Shoulder structure of robot and robot
By designing a shoulder structure consisting of a first rotating component, a second rotating component, and a third rotating component, the problems of complexity and high cost of shoulder joint movement in the prior art are solved, realizing three degrees of freedom of movement of the robot shoulder and improving the flexibility and range of motion control.
Patent Information
- Application Number
- CN202521931404.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-08
- Publication Date
- 2026-08-25
- Estimated Expiration
- 2035-09-08
AI Technical Summary
Existing technologies struggle to effectively simulate the complex shoulder movements of humanoid robots, especially the three degrees of freedom of the shoulder joint, resulting in complex and costly motion control.
The shoulder structure consists of a first rotating component, a second rotating component, and a third rotating component. Each component is connected in sequence and rotates around different axes to achieve three degrees of freedom of movement of the shoulder. The movement of the human shoulder joint is simulated by a joint motor.
It enables simple and low-cost movements of the shoulder with three degrees of freedom, improving the flexibility of robot motion control and optimizing motion trajectories.
Smart Images
Figure CN224674945U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of robotics, and more particularly to a shoulder structure for a robot and the robot itself. Background Technology
[0002] In recent years, the robotics industry has developed rapidly, with humanoid robots becoming one of the focal points of the robotics field both domestically and internationally. The shoulder joint, being the most complex of the human body's major joints with the greatest range of motion, exhibits numerous degrees of freedom and complex movements, making it a key challenge in humanoid robot design. Utility Model Content
[0003] One object of this application is to provide a shoulder structure for a robot and the robot itself.
[0004] According to one aspect of this application, a shoulder structure for a robot is provided, comprising a first rotating assembly, a second rotating assembly, and a third rotating assembly, wherein:
[0005] The first rotating component, the second rotating component, and the third rotating component are connected in sequence;
[0006] When the first rotating component rotates, it causes the second rotating component and the third rotating component to rotate around the first axis; when the second rotating component rotates, it causes the third rotating component to rotate around the second axis; the third rotating component rotates around the third axis; the first axis, the second axis, and the third axis intersect at a point; the second axis is perpendicular to the first axis and the third axis respectively.
[0007] In some embodiments, the first rotating assembly includes a first rotating drive and a first fixing member; the fixed portion of the first rotating drive is fixedly connected to the robot's torso via the first fixing member; and the moving portion of the first rotating drive is fixedly connected to the second rotating assembly.
[0008] In some embodiments, the shoulder structure of the robot further includes a first mounting member, one side of which is fixedly connected to the torso of the robot, and the other side is fixedly connected to the first fixing member.
[0009] In some embodiments, the second rotating component includes a second rotating drive member and a second fixing member; the fixed portion of the second rotating drive member is fixedly connected to the first rotating component through the second fixing member; and the moving portion of the second rotating drive member is fixedly connected to the third rotating component.
[0010] In some embodiments, the second rotating component further includes a first connector, one end of which is fixedly connected to a second fixing member, and the other end of which is fixedly connected to the first rotating component.
[0011] In some embodiments, the third rotating component includes a third rotating drive and a third fixing member; the fixed portion of the third rotating drive is fixedly connected to the second rotating component through the third fixing member, and the moving portion of the third rotating drive is fixedly connected to the robot's arm.
[0012] In some embodiments, the third rotating assembly further includes a second connector, one end of which is connected to the third fixing member, and the other end of which is fixedly connected to the second rotating assembly.
[0013] In some embodiments, the robot's shoulder structure further includes a second mounting member, one side of which is fixedly connected to the robot's arm, and the other side is fixedly connected to the moving part of the third rotary drive.
[0014] In some embodiments, the third rotary drive is a joint motor, the fixed portion of the third rotary drive is the rotor portion of the joint motor, and the moving portion of the third rotary drive is the stator portion of the joint motor.
[0015] According to another aspect of this application, a robot is provided, including the shoulder structure of the robot described in any of the above embodiments.
