Double-arm composite robot and mechanical arm thereof

Abstract

The invention discloses a double-arm composite robot and a mechanical arm thereof, the double-arm composite robot comprises the mechanical arm, the mechanical arm comprises a shoulder joint, an elbow joint and a wrist joint, the shoulder joint, the elbow joint and the wrist joint are connected in sequence, and the shoulder joint, the elbow joint and the wrist joint respectively comprise at least two joint modules; the wrist joint is a belt wheel transmission wrist joint and comprises a first wrist joint, a second wrist joint and a belt wheel mechanism, the belt wheel mechanism comprises a driving wheel component, a driven wheel component and a transmission belt, the driving wheel component is connected with a rotor of the first wrist joint, and the driven wheel component is connected with a stator of the second wrist joint; the transmission belt is respectively connected with the driving wheel component and the driven wheel component; the rotation axis of the driving wheel component is coaxial with the rotor axis of the first wrist joint, and the rotation axis of the driven wheel component is parallel to the rotation axis of the driving wheel component and perpendicular to and intersects with the rotor axis of the second wrist joint, so that axis offset is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a dual-arm compound robot and a mechanical arm thereof with a wheel transmission wrist joint. BACKGROUND

[0002] As the core actuator of human-robot interaction, the mechanical arm of a humanoid robot, which integrates bionics, artificial intelligence and multi-modal perception technology, has strong flexibility and adaptability, and is gradually breaking through the functional boundaries of traditional industrial mechanical arms and showing unique advantages in complex scenarios. It is laid out by simulating the 7 degrees of freedom generated by the 3 joints (shoulder joint, elbow joint and wrist joint) of the human arm (3 degrees of freedom of the shoulder joint, 2 degrees of freedom of the elbow joint and 2 degrees of freedom of the wrist joint), so that the mechanical arm has the ability of "lifting arm-bending elbow-rotating wrist" and the flexibility is greatly improved compared with the traditional 6-axis mechanical arm.

[0003] All the joints of the existing mechanical arm of a humanoid robot adopt an orthogonal rotation joint series structure, which realizes high-precision positioning and attitude adjustment in the plane through a double-axis perpendicular intersection rotation pair, has the advantages of simple kinematic model, high control precision and strong workspace expansion. However, the axes of each rotation joint are all non-planar lines, especially in the wrist part, the non-planar rotation of the two joints will significantly aggravate the kinematic coupling effect, resulting in limited flexibility of wrist attitude adjustment. Under this layout, the end effector needs to rely on the coordinated motion of multiple joints to complete a single attitude change, the response speed will be reduced compared with the coplanar orthogonal structure, and there is an attitude blind area that cannot be continuously rotated around the tool axis. At the same time, due to the lack of biomechanical mechanisms similar to human tendon coupling, non-planar rotation is difficult to simulate natural and coherent actions such as "screw twisting" and "arc swinging", and the bionic motion ability is also weakened compared with the real wrist, which is prone to attitude mutation in fine operations such as holding irregular-shaped objects. SUMMARY

[0004] The technical problem to be solved by the present application is to solve the above-mentioned defects of the prior art, and to provide a dual-arm compound robot and a mechanical arm thereof, so as to avoid the disadvantages of the axis offset of the prior art and improve the overall flexibility and operation precision of the mechanical arm.

[0005] In order to achieve the above-mentioned purpose, the application provides a mechanical arm, comprising a shoulder joint, an elbow joint and a wrist joint, which are sequentially connected, and the shoulder joint, the elbow joint and the wrist joint each comprise at least two joint modules, wherein the wrist joint is a wheel transmission wrist joint, the wrist joint comprises a first wrist joint, a second wrist joint and a wheel transmission mechanism, the wheel transmission mechanism comprises a driving wheel part, a driven wheel part and a transmission belt, the driving wheel part is connected with a rotor of the first wrist joint, the driven wheel part is connected with a stator of the second wrist joint, and the transmission belt is connected with the driving wheel part and the driven wheel part respectively; the rotation axis of the driving wheel part is coaxial with the rotor axis of the first wrist joint, the rotation axis of the driven wheel part is parallel to the rotation axis of the driving wheel part, and is perpendicular to and intersects with the rotor axis of the second wrist joint.

