Mechanical shoulder joints, robotic arms and robots

Abstract

A mechanical shoulder joint, a robotic arm, and a robot are disclosed. The mechanical shoulder joint includes a shoulder base and a differential mechanism module. A first differential wheel axle and a second differential wheel axle of the differential mechanism module extend along a first direction, and a differential connecting shaft extends along a second direction. The first and second differential wheels are sleeved on both ends of the differential connecting shaft. The wheel portion of the first differential wheel axle and the first differential wheel form a first differential kinematic pair, and the wheel portion of the second differential wheel axle and the second differential wheel form a second differential kinematic pair. A first differential actuator is configured to drive the first differential wheel axle to rotate, and a second differential actuator is configured to drive the second differential wheel axle to rotate. This mechanical shoulder joint, through the differential mechanism module, achieves rotational freedom around the first and second directions, reducing the weight of the mechanical shoulder joint and providing high transmission accuracy and high transmission speed.

Description

Technical Field

[0001] Embodiments of this disclosure relate to a mechanical shoulder joint, a robotic arm, and a robot. Background Technology

[0002] A robot is an intelligent machine capable of semi-autonomous or fully autonomous operation. Robots possess fundamental characteristics such as perception, decision-making, and execution, and can assist or even replace humans in performing dangerous, arduous, and complex tasks, improving work efficiency and quality, serving human life, and expanding or extending the scope of human activities and capabilities.

[0003] Robotic arms are one of the most widely used mechanical devices in the field of robotics. A robotic arm is a complex system characterized by high precision, multiple inputs and outputs, high nonlinearity, and strong coupling, and is widely used in industrial, medical, and even military and aerospace fields. With the continuous development of robotics technology, various robotic arm structures have been proposed. Some robotic arms are designed for lifting heavy objects and are used in industrial applications; others are used to achieve human-robot interaction and are applied to service robots. Summary of the Invention

[0004] This disclosure provides a mechanical shoulder joint, a robotic arm, and a robot. The mechanical shoulder joint achieves rotational freedom around a first direction and a second direction through a first differential kinematic pair and a second differential kinematic pair in a differential mechanism module, reducing the weight of the mechanical shoulder joint and providing high transmission accuracy and speed. Furthermore, when the first differential wheel and the second differential wheel rotate simultaneously in the same direction, the rotational torque can be superimposed, resulting in a large transmitted torque.

[0005] At least one embodiment of this disclosure provides a mechanical shoulder joint, which includes a shoulder base and a differential mechanism module. The differential mechanism module includes a first differential driver, a second differential driver, a first differential wheel shaft, a second differential wheel shaft, a first differential wheel, a second differential wheel, a differential connecting shaft, and an arm connecting seat. The first differential wheel shaft and the second differential wheel shaft extend along a first direction, and the differential connecting shaft extends along a second direction. The first direction intersects the second direction. The first differential wheel and the second differential wheel are sleeved at both ends of the differential connecting shaft. The arm connecting seat includes a first bracket and a second bracket. The first bracket is fixed to the first differential wheel, and the second bracket is fixed to the second differential wheel. The first differential driver and the second differential driver are respectively fixed to the shoulder base. The wheel portion of the first differential wheel shaft and the first differential wheel form a first differential kinematic pair, and the wheel portion of the second differential wheel shaft and the second differential wheel form a second differential kinematic pair. The first differential driver is configured to drive the first differential wheel shaft to rotate, and the second differential driver is configured to drive the second differential wheel shaft to rotate.

[0006] For example, in one embodiment of this disclosure, a mechanical shoulder joint is provided in which the diameter of the first differential wheel is smaller than the diameter of the second differential wheel.

[0007] For example, in one embodiment of this disclosure, a mechanical shoulder joint is provided, wherein the differential mechanism module further includes a differential connecting part and a differential bearing. The differential bearing includes a differential bearing inner ring and a differential bearing outer ring. The differential bearing inner ring is sleeved on the shaft portion of the first differential wheel shaft or the shaft portion of the second differential wheel shaft. The differential bearing outer ring is fixed to the shoulder base. One end of the differential connecting part is fixed to the differential bearing inner ring, and one end of the differential connecting part is fixed to the differential connecting shaft.

[0008] For example, in one embodiment of this disclosure, a mechanical shoulder joint is provided, wherein the differential mechanism module further includes a first rotary encoder, the first rotary encoder including a first rotary encoder inner ring and a first rotary encoder outer ring; and a differential transmission shaft, the first rotary encoder inner ring being sleeved on one end of the differential transmission shaft, the first rotary encoder outer ring being fixed to the shoulder base, one end of the differential transmission shaft being fixed to the differential connection portion near one end of the differential connection shaft, and the first rotary encoder being configured to measure the rotation angle and angular velocity of the differential transmission shaft.

[0009] For example, in one embodiment of this disclosure, a mechanical shoulder joint is provided, wherein the differential mechanism module further includes a second rotary encoder, the second rotary encoder including a second rotary encoder inner ring and a second rotary encoder outer ring, the second rotary encoder inner ring being sleeved on the differential connecting shaft, the second rotary encoder outer ring being fixed to the first bracket or the second bracket, and the second rotary encoder being configured to measure the rotation angle and angular velocity of the differential connecting shaft.

[0010] For example, in one embodiment of this disclosure, a mechanical shoulder joint is provided, wherein the differential mechanism module further includes a first differential pinion, a first differential large pinion, a second differential pinion, and a second differential large pinion. The first differential pinion and the first differential large pinion form a third differential kinematic pair, and the second differential pinion and the second differential large pinion form a fourth differential kinematic pair. The first differential pinion is sleeved on the output shaft of the first differential driver, and the first differential large pinion is sleeved on the shaft portion of the first differential wheel shaft, so that the first differential driver drives the first differential wheel shaft to rotate through the first differential pinion and the first differential large pinion. The second differential pinion is sleeved on the output shaft of the second differential driver, and the second differential large pinion is sleeved on the shaft portion of the second differential wheel shaft, so that the second differential driver drives the second differential wheel shaft to rotate through the second differential pinion and the second differential large pinion.

[0011] For example, in one embodiment of this disclosure, a mechanical shoulder joint is provided in which the first differential wheel is fixed to the shaft portion of the first differential wheel axle by screws, or the first differential wheel is integrally formed with the shaft portion of the first differential wheel axle, and the second differential wheel is fixed to the shaft portion of the second differential wheel axle by screws, or the second differential wheel is integrally formed with the second differential wheel axle.

[0012] For example, in one embodiment of this disclosure, a mechanical shoulder joint is provided in which two kinematic pairs of the first differential kinematic pair, the second differential kinematic pair, the third differential kinematic pair, and the fourth differential kinematic pair that move relative to each other are configured to be driven by a rope, gear teeth, chain, or belt.

