Bionic humanoid mechanical arm

Abstract

The invention relates to the technical field of robots, and particularly discloses a bionic humanoid mechanical arm which comprises a shoulder joint module, a big arm module, an elbow joint module, a small arm module and a wrist joint module which are connected in sequence. The wrist joint module realizes two-degree-of-freedom flexible movement through a regular octahedron tensegrity structure, and the rotation centers of the wrist joint module naturally intersect at one point and are connected with the rolling shaft in series to form three-degree-of-freedom concurrent rotation; the length-adjustable supporting rod in the flexible structure changes the joint rigidity in real time and dynamically adapts to the load change so as to enhance the man-machine interaction safety; an elbow joint adopts a virtual pitch circle rolling mechanism, all joint-crossing driving rope paths are forced to remain unchanged, and multi-joint motion coupling is eliminated from the mechanical intrinsic level; a driving motor and a rope wheel system are arranged on the large arm module in a centralized mode, the rope tensioning state is continuously optimized in cooperation with a ratchet wheel type self-locking tension mechanism, and the tail end inertia is reduced under the condition that an elbow and wrist joint motor is completely removed.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a bionic humanoid robotic arm. Background Art

[0002] The core requirements of a bionic humanoid robotic arm are achieving a balance between a humanoid range of joint motion, high dynamic response, and low end-weight or low inertia. While current technologies offer mature solutions for humanoid structural design, the latter two requirements present significant contradictions: If the motor, acting as a reliable drive source, is directly mounted at the elbow and wrist joint, the end-inertia increases, threatening the safety of human-machine interaction. If it is positioned laterally near the shoulder or upper arm base, while the end-load is reduced, a cross-joint transmission link is required. Existing rope transmission solutions commonly suffer from joint motion coupling and rope slack, requiring complex compensation mechanisms to maintain rope length stability, which in turn increases mechanical complexity and dynamic loads.

[0003] Specifically, existing robotic arm structures, such as the cable-driven robotic arm with variable-stiffness joint modules proposed in Chinese Patent Publication No. CN119407840A, utilize a rear-mounted motor in the upper arm to drive the distal joints. However, its decoupling mechanism relies on a specific pulley system to passively compensate for changes in cable length during elbow joint movement. This design not only increases the structural complexity of the lower arm but also, over time, can lead to compensation failure due to cable wear, thermal deformation, or assembly errors, making true cross-joint kinematic decoupling difficult to achieve.

[0004] In the field of wrist joint design, for example, Chinese patent application CN201910942735.9 discloses a rope-driven multi-jointed flexible robotic arm and robot. These utilize serially connected flexible joint units, which only achieve unidirectional bending deformation via spring assemblies. This structure cannot replicate the three-dimensional rotation of the human wrist, lacks a common center of rotation, and passive flexibility prevents active stiffness regulation, resulting in insufficient impact resistance and multi-degree-of-freedom motion precision.

[0005] The aforementioned technical bottlenecks manifest themselves in three key limitations: First, the rear-drive transmission decoupling requires additional mechanical compensation, undermining the lightweight advantage; second, existing wrist joint designs are limited to a single-degree-of-freedom deformation mode, making it difficult to integrate biomimetic three rotational degrees of freedom; and finally, the flexible mechanism cannot balance dynamic stiffness regulation with movement dexterity. Especially in cross-joint multi-degree-of-freedom collaboration scenarios, existing technologies struggle to eliminate motion interference at the mechanical level, and even more so, fail to construct joint structures that combine impact resistance with high dexterity.

[0006] These shortcomings severely restrict the adaptability of robotic arms in unstructured environments, such as human-robot collaboration in service robots or dynamic manipulation tasks in industrial scenarios. A technical solution is urgently needed to address the triple contradictions of transmission coupling, joint degree of freedom integration, and active flexible control from the source of mechanical body design. Summary of the Invention

[0007] In view of the above-mentioned deficiencies in the prior art, an object of the present invention is to provide a bionic humanoid robotic arm to solve the above-mentioned problems.

[0008] A bionic humanoid robotic arm comprises a shoulder joint module, an upper arm module, an elbow joint module, a lower arm module and a wrist joint module connected in sequence; the wrist joint module comprises a fixed base, a moving base and a flexible structure connected between the fixed base and the moving base; The flexible structure includes a support rod and an elastic member that are suspended in the air; The fixed base is connected to two first connecting parts, and the movable base is connected to two second connecting parts, and the two first connecting parts and the two second connecting parts are spatially distributed diagonally in a rectangular shape; The first end of the support rod is connected to the two first connecting parts respectively through at least two elastic members, and the second end of the support rod is connected to the two second connecting parts respectively through at least two elastic members; Each of the first connecting parts is connected to the second connecting part spatially adjacent thereto by an elastic member; The connection point of the elastic member, the two ends of the support rod, and the first connecting part and the second connecting part together constitute the vertices of the regular octahedron tensegrity structure; The motion base has a first degree of rotational freedom about a diagonal line connecting two first connection parts of the fixed base, and a second degree of rotational freedom about a diagonal line connecting two second connection parts of the motion base; A driving rope assembly is provided in the boom module, and the driving rope assembly at least includes a pitch driving unit for driving the motion base to move around the first rotational degree of freedom.

[0009] Specifically, the length of the support rod is adjustable to change the rigidity of the flexible structure.

[0010] Specifically, the support rod includes a rod body, a first screw and a second screw respectively connected to the two ends of the rod body, a first nut mating with the first screw thread, and a second nut mating with the second screw thread; the first nut and the second nut are used to connect the ends of the elastic member.

[0011] Specifically, the elbow joint module includes a first link frame fixed to the end of the upper arm module, a second link frame fixed to the end of the lower arm module, and a first rocker and a second rocker hinged in a cross shape between the first link frame and the second link frame; a first virtual pitch circle is formed on the first link frame, and a second virtual pitch circle is formed on the second link frame; when the elbow joint module moves, the first virtual pitch circle and the second virtual pitch circle maintain a tangential rolling state.

[0012] Specifically, the pitch drive unit includes a first drive device fixed on the upper arm module, a first rope winch driven by the first drive device, and two first ropes wound on the first rope winch and in opposite winding directions; one end of the two first ropes is fixed to the first rope winch, and the other end crosses the elbow joint module and the lower arm module and is respectively connected to both sides of the motion base.

