of-freedom and ESC mounting module (5), an upper arm main control core module (6), and an elbow joint integrated module (7); the forearm module (3) includes a forearm wrist rotation module (27), a wrist cutting linkage system, a wrist flipping module, and a humanoid shell; The shoulder joint two-degree-of-freedom integrated module (4) includes a shoulder joint first-degree-of-freedom motor rotor (8), a shoulder joint second-degree-of-freedom motor rotor (9), a shoulder joint first-degree-of-freedom reduction gear set (10), a shoulder joint first-degree-of-freedom harmonic reducer (11), a power supply and CAN signal port (12), a shoulder joint second-degree-of-freedom reduction gear set (13), a shoulder joint second-degree-of-freedom harmonic reducer (14), and a shoulder joint second-degree-of-freedom transmission flange (15). The shoulder joint two-degree-of-freedom integrated module (4) is fixed to the root of the upper arm module (2), and is connected to the upper arm via the shoulder joint second-degree-of-freedom harmonic reducer (14) and the shoulder joint second-degree-of-freedom transmission flange (15). The rotational degree of freedom and ESC mounting module (5) is fixed with bolts; the shoulder joint two-degree-of-freedom integrated module (4) is fixed with the main aluminum body of the module to the shoulder joint first degree of freedom motor rotor (8), the shoulder joint second degree of freedom motor rotor (9), the shoulder joint first degree of freedom harmonic reducer (11), and the shoulder joint second degree of freedom harmonic reducer (14); the shoulder joint two-degree-of-freedom integrated module (4) is fixed with the shoulder joint first degree of freedom reduction gear set (10) and the shoulder joint second degree of freedom reduction gear set (13) respectively with fasteners; the power supply and CAN signal port (12) is fixed to the outer fixed end of the shoulder joint end. The upper arm rotational degree of freedom and ESC mounting module (5) includes an upper arm rotational degree of freedom motor rotor (16), an upper arm part ESC integration (17), an upper arm rotational degree of freedom harmonic reducer (18), and an upper arm rotational degree of freedom transmission gear set (19); the outer shell of the upper arm rotational degree of freedom and ESC mounting module (5) is fixedly connected to the shoulder joint second degree of freedom transmission flange (15) of the shoulder joint two degree of freedom integration module (4) by bolts; the upper arm rotational degree of freedom and ESC mounting module (5) and the upper arm main control core module (6) are connected through the upper arm The rotating degree of freedom harmonic reducer (18) is fixedly connected to the mounting parts; the upper arm rotating degree of freedom and ESC mounting module (5) is internally provided with multiple upper arm part ESC integrations (17) for controlling the upper arm rotating degree of freedom motor rotor (16), the shoulder joint first degree of freedom motor rotor (8) and the shoulder joint second degree of freedom motor rotor (9); the upper arm rotating degree of freedom motor rotor (16) is transmitted to the upper arm rotating degree of freedom harmonic reducer (18) through the upper arm rotating degree of freedom transmission gear set (19) to form a transmission chain; The wrist-cutting linkage system includes a wrist-cutting motor rotor (33), a wrist-cutting harmonic reducer (34), and a wrist-cutting linkage (35); the wrist-cutting motor rotor (33) and the wrist-cutting harmonic reducer (34) are located at the root of the wrist-rotating motion side, and the wrist-cutting motion is realized through the wrist-cutting linkage (35).

2. The integrated seven-DOF humanoid robotic arm as described in claim 1, characterized in that, The upper arm rotational degree of freedom and the ESC mounting module (5) is configured with a hollow center hole for wiring.

3. The integrated seven-DOF humanoid robotic arm as described in claim 1, characterized in that, The upper arm main control core module (6) also includes a main control microcontroller (20); the main control microcontroller (20) is fixed on the structural plate inside the upper arm main control core module (6).

4. The integrated seven-DOF humanoid robotic arm as described in claim 1, characterized in that, The elbow joint integrated module (7) includes an elbow joint groove (21), an elbow joint harmonic reducer (22), and an elbow joint motor rotor (23). The elbow joint integrated module (7) is fixedly connected to the upper arm main control core module (6) by bolts. The elbow joint motor rotor (23) is placed inside the elbow joint integrated module (7) and fixedly connected to its outer shell. The output shaft of the elbow joint motor rotor (23) is directly connected to the input shaft of the elbow joint harmonic reducer (22). The output shaft of the elbow joint harmonic reducer (22) is connected to the forearm module (3).

5. The integrated seven-DOF humanoid robotic arm as described in claim 1, characterized in that, The forearm wrist rotation module (27) includes a forearm root hub PCB (29), other electronic components (30), a wrist rotation motor rotor (31), and a wrist rotation harmonic reducer (32). The forearm root hub PCB (29) is provided with an elbow joint transmission flange (24) for fixed connection with the elbow joint integrated module (7). The other electronic components (30), the wrist rotation motor rotor (31), and the wrist rotation harmonic reducer (32) are fixed on the internal structural components of the forearm wrist rotation module (27). The wrist rotation motor rotor (31) is connected to the input shaft of the wrist rotation harmonic reducer (32).

6. The integrated seven-DOF humanoid robotic arm as described in claim 1, characterized in that, The wrist-turning module includes a wrist-turning motor rotor (36), a wrist-turning harmonic reducer (37), and a hand connection flange (28); the wrist-turning motor rotor (36) and the wrist-turning harmonic reducer (37) are mounted on the wrist-cutting shaft; the output shaft of the wrist-turning harmonic reducer (37) is fixed with the hand connection flange (28) for connection to the hand part.

7. The integrated seven-DOF humanoid robotic arm as described in claim 1, characterized in that, The humanoid shell includes a forearm root shell (25) and a forearm front shell (26); the forearm root shell (25) and the forearm front shell (26) are used to enclose the internal structure and electronic components and ensure that the shape fits the human form.

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