Anthropomorphic mechanical arm and robot

Abstract

The humanoid mechanical arm comprises a shoulder joint, the shoulder joint comprises a connecting frame, an output frame, a swing assembly, a first driving assembly and a second driving assembly, the output frame is movably arranged relative to the connecting frame, and the output frame is installed on the swing assembly; the elbow joint comprises a first connecting arm, a second connecting arm, a connecting rod assembly and a third driving assembly, the first connecting arm is connected with the output frame, one end of the connecting rod assembly is rotationally connected with the first connecting arm, the other end of the connecting rod assembly is rotationally connected with the second connecting arm, and the third driving assembly drives the first connecting arm and the second connecting arm to rotate relatively; the wrist joint comprises a support, a fourth driving assembly, a switching assembly and a connecting piece. The problem that in the prior art, fine movement of human arms needs to be simulated is solved.

Description

Technical Field

[0001] The utility model relates to the field of robots, and in particular to a humanoid mechanical arm and a robot. Background Art

[0002] In the prior art, the mechanical arm of a traditional industrial robot is composed of multiple single-degree-of-freedom joints and connecting arms to achieve multi-degree-of-freedom operations. This structural design makes the robot's working space larger and is not suitable for some scenarios that have certain requirements for flexibility and working space. For example, humanoid robots replace humans to perform some fine operations, and joint movements need to be anthropomorphic to achieve multi-degree-of-freedom movements of a joint; while the mechanical arm requires the wrist joint, elbow joint and shoulder joint to be anthropomorphic in design according to their different load requirements and shape requirements. Utility Model Content

[0003] The main purpose of the utility model is to provide an anthropomorphic mechanical arm and a robot to solve the problem of needing to simulate the fine movements of a human arm in the prior art.

[0004] In order to achieve the above-mentioned purpose, according to one aspect of the utility model, there is provided an anthropomorphic robot arm, comprising: a shoulder joint, the shoulder joint comprising a connecting frame, an output frame, a swinging assembly, a first driving assembly and a second driving assembly, the output frame being movably arranged relative to the connecting frame, the output frame being mounted on the swinging assembly, the first driving assembly driving the output frame to rotate along the length direction of the output frame through the swinging assembly, and the second driving assembly driving the output frame to swing along two mutually perpendicular directions through the swinging assembly; an elbow joint, the elbow joint comprising a first connecting arm, a second connecting arm, a connecting rod assembly and a third driving assembly, the first connecting arm being connected to the output frame, one end of the connecting rod assembly being rotationally connected to the first connecting arm, and the other end being rotationally connected to the second connecting arm, and the third driving assembly driving the first connecting arm and the second connecting arm to rotate relative to each other; a wrist joint, the wrist joint comprising a bracket, a fourth driving assembly, a switching assembly and a connecting piece; the bracket being connected to the second connecting arm, the driving assembly being mounted on the bracket, and the driving assembly driving the connecting piece to flip around at least one of the two mutually perpendicular directions through the switching assembly.

[0005] Furthermore, the adapter assembly includes at least a first adapter part, a second adapter part and a third adapter part which are rotatably connected in sequence, the first adapter part is rotatably connected to the bracket, the fourth drive assembly is rotatably connected to the third adapter part, the connecting member is connected to the second adapter part, and the fourth drive assembly drives the second adapter part to flip around at least one of two directions perpendicular to each other through the third adapter part.

[0006] Furthermore, the first adapter part is rotatably arranged on the bracket around a first direction; the first end of the second adapter part is rotatably connected to the first adapter part around a second direction perpendicular to the first direction, and the second end of the second adapter part is rotatably connected to the third adapter part around the second direction; one end of the third adapter part is rotatably connected to the driving assembly around the first direction.

[0007] Furthermore, the first adapter portion has a first rotating structure extending along the second direction, the first end of the second adapter portion has a second rotating structure extending along the second direction, the first rotating structure and the second rotating structure are plug-fitted and interference fit, and the first rotating structure and the second rotating structure can rotate relative to each other around the second direction.