[0013] Specifically, the motion base is further provided with a roll shaft rotatably connected thereto; the drive rope assembly further includes a yaw and roll drive unit, and the yaw and roll drive unit includes: a second drive device and a third drive device fixed to the arm module; a second rope winch driven by the second drive; a second rope wound around the second rope winch; a third rope winch driven by the third drive device; a third rope wound around the third rope winch; Both ends of the second rope are respectively fixed to the second rope winch, and the second rope spans the elbow joint module and the forearm module and then winds around the roll axis; Both ends of the third rope are respectively fixed to the third rope winch, and the third rope spans the elbow joint module and the forearm module and then winds around the roll shaft; The second rope is wound in an opposite direction to the third rope; When the second rope winch and the third rope winch rotate at the same speed in the same direction, the motion base is driven to rotate around the second rotational degree of freedom; when the second rope winch and the third rope winch rotate at the same speed in opposite directions, the rolling shaft is driven to rotate around its own axis.

[0014] Specifically, the forearm module includes a forearm body, a plurality of guide rails arranged along the length direction of the forearm, a slider slidably arranged on the guide rails, and a ratchet rope termination mechanism installed on the slider; The ratchet type rope termination mechanism includes a mounting frame, a first rotating shaft and a second rotating shaft rotatably provided on the mounting frame, a first ratchet fixed to the first rotating shaft, a second ratchet fixed to the second rotating shaft, a first pawl provided on the mounting frame for engaging with the first ratchet to achieve locking, and a second pawl provided on the mounting frame for engaging with the second ratchet to achieve locking; The first rope, the second rope or the third rope is segmented at a position close to the motion base or the second connecting rod frame; the two ends of the segmented rope are respectively fixed to the first rotating shaft and the second rotating shaft, and are wound and locked in length by the first rotating shaft and the second rotating shaft.

[0015] Specifically, the two first ropes are wound around the guide wheels at the center positions of the first virtual pitch circle and the second virtual pitch circle; And / or the second rope and the third rope are wound around the guide wheels at the center positions of the first virtual pitch circle and the second virtual pitch circle.

[0016] Specifically, the drive rope assembly further includes an elbow joint drive unit; The elbow joint drive unit includes a fourth drive device fixed to the boom module, a fourth rope winch driven by the fourth drive device, and two fourth ropes wound on the fourth rope winch and in opposite winding directions; One end of the two fourth ropes is fixed to the fourth rope winch, and the other end is connected to both sides of the second connecting rod frame or is connected to both sides of the first connecting rod frame after passing through the second connecting rod frame.

[0017] Specifically, the bionic humanoid robotic arm further comprises two sets of ratchet rope tighteners for tightening the two fourth ropes; The movement path of the fourth rope includes a plurality of return windings, and the number of windings is adjusted according to the installation position of the ratchet rope tightener; When two ratchet rope tighteners are installed on the first connecting rod frame, the fourth rope forms an even number of return windings, and the winding end point terminates at the ratchet rope tightener on the first connecting rod frame; When two ratchet rope tighteners are installed on the second connecting rod frame, the fourth rope forms an odd number of return windings, and the winding end point terminates at the ratchet rope tightener on the second connecting rod frame; The number of return windings is not less than 1, and each additional winding is performed by increasing the number of guide wheels to achieve path return; The output displacement of the fourth driving device is nonlinearly related to the rotation angle of the second connecting rod frame, and the change in the rope length of the unilateral fourth rope satisfies the functional relationship with the elbow joint rotation angle θ: ΔL = n·w·sin(0.5θ); Wherein: n is the total number of times the fourth rope is turned back and wound on one side, and w is the distance between the two guide wheels on the first connecting rod frame and the second connecting rod frame.

[0018] Specifically, the ratchet rope tightener is installed on the first connecting rod frame and meets the following conditions: n is an even number; at least one guide wheel is provided on the second connecting rod frame to support the fourth rope to form an even number of turns at the second connecting rod frame position.

[0019] Specifically, the ratchet rope tightener is installed on the second connecting rod frame, satisfying the following conditions: n is an odd number; at least two coaxially arranged guide wheels are provided on the first connecting rod frame to support the fourth rope to form an odd number of turns at the second connecting rod frame position.

[0020] Specifically, each set of the ratchet rope tightener includes a mounting seat, a fifth rotating shaft rotatably provided on the mounting seat, a third ratchet fixed to the fifth rotating shaft, and a third pawl provided on the mounting seat for engaging with the third ratchet to achieve locking; Of the two fourth ropes, an end of one is fixed to the fifth rotating shaft on one side and is tightened thereby, and an end of the other is fixed to the fifth rotating shaft on the other side and is tightened thereby.

[0021] Specifically, the shoulder joint module includes a fixed seat, a first motor fixed to the fixed seat, a swivel seat connected to the output end of the first motor, a second motor fixed to the swivel seat, a pitch seat connected to the output end of the second motor, and a third motor fixed to the pitch seat; the output end of the third motor is connected to the upper arm module.

