CN212287659U - Doll type robot control device - Google Patents

Abstract

The utility model provides a doll formula robot control device relates to the robotechnology field. The utility model discloses a people's image formula robot control device includes: a plurality of rotatable kinematic joints; the joint motion detection devices correspond to the motion joints one by one and are used for acquiring motion parameters of each motion joint; and the control circuit is used for receiving the motion parameters of each motion joint detected by the joint motion detection device and sending a control signal to the robot according to the motion parameters of each motion joint. The utility model discloses a people's image formula robot control device, easy operation, the user can conveniently, accurately control the robot, can improve the user and use experience.

Description

Doll type robot control device

Technical Field

The utility model relates to the technical field of robots, specifically a doll formula robot control device.

Background

Some types of robots have a skeletal structure similar to a human limb joint, and such robots often have multiple kinematic joints that can simulate the motion of the human joint. Such as the swinging of the waist, the bending and turning of the arms, etc. Because the robot can move more joints, the joint movement modes are different, and each joint is in different positions, if the current button type or rocker type robot controller is adopted to control the robot with the multiple movement joints, the corresponding relation between the control operation action and the robot joint movement is not strong, the operation feeling of a user is extremely complex, the operation skill is not easy to master, and the user can not conveniently, accurately, flexibly and quickly control the robot, thereby leading the use experience of the user to be poor.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model provides a doll formula robot control device for it is complicated to solve present being used for solving present doll formula robot control device operation, and the user can not conveniently, accurately control the robot, causes the user to use the relatively poor technical problem of experience.

The utility model provides a doll formula robot control device, include:

a plurality of rotatable kinematic joints;

the joint motion detection devices correspond to the motion joints one by one and are used for acquiring motion parameters of each motion joint;

and the control circuit is electrically connected with the joint motion detection device.

Preferably, the robot controller includes a base, a waist, a chest and two upper limbs, one end of the waist is connected to the base, the other opposite end is connected to the chest, and the two opposite ends of the chest are respectively connected to the two upper limbs.

Preferably, each of the upper limbs includes a first motion joint, a second motion joint, a third motion joint and a fourth motion joint, the first motion joint, the second motion joint, the third motion joint and the fourth motion joint are rotational motion joints, a normal direction of rotation of the first motion joint and a direction of rotation of the second motion joint are perpendicular to each other, and a normal direction of rotation of the third motion joint and a direction of rotation of the fourth motion joint are perpendicular to each other.

Preferably, each of said upper limbs comprises a shoulder, an arm and a hand, said arm comprising a first arm panel and a second arm panel, a first moving joint is formed between the shoulder part and the chest part and is used for enabling the shoulder part to rotate around the first direction of the shoulder part relative to the chest part, a second motion joint is formed between the shoulder part and the first arm board and is used for enabling the first arm board to rotate around the second direction of the shoulder part relative to the shoulder part, a third motion joint is formed between the first arm board and the second arm board and is used for enabling the second arm board to rotate around the first direction of the second arm board relative to the first arm board, and a fourth motion joint is formed between the second arm plate and the hand and is used for enabling the hand to rotate around the second direction of the second arm plate relative to the second arm plate.

Preferably, the shoulder is provided with a first joint motion detection device and a second joint motion detection device, the first joint motion detection device is used for detecting a rotation angle of the first joint, the second joint motion detection device is used for detecting a rotation angle of the second joint, detection directions of the first joint motion detection device and the second joint motion detection device are perpendicular to each other, the second arm plate is provided with a third joint motion detection device and a fourth joint motion detection device, the third joint motion detection device is used for detecting a rotation angle of the third joint, the fourth joint motion detection device is used for detecting a rotation angle of the fourth joint, and detection directions of the third joint motion detection device and the fourth joint motion detection device are perpendicular to each other.

