CN212146501U

CN212146501U - Novel intelligent arm of simulation robot

Info

Publication number: CN212146501U
Application number: CN202020098395.4U
Authority: CN
Inventors: 王绍芳; 王建国; 陈乔誉; 卢澜之
Original assignee: Shenzhen All Intelligent Technology Co ltd
Current assignee: Shenzhen All Intelligent Technology Co ltd
Priority date: 2020-01-17
Filing date: 2020-01-17
Publication date: 2020-12-15
Anticipated expiration: 2030-01-17

Abstract

The utility model discloses an intelligent arm of a novel simulation robot, belonging to the robot field, the intelligent arm of the novel simulation robot comprises a wrist joint mechanism, wherein the wrist joint mechanism is fixedly connected with an elbow joint mechanism, and the right side of the elbow joint mechanism is rotatably connected with a shoulder joint mechanism; elbow joint mechanism includes the arm, the first elbow joint lower cover of right side fixedly connected with at arm top, the right side fixedly connected with second elbow joint lower cover of arm bottom, the bottom and the second elbow joint lower cover fixed connection of first elbow joint lower cover. This scheme, through having adopted little extension spring and the balanced helping hand spring of extension spring, not only can improve the flexibility ratio of product emulation action, can also effectively reduce the steering wheel power of this department, make the product can miniaturize, and the health has increased a degree of freedom with the shoulder joint, when whole arm vertically lifts high or transversely expandes, can be under the effect of helping hand spring and shoulder joint structure, can be laborsaving.

Description

Novel intelligent arm of simulation robot

Technical Field

The utility model relates to a robot field, more specifically say, relate to a novel emulation robot's smart arm.

Background

The human robot (Android), also called bionic and transliterated Android, is a robot (robot) aiming at simulating human appearance and behavior, especially refers to a kind of human body similar to human body, until recently, the concept of human robot mainly stays in the field of scientific fantasy, and is commonly seen in movies, televisions, cartoons, novels and the like, and the development of robotics can design a functional simulated human robot (humanoid robot), and the degree of simulation of the bionic robot is very large, and some robots can be identified from appearance and have no thought and feeling of a real person.

However, the arm driving of the existing simulation robot is generally realized by simply using a steering engine, when the robot operates, the steering engine needs to work under the condition of bearing the whole gravity of the robot arm, the energy consumption is rapid, the robot is stiff when the robot operates, the steering engine is increased according to the power requirement, the size and the weight are inevitably increased, the power of the required steering engine is increased again, vicious circle is formed, and therefore the intelligent arm of the novel simulation robot is provided to solve the problems.

SUMMERY OF THE UTILITY MODEL

1. Technical problem to be solved

To the problem that exists among the prior art, the utility model aims to provide a novel emulation robot's intelligent arm possesses laborsaving, the lightweight of function, more nimble advantage, and the arm drive of having solved current emulation robot generally all utilizes the steering wheel to drive alone, and when the function, the steering wheel need bear the condition of the whole gravity of robotic arm and do the work, and the energy consumes rapidly, and seems stiff problem when the function.

2. Technical scheme

In order to solve the above problems, the utility model adopts the following technical proposal.

An intelligent arm of a novel simulation robot comprises a wrist joint mechanism, wherein an elbow joint mechanism is fixedly connected with the wrist joint mechanism, and a shoulder joint mechanism is rotatably connected to the right side of the elbow joint mechanism;

the elbow joint mechanism comprises an arm, a first elbow joint lower cover fixedly connected to the right side of the top of the arm, a second elbow joint lower cover fixedly connected to the right side of the bottom of the arm, a first elbow joint lower cover fixedly connected to the bottom of the first elbow joint lower cover, an arm connecting sleeve hinged to the right side of the first elbow joint lower cover and the second elbow joint lower cover, a small extension spring arranged at equal intervals is inserted into the inner side of the arm connecting cover, one end of the small extension spring, far away from the arm connecting cover, is fixedly connected to the second elbow joint lower cover and the second elbow joint upper cover respectively,

the shoulder joint mechanism comprises an arm joint, the right side of the arm joint is hinged with a shoulder joint, the right side of the shoulder joint is fixedly connected with a shoulder shaft, a second bearing and two third bearings which are fixedly connected with the shoulder shaft are sleeved on the shoulder shaft, the two third bearings are respectively positioned on the left side and the right side of the second bearing, a mounting disc is arranged on the right side of the third bearing on the right side, the left side of the mounting disc is fixedly connected with a shoulder shaft sleeve, the second bearing and the two third bearings are both positioned on the inner side of the shoulder shaft sleeve and are fixedly connected with the inner wall of the shoulder shaft sleeve, the top of the arm joint is fixedly connected with two extension springs, and the other ends of the two extension springs are both fixedly connected with the shoulder joint.

