Humanoid mechanical arm

Abstract

The invention belongs to the technical field of robots, and relates to a humanoid mechanical arm which comprises a shoulder joint, a large arm, a small arm and a mechanical hand which are sequentially connected from front to back, a rope driving mechanism is arranged on the large arm and the small arm, the shoulder joint comprises a shoulder rack and a joint driver installed on the shoulder rack, and the joint driver drives a flexible shaft and a rope to rotate through matched transmission of the flexible shaft and the rope. And the corresponding rope driving mechanisms are driven, so that the large arm, the small arm and the manipulator are controlled to perform corresponding anthropomorphic arm movement. According to the humanoid mechanical arm, all-directional flexible movement can be conducted, complex actions can be effectively completed, the bionic effect of movement of the humanoid mechanical arm is improved, ropes are arranged at all joints, meanwhile, corresponding actuators are arranged for flexible shaft driving and rope driving, and the flexible shaft driving and the rope driving are matched for operation, so that modular layout of a driving system is achieved; the problems of complexity and coupling of a rope driving mechanism are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of robots and relates to a humanoid mechanical arm. Background Art

[0002] The design of humanoid robotic arms is inspired by the physiological structure and movement of humans, which makes them highly flexible and adaptable, able to simulate the structure and movement of human arms and complete various complex movements. In addition, the interactivity and intelligence of humanoid robotic arms also make them suitable for a variety of scenarios, such as home services, medical rehabilitation and other daily life areas.

[0003] However, the existing humanoid robotic arms have some obvious shortcomings, for example: the flipping motion of their forearms is equivalent to rotational motion, which deviates from the flipping motion of human forearms, and the structure is still quite different from that of humanized ones; their shoulder joints are mostly connecting rods or hinged structures, which deviate from the ball-and-socket structure of humans; the shoulder, elbow and wrist joints of rope-driven humanoid robotic arms are integral structures with relatively complex layouts, and the rope arrangement is relatively cumbersome, and it is easy to cause rope coupling; and the joint motors, reducers and other devices are arranged on the moving robotic arms, resulting in limited response speed and low work efficiency. Summary of the invention

[0004] In order to solve the above technical problems existing in the prior art, the present invention proposes a humanoid mechanical arm, and its specific technical solution is as follows: A humanoid robot arm comprises a shoulder joint, an upper arm, a lower arm and a robot which are connected in sequence front and back. A rope drive mechanism is arranged on the upper arm and the lower arm. The shoulder joint comprises a shoulder frame and a joint driver installed on the shoulder frame. The joint driver drives the corresponding rope drive mechanism by cooperating with a flexible shaft and a rope, thereby controlling the upper arm, the lower arm and the robot to perform corresponding anthropomorphic arm movements.

[0005] Furthermore, the joint driver includes: a shoulder joint flexion and extension motion actuator, a shoulder joint adduction and abduction motion actuator, an elbow actuator, a forearm flip actuator, a wrist joint extension and flexion actuator, and a wrist joint radial flexion and ulnar flexion actuator. Each actuator uses a servo motor and a harmonic reducer, and the servo motor output shaft is keyed to the harmonic reducer. The output of the harmonic reducer of the shoulder joint flexion and extension motion actuator and the shoulder joint adduction and abduction motion actuator is connected to a rope-driven turntable, and a rope threading hole is provided on the rope-driven turntable. The rope passes through the rope threading hole and is wound around the rope-driven turntable. The harmonic reducer outputs of the elbow actuator, the forearm flip actuator, the wrist extension and flexion actuator, and the wrist radial flexion and ulnar flexion actuator are connected with a flexible shaft turntable, on which a hexagonal hole is arranged, and the size of the hexagonal hole matches the end of the flexible shaft.

