Humanoid robot arm and humanoid robot

Abstract

The utility model provides a humanoid robot arm and a humanoid robot, the humanoid robot arm comprises an arm main body, the arm main body comprises at least one functional module, and the at least one functional module comprises a rotating module, a swinging module and a synchronous belt; one end of the synchronous belt is in transmission connection with the rotating module, and the other end of the synchronous belt is in transmission connection with the swinging module, so that when one of the rotating module and the swinging module is used for driving, the other one of the rotating module and the swinging module is driven, and all or part of the functional modules in the arm main body are driven to realize multi-angle rotation and multi-angle swinging. According to the humanoid robot arm, the synchronous belt transmission mode is used in at least one functional module in the humanoid robot arm, so that the robot arm can achieve cooperative proceeding of two actions of rotating and swinging, the flexibility of the robot arm is greatly improved, and the operation range of the robot arm is greatly widened; and the space is effectively saved, the overall size of the robot arm is reduced, and the overall weight of the robot arm is reduced.

Description

Technical Field

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

[0002] With the advancement of technology, the research and application fields of robots are constantly expanding. Among them, the research and application of humanoid robots have received particular attention and have become one of the most active research hotspots in the field of intelligent robots. Robotic arms are the most widely used automated mechanical devices in the field of robotics. They are technical devices used to reproduce the functions of a human arm, mimicking some of the movements of a human hand to perform grasping, transporting, or manipulating tasks according to given programs, trajectories, and requirements.

[0003] Existing robotic arms are large and heavy, resulting in poor flexibility and a reduced user experience. Utility Model Content

[0004] This utility model addresses the shortcomings of existing technologies by providing a humanoid robot arm and a humanoid robot, as detailed below:

[0005] In its first part, this application provides a humanoid robot arm, including an arm body, wherein the arm body includes at least one functional module, the at least one functional module including a rotation module, a swing module and a timing belt; one end of the timing belt is drivenly connected to the rotation module and the other end is drivenly connected to the swing module, so that when one of the rotation module and the swing module is driven, the other of the rotation module and the swing module is driven, thereby driving all or part of the functional modules in the arm body to achieve multi-angle rotation and multi-angle swing.

[0006] In one specific embodiment, the functional module includes at least one of a wrist functional module, a forearm functional module, an elbow functional module, an upper arm functional module, and a shoulder functional module.

[0007] In one specific embodiment, the forearm functional module in the functional module includes a forearm drive mechanism, an upper forearm shell, a lower forearm shell, and a forearm connector; the upper forearm shell is connected to the lower forearm shell to form a forearm accommodating space, and the forearm connector and the forearm drive mechanism are both partially located in the forearm accommodating space;

[0008] One end of the forearm drive mechanism is movably connected to the elbow function module in the functional module, and the other end is driven to be connected to the forearm connector; the end of the forearm connector away from the forearm drive mechanism is driven to be connected to the wrist function module in the functional module, so that when the forearm drive mechanism drives the forearm function module to rotate relative to the elbow function module, it synchronously drives the wrist function module to rotate relative to the elbow function module.

[0009] The upper arm functional module in the functional module includes an upper arm drive mechanism, an upper arm shell, and a lower arm shell; the upper arm shell and the lower arm shell are connected to form an upper arm receiving space; the upper arm drive mechanism is partially located in the upper arm receiving space; one end of the upper arm drive mechanism is movably connected to the shoulder functional module in the functional module, and the other end is drively connected to the elbow functional module, so that when the upper arm drive mechanism drives the upper arm functional module to rotate relative to the shoulder functional module, it synchronously drives the elbow functional module to rotate relative to the shoulder functional module.

[0010] In one specific embodiment, the wrist function module in the functional module includes a wrist swing module, a wrist rotation module, and a wrist synchronization belt;

[0011] The wrist swing module is equipped with a wrist drive wheel, and the wrist rotation module is equipped with a wrist driven wheel on the side near the wrist drive wheel. One end of the wrist timing belt is sleeved on the outside of the wrist drive wheel, and the other end of the wrist timing belt is sleeved on the outside of the wrist driven wheel. The end of the wrist swing module away from the wrist rotation module is movably connected to the forearm function module in the function module.