[0016] Compared with existing technologies, this application provides a shoulder structure and a robot, including a first rotating component, a second rotating component, and a third rotating component, wherein: the first rotating component, the second rotating component, and the third rotating component are connected sequentially; when the first rotating component rotates, it drives the second rotating component and the third rotating component to rotate around a first axis; when the second rotating component rotates, it drives the third rotating component to rotate around a second axis; the third rotating component rotates around a third axis; the first axis, the second axis, and the third axis intersect at a point; the second axis is perpendicular to the first axis and the third axis, respectively. Through a relatively simple structure, three degrees of freedom of shoulder movement are achieved at a lower cost, facilitating robot motion control and algorithm simulation. Furthermore, the intersection of the three motion axes of the shoulder movement at a single point also gives the robot's shoulder movement a superior motion trajectory and range of motion. Attached Figure Description
[0017] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:
[0018] Figure 1 A schematic diagram of the shoulder structure of a robot according to one embodiment of this application is shown;
[0019] Figure 2A partial schematic diagram of the shoulder structure of a robot according to one embodiment of this application is shown;
[0020] Figure 3 , Figure 4 A schematic diagram showing the motion state of the shoulder structure of a robot according to an embodiment of this application is provided.
[0021] Figure 5 A schematic diagram of a first mounting component according to an embodiment of this application is shown;
[0022] Figure 6 A schematic diagram of a first fastener according to an embodiment of this application is shown;
[0023] Figure 7 A partial schematic diagram of the shoulder structure of a robot according to one embodiment of this application is shown;
[0024] Figure 8 , Figure 9 A schematic diagram showing the motion state of the shoulder structure of a robot according to an embodiment of this application is provided.
[0025] Figure 10 An exploded view of the shoulder structure of a robot according to one embodiment of this application is shown;
[0026] Figure 11 A schematic diagram of a first connector according to an embodiment of this application is shown;
[0027] Figure 12 A schematic diagram of a second fastener according to one embodiment of this application is shown;
[0028] Figure 13 A partial schematic diagram of the shoulder structure of a robot according to one embodiment of this application is shown;
[0029] Figure 14 , Figure 15 A schematic diagram showing the motion state of the shoulder structure of a robot according to an embodiment of this application is provided.
[0030] Figure 16 A schematic diagram of a second connector according to one embodiment of this application is shown;
[0031] Figure 17 A schematic diagram of a third fastener according to one embodiment of this application is shown;
[0032] Figure 18 A schematic diagram of a third fastener according to one embodiment of this application is shown.
[0033] The same or similar reference numerals in the accompanying drawings represent the same or similar parts.
[0034] Figure Labels
[0035] 100 - First rotating assembly, 110 - First rotating drive component, 111 - Fixed portion of the first rotating drive component, 112 - Moving portion of the first rotating drive component, 120 - First fixing component.
[0036] 200 - Second rotating assembly, 210 - Second rotating drive member, 211 - Fixed portion of the second rotating drive member, 212 - Moving portion of the second rotating drive member, 220 - Second fixing member, 230 - First connecting member.
[0037] 300 - Third rotating assembly; 310 - Third rotating drive component; 311 - Fixed portion of the third rotating drive component; 312 - Moving portion of the third rotating drive component; 320 - Third fixing component; 330 - Second connecting component.
[0038] L1 - First axis, L2 - Second axis, L3 - Third axis
[0039] 400 - First mounting component, 500 - Second mounting component. Detailed Implementation
[0040] The present application will now be described in further detail with reference to the accompanying drawings.
[0041] 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," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.
[0042] Furthermore, the terms "first," "second," etc., 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, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.
[0043] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., 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 or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection 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.
[0044] 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 above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.
[0045] In the description of this application, "multiple" means two or more, unless otherwise expressly and specifically defined.