Preferably, the wrist joint mechanism comprises a machine palm, the right side of the machine palm is hinged with a wrist joint, and the right side of the wrist joint is fixedly connected with the arm.

Preferably, a first bearing is fixedly mounted on the right side of the first elbow joint upper cover, an arm connecting shaft is fixedly connected to the inner side of the first bearing, a fourth bearing fixedly connected with the arm connecting shaft is sleeved on the arm connecting shaft, the outer ring of the fourth bearing is fixedly connected with an arm joint, and the second elbow joint upper cover is rotatably connected with the arm joint through the first bearing and the fourth bearing.

Preferably, the inside fixed mounting of wrist joint has first steering wheel, the positive right side fixed mounting of machine palm has first initiative steering wheel, the right side fixed mounting at the machine palm back has first driven steering wheel, the output shaft and the first initiative steering wheel fixed connection of first steering wheel, first driven steering wheel all is articulated with wrist joint with first initiative steering wheel.

Preferably, the equal fixedly connected with steering wheel backup pad in the inboard of first elbow joint lower cover and first elbow joint upper cover, two the equal fixed mounting in one side that the steering wheel backup pad is relative has the second steering wheel, the equal fixed mounting in one side that first elbow joint lower cover and first elbow joint upper cover are relative has second initiative steering wheel and the driven steering wheel of second, two the output shaft of second steering wheel respectively with two second initiative steering wheel fixed connection, two the second initiative steering wheel all articulates with the arm adapter sleeve with two driven steering wheel of second.

Preferably, an output shaft of the direct current speed reduction motor is fixedly installed inside the arm joint and is fixedly connected with the arm connecting shaft, a travel switch is fixedly installed on the back of the arm joint, and the travel switch is electrically connected with the direct current speed reduction motor.

Preferably, a third steering engine is fixedly mounted inside the arm joint, a third driving steering wheel and a third driven steering wheel are hinged to the front surface and the back surface of the arm joint, an output shaft of the third steering engine is fixedly connected with the third driving steering wheel, the third driving steering wheel and the third driven steering wheel are fixedly connected with the shoulder joint, and a fourth steering engine is fixedly mounted on the right side of the mounting plate.

3. Advantageous effects

Compared with the prior art, the utility model has the advantages of:

(1) in the scheme, the small tension spring and the extension spring are balance springs, and the rudder power is not needed to maintain the posture or only a small force is needed to maintain the posture at a specific position, so that labor can be saved; in addition, when the arm levelness is unfolded, the fourth steering engine can rotate by the joint of the shoulder joint and the body, and then the third steering engine is unfolded outwards, the extension spring at the shoulder joint and the small extension spring at the elbow are in a natural contraction state, and the third steering engine at the shoulder joint and the second steering engine at the elbow can be unfolded horizontally and completely by only needing the extremely small force of the third steering engine and the second steering engine at the elbow, so that the arm levelness is more labor-saving than that of the arm levelness which is directly lifted, pulled and unfolded.

(2) According to the scheme, the small tension springs and the extension springs are adopted at the shoulder joints, the arm joints and the small arms respectively to balance the power-assisted springs, so that the flexibility of simulation action of a product can be improved, the power of the steering engine at the position can be effectively reduced, the product can be miniaturized, the body and the shoulder joints are increased by one degree of freedom, and when the whole arm is longitudinally lifted or transversely unfolded, the force can be saved under the action of the power-assisted springs and the action of shoulder joint structural members.

Drawings

Fig. 1 is a schematic bottom sectional view of the present invention;

FIG. 2 is a front sectional view of the present invention;

FIG. 3 is a schematic front sectional view of the part A of FIG. 1 according to the present invention;

fig. 4 is a schematic front sectional view of the portion B in fig. 1 according to the present invention.

