Man-machine interaction type humanoid mechanical arm

Abstract

The invention discloses a man-machine interaction type humanoid mechanical arm, and relates to the technical field of humanoid mechanical arms, the man-machine interaction type humanoid mechanical arm comprises a shoulder joint, a big arm, an elbow joint, a small arm, a wrist joint and a driving rope assembly, and the driving rope assembly comprises seven pairs of driving ropes and a pair of restraining ropes which drive the same joint in a closed loop mode; the shoulder joint is fixedly connected with a reel through three pairs of driving ropes connected with the output ends of three driving motors, the reel drives the joint to rotate, four driving motors are installed in the big arm, one ends of the four pairs of driving ropes are connected to the reel at the output ends of the four driving motors respectively, and the other ends of the four pairs of driving ropes are connected with the wrist joint and the elbow joint to form closed-loop driving. The restraint rope is suitable for driving a driving connecting rod of the wrist joint to rotate. According to the mechanical arm, through the ingenious layout of closed-loop rope driving and a decoupling pulley block, complete passive decoupling is achieved, an analytic solution exists in inverse kinematics, model calculation is simple, and accurate control is convenient; the advantages of small motion inertia and large working space are considered, the rigidity and load capacity of the whole arm are improved, and the better dynamic response characteristic is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of humanoid robot arms, and in particular to a human-machine interactive humanoid robot arm. Background Art

[0002] By imitating the movement of human arms, humanoid robotic arms can more easily adapt to tools and environments designed for humans, enhance interaction capabilities, and achieve natural collaboration with humans, thereby improving production efficiency and work quality; Compared with traditional robotic arms, humanoid robotic arms have better flexibility, adaptability, natural interaction experience, precise control, safety, multi-task collaboration and other advantages. They can be widely used in various fields that require close collaboration with humans.

[0003] In recent years, humanoid robotic arms have made great progress and breakthroughs in structural design, motion control, human-computer interaction and application fields, but they still face some challenges, including control accuracy, safety, inverse kinematics and design size issues.

[0004] The Chinese invention patent with publication number CN115107013A discloses a lightweight, highly integrated rope-driven humanoid robotic arm and industrial robot, which places the main mass components at the rear (i.e., close to the shoulder joint), greatly reducing the motion inertia of the robotic arm and improving the safety of operation. The robotic arm uses rope drive as the main power transmission method, and the winding method of the rope realizes the decoupling between the rope of the wrist joint and the rope of the elbow joint. However, the overall structure of the robotic arm is relatively complex, and only partial decoupling is achieved, and the decoupling is incomplete. The kinematic inverse solution of the robotic arm has no analytical solution, the mathematical model is complex, and it is not easy to control; the shoulder structure is designed to be large in size, which makes its scalability in the corresponding application field poor, and the cable of the end effector is inconvenient to pass through its wrist joint for arrangement.

[0005] A Chinese invention patent with publication number CN115946149A discloses a rope-driven tensegrity joint seven-degree-of-freedom anthropomorphic robot arm, which uses tensegrity joints to replace rigid joints. All joint drive motors are fixedly installed at the bottom of the console, which reduces the weight of the joints and greatly reduces the risk of joint wear. The passive rope installation method can withstand some impacts encountered during the movement of the robot arm, achieving the purpose of impact resistance and environmental interference resistance. However, the kinematic inverse solution of the robot arm has no analytical solution, the mathematical model is complex, and the method of open-loop rope driving with twelve motors is adopted. The control system has high requirements and is not easy to control. The movable body of the shoulder joint and the wrist joint completely relies on the driving rope and the passive rope to constrain the position, the rigidity is poor, and the movement accuracy is not high, so that its scalability in the corresponding application field is poor; during the movement of the robot arm, the wire tubes of each driving rope are prone to collision interference, which makes the actual working space of the robot arm small.

[0006] Comprehensive analysis shows that the existing rope-driven humanoid collaborative arms have the following main problems: First, there is no analytical solution for the inverse kinematics, and the mathematical model is very complex, which makes it very complicated to develop accurate control algorithms and difficult to ensure real-time performance; Second: When the shoulder joint has a large enough working space, it is difficult to arrange the driver on the base, resulting in large motion inertia. When the driver of the shoulder joint is arranged on the base, the deflection range is too small, and the shoulder joint cannot take into account both small motion inertia and large working space at the same time. Third: It is difficult for the rope-driven system to achieve high flexibility and good joint decoupling at the same time, which increases the complexity of control system design and debugging, and the overall size design is large, making it difficult to take into account the advantages of compact structure and human-machine collaboration safety; Fourth: The rope will stretch and relax during use, resulting in reduced control accuracy. Summary of the invention

[0007] In view of this, and in response to the technical problems existing in the prior art, the purpose of the present invention is to provide a human-machine interactive humanoid robotic arm that can achieve real-time decoupling of the wrist joint drive rope when it passes through the elbow joint. The kinematic model is simple and easy to control, thereby improving the control accuracy and work efficiency of the robotic arm.

[0008] In order to solve the above problems, the technical solution of the present invention provides a human-machine interactive humanoid robotic arm, comprising: A shoulder joint comprises a first drive motor assembly, a first brake assembly, a first base connector assembly, a first universal hinge assembly, a first winding wheel assembly, a first transmission shaft assembly, a first connecting plate assembly and a first connecting rod assembly, wherein the first winding wheel assembly is mounted at an output end of the first drive motor assembly, and the first winding wheel assembly is suitable for driving the shoulder joint to rotate; A large arm connected to one end of the shoulder joint, the large arm comprising a second drive motor assembly, a fourth brake, a second transmission shaft assembly, a second winding wheel assembly and a second connecting plate assembly, the second transmission shaft assembly being connected to an output end of the second drive motor assembly, and the second winding wheel assembly being mounted at an end of the second transmission shaft assembly; An elbow joint connected to an end of the upper arm away from the shoulder joint, the elbow joint comprising a third connecting plate assembly, a first pulley assembly, a third winding wheel assembly and a third connecting rod assembly; A forearm connected to an end of the elbow joint away from the upper arm; A wrist joint connected to an end of the forearm away from the elbow joint, the wrist joint comprising a second base connector, a first reversing pulley assembly, a second universal hinge assembly, a third transmission shaft assembly, a fourth connecting plate assembly, a fourth connecting rod assembly and a fourth winding wheel assembly; the second winding wheel assembly is suitable for driving the elbow joint and the wrist joint to rotate; The driving rope assembly comprises a first pair of driving ropes, a second pair of driving ropes, a third pair of driving ropes, a fourth pair of driving ropes, a fifth pair of driving ropes, a sixth pair of driving ropes, a seventh pair of driving ropes and a first restraining rope for driving the same joint in a closed loop, wherein one end of the first pair of driving ropes is sleeved on the first winding wheel, and the other end is sleeved on the second winding wheel; one end of the second pair of driving ropes is sleeved on the third winding wheel, and the other end is sleeved on the fourth winding wheel; one end of the third pair of driving ropes is sleeved on the fifth winding wheel, and the other end is sleeved on the sixth winding wheel; one end of the fourth pair of driving ropes is sleeved on the ninth winding wheel, and the other end is sleeved on the ninth winding wheel. One end is sleeved on the eleventh winding wheel and the twelfth winding wheel; one end of the fifth pair of driving ropes is sleeved on the eighth winding wheel, and the other end is sleeved on the thirteenth winding wheel via a pulley group; one end of the sixth pair of driving ropes is sleeved on the seventh winding wheel, and the other end is sleeved on the sixteenth winding wheel via a pulley group; one end of the seventh pair of driving ropes is sleeved on the tenth winding wheel, and the other end is sleeved on the fifteenth winding wheel via a pulley group, the fourth pair of driving ropes, the fifth pair of driving ropes, the sixth pair of driving ropes, and the seventh pair of driving ropes are connected to the wrist joint and the elbow joint, and the first constraint rope is suitable for driving the active connecting rod of the wrist joint to rotate.

[0009] Preferably, the first drive motor assembly includes a first drive motor, a second drive motor and a third drive motor; The first brake assembly includes a first brake, a second brake, and a third brake; The first base connector assembly includes a first base connector, a second base connector, and a third base connector; The first universal hinge assembly includes a first universal hinge, a first universal hinge connecting fork and a second universal hinge connecting fork; The first winding wheel assembly includes a first winding wheel, a second winding wheel, a third winding wheel, a fourth winding wheel, a fifth winding wheel and a sixth winding wheel; The first transmission shaft assembly includes a first transmission shaft, a second transmission shaft and a third transmission shaft; The first connecting plate assembly includes a first connecting plate connected to the first base connecting member, and a second connecting plate, a third connecting plate and a fourth connecting plate respectively fixedly connected to the second base connecting member; The first connecting rod assembly includes a first connecting rod, a second connecting rod and a third connecting rod; The second drive motor and the second brake are respectively connected to the first connecting plate, and the third winding wheel is fixedly connected to the output end of the second drive motor; the third drive motor is connected to the second connecting plate, and the fifth winding wheel is fixedly connected to the output end of the third drive motor; The first transmission shaft is connected to the first connecting plate through a second rotation pair, and the first transmission shaft is connected to the second brake. The fourth winding wheel is fixedly connected to the first transmission shaft and the first connecting rod; The first drive motor and the first brake are both mounted on the first base connector, and the first winding wheel is fixedly connected to the output end of the first drive motor; The first universal hinge fork is connected to the first base connection member and the first brake through a first rotation pair, and the first universal hinge fork is fixedly connected to the second winding wheel; the second universal hinge fork is connected to the first universal hinge fork through the first universal hinge; the second universal hinge fork is connected to the first connecting rod through a third rotation pair; and the second universal hinge fork is fixedly connected to the second connecting rod, and the second connecting rod is fixedly connected to the second base connection member; One end of the second transmission shaft is connected to the third brake, and the second transmission shaft is connected to the fourth connecting plate through a fifth rotation pair; one end of the third transmission shaft is connected to the sixth winding wheel, and the third transmission shaft is connected to the third connecting plate through a fourth rotation pair; The third brake is fixedly connected to the fourth connecting plate; The second transmission shaft and the third transmission shaft are symmetrically mounted on both sides of the third connecting rod, and the third connecting rod is fixedly connected to the third base connecting member; The axes of the first rotating pair and the second rotating pair are perpendicular and converge at the geometric center point of the first universal joint. The axes of the fourth rotating pair and the fifth rotating pair coincide and are parallel to the axis of the second rotating pair.

