Bionic mechanical arm and robot

Abstract

The utility model relates to the technical field of biomimetic robots, and discloses a biomimetic mechanical arm and a robot, the biomimetic mechanical arm comprises an arm structure, an elbow joint structure and a wrist structure which are connected in sequence; the arm part structure comprises a first arm part driving piece, a second arm part driving piece and a third arm part driving piece which are connected in sequence; the elbow joint structure comprises an elbow driving piece; the wrist structure comprises a first wrist driving piece, a second wrist driving piece and a third wrist driving piece which are connected in sequence; the first arm driving piece, the second arm driving piece, the third arm driving piece, the elbow driving piece, the first wrist driving piece, the second wrist driving piece and the third wrist driving piece are sequentially connected in series through the multiple connecting wires, winding of the multiple strands of connecting wires is avoided, the wiring and overhauling difficulty is reduced, the connecting wires are sleeved with the spring tubes, and the connecting wires are connected in series through the spring tubes. Damage or bending caused by friction between the connecting wire and the structural member is avoided, the wire rod is protected in a limited mode, reliability is improved, and the service life is prolonged.

Description

Technical Field

[0001] This utility model relates to the field of biomimetic robot technology, specifically to a biomimetic robotic arm and robot. Background Technology

[0002] With the rapid development of robotics technology, its applications in manufacturing, healthcare, and daily life are sparking a technological revolution. Traditional robots, due to their cumbersome operation and limited functionality, are struggling to meet the needs of modern society.

[0003] Today, the importance of biomimicry in robot performance, operational reliability, and aesthetic design is increasingly prominent. Particularly in the design of robot arms, efficient motor wiring not only directly affects robot performance but also significantly impacts maintenance ease and overall aesthetics. However, current conventional motor wiring designs generally suffer from high complexity, difficult wiring, and a lack of modular design. Utility Model Content

[0004] In view of this, the present invention provides a bionic robotic arm and robot to solve the problems of complex wiring and difficult wiring in the existing motor structure.

[0005] To solve the above-mentioned technical problems, the technical solution of this utility model is as follows:

[0006] In a first aspect, this utility model provides a bionic robotic arm, comprising: an arm structure, an elbow joint structure, and a wrist structure connected in sequence;

[0007] The arm structure includes a first arm drive component, a second arm drive component, and a third arm drive component connected in sequence; the elbow joint structure includes an elbow drive component; the wrist structure includes a first wrist drive component, a second wrist drive component, and a third wrist drive component connected in sequence.

[0008] The first arm drive, the second arm drive, the third arm drive, the elbow drive, the first wrist drive, the second wrist drive, and the third wrist drive are connected in series by multiple connecting wires, and each of the multiple connecting wires is fitted with a spring tube.

[0009] The first arm part driving element, the second arm part driving element, the third arm part driving element, the elbow part driving element, the first wrist part driving element, the second wrist part driving element and the third wrist part driving element are connected in series through a plurality of connecting lines, wiring is simple, the connecting lines are sequentially connected in series, winding of the connecting lines is avoided, wiring and maintenance difficulty are reduced, the connecting lines are externally sleeved with spring tubes, damage or bending caused by friction between the connecting lines and structural members is avoided, the wires are limitedly protected, reliability is improved, and service life is prolonged.

[0010] According to the first aspect embodiment of the utility model, the bionic mechanical arm further includes a palm structure, the palm structure is connected with the wrist structure, the first arm part driving element drives the arm structure to rotate around the X axis, the second arm part driving element drives the arm structure to rotate around the Y axis, and the third arm part driving element drives the arm structure to rotate around the Z axis.

[0011] The elbow part driving element drives the wrist structure to rotate around the X axis.

[0012] The first wrist part driving element drives the palm structure to rotate around the Z axis, the second wrist part driving element drives the palm structure to rotate around the Y axis, and the third wrist part driving element drives the palm structure to rotate around the X axis.

[0013] According to the first aspect embodiment of the utility model, the bionic mechanical arm further includes a first fixing element, the output end of the first arm part driving element is in transmission connection with the first fixing element, the second arm part driving element is fixedly arranged at one end of the first fixing element, and the first arm part driving element drives the first fixing element to rotate around the X axis to drive the second arm part driving element to rotate.