The reference numbers in the figures illustrate:

1. a machine palm; 2. a first steering engine; 3. a wrist joint; 4. an arm; 5. a second elbow joint lower cover; 6. a first lower elbow joint cover; 7. a second steering engine; 8. the arm is connected with the cover; 9. an arm connecting sleeve; 10. a small tension spring; 11. a second elbow joint upper cover; 12. a first elbow joint upper cover; 13. a steering engine supporting plate; 14. a first bearing; 15. an arm connecting shaft; 16. a DC gear motor; 17. an arm joint; 18. an extension spring; 19. a third steering engine; 20. a shoulder joint; 21. a shoulder shaft sleeve; 22. a second bearing; 23. a shoulder shaft; 24 a third bearing; 25. a fourth steering engine; 26. a third active steering wheel; 27. a third driven rudder disc; 28. A travel switch; 29. a fourth bearing; 30. a second active steering wheel; 31. a second driven tiller disk; 32. a first active steering wheel; 33. a first driven tiller disk; 34. mounting a disc; 35. a wrist joint mechanism; 36. an elbow joint mechanism; 37. a shoulder joint mechanism.

Detailed Description

The technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiment of the present invention; obviously, the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention based on the embodiments of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "provided", "sleeved/connected", "connected", and the like are to be understood in a broad sense, such as "connected", which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1-4, an intelligent arm of a novel simulation robot includes a wrist joint mechanism 35, the wrist joint mechanism 35 is fixedly connected with an elbow joint mechanism 36, and a shoulder joint mechanism 37 is rotatably connected to the right side of the elbow joint mechanism 36;

the elbow joint mechanism 36 comprises an arm 4, a first elbow joint lower cover 6 is fixedly connected to the right side of the top of the arm 4, a second elbow joint lower cover 5 is fixedly connected to the right side of the bottom of the arm 4, the bottom of the first elbow joint lower cover 6 is fixedly connected with the second elbow joint lower cover 5, an arm connecting sleeve 9 is hinged to the right side between the first elbow joint lower cover 6 and the second elbow joint lower cover 5, an arm connecting cover 8 is fixedly connected to the bottom of the arm connecting sleeve 9, a first elbow joint upper cover 12 is hinged to the top of the right side of the arm connecting sleeve 9, a second elbow joint upper cover 11 is fixedly connected to the bottom of the first elbow joint upper cover 12, small tension springs 10 are arranged at equal intervals and penetrate through the inner side of the arm connecting cover 8, one ends of the small tension springs 10 far away from the arm connecting cover 8 are respectively fixedly connected with the second elbow joint lower cover 5 and the second elbow joint upper cover 11,

the shoulder joint mechanism 37 comprises an arm joint 17, a shoulder joint 20 is hinged on the right side of the arm joint 17, a shoulder shaft 23 is fixedly connected on the right side of the shoulder joint 20, a second bearing 22 and two third bearings 24 which are fixedly connected with the shoulder shaft 23 are sleeved on the shoulder shaft 23, the two third bearings 24 are respectively positioned on the left side and the right side of the second bearing 22, a mounting disc 34 is arranged on the right side of the third bearing 24 on the right side, a shoulder shaft sleeve 21 is fixedly connected on the left side of the mounting disc 34, the second bearing 22 and the two third bearings 24 are both positioned on the inner side of the shoulder shaft sleeve 21 and are fixedly connected with the inner wall of the shoulder shaft sleeve 21, two extension springs 18 are fixedly connected on the top of the arm joint 17, the other ends of the two extension springs 18 are both fixedly connected with the shoulder joint 20, power is provided for the rotation of the first driving steering wheel 32 through the first steering wheel 2, because the machine palm 1 and the wrist joint 3 are hinged with, and then drive the wrist joint position to rotate, similarly, because the elbow joint position is formed by the second elbow joint lower cover 5, the first elbow joint lower cover 6, the arm connecting cover 8, the arm connecting sleeve 9, the small tension spring 10, the second elbow joint upper cover 11, the first elbow joint upper cover 12 between the arm 4 and the arm joint 17, utilize the second steering engine 7 to drive, through adopting the small tension spring 10 at the arm joint 17 and forearm, not only can improve the flexibility of the simulation action of the product, but also can effectively reduce the steering engine power of the position, make the product can be miniaturized, the shoulder joint position drives the third driving steering wheel 26 and the third driven steering wheel 27 through the third steering engine 19, and then adjust the rotation angle of the shoulder joint position, utilize the extension spring 18, have increased a degree of freedom between the body and the shoulder joint 20, when the whole arm 4 is lifted vertically or unfolded horizontally, can be under the action of the booster spring and the shoulder joint 20 structural component, the small tension spring 10 and the extension spring 18 are balance springs, and the rudder power is not needed to maintain the posture or only a small force is needed to maintain the posture at a specific position, so that the labor can be saved; when the arm 4 is unfolded horizontally by 180 degrees, the fourth steering engine 25 butted with a body through the shoulder joint 20 rotates by 90 degrees, and then the third steering engine 19 is unfolded outwards, the extension spring 18 at the shoulder joint 20 and the small extension spring 10 at the elbow are in a natural contraction state, and the arm can be completely unfolded horizontally only by the third steering engine 19 at the shoulder joint 20 and the second steering engine 7 at the elbow with extremely small force, so that labor is saved compared with the direct lifting and unfolding.

