Bent limb and control method thereof, robot hand and robot

Abstract

The invention discloses a bent limb and a control method thereof, a robot arm and a robot. The bent limb comprises a first end part, a second end part and a limb section part, each limb section part comprises a bent rod and a connecting rod which are arranged in a crossed manner; the bent rod is provided with a first rotating node, a second rotating node, a third rotating node and a fourth rotating node; the connecting rod is provided with a fifth rotating node and a sixth rotating node; the first rotating node and the fifth rotating node are rotationally connected with the adjacent limb section parts or the first end parts; the fourth rotating node and the sixth rotating node are rotationally connected with the adjacent limb section part or the second end part; and at least one of the second rotating node and the third rotating node is rotationally connected with the adjacent limb section part. The limb section part is used for connecting the first end part and the second end part to form a multi-section bent limb, and the whole bent limb forms a linkage structure. When one limb section part rotates, other limb section parts and the end part are driven to rotate, so that the overall bending of the bent limb can be realized more easily, and the reliability is higher.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a bending limb and a control method thereof, a robotic arm, and a robot. Background Art

[0002] Bendable limbs can be used in industrial robot end effectors, humanoid hands, and intelligent prosthetics. Bendable limbs such as fingers, arms, and feet can assume a variety of bending postures, enabling operations such as grasping, hugging, and kneeling.

[0003] In the prior art, the bending limbs are mainly driven by wires or pneumatics to achieve overall bending and extension of the bending limbs. The bending limbs are not very reliable when bending and are prone to damage and failure.

[0004] Therefore, the existing technology still needs to be improved and developed. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a bending limb and its control method, a robotic arm, and a robot in response to the above-mentioned defects of the prior art, aiming to solve the problem of low reliability of the bending limbs in the prior art.

[0006] The technical solutions adopted by the present invention to solve the technical problems are as follows: A bending limb, comprising: a first end portion, a second end portion and at least one limb portion; the limb portion comprises: A curved rod having a first rotation node, a second rotation node, a third rotation node and a fourth rotation node; a connecting rod having a fifth rotation node and a sixth rotation node; Wherein, the bending rod and the connecting rod are arranged crosswise; The first rotation node and the fourth rotation node are respectively located at two ends of the curved rod; The second rotation node is located at a bending position of the bending rod, and the bending position of the bending rod is close to the position of the first rotation node; The third rotation node is located close to the fourth rotation node; The fifth rotation node and the sixth rotation node are respectively located at two ends of the connecting rod; The first rotation node and the fifth rotation node are configured to rotationally connect adjacent limb portions or the first end portions; The fourth rotation node and the sixth rotation node are configured to rotationally connect adjacent limb portions or the second end portions; At least one of the second rotation node and the third rotation node is rotationally connected to an adjacent limb portion.

[0007] The bent limb, wherein when the limb portion is adjacent to the first end portion, the first rotation node in the limb portion is rotationally connected to the first end portion, and the fifth rotation node in the limb portion is rotationally connected to the first end portion.

[0008] The bent limb, wherein when the limb portion is adjacent to the second end portion, the fourth rotation node in the limb portion is rotationally connected to the second end portion, and the sixth rotation node in the limb portion is rotationally connected to the second end portion.

[0009] The bent limb, wherein, when the limb portion is adjacent to another limb portion, the first rotation node in the limb portion is rotationally connected to the third rotation node of the other limb portion, the second rotation node in the limb portion is rotationally connected to the sixth rotation node of the other limb portion, and the fifth rotation node in the limb portion is rotationally connected to the fourth rotation node of the other limb portion.

[0010] The bent limb, wherein the bent limb further comprises: base; a first turntable, rotatably disposed on the base; a first driving member, configured to drive the first turntable to rotate; The first turntable is rotationally connected to the second rotation node, and the second rotation node belongs to the limb portion adjacent to the first end.

[0011] The bent limb, wherein the bent limb further comprises: a second turntable, rotatably disposed on the base; a second driving member, configured to drive the second turntable to rotate; Wherein, the second turntable is connected to the first end.

[0012] The bent limb, wherein the bent limb further comprises: A connecting member, both ends of which are rotatably connected to the first rotating disk and the second rotating node respectively; Among them, the rotation axis of the first turntable, the rotation axis of the second turntable, the rotation axis of the connecting member and the first turntable, the rotation axis of the connecting member and the second rotation node, and the rotation axis of the first rotation node and the first end converge at one point.

