Bionic mechanical arm and robot

Abstract

The invention relates to the technical field of bionic robots, and discloses a bionic mechanical arm and a robot. The bionic mechanical arm comprises an arm structure, an elbow joint structure and a wrist structure which are connected in sequence; the arm part structure comprises a first arm part driving piece, a second arm part driving piece and a third arm part driving piece which are connected in sequence; the elbow joint structure comprises an elbow driving piece; the wrist structure comprises a first wrist driving piece, a second wrist driving piece and a third wrist driving piece which are connected in sequence; the first arm driving piece, the second arm driving piece, the third arm driving piece, the elbow driving piece, the first wrist driving piece, the second wrist driving piece and the third wrist driving piece are sequentially connected in series through the multiple connecting wires, winding of the multiple strands of connecting wires is avoided, the wiring and overhauling difficulty is reduced, the connecting wires are sleeved with the spring tubes, and the connecting wires are connected in series through the spring tubes. Damage or bending caused by friction between the connecting wire and the structural member is avoided, the wire rod is protected in a limited mode, reliability is improved, and the service life is prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic robots, and in particular to a bionic mechanical arm and a robot. Background Art

[0002] With the rapid development of robotics, its application in manufacturing, healthcare and daily life is creating a technological revolution. Traditional robots are clumsy in operation and have single functions, which makes it difficult to meet the needs of modern society.

[0003] Nowadays, the bionic degree of robot performance, working reliability and appearance design are becoming increasingly important. Especially in the design of robot arms, efficient motor routing is not only directly related to the robot's operating performance, but also has an important impact on its maintenance convenience and the overall appearance of the machine. However, the routing design of conventional motor structures in the prior art generally has problems such as high complexity, difficulty in wiring and lack of modular design. Summary of the invention

[0004] In view of this, the present invention provides a bionic mechanical arm and a robot to solve the problems of complex wiring and great wiring difficulty of the motor structure in the prior art.

[0005] In order to solve the above technical problems, the technical solution of the present invention is as follows:

[0006] In a first aspect, the present invention provides a bionic mechanical arm, comprising: an arm structure, an elbow joint structure and a wrist structure connected in sequence;

[0007] The arm structure includes a first arm driving member, a second arm driving member and a third arm driving member connected in sequence; the elbow joint structure includes an elbow driving member; the wrist structure includes a first wrist driving member, a second wrist driving member and a third wrist driving member connected in sequence;

[0008] The first arm driving member, the second arm driving member, the third arm driving member, the elbow driving member, the first wrist driving member, the second wrist driving member and the third wrist driving member are connected in series in sequence through a plurality of connecting wires, and spring tubes are sleeved on the outside of the plurality of connecting wires.

[0009] The invention has the following advantages: the first arm driving member, the second arm driving member, the third arm driving member, the elbow driving member, the first wrist driving member, the second wrist driving member and the third wrist driving member are connected in series in sequence through multiple connecting wires, the wiring is simple, and the series connection method enables the connecting wires to be connected and arranged in sequence, thus avoiding the entanglement of multiple connecting wires, reducing the difficulty of wiring and maintenance, and the outer sleeve of the connecting wire is provided with a spring tube, thus avoiding damage or bending caused by friction between the connecting wire and the structural parts, thereby protecting the wire material to a limited extent, improving reliability and extending service life.

[0010] According to a first aspect of the present invention, the bionic mechanical arm further comprises a palm structure, wherein the palm structure is connected to the wrist structure; the first arm driving member drives the arm structure to rotate around the X-axis, the second arm driving member drives the arm structure to rotate around the Y-axis, and the third arm driving member drives the arm structure to rotate around the Z-axis;

[0011] The elbow driving member drives the wrist structure to rotate around the X-axis;

[0012] The first wrist driving component drives the palm structure to rotate around the Z axis, the second wrist driving component drives the palm structure to rotate around the Y axis, and the third wrist driving component drives the palm structure to rotate around the X axis.

[0013] According to the first aspect of the embodiment of the present invention, the bionic robotic arm also includes a first fixed member, the output end of the first arm driving member is transmission connected to the first fixed member, the second arm driving member is fixed to one end of the first fixed member, and the first arm driving member drives the first fixed member to rotate around X to drive the second arm driving member to rotate.