Further, wrist joint mechanism 35 includes machine palm 1, and the right side of machine palm 1 articulates there is wrist joint 3, and the right side and the arm 4 fixed connection of wrist joint 3, because palm 1 is articulated with wrist joint 3, and then palm 1 and wrist joint 3 constitute robotic arm's wrist part, can move about to be connected with robotic arm part through arm 4.

Further, a first bearing 14 is fixedly arranged on the right side of the first elbow joint upper cover 12, an arm connecting shaft 15 is fixedly connected to the inner side of the first bearing 14, a fourth bearing 29 fixedly connected with the arm connecting shaft 15 is sleeved on the arm connecting shaft 15, the outer ring of the fourth bearing 29 is fixedly connected with an arm joint 17, the second elbow joint upper cover 11 is rotatably connected with the arm joint 17 through the first bearing 14 and the fourth bearing 29, an elbow joint part is formed between the arm 4 and the arm joint 17 through the second elbow joint lower cover 5, the first elbow joint lower cover 6, the arm connecting cover 8, the arm connecting sleeve 9, the small tension spring 10, the second elbow joint upper cover 11 and the first elbow joint upper cover 12, the second steering engine 7 is used for driving, the small tension spring 10 is adopted at the arm joint 17 and the small arm part, so that the flexibility of the simulated motion of the product can be improved, and the steering engine power at the position can be effectively reduced, the product can be miniaturized.

Further, the inside fixed mounting of wrist joint 3 has first steering wheel 2, the positive right side fixed mounting of machine palm 1 has first initiative steering wheel 32, the right side fixed mounting at the 1 back of machine palm has first driven steering wheel 33, the output shaft and the first initiative steering wheel 32 fixed connection of first steering wheel 2, first driven steering wheel 33 all articulates with wrist joint 3 with first initiative steering wheel 32, provide power for the rotation of first initiative steering wheel 32 through first steering wheel 2, because machine palm 1 and wrist joint 3 are articulated with first driven steering wheel 33 through first initiative steering wheel 32, and then drive wrist joint position department and rotate.

Furthermore, the inner sides of the first elbow joint lower cover 6 and the first elbow joint upper cover 12 are fixedly connected with steering engine supporting plates 13, one sides of the two steering engine supporting plates 13 opposite to each other are fixedly provided with second steering engines 7, one sides of the first elbow joint lower cover 6 and the first elbow joint upper cover 12 opposite to each other are fixedly provided with second driving steering wheels 30 and second driven steering wheels 31, output shafts of the two second steering engines 7 are respectively and fixedly connected with the two second driving steering wheels 30, the two second driving steering wheels 30 and the two second driven steering wheels 31 are both hinged with an arm connecting sleeve 9, an arm 4 and an arm joint 17 are connected through a second elbow joint lower cover 5, a first elbow joint lower cover 6, an arm connecting cover 8 and an arm connecting sleeve 9, the small tension spring 10, the second elbow joint upper cover 11 and the first elbow joint upper cover 12 form an elbow joint part, and the second steering engine 7 is convenient to drive to adjust the rotation angle of the elbow joint part.

Furthermore, an output shaft of the direct current speed reduction motor 16 fixedly installed inside the arm joint 17 is fixedly connected with the arm connecting shaft 15, a stroke switch 28 is fixedly installed on the back of the arm joint 17, the stroke switch 28 is electrically connected with the direct current speed reduction motor 16, and the arm joint 17 and the first elbow joint upper cover 12 are driven to rotate through the fixed connection of the direct current speed reduction motor 16 and the arm connecting shaft 15, so that the flexibility of the intelligent arm is improved.