[0046] Figure 1 A schematic diagram of the shoulder structure of a robot according to one embodiment of this application is shown, as follows. Figure 1 As shown, the robot's shoulder structure includes a first rotating assembly 100, a second rotating assembly 200, and a third rotating assembly 300. The first rotating assembly 100, the second rotating assembly 200, and the third rotating assembly 300 are connected sequentially. Specifically, the first rotating assembly 100, the second rotating assembly 200, and the third rotating assembly 300 are connected sequentially along the outward extension direction of the robot's arm, with the first rotating assembly 100 closer to the robot's torso and the third rotating assembly 300 further away from the robot's torso.
[0047] When the first rotating component 100 rotates, it drives the second rotating component 200 and the third rotating component 300 to rotate around the first axis L1, i.e., to perform a pitch motion, causing the robot arm corresponding to the shoulder structure to perform forward and reverse rotational movements. The first axis L1 is perpendicular to the left and right sides of the robot. When the second rotating component 200 rotates, it drives the third rotating component 300 to rotate around the second axis L2, i.e., to perform a roll motion, causing the robot arm corresponding to the shoulder structure to perform an arm raising / lowering motion. The third rotating component 300 rotates around the third axis L3, i.e., to perform a yaw motion, causing the robot arm corresponding to the shoulder structure to perform forward and reverse twisting movements. Figure 1 As shown, the first axis L1, the second axis L2, and the third axis L3 intersect at a point; the second axis L2 is perpendicular to the first axis L1 and the third axis L3, respectively.
[0048] In some embodiments, reference Figure 2 The partial schematic diagram shows that the first rotating assembly 100 includes a first rotating drive member 110 and a first fixing member 120. The fixing portion 111 of the first rotating drive member is fixedly connected to the robot's torso via the first fixing member 120. The moving portion 112 of the first rotating drive member is fixedly connected to the second rotating assembly 200. Here, the fixing portion 111 of the first rotating drive member can be directly fixed to the robot's torso via the first fixing member 120, or it can be fixed to the robot's torso via a mounting member that matches the first fixing member 120 and the robot's torso. When the moving portion 112 of the first rotating drive member rotates around the first axis L1, the first fixing member 120 and the fixing portion 111 of the first rotating drive member are fixed relative to the robot's torso. The second rotating assembly 200 connected to the moving portion 112 of the first rotating drive member and the third rotating assembly 300 connected to the second rotating assembly 200 can rotate freely from the robot's torso. Figure 3 The state shown moves to Figure 4 The state shown.
[0049] The fixed connections described in this application include, but are not limited to, existing or future fixed connection methods such as threaded connections, welding, riveting, and interference fits, and this application does not limit these methods.
[0050] In some embodiments, the rotation angle of the moving portion 112 of the first rotary drive can be limited by a limiting structure on the shoulder shell of the robot and / or by electrical programming. The rotation angle range of the moving portion 112 of the first rotary drive can be set based on actual needs. Typically, this rotation angle range is set to (-180°, +75°) to simulate the range of motion of the human shoulder joint.
[0051] In some embodiments, reference Figure 2 The partial schematic diagram shows that the robot's shoulder structure also includes a first mounting member 400, which is fixedly connected to the robot's torso and the first fixing member 120. Figure 5 , Figure 6 As shown, for ease of installation and to create a compact and aesthetically pleasing overall structure, the first mounting member 400 and the first fixing member 120 have matching overall contours. Both are provided with through holes. The through hole on the first fixing member 120 is used to accommodate the fixing portion 111 of the first rotary drive member for fixed connection with the fixing portion 111 of the first rotary drive member. The through hole on the first mounting member 400 is used to accommodate the fixing portion 111 of the first rotary drive member for fitting together with the first fixing member 120. The fixed connection is achieved through the structures on both sides of the through holes of the first fixing member 120 and the first mounting member 400. For example, as... Figure 5 , 6 As shown, the first fixing member 120 and the first mounting member 400 have multiple small holes on both sides of the through hole for threaded fasteners to be screwed in. These small holes can be used to fix the first fixing member 120 and the first mounting member 400 together by threaded connection, forming a structure as shown. Figure 2 The structure shown is illustrated here. Those skilled in the art will understand that the threaded connection method described is merely an example, and this application does not limit the fixed connection method or the matching structural design.