[0013] A method for controlling a bent limb as described in any one of the above, comprising the steps of: Controlling the first driving member to drive the first rotating disk to rotate so as to bend the bending limb; The second driving member is controlled to drive the second rotating disk to rotate, so as to deflect the bending limb.

[0014] A robotic arm, comprising: a curved limb as described in any one of the above.

[0015] A robot, comprising: a bent limb as described in any one of the above or a robotic hand as described above.

[0016] Beneficial Effects: This application utilizes a limb segment to connect a first end portion and a second end portion to form a multi-segmented bending limb, and the entire bending limb forms a linkage structure. When one limb segment rotates, it drives the other limb segments and the end portion to rotate, making it easier to achieve overall bending of the bending limb with higher reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the principle of the bent limb in the extended state in the first case of the embodiment of the present invention.

[0018] Figure 2 It is a schematic diagram of the principle of the bent limb in the bent state in the first case of the embodiment of the present invention.

[0019] Figure 3 It is a schematic diagram of the principle of the bent limb in the extended state in the second case of the embodiment of the present invention.

[0020] Figure 4 It is a schematic diagram of the principle of the bent limb in the bent state in the second case of an embodiment of the present invention.

[0021] Figure 5 It is a schematic diagram of the principle of a bent limb in an extended state in the third case of an embodiment of the present invention.

[0022] Figure 6 It is a schematic diagram of the principle of the bent limb in the bent state in the third case of an embodiment of the present invention.

[0023] Figure 7 1 is a first structural diagram of the thumb in an embodiment of the present invention.

[0024] Figure 8 2 is a second structural diagram of the thumb in an embodiment of the present invention.

[0025] Figure 9 Schematic diagram of the principle of the thumb in an embodiment of the present invention.

[0026] Figure 10 1 is a schematic diagram of the first structure of the middle finger in an embodiment of the present invention.

[0027] Figure 11 2 is a schematic diagram of the second structure of the middle finger in the embodiment of the present invention.

[0028] Figure 122 is a top view of the middle finger in an embodiment of the present invention.

[0029] Figure 13 yes Figure 12 Cross-sectional view along the A axis.

[0030] Figure 14 Schematic diagram of the principle of the middle finger in an embodiment of the present invention.

[0031] Figure 15 3 is a schematic structural diagram of the middle finger in a bent state according to an embodiment of the present invention.

[0032] Figure 16 3 is a schematic structural diagram of the middle finger in a deflected state according to an embodiment of the present invention.

[0033] Figure 17 1 is a first structural schematic diagram of a robotic arm according to an embodiment of the present invention.

[0034] Figure 18 2 is a schematic diagram of the second structure of the robotic arm according to an embodiment of the present invention.

[0035] Description of reference numerals: 10. a first end portion; 20. second end portion; 30. Limb; 31. Bending rod; 311. First rotation node; 312. Second rotation node; 313. Third rotation node; 314. Fourth rotation node; 32. Connecting rod; 321. Fifth rotation node; 322. Sixth rotation node; 41. Base; 42. First turntable; 43. First driving member; 44. Second turntable; 45. Second driving member; 46. Connecting member. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the present invention more clear and distinct, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0037] Please also see Figures 1-16 , the present invention provides some embodiments of a bending limb.

[0038] like Figure 1 As shown, the bending limb of the present invention includes: a first end portion 10, a second end portion 20 and at least one limb portion 30; the limb portion 30 includes: The curved rod 31 has a first rotation node 311, a second rotation node 312, a third rotation node 313 and a fourth rotation node 314; The connecting rod 32 has a fifth rotation node 321 and a sixth rotation node 322; In which, the bending rod 31 and the connecting rod 32 are arranged crosswise; the first rotation node 311 and the fourth rotation node 314 are respectively located at the two ends of the bending rod 31; the second rotation node 312 is located at the bending position of the bending rod 31, and the bending position of the bending rod 31 is close to the position of the first rotation node 311; the third rotation node 313 is located near the fourth rotation node 314; the fifth rotation node 321 and the sixth rotation node 322 are respectively located at the two ends of the connecting rod 32; the first rotation node 311 and the fifth rotation node 321 are configured to rotationally connect adjacent limb parts 30 or the first end part 10; the fourth rotation node 314 and the sixth rotation node 322 are configured to rotationally connect adjacent limb parts 30 or the second end part 20; at least one of the second rotation node 312 and the third rotation node 313 is rotationally connected to the adjacent limb part 30.

