Humanoid robotic dual arms with seven degrees of freedom

Abstract

Disclosed in the present application are humanoid robotic dual arms with seven degrees of freedom. The humanoid robotic dual arms comprise a chest structure (1), and shoulder joints (2), upper arms (3), forearms (4) and robotic hands (7) which are mounted on both sides of the chest structure (1) and are connected in sequence, wherein cable-driven mechanisms (5) are provided on the upper arms (3) and the forearms (4). The chest structure (1) comprises a chest frame and a joint actuator mounted on the chest frame, wherein the joint actuator drives the corresponding cable-driven mechanisms (5) by means of coordinated transmission of flexible shafts (6) and cables, thereby controlling the shoulder joints (2), the upper arms (3), the forearms (4) and the robotic hands (7) to perform corresponding anthropomorphic arm movements. In the present application, a rotational degree of freedom is additionally provided at each upper arm, further achieving omnidirectional flexible movement, such that more complex movements can be effectively completed; and the forearms use dual-bone rods, thereby increasing the load capacity of the humanoid robotic dual arms and significantly improving the biomimetic performance of the humanoid robotic dual arms. Moreover, the provision of corresponding actuators for flexible shaft drive and cable drive, together with coordinated operation thereof, achieves a modular layout of a driving system, thereby solving the problems of complexity and coupling of the cable-driven mechanisms.

Description

A seven-degree-of-freedom humanoid robotic arm Technical Field

[0001] This invention belongs to the field of robotics technology and relates to a seven-degree-of-freedom humanoid mechanical dual arm. Background Technology

[0002] Humanoid robotic arms are inspired by human physiology and movement, giving them high flexibility and adaptability. They can mimic the structure and movement of human arms to perform various complex actions. Furthermore, their interactivity and intelligence make them suitable for a variety of scenarios, such as home services and medical rehabilitation, in everyday life.

[0003] However, existing humanoid robotic arms have some obvious drawbacks. For example, their forearm rotation movements are all equivalent to rotational movements, deviating from the rotational movements of human forearms, and their structural anthropomorphism still differs significantly. Their shoulder joints are mostly linkage or hinge structures, deviating from the ball-and-socket structure of humans. Although they are designed and functionally designed to mimic human arms as much as possible, in actual use, the load-bearing capacity of linkage or hinge structures is very limited, generally only able to handle lightweight goods within their tolerance range. For rope-driven humanoid robotic arms, the shoulder, elbow, and wrist joints are integral structures, with relatively complex layouts and cumbersome rope arrangements, which can easily lead to rope coupling. Furthermore, placing joint motors and reducers on the moving robotic arm results in limited response speed and low work efficiency. Summary of the Invention

[0004] To address the aforementioned technical problems in the existing technology, this invention proposes a seven-degree-of-freedom humanoid robotic arm, the specific technical solution of which is as follows:

[0005] A seven-degree-of-freedom humanoid robotic arm includes a chest structure and shoulder joints, upper arms, forearms, and a robotic hand, which are installed on both sides of the chest structure and connected sequentially front to back. Rope-driven mechanisms are provided on the upper arms and forearms. The chest structure includes a chest frame and joint actuators installed on the chest frame. The joint actuators drive the corresponding rope-driven mechanisms through the cooperation of flexible shafts and ropes, thereby controlling the shoulder joints, upper arms, forearms, and robotic hands to perform corresponding anthropomorphic arm movements.

[0006] Furthermore, the chest frame includes: a support connector and a chest bracket fixedly mounted on the support connector, the joint actuator is mounted on the chest bracket, the chest bracket has chest interfaces on the left and right sides, and the shoulder joint is mounted at the chest interface;

[0007] The joint actuators include: a double-arm abduction and adduction actuator group and a double-arm flexion and extension actuator group for driving the rope, with a steering pulley group correspondingly arranged on the side of the double-arm abduction and adduction actuator group and the double-arm flexion and extension actuator group for driving the rope; and a double-arm internal and external rotation actuator group, a double-arm elbow joint flexion and extension actuator group, a double-arm wrist joint extension and flexion actuator group, a double-arm wrist joint radial and ulnar flexion actuator group, and a double-arm wrist joint left and right rotation actuator group for driving the flexible shaft.

[0008] Furthermore, the upper arm includes: an upper arm skeleton, and upper arm ball joints and elbow joints respectively connected to the front and rear ends of the upper arm skeleton.

