Robotic arm, robot, control method and control device

Abstract

The application provides a mechanical arm, a robot, a control method and a control device, and belongs to the technical field of robots. The mechanical arm comprises a shoulder module, an elbow module, a wrist module and an execution module; the shoulder module comprises a first driving assembly and a second driving assembly, the first driving assembly is used for driving a first degree of freedom of rotation of the rest of the shoulder module relative to a base piece, and the second driving assembly is used for driving a second degree of freedom and a third degree of freedom of rotation of the elbow module relative to the shoulder module; the elbow module comprises a third driving assembly, the third driving assembly is used for driving a fourth degree of freedom and a fifth degree of freedom of rotation of the wrist module relative to the elbow module; and the wrist module comprises a fourth driving assembly, the fourth driving assembly is used for driving a sixth degree of freedom and a seventh degree of freedom of rotation of the execution module relative to the wrist module. The mechanical arm of the application can realize seven degrees of freedom movement, has better flexibility, and can meet the work requirements of various different scenes.

Description

robotic arms, robots, control methods and control devices Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a robotic arm, a robot, a control method, and a control device. Background Technology

[0002] With the continuous development of robotics technology, the application of service robots in human living environments has become a popular research direction. Compared with other types of robots, service robots, in order to cope with highly interactive human-computer scenarios, require performance characteristics such as high sensitivity, low inertia, high torque, and structural compliance.

[0003] However, in order to achieve a smaller inertia, the robotic arms provided in related technologies have shortcomings in terms of stiffness and torque, and key performance cannot be compatible, which limits the working performance of the robotic arms. Summary of the Invention

[0004] This application provides a robotic arm, a robot, a control method, and a control device, which can solve the problem that the robotic arm's rigidity and torque are insufficient in order to achieve a small inertia, thus limiting the working performance of the robotic arm.

[0005] The technical solution is as follows:

[0006] On the one hand, a robotic arm is provided, which includes: a shoulder module, an elbow module, a wrist module, and an execution module;

[0007] One end of the shoulder module is provided with a base component, the elbow module is movably connected to the other end of the shoulder module, the wrist module is movably connected to the end of the elbow module facing away from the shoulder module, and the execution module is movably connected to the end of the wrist module facing away from the elbow module.

[0008] The shoulder module includes a first drive assembly and a second drive assembly. The first drive assembly is connected to the side of the base member facing away from the elbow module, and the second drive assembly is located inside the shoulder module and close to the base member. The first drive assembly is used to drive the remaining part of the shoulder module to rotate with a first degree of freedom relative to the base member, and the second drive assembly is used to drive the elbow module to rotate with a second degree of freedom and a third degree of freedom relative to the shoulder module.

[0009] The elbow module includes a third drive assembly located within the end of the elbow module facing the shoulder module. The third drive assembly is used to drive the wrist module to rotate in a fourth and fifth degree of freedom relative to the elbow module.

[0010] The wrist module includes a fourth drive assembly located within the end of the wrist module facing the elbow module. The fourth drive assembly is used to drive the execution module to rotate in the sixth and seventh degrees of freedom relative to the wrist module.

[0011] On the other hand, a robot is provided, which includes the robotic arm described in this application.

[0012] On the other hand, a control method is provided for controlling a robotic arm, the robotic arm comprising a shoulder module, an elbow module, a wrist module, and an execution module sequentially and movably connected. The shoulder module includes a base, a first drive assembly, and a second drive assembly; the elbow module includes a third drive assembly; and the wrist module includes a fourth drive assembly. The control method includes:

[0013] Determine the motion mode of the robotic arm;

[0014] The driving modes of the first driving component, the second driving component, the third driving component, and the fourth driving component are determined according to the motion mode of the robotic arm.

[0015] When the robotic arm is in the first shoulder movement mode, the first drive assembly is controlled to drive the remaining part of the shoulder module to rotate relative to the base member, realizing the first degree of freedom; when the robotic arm is in the second shoulder movement mode, the second drive assembly is controlled to drive the elbow module to rotate relative to the shoulder module, realizing the second degree of freedom; when the robotic arm is in the third shoulder movement mode, the second drive assembly is controlled to drive the elbow module to rotate relative to the shoulder module, realizing the third degree of freedom; when the robotic arm is in the first elbow movement mode, the third drive assembly is controlled to drive the wrist module to rotate relative to the elbow module, realizing the fourth degree of freedom; when the robotic arm is in the second elbow movement mode, the third drive assembly is controlled to drive the wrist module to rotate relative to the elbow module, realizing the fifth degree of freedom; when the robotic arm is in the first wrist movement mode, the fourth drive assembly is controlled to drive the execution module to rotate relative to the wrist module, realizing the sixth degree of freedom; when the robotic arm is in the second wrist movement mode, the fourth drive assembly is controlled to drive the execution module to rotate relative to the wrist module, realizing the seventh degree of freedom.

[0016] On the other hand, a control device is provided for controlling a robotic arm, the robotic arm comprising a shoulder module, an elbow module, a wrist module, and an execution module sequentially and movably connected, the shoulder module comprising a base, a first drive assembly, and a second drive assembly, the elbow module comprising a third drive assembly, and the wrist module comprising a fourth drive assembly; the control device includes:

[0017] The first determining module is used to determine the motion mode of the robotic arm;

[0018] The second determining module is used to determine the driving modes of the first driving component, the second driving component, the third driving component, and the fourth driving component based on the motion mode of the robotic arm.

[0019] The control module is configured to: control the first drive assembly to drive the remaining part of the shoulder module to rotate relative to the base member, achieving a first degree of freedom, when the robotic arm is in a first shoulder movement mode; control the second drive assembly to drive the elbow module to rotate relative to the shoulder module, achieving a second degree of freedom, when the robotic arm is in a second shoulder movement mode; control the second drive assembly to drive the elbow module to rotate relative to the shoulder module, achieving a third degree of freedom, when the robotic arm is in a third shoulder movement mode; and control the... The third drive component drives the wrist module to rotate relative to the elbow module, achieving a fourth degree of freedom; when the robotic arm is in the second elbow movement mode, it controls the third drive component to drive the wrist module to rotate relative to the elbow module, achieving a fifth degree of freedom; when the robotic arm is in the first wrist movement mode, it controls the fourth drive component to drive the execution module to rotate relative to the wrist module, achieving a sixth degree of freedom; and when the robotic arm is in the second wrist movement mode, it controls the fourth drive component to drive the execution module to rotate relative to the wrist module, achieving a seventh degree of freedom.

[0020] On the other hand, a computer device is provided, the computer device including a processor and a memory;

[0021] The memory stores at least one piece of program code, which is loaded and executed by the processor to implement the control method as described in this application.

[0022] On the other hand, a computer-readable storage medium is provided, wherein a computer program is stored therein, the computer program being executed by a processor to implement the control method as described in this application.

[0023] The beneficial effects of the technical solution provided in this application include at least the following:

[0024] The robotic arm of this application includes a shoulder module, an elbow module, a wrist module, and an execution module connected in sequence. The shoulder module can achieve three degrees of freedom using a first drive component and a second drive component, the elbow module can achieve two degrees of freedom using a third drive component, and the wrist module can achieve two degrees of freedom using a fourth drive component. Thus, the robotic arm can achieve seven degrees of freedom of movement, providing greater flexibility and meeting the work requirements of various scenarios. Each module is independently configured with a drive component, which can provide greater driving force for each degree of freedom, improve joint stiffness, and thereby enhance the overall robotic arm performance. The working stiffness is improved; the drive components and degree-of-freedom rotation axes in each module are all located within the corresponding module, resulting in a shorter power transmission path and eliminating the need for power transmission across joints, thus providing better stability and transmission efficiency; in addition, the first and second drive components are located at the ends of the shoulder module near the base, the third drive component is located at the ends of the elbow module near the shoulder module, and the fourth drive component is located at the ends of the wrist module near the elbow module. Each drive component is located far from the end effector, which helps to reduce the end effector load of each module, thereby reducing the end effector load and rotational inertia of the entire robotic arm. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 is a schematic diagram of the structure of the robotic arm provided in an embodiment of this application;

[0027] Figure 2 is a structural cross-sectional view of the drive motor provided in an embodiment of this application;

[0028] Figure 3 is a structural schematic diagram of the shoulder module provided in an embodiment of this application;

[0029] Figure 4 is an exploded view of the shoulder module provided in an embodiment of this application;

[0030] Figure 5 is a structural schematic diagram of the elbow module provided in an embodiment of this application;

[0031] Figure 6 is an exploded view of the elbow module provided in an embodiment of this application;

[0032] Figure 7 is a structural schematic diagram of the wrist module provided in an embodiment of this application;

[0033] Figure 8 is an exploded view of the wrist module provided in an embodiment of this application;

[0034] Figure 9 is a schematic diagram of the differential transmission assembly provided in an embodiment of this application;

[0035] Figure 10 is a schematic diagram showing the relative positions of the fourth, fifth, sixth, and seventh degrees of freedom provided in the embodiments of this application;

[0036] Figure 11 is a flowchart illustrating the control method provided in an embodiment of this application;

[0037] Figure 12 is a schematic diagram of the control device provided in an embodiment of this application;

[0038] Figure 13 is a structural block diagram of the robot controller provided in an embodiment of this application.