[0006] Further, the upper arm includes: an upper arm skeleton, an upper arm spherical joint, a connecting bowl, a shoulder spherical joint, an elbow upper arm hinge joint, an elbow joint rope drive mechanism, and a rope drive tensioning mechanism; The upper arm ball joint and the elbow upper arm hinge joint are respectively connected to the front and rear ends of the upper arm skeleton, the rear end of the shoulder ball joint is connected to the upper arm ball joint through a connecting bowl, the front end of the shoulder ball joint is provided with a mounting pin, and the shoulder frame is also provided with an upper arm mounting hole, and the mounting pin is connected to the upper arm mounting hole; A plurality of soft shaft fixers are arranged on the outer wall of the main body of the upper arm skeleton; The outer side walls of the shoulder ball joint and the upper arm ball joint are respectively surrounded by a static pulley block and a movable pulley block, and the static pulley block and the movable pulley block are arranged in a front-to-back corresponding position; The elbow joint rope drive mechanism is arranged on the side of the upper arm hinge joint near the elbow joint, and two rope drive tensioning mechanisms are respectively driven and connected by ropes on both sides thereof.

[0007] Furthermore, a wire locker is provided on the static pulley group, and there are 4 static pulley groups and 4 movable pulley groups respectively, with 2 pulley groups corresponding to the wall as a group, which are respectively connected to the shoulder joint flexion and extension motion actuator and the shoulder joint adduction and abduction motion actuator through ropes.

[0008] Furthermore, the connecting bowl is a structure with ball holes at both ends of the cylinder. The shoulder joint flexion and extension motion actuator and the shoulder joint adduction and abduction motion actuator cooperate with the driving rope to adjust the distance between the corresponding front and rear movable pulley groups and the static pulley groups, so that the connecting bowl and the shoulder ball joint and the upper arm ball joint cooperate with each other to slide.

[0009] Furthermore, the bottom of the flexible shaft fixer is fixed to the upper arm bone by two semicircular rings that are engaged with each other, and the upper part has an arc-shaped notch, which is elastic and has a diameter slightly smaller than the outer diameter of the flexible shaft. The flexible shaft is clamped by material deformation of the flexible shaft fixer.

[0010] Furthermore, the rope-driven tensioning mechanism includes: a movable bolt, a cylindrical nut, a hexagon socket screw, a U-shaped buckle, and a pulley. A through hole is provided in the middle of the bottom of the U-shaped buckle. The threaded end of the hexagon socket screw passes through the through hole and is connected to the upper end of the cylindrical nut. The head of the hexagon socket screw is limited and fixed outside the through hole. The threaded end of the movable bolt is connected to the lower end of the cylindrical nut. The pulley is installed and connected between the brackets on both sides of the U-shaped buckle, and a rope connected to the elbow joint rope-driven mechanism is wound around the pulley.

[0011] Further, the forearm includes: a forearm bone, a forearm ball joint, a forearm hyperextension articulation frame, and a palm joint; One end of the forearm bone is fixed to the forearm ball joint and a forearm flexion articulated frame is provided on the inner wall of the end, the other end of the forearm bone is a ball head end and is connected to the palm joint, and a flip winch is provided on the side of the end; the forearm ball joint is movably connected to the elbow joint and the upper arm articulated joint, and the forearm hyper-extension articulated frame is arranged on the forearm ball joint and is located on the opposite side of the forearm flexion articulated frame; the forearm flexion articulated frame and the forearm hyper-extension articulated frame are respectively hingedly matched with the movable bolt eyelet ends of the rope-driven tensioning mechanism on the corresponding side.