[0008] Furthermore, the fourth drive component and the third adapter part are both multiple and arranged in one-to-one correspondence, and at least one third adapter part is arranged at both ends of the second adapter part along the first direction. The fourth drive components at both ends act synchronously or asynchronously and drive the second adapter part to flip around the first direction and / or the second direction through the corresponding third adapter parts.

[0009] Furthermore, the connecting rod assembly includes: a straight connecting rod, the two ends of which are rotatably connected to the first connecting arm and the second connecting arm respectively; an eccentric connecting rod, the two ends of which are rotatably connected to the first connecting arm and the second connecting arm respectively, and the connection point of the eccentric connecting rod and the first connecting arm is eccentrically arranged relative to the connection point of the straight connecting rod and the first connecting arm.

[0010] Furthermore, the first connecting arm and the second connecting arm have an arc-shaped end, the straight connecting rod and the eccentric connecting rod are both located at the arc-shaped end and at two opposite side surfaces of the arc-shaped end, the two connection points between the straight connecting rod and the first connecting arm and the second connecting arm are located at the arc center of the arc-shaped end, the connection point between the eccentric connecting rod and the first connecting arm is located at the arc edge of the arc-shaped end, and the connection point between the eccentric connecting rod and the second connecting arm is located at the arc center of the arc-shaped end.

[0011] Furthermore, the second driving assembly includes: a first rotating driving member, which is installed on the connecting frame and is drivingly connected to the swinging assembly; a second rotating driving member, which is installed on the connecting frame and is drivingly connected to the swinging assembly, the output ends of the first rotating driving member and the second rotating driving member both have a first transmission structure, and the swinging assembly has a second transmission structure, the two first transmission structures cooperate with the second transmission structure at the same time, the first rotating driving member and the second rotating driving member move in the same direction or in opposite directions and drive the output frame to swing in two directions perpendicular to each other.

[0012] Further, the swinging assembly includes: a first swinging member having a C-shaped structure, two first transmission structures are disposed on the side segments on opposite sides of the C-shaped structure, a second transmission structure is disposed on the middle segment of the C-shaped structure, and the rotation axes of the first transmission structure and the second transmission structure are perpendicular to each other; a second swinging member, the second transmission structure is connected to the second swinging member, the second swinging member is connected to the output bracket. When the first rotation driving member and the second rotation driving member act in the same direction, the two first transmission structures drive the second transmission structure, the first swinging member and the second swinging member to rotate around the rotation axis of the first transmission structure. When the first rotation driving member and the second rotation driving member act in opposite directions, the two first transmission structures drive the second transmission structure to rotate around the rotation axis of the second transmission structure, and the second transmission structure drives the second swinging member to rotate.

[0013] According to another aspect of the present invention, a robot is provided, including the anthropomorphic robotic arm described above.

[0014] Applying the technical solution of the present invention, the following technical effects are achieved:

[0015] 1. By providing a shoulder joint, an elbow joint and a wrist joint on the robotic arm, the entire robotic arm is made more realistic, so that it can more realistically simulate the work of a human arm and meet the usage requirements of simulation.

[0016] 2. Each joint is independent and can work independently or cooperate with each other for overall work to meet different usage situations. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0018] Figure 1 is a schematic diagram of the overall structure of the anthropomorphic robotic arm of the present invention;

[0019] Figure 2 is another schematic diagram of the overall structure of the anthropomorphic robotic arm of the present invention;

[0020] Figure 3 is a schematic diagram of the structure of the shoulder joint of the present invention;

[0021] Figure 4 is a schematic diagram of the structure of the wrist joint of the present invention;

[0022] Figure 5 is a schematic diagram of the structure of the转接组件 of the present invention.