[0039] The reference numerals in the figure are respectively:

[0040] 001. First degree of freedom; 002. Second degree of freedom; 003. Third degree of freedom; 004. Fourth degree of freedom; 005. Fifth degree of freedom; 006. Sixth degree of freedom; 007. Seventh degree of freedom;

[0041] 045, First Plane; 067, Second Plane;

[0042] 1. Shoulder module;

[0043] 11. Base component; 12. First drive assembly; 121. Drive motor; 1211. Rotor assembly; 12111. Working part; 12112. Spindle part; 12113. Connecting part; 1212. Stator assembly; 1213. Reduction assembly; 1214. Housing assembly; 1215. Braking assembly; 1216. Motor sensor; 122. Drive pulley; 13. Second drive assembly; 14. Shoulder frame; 141. First structural part; 142. First flange 143. Connecting part; 1431. Second structural part; 1432. First receiving cavity; 1433. Arc-shaped retaining plate; 144. Third structural part; 145. First drive fixing seat; 15. First joint shaft assembly; 151. Differential transmission assembly; 1511. Driven rope pulley; 1512. First coupling rope pulley; 1513. Second coupling rope pulley; 1514. Coupling rope; 152. First rotating shaft; 153. Second rotating shaft; 16. Shoulder movable part; 17. Shoulder drive rope;

[0044] 2. Elbow module;

[0045] 21. Third drive assembly; 22. Elbow frame; 211. Second flange connection; 212. First side plate; 213. Second side plate; 214. First cross plate; 215. First weight reduction structure; 216. Second receiving cavity; 217. Second drive fixing seat; 23. Second joint shaft assembly; 231. Third pivot; 232. Fourth pivot; 24. Elbow movable component; 25. Elbow drive rope;

[0046] 3. Wrist module;

[0047] 31. Fourth drive assembly; 32. Wrist frame; 321. Third side plate; 322. Fourth side plate; 323. Second transverse plate; 324. Third flange connection; 325. Third drive fixing seat; 326. Third receiving cavity; 33. Third joint shaft assembly; 331. Fifth pivot shaft; 332. Sixth pivot shaft; 34. Wrist movable component; 35. Wrist drive rope;

[0048] 4. Execute the module;

[0049] 5. First Determination Module;

[0050] 6. Second determination module;

[0051] 7. Control module;

[0052] 801. Processor; 802. Memory; 803. Peripheral device interface; 804. Radio frequency circuit; 805. Display screen; 806. Camera assembly; 807. Audio circuit; 808. Positioning assembly; 809. Power supply; 810. Sensor; 811. Accelerometer sensor; 812. Gyroscope sensor; 813. Pressure sensor; 814. Optical sensor; 815. Proximity sensor;

[0053] 9. Joint sensor. Detailed Implementation

[0054] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0055] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in Figure 1, and are only for the convenience of describing this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0056] It should be understood that in this application, "electrical connection" can be understood as physical contact and electrical conduction between components; it can also be understood as a form of connection between different components in a circuit structure through physical lines such as copper foil or wires on a printed circuit board (PCB) capable of transmitting electrical signals. "Communication connection" can refer to the transmission of electrical signals, including wireless communication connections and wired communication connections. Wireless communication connections do not require a physical medium and are not a connection relationship that limits the product structure. "Connection" and "connected" can both refer to a mechanical or physical connection relationship, that is, A and B being connected or connected can mean that there are fastening components (such as screws, bolts, rivets, etc.) between A and B, or that A and B are in contact with each other and are difficult to separate.

[0057] Unless otherwise defined, all technical terms used in the embodiments of this application have the same meaning as commonly understood by one of ordinary skill in the art.

[0058] In related technologies, robotic arms or robots equipped with robotic arms typically place drive components such as drive motors on or near the shoulder to achieve lower end-effector load, kinetic inertia, and high-speed movement capabilities, and then connect them to the end effector via ropes. However, this approach requires decoupling design between ropes, resulting in complex rope routing. This significantly increases the difficulty of installing, debugging, and maintaining the robotic arm or robot. Furthermore, the use of long-distance long-range rope transmission can lead to insufficient rigidity of the end effector, limiting the working performance of the robotic arm or robot.

[0059] Furthermore, related technologies have also led to multi-stage rope drive solutions, which on the one hand increase the difficulty of installation and maintenance. On the other hand, with the drive motor and rope pulley arranged across the joint, the relative positions of the drive motor and rope pulley change during joint movement, which can lead to problems such as transmission gaps and vibrations.

[0060] Therefore, this application provides a robotic arm that can achieve seven degrees of freedom of movement, has better flexibility, and can meet the work needs of various different scenarios; each module is independently configured with a drive component, which improves the working rigidity of the entire robotic arm; the power transmission path is shorter, and there is no need to transmit power across joints, resulting in better stability and transmission efficiency; it also helps to reduce the end-effector load and rotational inertia of the entire robotic arm.

[0061] This application provides a robotic arm for use in robots, enabling robots to have a wide range of general-purpose capabilities.

[0062] It should be understood that the robotic arm provided in this application can be applied to robotic scenarios in fields such as cloud technology, artificial intelligence, and smart transportation, enabling human-computer interaction and serving people's daily lives through robots.

[0063] Artificial intelligence (AI) is the theory, methods, technology, and application systems that use digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use that knowledge to achieve optimal results. In other words, AI is a comprehensive technology within computer science that attempts to understand the essence of intelligence and produce a new kind of intelligent machine that can react in a way similar to human intelligence. AI studies the design principles and implementation methods of various intelligent machines, enabling them to possess the functions of perception, reasoning, and decision-making.

[0064] Artificial intelligence (AI) is a comprehensive discipline encompassing a wide range of fields, including both hardware and software technologies. Fundamental AI technologies generally include sensors, dedicated AI chips, cloud computing, distributed storage, big data processing, pre-trained model technology, operating / interactive systems, and mechatronics. Among these, pre-trained models, also known as large-scale models or foundational models, can be widely applied to downstream tasks across various AI fields after fine-tuning. AI software technologies primarily include computer vision, speech processing, natural language processing, and machine learning / deep learning.

[0065] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0066] On the one hand, as shown in Figure 1, this embodiment provides a robotic arm, which includes: a shoulder module 1, an elbow module 2, a wrist module 3, and an execution module 4.

[0067] One end of the shoulder module 1 is provided with a base component 11, the elbow module 2 is movably connected to the other end of the shoulder module 1, the wrist module 3 is movably connected to the end of the elbow module 2 facing away from the shoulder module 1, and the execution module 4 is movably connected to the end of the wrist module 3 facing away from the elbow module 2.

[0068] The shoulder module 1 includes a first drive assembly 12 and a second drive assembly 13. The first drive assembly 12 is connected to the side of the base member 11 facing away from the elbow module 2, and the second drive assembly 13 is located inside the shoulder module 1 and close to the base member 11. The first drive assembly 12 is used to drive the remaining part of the shoulder module 1 to rotate relative to the base member 11 with a first degree of freedom 001, and the second drive assembly 13 is used to drive the elbow module 2 to rotate relative to the shoulder module 1 with a second degree of freedom 002 and a third degree of freedom 003.

[0069] The elbow module 2 includes a third drive assembly 21 located within the end of the elbow module 2 facing the shoulder module 1. The third drive assembly 21 is used to drive the wrist module 3 to rotate relative to the elbow module 2 in the fourth degree of freedom 004 and the fifth degree of freedom 005.

[0070] The wrist module 3 includes a fourth drive assembly 31, which is located in the end of the wrist module 3 facing the elbow module 2. The fourth drive assembly 31 is used to drive the sixth degree of freedom 006 and the seventh degree of freedom 007 of the execution module 4 to rotate relative to the wrist module 3.

[0071] The robotic arm in this embodiment includes a shoulder module 1, an elbow module 2, a wrist module 3, and an execution module 4 connected in sequence. The shoulder module 1 can achieve three degrees of freedom using the first drive component 12 and the second drive component 13. The elbow module 2 can achieve two degrees of freedom using the third drive component 21. The wrist module 3 can achieve two degrees of freedom using the fourth drive component 31. Thus, the robotic arm can achieve seven degrees of freedom of movement, which has better flexibility and can meet the work needs of various different scenarios.

[0072] Each module is independently configured with a drive component, which can provide greater driving force for each degree of freedom, improve joint stiffness, and thus improve the working stiffness of the entire robotic arm.

[0073] The drive components and degree-of-freedom pivots in each module are all located within the corresponding module, resulting in a shorter power transmission path. Power transmission does not need to cross joints, leading to better stability and transmission efficiency.

