Humanoid robot and four-degree-of-freedom mechanical arm simulating human shoulder and elbow joints thereof

Abstract

The invention discloses a humanoid robot and a four-degree-of-freedom mechanical arm simulating human shoulder and elbow joints thereof, and the four-degree-of-freedom mechanical arm comprises a first joint module, a second shoulder joint module, a third shoulder joint module, a big arm module and a small arm module which are connected in sequence; the first shoulder joint module achieves the pitching freedom degree of the shoulder, the second shoulder joint module achieves the rolling freedom degree of the shoulder, the third shoulder joint module achieves the yawing freedom degree of the shoulder, and the pitching freedom degree of the elbow is achieved through a fourth joint installed in the large arm module and connected with the small arm module. A first joint in the first shoulder joint module, a second joint in the second shoulder joint module and a third joint and a fourth joint in the third shoulder joint module are respectively controlled by an external driver and an industrial personal computer, so that the three-degree-of-freedom movement of the shoulder and the one-degree-of-freedom movement of the elbow of the mechanical arm are realized. The device has the characteristics of high bionics, inertia upward movement and module integration, can meet the basic movement requirements of the upper limbs of the humanoid robot, and is convenient to control, low in energy consumption and convenient to disassemble.

Description

Technical Field

[0001] The invention belongs to the field of robots, and in particular relates to a four-degree-of-freedom mechanical arm that imitates human shoulder and elbow joints. Background Art

[0002] The compact and reasonable mechanical structure design of the humanoid robot upper limb is the basis for the humanoid robot to perform various operations and complete various tasks. There are three key points in the design of the mechanical structure of the humanoid robot upper limb: first, high bionics. The upper limb structure evolved by humans in tens of thousands of years of evolution is sufficient to cope with most task scenarios, so the humanoid robot upper limb should imitate the degree of freedom configuration of human upper limbs; second, the inertia is moved upward. Whether it is performing precision operations or bearing the impact of falling, the robotic arm with inertia moving upward can always bring convenience to control and reduce energy consumption; third, module integration. The robotic arm constructed with highly integrated modules has huge advantages in the process of parts procurement and processing, parts upgrade iteration, and assembly and disassembly of the whole machine. The shortcomings of the existing humanoid robot upper limb mechanical structure design are mainly low inertia and low integration, which leads to high energy consumption and inconvenient disassembly and assembly. Summary of the invention

[0003] In view of the deficiencies in the prior art, the present invention provides a four-degree-of-freedom robotic arm that imitates the human shoulder and elbow joints.

[0004] The present invention achieves the above technical objectives through the following technical means.

[0005] A four-degree-of-freedom mechanical arm that imitates human shoulder and elbow joints, comprising a shoulder joint module 1, a shoulder joint module 2, a shoulder joint module 3, an upper arm module and a lower arm module, wherein the shoulder joint module 1 is connected to the shoulder joint module 2, the shoulder joint module 2 is connected to the shoulder joint module 3, the shoulder joint module 3 is connected to the upper arm module, and the upper arm module is connected to the lower arm module; the shoulder joint module 1 realizes the shoulder pitch freedom, the shoulder joint module 2 realizes the shoulder roll freedom, the shoulder joint module 3 realizes the shoulder yaw freedom, and the elbow pitch freedom is realized by an integrated linear joint installed in the upper arm module and connected to the lower arm module;

[0006] The boom module includes a fourth joint, a boom sleeve, a deep groove ball bearing support shaft, a fourth joint main shaft and a fourth joint secondary shaft, wherein the fourth joint is located inside the boom sleeve; the output end sleeve of the fourth joint is fixedly connected to the fourth joint secondary shaft by a flat head bolt and a bolt gasket, the fixed end sleeve of the fourth joint is fixedly connected to one end of the deep groove ball bearing support shaft, the other end of the deep groove ball bearing support shaft is buckled with an inner retaining ring of the deep groove ball bearing, a fixed deep groove ball bearing is sleeved on one end of the deep groove ball bearing support shaft close to the inner retaining ring of the deep groove ball bearing, a deep groove ball bearing outer support is sleeved on the outer side of the deep groove ball bearing, and the deep groove ball bearing outer support is buckled with the upper through hole of the boom sleeve; the thrust bearing outer support buckled with the lower through hole of the boom sleeve, on the one hand, fixes the outer ring of the thrust bearing's tightening ring, and on the other hand, cooperates with the inner ring of the thrust bearing's tightening ring to fix the fourth joint main shaft;

