Humanoid arm and system of anti-explosion humanoid robot

Abstract

The invention provides an anti-explosion humanoid robot humanoid arm and system, and the humanoid arm comprises a seven-degree-of-freedom humanoid mechanical arm structure chain which is connected with a supporting structure through a mechanical arm fixing base, is connected with a plurality of mounting parts in series through seven driving joints, and is finally connected to a tail end clamping jaw tool through a six-dimensional force sensor. According to the core improvement, joint covering parts covering the outer sides of the second driving joint, the fourth driving joint and the sixth driving joint are arranged, and the covering parts and the driving joint bodies jointly form an explosion-proof cavity so as to meet the explosion-proof requirement. The explosion-proof cavity adopts a structure of combining a wide spigot with a high-temperature-resistant sealing ring, energy limitation is carried out on an internal circuit through an intrinsic safety isolation fence, and sealing wiring is carried out through hollow shaft wiring and an explosion-proof cable gland. A six-dimensional force sensor and a binocular depth camera are further integrated, and a double-arm system can be formed through symmetrical arrangement. The system has high flexibility and environment perception capability, and ensures the operation safety in the flammable and explosive environment at the same time.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to an explosion-proof humanoid robot anthropomorphic arm and system. BACKGROUND

[0002] Humanoid robots are one of the most promising and attractive branches in the field of robots, which have a structure similar to that of humans. They can adapt to more complex terrain conditions, have more flexible work space and rapid motion ability, and can perform complex tasks such as carrying, precise grasping, and contact detection. Currently, most robotic arms have six degrees of freedom and are widely used in precision manufacturing, medical treatment, and other light-load fields.

[0003] However, existing products are limited in high-risk industrial scenarios such as petrochemicals, gas stations, and coal mines. The main reasons are:

[0004] Insufficient degrees of freedom and load capacity: Most of the mainstream products on the market have six degrees of freedom, and the effective load is usually less than 5kg, making it difficult to perform heavy-load carrying or dual-arm collaborative work;

[0005] Lack of true explosion-proof capability: Although some robots claim to be "explosion-proof", they only add a simple explosion-proof cover to the outside, without systematic explosion-proof design for internal key components such as joint drive units, electrical interfaces, and cable channels, which cannot meet the national mandatory explosion-proof standards such as GB3836.1 / .2;

[0006] Difficult to maintain: Most existing explosion-proof structures are sealed as a whole. Once the joint fails, the entire device needs to be returned to the factory for repair, which cannot be quickly repaired on site in an explosive environment.

[0007] Therefore, there is an urgent need for an anthropomorphic arm system with seven degrees of freedom, a humanoid structure, a large load capacity, and true compliance with national explosion-proof certification requirements to fill the technical gap of explosion-proof humanoid robots in high-risk industrial scenarios. SUMMARY

[0008] Therefore, the main purpose of the present application is to solve one of the above problems.

[0009] In a first aspect, the present application provides an explosion-proof humanoid robot anthropomorphic arm, comprising:

[0010] The first seven-degree-of-freedom anthropomorphic structure chain is connected with a support structure through a mechanical arm fixed base, is connected with the proximal end of the first mounting member through a first driving joint, is connected with the distal end of the first mounting member and the proximal end of the second mounting member through a second driving joint, is connected with the distal end of the second mounting member and the proximal end of the third mounting member through a third driving joint, is connected with the distal end of the third mounting member and the proximal end of the fourth mounting member through a fourth driving joint, is connected with the distal end of the fourth mounting member and the proximal end of the fifth mounting member through a fifth driving joint, is connected with the distal end of the fifth mounting member and the proximal end of the sixth mounting member through a sixth driving joint, is connected with the distal end of the sixth mounting member and the proximal end of a six-dimensional force sensor through a seventh driving joint, and is connected with the distal end of the six-dimensional force sensor and the proximal end of an end gripper tool through an end mounting flange; wherein each component defines a distal end as an end away from the support structure and a proximal end as an end close to the support structure; a joint covering assembly covering the outside of the first seven-degree-of-freedom anthropomorphic structure chain, the joint covering assembly comprising: a second driving joint covering member arranged outside the second driving joint, a fourth driving joint covering member arranged outside the fourth driving joint, and a sixth driving joint covering member arranged outside the sixth driving joint; wherein each driving joint covering member and the corresponding driving joint body jointly constitute an explosion-proof cavity.

