A humanoid robot

Abstract

The present application belongs to the field of robot technology, and relates to a humanoid robot arm, which comprises a shoulder joint, a large arm, a small arm and a mechanical hand arranged in sequence from front to back, and 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 mounted on the shoulder rack; the joint driver drives the corresponding rope driving mechanism through the cooperation transmission of a flexible shaft and a rope, so as to control the large arm, the small arm and the mechanical hand to perform corresponding anthropomorphic arm movement. The humanoid robot arm can perform omnidirectional flexible movement, can effectively complete complex actions, and improves the bionic effect of the humanoid robot arm movement. The rope is arranged at each joint, and corresponding actuators are arranged for the flexible shaft driving and the rope driving. In addition, the two cooperate to run, realize the modularization layout of the driving system, and solve the problems of the complexity and coupling of the rope driving mechanism.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology and relates to a humanoid robotic arm. Background Technology

[0002] Humanoid robotic arms are inspired by human physiology and movement, giving them high flexibility and adaptability. They can mimic the structure and movement of human arms to perform various complex actions. Furthermore, their interactivity and intelligence make them suitable for a variety of scenarios, such as home services and medical rehabilitation, in everyday life.

[0003] However, existing humanoid robotic arms have some obvious drawbacks. For example, their forearm flipping movements are all equivalent to rotational movements, which deviate from the flipping movements of human forearms, and their anthropomorphic structure still differs significantly. Their shoulder joints are mostly linkage or hinge structures, which deviate from the ball-and-socket structure of humans. For rope-driven humanoid robotic arms, the shoulder, elbow, and wrist joints are integral structures, with relatively complex layouts and cumbersome rope arrangements, which can easily lead to rope coupling. Furthermore, placing joint motors and reducers on the moving robotic arm results in limited response speed and low work efficiency. Summary of the Invention

[0004] To address the aforementioned technical problems in the existing technology, this invention proposes a humanoid robotic arm, the specific technical solution of which is as follows:

[0005] A humanoid robotic arm includes a shoulder joint, an upper arm, a forearm, and a robotic hand connected in sequence. The upper arm and forearm are equipped with rope-driven mechanisms. The shoulder joint includes a shoulder frame and a joint actuator mounted on the shoulder frame. The joint actuator drives the corresponding rope-driven mechanism through the cooperation of a flexible shaft and a rope, thereby controlling the upper arm, forearm, and robotic hand to perform corresponding anthropomorphic arm movements.

[0006] Furthermore, the joint actuator includes: a shoulder joint flexion and extension actuator, a shoulder joint adduction and abduction actuator, an elbow actuator, a forearm rotation actuator, a wrist joint extension and flexion actuator, and a wrist joint radial and ulnar flexion actuator. Each actuator uses a servo motor and a harmonic reducer, and the output shaft of the servo motor is keyed to the harmonic reducer.

[0007] The harmonic reducer output of the shoulder joint flexion and extension motion actuator and the shoulder joint adduction and abduction motion actuator is connected to a rope drive turntable. The rope drive turntable is provided with a rope hole, and the rope passes through the rope hole and is wound around the rope drive turntable.

[0008] The output of the harmonic reducer of the elbow actuator, forearm rotation actuator, wrist extension and flexion actuator, and wrist radial and ulnar flexion actuator is connected to a flexible shaft turntable. The flexible shaft turntable is provided with a hexagonal hole, the size of which matches the end of the flexible shaft.

[0009] Furthermore, the upper arm includes: an upper arm bone, an upper arm ball joint, a connecting bowl, a shoulder ball joint, an elbow joint upper arm hinge joint, an elbow joint cable drive mechanism, and a cable drive tensioning mechanism.

[0010] The upper arm ball joint and the elbow joint upper arm hinge joint are respectively connected and installed at the front and rear ends of the upper arm bone. 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. The shoulder frame is also provided with an upper arm mounting hole, and the mounting pin is inserted into the upper arm mounting hole.

[0011] Several flexible shaft fixators are provided on the outer wall of the main body of the upper arm skeleton.

[0012] The outer walls of the shoulder ball joint and the upper arm ball joint are respectively surrounded by a static pulley group and a movable pulley group, and the static pulley group and the movable pulley group are arranged in a corresponding manner.

[0013] The elbow joint cable drive mechanism is located on the side of the upper arm hinge joint near the elbow joint, and two cable drive tensioning mechanisms are respectively driven and connected to both sides of it by ropes.