[0012] Further, the palm joints include: a palmar joint 1, a palmar joint 2, a palmar joint 3, a wrist joint radial flexion and ulnar flexion capstan, and a wrist joint extension and flexion capstan; A ball socket is provided at the front end of the metacarpal joint, and two ball heads are provided at the rear end, and the ball socket is matched and connected with the ball head end of the forearm bone; The wrist joint extension and flexion capstan is arranged on the first metacarpal joint, and the wrist joint extension and flexion actuator is connected to the wrist joint extension and flexion capstan through a flexible shaft control; The front end of the metacarpal joint is provided with a double ball socket and a joint second driving ring, and the rear end is provided with a hinge structure. The front end of the metacarpal joint is connected with the rear end of the metacarpal joint through the ball head and the ball socket; the rope on the wrist joint extension and flexion capstan is turned by the pulley, and then the rope is wound behind the joint second driving ring and fixed by the wire locker; the wrist joint radial flexion and ulnar flexion capstan is arranged on the metacarpal joint, and the wrist joint radial flexion and ulnar flexion actuator is connected to the wrist joint radial flexion and ulnar flexion capstan through a flexible shaft control; The front end of the metacarpophalangeal joint is hingedly connected to the metacarpophalangeal joint and is provided with a joint three driving ring, and the rear end is fixed to the manipulator; the rope on the wrist joint radial flexion and ulnar flexion winch is fixed to the metacarpophalangeal joint through a wire locker after being wrapped around the joint three driving line.

[0013] Furthermore, guide wheel groups are correspondingly provided in the metacarpal joint 2 and metacarpal joint 3 to guide the rope so that the rope is wound and matched with the joint 2 driving ring and the joint 3 driving ring.

[0014] The arm of the present invention sets the position of the upper arm near the shoulder as a spherical opposed structure, which can slide flexibly in all directions, further improving the simulation effect of human arm activities and effectively completing complex movements. In addition, the present invention sets and uses ropes at each joint, which simplifies the overall layout of the ropes and prevents their coupling disorder. At the same time, the present invention sets corresponding actuators for flexible shaft drive and rope drive, and the coordinated operation of the two can effectively improve the efficiency of work maintenance and operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 Schematic diagram of the structure of the humanoid mechanical arm of this embodiment; Figure 2 2 is a schematic diagram of the shoulder joint structure of this embodiment; Figure 3Schematic diagram of the structure of the upper arm of this embodiment; Figure 4 is a structural diagram of the rope-driven tensioning mechanism of this embodiment; Figure 5 Schematic diagram of the overall connection structure of the forearm of this embodiment; In the figure, 1 is the upper arm, 2 is the flexible shaft, 3 is the lower arm, 4 is the manipulator, 5 is the shoulder joint, and 6 is the joint driver; 1.1 is the servo motor, 1.2 is the harmonic reducer, 1.3 is the rope-driven turntable, 1.4 is the shoulder joint flexion and extension actuator, 1.5 is the shoulder frame, 1.6 is the elbow actuator, 1.7 is the wrist joint extension and flexion actuator, 1.8 is the upper arm mounting hole, 1.9 is the lower arm flip actuator, 1.10 is the flexible shaft turntable, 1.11 is the wrist joint radial flexion and ulnar flexion actuator, 1.12 is the shoulder joint adduction and abduction actuator; 2.1 is the elbow joint upper arm articulation joint, 2.2 is the elbow joint rope drive mechanism, 2.3 is the flexible shaft fixer, 2.4 is the upper arm skeleton, 2.5 is the movable pulley block, 2.6 is the upper arm spherical joint, 2.7 is the connecting bowl, 2.8 is the static pulley block, 2.9 is the wire locker, 2.10 is the shoulder spherical joint, 2.11 is the mounting pin, and 2.12 is the rope drive tensioning mechanism; 3.1 is the metacarpophalangeal joint, 3.2 is the metacarpophalangeal joint, 3.3 is the metacarpophalangeal joint, 3.4 is the wrist joint radial flexion and ulnar flexion capstan, 3.5 is the wrist joint extension flexion capstan, 3.6 is the flip capstan, 3.7 is the forearm bone, 3.8 is the forearm flexion articulation frame, 3.9 is the forearm ball joint, and 3.10 is the forearm hyperextension articulation frame; 4.1 is the joint bolt, 4.2 is the cylindrical nut, 4.3 is the hexagon socket screw, 4.4 is the U-shaped buckle, and 4.5 is the pulley. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical scheme and technical effect of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0017] like Figure 1 As shown, a humanoid robotic arm of an embodiment of the present invention comprises a shoulder joint 5, an upper arm 1, a lower arm 3 and a manipulator 4 which are sequentially connected, a rope drive mechanism is provided on the upper arm 1 and the lower arm 3, the shoulder joint 5 comprises: a shoulder frame 1.5 and a joint driver 6 installed on the shoulder frame 1.5, the joint driver 6 drives the upper arm 1, the lower arm 3 and the manipulator 4 to perform corresponding anthropomorphic arm movements by cooperating with the driving flexible shaft 2 and the rope.

