A biomimetic joint

Abstract

The application relates to a bionic joint, which comprises a first joint part with an inner cavity, a second joint part movably mounted outside the first joint part, a first driving device comprising a first driving part and a first driven part, used for driving the second joint part to rotate around the first axis as a rotating axis, a second driving device comprising a second driving part and a second driven part, used for driving the second joint part to rotate around the second axis as a rotating axis, and an inner supporting part located in the inner cavity and fixedly connected with the first joint part, the inner supporting part being used for mounting the first driven part and the second driven part, and the central axis of the first driven part, the central axis of the second driven part, the central axis of the inner supporting part and the second axis being collinear, so that the bionic joint has the advantages of high flexibility, high stability and smaller space occupation.

Description

Technical Field

[0001] This invention relates to the technical field of biomimetic structures and robots, and in particular to a biomimetic joint. Background Technology

[0002] With the rapid development of robotics technology, people's functional requirements for robots are constantly increasing, no longer satisfied with the traditional clumsy concept. Therefore, the biomimetic properties of robots are gradually becoming important, in order to highly simulate the joint movements of humans or animals.

[0003] Existing bionic joints typically include several joint sections and a drive structure positioned between adjacent joint sections. The drive structure drives the relative movement between adjacent joints, thus mimicking human or animal joint movements. For example, Chinese patent application CN113146676A discloses a bionic joint that specifically comprises a first joint, a second joint, and a third joint arranged sequentially. Adjacent joints can rotate relative to each other. When relative rotation occurs between the first and second joints, the first gear remains stationary while the second gear rotates. The second gear transmits power to the fifth gear via a first transmission assembly, causing the fifth gear to rotate and thus driving the third joint to rotate.

[0004] In the above scheme, a drive motor installed inside the joint drives a gear set to rotate, thereby achieving adjustment of different joints and presenting various postures through the cooperation of multiple joints. However, multi-degree-of-freedom flexible adjustment cannot be achieved between two adjacent joints, and the built-in drive motor will increase the weight and volume of the entire joint, further affecting the flexibility of the bionic joint. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the defects in the prior art, thereby providing a bionic joint.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A bionic joint, comprising:

[0008] The first joint portion has an internal cavity;

[0009] The second joint is movably mounted on the outside of the first joint and is configured to rotate relative to the first joint about a first axis and a second axis.

[0010] The first driving device includes a first transmission part and a first driven part. The first transmission part is used to transmit power from the power source to the first driven part and drive the first driven part to rotate, so as to drive the second joint part to rotate about the first axis as the rotation axis.

[0011] The second drive device includes a second transmission part and a second driven part. The second transmission part is used to transmit power from the power source to the second driven part and drive the second driven part to rotate, so as to drive the second joint part to rotate about the second axis as the rotation axis.

[0012] An inner support portion is located within the inner cavity and is fixedly connected to the first joint portion. The inner support portion is used to install at least the first driven portion and the second driven portion, and the central axis of the first driven portion, the central axis of the second driven portion, the central axis of the inner support portion, and the second axis are collinear.

[0013] Preferably, the intersection of the first axis and the second axis is located at the center point of the bionic joint.

[0014] Preferably, the first driven part includes a central shaft, a first gear, and a first rack;

[0015] The central shaft is rotatably mounted on the inner support, and the central axis of the central shaft coincides with the central axis of the inner support.

[0016] The first gear is fixedly mounted on the end of the central shaft and meshes with the first rack for transmission;

[0017] The first rack is fixedly connected to the second joint.

[0018] Preferably, the central shaft passes through the inner support portion, and each end of the central shaft is connected to a first gear, and the two first gears are symmetrically distributed about the center point. Two first racks are provided, and they mesh with the two first gears respectively.

[0019] or,

[0020] Two central shafts are symmetrically distributed about the center point. Each central shaft is connected to a first gear at its end. The two first gears mesh with the same first rack for transmission.

[0021] Preferably, the second driven part includes a turntable and a rotating pin;

[0022] The turntable is rotatably connected to the inner support via a support bearing;

[0023] One end of the rotating pin is rotatably mounted on the turntable, and the other end passes through the guide groove provided on the first joint and is rotatably connected with the second joint. The central axis of the rotating pin is collinear with the first axis.