[0014] Furthermore, the static pulley group is equipped with a cable locking device. There are four groups of static pulley groups and four groups of moving pulley groups. Two groups of pulley groups corresponding to the wall surface are used as a group. They are connected to the shoulder joint flexion and extension motion actuator and the shoulder joint adduction and abduction motion actuator respectively through ropes.

[0015] Furthermore, the connecting bowl is a cylindrical structure with ball holes at both ends. The shoulder joint flexion and extension actuator and the shoulder joint adduction and abduction actuator work together with the drive rope to adjust the distance between the corresponding moving pulley group and stationary pulley group, so that the connecting bowl can slide in coordination with the ball joint of the shoulder and the ball joint of the upper arm.

[0016] Furthermore, the bottom of the flexible shaft retainer is fixed to the upper arm bone by two interlocking semi-circular rings, and the upper part has an arc-shaped groove. The groove is elastic and its diameter is slightly smaller than the outer diameter of the flexible shaft. The flexible shaft is held in place by the material deformation of the flexible shaft retainer.

[0017] Furthermore, the rope-driven tensioning mechanism includes: a union bolt, a cylindrical nut, a hex socket screw, a U-shaped buckle, and a pulley. The U-shaped buckle has a through hole in the middle of its bottom. The threaded end of the hex socket screw passes through the through hole and connects to the upper end of the cylindrical nut. The head of the hex socket screw is limited and fixed outside the through hole. The threaded end of the union bolt connects to the lower end of the cylindrical nut. The pulley is installed and connected between the two supports of the U-shaped buckle. A rope driven and connected by the elbow joint rope-driven mechanism is wound on the pulley.

[0018] Furthermore, the forearm includes: forearm bone, forearm ball joint, forearm hyperextension articulation frame, and palm joint;

[0019] One end of the forearm bone is fixedly mounted to the forearm ball joint, and a forearm flexion hinge is provided on the inner wall of this end. The other end of the forearm bone is a ball end that is connected to the palm joint, and a flipping winch is provided on the side of this end. The forearm ball joint is movably connected to the elbow joint and upper arm hinge joint. The forearm hyperextension hinge is mounted on the forearm ball joint and located on the opposite side of the forearm flexion hinge. The forearm flexion hinge and the forearm hyperextension hinge are respectively hinged to the movable bolt eye end of the corresponding rope-driven tensioning mechanism.

[0020] Furthermore, the hand joint includes: a first palmar joint, a second palmar joint, a third palmar joint, a wrist joint radial flexion-ulnar flexion winch, and a wrist joint extension-flexion winch.

[0021] The front end of the metacarpophalangeal joint is provided with a ball socket, and the rear end is provided with two ball heads. The ball socket is connected to the ball head end of the forearm bone.

[0022] A wrist extension and flexion winch is mounted on the metacarpophalangeal joint, and a wrist extension and flexion actuator is connected to the wrist extension and flexion winch via a flexible shaft.

[0023] The front end of the second metacarpal joint is provided with a double ball socket and a second joint drive ring, and the rear end is provided with a hinge structure. The front end of the second metacarpal joint is connected to the rear end of the first metacarpal joint through a ball head and ball socket. The rope on the wrist joint extension and flexion winch is turned by a pulley and then wound around the second joint drive ring and fixed by a locking device. The wrist joint radial and ulnar flexion winch is set on the second metacarpal joint, and the wrist joint radial and ulnar flexion actuator is controlled and connected to the wrist joint radial and ulnar flexion winch through a flexible shaft.

[0024] The front end of the third metacarpal joint is hinged to the second metacarpal joint and is equipped with a third joint drive ring, while the rear end is fixed to the robotic arm; the rope on the radial and ulnar flexion winch of the wrist joint is fixed to the third metacarpal joint by a locking device after the third joint drive loop.

[0025] Furthermore, guide wheel sets are also provided in the second and third palm joints to guide the rope so that the rope can be wound and engaged with the second and third joint drive rings.

[0026] The arm of this invention features a spherical, opposing structure near the shoulder of the upper arm, allowing for flexible, all-around sliding and further enhancing the simulation of human arm movements, enabling the effective execution of complex actions. Furthermore, the invention utilizes ropes at each joint, simplifying the overall rope layout and preventing coupling disorder. Simultaneously, the invention incorporates corresponding actuators for both flexible shaft and rope drives; their coordinated operation effectively improves work, maintenance, and operational efficiency. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the humanoid robotic arm structure in this embodiment;

[0028] Figure 2 This is a schematic diagram of the shoulder joint structure in this embodiment;

[0029] Figure 3 This is a schematic diagram of the boom structure in this embodiment;

[0030] Figure 4 This is a structural diagram of the rope-driven tensioning mechanism in this embodiment;

[0031] Figure 5 This is a schematic diagram of the overall connection structure of the forearm in this embodiment;

[0032] In the diagram, 1 is the upper arm, 2 is the flexible shaft, 3 is the forearm, 4 is the robotic hand, 5 is the shoulder joint, and 6 is the joint actuator.

