Humanoid mechanical double arms with seven degrees of freedom

Abstract

The invention discloses a seven-degree-of-freedom humanoid mechanical arm which comprises a chest structure, a shoulder joint, a big arm, a small arm and a mechanical hand, the shoulder joint, the big arm, the small arm and the mechanical hand are installed on the two sides of the chest structure and sequentially connected, rope driving mechanisms are arranged on the big arm and the small arm, and the chest structure comprises a chest rack and a joint driver installed on the chest rack. And the joint driver drives the corresponding rope driving mechanism through matched transmission of the flexible shaft and the rope, so that the shoulder joint, the big arm, the small arm and the manipulator are controlled to perform corresponding anthropomorphic arm movement. According to the humanoid mechanical arm, a rotational degree of freedom is additionally arranged at the big arm, all-directional flexible movement is further achieved, more complex actions can be effectively completed, the small arm adopts the double skeleton rods, the load of the humanoid mechanical arm is increased, and the bionic performance of the two humanoid mechanical arms is remarkably improved. And 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 realized, and 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 double arm with seven degrees of freedom. 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 movement of their forearms is equivalent to rotational movement, which deviates from the flipping movement of human forearms, and the structural anthropomorphism is still quite different; their shoulder joints are mostly connecting rods or hinged structures, which deviate from the human ball and socket structure. Although the design and function imitate the human arm as much as possible, in actual use, the load capacity of the connecting rod or hinged structure is very limited, and generally can only carry light goods within the tolerable range; for the rope-driven humanoid robotic arm, the shoulder, elbow and wrist joints 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 arm, 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 dual arm with seven degrees of freedom, and its specific technical solution is as follows: A humanoid mechanical double arm with seven degrees of freedom comprises: a chest structure, and shoulder joints, an upper arm, a lower arm and a manipulator which are installed on both sides of the chest structure and are connected in sequence front to back, and a rope drive mechanism is arranged on the upper arm and the lower arm. The chest structure comprises: a chest frame and a joint driver installed on the chest frame, and the joint driver drives the corresponding rope drive mechanism by cooperating with a soft shaft and a rope, so as to control the shoulder joints, the upper arm, the lower arm and the manipulator to perform corresponding anthropomorphic arm movements.

[0005] Furthermore, the chest frame includes: a support connection seat and a chest bracket fixedly mounted on the support connection seat, the joint driver is mounted on the chest bracket, chest interfaces are provided on the left and right sides of the chest bracket, and the shoulder joint is mounted on the chest interface; The joint driver comprises: a double-arm abduction and adduction driver group and a double-arm flexion and extension driver group for driving ropes, a steering pulley group is correspondingly arranged on the double-arm abduction and adduction driver group and the double-arm flexion and extension driver group for driving ropes, and a double-arm internal rotation and external rotation driver group, a double-arm elbow joint flexion and extension driver group, a double-arm wrist joint extension and flexion driver group, a double-arm wrist joint radial flexion and ulnar flexion driver group, and a double-arm wrist joint left-rotation and right-rotation driver group are used to drive the flexible shaft.

[0006] Further, the upper arm comprises: an upper arm skeleton, and an upper arm spherical joint and an elbow upper arm hinge joint respectively connected and arranged at the front and rear ends of the upper arm skeleton; The shoulder joint comprises: a shoulder spherical joint body, a shoulder joint interface is provided at the front end of the shoulder spherical joint body, and the shoulder joint interface is connected to the chest interface through a pin; a connecting bowl is provided at the rear end of the shoulder spherical joint body and is connected to the upper arm spherical joint through the connecting bowl; a plurality of soft shaft fixers are provided on the outer wall of the main body of the upper arm bone; The outer side walls of the shoulder spherical joint body and the upper arm spherical joint are respectively ringed with a fixed pulley group and a movable pulley group, and the fixed pulley group is provided with a wire locker, and the fixed pulley group and the movable pulley group are arranged in front and back corresponding positions, and a driving rope group is connected between the two, and the ropes of the driving rope group are respectively connected to the double arm abduction and adduction drive group and the double arm flexion and extension drive group through the steering pulley group, and the connection bowl of the shoulder spherical joint body is movably connected with the upper arm spherical joint through the pulling force of the driving rope group; An elbow joint rope drive mechanism is arranged at the hinge joint of the elbow joint upper arm.

