Humanoid double-chain structure mechanical arm

Abstract

The humanoid double-chain structure mechanical arm comprises a main body, a main chain and an auxiliary chain, the main body can be regarded as the waist and the legs of a person, double branch chains can be regarded as the left arm and the right arm of the person, and complex work can be completed by replacing the person through cooperation of the main body and the double chains; the mechanical arm integrally adopts 4 + 3 + 4 joint configuration, a main body and a main chain are of a standard series seven-axis mechanical arm configuration, the axes of all joints of the main body and the auxiliary chain intersect on the same straight line, the seven-axis industrial robot configuration is guaranteed, and algorithm switching in the movement process is facilitated; according to the mechanical arm, the joints are convenient to disassemble, single-chain and double-chain conversion can be achieved according to different operation scenes, different motion planning algorithms are selected, and the motion process is simple and efficient. If the auxiliary chain is detached, the robot is of a standard series seven-axis robot configuration, if the main chain is detached and the eighth joint is locked, the robot is of the standard series seven-axis robot configuration, and the third joint and the eighth joint are locked at the same time, the robot is of a standard six-axis industrial robot configuration, so that the practicability of the mechanical arm is enhanced.

Description

Technical Field

[0001] The present invention belongs to the field of robots and is a humanoid double-chain structure robotic arm. Specifically, it is an 11-degree-of-freedom robotic arm with a special 4+3+4 configuration. It is a flexible robotic arm that can be adapted to different scenarios by converting between a single chain and a double chain. Background Art

[0002] With the continuous development of humanoid robot technology, humanoid robots have broad development prospects and are becoming the commanding heights of global scientific and technological innovation and a new engine of economic growth. At present, humanoid robots have been applied in logistics warehousing, automotive automation, patrol and other fields. The future development direction is mainly oriented to manufacturing, aerospace exploration, life service industry, university scientific research and other fields.

[0003] A humanoid robot is a complex system with a high degree of freedom. Its manufacturing, design, modeling and planning involve many issues. Currently, global research on humanoid robots is in the technical research and development stage, and its industrial development is still in the initial exploratory stage. It still faces many challenges in core technology and commercialization process.

[0004] In view of the problems existing in the current application of humanoid robots, the present invention designs a humanoid double-chain structure and 11-degree-of-freedom mechanical arm, the main body of which is equivalent to the waist and legs of a human, and the double chains are equivalent to the arms of a human. The mechanical arm has a compact structure and high flexibility, and can replace humans to complete some complex tasks through the coordinated cooperation of the main body and the double chains. The mechanical arm has low cost and is simpler than humanoid robots in design, manufacturing, motion control, etc., and has good application prospects. If necessary, one of the branches of the mechanical arm can be disassembled and some of the joints can be locked to realize the conversion of the traditional 7-axis and 6-axis mechanical arms in series, thereby enhancing practicality. Summary of the invention

[0005] The purpose of the present invention is to provide a humanoid double-chain structure mechanical arm, comprising a main body 1, a main chain 2, and a secondary chain 3.

[0006] The main body 1 includes a base 1-1, a first joint 1-2, a first L-shaped connector 1-3, a second L-shaped connector 1-4, a second joint 1-5, a joint housing 11-6, a third joint 1-7, a third L-shaped connector 1-8, a fourth joint 1-9, a fourth L-shaped connector 1-10, and a second joint housing 1-11. The connection relationship between the various components is as follows: the base 1-1 is fixedly connected to the first joint 1-2; the first L-shaped connector 1-3 and the second L-shaped connector 1-4 are connected to the first joint 1-2 through a rotation pair; the second joint 1-5 is fixedly connected to the first L-shaped connector 1-3; the second L-shaped connector 1-4 is not in contact with the joint housing 11-6; the second joint 1-5 is connected to the joint housing 11-6 through a rotation pair; the joint housing 11-6 is fixedly connected to the third joint 1-7; the third L-shaped connector 1-8 and the fourth L-shaped connector 1-10 are connected to the third joint 1-7 through a rotation pair; the third L-shaped connector 1-8 is fixedly connected to the fourth joint 1-9; the fourth L-shaped connector 1-10 is not in contact with the second joint housing 1-11; the second joint housing 1-11 is connected to the fourth joint 1-9 through a rotation pair.

