Mechanical arm and humanoid robot

Abstract

The utility model relates to the technical field of robots, and particularly discloses a mechanical arm and a humanoid robot. The mechanical arm comprises a large arm assembly, a small arm assembly, a shoulder joint and an elbow joint; the big arm assembly is connected with the robot trunk through the shoulder joint, and the small arm assembly is connected with the big arm assembly through the elbow joint. The big arm assembly comprises an upper big arm connected with the shoulder joint and a lower big arm connected with the elbow joint; and the upper large arm is rotationally connected with the lower large arm. According to the simplified mechanical arm, various actions can be achieved, the whole mechanical arm has four degrees of freedom, the manufacturing cost of the mechanical arm is effectively reduced, and the weight and size of the mechanical arm are reduced.

Description

[0001] Cross - reference to related applications

[0002] This application claims the priority of the Chinese patent application with the application number 202411127345.3, titled "Robotic Arm and Humanoid Robot", filed with the Chinese Patent Office on August 16, 2024. Technical Field

[0003] This application relates to the field of robotics technology. Specifically, it relates to a robotic arm and a humanoid robot. Background Art

[0004] A humanoid robot is a robot designed to resemble the human form. It usually has two arms, two legs, and a head, and can imitate human movements and behaviors. Existing technologies aim to enable the robot's hand to perform precise movements. Therefore, a robotic arm with higher degrees of freedom, more complex control, and structure is usually set on a humanoid robot. This not only makes the robotic arm heavy and large in size, but also significantly increases the manufacturing cost of the robotic arm. Summary of the Utility Model

[0005] The purpose of this application is to provide a robotic arm and a humanoid robot, which provide a simplified robotic arm capable of performing various actions, effectively reducing the manufacturing cost of the robotic arm, and reducing the weight and size of the robotic arm.

[0006] The embodiments of this application are implemented as follows:

[0007] In a first aspect, an embodiment of this application provides a robotic arm configured on a robot torso. The robotic arm includes a large - arm assembly, a small - arm assembly, a shoulder joint, and an elbow joint; the large - arm assembly is connected to the robot torso through the shoulder joint, and the small - arm assembly is connected to the large - arm assembly through the elbow joint; the large - arm assembly includes an upper large - arm connected to the shoulder joint and a lower large - arm connected to the elbow joint, and the upper large - arm is rotatably connected to the lower large - arm;

[0008] The elbow joint includes a first driving motor disposed on the lower large - arm and driving the rotation of the small - arm assembly, and the rotation axis of the small - arm assembly is perpendicular to the axis of the large - arm assembly;

[0009] The large - arm assembly further includes a second driving motor disposed on the upper large - arm and driving the rotation of the lower large - arm, and the rotation axis of the lower large - arm is consistent with the axis of the large - arm assembly;

[0010] The shoulder joint includes a shoulder gripper connected to the robot torso, and a third drive motor disposed on the shoulder gripper and driving the rotation of the upper arm. The rotation axis of the upper arm is perpendicular to the rotation axes of the forearm assembly and the lower arm.

[0011] The shoulder joint further includes a fourth drive motor disposed on the robot torso and driving the rotation of the shoulder gripper. The rotation axis of the shoulder gripper is perpendicular to the rotation axis of the upper arm.

[0012] As an alternative embodiment, the forearm assembly includes a forearm link, and an elbow gripper and a hand structure respectively disposed at both ends of the forearm link.

[0013] As an alternative embodiment, the elbow gripper is a first U-shaped structure. The bottom of the first U-shaped structure is connected to the end of the forearm link away from the hand structure. One side wall of the first U-shaped structure is connected to the driving end of the first drive motor, and the other side wall of the first U-shaped structure is rotatably connected to the side surface of the first drive motor away from the driving end.

[0014] As an alternative embodiment, the shoulder gripper is a second U-shaped structure. The bottom of the second U-shaped structure is connected to the driving end of the fourth drive motor. One side wall of the second U-shaped structure is connected to the driving end of the third drive motor, and the other side wall of the second U-shaped structure is rotatably connected to the side surface of the third drive motor away from the driving end.

[0015] As an alternative embodiment, the elbow gripper has a limiting surface perpendicular to the rotation axis of the first drive motor. Two first blocking portions are provided on the limiting surface, and a first abutting portion extending towards the limiting surface is provided on the lower arm. The two first blocking portions can respectively abut against the first abutting portion and generate a force to block the rotation of the elbow gripper.