[0052] In some embodiments, reference Figure 7 The partial schematic diagram shows that the second rotating assembly 200 includes a second rotating drive member 210 and a second fixing member 220; the fixing portion 211 of the second rotating drive member is fixedly connected to the first rotating assembly 100 through the second fixing member 220. Specifically, the second fixing member 220 is fixedly connected to the moving portion 112 of the first rotating drive member. The moving portion 212 of the second rotating drive member is fixedly connected to the third rotating assembly 300. When the moving portion 212 of the second rotating drive member rotates around the second axis L2, the second fixing member 220 and the fixing portion 211 of the second rotating drive member remain fixed relative to the moving portion 112 of the first rotating drive member. If the moving portion 112 of the first rotating drive member remains fixed, then the second fixing member 220 and the fixing portion 211 of the second rotating drive member are fixed relative to the robot's torso, and the third rotating assembly 300 connected to the moving portion 212 of the second rotating drive member can rotate freely. Figure 8 The state shown moves to Figure 9 The state shown.
[0053] In some embodiments, the rotation angle of the moving portion 212 of the second rotary drive can be limited by a limiting structure on the shoulder shell of the robot and / or by electrical programming. The rotation angle range of the moving portion 212 of the second rotary drive can be set based on actual needs. Typically, this rotation angle range is set to (-45°, +135°) to simulate the range of motion of the human shoulder joint.
[0054] In some embodiments, reference Figure 7 The second fastener 220 shown has an overall "T" or "「" shaped structure. (See reference) Figure 2 The partial schematic diagram shown and Figure 1 The overall structure has a through hole on its upper horizontal surface to accommodate the moving part 112 of the first rotary drive member for fixed connection; it also has a through hole on its lower vertical surface to accommodate the fixing part 211 of the second rotary drive member for fixed connection. The axes corresponding to the two through holes on the second fixing member 220 are perpendicular, and correspondingly, the second axis L2 is always perpendicular to the first axis L1.
[0055] In some embodiments, such as Figure 10 As shown, the second rotating assembly 200 further includes a first connecting member 230, one end of which is fixedly connected to the second fixing member 220, and the other end is fixedly connected to the first rotating assembly 100. Specifically, the first connecting member 230 is fixedly connected to the moving part 112 of the first rotating drive member. The combination of the first connecting member 230 and the second fixing member 220 provides a convenient way to fix the components to the first rotating assembly 100 and the fixing part 211 of the second rotating drive member, facilitating the fabrication and installation of each component. (Reference) Figure 11 , Figure 12 The diagram shows a first connecting member 230 and a second fixing member 220, each having a through hole. The through hole in the first connecting member 230 accommodates the moving part 112 of the first rotary drive member for fixed connection. The through hole in the second fixing member 220 accommodates the fixing part 211 of the second rotary drive member for fixed connection. When fixing the first connecting member 230 and the second fixing member 220, care should be taken to ensure that the corresponding axes of their through holes are perpendicular to ensure that the second axis L2 is always perpendicular to the first axis L1.
[0056] In some embodiments, reference Figure 13The partial schematic diagram shows that the third rotating assembly 300 includes a third rotating drive member 310 and a third fixing member 320; the fixing portion 311 of the third rotating drive member is fixedly connected to the second rotating assembly 200 via the third fixing member 320. Specifically, the third fixing member 320 is fixedly connected to the moving portion 212 of the second rotating drive member. The moving portion 312 of the third rotating drive member is fixedly connected to the robot arm. Here, the robot arm can be directly fixed to the moving portion 312 of the third rotating drive member, or it can be fixed to the moving portion 312 of the third rotating drive member via a matching mounting component. When the moving part 312 of the third rotary drive rotates around the third axis L3, the third fixing member 320 and the fixing part 311 of the third rotary drive remain fixed relative to the moving part 212 of the second rotary drive. If the moving parts 112 and 212 of the first rotary drive remain fixed, then the third fixing member 320 and the fixing part 311 of the third rotary drive remain fixed relative to the robot's torso. The moving part 312 of the third rotary drive can drive the robot's arm connected to it from... Figure 14 The state shown moves to Figure 15 The state shown.