[0013] For example, one embodiment of this disclosure provides a mechanical shoulder joint that further includes: a rotation module including a rotation driver and a rotation bearing, the rotation bearing including an inner ring and an outer ring, the arm connector further including a third bracket, the rotation driver and the outer ring of the rotation bearing being fixed to the third bracket, and the rotation driver being configured to drive the inner ring of the rotation bearing to rotate about a third direction.

[0014] For example, one embodiment of this disclosure provides a mechanical shoulder joint in which the differential bearing and the rotary bearing are crossed roller bearings.

[0015] For example, in one embodiment of this disclosure, a mechanical shoulder joint is provided, wherein the rotation module further includes a small rotating wheel and a large rotating wheel. The small rotating wheel is sleeved on the output shaft of the rotation driver, and the large rotating wheel is fixed to the inner ring of the rotation bearing. The small rotating wheel and the large rotating wheel form a rotational kinematic pair, so that the rotation driver drives the inner ring of the rotation bearing to rotate through the small rotating wheel and the large rotating wheel.

[0016] For example, one embodiment of this disclosure provides a mechanical shoulder joint in which two kinematic pairs that move relative to each other in a rotary kinematic pair are configured to be driven by a rope, gear, chain, or belt.

[0017] For example, one embodiment of this disclosure provides a mechanical shoulder joint that further includes a drive module, comprising a drive fixing part, a first driver, a second driver, a first drive wheel shaft, and a second drive wheel shaft. The first drive wheel shaft and the second drive wheel shaft extend along a fourth direction. The drive fixing part is fixed to the inner ring of the rotary bearing. The first driver and the second driver are fixed to the drive fixing part. The fourth direction is not parallel to the third direction. The first driver is configured to drive the first drive wheel shaft to rotate. The second driver is configured to drive the second drive wheel shaft to rotate. The first drive wheel shaft and the second drive wheel shaft are configured to drive the mechanical elbow joint via a belt, chain, or rope.

[0018] For example, in one embodiment of this disclosure, a mechanical shoulder joint is provided, wherein the drive module further includes a first drive pinion and a second drive pinion. The first drive pinion is sleeved on the output shaft of the first driver, and the first drive pinion and the wheel portion of the first drive shaft are connected by a belt, chain, gear teeth, or rope, so that the first driver drives the first drive shaft to rotate through the first drive pinion. The second drive pinion is sleeved on the output shaft of the second driver, and the second drive pinion and the wheel portion of the second drive shaft are connected by a belt, chain, gear teeth, or rope, so that the second driver drives the second drive shaft to rotate through the second drive pinion.

[0019] For example, in one embodiment of this disclosure, a mechanical shoulder joint is provided, wherein the drive module further includes a third driver, a fourth driver, a first intermediate wheel shaft, a second intermediate wheel shaft, and a drive bearing. The drive bearing includes an inner ring and an outer ring. The third driver and the fourth driver are fixed to the drive fixing part. One end of the first intermediate wheel shaft is sleeved on the outer ring of the drive bearing, and one end of the second intermediate wheel shaft is sleeved on the inner ring of the drive bearing. The third driver is configured to drive the first intermediate wheel shaft to rotate, and the fourth driver is configured to drive the second intermediate wheel shaft to rotate. The first intermediate wheel shaft and the second intermediate wheel shaft are configured to drive the mechanical wrist joint via a belt, chain, or rope.

[0020] For example, in one embodiment of this disclosure, a mechanical shoulder joint is provided, wherein the drive module further includes a third drive pinion and a fourth drive pinion. The third drive pinion and the wheel portion of the first intermediate wheel shaft are connected by a belt, chain, gear teeth, or rope, so that the third actuator drives the rotation of the first intermediate wheel shaft through the third drive pinion. The fourth drive pinion and the wheel portion of the second intermediate wheel shaft are connected by a belt, chain, gear teeth, or rope, so that the fourth actuator drives the rotation of the second intermediate wheel shaft through the fourth drive pinion.

[0021] For example, in one embodiment of this disclosure, a mechanical shoulder joint is provided, wherein the drive module further includes a third rotary encoder, the third rotary encoder including an inner ring and an outer ring, the inner ring being fixed to the drive fixing part, and the outer ring being fixed to the third bracket, and the third rotary encoder being configured to measure the rotation angle and angular velocity of the drive fixing part.

[0022] For example, one embodiment of this disclosure provides a mechanical shoulder joint in which at least one of the first differential driver, the second differential driver, the rotary driver, the first driver, the second driver, the third driver, and the fourth driver includes an electric motor.

[0023] At least one embodiment of this disclosure provides a robotic arm, which includes the mechanical shoulder joint, mechanical elbow joint, and mechanical wrist joint described in any of the preceding claims.

[0024] At least one embodiment of this disclosure provides a robot that includes the robotic arm described in any of the preceding claims. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings of the embodiments will be briefly described below. Obviously, the drawings described below only relate to some embodiments of this disclosure and are not intended to limit this disclosure.

[0026] Figure 1 A schematic diagram of a mechanical shoulder joint provided in one embodiment of this disclosure;

[0027] Figure 2 for Figure 1 A schematic diagram of the differential mechanism module in the mechanical shoulder joint is shown.

[0028] Figure 3 for Figure 1 The diagram shows the first and second differential kinematic pairs of the mechanical shoulder joint.

[0029] Figure 4 for Figure 1 A schematic diagram of the first differential kinematic pair of the mechanical shoulder joint shown;

[0030] Figure 5 for Figure 1 A schematic diagram of the second differential kinematic pair of the mechanical shoulder joint shown;

[0031] Figure 6 for Figure 2 Right view of the differential mechanism module of the mechanical shoulder joint shown;

[0032] Figure 7 A differential mechanism module for a mechanical shoulder joint provided in one embodiment of this disclosure Figure 6 A cross-sectional view along the AB direction;

[0033] Figure 8 A schematic diagram of a mechanical shoulder joint provided in one embodiment of this disclosure;

[0034] Figure 9 for Figure 1 A schematic diagram of the rotating module in the mechanical shoulder joint is shown.

[0035] Figure 10 A rotating module for a mechanical shoulder joint provided in one embodiment of this disclosure. Figure 9 A cross-sectional view along the CD direction;

[0036] Figure 11 for Figure 1 A schematic diagram of the drive module in the mechanical shoulder joint is shown.

[0037] Figure 12 A drive module for a mechanical shoulder joint provided in one embodiment of this disclosure is along Figure 11 A schematic cross-sectional view along the EF direction;

[0038] Figure 13 This is a schematic diagram of a drive module in a mechanical shoulder joint according to an embodiment of the present disclosure;

[0039] Figure 14 A drive module for a mechanical shoulder joint provided in one embodiment of this disclosure is along Figure 13 Schematic diagram of cross-section along the GH direction;

[0040] Figure 15 for Figure 8 An enlarged schematic diagram of the dashed box in the mechanical shoulder joint shown;

[0041] Figure 16 A schematic diagram of a robotic arm provided in one embodiment of this disclosure;

[0042] Figure 17 A schematic diagram of another robotic arm provided according to an embodiment of this disclosure; and

[0043] Figure 18 This is a schematic diagram of a robot provided according to an embodiment of the present disclosure. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the described embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0045] Unless otherwise defined, the technical or scientific terms used in this disclosure shall have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms “first,” “second,” and similar terms used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as “comprising” or “including” mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as “connected” or “linked” are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as “upper,” “lower,” “left,” and “right” are used only to indicate relative positional relationships, and these relative positional relationships may change accordingly when the absolute position of the described objects changes.