[0012] In one specific embodiment, the wrist function module further includes a tension wheel, a tension shaft, and a wrist housing; the wrist swing module, the wrist rotation module, the wrist drive wheel, the wrist driven wheel, the wrist timing belt, the tension wheel, and the tension shaft are all or partially disposed in the wrist housing;

[0013] The tensioning wheel is mounted on the wrist rotation module, and the tensioning shaft is used to fix the tensioning wheel.

[0014] In one specific embodiment, the elbow function module in the functional module includes an elbow rotation module, an elbow reducer, and an elbow timing belt; one end of the elbow rotation module is driven and connected to one end of the elbow reducer, the other end of the elbow rotation module is movably connected to the upper arm function module in the functional module, and the other end of the elbow reducer is movably connected to the forearm function module in the functional module.

[0015] The elbow rotation module is provided with an elbow drive wheel, and the elbow reducer is provided with an elbow driven wheel on the side near the elbow drive wheel. One end of the elbow timing belt is sleeved on the outside of the elbow drive wheel, and the other end of the elbow timing belt is sleeved on the outside of the elbow driven wheel.

[0016] In one specific embodiment, the elbow function module further includes an elbow connector; one end of the elbow reducer away from the elbow rotation module is driven to one end of the elbow connector, and the other end of the elbow connector is driven to the forearm function module, so that when the elbow rotation module is driven, the forearm function module is driven to bend or straighten relative to the upper arm function module.

[0017] In one specific embodiment, the shoulder function module in the functional module includes a shoulder swing module and a shoulder rotation module; one end of the shoulder rotation module is movably connected to an external component, and the other end is drive-connected to the shoulder swing module;

[0018] The shoulder swing module is connected to the upper arm functional module in the functional module at one end away from the shoulder rotation module. When the shoulder rotation module drives the shoulder functional module to rotate relative to the external component, it drives the shoulder swing module to swing relative to the external component, and simultaneously drives the upper arm functional module to rotate and / or swing relative to the external component.

[0019] In one specific embodiment, the shoulder functional module further includes a shoulder upper shell, a shoulder lower shell, an upper arm mounting block, and a shoulder connector; one end of the shoulder connector is connected to the shoulder rotation module, and the other end is connected to the shoulder swing module;

[0020] The shoulder connector is driven to one end of the upper arm mounting block on the side away from the shoulder swing module, and the other end of the upper arm mounting block is driven to the upper arm functional module; the side of the upper arm mounting block away from the shoulder connector is connected to the lower shoulder shell, and the side of the shoulder swing module away from the shoulder connector is connected to the upper shoulder shell.

[0021] In the second part, this application provides a humanoid robot, including the humanoid robot arm mentioned in the above technical solution.

[0022] Beneficial effects: By using synchronous belt drive in at least one functional module of the humanoid robot arm, this application enables the robot arm to perform both rotation and swinging movements in a coordinated manner, which greatly improves the flexibility and operating range of the robot arm; and effectively saves space, reduces the overall volume and weight of the robot arm. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0025] Figure 2 This is a schematic diagram of the rotating module structure of this utility model;

[0026] Figure 3 This is a schematic diagram of the forearm functional module structure of this utility model;

[0027] Figure 4 This is a schematic diagram of the upper arm functional module structure of this utility model;

[0028] Figure 5 This is a schematic diagram of the wrist functional module structure of this utility model;

[0029] Figure 6 This is a schematic diagram of the elbow functional module structure of this utility model;

[0030] Figure 7 This is a schematic diagram of the shoulder functional module structure of this utility model.