[0007] Furthermore, the structure of the upper arm skeleton includes: upper arm section one and upper arm section two, and the upper arm section one and upper arm section two are connected by a bearing; an upper arm internal and external rotation rope drive mechanism is provided on the upper arm section one, and the driving rope of the upper arm internal and external rotation rope drive mechanism is wound around the upper arm section two, and the upper arm internal and external rotation rope drive mechanism is driven to rotate by the double-arm internal and external rotation driver group, thereby driving the upper arm section two to rotate around the upper arm section one.

[0008] Furthermore, the connecting bowl is a structure with ball holes at both ends of the cylinder. The double-arm abduction and adduction driver group and the double-arm flexion and extension driver group cooperate with the driving rope to adjust the distance between the corresponding front and rear fixed pulley groups, so that the connecting bowl and the shoulder spherical joint body and the upper arm spherical 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] Further, the forearm includes: an elbow joint interface, an elbow joint drive ring, a forearm ball joint, a radius, and an ulna; The elbow joint drive ring is a circular ring structure arranged in the middle of the inner concave surface of the elbow joint interface. The elbow joint drive ring and the elbow joint upper arm hinge joint are hingedly matched through the circular ring structure. The outer side of the elbow joint interface is connected to the front end of the radius through the forearm ball joint joint, and the rear end of the radius is provided with two ball heads at a distance; the front end of the ulna is fixed to the elbow joint interface, and a ball head is provided at the rear end. A flip winch is provided on the side of the rear end of the ulna, and the left-hand and right-hand rotation driver group of the double-arm wrist joint is connected to the flip winch through a flexible shaft control.

[0011] Furthermore, a rope groove is provided in the middle of the outer ring of the circular ring structure of the elbow joint driving ring, and a rope is arranged in the rope groove. The elbow joint rope driving mechanism includes: an elbow joint capstan and a guide roller member. The elbow joint capstan is cooperatively connected with the output end of the flexible shaft. The elbow joint capstan rotates under the drive of the double-arm elbow joint flexion and extension driver group, so that the elbow joint driving ring rotates through the transmission of the rope through the guide roller member and the rope groove in sequence, thereby driving the forearm to rotate around the upper arm.