[0046] The components or structures in the accompanying drawings are not drawn to scale. For clarity, the dimensions of the components or structures may be exaggerated or reduced, but this should not be used to limit the scope of this disclosure. To keep the following description of the embodiments of this disclosure clear and concise, detailed descriptions of known functions and known components may be omitted.

[0047] With the continuous development of robotics technology, various robotic arm structures have been proposed, such as the DLR variable stiffness robotic arm and the LIMS32 Korean robotic arm. Some robotic arms are designed for lifting heavy objects and are used in industrial fields, such as the Japanese HRP5 robot; others are designed for human-robot interaction and are used in service robots, such as the LIMS32 robotic arm. Typical robotic arms are manipulation-type robotic arms, which place the motor and reducer at the joint and do not require high-speed movement. However, with the rise of the service industry, robotic arms suitable for human-robot interaction have become particularly important. The aforementioned manipulation-type robotic arms, due to their excessive end-effector inertia, cannot perform high-speed movements, and in the event of a loss of control, the excessive end-effector inertia can cause significant injury to humans. Furthermore, the shoulder joint of robotic arms is usually driven by a motor and harmonic reducer, which, due to its weight, can adversely affect the robot's movement.

[0048] In response, this disclosure provides a mechanical shoulder joint, a robotic arm, and a robot. The mechanical shoulder joint includes a shoulder base and a differential mechanism module. The differential mechanism module includes a first differential driver, a second differential driver, a first differential wheel axle, a second differential wheel axle, a first differential wheel, a second differential wheel, a differential connecting shaft, and an arm connecting seat. The first and second differential wheel axles extend along a first direction, and the differential connecting shaft extends along a second direction, intersecting the first and second directions. The first and second differential wheels are sleeved on both ends of the differential connecting shaft. The arm connecting seat includes a first bracket and a second bracket. The first bracket is fixed to the first differential wheel, and the second bracket is fixed to the second differential wheel. The first and second differential drivers are fixed to the shoulder base. The wheel portion of the first differential wheel axle and the first differential wheel form a first differential kinematic pair, and the wheel portion of the second differential wheel axle and the second differential wheel form a second differential kinematic pair. The first differential driver is configured to drive the first differential wheel axle to rotate, and the second differential driver is configured to drive the second differential wheel axle to rotate. Therefore, by using the first and second differential kinematic pairs in the differential mechanism module, the mechanical shoulder joint achieves rotational freedom around a first direction and a second direction, reducing the weight of the mechanical shoulder joint and providing high transmission accuracy and speed. Furthermore, when the first and second differential wheels rotate simultaneously in the same direction, the rotational torque can be superimposed, resulting in a large transmitted torque.

[0049] The mechanical shoulder joint, robotic arm, and robot provided in the embodiments of this disclosure will now be described in detail with reference to the accompanying drawings.

[0050] One embodiment of this disclosure provides a mechanical shoulder joint. Figure 1 This is a schematic diagram of a mechanical shoulder joint provided in one embodiment of the present disclosure. Figure 2 for Figure 1 The diagram shows a differential mechanism module in a mechanical shoulder joint. Figure 3 for Figure 1 The diagram shows the first and second differential kinematic pairs of the mechanical shoulder joint. Figure 4 for Figure 1 The diagram shows the first differential kinematic pair of the mechanical shoulder joint. Figure 5 for Figure 1 The diagram shows the second differential kinematic pair of the mechanical shoulder joint.

[0051] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, the mechanical shoulder joint 100 includes a shoulder base 200 and a differential mechanism module 300. The differential mechanism module 300 includes a first differential driver 301, a second differential driver 302, a first differential wheel shaft 303, a second differential wheel shaft 304, a first differential wheel 305, a second differential wheel 306, a differential connecting shaft 307, and an arm connecting seat 308. The first differential wheel shaft 303 and the second differential wheel shaft 304 extend along a first direction X, and the differential connecting shaft 307 extends along a second direction Y. The first direction X and the second direction Y intersect. The first differential wheel 305 and the second differential wheel 306 are sleeved at both ends of the differential connecting shaft 307. The arm connecting seat 308 includes a first bracket 309 and a second bracket 310. The first bracket 309 is fixed to the first differential wheel 305, and the second bracket 310 is fixed to the second differential wheel 306. The first differential driver 301 and the second differential driver 302 are respectively fixed to the shoulder base 200. The wheel portion 303b of the first differential wheel shaft 303 and the first differential wheel 305 form a first differential kinematic pair, and the wheel portion 304b of the second differential wheel shaft 304 and the second differential wheel 306 form a second differential kinematic pair. The first differential driver 301 is configured to drive the first differential wheel shaft 303 to rotate, and the second differential driver 302 is configured to drive the second differential wheel shaft 304 to rotate.

[0052] In the mechanical shoulder joint provided in the embodiments of this disclosure, such as Figure 3 As shown, the wheel portion 303b of the first differential wheel shaft and the first differential wheel 305 form a first differential kinematic pair. Therefore, the rotation of the first differential wheel shaft 303 drives the first differential wheel 305 to rotate around the second direction via the first differential kinematic pair. The first bracket of the arm connecting seat is fixed to the first differential wheel; therefore, the rotation of the first differential wheel around the second direction drives the arm connecting seat to rotate around the second direction. Similarly, as... Figure 5 As shown, the wheel portion 304b of the second differential wheel shaft and the second differential wheel 306 form a second differential kinematic pair. Therefore, the rotation of the second differential wheel shaft 304 drives the second differential wheel 306 to rotate around a second direction via the second differential kinematic pair. The second bracket of the arm connecting seat is fixed to the second differential wheel; therefore, the rotation of the second differential wheel around the second direction drives the arm connecting seat to rotate around the second direction. When the first differential wheel and the second differential wheel rotate simultaneously around the second direction in the same direction, the torque of the arm connecting seat rotating around the second direction can be superimposed, thereby increasing the rotational torque.