[0014] According to the first aspect embodiment of the utility model, the bionic mechanical arm further includes a second fixing element and a third fixing element, the connecting line includes a first connecting line and a second connecting line, one end of the second fixing element is in transmission connection with the output end of the second arm part driving element, the other end of the second fixing element is fixedly installed with the third arm part driving element, the second fixing element is provided with a first mounting clamping groove, the first connecting line is arranged in the first mounting clamping groove, one end of the first connecting line is connected with the output interface of the second arm part driving element, the other end is connected with the input port of the third arm part driving element, the input interface of the second arm part driving element is connected with the trunk connecting line, and the second arm part driving element drives the second fixing element to rotate around the Y axis to drive the third arm part driving element to rotate.

[0015] One end of the third fixed part is in transmission connection with the output end of the third arm part driving part, the other end of the third fixed part is fixedly installed with the elbow part driving part, the second installation clamping groove is arranged on the third fixed part, the second connecting line is arranged in the second installation clamping groove, one end of the second connecting line is connected with the output interface of the third arm part driving part, the other end of the second connecting line is connected with the input interface of the elbow part driving part, the third arm part driving part drives the third fixed part to rotate around the Z-axis direction, so as to drive the elbow part driving part to rotate.

[0016] According to the first aspect embodiment of the utility model, the bionic mechanical arm further includes a fourth fixed part, the connecting line further includes a third connecting line, one end of the fourth fixed part is in transmission connection with the output end of the elbow part driving part, the other end of the fourth fixed part is fixedly installed with the first wrist part driving part, the third installation clamping groove is arranged on the fourth fixed part, the third connecting line is arranged in the third installation clamping groove, one end of the third connecting line is connected with the output interface of the elbow part driving part, the other end of the third connecting line is connected with the input interface of the first wrist part driving part, the elbow part driving part drives the fourth fixed part to rotate around the X-axis direction, so as to drive the first wrist part driving part to rotate.

[0017] According to the first aspect embodiment of the utility model, the bionic mechanical arm further includes a fourth fixed part, the connecting line further includes a third connecting line, one end of the fourth fixed part is in transmission connection with the output end of the elbow part driving part, the other end of the fourth fixed part is fixedly installed with the first wrist part driving part, the third installation clamping groove is arranged on the fourth fixed part, the third connecting line is arranged in the third installation clamping groove, one end of the third connecting line is connected with the output interface of the elbow part driving part, the other end of the third connecting line is connected with the input interface of the first wrist part driving part, the elbow part driving part drives the fourth fixed part to rotate around the X-axis direction, so as to drive the first wrist part driving part to rotate.

[0018] One end of the sixth fixed part is in transmission connection with the output end of the second wrist part driving part, the other end of the sixth fixed part is fixedly installed with the third wrist part driving part, the fifth installation clamping groove is arranged on the sixth fixed part, the fifth connecting line is arranged in the fifth installation clamping groove, one end of the fifth connecting line is connected with the output interface of the second wrist part driving part, the other end of the fifth connecting line is connected with the input interface of the third wrist part driving part, the second wrist part driving part drives the sixth fixed part to rotate around the Y-axis direction, so as to drive the third wrist part driving part to rotate.

[0019] One end of the seventh fixing member is in transmission connection with the output end of the third wrist driving member, the other end of the seventh fixing member is fixedly installed with the palm structure, the sixth installation clamping groove is arranged on the seventh fixing member, the sixth connecting line is arranged in the sixth installation clamping groove, one end of the sixth connecting line is connected with the output interface of the third wrist driving member, the other end of the sixth connecting line is connected with the input interface of the palm structure, and the third wrist driving member drives the sixth fixing member to rotate around the X-axis direction, so as to drive the palm structure to rotate.

[0020] According to the first aspect of the utility model, the end of the first installation clamping groove, the second installation clamping groove, the third installation clamping groove, the fourth installation clamping groove, the fifth installation clamping groove and the sixth installation clamping groove is horn structure.

[0021] According to the first aspect of the utility model, the connecting line is power supply connecting line and communication connecting line arranged in the spring tube.

[0022] According to the first aspect of the utility model, the bionic mechanical arm further comprises a shell, and the shell covers the outer periphery of the arm structure, the elbow joint structure and the wrist structure.

[0023] Secondly, the utility model also provides a robot, which comprises a trunk structure and the bionic mechanical arm, and the bionic mechanical arm is in transmission connection with the trunk. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the specific embodiment of the utility model or the technical scheme in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiment or the prior art description, and obviously, the drawings in the following description are some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creating creative labor.