[0006] The mechanical arm described above, wherein the driving wheel part comprises a driving wheel fixing seat and a driving belt wheel, the driving belt wheel fixing seat is installed on the rotor of the first wrist joint, the driving belt wheel is connected with the driving belt wheel fixing seat through a key to limit relative rotation, and the axial movement of the driving belt wheel is limited through a locking screw.

[0007] The mechanical arm described above, wherein the driven wheel part comprises a joint fixing seat, a stepped shaft and a driven belt wheel, the driven belt wheel is installed on the stepped shaft through a bearing, and the relative rotation between the driven belt wheel and the stepped shaft is prevented through a key, and the axial movement of the driven belt wheel is prevented through a locking screw; the transmission belt is tensioned on the driving belt wheel and the driven belt wheel; the stepped shaft is installed on the joint fixing seat, the joint fixing seat is installed on the stator of the second wrist joint, and the rotor of the second wrist joint is connected with a terminal flange.

[0008] The mechanical arm described above, wherein the shoulder joint comprises a first shoulder joint, a second shoulder joint and a third shoulder joint, the first shoulder joint is connected with the second shoulder joint through a first connecting rod, the second shoulder joint is connected with the third shoulder joint through a second connecting rod, one end of the first connecting rod is connected with the rotor of the first shoulder joint, and the stator of the second shoulder joint is connected with the other end of the first connecting rod; one end of the second connecting rod is connected with the rotor of the second shoulder joint, and the stator of the third shoulder joint is connected with the other end of the second connecting rod.

[0009] The mechanical arm described above, wherein the third shoulder joint is connected with the elbow joint through a third connecting rod.

[0010] The mechanical arm, wherein the elbow joint comprises a first elbow joint and a second elbow joint, one end of the third connecting rod is connected with the rotor of the third shoulder joint, and the stator of the first elbow joint is connected with the other end of the third connecting rod; the first elbow joint and the second elbow joint are connected through a fourth connecting rod, one end of the fourth connecting rod is connected with the rotor of the first elbow joint, and the other end of the fourth connecting rod is connected with the stator of the second elbow joint.

[0011] The mechanical arm, wherein the second elbow joint is connected with the first wrist joint through a fifth connecting rod, one end of the fifth connecting rod is connected with the rotor of the second elbow joint, and the middle part of the fifth connecting rod is connected with the stator of the first wrist joint.

[0012] The mechanical arm, wherein the first wrist joint and the second wrist joint are connected through a sixth connecting rod, one end of the sixth connecting rod is connected with the fifth connecting rod, the other end of the sixth connecting rod is connected with the stepped shaft through the bearing, and the bearing is connected with the sixth connecting rod and the stepped shaft in an interference fit.

[0013] The mechanical arm, wherein a zero-position upper key groove is arranged on the driving wheel fixing seat, and a zero-position lower key groove is arranged on the fifth connecting rod corresponding to the zero-position upper key groove.

[0014] In order to better achieve the above-mentioned purpose, the application further provides a dual-arm composite robot, wherein the robot comprises the above-mentioned mechanical arm.

[0015] The technical effect of the application is that:

[0016] The dual-arm composite robot of the application adopts a wheel transmission wrist joint, avoids the disadvantages of axis offset in the prior art, simplifies the complexity of multi-joint cooperative motion when the end effector completes an action, improves the response speed and motion accuracy, and at the same time, the coplanar axis can realize natural and coherent actions such as "screw twisting" and "arc swinging", thereby improving the bionic ability and flexibility.