[0074] In addition, the first drive assembly 12 and the second drive assembly 13 are located at the end of the shoulder module 1 near the base member 11, the third drive assembly 21 is located at the end of the elbow module 2 near the shoulder module 1, and the fourth drive assembly 31 is located at the end of the wrist module 3 near the elbow module 2. Each drive assembly is arranged away from the end effector, which helps to reduce the end effector load of each module, thereby reducing the end effector load and rotational inertia of the entire robotic arm.

[0075] As shown in Figure 2, in some embodiments, at least one of the first drive component 12, the second drive component 13, the third drive component 21, and the fourth drive component 31 includes a drive motor 121.

[0076] For example, the first drive assembly 12, the second drive assembly 13, the third drive assembly 21, and the fourth drive assembly 31 each include at least one drive motor 121. In another example, the first drive assembly 12 includes one drive motor 121. The second drive assembly 13, the third drive assembly 21, and the fourth drive assembly 31 each include two drive motors 121.

[0077] The drive motor 121 includes a rotor assembly 1211, a stator assembly 1212, and a reduction assembly 1213 arranged coaxially. The rotor assembly 1211 includes a working part 12111, a spindle part 12112, and a connecting part 12113. The working part 12111 is arranged around the outer periphery of the stator assembly 1212, the spindle part 12112 is located inside the stator assembly 1212, and the connecting part 12113 is located at the first axial end of the stator assembly 1212 and connects the working part 12111 and the spindle part 12112.

[0078] The reduction gear assembly 1213 is located inside the stator assembly 1212. The input end of the reduction gear assembly 1213 is connected to the spindle part 12112, and the output end of the reduction gear assembly 1213 is located at the second axial end of the stator assembly 1212, serving as the output end of the drive motor 121.

[0079] With the above arrangement, the drive motor 121 has a built-in reduction gear 1213, which makes the structure of the drive motor 121 more compact and can output a larger torque, which is beneficial to improving the working performance of each drive component and degree of freedom.

[0080] For example, the deceleration assembly 1213 is a planetary deceleration mechanism.

[0081] Referring to Figure 2, in some embodiments, the drive motor 121 further includes a housing assembly 1214 and a braking assembly 1215. The rotor assembly 1211, the stator assembly 1212, and the reduction assembly 1213 are located inside the housing assembly 1214. The braking assembly 1215 is coaxially arranged at the first axial end of the stator assembly 1212. The braking assembly 1215 is connected between the housing assembly 1214 and the connecting portion 12113 of the rotor assembly 1211, and is used to provide braking for the rotor assembly 1211.

[0082] By using the braking assembly 1215 connected between the housing assembly 1214 and the rotor assembly 1211, braking and deceleration of the rotor assembly 1211 can be achieved, thereby improving the safety and control accuracy of the drive motor 121.

[0083] In some possible implementations, a motor sensor 1216 is provided inside the shaft hole of the braking assembly 1215. The motor sensor 1216 can measure the rotational state of the rotor assembly 1211 relative to the stator assembly 1212 in real time, which is beneficial for precise control of the movements of each degree of freedom in the robotic arm.

[0084] As shown in Figures 3 and 4, in some embodiments, the shoulder module 1 further includes a shoulder skeleton 14, a first joint axis assembly 15, and a shoulder movable component 16.

[0085] The base component 11 is rotatably connected to one end of the shoulder frame 14, the first joint axis assembly 15 is rotatably connected to the other end of the shoulder frame 14, and the shoulder movable component 16 is rotatably connected to the first joint axis assembly 15; the second drive assembly 13 is located inside the end of the shoulder frame 14 near the base component 11; the elbow module 2 is connected to the shoulder movable component 16.

[0086] The first drive assembly 12 is connected to the shoulder skeleton 14 and drives the shoulder skeleton 14 to rotate relative to the base member 11, realizing the first degree of freedom 001; the second drive assembly 13 is connected to the first joint axis assembly 15 via a tendon cable drive and drives the first joint axis assembly 15 to rotate relative to the shoulder skeleton 14, realizing the second degree of freedom 002, and drives the shoulder movable member 16 to rotate relative to the first joint axis assembly 15, realizing the third degree of freedom 003.

[0087] With the above arrangement, the first drive component 12 and the second drive component 13 can drive the shoulder module 1 to realize the first degree of freedom 001, the second degree of freedom 002 and the third degree of freedom 003 respectively. The robotic arm of this embodiment can use the shoulder module 1 to imitate the movement of the human shoulder joint.

[0088] For example, in the first shoulder movement mode, the first drive component 12 drives the first degree of freedom 001 independently, so that the first degree of freedom 001 has greater torque and stiffness, which can improve the working performance of the entire robotic arm.

[0089] In some possible implementations, referring to Figure 4, the second drive assembly 13 includes two drive motors 121. In the second shoulder movement mode, the two drive motors 121 simultaneously drive the second degree of freedom 002; in the third shoulder movement mode, the two drive motors 121 simultaneously drive the third degree of freedom 003. Thus, the second degree of freedom 002 and the third degree of freedom 003 can respectively obtain the torque output from the two drive motors 121, giving them greater torque and stiffness, thereby improving the overall performance of the robotic arm. Simultaneously, it does not require increasing the number of drive motors 121, which helps reduce the weight and rotational inertia of the robotic arm.

[0090] In some other possible implementations, as shown in Figure 4, the shoulder frame 14 includes a first flange connection 142, a first structural part 141, a second structural part 143 and a third structural part 144 arranged in sequence.

[0091] The first flange connection 142 is connected to the output end of the first drive assembly 12. The second structural part 143 is provided with a first receiving cavity 1431 for accommodating the two drive motors 121 of the second drive assembly 13, and the output ends of the two drive motors 121 of the second drive assembly 13 extend to the outside of the second structural part 143. The third structural part 144 is used to rotatably connect the first joint shaft assembly 15.

[0092] The two drive motors 121 of the second drive assembly 13 are coaxial and arranged back-to-back in the first receiving cavity 1431. The output end of each drive motor 121 is located on the side opposite to the other drive motor 121 and extends to two opposite sides of the shoulder frame 14 along the axial direction of the second degree of freedom 002. The first joint axis assembly 15 includes a first pivot member 152 corresponding to the second degree of freedom 002 and a second pivot member 153 corresponding to the third degree of freedom 003. The two ends of the first pivot member 152 extend to the outer side of the shoulder frame 14. The output end of one drive motor 121 is connected to one end of the first pivot member 152 via a shoulder drive rope 17, and the output end of the other drive motor 121 is connected to the other end of the first pivot member 152 via another shoulder drive rope 17.

[0093] The second structural part 143 includes two arc-shaped retaining plates 1432, which are respectively connected between the first structural part 141 and the third structural part 144. The two arc-shaped retaining plates 1432 form a cylindrical first receiving cavity 1431. The two housing structures of the two drive motors 121 are respectively fixedly connected to the two arc-shaped retaining plates 1432.

[0094] With the above arrangement, the second structural part 143 includes two arc-shaped retaining plates 1432, which form a cylindrical first receiving cavity 1431 for accommodating two drive motors 121. At the same time, the arc-shaped retaining plates 1432 conform to the outer contour of the housing structure of the drive motor 121 and can cover the housing structure of the drive motor 121, thereby stably and reliably fixing the two first connectors in the second structural part 143.

[0095] With the above arrangement, the two drive motors 121 can be connected to the first rotating shaft 152 from opposite sides of the shoulder frame 14 to achieve chord drive. The shoulder drive ropes 17 corresponding to the two drive motors 121 are relatively easy to lay. Since the shoulder drive ropes 17 can be arranged on the outside of the shoulder frame 14, the rope pulleys that cooperate with the shoulder drive ropes 17 have more arrangement space and can use larger rope pulleys, which helps to improve the traction torque of the chord drive and thus improve the rotational torque of the first rotating shaft 152.

[0096] Using larger sheaves allows the shoulder drive rope 17 to have a larger turning radius, which in turn allows for the use of thicker shoulder drive ropes 17, thereby improving the motion stiffness and load capacity of the shoulder module 1.

[0097] For example, the first structural part 141, the second structural part 143 and the third structural part 144 can be an integral structure or a separate assembled structure.

[0098] As shown in Figures 5 and 6, in some embodiments, the elbow module 2 further includes an elbow frame 22, a second joint axis assembly 23, and an elbow movable element 24.

[0099] One end of the elbow frame 22 is connected to the shoulder module 1, and the other end of the elbow frame 22 is rotatably connected to the second joint axis assembly 23. The elbow movable part 24 is rotatably connected to the second joint axis assembly 23. The third drive assembly 21 is located inside the end of the elbow frame 22 near the shoulder module 1. The wrist module 3 is connected to the elbow movable part 24.

[0100] The third drive assembly 21 is connected to the second joint axis assembly 23 via a tendon cable drive, driving the second joint axis assembly 23 to rotate relative to the elbow skeleton 22, thus achieving the fourth degree of freedom 004, and driving the elbow movable part 24 to rotate relative to the second joint axis assembly 23, thus achieving the fifth degree of freedom 005.