[0023] Among them, the above-mentioned drawings include the following reference numerals:

[0024] 1. Shoulder joint; 11. Connecting frame; 12. Output frame; 13. Swinging assembly; 131. First swinging member; 132. Second swinging member; 133. Second transmission structure; 14. First driving assembly; 15. Second driving assembly; 151. First rotating driving member; 152. Second rotating driving member; 153. First transmission structure; 2. Elbow joint; 21. First connecting arm; 22. Second connecting arm; 23. Connecting rod assembly; 231. Straight connecting rod; 232. Eccentric connecting rod; 24. Third driving assembly; 3. Wrist joint; 31. Bracket; 32. Fourth driving assembly; 33. Adapter assembly; 331. First adapter; 3311. First rotating structure; 332. Second adapter; 3321. Second rotating structure; 333. Third adapter; 34. Connecting member. DETAILED DESCRIPTION

[0025] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present utility model will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0026] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meanings as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0027] In the present invention, unless otherwise specified, the directional words used, such as "up, down, top, bottom", usually refer to the directions shown in the drawings, or to the components themselves in the vertical, perpendicular or gravity directions; similarly, for ease of understanding and description, "inside and outside" refer to the inside and outside relative to the outline of each component itself, but the above-mentioned directional words are not used to limit the present invention.

[0028] In order to solve the problem that traditional robotic arms are difficult to meet the need to simulate the actual movement of human arms in some work, the utility model provides an anthropomorphic robotic arm, which simulates the actual movement of human arms by splitting the robotic arm into shoulder joints, elbow joints and wrist joints.

[0029] Embodiment 1

[0030] An anthropomorphic robotic arm, see Figures 1 to 5, including a shoulder joint 1, an elbow joint 2 and a wrist joint 3, the shoulder joint 1 including a connecting frame 11, an output frame 12, a swing assembly 13, a first driving assembly 14 and a second driving assembly 15, the output frame 12 is movably arranged relative to the connecting frame 11, the output frame 12 is installed on the swing assembly 13, the first driving assembly 14 drives the output frame 12 to rotate along the length direction of the output frame 12, and the second driving assembly 15 drives the output frame 12 to swing along two directions perpendicular to each other; the elbow joint 2 includes a first connecting arm 21, a second connecting arm 22, a connecting rod assembly 23 and a third driving assembly 15. Component 24, the first connecting arm 21 is connected to the output frame 12, one end of the connecting rod component 23 is rotatably connected to the first connecting arm 21, and the other end is rotatably connected to the second connecting arm 22, and the third driving component 24 drives the first connecting arm 21 and the second connecting arm 22 to rotate relative to each other; wrist joint 3, the wrist joint 3 includes a bracket 31, a fourth driving component 32, a adapter component 33 and a connecting piece 34; the bracket 31 is connected to the second connecting arm 22, the driving component is installed on the bracket 31, and the driving component drives the connecting piece 34 to flip around two directions perpendicular to each other through the adapter component 33.

[0031] The output frame 12 is a cylindrical structure, and its length direction is the axis direction. The second driving assembly 15 drives the output frame 12 to swing along two mutually perpendicular directions, wherein the two mutually perpendicular directions are both perpendicular to the axis direction of the output frame 12 .

[0032] The shoulder joint 1, elbow joint 2 and wrist joint 3 of the robot arm all simulate the joints on the human arm. The first driving component 14 drives the output frame 12 to rotate to simulate the rotation of the entire human arm, and the second driving component 15 drives the output frame 12 to swing in two directions to simulate the swing of the human shoulder in two directions. The relative rotation between the first connecting arm 21 and the second connecting arm 22 simulates the swing of the elbow joint 2 of the human arm. The fourth driving member drives the connecting member 34 to flip around two directions perpendicular to each other to simulate the movement of the human wrist.

[0033] Different joints are used to simulate the movement of different joints of a person, and each joint has multiple degrees of freedom in the direction of movement. The combined arm can achieve multiple degrees of freedom in the direction of movement, making the robot arm simulate the movement of a human arm more realistic and better adapted to the simulation occasions that need to be simulated. Based on the structural characteristics of the shoulder joint 1, elbow joint 2 and wrist joint 3, the robot arm can better perform related actions such as bearing, receiving and applying force.

[0034] Furthermore, the adapter assembly 33 at least includes a first adapter portion 331, a second adapter portion 332 and a third adapter portion 333 which are rotatably connected in sequence, the first adapter portion 331 is rotatably connected to the bracket 31, the fourth drive assembly 32 is rotatably connected to the third adapter portion 333, the connecting member 34 is connected to the second adapter portion 332, and the fourth drive assembly 32 drives the second adapter portion 332 to flip around at least one of two directions perpendicular to each other through the third adapter portion 333.

