Human-robot interactive humanoid robot

Abstract

The application discloses a human-computer interaction type humanoid robot arm and relates to the technical field of humanoid robot arms, which comprises a shoulder joint, a large arm, an elbow joint, a small arm, a wrist joint and a driving rope assembly, the driving rope assembly comprises seven pairs of driving ropes and a pair of constraint ropes of a closed loop driving joint; the shoulder joint is fixedly connected with three pairs of driving ropes connected with output ends of three driving motors and a winding wheel, the winding wheel drives the joint to rotate, four driving motors are installed in the large arm, one end of four pairs of driving ropes is connected with the winding wheels of the output ends of the four driving motors, the other end is connected with the wrist joint and the elbow joint to form a closed loop driving, and the constraint rope is suitable for driving the active connecting rod of the wrist joint to rotate. The robot arm is driven by the closed loop rope and the decoupling pulley set, the clever layout is achieved, complete passive decoupling is realized, the inverse kinematics solution has an analytical solution, the model solution is simple, and accurate control is facilitated; the advantages of small motion inertia and large working space are considered, the stiffness and load capacity of the whole arm are improved, and the robot arm has better dynamic response characteristics.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of humanoid robot arms, in particular to a human-robot interactive humanoid robot arm. BACKGROUND

[0002] The humanoid robot arm can more easily adapt to tools and environments designed for humans by imitating the movement of human arms, enhance interaction capabilities, and achieve natural collaboration with humans, thereby improving production efficiency and work quality.

[0003] Compared with traditional robot arms, humanoid robot arms have better flexibility, adaptability, natural interaction experience, precise control, safety, multi-task collaboration, and other advantages, and can be widely applied in various fields that require close collaboration with humans.

[0004] In recent years, humanoid robot arms have made great progress and breakthroughs in structural design, motion control, human-robot interaction, and application fields, but still face some challenges, including control accuracy, safety, kinematic inverse solution, and design size.

[0005] Chinese invention patent CN115107013A discloses a lightweight and high-integration degree rope-driven humanoid robot arm and industrial robot, which places the main quality components at the back (i.e., near the shoulder joint), greatly reduces the inertia of the robot arm, and improves the safety of operation. The robot arm uses rope driving as the main power transmission method, and the winding method of the rope realizes decoupling between the wrist joint part of the rope and the elbow joint part of the rope. However, the overall structure of the robot arm is relatively complex, only partial decoupling is achieved, and the decoupling is not complete. The kinematic inverse solution of the robot arm has no analytical solution, the mathematical model is complex, and it is not convenient to control. The shoulder joint structure design size is large, making it difficult to expand in the corresponding application field, and the cable of the end effector is not convenient to arrange through the wrist joint.

[0006] Chinese invention patent CN115946149A discloses a rope-driven tension integral joint seven-degree-of-freedom humanoid robot arm, which uses a tension integral joint to replace a rigid joint, and all joint driving motors are fixedly installed on the bottom of the control console, reducing the weight of the joint and greatly reducing the risk of joint wear. The passive rope installation method can withstand part of the impact 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 twelve motor open-loop rope driving is adopted, requiring a high control system and being not convenient to control. The shoulder joint and wrist joint activities are completely dependent on the driving rope and passive rope to constrain the position, with poor rigidity and low motion accuracy, making it difficult to expand in the corresponding application field. The wire tubes of the driving ropes are prone to collision interference during the movement of the robot arm, resulting in a small actual working space of the robot arm.

[0007] According to the comprehensive analysis, the existing rope-driven humanoid collaborative arm mainly has the following problems:

[0008] Firstly, the inverse kinematics has no analytical solution, and the mathematical model is very complex, which makes the development of accurate control algorithm very complex, and the real-time performance is difficult to guarantee;

[0009] Secondly, when the shoulder joint has a large enough workspace, the driver is difficult to be arranged on the base, resulting in large motion inertia, and when the driver of the shoulder joint is arranged on the base, it will result in too small deflection range, and the shoulder joint cannot simultaneously consider small motion inertia and large workspace;

[0010] Thirdly, the rope-driven system is difficult to simultaneously realize high flexibility and good joint decoupling, resulting in increased complexity of control system design and debugging, large overall size design, and difficulty in considering the advantages of compact structure and human-machine cooperation safety;

[0011] Fourthly, the rope will stretch and relax during use, resulting in reduced control accuracy. SUMMARY

[0012] Therefore, in view of the technical problems existing in the prior art, the purpose of the present application is to provide a human-computer interactive humanoid robot arm, which realizes real-time decoupling of the wrist joint driving rope passing through the elbow joint, has a simple kinematic model, is convenient to control, and improves the control accuracy and working efficiency of the robot arm.

[0013] To solve the above problems, the technical scheme of the present application provides a human-computer interactive humanoid robot arm, which comprises:

[0014] A shoulder joint comprising a first drive motor assembly, a first brake assembly, a first base connecting piece 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 on the output end of the first drive motor assembly, and the first winding wheel assembly is adapted to drive the shoulder joint to rotate;

[0015] An upper arm connected to one end of the shoulder joint, the upper 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 is connected to the output end of the second drive motor assembly, and the second winding wheel assembly is installed on the end of the second transmission shaft assembly;

[0016] An elbow joint connected to the 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;

[0017] a forearm connected at one end away from the elbow joint of the upper arm;

[0018] a wrist joint connected at one end away from the elbow joint of the forearm, the wrist joint comprising a second base connector, a first reversing pulley assembly, a second universal joint 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 adapted to drive the elbow joint and the wrist joint to rotate;

[0019] a driving rope assembly comprising 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 pair of constraint ropes of the closed loop driving joint, 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 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 through a pulley block; 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 through a pulley block; 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 through a pulley block, 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 with the wrist joint and the elbow joint, and the first pair of constraint ropes is adapted to drive the active connecting rod of the wrist joint to rotate.

[0020] Preferably, the first driving motor assembly comprises a first driving motor, a second driving motor and a third driving motor;

[0021] The first brake assembly comprises a first brake, a second brake and a third brake;

[0022] The first base connector assembly comprises a first base connector, a second base connector and a third base connector;

[0023] The first universal joint assembly comprises a first universal joint, a first universal joint connecting fork and a second universal joint connecting fork;

[0024] The first winding wheel assembly comprises 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;

[0025] The first transmission shaft assembly comprises a first transmission shaft, a second transmission shaft and a third transmission shaft;

[0026] The first connecting plate assembly comprises a first connecting plate connected to the first base connecting piece, and a second connecting plate, a third connecting plate and a fourth connecting plate respectively fixed to the second base connecting piece;

[0027] The first connecting rod assembly comprises a first connecting rod piece, a second connecting rod piece and a third connecting rod piece;

[0028] The second driving motor and the second brake are respectively connected to the first connecting plate, and the third winding wheel is fixed to the output end of the second driving motor; the third driving motor is connected to the second connecting plate, and the fifth winding wheel is fixed to the output end of the third driving motor;

[0029] The first transmission shaft is connected to the first connecting plate through a second revolute pair, and the first transmission shaft is connected to the second brake,

[0030] The fourth winding wheel is fixedly connected to the first transmission shaft and the first connecting rod piece;

[0031] The first driving motor and the first brake are mounted on the first base connecting piece, and the first winding wheel is fixed to the output end of the first driving motor;

[0032] The first universal joint connecting fork is connected to the first base connecting piece and the first brake through a first revolute pair, and the first universal joint connecting fork is fixedly connected to the second winding wheel; the second universal joint connecting fork is connected to the first universal joint connecting fork through the first universal joint; the second universal joint connecting fork is connected to the first connecting rod piece through a third revolute pair; and the second universal joint connecting fork is fixedly connected to the second connecting rod piece, and the second connecting rod piece is fixedly connected to the second base connecting piece;

[0033] 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 revolute 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 revolute pair;

[0034] The third brake is fixedly connected to the fourth connecting plate;

[0035] The second transmission shaft and the third transmission shaft are respectively and symmetrically mounted on both sides of the third connecting rod piece, and the third connecting rod piece is fixedly connected to the third base connecting piece;

[0036] The axes of the first revolute pair and the second revolute pair are perpendicular, and converge at the geometric center point of the first universal joint, the axes of the fourth revolute pair and the fifth revolute pair coincide and are parallel to the axis of the second revolute pair.