[0018] like Figure 2 As shown, a boom mounting hole 1.8 is also provided on the shoulder frame 1.5 for connecting with the boom 1.

[0019] The joint driver 6 comprises: a shoulder joint flexion and extension motion actuator 1.4, a shoulder joint adduction and abduction motion actuator 1.12, an elbow actuator 1.6, a forearm flip actuator 1.9, a wrist joint extension and flexion actuator 1.7, and a wrist joint radial flexion and ulnar flexion actuator 1.11.

[0020] The actuator includes: a servo motor 1.1, a harmonic reducer 1.2, and a rope-driven turntable 1.3 or a flexible shaft turntable 1.10. The fixed part of the harmonic reducer 1.2 is fixed to the mounting hole of the servo motor 1.1 with screws, the rotating part of the harmonic reducer 1.2 is connected to the output shaft of the servo motor 1.1 through a key, and the power output part of the harmonic reducer 1.2 is fixed to the rope-driven turntable 1.3 or the flexible shaft turntable 1.10 with screws. The mounting hole of the harmonic reducer 1.2 is connected to the shoulder frame 1.5 with screws. A rope threading hole is provided on the rope-driven turntable 1.3, and the rope passes through the rope threading hole and is wound on the rope-driven turntable 1.3. A hexagonal hole is provided on the flexible shaft turntable 1.10, and the size of the hexagonal hole matches the output end of the flexible shaft.

[0021] One end of the flexible shaft 2 is connected to the actuator, and the other end is connected to the rope drive mechanism of each joint. When the actuator rotates, the torque is transmitted to the flexible shaft 2, and the flexible shaft 2 transmits the torque to the rope drive mechanism of the corresponding joint, and the rope drive mechanism drives the movement of each joint.