[0035] When the fourth driving component 32 is working, it can drive the second adapter part 332 fixed with the connecting member 34 to move, and the second adapter part 332 can rotate along the first direction, the second direction and the combined direction of the first direction and the second direction, thereby simulating the up and down, left and right flipping and rotation of the human wrist.

[0036] Furthermore, the first adapter portion 331 is rotatably arranged on the bracket 31 around a first direction; the first end of the second adapter portion 332 is rotatably connected to the first adapter portion 331 around a second direction perpendicular to the first direction, and the second end of the second adapter portion 332 is rotatably connected to the third adapter portion 333 around the second direction; one end of the third adapter portion 333 is rotatably connected to the driving assembly around the first direction.

[0037] In the figure, the X direction is the first direction, and the Y direction is the second direction.

[0038] The first adapter part 331 is rotatably arranged on the bracket 31 around a first direction, and the up and down movement of the wrist joint 3 is realized by the rotation of the first adapter part 331 in the first direction; the first end of the second adapter part 332 is rotatably connected to the first adapter part 331 around a second direction, and the left and right movement of the wrist joint 3 can be realized by the rotation of the second adapter part 332 in the second direction. When the first adapter part 331 and the second adapter part 332 move at the same time, the rotation of the wrist joint 3 can be realized.

[0039] The two ends of the third adapter part 333 are rotatably connected to the driving assembly and the second adapter part 332 respectively, which can not only transmit the movement of the driving assembly to the second adapter part 332, but also provide a buffer stroke for the movement of the driving assembly to prevent the rigid movement of the driving assembly from causing damage to the components.

[0040] Furthermore, the first adapter portion 331 has a first rotating structure 3311 extending along the second direction, and the first end of the second adapter portion 332 has a second rotating structure 3321 extending along the second direction. The first rotating structure 3311 and the second rotating structure 3321 are plug-fitted and interference fit, and the first rotating structure 3311 and the second rotating structure 3321 can rotate relative to each other around the second direction.

[0041] The first rotating structure 3311 is an axis and the second rotating structure 3321 is a hole. Alternatively, the first rotating structure 3311 is a hole and the second rotating structure 3321 is an axis, and the relative rotation between the first adapter part 331 and the second adapter part 332 is achieved through the cooperation between the axis and the hole.

[0042] Furthermore, the fourth drive component 32 and the third adapter part 333 are both multiple and arranged in one-to-one correspondence. At least one third adapter part 333 is arranged at both ends of the second adapter part 332 along the first direction. The fourth drive components 32 at both ends act synchronously or asynchronously and drive the second adapter part 332 to flip around the first direction and / or the second direction through the corresponding third adapter part 333.

[0043] When one of the fourth driving components 32 is working, the fourth driving component 32 drives the second adapter portion 332 to flip along the second direction to simulate the left-right movement of the wrist.

[0044] When the two fourth driving components 32 located at both ends of the second adapter portion 332 work simultaneously and synchronously, the fourth driving components 32 drive the second adapter portion 332 to flip along the first direction to simulate the forward and backward movement of the wrist.

[0045] When the two fourth driving components 32 at both ends of the second adapter 332 work simultaneously but not synchronously, the driving components not only drive the second adapter 332 to flip along the second direction, but also flip along the first direction to simulate the flipping movement of the wrist.

[0046] In this embodiment, the connecting rod assembly 23 includes a straight connecting rod 231 and an eccentric connecting rod 232, and the two ends of the straight connecting rod 231 are rotatably connected to the first connecting arm 21 and the second connecting arm 22 respectively, and the two ends of the eccentric connecting rod 232 are rotatably connected to the first connecting arm 21 and the second connecting arm 22 respectively, and the connection point between the eccentric connecting rod 232 and the first connecting arm 21 is eccentrically arranged relative to the connection point between the straight connecting rod 231 and the first connecting arm 21.