[0031] The attached diagram is labeled as follows: A - Arm body; a - Functional module; a1 - Rotation module; a2 - Swing module; a3 - Synchronous belt; 1 - Wrist functional module; 11 - Wrist swing module; 12 - Wrist rotation module; 13 - Wrist synchronous belt; 14 - Wrist drive wheel; 15 - Wrist driven wheel; 16 - Tensioning wheel; 17 - Tensioning shaft; 18 - Wrist shell; 2 - Forearm functional module; 21 - Forearm drive mechanism; 22 - Forearm upper shell; 23 - Forearm lower shell 1. Shell; 24. Forearm connector; 3. Elbow functional module; 31. Elbow rotation module; 32. Elbow reducer; 33. Elbow timing belt; 34. Elbow connector; 4. Upper arm functional module; 41. Upper arm drive mechanism; 42. Upper arm upper shell; 43. Lower upper arm shell; 5. Shoulder functional module; 51. Shoulder swing module; 52. Shoulder rotation module; 53. Upper shoulder shell; 54. Lower shoulder shell; 55. Upper arm mounting block; 56. Shoulder connector. Detailed Implementation

[0032] The following will describe the concept, specific structure and technical effects of this utility model clearly and completely with reference to the embodiments and accompanying drawings, so as to fully understand the purpose, features and effects of this utility model.

[0033] Various embodiments of the present invention will be described more fully below. The present invention may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments of the present invention to the specific embodiments disclosed herein, but rather the present invention should be understood to cover all adjustments, equivalents, and / or alternatives falling within the spirit and scope of the various embodiments of the present invention.

[0034] In the following, the terms “comprising” or “may include”, which may be used in various embodiments of the present invention, indicate the presence of the disclosed functions, operations, or elements, and do not limit the addition of one or more functions, operations, or elements. Furthermore, as used in various embodiments of the present invention, the terms “comprising,” “having,” and their cognates are intended only to indicate a specific feature, number, step, operation, element, component, or combination of the foregoing, and should not be construed as primarily excluding the presence of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing, or the possibility of adding one or more combinations of features, numbers, steps, operations, elements, components, or combinations of the foregoing.

[0035] In various embodiments of this utility model, the expression "or" or "at least one of A and / or B" includes any combination or all combinations of the words listed simultaneously. For example, the expression "A or B" or "at least one of A and / or B" may include A, may include B, or may include both A and B.

[0036] The terms used in the various embodiments of this utility model (such as "first," "second," etc.) may modify various constituent elements in the various embodiments, but do not limit the corresponding constituent elements. For example, the above terms do not limit the order and / or importance of the elements. The above terms are only used for the purpose of distinguishing one element from other elements. For example, a first user device and a second user device refer to different user devices, although both are user devices. For example, without departing from the scope of the various embodiments of this utility model, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element.

[0037] It should be noted that, in this utility model, unless otherwise explicitly specified and defined, terms such as "installation," "connection," and "fixation" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0038] In this utility model, those skilled in the art should understand that the terms indicating orientation or positional relationship in the text are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0039] The terminology used in the various embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the various embodiments of this invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of this invention pertain. The terms (such as those defined in a generally used dictionary) are to be interpreted as having the same meaning as in the context of the relevant technical field and are not to be interpreted as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of this invention.

[0040] Example 1

[0041] This embodiment utilizes synchronous belt drives in at least one functional module of the humanoid robot arm, enabling the robot arm to perform both rotational and swinging movements simultaneously. This significantly improves the robot arm's flexibility and operating range; it also effectively saves space, reduces the overall size and weight of the robot arm. The specific solution is as follows:

[0042] A humanoid robotic arm, as shown in the attached image. Figure 1 and attached Figure 2 As shown, the arm body A includes at least one functional module a. The at least one functional module a includes a rotation module a1, a swing module a2, and a synchronous belt a3. One end of the synchronous belt a3 is connected to the rotation module a1, and the other end is connected to the swing module a2. When one of the rotation module a1 and the swing module a2 is driven, the other of the rotation module a1 and the swing module a2 is driven, thereby driving all or part of the functional modules a in the arm body A to achieve multi-angle rotation and multi-angle swing.