[0025] Figure 1 It is the structure schematic view of the bionic mechanical arm provided in the first aspect of the utility model and assembled with the shell;

[0026] Figure 2 It is the structure schematic view of the bionic mechanical arm provided in the first aspect of the utility model and not assembled with the shell;

[0027] Figure 3 It is the structure schematic view of the connecting line provided in the first aspect of the utility model;

[0028] Figure 4 It is the connection structure schematic view of the first arm driving member and the second arm driving member provided in the first aspect of the utility model;

[0029] Figure 5 Figure 2 is a connection structure schematic view of the second arm driving member and the third arm driving member provided in the first aspect of the present application;

[0030] Figure 6 Figure 3 is a connection structure schematic view of the third arm driving member and the elbow driving member provided in the first aspect of the present application;

[0031] Figure 7 Figure 4 is a connection structure schematic view of the elbow driving member and the first wrist driving member provided in the first aspect of the present application;

[0032] Figure 8 Figure 5 is a connection structure schematic view of the first wrist driving member, the second wrist driving member and the third wrist driving member provided in the first aspect of the present application;

[0033] Figure 9 Figure 6 is a connection structure schematic view of the third wrist driving member and the palm structure provided in the first aspect of the present application.

[0034] Explanation of reference signs:

[0035] 1, arm structure; 2, elbow joint structure; 3, wrist structure; 4, palm structure; 5, shell; 6, spring tube; 11, first arm driving member; 12, second arm driving member; 13, third arm driving member; 14, first fixing member; 15, second fixing member; 21, elbow driving member; 22, third fixing member; 23, fourth fixing member; 31, first wrist driving member; 32, second wrist driving member; 33, third wrist driving member; 34, fifth fixing member; 35, sixth fixing member; 36, seventh fixing member; 61, first connecting line; 62, second connecting line; 63, third connecting line; 64, fourth connecting line; 65, fifth connecting line; 66, sixth connecting line; 151, first mounting clamping groove; 221, second mounting clamping groove; 231, third mounting clamping groove; 341, fourth mounting clamping groove; 351, fifth mounting clamping groove; 361, sixth mounting clamping groove. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme of the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by the person skilled in the art without making creative efforts are within the protection scope of the present application.

[0037] In the description of the utility model, it needs to explain, the term "center", "upper", "lower", "left", "right", "vertical", "horizontal", "internal", "external" and so on indicate the orientation or position relation based on the orientation or position relation shown in the drawing, only for the convenience of describing the utility model and simplifying the description, and not indicate or imply that the device or element indicated must have a particular orientation, construct and operate in a particular orientation, therefore, it cannot be understood as the limitation of the utility model. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0038] In the description of the utility model, it needs to explain, unless otherwise explicitly provided and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixed connection, can also be detachable connection, or integrally connected, can be mechanical connection, can also be electrical connection, can be directly connected, can also be indirectly connected through intermediate medium, can be the communication inside two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to specific circumstances.

[0039] In addition, the technical features involved in different embodiments of the utility model described below can be combined with each other as long as there is no conflict.

[0040] Referring to Figure 1 , Figure 2 and Figure 3 In the first aspect of the utility model, the utility model provides a bionic mechanical arm, comprising: arm structure 1, elbow joint structure 2 and wrist structure 3 connected in sequence;

[0041] Arm structure 1 includes first arm drive 11, second arm drive 12 and third arm drive 13 connected in sequence;Elbow joint structure 2 includes elbow drive 21;Wrist structure 3 includes first wrist drive 31, second wrist drive 32 and third wrist drive 33 connected in sequence;

[0042] First arm drive 11, second arm drive 12, third arm drive 13, elbow drive 21, first wrist drive 31, second wrist drive 32 and third wrist drive 33 are connected in series through a plurality of connecting lines, and the outside of the plurality of connecting lines is all sleeved with spring tube 6.

[0043] Specifically, the first arm part driving element 11, the second arm part driving element 12, the third arm part driving element 13, the elbow part driving element 21, the first wrist part driving element 31, the second wrist part driving element 32 and the third wrist part driving element 33 are connected in series through a plurality of connecting wires, wiring is simple, the connecting mode in series makes the connecting wires be sequentially connected, winding of the plurality of connecting wires is avoided, wiring and maintenance difficulty are reduced, the connecting wires are externally sleeved with the spring tube 6, damage or bending caused by friction between the connecting wires and structural members is avoided, the wire is limitedly protected, reliability is improved, and service life is prolonged.