[0047] For the second connecting arm 22, the connection points of the straight connecting rod 231 and the eccentric connecting rod 232 are the same, while for the first connecting arm 21, the connection points of the straight connecting rod 231 and the eccentric connecting rod 232 are different. In this way, when the second connecting arm 22 rotates, due to the arrangement of the straight connecting rod 231 and the eccentric connecting rod 232, the rotation center of the second connecting arm 22 is not a fixed point, but continuously changes along the eccentric distance between the eccentric connecting rod 232 and the first connecting arm 21. In other words, the second connecting arm 22 rotates with a variable center. In this way, it is more in line with the movement process of the human elbow joint 2 and can achieve more realistic anthropomorphism.

[0048] Furthermore, the first connecting arm 21 and the second connecting arm 22 have an arc-shaped end, the straight connecting rod 231 and the eccentric connecting rod 232 are both located at the arc-shaped end and at two opposite side surfaces of the arc-shaped end, the two connection points between the straight connecting rod 231 and the first connecting arm 21 and the second connecting arm 22 are located at the arc center of the arc-shaped end, the connection point between the eccentric connecting rod 232 and the first connecting arm 21 is located at the arc edge of the arc-shaped end, and the connection point between the eccentric connecting rod 232 and the second connecting arm 22 is located at the arc center of the arc-shaped end.

[0049] By means of the above arrangement, the installation of the straight connecting rod 231 and the eccentric connecting rod 232 and the shape of the arc-shaped end can be adapted to each other, so that the rotation center of the second connecting arm 22 changes along the arc line of the arc-shaped end of the first connecting arm 21, so that the distance between the second connecting arm 22 and the first connecting arm 21 changes accordingly with the rotation of the second connecting arm 22, thereby realistically simulating the human elbow joint 2. Of course, the specific shape of the arc-shaped end can also be adjusted accordingly as needed.

[0050] In this embodiment, the second driving component 15 includes a first rotating driving member 151 and a second rotating driving member 152. The first rotating driving member 151 is installed on the connecting frame 11 and is drivingly connected to the swinging component 13. The second rotating driving member 152 is installed on the connecting frame 11 and is drivingly connected to the swinging component 13. The output ends of the first rotating driving member 151 and the second rotating driving member 152 both have a first transmission structure 153, and the swinging component 13 has a second transmission structure 133. The two first transmission structures 153 cooperate with the second transmission structure 133 at the same time. The first rotating driving member 151 and the second rotating driving member 152 move in the same direction or in the opposite direction and drive the output frame 12 to swing in two directions perpendicular to each other.

[0051] In this embodiment, the first rotating driving member 151 and the second rotating driving member 152 are both motors. The first rotating driving member 151 and the second rotating driving member 152 cooperate with each other, and the output ends of both have a first transmission structure 153. Correspondingly, the swing assembly 13 has a second transmission structure 133, and the two first transmission structures 153 are simultaneously in transmission cooperation with the second transmission structure 133. When in use, the first rotating driving member 151 and the second rotating driving member 152 are controlled to rotate in opposite directions or in the same direction.

[0052] Further, the swing assembly 13 includes a first swing member 131 and a second swing member 132. The first swing member 131 has a C-shaped structure. Two first transmission structures 153 are arranged on the side segments on opposite sides of the C-shaped structure. The second transmission structure 133 is arranged on the middle segment of the C-shaped structure. The rotation axes of the first transmission structure 153 and the second transmission structure 133 are perpendicular to each other. The second transmission structure 133 is connected to the second swing member 132, and the second swing member 132 is connected to the output frame 12. When the first rotation driving member 151 and the second rotation driving member 152 act in the same direction, the two first transmission structures 153 drive the second transmission structure 133, the first swing member 131, and the second swing member 132 to rotate around the rotation axis of the first transmission structure 153. When the first rotation driving member 151 and the second rotation driving member 152 act in opposite directions, the two first transmission structures 153 drive the second transmission structure 133 to rotate around the rotation axis of the second transmission structure 133, and the second transmission structure 133 drives the second swing member 132 to rotate.