Further, a third steering engine 19 is fixedly installed inside the arm joint 17, a third driving rudder plate 26 and a third driven rudder plate 27 are hinged to the front face and the back face of the arm joint 17, an output shaft of the third steering engine 19 is fixedly connected with the third driving rudder plate 26, the third driving rudder plate 26 and the third driven rudder plate 27 are both fixedly connected with the shoulder joint 20, a fourth steering engine 25 is fixedly installed on the right side of the installation plate 34, when the arm 4 is unfolded horizontally by 180 degrees, the fourth steering engine 25 in butt joint with the body can rotate by 90 degrees through the shoulder joint 20, and then the third steering engine 19 is unfolded outwards, at this time, the extension spring 18 at the shoulder joint 20 and the small tension spring 10 at the elbow can be in a natural contraction state, and only the third steering engine 19 at the shoulder joint 20 and the second steering engine 7 at the elbow can be completely unfolded horizontally with extremely small force, so that labor is saved compared with the case of directly lifting and unfolding.

The working principle is as follows: the first steering engine 2 provides power for the rotation of the first driving steering wheel 32, the machine palm 1 and the wrist joint 3 are hinged with the first driven steering wheel 33 through the first driving steering wheel 32 to drive the rotation of the wrist joint part, similarly, the elbow joint part is formed by the arm 4 and the arm joint 17 through the second elbow joint lower cover 5, the first elbow joint lower cover 6, the arm connecting cover 8, the arm connecting sleeve 9, the small tension spring 10, the second elbow joint upper cover 11 and the first elbow joint upper cover 12, the second steering engine 7 is used for driving, the small tension spring 10 is used at the arm joint 17 and the small arm part, not only the flexibility of the simulation action of the product can be improved, but also the steering engine power at the position can be effectively reduced, the product can be miniaturized, the shoulder joint part drives the third driving steering wheel 26 and the third driven steering wheel 27 through the third steering engine 19 to further adjust the rotation angle of the shoulder joint part, the extension spring 18 is utilized, a degree of freedom is added between the body and the shoulder joint 20, when the whole arm 4 is lifted vertically or unfolded transversely, labor can be saved under the action of the power spring and the structural member of the shoulder joint 20, the small extension spring 10 and the extension spring 18 are balance springs, and only a small force is needed when the posture is maintained or the posture is maintained without the power of a steering engine at a specific position, so that labor can be saved; when the arm 4 is unfolded horizontally by 180 degrees, the shoulder joint 20 and the fourth steering engine 25 butted with a body can rotate by 90 degrees, and then the third steering engine 19 is unfolded outwards, the extension spring 18 at the shoulder joint 20 and the small extension spring 10 at the elbow are in a natural contraction state, and the third steering engine 19 at the shoulder joint 20 and the second steering engine 7 at the elbow can be unfolded horizontally and completely only by using extremely small force, so that labor is saved compared with the direct lifting and unfolding, and the problems that the existing simulation robot arm only uses the steering engine to drive the movement, the action is high in power consumption and the movement is stiff are solved.

The above description is only the preferred embodiment of the present invention; the scope of the present invention is not limited thereto. Any person skilled in the art should also be able to cover the technical scope of the present invention by replacing or changing the technical solution and the improvement concept of the present invention with equivalents and modifications within the technical scope of the present invention.

Claims

1. The utility model provides a novel emulation robot's smart arm, includes wrist joint mechanism (35), its characterized in that: the wrist joint mechanism (35) is fixedly connected with an elbow joint mechanism (36), and the right side of the elbow joint mechanism (36) is rotatably connected with a shoulder joint mechanism (37);

elbow joint mechanism (36) includes arm (4), the first elbow joint lower cover of right side fixedly connected with (6) at arm (4) top, the right side fixedly connected with second elbow joint lower cover (5) of arm (4) bottom, the bottom and the second elbow joint lower cover (5) fixed connection of first elbow joint lower cover (6), the right side between first elbow joint lower cover (6) and second elbow joint lower cover (5) articulates there is arm adapter sleeve (9), the bottom fixedly connected with arm connecting cover (8) of arm adapter sleeve (9), the top on arm adapter sleeve (9) right side articulates there is first elbow joint upper cover (12), the bottom fixedly connected with second elbow joint upper cover (11) of first elbow joint upper cover (12), little extension spring (10) that the equidistance was arranged are inserted to the inboard of arm connecting cover (8), one end of the small tension spring (10) far away from the arm connecting cover (8) is respectively fixedly connected with the second elbow joint lower cover (5) and the second elbow joint upper cover (11),

