Seven-degree-of-freedom humanoid robot with dual arms

Abstract

The application discloses a seven-degree-of-freedom humanoid mechanical double arm, which comprises a chest structure and sequentially connected shoulder joints, large arms, small arms and mechanical hands installed on both sides of the chest structure, and a rope driving mechanism is arranged on the large arms and the small arms, wherein the chest structure comprises a chest rack and joint drives installed on the chest rack, the joint drives drive corresponding rope driving mechanisms through the cooperation transmission of a flexible shaft and a rope, so that the shoulder joints, the large arms, the small arms and the mechanical hands are controlled to perform corresponding humanized arm movements. The application adds a rotation degree of freedom at the large arms, further realizes omnidirectional flexible movement, can effectively complete more complex actions, adopts double-skeletal rods for the small arms, increases the load of the humanoid mechanical arm, and significantly improves the bionic performance of the humanoid mechanical double arm. Meanwhile, corresponding actuators are arranged for the flexible shaft driving and the rope driving, and the two are cooperatively operated, so that the modular layout of the driving system is realized, and the problems of the complexity and coupling of the rope driving mechanism are solved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of robotics, and relates to a seven-degree-of-freedom humanoid mechanical double arm. BACKGROUND

[0002] The design of humanoid mechanical arms is inspired by the physiological structure and movement of humans, which makes them highly flexible and adaptable, capable of simulating human arm structure and movement to perform various complex actions. In addition, the interactive and intelligent features of humanoid mechanical arms make them suitable for a variety of scenarios, such as household services, medical rehabilitation, and other daily life areas.

[0003] However, existing humanoid mechanical arms have some obvious shortcomings, such as: the forearm flip motion is equivalent to a rotation motion, which deviates from the flip motion of the human forearm, and the structure is still quite different from humanization; the shoulder joint is mostly a connecting rod or hinge structure, which deviates from the human ball-and-socket structure, although it tries to imitate the human arm in design and function, but in actual use, the load capacity of the connecting rod or hinge structure is very limited, and it can only carry light goods within a certain range; for rope-driven humanoid mechanical arms, the shoulder, elbow, and wrist joints are in a whole structure, the layout is relatively complex, and the rope arrangement is complicated and prone to coupling; and the joint motor and reducer devices are arranged on the moving mechanical arm, resulting in limited response speed and low work efficiency. SUMMARY

[0004] In order to solve the above technical problems existing in the prior art, the present application proposes a seven-degree-of-freedom humanoid mechanical double arm, the specific technical scheme is as follows:

[0005] A seven-degree-of-freedom humanoid mechanical double arm, comprising: a chest structure, and a shoulder joint, a forearm, a forearm, and a mechanical hand installed on both sides of the chest structure and connected in front and back, a rope driving mechanism is provided on the forearm and the forearm, the chest structure comprises: a chest rack and a joint drive installed on the chest rack, the joint drive drives the corresponding rope driving mechanism through the cooperation of the soft shaft and the rope transmission, thereby controlling the shoulder joint, the forearm, the forearm, and the mechanical hand to perform corresponding humanoid arm movements.

[0006] Further, the chest rack comprises: a support connecting seat and a chest support fixedly installed on the support connecting seat, the joint drive is installed and configured on the chest support, the chest support is provided with a chest interface on the left and right sides, and the shoulder joint is installed at the chest interface;

[0007] The joint driver comprises: a double-arm abduction-adduction driver group and a double-arm flexion-extension driver group for driving the rope, a steering pulley group is correspondingly arranged on the side of the double-arm abduction-adduction driver group and the double-arm flexion-extension driver group, and a double-arm internal-external rotation driver group, a double-arm elbow joint flexion-extension driver group, a double-arm wrist joint extension-flexion driver group, a double-arm wrist joint radial-ulnar flexion driver group and a double-arm wrist joint left-right rotation driver group for driving the soft shaft.