[0011] Further, the joint surface of the explosion-proof cavity adopts a stop structure with a width greater than 25 mm, and the explosion-proof cavity is filled with a high-temperature-resistant fluororubber sealing ring inside.

[0012] Further, the power supply lines of the first seven-degree-of-freedom anthropomorphic structure chain are all subjected to energy limitation through an intrinsically safe isolation fence.

[0013] Further, the power supply lines and communication lines inside the first seven-degree-of-freedom anthropomorphic structure chain adopt a hollow shaft wiring method, and the power supply lines and the communication lines are sealed and connected through a porous explosion-proof gland when passing through the explosion-proof cavity or being led out to the outside of the explosion-proof cavity.

[0014] Further, the second driving joint covering member, the fourth driving joint covering member, and the sixth driving joint covering member are all connected with the first seven-degree-of-freedom anthropomorphic structure chain through quick-release flange connection structures.

[0015] Further, a test lifting ring is arranged outside the first mounting member.

[0016] Further, the six-dimensional force sensor is externally provided with a binocular depth camera; the six-dimensional force sensor comprises a force sensor shell, the force sensor shell is provided with a torque measurement plate near one end of the end gripper tool, the force sensor shell is internally provided with a force sensor chip set, and the force sensor shell is externally provided with a joint; the binocular depth camera comprises a camera connecting seat connecting the binocular depth camera with the force sensor shell, the camera connecting seat is provided with a camera chip set away from one end of the six-dimensional force sensor, the camera chip set is externally provided with a camera front shell and a camera rear shell, the camera front shell is arranged at one end of the camera front shell close to the end gripper tool, and the camera front shell is provided with a camera lens protection cover on one side close to the end gripper tool.

[0017] Further, the second mounting member is externally provided with a second drive joint reinforcing member.

[0018] Further, the application further comprises: a second seven-degree-of-freedom anthropomorphic structure chain symmetrically arranged with the first seven-degree-of-freedom anthropomorphic structure chain, and the first seven-degree-of-freedom anthropomorphic structure chain and the second seven-degree-of-freedom anthropomorphic structure chain are respectively arranged on both sides of the double-arm support skeleton.

[0019] In a second aspect, the application provides a system of an explosion-proof anthropomorphic robot arm, comprising:

[0020] The PC terminal, the joint controller and the small computing unit are connected in series through the Ethercat protocol.

[0021] The PC terminal communicates with the joint controller and the small computing unit through a wireless network connection switch.

[0022] Each drive joint adopts the Ethercat protocol to communicate in series, the joint controller receives torque data of the six-dimensional force sensor and position data of each joint encoder, and sends joint control instructions.

[0023] The small computing unit communicates with the binocular depth camera and the end gripper tool through a USB / RS485 interface.

[0024] The application has the following beneficial effects:

[0025] 1. The whole arm explosion-proof certification is realized: through the integrated design of the explosion-proof cavity, the intrinsically safe circuit and the explosion-proof gland, the whole arm meets the GB 3836.1 / .2 / .4 standard, can obtain the Ex d IIC T6 Gb explosion-proof certification, is suitable for high-risk explosive environments such as petroleum chemical industry, gas and military industry, and solves the technical defects of the existing products that only the shell is explosion-proof and the interior is not protected.

[0026] 2. High safety and reliability: The explosion-proof structure can withstand internal explosion pressure without rupture, and the intrinsically safe circuit limits energy output from the source, which significantly improves the safety of operation in flammable and explosive places.