[0101] With the above arrangement, the third drive component 21 can drive the elbow module 2 to realize the fourth degree of freedom 004 and the fifth degree of freedom 005 respectively. The robotic arm of this embodiment can use the elbow module 2 to imitate the movement of the human elbow joint.

[0102] In some possible implementations, referring to FIG6, the elbow frame 22 includes a second flange connection 211, a first side plate 212, a second side plate 213, and at least one first cross plate 214; the first side plate 212 and the second side plate 213 are arranged in parallel and spaced apart, and at least one first cross plate 214 is connected between the first side plate 212 and the second side plate 213; the second flange connection 211 is connected to the first side plate 212 and the second side plate 213 at their corresponding second ends; at least one of the first side plate 212, the second side plate 213, and at least one first cross plate 214 is provided with a first weight reduction structure 215.

[0103] With the above structure, the elbow frame 22 can be connected to the shoulder module 1 via the second flange connection 211, serving to fix and support the entire elbow module 2. The elbow frame 22 forms a stable and reliable frame structure using the first side plate 212, the second side plate 213, and at least one first cross plate 214, which can provide reliable support and reduce the weight of the elbow module 2 itself.

[0104] For example, the first horizontal plate 214 is provided with a first clearance hole; the second joint shaft assembly 23 is provided with a second clearance hole; and the elbow movable member 24 is provided with a third clearance hole. The first clearance hole, the second clearance hole, and the third clearance hole can pass through each other in sequence. The three clearance holes pass through in sequence so that the power supply line, control signal line, etc. of the robotic arm can be internally passed through the entire elbow module 2. On the one hand, it will not affect the normal operation of the elbow module 2, and on the other hand, it can protect the power supply line, control signal line, etc.

[0105] Optionally, the first side plate 212 and the second side plate 213 are symmetrical. The first side plate 212 and the second side plate 213 form a second receiving cavity 216, and the third drive assembly 21 is located in the second receiving cavity 216.

[0106] Referring to Figure 6, in some embodiments, the two drive motors 121 of the third drive assembly 21 are coaxial and arranged back to back in the second receiving cavity 216; the output end of each drive motor 121 is located on the side opposite to the other drive motor 121 and extends to the outside of the first side plate 212 or the second side plate 213 respectively.

[0107] The second joint axis assembly 23 includes a third pivot member 231 corresponding to the fourth degree of freedom 004 and a fourth pivot member 232 corresponding to the fifth degree of freedom 005. The two ends of the third pivot member 231 extend to the outside of the first side plate member 212 or the second side plate member 213, respectively. There are two elbow drive ropes 25, which are respectively arranged on the outside of the first side plate member 212 or the second side plate member 213. The output end of one drive motor 121 is connected to one end of the third pivot member 231 through one elbow drive rope 25, and the output end of the other drive motor 121 is connected to the other end of the third pivot member 231 through another elbow drive rope 25.

[0108] With the above arrangement, the two drive motors 121 can be connected to the third rotating shaft 231 from the outside of the first side plate 212 or the second side plate 213 respectively to achieve tendon cable drive connection. The rope laying difficulty of the elbow drive rope 25 corresponding to the two drive motors 121 is relatively small. Since the elbow drive rope 25 can be arranged on the outside of the elbow frame 22, the rope pulley that cooperates with the elbow drive rope 25 has a larger arrangement space and a larger size rope pulley can be used, which is conducive to improving the traction torque of tendon cable drive, and thus improving the rotational torque of the third rotating shaft 231.

[0109] Using a larger pulley allows the elbow drive rope 25 to have a larger turning radius, which in turn allows for the use of a thicker elbow drive rope 25, thus also improving motion stiffness and load capacity.

[0110] For example, in the first elbow movement mode, the two drive motors 121 simultaneously drive the fourth degree of freedom 004; in the second elbow movement mode, the two drive motors 121 simultaneously drive the fifth degree of freedom 005.

[0111] For example, the elbow frame 22 also includes two second drive fixing seats 217; the two second drive fixing seats 217 are located on the outside of the first side plate 212 and the outside of the second side plate 213 respectively, and the drive fixing seats cover the axial outer ends of the two drive motors 121 to achieve axial fixation of the two drive motors 121.

[0112] As shown in Figures 7 and 8, in some embodiments, the wrist module 3 further includes a wrist skeleton 32, a third joint axis assembly 33, and a wrist movable element 34.

[0113] One end of the wrist frame 32 is connected to the wrist module 3, and the other end of the wrist frame 32 is rotatably connected to the third joint axis assembly 33. The wrist movable part 34 is rotatably connected to the third joint axis assembly 33. The fourth drive assembly 31 is located in the end of the wrist frame 32 near the elbow module 2. The execution module 4 is connected to the wrist movable part 34.

[0114] The fourth drive assembly 31 is connected to the third joint axis assembly 33 via a tendon cable drive, driving the third joint axis assembly 33 to rotate relative to the wrist skeleton 32, thereby achieving the sixth degree of freedom 006, and driving the wrist movable component 34 to rotate relative to the third joint axis assembly 33, thereby achieving the seventh degree of freedom 007.

[0115] With the above arrangement, the fourth drive component 31 can drive the elbow module 2 to realize the sixth degree of freedom 006 and the seventh degree of freedom 007 respectively. The robotic arm of this embodiment can use the wrist module 3 to imitate the movement of the human wrist joint.

[0116] In some possible implementations, referring to Figure 8, the fourth drive assembly 31 has two drive motors 121, which are coaxial and arranged back to back; the output of each drive motor 121 is located on the side opposite to the other drive motor 121 and extends to the outside of the wrist frame 32.

[0117] The third joint axis assembly 33 includes a fifth pivot 331 corresponding to the sixth degree of freedom 006 and a sixth pivot 332 corresponding to the seventh degree of freedom 007. The two ends of the fifth pivot 331 extend to the outer side of the wrist skeleton 32, respectively.

[0118] The output of one of the drive motors 121 is connected to one end of the fifth rotating shaft 331 via a wrist drive rope 35, and the output of the other drive motor 121 is connected to the other end of the fifth rotating shaft 331 via another wrist drive rope 35.

[0119] With the above arrangement, the two drive motors 121 can be connected to the fifth rotating shaft 331 from opposite sides of the wrist frame 32 to achieve chord drive. The difficulty of laying the wrist drive rope 35 corresponding to the two drive motors 121 is relatively small. Since the wrist drive rope 35 can be arranged on the outside of the wrist frame 32, the rope pulley that cooperates with the wrist drive rope 35 has more arrangement space and can use a larger size rope pulley, which is conducive to improving the traction torque of the chord drive, and thus improving the rotational torque of the fifth rotating shaft 331.

[0120] Using a larger pulley allows the wrist drive rope 35 to have a larger turning radius, which in turn allows for the use of a thicker wrist drive rope 35, thus also improving motion stiffness and load capacity.

[0121] In some possible implementations, two wrist drive ropes 35 are provided between the output end of each drive motor 121 and the fifth rotating shaft 331. The two wrist drive ropes 35 are wound in opposite directions at the output ends of the drive motors 121 and in opposite directions on the fifth rotating shaft 331. When the output ends of the drive motors 121 rotate in different directions, they will pull different wrist drive ropes 35, driving the fifth rotating shaft 331 to rotate in different directions. The winding directions of the wrist drive ropes 35 at the output ends of the two drive motors 121 are the same, and the winding directions of the wrist drive ropes 35 at both ends of the fifth rotating shaft 331 are the same.

[0122] For example, in the first wrist movement mode, the two drive motors 121 rotate in opposite directions to drive the sixth degree of freedom 006; in the second wrist movement mode, the two drive motors 121 rotate in the same direction to drive the seventh degree of freedom 007.

[0123] In this embodiment, the mechanical wrist joint controls the rotation direction of the two drive motors 121, which enables the wrist module 3 to switch between the first wrist movement mode and the second wrist movement mode. The control logic is simple and helps to improve the control efficiency of the wrist module 3.

[0124] Referring to Figure 8, in some embodiments, the wrist frame 32 includes a third side plate 321 and a fourth side plate 322 arranged at intervals. One end of the third side plate 321 and the fourth side plate 322 is smaller and serves as the forearm end, while the other end of the third side plate 321 and the fourth side plate 322 is larger and serves as the upper arm end. The upper arm end is provided with a third receiving cavity 326 for accommodating the fourth drive assembly 31.

[0125] The cross-sectional dimensions of the wrist frame 32 are reduced in at least one direction along the direction from the upper arm end to the forearm end.

[0126] The third side plate 321 and the fourth side plate 322 are connected by a second horizontal plate 323.

[0127] For example, the boom end is provided with a third flange connection 324 for connecting the elbow module 2.

[0128] Referring to Figures 4, 6 and 8, in some embodiments, the shoulder module 1 includes a first joint axis assembly 15, the elbow module 2 includes a second joint axis assembly 23, and the wrist module 3 includes a third joint axis assembly 33.

[0129] At least one of the first joint shaft assembly 15, the second joint shaft assembly 23, and the third joint shaft assembly 33 includes a differential drive assembly 151; the differential drive assembly 151 is connected to the second drive assembly 13, the third drive assembly 21, or the fourth drive assembly 31.