[0008] Further, the large arm comprises: a large arm skeleton, and a large arm spherical joint and an elbow joint large arm hinged joint respectively connected to the front end and the rear end of the large arm skeleton;

[0009] The shoulder joint comprises: a shoulder spherical joint body, a shoulder joint interface is arranged at the front end of the shoulder spherical joint body, and the shoulder joint interface is connected to the chest interface through pin connection; a connecting bowl is arranged at the rear end of the shoulder spherical joint body, and the shoulder spherical joint body is connected to the large arm spherical joint through the connecting bowl; a plurality of soft shaft fixers are arranged on the outer wall of the main body of the large arm skeleton;

[0010] The outer side walls of the shoulder spherical joint body and the large arm spherical joint are respectively annularly arranged with a fixed pulley group and a movable pulley group, a wire locker is arranged on the fixed pulley group, the fixed pulley group and the movable pulley group are correspondingly arranged in front and back positions, and a driving rope group is connected between the fixed pulley group and the movable pulley group, the rope of the driving rope group is connected to the double-arm abduction-adduction driver group and the double-arm flexion-extension driver group through the steering pulley group, and the connecting bowl of the shoulder spherical joint body is movably connected to the large arm spherical joint through the pulling force of the driving rope group.

[0011] An elbow joint rope driving mechanism is arranged at the elbow joint large arm hinged joint.

[0012] Further, the structure of the large arm skeleton comprises: a large arm first section and a large arm second section, the large arm first section and the large arm second section are connected through a bearing; a large arm internal-external rotation rope driving mechanism is arranged on the large arm first section, the driving rope of the large arm internal-external rotation rope driving mechanism is wound to the large arm second section, and the large arm internal-external rotation rope driving mechanism is driven to rotate by the double-arm internal-external rotation driver group, so as to drive the large arm second section to rotate around the large arm first section.

[0013] Further, the connecting bowl is a structure in which ball holes are arranged at the two ends of a cylinder, the distance between the fixed pulley group and the movable pulley group corresponding in front and back positions is adjusted by the double-arm abduction-adduction driver group and the double-arm flexion-extension driver group cooperating with the driving rope, so that the connecting bowl is slidably matched with the shoulder spherical joint body and the large arm spherical joint.

[0014] Further, the bottom of the soft shaft fixer is fixed on the large arm skeleton through mutual engagement of two semicircular rings, the upper part has a circular-arc notch, the notch is elastic and has a diameter slightly smaller than the outer diameter of the soft shaft, and the soft shaft is clamped by the material deformation of the soft shaft fixer.

[0015] Further, the small arm comprises: an elbow joint interface, an elbow joint driving ring, a small arm spherical hinge joint, a radius, and an ulna.

[0016] The elbow joint driving ring is a circular ring structure arranged in the middle of the inner concave surface of the elbow joint interface. The elbow joint driving ring is hingedly connected with the elbow joint large arm hinge joint through the circular ring structure. The outer side surface of the elbow joint interface is connected with the front end of the radius through the small arm spherical hinge joint. The rear end of the radius is provided with two ball heads at a distance. The front end of the ulna is fixedly arranged with the elbow joint interface. The rear end is provided with a ball head. The rear end side of the ulna is provided with a flip winch. The double-arm wrist joint left and right rotation driver group is connected with the flip winch through a flexible shaft.

[0017] Further, the elbow joint driving ring circular ring structure is provided with a rope groove in the middle of the outer ring. A rope is arranged in the rope groove. The elbow joint rope driving mechanism comprises an elbow joint winch and a guide roller. The elbow joint winch is connected with the output end of the flexible shaft. The elbow joint winch is rotated under the drive of the double-arm elbow joint flexion and extension driver group. The transmission of the rope through the guide roller and the rope groove in turn drives the rotation of the elbow joint driving ring, and further drives the rotation of the small arm around the large arm.

[0018] Further, the small arm further comprises: a metacarpal joint, a metacarpal joint, a metacarpal joint, a wrist joint radial and ulnar flexion winch, and a wrist joint extension and flexion winch.

[0019] The front end of the metacarpal joint is provided with a three-ball socket, 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 connected with the three-ball socket end of the metacarpal joint. The wrist joint extension and flexion winch is arranged on the metacarpal joint. The double-arm wrist joint extension and flexion driver group is connected with the wrist joint extension and flexion winch through a flexible shaft.

[0020] The front end of the metacarpal joint is provided with a double-ball socket and a joint two driving ring. 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 embedding of the ball head and the ball socket. After the rope of the wrist joint extension and flexion winch is turned through a pulley, the wire is fixed through a wire locker after the joint two driving ring. The wrist joint radial and ulnar flexion winch is arranged on the metacarpal joint. The double-arm wrist joint radial and ulnar flexion driver group is connected with the wrist joint radial and ulnar flexion winch through a flexible shaft.

