Bionical leg segments and robots

Abstract

This disclosure relates to a bionic limb and a robot. The bionic limb includes a first skeleton, a second skeleton, and a first pivot rotatably connecting the first skeleton and the second skeleton, the second skeleton being located near the end of the bionic limb relative to the first skeleton; the bionic limb further includes: a first joint motor; and a second joint motor, the second joint motor being fixedly connected to the end of the first skeleton away from the second skeleton, the second joint motor being used to drive the second skeleton to rotate relative to the first skeleton, and the first joint motor being used to drive the first skeleton, the second skeleton, and the second joint motor to rotate synchronously.

Description

Technical Field

[0001] This disclosure relates to the field of terminal technology, and more particularly to a bionic limb and robot. Background Technology

[0002] Robotics is a cutting-edge technology that integrates multiple disciplines. Currently, various robots have been developed both domestically and internationally, and have been applied to some extent.

[0003] In the limb structure of robots, the joint design can usually be modeled after the structure of human arms and legs. Due to the large number of degrees of freedom, the number of joint motors increases, and the mass of the limb structure increases accordingly, which is not conducive to controlling limb movement and results in poor control accuracy. Utility Model Content

[0004] This disclosure provides a bionic limb and robot to address the shortcomings of related technologies.

[0005] According to a first aspect of the present disclosure, a bionic limb is provided, including a first skeleton, a second skeleton, and a first pivot rotatably connecting the first skeleton and the second skeleton, wherein the second skeleton is located near the end of the bionic limb relative to the first skeleton; The bionic limb also includes: First joint motor; The second joint motor is fixedly connected to the end of the first frame away from the second frame. The second joint motor is used to drive the second frame to rotate relative to the first frame. The first joint motor is used to drive the first frame, the second frame and the second joint motor to rotate synchronously.

[0006] Optionally, the second joint motor is used to drive the second frame to pitch forward and backward relative to the first frame, and the first joint motor is used to drive the first frame, the second frame and the second joint motor to pitch forward and backward synchronously.

[0007] Optionally, the rotor axis of the first joint motor and the rotor axis of the second joint motor are arranged coaxially.

[0008] Optionally, the first joint motor includes a first output terminal, and the second joint motor includes a second output terminal, with the first output terminal and the second output terminal arranged face to face.

[0009] Optionally, the second joint motor includes a second output terminal, and the bionic limb further includes: A transmission linkage assembly, one end of which is rotatably connected to the second output end and the other end of which is rotatably connected to the knee shaft, so as to drive the first frame to rotate relative to the second frame through the transmission linkage assembly, the transmission linkage assembly being located inside the first frame.

[0010] Optional, also includes: A circular crank, which is fixedly connected to the second output end; The second rotating shaft is fixedly connected to the circular crank and rotatably connected to the transmission connecting rod assembly.

[0011] Optionally, a first driver is provided, which is disposed on the first frame and electrically connected to the first joint motor. The first driver is used to receive a first control signal and control the first joint motor to rotate according to the first control signal. The second driver is disposed on the first frame and electrically connected to the second joint motor. The second driver is used to receive a second control signal and control the rotation of the second joint motor according to the second control signal.

[0012] Optionally, the first joint motor includes a first output terminal, and the second joint motor includes a second joint housing; The bionic limb also includes a connecting frame, which is disposed between the first joint motor and the second joint motor, and is fixedly connected to the first output end and the second joint housing, respectively.

[0013] Optionally, the first joint motor includes a first joint housing; The first frame includes a rotating bracket and a frame body. The rotating bracket is rotatably connected to the first joint housing, and the rotation axis is parallel to the rotor axis of the first joint motor. The frame body is fixedly connected to the second joint housing.

[0014] Optionally, the main frame includes a first frame plate and a second frame plate, the first frame plate being connected to one side of the second joint shell and extending toward the second frame, and the second frame plate being connected to the opposite side of the second joint shell and extending toward the second frame. In the extending direction, the distance between the first shelf and the second shelf gradually decreases.

[0015] Optionally, the first shelf includes at least one weight-reducing groove; and / or, The second shelf includes at least one weight-reducing groove; and / or The bionic limb also includes a support rib, which connects the first frame plate and the second frame plate.

[0016] Optionally, the first joint motor includes a first joint housing, and the bionic limb further includes: The third joint motor includes a third output terminal and a third joint housing, and the third output terminal is fixedly connected to the first joint housing. The fourth joint motor includes a fourth output terminal, which is fixedly connected to the housing of the third joint.