[0024] Preferably, the first joint portion is provided with a first limiting protrusion, the outer wall surface of the inner support portion is provided with a second limiting protrusion, one end face of the support bearing abuts against the first limiting protrusion, and the other end face abuts against the second limiting protrusion;

[0025] The inner wall surface of the support bearing abuts against the outer wall surface of the inner support portion, and the outer wall surface of the support bearing abuts against the turntable.

[0026] Preferably, at least two rotating pins are provided, and they are arranged in a circumferential array about the turntable.

[0027] Preferably, the end of the first transmission part away from the first driven part extends to the outside of the first joint and is powered by a power source located at the distal end of the bionic joint.

[0028] And / or,

[0029] The end of the second transmission part away from the second driven part extends to the outside of the first joint and is powered by a power source located at the distal end of the bionic joint.

[0030] Preferably, the first transmission part includes a first bevel gear, a second bevel gear, and a first transmission shaft;

[0031] The first bevel gear is fixedly connected to the first driven part and meshes with the second bevel gear for transmission, and the second bevel gear is fixedly mounted on one end of the first transmission shaft;

[0032] The first drive shaft is rotatably mounted on the first joint, and the end of the first drive shaft away from the second bevel gear extends to the outside of the first joint and is powered by a power source located at the far end of the bionic joint.

[0033] Preferably, the second transmission part includes a bevel rack, a third bevel gear, and a second transmission shaft;

[0034] The bevel rack is fixedly connected to the second driven part and meshes with the third bevel gear for transmission, and the third bevel gear is fixed to one end of the second transmission shaft;

[0035] The second drive shaft is rotatably mounted on the first joint, and one end of the second drive shaft away from the third bevel gear extends to the outside of the first joint and is powered by a power source located at the far end of the bionic joint.

[0036] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0037] This invention provides a bionic joint in which a first driving device drives a second joint portion to rotate relative to a first joint portion about a first axis, and a second driving device drives the second joint portion to rotate relative to the first joint portion about a second axis, thereby enabling flexible adjustment of the bionic joint. Simultaneously, the first driven part of the first driving device and the second driven part of the second driving device are coaxially mounted via an inner support, and the operation of the first and second driving devices does not interfere with each other, allowing the second joint portion to rotate simultaneously relative to the first and second axes, further increasing the flexibility of the bionic joint.

[0038] Furthermore, the first driven part of the first drive device and the second driven part of the second drive device are coaxially mounted through the inner support part, which enables the first drive device and the second drive device to be more compactly distributed in the inner cavity, thereby ensuring the stability of the installation of the first drive device and the second drive device and facilitating the stable operation of the first drive device and the second drive device. At the same time, it can also reduce the size of the bionic joint to a certain extent, making the bionic joint occupy less space and have a wider range of applications.

[0039] In other words, the bionic joint provided by this invention has the advantages of high flexibility, high stability, and smaller space occupation. Attached Figure Description

[0040] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0041] Figure 1 This is a schematic diagram of a first embodiment of a bionic joint provided by the present invention.

[0042] Figure 2 for Figure 1 An explosion diagram.

[0043] Figure 3 for Figure 1 A schematic diagram of the structure from another perspective.

[0044] Figure 4 for Figure 3 A schematic diagram of the section along section AA.

[0045] Figure 5 for Figure 3 A cross-sectional view along section BB.

[0046] Figure 6 for Figure 1 A partial cross-sectional diagram.

[0047] Figure 7 for Figure 6 An enlarged diagram of position D1.

[0048] Figure 8 for Figure 6 An enlarged view of position D2 in the middle.

[0049] Figure 9 for Figure 1 A schematic diagram showing the positions of the first drive unit and the second joint.

[0050] Figure 10 This is a schematic diagram of a second embodiment of a bionic joint provided by the present invention.