[0043] In practical applications, the arm body A of this embodiment includes a wrist function module 1, a forearm function module 2, an elbow function module 3, an upper arm function module 4, and a shoulder function module 5, which are sequentially connected. It can achieve seven degrees of freedom of movement: wrist rotation, wrist swing, forearm rotation, elbow rotation, upper arm rotation, shoulder rotation, and shoulder swing, greatly improving the flexibility and reach of the robot arm. Specifically, both the wrist function module 1 and the shoulder function module 5 include a rotation module a1, a swing module a2, and a synchronous belt a3. The synchronous belt drive at the wrist and elbow not only saves space and reduces the arm's volume but also lowers its overall weight, while increasing the robot arm's range of motion and flexibility.

[0044] In one specific embodiment, the functional module includes at least one of a wrist functional module 1, a forearm functional module 2, an elbow functional module 3, an upper arm functional module 4, and a shoulder functional module 5. The wrist functional module 1, as the end effector connection point of the robotic arm, is responsible for precise grasping and rotation operations, and is a key component in performing specific tasks. The forearm functional module 2 is mainly responsible for connecting the wrist and elbow, providing necessary support and transmission to ensure the stability and accuracy of wrist movements. The elbow functional module 3, through flexible bending and extension, enables a wide range of movements of the robotic arm, enhancing its accessibility and adaptability. The upper arm functional module 4, as a bridge connecting the elbow and shoulder, not only bears the heavy responsibility of transmitting power but also ensures the stability and durability of the robotic arm under heavy loads or high-speed movements through its robust structural design. The shoulder functional module 5 is the base of the entire robotic arm, responsible for achieving a wide range of rotation and tilting movements, providing the robotic arm with a broad workspace and flexible posture adjustment capabilities.

[0045] In one specific embodiment, as shown in the appendix Figure 3 As shown, the forearm functional module 2 in functional module a includes a forearm drive mechanism 21, an upper forearm shell 22, a lower forearm shell 23, and a forearm connector 24. The upper forearm shell 22 and the lower forearm shell 23 are connected to form a forearm accommodating space. The forearm connector 24 and the forearm drive mechanism 21 are both partially located in the forearm accommodating space, which ensures both the compactness of the structure and the effective cooperation between the components.

[0046] One end of the forearm drive mechanism 21 is movably connected to the elbow function module 3 in the function module a, and the other end is driven to connect to the forearm connector 24; the end of the forearm connector 24 away from the forearm drive mechanism 21 is driven to connect to the wrist function module 1 in the function module a, so that when the forearm drive mechanism 21 drives the forearm function module 2 to rotate relative to the elbow function module 3, it synchronously drives the wrist function module 1 to rotate relative to the elbow function module 3, thus realizing a smooth motion transmission from the elbow to the wrist;

[0047] Further details are attached. Figure 4 As shown, the upper arm functional module 4 in functional module a includes an upper arm drive mechanism 41, an upper arm shell 42, and a lower arm shell 43. The upper arm shell 42 and the lower arm shell 43 are connected to form an upper arm accommodating space. The upper arm drive mechanism 41 is partially located in the upper arm accommodating space. One end of the upper arm drive mechanism 41 is movably connected to the shoulder functional module 5 in functional module a, and the other end is drively connected to the elbow functional module 3. When the upper arm drive mechanism 41 drives the upper arm functional module 4 to rotate relative to the shoulder functional module 5, it synchronously drives the elbow functional module 3 to rotate relative to the shoulder functional module 5, realizing a smooth motion transmission from the shoulder to the elbow. This not only improves the overall performance and stability of the robot arm, but also enables the robot arm to complete various complex tasks more flexibly and accurately.

[0048] In one specific embodiment, as shown in the appendix Figure 5 As shown, the wrist function module 1 in function module a includes a wrist swing module 11, a wrist rotation module 12, and a wrist synchronization belt 13;

[0049] The wrist swing module 11 is equipped with a wrist drive wheel 14, and the wrist rotation module 12 is equipped with a wrist driven wheel 15 on the side near the wrist drive wheel 14. One end of the wrist timing belt 13 is sleeved on the outside of the wrist drive wheel 14, and the other end of the wrist timing belt 13 is sleeved on the outside of the wrist driven wheel 15. The end of the wrist swing module 11 away from the wrist rotation module 12 is movably connected to the forearm function module 2 in the function module a.