[0017] Optionally, the rotor axis of the first joint motor is parallel to the direction of gravity of the bionic limb. The rotor axis of the third joint motor forms a 45° angle with the plane perpendicular to the direction of gravity of the bionic limb, and the third joint motor is located on the side of the first joint motor that is relatively far away from the second skeleton. The rotor axis of the fourth joint motor is perpendicular to the rotor axis of the third joint motor.

[0018] Optionally, the bionic limb segment is a bionic limb segment, the first joint motor is a hip joint motor, and the second joint motor is a knee joint motor; or, the bionic limb segment is a bionic hand segment, the first joint motor is a shoulder joint motor, and the second joint motor is an elbow joint motor; or, the bionic limb segment is a bionic limb segment, the first joint motor is a knee joint motor, and the second joint motor is an ankle joint motor.

[0019] According to a second aspect of the present disclosure, a robot is provided, including bionic limbs as described in any of the above embodiments.

[0020] Optionally, the number of bionic limbs is two, and the first joint motors of the two bionic limbs are arranged face to face in the side-by-side direction.

[0021] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects: As can be seen from the above embodiments, in this disclosure, the second joint motor is located at the end of the first frame away from the second frame, which can lengthen the distance between the second joint motor and the second frame, causing the center of mass of the bionic limb to move upward, which is beneficial to reduce the rotational inertia of the bionic limb and reduce the difficulty of control; at the same time, since the second joint motor moves upward, there is no second joint motor to block the first rotating shaft, which is beneficial to increase the angle range of the pitching motion between the first frame and the second frame.

[0022] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0023] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0024] Figure 1 This is a schematic diagram of a first angle of a bionic limb according to an exemplary embodiment.

[0025] Figure 2 yes Figure 1 A schematic diagram of the second angle of the bionic limb segment.

[0026] Figure 3 yes Figure 1 A partial schematic diagram of a bionic limb.

[0027] Figure 4 This is a schematic diagram showing the positions of a first joint motor, a third joint motor, and a fourth joint motor according to an exemplary embodiment. Detailed Implementation

[0028] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0029] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms “a,” “the,” and “the” as used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0030] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0031] Figure 1 This is a schematic diagram of a first angle of a bionic limb according to an exemplary embodiment. Figure 2 yes Figure 1 A schematic diagram of the second angle of the biomimetic limb segment. (See diagram below.) Figure 1 and Figure 2 As shown, the bionic limb is a bionic leg segment. The bionic limb includes a first skeleton 1, a second skeleton 2, and a first rotating shaft 3 rotatably connecting the first skeleton 1 and the second skeleton 2. The first rotating shaft 3 is located between the first skeleton 1 and the second skeleton 2, and the second skeleton 2 is positioned relative to the first skeleton 1 near the end of the bionic limb. The bionic limb may also include a first joint motor 4 and a second joint motor 5. The first joint motor 4 is rotatably connected to the first skeleton 1. Since the first joint motor 4 needs to drive the first skeleton 1, the second skeleton 2, and the second joint motor 5 to rotate synchronously, the first joint motor 4 can be rotatably connected to the first skeleton 1 via a housing or stator, and its rotation axis is coaxial with the rotor axis of the first joint motor 4. The second joint motor 5 is fixedly connected to the end of the first skeleton 1 away from the second skeleton 2, thereby creating a certain distance between the second joint motor 5 and the first rotating shaft 3. The second joint motor 5 can drive the second skeleton 2 to rotate relative to the first skeleton 1.

[0032] Furthermore, the bionic limb may also include a first actuator (not shown) and a second actuator (not shown). The first actuator is electrically connected to the first joint motor 4, for example, the first actuator can be electrically connected to the first joint motor 4 via a three-phase wire. The first actuator is used to receive a first control signal and control the rotation of the first joint motor 4 according to the first control signal. The first control signal may include parameters such as rotational speed, duration, direction, and current. The first actuator may be fixedly mounted on the first skeleton 1 or on the hip structure of the robot with the bionic limb, etc., and this disclosure does not impose any limitations on this.

[0033] Similarly, the bionic limb may also include a second actuator (not shown) and a second joint motor 5 electrically connected. For example, the second actuator can be connected to the second joint motor 5 via a three-phase wire. The second actuator receives a second control signal and controls the rotation of the second joint motor 5 according to the second control signal. The second control signal may include parameters such as rotational speed, duration, direction, and current. The second actuator may be fixedly mounted on the first skeleton 1 or on the hip structure of the robot with the bionic limb, etc., and this disclosure does not impose any limitations on this. The control parameters of the first control signal and the second control signal may be the same or different.