[0010] Preferably, the second drive motor assembly includes a fourth drive motor, a fifth drive motor, a sixth drive motor and a seventh drive motor; The second transmission shaft assembly includes a fourth transmission shaft, a fifth transmission shaft, a sixth transmission shaft and a seventh transmission shaft; The second winding wheel assembly includes a seventh winding wheel, an eighth winding wheel, a ninth winding wheel and a tenth winding wheel; The second connecting plate assembly includes a fifth connecting plate and a sixth connecting plate, one side of each of the fifth connecting plate and the sixth connecting plate is fixedly connected to the third base connecting member of the shoulder joint, and the other side of the fifth connecting plate is fixedly connected to the fourth brake; The fourth drive motor and the fifth drive motor are respectively fixedly connected to the outer side of the sixth connecting plate, and the sixth drive motor and the seventh drive motor are respectively fixedly connected to the fifth connecting plate; The fourth transmission shaft is fixedly connected to the output end of the sixth driving motor and passes through the fourth brake. The fourth transmission shaft is fixedly connected to the ninth winding wheel. The fourth transmission shaft is connected to the sixth connecting plate through a sixth rotating pair. The fifth transmission shaft is fixedly connected to the output end of the seventh driving motor, the fifth transmission shaft is fixedly connected to the eighth winding wheel, and the fifth transmission shaft is connected to the sixth connecting plate through a seventh rotating pair; The sixth transmission shaft is fixedly connected to the output end of the fifth driving motor, the sixth transmission shaft is fixedly connected to the seventh winding wheel, and the sixth transmission shaft is connected to the fifth connecting plate through an eighth rotation pair; The seventh transmission shaft is fixedly connected to the output end of the fourth driving motor, the seventh transmission shaft is fixedly connected to the tenth winding wheel, and the seventh transmission shaft is connected to the fifth connecting plate through a ninth rotating pair; The axes of the sixth rotational pair and the seventh rotational pair are located in the same horizontal plane, the axes of the eighth rotational pair and the ninth rotational pair are located in the same horizontal plane, and the axes of the sixth rotational pair, the seventh rotational pair, the eighth rotational pair and the ninth rotational pair are parallel to each other.

[0011] Preferably, the third connecting plate assembly includes a seventh connecting plate, an eighth connecting plate, a ninth connecting plate and a tenth connecting plate, and the seventh connecting plate and the tenth connecting plate are respectively fixedly connected to the sixth connecting plate and the fifth connecting plate of the upper arm; The third connecting rod assembly includes a fourth connecting rod and a fifth connecting rod, wherein the fourth connecting rod and the fifth connecting rod are respectively connected to the seventh connecting plate and the tenth connecting plate through a twelfth rotating pair, and the fourth connecting rod and the fifth connecting rod are respectively connected to the eighth connecting plate and the ninth connecting plate through a fifteenth rotating pair; The first pulley assembly includes a first fixed pulley group, a second fixed pulley group, a first movable pulley group, a second movable pulley group, a first decoupling pulley group, a second decoupling pulley group, a third decoupling pulley group and a fourth decoupling pulley group, and the first fixed pulley group, the second fixed pulley group, the first decoupling pulley group and the second decoupling pulley group are connected to the seventh connecting plate and the tenth connecting plate through the tenth rotating pair, the thirteenth rotating pair, the eleventh rotating pair and the twelfth rotating pair respectively; The third winding wheel assembly includes an eleventh winding wheel and a twelfth winding wheel. The first movable pulley group, the second movable pulley group, the third decoupling pulley group and the fourth decoupling pulley group are respectively connected to the eighth connecting plate and the ninth connecting plate through the seventeenth rotating pair, the fourteenth rotating pair, the fifteenth rotating pair and the sixteenth rotating pair. The eleventh winding wheel and the twelfth winding wheel are respectively fixed to the tenth rotating pair and the thirteenth rotating pair; the axes of the tenth rotating pair, the eleventh rotating pair, the twelfth rotating pair, the thirteenth rotating pair, the fourteenth rotating pair, the fifteenth rotating pair, the sixteenth rotating pair and the seventeenth rotating pair are parallel to each other.

[0012] Preferably, the forearm comprises an eleventh connecting plate, a twelfth connecting plate and a first tensioning assembly, wherein: The first tensioning assembly includes a third tensioning device, a fourth tensioning device, a fifth tensioning device, a sixth tensioning device, a seventh tensioning device and an eighth tensioning device; The eleventh connecting plate and the twelfth connecting plate are both fixedly connected to the ninth connecting plate and the eighth connecting plate of the elbow joint.

[0013] Preferably, the second base connector assembly includes a fourth base connector and a fifth base connector, and the four base connectors are fixedly connected to the eleventh connecting plate and the twelfth connecting plate of the forearm; The fourth connecting plate assembly includes a thirteenth connecting plate, a fourteenth connecting plate, a fifteenth connecting plate and a sixteenth connecting plate, and the thirteenth connecting plate, the fourteenth connecting plate, the fifteenth connecting plate and the sixteenth connecting plate are all fixedly connected to the fourth base connecting member; The first reversing pulley assembly includes a first reversing pulley group, a second reversing pulley group, a third reversing pulley group, a fourth reversing pulley group, a fifth reversing pulley group, a sixth reversing pulley group, a seventh reversing pulley group, an eighth reversing pulley group and a ninth reversing pulley group. The first reversing pulley group and the fourth reversing pulley group are connected to the fourth base connecting member through an eighteenth rotating pair and a nineteenth rotating pair. The second reversing pulley group and the sixth reversing pulley group are connected to the fourth base connecting member through a twentieth rotating pair and a twenty-first rotating pair. The third reversing pulley group and the fifth reversing pulley group are connected to the fourth base connecting member through a twenty-second rotating pair and a twenty-third rotating pair. The seventh reversing pulley group is connected to the fourteenth connecting plate through a twenty-fourth rotating pair. The eighth reversing pulley group is connected to the thirteenth connecting plate through a twenty-fifth rotating pair. The second universal hinge assembly includes a second universal hinge, a third universal hinge connecting fork and a fourth universal hinge connecting fork; The third transmission shaft assembly includes an eighth transmission shaft, an eighth transmission shaft and a tenth transmission shaft; the eighth transmission shaft is connected to the sixteenth connecting plate through a twenty-seventh rotation pair, The fourth connecting rod assembly includes a sixth connecting rod, a seventh connecting rod, an eighth connecting rod, a ninth connecting rod and a tenth connecting rod; one end of the sixth connecting rod is fixedly connected to the fourth base connecting member, The fourth winding wheel assembly includes a thirteenth winding wheel, a fourteenth winding wheel, a fifteenth winding wheel, a sixteenth winding wheel and a seventeenth winding wheel; The thirteenth winding wheel is connected to the other end of the sixth connecting rod through a twenty-sixth rotation pair, the seventh connecting rod is respectively fixedly connected to the thirteenth winding wheel and the third universal hinge connecting fork, the third universal hinge connecting fork is connected to the fourth universal hinge connecting fork through the second universal hinge, and the fourth universal hinge connecting fork is connected to the fifth base connecting member through a thirty-second rotation pair; The sixteenth winding wheel is fixedly connected to one side of the eighth transmission shaft, the eighth connecting rod is fixedly connected to the other side of the eighth transmission shaft, the tenth transmission shaft is connected to the eighth connecting rod through the thirtieth rotation pair, the seventeenth winding wheel and the ninth connecting rod are fixedly connected to the tenth transmission shaft, The ninth connecting rod is fixedly connected to the fifth base connecting member, and the ninth reversing pulley block is connected to the eighth connecting rod through a thirty-first rotating pair. The tenth connecting rod is fixedly connected to the eighth connecting rod, the tenth connecting rod is connected to the ninth transmission shaft via a twenty-ninth rotation pair, the ninth transmission shaft is connected to the fifteenth connecting plate via a twenty-eighth rotation pair, the fourteenth winding wheel is fixedly connected to one side of the ninth transmission shaft, and the fifteenth winding wheel is fixedly connected to the other side of the ninth transmission shaft; The axes of the 26th, 27th, 28th and 30th rotational pairs converge at the center point of the second universal joint.

[0014] Preferably, one end of the first pair of drive ropes is fixedly connected to the first winding wheel of the shoulder joint and wound around the first winding wheel, the first pair of drive ropes are wound in an "8"-shaped winding manner along the direction of the spiral groove on the second winding wheel of the shoulder joint, and the other side of the first pair of drive ropes is fixedly connected to the first tensioning device on the second winding wheel.

[0015] Preferably, one end of the second pair of driving ropes is fixedly connected to the third winding wheel of the shoulder joint and wound on the third winding wheel, the second pair of driving ropes are wound in an "8"-shaped winding manner along the spiral groove direction on the fourth winding wheel of the shoulder joint, and the other side of the second pair of driving ropes is fixedly connected to the second tensioning device on the fourth winding wheel; One end of the third pair of driving ropes is fixedly connected to the fifth winding wheel of the shoulder joint and wound on the fifth winding wheel, the third pair of driving ropes are wound in an "8"-shaped winding manner along the spiral groove direction on the sixth winding wheel of the shoulder joint, the other side of the third pair of driving ropes passes through the rope hole on the sixth winding wheel and is fixedly connected to the fourth tensioning device, the third tensioning device passes through the fourth tensioning device and is connected to the third transmission shaft, and the third tensioning device moves forward to tension the third pair of driving ropes; The tensioning method of the first pair of drive ropes and the second pair of drive ropes is the same as the tensioning method of the third pair of drive ropes.