[0017] The application will be described in detail below with reference to the drawings and specific embodiments, but is not limited to the application. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 Fig. 1 is a structural schematic diagram of a dual-arm composite robot according to an embodiment of the application;

[0019] Figure 2A Fig. 2 is a structural schematic diagram of a mechanical arm according to an embodiment of the application;

[0020] Figure 2B Fig. 3 is an exploded view of each joint module of the mechanical arm according to an embodiment of the application; Figure 2A

[0021] ​Figure 3 An exploded view of a driven wheel component of an embodiment of the present application;

[0022] Figure 4 An exploded view of a driven wheel component of an embodiment of the present application.

[0023] Wherein, the reference signs

[0024] 1 head

[0025] 2 two-way steering gear

[0026] 3 mechanical arm

[0027] 31 shoulder joint

[0028] 311 first shoulder joint

[0029] 312 second shoulder joint

[0030] 313 third shoulder joint

[0031] 314 first connecting rod

[0032] 315 second connecting rod

[0033] 316 third connecting rod

[0034] 32 elbow joint

[0035] 321 first elbow joint

[0036] 322 second elbow joint

[0037] 323 fourth connecting rod

[0038] 33 wrist joint

[0039] 331 first wrist joint

[0040] 332 second wrist joint

[0041] 333 pulley mechanism

[0042] 3331 driving wheel component

[0043] 33311 pulley threaded hole

[0044] 33312 driving pulley

[0045] 33313 driving wheel fixing seat 33314 fixing seat key groove

[0046] 33315 zero position upper key groove

[0047] 3332 driven wheel component

[0048] 33321 driven pulley

[0049] 33322 lock nut

[0050] 33323 bearing end cover

[0051] 33324 bearing

[0052] 33325 rubber washer

[0053] 33326 stepped shaft keyway

[0054] 33327 stepped shaft

[0055] 33328 joint fixing seat

[0056] 3333 drive belt

[0057] 334 fifth connecting rod

[0058] 3341 zero lower keyway

[0059] 335 sixth connecting rod

[0060] 336 end flange

[0061] 34 base

[0062] S1-S15 first to fifteenth circumferential array threaded holes

[0063] 4 torso

[0064] 5 chassis

[0065] 6 roller DETAILED DESCRIPTION

[0066] The structural principle and working principle of the present application will be described in detail below in combination with the drawings:

[0067] Referring to Figure 1 , Figure 1 is a structural schematic diagram of a dual-arm composite robot of an embodiment of the present application. The dual-arm composite robot of the present application comprises a head 1, dual-arm mechanical arms 3, a torso 4, a chassis 5 and rollers 6, the head 1 and the torso 4 are connected by a bidirectional rudder 2, the dual-arm mechanical arms 3 are respectively installed on the torso 4 through mechanical arm 3 bases 34, the torso 4 is installed on the chassis 5, the chassis 5 is internally provided with a controller and a power supply, and a plurality of rollers 6 are installed at the bottom of the chassis 5 for movement. Since the structures of other components of the dual-arm composite robot, the mutual positional relationship, the connection relationship and the functions thereof are all mature prior art, they will not be described here, and only the mechanical arms 3 of the present application will be described in detail below.