[0050] In practical applications, the wrist functional module 1 in functional module a of this embodiment exhibits extremely high flexibility and end-effector posture adjustment capabilities. Specifically, the wrist functional module 1 mainly consists of a wrist swing module 11, a wrist rotation module 12, and a wrist synchronization belt 13. The wrist rotation module 12, as a key component, can rotate up to ±360 degrees, giving it a wide range of end-effector posture adjustment, enabling the robotic arm to position and operate more flexibly and accurately during task execution. The wrist swing module 11 drives the wrist rotation module 12 to swing through the precision transmission of the wrist synchronization belt 13. This connection method not only ensures high precision but also effectively reduces the overall size of the robotic arm, making the entire wrist functional module 1 more compact and efficient. Furthermore, the swing angle of the wrist swing module 11 exceeds 320 degrees, further enhancing the flexibility and adaptability of the robotic arm.

[0051] Furthermore, the wrist swing module 11 is equipped with a wrist drive wheel 14, and the wrist rotation module 12 is equipped with a wrist driven wheel 15. One end of the wrist timing belt 13 is sleeved on the outside of the wrist drive wheel 14, and the other end is sleeved on the outside of the wrist driven wheel 15, which ensures the stable transmission of the wrist timing belt 13 and enables the movement between the wrist swing module 11 and the wrist rotation module 12 to be transmitted accurately and smoothly.

[0052] In addition, the end of the wrist swing module 11 away from the wrist rotation module 12 is closely connected to the forearm function module 2 in the function module a through a movable connection, which ensures that the wrist function module 1 can swing and rotate flexibly relative to the forearm function module 2, and also ensures the stability and reliability of the entire robot arm structure. When the robot arm performs complex tasks, it can adjust the end posture more flexibly and accurately, thereby meeting various high-precision and high-flexibility operation requirements.

[0053] In one specific embodiment, the wrist function module 1 further includes a tensioning wheel 16, a tensioning shaft 17, and a wrist housing 18; the wrist swing module 11, the wrist rotation module 12, the wrist drive wheel 14, the wrist driven wheel 15, the wrist timing belt 13, the tensioning wheel 16, and the tensioning shaft 17 are all or partially disposed in the wrist housing 18;

[0054] The tension pulley 16 is mounted on the wrist rotation module 12 and is mainly used to adjust the tension of the wrist synchronous belt 13, ensuring that the wrist synchronous belt 13 remains stable and does not loosen during transmission. This not only extends the service life of the wrist synchronous belt 13 but also improves transmission efficiency and accuracy. The tension shaft 17 is used to fix the tension pulley 16, ensuring that it does not shift or wobble during operation, thereby further improving the stability and reliability of the wrist functional module 1.

[0055] In one specific embodiment, as shown in the appendix Figure 6 As shown, the elbow function module 3 in function module a includes an elbow rotation module 31, an elbow reducer 32, and an elbow timing belt 33; one end of the elbow rotation module 31 is driven and connected to one end of the elbow reducer 32, the other end of the elbow rotation module 31 is movably connected to the upper arm function module 4 in function module a, and the other end of the elbow reducer 32 is movably connected to the forearm function module 2 in function module a.

[0056] An elbow drive wheel is provided on the elbow rotation module 31, and an elbow driven wheel is provided on the elbow reducer 32 on the side near the elbow drive wheel. One end of the elbow timing belt 33 is sleeved on the outside of the elbow drive wheel, and the other end of the elbow timing belt 33 is sleeved on the outside of the elbow driven wheel.

[0057] In practical applications, the elbow rotation module 31 is a motor. The elbow function module 3 changes the traditional coaxial layout of the motor and reducer to a parallel design, which significantly reduces the length of the elbow rotation module 31 and the elbow reducer 32 in the axial direction. This effectively reduces the overall width of the arm body A and the overall volume of the arm body A. It can also drive the forearm function module 2 to achieve human-like bending and extension movements, improve the biomimetic performance and operational flexibility of the robot arm, and provide strong support for the robot to perform complex tasks.