[0016] Preferably, one end of the fourth pair of driving ropes is fixedly connected to the ninth winding wheel of the upper arm and wound around the ninth winding wheel, the middle part of the fourth pair of driving ropes passes through the first decoupling pulley group in an "8"-shaped winding manner, and then is respectively wound three times in parallel on the first fixed pulley group, the first movable pulley group and the second fixed pulley group, and the second movable pulley group, and the other end is fixedly connected to the eleventh winding wheel and the twelfth winding wheel of the elbow joint, and is wound around the eleventh winding wheel and the twelfth winding wheel; One end of the fifth pair of driving ropes is fixedly connected to the eighth winding wheel of the upper arm and is wound around the eighth winding wheel. The middle part of the fifth pair of driving ropes passes through the first decoupling pulley group to the fourth decoupling pulley group in sequence in an "8"-shaped winding manner. One of the fifth pair of driving ropes passes through the fifth tensioning device and the sixth tensioning device in sequence. The fifth rotating tensioning device is suitable for driving the sixth tensioning device to approach each other to achieve tensioning. After the fifth pair of driving ropes pass through the first reversing pulley group and the fourth reversing pulley group respectively, they pass through the seventh reversing pulley group and the eighth reversing pulley group in sequence. The other end of the fifth driving rope is fixedly connected to the thirteenth winding wheel and is wound around the thirteenth winding wheel. One end of the sixth pair of driving ropes is fixedly connected to the seventh winding wheel of the upper arm and wound on the seventh winding wheel, and the middle part of the sixth pair of driving ropes passes through the first decoupling pulley group to the fourth decoupling pulley group in sequence in an "8" winding manner; One of the sixth pair of driving ropes passes through the seventh tensioning device and the eighth tensioning device in sequence, the seventh rotating tensioning device is suitable for driving the eighth tensioning device to approach each other to achieve tensioning, the sixth pair of driving ropes passes through the second reversing pulley group and the sixth reversing pulley group respectively, the other end of the sixth pair of driving ropes passes through the fourth base connecting member and is fixedly connected to the sixteenth winding wheel, and is wound on the sixteenth winding wheel; One end of the seventh pair of driving ropes is fixedly connected to the tenth winding wheel of the upper arm and is wound on the tenth winding wheel, and the middle part of the seventh pair of driving ropes passes through the first decoupling pulley group to the fourth decoupling pulley group in sequence in an "8" winding manner; One of the seventh pair of driving ropes passes through the ninth tensioning device and the tenth tensioning device in sequence, the ninth rotary tensioning device is suitable for driving the tenth tensioning device to approach each other to achieve tensioning, the seventh pair of driving ropes passes through the third reversing pulley group and the fifth reversing pulley group respectively, the other end of the seventh pair of driving ropes passes through the fourth base connecting piece and is fixedly connected to the fifteenth winding wheel, and is wound around the fifteenth winding wheel.

[0017] Preferably, the first pair of restraint ropes form a closed loop to restrain the same joint, and one end of the first pair of restraint ropes is fixedly connected to the fourteenth winding wheel and wound around the fourteenth winding wheel, and the middle part of the first pair of restraint ropes is fixedly connected to the seventeenth winding wheel after passing through the ninth reversing pulley group and wound around the seventeenth winding wheel.

[0018] Compared with the prior art, the present invention has the following beneficial effects: 1. The human-machine interactive humanoid robot arm in this application is composed of a shoulder joint, an upper arm, an elbow joint, a forearm and a wrist joint. Through the structural design of the elbow joint, especially the coordinated use of the first pulley assembly and the third winding wheel assembly, the power can be effectively converted into the flexible movement of the forearm, which increases the operational flexibility and adaptability of the robot arm, so that it can better adapt to objects or work scenes of different shapes, positions and postures, and improves the working ability and efficiency of the robot arm in complex environments; the connection structure between the forearm and the elbow joint can withstand various forces and torques generated during the movement. This stable connection method ensures the structural reliability of the forearm during the movement process and avoids motion errors or failures caused by loose or deformed connections. At the same time, the stable movement of the forearm also helps to improve the structural stability of the entire robot arm, so that it can maintain good performance during high-speed or high-load operations, extend the service life of the robot arm, and ensure the safety and stability of the human-machine interaction process; the flexible movement ability of the wrist joint further expands the operating range of the robot arm. The flexible movement of the wrist joint enables the robot arm to better cover various operating points and complete operations that were originally difficult to achieve. The coordinated work of multiple pairs of drive ropes can realize compound movements of the wrist and elbow joints in multiple directions and dimensions, allowing the robotic arm to achieve complex motion trajectories and operating actions.

[0019] 2. There is an analytical solution for the inverse kinematics of the anthropomorphic arm, which can avoid the shortcoming of time-consuming numerical iteration in kinematic solution and is more conducive to engineering application; real-time decoupling is achieved between the driving rope of the elbow joint and the driving rope of the wrist joint, the mathematical model is simple, and the real-time controllability is better; the new rope-driven hybrid shoulder joint has two driving motors located on the base, which has smaller motion inertia and larger working space than the existing shoulder joint; compared with the existing anthropomorphic arm robot, the anthropomorphic arm robot of the present invention has a larger rotation angle range of each joint and better scalability in the corresponding application field; a tensioning device is designed on each pair of driving ropes and constraint ropes, and the control accuracy of the robotic arm is higher; brakes are arranged at key joints, which have better human-computer interaction safety performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Schematic diagram of the overall structure of the human-machine interactive humanoid robotic arm in an embodiment of the present invention; Figure 2 It is a schematic diagram of the first viewing angle of the shoulder joint and the routing structure of the first pair of driving ropes in an embodiment of the present invention; Figure 3 A second viewing angle of the shoulder joint and a schematic diagram of the routing of the second pair of drive ropes and the third pair of drive ropes in an embodiment of the present invention; Figure 4 A schematic diagram of a tensioning structure of a winding wheel of a shoulder joint in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the upper arm from a first viewing angle in an embodiment of the present invention; Figure 6 2 is a schematic diagram of the structure of the upper arm from a second viewing angle in an embodiment of the present invention; Figure 7 2 is a schematic diagram of the structure of an elbow joint from a first perspective in an embodiment of the present invention; Figure 8 is a schematic structural diagram of an elbow joint from a second viewing angle in an embodiment of the present invention; Fig. 9 This is a schematic diagram of the structure of the forearm in an embodiment of the present invention; Fig.10 It is a schematic diagram of the first viewing angle of the wrist joint and the routing structure of the fifth pair of driving ropes, the sixth pair of driving ropes, the seventh pair of driving ropes and the first restraining rope in an embodiment of the present invention; Fig.11 It is a second viewing angle of the wrist joint and a schematic diagram of the routing structure of the fifth pair of driving ropes, the sixth pair of driving ropes, the seventh pair of driving ropes and the first pair of restraining ropes in an embodiment of the present invention; Fig.12 This is a schematic diagram of the wiring structure of the fourth pair of drive ropes in an embodiment of the present invention; Fig.13 This is a schematic diagram of the routing structure of the fifth pair of drive ropes in an embodiment of the present invention; Fig.14 This is a schematic diagram of the wiring structure of the sixth pair of driving ropes in an embodiment of the present invention; Fig.15 Schematic diagram of the routing structure of the seventh pair of drive ropes in an embodiment of the present invention.

[0021] Description of reference numerals: 1-shoulder joint; 2-upper arm; 3-elbow joint; 4-forearm; 5-wrist joint; a-first drive motor; b-second drive motor; c-third drive motor; d-fourth drive motor; e-fifth drive motor; f-sixth drive motor; g-seventh drive motor; J1-first base connector; J2-second base connector; J3-third base connector; J4-fourth base connector; J5-fifth base connector; L1-first winding wheel; L2-second winding wheel; L3-third winding wheel; L4-fourth winding wheel; L5-fifth winding wheel; L6-sixth winding wheel; L7-seventh winding wheel; L8-eighth winding wheel; L9-ninth winding wheel; L10-tenth winding wheel; L11-eleventh winding wheel; L12-twelfth winding wheel; L13-thirteenth winding wheel; L14-fourteenth winding wheel; L15-fifteenth winding wheel; L16-sixteenth winding wheel; L17-seventeenth winding wheel; O1-first transmission shaft; O2-second transmission shaft; O3-third transmission shaft; O4-fourth transmission shaft; O5-fifth transmission shaft; O6-sixth transmission shaft; O7-seventh transmission shaft; O8-eighth transmission shaft; O9-ninth transmission shaft; 10-tenth transmission shaft; W1-first universal joint; W2-second universal joint; U1-first universal hinge fork; U2-second universal hinge fork; U3-third universal hinge fork; U4-fourth universal hinge fork; Z1-first brake; Z2-second brake; Z3-third brake; Z4-fourth brake; F1-first connecting plate; F2-second connecting plate; F3-third connecting plate; F4-fourth connecting plate; F5-fifth connecting plate; F6-sixth connecting plate; F7-seventh connecting plate; F8-eighth connecting plate; F9-ninth connecting plate; F10-tenth connecting plate; F11-eleventh connecting plate; F12-twelfth connecting plate; F13-thirteenth connecting plate; F14-fourteenth connecting plate; F15-fifteenth connecting plate; F16-sixteenth connecting plate; G1-first connecting rod; G2-second connecting rod; G3-third connecting rod; G4-fourth connecting rod; G5-fifth connecting rod; G6-sixth connecting rod; G7-seventh connecting rod; G8-eighth connecting rod; G9-ninth connecting rod; G10-tenth connecting rod; P1-first tensioning device; P2-second tensioning device; P3-third tensioning device; P4-fourth tensioning device; P5-fifth tensioning device; P6-sixth tensioning device; P7-seventh tensioning device; P8-eighth tensioning device; P9-ninth tensioning device; P10-tenth tensioning device; H1-first fixed pulley set; H2-second fixed pulley set; H3-first movable pulley set; H4-second movable pulley set; H5-first decoupling pulley block; H6-second decoupling pulley block; H7-third decoupling pulley block; H8-fourth decoupling pulley block; H9-first reversing pulley block; H10-second reversing pulley block; H11-third reversing pulley block; H12-fourth reversing pulley block; H13-fifth reversing pulley block; H14-sixth reversing pulley block; H15-seventh reversing pulley block; H16-eighth reversing pulley block; H17-ninth reversing pulley block; R1-1st rotation pair; R2-2nd rotation pair; R3-3rd rotation pair; R4-4th rotation pair; R5-5th rotation pair; R6-6th rotation pair; R7-7th rotation pair; R8-8th rotation pair; R9-9th rotation pair; R10-10th rotation pair; R11-11th rotation pair; R12-12th rotation pair; R13-13th rotation pair; R14-14th rotation pair; R15-15th rotation pair; R16-16th rotation pair; R17-17th rotation pair; R18- The 18th rotation pair; R19-the 19th rotation pair; R20-the 20th rotation pair; R21-the 21st rotation pair; R22-the 22nd rotation pair; R23-the 23rd rotation pair; R24-the 24th rotation pair; R25-the 25th rotation pair; R26-the 26th rotation pair; R27-the 27th rotation pair; R28-the 28th rotation pair; R29-the 29th rotation pair; R30-the 30th rotation pair; R31-the 31st rotation pair; R32-the 32nd rotation pair; S1 - the first pair of drive ropes; S2 - the second pair of drive ropes; S3 - the third pair of drive ropes; S4 - the fourth pair of drive ropes; S5 - the fifth pair of drive ropes; S6 - the sixth pair of drive ropes; S7 - the seventh pair of drive ropes; S8 - the first pair of restraint ropes. DETAILED DESCRIPTION

[0022] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can also be the internal connection of two components, it can be a wireless connection, or it can be a wired connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0024] See also Figure 1-15 As shown, an embodiment of the present invention provides a human-machine interactive humanoid robotic arm, the human-machine interactive humanoid robotic arm comprises a shoulder joint 1, an upper arm 2, an elbow joint 3, a lower arm 4 and a wrist joint 5, wherein: The shoulder joint 1 includes a first drive motor assembly, a first brake assembly, a first base connector assembly, a first universal hinge assembly, a first winding wheel assembly, a first transmission shaft assembly, a first connecting plate assembly and a first connecting rod assembly. The first winding wheel assembly is installed at the output end of the first drive motor assembly, and the first winding wheel assembly is suitable for driving the shoulder joint 1 to rotate. In this way, when the first drive motor assembly is started, power is transmitted to the shoulder joint 1 through the first winding wheel assembly to drive the shoulder joint 1 to rotate. Then, the first brake assembly can stop the movement of the shoulder joint 1 when needed. The first base connector assembly and the first universal hinge assembly are responsible for fixing and providing flexibility, while the first transmission shaft assembly, the first connecting plate assembly and the first connecting rod assembly are internal connecting components responsible for transmitting power and movement.