[0027] 3. Maintenance convenience: The quick-release explosion-proof cover design allows quick replacement of joints or sensors in the explosion-proof area without damaging the overall sealing structure, significantly reducing downtime and maintenance costs.

[0028] 4. Compatible high-performance operation ability: While achieving high-level explosion protection, the intelligent functions such as seven-degree-of-freedom flexible structure, six-dimensional force control, and binocular vision are retained, balancing safety and operation ability, filling the application gap of explosion-proof humanoid robot arms in industrial sites, emergency rescue, and other scenarios.

[0029] 5. High system integration: Hollow wiring + explosion-proof gland design ensures cable safety and maintains the sealing of the entire arm, avoiding the risk of short circuit or spark caused by traditional exposed wiring in explosion-proof environments. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 is a full view of an explosion-proof humanoid robot anthropomorphic arm according to the present application;

[0031] Figure 2 is a structural schematic diagram of an explosion-proof humanoid robot anthropomorphic arm according to the present application;

[0032] Figure 3 is an explosion diagram of an explosion-proof humanoid robot anthropomorphic arm structure according to the present application;

[0033] Figure 4 is an explosion diagram of a six-dimensional force sensor and binocular depth camera first view structure according to the present application;

[0034] Figure 5 is an explosion diagram of a six-dimensional force sensor and binocular depth camera second view structure according to the present application;

[0035] Figure 6 is a communication principle diagram of an explosion-proof humanoid robot anthropomorphic arm system according to the present application;

[0036] Among the above drawings, the following reference signs are included:

[0037] 1. first seven-degree-of-freedom anthropomorphic structure chain; 2. second seven-degree-of-freedom anthropomorphic structure chain; 3. double-arm support skeleton; 101. mechanical arm fixed base; 102. test lifting ring; 103. first mounting piece; 104. second driving joint cover; 105. second mounting piece; 106. third mounting piece; 107. fourth driving joint cover; 108. fourth mounting piece; 109. fifth mounting piece; 110. sixth driving joint cover; 111. sixth mounting piece; 112. six-dimensional force sensor; 112a. force sensor shell; 112b. torque measurement plate; 112c. force sensor chip set; 112d. joint; 113. binocular depth camera; 113a. camera connecting seat; 113b. camera chip set; 113c. camera front shell; 113d. camera rear shell; 113e. camera lens protection cover; 114. end gripper tool; 115. second driving joint; 116. fourth driving joint; 117. sixth driving joint; 118. first driving joint; 119. second driving joint reinforcement; 120. third driving joint; 121. fifth driving joint; 122. seventh driving joint; 123. end mounting flange. DETAILED DESCRIPTION

[0038] The application will be further described below in conjunction with the drawings and examples. It should be understood that the specific examples described herein are intended to be illustrative only and not limiting to the application. In addition, it should be noted that only the parts related to the application are shown in the drawings for the convenience of description. It should be noted that the examples and features in the examples can be combined with each other without conflict.

[0039] In the description of the application, it should be noted that the terms "center", "upper", "lower", "left", "right", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application; the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance, in addition, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances. The application will be described in detail below with reference to the drawings and examples.

[0040] AsFigures 1-5 As shown in the figure, an explosion-proof humanoid robot humanoid arm comprises:

[0041] A first seven-degree-of-freedom humanoid structure chain 1 is connected with a support structure through a mechanical arm fixed base 101, the mechanical arm fixed base 101 is connected with the proximal end of a first mounting piece 103 through a first driving joint 118, the distal end of the first mounting piece 103 is connected with the proximal end of a second mounting piece 105 through a second driving joint 115, the distal end of the second mounting piece 105 is connected with the proximal end of a third mounting piece 106 through a third driving joint 120, the distal end of the third mounting piece 106 is connected with the proximal end of a fourth mounting piece 108 through a fourth driving joint 116, the distal end of the fourth mounting piece 108 is connected with the proximal end of a fifth mounting piece 109 through a fifth driving joint 121, the distal end of the fifth mounting piece 109 is connected with the proximal end of a sixth mounting piece 111 through a sixth driving joint 117, the distal end of the sixth mounting piece 111 is connected with the proximal end of a six-dimensional force sensor 112 through a seventh driving joint 122, and the distal end of the six-dimensional force sensor 112 is connected with the proximal end of an end gripper tool 114 through an end mounting flange 123; wherein each component defines the distal end as the end away from the support structure, and the proximal end as the end close to the support structure;