[0016] As an alternative embodiment, two second blocking portions are provided on the end surface of the lower arm close to the second drive motor, and a second abutting portion is provided on the upper arm. The two second blocking portions can respectively abut against the second abutting portion and generate a force to block the rotation of the lower arm.

[0017] As an alternative embodiment, two third blocking portions are provided on the shoulder gripper in the rotation plane of the third drive motor, and two third abutting portions are provided on the outer wall of the upper arm. The first third blocking portion abuts against the first third abutting portion and generates a force to block the rotation of the upper arm; or, the second third blocking portion abuts against the second third abutting portion and generates a force to block the rotation of the upper arm.

[0018] As an alternative embodiment, a flange for fixing the fourth drive motor is provided on the robot torso. There are two fourth blocking portions on the flange that extend close to one side of the shoulder gripper. A fourth abutting portion is provided on the shoulder gripper. The two fourth blocking portions can respectively abut against the fourth abutting portion and generate a force to block the rotation of the shoulder gripper.

[0019] In a second aspect, an embodiment of the present application provides a humanoid robot, including a robot torso and two mechanical arms as described above. Among them, the two mechanical arms are respectively arranged on the left and right sides of the robot torso.

[0020] The beneficial effects of the embodiments of the present application include:

[0021] An embodiment of the present application provides a mechanical arm configured on a robot torso. The mechanical arm includes a large arm assembly and a small arm assembly. The large arm assembly of the embodiment of the present application is movably connected to the robot torso through a shoulder joint, and the small arm assembly is movably connected to the large arm assembly through an elbow joint. Among them, the large arm assembly includes an upper large arm connected to the shoulder joint and a lower large arm connected to the elbow joint; the upper large arm and the lower large arm are rotatably connected. The mechanical arm as a whole has a total of four degrees of freedom, enabling the mechanical arm to perform various arm movements. Compared with the prior art, the structure of the embodiment of the present application is simple, light in weight, and can effectively reduce the manufacturing cost of the mechanical arm.

[0022] An embodiment of the present application provides a humanoid robot, including a robot torso and two mechanical arms as described above. Among them, the two mechanical arms are respectively arranged on the left and right sides of the robot torso. The humanoid robot provided by the embodiment of the present application uses two mechanical arms as described above as the left and right arms, effectively reducing the manufacturing cost of the humanoid robot. In addition, the mechanical arm used in the humanoid robot of the present application has a more reliable structure and the advantage of being light in weight. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation of the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0024] Figure 1 It is a schematic structural diagram of the humanoid robot according to the embodiment of the present application;

[0025] Figure 2 It is one of the schematic structural diagrams of the mechanical arm according to the embodiment of the present application;

[0026] Figure 3 It is the second schematic structural diagram of the mechanical arm according to the embodiment of the present application;

[0027] Figure 4 This is the third schematic diagram of the structure of the robotic arm according to an embodiment of the present application;

[0028] Figure 5 This is the fourth schematic diagram of the structure of the robotic arm according to an embodiment of the present application;

[0029] Figure 6 This is the fifth schematic diagram of the structure of the robotic arm according to an embodiment of the present application;

[0030] Figure 7 This is the sixth schematic diagram of the structure of the robotic arm according to an embodiment of the present application.

[0031] Icon:

[0032] 100 - Robotic arm; 101 - Robot torso; 102 - Upper arm assembly; 103 - Forearm assembly; 104 - Shoulder joint; 105 - Elbow joint; 106 - First drive motor; 107 - Second drive motor; 108 - Shoulder gripper; 109 - Third drive motor; 110 - Fourth drive motor; 111 - Forearm link; 112 - Elbow gripper; 113 - Hand structure; 114 - Limiting surface; 115 - First blocking portion; 116 - First abutting portion; 117 - Second blocking portion; 118 - Second abutting portion; 119 - Third blocking portion; 120 - Third abutting portion; 121 - Flange; 122 - Fourth blocking portion; 123 - Fourth abutting portion; 124 - First marked zero point; 125 - Second marked zero point; 126 - Third marked zero point; 127 - Fourth marked zero point; 128 - Upper upper arm; 129 - Lower upper arm; 130 - Axis of rotation of the forearm assembly; 131 - Axis of rotation of the lower upper arm; 132 - Axis of rotation of the upper upper arm; 133 - Axis of rotation of the shoulder gripper. Detailed implementation manners

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some, but not all, of the embodiments of the present application. Usually, the components of the embodiments of the present application described and illustrated herein can be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but merely represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts fall within the scope of protection of the present application.