[0009] The shoulder joint includes: a shoulder ball joint body, the front end of which is provided with a shoulder joint interface, which is connected to the chest interface by a pin; the rear end of the shoulder ball joint body is provided with a connecting bowl, which is connected to the upper arm ball joint; and several flexible shaft fixators are provided on the outer wall of the main body of the upper arm bone.

[0010] The outer walls of the shoulder ball joint and the upper arm ball joint are respectively surrounded by a fixed pulley group and a movable pulley group. The fixed pulley group is equipped with a cable locking device. The fixed pulley group and the movable pulley group are arranged in a corresponding position and connected to each other by a drive rope group. The rope of the drive rope group is connected to the double arm abduction and adduction drive group and the double arm flexion and extension drive group respectively through the steering pulley group. The connecting cup of the shoulder ball joint and the upper arm ball joint are movably connected by the tension of the drive rope group.

[0011] An elbow joint cable drive mechanism is provided at the elbow joint upper arm hinge joint.

[0012] Furthermore, the structure of the upper arm skeleton includes: a first upper arm segment and a second upper arm segment, which are connected by bearings; an inner and outer rotation rope drive mechanism is provided on the first upper arm segment, and the drive rope of the inner and outer rotation rope drive mechanism is wound around the second upper arm segment. The inner and outer rotation rope drive mechanism is driven to rotate by a double inner and outer rotation driver group, thereby causing the second upper arm segment to rotate around the first upper arm segment.

[0013] Furthermore, the connecting bowl is a cylindrical structure with ball holes at both ends. The distance between the corresponding fixed pulley group and movable pulley group is adjusted by the double arm abduction and adduction drive group and the double arm flexion and extension drive group in conjunction with the drive rope, so that the connecting bowl can slide in coordination with the shoulder ball joint and the upper arm ball joint.

[0014] Furthermore, the bottom of the flexible shaft retainer is fixed to the upper arm bone by two interlocking semi-circular rings, and the upper part has an arc-shaped groove. The groove is elastic and its diameter is slightly smaller than the outer diameter of the flexible shaft. The flexible shaft is held in place by the material deformation of the flexible shaft retainer.

[0015] Furthermore, the forearm includes: an elbow joint interface, an elbow joint drive ring, a forearm ball joint, a radius, and an ulna;

[0016] The elbow joint drive ring is a circular structure located in the middle of the concave surface of the elbow joint interface. The elbow joint drive ring is hinged to the elbow joint upper arm hinge joint through the circular structure. The outer side of the elbow joint interface is connected to the front end of the radius through the forearm ball joint. The rear end of the radius has two ball heads spaced apart. The front end of the ulna is fixedly set to the elbow joint interface, and the rear end has a ball head. The rear end side of the ulna has a rotating winch. The left and right rotation drive group of the double wrist joint is controlled and connected to the rotating winch through a flexible shaft.

[0017] Furthermore, the elbow joint drive ring has a rope groove in the middle of its outer ring structure, and a rope is arranged in the rope groove. The elbow joint rope drive mechanism includes an elbow joint winch and a guide roller. The elbow joint winch is connected to the output end of the flexible shaft. The elbow joint winch rotates under the drive of the double-arm elbow joint flexion and extension drive group, thereby causing the elbow joint drive ring to rotate through the transmission of the rope via the guide roller and the rope groove, which in turn drives the forearm to rotate around the upper arm.

[0018] Furthermore, the forearm also includes: a metacarpophalangeal joint, a metacarpophalangeal joint, a metacarpophalangeal joint, a wrist joint radial flexion-ulnar flexion winch, and a wrist joint extension-flexion winch;

[0019] The first metacarpal joint has three ball sockets at the front end and two ball heads at the rear end. The ball head joints of the ulna and the two ball head joints of the radius are hinged to the three ball sockets of the first metacarpal joint. The wrist extension and flexion winch is set on the first metacarpal joint. The wrist extension and flexion actuator group of the two arms is connected to the wrist extension and flexion winch through a flexible shaft.

[0020] The front end of the second metacarpal joint is provided with a double ball socket and a second joint drive ring, and the rear end is provided with a hinge structure. The front end of the second metacarpal joint is connected to the rear end of the first metacarpal joint through a ball head and ball socket. After the rope on the wrist joint extension and flexion winch is turned by the pulley, it is wound around the second joint drive ring and fixed by the lock wire device. The wrist joint radial and ulnar flexion winch is set on the second metacarpal joint. The double-arm wrist joint radial and ulnar flexion actuator group is connected to the wrist joint radial and ulnar flexion winch through a flexible shaft.