[0007] The main chain 2 includes a third joint housing 2-1, a fifth L-shaped connector 2-2, a fourth joint housing 2-3, a fifth joint 2-4, a sixth L-shaped connector 2-5, a sixth joint 2-6, a seventh L-shaped connector 2-7, a fifth joint housing 2-8, a seventh joint 2-9, a main chain end flange 2-10, and a three-finger dexterous hand 2-11 at the end of the main chain. The connection relationship between each component is as follows: the fifth L-shaped connector 2-2 is fixedly connected to the third joint housing 2-1; the fourth joint housing 2-3 is fixedly connected to the fifth L-shaped connector 2-2; the fourth joint housing 2-3 is fixedly connected to the fifth joint 2-4; the sixth L-shaped connector 2-5 and the seventh L-shaped connector 2-7 are connected to the fifth joint 2-4 through a rotation pair; the sixth L-shaped connector 2-5 is fixedly connected to the sixth joint 2-6; the seventh L-shaped connector 2-7 is not in contact with the fifth joint housing 2-8; the fifth joint housing 2-8 is connected to the sixth joint 2-6 through a rotation pair; the seventh joint 2-9 is fixedly connected to the fifth joint housing 2-8; the main chain end flange 2-10 is connected to the seventh joint 2-9 through a rotation pair; the three-finger dexterous hand 2-11 at the end of the main chain is fixedly connected to the main chain end flange 2-10.

[0008] The secondary chain 3 includes a sixth joint housing 3-1, a sixth joint 3-2, an eighth L-shaped connector 3-3, a seventh joint housing 3-4, a ninth joint 3-5, a ninth L-shaped connector 3-6, a tenth joint 3-7, a tenth L-shaped connector 3-8, an eighth joint housing 3-9, an eleventh joint 3-10, a secondary chain end flange 3-11, and a three-finger dexterous hand 3-12 at the secondary chain end. The connection relationship between each component is as follows: the sixth joint housing 3-1 is fixedly connected to the sixth joint 3-2; the eighth L-shaped connector 3-3 is fixedly connected to the sixth joint housing 3-1; the seventh joint housing 3-4 is fixedly connected to the eighth L-shaped connector 3-3; the seventh joint housing 3-4 is fixedly connected to the ninth joint 3-5; the ninth L-shaped connector 3-6 and the tenth L-shaped connector 3-8 are connected to the ninth joint 3-5 through a rotation pair; the ninth L-shaped connector 3-6 is fixedly connected to the tenth joint 3-7; the tenth L-shaped connector 3-8 is not in contact with the eighth joint housing 3-9; the tenth joint 3-7 is connected to the eighth joint housing 3-9 through a rotation pair; the eleventh joint 3-10 is fixedly connected to the eighth joint housing 3-9; the sub-chain end flange 3-11 is connected to the eleventh joint 3-10 through a rotation pair.

[0009] The connection relationship between the various parts is: the third joint housing 2-1 in the main chain 2 is fixedly connected to the second joint housing 1-11 in the main body 1; the sixth joint 3-2 in the secondary chain 3 is connected to the second joint housing 1-11 in the main body 1 through a revolute joint.

[0010] The working principle of the present invention is as follows:

[0011] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 , a humanoid double-chain structure robotic arm consists of a main body 1, a main chain 2 and a secondary chain 3.