[0037] Preferably, the second driving motor assembly comprises a fourth driving motor, a fifth driving motor, a sixth driving motor and a seventh driving motor;

[0038] The second transmission shaft assembly comprises a fourth transmission shaft, a fifth transmission shaft, a sixth transmission shaft and a seventh transmission shaft;

[0039] The second winding wheel assembly comprises a seventh winding wheel, an eighth winding wheel, a ninth winding wheel and a tenth winding wheel;

[0040] The second connecting plate assembly comprises a fifth connecting plate and a sixth connecting plate, one side of the fifth connecting plate and the sixth connecting plate are fixedly connected to the third base connecting piece of the shoulder joint, and the other side of the fifth connecting plate is fixedly connected to the fourth brake;

[0041] The fourth driving motor and the fifth driving motor are respectively fixedly connected to the outer side of the sixth connecting plate, and the sixth driving motor and the seventh driving motor are respectively fixedly connected to the fifth connecting plate;

[0042] 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, and the fourth transmission shaft is connected to the sixth connecting plate through a sixth revolute pair;

[0043] 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 revolute pair;

[0044] 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 revolute pair;

[0045] 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 revolute pair;

[0046] The axes of the sixth revolute pair and the seventh revolute pair are located in the same horizontal plane, the axes of the eighth revolute pair and the ninth revolute pair are located in the same horizontal plane, and the axes of the sixth revolute pair, the seventh revolute pair, the eighth revolute pair and the ninth revolute pair are parallel to each other.

[0047] Preferably, the third connecting plate assembly comprises 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 forearm;

[0048] The third connecting rod assembly comprises a fourth connecting rod and a fifth connecting rod, the fourth connecting rod and the fifth connecting rod are connected with the seventh connecting plate and the tenth connecting plate through a twelfth revolute pair respectively, and the fourth connecting rod and the fifth connecting rod are connected with the eighth connecting plate and the ninth connecting plate through a fifteenth revolute pair respectively;

[0049] The first pulley assembly comprises a first fixed pulley set, a second fixed pulley set, a first movable pulley set, a second movable pulley set, a first decoupling pulley set, a second decoupling pulley set, a third decoupling pulley set and a fourth decoupling pulley set, the first fixed pulley set, the second fixed pulley set, the first decoupling pulley set, the second decoupling pulley set are connected with the seventh connecting plate and the tenth connecting plate through a tenth revolute pair, a thirteenth revolute pair, an eleventh revolute pair and a twelfth revolute pair respectively;

[0050] The third winding wheel assembly comprises an eleventh winding wheel and a twelfth winding wheel, the first movable pulley set, the second movable pulley set, the third decoupling pulley set and the fourth decoupling pulley set are connected with the eighth connecting plate and the ninth connecting plate through a seventeenth revolute pair, a fourteenth revolute pair, a fifteenth revolute pair and a sixteenth revolute pair respectively, and the eleventh winding wheel and the twelfth winding wheel are fixedly connected with the tenth revolute pair and the thirteenth revolute pair respectively; the axes of the tenth revolute pair, the eleventh revolute pair, the twelfth revolute pair, the thirteenth revolute pair, the fourteenth revolute pair, the fifteenth revolute pair, the sixteenth revolute pair and the seventeenth revolute pair are parallel to each other.

[0051] Preferably, the small arm comprises an eleventh connecting plate, a twelfth connecting plate and a first tensioning assembly, wherein:

[0052] The first tensioning assembly comprises 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;

[0053] The eleventh connecting plate and the twelfth connecting plate are fixedly connected with the ninth connecting plate and the eighth connecting plate of the elbow joint.

[0054] Preferably, the second base connecting member assembly comprises a fourth base connecting member and a fifth base connecting member, the fourth base connecting member is fixedly connected with the eleventh connecting plate and the twelfth connecting plate of the small arm;

[0055] The fourth connecting plate assembly comprises 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 fixedly connected with the fourth base connecting member;

[0056] 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 with the fourth base connecting piece through the eighteenth revolute pair and the nineteenth revolute pair, the second reversing pulley group and the sixth reversing pulley group are connected with the fourth base connecting piece through the twentieth revolute pair and the twenty-first revolute pair, the third reversing pulley group and the fifth reversing pulley group are connected with the fourth base connecting piece through the twenty-second revolute pair and the twenty-third revolute pair, the seventh reversing pulley group is connected with the fourteenth connecting plate through the twenty-fourth revolute pair, the eighth reversing pulley group is connected with the thirteenth connecting plate through the twenty-fifth revolute pair,

[0057] The second universal hinge assembly includes a second universal hinge, a third universal hinge connecting fork and a fourth universal hinge connecting fork;

[0058] The third transmission shaft assembly includes an eighth transmission shaft, a ninth transmission shaft and a tenth transmission shaft, the eighth transmission shaft is connected with the sixteenth connecting plate through the twenty-seventh revolute pair,

[0059] 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 with the fourth base connecting piece,

[0060] 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,

[0061] The thirteenth winding wheel is connected with the other end of the sixth connecting rod through the twenty-sixth revolute pair, the seventh connecting rod is fixedly connected with the thirteenth winding wheel, the third universal hinge connecting fork, the third universal hinge connecting fork is connected with the fourth universal hinge connecting fork through the second universal hinge, and the fourth universal hinge connecting fork is connected with the fifth base connecting piece through the thirty-second revolute pair;

[0062] The sixteenth winding wheel is fixedly connected on one side of the eighth transmission shaft, the eighth connecting rod is fixedly connected on the other side of the eighth transmission shaft, the tenth transmission shaft is connected with the eighth connecting rod through the thirtieth revolute pair, and the seventeenth winding wheel and the ninth connecting rod are fixedly connected with the tenth transmission shaft,

[0063] The ninth connecting rod is fixedly connected with the fifth base connecting piece, and the ninth reversing pulley group is connected with the eighth connecting rod through the thirty-first revolute pair,

[0064] The tenth connecting rod is fixedly connected with the eighth connecting rod, the tenth connecting rod is connected with the ninth transmission shaft through the twenty-ninth rotary pair, the ninth transmission shaft is connected with the fifteenth connecting plate through the twenty-eighth rotary pair, the fourteenth winding wheel is fixedly connected on one side of the ninth transmission shaft, and the fifteenth winding wheel is fixedly connected on the other side of the ninth transmission shaft.

[0065] The axes of the twenty-sixth rotary pair, the twenty-seventh rotary pair, the twenty-eighth rotary pair and the thirtieth rotary pair converge at the center point of the second universal hinge.

[0066] Preferably, one end of the first pair of driving ropes is fixedly connected with a first winding wheel of the shoulder joint and wound on the first winding wheel, the first pair of driving ropes is wound in an “8” shape along the spiral groove direction of a second winding wheel of the shoulder joint, and the other side of the first pair of driving ropes is fixedly connected with a first tensioning device on the second winding wheel.

[0067] Preferably, one end of the second pair of driving ropes is fixedly connected with a third winding wheel of the shoulder joint and wound on the third winding wheel, the second pair of driving ropes is wound in an “8” shape along the spiral groove direction of a fourth winding wheel of the shoulder joint, and the other side of the second pair of driving ropes is fixedly connected with a second tensioning device on the fourth winding wheel.

[0068] One end of the third pair of driving ropes is fixedly connected with a fifth winding wheel of the shoulder joint and wound on the fifth winding wheel, the third pair of driving ropes is wound in an “8” shape along the spiral groove direction of a sixth winding wheel of the shoulder joint, the other side of the third pair of driving ropes is fixedly connected with the fourth tensioning device after passing through a rope passing hole on the sixth winding wheel, the third tensioning device is connected with the third transmission shaft by passing through the fourth tensioning device, and the third tensioning device is moved forward to tension the third pair of driving ropes.

[0069] The tensioning mode of the first pair of driving ropes and the second pair of driving ropes is the same as that of the third pair of driving ropes.

[0070] Preferably, one end of the fourth pair of driving ropes is fixedly connected with a ninth winding wheel of the forearm and wound on the ninth winding wheel, the middle part of the fourth pair of driving ropes passes through the first decoupling pulley set in an “8” shape, then passes through the first fixed pulley set, the first movable pulley set, the second fixed pulley set and the second movable pulley set three times in parallel, and the other end is fixedly connected with eleventh and twelfth winding wheels of the elbow joint and wound on the eleventh and twelfth winding wheels.

[0071] One end of the fifth pair of driving ropes is fixedly connected with the eighth winding wheel of the big arm and wound on the eighth winding wheel, the middle part of the fifth pair of driving ropes passes through the first decoupling pulley set to the fourth decoupling pulley set in an ''8''-shaped way, one of the fifth pair of driving ropes passes through the fifth tensioning device and the sixth tensioning device in sequence, the fifth tensioning device is suitable for driving the sixth tensioning device to move close to each other to realize tensioning, the fifth pair of driving ropes passes through the first reversing pulley set and the fourth reversing pulley set in sequence, and then passes through the seventh reversing pulley set and the eighth reversing pulley set in sequence, and the other end of the fifth pair of driving ropes is fixedly connected with the thirteenth winding wheel and wound on the thirteenth winding wheel.

[0072] One end of the sixth pair of driving ropes is fixedly connected with the seventh winding wheel of the big 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 set to the fourth decoupling pulley set in an ''8''-shaped way.