[0012] Furthermore, the forearm also includes: a metacarpal joint 1, a metacarpal joint 2, a metacarpal joint 3, a wrist joint radial flexion and ulnar flexion capstan, and a wrist joint extension and flexion capstan; The front end of the palmar joint is provided with three ball sockets, and the rear end is provided with two ball heads. The ball head joint of the ulna and the two ball head joints of the radius are hingedly matched with the three ball sockets of the palmar joint; the wrist joint extension and flexion capstan is arranged on the palmar joint, and the double-arm wrist joint extension and flexion drive group 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 drive 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 drive ring and fixed by the wire locker; the wrist joint radial flexion and ulnar flexion capstan is arranged on the metacarpal joint, and the double-arm wrist joint radial flexion and ulnar flexion drive group 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 wound 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 double arm of the present invention is a humanoid mechanical arm with seven degrees of freedom, in which the position of the upper arm near the shoulder is set as a spherical opposed structure and an internal rotation and external rotation rope drive mechanism is added to the upper arm section, which can slide flexibly in all directions, and a ball-and-socket structure is set at the wrist of the forearm, 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 forearm of the present invention adopts a double skeleton rod, and then cooperates with the realization of the flexible shaft drive, which improves the load capacity of the arm, and sets and uses ropes at each joint, which simplifies the overall layout of the rope and prevents its coupling disorder. At the same time, the present invention sets corresponding actuators for the flexible shaft drive and the 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 humanoid mechanical double-arm structure of this embodiment; Figure 2 is a front view of the chest structure of this embodiment; Figure 3 is a left rear view of the chest structure of this embodiment; Figure 4 is a right rear view of the chest structure of this embodiment; Figure 5 is a diagram of the shoulder joint connection structure of this embodiment; Figure 6 is a three-dimensional diagram of the structure of the upper arm of this embodiment; Figure 7 is a cross-sectional view of the upper arm structure of this embodiment; Figure 8 Schematic diagram of the overall connection structure of the forearm of this embodiment; Fig. 9 1 is a schematic diagram of the main component structure of the forearm of this embodiment; Fig.10 is a schematic structural diagram of the ulna and the elbow joint interface fixedly connected thereto in this embodiment; Fig.11 is a partial schematic diagram of the elbow joint where the upper arm and the lower arm are hinged in this embodiment; Fig.12 Schematic diagram of the split structure of the metacarpophalangeal joint of this embodiment; Fig.13 Schematic diagram of the split structure of the metacarpophalangeal joint of this embodiment; In the figure, 1 is the chest structure, 2 is the shoulder joint, 3 is the upper arm, 4 is the lower arm, 5 is the rope drive mechanism, and 6 is the flexible shaft; 1.1 is a supporting connection seat, 1.2 is a right arm abduction and adduction driver, 1.3 is a steering pulley block, 1.4 is a right arm internal rotation and external rotation driver, 1.5 is a right arm flexion and extension driver, 1.6 is a chest support, 1.7 is a left arm internal rotation and external rotation driver, 1.8 is a left arm abduction and adduction driver, 1.9 is a left arm flexion and extension driver, 1.10 is a left arm elbow flexion and extension driver, 1.11 is a left arm wrist extension and flexion driver, 1.12 is a left arm wrist radial flexion and ulnar flexion driver, 1.13 is a left arm wrist left rotation and right rotation driver, 1.14 is a right arm elbow flexion and extension driver, 1.15 is a right arm wrist extension and flexion driver, 1.16 is a chest interface, 1.17 is a right arm wrist radial flexion and ulnar flexion driver, 1.18 is a right arm wrist left rotation and right rotation driver; 2.1 is the movable pulley group, 2.2 is the driving rope group, 2.3 is the fixed pulley group, 2.4 is the connecting bowl, 2.5 is the shoulder joint interface, and 2.6 is the wire locker; 3.1 is the elbow joint boom articulation joint, 3.2 is the elbow joint rope drive mechanism, 3.3 is the second section of the boom, 3.4 is the inner and outer rotation rope drive mechanism of the boom, 3.5 is the flexible shaft fixer, 3.6 is the first section of the boom, 3.7 is the spherical joint of the boom, 3.8 is the end cover, 3.9 is the bolt, and 3.10 is the bearing; 4.1 is the metacarpal joint III, 4.2 is the metacarpal joint II, 4.3 is the metacarpal joint I, 4.4 is the wrist joint radial flexion and ulnar flexion capstan, 4.5 is the wrist joint extension and flexion capstan, 4.6 is the flip capstan, 4.7 is the radius, 4.8 is the ulna, 4.9 is the forearm ball joint, 4.10 is the elbow joint interface, and 4.11 is the elbow joint drive ring. 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 seven-degree-of-freedom humanoid mechanical dual arm according to an embodiment of the present invention comprises: a chest structure 1, and shoulder joints 2, upper arms 3, lower arms 4 and manipulators 7 installed on both sides of the chest structure 1 and connected in sequence front to back, wherein the lower arm 4 is hinged to the upper arm 3, and a rope drive mechanism 5 is provided on the upper arm 3 and the lower arm 4; the chest structure 1 comprises: a chest frame and a joint driver installed on the chest frame, the joint driver drives the corresponding rope drive mechanism 5 by cooperating the soft shaft 6 with the rope, thereby controlling the shoulder joints 2, upper arms 3, lower arms 4 and manipulators 7 to perform corresponding anthropomorphic arm movements.

[0018] like Figures 2 to 4As shown, the chest frame includes: a support connection seat 1.1 and a chest bracket 1.6 fixedly mounted on the support connection seat 1.1, and the support connection seat 1.1 is used to be installed and connected with other components of the robot. The joint driver is installed on the chest bracket 1.6, and chest interfaces 1.16 are provided on the left and right sides of the chest bracket 1.6, and the shoulder joint 2 is installed at the chest interface 1.16.