[0053] On the other hand, such as Figure 3As shown, when the first differential wheel 305 and the second differential wheel 306 rotate simultaneously around the second direction in opposite directions, the first differential wheel 305 and the second differential wheel 306 rotate around the wheel portion 303b and the wheel portion 304b of the first differential wheel shaft, respectively. Since the first and second differential wheels are connected by a differential connecting shaft, the first differential wheel, the second differential wheel, and the differential connecting shaft rotate together around the first direction, thus enabling the arm connecting seat to rotate around the first direction. Therefore, by using the first and second differential kinematic pairs in the differential mechanism module, the mechanical shoulder joint achieves rotational freedom around both the first and second directions, reducing the weight of the mechanical shoulder joint and providing high transmission accuracy and speed. Furthermore, when the first and second differential wheels rotate simultaneously in the same direction, the rotational torque can be superimposed, resulting in a large transmitted torque.

[0054] In some examples, such as Figure 2 As shown, the diameter of the first differential wheel 305 can be smaller than the diameter of the second differential wheel 306. Therefore, the differential mechanism module can have a more compact size and lighter weight.

[0055] Figure 6 for Figure 2 The right view of the differential mechanism module of the mechanical shoulder joint shown. Figure 7 A differential mechanism module for a mechanical shoulder joint provided in one embodiment of this disclosure Figure 6 A cross-sectional diagram along the AB direction, as shown below. Figure 2 and Figure 7 As shown, the differential mechanism module 300 also includes a differential connecting part 311 and a differential bearing 312. The differential bearing 312 includes an inner ring 312a and an outer ring 312b. The inner ring 312a is sleeved on the shaft portion 303a of the first differential wheel shaft 303 or the shaft portion 304a of the second differential wheel shaft 304. The outer ring 312b is fixed to the shoulder base 200. One end of the differential connecting part 311 is fixed to the inner ring 312a, and the other end is fixed to the differential connecting shaft 307. Thus, the differential connecting shaft is fixed to the inner ring of the differential bearing through the differential connecting part, and the outer ring of the differential bearing is fixed to the shoulder base. Without affecting the rotational degree of freedom of the differential mechanism module about the first direction, the differential bearing transfers the force on the differential connecting bearing to the shoulder base, improving the rotational stability and lifespan of the differential mechanism module.

[0056] In some examples, the differential bearing 312 may be a crossed roller bearing. Of course, embodiments of this disclosure include, but are not limited to, other types of bearings.

[0057] In some examples, such as Figure 7As shown, the differential mechanism module 300 may further include a differential bearing inner ring fixing seat 320, a differential bearing inner ring cover plate 321, and a differential bearing outer ring end cover 322. The differential bearing outer ring 312b is clamped and fixed by the differential bearing outer ring end cover 322 and the shoulder base 200, thereby fixing the differential bearing outer ring to the shoulder base. The differential bearing inner ring 312a is clamped and fixed by the differential bearing inner ring fixing seat 320 and the differential bearing inner ring cover plate 321. At this time, one end of the differential connection part can be connected to the differential bearing inner ring fixing seat, thereby fixing one end of the differential connection part to the differential bearing inner ring.

[0058] In some examples, such as Figure 2 and Figure 7 As shown, the differential connection part 311 can be limited to the differential connection shaft 307 by a key and fixed to the differential connection shaft 307 by a screw 341.

[0059] In some examples, such as Figure 6 As shown, the first differential wheel 305 and the second differential wheel 306 are connected to the first bracket 309 and the second bracket 310 respectively by bolts 342.

[0060] In some examples, such as Figure 2 and Figure 7 As shown, the differential mechanism module 300 also includes a first rotary encoder 313 and a differential transmission shaft 314. The first rotary encoder 313 includes an inner ring 313a and an outer ring 313b. The inner ring 313a is fitted onto one end of the differential transmission shaft 314, and the outer ring 313b is fixed to the shoulder base 200. One end of the differential transmission shaft 314 is fixed to the differential connection portion 311 near the end of the differential connection shaft 307. The first rotary encoder 313 is configured to measure the rotation angle and angular velocity of the differential transmission shaft 314. When the differential connection shaft rotates about a first direction, the differential connection shaft is connected to the differential transmission shaft through the differential connection portion, so that the differential transmission shaft and the differential connection shaft have the same rotation angle and angular velocity. Therefore, the first rotary encoder obtains the rotation angle and angular velocity of the differential connection shaft by measuring the rotation angle and angular velocity of the differential transmission shaft. Furthermore, the rotation angle and angular velocity of the mechanical shoulder joint in the first direction can be controlled and adjusted through the first rotary encoder.

[0061] In some examples, such as Figure 2 and Figure 7As shown, the outer ring 313b of the first rotary encoder is fixed to the connecting plate 332 by a nut 331, thereby fixing the outer ring 313b of the first rotary encoder to the shoulder base 200. The inner ring 313a of the first rotary encoder is clamped to the shoulder of the differential transmission shaft 314 by a nut 331, thereby causing the inner ring 313a of the first rotary encoder to rotate together with the differential transmission shaft 314.

[0062] In some examples, such as Figure 7 As shown, the second differential wheel shaft 304 can be fitted onto the first differential wheel shaft 303.

[0063] In some examples, such as Figure 7 As shown, the first differential wheel axle 303 can be mounted on the shoulder base 200 via a bearing 334. The outer ring of the bearing 334 is pressed and fixed onto the shoulder base 200 by a clamping plate 333 and a connecting clamping plate 332. For example, as Figure 2 As shown, a bearing end cap 330 is also provided on one side of the bearing 334 to further limit the axial movement of the outer ring of the bearing 334. Thus, the first differential wheel shaft 303 can rotate relative to the shoulder base 200.

[0064] In some examples, such as Figure 7 As shown, the second differential wheel shaft 304 is mounted on the first differential wheel shaft 303 via two bearings 334. The inner ring of the bearing 334 is fixed by the shoulder of the first differential wheel shaft 303 and a retaining circlip 336, while the outer ring of the bearing 334 is fixed by the shoulder of the second differential wheel shaft 304 and a bearing clamp 337. Thus, the first differential wheel shaft 303, mounted on the second differential wheel shaft 304 via two bearings, allows for relatively independent rotational movements of the two shafts.

[0065] In some examples, such as Figure 7 As shown, the differential bearing inner ring fixing seat 320 is sleeved on the first differential wheel shaft 303 via the bearing 334, thereby enabling relatively independent rotational movements of the two. For example, the inner ring of the bearing 334 can be fixed by the shoulder of the first differential wheel shaft 303 and the retaining ring, and the outer ring of the bearing 334 can be fixed by the shoulder of the differential bearing inner ring fixing seat 320 and the bearing pressure plate.

[0066] In some examples, such as Figure 7 As shown, the differential connection portion 311, near the inner ring fixing seat 320 of the differential bearing, is sleeved on the first differential wheel shaft 303 via a bearing 334. This allows for relatively independent rotational movements of the two components. For example, the inner ring of the bearing 334 can be fixed by the shoulder of the first differential wheel shaft 303 and a retaining ring, while the outer ring of the bearing 334 can be fixed by the shoulder of the differential connection portion 311 near the inner ring fixing seat 320 of the differential bearing and a bearing clamping plate.