[0022] like Figure 3As shown, the upper arm 1 includes: a mounting pin 2.11, a shoulder ball joint 2.10, a connecting bowl 2.7, an upper arm ball joint 2.6, a movable pulley group 2.5, a static pulley group 2.8, an upper arm skeleton 2.4, a flexible shaft fixer 2.3, an elbow joint rope drive mechanism 2.2, an elbow joint upper arm hinge joint 2.1, and a rope drive tensioning mechanism 2.12. The upper arm ball joint 2.6 and the elbow joint upper arm hinge joint 2.1 are respectively connected and arranged at the front and rear ends of the upper arm skeleton 2.4, and the mounting pin 2.11 is inserted into the shoulder joint upper arm mounting hole 1.8. The connecting bowl 2.7 is a structure with ball holes at both ends of the cylinder, which can cooperate with the shoulder ball joint 2.10 and the upper arm ball joint 2.6. A group of static pulley groups 2.8 and a movable pulley group 2.5 constitute a group of rope drive mechanisms, and there are 4 groups of rope drive mechanisms in total. The two groups of pulley groups at corresponding positions constitute the shoulder flexion and extension and adduction and abduction movements. When the static pulley block 2.8 and the movable pulley block 2.5 are driven, the shoulder ball joint 2.10, the connecting bowl 2.7 and the upper arm ball joint 2.6 will slide relative to each other. The static pulley block 2.8 is provided with a wire locker 2.9, which fixes one end of the rope. The other end of the rope passes around the movable pulley block 2.5 and then around the static pulley block 2.8 again. Then, after being wound around the rope drive turntable 1.3, it passes through the pulley block on the corresponding wall surface, and finally the other end of the rope is fixed on the wire locker 2.9. The bottom of the flexible shaft fixer 2.3 is fixed to the upper arm bone 2.4 by two semicircular rings that are mutually engaged. There is an arc-shaped notch on the upper part, and the diameter of the notch is slightly smaller than the outer diameter of the flexible shaft. The flexible shaft is stuck by the deformation of the material of the flexible shaft fixer 2.3. The elbow joint rope drive mechanism 2.2 is composed of an elbow joint capstan and a guide roller. The elbow joint capstan cooperates with the output end of the flexible shaft 2 and can rotate under the drive of the flexible shaft 2. The rope-driven tensioning mechanism 2.12 is arranged on both sides of the rear end of the upper arm bone 2.4 and is controlled and connected by the elbow joint rope-driven mechanism 2.2 through the driving rope. Figure 4 As shown, the rope-driven tensioning mechanism 2.12 includes: a movable bolt 4.1, a cylindrical nut 4.2, a hexagon socket screw 4.3, a U-shaped buckle 4.4, and a pulley 4.5. A through hole is provided in the middle of the bottom of the U-shaped buckle 4.4. The threaded end of the hexagon socket screw 4.3 passes through the through hole and is connected to the upper end of the cylindrical nut 4.2. The head of the hexagon socket screw 4.3 is limited and fixed outside the through hole. The threaded end of the movable bolt 4.1 is connected to the lower end of the cylindrical nut 4.2. The pulley 4.5 is installed and connected between the brackets on both sides of the U-shaped buckle 4.4.

[0023] The middle section of the rope is wound around the rope-driven turntable 1.3 of the shoulder joint flexion and extension motion actuator 1.4, and the two extended ropes are respectively connected to the two corresponding front and rear movable pulley groups 2.5 and static pulley groups 2.8. The rope first passes around the pulley of the static pulley group 2.8, then passes around the pulley of the movable pulley group 2.5 and returns to the static pulley group 2.8, and is fixed to the static pulley group 2.8 by the wire lock 2.9. When the shoulder joint flexion and extension motion actuator 1.4 rotates forward or reverse, the rope is driven to lengthen or shorten, thereby further increasing or decreasing the distance between the same matching movable pulley group 2.5 and static pulley group 2.8, thereby driving the flexion and extension motion of the humanoid robotic arm. Similarly, the shoulder joint adduction and abduction motion actuator 1.12 can realize the adduction and abduction motion of the humanoid robotic arm through a similar process as mentioned above, which will not be elaborated here.

[0024] like Figure 5 As shown, the forearm comprises: a forearm bone 3.7, a forearm ball joint 3.9, a forearm hyperextension articulated frame 3.10, and a palm joint.

[0025] One end of the forearm bone 3.7 is fixedly arranged with the forearm ball joint 3.9 and a forearm flexion articulation frame 3.8 is arranged on the inner side wall of the end, and the other end of the forearm bone 3.7 is connected with the palm joint and a turnover winch 3.6 is arranged on the side of the end; the forearm ball joint 3.9 is movably connected with the elbow joint upper arm articulation joint 2.1, and the forearm hyperextension articulation frame 3.10 is arranged on the forearm ball joint 3.9 and is located on the opposite side of the forearm flexion articulation frame 3.8. The forearm flexion articulation frame 3.8 and the forearm hyperextension articulation frame 3.10 are respectively articulated with the eyelet ends of the movable bolts 4.1 on the corresponding sides of the rope drive tensioning mechanism 2.12.

[0026] The two ends of the rope extending from the upper arm 1 through the elbow joint winch and the guide roller member are respectively wound around the two directions of the pulley 4.5 of the rope drive tensioning mechanism 2.12 and fixed to the two wire lockers thereon.