[0068] Referring to Figure 2A and Figure 2B , Figure 2A is a structural schematic diagram of a mechanical arm 3 of an embodiment of the present application, Figure 2B isFigure 2A The mechanical arm 3 of the present application comprises a shoulder joint 31, an elbow joint 32 and a wrist joint 33, which are connected in sequence, and each of the shoulder joint 31, the elbow joint 32 and the wrist joint 33 comprises at least two joint modules, characterized in that the wrist joint 33 is a pulley transmission wrist joint, and the wrist joint 33 comprises a first wrist joint 331, a second wrist joint 332 and a pulley mechanism 333, the pulley mechanism 333 comprises a driving pulley part 3331, a driven pulley part 3332 and a transmission belt 3333, the driving pulley part 3331 is connected with the rotor of the first wrist joint 331, the driven pulley part 3332 is connected with the stator of the second wrist joint 332, and the transmission belt 3333 is connected with the driving pulley part 3331 and the driven pulley part 3332 respectively; the rotation axis of the driving pulley part 3331 is coaxial with the rotor axis of the first wrist joint 331, the rotation axis of the driven pulley part 3332 is parallel to the rotation axis of the driving pulley part 3331, and is perpendicular to and intersects with the rotor axis of the second wrist joint 332. The rotor of the first wrist joint 331 transmits the motion to the driving pulley 33312, and then the transmission belt transmits the motion to the driven pulley 33321, the driven pulley 33321 rotates to drive the second wrist joint 332 to move. After the rotation axis of the first wrist joint 331 is transferred to the position of the second wrist joint 332, the axes are perpendicular and intersected, and the two joints rotate at a speed of 1:1, at this time, under the condition that the phase difference is π / 2, the motion trajectory of the end of the mechanical arm 3 is a spiral line.

[0069] In the embodiment, the shoulder joint 31 comprises a first shoulder joint 311, a second shoulder joint 312 and a third shoulder joint 313, the first shoulder joint 311 is connected with the second shoulder joint 312 through a first connecting rod 314, the second shoulder joint 312 is connected with the third shoulder joint 313 through a second connecting rod 315, one end of the first connecting rod 314 is connected with the rotor of the first shoulder joint 311, and the stator of the second shoulder joint 312 is connected with the other end of the first connecting rod 314; one end of the second connecting rod 315 is connected with the rotor of the second shoulder joint 312, and the stator of the third shoulder joint 313 is connected with the other end of the second connecting rod.

[0070] The third shoulder joint 313 is connected with the elbow joint 32 through a third connecting rod 316. The elbow joint 32 comprises a first elbow joint 321 and a second elbow joint 322. One end of the third connecting rod 316 is connected with the rotor of the third shoulder joint 313, and the other end of the third connecting rod 316 is connected with the stator of the first elbow joint 321. The first elbow joint 321 and the second elbow joint 322 are connected through a fourth connecting rod 323. One end of the fourth connecting rod 323 is connected with the rotor of the first elbow joint 321, and the other end of the fourth connecting rod 323 is connected with the stator of the second elbow joint 322.

[0071] The second elbow joint 322 is connected with the first wrist joint 331 through a fifth connecting rod 334. One end of the fifth connecting rod 334 is connected with the rotor of the second elbow joint 322, and the middle of the fifth connecting rod 334 is connected with the stator of the first wrist joint 331. The first wrist joint 331 and the second wrist joint 332 are connected through a sixth connecting rod 335. One end of the sixth connecting rod 335 is connected with the fifth connecting rod 334, and the other end of the sixth connecting rod 335 is connected with the stepped shaft 33327 through the bearing 33324. The bearing 33324 is connected with the sixth connecting rod 335 and the stepped shaft 33327 in an interference fit.

[0072] Referring to Figure 3 , Figure 3 FIG. 1 is an exploded view of a driving wheel component 3331 according to an embodiment of the present application. The driving wheel component 3331 comprises a driving wheel fixing seat 33313 and a driving belt wheel 33312. The driving wheel fixing seat 33313 is installed on the rotor of the first wrist joint 331. The driving belt wheel 33312 is connected with the driving wheel fixing seat 33313 through a key to limit relative rotation and is connected with the driving wheel fixing seat 33313 through a set screw to limit axial movement of the driving belt wheel 33312. The driving wheel fixing seat 33313 is provided with a zero-position upper key groove 33315. The fifth connecting rod 334 is provided with a zero-position lower key groove 3341 corresponding to the zero-position upper key groove 33315.