[0067] In some examples, such as Figure 7 As shown, the first bracket 309 and the second bracket 310 of the arm connecting seat 308 are sleeved on both ends of the differential connecting shaft 307 via bearings 334, thereby enabling relatively independent rotational movements of the two. For example, the inner ring of the bearing 334 can be fixed by the shoulder of the differential connecting shaft 307 and the retaining ring, and the outer ring of the bearing 334 can be fixed by the shoulder of the first bracket 309 and the second bracket 310 and the bearing pressure plate.

[0068] In some examples, bearing 334 may be a deep groove ball bearing; in this embodiment, the form of bearing 334 is not limited.

[0069] Figure 8 This is a schematic diagram of a mechanical shoulder joint provided in one embodiment of the present disclosure, as shown below. Figure 2 and Figure 8 As shown, the differential mechanism module 300 also includes a second rotary encoder 315, which includes an inner ring 315a and an outer ring 315b. The inner ring 315a is fitted onto the differential connecting shaft 307, and the outer ring 315b is fixed to the first bracket 309 or the second bracket 310. The second rotary encoder 315 is configured to measure the rotation angle and angular velocity of the differential connecting shaft. Therefore, the rotation angle and angular velocity of the mechanical shoulder joint in the second direction can be controlled and adjusted using the second rotary encoder.

[0070] In some examples, such as Figure 2 and Figure 6 As shown, the differential mechanism module 300 also includes a first differential pinion (not shown in the figure, with the same structure as the second differential pinion 317), a first differential large pinion 316, a second differential pinion 317, and a second differential large pinion 318. The first differential pinion and the first differential large pinion 316 form a third differential kinematic pair, and the second differential pinion 317 and the second differential large pinion 318 form a fourth differential kinematic pair. The first differential pinion is sleeved on the output shaft of the first differential driver 301, and the first differential large pinion 316 is sleeved on the shaft portion 303a of the first differential wheel shaft 303, so that the first differential driver 301 drives the first differential wheel shaft 303 to rotate through the first differential pinion and the first differential large pinion 316. The second differential pinion 317 is mounted on the output shaft of the second differential driver 302, and the second differential large pinion 318 is mounted on the shaft portion 304a of the second differential wheel shaft 304, so that the second differential driver 302 drives the second differential wheel shaft 304 to rotate via the second differential pinion 317 and the second differential large pinion 318. Therefore, by providing the first and second differential pinions, the reduction ratio can be increased, and the torque can be increased.

[0071] In some examples, such as Figure 2As shown, the first differential wheel 316 can be fixed to the shaft portion 303a of the first differential wheel shaft 303 by screws 319. Therefore, when the second differential wheel shaft is fitted onto the first differential wheel shaft, the second differential wheel shaft can be assembled first, and then the first differential wheel can be assembled last by screws.

[0072] In some examples, the first differential wheel 316 and the shaft portion 303a of the first differential wheel axle 303 may also be integrally formed.

[0073] In some examples, the second differential wheel 318 can be fixed to the shaft portion 304a of the second differential wheel shaft 304 by screws.

[0074] In some examples, the second differential wheel 318 and the second differential wheel axle 304 can be integrally formed, thereby achieving more stable performance and a longer service life.

[0075] In some examples, such as Figure 2 As shown, two kinematic pairs in the first, second, third, and fourth differential kinematic pairs that move relative to each other are configured to be driven by rope 340. Therefore, rope drive can further improve transmission accuracy and efficiency, while reducing the weight of the mechanical shoulder joint. In this embodiment, the two kinematic pairs in the above four differential kinematic pairs that move relative to each other can also be driven by other methods, such as gears, chains, or belts.

[0076] In some examples, rope 340 may be a steel wire rope. Of course, embodiments of this disclosure include, but are not limited to, other forms of rope.

[0077] Figure 9 for Figure 1 The diagram shown is a schematic of the rotating module in the mechanical shoulder joint. Figure 10 A rotating module for a mechanical shoulder joint provided in one embodiment of this disclosure. Figure 9 A cross-sectional view along the CD direction. (See diagram.) Figure 9 and Figure 10 As shown, the mechanical shoulder joint 100 also includes a rotation module 400, which includes a rotation driver 401 and a rotation bearing 402. The rotation bearing 402 includes an inner ring 402a and an outer ring 402b. The arm connector 308 also includes a third bracket 403. The rotation driver 401 and the outer ring 402b are fixed to the third bracket 403. The rotation driver 401 is configured to drive the inner ring 402a of the rotation bearing to rotate about a third direction. Thus, by driving the inner ring of the rotation bearing to rotate about a third direction through the rotation driver, the third rotational degree of freedom of the mechanical shoulder joint is realized.

[0078] In some examples, the swivel bearing may be a crossed roller bearing. Of course, embodiments of this disclosure include, but are not limited to, other forms of bearings.

[0079] In some examples, such as Figure 9 and Figure 10 As shown, the rotary module 400 also includes a small rotary wheel 404 and a large rotary wheel 405. The small rotary wheel 404 is sleeved on the output shaft of the rotary driver 401, and the large rotary wheel 405 is fixed to the inner ring 402a of the rotary bearing. The small rotary wheel 404 and the large rotary wheel 405 form a rotary kinematic pair, so that the rotary driver 401 drives the inner ring 402a of the rotary bearing to rotate through the small rotary wheel 404 and the large rotary wheel 405. Thus, by setting the small rotary wheel, the reduction ratio can be increased and the torque can be increased.

[0080] In some examples, such as Figure 9 and Figure 10 As shown, the rotating module 400 may further include a rotating bearing outer ring fixing upper cover plate 410, a rotating bearing outer ring fixing lower cover plate 411, and a rotating bearing inner ring fixing lower cover plate 412. The lower end of the rotating large wheel 405 and the rotating bearing inner ring fixing lower cover plate 412 clamp the rotating bearing inner ring 402a, thereby allowing the rotating large wheel 405 to drive the rotating bearing inner ring 402a to rotate around a third direction. The rotating bearing outer ring fixing upper cover plate 410 and rotating bearing outer ring fixing lower cover plate 411 clamp the rotating bearing outer ring 402b. At the same time, the rotating bearing outer ring fixing upper cover plate 410 is fixed to the third bracket 403 by screws, thereby fixing the rotating bearing outer ring 402b to the third bracket 403.

[0081] In some examples, such as Figure 9 and Figure 10 As shown, the two kinematic pairs moving relative to each other in the rotary kinematic pair are configured to be driven by rope 340. Therefore, rope drive can improve transmission accuracy and efficiency, while reducing the weight of the mechanical shoulder joint. In this embodiment, the two kinematic pairs moving relative to each other in the above-mentioned rotary kinematic pair can also be driven by other methods, such as gears, chains, or belts.