[0022] Beneficial effects of the present invention: 1. The bionic humanoid robotic arm of this application utilizes a regular octahedron tensegrity structure to naturally form dual rotational degrees of freedom (DOF) with a common point of intersection, reproducing the multi-DOF collaborative motion pattern of the human wrist joint. Combined with a dynamic stiffness control mechanism with adjustable length support rods, the joint achieves both rigid motion precision and passive impact resistance, perfectly adapting to sudden load changes in human-robot collaboration. 2. The boom module centrally houses all the motors, gears, and other components of the drive units, completely eliminating the motor in the elbow and wrist joints. A ratchet-type self-locking tension mechanism maintains constant rope tension, significantly reducing the end-of-line inertia while achieving millisecond-level dynamic response capabilities. 3. A ratchet-type rope termination mechanism and a ratchet-type rope tensioner are used to achieve mechanical self-locking. In addition, segmented assembly and maintenance are adopted. After each joint component is independently installed, only the rope end needs to be fixed to the corresponding shaft, which can reduce the integration complexity of the multi-stage rope drive system. During assembly, the first or fifth shaft can be rotated independently to freely retract and release the rope, and the reserved length can be easily adjusted to match different motion stroke requirements. More importantly, when the equipment is running, the ratchet mechanism can be manually operated to tighten the rope in real time without removing parts or using professional tools. This dynamically eliminates the plastic elongation caused by long-term load, maintains the stable tension force over a long period of time, and significantly improves the dynamic accuracy and service life of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a three-dimensional diagram of the bionic humanoid robotic arm of Example 1; Figure 2 for Figure 1 Enlarged view of part A; Figure 3 for Figure 1 Enlarged view of part B; Figure 4 3D diagram of the elbow joint module and the elbow joint drive unit of Example 1; Figure 5 The action diagram of the bionic humanoid robotic arm in Example 1 Figure 1 ,The two dotted circle parts in the figure are the first virtual pitch circle and the second virtual pitch circle respectively, and the first virtual pitch circle and the second virtual pitch circle maintain a tangent rolling state; Figure 6 Schematic diagram of the structure of the first connecting rod frame, the second connecting rod frame, the first virtual pitch circle and the second virtual pitch circle of Example 1 Figure 1 , the first virtual pitch circle and the second virtual pitch circle maintain a tangential rolling state, and the swing angle of the elbow joint module is 0°; Figure 7 This is a schematic diagram of the first virtual pitch circle and the second virtual pitch circle of Example 1, where the first virtual pitch circle and the second virtual pitch circle maintain a tangential rolling state; Figure 8 Schematic diagram of the structure of the first connecting rod frame, the second connecting rod frame, the first virtual pitch circle and the second virtual pitch circle of Example 1 Figure 2 , the first virtual pitch circle and the second virtual pitch circle maintain a tangential rolling state, and the swing angle of the elbow joint module is 180°; Figure 9 This is a schematic diagram of the winding path structure of the second rope in Example 1; Figure 10 Schematic diagram of the winding path structure of the third rope in Example 1; Figure 11 This is a schematic diagram of the winding path structure of the first rope in Example 1; Figure 12 This is a schematic diagram of the winding path structure of the first rope and the fourth rope in Example 1; Figure 13 Schematic diagram of the winding path structure of the first rope passing through the elbow joint module in Example 1 Figure 1 , the swing angle of the elbow joint module is 0°; Figure 14 Schematic diagram of the winding path structure of the first rope passing through the elbow joint module in Example 1 Figure 2 , the swing angle of the elbow joint module is θ; Figure 15 is a three-dimensional diagram of the wrist joint module of Example 1; Figure 16 Schematic diagram of the wrist joint module, pitch drive unit, yaw and roll drive unit of Example 1; Figure 17 Schematic diagram of the structure of the elbow joint module of Example 1; Figure 18 This is a schematic structural diagram of the elbow joint module of Example 2.

[0024] The accompanying drawings are marked as follows: shoulder joint module 10, upper arm module 20, elbow joint module 30, forearm module 40, wrist joint module 50, fixed base 51, motion base 52, flexible structure 53, support rod 531, elastic member 532, first connecting part 54, second connecting part 55, first rotational degree of freedom 501, second rotational degree of freedom 502, drive rope assembly 60, pitch drive unit 61, rod body 5311, first screw 5312, second screw 5313, first nut 5314, second nut 5315, first connecting rod frame 31, second connecting rod frame 32, first rocker 33, second rocker 34, first virtual pitch circle 301, second virtual pitch circle 302, first drive device 611, first rope winch 612, first rope 613, roll axis 56, yaw and roll Rotation drive unit 62, second drive device 621, third drive device 622, second rope winch 623, second rope 624, third rope winch 625, third rope 626, elbow joint drive unit 63, fourth drive device 631, fourth rope winch 632, fourth rope 633, forearm body 41, guide rail 42, slider 43, ratchet rope termination mechanism 44, mounting frame 441, first rotating shaft 442, second rotating shaft 443, first ratchet 444, second ratchet 445, first pawl 446, second pawl 447, ratchet rope tightener 70, mounting seat 71, fifth rotating shaft 72, third ratchet 73, third pawl 74, fixed seat 11, first motor 12, swivel seat 13, second motor 14, pitch seat 15, third motor 16, guide wheel 80. DETAILED DESCRIPTION

[0025] The present invention provides a bionic humanoid robotic arm. To make the objectives, technical solutions, and effects of the present invention more clear and explicit, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only intended to illustrate the present invention and are not intended to limit the present invention.

[0026] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0027] Example 1 Please refer to Figures 1 to 17 A bionic humanoid robotic arm of this embodiment includes a shoulder joint module 10, an upper arm module 20, an elbow joint module 30, a lower arm module 40, and a wrist joint module 50 connected in sequence; the wrist joint module 50 includes a fixed base 51, a moving base 52, and a flexible structure 53 connected between the fixed base 51 and the moving base 52; The flexible structure 53 includes a suspended support rod 531 and twelve elastic members 532; The fixed base 51 is connected to two first connecting parts 54, and the moving base 52 is connected to two second connecting parts 55. The two first connecting parts 54 and the two second connecting parts 55 are spatially distributed diagonally in a rectangular shape. The first end of the support rod 531 is connected to the two first connection parts 54 through at least two elastic members 532, and the second end of the support rod 531 is connected to the two second connection parts 55 through at least two elastic members 532. Each first connecting member 54 is connected to the second connecting member 55 adjacent thereto in space by an elastic member 532; The connection point of the elastic member 532, the two ends of the support rod 531, and the first connecting part 54 and the second connecting part 55 together constitute the vertices of the regular octahedron tensegrity structure; The motion base 52 has a first rotational freedom 501 about a diagonal line connecting two first connection members 54 of the fixed base 51 and a second rotational freedom 502 about a diagonal line connecting two second connection members 55 of the motion base 52. A driving rope assembly 60 is provided in the boom module 20 . The driving rope assembly 60 at least includes a pitch driving unit 61 for driving the motion base 52 to move around the first rotational degree of freedom 501 .

[0028] When the pitch drive unit 61 pulls the first rope 613 connecting the motion base 52, the motion base 52 generates a pitch motion around the diagonal direction of the two first connecting parts 54. At this time, the elastic member 532 is stretched or compressed and deformed, and the support rod 531 maintains the tension balance; similarly, other drive units can drive the motion base 52 to yaw around the diagonal direction of the two second connecting parts 55 through rope traction; the roll freedom is independently realized through the roll axis 56.