[0014] According to a first aspect of the present invention, the bionic mechanical arm further includes a second fixing member and a third fixing member, the connecting line includes a first connecting line and a second connecting line, one end of the second fixing member is transmission-connected to the output end of the second arm driving member, the other end of the second fixing member is fixedly mounted with the third arm driving member, the second fixing member is provided with a first mounting slot, the first connecting line is passed through the first mounting slot, one end of the first connecting line is connected to the output interface of the second arm driving member, and the other end is connected to the input port of the third arm driving member, the input interface of the second arm driving member is connected to the trunk connecting line, and the second arm driving member drives the second fixing member to rotate around the Y-axis to drive the third arm driving member to rotate;

[0015] One end of the third fixing member is transmission connected to the output end of the third arm driving member, the other end of the third fixing member is fixedly installed with the elbow driving member, the third fixing member is provided with a second mounting slot, the second connecting line is arranged in the second mounting slot, one end of the second connecting line is connected to the output interface of the third arm driving member, the other end of the second connecting line is connected to the input interface of the elbow driving member, and the third arm driving member drives the third fixing member to rotate around the Z-axis direction to drive the elbow driving member to rotate.

[0016] According to the first aspect of the embodiment of the present invention, the bionic robotic arm also includes a fourth fixing member, and the connecting line also includes a third connecting line. One end of the fourth fixing member is transmission-connected to the output end of the elbow driving member, and the other end of the fourth fixing member is fixedly installed with the first wrist driving member. The fourth fixing member is provided with a third mounting slot, and the third connecting line is arranged in the third mounting slot. One end of the third connecting line is connected to the output interface of the elbow driving member, and the other end of the third connecting line is connected to the input interface of the first wrist driving member. The elbow driving member drives the fourth fixing member to rotate around the X-axis direction to drive the first wrist driving member to rotate.

[0017] According to the first aspect of the embodiment of the present invention, the bionic robotic arm also includes a fifth fixing member, a sixth fixing member and a seventh fixing member, and the connecting wire also includes a fourth connecting wire, a fifth connecting wire and a sixth connecting wire; one end of the fourth fixing member is transmission-connected to the output end of the first wrist driving member, the other end of the fifth fixing member is fixedly installed with the second wrist driving member, the fifth fixing member is provided with a fourth mounting slot, the fourth connecting wire is passed through the fourth mounting slot, one end of the fourth connecting wire is connected to the output interface of the first wrist driving member, the other end of the fourth connecting wire is connected to the input interface of the second wrist driving member, and the first wrist driving member drives the fifth fixing member to rotate around the Z-axis direction to drive the second wrist driving member to rotate;

[0018] One end of the sixth fixing member is transmission-connected to the output end of the second wrist driving member, the other end of the sixth fixing member is fixedly mounted with the third wrist driving member, a fifth mounting slot is provided on the sixth fixing member, the fifth connecting line is passed through the fifth mounting slot, one end of the fifth connecting line is connected to the output interface of the second wrist driving member, the other end of the fifth connecting line is connected to the input interface of the third wrist driving member, and the second wrist driving member drives the sixth fixing member to rotate around the Y-axis direction to drive the third wrist driving member to rotate;

[0019] One end of the seventh fixing member is transmission-connected to the output end of the third wrist driving member, the other end of the seventh fixing member is fixedly mounted with the palm structure, the seventh fixing member is provided with a sixth mounting slot, the sixth connecting line is passed through the sixth mounting slot, one end of the sixth connecting line is connected to the output interface of the third wrist driving member, the other end of the sixth connecting line is connected to the input interface of the palm structure, and the third wrist driving member drives the sixth fixing member to rotate around the X-axis direction to drive the palm structure to rotate.

[0020] According to the first aspect of the present invention, the ends of the first mounting slot, the second mounting slot, the third mounting slot, the fourth mounting slot, the fifth mounting slot and the sixth mounting slot are all trumpet-shaped structures.

[0021] According to the first aspect of the present invention, the connecting wires are a power connecting wire and a communication connecting wire both of which are inserted into the spring tube.