the shoulder joint mechanism (37) comprises an arm joint (17), the right side of the arm joint (17) is hinged with a shoulder joint (20), a shoulder shaft (23) is fixedly connected to the right side of the shoulder joint (20), a second bearing (22) and two third bearings (24) fixedly connected with the shoulder shaft (23) are sleeved on the shoulder shaft (23), the two third bearings (24) are respectively positioned on the left side and the right side of the second bearing (22), a mounting disc (34) is arranged on the right side of the third bearing (24) on the right side, the left side of the mounting disc (34) is fixedly connected with a shoulder shaft sleeve (21), the second bearing (22) and the two third bearings (24) are both positioned on the inner side of the shoulder shaft sleeve (21) and are fixedly connected with the inner wall of the shoulder shaft sleeve (21), the top of the arm joint (17) is fixedly connected with two extension springs (18), and the other ends of the two extension springs (18) are fixedly connected with a shoulder joint (20).

2. The smart arm of the novel simulation robot as claimed in claim 1, wherein: wrist joint mechanism (35) include machine palm (1), the right side of machine palm (1) articulates there is wrist joint (3), the right side and arm (4) fixed connection of wrist joint (3).

3. The smart arm of the novel simulation robot as claimed in claim 1, wherein: the right side of the first elbow joint upper cover (12) is fixedly provided with a first bearing (14), the inner side of the first bearing (14) is fixedly connected with an arm connecting shaft (15), the arm connecting shaft (15) is sleeved with a fourth bearing (29) fixedly connected with the arm connecting shaft, the outer ring of the fourth bearing (29) is fixedly connected with an arm joint (17), and the second elbow joint upper cover (11) is rotatably connected with the arm joint (17) through the first bearing (14) and the fourth bearing (29).

4. The smart arm of the novel simulation robot as claimed in claim 2, wherein: the utility model discloses a robot manipulator, including wrist joint (3), the inside fixed mounting of wrist joint (3) has first steering wheel (2), the positive right side fixed mounting of machine palm (1) has first initiative steering wheel (32), the right side fixed mounting at the back of machine palm (1) has first driven steering wheel (33), the output shaft and the first initiative steering wheel (32) fixed connection of first steering wheel (2), first driven steering wheel (33) all articulate with wrist joint (3) with first initiative steering wheel (32).

5. The smart arm of the novel simulation robot as claimed in claim 1, wherein: first elbow joint lower cover (6) and the equal fixedly connected with steering wheel backup pad (13) in inboard of first elbow joint upper cover (12), two equal fixed mounting in one side that steering wheel backup pad (13) is relative has second steering wheel (7), first elbow joint lower cover (6) and the equal fixed mounting in one side that first elbow joint upper cover (12) is relative have second initiative steering wheel dish (30) and the driven steering wheel dish (31) of second, two the output shaft of second steering wheel (7) respectively with two second initiative steering wheel dish (30) fixed connection, two second initiative steering wheel dish (30) and two driven steering wheel dishes (31) all articulate with arm adapter sleeve (9).

6. The smart arm of the novel simulation robot as claimed in claim 1, wherein: an output shaft of a direct current speed reduction motor (16) is fixedly installed inside the arm joint (17) and is fixedly connected with an arm connecting shaft (15), a travel switch (28) is fixedly installed on the back of the arm joint (17), and the travel switch (28) is electrically connected with the direct current speed reduction motor (16).

7. The smart arm of the novel simulation robot as claimed in claim 1, wherein: the novel shoulder joint is characterized in that a third steering engine (19) is fixedly mounted inside the arm joint (17), a third driving steering wheel (26) and a third driven steering wheel (27) are hinged to the front face and the back face of the arm joint (17), an output shaft of the third steering engine (19) is fixedly connected with the third driving steering wheel (26), the third driving steering wheel (26) and the third driven steering wheel (27) are fixedly connected with the shoulder joint (20), and a fourth steering engine (25) is fixedly mounted on the right side of the mounting disc (34).