[0039] Specifically, the first end 10 and the second end 20 are respectively located at the two ends of the bending limb. The first end 10 can be connected to other structures, and the second end 20 can also be connected to other structures. The bending limb can bend, and the bending of the bending limb is achieved specifically by the rotation between the limb section 30 and the first end 10, the rotation between the limb section 30 and the second end 20, and the rotation between two adjacent limb sections 30. The limb section 30 includes a bending rod 31 and a connecting rod 32. The bending rod 31 has a bending portion, and the connecting rod 32 may have a bending portion or may not have a bending portion. The bending rod 31 has a rotation node, and the connecting rod 32 has a rotation node. The rotation node forms a rotational connection with other rotation nodes, for example, forming a pivot connection. The bending rod 31 can have two rotation nodes, three rotation nodes, or four rotation nodes. For example, the bending rod 31 has a first rotation node 311 and a fourth rotation node 314. The first rotation node 311 and the fourth rotation node 314 are respectively located at the two ends of the bending rod 31. The curved rod 31 also has a second pivot point 312, located at the bend position (i.e., the bend portion) of the curved rod 31. The second pivot point 312 is close to the first pivot point 311 and away from the fourth pivot point 314. The curved rod 31 may also have a third pivot point 313, close to the fourth pivot point 314 and away from the first pivot point 311. In some curved rods 31, the second pivot point 312 and / or the third pivot point 313 may be omitted. The connecting rod 32 has two pivot points: a fifth pivot point 321 and a sixth pivot point 322. The fifth pivot point 321 and the sixth pivot point 322 are located at opposite ends of the connecting rod 32, respectively.

[0040] In order to achieve the bending of the bending limb, the two rotation nodes at the same end of the same rod cannot be connected to another rod at the same time (this will form a fixed structure). The two rotation nodes at the same end of the same rod need to be connected to different rods. For example, the first rotation node 311 and the second rotation node 312 are located on the same rod of the same limb section 30. The first rotation node 311 and the second rotation node 312 are respectively connected to the bending rod 31 and the connecting rod 32 of the adjacent limb section 30. The two rods (i.e., the bending rod 31 and the connecting rod 32) in the same limb section 30 cross each other but are not directly connected. In this way, the connection relationship of each node can be determined. There are three specific cases, such as Figures 1-6 As shown, the curved solid line represents the curved rod 31 , the dotted line represents the connecting rod 32 , the straight line represents the first end 10 , and the broken line represents the second end 20 .

[0041] The first case, such as Figure 1 As shown, the first rotation node 311 is connected to the third rotation node 313 of the adjacent bending rod 31 , the second rotation node 312 is connected to the sixth rotation node 322 of the adjacent connecting rod 32 , and the fifth rotation node 321 is connected to the fourth rotation node 314 of the adjacent bending rod 31 .

[0042] The second case, such as Figure 3 As shown, the first rotation node 311 is connected to the fourth rotation node 314 of the adjacent bending rod 31, the second rotation node 312 is connected to the sixth rotation node 322 of the adjacent connecting rod 32, and the third rotation node 313 is connected to the fifth rotation node 321 of another adjacent connecting rod 32.

[0043] The third case, such as Figure 5 As shown, the first rotation node 311 is connected to the sixth rotation node 322 of the adjacent connecting rod 32, the second rotation node 312 is connected to the fourth rotation node 314 of the adjacent bending rod 31, and the third rotation node 313 is connected to the fifth rotation node 321 of another adjacent connecting rod 32.

[0044] The bent limbs form a linkage structure, and the rotation of any rod will drive the other rods to rotate together. Due to different connection relationships, the rotation situation is also different. Figure 2 As shown, the first case is a bend with a smaller curvature, such as Figure 4 As shown in , the second case is a bend with a larger curvature. Figure 6 As shown in the figure, the third case is bending where the rotation angles of the rods are not exactly the same. The connection method of the rods can be configured according to the specific application scenario.

[0045] In the limb portion 30 adjacent to the first end 10 (or the second end 20), the second rotation node 312 (or the third rotation node 313) can be connected to other structures to drive the bending rod 31 to rotate relative to the first end 10 (or the second end 20) to achieve bending of the bending limb.