[0051] Explanation of reference numerals in the attached figures:

[0052] 100. First axis; 200. Second axis; 1. First joint; 10. Inner cavity; 11. First half-shell; 12. Second half-shell; 13. Limiting groove; 2. Second joint; 20. Arc groove; 21. First support rod; 22. Arc shell; 3. First drive device; 31. First transmission part; 311. First bevel gear; 312. Second bevel gear; 313. First transmission shaft; 32. First driven part; 321. Central shaft; 322. First gear; 323. First rack; 4. Second drive device; 41. Second transmission part; 411. Bevel rack; 412. Third bevel gear; 413. Second transmission shaft; 42. Second driven part; 421. Turntable; 422. Rotating pin; 5. Inner support part; 6. Support bearing; 7. Guide groove; 8. First limiting protrusion; 9. Second limiting protrusion. Detailed Implementation

[0053] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0054] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," 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 the invention and for 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 the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0055] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" 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 of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0056] Example 1

[0057] See Figures 1 to 9 This invention provides a bionic joint, comprising a first joint portion 1, a second joint portion 2, a first driving device 3, a second driving device 4, and an inner support portion 5. The first joint portion 1 and the second joint portion 2 are movably connected relative to each other. The first driving device 3 and the second driving device 4 are the main driving structures of the bionic joint, used to drive the second joint portion 2 to rotate relative to the first joint portion 1 in a preset direction, satisfying the multi-degree-of-freedom adjustment requirements of the bionic joint. Simultaneously, it facilitates precise control of the bionic joint (i.e., precise control can be achieved by monitoring the rotational positions of the first driving device 3 and the second driving device 4). The inner support portion 5, in conjunction with the first joint portion 1, ensures the stable installation of the first driving device 3 and the second driving device 4, guaranteeing the stable adjustment of the entire bionic joint.

[0058] Specifically, the first joint portion 1 has an inner cavity 10. The second joint portion 2 is movably mounted on the outside of the first joint portion 1 and is configured to be able to move relative to the first joint portion 1 along a first axis 100 (see...). Figure 2 and Figure 6 (Middle L1) and second axis 200 (see Figure 2 and Figure 6L2) represents the rotation of the rotating axis. The first driving device 3 includes a first transmission part 31 and a first driven part 32. The first transmission part 31 is used to transmit power from the power source to the first driven part 32 and drive the first driven part 32 to rotate, thereby driving the second joint part 2 to rotate about the first axis 100 as the rotation axis. The second driving device 4 includes a second transmission part 41 and a second driven part 42. The second transmission part 41 is used to transmit power from the power source to the second driven part 42 and drive the second driven part 42 to rotate, thereby driving the second joint part 2 to rotate about the second axis 200 as the rotation axis. The inner support part 5 is located in the inner cavity 10 and is fixedly connected to the first joint part 1. The inner support part 5 is at least used to install the first driven part 32 and the second driven part 42, and the central axis of the first driven part 32, the central axis of the second driven part 42, the central axis of the inner support part 5, and the second axis 200 are collinear.

[0059] It is easy to understand that in this embodiment, the first driving device 3 can drive the second joint 2 to rotate relative to the first joint 1 about the first axis 100, that is, the second joint 2 can rotate relative to the first joint 1 in the direction of R1 or in the opposite direction of R1. The second driving device 4 can drive the second joint 2 to rotate relative to the first joint 1 about the second axis 200, that is, the second joint 2 can rotate relative to the first joint 1 in the direction of R2 or in the opposite direction of R2, thereby realizing the flexible adjustment of the bionic joint.

[0060] Meanwhile, the first driven part 32 of the first driving device 3 and the second driven part 42 of the second driving device 4 are coaxially mounted through the inner support part 5, and the operation of the first driving device 3 and the second driving device 4 will not interfere with each other, so that the second joint part 2 can rotate relative to the second joint part 2 with the first axis 100 and the second axis 200 as the rotation axis, so that the bionic joint has three degrees of freedom, thereby further increasing the flexibility of the bionic joint.

[0061] Furthermore, the first driven part 32 of the first driving device 3 and the second driven part 42 of the second driving device 4 are coaxially mounted through the inner support part 5, which enables the first driving device 3 and the second driving device 4 to be more compactly distributed in the inner cavity 10, thereby ensuring the stability of the installation of the first driving device 3 and the second driving device 4 and facilitating the stable operation of the first driving device 3 and the second driving device 4. At the same time, it can also reduce the size of the bionic joint to a certain extent, making the bionic joint occupy less space and have a wider range of applications.