[0019] The joint driver specifically includes: a double-arm abduction and adduction driver group and a double-arm flexion and extension driver group for driving the connecting rope, the double-arm abduction and adduction driver group includes: a right arm abduction and adduction driver 1.2 and a left arm abduction and adduction driver 1.8; the double-arm flexion and extension driver group includes: a right arm flexion and extension driver 1.5 and a left arm flexion and extension driver 1.9; a steering pulley group 1.3 is correspondingly configured on the double-arm abduction and adduction driver group and the double-arm flexion and extension driver group side of the driving rope.

[0020] There are also a double-arm internal rotation and external rotation driver group, a double-arm elbow joint flexion and extension driver group, a double-arm wrist joint extension and flexion driver group, a double-arm wrist joint radial flexion and ulnar flexion driver group, and a double-arm wrist joint left-hand rotation and right-hand rotation driver group for driving the connecting flexible shaft 6; the double-arm internal rotation and external rotation driver group includes: a right arm internal rotation and external rotation driver 1.4 and a left arm internal rotation and external rotation driver 1.7; the double-arm elbow joint flexion and extension driver group includes: a left arm elbow joint flexion and extension driver 1.10 and a right arm elbow joint flexion and extension driver 1.14; the double-arm wrist joint extension and flexion driver group includes: 1.11 a left arm wrist joint extension and flexion driver and 1.15 a right arm wrist joint extension and flexion driver; the double-arm wrist joint radial flexion and ulnar flexion driver group includes: a left arm wrist joint radial flexion and ulnar flexion driver 1.12 and a right arm wrist joint radial flexion and ulnar flexion driver 1.17; the double-arm wrist joint left-hand rotation and right-hand rotation driver group includes: a left arm wrist joint left-hand rotation and right-hand rotation driver 1.13 and a right arm wrist joint left-hand rotation and right-hand rotation driver 1.18.

[0021] The above-mentioned drivers all include: a servo motor, a harmonic reducer and a rope-driven rotary or flexible shaft rotary disc. The fixed part of the harmonic reducer is fixed to the servo electric installation hole with screws, the rotating part of the harmonic reducer is connected to the output shaft of the servo motor through a key, and the power output part of the harmonic reducer is fixed to the rope-driven rotary disc or the flexible shaft rotary disc with screws. The rope-driven rotary disc is provided with a rope threading hole, and the rope passes through the rope threading hole and is wound on the rope-driven rotary disc. The flexible shaft rotary disc is provided with a hexagonal hole, and the size of the hexagonal hole matches the output end of the flexible shaft 6.

[0022] One end of the flexible shaft 6 is connected to the driver, and the other end is connected to the rope drive mechanism 5 of each joint. When the driver rotates, the torque is transmitted to the flexible shaft 6, and the flexible shaft 6 transmits the torque to the rope drive mechanism 5 of the corresponding joint. The rope drive mechanism 6 drives the movement of each joint.

[0023] like Figures 5 to 7As shown, the upper arm 3 includes: an upper arm skeleton, and an upper arm spherical joint 3.7 and an elbow upper arm hinge joint 3.1 respectively connected at the front and rear ends of the upper arm skeleton; a plurality of flexible shaft fixers 3.5 are arranged on the outer wall of the main body of the upper arm skeleton for fixing the flexible shaft 6 passing therethrough; an elbow joint rope drive mechanism 3.2 is arranged at the elbow upper arm hinge joint 3.1.

[0024] The structure of the upper arm skeleton includes: an upper arm section 1 3.6 and an upper arm section 2 3.3. The upper arm section 1 3.6 and the upper arm section 2 3.3 are connected by a bearing 3.10. To prevent the upper arm section 1 3.6 and the upper arm section 2 3.3 from being separated, an end cover 3.8 is provided inside the upper arm section 1 3.6 and is fastened to the upper arm section 2 3.3 by a bolt 3.9. An upper arm inner and outer rotation rope drive mechanism 3.4 is provided on the upper arm section 1 3.6. The driving rope of the upper arm inner and outer rotation rope drive mechanism 3.4 is wound around the upper arm section 2 3.3. The upper arm inner and outer rotation rope drive mechanism 3.4 is driven to rotate by the double-arm inner and outer rotation driver group, thereby driving the upper arm section 2 3.3 to rotate around the upper arm section 1 3.6.