Preferably, every the upper limbs still includes first pivot and second pivot, first pivot one end with chest fixed connection, relative other end inserts among the first joint motion detection device, first joint motion detection device is used for detecting the relative turned angle of first joint motion detection device and first pivot, second pivot one end is inserted among the first joint motion detection device, the relative other end with first arm board fixed connection, second joint motion detection device is used for detecting the turned angle of the relative second pivot of second joint motion detection device.

Preferably, every the upper limbs still includes third pivot and fourth pivot, third pivot one end with first arm board fixed connection, relative other end insert in the third joint movement detection device, third joint movement detection device is used for detecting the relative turned angle of third joint movement detection device and third pivot, fourth pivot one end is inserted in the fourth joint movement detection device, the relative other end with the hand is connected, fourth joint movement detection device is used for detecting the turned angle of the relative fourth pivot of fourth joint movement detection device.

Preferably, a fifth joint for moving the chest portion relative to the waist portion in the first direction around the waist portion and fifth joint movement detection means for detecting a rotation angle of the fifth joint are formed between the waist portion and the chest portion.

Preferably, the hand is provided with a key for generating an electrical signal which is sent to the controller when pressed.

Preferably, a sixth kinematic joint is formed between the waist and the base, and the sixth kinematic joint is used for enabling the waist to rotate relative to the base along the first direction of the base and/or the second direction of the base, and the first direction of the base is perpendicular to the second direction of the base.

Has the advantages that: the utility model discloses a control device of image formula robot has set up a plurality of motion joints, and set up with the joint motion detection device of motion joint one-to-one detects each motion joint's motion parameter, then utilizes the controller to control the corresponding joint motion of robot according to motion parameter. The utility model discloses a people even formula robot control device can control corresponding robot joint through operation control device's motion joint pivoted mode and rotate, and the direction of rotation and the pivoted angle of each joint of controller have just represented the corresponding articular direction of rotation and the turned angle of robot like this. The mode enables the control mode of the controller and the motion mode of the robot to be visually and intuitively corresponding, the control operation is intuitive and simple, and a user can quickly, flexibly and accurately control the robot without mastering complicated control skills.

Drawings

In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below, and for those skilled in the art, without creative efforts, other drawings can be obtained according to these drawings, and these drawings are all within the protection scope of the present invention.

Fig. 1 is a schematic view of the overall structure of a doll-type robot control device according to the present invention;

fig. 2 is a position layout diagram of each kinematic joint of the doll robot controller according to the present invention;

fig. 3 is a schematic structural view of an upper limb of the doll-type robot control device of the present invention;

fig. 4 is a position layout diagram of a joint movement detection device of an upper limb of the robot control device of the present invention;

fig. 5 is a position layout view of a waist joint movement detection device of the doll robot control device according to the present invention;

fig. 6 is a schematic structural view of each kinematic joint of an upper limb of the doll-type robot controller according to the present invention;

fig. 7 is a schematic structural view of a kinematic joint at the waist of the doll-type robot control device of the present invention;

fig. 8 is a position layout diagram of a circuit board of an upper limb of the robot control device of the present invention;

fig. 9 is a position layout diagram of a circuit board at the waist of the doll-type robot controller according to the present invention;

fig. 10 is a layout diagram of the position layout diagram of the circuit board at the waist of the doll-type robot controller according to the present invention;

fig. 11 is a schematic view illustrating the rotation of the first kinematic joint of the doll robot controller according to the present invention;

fig. 12 is a schematic structural view illustrating the rotation of the second kinematic joint of the robot control device of the present invention;

fig. 13 is a schematic structural view of a third kinematic joint of the doll-type robot controller according to the present invention;

fig. 14 is a schematic structural view illustrating the rotation of the fourth kinematic joint of the robot control device of the present invention;

fig. 15 is a schematic structural view of a fifth kinematic joint of the doll-type robot controller according to the present invention;

fig. 16 is a schematic structural view illustrating a sixth kinematic joint of the robot control device of the present invention rotating around the waist in the first direction;

fig. 17 is a schematic structural view of a sixth kinematic joint of the robot control device of the present invention rotating around the second direction of the waist.