[0029] This embodiment utilizes a regular octahedron tensegrity structure to achieve flexible motion with two degrees of freedom in the wrist joint module 50. Its rotation centers naturally intersect at a point, expanding to three degrees of freedom when combined with the roll axis 56. The adjustable length of the support rod 531 dynamically adapts joint stiffness to load variations, enhancing safety in human-machine interaction. The centrally located drive cable assembly 60 in the upper arm module 20, coupled with a decoupled path design to eliminate cross-joint interference, ensures rapid response while significantly reducing end-of-line inertia. Ultimately, this achieves the trifecta of biomimetic motion, mechanical flexibility, and lightweight design.

[0030] In addition, the length of the support rod 531 of this embodiment is adjustable, thereby adjusting the stiffness of the elastic member 532 as a whole, achieving passive flexible impact resistance and active stiffness control of the joint.

[0031] Please refer to Figure 1 The shoulder joint module 10 includes a fixed base 11, a first motor 12 fixed to the fixed base 11, a swivel base 13 connected to the output end of the first motor 12, a second motor 14 fixed to the swivel base 13, a pitch base 15 connected to the output end of the second motor 14, and a third motor 16 fixed to the pitch base 15; the output end of the third motor 16 is connected to the upper arm module 20. The first motor 12 on the fixed base 11 drives the swivel base 13 to rotate horizontally, forming a first rotational degree of freedom; the second motor 14 on the swivel base 13 drives the pitch base 15 to pitch vertically, forming a second rotational degree of freedom; the third motor 16 on the pitch base 15 directly drives the output end connected to the upper arm module 20 to achieve axial rotation of the upper arm. The axes of the three motors intersect at the same point in space, completely reproducing the rotation center characteristics of the human shoulder joint.

[0032] Please refer to Figure 2The arm module 40 includes an arm body 41, a plurality of guide rails 42 arranged along the length direction of the arm body, a slider 43 slidably arranged on the guide rails 42, and a ratchet rope termination mechanism 44 installed on the slider 43; the ratchet rope termination mechanism 44 includes a mounting frame 441, a first rotating shaft 442 and a second rotating shaft 443 rotatably arranged on the mounting frame 441, a first ratchet 444 fixed to the first rotating shaft 442, a second ratchet 445 fixed to the second rotating shaft 443, and a mounting frame 441. The first pawl 446 is used to engage with the first ratchet 444 to achieve locking, and the second pawl 447 is provided on the mounting frame 441 to engage with the second ratchet 445 to achieve locking; the first rope 613, the second rope 624 or the third rope 626 is segmented at a position close to the motion base 52 or the second connecting rod frame 32; the two ends of the segmented rope are respectively fixed on the first rotating shaft 442 and the second rotating shaft 443, and are wound and locked in length by the first rotating shaft 442 and the second rotating shaft 443.

[0033] Please refer to Figure 3 A ratchet-type rope tightener 70 is provided on each side of the second connecting rod frame 32. Each ratchet-type rope tightener 70 includes a mounting seat 71, a fifth rotating shaft 72 rotatably mounted on the mounting seat 71, a third ratchet 73 fixed to the fifth rotating shaft 72, and a third pawl 74 mounted on the mounting seat 71 for engaging with the third ratchet 73 to achieve locking. Of the two fourth ropes 633, one end is fixed to and tightened by the fifth rotating shaft 72 on one side, while the other end is fixed to and tightened by the fifth rotating shaft 72 on the other side. When assembly or maintenance is required, the rope can be retracted by manually rotating the fifth rotating shaft 72 on one side. The third ratchet 73 rotates with the rotating shaft, and the third pawl 74 on the same side allows one-way rotation and engages to lock the rope for reverse retraction. The purely mechanical self-locking mechanism eliminates the slack of the fourth rope 633 caused by long-term load in real time, maintaining a constant antagonistic tension.

[0034] Please refer to Figures 4 to 6 The elbow joint module 30 includes a first link frame 31 fixed to the end of the upper arm module 20, a second link frame 32 fixed to the end of the lower arm module 40, and a first rocker 33 and a second rocker 34 hinged in a cross shape between the first link frame 31 and the second link frame 32; a first virtual pitch circle 301 is formed on the first link frame 31, and a second virtual pitch circle 302 is formed on the second link frame 32; when the elbow joint module 30 moves, the first virtual pitch circle 301 and the second virtual pitch circle 302 maintain a tangential rolling state, so the length of the rope path of the guide wheel 80 passing through the center of the first virtual pitch circle 301 and the center of the second virtual pitch circle 302 remains constant throughout the movement of the elbow joint module 30, and mechanical decoupling of the cross-joint rope transmission path is achieved without the need for an additional compensation mechanism.

[0035] Please refer to Figure 7During the movement, the center position of the first virtual pitch circle 301 is relatively fixed, and the center position of the second virtual pitch circle 302 relative to the center position of the first virtual pitch circle 301 is variable. Specifically, the change pattern of the center position of the second virtual pitch circle 302 is determined according to the length L1 of the line connecting the first rocker 33 and the second rocker 34 on the same side, the length L2 of the first rocker 33 and the second rocker 34, and the distance L3 between the perpendicular bisectors of the line connecting the first rocker 33 and the second rocker 34 on the same side. In this embodiment, L1=60mm, L2=171.5mm, and L3=9.68mm. Figure 6 As the reference state, the swing angle θ of the second link frame 32 relative to the first link frame 31 is 0°. Figure 8 is the maximum swing angle of the elbow joint module 30 of this embodiment, that is, the swing angle θ of the second connecting rod frame 32 relative to the first connecting rod frame 31 is 180°. As the swing angle θ increases, the diameter of the second virtual pitch circle 302 and the diameter of the first virtual pitch circle 301 gradually decrease, and the distance between the center of the second virtual pitch circle 302 and the center of the first virtual pitch circle 301 also gradually decreases, but the first virtual pitch circle 301 and the second virtual pitch circle 302 always maintain a tangential rolling state.

[0036] Please refer to Figure 4 The drive rope assembly 60 also includes an elbow joint drive unit 63. The elbow joint drive unit 63 includes a fourth drive device 631 fixed to the boom module 20, a fourth rope winch 632 driven by the fourth drive device 631, and two fourth ropes 633 wound around the fourth rope winch 632 in opposite directions. One end of the two fourth ropes 633 is fixed to the fourth rope winch 632, and the other end passes through the first link frame 31 and connects to the sides of the second link frame 32. The elbow joint drive unit 63 drives the fourth rope winch 632 to rotate via the fourth drive device 631. The two fourth ropes 633, wound in opposite directions, have one end fixed to the winch and the other end passing through the first link frame 31 and connecting to the sides of the second link frame 32. When the fourth drive device 631 rotates, one fourth rope 633 tightens and pulls the second link frame 32, while the other fourth rope 633 simultaneously releases to create an antagonistic effect, driving the elbow joint module 30 to flex and extend around the center of the first virtual pitch circle 301.