[0073] Referring to Figure 4 , Figure 4The exploded view of the driven wheel component 3332 of an embodiment of the application. The driven wheel component 3332 of the embodiment comprises a joint fixing seat 33328, a stepped shaft 33327, and a driven pulley 33321 mounted on the stepped shaft 33327 through a bearing 33324 and prevented from rotating relative to the stepped shaft 33327 through key connection and prevented from axial movement through a lock nut 33322; the transmission belt 3333 is tensioned on the driving pulley 33312 and the driven pulley 33321; the stepped shaft 33327 is installed on the joint fixing seat 33328, which is installed on the stator of the second wrist joint 332, and the rotor of the second wrist joint 332 is connected with the end flange 336.

[0074] The shoulder joint 31 of the embodiment comprises three joint modules and is connected in series through the first connecting rod 314 and the second connecting rod 315; the elbow joint 32 comprises two joint modules and is connected in series through the third connecting rod 316 and the fourth connecting rod 323; the wrist joint 33 comprises two joint modules, the rotor part of the first wrist joint 331 is provided with a pulley to form the driving wheel component 3331, and the second wrist joint 332 is fixed on the fixing seat of the driven wheel component 3332. The third connecting rod 316 is installed on the rotor of the second shoulder joint 312 to realize the series connection of the shoulder and the elbow; the wrist fifth connecting rod 334 is installed on the rotor of the second elbow joint 322 to realize the series connection of the elbow and the wrist. Among the first six joint modules, the rotor of the previous joint module drives the stator of the next joint module through the connecting rod to realize cascading transmission.

[0075] The rotational axis of the first shoulder joint 311, the third shoulder joint 313, and the second elbow joint 322 is coaxial with the axis L4 after assembly, and among the centers of gravity G1-G7 of the corresponding joint modules, the centers of gravity G2, G4, G6, and G7 of the second shoulder joint 312, the first elbow joint 321, the first wrist joint 331, and the second wrist joint 332 are located on the axis L4; the zero position of each joint module is positioned, and the zero position of the first wrist joint 331 is taken as an example. In the free rotation state of the joint module, i.e., the built-in brake release state of the joint module, the zero position upper key groove 33315 and the zero position lower key groove 3341 are overlapped by rotating the driving wheel fixing seat 33313, and then the adapted positioning key is put in, and then the rotation angle of the joint module is cleared in the control system, thereby realizing zero position positioning.

[0076] In order to realize the rotation axis of the first wrist joint 331 and the second wrist joint 332 perpendicular and intersecting, the belt drive is adopted, taking the driving pulley 33312 of the driving pulley part 3331 as the power, driving the driven pulley 33321 of the driven pulley part 3332 through the transmission belt 3333, realizing the transmission of the first wrist joint 331 to the second wrist joint 332, translating the rotation axis L1 of the first wrist joint 331 to the L2 position of the second wrist joint 332, making it perpendicular and intersecting with the rotation axis L3 of the second wrist joint 332, solving the problem of axis offset. The stator of the first shoulder joint 311 is installed on the base 34 through the first circumferential array of threaded holes S1; one side of the first connecting rod 314 is installed on the rotor of the first shoulder joint 311 through the second circumferential array of threaded holes S2; the other side of the first connecting rod 314 fixes the stator of the second shoulder joint 312 through the third circumferential array of threaded holes S3; one side of the second connecting rod 315 is fixed on the rotor of the second shoulder joint 312 through the fourth circumferential array of threaded holes; the other side of the second connecting rod 315 fixes the stator of the second shoulder joint 312 through the fifth circumferential array of threaded holes S5; one side of the third connecting rod 316 is fixed on the rotor of the second shoulder joint 312 through the sixth circumferential array of threaded holes S6; the other side of the third connecting rod 316 fixes the stator of the first elbow joint 321 through the seventh circumferential array of threaded holes S7; one side of the fourth connecting rod 323 is fixed on the rotor of the first elbow joint 321 through the eighth circumferential array of threaded holes; the other side of the fourth connecting rod 323 fixes the stator of the second elbow joint 322 through the ninth circumferential array of threaded holes; one side of the fifth connecting rod 334 is fixed on the rotor of the second elbow joint 322 through the tenth circumferential array of threaded holes S10; the middle part of the fifth connecting rod 334 fixes the stator of the first wrist joint 331 through the twelfth circumferential array of threaded holes S12; The combination of the first wrist joint 331 and the second wrist joint 332 is the wrist part of the mechanical arm 3, and the pulley installed on the rotor of the first wrist joint 331 as the driving pulley 33312 drives the driven pulley 33321, realizing the rotation axis L1 of the first wrist joint 331 to the L2 position of the second wrist joint 332.