[0025] The upper arm 2 is connected to one end of the shoulder joint 1, and the upper arm 2 includes a second drive motor assembly, a fourth brake Z4, a second transmission shaft assembly, a second winding wheel assembly and a second connecting plate assembly, wherein the second transmission shaft assembly is connected to the output end of the second drive motor assembly, the second winding wheel assembly is installed at the end of the second transmission shaft assembly, and the second winding wheel assembly is suitable for driving the elbow joint 3 and the wrist joint 5 to rotate.

[0026] The elbow joint 3 is connected to the end of the upper arm 2 away from the shoulder joint 1. The elbow joint 3 in this embodiment includes a third connecting plate assembly, a first pulley assembly, a third winding wheel assembly and a third connecting rod assembly. The elbow joint 3 is connected to the end of the upper arm 2 away from the shoulder joint 1 through the third connecting plate assembly. At the same time, the third connecting plate assembly also provides an installation and support basis for other components inside the elbow joint 3, ensuring the relative position and structural stability between the components, so that the elbow joint 3 can work normally as a whole.

[0027] When the elbow joint 3 needs to move to drive the forearm 4, the power generated by the power source is transmitted to the first pulley assembly and the third winding wheel assembly through the third winding wheel assembly. The first pulley assembly plays a role in changing the direction and transmission path of the force, so that the power can be transmitted in a predetermined manner; the third winding wheel assembly converts the power into the rotational movement of the elbow joint 3 through the winding and release of the rope, thereby driving the forearm 4 connected thereto to perform corresponding swinging or rotating movements, realizing the angle change of the robot arm at the elbow position to adapt to different operating postures and action requirements; the third connecting rod assembly plays a role of connection and support during the movement process. It connects the various components inside the elbow joint 3 and the connection part with the forearm 4, ensuring that the power can be effectively transmitted to the forearm 4, and ensuring the structural stability of the elbow joint 3 during the movement process, and preventing the components from loosening or being damaged due to the stress generated by the movement.

[0028] The forearm 4 is connected to the end of the elbow joint 3 away from the upper arm 2. The forearm 4 is connected to the end of the elbow joint 3 away from the upper arm 2 through a specific connection structure to form a relatively independent and relatively movable structural unit, which together with the upper arm 2 and the elbow joint 3 constitutes the upper structure of the robotic arm.

[0029] The wrist joint 5 is connected to the end of the forearm 4 away from the elbow joint 3. The wrist joint 5 includes a second base connector, a first reversing pulley assembly, a second universal hinge assembly, a third transmission shaft assembly, a fourth connecting plate assembly, a fourth connecting rod assembly and a fourth winding wheel assembly. The wrist joint 5 is connected to the end of the forearm 4 away from the elbow joint 3 through the second base connector, and a stable connection between the wrist joint 5 and the forearm 4 is established, providing a support basis for the movement of the wrist joint 5, ensuring that the wrist joint 5 can work normally as a relatively independent motion unit. When the wrist joint 5 needs to move, the power generated by the power source is transmitted to the fourth winding wheel assembly through the third transmission shaft assembly; the fourth winding wheel assembly converts the power into rotational movement of the wrist joint 5 through the winding and release of the rope. At the same time, the first reversing pulley assembly changes the direction of power transmission as needed, so that the wrist joint 5 can achieve multi-directional movements, such as flexion and extension, rotation, etc.; the second universal hinge assembly plays a key role in the movement of the wrist joint 5. It allows the wrist joint 5 to flexibly rotate in multiple axes, further enhancing the movement flexibility and freedom of the wrist joint 5, so that the wrist joint 5 can achieve complex movements similar to the human wrist, such as left and right swinging of the wrist, bending up and down, and rotation; the fourth connecting plate assembly and the fourth connecting rod assembly play a role of connection and support inside the wrist joint 5, tightly connecting the various components of the wrist joint 5 together to form a stable structural framework to ensure the relative position and coordinated movement of the various components.

[0030] The driving rope assembly includes a first pair of driving ropes S1, a second pair of driving ropes S2, a third pair of driving ropes S3, a fourth pair of driving ropes S4, a fifth pair of driving ropes S5, a sixth pair of driving ropes S6, a seventh pair of driving ropes S7 and a first pair of restraining ropes S8 for closed-loop driving of the same joint, wherein one end of the first pair of driving ropes S1 is sleeved on the first winding wheel L1, and the other end is sleeved on the second winding wheel L2; one end of the second pair of driving ropes S2 is sleeved on the third winding wheel L3, and the other end is sleeved on the fourth winding wheel L4; one end of the third pair of driving ropes S3 is sleeved on the fifth winding wheel L5, and the other end is sleeved on the sixth winding wheel L6; one end of the fourth pair of driving ropes S4 is sleeved on the ninth winding wheel L5, and the other end is sleeved on the ninth winding wheel L6. The first pair of driving ropes S4 and the second pair of driving ropes S5 are connected to the wrist joint 5 and the elbow joint 3, and the first constraint rope S8 is suitable for driving the active connecting rod of the wrist joint 5 to rotate.

[0031] When the drive motor is started, it drives the corresponding winding wheel assembly to rotate, thereby retracting and releasing the drive rope. For example, when the first winding wheel assembly rotates, the length of the first pair of drive ropes S1 will change. Since it is connected to the wrist joint or elbow joint, this length change will be transmitted through the tension of the rope, driving the wrist joint or elbow joint to perform corresponding rotation or swinging action.

[0032] Similarly, other winding wheel components and corresponding drive ropes will work together. According to different movement requirements, the retraction and release of each pair of drive ropes will be coordinated to achieve the movement combination of the wrist joint and elbow joint in different directions and angles to complete complex operating movements.

[0033] The first pair of restraint ropes S8 are connected to the active connecting rod of the wrist joint 5, and their main function is to drive the active connecting rod of the wrist joint 5 to rotate. During the movement of the wrist joint 5, when it is necessary to perform a specific rotation operation on the active connecting rod to achieve a certain specific posture or movement of the wrist joint 5, the first pair of restraint ropes S8 will perform corresponding retraction and release actions according to the control instructions, and drive the active connecting rod to rotate through the traction force of the ropes, thereby achieving precise control and restraint of the movement of the wrist joint 5, ensuring that the wrist joint 5 can move according to the predetermined trajectory and method to meet specific operation requirements.

[0034] Thus, through the structural design of the elbow joint 3, especially the coordinated use of the first pulley assembly and the third winding wheel assembly, the power can be effectively converted into the flexible movement of the forearm 4. This allows the forearm to bend, stretch, and perform other actions according to actual needs when the robot arm performs various tasks, such as grasping, carrying, and operating tools, etc., which increases the operational flexibility and adaptability of the robot arm, enables it to better adapt to objects or work scenes of different shapes, positions, and postures, and improves the working ability and efficiency of the robot arm in complex environments; the connection structure between the forearm 4 and the elbow joint 3 can withstand various forces and torques generated during the movement, such as gravity, inertia, and driving force. This stable connection method ensures the structural reliability of the forearm 4 during the movement process and avoids motion errors or failures caused by loose or deformed connections. At the same time, the stable movement of the forearm 4 also helps to improve the structural stability of the entire robot arm, so that it can maintain good performance during high-speed or high-load operations, extend the service life of the robot arm, and ensure the safety and stability of the human-computer interaction process; the flexible movement ability of the wrist joint 5 further expands the operating range of the robot arm. In some tasks that require a larger operating space or complex operating postures, such as all-round operation of large objects, equipment maintenance in a narrow space, and complex surgical operations, the flexible movement of the wrist joint 5 can enable the robot arm to better cover various operating points and complete operations that were originally difficult to achieve. The coordinated work of multiple pairs of drive ropes can achieve compound movements of the wrist joint 5 and the elbow joint in multiple directions and dimensions, so that the robot arm can achieve complex motion trajectories and operating actions. For example, when performing tasks such as curved motion, multi-point operation, or continuous action sequence in three-dimensional space, the drive rope assembly can accurately coordinate the movement of each joint according to the control command, so that the robot arm can successfully complete the task, broadening the application scope and function of the robot arm, so that it can better adapt to various complex working environments and task requirements.

[0035] Specifically, see Figure 2As shown, the first drive motor assembly includes a first drive motor a, a second drive motor b and a third drive motor c, and the first base connector assembly includes a first base connector J1, a second base connector J2 and a third base connector J3. The first drive motor a, the second drive motor b and the third drive motor c in the first drive motor assembly are respectively used as power sources to provide power for different parts of the entire robotic arm. The second drive motor b and the third drive motor c are respectively connected to the first connecting plate F1 and the second connecting plate F2, and the first drive motor a is installed on the first base connector J1. The first brake Z1, the second brake Z2 and the third brake Z3 in the first brake assembly are respectively connected to the corresponding components and are in a standby state, ready to brake the movement of the robotic arm when needed. The second brake Z2 is connected to the first transmission shaft O1, the first brake Z1 is connected to the first universal hinge fork U1, and the third brake Z3 is fixedly connected to the fourth connecting plate F4.