[0012] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6, a humanoid double-chain structure manipulator, except for the third joint housing 2-1 and the sixth joint housing 3-1 in the main chain 2 and the secondary chain 3, the other parts are completely symmetrical structures, and the joints are interchangeable. The main chain 2 plus the main body 1 has a total of 7 degrees of freedom, which is a standard serial 7-axis manipulator configuration, and the axes of all joints intersect in a straight line without offset. The secondary chain 3 plus the main body 1 has a total of 8 degrees of freedom, and the axes of the first joint 1-2, the second joint 1-5, the third joint 1-7, and the fourth joint 1-9 of the main body 1 and the sixth joint 3-2, the ninth joint 3-5, the tenth joint 3-7, and the eleventh joint 3-10 of the secondary chain 3 also intersect in a straight line without offset, ensuring that the first joint 1-2, the third joint 1-7, the ninth joint 3-5, and the eleventh joint 3-10 are concentric, and the axes of the second joint 1-5, the fourth joint 1-9, and the tenth joint 3-7 are parallel. If the sixth joint 3-2 is locked, it is a standard serial 7-axis manipulator configuration. The 7-axis industrial robot configuration of two chains plus a main body is ensured, which facilitates algorithm switching during movement.

[0013] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 7 , Figure 8 , a humanoid double-chain structure robot arm, whose joints are easy to disassemble and can realize the conversion between single and double chains. If the secondary chain 3 is removed, it is a standard 7-axis robot configuration; if the main chain 2 is removed and the sixth joint 3-2 is locked, it is a standard 7-axis robot configuration, and if the third joint 1-7 and the sixth joint 3-2 are locked at the same time, it is a standard 6-axis industrial robot configuration, which enhances the practicality of the robot arm.

[0014] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 7 , Figure 8 , Fig. 9, a humanoid double-chain structure robot, the main body 1 plus the main chain 2 is the first kinematic chain to complete the main work, and the main body 1 plus the secondary chain 3 is the second kinematic chain to complete the auxiliary work. In the initial working state, the main chain 2 and the secondary chain 3 are separated by a certain angle to ensure that the two chains do not interfere with each other during the movement. Then the first kinematic chain is the priority kinematic chain, and the standard 7-axis robot algorithm is used for rough positioning, and the joints of the secondary chain 3 are locked to follow the movement of the main chain 2. When performing fine operations, the first kinematic chain uses the standard 7-axis robot algorithm, or locks the third joint 1-7, and uses the industrial 6-axis robot algorithm to complete the main operation task, and the secondary chain 3 follows. Then the end position of the main chain 2 is fixed, the third joint 1-7 is locked, and the second kinematic chain uses the industrial 6-axis robot algorithm with an offset at the fourth joint to complete the auxiliary operation task. When the dual chains move in coordination to complete certain tasks, the third joint 1-7 is locked, and the main and secondary chains use the basic industrial 6-axis robot algorithm to plan two paths for simultaneous movement. While the main body 1 and the main chain 2 are completing their main tasks, the sixth joint 3-2 in the secondary chain 3 can rotate a certain angle to control the distance between it and the main chain 2, and the ninth joint 3-5, the tenth joint 3-7, and the eleventh joint 3-10 in the secondary chain 3 can adjust the posture of the end. At this time, the two chains can move simultaneously without interfering with each other and cooperate to complete certain complex tasks.

[0015] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 7 , Figure 8 , Fig.10 , a humanoid double-chain structure robotic arm can switch between different modes according to different working scenarios. In scenarios where interactive collaboration is required or multiple actions are completed in a limited space, a mode of main body 1 plus two branches is adopted, with a total of 11 degrees of freedom. Each branch chain and main body 1 ensure a standard 7-axis robot arm configuration. Complex collaborative tasks can be completed through the coordinated cooperation of main body 1 and the double chains; in scenarios where complex tasks are completed in work areas with limited space and many obstacles, a 7-axis redundant robot arm configuration is suitable, then the secondary chain 3 can be removed, and the main body 1 plus the main chain 2 is a standard serial 7-axis robot arm configuration, or the main chain 2 can be removed, and the main body 1 plus the secondary chain 3 has a total of 8 degrees of freedom, and the sixth joint 3-2 is locked at the same time, which is a standard serial 7-axis robot arm configuration; in production line operations that are good at repetitiveness, such as handling, welding, spraying and other industrial applications, a 6-axis industrial robot arm configuration is suitable, then the secondary chain 3 can be removed, and the third joint 1-7 can be locked at the same time, which is a standard 6-axis industrial robot arm configuration, and the main chain 2 can be removed, and the main body 1 plus the secondary chain 3 has a total of 8 degrees of freedom, and the third joint 1-7 and the sixth joint 3-2 are locked at the same time, which is a standard 6-axis industrial robot arm configuration.