[0027] Continue to refer Figure 5 The palm joints include: a palm joint 1 3.3, a palm joint 2 3.2, and a palm joint 3.1. A ball socket is provided at the front end of the palm joint 1 3.3, and the ball socket is matched with the ball head end of the forearm bone 3.7. Two ball heads are provided at the rear end of the palm joint 1 3.3.

[0028] The front end of the second palm joint 3.2 is provided with a double ball socket and a second joint drive ring, and the rear end is provided with a hinge structure. The second palm joint 3.2 is split into two parts by the center plane, and bolts are used to fasten them. The depth of the ball socket is greater than its radius, so that the ball head of the first palm joint 3.3 is always in the ball socket. The second palm joint 3.2 is connected to the first palm joint 3.3 through two ball heads. The first palm joint 3.3 is provided with a wrist joint extension and flexion capstan 3.5. After the rope on the wrist joint extension and flexion capstan 3.5 is turned through the pulley, it is wound behind the second joint drive ring and fixed by a wire locker.

[0029] The front end of the metacarpal joint 3.1 is hingedly connected to the metacarpal joint 2.2 and is provided with a joint 3 driving ring, and the rear end is fixed to the manipulator 4. The metacarpal joint 2.2 is provided with a wrist joint radial flexion and ulnar flexion capstan 3.4, and the rope on the wrist joint radial flexion and ulnar flexion capstan 3.4 is fixed to the metacarpal joint 3.1 through a wire locker after the rope is wound around the joint 3 driving line.

[0030] The middle section of the rope is wound around the elbow joint rope drive mechanism 2.2, and the two extended ropes are symmetrically passed around 2.12 and fixed by the wire locker. When the elbow joint rope drive mechanism 2.2 rotates under the drive of the flexible shaft 2, the rope is driven to extend or shorten, and then the movably connected elbow joint upper arm hinge joint 2.1 and the forearm ball joint joint 3.9 drive the forearm 3 to rotate around the upper arm 1 under the drive and cooperation of the rope drive tensioning mechanism 2.12.

[0031] In summary, the arm of the present invention sets the position of the upper arm 1 near the shoulder as a spherical opposed structure, which can slide flexibly in all directions, and sets a ball-and-socket structure at the wrist of the forearm 3, so that the movement of the connected palm is more flexible, further improving the simulation effect of the human arm movement, and can effectively complete complex movements. In addition, the present invention sets and uses ropes at each joint, which simplifies the overall layout of the ropes and prevents their coupling disorder. At the same time, the present invention sets corresponding actuators for flexible shaft drive and rope drive, and the coordinated operation of the two can effectively improve the efficiency of rope replacement, rope drive mechanism maintenance and drive system.

[0032] The above is only a preferred implementation case of the present invention and does not limit the present invention in any form. Although the implementation process of the present invention is described in detail above, for those familiar with the art, they can still modify the technical solutions recorded in the above examples, or replace some of the technical features therein with equivalents. All modifications, equivalent replacements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A humanoid robot arm, comprising a shoulder joint (5), an upper arm (1), a lower arm (3) and a robot hand (4) connected in sequence front and back, characterized in that: A rope drive mechanism is provided on the upper arm (1) and the lower arm (3); the shoulder joint (5) comprises a shoulder frame (1.5) and a joint driver (6) mounted on the shoulder frame (1.5); the joint driver (6) drives the corresponding rope drive mechanism by cooperative transmission of the flexible shaft (2) and the rope, thereby controlling the upper arm (1), the lower arm (3) and the manipulator (4) to perform corresponding anthropomorphic arm movements.