[0073] One of the sixth pair of driving ropes passes through the seventh tensioning device and the eighth tensioning device in sequence, the seventh tensioning device is suitable for driving the eighth tensioning device to move close to each other to realize tensioning, the sixth pair of driving ropes passes through the second reversing pulley set and the sixth reversing pulley set in sequence, and the other end of the sixth pair of driving ropes is fixedly connected with the sixteenth winding wheel after passing through the fourth base connecting piece and wound on the sixteenth winding wheel.

[0074] One end of the seventh pair of driving ropes is fixedly connected with the tenth winding wheel of the big arm and wound on the tenth winding wheel, and the middle part of the seventh pair of driving ropes passes through the first decoupling pulley set to the fourth decoupling pulley set in an ''8''-shaped way.

[0075] One of the seventh pair of driving ropes passes through the ninth tensioning device and the tenth tensioning device in sequence, the ninth tensioning device is suitable for driving the tenth tensioning device to move close to each other to realize tensioning, the seventh pair of driving ropes passes through the third reversing pulley set and the fifth reversing pulley set in sequence, and the other end of the seventh pair of driving ropes is fixedly connected with the fifteenth winding wheel after passing through the fourth base connecting piece and wound on the fifteenth winding wheel.

[0076] Preferably, the first pair of constraint ropes constitute a closed loop to constrain the same joint, and one end of the first pair of constraint ropes is fixedly connected with the fourteenth winding wheel and wound on the fourteenth winding wheel, and the middle part of the first pair of constraint ropes is fixedly connected with the seventeenth winding wheel after passing through the ninth reversing pulley set and wound on the seventeenth winding wheel.

[0077] Compared with the prior art, the present application has the following beneficial effects:

[0078] 1、The human-robot interaction type humanoid robotic arm in the application is composed of a shoulder joint, an upper arm, an elbow joint, a lower arm and a wrist joint. Through the structural design of the elbow joint, especially the cooperation of the first pulley assembly and the third winding wheel assembly, the power can be effectively converted into flexible movement of the lower arm, the operation flexibility and adaptability of the robotic arm are increased, the robotic arm can better adapt to objects or working scenes of different shapes, positions and postures, and the working capacity and efficiency of the robotic arm in a complex environment are improved; the connecting structure of the lower arm and the elbow joint can bear various forces and moments generated in the movement process. This stable connecting mode ensures the structural reliability of the lower arm in the movement process, avoids movement errors or failures caused by loose or deformed connection. At the same time, the stable movement of the lower arm also helps to improve the structural stability of the whole robotic arm, so that the robotic arm can maintain good performance in high-speed or high-load operation, prolong the service life of the robotic arm, and ensure the safety and stability of the human-robot interaction process; the flexible movement ability of the wrist joint further expands the operation range of the robotic arm. The flexible movement of the wrist joint can make the robotic arm better cover each operation point and complete the operation that is originally difficult to realize. The cooperative work of multiple pairs of driving ropes can realize the composite movement of the wrist joint and the elbow joint in multiple directions and dimensions, so that the robotic arm can realize complex movement trajectories and operation actions.

[0079] 2、The inverse kinematics of the humanoid arm has an analytical solution, which can avoid the long iteration time of numerical method in kinematics calculation, and is more beneficial to engineering application; the driving ropes of the elbow joint and the driving ropes of the wrist joint are decoupled in real time, the mathematical model is simple, and the real-time control is better; the new type of rope-driven mixed connection shoulder joint has two driving motors located on the base, compared with the existing shoulder joint, it has smaller movement inertia and larger working space; compared with the existing humanoid arm robot, the humanoid arm robot of the application has a larger joint rotation range 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 precision of the robotic arm is higher; a brake is arranged at the key joint, and the human-robot interaction safety performance is better. BRIEF DESCRIPTION OF DRAWINGS

[0080] Figure 1 It is a whole structure schematic diagram of the human-robot interaction type humanoid robotic arm in the embodiment of the application;

[0081] Figure 2 It is a first view angle and a first pair of driving rope wiring structure schematic diagram of the shoulder joint in the embodiment of the application;

[0082] Figure 3 It is a second view angle and a second pair of driving rope and a third pair of driving rope wiring schematic diagram of the shoulder joint in the embodiment of the application;

[0083] Figure 4 Figure 3 is a schematic diagram of a wire winding wheel tensioning structure for a shoulder joint in an embodiment of the present application;

[0084] Figure 5 Figure 4 is a schematic diagram of a first perspective view structure for a forearm in an embodiment of the present application;

[0085] Figure 6 Figure 5 is a schematic diagram of a second perspective view structure for a forearm in an embodiment of the present application;

[0086] Figure 7 Figure 6 is a schematic diagram of a first perspective view structure for an elbow joint in an embodiment of the present application;

[0087] Figure 8 Figure 7 is a schematic diagram of a second perspective view structure for an elbow joint in an embodiment of the present application;

[0088] Figure 9 Figure 8 is a schematic diagram of a forearm structure in an embodiment of the present application;

[0089] Figure 10 Figure 9 is a schematic diagram of a first perspective view and fifth, sixth, and seventh pairs of drive ropes and first pair of constraint ropes routing structure for a wrist joint in an embodiment of the present application;

[0090] Figure 11 Figure 10 is a schematic diagram of a second perspective view and fifth, sixth, and seventh pairs of drive ropes and first pair of constraint ropes routing structure for a wrist joint in an embodiment of the present application;

[0091] Figure 12 Figure 11 is a schematic diagram of a fourth pair of drive ropes routing structure in an embodiment of the present application;

[0092] Figure 13 Figure 12 is a schematic diagram of a fifth pair of drive ropes routing structure in an embodiment of the present application;

[0093] Figure 14 Figure 13 is a schematic diagram of a sixth pair of drive ropes routing structure in an embodiment of the present application;

[0094] Figure 15 Figure 14 is a schematic diagram of a seventh pair of drive ropes routing structure in an embodiment of the present application.

[0095] BRIEF DESCRIPTION OF THE DRAWINGS:

[0096] 1 - shoulder joint; 2 - forearm; 3 - elbow joint; 4 - wrist joint;

[0097] 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;

[0098] J1 - first base connection; J2 - second base connection; J3 - third base connection; J4 - fourth base connection; J5 - fifth base connection;

[0099] 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;

[0100] 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;

[0101] W1 - first universal joint; W2 - second universal joint;

[0102] U1 - first universal joint connecting fork; U2 - second universal joint connecting fork; U3 - third universal joint connecting fork; U4 - fourth universal joint connecting fork;

[0103] Z1 - first brake; Z2 - second brake; Z3 - third brake; Z4 - fourth brake;

[0104] 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;

[0105] 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;

[0106] 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;

[0107] H1 - first fixed pulley set; H2 - second fixed pulley set; H3 - first movable pulley set; H4 - second movable pulley set;

[0108] H5 - first decoupling pulley set; H6 - second decoupling pulley set; H7 - third decoupling pulley set; H8 - fourth decoupling pulley set;

[0109] H9 - first reversing pulley set; H10 - second reversing pulley set; H11 - third reversing pulley set; H12 - fourth reversing pulley set; H13 - fifth reversing pulley set; H14 - sixth reversing pulley set; H15 - seventh reversing pulley set; H16 - eighth reversing pulley set; H17 - ninth reversing pulley set;

[0110] R1 - first revolute pair; R2 - second revolute pair; R3 - third revolute pair; R4 - fourth revolute pair; R5 - fifth revolute pair; R6 - sixth revolute pair; R7 - seventh revolute pair; R8 - eighth revolute pair; R9 - ninth revolute pair; R10 - tenth revolute pair; R11 - eleventh revolute pair; R12 - twelfth revolute pair; R13 - thirteenth revolute pair; R14 - fourteenth revolute pair; R15 - fifteenth revolute pair; R16 - sixteenth revolute pair; R17 - seventeenth revolute pair; R18 - eighteenth revolute pair; R19 - nineteenth revolute pair; R20 - twentieth revolute pair; R21 - twenty-first revolute pair; R22 - twenty-second revolute pair; R23 - twenty-third revolute pair; R24 - twenty-fourth revolute pair; R25 - twenty-fifth revolute pair; R26 - twenty-sixth revolute pair; R27 - twenty-seventh revolute pair; R28 - twenty-eighth revolute pair; R29 - twenty-ninth revolute pair; R30 - thirtieth revolute pair; R31 - thirty-first revolute pair; R32 - thirty-second revolute pair;

[0111] S1 - first pair of drive ropes; S2 - second pair of drive ropes; S3 - third pair of drive ropes; S4 - fourth pair of drive ropes; S5 - fifth pair of drive ropes; S6 - sixth pair of drive ropes; S7 - seventh pair of drive ropes; S8 - first pair of constraint ropes. DETAILED DESCRIPTION

[0112] The technical solutions of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0113] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through intermediate medium, or internal connection of two elements, or wireless connection, or wired connection. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0114] In addition, the technical features involved in the different embodiments of the application described below can be combined with each other as long as there is no conflict.

