The utility model relates to a humanoid spherical shoulder joint mechanism, which belongs to the technical field of mechanical electronics and comprises a flexion and extension device and an extensiondevice. The bending and stretching device comprises two T-shaped plates which are symmetrically arranged, an end plate is arranged between the two T-shaped plates, an upper gear set is arranged on the end plate, the upper gear set comprises gears which are meshed in sequence, a first motor is arranged on the end plate, and the first motor is connected with the gear at the top end of the upper gear set; the stretching device comprises a U-shaped connecting plate; a connecting block, a second motor and a lower gear set are arranged in the U-shaped connecting plate; the lower gear set comprisestwo meshed gears, the connecting block comprises four side faces, two opposite side faces are connected with a gear at the tail end of the upper gear set through a rotating shaft, the other two opposite side faces are connected with a gear at the top end of the lower gear set through a rotating shaft, and a gear at the bottom end of the lower gear set is connected with a second motor through a rotating shaft. According to the shoulder joint mechanism, two-degree-of-freedom movement at the joint of the mechanical arm can be achieved, the size of the joint of the artificial limb is reduced, andpracticability is high.
Humanoid spherical shoulder joint mechanism