[0036] The first universal hinge assembly includes a first universal hinge W1, a first universal hinge connecting fork U1 and a second universal hinge connecting fork U2; The first winding wheel assembly includes a first winding wheel L1, a second winding wheel L2, a third winding wheel L3, a fourth winding wheel L4, a fifth winding wheel L5 and a sixth winding wheel L6; The first transmission shaft assembly includes a first transmission shaft O1, a second transmission shaft O2 and a third transmission shaft O3; The first connecting plate assembly includes a first connecting plate F1 connected to the first base connecting member J1, and a second connecting plate F2, a third connecting plate F3 and a fourth connecting plate F4 respectively fixedly connected to the second base connecting member J2; The first connecting rod assembly includes a first connecting rod G1, a second connecting rod G2 and a third connecting rod G3; The second drive motor b and the second brake Z2 are respectively connected to the first connecting plate F1, and the third winding wheel L3 is fixedly connected to the output end of the second drive motor b; The third driving motor c is connected to the second connecting plate F2, and the fifth winding wheel L5 is fixedly connected to the output end of the third driving motor c; The first transmission shaft O1 is connected to the first connecting plate F1 through the second rotation pair R2, and the first transmission shaft O1 is connected to the second brake Z2, and the fourth winding wheel L4 is fixedly connected to the first transmission shaft O1 and the first connecting rod G1; The first drive motor a and the first brake Z1 are both mounted on the first base connector J1, and the first winding wheel L1 is fixedly connected to the output end of the first drive motor a; The first universal hinge fork U1 is connected to the first base connector J1 and the first brake Z1 through the first rotation pair R1, and the first universal hinge fork U1 is fixedly connected to the second winding wheel L2; The second universal hinge fork U2 is connected to the first universal hinge fork U1 through the first universal hinge W1; the second universal hinge fork U2 is connected to the first connecting rod G1 through the third rotation pair R3; and the second universal hinge fork U2 is fixedly connected to the second connecting rod G2, and the second connecting rod G2 is fixedly connected to the second base connecting member J2; One end of the second transmission shaft O2 is connected to the third brake Z3, and the second transmission shaft O2 is connected to the fourth connecting plate F4 through the fifth rotation pair R5; one end of the third transmission shaft O3 is connected to the sixth winding wheel L6, and the third transmission shaft O3 is connected to the third connecting plate F3 through the fourth rotation pair R4; The third brake Z3 is fixedly connected to the fourth connecting plate F4; The second transmission shaft O2 and the third transmission shaft O3 are symmetrically mounted on both sides of the third connecting rod G3, and the third connecting rod G3 is fixedly connected to the third base connecting member J3. When the second transmission shaft O2 rotates, the fourth connecting plate F4 is driven to move through the fifth rotation pair R5, and the third brake Z3 can brake it; when the third transmission shaft O3 rotates, the third connecting plate F3 is driven to move through the fourth rotation pair R4.

[0037] The axes of the first rotational pair R1 and the second rotational pair R2 are perpendicular and converge at the geometric center point of the first universal joint W1. The axes of the fourth rotational pair R4 and the fifth rotational pair R5 coincide and are parallel to the axis of the second rotational pair R2. This special structural design enables the various components to move in coordination in multiple axes to achieve complex motion trajectories and posture adjustments.

[0038] Specifically, see Figure 1 , 2 As shown in , 3, and 5, the second drive motor assembly includes a fourth drive motor d, a fifth drive motor e, a sixth drive motor f, and a seventh drive motor g; The second transmission shaft assembly includes a fourth transmission shaft O4, a fifth transmission shaft O5, a sixth transmission shaft O6 and a seventh transmission shaft O7; The second winding wheel assembly includes a seventh winding wheel L7, an eighth winding wheel L8, a ninth winding wheel L9 and a tenth winding wheel L10; The second connecting plate assembly includes a fifth connecting plate F5 and a sixth connecting plate F6, one side of the fifth connecting plate F5 and the sixth connecting plate F6 are both fixedly connected to the third base connecting member J3 of the shoulder joint 1, and the other side of the fifth connecting plate F5 is fixedly connected to the fourth brake Z4; The fourth drive motor d and the fifth drive motor e are respectively fixedly connected to the outer side of the sixth connecting plate F6, and the sixth drive motor f and the seventh drive motor g are respectively fixedly connected to the fifth connecting plate F5; The fourth transmission shaft O4 is fixedly connected to the output end of the sixth driving motor f and passes through the fourth brake Z4. The fourth transmission shaft O4 is fixedly connected to the ninth winding wheel L9. The fourth transmission shaft O4 is connected to the sixth connecting plate F6 through the sixth rotation pair R6. The fifth transmission shaft O5 is fixedly connected to the output end of the seventh driving motor g, the fifth transmission shaft O5 is fixedly connected to the eighth winding wheel L8, and the fifth transmission shaft O5 is connected to the sixth connecting plate F6 through the seventh rotation pair R7; The sixth transmission shaft O6 is fixedly connected to the output end of the fifth driving motor e, the sixth transmission shaft O6 is fixedly connected to the seventh winding wheel L7, and the sixth transmission shaft O6 is connected to the fifth connecting plate F5 through the eighth rotation pair R8; The seventh transmission shaft O7 is fixedly connected to the output end of the fourth driving motor d, the seventh transmission shaft O7 is fixedly connected to the tenth winding wheel L10, and the seventh transmission shaft O7 is connected to the fifth connecting plate F5 through the ninth rotating pair R9; The axes of the sixth rotation pair R6 and the seventh rotation pair R7 are located in the same horizontal plane, the axes of the eighth rotation pair R8 and the ninth rotation pair R9 are located in the same horizontal plane, and the axes of the sixth rotation pair R6, the seventh rotation pair R7, the eighth rotation pair R8 and the ninth rotation pair R9 are parallel to each other.

[0039] Specifically in this embodiment, the fourth drive motor d, the fifth drive motor e, the sixth drive motor f and the seventh drive motor g in the second drive motor assembly are respectively used as power sources to provide power for different parts of the robot arm. The fourth drive motor d and the fifth drive motor e are fixedly connected to the outside of the sixth connecting plate F6, and the sixth drive motor f and the seventh drive motor g are fixedly connected to the fifth connecting plate F5.

[0040] The fourth transmission shaft O4 is fixedly connected to the output end of the sixth drive motor f, and is fixedly connected to the ninth winding wheel L9 through the fourth brake Z4, and is connected to the sixth connecting plate F6 through the sixth rotation pair R6. When the sixth drive motor f is started, it drives the fourth transmission shaft O4 to rotate, and then drives the ninth winding wheel L9 to rotate, and transmits power through the drive rope connected thereto to achieve corresponding movement. These drive motors are connected to the corresponding transmission shafts through their respective output ends, and transmit power to the transmission shafts, and then the transmission shafts drive the winding wheels to rotate, thereby achieving further transmission and distribution of power.

[0041] Through the coordinated work of multiple drive motors and transmission shafts, power can be quickly and efficiently transmitted to each winding wheel, thereby driving different parts of the robotic arm to move. This power transmission method reduces energy loss and improves power transmission efficiency, ensuring that the robotic arm can obtain sufficient power support when performing tasks and improving work efficiency.

[0042] Specifically, see Figure 5 , 7As shown, the third connecting plate assembly includes a seventh connecting plate F7, an eighth connecting plate F8, a ninth connecting plate F9 and a tenth connecting plate F10. The third winding wheel assembly includes the eleventh winding wheel L11 and the twelfth winding wheel L12, the first movable pulley group H3, the second movable pulley group H4, the third decoupling pulley group H7, and the fourth decoupling pulley group H8 are respectively connected to the sixth connecting plate F6 and the fifth connecting plate F5 of the boom 2 through F10, forming a stable connection foundation between the boom 2 and subsequent components. The third connecting rod assembly includes a fourth connecting rod G4 and a fifth connecting rod G5. The fourth connecting rod G4 and the fifth connecting rod G5 are respectively connected to the seventh connecting plate F7 and the tenth connecting plate F10 through a twelfth rotation pair R12. The fourth connecting rod G4 and the fifth connecting rod G5 are respectively connected to the eighth connecting plate F8 and the ninth connecting plate F9 through a fifteenth rotation pair R15 to construct a complex connecting rod system for transmitting motion and force.

[0043] The first pulley assembly includes a first fixed pulley group H1, a second fixed pulley group H2, a first movable pulley group H3, a second movable pulley group H4, a first decoupling pulley group H5 and a fourth decoupling pulley group H8. The first fixed pulley group H1, the second fixed pulley group H2, the first decoupling pulley group H5 and the second decoupling pulley group H6 are respectively connected to the seventh connecting plate F7 and the tenth connecting plate F10 through the tenth rotating pair R10, the thirteenth rotating pair R13, the eleventh rotating pair R11 and the twelfth rotating pair R12. The movable pulley group and the decoupling pulley group cooperate with the fixed pulley group to jointly complete the transmission and conversion of complex movements and forces. These fixed pulley groups and decoupling pulley groups play the role of changing the direction of force and realizing force decoupling in the system.

[0044] The seventeenth rotation pair R17, the fourteenth rotation pair R14, the fifteenth rotation pair R15, and the sixteenth rotation pair R16 are connected to the eighth connecting plate F8 and the ninth connecting plate F9, and the eleventh winding wheel L11 and the twelfth winding wheel L12 are respectively fixedly connected to the tenth rotation pair R10 and the thirteenth rotation pair R13, so that the precise transmission of power can be ensured by fixing the eleventh winding wheel L11 and the twelfth winding wheel L12 to the tenth rotation pair R10 and the thirteenth rotation pair R13. The axes of the rotation pairs are parallel to each other, which makes the motion transmission more stable, reduces the motion error, and improves the motion accuracy of the robot arm. The structural design of the connecting plate and the rotation pair makes the robot arm more stable during the movement, reduces vibration and shaking, and improves the reliability of operation.

[0045] The axes of the tenth rotation pair R10, the eleventh rotation pair R11, the twelfth rotation pair R12, the thirteenth rotation pair R13, the fourteenth rotation pair R14, the fifteenth rotation pair R15, the sixteenth rotation pair R16 and the seventeenth rotation pair R17 are parallel to each other. When the driving device (such as a motor, a winding wheel, etc.) in the system is started, the power is transmitted to the corresponding components through each rotation pair. Since the axes of these rotation pairs are parallel to each other, the components can maintain coordinated movements during the movement. The pulley block and the winding wheel assembly rotate under the constraints of the rotation pair, and the power is transmitted through the drive rope to drive the various joints of the robot arm to move. Due to the parallelism of the axes of the rotation pairs, the movement of the pulley block and the winding wheel assembly is smoother, reducing the motion interference and force loss caused by the non-parallel axes.

[0046] Specifically, see Figure 1 , 9 As shown, the small arm 4 includes an eleventh connecting plate F11, a twelfth connecting plate F12 and a first tensioning assembly, wherein: The first tensioning assembly includes a third tensioning device P3, a fourth tensioning device P4, a fifth tensioning device P5, a sixth tensioning device P6, a seventh tensioning device P7 and an eighth tensioning device P8; The eleventh connecting plate F11 and the twelfth connecting plate F12 are both fixedly connected to the ninth connecting plate F9 and the eighth connecting plate F8 of the elbow joint 3 .