[0033] 1.1 is a servo motor, 1.2 is a harmonic reducer, 1.3 is a rope-driven turntable, 1.4 is a shoulder joint flexion and extension actuator, 1.5 is a shoulder frame, 1.6 is an elbow actuator, 1.7 is a wrist joint extension and flexion actuator, 1.8 is an upper arm mounting hole, 1.9 is a forearm rotation actuator, 1.10 is a flexible shaft turntable, 1.11 is a wrist joint radial and ulnar flexion actuator, and 1.12 is a shoulder joint adduction and abduction actuator.

[0034] 2.1 is the elbow joint upper arm hinge joint; 2.2 is the elbow joint cable drive mechanism; 2.3 is the flexible shaft fixator; 2.4 is the upper arm skeleton; 2.5 is the movable pulley block; 2.6 is the upper arm ball joint; 2.7 is the connecting cup; 2.8 is the stationary pulley block; 2.9 is the cable locking device; 2.10 is the shoulder ball joint; 2.11 is the mounting pin; 2.12 is the cable drive tensioning mechanism.

[0035] 3.1 is the third metacarpophalangeal joint, 3.2 is the second metacarpophalangeal joint, 3.3 is the first metacarpophalangeal joint, 3.4 is the wrist joint radial and ulnar flexion winch, 3.5 is the wrist joint extension and flexion winch, 3.6 is the flipping winch, 3.7 is the forearm bone, 3.8 is the forearm flexion articulation frame, 3.9 is the forearm ball-and-spindle joint, and 3.10 is the forearm hyperextension articulation frame.

[0036] 4.1 is a union bolt; 4.2 is a cylindrical nut; 4.3 is a hex socket head cap screw; 4.4 is a U-shaped thread; 4.5 is a pulley. Detailed Implementation

[0037] To make the objectives, technical solutions, and technical effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0038] like Figure 1 As shown, an embodiment of the present invention provides a humanoid robotic arm, comprising a shoulder joint 5, an upper arm 1, a lower arm 3, and a robotic hand 4 connected in sequence. Rope-driven mechanisms are provided on the upper arm 1 and the lower arm 3. The shoulder joint 5 includes a shoulder frame 1.5 and a joint actuator 6 mounted on the shoulder frame 1.5. The joint actuator 6, through a drive shaft 2 and a rope, transmits and controls the upper arm 1, the lower arm 3, and the robotic hand 4 to perform corresponding anthropomorphic arm movements.

[0039] like Figure 2 As shown, the shoulder frame 1.5 is also provided with a boom mounting hole 1.8 for connecting to the boom 1.

[0040] The joint actuator 6 includes: a shoulder joint flexion and extension actuator 1.4, a shoulder joint adduction and abduction actuator 1.12, an elbow actuator 1.6, a forearm rotation actuator 1.9, a wrist joint extension and flexion actuator 1.7, and a wrist joint radial and ulnar flexion actuator 1.11.

[0041] The aforementioned 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 via a key. 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. The rope-driven turntable 1.3 has a rope threading hole, through which the rope passes and winds around the turntable 1.3. The flexible shaft turntable 1.10 has a hexagonal hole, the size of which matches the output end of the flexible shaft.

[0042] 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, it transmits torque to the flexible shaft 2, which in turn transmits torque to the rope drive mechanism of the corresponding joint. The rope drive mechanism then drives the movement of each joint.