[0042] A joint covering assembly is covered outside the first seven-degree-of-freedom humanoid structure chain 1, the joint covering assembly comprises a second driving joint covering piece 104 arranged outside the second driving joint 115, a fourth driving joint covering piece 107 arranged outside the fourth driving joint 116, and a sixth driving joint covering piece 110 arranged outside the sixth driving joint 117; wherein each driving joint covering piece and the corresponding driving joint body jointly constitute an explosion-proof cavity.

[0043] In the explosion-proof humanoid robot humanoid arm provided by the application, one end of the first driving joint 118 is fixed on the double-arm support skeleton 3 through the mechanical arm fixed base 101, and the other end is connected with the proximal end of the first mounting piece 103. A test lifting ring 102 is fixed on the first mounting piece 103, which is used for lifting during assembly and debugging.

[0044] The distal end of the first mounting piece 103 is connected with the proximal end of the second mounting piece 105 through the second driving joint 115. The second driving joint 115 is a main force-bearing joint, and the second driving joint covering piece 104 is arranged outside the second driving joint 115, and the two jointly constitute a first explosion-proof cavity. The second driving joint reinforcing piece 119 is further arranged outside the second mounting piece 105 to enhance the structural rigidity.

[0045] The distal end of the second mounting member 105 is connected to the proximal end of the third mounting member 106 through a third driving joint 120.

[0046] The distal end of the third mounting member 106 is connected to the proximal end of the fourth mounting member 108 through a fourth driving joint 116. The joint is also a main force-bearing joint, and a fourth driving joint cover 107 is arranged on the outer side of the joint to form a second explosion-proof cavity.

[0047] The distal end of the fourth mounting member 108 is connected to the proximal end of the fifth mounting member 109 through a fifth driving joint 121.

[0048] The distal end of the fifth mounting member 109 is connected to the proximal end of the sixth mounting member 111 through a sixth driving joint 117. A sixth driving joint cover 110 is arranged on the outer side of the joint to form a third explosion-proof cavity.

[0049] The distal end of the sixth mounting member 111 is connected to the proximal end of the six-dimensional force sensor 112 through a seventh driving joint 122.

[0050] The distal end of the six-dimensional force sensor 112 is connected to the end clamping jaw tool 114 or other actuators (such as a welding gun, a detection probe) through an end mounting flange 123.

[0051] The above seven driving joints move cooperatively to simulate all the movement degrees of freedom of the shoulder joint, elbow joint and wrist joint of a human arm, so that the human arm can perform complex spatial trajectory operation tasks.

[0052] As a preferred embodiment of the present application, the following additional technical features can also be provided:

[0053] In a preferred embodiment, the joint surface of the explosion-proof cavity adopts a stop structure with a width greater than 25 mm, and the explosion-proof cavity is filled with a high-temperature-resistant fluororubber sealing ring inside.

[0054] In a preferred embodiment, the power supply lines of the first seven-degree-of-freedom humanoid structure chain 1 are all subjected to energy limitation through an intrinsically safe isolation grid.

[0055] In a preferred embodiment, the power supply lines and communication lines inside the first seven-degree-of-freedom humanoid structure chain 1 adopt a hollow shaft wiring method, and the power supply lines and the communication lines are sealed and connected through a porous explosion-proof gland when passing through the explosion-proof cavity or being led out to the outside of the explosion-proof cavity.