[0022] According to the first aspect of the present invention, the bionic robotic arm further comprises a shell, and the shell covers the periphery of the arm structure, the elbow joint structure and the wrist structure.

[0023] In a second aspect, the present invention further provides a robot, comprising a trunk structure and the bionic mechanical arm, wherein the bionic mechanical arm is transmission-connected to the trunk. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A schematic structural diagram of a bionic mechanical arm equipped with a shell provided in an embodiment of the first aspect of the present invention;

[0026] Figure 2 A schematic structural diagram of a bionic mechanical arm not equipped with a shell provided in an embodiment of the first aspect of the present invention;

[0027] Figure 3 A schematic diagram of the structure of a connecting line provided in an embodiment of the first aspect of the present invention;

[0028] Figure 4 A schematic diagram of the connection structure of the first arm driving member and the second arm driving member provided in the embodiment of the first aspect of the present invention;

[0029] Figure 5 It is a schematic diagram of the connection structure of the second arm driving member and the third arm driving member provided in the embodiment of the first aspect of the present invention;

[0030] Figure 6 It is a schematic diagram of the connection structure between the third arm driving member and the elbow driving member provided in the embodiment of the first aspect of the present invention;

[0031] Figure 7 It is a schematic diagram of the connection structure between the elbow driving member and the first wrist driving member provided in the embodiment of the first aspect of the present invention;

[0032] Figure 8 It is a schematic diagram of the connection structure of the first wrist driving member, the second wrist driving member and the third wrist driving member provided in the embodiment of the first aspect of the present invention;

[0033] Fig. 9 This is a schematic diagram of the connection structure between the third wrist driving component and the palm structure provided in the embodiment of the first aspect of the present invention.

[0034] Description of reference numerals:

[0035] 1. Arm structure; 2. Elbow joint structure; 3. Wrist structure; 4. Palm structure; 5. Shell; 6. Spring tube; 11. First arm driver; 12. Second arm driver; 13. Third arm driver; 14. First fixing member; 15. Second fixing member; 21. Elbow driver; 22. Third fixing member; 23. Fourth fixing member; 31. First wrist driver; 32. Second wrist driver; 33. Third wrist driver; 34. Fifth fixing member; 35. Sixth fixing member; 36. Seventh fixing member; 61. First connecting line; 62. Second connecting line; 63. Third connecting line; 64. Fourth connecting line; 65. Fifth connecting line; 66. Sixth connecting line; 151. First mounting slot; 221. Second mounting slot; 231. Third mounting slot; 341. Fourth mounting slot; 351. Fifth mounting slot; 361. Sixth mounting slot. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0037] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0038] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0040] Reference Figure 1 , Figure 2 and Figure 3 As shown, in a first aspect of the present invention, the present invention provides a bionic mechanical arm, comprising: an arm structure 1, an elbow joint structure 2 and a wrist structure 3 connected in sequence;

[0041] The arm structure 1 includes a first arm driving member 11, a second arm driving member 12 and a third arm driving member 13 which are connected in sequence; the elbow joint structure 2 includes an elbow driving member 21; the wrist structure 3 includes a first wrist driving member 31, a second wrist driving member 32 and a third wrist driving member 33 which are connected in sequence;

[0042] The first arm driving member 11, the second arm driving member 12, the third arm driving member 13, the elbow driving member 21, the first wrist driving member 31, the second wrist driving member 32 and the third wrist driving member 33 are connected in series in sequence through a plurality of connecting wires, and a spring tube 6 is sleeved on the outside of the plurality of connecting wires.

[0043] Specifically, the first arm driver 11, the second arm driver 12, the third arm driver 13, the elbow driver 21, the first wrist driver 31, the second wrist driver 32 and the third wrist driver 33 are connected in series in sequence through a plurality of connecting wires, and the wiring is simple. The series connection method enables the connecting wires to be connected in sequence, thereby avoiding the entanglement of multiple connecting wires and reducing the difficulty of wiring and maintenance. The outer sleeve of the connecting wire is provided with a spring tube 6, which avoids damage or bending caused by friction between the connecting wire and the structural parts, thereby protecting the wire material to a limited extent, improving reliability and extending service life.