[0021] The front end of the metacarpal joint is provided with a three-ball socket, 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 connected with the three-ball socket end of the metacarpal joint. The wrist joint extension and flexion winch is arranged on the metacarpal joint. The double-arm wrist joint extension and flexion driver group is connected with the wrist joint extension and flexion winch through a flexible shaft.

[0022] Further, the metacarpal joint and the metacarpal joint are further provided with a guide wheel group corresponding to the inside to guide the rope, so that the rope is wound with the joint two driving ring and the joint three driving ring.

[0023] The double arm of the application is a seven-degree-of-freedom humanoid robot arm, wherein the position of the upper arm close to the shoulder is provided as a spherical counterposed structure, an inner rotation and outer rotation rope driving mechanism is additionally provided in the upper arm section, the flexible sliding in all directions can be realized, the spherical socket structure is provided at the wrist of the lower arm, the movement of the connected palm is more flexible, the simulation effect of the human arm movement is further improved, and the complex movement can be effectively completed. In addition, the lower arm of the application adopts double skeleton rods, the realization of the soft shaft driving is further matched, the load capacity of the arm is improved, the ropes are respectively arranged at the joints, the overall layout of the ropes is simplified, and the coupling disorder is prevented. Meanwhile, the corresponding actuators are arranged for the soft shaft driving and the rope driving, and the operation and maintenance efficiency can be effectively improved by the cooperation of the two. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is a schematic diagram of the humanoid robot double arm structure of the embodiment;

[0025] Figure 2 is a front view of the chest structure of the embodiment;

[0026] Figure 3 is a left rear view of the chest structure of the embodiment;

[0027] Figure 4 is a right rear view of the chest structure of the embodiment;

[0028] Figure 5 is a shoulder joint connection structure diagram of the embodiment;

[0029] Figure 6 is a three-dimensional view of the upper arm structure of the embodiment;

[0030] Figure 7 is a sectional view of the upper arm structure of the embodiment;

[0031] Figure 8 is a schematic diagram of the overall connection structure of the lower arm of the embodiment;

[0032] Figure 9 is a schematic diagram of the main part of the lower arm of the embodiment;

[0033] Figure 10 is a schematic diagram of the ulna and the elbow joint interface fixedly connected thereto of the embodiment;

[0034] Figure 11 is a partial schematic diagram of the elbow joint of the upper arm and the lower arm of the embodiment;

[0035] Figure 12 is a schematic diagram of the split structure of the metacarpal joint of the embodiment;

[0036] Figure 13Fig. 1 is a schematic diagram of the palm joint of the embodiment;

[0037] Fig. 1 is a schematic diagram of the palm joint of the embodiment;

[0038] 1.1 is a support connecting seat, 1.2 is a right arm abduction-adduction driver, 1.3 is a steering pulley set, 1.4 is a right arm internal-external rotation driver, 1.5 is a right arm flexion-extension driver, 1.6 is a chest support, 1.7 is a left arm internal-external rotation driver, 1.8 is a left arm abduction-adduction driver, 1.9 is a left arm flexion-extension driver, 1.10 is a left arm elbow joint flexion-extension driver, 1.11 is a left arm wrist joint extension-flexion driver, 1.12 is a left arm wrist joint radial-ulnar flexion driver, 1.13 is a left arm wrist joint left-right rotation driver, 1.14 is a right arm elbow joint flexion-extension driver, 1.15 is a right arm wrist joint extension-flexion driver, 1.16 is a chest interface, 1.17 is a right arm wrist joint radial-ulnar flexion driver, and 1.18 is a right arm wrist joint left-right rotation driver;

[0039] 2.1 is a movable pulley set, 2.2 is a driving rope set, 2.3 is a fixed pulley set, 2.4 is a connecting bowl, 2.5 is a shoulder joint interface, and 2.6 is a wire locker;

[0040] 3.1 is an elbow joint large arm hinged joint, 3.2 is an elbow joint rope driving mechanism, 3.3 is a large arm second segment, 3.4 is a large arm internal-external rotation rope driving mechanism, 3.5 is a flexible shaft fixer, 3.6 is a large arm first segment, 3.7 is a large arm spherical joint, 3.8 is an end cover, 3.9 is a bolt, and 3.10 is a bearing;

[0041] 4.1 is a palm three joint, 4.2 is a palm two joint, 4.3 is a palm one joint, 4.4 is a wrist joint radial-ulnar flexion winch, 4.5 is a wrist joint extension-flexion winch, 4.6 is a flip winch, 4.7 is a radius, 4.8 is a ulna, 4.9 is a small arm spherical hinged joint, 4.10 is an elbow joint interface, and 4.11 is an elbow joint driving ring. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical scheme and technical effects of the present application clearer, the present application is further described in detail below in combination with the drawings and examples of the present application.