[0047] Specifically, see Fig. 9 , 10 As shown, the second base connector assembly includes a fourth base connector J4 and a fifth base connector J5, and the fourth base connector J4 is fixedly connected to the eleventh connecting plate F11 and the twelfth connecting plate F12 of the forearm 4; The fourth connecting plate assembly includes a thirteenth connecting plate F13, a fourteenth connecting plate F14, a fifteenth connecting plate F15 and a sixteenth connecting plate F16, and the thirteenth connecting plate F13, the fourteenth connecting plate F14, the fifteenth connecting plate F15 and the sixteenth connecting plate F16 are all fixedly connected to the fourth base connector J4; The first reversing pulley assembly includes a first reversing pulley block H9, a second reversing pulley block H10, a third reversing pulley block H11, a fourth reversing pulley block H12, a fifth reversing pulley block H13, a sixth reversing pulley block H14, a seventh reversing pulley block H15, an eighth reversing pulley block H16 and a ninth reversing pulley block H17. The first reversing pulley block H9 and the fourth reversing pulley block H12 are connected to the fourth base connecting member J4 through the eighteenth rotating pair R18 and the nineteenth rotating pair R19. The second reversing pulley block H1 0. The sixth reversing pulley group H14 is connected to the fourth base connecting member J4 through the 20th rotating pair R20 and the 21st rotating pair R21. The third reversing pulley group H11 and the fifth reversing pulley group H13 are connected to the fourth base connecting member J4 through the 22nd rotating pair R22 and the 23rd rotating pair R23. The seventh reversing pulley group H15 is connected to the 14th connecting plate F14 through the 24th rotating pair R24. The eighth reversing pulley group H16 is connected to the 13th connecting plate F13 through the 25th rotating pair R25. The second universal hinge assembly includes a second universal hinge W2, a third universal hinge connecting fork U3 and a fourth universal hinge connecting fork U4; The third transmission shaft assembly includes an eighth transmission shaft O8, an eighth transmission shaft O8 and a tenth transmission shaft 10; the eighth transmission shaft O8 is connected to the sixteenth connecting plate F16 through a twenty-seventh rotation pair R27; The fourth connecting rod assembly includes a sixth connecting rod G6, a seventh connecting rod G7, an eighth connecting rod G8, a ninth connecting rod G9 and a tenth connecting rod G10; one end of the sixth connecting rod G6 is fixedly connected to the fourth base connecting member J4; The fourth winding wheel assembly includes a thirteenth winding wheel L13, a fourteenth winding wheel L14, a fifteenth winding wheel L15, a sixteenth winding wheel L16 and a seventeenth winding wheel L17; The thirteenth winding wheel L13 is connected to the other end of the sixth connecting rod G6 through a twenty-sixth rotation pair R26, the seventh connecting rod G7 is respectively fixedly connected to the thirteenth winding wheel L13 and the third universal hinge connecting fork U3, the third universal hinge connecting fork U3 is connected to the fourth universal hinge connecting fork U4 through the second universal hinge W2, and the fourth universal hinge connecting fork U4 is connected to the fifth base connecting member J5 through a thirty-second rotation pair R32; The sixteenth winding wheel L16 is fixedly connected to one side of the eighth transmission shaft O8, the eighth connecting rod G8 is fixedly connected to the other side of the eighth transmission shaft O8, the tenth transmission shaft 10 is connected to the eighth connecting rod G8 through the thirtieth rotation pair R30, the seventeenth winding wheel L17 and the ninth connecting rod G9 are fixedly connected to the tenth transmission shaft 10, The ninth connecting rod G9 is fixedly connected to the fifth base connecting member J5, and the ninth reversing pulley block H17 is connected to the eighth connecting rod G8 through the thirty-first rotation pair R31. The tenth connecting rod G10 is fixedly connected to the eighth connecting rod G8, the tenth connecting rod G10 is connected to the ninth transmission shaft O9 through the twenty-ninth rotation pair R29, the ninth transmission shaft O9 is connected to the fifteenth connecting plate F15 through the twenty-eighth rotation pair R28, the fourteenth winding wheel L14 is fixedly connected to one side of the ninth transmission shaft O9, and the fifteenth winding wheel L15 is fixedly connected to the other side of the ninth transmission shaft O9; The axes of the twenty-sixth revolving pair R26, the twenty-seventh revolving pair R27, the twenty-eighth revolving pair R28 and the thirtieth revolving pair R30 converge at the center point of the second universal joint W2.

[0048] Specifically, see Figure 2 As shown, one end of the first pair of driving ropes S1 is fixedly connected to the first winding wheel L1 of the shoulder joint 1 and wound around the first winding wheel L1. The first pair of driving ropes S1 are wound in an "8"-shaped winding manner along the direction of the spiral groove on the second winding wheel L2 of the shoulder joint 1. The other side of the first pair of driving ropes S1 is fixedly connected to the first tensioning device P1 on the second winding wheel L2.

[0049] Specifically, see Figure 3 As shown, one end of the second pair of driving ropes S2 is fixedly connected to the third winding wheel L3 of the shoulder joint 1 and wound on the third winding wheel L3, and the second pair of driving ropes S2 is wound in an "8"-shaped winding manner along the spiral groove direction on the fourth winding wheel L4 of the shoulder joint 1, and the other side of the second pair of driving ropes S2 is fixedly connected to the second tensioning device P2 on the fourth winding wheel L4; Specifically, see Figure 4 As shown, one end of the third pair of driving ropes S3 is fixedly connected to the fifth winding wheel L5 of the shoulder joint 1 and wound on the fifth winding wheel L5, the third pair of driving ropes S3 is wound in an "8"-shaped winding manner along the spiral groove direction on the sixth winding wheel L6 of the shoulder joint 1, the other side of the third pair of driving ropes S3 passes through the rope hole on the sixth winding wheel L6 and is fixedly connected to the fourth tensioning device P4, the third tensioning device P3 passes through the fourth tensioning device P4 and is connected to the third transmission shaft O3, and the third tensioning device P3 moves forward to tension the third pair of driving ropes S3; The tensioning method of the first pair of driving ropes S1 and the second pair of driving ropes S2 is the same as the tensioning method of the third pair of driving ropes S3.

[0050] Specifically, see Fig.12As shown, one end of the fourth pair of driving ropes S4 is fixedly connected to the ninth winding wheel L9 of the upper arm 2 and wound around the ninth winding wheel L9, the middle part of the fourth pair of driving ropes S4 passes through the first decoupling pulley group H5 in an "8"-shaped winding manner, and then passes through three parallel windings on the first fixed pulley group H1, the first movable pulley group H3, the second fixed pulley group H2, and the second movable pulley group H4 respectively, and the other end is fixedly connected to the eleventh winding wheel L11 and the twelfth winding wheel L12 of the elbow joint 3, and wound around the eleventh winding wheel L11 and the twelfth winding wheel L12.

[0051] When the ninth winding wheel L9 of the upper arm 2 rotates, the driving rope S4 will be wound or released, thereby driving the eleventh winding wheel L11 and the twelfth winding wheel L12 of the elbow joint 3 to rotate. The "8"-shaped winding method of the first decoupling pulley group H5 can achieve force decoupling, so that the movements of the upper arm 2 and the elbow joint 3 are independent of each other and do not interfere with each other. The design of three parallel windings can increase the transmission ratio of the rope, making the movement of the elbow joint 3 smoother and more precise. Through multiple windings and the design of the pulley group, force balance and transmission can be achieved, making the movement of the entire system more stable. The "8"-shaped winding method of the first decoupling pulley group H5 can effectively disperse the points of force application and reduce rope wear and fatigue.

[0052] Specifically, see Fig.11 , 13 As shown, one end of the fifth pair of driving ropes S5 is fixedly connected to the eighth winding wheel L8 of the upper arm 2 and is wound around the eighth winding wheel L8. The middle part of the fifth pair of driving ropes S5 passes through the first decoupling pulley group H5, the second decoupling pulley group H6, the third decoupling pulley group H7 to the fourth decoupling pulley group H8 in an "8"-shaped winding manner. One of the fifth pair of driving ropes S5 passes through the fifth tensioning device P5 and the sixth tensioning device P6 in sequence. The fifth tensioning device P5 is suitable for driving the sixth tensioning device P6 to approach each other to achieve tensioning. After the fifth pair of driving ropes S5 pass through the first reversing pulley group H9 and the fourth reversing pulley group H12 respectively, they pass through the seventh reversing pulley group H15 and the eighth reversing pulley group H16 in sequence. The other end of the fifth pair of driving ropes S5 is fixedly connected to the thirteenth winding wheel L13 and is wound around the thirteenth winding wheel L13.

[0053] Thus, through multiple decoupling pulley groups (H5, H6, H7, H8), the force transmission of the fifth pair of drive ropes S5 can be more uniform and stable. The decoupling pulley group can reduce the mutual interference between different parts, ensuring that the movement of each part is independent and coordinated. The close proximity of the fifth tensioning device P5 and the sixth tensioning device P6 can effectively adjust the tension of the fifth pair of drive ropes S5, keep the fifth pair of drive ropes S5 in the best state during the force transmission process, and reduce the movement error or damage caused by insufficient or excessive tension; Through multiple reversing pulley blocks (H9, H12, H15, H16), the movement direction of the drive rope S5 can be changed multiple times, thereby realizing a complex movement path. This enables the entire system to adapt to different movement requirements and improves the flexibility and adaptability of the system. The entire system achieves efficient force transmission and precise direction control through the coordinated work of multiple pulley blocks and tensioning devices. This design is not only compact in structure, but also improves the reliability and stability of the system and reduces maintenance costs and failure rates.

[0054] Specifically, see Figure 5 , 10 As shown, one end of the sixth pair of drive ropes S6 is fixedly connected to the seventh winding wheel L7 of the upper arm 2 and is wound around the seventh winding wheel L7. The middle part of the sixth pair of drive ropes S6 passes through the first decoupling pulley group H5, the second decoupling pulley group H6, the third decoupling pulley group H7 to the fourth decoupling pulley group H8 in an "8"-shaped winding manner.

[0055] When the seventh winding wheel L7 rotates, one end of the sixth pair of driving ropes S6 will be wound or released, thereby generating or releasing tension. The middle part of the sixth pair of driving ropes S6 passes through the first decoupling pulley group H5, the second decoupling pulley group H6, the third decoupling pulley group H7 to the fourth decoupling pulley group H8 in an "8"-shaped winding manner. This "8"-shaped winding method can ensure that the sixth pair of driving ropes S6 are evenly distributed among the various pulley groups, reduce rope wear, and through the cooperation of multiple pulley groups, force transmission and direction change can be achieved.