[0053] When the first rotation driving member 151 and the second rotation driving member 152 rotate in the same direction, at this time, the second transmission structure 133 itself cannot rotate. At this time, the first transmission structure 153 will drive the first swing member 131 to rotate along the direction of the output shafts of the first rotation driving member 151 and the second rotation driving member 152.

[0054] When the first rotation driving member 151 and the second rotation driving member 152 rotate in opposite directions, at this time, the second transmission structure 133 rotates driven by the first transmission structure 153. At this time, the second transmission structure 133 will drive the second swing member 132 to rotate along the rotation direction of the second transmission structure 133.

[0055] The first driving assembly 14 and the second driving assembly 15 drive the output frame 12 of the shoulder joint 1 to rotate itself and rotate around two mutually perpendicular directions, so as to simulate the rotation and swinging in various directions of the human shoulder joint, making the simulation more realistic. At the same time, since the first driving assembly 14 and the second driving assembly 15 are jointly installed on the connecting frame 11, the two driving assemblies are in parallel, which can reduce the space occupied by the lack of the first driving assembly 14 and the second driving assembly 15, making the shoulder joint 1 compact and miniaturized.

[0056] Embodiment 2

[0057] This embodiment provides a robot, including the anthropomorphic robotic arm in Embodiment 1.

[0058] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0059] 1. By setting the shoulder joint 1, elbow joint 2 and wrist joint 3 on the robotic arm, the entire robotic arm is made more realistic, so that the work of the human arm can be simulated more realistically to meet the needs of simulation.

[0060] 2. Each joint is independent of each other and can work independently or cooperate with each other to work as a whole to meet different usage conditions. Obviously, the above-described embodiments are only part of the embodiments of the utility model, not all of them. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the utility model.

[0061] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0062] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0063] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A humanoid robotic arm, characterized in that: include: A shoulder joint (1), the shoulder joint (1) comprising a connecting frame (11), an output frame (12), a swing assembly (13), a first driving assembly (14) and a second driving assembly (15), the output frame (12) being movably arranged relative to the connecting frame (11), the output frame (12) being mounted on the swing assembly (13), the first driving assembly (14) driving the output frame (12) to rotate around the length direction of the output frame (12) through the swing assembly (13), and the second driving assembly (15) driving the output frame (12) to swing in two directions perpendicular to each other through the swing assembly (13); An elbow joint (2), the elbow joint (2) comprising a first connecting arm (21), a second connecting arm (22), a connecting rod assembly (23) and a third driving assembly (24), the first connecting arm (21) being connected to the output frame (12), one end of the connecting rod assembly (23) being rotationally connected to the first connecting arm (21), and the other end being rotationally connected to the second connecting arm (22), and the third driving assembly (24) driving the first connecting arm (21) and the second connecting arm (22) to rotate relative to each other; A wrist joint (3), the wrist joint (3) comprising a bracket (31), a fourth drive assembly (32), a switching assembly (33) and a connecting piece (34); the bracket (31) is connected to the second connecting arm (22), the fourth drive assembly (32) is mounted on the bracket (31), and the drive assembly drives the connecting piece (34) to flip around at least one of two directions perpendicular to each other through the switching assembly (33).

2. The humanoid robot arm according to claim 1, characterized in that: The adapter assembly (33) at least comprises a first adapter portion (331), a second adapter portion (332) and a third adapter portion (333) which are rotatably connected in sequence, the first adapter portion (331) is rotatably connected to the bracket (31), the fourth drive assembly (32) is rotatably connected to the third adapter portion (333), the connecting member (34) is connected to the second adapter portion (332), and the fourth drive assembly (32) drives the second adapter portion (332) to flip around at least one of two directions perpendicular to each other through the third adapter portion (333).

3. The anthropomorphic robotic arm according to claim 2, characterized in that: The first adapter portion (331) is rotatably arranged on the bracket (31) around a first direction; The first end of the second adapter part (332) is rotatably connected to the first adapter part (331) around a second direction perpendicular to the first direction, and the second end of the second adapter part (332) is rotatably connected to the third adapter part (333) around the second direction; One end of the third adapter portion (333) is rotatably connected to the driving assembly around the first direction.