[0115] Please refer to Figures 1-15 As shown in the drawings, the embodiment of the present application provides a human-computer interactive humanoid robot arm, which comprises a shoulder joint 1, an upper arm 2, an elbow joint 3, a lower arm 4 and a wrist joint 5, wherein:

[0116] The shoulder joint 1 comprises a first driving motor assembly, a first brake assembly, a first base connecting piece 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 on the output end of the first driving motor assembly, and the first winding wheel assembly is adapted to drive the shoulder joint 1 to rotate. In this way, when the first driving motor assembly is started, the 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 connecting piece assembly and the first universal hinge assembly are responsible for fixation and flexibility, while the first transmission shaft assembly, the first connecting plate assembly and the first connecting rod assembly are internal connecting components responsible for power transmission and movement.

[0117] The upper arm 2 is connected to one end of the shoulder joint 1, and the upper arm 2 comprises a second driving motor assembly, a fourth brake Z4, a second transmission shaft assembly, a second winding wheel assembly and a second connecting plate assembly. The second transmission shaft assembly is connected to the output end of the second driving motor assembly, the second winding wheel assembly is installed on the end of the second transmission shaft assembly, and the second winding wheel assembly is adapted to drive the elbow joint 3 and the wrist joint 5 to rotate.

[0118] 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 comprises 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, and the third connecting plate assembly also provides a mounting and support base 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.

[0119] 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 changes the direction and transmission path of the force, enabling the power to be transmitted in a predetermined manner; the third winding wheel assembly converts the power into rotational motion 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 actions, realizing the change in the angle of the elbow joint 3 to adapt to different operating postures and action requirements; the third connecting rod assembly plays a connecting and supporting role in the movement process, connecting the internal components of the elbow joint 3 and the connecting 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 movement, preventing parts from loosening or being damaged due to stress generated during movement.

[0120] The forearm 4 is connected to the end of the elbow joint 3 away from the upper arm 2, and the forearm 4 is connected to the end of the elbow joint 3 away from the upper arm 2 through a specific connecting structure, forming a relatively independent and relatively movable structural unit together with the upper arm 2 and the elbow joint 3 to form the upper structure of the mechanical arm.

[0121] The wrist joint 5 is connected to the end of the forearm 4 away from the elbow joint 3, and the wrist joint 5 includes a second base connecting piece, 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 connecting piece, establishing a stable connection between the wrist joint 5 and the forearm 4 to provide a support basis for the movement of the wrist joint 5 and ensure that the wrist joint 5 can work normally as a relatively independent movement 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 motion of the wrist joint 5 through the winding and release of the rope. At the same time, the first reversing pulley assembly changes the transmission direction of the power as needed, enabling the wrist joint 5 to realize multi-directional movement, such as flexion and extension, rotation, etc.; the second universal hinge assembly plays a key role in the movement of the wrist joint 5, allowing the wrist joint 5 to rotate flexibly in multiple axial directions, further enhancing the movement flexibility and freedom of the wrist joint 5, enabling the wrist joint 5 to realize complex movements similar to a human wrist, such as left and right swinging, up and down bending, and rotating, etc.; the fourth connecting plate assembly and the fourth connecting rod assembly play a connecting and supporting role inside the wrist joint 5, tightly connecting the various components of the wrist joint 5 together to form a stable structural framework, ensuring the relative positions and coordinated movement between the components.

[0122] 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 constraint ropes S8 of the closed-loop driving 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 eleventh winding wheel L11 and the twelfth winding wheel L12; one end of the fifth pair of driving ropes S5 is sleeved on the eighth winding wheel L8, and the other end is sleeved on the thirteenth winding wheel L13 through a pulley block; one end of the sixth pair of driving ropes S6 is sleeved on the seventh winding wheel L7, and the other end is sleeved on the sixteenth winding wheel L16 through a pulley block; one end of the seventh pair of driving ropes S7 is sleeved on the tenth winding wheel L10, and the other end is sleeved on the fifteenth winding wheel L15 through a pulley block, and the fourth pair of driving ropes S4, the fifth pair of driving ropes S5, the sixth pair of driving ropes S6, and the seventh pair of driving ropes S7 are connected with the wrist joint 5 and the elbow joint 3, and the first pair of constraint ropes S8 is suitable for driving the active link of the wrist joint 5 to rotate.

[0123] When the driving motor is started, the corresponding winding wheel assembly is driven to rotate, so as to wind and unwind the driving ropes. For example, when the first winding wheel assembly rotates, the length of the first pair of driving ropes S1 changes, and since it is connected with the wrist joint or the elbow joint, this length change is transmitted through the tension of the rope to drive the wrist joint or the elbow joint to perform corresponding rotating or swinging actions.

[0124] Similarly, the other winding wheel assemblies and the corresponding driving ropes also work cooperatively, and according to different movement requirements, the winding and unwinding of each pair of driving ropes are matched to realize the movement combination of the wrist joint and the elbow joint in different directions and angles, and to complete complex operation actions.

[0125] The first pair of constraint ropes S8 is connected to the active link of the wrist joint 5, and its main function is to drive the active link of the wrist joint 5 to rotate. During the movement of the wrist joint 5, when a specific rotating operation of the active link is required to realize a certain specific posture or action of the wrist joint 5, the first pair of constraint ropes S8 will perform corresponding winding and unwinding actions according to the control instructions, and drive the active link to rotate through the traction force of the rope, so as to realize accurate control and constraint of the movement of the wrist joint 5, ensure that the wrist joint 5 can move according to the predetermined trajectory and manner, and meet the specific operation requirements.

[0126] Thus, through the structural design of the elbow joint 3, especially the cooperation 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 makes the mechanical arm more flexible and adaptable when performing various tasks such as grabbing, carrying, operating tools, etc. The forearm can bend, stretch, and other actions according to actual needs, increasing the operation flexibility and adaptability of the mechanical arm, making it better adapt to objects or working scenes of different shapes, positions, and postures, improving the working ability and efficiency of the mechanical arm in complex environments. The connection structure of the forearm 4 and the elbow joint 3 can withstand various forces and moments generated during movement, such as gravity, inertia force, driving force, etc. This stable connection method ensures the structural reliability of the forearm 4 during movement, avoiding movement 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 mechanical arm, so that it can maintain good performance during high-speed or high-load operation, prolong the service life of the mechanical arm, and ensure the safety and stability of human-machine interaction. The flexible movement ability of the wrist joint 5 further expands the operation range of the mechanical arm. In some tasks that require a larger operating space or complex operating posture, such as full-range operation on large objects, equipment maintenance in narrow spaces, complex surgical operations, etc., the flexible movement of the wrist joint 5 can make the mechanical arm better cover each operation point and complete operations that were originally difficult to achieve. The coordinated work of multiple pairs of driving ropes can realize the composite movement of the wrist joint 5 and the elbow joint in multiple directions and dimensions, so that the mechanical arm can realize complex movement trajectories and operation actions. For example, in tasks such as three-dimensional curve movement, multi-point operation, or continuous action sequences, the driving rope assembly can accurately coordinate the movement of each joint according to the control instructions, making the mechanical arm smoothly complete the task, widening the application range and function of the mechanical arm, and making it better adapt to various complex working environments and task requirements.

[0127] In particular, please refer to Figure 2As shown, the first driving motor assembly includes a first driving motor a, a second driving motor b and a third driving motor c, the first base connecting piece assembly includes a first base connecting piece J1, a second base connecting piece J2 and a third base connecting piece J3, the first driving motor a, the second driving motor b and the third driving motor c in the first driving motor assembly are respectively used as power sources to provide power for different parts of the whole mechanical arm. Among them, the second driving motor b and the third driving motor c are respectively connected to the first connecting plate F1 and the second connecting plate F2, and the first driving motor a is installed on the first base connecting piece J1. The first brake Z1, the second brake Z2 and the third brake Z3 in the first brake assembly are respectively connected with the corresponding parts, in standby state, ready to brake the movement of the mechanical arm when needed. The second brake Z2 is connected with the first transmission shaft O1, the first brake Z1 is connected with the first universal hinge connecting fork U1, and the third brake Z3 is fixedly connected to the fourth connecting plate F4.