[0058] In one specific embodiment, the elbow function module 3 also includes an elbow connector 34; one end of the elbow reducer 32 away from the elbow rotation module 31 is connected to one end of the elbow connector 34, and the other end of the elbow connector 34 is connected to the forearm function module 2, which ensures the efficiency and stability of power transmission, and also provides a solid foundation for the linkage between the elbow and the forearm, so that when the elbow rotation module 31 is driven, it can drive the forearm function module 2 to bend or straighten relative to the upper arm function module 4.

[0059] In one specific embodiment, as shown in the appendix Figure 7 As shown, the shoulder function module 5 in function module a includes a shoulder swing module 51 and a shoulder rotation module 52; one end of the shoulder rotation module 52 is movably connected to an external component, and the other end is driven to the shoulder swing module 51.

[0060] The shoulder swing module 51, located away from the shoulder rotation module 52, is connected to the upper arm function module 4 in the function module a. When the shoulder rotation module 52 drives the shoulder function module 5 to rotate relative to the external component, it drives the shoulder swing module 51 to swing relative to the external component, and simultaneously drives the upper arm function module 4 to rotate and / or swing relative to the external component.

[0061] The shoulder function module 5 fully utilizes the synergistic effect of the shoulder rotation module 52 and the shoulder swing module 51, organically combining the two actions of rotation and swing, greatly enhancing the flexibility and operating range of the robot arm, and effectively reducing the overall size of the robot arm.

[0062] In one specific embodiment, the shoulder functional module 5 also includes a shoulder upper shell 53, a shoulder lower shell 54, an upper arm mounting block 55, and a shoulder connector 56; one end of the shoulder connector 56 is connected to the shoulder rotation module 52, and the other end is connected to the shoulder swing module 51; providing a solid power foundation for the swinging action, which not only enhances the overall stability of the shoulder functional module 5, but also ensures that the rotation and swinging actions can be carried out in coordination, greatly improving the flexibility and operating range of the robot arm.

[0063] The shoulder connector 56 is connected to one end of the upper arm mounting block 55 on the side away from the shoulder swing module 51, and the other end of the upper arm mounting block 55 is connected to the upper arm functional module 4. The side of the upper arm mounting block 55 away from the shoulder connector 56 is connected to the lower shoulder shell 54, and the side of the shoulder swing module 51 away from the shoulder connector 56 is connected to the upper shoulder shell 53. This not only enhances the overall structural strength of the shoulder functional module 5, but also provides stable support for the operation of the robot arm.

[0064] Example 2

[0065] This embodiment provides a humanoid robot, including the humanoid robot arm mentioned in the technical solution of Embodiment 1.

[0066] This application enables the robot arm to perform both rotation and swinging motions in coordination by using synchronous belt drive in at least one functional module in the humanoid robot arm, which greatly improves the flexibility and operating range of the robot arm; and effectively saves space, reduces the overall size and weight of the robot arm.

[0067] The above is a detailed description of the preferred embodiments of the present utility model. However, the present utility model is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present utility model. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A humanoid robotic arm, characterized in that, The arm body includes at least one functional module, which includes a rotation module, a swing module, and a timing belt. One end of the timing belt is connected to the rotation module, and the other end is connected to the swing module. When one of the rotation module and the swing module is driven, the other of the rotation module and the swing module is driven, thereby enabling all or part of the functional modules in the arm body to achieve multi-angle rotation and multi-angle swing.

2. The humanoid robot arm according to claim 1, characterized in that, The functional modules include at least one of the following: wrist functional module, forearm functional module, elbow functional module, upper arm functional module, and shoulder functional module.