[0025] The shoulder joint 2 comprises: a shoulder spherical joint body, a shoulder joint interface 2.5 is provided at the front end of the shoulder spherical joint body, and the shoulder joint interface 2.5 is connected to the chest interface 1.16 through a mounting pin; a connecting bowl 2.4 is provided at the rear end of the shoulder spherical joint body and is connected to the upper arm spherical joint 3.7 through the connecting bowl 2.4.

[0026] The outer side walls of the shoulder spherical joint body and the upper arm spherical joint 3.7 are respectively surrounded by a fixed pulley group 2.3 and a movable pulley group 2.1, which are arranged in front and back corresponding positions and are connected by a driving rope group 2.2. The ropes of the driving rope group 2.2 are connected to the double arm abduction and adduction drive group and the double arm flexion and extension drive group respectively through the steering pulley group 1.3. The connecting bowl 2.4 of the shoulder spherical joint body is movably connected with the upper arm spherical joint 3.7 through the pulling force of the driving rope group 2.2.

[0027] Specifically, the connecting bowl 2.4 is a structure with ball holes at both ends of the cylinder, which can cooperate with the shoulder spherical joint body and the upper arm spherical joint 3.7. A set of fixed pulleys 2.3 and a movable pulley 2.1 constitute a set of rope drive mechanisms, and there are 4 sets of rope drive mechanisms in total. The two pulleys in the corresponding positions constitute the shoulder flexion and extension and adduction and abduction movements. When the double arm abduction and adduction drive group and the double arm flexion and extension drive group cooperate to drive the fixed pulley 2.3 and the movable pulley 2.1, the shoulder spherical joint body, the connecting bowl 2.4 and the upper arm spherical joint 3.7 will slide relative to each other. A wire locker 2.6 is provided on the fixed pulley 2.3, and the wire locker 2.6 fixes one end of the rope, and the other end of the rope passes around the movable pulley 2.1 and then passes around the fixed pulley 2.3 again, and then after being wound on the rope drive turntable, it passes through the pulley group on the corresponding wall, and finally the other end of the rope is fixed on the wire locker 2.6. The bottom of the flexible shaft fixer 3.5 is fixed to the upper arm bone by two semicircular rings interlocking with each other, and the upper part has an arc-shaped notch, the diameter of which is slightly smaller than the outer diameter of the flexible shaft, and the flexible shaft is clamped by the material deformation of the flexible shaft fixer 3.5. The elbow joint rope drive mechanism 3.2 is composed of an elbow joint capstan and a guide roller member, and the elbow joint capstan cooperates with the output of the double-arm elbow joint flexion and extension driver group, and can rotate under the drive of the flexible shaft 6 controlled by it.

[0028] The middle section of the rope is wound around the rope-driven turntable in the double-arm flexion and extension driver group, and the two extended ropes are respectively connected to the corresponding movable pulley group 2.1 and fixed pulley group 2.3 in the front and back. The rope first passes around the pulley of the fixed pulley group 2.3, passes around the pulley of the movable pulley group 2.1, and then returns to the fixed pulley group 2.3, and is fixed to the fixed pulley group 2.1 by the wire locker 2.6. When the double-arm flexion and extension driver group 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 2.1 and fixed pulley group 2.3, thereby driving the flexion and extension movement of the robotic arm. Similarly, the double-arm abduction and adduction driver group can realize the adduction and abduction movement of the humanoid robotic arm through the above-mentioned similar process, which will not be elaborated here.

[0029] like Figures 8 to 10 As shown, the forearm 4 includes: an elbow joint interface 4.10, an elbow joint drive ring 4.11, a forearm ball joint 4.9, a radius 4.7, an ulna 4.8, a palmar joint 1 4.3, a palmar joint 2 4.2, a palmar joint 3 4.1, a wrist joint radial flexion and ulnar flexion capstan 4.4, and a wrist joint extension and flexion capstan 4.5. One end of the ulna 4.8 is fixedly arranged with the elbow joint interface 4.10, and the other end is a ball head structure and a flip capstan 4.6 is arranged on the side of the end, and the flip capstan 4.6 is driven and connected by the double-arm wrist joint left-hand and right-hand drive group through a flexible shaft 6.