[0037] Further, such as Figure 17As shown, the bionic humanoid robotic arm of this embodiment also includes two sets of ratchet rope tighteners 70 for tightening the two fourth ropes 633; the movement path of the fourth rope 633 includes several return windings, and the number of windings is adjusted according to the installation position of the ratchet rope tightener 70; the ratchet rope tightener 70 is installed on the second connecting rod frame 32, satisfying the following conditions: n is an odd number; at least two coaxially arranged guide wheels 80 are provided on the first connecting rod frame 31, for supporting the fourth rope 633 to form an odd number of returns at the position of the second connecting rod frame 32. By increasing the number of guide wheels 80 on the first connecting rod frame 31, the winding path of the fourth rope 633 can be arranged more reasonably to avoid interference.

[0038] In this embodiment, the ratchet rope tightener 70 is installed on the second connecting rod frame 32, and the second connecting rod frame 32 serves as the moving end. At least two coaxially arranged guide wheels 80 are provided on the first connecting rod frame 31, so that the fourth rope 633 forms an odd number of return windings (n=1, 3, 5...), realizing nonlinear transmission with minimalist structure: the spatial design of the coaxially arranged guide wheels 80 is more reasonable; and the rope length change of the fourth rope 633 strictly conforms to the functional relationship of ΔL=n·w·sin(0.5θ) (n is an odd number), which can eliminate the error accumulated by the elastic deformation of the rope and improve the accuracy.

[0039] Please refer to Figures 9 to 11 , the first rope 613, the second rope 624 and the third rope 626 pass through the guide wheel 80 at the center of the first virtual pitch circle 301 and the second virtual pitch circle 302. During the cross-joint transmission process, the paths of the first rope 613, the second rope 624 or the third rope 626 all pass through the guide wheel 80 at the center of the first virtual pitch circle 301 and the second virtual pitch circle 302 of the elbow joint module 30. When the elbow joint flexes and extends, since the two virtual pitch circles always roll tangentially, the length of the rope path passing through the guide wheel 80 at the center of the first virtual pitch circle 301 and the second virtual pitch circle 302 is strictly kept constant throughout the entire movement. In this way, the rope expansion and contraction interference caused by the change in elbow angle is eliminated at the level of the mechanical body, ensuring the independence of the movements of the pitch drive unit 61 and the yaw and roll drive unit 62.

[0040] Please refer to Figures 9 to 11 The pitch drive unit 61 includes a first drive device 611 (a combined drive device using a motor, a driving pulley and a belt) fixed on the boom module 20, a first rope winch 612 driven by the first drive device 611, and two first ropes 613 wound around the first rope winch 612 in opposite winding directions; one end of the two first ropes 613 is fixed to the first rope winch 612, and the other end crosses the elbow joint module 30 and the forearm module 40 and is respectively connected to both sides of the motion base 52.

[0041] When the first drive device 611 rotates forward, the first rope winch 612 synchronously reels one of the first ropes 613 and releases the other, so that the first rope 613 connected to both sides of the motion base 52 after crossing the elbow joint module 30 and the forearm module 40 generates an antagonistic tension, pulling the motion base 52 to deflect in a directional manner around the first rotational degree of freedom 501; when reversed, it drives the reverse pitch movement. The path of the first rope 613 passes through the guide wheel 80 at the center position of the first virtual pitch circle 301 and the second virtual pitch circle 302 of the elbow joint module 30, ensuring that the rope path length remains constant during elbow flexion and extension, completely eliminating cross-joint motion coupling. This design achieves high-precision and low-latency response of wrist pitch through pure mechanical decoupling while maintaining centralized drive in the upper arm module 20, while avoiding interference of rope slack on the end posture.

[0042] Please refer to Figures 15 to 16 , the motion base 52 is also provided with a roll shaft 56 rotatably connected thereto; the drive rope assembly 60 also includes a yaw and roll drive unit 62, the yaw and roll drive unit 62 includes a second drive device 621 and a third drive device 622 fixed to the arm module 20, a second rope winch 623 driven by the second drive device 621, a second rope 624 wound on the second rope winch 623, a third rope winch 625 driven by the third drive device 622, and a third rope 626 wound on the third rope winch 625; both ends of the second rope 624 are respectively fixed to the second rope winch 623, and the second The rope 624 passes over the elbow joint module 30 and the forearm module 40 and is wound around the roll axis 56; both ends of the third rope 626 are respectively fixed to the third rope winch 625, and the third rope 626 passes over the elbow joint module 30 and the forearm module 40 and is wound around the roll axis 56; the winding directions of the second rope 624 and the third rope 626 are opposite; when the second rope winch 623 and the third rope winch 625 rotate at the same speed in the same direction, the motion base 52 is driven to rotate around the second rotational degree of freedom 502; when the second rope winch 623 and the third rope winch 625 rotate at the same speed in opposite directions, the roll axis 56 is driven to rotate around its own axis.

[0043] Please refer to Figure 16The yaw and roll drive unit 62 transmits power through a second drive unit 621 (using a combination of a motor, a drive pulley, and a belt) and a third drive unit 622 (using a combination of a motor, a drive pulley, and a belt) fixed to the inside of the boom module 20. The motor output shaft is connected to the drive pulley, which, via an external belt, drives the second and third rope capstans 623 and 625 located below the boom module 20, rotating synchronously. The second and third ropes 624 and 626, wound around the two capstans, extend in opposite directions, passing over the elbow joint module 30 and the forearm module 40 before wrapping around the roll axis 56 of the motion base 52. When the second and third drive units 621 and 622 operate in the same direction and at the same speed, the second and third ropes 624 and 626 are synchronously retracted and released, generating a combined horizontal force on the roll axis 56 that drives the motion base 52 to yaw about the second rotational degree of freedom 502. When the second and third drive units 621 and 622 operate at the same speed in opposite directions, the ropes generate a reverse torque difference on the roll axis 56, directly driving it to roll about its own axis. The entire rope path passes through the guide wheel 80 at the center of the first virtual pitch circle 301 and the second virtual pitch circle 302 of the elbow joint module 30, ensuring that the rope length remains constant when the elbow moves.