[0044] It can be understood that the arm structure 1 is composed of a first arm driver 11, a second arm driver 12 and a third arm driver 13 connected in sequence; the elbow joint structure 2 includes an elbow driver 21, and the wrist structure 3 is composed of a first wrist driver 31, a second wrist driver 32 and a third wrist driver 33 connected in sequence. The drivers are connected in series in sequence through a plurality of connecting wires, and the outside of the connecting wires are all sheathed with spring tubes 6 to protect the cables and prevent damage caused by bending or external impact.

[0045] When the driving parts are powered on, each driving part drives the corresponding structure to rotate along different axes, respectively realizing the motion control of the bionic robot arm in three-dimensional space. Specifically, the arm structure 1 realizes the rotation around the X-axis, Y-axis and Z-axis respectively through the first arm driving part 11, the second arm driving part 12 and the third arm driving part 13; the elbow joint structure 2 realizes the rotation around the X-axis through the elbow driving part 21; the wrist structure 3 realizes the rotation around the Z-axis, Y-axis and X-axis respectively through the first wrist driving part 31, the second wrist driving part 32 and the third wrist driving part 33.

[0046] In the first embodiment of the present invention, the bionic mechanical arm further comprises a palm structure 4, which is connected to the wrist structure 3; the first arm driving member 11 drives the arm structure 1 to rotate around the X axis, the second arm driving member 12 drives the arm structure 1 to rotate around the Y axis, and the third arm driving member 13 drives the arm structure 1 to rotate around the Z axis;

[0047] The elbow driving member 21 drives the wrist structure 3 to rotate around the X-axis;

[0048] The first wrist driving component 31 drives the palm structure 4 to rotate around the Z axis, the second wrist driving component 32 drives the palm structure 4 to rotate around the Y axis, and the third wrist driving component 33 drives the palm structure 4 to rotate around the X axis.

[0049] Specifically, the bionic robot arm further includes a palm structure 4, which is connected to the wrist structure 3. The palm structure 4 can complete multi-directional movement under the action of various driving parts, thereby improving the flexibility of the robot arm.

[0050] The first arm driving member 11 drives the arm structure 1 to rotate around the X axis, the second arm driving member 12 drives the arm structure 1 to rotate around the Y axis, and the third arm driving member 13 drives the arm structure 1 to rotate around the Z axis. The elbow driving member 21 drives the wrist structure 3 to rotate around the X axis, the first wrist driving member 31 drives the palm structure 4 to rotate around the Z axis, the second wrist driving member 32 drives the palm structure 4 to rotate around the Y axis, and the third wrist driving member 33 drives the palm structure 4 to rotate around the X axis. Through the coordinated work of each driving member, the robot arm can complete bionic movements similar to those of a human arm.

[0051] Reference Figure 4As shown, in the first embodiment of the present invention, the bionic robotic arm also includes a first fixed member 14, the output end of the first arm driving member 11 is transmission-connected to the first fixed member 14, the second arm driving member 12 is fixed to one end of the first fixed member 14, and the first arm driving member 11 drives the first fixed member 14 to rotate around X to drive the second arm driving member 12 to rotate.

[0052] Reference Figure 4 and Figure 5 As shown, in the first embodiment of the present invention, the bionic mechanical arm also includes a second fixing member 15 and a third fixing member 22, the connecting line includes a first connecting line 61 and a second connecting line 62, one end of the second fixing member 15 is drivingly connected to the output end of the second arm driving member 12, the other end of the second fixing member 15 is fixedly installed with the third arm driving member 13, the second fixing member 15 is provided with a first mounting slot 151, the first connecting line 61 is passed through the first mounting slot 151, one end of the first connecting line 61 is connected to the output interface of the second arm driving member 12, and the other end is connected to the input port of the third arm driving member 13, the input interface of the second arm driving member 12 is connected to the trunk connecting line, and the second arm driving member 12 drives the second fixing member 15 to rotate around the Y axis to drive the third arm driving member 13 to rotate;

[0053] One end of the third fixing member 22 is transmission connected to the output end of the third arm driving member 13, and the other end of the third fixing member 22 is fixedly installed with the elbow driving member 21. The third fixing member 22 is provided with a second mounting slot 221, and the second connecting line 62 is arranged in the second mounting slot 221. One end of the second connecting line 62 is connected to the output interface of the third arm driving member 13, and the other end of the second connecting line 62 is connected to the input interface of the elbow driving member 21. The third arm driving member 13 drives the third fixing member 22 to rotate around the Z-axis direction to drive the elbow driving member 21 to rotate.