[0043] As Figure 1As shown, the seven-degree-of-freedom humanoid mechanical double arm of the embodiment of the present application comprises: a chest structure 1, and shoulder joints 2, large arms 3, small arms 4 and mechanical hands 7 which are installed on both sides of the chest structure 1 and arranged in sequence from front to back; wherein the small arms 4 are hinged to the large arms 3, and the rope driving mechanisms 5 are arranged on the large arms 3 and the small arms 4; the chest structure 1 comprises: a chest rack and joint drives installed on the chest rack, the joint drives drive the corresponding rope driving mechanisms 5 through the cooperation of the soft shafts 6 and the ropes, so as to control the shoulder joints 2, the large arms 3, the small arms 4 and the mechanical hands 7 to perform corresponding anthropomorphic arm movements.

[0044] As shown, Figures 2 to 4 the chest rack comprises: a support connecting seat 1.1 and a chest support 1.6 fixedly installed on the support connecting seat 1.1, the support connecting seat 1.1 is used for mounting and connecting with other components of the robot. The joint drives are installed on the chest support 1.6, and the chest support 1.6 is provided with chest interfaces 1.16 on both sides thereof, and the shoulder joints 2 are installed at the chest interfaces 1.16.

[0045] The joint drives specifically comprise: a double-arm abduction-adduction drive group and a double-arm forward-flexion-backward-extension drive group for driving the connecting ropes, the double-arm abduction-adduction drive group comprises: a right-arm abduction-adduction drive 1.2 and a left-arm abduction-adduction drive 1.8; the double-arm forward-flexion-backward-extension drive group comprises: a right-arm forward-flexion-backward-extension drive 1.5 and a left-arm forward-flexion-backward-extension drive 1.9; and a steering pulley group 1.3 is correspondingly arranged on the side of the double-arm abduction-adduction drive group and the double-arm forward-flexion-backward-extension drive group.

[0046] There are also a double-arm internal-external rotation drive group, a double-arm elbow joint flexion-extension drive group, a double-arm wrist joint extension-flexion drive group, a double-arm wrist joint radial-flexion-ulnar-flexion drive group and a double-arm wrist joint left-right rotation drive group for driving the connecting soft shafts 6; the double-arm internal-external rotation drive group comprises: a right-arm internal-external rotation drive 1.4 and a left-arm internal-external rotation drive 1.7; the double-arm elbow joint flexion-extension drive group comprises: a left-arm elbow joint flexion-extension drive 1.10 and a right-arm elbow joint flexion-extension drive 1.14; the double-arm wrist joint extension-flexion drive group comprises: a left-arm wrist joint extension-flexion drive 1.11 and a right-arm wrist joint extension-flexion drive 1.15; the double-arm wrist joint radial-flexion-ulnar-flexion drive group comprises: a left-arm wrist joint radial-flexion-ulnar-flexion drive 1.12 and a right-arm wrist joint radial-flexion-ulnar-flexion drive 1.17; and the double-arm wrist joint left-right rotation drive group comprises: a left-arm wrist joint left-right rotation drive 1.13 and a right-arm wrist joint left-right rotation drive 1.18.

[0047] The above driver includes: servo motor, harmonic reducer and rope drive or soft shaft rotary disc. The fixed part of the harmonic reducer is fixed with the servo motor mounting hole by screw, the rotating part of the harmonic reducer is connected with the output shaft of the servo motor by key, and the power output part of the harmonic reducer is fixed with the rope drive rotary disc or soft shaft rotary disc by screw. The rope drive rotary disc is provided with a rope passing hole, and the rope is wound on the rope drive rotary disc after passing through the rope passing hole. The soft shaft rotary disc is provided with a hexagonal hole, and the size of the hexagonal hole matches the output end of the soft shaft 6.

[0048] One end of the soft shaft 6 is connected with the driver, and the other end is connected with the rope drive mechanism 5 of each joint. When the driver rotates, the torque is transmitted to the soft shaft 6, and the soft shaft 6 transmits the torque to the corresponding joint rope drive mechanism 5, and the rope drive mechanism 6 drives the movement of each joint.