[0046] This application utilizes a limb segment 30 connecting a first end portion 10 and a second end portion 20 to form a multi-segmented bendable limb, and the entire bendable limb forms a linked structure. Rotation of one limb segment 30 drives rotation of the other limb segments 30 and the ends (e.g., the first end portion 10 and the second end portion 20), making it easier to achieve overall bending of the bendable limb with greater reliability.

[0047] In a preferred implementation of the embodiment of the present invention, Figure 1 、 Figure 3 and Figure 5 As shown, when the limb portion 30 is adjacent to the first end portion 10 , the first rotation node 311 in the limb portion 30 is rotationally connected to the first end portion 10 , and the fifth rotation node 321 in the limb portion 30 is rotationally connected to the first end portion 10 .

[0048] Specifically, when the limb portion 30 is adjacent to the first end portion 10 , the first rotation node 311 and the fifth rotation node 321 of the limb portion 30 are rotationally connected to the two rotation nodes of the first end portion 10 respectively.

[0049] In a preferred implementation of the embodiment of the present invention, Figure 1 、 Figure 3 and Figure 5 As shown, when the limb portion 30 is adjacent to the second end portion 20 , the fourth rotation node 314 in the limb portion 30 is rotationally connected to the second end portion 20 , and the sixth rotation node 322 in the limb portion 30 is rotationally connected to the second end portion 20 .

[0050] Specifically, when the limb portion 30 is adjacent to the second end portion 20 , the fourth rotation node 314 and the sixth rotation node 322 of the limb portion 30 are rotationally connected to the two rotation nodes of the second end portion 20 , respectively.

[0051] When a limb portion 30 is adjacent to another limb portion 30 , different connection modes may apply to different situations. The following description will take the first situation as an example.

[0052] In a preferred implementation of the embodiment of the present invention, Figure 1-Figure 2As shown, when the limb portion 30 is adjacent to another limb portion 30, the first rotation node 311 in the limb portion 30 is rotationally connected to the third rotation node 313 of the other limb portion 30, the second rotation node 312 in the limb portion 30 is rotationally connected to the sixth rotation node 322 of the other limb portion 30, and the fifth rotation node 321 in the limb portion 30 is rotationally connected to the fourth rotation node 314 of the other limb portion 30.

[0053] Specifically, when a limb portion 30 is adjacent to another limb portion 30, the first rotation node 311 of the limb portion 30 is rotationally connected to the third rotation node 313 of the other limb portion 30, the second rotation node 312 of the limb portion 30 is rotationally connected to the sixth rotation node 322 of the other limb portion 30, and the fifth rotation node 321 of the limb portion 30 is rotationally connected to the fourth rotation node 314 of the other limb portion 30.

[0054] The following describes the second case as an example.

[0055] In a preferred implementation of the embodiment of the present invention, Figure 3-Figure 4 As shown, when a limb portion 30 is adjacent to another limb portion 30, the first rotation node 311 in the limb portion 30 is rotationally connected to the fourth rotation node 314 of the other limb portion 30, the second rotation node 312 in the limb portion 30 is rotationally connected to the sixth rotation node 322 of the other limb portion 30, and the fifth rotation node 321 in the limb portion 30 is rotationally connected to the third rotation node 313 of the other limb portion 30.

[0056] The following describes the third case as an example.

[0057] In a preferred implementation of the embodiment of the present invention, Figure 5-Figure 6 As shown, when a limb portion 30 is adjacent to another limb portion 30, the first rotation node 311 in the limb portion 30 is rotationally connected to the sixth rotation node 322 of the other limb portion 30, the second rotation node 312 in the limb portion 30 is rotationally connected to the fourth rotation node 314 of the other limb portion 30, and the fifth rotation node 321 in the limb portion 30 is rotationally connected to the third rotation node 313 of the other limb portion 30.

[0058] In a preferred implementation of the embodiment of the present invention, Figure 7-Figure 8 As shown, the bent limb also includes: base 41; A first turntable 42 is rotatably mounted on the base 41; A first driving member 43 is configured to drive the first rotating disk 42 to rotate; The first rotating disk 42 is rotationally connected to the second rotation node 312 , and the second rotation node 312 belongs to the limb portion 30 adjacent to the first end portion 10 .

[0059] Specifically, the first rotating disk 42 is driven to rotate by the first driving member 43, thereby driving the second rotating node 312 to rotate relative to the base 41, thereby achieving the bending of the bending limb (such as Figure 15 shown).