[0054] Reference Figure 6 As shown, in the first aspect of the embodiment of the present invention, the bionic robotic arm also includes a fourth fixing member 23, and the connecting line also includes a third connecting line 63. One end of the fourth fixing member 23 is transmission-connected to the output end of the elbow driving member 21, and the other end of the fourth fixing member 23 is fixedly installed with the first wrist driving member 31. The fourth fixing member 23 is provided with a third mounting slot 231, and the third connecting line 63 is arranged in the third mounting slot 231. One end of the third connecting line 63 is connected to the output interface of the elbow driving member 21, and the other end of the third connecting line 63 is connected to the input interface of the first wrist driving member 31. The elbow driving member 21 drives the fourth fixing member 23 to rotate around the X-axis direction to drive the first wrist driving member 31 to rotate.

[0055] Reference Figure 7 , Figure 8 and Fig. 9As shown, in the first embodiment of the present invention, the bionic mechanical arm also includes a fifth fixing member 34, a sixth fixing member 35 and a seventh fixing member 36, and the connecting wires also include a fourth connecting wire 64, a fifth connecting wire 65 and a sixth connecting wire 66; one end of the fourth fixing member 23 is transmission-connected to the output end of the first wrist driving member 31, and the other end of the fifth fixing member 34 is fixedly installed with the second wrist driving member 32, and the fifth fixing member 34 is provided with a fourth mounting slot 341, and the fourth connecting wire 64 is passed through the fourth mounting slot 341, and one end of the fourth connecting wire 64 is connected to the output interface of the first wrist driving member 31, and the other end of the fourth connecting wire 64 is connected to the input interface of the second wrist driving member 32, and the first wrist driving member 31 drives the fifth fixing member 34 to rotate around the Z-axis direction to drive the second wrist driving member 32 to rotate;

[0056] One end of the sixth fixing member 35 is transmission-connected to the output end of the second wrist driving member 32, and the other end of the sixth fixing member 35 is fixedly mounted with the third wrist driving member 33. The sixth fixing member 35 is provided with a fifth mounting slot 351, and the fifth connecting line 65 is passed through the fifth mounting slot 351. One end of the fifth connecting line 65 is connected to the output interface of the second wrist driving member 32, and the other end of the fifth connecting line 65 is connected to the input interface of the third wrist driving member 33. The second wrist driving member 32 drives the sixth fixing member 35 to rotate around the Y-axis direction to drive the third wrist driving member 33 to rotate.

[0057] One end of the seventh fixing member 36 is transmission connected to the output end of the third wrist driving member 33, and the other end of the seventh fixing member 36 is fixedly installed with the palm structure 4. The seventh fixing member 36 is provided with a sixth mounting slot 361, and the sixth connecting line 66 is passed through the sixth mounting slot 361. One end of the sixth connecting line 66 is connected to the output interface of the third wrist driving member 33, and the other end of the sixth connecting line 66 is connected to the input interface of the palm structure 4. The third wrist driving member 33 drives the sixth fixing member 35 to rotate around the X-axis direction to drive the palm structure 4 to rotate.

[0058] Specifically, the first fixing member 14, the second fixing member 15, the third fixing member 22, the fourth fixing member 23, the fifth fixing member 34, the sixth fixing member 35 and the seventh fixing member 36 are all made of aluminum alloy, which improves the lightweight while ensuring the structural strength. Through the setting of multi-stage fixing members, the structure is compact and the transmission design is optimized to ensure the dynamic response performance of the robot arm under maximum load, while reducing the influence of inertia force and improving control accuracy.

[0059] In the first embodiment of the present invention, the ends of the first mounting slot 151, the second mounting slot 221, the third mounting slot 231, the fourth mounting slot 341, the fifth mounting slot 351 and the sixth mounting slot 361 are all trumpet-shaped structures.

[0060] In the first embodiment of the present invention, the connecting wires are a power connecting wire and a communication connecting wire both of which are inserted into the spring tube 6.