[0021] The front end of the third metacarpal joint is hinged to the second metacarpal joint and is equipped with a third joint drive ring, while the rear end is fixed to the robotic arm; the rope on the radial and ulnar flexion winch of the wrist joint is fixed to the third metacarpal joint by a locking device after the third joint drive loop.

[0022] Furthermore, guide wheel sets are also provided in the second and third palm joints to guide the rope so that the rope can be wound and engaged with the second and third joint drive rings.

[0023] This invention relates to a seven-DOF humanoid robotic arm. The upper arm, near the shoulder, features a spherical, opposing structure with an internal / external rotation rope drive mechanism, allowing for flexible, omnidirectional sliding. A ball-and-socket structure at the wrist of the forearm further enhances the flexibility of the connected hand, improving the simulation of human arm movements and enabling complex actions. Furthermore, the forearm employs a dual-skeleton rod system combined with flexible shaft drive, increasing the arm's load-bearing capacity. Ropes are used at each joint, simplifying the overall rope layout and preventing coupling disorder. The invention also incorporates corresponding actuators for both flexible shaft and rope drive, and their coordinated operation significantly improves work, maintenance, and operational efficiency. Attached Figure Description

[0024] Figure 1 is a schematic diagram of the humanoid mechanical double-arm structure of this embodiment;

[0025] Figure 2 is a front view of the chest structure in this embodiment;

[0026] Figure 3 is a left rear view of the chest structure in this embodiment;

[0027] Figure 4 is a right rear view of the chest structure in this embodiment;

[0028] Figure 5 is a diagram of the shoulder joint connection structure in this embodiment;

[0029] Figure 6 is a perspective view of the boom structure in this embodiment;

[0030] Figure 7 is a cross-sectional view of the boom structure in this embodiment;

[0031] Figure 8 is a schematic diagram of the overall connection structure of the forearm in this embodiment;

[0032] [Revised according to Rule 26, July 16, 2025] Figure 9 is a schematic diagram of the main component split structure of the forearm in this embodiment;

[0033] Figure 10 is a structural schematic diagram of the ulna and the elbow joint interface fixedly connected thereto in this embodiment;

[0034] Figure 11 is a partial schematic diagram of the elbow joint where the upper arm and forearm are hinged in this embodiment;

[0035] Figure 12 is a schematic diagram of the split structure of the palm joint in this embodiment;

[0036] Figure 13 is a schematic diagram of the split structure of the metacarpophalangeal joint in this embodiment;

[0037] In the diagram, 1 is the chest structure, 2 is the shoulder joint, 3 is the upper arm, 4 is the forearm, 5 is the cable-driven mechanism, and 6 is the flexible shaft.

[0038] 1.1 is the support connector; 1.2 is the right arm abduction and adduction actuator; 1.3 is the steering pulley assembly; 1.4 is the right arm internal and external rotation actuator; 1.5 is the right arm flexion and extension actuator; 1.6 is the chest support; 1.7 is the left arm internal and external rotation actuator; 1.8 is the left arm abduction and adduction actuator; 1.9 is the left arm flexion and extension actuator; 1.10 is the left arm elbow flexion and extension actuator; 1.11 is the left arm wrist extension and flexion actuator; 1.12 is the left arm wrist radial and ulnar flexion actuator; 1.13 is the left arm wrist left and right rotation actuator; 1.14 is the right arm elbow flexion and extension actuator; 1.15 is the right arm wrist extension and flexion actuator; 1.16 is the chest interface; 1.17 is the right arm wrist radial and ulnar flexion actuator; 1.18 is the right arm wrist left and right rotation actuator.

[0039] 2.1 is the movable pulley block, 2.2 is the drive rope block, 2.3 is the fixed pulley block, 2.4 is the connecting cup, 2.5 is the shoulder joint interface, and 2.6 is the cable locking device;

[0040] 3.1 is the elbow joint upper arm hinge joint; 3.2 is the elbow joint cable drive mechanism; 3.3 is the upper arm two-section; 3.4 is the upper arm internal and external rotation cable drive mechanism; 3.5 is the flexible shaft fixator; 3.6 is the upper arm one-section; 3.7 is the upper arm ball joint; 3.8 is the end cap; 3.9 is the bolt; 3.10 is the bearing.