[0035] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. In addition, the terms "first", "second", "third", etc. are only used for descriptive distinction and should not be construed as indicating or implying relative importance.

[0036] In the description of the present application, it should also be noted that unless otherwise clearly specified and limited, the terms "arranged", "installed", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0037] The embodiment of the present application provides a robotic arm 100 and a humanoid robot.

[0038] Referring to Figure 1 、 Figure 2 As shown, the embodiment of the present application provides a robotic arm 100 configured on a robot torso 101. The robotic arm 100 includes a large arm assembly 102, a small arm assembly 103, a shoulder joint 104, and an elbow joint 105. The large arm assembly 102 is connected to the robot torso 101 through the shoulder joint 104, and the small arm assembly 103 is connected to the large arm assembly 102 through the elbow joint 105.

[0039] Among them, the large arm assembly 102 includes an upper large arm 128 connected to the shoulder joint 104 and a lower large arm 129 connected to the elbow joint 105.

[0040] Referring to Figure 2 、 Figure 3 As shown, the upper large arm 128 is rotatably connected to the lower large arm 129. The rotation axis of the upper large arm 128 and the lower large arm 129 is consistent with the axis of the large arm assembly 102. That is to say, the rotation axis of the upper large arm 128 and the lower large arm 129 is the axis of the large arm assembly 102.

[0041] Among them, the part of the large arm assembly 102 close to the shoulder joint 104 is the upper large arm 128, and the rotation of the upper large arm 128 drives the lower large arm 129, the elbow joint 105, and the small arm assembly 103 in sequence.

[0042] Among them, the part of the large arm assembly 102 close to the elbow joint 105 is the lower large arm 129, and the rotation of the lower large arm 129 drives the elbow joint 105 and the small arm assembly 103 in sequence.

[0043] It should be noted that the robotic arm of the embodiment of the present application has a total of four degrees of freedom:

[0044] The elbow joint 105 includes a first driving motor 106 disposed on the lower upper arm 129 and driving the forearm assembly 103 to rotate. The axis of rotation 130 of the forearm assembly is perpendicular to the axis of the upper arm assembly 102 axially, that is, the first degree of freedom;

[0045] The upper arm assembly 102 further includes a second driving motor 107 disposed on the upper upper arm 128 and driving the lower upper arm 129 to rotate. The axis of rotation 131 of the lower upper arm is consistent with the axis of the upper arm assembly 102 axially, that is, the second degree of freedom;

[0046] The shoulder joint 104 includes a shoulder clamping member 108 connected to the robot torso 101, and a third driving motor 109 disposed on the shoulder clamping member 108 and driving the upper upper arm 128 to rotate. The axis of rotation 132 of the upper upper arm is perpendicular to both the axis of rotation 130 of the forearm assembly and the axis of rotation 131 of the lower upper arm, that is, the third degree of freedom;

[0047] The shoulder joint 104 further includes a fourth driving motor 110 disposed on the robot torso 101 and driving the shoulder clamping member 108 to rotate. The axis of rotation 133 of the shoulder clamping member is perpendicular to the axis of rotation 132 of the upper upper arm, that is, the fourth degree of freedom.

[0048] In the embodiment of the present application, the first driving motor 106, the second driving motor 107, the third driving motor 109 and the fourth driving motor 110 adopted can be servo joint motors. Those skilled in the art can select the specific models according to needs, and no special limitation is made thereto.

[0049] By using the four-degree-of-freedom robotic arm provided by the embodiment of the present application, various arm movements can be realized, and the structure is simple, the weight is light, and the manufacturing cost of the robotic arm can be effectively reduced.

[0050] In the elbow joint 105 provided by the embodiment of the present application, the driving end of the first driving motor 106 is connected to the forearm assembly 103, and the rotation of the first driving motor 106 can drive the forearm assembly 103 to rotate.

[0051] By driving the forearm assembly 103 to rotate through the first driving motor 106, the robotic arm 100 can be straightened, so that the central axis of the forearm assembly 103 is parallel or coincident with the central axis of the upper arm assembly 102.

[0052] By driving the forearm assembly 103 to rotate through the first driving motor 106, the robotic arm 100 can also be bent, and the bending center point is on the axis of rotation of the first driving motor 106 of the elbow joint 105.