3. A humanoid robotic arm according to claim 1 or 2, characterized in that, The forearm functional module in the functional module includes a forearm drive mechanism, an upper forearm shell, a lower forearm shell, and a forearm connector; the upper forearm shell is connected to the lower forearm shell to form a forearm accommodating space, and the forearm connector and the forearm drive mechanism are both partially located in the forearm accommodating space; One end of the forearm drive mechanism is movably connected to the elbow function module in the function module, and the other end is driven to be connected to the forearm connector. The forearm connector is connected to the wrist function module in the functional module at one end away from the forearm drive mechanism, so that when the forearm drive mechanism drives the forearm function module to rotate relative to the elbow function module, it synchronously drives the wrist function module to rotate relative to the elbow function module. The boom functional module in the functional module includes a boom drive mechanism, a boom upper shell, and a boom lower shell; the boom upper shell and the boom lower shell are connected to form a boom accommodating space; The boom drive mechanism is located in the boom housing space; One end of the upper arm drive mechanism is movably connected to the shoulder function module in the functional module, and the other end is driven to the elbow function module, so that when the upper arm drive mechanism drives the upper arm function module to rotate relative to the shoulder function module, it synchronously drives the elbow function module to rotate relative to the shoulder function module.

4. A humanoid robotic arm according to claim 1 or 2, characterized in that, The wrist function module in the functional module includes a wrist swing module, a wrist rotation module, and a wrist synchronization belt; The wrist swing module is equipped with a wrist drive wheel, and the wrist rotation module is equipped with a wrist driven wheel on the side near the wrist drive wheel. One end of the wrist timing belt is sleeved on the outside of the wrist drive wheel, and the other end of the wrist timing belt is sleeved on the outside of the wrist driven wheel. The end of the wrist swing module away from the wrist rotation module is movably connected to the forearm function module in the function module.

5. A humanoid robot arm according to claim 4, characterized in that, The wrist function module also includes a tension wheel, a tension shaft, and a wrist housing; the wrist swing module, the wrist rotation module, the wrist drive wheel, the wrist driven wheel, the wrist timing belt, the tension wheel, and the tension shaft are all or partially disposed in the wrist housing; The tensioning wheel is mounted on the wrist rotation module, and the tensioning shaft is used to fix the tensioning wheel.

6. A humanoid robotic arm according to claim 1 or 2, characterized in that, The elbow function module in the functional module includes an elbow rotation module, an elbow reducer, and an elbow timing belt; one end of the elbow rotation module is driven and connected to one end of the elbow reducer, the other end of the elbow rotation module is movably connected to the upper arm function module in the functional module, and the other end of the elbow reducer is movably connected to the forearm function module in the functional module. The elbow rotation module is provided with an elbow drive wheel, and the elbow reducer is provided with an elbow driven wheel on the side near the elbow drive wheel. One end of the elbow timing belt is sleeved on the outside of the elbow drive wheel, and the other end of the elbow timing belt is sleeved on the outside of the elbow driven wheel.

7. A humanoid robotic arm according to claim 6, characterized in that, The elbow function module also includes an elbow connector; one end of the elbow reducer away from the elbow rotation module is driven to one end of the elbow connector, and the other end of the elbow connector is driven to the forearm function module, so that when the elbow rotation module is driven, the forearm function module can bend or straighten relative to the upper arm function module.

8. A humanoid robotic arm according to claim 1 or 2, characterized in that, The shoulder function module in the functional module includes a shoulder swing module and a shoulder rotation module; one end of the shoulder rotation module is movably connected to an external component, and the other end is driven to the shoulder swing module; The shoulder swing module is connected to the upper arm functional module in the functional module at one end away from the shoulder rotation module. When the shoulder rotation module drives the shoulder functional module to rotate relative to the external component, it drives the shoulder swing module to swing relative to the external component, and simultaneously drives the upper arm functional module to rotate and / or swing relative to the external component.

9. A humanoid robot arm according to claim 8, characterized in that, The shoulder functional module also includes a shoulder upper shell, a shoulder lower shell, a large arm mounting block, and a shoulder connector; one end of the shoulder connector is connected to the shoulder rotation module, and the other end is connected to the shoulder swing module; The shoulder connector is driven to one end of the upper arm mounting block on the side away from the shoulder swing module, and the other end of the upper arm mounting block is driven to the upper arm functional module; the side of the upper arm mounting block away from the shoulder connector is connected to the lower shoulder shell, and the side of the shoulder swing module away from the shoulder connector is connected to the upper shoulder shell.

10. A humanoid robot, characterized in that, Includes the humanoid robotic arm as described in any one of claims 1-9.

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