[0041] 4.1 is the third metacarpophalangeal joint, 4.2 is the second metacarpophalangeal joint, 4.3 is the first metacarpophalangeal joint, 4.4 is the wrist joint radial and ulnar flexion winch, 4.5 is the wrist joint extension and flexion winch, 4.6 is the flipping winch, 4.7 is the radius, 4.8 is the ulna, 4.9 is the forearm ball-and-socket joint, 4.10 is the elbow joint interface, and 4.11 is the elbow joint drive ring. Detailed Implementation

[0042] To make the objectives, technical solutions, and technical effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0043] As shown in Figure 1, an embodiment of the present invention provides a seven-degree-of-freedom humanoid robotic arm, comprising: a chest structure 1, and shoulder joints 2, upper arms 3, forearms 4, and a robotic hand 7, which are installed on both sides of the chest structure 1 and connected sequentially front to back. The forearms 4 are hinged to the upper arms 3, and rope-driven mechanisms 5 are provided on the upper arms 3 and forearms 4. The chest structure 1 includes: a chest frame and joint actuators installed on the chest frame. The joint actuators drive the corresponding rope-driven mechanisms 5 through the interaction of the flexible shafts 6 and ropes, thereby controlling the shoulder joints 2, upper arms 3, forearms 4, and robotic hand 7 to perform corresponding anthropomorphic arm movements.

[0044] As shown in Figures 2 to 4, the chest frame includes a support connector 1.1 and a chest bracket 1.6 fixedly mounted on the support connector 1.1. The support connector 1.1 is used for installation and connection with other robot components. The joint actuator is mounted on the chest bracket 1.6. The chest bracket 1.6 has chest interfaces 1.16 on its left and right sides, and the shoulder joint 2 is mounted at the chest interface 1.16.

[0045] The joint actuator specifically includes: a double-arm abduction and adduction actuator group and a double-arm flexion and extension actuator group for driving the connecting rope. The double-arm abduction and adduction actuator group includes: a right arm abduction and adduction actuator 1.2 and a left arm abduction and adduction actuator 1.8; the double-arm flexion and extension actuator group includes: a right arm flexion and extension actuator 1.5 and a left arm flexion and extension actuator 1.9; and a steering pulley group 1.3 is correspondingly arranged on the side of the double-arm abduction and adduction actuator group and the double-arm flexion and extension actuator group that drive the rope.

[0046] There are also dual-arm internal and external rotation actuator groups, dual-arm elbow flexion and extension actuator groups, dual-arm wrist extension and flexion actuator groups, dual-arm wrist radial and ulnar flexion actuator groups, and dual-arm wrist left and right rotation actuator groups for driving the connecting flexible shaft 6; the dual-arm internal and external rotation actuator groups include: right arm internal and external rotation actuator 1.4 and left arm internal and external rotation actuator 1.7; the dual-arm elbow flexion and extension actuator groups include: left arm elbow flexion and extension actuator 1.10 and right arm elbow flexion and extension actuator 1.14; the dual-arm wrist extension and flexion actuator groups include: left arm wrist extension and flexion actuator 1.11 and right arm wrist extension and flexion actuator 1.15; the dual-arm wrist radial and ulnar flexion actuator groups include: left arm wrist radial and ulnar flexion actuator 1.12 and right arm wrist radial and ulnar flexion actuator 1.17; the dual-arm wrist left and right rotation actuator groups include: left arm wrist left and right rotation actuator 1.13 and right arm wrist left and right rotation actuator 1.18.

[0047] The aforementioned drivers all include: a servo motor, a harmonic reducer, and a rope-driven or flexible shaft turntable. The fixed part of the harmonic reducer is screwed to the servo motor mounting hole. The rotating part of the harmonic reducer is keyed to the servo motor output shaft. The power output part of the harmonic reducer is screwed to the rope-driven or flexible shaft turntable. The rope-driven turntable has a rope threading hole through which the rope passes and winds around the turntable. The flexible shaft turntable has a hexagonal hole, the size of which matches the output end of the flexible shaft.

[0048] One end of the flexible shaft 6 is connected to the driver, and the other end is connected to the cable drive mechanism 5 of each joint. When the driver rotates, it transmits torque to the flexible shaft 6, which in turn transmits torque to the cable drive mechanism 5 of the corresponding joint. The cable drive mechanism 6 then drives the movement of each joint.