[0128] 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;

[0129] 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;

[0130] The first transmission shaft assembly includes a first transmission shaft O1, a second transmission shaft O2 and a third transmission shaft O3;

[0131] The first connecting plate assembly includes a first connecting plate F1 connected to the first base connecting piece 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 piece J2;

[0132] The first connecting rod assembly includes a first connecting rod G1, a second connecting rod G2 and a third connecting rod G3;

[0133] The second driving 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 driving motor b;

[0134] 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;

[0135] The first transmission shaft O1 is connected to the first connecting plate F1 through the second rotary 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;

[0136] The first driving motor a and the first brake Z1 are both mounted on the first base connecting piece J1, and the first winding wheel L1 is fixedly connected to the output end of the first driving motor a;

[0137] The first universal hinge connecting fork U1 is connected to the first base connecting piece J1 and the first brake Z1 through the first rotary pair R1, and the first universal hinge connecting fork U1 is fixedly connected to the second winding wheel L2;

[0138] The second universal hinge connecting fork U2 is connected to the first universal hinge connecting fork U1 through the first universal hinge W1, and is connected to the first connecting rod piece G1 through the third rotary pair R3. The second universal hinge connecting fork U2 is fixedly connected to the second connecting rod piece G2, and the second connecting rod piece G2 is fixedly connected to the second base connecting piece J2;

[0139] 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 rotary 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 rotary pair R4;

[0140] The third brake Z3 is fixedly connected to the fourth connecting plate F4;

[0141] The second transmission shaft O2 and the third transmission shaft O3 are respectively and symmetrically mounted on the two sides of the third connecting rod piece G3, and the third connecting rod piece G3 is fixedly connected to the third base connecting piece J3. When the second transmission shaft O2 rotates, the fourth connecting plate F4 is driven to move through the fifth rotary pair R5, and the third brake Z3 can control the movement of the fourth connecting plate F4. When the third transmission shaft O3 rotates, the third connecting plate F3 is driven to move through the fourth rotary pair R4.

[0142] The axes of the first rotary pair R1 and the second rotary pair R2 are perpendicular to each other and converge at the geometric center point of the first universal hinge W1. The axes of the fourth rotary pair R4 and the fifth rotary pair R5 coincide with each other and are parallel to the axis of the second rotary pair R2. This special structure design enables the various components to move in multiple axial directions and achieve complex movement trajectories and attitude adjustments.

[0143] Specifically, as shown in Figure 1 、 2 , 3, 5, the second driving motor assembly includes a fourth driving motor d, a fifth driving motor e, a sixth driving motor f, and a seventh driving motor g;

[0144] 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;

[0145] The second winding wheel assembly comprises a seventh winding wheel L7, an eighth winding wheel L8, a ninth winding wheel L9 and a tenth winding wheel L10;

[0146] The second connecting plate assembly comprises 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 fixedly connected to the third base connecting piece J3 of the shoulder joint 1, and the other side of the fifth connecting plate F5 is fixedly connected to the fourth brake Z4;

[0147] The fourth driving motor d and the fifth driving motor e are respectively fixedly connected to the outer side of the sixth connecting plate F6, and the sixth driving motor f and the seventh driving motor g are respectively fixedly connected to the fifth connecting plate F5;

[0148] 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, and the fourth transmission shaft O4 is connected to the sixth connecting plate F6 through the sixth rotary pair R6;

[0149] 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 rotary pair R7;

[0150] 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 rotary pair R8;

[0151] 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 rotary pair R9;

[0152] The axes of the sixth rotary pair R6 and the seventh rotary pair R7 are located in the same horizontal plane, the axes of the eighth rotary pair R8 and the ninth rotary pair R9 are located in the same horizontal plane, and the axes of the sixth rotary pair R6, the seventh rotary pair R7, the eighth rotary pair R8 and the ninth rotary pair R9 are parallel to each other.

[0153] Specifically in this embodiment, the fourth driving motor d, the fifth driving motor e, the sixth driving motor f and the seventh driving motor g in the second driving motor assembly respectively serve as power sources to provide power for different parts of the mechanical arm. The fourth driving motor d and the fifth driving motor e are fixedly connected to the outer side of the sixth connecting plate F6, and the sixth driving motor f and the seventh driving motor g are fixedly connected to the fifth connecting plate F5.

[0154] The fourth drive shaft O4 is fixedly connected to the output end of the sixth drive motor f, and passes through the fourth brake Z4 to be fixedly connected to the ninth winding wheel L9. It is also connected to the sixth connecting plate F6 via the sixth rotating joint R6. When the sixth drive motor f starts, it drives the fourth drive shaft O4 to rotate, which in turn drives the ninth winding wheel L9 to rotate. Power is transmitted through the connected drive rope, achieving the corresponding movement. These drive motors are connected to their respective drive shafts through their output ends, transmitting power to the drive shafts, which then drive the winding wheels to rotate, thus achieving further transmission and distribution of power.

[0155] Through the coordinated operation of multiple drive motors and transmission shafts, power can be quickly and efficiently transmitted to each winding wheel, thereby driving the movement of different parts of the robotic arm. This power transmission method reduces energy loss, improves power transmission efficiency, and ensures that the robotic arm receives sufficient power support when performing tasks, thus improving work efficiency.

[0156] Specifically, please refer to Figure 5 , 7 As 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 seventh connecting plate F7 and the tenth connecting plate...

[0157] The third winding wheel assembly includes an eleventh winding wheel L11 and a 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 fixed 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 the subsequent components.

[0158] 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 connected to the seventh connecting plate F7 and the tenth connecting plate F10 respectively through the twelfth revolute joint R12. The fourth connecting rod G4 and the fifth connecting rod G5 are connected to the eighth connecting plate F8 and the ninth connecting plate F9 respectively through the fifteenth revolute joint R15, so as to construct a complex connecting rod system for transmitting motion and force.

[0159] The first pulley assembly comprises a first fixed pulley set H1, a second fixed pulley set H2, a first movable pulley set H3, a second movable pulley set H4, a first decoupling pulley set H5, and a fourth decoupling pulley set H8. The first fixed pulley set H1, the second fixed pulley set H2, the first decoupling pulley set H5, and the second decoupling pulley set H6 are connected to the seventh connecting plate F7 and the tenth connecting plate F10 through the tenth revolute pair R10, the thirteenth revolute pair R13, the eleventh revolute pair R11, and the twelfth revolute pair R12, respectively. The movable pulley sets and the decoupling pulley sets cooperate with the fixed pulley sets to complete complex motion and force transmission and conversion. These fixed pulley sets and decoupling pulley sets change the direction of force and achieve force decoupling in the system.

[0160] The seventeenth revolute pair R17, the fourteenth revolute pair R14, the fifteenth revolute pair R15, and the sixteenth revolute pair R16 are connected to the eighth connecting plate F8 and the ninth connecting plate F9. The eleventh winding wheel L11 and the twelfth winding wheel L12 are fixedly connected to the tenth revolute pair R10 and the thirteenth revolute pair R13, respectively. In this way, the accurate transmission of power can be ensured by fixing the eleventh winding wheel L11 and the twelfth winding wheel L12 to the tenth revolute pair R10 and the thirteenth revolute pair R13. The axes of the revolute pairs are parallel to each other, making the motion transmission more stable, reducing motion errors, and improving the motion accuracy of the robotic arm. The structural design of the connecting plates and the revolute pairs makes the robotic arm more stable during motion, reduces vibration and shaking, and improves the reliability of operation.

[0161] The axes of the tenth revolute pair R10, the eleventh revolute pair R11, the twelfth revolute pair R12, the thirteenth revolute pair R13, the fourteenth revolute pair R14, the fifteenth revolute pair R15, the sixteenth revolute pair R16, and the seventeenth revolute pair R17 are parallel to each other. When the driving devices (such as motors, winding wheels, etc.) in the system are started, power is transmitted to the corresponding components through each revolute pair. Because the axes of these revolute pairs are parallel to each other, each component can maintain coordinated and consistent action during motion. The pulley sets and winding wheel assemblies rotate under the constraint of the revolute pairs, transmit power through the driving ropes, and drive each joint of the robotic arm to move. Due to the parallelism of the axes of the revolute pairs, the motion of the pulley sets and winding wheel assemblies is more stable, reducing motion interference and force loss caused by non-parallel axes.

[0162] Specifically, referring to FIGS. 11 and 12, Figure 1 、 9 as shown, the forearm 4 comprises an eleventh connecting plate F11, a twelfth connecting plate F12, and a first tensioning assembly, wherein:

[0163] The first tensioning assembly comprises 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.

[0164] The eleventh connecting plate F11 and the twelfth connecting plate F12 are fixedly connected with the ninth connecting plate F9 and the eighth connecting plate F8 of the elbow joint 3.