[0062] In other words, the bionic joint provided by this invention has the advantages of high flexibility, high stability, and smaller space occupation.

[0063] See Figures 1 to 5In order to facilitate the assembly of the entire bionic joint, in this embodiment, the first joint part 1 includes a first half-shell 11 and a second half-shell 12, which can be assembled to form an inner cavity 10.

[0064] Specifically, after the first half-shell 11 and the second half-shell 12 are engaged, they can be further fixed together by screws and fasteners.

[0065] Furthermore, the first half-shell 11 and the second half-shell 12 are provided with limiting grooves 13 that cooperate with the inner support part 5, thereby facilitating the installation of the inner support part 5. Similarly, the inner support part 5 can also be configured as a two-part split structure, further facilitating the installation of the first drive device 3 and the second drive device 4.

[0066] Furthermore, the inner support part 5 is fixedly connected to the first half-shell 11 and to the second half-shell 12 by screws and fasteners, which further increases the connection stability of the entire biomimetic structure. The screws and fasteners can be set in pairs, and the paired fasteners can be set relative to each other. The central axis of the fasteners can also pass through the geometric center of the inner support part 5 to ensure that the inner support part 5 is subjected to more uniform force.

[0067] See Figures 1 to 9 The intersection of the first axis 100 and the second axis 200 is located at the center point of the bionic joint (i.e. Figure 7 (Point C in the middle), which further increases the flexibility of the transmission, and at the same time, makes the first driven part 32 of the first drive device 3, the second driven part 42 of the second drive device 4, and the inner support part 5 more compactly distributed in the inner cavity 10.

[0068] Specifically, the first driven part 32 includes a central shaft 321, a first gear 322, and a first rack 323; the central shaft 321 is rotatably mounted on the inner support part 5, and the central axis of the central shaft 321 coincides with the central axis of the inner support part 5; the first gear 322 is fixedly mounted on the end of the central shaft 321 and meshes with the first rack 323 for transmission; the first rack 323 is fixedly connected to the second joint part 2.

[0069] Furthermore, the central shaft 321 penetrates the inner support portion 5, and a first gear 322 is connected to each end of the central shaft 321, with the two first gears 322 about the center point (i.e. Figure 7 The first rack 323 is symmetrically distributed at point C, and has two racks, which mesh with the two first gears 322 respectively.

[0070] Furthermore, the second joint 2 includes a first support rod 21 and an arcuate shell 22. Two arcuate shells 22 are provided, each fixedly connected to the first support rod 21. The two arcuate shells 22 are symmetrically distributed, and an arcuate groove 20 is formed between them. The arcuate groove 20 extends circumferentially around the first axis 100. Two first racks 323 are slidably mounted from both ends of the arcuate groove 20 onto two opposite sidewalls of the arcuate groove 20.

[0071] It is easy to understand that when the first transmission part 31 drives the central shaft 321 to rotate, it can drive the two first gears 322 to rotate synchronously. The two first gears 322 mesh with their corresponding first racks 323 respectively, thereby enabling the second joint part 2 to rotate about the first axis 100 as the rotation axis.

[0072] See Figures 1 to 9 In order to further reduce the weight and volume of the bionic joint, in this embodiment, the end of the first transmission part 31 away from the first driven part 32 extends to the outside of the first joint part 1 and is powered by the power source located at the far end of the bionic joint; this can both increase the flexibility of the bionic joint and further reduce the space occupied by the joint.

[0073] Specifically, the first transmission part 31 includes a first bevel gear 311, a second bevel gear 312, and a first transmission shaft 313; the first bevel gear 311 is fixedly connected to the central shaft 321 of the first driven part 32 and meshes with the second bevel gear 312 for transmission, and the second bevel gear 312 is fixedly mounted on one end of the first transmission shaft 313; the first transmission shaft 313 is rotatably mounted on the first joint part 1, and the end of the first transmission shaft 313 away from the second bevel gear 312 extends to the outside of the first joint part 1 and is powered by a power source located at the far end of the bionic joint.