[0049] As shown in Figures 5 to 7, the upper arm 3 includes: an upper arm skeleton, and upper arm ball joints 3.7 and elbow joint upper arm hinge joints 3.1 respectively connected to the front and rear ends of the upper arm skeleton. The main body of the upper arm skeleton is provided with several flexible shaft fixers 3.5 for fixing the flexible shafts 6 that pass through it. The elbow joint upper arm hinge joint 3.1 is provided with an elbow joint cable drive mechanism 3.2.

[0050] The upper arm skeleton structure includes: upper arm segment 3.6 and upper arm segment 3.3, which are connected by a bearing 3.10. To prevent the upper arm segment 3.6 and upper arm segment 3.3 from detaching, an end cap 3.8 is provided inside the upper arm segment 3.6 and is fastened to the upper arm segment 3.3 by a bolt 3.9. An inner and outer rotation rope drive mechanism 3.4 is provided on the upper arm segment 3.6. The drive rope of the upper arm inner and outer rotation rope drive mechanism 3.4 is wound around the upper arm segment 3.3. The upper arm inner and outer rotation rope drive mechanism 3.4 is driven to rotate by a double-arm inner and outer rotation driver assembly, thereby causing the upper arm segment 3.3 to rotate around the upper arm segment 3.6.

[0051] The shoulder joint 2 includes: a shoulder ball joint body, the front end of which is provided with a shoulder joint interface 2.5, which is connected to the chest interface 1.16 by a mounting pin; the rear end of the shoulder ball joint body is provided with a connecting bowl 2.4, which is connected to the upper arm ball joint 3.7.

[0052] Fixed pulley assembly 2.3 and movable pulley assembly 2.1 are respectively arranged around the outer side walls of the shoulder ball joint body and the upper arm ball joint 3.7. The fixed pulley assembly 2.3 and the movable pulley assembly 2.1 are arranged in a corresponding position and connected to each other by a drive rope assembly 2.2. The ropes of the drive rope assembly 2.2 are connected to the double arm abduction and adduction drive assembly and the double arm flexion and extension drive assembly respectively through the steering pulley assembly 1.3. The connecting bowl 2.4 of the shoulder ball joint body is movably connected to the upper arm ball joint 3.7 by the tension of the drive rope assembly 2.2.

[0053] Specifically, the connecting bowl 2.4 is a cylindrical structure with ball holes at both ends, which can cooperate with the shoulder ball joint and the upper arm ball joint 3.7. A set of fixed pulleys 2.3 and movable pulleys 2.1 constitute a rope drive mechanism, with a total of 4 rope drive mechanisms. The two pulley sets at corresponding positions constitute the shoulder flexion-extension and adduction-abduction movements. When the double arm abduction-adduction drive group and the double arm flexion-extension drive group cooperate to drive the fixed pulleys 2.3 and movable pulleys 2.1, the shoulder ball joint, connecting bowl 2.4, and upper arm ball joint 3.7 will slide relative to each other. A locking device 2.6 is provided on the fixed pulleys 2.3. The locking device 2.6 fixes one end of the rope, and the other end of the rope passes around the movable pulleys 2.1 and then around the fixed pulleys 2.3 again. After winding around the rope drive turntable, it passes through the pulleys on the corresponding wall surface, and finally the other end of the rope is fixed on the locking device 2.6. The flexible shaft retainer 3.5 is fixed to the upper arm bone by two interlocking semi-circular rings at its bottom. The upper part has an arc-shaped groove, the diameter of which is slightly smaller than the outer diameter of the flexible shaft. The flexible shaft is held in place by the material deformation of the retainer 3.5. The elbow joint cable drive mechanism 3.2 consists of an elbow joint winch and guide rollers. The elbow joint winch cooperates with the output of the double-arm elbow joint flexion and extension actuator group, and can rotate under the drive of the flexible shaft 6 controlled by it.

[0054] The middle section of the rope is wound around the rope drive turntable in the double-arm flexion and extension actuator assembly. Two extending ropes are connected to the corresponding movable pulley group 2.1 and fixed pulley group 2.3, respectively. The ropes first pass over the pulley of the fixed pulley group 2.3, then over the pulley of the movable pulley group 2.1, and return to the fixed pulley group 2.3, where they are secured to the fixed pulley group 2.1 by the cable locking device 2.6. When the double-arm flexion and extension actuator assembly rotates clockwise or counterclockwise, it causes the ropes to lengthen or shorten, thereby increasing or decreasing the distance between the corresponding movable pulley group 2.1 and fixed pulley group 2.3, thus driving the flexion and extension movement of the robotic arm. Similarly, the double-arm abduction and adduction actuator assembly can achieve the abduction and adduction movements of the humanoid robotic arm through a similar process, which will not be elaborated upon here.