[0053] In the boom assembly 102 provided by the embodiment of the present application, the driving end of the second driving motor 107 is connected to the lower boom 129. When the second driving motor 107 rotates, it can drive the lower boom 129 to rotate, and then drive the elbow joint 105 and the forearm assembly 103.

[0054] By driving the lower boom 129 to rotate through the second driving motor 107, the flipping of the forearm assembly 103 can be realized, so that the robotic arm 100 can complete arm movements such as bending the arm, straightening the arm, and flipping.

[0055] In the shoulder joint 104 provided by the embodiment of the present application, the driving end of the third driving motor 109 is connected to the upper boom 128. When the third driving motor 109 rotates, it can drive the upper boom 128 to rotate, and then drive the lower boom 129, the elbow joint 105 and the forearm assembly 103 in sequence.

[0056] By driving the upper boom 128 to rotate through the third driving motor 109, the boom assembly 102, the elbow joint 105 and the forearm assembly 103 can be rotated together. In terms of the effect of the robotic arm 100, the entire robotic arm 100 can approach or move away from the robot torso 101 on the plane where the robot torso 101 is located, that is, the entire robotic arm 100 can swing left and right.

[0057] In the shoulder joint 104 provided by the embodiment of the present application, the driving end of the fourth driving motor 110 is connected to the shoulder gripper 108. When the fourth driving motor 110 rotates, it can drive the shoulder gripper 108 to rotate, and then drive the upper boom 128, the lower boom 129, the elbow joint 105 and the forearm assembly 103 in sequence.

[0058] By driving the shoulder gripper 108 to rotate through the fourth driving motor 110, the boom assembly 102, the elbow joint 105 and the forearm assembly 103 can be rotated together. In terms of the effect of the robotic arm 100, the entire robotic arm 100 can swing back and forth.

[0059] It should be noted that the rotation axis of the second driving motor 107 is vertically arranged with respect to the rotation axis of the first driving motor 106; preferably, the rotation axis of the second driving motor 107 is vertically intersected with the rotation axis of the first driving motor 106.

[0060] It should be noted that the rotation axis of the third driving motor 109 is vertically arranged with respect to the rotation axis of the second driving motor 107; preferably, the rotation axis of the third driving motor 109 is vertically intersected with the rotation axis of the second driving motor 107.

[0061] It should be noted that the rotation axis of the fourth driving motor 110 is vertically arranged with respect to the rotation axis of the third driving motor 109; preferably, the rotation axis of the fourth driving motor 110 is vertically intersected with the rotation axis of the third driving motor 109.

[0062] Reference Figure 3 As shown, as an optional embodiment, the forearm assembly 103 includes a forearm connecting rod 111 and an elbow clamp 112 and a hand structure 113 respectively disposed at two ends of the forearm connecting rod 111 .

[0063] The arm connecting rod 111 of the embodiment of the present application can adopt a lightweight structural member, and those skilled in the art can select it according to their needs, and no special limitation is made here.

[0064] Exemplarily, the arm link 111 may be made of a carbon fiber tube or a plastic tube.

[0065] The hand structure 113 and the forearm connecting rod 111 may be detachable structures, so as to facilitate installation of hand shapes of different shapes and structures as required.

[0066] The hand structure 113 may be a rubber part or a plastic part. The specific structural style may be a palm, a fist, a palm holding a flag, etc. The specific shape of the hand structure 113 may be selected by those skilled in the art as needed, and no special limitation is made thereto.

[0067] Reference Figure 2 , Figure 3 As shown, as an optional embodiment, the elbow clamp 112 is a first U-shaped structure, the bottom of the first U-shaped structure is connected to the end of the forearm connecting rod 111 away from the hand structure 113, one side wall of the first U-shaped structure is connected to the driving end of the first driving motor 106, and the other side wall of the first U-shaped structure is rotatably connected to the side of the first driving motor 106 away from the driving end.

[0068] Reference Figure 2 , Figure 3 As shown, as an optional embodiment, the shoulder clamp 108 is a second U-shaped structure, the bottom of the second U-shaped structure is connected to the driving end of the fourth driving motor 110, one side wall of the second U-shaped structure is connected to the driving end of the third driving motor 109, and the other side wall of the second U-shaped structure is rotatably connected to the side of the third driving motor 109 away from the driving end.

[0069] It should be noted that the elbow clamp 112 and the shoulder clamp 108 of the embodiment of the present application can be set as a U-shaped structure. The U-shaped structure can make the rotating parts of the elbow joint 105 and the shoulder joint 104 reliably connected, and enhance the stability of the structural connection.