[0077] The driving wheel fixing seat 33313 is fixed on the rotor of the first wrist joint 331 through the eleventh circumferential array threaded hole S11; the driving pulley 33312 is connected with the fixing seat through the key connection of the key groove 33314 to limit the relative rotation of the two, and the driving pulley 33312 is limited in the axial movement by installing the tight fixing screw in the two pulley threaded holes 33311 which are perpendicular and intersected on the driving pulley 33312. One side of the sixth connecting rod 335 is provided with the thirteenth array threaded hole S13, and the sixth connecting rod 335 is fixed on the fifth connecting rod 334 through the through hole by using the screw connection; the outer ring of the bearing 33324 is interference fitted in the mounting hole of the sixth connecting rod 335, and the outer ring of the bearing 33324 is in close contact with the mounting hole of the sixth connecting rod 335; the stator of the second wrist joint 332 is fixed by the fixing seat through the fourteenth array threaded hole S14, and the stepped shaft 33327 is fixed on the joint fixing seat 33328 through the screw; the stepped shaft 33327 is installed in the inner ring of the bearing 33324 through the interference fit, and the inner ring of the bearing 33324 is in close contact with the shaft shoulder of the stepped shaft 33327; the tight nut 33322 is installed on the outer thread of the stepped shaft 33327 to avoid the movement of the inner ring of the bearing 33324; the rubber washer 33325 and the bearing end cover 33323 are installed on the sixth connecting rod 335 to fix the outer ring of the bearing 33324. The driven pulley 33321 is installed on the stepped shaft 33327, the stepped shaft 33327 is provided with the stepped shaft key groove 33326, the relative rotation of the driven pulley 33321 and the stepped shaft 33327 is prevented through the key connection, the driven pulley 33321 is fastened on the stepped shaft 33327 by installing the tight fixing screw in the two threaded holes which are perpendicular and intersected on the driven pulley 33321, and the axial movement of the driven pulley 33321 is prevented. The end flange 336 is installed on the rotor of the second wrist joint 332 through the fifteenth array threaded hole S15.

[0078] The driving pulley 33312 of the driving wheel component 3331 and the driven pulley 33321 of the driven wheel component 3332 are connected through the transmission belt 3333, the driving pulley 33312 drives the driven pulley 33321 to rotate, the transmission relationship between the two wrist joint modules is established, the rotation around the axis L1 is converted into the rotation around the axis L2, the transmission speed ratio of the first wrist joint 331 to the second wrist joint 332 is optimized through the center distance between the pulleys, the transmission stability is ensured, and the compactness of the mechanical arm 3 and the flexible conversion of the movement direction are supported.

[0079] The mechanical arm 3 adopts a hierarchical hybrid control mode, each joint is equipped with an independent servo drive, a high-precision encoder and a real-time current loop control, to maintain the independence of each joint driver, and to realize collaborative optimization through a central controller, an upper decision unit processes task planning and safety monitoring, a middle motion controller calculates inverse dynamics and impedance adjustment, a bottom joint module executes high-bandwidth current and position closed loop, each level is synchronized through a time-sensitive network in microseconds, and finally forms an intelligent control system of "electrically dispersed, algorithmically centralized", which guarantees fast response at the joint level, and realizes dynamic coupling compensation of the whole arm and safety of human-machine cooperation.

[0080] Of course, the present application can have other various embodiments, and those skilled in the art can make various corresponding changes and modifications according to the present application without departing from the spirit and essence of the present application, but these corresponding changes and modifications should all belong to the protection scope of the claims attached to the present application.