[0055] As shown in Figures 8 to 10, the forearm 4 includes: an elbow joint interface 4.10, an elbow joint drive ring 4.11, a forearm ball-and-socket joint 4.9, a radius 4.7, an ulna 4.8, a metacarpophalangeal joint 4.3, a metacarpophalangeal joint 4.2, a metacarpophalangeal joint 4.1, a wrist joint radial and ulnar flexion winch 4.4, and a wrist joint extension and flexion winch 4.5. One end of the ulna 4.8 is fixedly connected to the elbow joint interface 4.10, and the other end has a ball-head structure with a flip winch 4.6 on its side. The flip winch 4.6 is driven by a double-arm wrist joint left and right rotation actuator group via a flexible shaft 6.

[0056] The elbow joint drive ring 4.11 is a circular ring structure located in the middle of the concave surface of the elbow joint interface 4.10. The outer ring of the circular ring structure has a rope groove for the rope. The outer side of the elbow joint interface 4.10 has a ball socket with a joint depth greater than its radius, thereby limiting the ball head that is connected to it to always be in the ball socket. The elbow joint interface 4.10 is divided into two parts by the center plane of the ball socket, and the two parts are fastened together by bolts.

[0057] One end of the radius 4.7 is provided with a single ball head, which fits into the ball socket of the elbow joint interface 4.10 to form the forearm ball joint 4.9. The other end of the radius 4.7 has two ball heads spaced apart. The two ends of the rope extending from the upper arm 3 through the elbow joint winch and guide roller are respectively fixed to two locking devices in two directions around the rope groove, as shown in Figure 11.

[0058] As shown in Figure 12, the anterior end of the metacarpophalangeal joint 4.3 has three ball-and-socket joints, which are divided into three parts by the central plane of the three ball-and-socket joints and fastened together by bolts. The depth of the three ball-and-socket joints is greater than their radius, thereby limiting the ball heads of the ulna 4.8 and radius 4.7 to always be within the ball-and-socket joints. The posterior end of the metacarpophalangeal joint 4.3 has two ball heads. The ball head of the ulna 4.8 and the two ball heads of the radius 4.7 are hinged to the three ball-and-socket joints of the metacarpophalangeal joint 4.3.

[0059] As shown in Figure 13, the front end of the second metacarpophalangeal joint 4.2 is provided with a double ball socket and a second joint drive ring, and the rear end is provided with a hinge structure. The second metacarpophalangeal joint 4.2 is divided into two parts by its central plane and fastened together with bolts. The depth of the ball socket is greater than its radius, thereby limiting the ball head of the first metacarpophalangeal joint 4.3 to always be within the ball socket. The second metacarpophalangeal joint 4.2 and the first metacarpophalangeal joint 4.3 are connected by the two ball heads. The first metacarpophalangeal joint 4.3 is provided with a wrist joint extension and flexion winch 4.5. After the rope on the wrist joint extension and flexion winch 4.5 is turned by the pulley, it is wound around the second joint drive ring and fixed by the cable lock.

[0060] The front end of the third metacarpal joint 4.1 is hinged to the second metacarpal joint 4.2 and is equipped with a third joint drive ring, while the rear end is fixed to the robotic arm 7. A wrist joint radial and ulnar flexion winch 4.4 is installed on the second metacarpal joint 4.2, and the rope on the wrist joint radial and ulnar flexion winch 4.4 is fixed to the third metacarpal joint 4.1 by a locking device after the third joint drive loop.

[0061] The middle section of the rope is wound around the elbow joint cable drive mechanism 3.2. The two extended ropes symmetrically pass around the two ends of the elbow joint drive ring 4.11 and are then fixed by a cable lock. When the elbow joint cable drive mechanism 3.2 rotates under the drive of the flexible shaft 6, it causes the rope to extend or shorten, thereby causing the forearm 4 to rotate around the upper arm 3. The forearm 4 reversal movement, wrist joint extension and flexion, and wrist joint radial and ulnar flexion movements are similar.