[0016] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 , Fig.14 When the robot arm is in a non-working state, the joints in the main chain 2 and the auxiliary chain 3 are closely close to the main body 1, which can reduce space occupation. In addition, the robot arm is small and compact, and is easy to carry and transport.

[0017] The advantages of the present invention are:

[0018] 1. The present invention is a humanoid double-chain structure mechanical arm, which consists of a main body and double chains. The main body can be regarded as the waist and legs of a person, and the double branches can be regarded as the left and right arms of a person. The mechanical arm has multiple degrees of freedom and high flexibility. Through the coordinated cooperation of the main body and the double chains, it can replace humans to complete complex tasks and has rich application scenarios.

[0019] 2. The humanoid double-chain structure mechanical arm of the present invention has the advantages of compact structure, light weight and miniaturization. Its own weight is less than 40kg and its arm span is less than 1000mm. When not in working state, it occupies a small space and is easy to carry.

[0020] 3. The humanoid double-chain structure robotic arm of the present invention adopts a 4+3+4 joint configuration as a whole, with 4 degrees of freedom in the main body, 3 degrees of freedom in the main chain, and 4 degrees of freedom in the secondary chain. The main body plus the main chain are a standard serial 7-axis robotic arm configuration, and the axes of the joints of the main body and the secondary chain intersect in a straight line, ensuring a 7-axis industrial robot configuration and facilitating algorithm switching.

[0021] 4. The humanoid double-chain structure mechanical arm of the present invention has a symmetrical structure except that the third joint housing and the sixth joint housing are different in size, and the joints are interchangeable.

[0022] 5. The humanoid double-chain structure robot arm of the present invention has easy disassembly between joints, and can realize single-chain and double-chain conversion according to different working scenarios. If the secondary chain is removed, it will be a standard serial 7-axis robot configuration. If the main chain is removed and the 8th joint is locked, it will be a standard serial 7-axis robot configuration. If the 3rd joint and the 8th joint are locked at the same time, it will be a standard 6-axis industrial robot configuration, which enhances the practicability of the robot arm.

[0023] The humanoid double-chain structured mechanical arm of the present invention is compact in structure and highly flexible. It can realize the conversion between single and double chains to adapt to a variety of different working scenarios and is highly practical. Compared with humanoid robots, its design, manufacturing, motion control are simple and cost-effective; compared with traditional single-chain serial mechanical arms, it can replace humans to complete some precise and complex tasks through the coordinated cooperation of double chains and the main body, thus increasing the scope of work. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Schematic diagram of the overall structure of the humanoid double-chain structure mechanical arm in the present invention;

[0025] Figure 2 A schematic diagram of the structure of the main part of the present invention;

[0026] Figure 3 A schematic diagram of the main chain structure of the present invention;

[0027] Figure 4 A schematic diagram of the structure of the side chain in the present invention;

[0028] Figure 5 Schematic diagram of the distribution of joint axes of the humanoid double-chain structure mechanical arm in the present invention Figure 1 ;

[0029] Figure 6 Schematic diagram of the distribution of joint axes of the humanoid double-chain structure mechanical arm in the present invention Figure 2 ;

[0030] Figure 7 Schematic diagram of the traditional 7-axis / 6-axis serial robot arm in the present invention Figure 1 ;

[0031] Figure 8 Schematic diagram of the traditional 7-axis / 6-axis serial robot arm in the present invention Figure 2 ;