4. The anthropomorphic robotic arm according to claim 2, characterized in that: The first adapter portion (331) has a first rotating structure (3311) extending along the second direction, and the first end of the second adapter portion (332) has a second rotating structure (3321) extending along the second direction. The first rotating structure (3311) and the second rotating structure (3321) are plug-fitted and interference-fitted, and the first rotating structure (3311) and the second rotating structure (3321) can rotate relative to each other around the second direction.

5. The humanoid robot arm according to claim 2, characterized in that: The fourth drive assembly (32) and the third adapter (333) are both multiple and arranged in one-to-one correspondence, and at least one of the third adapters (333) is arranged at both ends of the second adapter (332) along the first direction, and the fourth drive assemblies (32) at both ends act synchronously or asynchronously and respectively drive the second adapter (332) to flip around the first direction and / or the second direction through the corresponding third adapter (333).

6. The humanoid robot arm according to claim 1, characterized in that: The connecting rod assembly (23) comprises: A straight connecting rod (231), two ends of which are rotatably connected to the first connecting arm (21) and the second connecting arm (22) respectively; An eccentric connecting rod (232), wherein two ends of the eccentric connecting rod (232) are rotatably connected to the first connecting arm (21) and the second connecting arm (22), respectively, and a connection point between the eccentric connecting rod (232) and the first connecting arm (21) is eccentrically arranged relative to a connection point between the straight connecting rod (231) and the first connecting arm (21).

7. The humanoid robot arm according to claim 6, characterized in that: The first connecting arm (21) and the second connecting arm (22) have arc-shaped ends, the straight connecting rod (231) and the eccentric connecting rod (232) are both located at the arc-shaped ends and at two opposite side surfaces of the arc-shaped ends, the two connection points of the straight connecting rod (231) and the first connecting arm (21) and the second connecting arm (22) are located at the arc center of the arc-shaped ends, the connection point of the eccentric connecting rod (232) and the first connecting arm (21) is located at the arc edge of the arc-shaped end, and the connection point of the eccentric connecting rod (232) and the second connecting arm (22) is located at the arc center of the arc-shaped end.

8. The humanoid robot arm according to claim 1, characterized in that: The second driving assembly (15) comprises: A first rotating driving member (151), the first rotating driving member (151) is mounted on the connecting frame (11) and is drivingly connected to the swing assembly (13); A second rotational driving member (152), the second rotational driving member (152) is mounted on the connecting frame (11) and is drivingly connected to the swinging assembly (13). The output ends of the first rotational driving member (151) and the second rotational driving member (152) both have a first transmission structure (153). The swinging assembly (13) has a second transmission structure (133). The two first transmission structures (153) cooperate with the second transmission structure (133) simultaneously. The first rotational driving member (151) and the second rotational driving member (152) act in the same or opposite directions and drive the output frame (12) to swing in two mutually perpendicular directions.

9. The anthropomorphic robotic arm according to claim 8, characterized in that: The swinging assembly (13) includes: A first swinging member (131), the first swinging member (131) has a C-shaped structure. The two first transmission structures (153) are disposed on the side segments on opposite sides of the C-shaped structure. The second transmission structure (133) is disposed on the middle segment of the C-shaped structure, and the rotational axes of the first transmission structure (153) and the second transmission structure (133) are perpendicular to each other; A second swinging member (132), the second transmission structure (133) is connected to the second swinging member (132), and the second swinging member (132) is connected to the output frame (12). When the first rotational driving member (151) and the second rotational driving member (152) act in the same direction, the two first transmission structures (153) drive the second transmission structure (133), the first swinging member (131) and the second swinging member (132) to rotate about the rotational axis of the first transmission structure (153). When the first rotational driving member (151) and the second rotational driving member (152) act in the opposite direction, the two first transmission structures (153) drive the second transmission structure (133) to rotate about the rotational axis of the second transmission structure (133), and the second transmission structure (133) drives the second swinging member (132) to rotate.

10. A robot, characterized in that: An anthropomorphic robotic arm according to any one of claims 1 to 9.

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