[0074] Similarly, in order to further reduce the weight and volume of the bionic joint, the end of the second transmission part 41 away from the second driven part 42 extends to the outside of the first joint part 1 and is powered by the power source located at the far end of the bionic joint.

[0075] Specifically, the second transmission part 41 includes a bevel rack 411, a third bevel gear 412, and a second transmission shaft 413; the bevel rack 411 is fixedly connected to the second driven part 42 and meshes with the third bevel gear 412 for transmission, and the third bevel gear 412 is fixedly mounted on one end of the second transmission shaft 413; the second transmission shaft 413 is rotatably mounted on the first joint part 1, and the end of the second transmission shaft 413 away from the third bevel gear 412 extends to the outside of the first joint part 1 and is powered by a power source located at the far end of the bionic joint.

[0076] It is also worth noting that, since the power source is located at the distal end of the bionic joint, it is easier to achieve a sealing treatment of the bionic joint, thereby increasing the waterproof performance of the bionic joint.

[0077] See Figures 1 to 9 The second driven part 42 includes a turntable 421 and a rotating pin 422. The turntable 421 is rotatably connected to the inner support part 5 through the support bearing 6. One end of the rotating pin 422 is rotatably mounted on the turntable 421, and the other end passes through the guide groove 7 provided on the first joint part 1 and is rotatably connected to the second joint part 2. The central axis of the rotating pin 422 is collinear with the first axis 100.

[0078] Furthermore, two rotating pins 422 are provided and arranged in a circular array about the turntable 421, thereby increasing the stability of the turntable 421's operation. It should be understood that two guide grooves 7 are also provided, and each guide groove 7 corresponds to one of the two rotating pins 422. The two guide grooves 7 are positioned around a center point (i.e., Figure 7 Point C is the center of rotation and the distribution is symmetrical.

[0079] Of course, in other embodiments, the rotating pin 422 may also be provided with three, four or more pins.

[0080] Furthermore, the first joint 1 is provided with a first limiting protrusion 8, the outer wall of the inner support 5 is provided with a second limiting protrusion 9, one end face of the support bearing 6 abuts against the first limiting protrusion 8, and the other end face abuts against the second limiting protrusion 9; the inner wall of the support bearing 6 abuts against the outer wall of the inner support 5, and the outer wall of the support bearing 6 abuts against the turntable 421.

[0081] It is easy to understand that the first limiting protrusion 8 and the second limiting protrusion 9 are conducive to the stable installation of the support bearing 6. On the one hand, they are conducive to the stable operation of the turntable 421; on the other hand, they can ensure the coaxial installation of the support bearing 6 and the inner support part 5, so as to achieve the collinear installation of the central axis of the first driven part 32 (i.e., the central axis of the central shaft 321), the central axis of the second driven part 42 (i.e., the central axis of the turntable 421), and the central axis of the inner support part 5. They can also ensure that the central axis of the first driven part 32, the central axis of the second driven part 42, and the central axis of the inner support part 5 can all pass through the center point of the bionic joint, thereby increasing the flexibility of the entire bionic joint.

[0082] Furthermore, it is worth noting that, in order to increase the stability of the transmission, bearings can also be installed between two relatively rotating structural components. For example, between the turntable 421 and the rotating pin 422, between the central shaft 321 and the inner support part 5, between the first transmission shaft 313 and the first joint part 1, and between the rotating pin 422 and the second joint part 2, etc.

[0083] Example 2

[0084] See Figure 10 Based on the above embodiment one, the difference in this embodiment is that: there are two central shafts 321 symmetrically distributed about the center point, and each central shaft 321 is connected to a first gear 322 at its end. The two first gears 322 mesh with the same first rack 323 for transmission.