[0049] As shown in Figures 5 to 7 The large arm 3 includes: a large arm skeleton, and a large arm spherical joint 3.7 and an elbow joint large arm hinge joint 3.1 respectively connected at the front and rear ends of the large arm skeleton, a plurality of soft shaft fixers 3.5 are arranged on the outer wall of the main body of the large arm skeleton for fixing the passing soft shaft 6, and an elbow joint rope drive mechanism 3.2 is arranged at the elbow joint large arm hinge joint 3.1.

[0050] The structure of the large arm skeleton includes: a large arm first section 3.6 and a large arm second section 3.3, and the large arm first section 3.6 and the large arm second section 3.3 are connected through a bearing 3.10. In order to prevent the large arm first section 3.6 and the large arm second section 3.3 from separating, an end cover 3.8 is arranged in the large arm first section 3.6 and is tightly connected with the large arm second section 3.3 through a bolt 3.9. A large arm internal and external rotation rope drive mechanism 3.4 is arranged on the large arm first section 3.6, the driving rope of the large arm internal and external rotation rope drive mechanism 3.4 is wound to the large arm second section 3.3, and the large arm internal and external rotation rope drive mechanism 3.4 is driven to rotate by a double-arm internal and external rotation driver group, so as to drive the large arm second section 3.3 to rotate around the large arm first section 3.6.

[0051] The shoulder joint 2 includes: a shoulder spherical joint body, a shoulder joint interface 2.5 is arranged at the front end of the shoulder spherical joint body, and the shoulder joint interface 2.5 is connected with the chest interface 1.16 through a mounting pin; a connecting bowl 2.4 is arranged at the rear end of the shoulder spherical joint body, and the connecting bowl 2.4 is connected with the large arm spherical joint 3.7.

[0052] The outer wall of the shoulder spherical joint body and the large arm spherical joint 3.7 is respectively provided with a fixed pulley set 2.3 and a movable pulley set 2.1, the fixed pulley set 2.3 and the movable pulley set 2.1 are arranged in front and back correspondence and are connected by a driving rope set 2.2, and the two are connected to the double-arm abduction-adduction driver set and the double-arm flexion-extension driver set through the rope of the driving rope set 2.2 through a steering pulley set 1.3, and the connecting bowl 2.4 of the shoulder spherical joint body is movably connected to the large arm spherical joint 3.7 through the tension of the driving rope set 2.2.

[0053] Specifically, the connecting bowl 2.4 is a structure with a ball hole at both ends of a cylinder, which can cooperate with the shoulder spherical joint body and the large arm spherical joint 3.7. A set of fixed pulley set 2.3 and movable pulley set 2.1 constitutes a set of rope driving mechanism, and there are a total of 4 sets of rope driving mechanisms, and 2 sets of pulley sets in corresponding positions constitute the shoulder flexion-extension and adduction-abduction movement. When the double-arm abduction-adduction driver set and the double-arm flexion-extension driver set cooperate to drive the fixed pulley set 2.3 and the movable pulley set 2.1, the shoulder spherical joint body, the connecting bowl 2.4 and the large arm spherical joint 3.7 will slide relative to each other. The fixed pulley set 2.3 is provided with a wire locker 2.6, one end of the rope is fixed by the wire locker 2.6, the other end of the rope passes through the movable pulley set 2.1 and then passes through the fixed pulley set 2.3 again, and then is wound on the rope driving disc and then passes through the pulley set on the corresponding wall surface, and finally the other end of the rope is fixed on the wire locker 2.6. The bottom of the soft shaft fixer 3.5 is fixed on the large arm skeleton by two half circular rings biting each other, and the upper part has a circular arc notch, the diameter of the notch is slightly smaller than the outer diameter of the soft shaft, and the soft shaft is clamped by the material deformation of the soft shaft fixer 3.5. The elbow joint rope driving mechanism 3.2 is composed of an elbow joint winch and a guide roller, and the elbow joint winch is matched with the output of the double-arm elbow joint flexion-extension driver set and can rotate under the drive of the soft shaft 6 controlled by the double-arm elbow joint flexion-extension driver set.