[0007] The forearm module includes a forearm sleeve and a carbon fiber tube; the main shaft sleeve of the forearm sleeve fixes the loose ring outer ring of the needle bearing and the thrust bearing on the fourth joint main shaft in sequence, and then is inserted into the fourth joint main shaft; the secondary shaft sleeve of the forearm sleeve fixes the needle bearing on the fourth joint secondary shaft, and then is inserted into the fourth joint secondary shaft; the carbon fiber tube is fixed in the pipe sleeve of the forearm sleeve.

[0008] In the above technical scheme, the shoulder-joint module includes a first joint, a first cross-roller bearing and a first U-shaped frame; the output inner ring of the first joint is fixedly connected to the radial side of the first U-shaped frame through a first output flange, and the fixed outer ring of the first joint is fixedly connected to the arm ring through a first fixed adapter flange; the first cross-roller bearing is located between the first joint and the first U-shaped frame, and the outer ring of the first cross-roller bearing is fixed through the first fixed adapter flange and the groove of the outer retaining ring of the first cross-roller bearing, and the inner ring of the first cross-roller bearing is fixed through the first output flange and the shoulder on the radial side of the first U-shaped frame.

[0009] In the above technical solution, the outer retaining ring of the first cross roller bearing is made of steel.

[0010] In the above technical scheme, the shoulder joint module includes a second joint, a second U-shaped frame and a second cross roller bearing; the output inner ring of the second joint is fixedly connected to one axial side of the second U-shaped frame through a second output flange, the fixed outer ring of the second joint is fixedly connected to one axial side of the first U-shaped frame, and the second U-shaped frame is located inside the first U-shaped frame; the outer ring of the second cross roller bearing is fixed through the other axial side of the second U-shaped frame and the groove of the outer retaining ring of the second cross roller bearing, the inner ring of the second cross roller bearing is fixed through the second fixed adapter flange and the shoulder of the inner support of the second cross roller bearing, and the second fixed adapter flange is installed on the other axial side of the first U-shaped frame.

[0011] In the above technical scheme, the shoulder three-joint module includes a third joint and a third cross-roller bearing; the output inner ring of the third joint is fixedly connected to the third output adapter flange through the third output flange, and the fixed outer ring of the third joint is fixedly connected to the radial side of the second U-shaped frame through the third fixed adapter flange; the outer ring of the third cross-roller bearing is fixed by the radial side of the second U-shaped frame and the groove of the outer retaining ring of the third cross-roller bearing, the inner ring of the third cross-roller bearing is fixed by the third output flange and the shoulder of the third output adapter flange, and the outer retaining ring of the third cross-roller bearing is fixedly connected to the radial side of the second U-shaped frame; the bottom of the third output adapter flange is connected to the top of the boom sleeve by screws.

[0012] In the above technical solution, the outer retaining ring of the third cross roller bearing, the deep groove ball bearing support shaft, the fourth joint main shaft and the fourth joint secondary shaft are all made of steel.

[0013] In the above technical solution, the screws on the third output adapter flange are aligned with the recessed portion at the bottom of the second U-shaped frame.

[0014] In the above technical solution, when the fixed end sleeve of the fourth joint is fixedly connected to one end of the deep groove ball bearing support shaft, a compensation gasket is used.

[0015] In the above technical solution, a protrusion is provided on the supporting shaft of the deep groove ball bearing, and the protrusion and the inner retaining ring of the deep groove ball bearing respectively fix two sides of the inner ring of the deep groove ball bearing.

[0016] A humanoid robot comprises the above-mentioned four-degree-of-freedom mechanical arm that imitates the human shoulder and elbow joints.

[0017] The beneficial effects of the present invention are:

[0018] (1) The design of the shoulder-joint module in the present invention allows the entire robotic arm except the first joint and the first fixed adapter flange to be pre-installed and then installed as a whole on the arm ring; most of the assembly process does not need to be performed on the robot as a whole, which brings great convenience.