[0082] Figure 11 for Figure 1 The diagram shows the drive module in the mechanical shoulder joint. Figure 12 A drive module for a mechanical shoulder joint provided in one embodiment of this disclosure is along Figure 11 A cross-sectional view along the EF direction. (See diagram.) Figure 11 and Figure 12As shown, the mechanical shoulder joint 100 also includes a drive module 500. The drive module 500 includes a drive fixing part 501, a first driver 502, a second driver 503, a first drive wheel axle 504, and a second drive wheel axle 505. The first drive wheel axle 504 and the second drive wheel axle 505 extend along a fourth direction U. The drive fixing part 501 is fixed to the inner ring 402a of the rotary bearing, and the first driver 502 and the second driver 503 are fixed to the drive fixing part 501. The fourth direction U is not parallel to the third direction Z. The first driver 502 is configured to drive the first drive wheel axle 504 to rotate, and the second driver 503 is configured to drive the second drive wheel axle 505 to rotate. The first drive wheel axle 504 and the second drive wheel axle 505 are configured to drive the mechanical elbow joint 601 via a belt, chain, or rope. Therefore, by using a drive module, the drive motor of the mechanical elbow joint can be moved to the mechanical shoulder joint, and the mechanical elbow joint can be driven by a belt, chain or rope, which reduces the end rotational inertia of the entire mechanical shoulder joint, making it more suitable for human-computer interaction scenarios; at the same time, the structure of this mechanical shoulder joint is easier to modularize, simplifying the manufacturing process.

[0083] Figure 13 This is a schematic diagram of a drive module in a mechanical shoulder joint according to an embodiment of the present disclosure. Figure 13 As shown, the drive module also includes a first drive pinion 504a and a second drive pinion 505a. The first drive pinion 504a is sleeved on the output shaft of the first driver 502. The first drive pinion 504a and the wheel portion 504b of the first drive shaft are connected by a belt, chain, gear teeth, or rope, so that the first driver 502 drives the first drive shaft 504 to rotate via the first drive pinion 504a. In this embodiment, the first drive pinion 504a and the wheel portion 504b of the first drive shaft are connected by a synchronous belt 523, which can further improve the transmission accuracy and transmission efficiency, while reducing the weight of the mechanical shoulder joint. The second drive pinion 505a is sleeved on the output shaft of the second driver 503. The second drive pinion 505a and the wheel portion 505b of the second drive shaft are connected by a belt, chain, gear teeth, or rope, so that the second driver 503 drives the second drive shaft 505 to rotate via the second drive pinion 505a. In this embodiment, the second drive pinion 505a and the wheel portion 505b of the second drive axle are connected by a timing belt 523, which can improve transmission accuracy and efficiency while reducing the weight of the mechanical shoulder joint. By setting the first drive pinion and the second drive pinion, the reduction ratio can also be increased, and the torque can be increased.

[0084] In some examples, such as Figure 12 As shown, the synchronous belt 523 can be tensioned by a combination of pulley bearing 524 and stud 525.

[0085] Figure 14A drive module for a mechanical shoulder joint provided in one embodiment of this disclosure is along Figure 13 A schematic cross-sectional view along the GH direction. (See diagram.) Figure 13 and 14 As shown, the drive module 500 also includes a third driver 506, a fourth driver 507, a first intermediate wheel shaft 508, a second intermediate wheel shaft 509, and a drive bearing 510. The drive bearing 510 includes an inner ring 510a and an outer ring 510b. The third driver 506 and the fourth driver 507 are fixed to the drive fixing part 501. One end of the first intermediate wheel shaft 508 is sleeved on the outer ring 510b of the drive bearing, and one end of the second intermediate wheel shaft 509 is sleeved on the inner ring 510a of the drive bearing. The third driver 506 is configured to drive the first intermediate wheel shaft 508 to rotate, and the fourth driver 507 is configured to drive the second intermediate wheel shaft 509 to rotate. The first intermediate wheel shaft 508 and the second intermediate wheel shaft 509 are configured to drive the mechanical wrist joint 602 via a belt, chain, or rope. Therefore, by using a drive module, the drive motor of the robotic wrist joint can be moved to the rear of the robotic shoulder joint, and the robotic wrist joint can be driven by a belt, chain, or rope. This reduces the end-effector rotational inertia of the entire robotic shoulder joint, making it more suitable for human-computer interaction scenarios. At the same time, the structure of this robotic shoulder joint is easier to modularize, simplifying the manufacturing process. Furthermore, by setting an intermediate axle, the space and weight of the robotic shoulder joint can be optimized, improving its flexibility and speed.

[0086] In some examples, such as Figure 13 and 14 As shown, the inner ring 510a of the drive bearing can be fixed by a snap ring and the shoulder of the second intermediate shaft 509. The outer ring 510b of the drive bearing can be fixed by the collar of the first intermediate shaft 508 and the pulley cover plate 526.

[0087] In some examples, such as Figure 13 and 14As shown, the drive module 500 also includes a third drive pinion 508a and a fourth drive pinion 509a. The third drive pinion 508a and the wheel portion 508b of the first intermediate shaft are connected by a belt, chain, gear teeth, or rope, so that the third actuator 506 drives the rotation of the first intermediate shaft 508 via the third drive pinion 508a. In this embodiment, the third drive pinion 508a and the wheel portion 508b of the first intermediate shaft are connected by a synchronous belt 523, which can further improve transmission accuracy and efficiency, while reducing the weight of the mechanical shoulder joint. The fourth drive pinion 509a and the wheel portion 509b of the second intermediate shaft are connected by a belt, chain, gear teeth, or rope, so that the fourth actuator 507 drives the rotation of the second intermediate shaft 509 via the fourth drive pinion 509a. In this embodiment, the fourth drive pinion and the second intermediate shaft are connected by a belt, which can further improve transmission accuracy and efficiency, while reducing the weight of the mechanical shoulder joint. By setting a third and fourth drive wheel, the reduction ratio can be increased, and the torque can be increased.

[0088] In some examples, such as Figure 12 and Figure 14 As shown, to prevent the timing belt 523 from being pulled out, pulley cover plates 526 are also provided on both sides of the wheel portion 508b of the first intermediate pulley axle and the wheel portion 509b of the second intermediate pulley axle. In this embodiment, pulley cover plates 526 can also be provided on the wheel portion 504b of the first drive pulley axle and the wheel portion 505b of the second drive pulley axle. The pulley cover plates 526 can be fixed to both sides of the corresponding wheel portion by locking nuts 527 and screws 528.

[0089] In some examples, such as Figure 11 , Figure 12 and Figure 14 As shown, the first drive wheel axle 504, the second drive wheel axle 505, the first intermediate wheel axle 508, and the second intermediate wheel axle 509 are fixed on the wheel axle fixing seat 521. Both the wheel axle fixing seat 521 and the drive fixing part 501 are connected to the inner ring of the rotary bearing and the lower cover plate 412, thereby allowing the wheel axle fixing seat 521 and the drive fixing part 501 to rotate with the large rotating wheel 405 via the inner ring 402a of the rotary bearing.