[0032] Fig. 9 Schematic diagram of motion planning of a humanoid double-chain structure robotic arm in the present invention;

[0033] Fig.10 Schematic diagram of motion planning in different working scenarios in the present invention;

[0034] Fig.11 Schematic diagram of the working of the humanoid double-chain structure mechanical arm in the present invention Figure 1 ;

[0035] Fig.12 Schematic diagram of the working of the humanoid double-chain structure mechanical arm in the present invention Figure 2 ;

[0036] Fig.13 Schematic diagram of the working of the humanoid double-chain structure mechanical arm in the present invention Figure 3 ;

[0037] Fig.14 Schematic diagram of the non-working state of the humanoid double-chain structure mechanical arm of the present invention.

[0038] In the figure:

[0039] 1: Main body 2: Main chain 3: Sub-chain

[0040] 1-1: base 1-2: first joint 1-3: first L-shaped connector 1-4: second L-shaped connector 1-5: second joint 1-6: joint housing 11-7: third joint 1-8: third L-shaped connector 1-9: fourth joint 1-10: fourth L-shaped connector 1-11: second joint housing

[0041] 2-1: The third joint housing 2-2: The fifth L-shaped connector 2-3: The fourth joint housing 2-4: The fifth joint 2-5: The sixth L-shaped connector 2-6: The sixth joint 2-7: The seventh L-shaped connector 2-8: The fifth joint housing 2-9: The seventh joint 2-10: The main chain end flange 2-11: The three-finger dexterous hand at the end of the main chain

[0042] 3-1: Sixth joint housing 3-2: Sixth joint 3-3: Eighth L-shaped connector 3-4: Seventh joint housing 3-5: Ninth joint 3-6: Ninth L-shaped connector 3-7: Tenth joint 3-8: Tenth L-shaped connector 3-9: Eighth joint housing 3-10: Eleventh joint 3-11: Sub-chain end flange 3-12: Three-finger dexterous hand at the end of the sub-chain. DETAILED DESCRIPTION

[0043] The present invention is described below in conjunction with the accompanying drawings and embodiments, but the present invention is not limited to the following embodiments.

[0044] Example 1

[0045] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 , a humanoid double-chain structure robotic arm consists of a main body 1, a main chain 2 and a secondary chain 3.

[0046] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 , Fig. 9 , Fig.11 , Fig.12 , Fig.13, a humanoid double-chain structure robot arm, whose main body 1 is equivalent to the waist and legs of a human, and the main chain 2 and the secondary chain 3 are equivalent to the arms of a human. During the movement, the four joints of the main body 1 ensure the position of the end, and the joints of the main chain 2 and the secondary chain 3 ensure the posture of the end. When the main body and the double chain cooperate to replace humans to complete certain tasks, first, the sixth joint 3-2 in the secondary chain 3 rotates a certain angle and diverges from the main chain 2 at a certain angle to ensure that the two branches do not interfere with each other during the movement. Then, the secondary chain 3 is locked, and the main body 1 plus the main chain 2 are the first motion chain. The standard 7-axis serial robot arm algorithm is used to roughly locate the target object, and the secondary chain follows. When the double chains move in coordination for fine operations, the third joint 1-7 is locked, and the first kinematic chain consisting of the main body 1 and the main chain 2 is the priority kinematic chain. The standard 6-axis industrial robot arm algorithm is used to plan the joint angles and paths according to the target to complete the main work. At the same time, the second kinematic chain consisting of the main body 1 and the secondary chain 3 uses the 6-axis industrial robot arm algorithm with a bias on the fourth axis to plan the joint angles and paths of the secondary chain according to the target to complete the auxiliary work. The sixth joint 3-2 in the secondary chain 3 can rotate a certain angle to control the distance from the main chain 2 to adjust the position of the end of the secondary chain. The ninth joint 3-5, the tenth joint 3-7, and the eleventh joint 3-10 in the secondary chain 3 can adjust the posture of the end. At this time, the two chains can move simultaneously, without interfering with each other, and cooperate to complete certain complex tasks.