[0056] In a preferred embodiment, the second driving joint cover 104, the fourth driving joint cover 107 and the sixth driving joint cover 110 all adopt a quick-release flange connection structure to be connected to the first seven-degree-of-freedom humanoid structure chain 1.

[0057] Thus, the explosion-proof performance of the explosion-proof humanoid robot anthropomorphic arm is achieved through the following multi-level design.

[0058] Explosion-proof cavity design: the coverings (104, 107, 110) outside the second, fourth, and sixth driving joints (115, 116, 117) adopt a quick-release flange connection structure, which can be quickly disassembled by removing a small number of high-strength bolts, facilitating maintenance. The explosion-proof cavities formed by these coverings and joint bodies have a joint surface with a width of 25mm (according to GB3836.2 standard, which can be greater than but not less than this value), and a high-temperature-resistant fluorine rubber sealing ring is embedded in the joint. This design ensures that even if an explosion occurs inside the cavity due to circuit failure, the flame and explosion pressure can be fully cooled and decompressed when passing through the joint surface, so as not to ignite the external explosive environment.

[0059] Intrinsic safety circuit design: the power supply lines of all high-precision servo drives, absolute value encoders, and control board cards (i.e. electrical elements) inside the driving joints are connected in series with intrinsic safety isolation barriers (Ex i) before entering the explosion-proof cavity. The isolation barrier limits the electrical energy entering the hazardous area within a safe range, ensuring that even if the line is short-circuited, broken, or has other faults, the resulting electric spark or thermal effect is not enough to ignite a specific level of explosive gas (such as hydrogen or acetylene).

[0060] Integrated wiring sealing design: the power supply lines and EtherCAT communication lines inside the entire arm are routed through the hollow rotors of the driving joints, greatly reducing cable bending wear and tear and space occupation. When the cable needs to pass through different explosion-proof cavities or be drawn out from the cavity to external equipment, it is all locked and sealed by multi-hole explosion-proof gland heads that meet the Ex d IIC T6 Gb certification level, ensuring the air tightness and electrical isolation of the entire arm at each connection point.

[0061] Through the combination of the above three explosion-proof measures, the anthropomorphic arm of the present embodiment can meet the mandatory requirements of the GB 3836 series standards and obtain Ex d IIC T6 Gb explosion-proof certification.

[0062] In a preferred embodiment, a test lifting ring 102 is provided outside the first mounting member 103.

[0063] In a preferred embodiment, a binocular depth camera 113 is provided outside the six-dimensional force sensor 112.

[0064] The six-dimensional force sensor 112 comprises a force sensor shell 112a, which is provided with a torque measurement plate 112b at one end close to the end gripper tool 114, and is internally provided with a force sensor chip set 112c, and is externally provided with a joint 112d;

[0065] The binocular depth camera 113 comprises a camera connecting seat 113a connecting the binocular depth camera 113 with the force sensor shell 112a, which is provided with a camera chip set 113b at one end away from the six-dimensional force sensor 112, and is externally provided with a camera front shell 113c and a camera rear shell 113d, the camera front shell 113c is provided at one end close to the end gripper tool 114, and the side close to the end gripper tool 114 is provided with a camera lens cover 113e.

[0066] The six-dimensional force sensor 112: the front end of the force sensor shell 112a is provided with a torque measurement plate 112b, and is internally encapsulated with a force sensor chip set 112c. When the end effector contacts the environment, the force and torque data are transmitted to the sensor chip set through the internal cable for processing, and then output through the aviation joint 112d on the shell, providing real-time feedback for the force control operation of the robot.

[0067] The binocular depth camera 113: fixed above the six-dimensional force sensor 112 through the camera connecting seat 113a. The camera chip set 113b (including image sensor and processing unit) is sealed in the protective shell composed of camera front shell 113c and camera rear shell 113d, and the front end is provided with camera lens cover 113e to protect the optical lens. The camera can provide RGB image and depth information for target recognition, positioning and obstacle avoidance.