[0090] In some examples, such as Figure 11 As shown, the first drive wheel axle 504, the second drive wheel axle 505, the first intermediate wheel axle 508, and the second intermediate wheel axle 509 are fixed to the wheel axle fixing seat 521 by bearings 520 and snap rings 529, thereby enabling relatively independent rotational movements of the two. For example, the inner ring of the bearing 520 can be fixed by a corresponding shoulder and snap ring, while the outer ring of the bearing 520 can be fixed by the wheel axle fixing seat 521 and the bearing end cover 530. Therefore, the entire structure is relatively compact and has high transmission accuracy.

[0091] In some examples, bearing 520 may be a deep groove ball bearing; however, in this embodiment, the form of bearing 520 is not limited.

[0092] In some examples, such as Figure 11 , Figure 12 and Figure 14 As shown, the first drive wheel axle 504, the second drive wheel axle 505, the first intermediate wheel axle 508, and the second intermediate wheel axle 509 can be fixed by two flange bearings and the flange of the wheel axle fixing seat 521, respectively.

[0093] Figure 15 for Figure 8 An enlarged schematic diagram of the dashed box in the mechanical shoulder joint shown. (See attached image.) Figure 8 and Figure 15 As shown, the drive module 500 also includes a third rotary encoder 511. The third rotary encoder 511 includes an inner ring 511a and an outer ring 511b. The inner ring 511a is fixed to the drive fixing part 501, and the outer ring 511b is fixed to the third bracket 403. The third rotary encoder 511 is configured to measure the rotation angle and angular velocity of the drive fixing part 501. Therefore, the rotation angle and angular velocity of the mechanical shoulder joint in a third direction can be controlled and adjusted via the third rotary encoder.

[0094] In some examples, at least one of the first differential driver, the second differential driver, the rotary driver, the first driver, the second driver, the third driver, and the fourth driver includes an electric motor. This embodiment does not require the form of the above four drivers.

[0095] In some examples, such as Figure 2 As shown, the second differential driver 302 may further include a driver protective cover 302a and a driver mounting base 302b, which are used to protect and fix the second differential driver, respectively. Other drivers mentioned in this embodiment may include the above two structures.

[0096] In some examples, such as Figure 11 As shown, the second driver 503 is fixed to the driver fixing part 501 by screws 522. Other drivers mentioned in this embodiment can also be fixed to the corresponding fixing parts by screws, and are not limited here.

[0097] One embodiment of this disclosure also provides a robotic arm. Figure 16 This is a schematic diagram of a robotic arm provided according to an embodiment of this disclosure. Figure 16As shown, the robotic arm 700 includes a mechanical shoulder joint 100, a mechanical elbow joint 601, and a mechanical wrist joint 602. The mechanical shoulder joint 100 can be any of the mechanical shoulder joints provided in the examples described above. Thus, the robotic arm 700 has beneficial effects corresponding to the beneficial effects of the mechanical shoulder joint 100. For example, the end effector of the robotic arm has a small moment of inertia, improving the overall flexibility and speed of the robotic arm. The use of a differential mechanism module reduces the overall weight of the robotic arm, while the use of cable drive improves transmission accuracy and further reduces the overall weight of the robotic arm.

[0098] Figure 17 This is a schematic diagram of another robotic arm provided according to an embodiment of this disclosure. Figure 17 As shown, the robotic arm 700 includes a mechanical shoulder joint 100, a mechanical elbow joint 601, and a mechanical wrist joint 602. The mechanical shoulder joint 100 can be any of the mechanical shoulder joints provided in the examples described above. Thus, the robotic arm 700 has beneficial effects corresponding to the beneficial effects of the mechanical shoulder joint 100. For example, the end effector of the robotic arm has a small moment of inertia, improving the overall flexibility and speed of the robotic arm. The use of a differential mechanism module reduces the overall weight of the robotic arm, while the use of cable drive improves transmission accuracy and further reduces the overall weight of the robotic arm.

[0099] This disclosure also provides a robot according to one embodiment. Figure 18 This is a schematic diagram of a robot provided according to an embodiment of the present disclosure. Figure 18 As shown, the robot 800 includes a robotic arm 700. The robotic arm 700 can be any of the robotic arm 700 provided in the examples described above. Thus, the robot 800 has beneficial effects corresponding to the beneficial effects of the robotic arm 700. For example, the robot's robotic arm has a smaller moment of inertia at its end point, improving the overall flexibility and speed of the robotic arm. Simultaneously, the robot's robotic arm has better transmission accuracy and a lighter overall weight.

[0100] The following points should be noted regarding this disclosure:

[0101] (1) The accompanying drawings of the embodiments of this disclosure only involve the structures involved in the embodiments of this disclosure. Other structures can be referred to the general design.

[0102] (2) Where there is no conflict, the embodiments of this disclosure and the features in the embodiments can be combined with each other to obtain new embodiments.

[0103] The above description is merely a specific embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. The scope of protection of this disclosure should be determined by the scope of protection of the claims.

Claims

1. A mechanical shoulder joint, comprising: Shoulder base; as well as Differential mechanism module, The differential mechanism module includes a first differential driver, a second differential driver, a first differential wheel shaft, a second differential wheel shaft, a first differential wheel, a second differential wheel, a differential connecting shaft, and an arm connecting seat. The first differential wheel shaft and the second differential wheel shaft extend along a first direction, and the differential connecting shaft extends along a second direction. The first direction and the second direction intersect. The first differential wheel and the second differential wheel are sleeved at both ends of the differential connecting shaft. The arm connecting seat includes a first bracket and a second bracket. The first bracket is fixed to the first differential wheel, and the second bracket is fixed to the second differential wheel. The first differential driver and the second differential driver are respectively fixed to the shoulder base. The wheel portion of the first differential wheel shaft and the first differential wheel form a first differential kinematic pair, and the wheel portion of the second differential wheel shaft and the second differential wheel form a second differential kinematic pair. The first differential driver is configured to drive the first differential wheel shaft to rotate, and the second differential driver is configured to drive the second differential wheel shaft to rotate. The mechanical shoulder joint also includes a rotation module, comprising a rotation actuator and a rotation bearing. The rotation bearing includes an inner ring and an outer ring. The arm connector further includes a third bracket. The rotation actuator and the outer ring of the rotation bearing are fixed to the third bracket. The rotation actuator is configured to drive the inner ring of the rotation bearing to rotate about a third direction. The mechanical shoulder joint further includes a drive module, comprising a drive fixing part, a first driver, a second driver, a first drive wheel axle, and a second drive wheel axle. The first drive wheel axle and the second drive wheel axle extend along a fourth direction. The drive fixing part is fixed to the inner ring of the rotary bearing. The first driver and the second driver are fixed to the drive fixing part. The fourth direction is not parallel to the third direction. The first driver is configured to drive the first drive wheel axle to rotate. The second driver is configured to drive the second drive wheel axle to rotate. The first drive wheel axle and the second drive wheel axle are configured to drive the mechanical elbow joint via a belt, chain, or rope.