[0019] (2) The double U-shaped frame design of the shoulder joint module 1 and the shoulder joint module 2 in the present invention allows the third joint to be positioned as high as possible, reaching a height that is almost flush with the first joint and the second joint, which is not achievable by existing structures. This achieves an upward shift in inertia, facilitates control, and reduces energy consumption.

[0020] (3) The connection design between the shoulder three-joint module and the upper arm module in the present invention allows the upper arm module and the shoulder three-joint module to be freely installed and disassembled, which brings great convenience.

[0021] (4) The fourth joint of the upper arm module in the present invention is an integrated linear joint. Such a design can not only realize the upward shift of inertia, but also adjust the side length of the push rod triangle (composed of the upper arm sleeve, the lower arm sleeve and the fourth joint) by changing the size of the upper arm sleeve and the lower arm sleeve, thereby changing the achievable working range and the maximum torque that can be borne by the elbow pitch freedom.

[0022] (5) The four degrees of freedom of the entire robot arm of the present invention are all realized by integrated joints. The number of designed connectors is streamlined, with good portability and high integration characteristics, which is convenient for parts procurement and processing, parts upgrade iteration, and whole machine assembly and disassembly; if you want to replace different types of integrated joints, you only need to adjust the size of the corresponding connector. In addition, the end of the forearm of the present invention can be fixedly connected to various integrated manipulators through a simple pipe sleeve connector to perform different operation tasks; modularization brings great convenience to subsequent structural iteration and expansion design. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a cross-sectional view of the shoulder joint 1, shoulder joint 3 and upper arm module of the present invention;

[0024] Figure 2 It is a cross-sectional view of the shoulder joint 1 and shoulder joint 2 modules of the present invention;

[0025] Figure 3 It is a cross-sectional view of the fourth joint secondary axis of the present invention;

[0026] Figure 4 It is an exploded view of the assembly of the shoulder joint 1, shoulder joint 2 and shoulder joint 3 modules of the present invention;

[0027] Figure 5 It is an exploded view of the assembly of the upper arm and lower arm modules of the present invention;

[0028] Figure 6 This is the overall structure diagram of the four-degree-of-freedom mechanical arm that imitates the human shoulder and elbow joints according to the present invention;

[0029] In the figure: 0-arm ring, 11-first joint, 12-first output flange, 13-first fixed adapter flange, 14-first cross roller bearing, 15-first cross roller bearing outer retaining ring, 16-first U-shaped frame, 21-second joint, 22-second output flange, 23-second U-shaped frame, 24-second cross roller bearing outer retaining ring, 25-second cross roller bearing, 26-second fixed adapter flange, 27-second cross roller bearing inner support, 31-third joint, 32-third fixed adapter flange, 33-third output flange, 34-third cross roller bearing, 35 -Outer retaining ring of the third cross roller bearing, 36-third output adapter flange, 41-fourth joint, 42-big arm sleeve, 43-outer support of deep groove ball bearing, 44-deep groove ball bearing, 45-inner retaining ring of deep groove ball bearing, 46-deep groove ball bearing support shaft, 47-compensation gasket, 48-outer support of thrust bearing, 49-fourth joint main shaft, 410-thrust bearing, 411-fourth joint secondary shaft, 412-flat head bolt, 413-bolt gasket, 51-small arm sleeve, 52-needle roller bearing on the fourth joint main shaft, 53-needle roller bearing on the fourth joint secondary shaft, 54-carbon fiber tube. DETAILED DESCRIPTION

[0030] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0031] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 As shown, a four-degree-of-freedom mechanical arm that imitates the human shoulder and elbow joints includes a shoulder joint module 1, a shoulder joint module 2, a shoulder joint module 3, an upper arm module, and a lower arm module. The shoulder pitch freedom is realized by the shoulder joint module 1, the shoulder roll freedom is realized by the shoulder joint module 2, the shoulder yaw freedom is realized by the shoulder joint module 3, and the elbow pitch freedom is realized by an integrated linear joint (i.e., the fourth joint 41) installed in the upper arm module and connected to the lower arm module.

