The invention discloses a double-arm cooperation robot. The double-arm cooperation robot comprises a robot base and two robot arms which are symmetrically distributed, wherein the robot arms comprisemodular double joints and five modular single joints which are sequentially connected in series; the modular double joints comprise L pipe joint bases and two steering engines, wherein the two steering engines are kept vertical, each modular single joint comprises a straight pipe joint base and a steering engine, and the five modular single joints are correspondingly connected with a first singlejoint, a second single joint, a third single joint, a fourth single joint and a fifth single joint which are sequentially connected in series; the first single joint is vertically connected with the second steering engine, the central axes of the first single joint and the third single joint are not parallel to each other and are coplanar, a central shaft of the first steering engine is located outside a distribution plane and is parallel to the distribution plane, and the central axes of the second steering engine, the second single joint and the fourth single joint are parallel to one another. The double-arm cooperation robot has the advantages that the space position and randomicity of postures, the singularity of the working space can be avoided, barriers in the working space can be avoided, the structure is simple, and accurate assembly is easy to realize.