[0068] The end effector such as gripper 114 can be quickly replaced according to task requirements.

[0069] In a preferred embodiment, the second mounting member 105 is externally provided with a second driving joint reinforcing member 119.

[0070] In a preferred embodiment, the explosion-proof humanoid robot anthropomorphic arm further comprises: a second seven-degree-of-freedom anthropomorphic structure chain 2 symmetrically arranged with the first seven-degree-of-freedom anthropomorphic structure chain 1, and the first seven-degree-of-freedom anthropomorphic structure chain 1 and the second seven-degree-of-freedom anthropomorphic structure chain 2 are respectively arranged on both sides of the double-arm support skeleton 3.

[0071] The humanoid arm system includes a symmetrically arranged left and right arm, which are connected by a robust dual-arm support frame 3 to form a complete humanoid robot upper body structure. The dual-arm support frame 3 is typically welded from high-strength aluminum alloy or carbon steel, has internal wiring, and provides a stable mounting platform for the robotic arm mounting base 101.

[0072] like Figure 6 As shown, a system for an explosion-proof humanoid robot arm includes a PC, a joint controller, and a small computing unit.

[0073] The PC communicates with the joint controller and small computing unit via a wireless network connection to the switch.

[0074] Each drive joint communicates sequentially in series using the Ethercat protocol. The joint controller receives the torque data from the six-dimensional force sensor 112 and the position data from each joint encoder, and sends joint control commands.

[0075] The small computing unit communicates with the binocular depth camera 113 and the end effector 114 via a USB / RS485 interface.

[0076] The PC acts as the host computer, running the main control algorithm (such as motion planning and vision processing), and it connects to the industrial switch via a wireless network.

[0077] The switch is wired to the joint controller and the small computing unit.

[0078] The joint controller communicates with the seven drive joints in series via an EtherCAT bus, and collects data on the position of the encoders and the six-dimensional force sensor 112 of each joint in real time at a high frequency of 500Hz to 1kHz, and issues position or torque control commands.

[0079] The small computing unit communicates with the binocular depth camera 113 via a USB interface to acquire image data; at the same time, it controls the opening and closing angle of the end effector gripper 114 via an RS485 bus.

[0080] The PC-based system integrates and processes all sensory data to form decisions. Through the closed loop of the entire control system, the robot is ultimately able to safely and intelligently complete autonomous tasks in explosive environments.

[0081] In summary, this invention successfully combines a highly flexible, high-load seven-degree-of-freedom robotic arm with genuine explosion-proof technology, solving the industry pain point that existing products cannot be safely used in high-risk environments, and has extremely high industrial application value.

[0082] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. An explosion-proof humanoid robot anthropomorphic arm, characterized by, Comprise: The first seven degrees of freedom anthropomorphic structure chain (1), the first seven degrees of freedom anthropomorphic structure chain (1) is connected with support structure through mechanical arm fixed base (101), the mechanical arm fixed base (101) and the proximal end between the first mounting piece (103) are connected through the first drive joint (118), the distal end between the first mounting piece (103) and the proximal end of the second mounting piece (105) is connected through the second drive joint (115), the distal end of the second mounting piece (105) and the proximal end of the third mounting piece (106) are connected through the third drive joint (120), the distal end of the third mounting piece (106) and the proximal end of the fourth mounting piece (108) are connected through the fourth drive joint (116), the distal end of the fourth mounting piece (108) and the proximal end of the fifth mounting piece (109) are connected through the fifth drive joint (121), the distal end of the fifth mounting piece (109) and the proximal end of the sixth mounting piece (111) are connected through the sixth drive joint (117), the distal end of the sixth mounting piece (111) and the proximal end of the six-dimensional force sensor (112) are connected through the seventh drive joint (122), the distal end of the six-dimensional force sensor (112) and the proximal end of the end gripper tool (114) are connected through the end mounting flange (123);Wherein, each component defines the distal end as the end away from the support structure, and the proximal end as the end close to the support structure; The joint covering assembly covering the outside of the first seven degrees of freedom anthropomorphic structure chain (1), the joint covering assembly comprises: the second drive joint covering piece (104) arranged outside the second drive joint (115), the fourth drive joint covering piece (107) arranged outside the fourth drive joint (116), and the sixth drive joint covering piece (110) arranged outside the sixth drive joint (117);Wherein, each drive joint covering piece and the corresponding drive joint body jointly constitute an explosion-proof cavity.