[0030] The elbow joint driving ring 4.11 is a circular ring structure arranged in the middle of the inner concave surface of the elbow joint interface 4.10. A rope groove for adapting the rope is provided in the middle of the outer ring of the circular ring structure. A ball socket is provided on the outer side of the elbow joint interface 4.10. The depth of the ball socket joint is greater than its radius, so that the ball head adapted to be connected with it is always in the ball socket. The elbow joint interface 4.10 is split into two parts at the center plane of the ball socket, and bolts are used to fasten them.

[0031] One end of the radius 4.7 is provided with a single ball head, which is embedded in the ball socket of the elbow joint interface 4.10 to form the forearm ball joint 4.9. The other end of the radius 4.7 is provided with two ball heads with a certain distance. The two ends of the rope extending from the upper arm 3 through the elbow joint winch and the guide roller are respectively wound around the two directions of the rope groove and fixed on the two wire lockers thereon, as shown in FIG. Fig.11 .

[0032] like Fig.12 As shown, the front end of the metacarpal joint 4.3 is provided with three ball sockets, which are divided into three parts by the center plane of the three ball sockets, and bolts are used to fasten them. The depth of the three ball sockets is greater than the radius, so that the ball heads of the ulna 4.8 and the radius 4.7 are always in the ball sockets, and the rear end of the metacarpal joint 4.3 is provided with two ball heads. The ball head of the ulna 4.8 and the two ball heads of the radius 4.7 are hingedly matched with the three ball sockets of the metacarpal joint 4.3.

[0033] like Fig.13 As shown, the front end of the second palm joint 4.2 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 4.2 is split into two parts by the center plane, and bolts are used to fasten between them. The depth of the ball socket is greater than its radius, so that the ball head of the first palm joint 4.3 is always in the ball socket. The second palm joint 4.2 is connected to the first palm joint 4.3 through two ball heads. The first palm joint 4.3 is provided with a wrist joint extension and flexion capstan 4.5. After the rope on the wrist joint extension and flexion capstan 4.5 is turned through the pulley, it is wound behind the second joint drive ring and fixed by a wire locker.

[0034] The front end of the metacarpal joint 4.1 is hingedly connected to the metacarpal joint 4.2 and is provided with a joint 3 driving ring, and the rear end is fixed to the manipulator 7. The metacarpal joint 4.2 is provided with a wrist joint radial flexion and ulnar flexion capstan 4.4, and the rope on the wrist joint radial flexion and ulnar flexion capstan 4.4 is fixed to the metacarpal joint 4.1 through a wire locker after the rope is wound around the joint 3 driving line.

[0035] The middle section of the rope is wound around the elbow joint rope drive mechanism 3.2, and the two extended ropes are symmetrically passed around the two ends of the elbow joint drive ring 4.11 and fixed by the wire locker. When the elbow joint rope drive mechanism 3.2 rotates under the drive of the flexible shaft 6, the rope is extended or shortened, and then the forearm 4 is driven to rotate around the upper arm 3. The reverse movement of the forearm 4, the extension and flexion of the wrist joint, and the radial and ulnar flexion of the wrist joint are similar.

[0036] In summary, the arm of the present invention sets the position of the upper arm 3 near the shoulder as a spherically opposed structure, and adds a rotatable inward and outward rotation rope drive mechanism on the upper arm to further realize all-round flexible movement, and sets a ball-and-socket structure at the wrist of the forearm 4, so that the movement of the connected palm is more flexible, the simulation effect of the human arm movement is improved, and complex movements can be effectively completed. In addition, the forearm 4 of the present invention adopts a double skeleton rod, and then cooperates with the realization of the flexible shaft drive to improve the load capacity of the arm, and sets and uses ropes at each joint, which simplifies the overall layout of the rope and prevents its coupling disorder. At the same time, the present invention sets corresponding actuators for the flexible shaft drive and the rope drive, and the coordinated operation of the two can effectively improve the efficiency of rope replacement, rope drive mechanism maintenance and drive system.