[0057] In some embodiments, the rotation angle of the moving portion 312 of the third rotary drive can be limited by a limiting structure on the shoulder shell of the robot and / or by electrical programming. The rotation angle range of the moving portion 312 of the third rotary drive can be set based on actual needs. Typically, this rotation angle range is set to (-90°, +90°) to simulate the range of motion of the human shoulder joint.
[0058] In some embodiments, reference Figure 13 and Figure 18 The third fastener 320 shown has an overall L-shaped structure. Combined with... Figure 1 The overall structure shown and Figure 7 The partial schematic diagram shown illustrates the vertical surface of the third fastener 320 in an "L" shape (i.e., Figure 18 The third fastener 320 (part A) and the transverse surface (i.e. Figure 18 The third fixing member 320 (part B) is provided with through holes. The through holes on the vertical surface are used to accommodate the moving part 212 of the second rotary drive member for fixed connection with the moving part 212 of the second rotary drive member. The through holes on the horizontal surface are used to accommodate the fixing part 311 of the third rotary drive member for fixed connection with the fixing part 311 of the third rotary drive member. The axes corresponding to the two through holes on the third fixing member 320 are perpendicular, and correspondingly, the second axis L2 is always perpendicular to the third axis L3.
[0059] In some embodiments, such as Figure 10 As shown, the third rotating assembly 300 further includes a second connecting member 330. One end of the second connecting member 330 is connected to the third fixing member 320, and the other end is fixedly connected to the second rotating assembly 200. Specifically, the second connecting member 330 is fixedly connected to the moving part 212 of the second rotating drive member. The combination of the second connecting member 330 and the third fixing member 320 provides a convenient way to fix the components to the second rotating assembly 200 and the fixing part 311 of the third rotating drive member, facilitating the fabrication and installation of each component. (Reference) Figure 16 , Figure 17 The second connector 330 and the third fixing member 320 are shown. Each of the second connector 330 and the third fixing member 320 has a through hole. When the second connector 330 and the third fixing member 320 are fixedly connected, it is necessary to ensure that the axes corresponding to the through holes are perpendicular to each other, so as to ensure that the second axis L2 is always perpendicular to the third axis L3. The through hole on the second connector 330 is used to accommodate the moving part 212 of the second rotary drive member for fixed connection. The through hole on the third fixing member 320 is used to accommodate the fixing part 311 of the third rotary drive member for fixed connection.
[0060] In some embodiments, such as Figure 10 , Figure 13 As shown, the robot's shoulder structure also includes a second mounting member 500, which is fixedly connected to both the robot's arm and the moving part 312 of the third rotary drive member. The second mounting member is sleeved on the third rotary drive member 310 and fixed to the moving part 312 of the third rotary drive member. The outer side of the second mounting member 500 is used for fixing to the robot's arm, particularly the upper arm.
[0061] In some embodiments, the first rotary drive 110, the second rotary drive 210, and the third rotary drive 310 include, but are not limited to, structures used for rotary drive such as motors, articulated motors, hydraulic motors, and pneumatic motors. In some embodiments, for ease of shoulder movement and motion control design and implementation, each rotary drive uses an articulated motor. An articulated motor refers to a functional unit that includes a motor body, a reducer, and other supporting systems for driving the movement of robot limb joints. Its core function is to convert electrical energy into mechanical energy to achieve precise position, speed, or torque control of the joints, thereby mimicking human movement capabilities. The motor body is used to convert electrical energy into mechanical energy, and it can also be a servo motor, brushless DC motor, harmonic geared motor, direct drive motor, or stepper motor, etc., without limitation. To make the robot shoulder structure more concise and compact, for the first rotary drive 110 and the second rotary drive 210, the corresponding moving part is the rotor part of the articulated motor, and the corresponding fixed part is the stator part of the articulated motor. For the third rotary drive 310, the corresponding fixed part is the rotor part of the articulated motor, and the corresponding moving part is the stator part of the articulated motor.