Parts and numbering in the drawings: the base 100, the waist 200, the chest 300, the upper limb 400, the first kinematic joint 410, the second kinematic joint 420, the third kinematic joint 430, the fourth kinematic joint 440, the fifth kinematic joint 450, the sixth kinematic joint 460, the shoulder 470, the arm 480, the first arm plate 481, the second arm plate 482, the hand 490, the button 491, the first joint motion detection device 510, the second joint motion detection device 520, the third joint motion detection device 530, the fourth joint motion detection device 540, the fifth joint motion detection device 550, the first rotating shaft 610, the second rotating shaft 620, the third rotating shaft 630, the fourth rotating shaft 640, the fifth rotating shaft 650, the control circuit 700, the first circuit board 710, the second circuit board 720, the third circuit board 730, the fourth circuit board 740, the first segment 810, the second segment 820, the third segment 830, and the fourth segment 840.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings in the embodiments of the present invention are combined below to clearly and completely describe the technical solutions in the embodiments of the present invention. It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. In case of conflict, various features of the embodiments and examples of the present invention may be combined with each other and are within the scope of the present invention.

Example 1:

as shown in fig. 1, the present embodiment provides a robot control device of a doll type, which includes a plurality of rotatable kinematic joints, joint motion detection devices corresponding to the kinematic joints one by one, and a control circuit 700. The joint motion detection device is used for acquiring motion parameters of each motion joint; the control circuit 700 is configured to receive the motion parameters of each of the joints detected by the joint motion detection device, and send a control signal to the robot according to the motion parameters of each of the joints.

The number of the rotatable kinematic joints can be determined according to the number of the kinematic joints of the robot to be controlled, so that the number of the kinematic joints of the robot control device of the present embodiment is the same as the number of the kinematic joints of the robot to be controlled, and thus the joints of the control device can correspond to the kinematic joints of the robot to be controlled one by one. For example, if the robot to be controlled has a joint that can swing the waist 200, a joint that can swing the waist 200 is also provided in the control device. In addition, the present embodiment provides a corresponding joint motion detection device for each kinematic joint of the control device, and the joint motion detection device is used to detect the motion condition of the joint to obtain the motion parameters, wherein the motion parameters include, but are not limited to, the angle of rotation of the joint, the angular velocity, the angular acceleration, the position, the velocity, the acceleration, and the like of the joint. The joint motion detection device sends the acquired motion parameters of each joint to the controller, and the controller processes the motion parameters to generate corresponding control signals and sends the control signals to the robot. The robot causes the relevant joint to perform joint motion in accordance with the received control signal. For example, when a user operates the control device, the waist 200 joint swings 30 degrees relative to the horizontal direction, the joint motion detection device corresponding to the waist 200 joint detects that the waist 200 joint swings 30 degrees relative to the horizontal direction, the detection data is sent to the controller, the controller generates a controller signal for controlling the waist 200 joint of the robot after analyzing and processing the detection data, and the robot receives the control signal and controls the steering engine of the waist 200 joint to drive the waist 200 joint to rotate 30 degrees.

As shown in fig. 1, in order to allow a user to control a robot more conveniently, the robot control device of the present embodiment may have a figure-like structure corresponding to a skeleton of the robot to be controlled, and includes a base 100, a waist portion 200, a chest portion 300, and two upper limbs 400, wherein one end of the waist portion 200 is connected to the base 100, the other opposite end is connected to the chest portion 300, and the opposite ends of the chest portion 300 are respectively connected to the two upper limbs 400. Wherein the two upper limbs 400 correspond to the left and right hands of the robot, respectively. The above-described configuration controls the limb movement of the upper body of the robot by the movement of the waist 200, the chest 300, and the two upper limbs 400 of the robot control device in accordance with the upper body skeleton of the robot to be controlled.