[0054] The middle section of the rope is wound on the rope driving disc in the double-arm flexion-extension driver set, and the two extending ropes are connected with the front and rear corresponding movable pulley set 2.1 and fixed pulley set 2.3 respectively, the rope first passes through the pulley of the fixed pulley set 2.3, then passes through the pulley of the movable pulley set 2.1, and then returns to the fixed pulley set 2.3, and is fixed on the movable pulley set 2.1 by the wire locker 2.6. When the double-arm flexion-extension driver set rotates forward or reversely, the rope is elongated or shortened, so that the distance between the same cooperating movable pulley set 2.1 and fixed pulley set 2.3 is increased or decreased, thereby driving the flexion-extension movement of the mechanical arm. Similarly, the double-arm abduction-adduction driver set can realize the adduction-abduction movement of the humanoid robot through the similar process, which will not be described here.

[0055] As Figures 8 to 10As shown, the forearm 4 includes: elbow joint interface 4.10, elbow joint drive ring 4.11, forearm spherical hinge joint 4.9, radius 4.7, ulna 4.8, metacarpal joint 4.3, metacarpal joint 4.2, metacarpal joint 4.1, wrist joint radial-ulnar flexion winch 4.4, wrist joint extension-flexion winch 4.5. The ulna 4.8 is fixedly arranged at one end of the elbow joint interface 4.10, and the other end is a ball head structure and is provided with a turnover winch 4.6 on the side of the end, and the turnover winch 4.6 is driven and connected by a soft shaft 6 through a double-arm wrist joint left and right drive group.

[0056] 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, and the outer circle of the circular ring structure is provided with a rope groove adapted to the rope, and the outer side surface of the elbow joint interface 4.10 is provided with a ball socket, and the ball socket joint depth is greater than its radius, so that the ball head connected therewith is always located in the ball socket, and the elbow joint interface 4.10 is divided into two parts by the ball socket center surface and is fastened by bolts.

[0057] The radius 4.7 is provided with a single ball head at one end, and is embedded with the ball socket of the elbow joint interface 4.10 to form the forearm spherical hinge joint 4.9, and the other end of the radius 4.7 is provided with two ball heads with a certain interval. The two ends of the rope extending from the elbow joint winch and the guide roller member at the upper arm 3 are respectively wound around the two directions of the rope groove and fixed on the two wire lockers thereon, and the wire locker is provided with a wire locker drive ring, and the wire locker drive ring is driven and connected by a soft shaft 6 through a double-arm wrist joint left and right drive group. Figure 11 .

[0058] As shown, Figure 12 The front end of the metacarpal joint 4.3 is provided with three ball sockets, and the three ball socket center surfaces are divided into three parts and are fastened by bolts, and the three ball socket depths are greater than their radii, so that the ball heads of the ulna 4.8 and the radius 4.7 are always located in the ball socket, 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 connected with the three ball sockets of the metacarpal joint 4.3.

[0059] As shown, Figure 13 The front end of the metacarpal joint 4.2 is provided with a double ball socket and a joint two drive ring, and the rear end is provided with a hinge structure, and the metacarpal joint 4.2 is divided into two parts by the center surface and is fastened by bolts, and the ball socket depth is greater than its radius, so that the ball head of the metacarpal joint 4.3 is always located in the ball socket. The metacarpal joint 4.2 is connected with the metacarpal joint 4.3 through two ball heads. The metacarpal joint 4.3 is provided with a wrist joint extension-flexion winch 4.5, and the rope on the wrist joint extension-flexion winch 4.5 is turned through a pulley after being wound around the joint two drive ring and is fixed through a wire locker.

[0060] The palm three joint 4.1 is hingedly connected with the palm two joint 4.2 and is provided with a joint three driving ring, and the rear end is fixed with the manipulator 7. The palm two joint 4.2 is provided with a wrist joint radial flexion and ulnar flexion winch 4.4, and the ropes on the wrist joint radial flexion and ulnar flexion winch 4.4 are fixed on the palm three joint 4.1 through the wire locker after winding around the joint three driving ring.

[0061] The middle section of the rope is wound on the elbow joint rope driving mechanism 3.2, and the two ropes extending out are symmetrically wound around the two ends of the elbow joint driving ring 4.11 and then fixed by the wire locker. When the elbow joint rope driving mechanism 3.2 rotates under the driving of the soft shaft 6, the ropes are elongated or shortened, thereby driving the forearm 4 to rotate around the arm 3. The reverse movement of the forearm 4, the wrist joint extension and flexion, and the wrist joint radial flexion and ulnar flexion movement are similar.