[0062] The foregoing embodiments have been described using the movement of a single rotating component as an example. Those skilled in the art should understand that in the actual operation of a robot, the rotating components in its shoulder structure can move in one or more combinations. For the movement of multiple rotating components in combination, some or all of these components can move simultaneously, or they can move sequentially in a corresponding order.
[0063] Based on the neck structure described above, this application also proposes a robot including the shoulder structure described above. It should be understood by those skilled in the art that the aforementioned shoulder structure is a unilateral shoulder structure. For humanoid robots, they typically have two symmetrical shoulder structures as described above.
[0064] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within this application. No reference numerals in the claims should be construed as limiting the scope of the claims. Furthermore, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices recited in the apparatus claims may also be implemented by a single unit or device in software or hardware. Terms such as "first," "second," etc., are used to indicate names and do not indicate any particular order.
Claims
1. A shoulder structure for a robot, characterized in that, It includes a first rotating component, a second rotating component, and a third rotating component, wherein: The first rotating component, the second rotating component, and the third rotating component are connected in sequence; When the first rotating component rotates, it causes the second rotating component and the third rotating component to rotate around the first axis; when the second rotating component rotates, it causes the third rotating component to rotate around the second axis; the third rotating component rotates around the third axis; the first axis, the second axis, and the third axis intersect at a point; the second axis is perpendicular to the first axis and the third axis respectively.
2. The shoulder structure of the robot according to claim 1, characterized in that, The first rotating assembly includes a first rotating drive and a first fixing member; the fixed part of the first rotating drive is fixedly connected to the robot's torso through the first fixing member; the moving part of the first rotating drive is fixedly connected to the second rotating assembly.
3. The shoulder structure of the robot according to claim 2, characterized in that, The robot's shoulder structure also includes a first mounting component, which is fixedly connected to the robot's torso and the first fixing component.
4. The shoulder structure of the robot according to any one of claims 1 to 3, characterized in that, The second rotating component includes a second rotating drive member and a second fixing member; the fixed portion of the second rotating drive member is fixedly connected to the first rotating component through the second fixing member; the moving portion of the second rotating drive member is fixedly connected to the third rotating component.
5. The shoulder structure of the robot according to claim 4, characterized in that, The second rotating component further includes a first connector, one end of which is fixedly connected to the second fixing member, and the other end of which is fixedly connected to the first rotating component.
6. The shoulder structure of the robot according to any one of claims 1 to 3, characterized in that, The third rotating component includes a third rotating drive and a third fixing component; the fixed part of the third rotating drive is fixedly connected to the second rotating component through the third fixing component, and the moving part of the third rotating drive is fixedly connected to the robot's arm.
7. The shoulder structure of the robot according to claim 6, characterized in that, The third rotating component further includes a second connector, one end of which is connected to the third fixing component, and the other end of which is fixedly connected to the second rotating component.
8. The shoulder structure of the robot according to claim 6, characterized in that, The robot's shoulder structure also includes a second mounting component, which is fixedly connected to the robot's arm and the moving parts of the third rotary drive component.
9. The shoulder structure of the robot according to claim 6, characterized in that, The third rotary drive component is a joint motor, the fixed part of the third rotary drive component is the rotor part of the joint motor, and the moving part of the third rotary drive component is the stator part of the joint motor.
10. A robot, characterized in that, The shoulder structure of the robot included in any one of claims 1 to 9.