As shown in fig. 2, the kinematic joints of the upper limbs 400 are arranged such that each of the upper limbs 400 includes a first kinematic joint 410, a second kinematic joint 420, a third kinematic joint 430 and a fourth kinematic joint 440, the first kinematic joint 410, the second kinematic joint 420, the third kinematic joint 430 and the fourth kinematic joint 440 are all rotational kinematic joints, the normal direction of rotation of the first kinematic joint 410 and the direction of rotation of the second kinematic joint 420 are perpendicular to each other, and the normal direction of rotation of the third kinematic joint 430 and the direction of rotation of the fourth kinematic joint 440 are perpendicular to each other. Wherein the normal direction of rotation of the kinematic joint is the normal direction of the plane in which the rotation lies.

Wherein the movement joints of the waist portion 200 and the chest portion 300 are arranged in such a manner as to articulate a fifth movement joint 460 formed between the waist portion 200 and the chest portion 300.

The joint arrangement includes one kinematic joint of the waist 200, four kinematic joints of the left hand and four kinematic joints of the right hand, and one nine kinematic joints. The nine kinematic joints correspond to nine kinematic joints of the upper body of the robot one to one, and a user can control the corresponding joint motions of the robot by operating the motions of the nine kinematic joints of the robot control device.

In order to further make the kinematic joint of the robot controller correspond to each kinematic joint of the robot more intuitively, the robot controller of the present embodiment adopts a form of a skeleton structure similar to that of the robot.

The method specifically comprises the following steps:

as shown in fig. 2 and 3, each of the upper limbs 400 includes a shoulder 470, an arm 480, and a hand 490, and the arm 480 includes a first arm plate 481 and a second arm plate 482.

As shown in fig. 11, a first moving joint 410 is formed between the shoulder portion 470 and the chest portion 300, and the first moving joint 410 is used to rotate the shoulder portion 470 relative to the chest portion 300 about a first direction of the shoulder portion 470 (direction indicated by an arrow in fig. 11).

As shown in fig. 12, a second kinematic joint 420 is formed between the shoulder 470 and the first arm plate 481, and the second kinematic joint 420 is used for rotating the first arm plate 481 relative to the shoulder 470 about a second direction (direction indicated by an arrow in fig. 12) of the shoulder 470.

As shown in fig. 13, a third kinematic joint 430 is formed between the first and second arm plates 481 and 482, and the third kinematic joint 430 is configured to rotate the second arm plate 482 relative to the first arm plate 481 in a first direction (direction indicated by an arrow in fig. 13) of the second arm plate 482.

As shown in fig. 14, a fourth motion joint 440 is formed between the second arm plate 482 and the hand portion 490, and the fourth motion joint 440 is configured to rotate the hand portion 490 relative to the second arm plate 482 in a second direction (a direction indicated by an arrow in fig. 14) of the second arm plate 482.

As shown in fig. 15, the fifth kinematic joint 460 is used to rotate the chest portion 300 relative to the waist portion 200 about the first direction of the waist portion 200.

As shown in fig. 4, the joint movement detection device corresponding thereto is arranged in such a manner that: the shoulder 470 is provided with a first articulation detection means 510 and a second articulation detection means 520, the first joint movement detection means 510 is used to detect the rotation angle of the first joint 410, the second joint movement detecting means 520 is for detecting the rotation angle of the second moving joint 420, the detection directions of the first joint movement detection means 510 and the second joint movement detection means 520 are perpendicular to each other, the second arm plate 482 is provided with third joint motion detecting means 530 and fourth joint motion detecting means 540, the third joint movement detecting means 530 is used to detect the rotation angle of the third joint 430, the fourth joint movement detection means 540 is for detecting the rotation angle of the fourth joint 440, the detection directions of the third joint movement detection device 530 and the fourth joint movement detection device 540 are perpendicular to each other. As shown in fig. 5, the waist portion 200 is provided with a fifth articulation detecting means 550, and the fifth articulation detecting means 550 detects the rotation angle of the fifth articulation joint 460. Wherein the detection direction of each joint motion detection device is the direction of the rotation of the corresponding motion joint.