[0032] The shoulder-joint module includes a first joint 11, a first output flange 12, a first fixed adapter flange 13, a first cross roller bearing 14, a first cross roller bearing outer retaining ring 15, and a first U-shaped frame 16. The first joint 11 is an integrated rotary joint, which integrates a motor, a reducer, an encoder, etc. Its output inner ring is fixedly connected to the radial side of the first U-shaped frame 16 through the first output flange 12, and a cylindrical pin is driven in to eliminate the output backlash. Its fixed outer ring is fixedly connected to the arm ring 0 through the first fixed adapter flange 13, and the arm ring 0 is fixedly connected to the chest of the robot. The first cross roller bearing 14 is located between the first joint 11 and the first U-shaped frame 16, and its outer ring is fixed by the grooves of the first fixed adapter flange 13 and the first cross roller bearing outer retaining ring 15, and its inner ring is fixed by the first output flange 12 and the radial side shoulder of the first U-shaped frame 16 to ensure that the four corners of the cross roller bearing are fixed. The first fixed adapter flange 13 and the first cross roller bearing outer retaining ring 15 are also fixedly connected by screws, and the first output flange 12 is fixed on the first U-shaped frame 16. The first cross roller bearing outer retaining ring 15 is made of steel to ensure strength.

[0033] The specific installation process of the shoulder-joint module is as follows: first, put the first cross-roller bearing outer retaining ring 15 on the corresponding part of the first U-shaped frame 16, then press in the first cross-roller bearing 14, and install the first output flange 12; after the entire robotic arm except the first joint 11 and the first fixed adapter flange 13 is installed, first install the first fixed adapter flange 13 and the first joint 11 on the arm ring 0, and then lock them with screws through the first cross-roller bearing outer retaining ring 15.

[0034] The shoulder joint module includes a second joint 21, a second output flange 22, a second U-shaped frame 23, a second cross roller bearing outer retaining ring 24, a second cross roller bearing 25, a second fixed adapter flange 26, and a second cross roller bearing inner support 27. The second joint 21 is an integrated rotary joint, which integrates a motor, a reducer, an encoder, etc., and its output inner ring is fixedly connected to one axial side of the second U-shaped frame 23 through the second output flange 22, and a cylindrical pin is driven in to eliminate the output backlash, and its fixed outer ring is fixedly connected to one axial side of the first U-shaped frame 16; the second U-shaped frame 23 is located inside the first U-shaped frame 16. For the second crossed roller bearing 25, its outer ring is fixed by the groove of the second crossed roller bearing outer retaining ring 24 on the other axial side of the second U-shaped frame 23, and its inner ring is fixed by the second fixed adapter flange 26 and the shoulder of the second crossed roller bearing inner support 27 to ensure that the four corners of the crossed roller bearing are fixed; the second U-shaped frame 23 is fixedly connected to the second crossed roller bearing outer retaining ring 24 on the other axial side, and the second fixed adapter flange 26 is fixedly connected to the second crossed roller bearing inner support 27, and the second fixed adapter flange 26 is installed on the other axial side of the first U-shaped frame 16.

[0035] The specific installation process of the shoulder joint module is as follows: first press the second cross roller bearing 25 onto the second U-shaped frame 23, install the second cross roller bearing outer retaining ring 24, fit the first U-shaped frame 16 with the second U-shaped frame 23, install the second joint 21 and the second output flange 22, then install the second fixed adapter flange 26, and finally lock the second cross roller bearing inner support 27 with screws.

[0036] The shoulder three-joint module includes a third joint 31, a third fixed adapter flange 32, a third output flange 33, a third cross roller bearing 34, a third cross roller bearing outer retaining ring 35, and a third output adapter flange 36. The third joint 31 is an integrated rotary joint, which integrates a motor, a reducer, an encoder, etc. Its output inner ring is fixedly connected to the third output adapter flange 36 through the third output flange 33, and a cylindrical pin is driven in to eliminate the output backlash. Its fixed outer ring is fixedly connected to the radial side of the second U-shaped frame 23 through the third fixed adapter flange 32. For the third cross roller bearing 34, its outer ring is fixed by the groove of the radial side of the second U-shaped frame 23 and the outer retaining ring 35 of the third cross roller bearing, and its inner ring is fixed by the third output flange 33 and the shoulder of the third output adapter flange 36 to ensure that the four corners of the cross roller bearing are fixed. The outer retaining ring 35 of the third cross roller bearing is fixedly connected to the radial side of the second U-shaped frame 23. Among them, the outer retaining ring 35 of the third cross roller bearing is made of steel to ensure strength.