[0044] It can be understood that the arm part structure 1 is composed of the first arm part driving element 11, the second arm part driving element 12 and the third arm part driving element 13 connected in series; the elbow joint structure 2 comprises the elbow part driving element 21, and the wrist part structure 3 is composed of the first wrist part driving element 31, the second wrist part driving element 32 and the third wrist part driving element 33 connected in series. The driving elements are connected in series through a plurality of connecting wires, and the connecting wires are externally sleeved with the spring tube 6 to protect the cables and prevent damage caused by bending or external impact.

[0045] When the driving elements are powered, the driving elements drive corresponding structures to rotate along different axes, and movement control of the bionic mechanical arm in three-dimensional space is realized. Specifically, the arm part structure 1 realizes rotation around the X-axis, the Y-axis and the Z-axis through the first arm part driving element 11, the second arm part driving element 12 and the third arm part driving element 13 respectively; the elbow joint structure 2 realizes rotation around the X-axis through the elbow part driving element 21; and the wrist part structure 3 realizes rotation around the Z-axis, the Y-axis and the X-axis through the first wrist part driving element 31, the second wrist part driving element 32 and the third wrist part driving element 33 respectively.

[0046] In the first aspect embodiment of the utility model, the bionic mechanical arm further includes a palm part structure 4, the palm part structure 4 is connected with the wrist part structure 3; the first arm part driving element 11 drives the arm part structure 1 to rotate around the X-axis, the second arm part driving element 12 drives the arm part structure 1 to rotate around the Y-axis, and the third arm part driving element 13 drives the arm part structure 1 to rotate around the Z-axis;

[0047] The elbow part driving element 21 drives the wrist part structure 3 to rotate around the X-axis;

[0048] The first wrist part driving element 31 drives the palm part structure 4 to rotate around the Z-axis, the second wrist part driving element 32 drives the palm part structure 4 to rotate around the Y-axis, and the third wrist part driving element 33 drives the palm part structure 4 to rotate around the X-axis.

[0049] Specifically, the bionic mechanical arm further includes a palm part structure 4, which is connected with the wrist part structure 3. The palm part structure 4 can complete multidirectional movement under the action of the driving elements, and the flexibility of the mechanical arm is improved.

[0050] The first arm driving member 11 drives the arm structure 1 to rotate around the X axis, the second arm driving member 12 drives the arm structure 1 to rotate around the Y axis, and the third arm driving member 13 drives the arm structure 1 to rotate around the Z axis. The elbow driving member 21 drives the wrist structure 3 to rotate around the X axis, the first wrist driving member 31 drives the palm structure 4 to rotate around the Z axis, the second wrist driving member 32 drives the palm structure 4 to rotate around the Y axis, and the third wrist driving member 33 drives the palm structure 4 to rotate around the X axis. Through the cooperation of the driving members, the mechanical arm can complete the bionic action similar to the human arm.

[0051] Referring to Figure 4 As shown in the first aspect of the utility model, the bionic mechanical arm further comprises a first fixing member 14, the output end of the first arm driving member 11 is in transmission connection with the first fixing member 14, the second arm driving member 12 is fixedly arranged at one end of the first fixing member 14, and the first arm driving member 11 drives the first fixing member 14 to rotate around the X axis to drive the second arm driving member 12 to rotate.

[0052] Referring to Figure 4 And Figure 5 As shown in the first aspect of the utility model, the bionic mechanical arm further comprises a second fixing member 15 and a third fixing member 22, the connecting line comprises a first connecting line 61 and a second connecting line 62, one end of the second fixing member 15 is in transmission connection with the output end of the second arm driving member 12, the other end of the second fixing member 15 is fixedly installed with the third arm driving member 13, the second fixing member 15 is provided with a first mounting clamping groove 151, the first connecting line 61 is arranged in the first mounting clamping groove 151, one end of the first connecting line 61 is connected with the output interface of the second arm driving member 12, the other end is connected with the input port of the third arm driving member 13, the input interface of the second arm driving member 12 is connected with the trunk connecting line, and the second arm driving member 12 drives the second fixing member 15 to rotate around the Y axis to drive the third arm driving member 13 to rotate.