[0165] Specifically, as shown in Figure 9 , 10 The second base connecting piece assembly includes the fourth base connecting piece J4 and the fifth base connecting piece J5, the fourth base connecting piece J4 is fixedly connected with the eleventh connecting plate F11 and the twelfth connecting plate F12 of the forearm 4;

[0166] The fourth connecting plate assembly includes the thirteenth connecting plate F13, the fourteenth connecting plate F14, the fifteenth connecting plate F15 and the sixteenth connecting plate F16, the thirteenth connecting plate F13, the fourteenth connecting plate F14, the fifteenth connecting plate F15 and the sixteenth connecting plate F16 are fixedly connected with the fourth base connecting piece J4;

[0167] The first reversing pulley assembly includes the first reversing pulley group H9, the second reversing pulley group H10, the third reversing pulley group H11, the fourth reversing pulley group H12, the fifth reversing pulley group H13, the sixth reversing pulley group H14, the seventh reversing pulley group H15, the eighth reversing pulley group H16 and the ninth reversing pulley group H17, the first reversing pulley group H9 and the fourth reversing pulley group H12 are connected with the fourth base connecting piece J4 through the eighteenth revolute pair R18 and the nineteenth revolute pair R19, the second reversing pulley group H10 and the sixth reversing pulley group H14 are connected with the fourth base connecting piece J4 through the twentieth revolute pair R20 and the twenty-first revolute pair R21, the third reversing pulley group H11 and the fifth reversing pulley group H13 are connected with the fourth base connecting piece J4 through the twenty-second revolute pair R22 and the twenty-third revolute pair R23; the seventh reversing pulley group H15 is connected with the fourteenth connecting plate F14 through the twenty-fourth revolute pair R24, and the eighth reversing pulley group H16 is connected with the thirteenth connecting plate F13 through the twenty-fifth revolute pair R25;

[0168] The second universal hinge assembly includes the second universal hinge W2, the third universal hinge connecting fork U3 and the fourth universal hinge connecting fork U4;

[0169] The third transmission shaft assembly includes the eighth transmission shaft O8, the eighth transmission shaft O8 and the tenth transmission shaft 10; the eighth transmission shaft O8 is connected with the sixteenth connecting plate F16 through the twenty-seventh revolute pair R27;

[0170] The fourth connecting rod assembly includes the sixth connecting rod piece G6, the seventh connecting rod piece G7, the eighth connecting rod piece G8, the ninth connecting rod piece G9 and the tenth connecting rod piece G10; one end of the sixth connecting rod piece G6 is fixedly connected with the fourth base connecting piece J4;

[0171] The fourth winding wheel assembly comprises 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.

[0172] The thirteenth winding wheel L13 is connected with the other end of the sixth connecting rod member G6 through a twenty-sixth rotary pair R26, the seventh connecting rod member G7 is fixedly connected with the thirteenth winding wheel L13 and the third universal hinge connecting fork U3 respectively, the third universal hinge connecting fork U3 is connected with the fourth universal hinge connecting fork U4 through the second universal hinge W2, and the fourth universal hinge connecting fork U4 is connected with the fifth base connecting member J5 through a thirty-second rotary pair R32.

[0173] The sixteenth winding wheel L16 is fixedly connected on one side of the eighth transmission shaft O8, the eighth connecting rod member G8 is fixedly connected on the other side of the eighth transmission shaft O8, the tenth transmission shaft O10 is connected with the eighth connecting rod member G8 through a thirtieth rotary pair R30, the seventeenth winding wheel L17 and the ninth connecting rod member G9 are fixedly connected with the tenth transmission shaft O10,

[0174] The ninth connecting rod member G9 is fixedly connected with the fifth base connecting member J5, and the ninth reversing pulley set H17 is connected with the eighth connecting rod member G8 through a thirty-first rotary pair R31.

[0175] The tenth connecting rod member G10 is fixedly connected with the eighth connecting rod member G8, the tenth connecting rod member G10 is connected with the ninth transmission shaft O9 through a twenty-ninth rotary pair R29, the ninth transmission shaft O9 is connected with the fifteenth connecting plate F15 through a twenty-eighth rotary pair R28, the fourteenth winding wheel L14 is fixedly connected on one side of the ninth transmission shaft O9, and the fifteenth winding wheel L15 is fixedly connected on the other side of the ninth transmission shaft O9.

[0176] The axes of the twenty-sixth rotary pair R26, the twenty-seventh rotary pair R27, the twenty-eighth rotary pair R28 and the thirtieth rotary pair R30 converge at the center point of the second universal hinge W2.

[0177] Specifically, please refer to Figure 2 As shown in the figure, one end of the first pair of driving ropes S1 is fixedly connected with the first winding wheel L1 of the shoulder joint 1 and is wound on the first winding wheel L1, the first pair of driving ropes S1 is wound in an "8" shape along the direction of the helical groove on the second winding wheel L2 of the shoulder joint 1, and the other side of the first pair of driving ropes S1 is fixedly connected with the first tensioning device P1 on the second winding wheel L2.

[0178] Specifically, please refer to Figure 3As shown, one end of the second pair of drive ropes S2 is fixed to the third winding wheel L3 of the shoulder joint 1 and wound around the third winding wheel L3. The second pair of drive ropes S2 is wound in an "8" shape along the fourth winding wheel L4 of the shoulder joint 1, and the other end of the second pair of drive ropes S2 is fixed to the second tensioning device P2 on the fourth winding wheel L4.

[0179] Specifically, please refer to Figure 4 As shown, one end of the third pair of drive ropes S3 is fixed to the fifth winding wheel L5 of the shoulder joint 1 and wound around the fifth winding wheel L5. The third pair of drive ropes S3 is wound in an "8" shape along the sixth winding wheel L6 of the shoulder joint 1, and the other end of the third pair of drive ropes S3 passes through the rope passing hole of the sixth winding wheel L6 and is fixed to the fourth tensioning device P4. The third tensioning device P3 is connected to the third transmission shaft O3 through the fourth tensioning device P4, and the third tensioning device P3 moves forward to tighten the third pair of drive ropes S3.

[0180] The tensioning method of the first pair of drive ropes S1 and the second pair of drive ropes S2 is the same as that of the third pair of drive ropes S3.

[0181] Specifically, please refer to Figure 12 As shown, one end of the fourth pair of drive ropes S4 is fixed to the ninth winding wheel L9 of the forearm 2 and wound around the ninth winding wheel L9. The middle part of the fourth pair of drive ropes S4 passes through the first decoupling pulley group H5 in an "8" shape, then passes through 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 three times in parallel, and the other end is fixed 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.

[0182] When the ninth winding wheel L9 of the forearm 2 rotates, the drive ropes 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" shape of the first decoupling pulley group H5 can achieve force decoupling, so that the movements of the forearm 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 ropes, making the movement of the elbow joint 3 more stable and accurate. Through multiple windings and the design of pulley groups, force balance and transmission can be achieved, making the movement of the entire system more stable. The "8" shape of the first decoupling pulley group H5 can effectively disperse the action point of the force, reducing the wear and fatigue of the ropes.

[0183] Specifically, please refer to Figure 11 , 13As shown, one end of the fifth pair of drive ropes S5 is fixedly connected to the eighth winding wheel L8 of the boom 2 and wound around the eighth winding wheel L8. The middle part of the fifth pair of drive 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 a figure-eight manner. One of the fifth pair of drive ropes S5 passes through the fifth tensioning device P5 and the sixth tensioning device P6 in sequence. The fifth tensioning device P5 is adapted to drive the sixth tensioning device P6 to move closer to each other to achieve tension. The fifth pair of drive ropes S5 passes through the first reversing pulley group H9 and the fourth reversing pulley group H12 respectively, and then passes through the seventh reversing pulley group H15 and the eighth reversing pulley group H16 in sequence. The other end of the fifth pair of drive ropes S5 is fixedly connected to the thirteenth winding wheel L13 and wound around the thirteenth winding wheel L13.

[0184] Therefore, through multiple decoupled pulley systems (H5, H6, H7, H8), the force transmission of the fifth pair of drive ropes S5 can be more uniform and stable. The decoupled pulley systems reduce mutual interference between different parts, ensuring that the movement of each part is independent and coordinated. The proximity of the fifth tensioning device P5 and the sixth tensioning device P6 effectively adjusts the tension of the fifth pair of drive ropes S5, keeping them in optimal condition during force transmission and reducing motion errors or damage caused by insufficient or excessive tension.

[0185] The direction of motion of the drive rope S5 can be changed multiple times through multiple reversing pulley blocks (H9, H12, H15, H16), thus achieving complex motion paths. This allows the entire system to adapt to different motion requirements, improving its flexibility and adaptability. Through the coordinated operation of multiple pulley blocks and tensioning devices, the entire system achieves efficient force transmission and precise directional control. This design is not only compact but also improves the system's reliability and stability, reducing maintenance costs and failure rates.

[0186] Specifically, please refer to 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 boom 2 and 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 and the fourth decoupling pulley group H8 in a figure-eight manner.

[0187] When the seventh winding wheel L7 rotates, one end of the sixth pair of drive ropes S6 will be wound or released, thereby generating a pulling force or releasing the pulling force. The middle part of the sixth pair of drive ropes S6 passes through the first decoupling pulley set H5, the second decoupling pulley set H6, the third decoupling pulley set H7, and the fourth decoupling pulley set H8 in an "8" shape. This "8" shape ensures that the sixth pair of drive ropes S6 is evenly distributed between the various pulley sets, reducing rope wear, and through the cooperation of multiple pulley sets, force transmission and direction change can be achieved.