[0037] The specific installation process of the shoulder three-joint module is: first fix the third joint 31 with the third fixed adapter flange 32, and then install the whole on the second U-shaped frame 23, use screws to lock the third output flange 33 and the third cross roller bearing 34 through the third cross roller bearing outer retaining ring 35, and finally install the third output adapter flange 36.

[0038] The upper arm module includes a fourth joint 41, an upper arm sleeve 42, a deep groove ball bearing outer support 43, a deep groove ball bearing 44, a deep groove ball bearing inner retaining ring 45, a deep groove ball bearing support shaft 46, a compensation gasket 47, a thrust bearing outer support 48, a fourth joint main shaft 49, a thrust bearing 410, a fourth joint secondary shaft 411, a flat head bolt 412, and a bolt gasket 413, wherein the number of the deep groove ball bearing outer support 43, the deep groove ball bearing 44, the deep groove ball bearing inner retaining ring 45, the deep groove ball bearing support shaft 46, the compensation gasket 47, the thrust bearing outer support 48, the thrust bearing 410, the flat head bolt 412, and the bolt gasket 413 is 2. The fourth joint 41 is an integrated linear joint, which integrates a motor, an encoder, a lead screw and its nut, etc. Its output end sleeve is fixedly connected to the fourth joint secondary shaft 411 through a flat head bolt 412 and a bolt washer 413, and its fixed end sleeve is fixedly connected to one end of a deep groove ball bearing support shaft 46, and the other end of the deep groove ball bearing support shaft 46 is buckled with the deep groove ball bearing inner retaining ring 45. When the fixed end sleeve of the fourth joint 41 is fixedly connected to one end of the deep groove ball bearing support shaft 46, a compensation washer 47 is used. , ensuring that the relative position of the fourth joint 41 and the arm sleeve 42 meets the motion accuracy requirements; a deep groove ball bearing 44 is sleeved on one end of the deep groove ball bearing support shaft 46 close to the deep groove ball bearing inner retaining ring 45, and a protrusion is provided on the deep groove ball bearing support shaft 46, which and the deep groove ball bearing inner retaining ring 45 respectively fix the inner ring of the deep groove ball bearing 44 on both sides; a deep groove ball bearing outer support 43 is sleeved on the outer side of the deep groove ball bearing 44, and the deep groove ball bearing outer support 43 is buckled with the upper through hole of the arm sleeve 42. The fourth joint 41 is located inside the arm sleeve 42, and the top of the arm sleeve 42 is connected to the bottom of the third output adapter flange 36 by screws. The thrust bearing outer support 48, which is buckled with the lower through hole of the arm sleeve 42, fixes the outer ring of the thrust bearing 410 on the one hand, and cooperates with the inner ring of the thrust bearing 410 to fix the fourth joint main shaft 49. Among them, the deep groove ball bearing support shaft 46, the fourth joint main shaft 49, and the fourth joint secondary shaft 411 are made of steel to ensure strength. The radial length of the second U-shaped frame 23 is close to the length of the shorter side of the big arm sleeve 42, which makes it inconvenient to disassemble the connection between the big arm sleeve 42 and the third output adapter flange 36. Therefore, the screws on the third output adapter flange 36 are aligned with the flower-shaped recessed part at the bottom of the second U-shaped frame 23 to achieve free installation and disassembly of the shoulder three-joint module and the big arm module.

[0039] The forearm module includes a forearm sleeve 51, a needle bearing 52 on the fourth joint main shaft, a needle bearing 53 on the fourth joint secondary shaft, and a carbon fiber tube 54, wherein the number of the needle bearings 52 on the fourth joint main shaft and the needle bearings 53 on the fourth joint secondary shaft are both 2. The main shaft sleeve of the forearm sleeve 51 successively fixes the needle bearing 52 on the fourth joint main shaft and the loose ring outer ring of the thrust bearing 410, and then is inserted into the fourth joint main shaft 49. The secondary shaft sleeve of the forearm sleeve 51 fixes the needle bearing 53 on the fourth joint secondary shaft, and then is inserted into the fourth joint secondary shaft 411. The carbon fiber tube 54 is inserted into the pipe sleeve of the forearm sleeve 51 and locked with 4 screws.