[0061] Specifically, a mounting slot is designed on each fixing member for the insertion and fixing of the connecting wire. The end of each mounting slot is designed as a trumpet-shaped structure to facilitate the introduction and export of the connecting wire. The connecting wire includes a power connection wire and a communication connection wire, both of which are inserted into the spring tube 6 to realize the control of each driving member and data transmission.

[0062] Reference Figure 1 As shown, in the first embodiment of the present invention, the bionic robotic arm further includes a shell 5 , which covers the periphery of the arm structure 1 , the elbow joint structure 2 and the wrist structure 3 .

[0063] Specifically, the bionic mechanical arm further includes a shell 5. The shell 5 covers the periphery of the arm structure 1, the elbow joint structure 2 and the wrist structure 3, which can not only protect the internal components, but also improve the appearance integrity and dustproof and waterproof performance of the bionic mechanical arm.

[0064] In a second aspect, the present invention further provides a robot, comprising a trunk structure and a bionic mechanical arm, wherein the bionic mechanical arm is transmission-connected to the trunk.

[0065] Specifically, the robot includes a trunk structure and a bionic mechanical arm. The bionic mechanical arm is connected to the trunk structure through a transmission mechanism, so that it can complete complex movements similar to human arms. The robot can be widely used in the fields of medical assistance, industrial production and service robots.

[0066] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A bionic robotic arm, characterized in that: include: An arm structure (1), an elbow joint structure (2) and a wrist structure (3) connected in sequence; The arm structure (1) comprises a first arm driving member (11), a second arm driving member (12) and a third arm driving member (13) which are connected in sequence; the elbow joint structure (2) comprises an elbow driving member (21); the wrist structure (3) comprises a first wrist driving member (31), a second wrist driving member (32) and a third wrist driving member (33) which are connected in sequence; The first arm driving component (11), the second arm driving component (12), the third arm driving component (13), the elbow driving component (21), the first wrist driving component (31), the second wrist driving component (32) and the third wrist driving component (33) are sequentially connected in series via a plurality of connecting wires, and a spring tube (6) is sleeved on the outside of the plurality of connecting wires.

2. The bionic robotic arm according to claim 1, characterized in that: The arm structure (1) further comprises a palm structure (4), wherein the palm structure (4) is connected to the wrist structure (3); the first arm driving component (11) drives the arm structure (1) to rotate around the X-axis, the second arm driving component (12) drives the arm structure (1) to rotate around the Y-axis, and the third arm driving component (13) drives the arm structure (1) to rotate around the Z-axis; The elbow driving member (21) drives the wrist structure (3) to rotate around the X-axis; The first wrist driving component (31) drives the palm structure (4) to rotate around the Z axis, the second wrist driving component (32) drives the palm structure (4) to rotate around the Y axis, and the third wrist driving component (33) drives the palm structure (4) to rotate around the X axis.

3. The bionic robotic arm according to claim 2, characterized in that: The invention also comprises a first fixing member (14), an output end of the first arm driving member (11) being in driving connection with the first fixing member (14), the second arm driving member (12) being fixedly arranged at one end of the first fixing member (14), and the first arm driving member (11) driving the first fixing member (14) to rotate around X, thereby driving the second arm driving member (12) to rotate.

4. The bionic mechanical arm according to claim 3, characterized in that: It also includes a second fixing member (15) and a third fixing member (22), the connecting line includes a first connecting line (61) and a second connecting line (62), one end of the second fixing member (15) is drivingly connected to the output end of the second arm driving member (12), the other end of the second fixing member (15) is fixedly installed with the third arm driving member (13), the second fixing member (15) is provided with a first mounting slot (151), the first connecting line (61) is passed through the first mounting slot (151), one end of the first connecting line (61) is connected to the output interface of the second arm driving member (12), and the other end is connected to the input port of the third arm driving member (13), the input interface of the second arm driving member (12) is connected to the trunk connecting line, and the second arm driving member (12) drives the second fixing member (15) to rotate around the Y axis to drive the third arm driving member (13) to rotate; One end of the third fixing member (22) is transmission-connected to the output end of the third arm driving member (13); the other end of the third fixing member (22) is fixedly mounted with the elbow driving member (21); a second mounting slot (221) is provided on the third fixing member (22); the second connecting line (62) is arranged in the second mounting slot (221); one end of the second connecting line (62) is connected to the output interface of the third arm driving member (13); the other end of the second connecting line (62) is connected to the input interface of the elbow driving member (21); the third arm driving member (13) drives the third fixing member (22) to rotate around the Z-axis direction, so as to drive the elbow driving member (21) to rotate.