[0188] Specifically, as shown in Figure 5 、 9 , one of the sixth pair of drive ropes S6 passes through the seventh tensioning device P7 and the eighth tensioning device P8 in turn, the seventh tensioning device P7 is suitable for driving the eighth tensioning device P8 to move closer to each other to achieve tensioning, the sixth pair of drive ropes S6 passes through the second reversing pulley set H10 and the sixth reversing pulley set H14 respectively, and the other end of the sixth pair of drive ropes S6 is fixedly connected with the sixteenth winding wheel L16 after passing through the fourth base connecting piece J4 and is wound on the sixteenth winding wheel L16.

[0189] Specifically, as shown in Figure 15 , one end of the seventh pair of drive ropes S7 is fixedly connected with the tenth winding wheel L10 of the large arm 2 and is wound on the tenth winding wheel L10, and the middle part of the seventh pair of drive ropes S7 passes through the first decoupling pulley set H5, the second decoupling pulley set H6, the third decoupling pulley set H7, and the fourth decoupling pulley set H8 in an "8" shape.

[0190] Specifically, as shown in Figure 11 、 15 , one of the seventh pair of drive ropes S7 passes through the ninth tensioning device P9 and the tenth tensioning device P10 in turn, the ninth tensioning device P9 is suitable for driving the tenth tensioning device P10 to move closer to each other to achieve tensioning, the seventh pair of drive ropes S7 passes through the third reversing pulley set H11 and the fifth reversing pulley set H13 respectively, and the other end of the seventh pair of drive ropes S7 is fixedly connected with the fifteenth winding wheel L15 after passing through the fourth base connecting piece J4 and is wound on the fifteenth winding wheel L15.

[0191] Through the cooperation of the ninth tensioning device P9 and the tenth tensioning device P10, the seventh pair of drive ropes S7 can be precisely tensioned. This design ensures that the seventh pair of drive ropes S7 always maintains appropriate tension during movement, avoiding movement difficulties or damage caused by slackness or excessive tightness.

[0192] Specifically, as shown in Figure 10 、 11As shown, the first pair of constraint ropes S8 forms a closed loop to constrain the same joint, and one end of the first pair of constraint ropes S8 is fixedly connected to the fourteenth winding wheel L14 and wound around the fourteenth winding wheel L14. The middle part of the first pair of constraint ropes S8 is fixedly connected to the seventeenth winding wheel L17 after passing through the ninth reversing pulley set H17 and wound around the seventeenth winding wheel L17.

[0193] When the fourteenth winding wheel L14 rotates, it will move one end of the first pair of constraint ropes S8, thereby changing the tension of the first pair of constraint ropes S8. The middle part of the first pair of constraint ropes S8 passes through the ninth reversing pulley set H17 to change the movement direction of the rope, ensuring that the rope can smoothly transmit force and movement. The seventeenth winding wheel L17 functions to further fix and wind the first pair of constraint ropes S8, ensuring that the other end of the first pair of constraint ropes S8 can also effectively transmit force and movement.

[0194] Although the present disclosure is disclosed as above, the protection scope of the present disclosure is not limited to this. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and these changes and modifications shall fall within the protection scope of the present disclosure.

Claims

1. A human-robot interactive anthropomorphic robotic arm, characterized by, The shoulder joint comprises a first driving motor assembly, a first brake assembly, a first base connecting piece 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 on the output end of the first driving motor assembly, and the first winding wheel assembly is suitable for driving the shoulder joint to rotate; The large arm is connected at one end of the shoulder joint, and the large arm comprises a second driving 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 is connected at the output end of the second driving motor assembly, and the second winding wheel assembly is installed at the end of the second transmission shaft assembly; The elbow joint is connected at one end of the large arm away from the shoulder joint, and the elbow joint comprises a third connecting plate assembly, a first pulley assembly, a third winding wheel assembly and a third connecting rod assembly; The small arm is connected at one end of the elbow joint away from the large arm; The wrist joint is connected at one end of the small arm away from the elbow joint, and the wrist joint comprises a second base connecting piece, 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 pair of constraint ropes of the closed-loop driving joint, 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 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 through a pulley assembly; 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 through a pulley assembly; 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 through a pulley assembly, 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 with the wrist joint and the elbow joint, and the first pair of constraint ropes are suitable for driving the active connecting rod of the wrist joint to rotate; The first winding wheel assembly comprises 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 second winding wheel assembly comprises a seventh winding wheel, an eighth winding wheel, a ninth winding wheel and a tenth winding wheel; the third winding wheel assembly comprises an eleventh winding wheel and a twelfth winding wheel; and the fourth winding wheel assembly comprises a thirteenth winding wheel, a fourteenth winding wheel, a fifteenth winding wheel, a sixteenth winding wheel and a seventeenth winding wheel. ​ 2. The human-interactive anthropomorphic robotic arm of claim 1, wherein, The first drive motor assembly comprises a first drive motor, a second drive motor and a third drive motor; The first brake assembly comprises a first brake, a second brake and a third brake; The first base connector assembly comprises a first base connector, a second base connector and a third base connector; The first universal hinge assembly comprises a first universal hinge, a first universal hinge connecting fork and a second universal hinge connecting fork; The first transmission shaft assembly comprises a first transmission shaft, a second transmission shaft and a third transmission shaft; The first connecting plate assembly comprises a first connecting plate connected to the first base connector, and a second connecting plate, a third connecting plate and a fourth connecting plate respectively fixedly connected to the base connectors; The first connecting rod assembly comprises 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 revolute 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 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 connecting fork is connected to the first base connector and the first brake through a first revolute pair, and the first universal hinge connecting fork is fixedly connected to the second winding wheel; the second universal hinge connecting fork is connected to the first universal hinge connecting fork through the first universal hinge; the second universal hinge connecting fork is connected to the first connecting rod through a third revolute pair; and the second universal hinge connecting fork is fixedly connected to the second connecting rod, and the second connecting rod is fixedly connected to the second base connector; 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 revolute 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 revolute pair; The third brake is fixedly connected to the fourth connecting plate; The second transmission shaft and the third transmission shaft are respectively and symmetrically mounted on both sides of the third connecting rod, and the third connecting rod is fixedly connected to the third base connector; The axes of the first revolute pair and the second revolute pair are perpendicular, and converge at the geometric center point of the first universal hinge; the axes of the fourth revolute pair and the fifth revolute pair coincide and are parallel to the axis of the second revolute pair.

3. The human-interactive anthropomorphic robotic arm of claim 1, wherein, The second drive motor assembly comprises a fourth drive motor, a fifth drive motor, a sixth drive motor and a seventh drive motor; The second transmission shaft assembly comprises a fourth transmission shaft, a fifth transmission shaft, a sixth transmission shaft and a seventh transmission shaft; The second connecting plate assembly comprises a fifth connecting plate and a sixth connecting plate, one side of the fifth connecting plate and one side of the sixth connecting plate are fixedly connected to the third base connecting piece of the shoulder joint, and the other side of the fifth connecting plate is fixedly connected to the fourth brake; The fourth driving motor and the fifth driving motor are fixedly connected to the outer side of the sixth connecting plate, and the sixth driving motor and the seventh driving motor are fixedly connected to the fifth connecting plate; The fourth transmission shaft is fixedly connected to the output end of the sixth driving motor, passes through the fourth brake, is fixedly connected to the ninth winding wheel, and is connected to the sixth connecting plate through a sixth revolute pair; The fifth transmission shaft is fixedly connected to the output end of the seventh driving motor, is fixedly connected to the eighth winding wheel, and is connected to the sixth connecting plate through a seventh revolute pair; The sixth transmission shaft is fixedly connected to the output end of the fifth driving motor, is fixedly connected to the seventh winding wheel, and is connected to the fifth connecting plate through an eighth revolute pair; The seventh transmission shaft is fixedly connected to the output end of the fourth driving motor, is fixedly connected to the tenth winding wheel, and is connected to the fifth connecting plate through a ninth revolute pair; The axes of the sixth revolute pair and the seventh revolute pair are located in the same horizontal plane, the axes of the eighth revolute pair and the ninth revolute pair are located in the same horizontal plane, and the axes of the sixth revolute pair, the seventh revolute pair, the eighth revolute pair and the ninth revolute pair are parallel to each other.