2. The explosion-proof humanoid robot anthropomorphic arm according to claim 1, wherein, The joint surface of the explosion-proof cavity adopts a stop structure with a width greater than 25mm, and the explosion-proof cavity is filled with a high-temperature-resistant fluororubber sealing ring.

3. The explosion-proof humanoid robot anthropomorphic arm according to claim 1, wherein, The power supply lines of the first seven degrees of freedom anthropomorphic structure chain (1) are all energy-limited through intrinsically safe isolation barriers.

4. The explosion-proof humanoid robot anthropomorphic arm according to claim 1, wherein, The power supply lines and communication lines inside the first seven degrees of freedom anthropomorphic structure chain (1) adopt a hollow shaft wiring method, and the power supply lines and the communication lines are sealed and connected through a porous explosion-proof gland when passing through the explosion-proof cavity or being led out to the outside of the explosion-proof cavity.

5. The explosion-proof humanoid robot anthropomorphic arm according to claim 1, wherein, The second driving joint cover (104), the fourth driving joint cover (107) and the sixth driving joint cover (110) are connected with the first seven-degree-of-freedom anthropomorphic structure chain (1) through quick-release flange connection structures.

6. The explosion-proof humanoid robot anthropomorphic arm according to claim 1, characterized in that, A test lifting ring (102) is arranged outside the first mounting member (103).

7. The explosion-proof humanoid robot anthropomorphic arm according to claim 1, characterized in that, A binocular depth camera (113) is arranged outside the six-dimensional force sensor (112). The six-dimensional force sensor (112) comprises a force sensor shell (112a), a torque measurement plate (112b) arranged at one end of the force sensor shell (112a) close to the end gripper tool (114), a force sensor chip set (112c) arranged inside the force sensor shell (112a), and a connector (112d) arranged outside the force sensor shell (112a). The binocular depth camera (113) comprises a camera connecting seat (113a) connecting the binocular depth camera (113) and the force sensor shell (112a), a camera chip set (113b) arranged at one end of the camera connecting seat (113a) away from the six-dimensional force sensor (112), a camera front shell (113c) and a camera rear shell (113d) arranged outside the camera chip set (113b), and a camera lens protection cover (113e) arranged on one side of the camera front shell (113c) close to the end gripper tool (114).

8. The explosion-proof humanoid robot anthropomorphic arm according to claim 1, characterized in that, A second driving joint reinforcing member (119) is arranged outside the second mounting member (105). 9.The explosion-proof humanoid robot anthropomorphic arm and system of claim 1, wherein, Further comprising: A second seven-degree-of-freedom anthropomorphic structure chain (2) symmetrically arranged with the first seven-degree-of-freedom anthropomorphic structure chain (1), and the first seven-degree-of-freedom anthropomorphic structure chain (1) and the second seven-degree-of-freedom anthropomorphic structure chain (2) are arranged on both sides of a double-arm support skeleton (3) respectively.

10. The system of the explosion-proof humanoid robot anthropomorphic arm according to claim 1, characterized in that, The system comprises a PC terminal, a joint controller and a small computing unit. The PC terminal communicates with the joint controller and the small computing unit through a wireless network connection switch. Each driving joint is communicated in series through Ethercat protocol, the joint controller receives torque data of the six-dimensional force sensor (112) and position data of each joint encoder, and sends joint control instructions. The small computing unit communicates with the binocular depth camera (113) and the end gripper tool (114) through a USB / RS485 interface.

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