[0040] The specific installation process of the upper arm module and the lower arm module is as follows: first put the fourth joint 41 into the upper arm sleeve 42, press in the deep groove ball bearing support shaft 46 and the compensation gasket 47, then use screws to lock the deep groove ball bearing 44 through the deep groove ball bearing outer support 43, and then buckle the deep groove ball bearing inner retaining ring 45. After pressing the needle bearing 52 on the fourth joint main shaft and the needle bearing 53 on the fourth joint secondary shaft into the lower arm sleeve 51, insert the fourth joint main shaft 49, and use screws to lock the fourth joint main shaft 49 and the thrust bearing 410 at the same time through the thrust bearing outer support 48, and finally insert the fourth joint secondary shaft 411, and lock it with the flat head bolt 412 through the bolt gasket 413, and then insert the carbon fiber tube 54 and lock it with screws.

[0041] The working principle of the four-degree-of-freedom robotic arm that imitates the human shoulder and elbow joints of the present invention is: through an external driver and an industrial computer, the first joint 11, the second joint 21, the third joint 31 and the fourth joint 41 are controlled respectively to realize the three-degree-of-freedom movement of the shoulder of the robotic arm (including pitch, roll and yaw degrees of freedom) and the one-degree-of-freedom movement of the elbow (i.e., the pitch degree of freedom of the elbow).

[0042] The embodiments are preferred implementations of the present invention, but the present invention is not limited to the above-mentioned implementations. Any obvious improvements, substitutions or modifications that can be made by those skilled in the art without departing from the essential content of the present invention belong to the protection scope of the present invention.

Claims

1. A four-degree-of-freedom robotic arm that mimics the human shoulder and elbow joints, characterized in that: It includes a shoulder joint module 1, a shoulder joint module 2, a shoulder joint module 3, an upper arm module and an arm module, wherein the shoulder joint module 1 is connected to the shoulder joint module 2, the shoulder joint module 2 is connected to the shoulder joint module 3, the shoulder joint module 3 is connected to the upper arm module, and the upper arm module is connected to the arm module; the shoulder joint module 1 realizes the shoulder pitch freedom, the shoulder joint module 2 realizes the shoulder roll freedom, the shoulder joint module 3 realizes the shoulder yaw freedom, and the elbow pitch freedom is realized by an integrated linear joint installed in the upper arm module and connected to the arm module; The upper arm module comprises a fourth joint (41), an upper arm sleeve (42), a deep groove ball bearing support shaft (46), a fourth joint main shaft (49) and a fourth joint secondary shaft (411), wherein the fourth joint (41) is located inside the upper arm sleeve (42); the output end sleeve of the fourth joint (41) is fixedly connected to the fourth joint secondary shaft (411) by means of a flat head bolt (412) and a bolt washer (413); the fixed end sleeve of the fourth joint (41) is fixedly connected to one end of the deep groove ball bearing support shaft (46); the other end of the deep groove ball bearing support shaft (46) is fixedly connected to the inner retaining ring ( 45) is buckled, a fixed deep groove ball bearing (44) is sleeved on one end of the deep groove ball bearing support shaft (46) close to the deep groove ball bearing inner retaining ring (45), a deep groove ball bearing outer support (43) is sleeved on the outer side of the deep groove ball bearing (44), and the deep groove ball bearing outer support (43) is buckled with the upper through hole of the upper arm sleeve (42); the thrust bearing outer support (48) buckled with the lower through hole of the upper arm sleeve (42) fixes the outer ring of the thrust bearing (410) on the one hand, and cooperates with the inner ring of the thrust bearing (410) to be fixedly connected to the fourth joint main shaft (49) on the other hand; The forearm module comprises a forearm sleeve (51) and a carbon fiber tube (54); the main shaft sleeve of the forearm sleeve (51) sequentially fixes the needle bearing (52) on the fourth joint main shaft and the loose ring outer ring of the thrust bearing (410), and then is inserted into the fourth joint main shaft (49); the secondary shaft sleeve of the forearm sleeve (51) fixes the needle bearing (53) on the fourth joint secondary shaft, and then is inserted into the fourth joint secondary shaft (411); the carbon fiber tube (54) is fixed in the pipe sleeve of the forearm sleeve (51).