[0060] In a preferred implementation of the embodiment of the present invention, Figure 7-Figure 8 As shown, the bent limb also includes: A second turntable 44 is rotatably mounted on the base 41; A second driving member 45 is configured to drive the second rotary disk 44 to rotate; The second rotating disk 44 is connected to the first end portion 10 .

[0061] Specifically, the second rotating disk 44 is driven to rotate by the second driving member 45, thereby driving the first end portion 10 to rotate relative to the base 41, thereby achieving the deflection of the bent limb (such as Figure 16 shown).

[0062] In a preferred implementation of the embodiment of the present invention, Figure 7-Figure 8 As shown, the bent limb also includes: A connecting member 46, both ends of which are rotatably connected to the first rotating disk 42 and the second rotating node 312 respectively; Among them, the rotation axis of the first turntable 42, the rotation axis of the second turntable 44, the rotation axis of the connecting member 46 and the first turntable 42, the rotation axis of the connecting member 46 and the second rotation node 312, and the rotation axis of the first rotation node 311 and the first end 10 converge at one point.

[0063] Specifically, the connector 46 connects the first turntable 42 and the second rotation node 312. When the first turntable 42 rotates, the connector 46 drives the second rotation node 312 to rotate relative to the base 41. The rotation axes of the first turntable 42, the second turntable 44, the connector 46, and the first rotation node 311 all intersect at one point.

[0064] In a preferred implementation of the embodiment of the present invention, Figure 10-13As shown, the curved rod 31 is made of a single piece or a double piece, and the connecting rod 32 can be made of a single piece or a double piece. When the curved rod 31 in the same limb portion 30 is made of a double piece, the connecting rod 32 can be made of a single piece, and the single piece is located between the double pieces. When the curved rod 31 in the same limb portion 30 is made of a single piece, the connecting rod 32 can be made of a double piece, and the single piece is located between the double pieces.

[0065] Specifically, a thicker single-piece or double-piece plate can be used for the limb section 30 close to the base 41, while a thinner single-piece or double-piece plate can be used for the limb section 30 away from the base 41. This makes the bending limb more consistent with the shape of a real limb and makes it easier to bend the bending limb through the driving member.

[0066] In a preferred implementation of the embodiment of the present invention, Figure 7-Figure 9 As shown, the flexible limb is a thumb, and the flexible limb comprises a joint portion 30. The flexing rod 31 of the joint portion 30 has a first rotation node 311, a second rotation node 312, and a fourth rotation node 314. The connecting rod 32 of the joint portion 30 has a fifth rotation node 321 and a sixth rotation node 322. The first rotation node 311 and the fifth rotation node 321 are respectively rotatably connected to the two rotation nodes of the first end portion 10. The second rotation node 312 is rotatably connected to the connecting member 46. The fourth rotation node 314 and the sixth rotation node 322 are respectively rotatably connected to the two rotation nodes of the second end portion 20. The second end portion 20 is shaped like the tip of a thumb.

[0067] In a preferred implementation of the embodiment of the present invention, Figure 10-14As shown, the bending limb is the index finger, middle finger, ring finger or little finger. The bending limb adopts two limb sections 30, namely the first limb section and the second limb section, the first limb section is close to the first end 10, and the second limb section is close to the second end 20. The bending rod 31 of the first limb section has a first rotation node 311, a second rotation node 312, a third rotation node 313 and a fourth rotation node 314. The connecting rod 32 of the first limb section has a fifth rotation node 321 and a sixth rotation node 322. The bending rod 31 of the second limb section has a first rotation node 311, a second rotation node 312 and a fourth rotation node 314. The connecting rod 32 of the second limb section has a fifth rotation node 321 and a sixth rotation node 322. In the first segment, the first rotation node 311 and the fifth rotation node 321 are rotationally connected to the two rotation nodes of the first end portion 10, respectively. The second rotation node 312 is rotationally connected to the connecting member 46. The third rotation node 313 is rotationally connected to the first rotation node 311 of the second segment. The fourth rotation node 314 is rotationally connected to the fifth rotation node 321 of the second segment. The sixth rotation node 322 is rotationally connected to the second rotation node 312 of the second segment. In the second segment, the fourth rotation node 314 and the sixth rotation node 322 are rotationally connected to the two rotation nodes of the second end portion 20, respectively. The second end portion 20 is shaped like the tip of an index finger, middle finger, ring finger, or little finger.

[0068] Based on the bent limbs described in any of the above embodiments, the present invention also provides a preferred embodiment of a method for controlling the bent limbs.