4. The human-interactive anthropomorphic robotic arm of claim 1, wherein, The third connecting plate assembly comprises 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 fixedly connected to the sixth connecting plate and the fifth connecting plate of the upper arm respectively; The third connecting rod assembly comprises a fourth connecting rod and a fifth connecting rod, the fourth connecting rod and the fifth connecting rod are connected to the seventh connecting plate and the tenth connecting plate through a twelfth revolute pair respectively, and the fourth connecting rod and the fifth connecting rod are connected to the eighth connecting plate and the ninth connecting plate through a fifteenth revolute pair respectively; The first pulley assembly comprises a first fixed pulley set, a second fixed pulley set, a first movable pulley set, a second movable pulley set, a first decoupling pulley set, a second decoupling pulley set, a third decoupling pulley set and a fourth decoupling pulley set, and the first fixed pulley set, the second fixed pulley set, the first decoupling pulley set and the second decoupling pulley set are connected to the seventh connecting plate and the tenth connecting plate through a tenth revolute pair, a thirteenth revolute pair, an eleventh revolute pair and a twelfth revolute pair respectively; The first movable pulley set, the second movable pulley set, the third decoupling pulley set and the fourth decoupling pulley set are connected with the eighth connecting plate and the ninth connecting plate through the seventeenth revolute pair, the fourteenth revolute pair, the fifteenth revolute pair and the sixteenth revolute pair respectively, and the eleventh winding wheel and the twelfth winding wheel are fixedly connected with the tenth revolute pair and the thirteenth revolute pair respectively; the axes of the tenth revolute pair, the eleventh revolute pair, the twelfth revolute pair, the thirteenth revolute pair, the fourteenth revolute pair, the fifteenth revolute pair, the sixteenth revolute pair and the seventeenth revolute pair are parallel to each other.

5. The human-interactive anthropomorphic robotic arm of claim 4, wherein, The small arm comprises an eleventh connecting plate, a twelfth connecting plate and a first tensioning assembly, wherein: The first tensioning assembly comprises 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 fixedly connected with the ninth connecting plate and the eighth connecting plate of the elbow joint.

6. The human-interactive anthropomorphic robotic arm of claim 5, wherein, The second base connector assembly comprises a fourth base connector and a fifth base connector, and the fourth base connector is fixedly connected with the eleventh connecting plate and the twelfth connecting plate of the small arm; The fourth connecting plate assembly comprises 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 fixedly connected with the fourth base connector; The first reversing pulley assembly comprises a first reversing pulley set, a second reversing pulley set, a third reversing pulley set, a fourth reversing pulley set, a fifth reversing pulley set, a sixth reversing pulley set, a seventh reversing pulley set, an eighth reversing pulley set and a ninth reversing pulley set, the first reversing pulley set and the fourth reversing pulley set are connected with the fourth base connector through an eighteenth revolute pair and a nineteenth revolute pair, the second reversing pulley set and the sixth reversing pulley set are connected with the fourth base connector through a twentieth revolute pair and a twenty-first revolute pair, the third reversing pulley set and the fifth reversing pulley set are connected with the fourth base connector through a twenty-second revolute pair and a twenty-third revolute pair, the seventh reversing pulley set is connected with the fourteenth connecting plate through a twenty-fourth revolute pair, and the eighth reversing pulley set is connected with the thirteenth connecting plate through a twenty-fifth revolute pair, The second universal hinge assembly comprises a second universal hinge, a third universal hinge connecting fork and a fourth universal hinge connecting fork; The third transmission shaft assembly comprises an eighth transmission shaft, a ninth transmission shaft and a tenth transmission shaft, and the eighth transmission shaft is connected with the sixteenth connecting plate through a twenty-seventh revolute pair, The fourth connecting rod assembly comprises 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 with the fourth base connector, The thirteenth winding wheel is connected with the other end of the sixth connecting rod through a twenty-sixth rotating pair, the seventh connecting rod is respectively fixedly connected with the thirteenth winding wheel and the third universal joint fork, the third universal joint fork is connected with the fourth universal joint fork through the second universal joint, and the fourth universal joint fork is connected with the fifth base connecting rod through a thirty-second rotating pair; The sixteenth winding wheel is fixedly connected on one side of the eighth transmission shaft, the eighth connecting rod is fixedly connected on the other side of the eighth transmission shaft, the tenth transmission shaft is connected with the eighth connecting rod through a thirtieth rotating pair, the seventeenth winding wheel and the ninth connecting rod are fixedly connected with the tenth transmission shaft, The ninth connecting rod is fixedly connected with the fifth base connecting rod, and the ninth reversing pulley set is connected with the eighth connecting rod through a thirty-first rotating pair, The tenth connecting rod is fixedly connected with the eighth connecting rod, the tenth connecting rod is connected with the ninth transmission shaft through a twenty-ninth rotating pair, the ninth transmission shaft is connected with the fifteenth connecting plate through a twenty-eighth rotating pair, the fourteenth winding wheel is fixedly connected on one side of the ninth transmission shaft, and the fifteenth winding wheel is fixedly connected on the other side of the ninth transmission shaft; The axes of the twenty-sixth rotating pair, the twenty-seventh rotating pair, the twenty-eighth rotating pair and the thirtieth rotating pair converge at the center point of the second universal joint.

7. The human-interactive anthropomorphic robotic arm of claim 1, wherein, One end of the first pair of driving ropes is fixedly connected with a first winding wheel of the shoulder joint and wound on the first winding wheel, the first pair of driving ropes are wound in an "8" shape along the direction of the spiral groove on a second winding wheel of the shoulder joint, and the other side of the first pair of driving ropes is fixedly connected with a first tensioning device on the second winding wheel.

8. The human-interactive anthropomorphic robotic arm of claim 7, wherein, One end of the second pair of driving ropes is fixedly connected with a 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" shape along the direction of the spiral groove on a fourth winding wheel of the shoulder joint, and the other side of the second pair of driving ropes is fixedly connected with a second tensioning device on the fourth winding wheel. One end of the third pair of driving ropes is fixedly connected with a 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" shape along the direction of the spiral groove on a sixth winding wheel of the shoulder joint, and the other side of the third pair of driving ropes is fixedly connected with a fourth tensioning device after passing through a rope passing hole on the sixth winding wheel, the fourth tensioning device is connected with the third transmission shaft, and the fourth tensioning device is moved forward to tension the third pair of driving ropes. The tensioning modes of the first pair of driving ropes, the second pair of driving ropes and the third pair of driving ropes are the same.

9. The human-interactive anthropomorphic robotic arm of claim 6, wherein, One end of the fourth pair of driving ropes is fixedly connected with the ninth winding wheel of the big arm and wound on the ninth winding wheel, the middle part of the fourth pair of driving ropes passes through the first decoupling pulley set in an "8" shape, then is parallelly wound on the first fixed pulley set, the first movable pulley set, the second fixed pulley set, the second movable pulley set for three times respectively, and the other end is fixedly connected with the eleventh winding wheel and the twelfth winding wheel of the elbow joint and wound on the eleventh winding wheel and the twelfth winding wheel; One end of the fifth pair of driving ropes is fixedly connected with the eighth winding wheel of the big arm and wound on the eighth winding wheel, the middle part of the fifth pair of driving ropes passes through the first decoupling pulley set to the fourth decoupling pulley set in an "8" shape, one of the fifth pair of driving ropes passes through the fifth tensioning device and the sixth tensioning device in sequence, the fifth tensioning device is suitable for driving the sixth tensioning device to approach each other to realize tensioning, the fifth pair of driving ropes passes through the first reversing pulley set and the fourth reversing pulley set respectively, then passes through the seventh reversing pulley set and the eighth reversing pulley set in sequence, and the other end of the fifth pair of driving ropes is fixedly connected with the thirteenth winding wheel and wound on the thirteenth winding wheel. One end of the sixth pair of driving ropes is fixedly connected with the seventh winding wheel of the big arm and wound on the seventh winding wheel, the middle part of the sixth pair of driving ropes passes through the first decoupling pulley set to the fourth decoupling pulley set in an "8" shape. One of the sixth pair of driving ropes passes through the seventh tensioning device and the eighth tensioning device in sequence, the seventh tensioning device is suitable for driving the eighth tensioning device to approach each other to realize tensioning, the sixth pair of driving ropes passes through the second reversing pulley set and the sixth reversing pulley set respectively, and the other end of the sixth pair of driving ropes is fixedly connected with the sixteenth winding wheel after passing through the fourth base connecting piece and wound on the sixteenth winding wheel. One end of the seventh pair of driving ropes is fixedly connected with the tenth winding wheel of the big arm and wound on the tenth winding wheel, the middle part of the seventh pair of driving ropes passes through the first decoupling pulley set, the second decoupling pulley set, the third decoupling pulley set and the fourth decoupling pulley set in an "8" shape. One of the seventh pair of driving ropes passes through the ninth tensioning device and the tenth tensioning device in sequence, the ninth tensioning device is suitable for driving the tenth tensioning device to approach each other to realize tensioning, the seventh pair of driving ropes passes through the third reversing pulley set and the fifth reversing pulley set respectively, and the other end of the seventh pair of driving ropes is fixedly connected with the fifteenth winding wheel after passing through the fourth base connecting piece and wound on the fifteenth winding wheel.

10. The human-interactive anthropomorphic robotic arm of claim 6, wherein, The first pair of constraint ropes constitute a closed loop to constrain the same joint, and one end of the first pair of constraint ropes is fixedly connected with the fourteenth winding wheel and wound on the fourteenth winding wheel, and the middle part of the first pair of constraint ropes is fixedly connected with the seventeenth winding wheel after passing through the ninth reversing pulley set and wound on the seventeenth winding wheel.

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