[0044] The compact belt-outer drive layout allows the drive motor to be hidden inside the main body of the boom module 20, and multiple winches are arranged side by side under the motor, significantly optimizing space utilization. The differentiated design of the dual rope winding directions naturally separates the yaw and roll motion control without the need for an additional decoupling mechanism. The virtual pitch circle center path maintenance technology completely eliminates cross-joint motion interference and achieves high response accuracy.

[0045] In the ratchet-type rope termination mechanism 44, the first rope 613, the second rope 624, or the third rope 626 is segmented into two sections near the motion base 52 or the second connecting rod frame 32. The ends of the segments are respectively fixed to the first rotating shaft 442 and the second rotating shaft 443 on the mounting frame 441. When the rope needs to be tightened, one end of the rope can be manually rotated by rotating the first rotating shaft 442. After tightening, the second pawl 447 can be inserted into the locking groove of the second ratchet 445 to achieve locking. At the other end of the rope, the other end can be manually rotated by rotating the second rotating shaft 443. After tightening, the second pawl 447 can be inserted into the locking groove of the second ratchet 445 to achieve locking. In addition, in order to achieve the unlocking and locking of the second pawl 447, a reset spring can be set on the mounting frame 441, and the mounting part of the second pawl 447 can be connected to one end of the reset spring. Under the thrust of the reset spring, the second pawl 447 is in a locked state. When unlocking is required, the reset spring can be pressed in the opposite direction to disengage the second pawl 447 from the locking groove of the second ratchet 445, and the unlocking is completed; the slider 43 can slide along the guide rail 42 on the forearm body 41, driving the entire mechanism to adjust its spatial position to adapt to the rope tension distribution under different joint angles, and the one-way locking mechanism of the ratchet pawl always maintains the rope tensioned state.

[0046] In this embodiment, the ratchet rope tightener 70 and the ratchet rope termination mechanism 44 are only needed in the debugging stage before use or the maintenance stage when maintenance and inspection are required. The purpose is to tighten each rope to put it in a taut state. During adjustment, the corresponding rotating shaft is manually rotated. After the rope is taut, the ratchet is locked by the corresponding pawl to complete the debugging.

[0047] This embodiment uses a bidirectional ratchet-type rope termination mechanism 44 to achieve independent segmented winding and rigid locking of the rope after segmentation, completely avoiding the relaxation and failure of the traditional rope drive system caused by long-term use; and the slider guide structure provides three-dimensional spatial adaptive adjustment capabilities to ensure that the rope maintains the optimal tension path within the full range of joint motion.

[0048] Please refer to Figure 15 and Figure 16The support rod 531 includes a rod body 5311, a first screw 5312 and a second screw 5313 connected to each end of the rod body 5311, a first nut 5314 threadedly engaged with the first screw 5312, and a second nut 5315 threadedly engaged with the second screw 5313. The first nut 5314 and the second nut 5315 are used to connect the ends of the elastic member 532. When the rod body 5311 is rotated, the first and second screws 5312, 5313 rotate synchronously, driving the first and second nuts 5314, 5315 to move axially toward or in opposite directions, thereby changing the overall length of the support rod 531. The first and second nuts 5314, 5315 serve as fixed connection points for the elastic members 532. Their displacement directly tightens or loosens the twelve elastic members 532, dynamically adjusting the internal preload of the regular octahedron tensegrity structure and achieving continuous variation in joint stiffness.

[0049] To avoid interference between ropes, such as Figure 9 As shown in the enlarged positions of the two dotted circles in the figure, in this embodiment, a plurality of coaxially arranged guide wheels 80 are provided on the first connecting rod frame 31 and the second connecting rod frame 32. By winding the ropes on different guide wheels 80, the first rope 613, the second rope 624 and the third rope 626 can be reasonably arranged.

[0050] The following is a description of the path of the first rope 613 of this embodiment: Please refer to Figure 11 The first rope 613 is drawn from the first rope winch 612 inside the boom module 20, passes through the guide pulleys 80 at the centers of the first and second virtual pitch circles 301, 302 of the elbow joint module 30, and finally connects to the left and right sides of the motion base 52 of the wrist joint module 50. When the first drive device 611 drives the winch 612 to rotate, the two ropes 613, which are wound in opposite directions, are synchronously retracted and released: if the first rope winch 612 rotates clockwise, the first rope 613 on the left is tightened, pulling the motion base 52 downward in pitch, while the first rope 613 on the right is simultaneously released; reverse rotation achieves upward pitch movement. Because the rope path passes through the guide pulleys 80 at the centers of the first and second virtual pitch circles 301, 302, the path length remains constant during flexion and extension of the elbow joint 30, and wrist movement is not interfered with by elbow movement.

[0051] The following is a description of the paths of the second rope 624 and the third rope 626 of this embodiment: Figure 9 and Figure 10The second rope 624 originates from the second rope winch 623, and the third rope 626 is drawn from the third rope winch 625. Both the second rope 624 and the third rope 626 cross the guide pulley 80 at the center of the first virtual pitch circle 301 and the second virtual pitch circle 302 of the elbow joint 30, and then wind in opposite directions around the roll axis 56 of the wrist joint 50. When the second drive device 621 and the third drive device 622 rotate in the same direction and at a constant speed, the second rope 624 and the third rope 626 wind up synchronously, driving the motion base 52 to yaw left and right about the second rotational degree of freedom 502. If the second drive device 621 and the third drive device 622 rotate at the same speed in opposite directions, the second rope 624 and the third rope 626 generate opposing torques on the roll axis 56, driving it to roll around its own axis. Because the second rope 624 and the third rope 626 pass through the guide wheel 80 at the center of the first virtual pitch circle 301 and the second virtual pitch circle 302, the path length remains unchanged when the elbow is bent, ensuring independent control of yaw and roll.

[0052] The following is a description of the path of the fourth rope 633 of this embodiment: Please refer to Figure 3 and Figure 4 The fourth rope 633 is drawn from the fourth rope winch 632 of the boom module 20, passes around the second link frame 32 of the elbow joint module 30, and then winds back and forth multiple times before terminating on the fifth rotating shaft 72 of the ratchet rope tensioner 70. The number of turns is determined by the number of guide wheels 80: if the ratchet rope tensioner 70 is installed on the first link frame 31, there will be an even number of turns; if it is installed on the second link frame 32, there will be an odd number of turns. When the fourth drive device 631 rotates the fourth rope winch 632, the two counter-winding fourth ropes 633 pull on the second link frame 32 to drive the elbow joint 30 to flex and extend.