[0034] Based on this, since the second joint motor 5 is located at the end of the first frame 1 furthest from the second frame 2, the distance between the second joint motor 5, the second frame 2, and the first rotating shaft 3 can be lengthened. This causes the center of mass of the bionic limb to shift upward, which helps to reduce the moment of inertia when the second frame 2, the first frame 1, and the second joint motor 5 rotate synchronously, reducing the control difficulty and thus improving the control accuracy of the bionic limb. At the same time, because the second joint motor 5 is moved upward, there is no obstruction at the first rotating shaft 3 caused by the second joint motor 5, which helps to increase the angle range of pitch motion between the first frame 1 and the second frame 2. It should be noted that the rotation of the second joint motor 5 is a rotation of the entire structure along with the first frame 1.

[0035] For example, taking a bionic limb as an example, the first skeleton 1 can be a thigh skeleton, and the second skeleton 2 can be a lower leg skeleton, with the lower leg skeleton positioned near the foot of the bionic limb relative to the thigh skeleton. The first joint motor 4 can be a hip joint motor, and the second joint motor 5 can be a knee joint motor. The thigh skeleton can be rotated relative to the hip skeleton. The first joint motor 4 can drive the thigh skeleton, lower leg skeleton, and second joint motor 5 to rotate relative to the hip skeleton, and the second joint motor 5 can drive the lower leg skeleton to rotate relative to the thigh skeleton.

[0036] For example, the second joint motor 5 can be positioned close to the hip frame, shifting the center of gravity upwards and reducing rotational inertia, which helps improve control precision. In other embodiments, the bionic limb segment can also be a bionic hand segment, with the first frame 1 being the upper arm, the second frame 2 being the forearm, the first joint motor 4 being the shoulder joint motor, and the second joint motor 5 being the elbow joint motor. Yet another example is a bionic limb segment where the first joint motor 4 is a knee joint motor, the second joint motor 5 is an ankle joint motor, the first frame 1 is the lower leg frame, and the second frame 2 is the foot frame.

[0037] The rotation of the second frame 2 relative to the first frame 1 is defined as the first rotation, and the synchronous rotation of the first frame 1, the second frame 2, and the second joint motor 5 is defined as the second rotation. The rotation axes of the first rotation and the second rotation can be arranged parallel or orthogonally, and this disclosure does not impose any restrictions on this. For example, the second joint motor 5 can be used to drive the second frame 2 to perform pitch motion relative to the first frame 1, and the first joint motor 4 can be used to drive the first frame 1, the second frame 2, and the second joint motor 5 to perform synchronous pitch motion. The pitch motion described in this disclosure can be defined by the forward and backward direction of the bionic limb. For example, when a bionic limb is applied to a bipedal robot, similar to the human body, "forward" refers to the bipedal robot's face orientation, and "backward" refers to the bipedal robot's back orientation.

[0038] In some embodiments, the second shutdown motor 5 and the first joint motor 4 can be spaced apart in one or more directions—the front-back direction, the left-right direction, and the height direction—of the bionic limb, with the spacing designed as needed. In other embodiments, the rotor axis of the first joint motor 4 and the rotor axis of the second joint motor 5 can be arranged coaxially. This facilitates a higher center of mass for the bionic limb, improves aesthetics, and ensures uniform mass along the rotor axis, which is beneficial for motion control of the bionic limb. Furthermore, the first joint motor 4 includes a first output end, and the second joint motor 5 includes a second output end. The first and second output ends are arranged face-to-face, ensuring that both are located inside the bionic limb, thus enhancing safety. The first output end can be an output shaft or an output end cap; similarly, the second output end can also be an output shaft or an output end cap.

[0039] For power transmission between the second joint motor 5 and the first rotating shaft 3, the bionic limb also includes a transmission linkage assembly 6. One end of the transmission linkage assembly 6 is rotatably connected to the second output end of the second joint motor 5, and the other end is rotatably connected to the first rotating shaft 3. Power is transmitted through the transmission linkage assembly 6, which drives the second frame 2 to rotate relative to the first frame 1. For example, the transmission linkage assembly 6 can be a four-bar linkage assembly. The transmission linkage assembly 6 can be disposed inside the first frame 1, specifically inside the frame body 12 of the first frame 1, to improve the aesthetics and compactness of the bionic limb.