[0062] In summary, the arm of the present application sets the position of the arm 3 close to the shoulder as a spherical opposing structure, and additionally provides a rotatable inner rotation and outer rotation rope driving mechanism on the arm, further realizing flexible movement in all directions, and sets a ball and socket structure at the wrist of the forearm 4, so that the connected palm movement is more flexible, improving the simulation effect of human arm movement, and can effectively complete complex actions. In addition, the forearm 4 of the present application adopts double skeleton rods, which are driven by the soft shaft to improve the load capacity of the arm, and ropes are respectively arranged at each joint to simplify the overall layout of the ropes and prevent coupling disorder. At the same time, the present application sets corresponding actuators for soft shaft driving and rope driving, and the cooperation of the two can effectively improve the rope replacement, rope driving mechanism maintenance and driving system efficiency.

[0063] The above is only the preferred embodiment of the present application, and does not limit the present application in any form. Although the implementation process of the present application has been described in detail above, for those skilled in the art, the technical solutions recorded in the above examples can be modified, or some technical features can be replaced. Any modification, equivalent replacement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A seven-degree-of-freedom humanoid robotic dual arm, characterized by, The application relates to a humanized arm robot, which comprises a chest structure (1), shoulder joints (2), large arms (3), small arms (4) and mechanical hands (7) which are arranged in sequence from front to back and are installed on both sides of the chest structure (1), and a rope driving mechanism is arranged on the large arms (3) and the small arms (4), wherein the chest structure (1) comprises a chest rack and joint drives which are installed on the chest rack, the joint drives drive the corresponding rope driving mechanism through the cooperation transmission of a flexible shaft (6) and a rope, so that the shoulder joints (2), the large arms (3), the small arms (4) and the mechanical hands (7) are controlled to perform corresponding humanized arm movements. The chest rack comprises a support connecting seat (1.1) and a chest support (1.6) which is fixedly installed on the support connecting seat (1.1), the joint drives are installed on the chest support (1.6), chest interfaces (1.16) are arranged on the left and right sides of the chest support (1.6), and the shoulder joints (2) are installed at the chest interfaces (1.16). The joint drives comprise double-arm abduction-adduction drive groups and double-arm forward-flexion-backward-extension drive groups which are used for driving the connecting ropes, steering pulley groups (1.3) are correspondingly arranged on the sides of the double-arm abduction-adduction drive groups and the double-arm forward-flexion-backward-extension drive groups, and double-arm internal-external rotation drive groups, double-arm elbow joint flexion-extension drive groups, double-arm wrist joint extension-flexion drive groups, double-arm wrist joint radial-flexion-ulnar-flexion drive groups and double-arm wrist joint left-right rotation drive groups which are used for driving the connecting flexible shafts (6). The large arms (3) comprise large arm skeletons and large arm spherical joints (3.7) and elbow joint large arm hinged joints (3.1) which are respectively arranged at the front and rear ends of the large arm skeletons. The shoulder joints (2) comprise shoulder spherical joint bodies, the front ends of the shoulder spherical joint bodies are provided with shoulder joint interfaces (2.5), the shoulder joint interfaces (2.5) are connected with the chest interfaces (1.16) through mounting pins, the rear ends of the shoulder spherical joint bodies are provided with connecting bowls (2.4) and are connected with the large arm spherical joints (3.7) through the connecting bowls (2.4), and a plurality of flexible shaft fixers (3.5) are arranged on the outer walls of the large arm skeletons. The outer side walls of the shoulder spherical joint bodies and the large arm spherical joints (3.7) are respectively surrounded by fixed pulley groups (2.3) and movable pulley groups (2.1), the fixed pulley groups (2.3) are provided with wire lockers (2.6), the fixed pulley groups (2.3) and the movable pulley groups (2.1) are correspondingly arranged in front of and behind each other and are connected with drive rope groups (2.2) therebetween, and the ropes of the drive rope groups (2.2) are connected to the double-arm abduction-adduction drive groups and the double-arm forward-flexion-backward-extension drive groups through the steering pulley groups (1.3) respectively. The connecting bowls (2.4) and the large arm spherical joints (3.7) are movably connected through the pulling force of the drive rope groups (2.2). The elbow joint large arm hinged joints (3.1) are provided with elbow joint rope driving mechanisms (3.2). ​ 2. The humanoid robotic twin arms according to claim 1, wherein, The structure of the large arm skeleton includes: a large arm section (3.6), a large arm section (3.3), the large arm section (3.6) and the large arm section (3.3) are connected through a bearing (3.10); a large arm inner rotation and outer rotation rope drive mechanism (3.4) is arranged on the large arm section (3.6), the drive rope of the large arm inner rotation and outer rotation rope drive mechanism (3.4) is wound to the large arm section (3.3), the large arm inner rotation and outer rotation rope drive mechanism (3.4) is driven to rotate by the double-arm inner rotation and outer rotation driver group, so as to drive the large arm section (3.3) to rotate around the large arm section (3.6).