[0069] The method for controlling a bent limb according to an embodiment of the present invention comprises the following steps: Step S100, controlling the first driving member to drive the first rotating disk to rotate, so as to bend the bending limb; Step S200: Control the second driving member to drive the second turntable to rotate, so as to deflect the bent limb.

[0070] Specifically, if Figure 15 and Figure 16 As shown, the bending limb can bend or deflect. The first driving member drives the first rotating disk to rotate, driving the bending rod of the limb portion to rotate relative to the first end portion, thereby achieving bending of the bending limb. The second driving member drives the second rotating disk to rotate, driving the first end portion, the limb portion, and the second end portion to deflect.

[0071] Based on the bent limb described in any of the above embodiments, the present invention also provides an embodiment of a robotic hand.

[0072] like Figure 17 and Figure 18 As shown, the robot hand of the present invention includes the bending limb described in any one of the above embodiments.

[0073] Based on the bent limb or robotic hand described in any of the above embodiments, the present invention also provides an embodiment of a robot.

[0074] The robot of the present invention includes the bent limb or robotic hand as described in any one of the above embodiments.

[0075] It should be understood that the application of the present invention is not limited to the above examples. For those skilled in the art, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A bending limb, characterized in that: include: A first end portion, a second end portion and at least one limb portion; the limb portion includes: A curved rod having a first rotation node, a second rotation node, a third rotation node and a fourth rotation node; a connecting rod having a fifth rotation node and a sixth rotation node; Wherein, the bending rod and the connecting rod are arranged crosswise; The first rotation node and the fourth rotation node are respectively located at two ends of the curved rod; The second rotation node is located at a bending position of the bending rod, and the bending position of the bending rod is close to the position of the first rotation node; The third rotation node is located close to the fourth rotation node; The fifth rotation node and the sixth rotation node are respectively located at two ends of the connecting rod; The first rotation node and the fifth rotation node are configured to rotationally connect adjacent limb portions or the first end portions; The fourth rotation node and the sixth rotation node are configured to rotationally connect adjacent limb portions or the second end portions; At least one of the second rotation node and the third rotation node is rotationally connected to an adjacent limb portion.

2. The bending limb according to claim 1, characterized in that When the limb portion is adjacent to the first end portion, the first rotation node in the limb portion is rotationally connected to the first end portion, and the fifth rotation node in the limb portion is rotationally connected to the first end portion.

3. The bending limb according to claim 1, characterized in that When the limb portion is adjacent to the second end portion, the fourth rotation node in the limb portion is rotationally connected to the second end portion, and the sixth rotation node in the limb portion is rotationally connected to the second end portion.

4. The bent limb according to any one of claims 1 to 3, characterized in that: When the limb part is adjacent to another limb part, the first rotation node in the limb part is rotationally connected to the third rotation node of the other limb part, the second rotation node in the limb part is rotationally connected to the sixth rotation node of the other limb part, and the fifth rotation node in the limb part is rotationally connected to the fourth rotation node of the other limb part.

5. The bending limb according to claim 4, characterized in that The bent limb also includes: base; a first turntable, rotatably disposed on the base; a first driving member, configured to drive the first turntable to rotate; The first turntable is rotationally connected to the second rotation node, and the second rotation node belongs to the limb portion adjacent to the first end portion.

6. The bending limb according to claim 5, characterized in that The bent limb also includes: a second turntable, rotatably disposed on the base; a second driving member, configured to drive the second turntable to rotate; Wherein, the second turntable is connected to the first end.

7. The bending limb according to claim 6, characterized in that The bent limb also includes: A connecting member, both ends of which are rotatably connected to the first rotating disk and the second rotating node respectively; Among them, the rotation axis of the first turntable, the rotation axis of the second turntable, the rotation axis of the connecting member and the first turntable, the rotation axis of the connecting member and the second rotation node, and the rotation axis of the first rotation node and the first end converge at one point.

8. A method for controlling a bent limb according to any one of claims 6 to 7, characterized in that: Including steps: Controlling the first driving member to drive the first rotating disk to rotate so as to bend the bending limb; The second driving member is controlled to drive the second rotating disk to rotate, so as to deflect the bending limb.

9. A robotic arm, characterized in that: include: The bent limb according to any one of claims 1 to 7.

10. A robot, characterized in that: include: The bent limb according to any one of claims 1 to 7 or the robotic hand according to claim 9.

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