2. The humanoid robotic arm according to claim 1, characterized in that: The joint driver (6) comprises: a shoulder joint flexion and extension motion actuator (1.4), a shoulder joint adduction and abduction motion actuator (1.12), an elbow actuator (1.6), a forearm flip actuator (1.9), a wrist joint extension and flexion actuator (1.7), and a wrist joint radial flexion and ulnar flexion actuator (1.11), each actuator adopts a servo motor (1.1) and a harmonic reducer (1.2), and the output shaft of the servo motor (1.1) is keyed to the harmonic reducer (1.2); The output of the harmonic reducer (1.2) of the shoulder joint flexion and extension motion actuator (1.4) and the shoulder joint adduction and abduction motion actuator (1.12) is connected to a rope-driven rotating disk (1.3), and a rope threading hole is provided on the rope-driven rotating disk (1.3). The rope passes through the rope threading hole and is then wound around the rope-driven rotating disk (1.3); The outputs of the harmonic reducer (1.2) of the elbow actuator (1.6), the forearm flip actuator (1.9), the wrist joint extension and flexion actuator (1.7), and the wrist joint radial flexion and ulnar flexion actuator (1.11) are connected to a flexible shaft turntable (1.10), and a hexagonal hole is provided on the flexible shaft turntable (1.10), and the size of the hexagonal hole matches the end of the flexible shaft.

3. The humanoid robotic arm according to claim 2, characterized in that: The upper arm (1) comprises: an upper arm skeleton (2.4), an upper arm spherical joint (2.6), a connecting bowl (2.7), a shoulder spherical joint (2.10), an elbow upper arm hinge joint (2.1), an elbow joint rope drive mechanism (2.2), and a rope drive tensioning mechanism (2.12); The upper arm spherical joint (2.6) and the elbow upper arm hinge joint (2.1) are respectively connected to the front and rear ends of the upper arm bone (2.4); the rear end of the shoulder spherical joint (2.10) is connected to the upper arm spherical joint (2.6) via a connecting bowl (2.7); the front end of the shoulder spherical joint (2.10) is provided with a mounting pin (2.11); the shoulder frame (1.5) is also provided with an upper arm mounting hole (1.8); the mounting pin (2.11) is connected to the upper arm mounting hole (1.8); A plurality of soft shaft fixers (2.3) are provided on the outer wall of the main body of the upper arm bone (2.4); The outer side walls of the shoulder spherical joint (2.10) and the upper arm spherical joint (2.6) are respectively provided with a static pulley group (2.8) and a movable pulley group (2.5), and the static pulley group (2.8) and the movable pulley group (2.5) are arranged in a front-to-back correspondence; The elbow joint rope drive mechanism (2.2) is arranged on the side of the proximal elbow joint upper arm hinge joint (2.1), and is connected to the two rope drive tensioning mechanisms (2.12) on both sides thereof through ropes.

4. The humanoid robotic arm according to claim 3, characterized in that: The static pulley block (2.8) is provided with a wire locker (2.9), and there are four static pulley blocks (2.8) and four movable pulley blocks (2.5), with two pulley blocks on corresponding walls forming one group, and connected to a shoulder joint flexion and extension motion actuator (1.4) and a shoulder joint adduction and abduction motion actuator (1.12) through ropes.

5. The humanoid robotic arm according to claim 4, characterized in that: The connecting bowl (2.7) is a structure with ball holes at both ends of a cylinder, and the shoulder joint flexion and extension motion actuator (1.4) and the shoulder joint adduction and abduction motion actuator (1.12) cooperate with the driving rope to adjust the distance between the corresponding front and rear movable pulley groups (2.5) and static pulley groups (2.8), so that the connecting bowl (2.7) and the shoulder spherical joint (2.10) and the upper arm spherical joint (2.6) slide in cooperation with each other.

6. The humanoid robotic arm according to claim 3, characterized in that: The bottom of the flexible shaft fixer (2.3) is fixed to the upper arm bone (2.4) by two semicircular rings interlocking with each other, and the upper part has an arc-shaped notch, which is elastic and has a diameter slightly smaller than the outer diameter of the flexible shaft. The flexible shaft is clamped by material deformation of the flexible shaft fixer (2.3).