[0043] 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 stationary pulley group 2.8, an upper arm skeleton 2.4, a flexible shaft fixator 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 to the front and rear ends of the upper arm skeleton 2.4. The mounting pin 2.11 is inserted into the shoulder joint upper arm mounting hole 1.8. The connecting bowl 2.7 is a cylindrical structure with ball holes at both ends, which can cooperate with the shoulder ball joint 2.10 and the upper arm ball joint 2.6. A set of stationary pulley groups 2.8 and movable pulley groups 2.5 constitute a rope drive mechanism, with a total of 4 sets of rope drive mechanisms. The two sets of pulley groups at corresponding positions constitute the shoulder flexion-extension and adduction-abduction movements. When the stationary 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. A cable lock 2.9 is installed on the stationary pulley block 2.8. The cable lock 2.9 secures one end of the rope, and the other end of the rope passes around the movable pulley block 2.5 and then around the stationary pulley block 2.8 again. After winding 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 to the cable lock 2.9. The bottom of the flexible shaft retainer 2.3 is fixed to the upper arm bone 2.4 by two interlocking semi-circular rings. The upper part has an arc-shaped groove, the diameter of which is slightly smaller than the outer diameter of the flexible shaft. The flexible shaft is held in place by the material deformation of the retainer 2.3. The elbow joint cable drive mechanism 2.2 consists of an elbow joint winch and guide rollers. The elbow joint winch cooperates with the output end of the flexible shaft 2 and can rotate under the drive of the flexible shaft 2. The cable-driven tensioning mechanism 2.12 is located on both sides of the rear end of the upper arm bone 2.4 and is connected via a drive cable by the elbow joint cable-driven mechanism 2.2. For example... Figure 4 As shown, the rope-driven tensioning mechanism 2.12 includes: a union bolt 4.1, a cylindrical nut 4.2, a hex socket screw 4.3, a U-shaped buckle 4.4, and a pulley 4.5. The U-shaped buckle 4.4 has a through hole in the middle of its bottom. The threaded end of the hex 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 hex socket screw 4.3 is limited and fixed outside the through hole. The threaded end of the union 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 supports on both sides of the U-shaped buckle 4.4.

[0044] The middle section of the rope is wound around the rope-driven turntable 1.3 of the shoulder joint flexion-extension motion actuator 1.4. Two extending ropes are connected to the corresponding sets of movable pulleys 2.5 and stationary pulleys 2.8, respectively. The ropes first pass over the pulleys of the stationary pulley set 2.8, then over the pulleys of the movable pulley set 2.5, and return to the stationary pulley set 2.8, where they are secured by a cable lock 2.9. When the shoulder joint flexion-extension motion actuator 1.4 rotates clockwise or counterclockwise, it lengthens or shortens the ropes, thereby increasing or decreasing the distance between the corresponding movable pulley sets 2.5 and stationary pulley sets 2.8, thus driving the flexion-extension movement of the humanoid robotic arm. Similarly, the shoulder joint adduction-abduction motion actuator 1.12 can achieve the adduction-abduction movement of the humanoid robotic arm through a similar process, which will not be elaborated upon here.

[0045] like Figure 5 As shown, the forearm includes: forearm bone 3.7, forearm ball joint 3.9, forearm hyperextension articulation frame 3.10, and palm joint.

[0046] One end of the forearm bone 3.7 is fixedly mounted to the forearm ball joint 3.9, and a forearm flexion hinge frame 3.8 is provided on the inner wall of this end. The other end of the forearm bone 3.7 is connected to the palm joint, and a flipping winch 3.6 is provided on the side of this end. The forearm ball joint 3.9 is movably connected to the elbow joint upper arm hinge joint 2.1. The forearm superextension hinge frame 3.10 is mounted on the forearm ball joint 3.9 and located on the opposite side of the forearm flexion hinge frame 3.8. The forearm flexion hinge frame 3.8 and the forearm superextension hinge frame 3.10 are respectively hinged to the eyelet end of the corresponding side live bolt 4.1 of the rope-driven tensioning mechanism 2.12.

[0047] Two cable locks are fixed to the rope extending from the upper arm 1 through the elbow joint winch and guide roller, respectively, in two directions around the rope drive tensioning mechanism 2.12 pulley 4.5.

[0048] Continue to refer to Figure 5 The palm joints include: palm joint 1 3.3, palm joint 2 3.2, and palm joint 3.1. The front end of palm joint 1 3.3 is provided with a ball socket, which is connected to the ball head end of the forearm bone 3.7. The rear end of palm joint 1 3.3 is provided with two ball heads.

[0049] The front end of the second metacarpal joint 3.2 is equipped with a double ball socket and a second joint drive ring, while the rear end has a hinge structure. The second metacarpal joint 3.2 is divided into two parts by its central plane and fastened together with bolts. The depth of the ball socket is greater than its radius, thus ensuring that the ball head of the first metacarpal joint 3.3 is always within the ball socket. The second metacarpal joint 3.2 and the first metacarpal joint 3.3 are connected by the two ball heads. The first metacarpal joint 3.3 is equipped with a wrist joint extension and flexion winch 3.5. The rope on the wrist joint extension and flexion winch 3.5 is deflected by a pulley and then wound around the second joint drive ring and fixed by a cable lock.