As shown in fig. 6, the structure for realizing the aforementioned joint motion and the corresponding joint motion detection device are arranged in such a manner that: each upper limb 400 further comprises a first rotating shaft 610 and a second rotating shaft 620, one end of the first rotating shaft 610 is fixedly connected with the chest 300, the other opposite end of the first rotating shaft is inserted into the first joint movement detection device 510, the first joint movement detection device 510 is used for detecting the relative rotation angle between the first joint movement detection device 510 and the first rotating shaft 610, one end of the second rotating shaft 620 is inserted into the first joint movement detection device 510, the other opposite end of the second rotating shaft is fixedly connected with the first arm plate 481, and the second joint movement detection device 520 is used for detecting the rotation angle of the second joint movement detection device 520 relative to the second rotating shaft 620.

Each upper limb 400 further includes a third rotating shaft 630 and a fourth rotating shaft 640, one end of the third rotating shaft 630 is fixedly connected to the first arm plate 481, the other opposite end is inserted into the third joint movement detection device 530, the third joint movement detection device 530 is configured to detect a relative rotation angle between the third joint movement detection device 530 and the third rotating shaft 630, one end of the fourth rotating shaft 640 is inserted into the fourth joint movement detection device 540, the other opposite end is connected to the hand 490, and the fourth joint movement detection device 540 is configured to detect a rotation angle between the fourth joint movement detection device 540 and the fourth rotating shaft 640.

The joint motion detection device of this embodiment can adopt the potentiometre, and four motion joints of an upper limbs 400 correspond in this embodiment and set up four pivots, and four pivots rotate relative to the potentiometre when motion joint rotates, can drive the slide rotation at the rotation in-process to measure motion joint's turned angle. One end of the second rotating shaft 620 is a trapezoidal boss structure, and the other end is a D-shaped column structure. One end of the second rotation shaft 620 having a trapezoidal boss is fixed in the first arm plate 481, and one end of the second rotation shaft 620 having a D-shaped post is inserted into the second articulation detecting means 520 to be connected to a slider of the potentiometer. Similarly, one end of the fourth rotating shaft 640 is a trapezoidal boss structure, and the other end thereof is a D-shaped column structure. One end of the fourth rotation shaft 640 having a trapezoidal boss is fixed in the first hand portion 490, and one end of the fourth rotation shaft 640 having a D-shaped post is inserted into the fourth joint movement detecting device 540 to be connected to a slider of the potentiometer. As shown in fig. 7, a fifth rotating shaft 650 is further provided at the fifth joint, one end of the fifth rotating shaft 650 is fixed to the chest 300, and the other end opposite to the fifth rotating shaft is inserted into the fifth joint 460 detecting device.

Example 2

As shown in fig. 3, in this embodiment, the hand 490 is provided with keys 491 for generating an electrical signal to the controller when pressed. In addition to controlling the movement of each joint, the robot also has some non-joint movement controllers, such as robot pivot and weapon use, and for these light energy control, this embodiment uses the button 491 set at the hand 490. The controller controls the robot to turn in place and use the weapon according to the electrical signal generated by the user pressing the button 491.

As shown in fig. 2, in the present embodiment, a sixth joint is formed between the waist portion 200 and the base 100, and the sixth joint is used for rotating the waist portion 200 relative to the base 100 along the first direction of the base 100 (as shown in fig. 16) and/or the second direction of the base 100 (as shown in fig. 17), wherein the first direction of the base 100 and the second direction of the base 100 are perpendicular to each other. And sixth and seventh articulation detecting means are provided to acquire the angle of rotation of the waist 200 relative to the base 100 in the first direction of the base 100 and the angle of rotation of the waist 200 relative to the base 100 in the second direction of the base 100.