[0056] Specifically, see Figure 5 , 9 As shown in FIGS. 10 and 11, one end of the sixth pair of driving ropes S6 passes through the seventh tensioning device P7 and the eighth tensioning device P8 in sequence, the seventh tensioning device P7 is suitable for driving the eighth tensioning device P8 to approach each other to achieve tensioning, the sixth pair of driving ropes S6 passes through the second reversing pulley group H10 and the sixth reversing pulley group H14 respectively, and the other end of the sixth pair of driving ropes S6 passes through the fourth base connector J4 and is fixedly connected to the sixteenth winding wheel L16, and is wound on the sixteenth winding wheel L16; Specifically, see Fig.15 As shown, one end of the seventh pair of driving ropes S7 is fixedly connected to the tenth winding wheel L10 of the boom 2 and wound on the tenth winding wheel L10, and the middle part of the seventh pair of driving ropes S7 passes through the first decoupling pulley group H5, the second decoupling pulley group H6, the third decoupling pulley group H7 to the fourth decoupling pulley group H8 in an "8" winding manner; Specifically, see Fig.11 , 15As shown, one of the seventh pair of driving ropes S7 passes through the ninth tensioning device P9 and the tenth tensioning device P10 in sequence, the ninth tensioning device P9 is suitable for driving the tenth tensioning device P10 to be close to each other to achieve tensioning, the seventh pair of driving ropes S7 pass through the third reversing pulley group H11 and the fifth reversing pulley group H13 respectively, and the other end of the seventh pair of driving ropes S7 passes through the fourth base connector J4 and is fixedly connected to the fifteenth winding wheel L15, and is wound around the fifteenth winding wheel L15.

[0057] The ninth tensioning device P9 and the tenth tensioning device P10 cooperate with each other to achieve accurate tensioning of the seventh pair of drive ropes S7. This design ensures that the seventh pair of drive ropes S7 always maintains proper tension during movement, avoiding poor movement or damage caused by looseness or over-tension.

[0058] Specifically, see Fig.10 , 11 As shown, the first pair of restraint ropes S8 form a closed loop to restrain the same joint, and one end of the first pair of restraint ropes S8 is fixedly connected to the fourteenth winding wheel L14 and wound around the fourteenth winding wheel L14, and the middle part of the first pair of restraint ropes S8 is fixedly connected to the seventeenth winding wheel L17 after passing through the ninth reversing pulley group H17 and wound around the seventeenth winding wheel L17.

[0059] When the fourteenth winding wheel L14 rotates, it will drive one end of the first pair of restraint ropes S8 to move, thereby changing the tension of the first pair of restraint ropes S8. The middle part of the first pair of restraint ropes S8 passes through the ninth reversing pulley group H17 to change the movement direction of the ropes, ensuring that the ropes can smoothly transmit force and movement. The function of the seventeenth winding wheel L17 is to further fix and wind the first pair of restraint ropes S8, ensuring that the other end of the first pair of restraint ropes S8 can also effectively transmit force and movement.

[0060] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A human-machine interactive humanoid robotic arm, characterized in that: include: A shoulder joint comprises a first drive motor assembly, a first brake assembly, a first base connector assembly, a first universal hinge assembly, a first winding wheel assembly, a first transmission shaft assembly, a first connecting plate assembly and a first connecting rod assembly, wherein the first winding wheel assembly is mounted at an output end of the first drive motor assembly, and the first winding wheel assembly is suitable for driving the shoulder joint to rotate; A large arm connected to one end of the shoulder joint, the large arm comprising a second drive motor assembly, a fourth brake, a second transmission shaft assembly, a second winding wheel assembly and a second connecting plate assembly, the second transmission shaft assembly being connected to an output end of the second drive motor assembly, and the second winding wheel assembly being mounted at an end of the second transmission shaft assembly; An elbow joint connected to an end of the upper arm away from the shoulder joint, the elbow joint comprising a third connecting plate assembly, a first pulley assembly, a third winding wheel assembly and a third connecting rod assembly; A forearm connected to an end of the elbow joint away from the upper arm; A wrist joint connected to an end of the forearm away from the elbow joint, the wrist joint comprising a second base connector, a first reversing pulley assembly, a second universal hinge assembly, a third transmission shaft assembly, a fourth connecting plate assembly, a fourth connecting rod assembly and a fourth winding wheel assembly; the second winding wheel assembly is suitable for driving the elbow joint and the wrist joint to rotate; The driving rope assembly comprises a first pair of driving ropes, a second pair of driving ropes, a third pair of driving ropes, a fourth pair of driving ropes, a fifth pair of driving ropes, a sixth pair of driving ropes, a seventh pair of driving ropes and a first restraining rope for driving the same joint in a closed loop, wherein one end of the first pair of driving ropes is sleeved on the first winding wheel, and the other end is sleeved on the second winding wheel; one end of the second pair of driving ropes is sleeved on the third winding wheel, and the other end is sleeved on the fourth winding wheel; one end of the third pair of driving ropes is sleeved on the fifth winding wheel, and the other end is sleeved on the sixth winding wheel; one end of the fourth pair of driving ropes is sleeved on the ninth winding wheel, and the other end is sleeved on the ninth winding wheel. One end is sleeved on the eleventh winding wheel and the twelfth winding wheel; one end of the fifth pair of driving ropes is sleeved on the eighth winding wheel, and the other end is sleeved on the thirteenth winding wheel via a pulley group; one end of the sixth pair of driving ropes is sleeved on the seventh winding wheel, and the other end is sleeved on the sixteenth winding wheel via a pulley group; one end of the seventh pair of driving ropes is sleeved on the tenth winding wheel, and the other end is sleeved on the fifteenth winding wheel via a pulley group, the fourth pair of driving ropes, the fifth pair of driving ropes, the sixth pair of driving ropes, and the seventh pair of driving ropes are connected to the wrist joint and the elbow joint, and the first constraint rope is suitable for driving the active connecting rod of the wrist joint to rotate.

2. The human-machine interactive humanoid robotic arm according to claim 1, characterized in that: The first drive motor assembly includes a first drive motor, a second drive motor and a third drive motor; The first brake assembly includes a first brake, a second brake, and a third brake; The first base connector assembly includes a first base connector, a second base connector, and a third base connector; The first universal hinge assembly includes a first universal hinge, a first universal hinge connecting fork and a second universal hinge connecting fork; The first winding wheel assembly includes a first winding wheel, a second winding wheel, a third winding wheel, a fourth winding wheel, a fifth winding wheel and a sixth winding wheel; The first transmission shaft assembly includes a first transmission shaft, a second transmission shaft and a third transmission shaft; The first connecting plate assembly includes a first connecting plate connected to the first base connecting member, and a second connecting plate, a third connecting plate and a fourth connecting plate respectively fixedly connected to the base connecting member; The first connecting rod assembly includes a first connecting rod, a second connecting rod and a third connecting rod; The second drive motor and the second brake are respectively connected to the first connecting plate, and the third winding wheel is fixedly connected to the output end of the second drive motor; the third drive motor is connected to the second connecting plate, and the fifth winding wheel is fixedly connected to the output end of the third drive motor; The first transmission shaft is connected to the first connecting plate through a second rotation pair, and the first transmission shaft is connected to the second brake. The fourth winding wheel is fixedly connected to the first transmission shaft and the first connecting rod; The first drive motor and the first brake are both mounted on the first base connector, and the first winding wheel is fixedly connected to the output end of the first drive motor; The first universal hinge fork is connected to the first base connection member and the first brake through a first rotation pair, and the first universal hinge fork is fixedly connected to the second winding wheel; the second universal hinge fork is connected to the first universal hinge fork through the first universal hinge; the second universal hinge fork is connected to the first connecting rod through a third rotation pair; and the second universal hinge fork is fixedly connected to the second connecting rod, and the second connecting rod is fixedly connected to the second base connection member; One end of the second transmission shaft is connected to the third brake, and the second transmission shaft is connected to the fourth connecting plate through a fifth rotation pair; one end of the third transmission shaft is connected to the sixth winding wheel, and the third transmission shaft is connected to the third connecting plate through a fourth rotation pair; The third brake is fixedly connected to the fourth connecting plate; The second transmission shaft and the third transmission shaft are symmetrically mounted on both sides of the third connecting rod, and the third connecting rod is fixedly connected to the third base connecting member; The axes of the first rotating pair and the second rotating pair are perpendicular and converge at the geometric center point of the first universal joint. The axes of the fourth rotating pair and the fifth rotating pair coincide and are parallel to the axis of the second rotating pair.

3. The human-machine interactive humanoid robotic arm according to claim 1, characterized in that: The second drive motor assembly includes a fourth drive motor, a fifth drive motor, a sixth drive motor and a seventh drive motor; The second transmission shaft assembly includes a fourth transmission shaft, a fifth transmission shaft, a sixth transmission shaft and a seventh transmission shaft; The second winding wheel assembly includes a seventh winding wheel, an eighth winding wheel, a ninth winding wheel and a tenth winding wheel; The second connecting plate assembly includes a fifth connecting plate and a sixth connecting plate, one side of each of the fifth connecting plate and the sixth connecting plate is fixedly connected to the third base connecting member of the shoulder joint, and the other side of the fifth connecting plate is fixedly connected to the fourth brake; The fourth drive motor and the fifth drive motor are respectively fixedly connected to the outer side of the sixth connecting plate, and the sixth drive motor and the seventh drive motor are respectively fixedly connected to the fifth connecting plate; The fourth transmission shaft is fixedly connected to the output end of the sixth driving motor and passes through the fourth brake. The fourth transmission shaft is fixedly connected to the ninth winding wheel. The fourth transmission shaft is connected to the sixth connecting plate through a sixth rotating pair. The fifth transmission shaft is fixedly connected to the output end of the seventh driving motor, the fifth transmission shaft is fixedly connected to the eighth winding wheel, and the fifth transmission shaft is connected to the sixth connecting plate through a seventh rotating pair; The sixth transmission shaft is fixedly connected to the output end of the fifth driving motor, the sixth transmission shaft is fixedly connected to the seventh winding wheel, and the sixth transmission shaft is connected to the fifth connecting plate through an eighth rotation pair; The seventh transmission shaft is fixedly connected to the output end of the fourth driving motor, the seventh transmission shaft is fixedly connected to the tenth winding wheel, and the seventh transmission shaft is connected to the fifth connecting plate through a ninth rotating pair; The axes of the sixth rotational pair and the seventh rotational pair are located in the same horizontal plane, the axes of the eighth rotational pair and the ninth rotational pair are located in the same horizontal plane, and the axes of the sixth rotational pair, the seventh rotational pair, the eighth rotational pair and the ninth rotational pair are parallel to each other.