[0053] One end of the third fixing member 22 is in transmission connection with the output end of the third arm driving member 13, the other end of the third fixing member 22 is fixedly installed with the elbow driving member 21, the third fixing member 22 is provided with a second mounting clamping groove 221, the second connecting line 62 is arranged in the second mounting clamping groove 221, one end of the second connecting line 62 is connected with the output interface of the third arm driving member 13, the other end of the second connecting line 62 is connected with the input interface of the elbow driving member 21, and the third arm driving member 13 drives the third fixing member 22 to rotate around the Z axis direction to drive the elbow driving member 21 to rotate.

[0054] Referring to Figure 6As shown in the first aspect of the utility model embodiment, the bionic mechanical arm further includes a fourth fixing member 23, the connecting line further includes a third connecting line 63, one end of the fourth fixing member 23 is in transmission with the output end of the elbow driving member 21, the other end of the fourth fixing member 23 is fixedly installed with the first wrist driving member 31, the fourth fixing member 23 is equipped with third installation clamping groove 231, the third connecting line 63 is equipped in third installation clamping groove 231, one end of the third connecting line 63 is connected with the output interface of the elbow driving member 21, the other end of the third connecting line 63 is connected with the input interface of the first wrist driving member 31, the elbow driving member 21 drives the fourth fixing member 23 to rotate around the X-axis direction to drive the first wrist driving member 31 to rotate.

[0055] Referring to Figure 7 、 Figure 8 and Figure 9 As shown in the first aspect of the utility model embodiment, the bionic mechanical arm further includes a fourth fixing member 23, the connecting line further includes a third connecting line 63, one end of the fourth fixing member 23 is in transmission with the output end of the elbow driving member 21, the other end of the fourth fixing member 23 is fixedly installed with the first wrist driving member 31, the fourth fixing member 23 is equipped with third installation clamping groove 231, the third connecting line 63 is equipped in third installation clamping groove 231, one end of the third connecting line 63 is connected with the output interface of the elbow driving member 21, the other end of the third connecting line 63 is connected with the input interface of the first wrist driving member 31, the elbow driving member 21 drives the fourth fixing member 23 to rotate around the X-axis direction to drive the first wrist driving member 31 to rotate.

[0056] One end of the sixth fixing member 35 is in transmission with the output end of the second wrist driving member 32, the other end of the sixth fixing member 35 is fixedly installed with the third wrist driving member 33, the sixth fixing member 35 is equipped with fifth installation clamping groove 351, the fifth connecting line 65 is equipped in fifth installation clamping groove 351, one end of the fifth connecting line 65 is connected with the output interface of the second wrist driving member 32, the other end of the fifth connecting line 65 is connected with the input interface of the third wrist driving member 33, the second wrist driving member 32 drives the sixth fixing member 35 to rotate around the Y-axis direction to drive the third wrist driving member 33 to rotate.

[0057] One end of the seventh fixing part 36 is in transmission connection with the output end of the third wrist driving part 33, the other end of the seventh fixing part 36 is fixedly provided with the palm structure 4, the seventh fixing part 36 is provided with a sixth mounting clamping groove 361, the sixth connecting line 66 is arranged in the sixth mounting clamping groove 361, one end of the sixth connecting line 66 is connected with the output interface of the third wrist driving part 33, the other end of the sixth connecting line 66 is connected with the input interface of the palm structure 4, and the third wrist driving part 33 drives the sixth fixing part 35 to rotate around the X-axis direction, so as to drive the palm structure 4 to rotate.

[0058] Specifically, the first fixing part 14, the second fixing part 15, the third fixing part 22, the fourth fixing part 23, the fifth fixing part 34, the sixth fixing part 35 and the seventh fixing part 36 are all made of aluminum alloy material, so that the light weight is improved while the structural strength is ensured, the multi-stage fixing part is arranged, the structure is compact, the transmission design is optimized, the dynamic response performance of the mechanical arm under the maximum load is ensured, the influence of inertial force is reduced, and the control precision is improved.

[0059] In the first aspect of the utility model, the end of the first mounting clamping groove 151, the second mounting clamping groove 221, the third mounting clamping groove 231, the fourth mounting clamping groove 341, the fifth mounting clamping groove 351 and the sixth mounting clamping groove 361 is a horn structure.