[0040] For example, such as Figure 3 As shown, the bionic limb also includes a circular crank 9 and a second rotating shaft 10. The circular crank 9 is fixedly connected to the second output end of the second joint motor 5, and the second rotating shaft 10 is fixedly connected to the circular crank 9. The second rotating shaft 10 is rotatably connected to the transmission linkage assembly 6. This allows for power transmission between the transmission linkage assembly 6 and the second output end of the second joint motor 5 via the circular crank 9 and the second rotating shaft 10, making it easier to control the transmission linkage assembly 6 to move in the desired manner.

[0041] In the above embodiments, the first joint motor 4 includes a first output end, the second joint motor 5 includes a second joint housing, and the bionic limb also includes a connecting frame 7. The connecting frame 7 is fixedly connected to the first output end of the first joint motor 4, and the connecting frame 7 is also fixedly connected to the second joint housing. Thus, the power output from the first output end can be transmitted to the second joint housing through the connecting frame 7. Through the connection between the second joint housing and the first frame 1, when the first output end outputs power, it drives the second joint motor, the first frame 1, and the second frame 2 to rotate synchronously.

[0042] Of course, in order to further improve the stability of the first frame during rotation, for example... Figure 2 As shown, the first frame 1 includes a rotating bracket 11 and a frame body 12 fixedly connected to the rotating bracket 11. The frame body 12 is fixedly connected to the second joint housing. The rotating bracket 11 is rotatably connected to the first joint housing of the first joint motor 4 or other fixed structure, and the rotation axis is parallel to the rotor axis of the first joint motor 4. Thus, by supporting the first joint motor 4 with the rotating bracket 11 and supporting the second joint motor 5 with the frame body 12, the stability of the first joint motor 4 driving the first frame 1 and the second frame 2 to rotate synchronously can be improved.

[0043] In the above embodiments, the first skeleton 1 can rotate in one degree of freedom direction by driving the first joint motor 4. In order to improve the bionic effect of the bionic limb, the bionic limb also includes a third joint motor 13 and a fourth joint motor 14. The third joint motor 13 includes a third output end and a third joint housing. The third output end is fixedly connected to the first joint housing of the first joint motor 4, so that the first joint motor 4 and the first skeleton 1 can be driven to rotate by the third joint motor 13. The fourth joint motor 14 includes a fourth output end, which is fixedly connected to the third joint housing, so that the third joint motor 13, the first joint motor 4 and the first skeleton 1 can be driven to rotate synchronously by the fourth joint motor 14, realizing the power series output of the first joint motor 4, the third joint motor 13 and the fourth joint motor 14. By reasonably adjusting the rotor axis of the first joint motor 4, the third joint motor 13 and the fourth joint motor 14, the first skeleton can be rotated relative to the hip structure in multiple degrees of freedom directions.

[0044] For example, such as Figure 4 As shown, the rotor axis of the first joint motor 4 is parallel to the direction of gravity of the bionic limb. The rotor axis of the third joint motor 13 forms a 45° angle with the plane perpendicular to the direction of gravity of the bionic limb, and the third joint motor 13 is located on the side of the first joint motor 4 that is relatively far away from the second frame 2, for example... Figure 1 As shown, the third joint motor 13 is located to the upper left or upper right of the first joint motor 4. This reduces the obstruction caused by the third joint motor 13, which helps to increase the swing angle range of the first frame 1's pitching motion. At the same time, it can also make full use of the height space of the first frame 1 to achieve an upward shift of the center of gravity. The rotor axis of the fourth joint motor 14 is perpendicular to the rotor axis of the third joint motor 13. Based on this setting, the first frame 1's pitching motion can be achieved by the first joint motor 4, the first frame 1's rotational motion around the axis of the third joint motor 13 can be achieved by the third joint motor 13, and the first frame 1's lateral swinging motion can be basically achieved by the fourth joint motor 14.

[0045] The first joint housing of the first joint motor 4, the third joint housing of the third joint motor 13, and the fourth joint housing of the fourth joint motor 14 can all be hollowed out to achieve weight reduction. The bionic limb may also include a third actuator electrically connected to the third joint motor 13 and a fourth actuator electrically connected to the fourth joint motor 14. The third actuator can be located in the third joint housing, and the fourth actuator can be located in the fourth joint housing.