Wherein the first direction may be a front-rear direction of the base 100, the second direction may be a left-right direction of the base 100, the control means controls the robot to move forward when the waist 200 rotates forward relative to the base 100, controls the robot to move backward when the waist 200 rotates backward relative to the base 100, controls the robot to move leftward when the waist 200 rotates leftward relative to the base 100, and controls the robot to move rightward when the waist 200 rotates rightward relative to the base 100.

The control circuit 700 in this embodiment includes a processor and a communication module, and the processor processes the motion parameters of each motion joint, generates a control signal, and then sends the control signal to the communication module, and then the communication module sends the control signal to the robot to be controlled. The communication module preferably adopts a wireless communication module, so that the robot can not be influenced by a physical line and can move quickly and accurately under the control of the control device. In other embodiments, the communication module may also be a wired communication module.

As shown in fig. 10, the joint movement detection devices are distributed at different positions of the control device, and in order to quickly transmit the detection output of each joint movement detection device to the control circuit 700, the present embodiment further provides an FPC cable for transmitting the movement parameters of each movement joint acquired by each joint movement detection device, wherein the FPC cable electrically connects a plurality of joint movement detection devices in a segmented serial manner.

As shown in fig. 8, in combination with the FPC cable, the partial mode and the connection mode of each joint movement detection device in this embodiment are as follows: the shoulder 470 is provided with a first circuit board 710, the first articulation detecting device 510 and the second articulation detecting device 520 are respectively located at two ends of the first circuit board 710 along the length direction of the shoulder 470 and are electrically connected with the first circuit board 710, the second arm plate 482 is provided with a second circuit board 720, and the third articulation detecting device 530 and the fourth articulation detecting device 540 are respectively located at two ends of the second circuit board 720 along the length direction of the second arm plate 482 and are electrically connected with the second circuit board 720.

As shown in fig. 8 and 9, the waist portion 200 is provided with a third circuit board 730, and the fifth articulation detecting means 550 is electrically connected to the third circuit board 730. The hand 490 is provided with a key 491 and a fourth circuit board 740, and the key 491 is electrically connected to the fourth circuit board 740.

As shown in fig. 10, the FPC cable includes a first section 810, a second section 820, a third section 830 and a fourth section 840, the control circuit 700 is connected in series with the third circuit board 730 through the first section 810, the third circuit board 730 is connected in series with the first circuit board 710 through the second section 820, the first circuit board 710 is connected in series with the second circuit board 720 through the third section 830, and the second circuit board 720 is connected in series with the fourth circuit board 740 through the fourth section.

Since the robot controller of the present embodiment has two upper limbs 400, each upper limb 400 has a second section 820, a third section 830 and a fourth section 840.

Two interfaces may be provided on the first circuit board 710, one of which interfaces connects to one end of the second section 820 and the other of which interfaces connects to one end of the third section 830; two interfaces are provided on the second circuit board 720, one of which interfaces is connected to one end of the third section 830 and the other is connected to one end of the fourth section 840. The fourth circuit board 740 is provided with an interface, which is connected to one end of the fourth segment 840. The third circuit board 730 may have two interfaces, one of which is connected to one end of the second section 820 of the left upper limb 400, and the other of which is connected to one end of the second section 820 of the right upper limb 400.

In the embodiment, the FPC cable is divided into four segments, and the joint motion detection devices distributed at each joint of the robot controller are connected in series in segments. Each segment can move flexibly with the corresponding joint without being affected by other segments. Each segment can be conveniently connected and assembled, so that the assembly process is simpler. The electric signals after being connected in series in sections can be accurately and quickly transmitted to the control circuit 700, faults can be detected in sections, and troubleshooting is facilitated.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.

Claims (10)

1. A doll robot control device, comprising:

a plurality of rotatable kinematic joints;

the joint motion detection devices correspond to the motion joints one by one and are used for acquiring motion parameters of each motion joint;

and the control circuit is electrically connected with the joint motion detection device.