[0050] The front end of the third metacarpal joint 3.1 is hinged to the second metacarpal joint 3.2 and is equipped with a third joint drive ring, while the rear end is fixed to the robotic arm 4. A wrist joint radial flexion and ulnar flexion winch 3.4 is installed on the second metacarpal joint 3.2. The rope on the wrist joint radial flexion and ulnar flexion winch 3.4 is fixed to the third metacarpal joint 3.1 by a locking device after the third joint drive loop.

[0051] The middle section of the rope is wound around the elbow joint rope drive mechanism 2.2. The two extended ropes are symmetrically wrapped around 2.12 and then fixed by the cable lock. When the elbow joint rope drive mechanism 2.2 rotates under the drive of the flexible shaft 2, it causes the rope to extend or shorten. Then, the elbow joint upper arm hinge joint 2.1 and the forearm ball joint 3.9, which are movably connected, drive the forearm 3 to rotate around the upper arm 1 under the drive of the rope drive tensioning mechanism 2.12.

[0052] In summary, the arm of this invention features a spherical structure near the shoulder of the upper arm 1, allowing for flexible sliding in all directions. A ball-and-socket structure at the wrist of the forearm 3 further enhances the flexibility of the connected hand, improving the simulation of human arm movements and enabling the effective execution of complex actions. Additionally, the invention utilizes ropes at each joint, simplifying the overall rope layout and preventing coupling disorder. Furthermore, the invention incorporates corresponding actuators for both flexible shaft drive and rope drive, and their coordinated operation effectively improves rope replacement, rope drive mechanism maintenance, and drive system efficiency.

[0053] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention in any way. Although the implementation process of the present invention has been described in detail above, those skilled in the art can still modify the technical solutions described in the foregoing examples or make equivalent substitutions for some of the technical features. All modifications and equivalent substitutions made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A humanoid robotic arm, comprising a shoulder joint (5), an upper arm (1), a forearm (3), and a robotic hand (4) connected sequentially from front to back, characterized in that, A rope drive mechanism is provided on the upper arm (1) and the forearm (3). The shoulder joint (5) includes 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 through the cooperation of the flexible shaft (2) and the rope, thereby controlling the upper arm (1), the forearm (3) and the robot (4) to perform corresponding anthropomorphic arm movements. The joint actuator (6) includes: a shoulder joint flexion and extension actuator (1.4), a shoulder joint adduction and abduction actuator (1.12), an elbow actuator (1.6), a forearm rotation actuator (1.9), a wrist joint extension and flexion actuator (1.7), and a wrist joint radial and ulnar flexion actuator (1.11). Each actuator uses a servo motor (1.1) and a harmonic reducer (1.2). 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 drive turntable (1.3). The rope drive turntable (1.3) is provided with a rope hole, and the rope passes through the rope hole and is wound on the rope drive turntable (1.3). The output of the harmonic reducer (1.2) of the elbow actuator (1.6), forearm flipping actuator (1.9), wrist extension and flexion actuator (1.7), and wrist radial and ulnar flexion actuator (1.11) is connected to a flexible shaft turntable (1.10). The flexible shaft turntable (1.10) is provided with a hexagonal hole, the size of which matches the end of the flexible shaft. The upper arm (1) includes: upper arm bone (2.4), upper arm ball joint (2.6), connecting bowl (2.7), shoulder ball joint (2.10), elbow joint upper arm hinge joint (2.1), elbow joint cable drive mechanism (2.2), and cable 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 to the front and rear ends of the upper arm bone (2.4). The rear end of the shoulder ball joint (2.10) is connected to the upper arm ball joint (2.6) through a connecting bowl (2.7). The front end of the shoulder ball 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 inserted into the upper arm mounting hole (1.8). Several flexible shaft fixators (2.3) are provided on the outer wall of the main body of the upper arm bone (2.4). The outer walls of the shoulder ball joint (2.10) and the upper arm ball joint (2.6) are respectively surrounded by 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 corresponding manner. The elbow joint rope drive mechanism (2.2) is located on the side near the elbow joint upper arm hinge joint (2.1), and is connected to two rope drive tensioning mechanisms (2.12) on both sides by ropes.