[0047] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 7 , Figure 8 , Fig.10, a humanoid double-chain structure robot arm, whose joints are easy to disassemble, can realize the conversion between single and double chains, and switch different modes according to different operation scenarios. In scenarios where interactive collaboration or multiple actions in limited space are required, the mode of main body plus two branches can be adopted, with a total of 11 degrees of freedom, in which each branch chain and the main body ensure the standard 7-axis robot arm configuration, which is convenient for switching algorithms during movement. During the movement process, the first kinematic chain is the priority kinematic chain, using the standard 7-axis robot arm algorithm, or the third joints 1-7 are locked and the industrial 6-axis robot arm algorithm is used to complete the main operation tasks, and each joint in the secondary chain 3 is locked and follows the movement of the main chain 2. Then the end position of the main chain 2 is fixed, the third joint 1-7 is locked, and the second kinematic chain uses the industrial 6-axis robot algorithm with an offset in the fourth joint to complete the auxiliary operation task; or the main and auxiliary chains use the basic industrial 6-axis robot algorithm to plan two paths for simultaneous movement, and complete complex collaborative tasks through the coordination of the main body and the dual chains; in the scenario of completing complex tasks in a work area with limited space and many obstacles, it is suitable for a 7-axis redundant robot configuration, then the auxiliary chain 3 can be removed, and the main body 1 plus the main chain 2 is a standard serial 7-axis robot configuration, or the main chain 2 can be removed, and the main body 1 With the auxiliary chain 3, there are a total of 8 degrees of freedom, and the sixth joint 3-2 is locked at the same time, which is a standard serial 7-axis robot arm configuration; in production line operations that are good at repetitiveness, such as handling, welding, spraying and other industrial applications, a 6-axis industrial robot arm configuration is suitable, then the auxiliary chain 3 can be removed, and the main body 1 plus the main chain 2 is a standard serial 7-axis robot arm configuration, and the third joint 1-7 is locked at the same time, which is a standard 6-axis industrial robot arm configuration, or the main chain 2 can be removed, and the main body 1 plus the auxiliary chain 3 has a total of 8 degrees of freedom, and the third joint 1-7 and the sixth joint 3-2 are locked at the same time, which is a standard 6-axis industrial robot arm configuration.

[0048] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 , Fig.14 When the robot arm is not in working state, the joints in the main chain 2 and the auxiliary chain 3 are close to the main body 1, which can reduce the space occupied. In addition, the robot arm is small and compact, easy to carry and transport, and suitable for switching between different work locations.