[0130] When the differential drive assembly 151 is connected to the second drive assembly 13, the differential drive assembly 151 is used to realize the second degree of freedom 002 or the third degree of freedom 003 in different drive modes of the second drive assembly 13; when the differential drive assembly 151 is connected to the third drive assembly 21, the differential drive assembly 151 is used to realize the fourth degree of freedom 004 or the fifth degree of freedom 005 in different drive modes of the third drive assembly 21; when the differential drive assembly 151 is connected to the fourth drive assembly 31, the differential drive assembly 151 is used to realize the sixth degree of freedom 006 or the seventh degree of freedom 007 in different drive modes of the fourth drive assembly 31.

[0131] The differential transmission component 151 described above can drive two degrees of freedom using a single drive component. This increases the torque and stiffness of a single degree of freedom while reducing the number of drive components and improving the structural compactness of the robotic arm.

[0132] In some possible implementations, referring to FIG9, the differential drive assembly 151 includes a driven pulley 1511, a first coupling pulley 1512, a second coupling pulley 1513, and a coupling rope 1514. The driven pulley 1511 is connected to the driving pulley 122 of the drive motor 121 via a drive rope. The first coupling pulley 1512 is coaxially fixedly connected to the driven pulley 1511. The second coupling pulley 1513 is off-axis from the first coupling pulley 1512 and connected via the coupling rope 1514. For example, when the differential drive assembly 151 is used to realize the second degree of freedom 002 or the third degree of freedom 003 in different drive modes of the second drive assembly 13, the driven pulley 1511 and the first coupling pulley 1512 are arranged along the axis of the second degree of freedom 002, and the second coupling pulley 1513 is arranged along the axis of the third degree of freedom 003. When the differential drive assembly 151 is used to realize the fourth degree of freedom 004 or the fifth degree of freedom 005 in different drive modes of the third drive assembly 21, the driven pulley 1511 and the first coupling pulley 1512 are arranged along the axis of the fourth degree of freedom 004, and the second coupling pulley 1513 is arranged along the axis of the fifth degree of freedom 005. When the differential drive assembly 151 is used to realize the sixth degree of freedom 006 or the seventh degree of freedom 007 in different drive modes of the fourth drive assembly 31, the driven pulley 1511 and the first coupling pulley 1512 are arranged along the axis of the sixth degree of freedom 006, and the second coupling pulley 1513 is arranged along the axis of the seventh degree of freedom 007.

[0133] In some possible implementations, referring to Figure 9, taking the differential transmission assembly 151 arranged in the wrist module 3 as an example, each drive motor 121 has an active pulley 122 at its output end. The two ends of the fifth rotating shaft 331 are respectively rotatably connected to the driven pulley 1511 and the first coupling pulley 1512. The driven pulley 1511 and the first coupling pulley 1512 located at the same end of the fifth rotating shaft 331 are fixedly connected.

[0134] At least one end of the sixth rotating shaft 332 is rotatably connected to a second coupling rope wheel 1513; each second coupling rope wheel 1513 is connected to a first coupling rope wheel 1512 by two coupling ropes 1514, and the two coupling ropes 1514 are wound in opposite directions on the second coupling rope wheel 1513, and the two coupling ropes 1514 are wound in opposite directions on the first coupling rope wheel 1512.

[0135] With the above arrangement, the drive motor 121 drives the active rope wheel 122 to rotate, the active rope wheel 122 pulls one of the wrist drive ropes 35 to drive the driven rope wheel 1511 to rotate on the fifth rotating shaft 331, the driven rope wheel 1511 drives the first coupling rope wheel 1512 to rotate on the fifth rotating shaft 331, the first coupling rope wheel 1512 pulls one of the coupling ropes 1514 to drive the second coupling rope wheel 1513 to rotate on the sixth rotating shaft 332, thereby transmitting the power of the drive motor 121 to the seventh degree of freedom 007 corresponding to the sixth rotating shaft 332.

[0136] Based on this, when the drive motor 121 drives the active rope wheel 122 to rotate in the opposite direction, the two first coupling rope wheels 1512 rotate in the opposite direction on the fifth rotating shaft 331. The two first coupling rope wheels 1512 respectively pull another coupling rope 1514 with opposite winding directions to apply the same torque in the same magnitude and opposite direction to the second coupling rope wheel 1513, so that the drive motor 121 can drive the seventh degree of freedom 007 to rotate in both directions.

[0137] Referring to Figures 1 and 10, in some embodiments, the execution module 4 includes a palm frame, at least one mechanical finger, and at least one end effector (not shown in the figures); the palm frame is connected to the wrist module, the at least one mechanical finger is movably connected to the palm frame, the at least one end effector is located within the palm frame, the at least one end effector is connected to the at least one mechanical finger, and the at least one end effector is used to drive the at least one mechanical finger to move relative to the palm frame.

[0138] With the above arrangement, the robotic arm in this embodiment can mimic the movements of a human hand using the execution module 4.

[0139] Referring to Figure 1, in some embodiments, the rotation axis of the first degree of freedom 001 is arranged perpendicular to the rotation axis of the second degree of freedom 002; the rotation axis of the third degree of freedom 003 is arranged perpendicular to the rotation axis of the second degree of freedom 002; the rotation axis of the fourth degree of freedom 004 and the rotation axis of the fifth degree of freedom 005 are arranged perpendicular to each other; and the rotation axis of the sixth degree of freedom 006 and the rotation axis of the seventh degree of freedom 007 are arranged perpendicular to each other.

[0140] With the above arrangement, the seven degrees of freedom of the robotic arm are distributed more scientifically and are more in line with the movement characteristics of the human arm, enabling it to mimic the human arm to complete various complex movements.

[0141] Referring to Figure 10, in some embodiments, the rotation axis of the fourth degree of freedom 004 and the rotation axis of the fifth degree of freedom 005 form a first plane 045, and the rotation axis of the sixth degree of freedom 006 and the rotation axis of the seventh degree of freedom 007 form a second plane 067. The first plane 045 and the second plane 067 intersect along the rotation axis of the sixth degree of freedom 006.

[0142] Therefore, the motion characteristics of the wrist module 3 and the execution module 4 of the robotic arm in this embodiment are more in line with the configuration of the human wrist and palm, and can achieve more complex movements.

[0143] Referring to Figure 1, in some embodiments, the cross-sectional dimensions of at least one of the shoulder module 1, elbow module 2, and wrist module 3 decrease along the direction from the shoulder module 1 to the execution module 4.

[0144] With the above arrangement, the external dimensions of the robotic arm gradually decrease from the shoulder module 1 to the wrist module 3, so that the end effector has the smallest external dimensions, which conforms to the physiological characteristics of the human arm and can meet the working needs in confined spaces.

[0145] As shown in Figures 4, 6 and 8, in some embodiments, the robotic arm also includes joint sensors, which can be arranged on at least one of the first, second, third, fourth, fifth and sixth rotating shafts, for measuring the rotational state of the rotating shafts, thereby enabling precise control of the rotational state of each degree of freedom.

[0146] On the other hand, this embodiment provides a robot, which includes the robotic arm of this application. The robot of this embodiment uses the robotic arm of this application and has all the beneficial technical effects of this application.

[0147] For example, the robot is a humanoid robot.

[0148] On the other hand, referring to Figure 11, this embodiment provides a control method for controlling a robotic arm. The robotic arm includes a shoulder module 1, an elbow module 2, a wrist module 3, and an execution module 4, which are sequentially and movably connected. The shoulder module 1 includes a base 11, a first drive assembly 12, and a second drive assembly 13. The elbow module 2 includes a third drive assembly 21, and the wrist module 3 includes a fourth drive assembly 31. Optionally, the robotic arm is as described in any embodiment of this application.

[0149] Control methods include:

[0150] Step S1: Determine the motion mode of the robotic arm.

[0151] Step S2: Determine the driving modes of the first drive assembly 12, the second drive assembly 13, the third drive assembly 21, and the fourth drive assembly 31 based on the motion mode of the robotic arm.

[0152] Step S3: When the robotic arm is in the first shoulder movement mode, control the first drive assembly 12 to drive the remaining part of the shoulder module 1 to rotate relative to the base member 11, realizing the first degree of freedom 001; when the robotic arm is in the second shoulder movement mode, control the second drive assembly 13 to drive the elbow module 2 to rotate relative to the shoulder module 1, realizing the second degree of freedom 002; when the robotic arm is in the third shoulder movement mode, control the second drive assembly 13 to drive the elbow module 2 to rotate relative to the shoulder module 1, realizing the third degree of freedom 003; when the robotic arm is in the first elbow movement mode, control the third drive assembly 12 to drive the elbow module 2 to rotate relative to the shoulder module 1, realizing the third degree of freedom 003; when the robotic arm is in the first elbow movement mode, control the third drive assembly 12 to drive the elbow module 2 to rotate relative to the shoulder module 1, realizing the third degree of freedom 003. Component 21 drives the wrist module 3 to rotate relative to the elbow module 2, realizing the fourth degree of freedom 004; when the robotic arm is in the second elbow movement mode, it controls the third drive component 21 to drive the wrist module 3 to rotate relative to the elbow module 2, realizing the fifth degree of freedom 005; when the robotic arm is in the first wrist movement mode, it controls the fourth drive component 31 to drive the execution module 4 to rotate relative to the wrist module 3, realizing the sixth degree of freedom 006; when the robotic arm is in the second wrist movement mode, it controls the fourth drive component 31 to drive the execution module 4 to rotate relative to the wrist module 3, realizing the seventh degree of freedom 007.