[0060] In the first aspect of the utility model, the connecting line is a power supply connecting line and a communication connecting line arranged in the spring tube 6.

[0061] Specifically, the mounting clamping groove is designed on each fixing part, and is used for the arrangement and fixation of the connecting line. The end of each mounting clamping groove is designed as a horn structure, so that the connecting line can be introduced and exported. The connecting line includes a power supply connecting line and a communication connecting line, and both are arranged in the spring tube 6, so that the control and data transmission of each driving part are realized.

[0062] Referring to Figure 1 In the first aspect of the utility model, the bionic mechanical arm further comprises a shell 5, and the shell 5 covers the outer periphery of the arm structure 1, the elbow joint structure 2 and the wrist structure 3.

[0063] Specifically, the bionic mechanical arm further comprises a shell 5. The shell 5 covers the outer periphery of the arm structure 1, the elbow joint structure 2 and the wrist structure 3, so as to protect the internal components and improve the appearance integrity and dustproof and waterproof performance of the bionic mechanical arm.

[0064] Secondly, the utility model also provides a robot, which comprises a trunk structure and a bionic mechanical arm, and the bionic mechanical arm is in transmission connection with the trunk.

[0065] Specifically, the robot comprises a trunk structure and a bionic mechanical arm. The bionic mechanical arm is connected with the trunk structure through a transmission mechanism, so that it can complete complex movements similar to human arms. The robot can be widely applied to medical assistance, industrial production, service robots and other fields.

[0066] Although the embodiments of the present application are described in conjunction with the drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the present application, and such modifications and changes fall within the scope defined by the appended claims.

Claims

1. A biomimetic robotic arm, characterized by, Comprise: Arm structure (1), elbow joint structure (2) and wrist structure (3) connected in turn; The arm structure (1) comprises a first arm driving element (11), a second arm driving element (12) and a third arm driving element (13) connected in turn; The elbow joint structure (2) comprises an elbow driving element (21); The wrist structure (3) comprises a first wrist driving element (31), a second wrist driving element (32) and a third wrist driving element (33) connected in turn; The first arm driving element (11), the second arm driving element (12), the third arm driving element (13), the elbow driving element (21), the first wrist driving element (31), the second wrist driving element (32) and the third wrist driving element (33) are connected in series by a plurality of connecting lines, and the outside of the plurality of connecting lines is sleeved with a spring tube (6).

2. The biomimetic robotic arm of claim 1, wherein, Further comprising palm structure (4), the palm structure (4) is connected with the wrist structure (3); The first arm driving element (11) drives the arm structure (1) to rotate around X axis, the second arm driving element (12) drives the arm structure (1) to rotate around Y axis, the third arm driving element (13) drives the arm structure (1) to rotate around Z axis; The elbow driving element (21) drives the wrist structure (3) to rotate around X axis; The first wrist driving element (31) drives the palm structure (4) to rotate around Z axis, the second wrist driving element (32) drives the palm structure (4) to rotate around Y axis, and the third wrist driving element (33) drives the palm structure (4) to rotate around X axis.

3. The biomimetic robotic arm of claim 2, wherein, Further comprising a first fixing element (14), the output end of the first arm driving element (11) is in transmission connection with the first fixing element (14), and the second arm driving element (12) is fixedly arranged at one end of the first fixing element (14); The first arm driving element (11) drives the first fixing element (14) to rotate around X, so as to drive the second arm driving element (12) to rotate.

4. The biomimetic robotic arm of claim 3, wherein, Further comprising a second fixing element (15) and a third fixing element (22), the connecting line comprises a first connecting line (61) and a second connecting line (62), one end of the second fixing element (15) is in transmission connection with the output end of the second arm driving element (12), the other end of the second fixing element (15) is fixedly provided with the third arm driving element (13), the first mounting slot (151) is arranged on the second fixing element (15), the first connecting line (61) is arranged in the first mounting slot (151), one end of the first connecting line (61) is connected with the output interface of the second arm driving element (12), and the other end is connected with the input port of the third arm driving element (13); The input interface of the second arm driving element (12) is connected with the trunk connecting line, and the second arm driving element (12) drives the second fixing element (15) to rotate around Y, so as to drive the third arm driving element (13) to rotate; One end of the third fixed part (22) is in transmission connection with the output end of the third arm part driving part (13), the other end of the third fixed part (22) is fixedly installed with the elbow part driving part (21), the second fixed clamping groove (221) is arranged on the third fixed part (22), the second connecting line (62) is arranged in the second fixed clamping groove (221), one end of the second connecting line (62) is connected with the output interface of the third arm part driving part (13), the other end of the second connecting line (62) is connected with the input interface of the elbow part driving part (21), the third arm part driving part (13) drives the third fixed part (22) to rotate around the Z axis direction, so as to drive the elbow part driving part (21) to rotate.