2. The mechanical shoulder joint according to claim 1, wherein, The diameter of the first differential wheel is smaller than the diameter of the second differential wheel.

3. The mechanical shoulder joint according to claim 1, wherein, The differential mechanism module also includes: Differential connection; and Differential bearings include a differential bearing inner ring and a differential bearing outer ring. The differential bearing inner ring is sleeved on the shaft portion of the first differential wheel shaft or the shaft portion of the second differential wheel shaft, the differential bearing outer ring is fixed to the shoulder base, one end of the differential connecting portion is fixed to the differential bearing inner ring, and one end of the differential connecting portion is fixed to the differential connecting shaft.

4. The mechanical shoulder joint according to claim 3, wherein, The differential mechanism module also includes: A first rotary encoder, the first rotary encoder comprising a first rotary encoder inner ring and a first rotary encoder outer ring; and Differential transfer axis The first rotary encoder inner ring is fitted onto one end of the differential transmission shaft, the first rotary encoder outer ring is fixed to the shoulder base, one end of the differential transmission shaft is fixed to the differential connection part near the end of the differential connection shaft, and the first rotary encoder is configured to measure the rotation angle and angular velocity of the differential transmission shaft.

5. The mechanical shoulder joint according to any one of claims 1-4, wherein, The differential mechanism module further includes a second rotary encoder, which includes an inner ring and an outer ring. The inner ring is fitted onto the differential connecting shaft, and the outer ring is fixed to the first or second bracket. The second rotary encoder is configured to measure the rotation angle and angular velocity of the differential connecting shaft.

6. The mechanical shoulder joint according to any one of claims 1-4, wherein, The differential mechanism module further includes a first differential small wheel, a first differential large wheel, a second differential small wheel, and a second differential large wheel. The first differential small gear and the first differential large gear form a third differential kinematic pair, and the second differential small gear and the second differential large gear form a fourth differential kinematic pair. The first differential pinion is sleeved on the output shaft of the first differential driver, and the first differential large pinion is sleeved on the shaft portion of the first differential wheel shaft, so that the first differential driver drives the first differential wheel shaft to rotate through the first differential pinion and the first differential large pinion. The second differential pinion is sleeved on the output shaft of the second differential driver, and the second differential large pinion is sleeved on the shaft portion of the second differential wheel shaft, so that the second differential driver drives the second differential wheel shaft to rotate through the second differential pinion and the second differential large pinion.

7. The mechanical shoulder joint according to claim 6, wherein, The first differential wheel is fixed to the shaft portion of the first differential wheel shaft by screws, or the first differential wheel is integrally formed with the shaft portion of the first differential wheel shaft. The second differential wheel is fixed to the shaft of the second differential wheel shaft by screws, or the second differential wheel is integrally formed with the second differential wheel shaft.

8. The mechanical shoulder joint according to claim 6, wherein, The two kinematic pairs in the first, second, third, and fourth differential kinematic pairs that move relative to each other are configured to be driven by a rope, gear, chain, or belt.

9. The mechanical shoulder joint according to claim 6, wherein, Both the first differential driver and the second differential driver are located between the first differential large wheel and the second differential large wheel.

10. The mechanical shoulder joint according to claim 3, wherein, The differential bearing and the rotary bearing are crossed roller bearings.

11. The mechanical shoulder joint according to claim 9, wherein, The rotating module also includes a small rotating wheel and a large rotating wheel. The small rotating wheel is sleeved on the output shaft of the rotary driver, and the large rotating wheel is fixed to the inner ring of the rotary bearing. The small rotating wheel and the large rotating wheel form a rotary motion pair, so that the rotary driver drives the inner ring of the rotary bearing to rotate through the small rotating wheel and the large rotating wheel.

12. The mechanical shoulder joint according to claim 11, wherein, The two kinematic pairs in the rotary kinematic pair that move relative to each other are configured to be driven by a rope, gear, chain or belt.

13. The mechanical shoulder joint according to claim 9, wherein, The first differential driver includes a first driver protective cover and a first driver mounting bracket for protecting and securing the first differential driver. The second differential driver includes a second driver protective cover and a second driver mounting bracket for protecting and securing the second differential driver.

14. The mechanical shoulder joint according to claim 13, wherein, The drive module also includes a first drive wheel and a second drive wheel. The first drive pinion is sleeved on the output shaft of the first driver. The first drive pinion and the wheel portion of the first drive shaft are connected by a belt, chain, gear teeth, or rope, so that the first driver drives the first drive shaft to rotate through the first drive pinion. The second drive pinion is mounted on the output shaft of the second driver. The second drive pinion and the wheel portion of the second drive shaft are connected by a belt, chain, gear teeth, or rope, so that the second driver drives the second drive shaft to rotate through the second drive pinion.

15. The mechanical shoulder joint according to claim 14, wherein, The drive module also includes a third driver, a fourth driver, a first intermediate wheel axle, a second intermediate wheel axle, and a drive bearing. The drive bearing includes an inner ring and an outer ring. The third and fourth drivers are fixed to the drive fixing part, one end of the first intermediate wheel shaft is sleeved on the outer ring of the drive bearing, and one end of the second intermediate wheel shaft is sleeved on the inner ring of the drive bearing. The third actuator is configured to drive the first intermediate wheel shaft to rotate, and the fourth actuator is configured to drive the second intermediate wheel shaft to rotate. The first intermediate wheel shaft and the second intermediate wheel shaft are configured to drive the mechanical wrist joint via a belt, chain, or rope.

16. The mechanical shoulder joint according to claim 15, wherein, The drive module also includes a third drive wheel and a fourth drive wheel. The third drive wheel and the wheel portion of the first intermediate wheel axle are connected by a belt, chain, gear teeth, or rope, so that the third drive unit drives the rotation of the first intermediate wheel axle through the third drive wheel. The fourth drive pinion and the wheel portion of the second intermediate wheel axle are connected by a belt, chain, gear teeth, or rope, so that the fourth driver drives the rotation of the second intermediate wheel axle through the fourth drive pinion.

17. The mechanical shoulder joint according to claim 13, wherein, The drive module also includes a third rotary encoder. The third rotary encoder includes an inner ring and an outer ring. The inner ring of the third rotary encoder is fixed to the drive fixing part, and the outer ring of the third rotary encoder is fixed to the third bracket. The third rotary encoder is configured to measure the rotation angle and angular velocity of the drive fixture.

18. The mechanical shoulder joint according to claim 15, wherein, At least one of the first differential driver, the second differential driver, the rotary driver, the first driver, the second driver, the third driver, and the fourth driver includes an electric motor.

19. A robotic arm comprising a robotic shoulder joint, a robotic elbow joint, and a robotic wrist joint as described in any one of claims 1-18.

20. A robot comprising the robotic arm according to claim 19.

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