7. The humanoid robotic arm according to claim 3, characterized in that: The rope-driven tensioning mechanism (2.12) comprises: a movable bolt (4.1), a cylindrical nut (4.2), a hexagon socket screw (4.3), a U-shaped buckle (4.4), and a pulley (4.5). A through hole is provided in the middle of the bottom of the U-shaped buckle (4.4). The threaded end of the hexagon socket screw (4.3) passes through the through hole and is connected to the upper end of the cylindrical nut (4.2). The head of the hexagon socket screw (4.3) is fixed outside the through hole. The threaded end of the movable bolt (4.1) is connected to the lower end of the cylindrical nut (4.2). The pulley (4.5) is installed and connected between the brackets on both sides of the U-shaped buckle (4.4). A rope driven and connected from the elbow joint rope-driven mechanism (2.2) is wound around the pulley (4.5).

8. The humanoid robot arm according to claim 7, characterized in that: The forearm comprises: a forearm bone (3.7), a forearm ball joint (3.9), a forearm hyperextension articulated frame (3.10), and a palm joint; One end of the forearm bone (3.7) is fixedly arranged with the forearm ball joint (3.9) and a forearm flexion hinge frame (3.8) is arranged on the inner side wall of the end; the other end of the forearm bone (3.7) is a ball head end and is connected to the palm joint, and a turnover winch (3.6) is arranged on the side of the end; the forearm ball joint (3.9) is movably connected with the elbow joint upper arm hinge joint (2.1); the forearm hyperextension hinge frame (3.10) is arranged on the forearm ball joint (3.9) and is located on the opposite side of the forearm flexion hinge frame (3.8); the forearm flexion hinge frame (3.8) and the forearm hyperextension hinge frame (3.10) are respectively hingedly matched with the eyelet ends of the movable bolts (4.1) of the rope drive tensioning mechanism (2.12) on the corresponding side.

9. The humanoid robotic arm according to claim 8, characterized in that: The palm joints include: a first palm joint (3.3), a second palm joint (3.2), a third palm joint (3.1), a wrist joint radial flexion and ulnar flexion capstan (3.4), and a wrist joint extension and flexion capstan (3.5); A ball socket is provided at the front end of the metacarpal joint (3.3), and two ball heads are provided at the rear end, wherein the ball socket is matched and connected with the ball head end of the forearm bone (3.7); The wrist joint extension and flexion capstan (3.5) is arranged on the metacarpal joint (3.3), and the wrist joint extension and flexion actuator (1.7) is connected to the wrist joint extension and flexion capstan (3.5) through a flexible shaft control; The front end of the metacarpal joint (3.2) is provided with a double ball socket and a joint second drive ring, and the rear end is provided with a hinged structure, and the front end of the metacarpal joint (3.2) is connected to the rear end of the metacarpal joint (3.3) through the ball head and ball socket; the rope on the wrist joint extension and flexion capstan (3.5) is turned through a pulley, and then wound behind the joint second drive ring and fixed by a wire locker; the wrist joint radial flexion and ulnar flexion capstan (3.4) is arranged on the metacarpal joint (3.2), and the wrist joint radial flexion and ulnar flexion actuator (1.11) is connected to the wrist joint radial flexion and ulnar flexion capstan (3.4) through a flexible shaft control; The front end of the metacarpal joint (3.1) is hingedly connected to the metacarpal joint (3.2) and is provided with a joint three driving ring, and the rear end is fixed to the manipulator (4); the rope on the wrist joint radial flexion and ulnar flexion winch (3.4) is fixed to the metacarpal joint (3.1) through a wire locker after being wound around the joint three driving line.

10. The humanoid robotic arm according to claim 9, characterized in that: The second metacarpal joint (3.2) and the third metacarpal joint (3.1) are also provided with corresponding guide wheel groups to guide the ropes so that the ropes are wound around and matched with the second joint drive ring and the third joint drive ring.

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