5. The biomimetic robotic arm of claim 4, wherein, The fourth fixed part (23) is further included, the connecting line further includes the third connecting line (63), one end of the fourth fixed part (23) is in transmission connection with the output end of the elbow part driving part (21), the other end of the fourth fixed part (23) is fixedly installed with the first wrist part driving part (31), the third fixed clamping groove (231) is arranged on the fourth fixed part (23), the third connecting line (63) is arranged in the third fixed clamping groove (231), one end of the third connecting line (63) is connected with the output interface of the elbow part driving part (21), the other end of the third connecting line (63) is connected with the input interface of the first wrist part driving part (31), the elbow part driving part (21) drives the fourth fixed part (23) to rotate around the X axis direction, so as to drive the first wrist part driving part (31) to rotate.

6. The biomimetic robotic arm of claim 5, wherein, The fifth fixed part (34), the sixth fixed part (35) and the seventh fixed part (36) are further included, the connecting line further includes the fourth connecting line (64), the fifth connecting line (65) and the sixth connecting line (66); one end of the fourth fixed part (23) is in transmission connection with the output end of the first wrist part driving part (31), the other end of the fifth fixed part (34) is fixedly installed with the second wrist part driving part (32), the fourth fixed clamping groove (341) is arranged on the fifth fixed part (34), the fourth connecting line (64) is arranged in the fourth fixed clamping groove (341), one end of the fourth connecting line (64) is connected with the output interface of the first wrist part driving part (31), the other end of the fourth connecting line (64) is connected with the input interface of the second wrist part driving part (32), the first wrist part driving part (31) drives the fifth fixed part (34) to rotate around the Z axis direction, so as to drive the second wrist part driving part (32) to rotate; One end of the sixth fixing member (35) is in transmission connection with the output end of the second wrist driving member (32), the other end of the sixth fixing member (35) is fixedly installed with the third wrist driving member (33), the sixth fixing member (35) is provided with a fifth installation clamping groove (351), the fifth connecting line (65) is arranged in the fifth installation clamping groove (351), one end of the fifth connecting line (65) is connected with the output interface of the second wrist driving member (32), the other end of the fifth connecting line (65) is connected with the input interface of the third wrist driving member (33), the second wrist driving member (32) drives the sixth fixing member (35) to rotate around the Y axis direction, so as to drive the third wrist driving member (33) to rotate; One end of the seventh fixing member (36) is in transmission connection with the output end of the third wrist driving member (33), the other end of the seventh fixing member (36) is fixedly installed with the palm structure (4), the seventh fixing member (36) is provided with a sixth installation clamping groove (361), the sixth connecting line (66) is arranged in the sixth installation clamping groove (361), one end of the sixth connecting line (66) is connected with the output interface of the third wrist driving member (33), the other end of the sixth connecting line (66) is connected with the input interface of the palm structure (4), the third wrist driving member (33) drives the sixth fixing member (35) to rotate around the X axis direction, so as to drive the palm structure (4) to rotate.

7. The biomimetic robotic arm of claim 6, wherein, The end of the first installation clamping groove (151), the second installation clamping groove (221), the third installation clamping groove (231), the fourth installation clamping groove (341), the fifth installation clamping groove (351) and the sixth installation clamping groove (361) is in a horn structure.

8. The biomimetic robotic arm of claim 1, wherein, The connecting line is a power supply connecting line and a communication connecting line arranged in the spring tube (6).

9. The biomimetic robotic arm of any one of claims 1-8, wherein, Further comprising a shell (5), the shell (5) is arranged on the outer periphery of the arm structure (1), the elbow joint structure (2) and the wrist structure (3).

10. A robot, characterized in that The bionic mechanical arm comprises a trunk structure and the bionic mechanical arm of any one of claims 1-9, and the bionic mechanical arm is in transmission connection with the trunk.

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