[0153] Therefore, the control method of this embodiment can select different motion modes of different drive components as needed to control the robotic arm to complete different actions. Among them, the shoulder module can achieve three degrees of freedom using the first and second drive components, the elbow module can achieve two degrees of freedom using the third drive component, and the wrist module can achieve two degrees of freedom using the fourth drive component. Thus, the robotic arm can achieve seven degrees of freedom of movement, which has better flexibility and can meet the work needs of various different scenarios.

[0154] On the other hand, referring to Figure 12, this embodiment provides a control device for controlling a robotic arm as described in this application. The robotic arm includes a shoulder module 1, an elbow module 2, a wrist module 3, and an execution module 4 connected sequentially. The shoulder module 1 includes a base 11, a first drive assembly 12, and a second drive assembly 13. The elbow module 2 includes a third drive assembly 21, and the wrist module 3 includes a fourth drive assembly 31. Optionally, the robotic arm is as described in any embodiment of this application.

[0155] The control device includes:

[0156] The first determining module 5 is used to determine the motion mode of the robotic arm.

[0157] The second determining module 6 is used to determine the driving modes of the first driving component 12, the second driving component 13, the third driving component 21 and the fourth driving component 31 according to the motion mode of the robotic arm.

[0158] Control module 7 is configured to: control the first drive assembly 12 to drive the remaining part of the shoulder module 1 to rotate relative to the base member 11 when the robotic arm is in the first shoulder movement mode, achieving a first degree of freedom 001; control the second drive assembly 13 to drive the elbow module 2 to rotate relative to the shoulder module 1 when the robotic arm is in the second shoulder movement mode, achieving a second degree of freedom 002; control the second drive assembly 13 to drive the elbow module 2 to rotate relative to the shoulder module 1 when the robotic arm is in the third shoulder movement mode, achieving a third degree of freedom 003; and control the third drive assembly 13 to rotate relative to the shoulder module 1 when the robotic arm is in the first elbow movement mode. The drive assembly 21 drives the wrist module 3 to rotate relative to the elbow module 2, realizing the fourth degree of freedom 004; when the robotic arm is in the second elbow movement mode, it controls the third drive assembly 21 to drive the wrist module 3 to rotate relative to the elbow module 2, realizing the fifth degree of freedom 005; when the robotic arm is in the first wrist movement mode, it controls the fourth drive assembly 31 to drive the execution module 4 to rotate relative to the wrist module 3, realizing the sixth degree of freedom 006; when the robotic arm is in the second wrist movement mode, it controls the fourth drive assembly 31 to drive the execution module 4 to rotate relative to the wrist module 3, realizing the seventh degree of freedom 007.

[0159] With the above arrangement, the control device can select different motion modes of different drive components according to the movement mode of the robotic arm, and control the robotic arm to complete different actions. Among them, the shoulder module can realize three degrees of freedom using the first drive component and the second drive component, the elbow module can realize two degrees of freedom using the third drive component, and the wrist module can realize two degrees of freedom using the fourth drive component. Thus, the robotic arm can realize seven degrees of freedom of movement, which has better flexibility and can meet the work needs of various different scenarios.

[0160] Figure 13 shows a structural block diagram of the robot controller provided in an embodiment of this application. The robot includes a controller, which includes a processor 801 and a memory 802.

[0161] Processor 801 may include one or more processing cores, such as a quad-core processor or an octa-core processor. Processor 801 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 801 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 801 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, processor 801 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0162] The memory 802 may include one or more computer-readable storage media, which may be non-transitory. The memory 802 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 802 are used to store at least one instruction, which is executed by the processor 801 to implement the control method provided in the method embodiments of this application.

[0163] In some embodiments, the computer device may also optionally include: a peripheral device interface 803 and at least one peripheral device. The processor 801, memory 802, and peripheral device interface 803 can be connected via a bus or signal line. Each peripheral device can be connected to the peripheral device interface 803 via a bus, signal line, or circuit board. Specifically, the peripheral device includes at least one of: a radio frequency circuit 804, a display screen 805, a camera assembly 806, an audio circuit 807, a positioning assembly 808, and a power supply 809.

[0164] Peripheral device interface 803 can be used to connect at least one I / O (Input / Output) related peripheral device to processor 801 and memory 802. In some embodiments, processor 801, memory 802 and peripheral device interface 803 are integrated on the same chip or circuit board; in some other embodiments, any one or two of processor 801, memory 802 and peripheral device interface 803 can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0165] The radio frequency (RF) circuit 804 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The RF circuit 804 communicates with communication networks and other communication devices via electromagnetic signals. The RF circuit 804 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals back into electrical signals. Optionally, the RF circuit 804 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, etc. The RF circuit 804 can communicate with other terminals through at least one wireless communication protocol. This wireless communication protocol includes, but is not limited to, at least one of: the World Wide Web, metropolitan area networks, intranets, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and Wi-Fi (Wireless Fidelity) networks. In some embodiments, the RF circuit 804 may also include circuitry related to NFC (Near Field Communication), which is not limited in this application.

[0166] Display screen 805 is used to display a UI (User Interface). The UI may include graphics, text, icons, videos, and any combination thereof. When display screen 805 is a touch display screen, it also has the ability to collect touch signals on or above its surface. These touch signals can be input as control signals to processor 801 for processing. In this case, display screen 805 can also be used to provide at least one of virtual buttons and a virtual keyboard, also known as soft buttons and soft keyboards. In some embodiments, display screen 805 may be a single screen disposed on the front panel of a computer device; in other embodiments, display screen 805 may be at least two screens, disposed on different surfaces of the computer device or in a folded design; in still other embodiments, display screen 805 may be a flexible display screen disposed on a curved or folded surface of the computer device. Furthermore, display screen 805 may be configured as a non-rectangular, irregular shape, i.e., a non-rectangular screen. Display screen 805 may be made of materials such as LCD (Liquid Crystal Display) or OLED (Organic Light-Emitting Diode).

[0167] The camera assembly 806 is used to acquire images or videos. Optionally, the camera assembly 806 includes a front-facing camera and a rear-facing camera. Typically, the front-facing camera is located on the front panel of the terminal, and the rear-facing camera is located on the back of the terminal. In some embodiments, there are at least two rear-facing cameras, which are any one of a main camera, a depth-sensing camera, a wide-angle camera, and a telephoto camera, to achieve background blurring by fusion of the main camera and the depth-sensing camera, panoramic shooting by fusion of the main camera and the wide-angle camera, VR (Virtual Reality) shooting, or other fusion shooting functions. In some embodiments, the camera assembly 806 may also include a flash. The flash can be a single-color temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm-light flash and a cool-light flash, which can be used for light compensation at different color temperatures.

[0168] The audio circuit 807 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, converting the sound waves into electrical signals that are input to the processor 801 for processing, or input to the radio frequency circuit 804 for voice communication. For stereo sound acquisition or noise reduction purposes, multiple microphones may be used, each positioned in a different part of the computer device. The microphone may also be an array microphone or an omnidirectional microphone. The speaker is used to convert the electrical signals from the processor 801 or the radio frequency circuit 804 into sound waves. The speaker may be a conventional film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can convert electrical signals not only into audible sound waves but also into inaudible sound waves for purposes such as distance measurement. In some embodiments, the audio circuit 807 may also include a headphone jack.

[0169] The positioning component 808 is used to locate the current geographical location of the computer device to enable navigation or LBS (Location Based Service). The positioning component 808 can be a positioning component based on GPS (Global Positioning System), BeiDou system, or Galileo system.

[0170] Power supply 809 is used to supply power to various components in a computer device. Power supply 809 can be AC ​​power, DC power, a disposable battery, or a rechargeable battery. When power supply 809 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery that is charged via a wired line, while a wireless rechargeable battery is a battery that is charged via a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0171] In some embodiments, the computer device further includes one or more sensors 810. The one or more sensors 810 include, but are not limited to, an accelerometer 811, a gyroscope 812, a pressure sensor 813, an optical sensor 814, and a proximity sensor 815.

[0172] Accelerometer 811 can detect the magnitude of acceleration along the three coordinate axes of a coordinate system established by a computer device. For example, accelerometer 811 can be used to detect the components of gravitational acceleration along the three coordinate axes. Processor 801 can control display screen 805 to display the user interface in either a landscape or portrait view based on the gravitational acceleration signal acquired by accelerometer 811. Accelerometer 811 can also be used for games or for acquiring user motion data.