[0062] In summary, the arm of this invention features a spherical structure near the shoulder of the upper arm 3, and incorporates a rotatable internal and external rotation rope drive mechanism to further enable flexible, all-around movement. A ball-and-socket structure at the wrist of the forearm 4 further enhances the flexibility of the connected hand, improving the simulation of human arm movement and enabling the completion of complex actions. Furthermore, the forearm 4 employs a dual-skeleton rod system combined with flexible shaft drive, increasing the arm's load-bearing capacity. The use of ropes at each joint simplifies the overall rope layout and prevents coupling disorder. Additionally, this invention provides corresponding actuators for both flexible shaft and rope drive, and their coordinated operation effectively improves rope replacement, rope drive mechanism maintenance, and drive system efficiency.

[0063] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention in any way. Although the implementation process of the present invention has been described in detail above, those skilled in the art can still modify the technical solutions described in the foregoing examples or make equivalent substitutions for some of the technical features. All modifications and equivalent substitutions made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A seven-degree-of-freedom humanoid robotic dual arm, characterized by, include: The chest structure (1) includes a chest frame and a joint actuator mounted on the chest frame. The joint actuator drives the corresponding rope drive mechanism by means of the cooperation between the flexible shaft (6) and the rope, thereby controlling the shoulder joint (2), upper arm (3), forearm (4) and robot (7) to perform corresponding anthropomorphic arm movements.

2. The humanoid robotic dual arm of claim 1, wherein, The chest frame includes: a support connector (1.1) and a chest bracket (1.6) fixedly installed on the support connector (1.1). The joint actuator is installed on the chest bracket (1.6). The chest bracket (1.6) has chest interfaces (1.16) on the left and right sides. The shoulder joint (2) is installed at the chest interface (1.16). The joint actuators include: a double-arm abduction and adduction actuator group and a double-arm flexion and extension actuator group for driving the connecting rope, with a steering pulley group (1.3) correspondingly arranged on the sides of the double-arm abduction and adduction actuator group and the double-arm flexion and extension actuator group; and a double-arm internal rotation and external rotation actuator group, a double-arm elbow joint flexion and extension actuator group, a double-arm wrist joint extension and flexion actuator group, a double-arm wrist joint radial flexion and ulnar flexion actuator group, and a double-arm wrist joint left and right rotation actuator group for driving the connecting flexible shaft (6).

3. The humanoid robotic dual arm of claim 2, wherein, The upper arm (3) includes: an upper arm skeleton, and upper arm ball joints (3.7) and elbow joint upper arm hinge joints (3.1) respectively connected to the front and rear ends of the upper arm skeleton. The shoulder joint (2) includes: a shoulder ball joint body, the front end of which is provided with a shoulder joint interface (2.5), and the shoulder joint interface (2.5) is connected to the chest interface (1.16) by a mounting pin; the rear end of the shoulder ball joint body is provided with a connecting bowl (2.4) and is connected to the upper arm ball joint (3.7) through the connecting bowl (2.4); and several flexible shaft fixators (3.5) are provided on the outer wall of the main body of the upper arm bone. The outer walls of the shoulder ball joint and the upper arm ball joint (3.7) are respectively surrounded by a fixed pulley group (2.3) and a movable pulley group (2.1). The fixed pulley group (2.3) is equipped with a cable lock (2.6). The fixed pulley group (2.3) and the movable pulley group (2.1) are arranged in front and behind each other and connected by a drive rope group (2.2). The rope of the drive rope group (2.2) is connected to the double arm abduction and adduction drive group and the double arm flexion and extension drive group respectively through the steering pulley group (1.3). The connecting bowl (2.4) and the upper arm ball joint (3.7) are movably connected by the tension of the drive rope group (2.2); The elbow joint upper arm hinge joint (3.1) is provided with an elbow joint cable drive mechanism (3.2).

4. The humanoid robotic dual arm of claim 3, wherein, The structure of the upper arm skeleton includes: upper arm segment 1 (3.6) and upper arm segment 2 (3.3), which are connected by bearing (3.10); an upper arm internal rotation and external rotation rope drive mechanism (3.4) is provided on upper arm segment 1 (3.6), and the drive rope of the upper arm internal rotation and external rotation rope drive mechanism (3.4) is wound around upper arm segment 2 (3.3). The upper arm internal rotation and external rotation rope drive mechanism (3.4) is driven to rotate by a double arm internal rotation and external rotation driver group, thereby driving upper arm segment 2 (3.3) to rotate around upper arm segment 1 (3.6).