5. The bionic mechanical arm according to claim 4, characterized in that: It also includes a fourth fixing member (23), and the connecting line also includes a third connecting line (63). One end of the fourth fixing member (23) is transmission-connected to the output end of the elbow driving member (21), and the other end of the fourth fixing member (23) is fixedly installed with the first wrist driving member (31). The fourth fixing member (23) is provided with a third mounting slot (231), and the third connecting line (63) is arranged in the third mounting slot (231). One end of the third connecting line (63) is connected to the output interface of the elbow driving member (21), and the other end of the third connecting line (63) is connected to the input interface of the first wrist driving member (31). The elbow driving member (21) drives the fourth fixing member (23) to rotate around the X-axis direction to drive the first wrist driving member (31) to rotate.

6. The bionic mechanical arm according to claim 5, characterized in that: It also includes a fifth fixing member (34), a sixth fixing member (35) and a seventh fixing member (36), and the connecting wire also includes a fourth connecting wire (64), a fifth connecting wire (65) and a sixth connecting wire (66); one end of the fourth fixing member (23) is transmission-connected to the output end of the first wrist driving member (31), and the other end of the fifth fixing member (34) is fixedly installed with the second wrist driving member (32); the fifth fixing member (34) is provided with a fourth mounting slot (341), and the fourth connecting wire (64) is passed through the fourth mounting slot (341); one end of the fourth connecting wire (64) is connected to the output interface of the first wrist driving member (31), and the other end of the fourth connecting wire (64) is connected to the input interface of the second wrist driving member (32); the first wrist driving member (31) drives the fifth fixing member (34) to rotate around the Z-axis direction to drive the second wrist driving member (32) to rotate; One end of the sixth fixing member (35) is transmission-connected to the output end of the second wrist driving member (32); the other end of the sixth fixing member (35) is fixedly mounted with the third wrist driving member (33); a fifth mounting slot (351) is provided on the sixth fixing member (35); the fifth connecting line (65) is passed through the fifth mounting slot (351); one end of the fifth connecting line (65) is connected to the output interface of the second wrist driving member (32); the other end of the fifth connecting line (65) is connected to the input interface of the third wrist driving member (33); the second wrist driving member (32) drives the sixth fixing member (35) to rotate around the Y-axis direction to drive the third wrist driving member (33) to rotate; One end of the seventh fixing member (36) is transmission-connected to the output end of the third wrist driving member (33); the other end of the seventh fixing member (36) is fixedly mounted with the palm structure (4); a sixth mounting slot (361) is provided on the seventh fixing member (36); the sixth connecting line (66) is passed through the sixth mounting slot (361); one end of the sixth connecting line (66) is connected to the output interface of the third wrist driving member (33); the other end of the sixth connecting line (66) is connected to the input interface of the palm structure (4); the third wrist driving member (33) drives the sixth fixing member (35) to rotate around the X-axis direction to drive the palm structure (4) to rotate.

7. The bionic mechanical arm according to claim 6, characterized in that: The ends of the first mounting slot (151), the second mounting slot (221), the third mounting slot (231), the fourth mounting slot (341), the fifth mounting slot (351) and the sixth mounting slot (361) are all in a trumpet-shaped structure.

8. The bionic mechanical arm according to claim 1, characterized in that: The connecting wires are a power connection wire and a communication connection wire, both of which are inserted into the spring tube (6).

9. The bionic mechanical arm according to any one of claims 1 to 8, characterized in that: It also includes a shell (5), which is covered on the periphery of the arm structure (1), the elbow joint structure (2) and the wrist structure (3).

10. A robot, characterized in that: It comprises a trunk structure and the bionic mechanical arm according to any one of claims 1 to 9, wherein the bionic mechanical arm is transmission-connected to the trunk.

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