[0070] It should be noted that both the elbow clamp 112 and the shoulder clamp 108 can be formed by combining two parts, which can enhance the structural stability and facilitate assembly.

[0071] In the embodiments of the present application, corresponding mechanical limits are provided on both the elbow joint 105 and the shoulder joint 104 to prevent the manipulator 100 from moving beyond the rotation range and enhance the safety and reliability of the manipulator 100.

[0072] Referring to Figure 4 As shown, specifically, the elbow clamping member 112 has a limiting surface 114 perpendicular to the rotation axis of the first driving motor 106; two first blocking portions 115 are provided on the limiting surface 114, and a first abutting portion 116 extending toward the limiting surface 114 is provided on the lower upper arm 129. The two first blocking portions 115 can respectively abut against the first abutting portion 116 and generate a force to block the rotation of the elbow clamping member 112.

[0073] It should be noted that by setting the first blocking portion 115, the rotation range of the forearm assembly 103 is within a preset angle range, and the preset angle is the included angle between the connection lines of the two first blocking portions 115 and the rotation axis. In addition, a first marking zero point 124 is also provided on the elbow clamping member 112 to facilitate the staff to calibrate the position of the forearm assembly 103.

[0074] Referring to Figure 5 As shown, specifically, two second blocking portions 117 are provided on the end surface of the lower upper arm 129 close to the second driving motor 107, and a second abutting portion 118 is provided on the upper upper arm 128. The two second blocking portions 117 can respectively abut against the second abutting portion 118 and generate a force to block the rotation of the lower upper arm 129.

[0075] It should be noted that by setting the second blocking portion 117, the rotation range of the lower upper arm 129 is within a preset angle range, and the preset angle is the included angle between the connection lines of the two second blocking portions 117 and the rotation axis. In addition, a second marking zero point 125 is provided at the upper upper arm 128 to facilitate the staff to calibrate the position of the lower upper arm 129.

[0076] Referring to Figure 6 As shown, specifically, two third blocking portions 119 are provided on the rotation plane of the shoulder clamping member 108 with respect to the third driving motor 109, and two third abutting portions 120 are provided on the outer wall of the upper upper arm 128. The first third blocking portion 119 abuts against the first third abutting portion 120 and generates a force to block the rotation of the upper upper arm 128; or, the second third blocking portion 119 abuts against the second third abutting portion 120 and generates a force to block the rotation of the upper upper arm 128.

[0077] It should be noted that by setting the third blocking portion 119, the rotation range of the upper upper arm 128 is within a preset angle range, and the preset angle is the included angle between the connection lines of the two third blocking portions 119 and the rotation axis. In addition, a third marking zero point 126 is provided on the shoulder clamping member 108 to facilitate the staff to calibrate the position of the upper upper arm 128.

[0078] Referring to Figure 7 As shown, specifically, a flange 121 for fixing the fourth driving motor 110 is provided on the robot torso 101. There are two fourth blocking portions 122 extending near one side of the shoulder gripper 108 on the flange 121. A fourth abutting portion 123 is provided on the shoulder gripper 108. The two fourth blocking portions 122 can respectively abut against the fourth abutting portion 123 and generate a force to block the rotation of the shoulder gripper 108.

[0079] It should be noted that the rotation range of the shoulder gripper 108 is within a preset angle range through the setting of the fourth blocking portion 122. The preset angle is the included angle between the connection lines of the two fourth blocking portions 122 and the rotation axis. In addition, a fourth zero mark 127 is provided on the flange 121 to facilitate the staff to calibrate the position of the upper arm 128.

[0080] Referring to Figure 1 As shown, the embodiment of the present application provides a humanoid robot, including a robot torso 101 and two robotic arms 100 as described above. Among them, the two robotic arms 100 are respectively arranged on the left and right sides of the robot torso 101.

[0081] The humanoid robot provided by the embodiment of the present application uses two robotic arms 100 as described above as the left and right arms, effectively reducing the manufacturing cost of the humanoid robot. In addition, the robotic arm 100 used in the humanoid robot of the present application has a more reliable structure and the advantage of being light in weight.