2. The four-degree-of-freedom mechanical arm that imitates human shoulder and elbow joints according to claim 1, characterized in that: The shoulder-joint module comprises a first joint (11), a first cross roller bearing (14) and a first U-shaped frame (16); the output inner ring of the first joint (11) is fixedly connected to a radial side of the first U-shaped frame (16) via a first output flange (12), and the fixed outer ring of the first joint (11) is fixedly connected to the arm ring (0) via a first fixed adapter flange (13); the first cross roller bearing (14) is located between the first joint (11) and the first U-shaped frame (16), and the outer ring of the first cross roller bearing (14) is fixed via the first fixed adapter flange (13) and the groove of the first cross roller bearing outer retaining ring (15), and the inner ring of the first cross roller bearing (14) is fixed via the first output flange (12) and the radial side shoulder of the first U-shaped frame (16).

3. The four-degree-of-freedom mechanical arm that imitates human shoulder and elbow joints according to claim 2, characterized in that: The first cross roller bearing outer retaining ring (15) is made of steel.

4. The four-degree-of-freedom mechanical arm that imitates human shoulder and elbow joints according to claim 1, characterized in that: The shoulder joint module comprises a second joint (21), a second U-shaped frame (23) and a second cross roller bearing (25); the output inner ring of the second joint (21) is fixedly connected to one axial side of the second U-shaped frame (23) through a second output flange (22); the fixed outer ring of the second joint (21) is fixedly connected to one axial side of the first U-shaped frame (16), and the second U-shaped frame (23) is located inside the first U-shaped frame (16); the outer ring of the second cross roller bearing (25) is fixed by the groove of the second cross roller bearing outer retaining ring (24) on the other axial side of the second U-shaped frame (23); the inner ring of the second cross roller bearing (25) is fixed by the second fixed adapter flange (26) and the axial shoulder of the second cross roller bearing inner support (27), and the second fixed adapter flange (26) is installed on the other axial side of the first U-shaped frame (16).

5. The four-degree-of-freedom mechanical arm that imitates human shoulder and elbow joints according to claim 1, characterized in that: The shoulder three-joint module comprises a third joint (31) and a third cross roller bearing (34); the output inner ring of the third joint (31) is fixedly connected to the third output adapter flange (36) through the third output flange (33), and the fixed outer ring of the third joint (31) is fixedly connected to the radial side of the second U-shaped frame (23) through the third fixed adapter flange (32); the outer ring of the third cross roller bearing (34) is fixed by the radial side of the second U-shaped frame (23) and the groove of the third cross roller bearing outer retaining ring (35), the inner ring of the third cross roller bearing (34) is fixed by the third output flange (33) and the axial shoulder of the third output adapter flange (36), and the third cross roller bearing outer retaining ring (35) is fixedly connected to the radial side of the second U-shaped frame (23); the bottom of the third output adapter flange (36) is connected to the top of the upper arm sleeve (42) through screws.

6. The four-degree-of-freedom mechanical arm that imitates human shoulder and elbow joints according to claim 5, characterized in that: The third cross roller bearing outer retaining ring (35), the deep groove ball bearing support shaft (46), the fourth joint main shaft (49) and the fourth joint secondary shaft (411) are all made of steel.

7. The four-degree-of-freedom mechanical arm that imitates human shoulder and elbow joints according to claim 5, characterized in that: The screws on the third output adapter flange (36) are aligned with the recessed portion at the bottom of the second U-shaped frame (23).

8. The four-degree-of-freedom mechanical arm that imitates human shoulder and elbow joints according to claim 1, characterized in that: When the fixed end shaft sleeve of the fourth joint (41) is fixedly connected to one end of the deep groove ball bearing support shaft (46), a compensation gasket (47) is used.

9. The four-degree-of-freedom mechanical arm that imitates human shoulder and elbow joints according to claim 1, characterized in that: The deep groove ball bearing support shaft (46) is provided with a protrusion, and the protrusion and the deep groove ball bearing inner retaining ring (45) respectively fix the two sides of the inner ring of the deep groove ball bearing (44).

10. A humanoid robot, characterized in that: A four-degree-of-freedom robotic arm that imitates the human shoulder and elbow joint as described in any one of claims 1-9.

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