2. The figure robot control device of claim 1, comprising a base, a waist portion, a chest portion, and two upper limbs, wherein one end of the waist portion is connected to the base and the opposite end is connected to the chest portion, and wherein the opposite ends of the chest portion are connected to the two upper limbs, respectively.

3. The robotic control device of claim 2, wherein each of the upper limbs includes a first kinematic joint, a second kinematic joint, a third kinematic joint, and a fourth kinematic joint, the first, second, third, and fourth kinematic joints being rotational kinematic joints, a normal direction of rotation of the first kinematic joint and a normal direction of rotation of the second kinematic joint being perpendicular to each other, and a normal direction of rotation of the third kinematic joint and a normal direction of rotation of the fourth kinematic joint being perpendicular to each other.

4. The figure robot control device of claim 3, wherein each of the upper limbs includes a shoulder, an arm, and a hand, the arm comprises a first arm plate and a second arm plate, a first motion joint is formed between the shoulder and the chest, the first motion joint is used for enabling the shoulder to rotate around the first direction of the shoulder relative to the chest, a second motion joint is formed between the shoulder and the first arm board, the second kinematic joint is for rotating the first arm plate relative to the shoulder about a second direction of the shoulder, a third motion joint is formed between the first arm board and the second arm board and is used for enabling the second arm board to rotate around the first direction of the second arm board relative to the first arm board, and a fourth motion joint is formed between the second arm plate and the hand and is used for enabling the hand to rotate around the second direction of the second arm plate relative to the second arm plate.

5. A control device for a robot puppet according to claim 4, wherein the shoulder is provided with a first articulation detection means and a second articulation detection means, the first joint motion detection means is for detecting a rotation angle of the first joint motion, the second joint motion detection means is for detecting a rotation angle of the second joint motion, the detection directions of the first joint movement detection device and the second joint movement detection device are mutually vertical, the second arm plate is provided with a third joint movement detection device and a fourth joint movement detection device, the third joint motion detection device is used for detecting the rotation angle of a third motion joint, the fourth joint motion detection device is used for detecting the rotation angle of a fourth motion joint, the detection directions of the third joint motion detection device and the fourth joint motion detection device are mutually vertical.

6. The control device of claim 5, wherein each of the upper limbs further comprises a first shaft and a second shaft, one end of the first shaft is fixedly connected to the chest, the other opposite end is inserted into the first joint movement detection device, the first joint movement detection device is used for detecting the relative rotation angle of the first joint movement detection device and the first shaft, one end of the second shaft is inserted into the first joint movement detection device, the other opposite end is fixedly connected to the first arm plate, and the second joint movement detection device is used for detecting the rotation angle of the second joint movement detection device relative to the second shaft.

7. The control device of claim 5, wherein each of the upper limbs further comprises a third shaft and a fourth shaft, one end of the third shaft is fixedly connected to the first arm plate, the other opposite end is inserted into the third joint movement detection device, the third joint movement detection device is used for detecting the relative rotation angle between the third joint movement detection device and the third shaft, one end of the fourth shaft is inserted into the fourth joint movement detection device, the other opposite end is connected to the hand, and the fourth joint movement detection device is used for detecting the rotation angle between the fourth joint movement detection device and the fourth shaft.

8. The doll robot controller according to claim 5, wherein a fifth joint for rotating the chest portion relative to the waist portion in the first direction of the waist portion and a fifth joint movement detector for detecting a rotation angle of the fifth joint are formed between the waist portion and the chest portion.

9. A doll robot controller according to any one of claims 4 to 8, wherein the hand is provided with keys for generating an electrical signal to the controller when pressed.

10. The figure robot control device according to any one of claims 2 to 8, wherein a sixth joint is formed between the waist portion and the base, the sixth joint being configured to rotate the waist portion relative to the base in a first direction of the base and/or a second direction of the base, the first direction of the base and the second direction of the base being perpendicular to each other.

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