[0085] The above embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-substantial changes and substitutions made by those skilled in the art based on the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. A bionic joint, characterized in that, include: The first joint portion (1) has an inner cavity (10); The second joint (2) is movably mounted on the outside of the first joint (1) and is configured to rotate relative to the first joint (1) about the first axis (100) and the second axis (200). The first driving device (3) includes a first transmission part (31) and a first driven part (32). The first transmission part (31) is used to transmit the power of the power source to the first driven part (32) and drive the first driven part (32) to rotate so as to drive the second joint part (2) to rotate about the first axis (100) as the rotation axis. The second drive device (4) includes a second transmission part (41) and a second driven part (42). The second transmission part (41) is used to transmit the power of the power source to the second driven part (42) and drive the second driven part (42) to rotate so as to drive the second joint part (2) to rotate about the second axis (200) as the rotation axis. An inner support portion (5) is located inside the inner cavity (10) and is fixedly connected to the first joint portion (1). The inner support portion (5) is used to install at least the first driven portion (32) and the second driven portion (42), and the central axis of the first driven portion (32), the central axis of the second driven portion (42), the central axis of the inner support portion (5), and the second axis (200) are collinear. The first driven part (32) includes a central shaft (321), a first gear (322) and a first rack (323); The central shaft (321) is rotatably mounted on the inner support part (5), and the central axis of the central shaft (321) coincides with the central axis of the inner support part (5); The first gear (322) is fixedly installed at the end of the central shaft (321) and meshes with the first rack (323) for transmission; The first rack (323) is fixedly connected to the second joint (2); The first transmission unit (31) includes a first bevel gear (311), a second bevel gear (312), and a first transmission shaft (313). The first bevel gear (311) is fixedly connected to the first driven part (32) and meshes with the second bevel gear (312) for transmission, and the second bevel gear (312) is fixedly mounted on one end of the first transmission shaft (313); The first drive shaft (313) is rotatably mounted on the first joint (1), and the end of the first drive shaft (313) away from the second bevel gear (312) extends to the outside of the first joint (1) and is powered by a power source located at the far end of the bionic joint.

2. The bionic joint according to claim 1, characterized in that, The intersection of the first axis (100) and the second axis (200) is located at the center point of the bionic joint.

3. A bionic joint according to claim 2, characterized in that, The central shaft (321) passes through the inner support part (5). Both ends of the central shaft (321) are connected to a first gear (322), and the two first gears (322) are symmetrically distributed about the center point. The first rack (323) is provided with two racks, which mesh with the two first gears (322) respectively. or, Two central shafts (321) are symmetrically distributed about the center point. Each end of the central shaft (321) is connected to a first gear (322), and the two first gears (322) mesh with the same first rack (323) for transmission.

4. A bionic joint according to claim 1, characterized in that, The second driven part (42) includes a turntable (421) and a rotating pin (422). The turntable (421) is rotatably connected to the inner support (5) via a support bearing (6); One end of the rotating pin (422) is rotatably mounted on the turntable (421), and the other end passes through the guide groove (7) provided on the first joint (1) and is rotatably connected with the second joint (2). The central axis of the rotating pin (422) is collinear with the first axis (100).

5. A bionic joint according to claim 4, characterized in that, The first joint (1) is provided with a first limiting protrusion (8), the inner support part (5) is provided with a second limiting protrusion (9) on the outer wall surface, one end face of the support bearing (6) abuts against the first limiting protrusion (8), and the other end face abuts against the second limiting protrusion (9); The inner wall of the support bearing (6) abuts against the outer wall of the inner support part (5), and the outer wall of the support bearing (6) abuts against the turntable (421).

6. A bionic joint according to claim 4, characterized in that, At least two rotating pins (422) are provided, and they are arranged in a circular array about the turntable (421).

7. A bionic joint according to any one of claims 1-6, characterized in that, The first transmission part (31) extends to the outside of the first joint part (1) at one end away from the first driven part (32) and is connected to the power source located at the far end of the bionic joint. And / or, The second transmission part (41) extends to the outside of the first joint part (1) at one end away from the second driven part (42) and is powered by the power source located at the far end of the bionic joint.

8. A bionic joint according to claim 1, characterized in that, The second transmission unit (41) includes a bevel rack (411), a third bevel gear (412), and a second transmission shaft (413). The bevel rack (411) is fixedly connected to the second driven part (42) and meshes with the third bevel gear (412) for transmission, and the third bevel gear (412) is fixedly mounted on one end of the second transmission shaft (413); The second drive shaft (413) is rotatably mounted on the first joint (1), and one end of the second drive shaft (413) away from the third bevel gear (412) extends to the outside of the first joint (1) and is powered by a power source located at the far end of the bionic joint.

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