[0037] 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 mechanical dual arm with seven degrees of freedom, characterized in that: include: A chest structure (1), and shoulder joints (2), upper arms (3), lower arms (4), and manipulators (7) mounted on both sides of the chest structure (1) and connected in sequence front to back, wherein rope drive mechanisms are provided on the upper arms (3) and lower arms (4), and the chest structure (1) comprises a chest frame and a joint driver mounted on the chest frame, wherein the joint driver drives the corresponding rope drive mechanism by cooperating with a flexible shaft (6) and a rope, thereby controlling the shoulder joints (2), upper arms (3), lower arms (4), and manipulators (7) to perform corresponding anthropomorphic arm movements.

2. The humanoid mechanical dual arms according to claim 1, characterized in that: The chest frame comprises: a support connection seat (1.1) and a chest bracket (1.6) fixedly mounted on the support connection seat (1.1); the joint driver is mounted on the chest bracket (1.6); chest interfaces (1.16) are provided on the left and right sides of the chest bracket (1.6); and the shoulder joint (2) is mounted at the chest interface (1.16); The joint driver comprises: a double-arm abduction and adduction driver group and a double-arm flexion and extension driver group for driving the connecting rope, a steering pulley group (1.3) is correspondingly arranged on the double-arm abduction and adduction driver group and the double-arm flexion and extension driver group, and a double-arm internal rotation and external rotation driver group, a double-arm elbow joint flexion and extension driver group, a double-arm wrist joint extension and flexion driver group, a double-arm wrist joint radial flexion and ulnar flexion driver group, and a double-arm wrist joint left-hand rotation and right-hand rotation driver group for driving the connecting flexible shaft (6).

3. The humanoid mechanical dual arms according to claim 2, characterized in that: The upper arm (3) comprises: an upper arm skeleton, and an upper arm spherical joint (3.7) and an elbow upper arm hinge joint (3.1) respectively connected and arranged at the front and rear ends of the upper arm skeleton; The shoulder joint (2) comprises: a shoulder spherical joint body, a shoulder joint interface (2.5) is provided at the front end of the shoulder spherical joint body, and the shoulder joint interface (2.5) is connected to the chest interface (1.16) via a mounting pin; a connecting bowl (2.4) is provided at the rear end of the shoulder spherical joint body and is connected to the upper arm spherical joint (3.7) via the connecting bowl (2.4); and a plurality of soft shaft fixers (3.5) are provided on the outer wall of the main body of the upper arm bone; A fixed pulley block (2.3) and a movable pulley block (2.1) are respectively arranged on the outer side walls of the shoulder spherical joint body and the upper arm spherical joint (3.7); a wire locker (2.6) is provided on the fixed pulley block (2.3); the fixed pulley block (2.3) and the movable pulley block (2.1) are arranged in front and back corresponding positions, and a driving rope block (2.2) is connected between the fixed pulley block (2.3) and the movable pulley block (2.1); the ropes of the driving rope block (2.2) are respectively connected to a double arm abduction and adduction drive block and a double arm flexion and extension drive block via a steering pulley block (1.3); The connecting bowl (2.4) and the upper arm spherical joint (3.7) are movably connected through the pulling force of the driving rope group (2.2); An elbow joint rope drive mechanism (3.2) is provided at the elbow joint upper arm hinge joint (3.1).

4. The humanoid mechanical dual arms according to claim 3, characterized in that: The structure of the upper arm skeleton comprises: an upper arm section (3.6) and an upper arm section (3.3), wherein the upper arm section (3.6) and the upper arm section (3.3) are connected via a bearing (3.10); an upper arm internal rotation and external rotation rope drive mechanism (3.4) is arranged on the upper arm section (3.6), a driving rope of the upper arm internal rotation and external rotation rope drive mechanism (3.4) is wound around the upper arm section (3.3), and the upper arm internal rotation and external rotation rope drive mechanism (3.4) is driven to rotate by a double-arm internal rotation and external rotation drive unit, thereby driving the upper arm section (3.3) to rotate around the upper arm section (3.6).