[0053] Please refer to Figure 12 、 Figure 13 and Figure 14 In this embodiment, the second rope 624, the third rope 626, and the first rope 613 remain unchanged in length after passing through the elbow joint module 30. Specifically, the first rope 613 is used as an example for explanation. Figure 13 Schematic diagram before swinging, the dotted line part in the figure is the outward winding part, the solid line part is the return winding part, and two guide wheels 80 are set at the center positions of the first virtual pitch circle 301 and the second virtual pitch circle 302 on the left and right sides; Figure 14 As shown, after the elbow joint module 30 swings through an angle θ, the return portion of the winding has an angle offset of 0.5θ at the wheel assembly position on the left, and the return portion of the winding has an angle compensation of 0.5θ at the wheel assembly position on the right, so the total path length remains unchanged. Therefore, the path length of the first rope 613 crossing the elbow joint module 30 remains unchanged, and the second rope 624 and the third rope 626 are similar, which will not be repeated below.

[0054] Example 2 like Figure 18 As shown, the difference between this embodiment and embodiment 1 is that two sets of ratchet rope tighteners 70 are installed on the first link frame 31, and one end of the two fourth ropes 633 is fixed to the fourth rope winch 632, and the other end is connected to both sides of the first link frame 31 after passing through the second link frame 32; the fourth rope 633 forms an even number of return windings, and the winding end point terminates at the ratchet rope tightener 70 on the first link frame 31; and the number of return windings is not less than 1 time, and each additional winding is achieved by adding a guide wheel 80 to achieve path return. Specifically, at least one guide wheel 80 is provided on the second link frame 32 to support the fourth rope 633 to form an even number of returns at the position of the second link frame 32; the output displacement of the fourth driving device 631 is nonlinearly related to the rotation angle of the second link frame 32, and the rope length change of the single-side fourth rope 633 satisfies the functional relationship with the elbow joint rotation angle θ: ΔL= n·w·sin(0.5θ); wherein: n is the total number of times the fourth rope 633 is wound back on one side and n is an even number, and w is the distance between the two guide wheels 80 on the first link frame 31 and the second link frame 32.

[0055] By configuring a guide wheel 80 on the second connecting rod frame 32 to support the fourth rope 633 to form an even number of return windings, combined with two sets of ratchet rope tighteners 70 fixed to the first connecting rod frame 31 to achieve rope end locking, the change in rope length strictly follows the functional relationship ΔL=n·w·sin(0.5θ) (where n is an even number ≥2). This structure linearly controls the reduction ratio n by increasing or decreasing the number of guide wheels 80, while ensuring the nonlinear motion accuracy of the elbow joint and completely eliminating the risk of rope slippage through ratchet locking.

[0056] The above specifically describes the preferred embodiments of the present invention, but the present invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A bionic humanoid robotic arm, comprising a shoulder joint module (10), an upper arm module (20), an elbow joint module (30), a lower arm module (40), and a wrist joint module (50) connected in sequence, characterized in that: The wrist joint module (50) includes a fixed base (51), a moving base (52), and a flexible structure (53) connected between the fixed base (51) and the moving base (52); The flexible structure (53) comprises a suspended support rod (531) and an elastic member (532); Two first connecting parts (54) are connected to the fixed base (51), and two second connecting parts (55) are connected to the moving base (52), and the two first connecting parts (54) and the two second connecting parts (55) are spatially distributed diagonally in a rectangular shape; The first end of the support rod (531) is connected to the two first connecting parts (54) respectively through at least two elastic members (532), and the second end of the support rod (531) is connected to the two second connecting parts (55) respectively through at least two elastic members (532); Each of the first connecting parts (54) is connected to the second connecting part (55) spatially adjacent thereto via an elastic member (532); The connection point of the elastic member (532), the two ends of the support rod (531), the first connecting part (54), and the second connecting part (55) together constitute the vertices of the regular octahedron tensegrity structure; The motion base (52) has a first rotational freedom (501) in a diagonal direction around two first connection parts (54) connecting the fixed base (51), and a second rotational freedom (502) in a diagonal direction around two second connection parts (55) connecting the motion base (52); A driving rope assembly (60) is provided in the boom module (20), and the driving rope assembly (60) comprises at least a pitch driving unit (61) for driving the motion base (52) to move around the first rotational degree of freedom (501).

2. The bionic humanoid robotic arm according to claim 1, characterized in that: The length of the support rod (531) is adjustable to change the rigidity of the flexible structure (53).

3. The bionic humanoid robotic arm according to claim 1, characterized in that: The support rod (531) includes a rod body (5311), a first screw rod (5312) and a second screw rod (5313) respectively connected to the two ends of the rod body (5311), a first nut (5314) threadedly engaged with the first screw rod (5312), and a second nut (5315) threadedly engaged with the second screw rod (5313); the first nut (5314) and the second nut (5315) are used to connect the ends of the elastic member (532).

4. The bionic humanoid robotic arm according to claim 1, characterized in that: The elbow joint module (30) includes a first connecting rod frame (31) fixed to the end of the upper arm module (20), a second connecting rod frame (32) fixed to the end of the lower arm module (40), and a first rocker (33) and a second rocker (34) hinged in a cross shape between the first connecting rod frame (31) and the second connecting rod frame (32); a first virtual pitch circle (301) is formed on the first connecting rod frame (31), and a second virtual pitch circle (302) is formed on the second connecting rod frame (32); when the elbow joint module (30) moves, the first virtual pitch circle (301) and the second virtual pitch circle (302) maintain a tangential rolling state.

5. The bionic humanoid robotic arm according to claim 4, characterized in that: The pitch drive unit (61) includes a first drive device (611) fixed on the upper arm module (20), a first rope winch (612) driven by the first drive device (611), and two first ropes (613) wound on the first rope winch (612) and wound in opposite directions; one end of the two first ropes (613) is fixed to the first rope winch (612), and the other end spans the elbow joint module (30) and the lower arm module (40) and is respectively connected to both sides of the motion base (52).