5. The humanoid robotic dual arm of claim 3, wherein, The connecting bowl (2.4) is a cylindrical structure with ball holes at both ends. The distance between the corresponding fixed pulley group (2.3) and movable pulley group (2.1) is adjusted by the double arm abduction and adduction drive group and the double arm flexion and extension drive group in conjunction with the drive rope, so that the connecting bowl (2.4) can slide in coordination with the shoulder ball joint and the upper arm ball joint (3.7).

6. The humanoid robotic dual arm of claim 3, wherein, The bottom of the flexible shaft retainer (3.5) is fixed to the upper arm bone by two semi-circular rings interlocking with each other. The upper part has an arc-shaped groove. The groove is elastic and its diameter is slightly smaller than the outer diameter of the flexible shaft. The flexible shaft is stuck by the material deformation of the flexible shaft retainer (3.5).

7. The humanoid robotic dual arm of claim 3, wherein, The forearm (4) includes: an elbow joint interface (4.10), an elbow joint drive ring (4.11), a forearm ball joint (4.9), a radius (4.7), and an ulna (4.8). The elbow joint drive ring (4.11) is a circular ring structure located in the middle of the concave surface of the elbow joint interface (4.10). The elbow joint drive ring (4.11) is hinged to the elbow joint upper arm hinge joint (3.1) through the circular ring structure. The outer side of the elbow joint interface (4.10) is connected to the front end of the radius (4.7) through the forearm ball joint (4.9). The rear end of the radius (4.7) is provided with two ball heads spaced apart. The front end of the ulna (4.8) is fixedly set to the elbow joint interface (4.10), and the rear end is provided with a ball head. The rear end side of the ulna (4.8) is provided with a flip winch (4.6). The left and right rotation drive group of the double arm wrist joint is controlled and connected to the flip winch (4.6) through a flexible shaft (6).

8. The humanoid robotic twin arms according to claim 7, wherein, The elbow joint drive ring (4.11) has a rope groove in the middle of the outer ring structure, and a rope is arranged in the rope groove. The elbow joint rope drive mechanism (3.2) includes an elbow joint winch and a guide roller. The elbow joint winch is connected to the output end of the flexible shaft (6). The elbow joint winch rotates under the drive of the double-arm elbow joint flexion and extension drive group, so that the elbow joint drive ring (4.11) rotates through the transmission of the rope via the guide roller and the rope groove, thereby driving the forearm (4) to rotate around the upper arm (3).

9. The humanoid robotic twin arms of claim 7, wherein, The forearm (4) also includes: a metacarpophalangeal joint (4.3), a metacarpophalangeal joint (4.2), a metacarpophalangeal joint (4.1), a wrist joint radial-ulnar flexion winch (4.4), and a wrist joint extension-flexion winch (4.5). The first metacarpophalangeal joint (4.3) has three ball sockets at its front end and two ball heads at its rear end. The ball head joints of the ulna (4.8) and the two ball head joints of the radius (4.7) are hinged to the three ball sockets of the first metacarpophalangeal joint (4.3). The wrist extension and flexion winch (4.5) is set on the first metacarpophalangeal joint (4.3). The wrist extension and flexion actuator group of both arms is controlled and connected to the wrist extension and flexion winch (4.5) through a flexible shaft (6). The front end of the metacarpophalangeal joint (4.2) is provided with a double ball socket and a joint second drive ring, and the rear end is provided with a hinge structure. The front end of the metacarpophalangeal joint (4.2) and the rear end of the metacarpophalangeal joint (4.3) are connected by a ball head and a ball socket. After the rope on the wrist joint extension and flexion winch (4.5) is turned by the pulley, it is wound around the joint second drive ring and fixed by the wire lock. The wrist joint radial and ulnar flexion winch (4.4) is set on the metacarpophalangeal joint (4.2). The double arm wrist joint radial and ulnar flexion drive group is controlled and connected to the wrist joint radial and ulnar flexion winch (4.4) through a flexible shaft (6). The front end of the third metacarpal joint (4.1) is hinged to the second metacarpal joint (4.2) and is equipped with a joint three-drive ring, while the rear end is fixed to the manipulator (7); the rope on the radial and ulnar flexion winch (4.4) of the wrist joint is fixed to the third metacarpal joint (4.1) by a locking device after the joint three-drive loop.

10. The humanoid robotic dual arm of claim 9, wherein, The palm joint 2 (4.2) and palm joint 3 (4.1) are also equipped with guide wheel sets to guide the rope so that the rope can be wound and cooperate with the joint 2 drive ring and the joint 3 drive ring.

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