[0173] The gyroscope sensor 812 can detect the orientation and rotation angle of the computer device. The gyroscope sensor 812 can work in conjunction with the accelerometer sensor 811 to collect 3D motion data from the user on the computer device. Based on the data collected by the gyroscope sensor 812, the processor 801 can perform the following functions: motion sensing (e.g., changing the UI based on the user's tilt), image stabilization during shooting, game control, and inertial navigation.

[0174] The pressure sensor 813 can be disposed on the lower layer of at least one of the side bezel of the computer device and the display screen 805. When the pressure sensor 813 is disposed on the side bezel of the computer device, it can detect the user's grip signal on the computer device, and the processor 801 can perform left / right hand recognition or quick operation based on the grip signal collected by the pressure sensor 813. When the pressure sensor 813 is disposed on the lower layer of the display screen 805, the processor 801 can control the operable controls on the UI interface based on the user's pressure operation on the display screen 805. The operable controls include at least one of button controls, scroll bar controls, icon controls, and menu controls.

[0175] An optical sensor 814 is used to collect ambient light intensity. In one embodiment, the processor 801 can control the display brightness of the display screen 805 based on the ambient light intensity collected by the optical sensor 814. Specifically, when the ambient light intensity is high, the display brightness of the display screen 805 is increased; when the ambient light intensity is low, the display brightness of the display screen 805 is decreased. In another embodiment, the processor 801 can also dynamically adjust the shooting parameters of the camera assembly 806 based on the ambient light intensity collected by the optical sensor 814.

[0176] A proximity sensor 815, also known as a distance sensor, is typically installed on the front panel of a computer device. The proximity sensor 815 is used to detect the distance between the user and the front of the computer device. In one embodiment, when the proximity sensor 815 detects that the distance between the user and the front of the computer device is gradually decreasing, the processor 801 controls the display screen 805 to switch from a screen-on state to a screen-off state; when the proximity sensor 815 detects that the distance between the user and the front of the computer device is gradually increasing, the processor 801 controls the display screen 805 to switch from a screen-off state to a screen-on state.

[0177] Those skilled in the art will understand that the structure shown in Figure 13 does not constitute a limitation on the robot and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0178] This application also provides a computer device, which includes a memory and a processor; the memory stores at least one piece of program code, which is loaded and executed by the processor to implement the mobile robot control method described above.

[0179] According to one aspect of this application, this embodiment provides a computer-readable storage medium storing a computer program that is executed by a processor to implement the control method described above.

[0180] According to one aspect of this application, this embodiment provides a chip that includes at least one of programmable logic circuits and program instructions, which, when an electronic device equipped with the chip is running, is used to implement the control method described above.

[0181] According to one aspect of this application, a computer program product is provided, comprising computer instructions stored in a computer-readable storage medium, wherein a processor reads from and executes the computer instructions to implement the control method described above.

[0182] It should be noted that in this article, "several" and "at least one" refer to one or more, while "multiple" and "at least two" refer to two or more.

[0183] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0184] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0185] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0186] In the description of this specification, the references to the terms "certain embodiments", "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" refer to specific features, structures, materials, or characteristics described in connection with the embodiments or examples that are included in at least one embodiment or example of this application.

[0187] The above description is merely an embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. A robotic arm, characterized in that, The robotic arm includes a shoulder module (1), an elbow module (2), a wrist module (3), and an execution module (4). One end of the shoulder module (1) is provided with a base member (11). The elbow module (2) is movably connected to the other end of the shoulder module (1). The wrist module (3) is movably connected to the end of the elbow module (2) facing away from the shoulder module (1). The execution module (4) is movably connected to the end of the wrist module (3) facing away from the elbow module (2). The shoulder module (1) includes a first drive assembly (12) and a second drive assembly (13). The first drive assembly (12) is connected to the base member (11) facing away from the elbow module (1). On one side of the elbow module (2), the second drive assembly (13) is located within the shoulder module (1) and close to the base member (11); the first drive assembly (12) is used to drive the remaining part of the shoulder module (1) to rotate relative to the base member (11) with a first degree of freedom (001), and the second drive assembly (13) is used to drive the elbow module (2) to rotate relative to the shoulder module (1) with a second degree of freedom (002) and a third degree of freedom (003); the elbow module (2) includes a third drive assembly (21), which is located at the end of the elbow module (2) facing the shoulder module (1). The third drive assembly (21) is used to drive the wrist module (3) to rotate relative to the elbow module (2) in the fourth degree of freedom (004) and the fifth degree of freedom (005); the wrist module (3) includes a fourth drive assembly (31), which is located within the end of the wrist module (3) facing the elbow module (2), and is used to drive the execution module (4) to rotate relative to the wrist module (3) in the sixth degree of freedom (006) and the seventh degree of freedom (007); the shoulder module (1) also includes a shoulder skeleton (14), a first joint axis assembly (15), and a shoulder movable component ( 16); The base member (11) is rotatably connected to one end of the shoulder frame (14), the first joint axis assembly (15) is rotatably connected to the other end of the shoulder frame (14), and the shoulder movable member (16) is rotatably connected to the first joint axis assembly (15); the second drive assembly (13) is located inside the end of the shoulder frame (14) near the base member (11); the elbow module (2) is connected to the shoulder movable member (16); the first drive assembly (12) is connected to the shoulder frame (14) and drives the shoulder frame (14) to rotate relative to the base member (11) to realize the first degree of freedom (001);The second drive assembly (13) is connected to the first joint axis assembly (15) via a tendon cable drive, driving the first joint axis assembly (15) to rotate relative to the shoulder skeleton (14), thereby realizing the second degree of freedom (002), and driving the shoulder movable component (16) to rotate relative to the first joint axis assembly (15), thereby realizing the third degree of freedom (003).

2. The robotic arm according to claim 1, characterized in that, At least one of the first drive assembly (12), the second drive assembly (13), the third drive assembly (21), and the fourth drive assembly (31) includes a drive motor (121); the drive motor (121) includes a rotor assembly (1211), a stator assembly (1212), and a reduction assembly (1213) arranged coaxially; the rotor assembly (1211) includes a working part (12111), a spindle part (12112), and a connecting part (12113), the working part (12111) being arranged around the outer periphery of the stator assembly (1212), and the spindle part... (12112) is located inside the stator assembly (1212), the connecting part (12113) is located at the first axial end of the stator assembly (1212) and connects the working part (12111) and the spindle part (12112); the reduction assembly (1213) is located inside the stator assembly (1212), the input end of the reduction assembly (1213) is connected to the spindle part (12112), and the output end of the reduction assembly (1213) is located at the second axial end of the stator assembly (1212) and serves as the output end of the drive motor (121).

3. The robotic arm according to claim 2, characterized in that, The drive motor (121) further includes a housing assembly (1214) and a braking assembly (1215). The rotor assembly (1211), the stator assembly (1212), and the reduction assembly (1213) are located inside the housing assembly (1214). The braking assembly (1215) is coaxially arranged at the first axial end of the stator assembly (1212). The braking assembly (1215) is connected between the housing assembly (1214) and the connecting portion (12113) of the rotor assembly (1211). The braking assembly (1215) is used to provide braking for the rotor assembly (1211).

4. The robotic arm according to claim 1, characterized in that, The elbow module (2) further includes an elbow skeleton (22), a second joint axis assembly (23), and an elbow movable component (24); one end of the elbow skeleton (22) is connected to the shoulder module (1), the other end of the elbow skeleton (22) is rotatably connected to the second joint axis assembly (23), and the elbow movable component (24) is rotatably connected to the second joint axis assembly (23); the third drive assembly (21) is located inside the end of the elbow skeleton (22) near the shoulder module (1); the wrist module (3) is connected to the elbow movable component (24); the third drive assembly (21) is connected to the second joint axis assembly (23) via a tendon cable drive, driving the second joint axis assembly (23) to rotate relative to the elbow skeleton (22) to achieve the fourth degree of freedom (004), and driving the elbow movable component (24) to rotate relative to the second joint axis assembly (23) to achieve the fifth degree of freedom (005).

5. The robotic arm according to claim 1, characterized in that, The wrist module (3) further includes a wrist skeleton (32), a third joint axis assembly (33), and a wrist movable component (34); one end of the wrist skeleton (32) is connected to the wrist module (3), and the other end of the wrist skeleton (32) is rotatably connected to the third joint axis assembly (33); the wrist movable component (34) is rotatably connected to the third joint axis assembly (33); the fourth drive assembly (31) is located inside the end of the wrist skeleton (32) near the elbow module (2); the execution module (4) is connected to the wrist movable component (34); the fourth drive assembly (31) is connected to the third joint axis assembly (33) via a tendon drive, driving the third joint axis assembly (33) to rotate relative to the wrist skeleton (32) to achieve the sixth degree of freedom (006), and driving the wrist movable component (34) to rotate relative to the third joint axis assembly (33) to achieve the seventh degree of freedom (007).