6. The bionic humanoid robotic arm according to claim 5, characterized in that: The motion base (52) is further provided with a rolling shaft (56) rotatably connected thereto; the drive rope assembly (60) further includes a yaw and roll drive unit (62), and the yaw and roll drive unit (62) includes: A second drive device (621) and a third drive device (622) fixed to the arm module (20); a second rope winch (623) driven by the second driving device (621); a second rope (624) wound around the second rope winch (623); a third rope winch (625) driven by the third driving device (622); a third rope (626) wound around the third rope winch (625); Both ends of the second rope (624) are respectively fixed to the second rope winch (623), and the second rope (624) is wound around the rolling shaft (56) after crossing the elbow joint module (30) and the forearm module (40); Both ends of the third rope (626) are respectively fixed to the third rope winch (625), and the third rope (626) is wound around the rolling shaft (56) after crossing the elbow joint module (30) and the forearm module (40); The second rope (624) and the third rope (626) are wound in opposite directions; When the second rope winch (623) and the third rope winch (625) rotate at the same speed in the same direction, the motion base (52) is driven to rotate around the second rotational degree of freedom (502); when the second rope winch (623) and the third rope winch (625) rotate at the same speed in the opposite directions, the rolling shaft (56) is driven to rotate around its own axis.

7. The bionic humanoid robotic arm according to claim 6, characterized in that: The forearm module (40) comprises a forearm body (41), a plurality of guide rails (42) arranged along the length direction of the forearm body, a slider (43) slidably arranged on the guide rails (42), and a ratchet-type rope termination mechanism (44) mounted on the slider (43); The ratchet-type rope termination mechanism (44) comprises a mounting frame (441), a first rotating shaft (442) and a second rotating shaft (443) rotatably arranged on the mounting frame (441), a first ratchet (444) fixed to the first rotating shaft (442), a second ratchet (445) fixed to the second rotating shaft (443), a first pawl (446) arranged on the mounting frame (441) for engaging with the first ratchet (444) to achieve locking, and a second pawl (447) arranged on the mounting frame (441) for engaging with the second ratchet (445) to achieve locking; The first rope (613), the second rope (624) or the third rope (626) is segmented at a position close to the motion base (52) or the second connecting rod frame (32); the two ends of the segmented rope are respectively fixed to the first rotating shaft (442) and the second rotating shaft (443), and are wound and locked in length by the first rotating shaft (442) and the second rotating shaft (443).

8. The bionic humanoid robotic arm according to claim 7, characterized in that: Two of the first ropes (613) are wound around a guide wheel (80) at the center of the first virtual pitch circle (301) and the second virtual pitch circle (302); And / or the second rope (624) and the third rope (626) are wound around the guide wheel (80) at the center position of the first virtual pitch circle (301) and the second virtual pitch circle (302).

9. The bionic humanoid robotic arm according to claim 1, characterized in that: The drive rope assembly (60) further includes an elbow joint drive unit (63); The elbow joint drive unit (63) includes a fourth drive device (631) fixed to the arm module (20), a fourth rope winch (632) driven by the fourth drive device (631), and two fourth ropes (633) wound around the fourth rope winch (632) and in opposite winding directions; One end of the two fourth ropes (633) is fixed to the fourth rope winch (632), and the other end is connected to both sides of the second connecting rod frame (32) or connected to both sides of the first connecting rod frame (31) after passing through the second connecting rod frame (32).

10. The bionic humanoid robotic arm according to claim 9, characterized in that: The bionic humanoid mechanical arm further comprises two sets of ratchet-type rope tighteners (70) for tightening the two fourth ropes (633); The movement path of the fourth rope (633) includes a plurality of return windings, and the number of windings is adjusted according to the installation position of the ratchet rope tightener (70); When two ratchet-type rope tighteners (70) are installed on the first connecting rod frame (31), the fourth rope (633) forms an even number of return windings, and the winding end point terminates at the ratchet-type rope tightener (70) on the first connecting rod frame (31); When two ratchet-type rope tighteners (70) are installed on the second connecting rod frame (32), the fourth rope (633) forms an odd number of return windings, and the winding end point terminates at the ratchet-type rope tightener (70) on the second connecting rod frame (32); The number of return windings is not less than 1, and each additional winding is performed by adding more guide wheels (80) to achieve path return; The output displacement of the fourth driving device (631) is nonlinearly related to the rotation angle of the second connecting rod frame (32), and the change in the rope length of the unilateral fourth rope (633) satisfies the functional relationship with the elbow joint rotation angle θ: ΔL= n·w·sin(0.5θ); Wherein: n is the total number of times the fourth rope (633) on one side is turned back and wound, and w is the distance between the two guide wheels (80) on the first connecting rod frame (31) and the second connecting rod frame (32).

11. The bionic humanoid robotic arm according to claim 10, characterized in that: The ratchet rope tightener (70) is installed on the first connecting rod frame (31) and meets the following conditions: n is an even number; at least one guide wheel (80) is provided on the second connecting rod frame (32) for supporting the fourth rope (633) to form an even number of turns at the position of the second connecting rod frame (32).

12. The bionic humanoid robotic arm according to claim 10, characterized in that: The ratchet rope tightener (70) is installed on the second connecting rod frame (32) and meets the following conditions: n is an odd number; at least two coaxially arranged guide wheels (80) are provided on the first connecting rod frame (31) to support the fourth rope (633) to form an odd number of turns at the position of the second connecting rod frame (32).

13. The bionic humanoid robotic arm according to claim 10, characterized in that: Each set of the ratchet-type rope tighteners (70) comprises a mounting seat (71), a fifth rotating shaft (72) rotatably arranged on the mounting seat (71), a third ratchet (73) fixed to the fifth rotating shaft (72), and a third pawl (74) arranged on the mounting seat (71) and used to engage with the third ratchet (73) to achieve locking. Of the two fourth ropes (633), one end is fixed to the fifth rotating shaft (72) on one side and is tightened thereby, and the other end is fixed to the fifth rotating shaft (72) on the other side and is tightened thereby.

14. The bionic humanoid robotic arm according to claim 1, characterized in that: The shoulder joint module (10) includes a fixed seat (11), a first motor (12) fixed to the fixed seat (11), a swivel seat (13) connected to the output end of the first motor (12), a second motor (14) fixed to the swivel seat (13), a pitch seat (15) connected to the output end of the second motor (14), and a third motor (16) fixed to the pitch seat (15); the output end of the third motor (16) is connected to the upper arm module (20).

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