Claims

1. A robot arm comprising a shoulder joint, an elbow joint and a wrist joint, which are connected in sequence, the shoulder joint, the elbow joint and the wrist joint each comprising at least two joint modules, characterized in that, The wrist joint is a belt drive wrist joint, the wrist joint comprises a first wrist joint, a second wrist joint and a belt drive mechanism, the belt drive mechanism comprises a driving wheel part, a driven wheel part and a transmission belt, the driving wheel part is connected with a rotor of the first wrist joint, the driven wheel part is connected with a stator of the second wrist joint, and the transmission belt is connected with the driving wheel part and the driven wheel part respectively; the rotation axis of the driving wheel part is coaxial with the rotor axis of the first wrist joint, the rotation axis of the driven wheel part is parallel to the rotation axis of the driving wheel part, and is perpendicular to and intersects with the rotor axis of the second wrist joint.

2. The robot arm of claim 1, wherein, The driving wheel part comprises a driving wheel fixing seat and a driving belt wheel, the driving belt wheel fixing seat is installed on the rotor of the first wrist joint, the driving belt wheel is connected with the driving belt wheel fixing seat through a key to limit relative rotation, and the axial movement of the driving belt wheel is limited through a locking screw.

3. The robot arm of claim 2, wherein, The driven wheel part comprises a joint fixing seat, a stepped shaft and a driven belt wheel, the driven belt wheel is installed on the stepped shaft through a bearing, the relative rotation between the driven belt wheel and the stepped shaft is prevented through a key, and the axial movement of the driven belt wheel is prevented through a locking screw; the transmission belt is tensioned on the driving belt wheel and the driven belt wheel; the stepped shaft is installed on the joint fixing seat, the joint fixing seat is installed on the stator of the second wrist joint, and the rotor of the second wrist joint is connected with an end flange.

4. The robotic arm of claim 1, wherein, The shoulder joint comprises a first shoulder joint, a second shoulder joint and a third shoulder joint, the first shoulder joint is connected with the second shoulder joint through a first connecting rod, the second shoulder joint is connected with the third shoulder joint through a second connecting rod, one end of the first connecting rod is connected with the rotor of the first shoulder joint, and the stator of the second shoulder joint is connected with the other end of the first connecting rod; one end of the second connecting rod is connected with the rotor of the second shoulder joint, and the stator of the third shoulder joint is connected with the other end of the second connecting rod.

5. The robot arm of claim 4, wherein, The third shoulder joint is connected with the elbow joint through a third connecting rod.

6. The robot arm of claim 5, wherein, The elbow joint comprises a first elbow joint and a second elbow joint, one end of the third connecting rod is connected with the rotor of the third shoulder joint, and the stator of the first elbow joint is connected with the other end of the third connecting rod; the first elbow joint and the second elbow joint are connected through a fourth connecting rod, one end of the fourth connecting rod is connected with the rotor of the first elbow joint, and the stator of the second elbow joint is connected with the other end of the fourth connecting rod.

7. The robot arm of claim 6, wherein, The second elbow joint is connected with the first wrist joint through a fifth connecting rod, one end of the fifth connecting rod is connected with the rotor of the second elbow joint, and the middle part of the fifth connecting rod is connected with the stator of the first wrist joint.

8. The robot arm of claim 7, wherein, The first wrist joint and the second wrist joint are connected through a sixth connecting rod, one end of the sixth connecting rod is connected with the fifth connecting rod, the other end of the sixth connecting rod is connected with the stepped shaft through the bearing, and the bearing is connected with the sixth connecting rod and the stepped shaft in an interference fit.

9. The robotic arm of claim 7, wherein, A zero-position upper key groove is arranged on the driving wheel fixing seat, and a zero-position lower key groove is arranged on the fifth connecting rod corresponding to the zero-position upper key groove.

10. A dual-arm compound robot, characterized by, A robot arm according to any one of claims 1-9.

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