Claims

1. A humanoid double-chain structure mechanical arm, characterized by: It includes a main body (1), a main chain (2), and a secondary chain (3); The main body (1) comprises a base (1-1), a first joint (1-2), a first L-shaped connecting piece (1-3), a second L-shaped connecting piece (1-4), a second joint (1-5), a first joint housing (1-6), a third joint (1-7), a third L-shaped connecting piece (1-8), a fourth joint (1-9), a fourth L-shaped connecting piece (1-10), and a second joint housing (1-11); the connection relationship between the various components is as follows: the base (1-1) is fixedly connected to the first joint (1-2); the first L-shaped connecting piece (1-3) and the second L-shaped connecting piece (1-4) are connected to the first joint (1-2) via a rotation pair; the second joint (1-5) is connected to the first The first joint housing (1-6) is connected to the first joint housing (1-6) by a rotational pair; the second joint housing (1-6) is connected to the first joint housing (1-6) by a rotational pair; the first joint housing (1-6) is connected to the third joint (1-7); the third L-shaped connecting member (1-8) and the fourth L-shaped connecting member (1-10) are connected to the third joint (1-7) by a rotational pair; the third L-shaped connecting member (1-8) and the fourth joint (1-9) are connected to the fourth L-shaped connecting member (1-10) by a rotational pair; the fourth L-shaped connecting member (1-10) is not in contact with the second joint housing (1-11); the second joint housing (1-11) is connected to the fourth joint (1-9) by a rotational pair; The main chain (2) comprises a third joint housing (2-1), a fifth L-shaped connecting piece (2-2), a fourth joint housing (2-3), a fifth joint (2-4), a sixth L-shaped connecting piece (2-5), a sixth joint (2-6), a seventh L-shaped connecting piece (2-7), a fifth joint housing (2-8), a seventh joint (2-9), a main chain end flange (2-10), and a main chain end three-finger dexterous hand (2-11); the connection relationship between the various components is as follows: the fifth L-shaped connecting piece (2-2) is fixedly connected to the third joint housing (2-1); the fourth joint housing (2-3) is fixedly connected to the fifth L-shaped connecting piece (2-2); the fourth joint housing (2-3) is fixedly connected to the first joint housing (2-4); the fourth joint housing (2-5) is fixedly connected to the second joint housing (2-6); the fifth L-shaped connecting piece (2-7) is fixedly connected to the second joint housing (2-8); the fifth L-shaped connecting piece (2-9) is fixedly connected to the third joint housing (2-1); the fifth L-shaped connecting piece (2-2) is fixedly connected to the first joint housing (2-3); the fifth L-shaped connecting piece (2-1) is fixedly connected to the second joint housing (2-3); the fifth L-shaped connecting piece (2-1) is fixedly connected to the third joint housing (2-1); the fifth L-shaped connecting piece (2-2) is fixedly connected to the fourth joint housing (2-3); the fifth L-shaped connecting piece (2-3) is fixedly connected to the fifth L-shaped connecting piece (2-1); the fifth L-shaped connecting piece (2-2) is fixedly connected to the fifth L-shaped connecting piece (2-2); the fifth L-shaped connecting piece (2-5) is fixedly connected to the sixth joint housing (2-6); the fifth L-shaped connecting piece (2-7) is fixedly connected to the sixth joint housing (2-8); the seventh L-shaped connecting piece (2-7 The five joints (2-4) are fixedly connected; the sixth L-shaped connecting piece (2-5) and the seventh L-shaped connecting piece (2-7) are connected to the fifth joint (2-4) via a revolute pair; the sixth L-shaped connecting piece (2-5) is fixedly connected to the sixth joint (2-6); the seventh L-shaped connecting piece (2-7) is not in contact with the fifth joint housing (2-8); the fifth joint housing (2-8) is connected to the sixth joint (2-6) via a revolute pair; the seventh joint (2-9) is fixedly connected to the fifth joint housing (2-8); the main chain end flange (2-10) is connected to the seventh joint (2-9) via a revolute pair; the main chain end three-finger dexterous hand (2-11) is fixedly connected to the main chain end flange (2-10); The secondary chain (3) comprises a sixth joint housing (3-1), an eighth joint 8 (3-2), an eighth L-shaped connecting piece (3-3), a seventh joint housing (3-4), a ninth joint 9 (3-5), a ninth L-shaped connecting piece (3-6), a tenth joint (3-7), a tenth L-shaped connecting piece (3-8), an eighth joint housing (3-9), an eleventh joint (3-10), a flange at the end of the secondary chain (3-11), and a three-finger dexterous hand (3-12) at the end of the secondary chain; the connection relationship between the various components is as follows: the sixth joint housing (3-1) is fixedly connected to the eighth joint (3-2); the eighth L-shaped connecting piece (3-3) is fixedly connected to the sixth joint housing (3-1); the seventh joint housing ( 3-4) is fixedly connected to the eighth L-shaped connecting piece (3-3); the seventh joint housing (3-4) is fixedly connected to the ninth joint (3-5); the ninth L-shaped connecting piece (3-6) and the tenth L-shaped connecting piece (3-8) are connected to the ninth joint (3-5) through a revolute pair; the ninth L-shaped connecting piece (3-6) is fixedly connected to the tenth joint (3-7); the tenth L-shaped connecting piece (3-8) is not in contact with the eighth joint housing (3-9); the ninth joint (3-7) is connected to the eighth joint housing (3-9) through a revolute pair; the eleventh joint (3-10) is fixedly connected to the eighth joint housing (3-9); the secondary chain end flange (3-11) is connected to the joint 11 (3-10) through a revolute pair; The third joint housing (2-1) in the main chain (2) is fixedly connected to the second joint housing (1-11) in the main body (1); and the eighth joint (3-2) in the secondary chain (3) is connected to the second joint housing (1-11) in the main body (1) via a rotation pair.