3. The humanoid robotic twin arms of claim 1, wherein, The connecting bowl (2.4) is a structure with a ball hole at both ends of a cylinder, which is driven by the double-arm abduction and adduction driver group and the double-arm forward flexion and backward extension driver group to adjust the distance between the corresponding fixed pulley block (2.3) and the movable pulley block (2.1), so that the connecting bowl (2.4) and the shoulder spherical joint body and the large arm spherical joint (3.7) slide with each other.

4. The humanoid robotic twin arms of claim 1, wherein, The bottom of the flexible shaft fixer (3.5) is fixed on the large arm skeleton by two half circular rings which are engaged with each other, and the upper part has a circular arc notch which is elastic and slightly smaller in diameter 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).

5. The humanoid robotic twin arms of claim 1, wherein, The small arm (4) includes: an elbow joint interface (4.10), an elbow joint driving ring (4.11), a small arm spherical hinge joint (4.9), a radius (4.7), and an ulna (4.8); 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), the elbow joint driving ring (4.11) is hingedly connected with the elbow joint large arm hinge joint (3.1) through the circular ring structure, the outer side surface of the elbow joint interface (4.10) is connected with the front end of the radius (4.7) through the small arm spherical hinge joint (4.9), and the rear end of the radius (4.7) is provided with two ball heads with a spacing 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), and the double-arm wrist joint left and right rotation driver group is connected with the flip winch (4.6) through the flexible shaft (6).

6. The humanoid robotic twin arms of claim 5, wherein, The circular ring structure of the elbow joint driving ring (4.11) is provided with a rope groove in the middle of the outer circle, and a rope is arranged in the rope groove; the elbow joint rope drive mechanism (3.2) includes: an elbow joint winch and a guide roller assembly, the elbow joint winch is connected with the output end of the flexible shaft (6), and the elbow joint winch rotates under the drive of the double-arm elbow joint flexion and extension driver group, so that the elbow joint driving ring (4.11) rotates through the transmission of the rope, the guide roller assembly and the rope groove in sequence, and then the small arm (4) rotates around the large arm (3).

7. The humanoid robotic twin arms of claim 5, wherein, The small arm (4) further includes: a metacarpal joint (4.3), a metacarpal joint (4.2), a metacarpal joint (4.1), a wrist joint radius flexion and ulna flexion winch (4.4), and a wrist joint extension and flexion winch (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 connected with the three ball socket end of the metacarpal joint (4.3); the wrist joint extension and flexion winch (4.5) is arranged on the metacarpal joint (4.3), and the double-arm wrist joint extension and flexion driver group is connected with the wrist joint extension and flexion winch (4.5) through a flexible shaft (6); The front end of the metacarpal joint (4.2) is provided with a double ball socket and a joint two driving ring, and the rear end is provided with a hinged structure. The front end of the metacarpal joint (4.2) is connected with the rear end of the metacarpal joint (4.3) through a ball head socket. The rope on the wrist joint extension and flexion winch (4.5) is turned through a pulley, and then wound on the joint two driving ring and fixed through a wire locker; the wrist joint radial flexion and ulnar flexion winch (4.4) is arranged on the metacarpal joint (4.2), and the double-arm wrist joint radial flexion and ulnar flexion driver group is connected with the wrist joint radial flexion and ulnar flexion winch (4.4) through a flexible shaft (6); The front end of the metacarpal joint (4.1) is hingedly connected with the metacarpal joint (4.2) and provided with a joint three driving ring, and the rear end is fixed with the manipulator (7); the rope on the wrist joint radial flexion and ulnar flexion winch (4.4) is fixed on the metacarpal joint (4.1) through a wire locker after winding on the joint three driving ring.

8. The humanoid robotic twin arms of claim 7, wherein, The metacarpal joint (4.2) and the metacarpal joint (4.1) are also provided with a guide wheel group corresponding to the inside, which is used to guide the rope, so that the rope is wound on the joint two driving ring and the joint three driving ring.

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