4. The human-machine interactive humanoid robotic arm according to claim 1, characterized in that: The third connecting plate assembly includes a seventh connecting plate, an eighth connecting plate, a ninth connecting plate and a tenth connecting plate, wherein the seventh connecting plate and the tenth connecting plate are respectively fixedly connected to the sixth connecting plate and the fifth connecting plate of the upper arm; The third connecting rod assembly includes a fourth connecting rod and a fifth connecting rod, wherein the fourth connecting rod and the fifth connecting rod are respectively connected to the seventh connecting plate and the tenth connecting plate through a twelfth rotating pair, and the fourth connecting rod and the fifth connecting rod are respectively connected to the eighth connecting plate and the ninth connecting plate through a fifteenth rotating pair; The first pulley assembly includes a first fixed pulley group, a second fixed pulley group, a first movable pulley group, a second movable pulley group, a first decoupling pulley group, a second decoupling pulley group, a third decoupling pulley group and a fourth decoupling pulley group, and the first fixed pulley group, the second fixed pulley group, the first decoupling pulley group and the second decoupling pulley group are connected to the seventh connecting plate and the tenth connecting plate through the tenth rotating pair, the thirteenth rotating pair, the eleventh rotating pair and the twelfth rotating pair respectively; The third winding wheel assembly includes an eleventh winding wheel and a twelfth winding wheel. The first movable pulley group, the second movable pulley group, the third decoupling pulley group and the fourth decoupling pulley group are respectively connected to the eighth connecting plate and the ninth connecting plate through the seventeenth rotating pair, the fourteenth rotating pair, the fifteenth rotating pair and the sixteenth rotating pair. The eleventh winding wheel and the twelfth winding wheel are respectively fixed to the tenth rotating pair and the thirteenth rotating pair; the axes of the tenth rotating pair, the eleventh rotating pair, the twelfth rotating pair, the thirteenth rotating pair, the fourteenth rotating pair, the fifteenth rotating pair, the sixteenth rotating pair and the seventeenth rotating pair are parallel to each other.

5. The human-machine interactive humanoid robotic arm according to claim 1, characterized in that: The small arm comprises an eleventh connecting plate, a twelfth connecting plate and a first tensioning assembly, wherein: The first tensioning assembly includes a third tensioning device, a fourth tensioning device, a fifth tensioning device, a sixth tensioning device, a seventh tensioning device and an eighth tensioning device; The eleventh connecting plate and the twelfth connecting plate are both fixedly connected to the ninth connecting plate and the eighth connecting plate of the elbow joint.

6. The human-machine interactive humanoid robotic arm according to claim 5, characterized in that: The second base connector assembly includes a fourth base connector and a fifth base connector, and the four base connectors are fixedly connected to the eleventh connecting plate and the twelfth connecting plate of the forearm; The fourth connecting plate assembly includes a thirteenth connecting plate, a fourteenth connecting plate, a fifteenth connecting plate and a sixteenth connecting plate, and the thirteenth connecting plate, the fourteenth connecting plate, the fifteenth connecting plate and the sixteenth connecting plate are all fixedly connected to the fourth base connecting member; The first reversing pulley assembly includes a first reversing pulley group, a second reversing pulley group, a third reversing pulley group, a fourth reversing pulley group, a fifth reversing pulley group, a sixth reversing pulley group, a seventh reversing pulley group, an eighth reversing pulley group and a ninth reversing pulley group. The first reversing pulley group and the fourth reversing pulley group are connected to the fourth base connecting member through an eighteenth rotating pair and a nineteenth rotating pair. The second reversing pulley group and the sixth reversing pulley group are connected to the fourth base connecting member through a twentieth rotating pair and a twenty-first rotating pair. The third reversing pulley group and the fifth reversing pulley group are connected to the fourth base connecting member through a twenty-second rotating pair and a twenty-third rotating pair. The seventh reversing pulley group is connected to the fourteenth connecting plate through a twenty-fourth rotating pair. The eighth reversing pulley group is connected to the thirteenth connecting plate through a twenty-fifth rotating pair. The second universal hinge assembly includes a second universal hinge, a third universal hinge connecting fork and a fourth universal hinge connecting fork; The third transmission shaft assembly includes an eighth transmission shaft, an eighth transmission shaft and a tenth transmission shaft; the eighth transmission shaft is connected to the sixteenth connecting plate through a twenty-seventh rotation pair, The fourth connecting rod assembly includes a sixth connecting rod, a seventh connecting rod, an eighth connecting rod, a ninth connecting rod and a tenth connecting rod; one end of the sixth connecting rod is fixedly connected to the fourth base connecting member, The fourth winding wheel assembly includes a thirteenth winding wheel, a fourteenth winding wheel, a fifteenth winding wheel, a sixteenth winding wheel and a seventeenth winding wheel; The thirteenth winding wheel is connected to the other end of the sixth connecting rod through a twenty-sixth rotation pair, the seventh connecting rod is respectively fixedly connected to the thirteenth winding wheel and the third universal hinge connecting fork, the third universal hinge connecting fork is connected to the fourth universal hinge connecting fork through the second universal hinge, and the fourth universal hinge connecting fork is connected to the fifth base connecting member through a thirty-second rotation pair; The sixteenth winding wheel is fixedly connected to one side of the eighth transmission shaft, the eighth connecting rod is fixedly connected to the other side of the eighth transmission shaft, the tenth transmission shaft is connected to the eighth connecting rod through the thirtieth rotation pair, the seventeenth winding wheel and the ninth connecting rod are fixedly connected to the tenth transmission shaft, The ninth connecting rod is fixedly connected to the fifth base connecting member, and the ninth reversing pulley block is connected to the eighth connecting rod through a thirty-first rotating pair. The tenth connecting rod is fixedly connected to the eighth connecting rod, the tenth connecting rod is connected to the ninth transmission shaft via a twenty-ninth rotation pair, the ninth transmission shaft is connected to the fifteenth connecting plate via a twenty-eighth rotation pair, the fourteenth winding wheel is fixedly connected to one side of the ninth transmission shaft, and the fifteenth winding wheel is fixedly connected to the other side of the ninth transmission shaft; The axes of the twenty-sixth, twenty-seventh, twenty-eighth and thirtieth revolving pairs converge at the center point of the second universal joint.

7. The human-machine interactive humanoid robotic arm according to claim 1, characterized in that: One end of the first pair of driving ropes is fixedly connected to the first winding wheel of the shoulder joint and is wound around the first winding wheel. The first pair of driving ropes are wound in an "8"-shaped winding manner along the spiral groove direction on the second winding wheel of the shoulder joint. The other side of the first pair of driving ropes is fixedly connected to the first tensioning device on the second winding wheel.

8. The human-machine interactive humanoid robotic arm according to claim 7, characterized in that: One end of the second pair of driving ropes is fixedly connected to the third winding wheel of the shoulder joint and wound on the third winding wheel, the second pair of driving ropes are wound in an "8"-shaped winding manner along the spiral groove direction on the fourth winding wheel of the shoulder joint, and the other side of the second pair of driving ropes is fixedly connected to the second tensioning device on the fourth winding wheel; One end of the third pair of driving ropes is fixedly connected to the fifth winding wheel of the shoulder joint and is wound on the fifth winding wheel. The third pair of driving ropes are wound in an "8"-shaped winding manner along the spiral groove direction on the sixth winding wheel of the shoulder joint. The other side of the third pair of driving ropes passes through the rope hole on the sixth winding wheel and is fixedly connected to the fourth tensioning device. The third tensioning device passes through the fourth tensioning device and is connected to the third transmission shaft. The third tensioning device moves forward to tension the third pair of driving ropes. The tensioning method of the first pair of drive ropes and the second pair of drive ropes is the same as the tensioning method of the third pair of drive ropes.

9. The human-machine interactive humanoid robotic arm according to claim 6, characterized in that: One end of the fourth pair of driving ropes is fixedly connected to the ninth winding wheel of the upper arm and wound around the ninth winding wheel. The middle part of the fourth pair of driving ropes passes through the first decoupling pulley group in an "8"-shaped winding manner, and then is respectively wound three times in parallel on the first fixed pulley group, the first movable pulley group, the second fixed pulley group, and the second movable pulley group. The other end is fixedly connected to the eleventh winding wheel and the twelfth winding wheel of the elbow joint and wound around the eleventh winding wheel and the twelfth winding wheel. One end of the fifth pair of driving ropes is fixedly connected to the eighth winding wheel of the upper arm and is wound around the eighth winding wheel. The middle part of the fifth pair of driving ropes passes through the first decoupling pulley group to the fourth decoupling pulley group in sequence in an "8"-shaped winding manner. One of the fifth pair of driving ropes passes through the fifth tensioning device and the sixth tensioning device in sequence. The fifth rotating tensioning device is suitable for driving the sixth tensioning device to approach each other to achieve tensioning. After the fifth pair of driving ropes pass through the first reversing pulley group and the fourth reversing pulley group respectively, they pass through the seventh reversing pulley group and the eighth reversing pulley group in sequence. The other end of the fifth driving rope is fixedly connected to the thirteenth winding wheel and is wound around the thirteenth winding wheel. One end of the sixth pair of driving ropes is fixedly connected to the seventh winding wheel of the upper arm and is wound on the seventh winding wheel, and the middle part of the sixth pair of driving ropes passes through the first decoupling pulley group to the fourth decoupling pulley group in sequence in an "8" winding manner; One of the sixth pair of driving ropes passes through the seventh tensioning device and the eighth tensioning device in sequence, the seventh rotating tensioning device is suitable for driving the eighth tensioning device to approach each other to achieve tensioning, the sixth pair of driving ropes passes through the second reversing pulley group and the sixth reversing pulley group respectively, the other end of the sixth pair of driving ropes passes through the fourth base connecting member and is fixedly connected to the sixteenth winding wheel, and is wound on the sixteenth winding wheel; One end of the seventh pair of driving ropes is fixedly connected to the tenth winding wheel of the upper arm and is wound on the tenth winding wheel, and the middle part of the seventh pair of driving ropes passes through the first decoupling pulley group, the second decoupling pulley group, the third decoupling pulley group and the fourth decoupling pulley group in sequence in an "8" winding manner; One of the seventh pair of drive ropes passes through the ninth tensioning device and the tenth tensioning device in sequence, the ninth rotary tensioning device is suitable for driving the tenth tensioning device to approach each other to achieve tensioning, the seventh pair of drive ropes passes through the third reversing pulley group and the fifth reversing pulley group respectively, the other end of the seventh pair of drive ropes passes through the fourth base connecting piece and is fixedly connected to the fifteenth winding wheel, and is wound around the fifteenth winding wheel.

10. The human-machine interactive humanoid robotic arm according to claim 6, characterized in that: The first pair of restraint ropes form a closed loop to restrain the same joint, and one end of the first pair of restraint ropes is fixedly connected to the fourteenth winding wheel and wound around the fourteenth winding wheel, and the middle part of the first pair of restraint ropes is fixedly connected to the seventeenth winding wheel after passing through the ninth reversing pulley group and wound around the seventeenth winding wheel.

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