2. The humanoid double-chain structure mechanical arm according to claim 1, characterized in that: The robotic arm consists of a main body and double branches. The main body can be regarded as a person's waist and legs, and the main chain and the secondary chain can be regarded as a person's left and right arms. The robotic arm has multiple degrees of freedom and can replace humans to complete complex tasks through the coordinated cooperation of the main body and the double chains.

3. The humanoid double-chain structure mechanical arm according to claim 1, characterized in that: When the robot arm is in a non-working state, the joints in the main chain and the secondary chain are closely moved toward the main body to reduce space occupation.

4. The humanoid double-chain structure mechanical arm according to claim 1, characterized in that: The robot arm adopts a four + three + four joint configuration, with four degrees of freedom in the main body, three degrees of freedom in the main chain, and four degrees of freedom in the secondary chain. The main chain plus the main body have a total of seven degrees of freedom, which is a standard serial seven-axis robot arm configuration. The axes of all joints intersect in a straight line without offset. The secondary chain plus the main body has a total of eight degrees of freedom. The axes of the first joint, second joint, third joint, fourth joint of the main body and the eighth joint, ninth joint, tenth joint, and eleventh joint of the secondary chain also intersect in a straight line without offset. If the eighth joint is locked, it is a standard serial seven-axis robot configuration; the seven-axis industrial robot configuration of two branches plus the main body is guaranteed, which facilitates algorithm switching during movement; during the movement process, the main body plus the main chain completes the main work for the first motion chain, and the main body plus the secondary chain completes the auxiliary work for the second motion chain. The first motion chain adopts the standard seven-axis serial robot algorithm or the six-axis industrial robot algorithm, and the second motion chain adopts the six-axis industrial robot algorithm with an offset on the fourth axis. The joint path planning is simple and efficient.

5. The humanoid double-chain structure mechanical arm according to claim 1, characterized in that: Except for the third joint shell and the sixth joint shell which are different in size, the other parts of the main chain and the secondary chain are symmetrical in structure and the joints are interchangeable.

6. The humanoid double-chain structure mechanical arm according to claim 1, characterized in that: The joints are easy to disassemble, and the conversion between single and double chains can be realized according to different working scenarios. In scenarios where interactive collaboration is required or multiple actions are completed in limited space, the mode of main body plus two branches is adopted, with a total of eleven degrees of freedom, in which each branch chain and the main body ensure the standard seven-axis robot arm configuration, which is convenient for switching algorithms during movement, and completes complex collaborative tasks through the coordination of the main body and the double chains. In scenarios where complex tasks are completed in work areas with limited space and many obstacles, it is suitable for the seven-axis redundant robot arm configuration, then the secondary chain is removed, and the main body plus the main chain is a standard serial seven-axis robot arm configuration, or the main chain is removed, the main body plus the secondary chain has a total of eight degrees of freedom, and the eighth joint is locked at the same time, which is a standard serial seven-axis robot arm configuration; in repetitive production line operations such as handling, welding, and spraying, it is suitable for the six-industrial-axis robot arm configuration, then the secondary chain is removed, the main body plus the main chain has a total of seven degrees of freedom, and the third joint is locked at the same time, which is a standard six-axis industrial robot arm configuration, or the main chain is removed, the main body plus the secondary chain has a total of eight degrees of freedom, and the third joint and the eighth joint are locked at the same time, which is a standard six-axis industrial robot arm configuration.

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