6. The robotic arm according to claim 1, characterized in that, The shoulder module (1) includes a first joint axis assembly (15), the elbow module (2) includes a second joint axis assembly (23), and the wrist module (3) includes a third joint axis assembly (33); at least one of the first joint axis assembly (15), the second joint axis assembly (23), and the third joint axis assembly (33) includes a differential drive assembly (151); the differential drive assembly (151) is connected to the second drive assembly (13), the third drive assembly (21), or the fourth drive assembly (31); when the When the differential drive assembly (151) is connected to the second drive assembly (13), the differential drive assembly (151) is used to realize the second degree of freedom (002) or the third degree of freedom (003) in different drive modes of the second drive assembly (13); when the differential drive assembly (151) is connected to the third drive assembly (21), the differential drive assembly (151) is used to realize the fourth degree of freedom (004) or the fifth degree of freedom (005) in different drive modes of the third drive assembly (21); When the differential drive assembly (151) is connected to the fourth drive assembly (31), the differential drive assembly (151) is used to realize the sixth degree of freedom (006) or the seventh degree of freedom (007) in different drive modes of the fourth drive assembly (31).

7. The robotic arm according to claim 1, characterized in that, The execution module (4) includes a palm frame, at least one mechanical finger, and at least one end effector; the palm frame is connected to the wrist module (3), the at least one mechanical finger is movably connected to the palm frame, the at least one end effector is located inside the palm frame, the at least one end effector is connected to the at least one mechanical finger, and the at least one end effector is used to drive the at least one mechanical finger to move relative to the palm frame.

8. The robotic arm according to any one of claims 1 to 7, characterized in that, The rotation axis of the first degree of freedom (001) is arranged perpendicular to the rotation axis of the second degree of freedom (002); the rotation axis of the third degree of freedom (003) is arranged perpendicular to the rotation axis of the second degree of freedom (002); the rotation axis of the fourth degree of freedom (004) is arranged perpendicular to the rotation axis of the fifth degree of freedom (005); and the rotation axis of the sixth degree of freedom (006) is arranged perpendicular to the rotation axis of the seventh degree of freedom (007).

9. The robotic arm according to any one of claims 1 to 7, characterized in that, The rotation axis of the fourth degree of freedom (004) and the rotation axis of the fifth degree of freedom (005) form a first plane (045), and the rotation axis of the sixth degree of freedom (006) and the rotation axis of the seventh degree of freedom (007) form a second plane (067). The first plane (045) and the second plane (067) intersect along the rotation axis of the sixth degree of freedom (006).

10. The robotic arm according to any one of claims 1 to 7, characterized in that, The cross-sectional dimensions of at least one of the shoulder module (1), the elbow module (2), and the wrist module (3) decrease along the direction from the shoulder module (1) to the execution module (4).

11. A robot, characterized in that, The robot includes the robotic arm according to any one of claims 1 to 10.

12. A control method, characterized in that, The control method is used to control a robotic arm, which includes a shoulder module (1), an elbow module (2), a wrist module (3), and an execution module (4) connected in sequence. The shoulder module (1) includes a base (11), a first drive assembly (12), and a second drive assembly (13). The elbow module (2) includes a third drive assembly (21), and the wrist module (3) includes a fourth drive assembly (31). The shoulder module (1) also includes a shoulder skeleton (14), a first joint axis assembly (15), and a shoulder movable component (16). The base (11) is rotatably connected to one end of the shoulder skeleton (14), and the first joint axis assembly (15) is rotatably connected to... At the other end of the shoulder frame (14), the shoulder movable component (16) is rotatably connected to the first joint axis assembly (15); the second drive assembly (13) is located within the end of the shoulder frame (14) near the base component (11); the elbow module (2) is connected to the shoulder movable component (16); the control method includes: determining the motion mode of the robotic arm; determining the drive modes of the first drive assembly (12), the second drive assembly (13), the third drive assembly (21), and the fourth drive assembly (31) according to the motion mode of the robotic arm; and controlling the first drive assembly (12) when the robotic arm is in the first shoulder motion mode. The remaining part of the shoulder module (1) is driven to rotate relative to the base member (11) to achieve a first degree of freedom (001); when the robotic arm is in a second shoulder movement mode, the second drive assembly (13) is controlled to drive the elbow module (2) to rotate relative to the shoulder module (1) to achieve a second degree of freedom (002); when the robotic arm is in a third shoulder movement mode, the second drive assembly (13) is controlled to drive the elbow module (2) to rotate relative to the shoulder module (1) to achieve a third degree of freedom (003); when the robotic arm is in a first elbow movement mode, the third drive assembly (21) is controlled to drive the wrist module (3) relative to the elbow... The arm module (2) rotates to achieve the fourth degree of freedom (004); when the robotic arm is in the second elbow movement mode, the third drive component (21) is controlled to drive the wrist module (3) to rotate relative to the elbow module (2) to achieve the fifth degree of freedom (005); when the robotic arm is in the first wrist movement mode, the fourth drive component (31) is controlled to drive the execution module (4) to rotate relative to the wrist module (3) to achieve the sixth degree of freedom (006); when the robotic arm is in the second wrist movement mode, the fourth drive component (31) is controlled to drive the execution module (4) to rotate relative to the wrist module (3) to achieve the seventh degree of freedom (007).The first drive assembly (12) is connected to the shoulder skeleton (14) and drives the shoulder skeleton (14) to rotate relative to the base member (11), realizing the first degree of freedom (001); the second drive assembly (13) is connected to the first joint axis assembly (15) via a tendon cable drive, drives the first joint axis assembly (15) to rotate relative to the shoulder skeleton (14), realizing the second degree of freedom (002), and drives the shoulder movable member (16) to rotate relative to the first joint axis assembly (15), realizing the third degree of freedom (003).

13. A control device, characterized in that, The control device is used to control the robotic arm, which includes a shoulder module (1), an elbow module (2), a wrist module (3), and an execution module (4) connected in sequence. The shoulder module (1) includes a base component (11), a first drive assembly (12), and a second drive assembly (13). The elbow module (2) includes a third drive assembly (21), and the wrist module (3) includes a fourth drive assembly (31). The shoulder module (1) also includes a shoulder frame (14), a first joint axis assembly (15), and a shoulder movable component (16). The base component (11) is rotatably connected to one end of the shoulder frame (14), and the first joint axis assembly (15) is rotatably connected to the other end of the shoulder frame (14). At one end, the shoulder movable component (16) is rotatably connected to the first joint axis assembly (15); the second drive assembly (13) is located inside the end of the shoulder skeleton (14) near the base component (11); the elbow module (2) is connected to the shoulder movable component (16); the control device includes: a first determining module (5) for determining the motion mode of the robotic arm; a second determining module (6) for determining the drive modes of the first drive assembly (12), the second drive assembly (13), the third drive assembly (21), and the fourth drive assembly (31) according to the motion mode of the robotic arm; and a control module (7) for controlling the arm when the robotic arm is in the first shoulder motion mode. The first drive assembly (12) drives the remaining part of the shoulder module (1) to rotate relative to the base member (11), realizing a first degree of freedom (001); when the robotic arm is in a second shoulder movement mode, it controls the second drive assembly (13) to drive the elbow module (2) to rotate relative to the shoulder module (1), realizing a second degree of freedom (002); when the robotic arm is in a third shoulder movement mode, it controls the second drive assembly (13) to drive the elbow module (2) to rotate relative to the shoulder module (1), realizing a third degree of freedom (003); when the robotic arm is in a first elbow movement mode, it controls the third drive assembly (21) to drive the wrist module (3). The third drive assembly (21) is used to drive the wrist module (3) to rotate relative to the elbow module (2) to achieve the fourth degree of freedom (004); when the robotic arm is in the second elbow movement mode, the third drive assembly (21) is used to drive the wrist module (3) to rotate relative to the elbow module (2) to achieve the fifth degree of freedom (005); when the robotic arm is in the first wrist movement mode, the fourth drive assembly (31) is used to drive the execution module (4) to rotate relative to the wrist module (3) to achieve the sixth degree of freedom (006); when the robotic arm is in the second wrist movement mode, the fourth drive assembly (31) is used to drive the execution module (4) to rotate relative to the wrist module (3) to achieve the seventh degree of freedom (007).The first drive assembly (12) is connected to the shoulder skeleton (14) and drives the shoulder skeleton (14) to rotate relative to the base member (11), realizing the first degree of freedom (001); the second drive assembly (13) is connected to the first joint axis assembly (15) via a tendon cable drive, drives the first joint axis assembly (15) to rotate relative to the shoulder skeleton (14), realizing the second degree of freedom (002), and drives the shoulder movable member (16) to rotate relative to the first joint axis assembly (15), realizing the third degree of freedom (003).

14. A computer device, characterized in that, The computer device includes a processor (801) and a memory (802); the memory (802) stores at least one piece of program code, which is loaded and executed by the processor (801) to implement the control method as described in claim 12.

15. A computer-readable storage medium, characterized in that, The storage medium stores a computer program that is executed by a processor (801) to implement the control method as described in claim 12.

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