[0082] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A robot arm (100), arranged on a robot trunk (101), characterized in that: The robot arm (100) comprises an upper arm assembly (102), a lower arm assembly (103), a shoulder joint (104) and an elbow joint (105); the upper arm assembly (102) is connected to the robot trunk (101) via the shoulder joint (104), and the lower arm assembly (103) is connected to the upper arm assembly (102) via the elbow joint (105); the upper arm assembly (102) comprises an upper arm (128) connected to the shoulder joint (104) and a lower arm (129) connected to the elbow joint (105), and the upper arm (128) is rotatably connected to the lower arm (129); The elbow joint (105) comprises a first drive motor (106) which is arranged on the lower arm (129) and drives the small arm assembly (103) to rotate, and the rotation axis of the small arm assembly (103) is axially perpendicular to the large arm assembly (102); The boom assembly (102) further comprises a second drive motor (107) disposed on the upper boom (128) and driving the lower boom (129) to rotate, wherein the rotation axis of the lower boom (129) is axially consistent with that of the boom assembly (102); The shoulder joint (104) comprises a shoulder clamp (108) connected to the robot trunk (101), and a third drive motor (109) arranged on the shoulder clamp (108) and driving the upper arm (128) to rotate, and the rotation axis of the upper arm (128) is arranged perpendicular to the rotation axis of the small arm assembly (103) and the rotation axis of the lower arm (129); The shoulder joint (104) also includes a fourth drive motor (110) arranged on the robot trunk (101) and driving the shoulder clamp (108) to rotate, and the rotation axis of the shoulder clamp (108) is perpendicular to the rotation axis of the upper arm (128).

2. The robotic arm (100) according to claim 1, characterized in that: The forearm assembly (103) comprises a forearm connecting rod (111) and an elbow clamp (112) and a hand structure (113) respectively arranged at two ends of the forearm connecting rod (111).

3. The robotic arm (100) according to claim 2, characterized in that: The elbow clamp (112) is a first U-shaped structure, the bottom of the first U-shaped structure is connected to the end of the forearm connecting rod (111) away from the hand structure (113), one side wall of the first U-shaped structure is connected to the driving end of the first driving motor (106), and the other side wall of the first U-shaped structure is rotatably connected to the side of the first driving motor (106) away from the driving end.

4. The robotic arm (100) according to claim 1, characterized in that: The shoulder clamp (108) is a second U-shaped structure, the bottom of the second U-shaped structure is connected to the driving end of the fourth driving motor (110), one side wall of the second U-shaped structure is connected to the driving end of the third driving motor (109), and the other side wall of the second U-shaped structure is rotatably connected to the side of the third driving motor (109) away from the driving end.

5. The robotic arm (100) according to claim 2, characterized in that: The elbow clamp (112) has a limiting surface (114) perpendicular to the rotation axis of the first drive motor (106); two first blocking parts (115) are arranged on the limiting surface (114); the lower arm (129) is provided with a first abutting part (116) extending toward the limiting surface (114); the two first blocking parts (115) can respectively abut against the first abutting part (116) and generate a force to block the rotation of the elbow clamp (112).

6. The robotic arm (100) according to any one of claims 1 to 5, characterized in that: Two second blocking parts (117) are provided on the end surface of the lower arm (129) close to the second drive motor (107), and a second abutting part (118) is provided on the upper arm (128). The two second blocking parts (117) can respectively abut against the second abutting part (118) and generate a force to block the rotation of the lower arm (129).

7. The robotic arm (100) according to any one of claims 1 to 5, characterized in that: The shoulder clamping member (108) is provided with two third blocking parts (119) on the rotation plane of the third driving motor (109), and the outer wall of the upper arm (128) is provided with two third abutting parts (120), the first third blocking part (119) abuts against the first third abutting part (120) and generates a force to block the rotation of the upper arm (128); or, the second third blocking part (119) abuts against the second third abutting part (120) and generates a force to block the rotation of the upper arm (128).

8. The robotic arm (100) according to any one of claims 1 to 5, characterized in that: The robot trunk (101) is provided with a flange (121) for fixing the fourth drive motor (110), and the flange (121) has two fourth blocking parts (122) extending close to one side of the shoulder clamp (108). The shoulder clamp (108) is provided with a fourth abutting part (123), and the two fourth blocking parts (122) can respectively abut against the fourth abutting part (123) and generate a force to block the shoulder clamp (108) from rotating.

9. A humanoid robot, characterized in that: It comprises a robot trunk (101) and two robot arms (100) according to any one of claims 1 to 8, wherein the two robot arms (100) are respectively arranged on the left and right sides of the robot trunk (101).

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