2. The humanoid robotic arm according to claim 1, characterized in that, The stationary pulley group (2.8) is equipped with a cable lock (2.9). There are 4 groups of stationary pulley group (2.8) and 4 groups of movable pulley group (2.5). The two groups of pulley groups corresponding to the wall surface are used as a group. They are connected to the shoulder joint flexion and extension motion actuator (1.4) and the shoulder joint adduction and abduction motion actuator (1.12) respectively by ropes.

3. The humanoid robotic arm according to claim 2, characterized in that, The connecting bowl (2.7) is a cylindrical structure with ball holes at both ends. The shoulder joint flexion and extension motion actuator (1.4) and the shoulder joint adduction and abduction motion actuator (1.12) work together with the drive rope to adjust the distance between the corresponding moving pulley group (2.5) and stationary pulley group (2.8), so that the connecting bowl (2.7) can slide in coordination with the shoulder ball joint (2.10) and the upper arm ball joint (2.6).

4. The humanoid robotic arm according to claim 1, characterized in that, The bottom of the flexible shaft retainer (2.3) is fixed to the upper arm bone (2.4) by two semi-circular rings interlocking with each other. The upper part has an arc-shaped groove. The groove is elastic and its diameter is slightly smaller than the outer diameter of the flexible shaft. The flexible shaft is stuck by the material deformation of the flexible shaft retainer (2.3).

5. The humanoid robotic arm according to claim 1, characterized in that, The rope-driven tensioning mechanism (2.12) includes: a union bolt (4.1), a cylindrical nut (4.2), a hex socket screw (4.3), a U-shaped buckle (4.4), and a pulley (4.5). The U-shaped buckle (4.4) has a through hole in the middle of its bottom. The threaded end of the hex 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 hex socket screw (4.3) is limited and fixed outside the through hole. The threaded end of the union 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 supports on both sides of the U-shaped buckle (4.4). A rope driven and connected by the elbow joint rope-driven mechanism (2.2) is wound on the pulley (4.5).

6. The humanoid robotic arm according to claim 5, characterized in that, The forearm includes: forearm bone (3.7), forearm ball joint (3.9), forearm hyperextension articulation frame (3.10), and palm joint; One end of the forearm bone (3.7) is fixedly mounted to the forearm ball joint (3.9) and a forearm flexion hinge frame (3.8) is provided on the inner side wall of this end. The other end of the forearm bone (3.7) is a ball end and is connected to the palm joint, and a flipping winch (3.6) is provided on the side of this end. The forearm ball joint (3.9) is movably connected to the elbow joint upper arm hinge joint (2.1). The forearm hyperextension hinge frame (3.10) is mounted on the forearm ball joint (3.9) and 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 hinged to the eye end of the live bolt (4.1) of the rope drive tensioning mechanism (2.12) on the corresponding side.

7. The humanoid robotic arm according to claim 6, characterized in that, The hand joints include: the first metacarpal joint (3.3), the second metacarpal joint (3.2), the third metacarpal joint (3.1), the wrist joint radial flexion-ulnar flexion winch (3.4), and the wrist joint extension-flexion winch (3.5). The front end of the metacarpophalangeal joint (3.3) is provided with a ball socket and the rear end is provided with two ball heads. The ball socket is connected to the ball head end of the forearm bone (3.7). A wrist extension and flexion winch (3.5) is mounted on the metacarpophalangeal joint (3.3), and a wrist extension and flexion actuator (1.7) is connected to the wrist extension and flexion winch (3.5) via a flexible shaft. The front end of the second metacarpophalangeal 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 front end of the second metacarpophalangeal joint (3.2) and the rear end of the first metacarpophalangeal joint (3.3) are connected by a ball head and a ball socket. After the rope on the wrist joint extension and flexion winch (3.5) is turned by the pulley, it is wound around the second joint drive ring and fixed by the wire lock. The wrist joint radial and ulnar flexion winch (3.4) is set on the second metacarpophalangeal joint (3.2). The wrist joint radial and ulnar flexion actuator (1.11) is connected to the wrist joint radial and ulnar flexion winch (3.4) through a flexible shaft. The front end of the third metacarpal joint (3.1) is hinged to the second metacarpal joint (3.2) and is equipped with a joint three-drive ring, while the rear end is fixed to the manipulator (4); the rope on the radial and ulnar flexion winch (3.4) of the wrist joint is fixed to the third metacarpal joint (3.1) by a locking device after the joint three-drive loop.

8. The humanoid robotic arm according to claim 7, characterized in that, The palm joint 2 (3.2) and palm joint 3 (3.1) are also equipped with guide wheel sets to guide the rope so that the rope can be wound and cooperate with the joint 2 drive ring and the joint 3 drive ring.

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