5. The humanoid mechanical dual arms according to claim 3, characterized in that: The connecting bowl (2.4) is a structure with ball holes at both ends of a cylinder, and the distance between the corresponding fixed pulley group (2.3) and the movable pulley group (2.1) is adjusted by the double-arm abduction and adduction drive group and the double-arm flexion and extension drive group in cooperation with the driving rope, so that the connecting bowl (2.4) and the shoulder spherical joint body and the upper arm spherical joint (3.7) slide in cooperation with each other.

6. The humanoid mechanical dual arms according to claim 3, characterized in that: The bottom of the flexible shaft fixer (3.5) is fixed to the upper arm bone by two semicircular rings that interlock 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 (3.5).

7. The humanoid mechanical dual arms according to claim 3, characterized in that: The forearm (4) comprises: an elbow joint interface (4.10), an elbow joint drive ring (4.11), a forearm ball joint (4.9), a radius (4.7), and an ulna (4.8); The elbow joint drive ring (4.11) is a circular ring structure arranged in the middle of the inner concave surface of the elbow joint interface (4.10). The elbow joint drive ring (4.11) is hingedly matched with the elbow joint upper arm articulation joint (3.1) through the circular ring structure. The outer side surface of the elbow joint interface (4.10) is connected to the front end of the radius (4.7) through the forearm ball joint joint (4.9). The rear end of the radius (4.7) is provided with two ball heads at a distance. The front end of the ulna (4.8) is fixedly arranged with the elbow joint interface (4.10), and the rear end is provided with a ball head. The rear end side of the ulna (4.8) is provided with a flip winch (4.6). The left-hand and right-hand rotation driver group of the double-arm wrist joint is controlled to be connected to the flip winch (4.6) through a flexible shaft (6).

8. The humanoid mechanical dual arms according to claim 7, characterized in that: The outer ring of the elbow joint drive ring (4.11) is provided with a rope groove in the middle, and a rope is arranged in the rope groove. The elbow joint rope drive mechanism (3.2) comprises: an elbow joint capstan and a guide roller member. The elbow joint capstan is cooperatively connected to the output end of the flexible shaft (6). The elbow joint capstan rotates under the drive of the double-arm elbow joint flexion and extension driver group, so that the elbow joint drive ring (4.11) rotates through the transmission of the rope through the guide roller member and the rope groove in sequence, thereby driving the forearm (4) to rotate around the upper arm (3).

9. The humanoid mechanical dual arms according to claim 7, characterized in that: The forearm (4) further comprises: a first metacarpal joint (4.3), a second metacarpal joint (4.2), a third metacarpal joint (4.1), a wrist joint radial flexion and ulnar flexion capstan (4.4), and a wrist joint extension and flexion capstan (4.5); The front end of the metacarpal joint (4.3) is provided with three ball sockets, and the rear end is provided with two ball heads; the ball head joint of the ulna (4.8) and the two ball head joints of the radius (4.7) are hingedly matched with the three ball sockets of the metacarpal joint (4.3); a wrist joint extension and flexion capstan (4.5) is arranged on the metacarpal joint (4.3), and a double-arm wrist joint extension and flexion driver group is controlled and connected to the wrist joint extension and flexion capstan (4.5) via a flexible shaft (6); The front end of the metacarpal joint (4.2) 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 (4.2) is connected to the rear end of the metacarpal joint (4.3) through the ball head and ball socket; the rope on the wrist joint extension and flexion capstan (4.5) is turned through a pulley, and then wound behind the joint second drive ring and fixed through a wire locker; the wrist joint radial flexion and ulnar flexion capstan (4.4) is arranged on the metacarpal joint (4.2), and the double-arm wrist joint radial flexion and ulnar flexion drive group is controlled and connected to the wrist joint radial flexion and ulnar flexion capstan (4.4) through a flexible shaft (6); The front end of the metacarpal joint (4.1) is hingedly connected to the metacarpal joint (4.2) and is provided with a joint three driving ring, and the rear end is fixed to the manipulator (7); the rope on the wrist joint radial flexion and ulnar flexion winch (4.4) is fixed to the metacarpal joint (4.1) through a wire locker after being wound around the joint three driving line.

10. The humanoid mechanical dual arms according to claim 9, characterized in that: The second metacarpal joint (4.2) and the third metacarpal joint (4.1) are also provided with corresponding guide wheel groups for guiding 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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