[0046] In some embodiments, the skeleton body 12 may include a first frame plate 121 and a second frame plate 122, and the rotating bracket 11 may be fixedly connected to at least one of the first frame plate 121 and the second frame plate 122. The first frame plate 121 is connected to one side of the second joint housing of the second joint motor 5 and extends toward the second skeleton 2, and the second frame plate 122 is connected to the opposite side of the second joint housing and extends toward the second skeleton 2. The first frame plate 121 and the second frame plate 122 may be arranged face to face, and the transmission linkage assembly 6 may be disposed between the first frame plate 121 and the second frame plate 122. In the extending direction of the first frame plate 121, the distance between the first frame plate 121 and the second frame plate 122 gradually decreases, thereby making the appearance size of the bionic limb gradually smaller and improving the bionic effect. The extending directions of the first frame plate 121 and the second frame plate 122 may be different, so the aforementioned "extending direction" mainly refers to the direction from the end of the first skeleton 1 away from the second skeleton 2 to the end that is close to the second skeleton 2.

[0047] Furthermore, in some cases, the first frame plate 121 may include at least one weight-reducing groove to reduce structural mass and achieve a lightweight design for the shell of the first skeleton 1. In other cases, the second frame plate 122 may include at least one weight-reducing groove to achieve a lightweight design for the shell of the first skeleton 1. In still other cases, the bionic limb may also include a support rib 8, which connects the first frame plate 121 and the second frame plate 122, thereby increasing the strength of the skeleton body 12 and improving the load-bearing capacity of the bionic limb. The number of support ribs 8 can be one or more, and each support rib 8 can be configured in various shapes, such as a strip structure, a curved structure, or a forked structure. This disclosure does not impose any limitations on this. In the same bionic limb, one or more of the above three situations may be present, and this disclosure does not impose any limitations on this.

[0048] Based on the technical solution disclosed herein, a robot is also provided. The robot may include the bionic limbs described in any of the above embodiments. The bionic limbs may be bionic limbs of the robot or bionic hand limbs, and the number of the bionic limbs may be one or more. For example, the robot may include one bionic limb, two bionic limbs, or four bionic limbs.

[0049] For example, the robot includes two bionic limbs, with the first joint motors 4 of the two bionic limbs arranged face-to-face in a side-by-side direction. For instance, if the bionic limbs are bionic and the first joint motors 4 of the bionic limbs are both arranged facing inward, the size of the robot can be reduced and the compactness of the structure can be improved.

[0050] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0051] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A bionic limb, characterized in that, It includes a first skeleton, a second skeleton, and a first pivot that rotatably connects the first skeleton and the second skeleton, wherein the second skeleton is located near the end of the bionic limb relative to the first skeleton; The bionic limb also includes: First joint motor; The second joint motor is fixedly connected to the end of the first frame away from the second frame. The second joint motor is used to drive the second frame to rotate relative to the first frame. The first joint motor is used to drive the first frame, the second frame and the second joint motor to rotate synchronously.

2. The bionic limb according to claim 1, characterized in that, The second joint motor is used to drive the second frame to pitch forward and backward relative to the first frame, and the first joint motor is used to drive the first frame, the second frame and the second joint motor to pitch forward and backward synchronously.

3. The bionic limb according to claim 1, characterized in that, The rotor axis of the first joint motor and the rotor axis of the second joint motor are arranged coaxially.

4. The bionic limb according to claim 3, characterized in that, The first joint motor includes a first output end, and the second joint motor includes a second output end, with the first output end and the second output end arranged face to face.

5. The bionic limb according to claim 1, characterized in that, The second joint motor includes a second output terminal, and the bionic limb segment further includes: A transmission linkage assembly, one end of which is rotatably connected to the second output end and the other end of which is rotatably connected to the first rotating shaft, so as to drive the first frame to rotate relative to the second frame through the transmission linkage assembly, the transmission linkage assembly being located inside the first frame.

6. The bionic limb according to claim 5, characterized in that, Also includes: A circular crank, which is fixedly connected to the second output end; The second rotating shaft is fixedly connected to the circular crank and rotatably connected to the transmission connecting rod assembly.

7. The bionic limb according to claim 1, characterized in that, Also includes: A first driver is disposed on the first frame and electrically connected to the first joint motor. The first driver is used to receive a first control signal and control the first joint motor to rotate according to the first control signal. The second driver is disposed on the first frame and electrically connected to the second joint motor. The second driver is used to receive a second control signal and control the rotation of the second joint motor according to the second control signal.

8. The bionic limb according to claim 1, characterized in that, The first joint motor includes a first output terminal, and the second joint motor includes a second joint housing; The bionic limb also includes a connecting frame, which is disposed between the first joint motor and the second joint motor, and is fixedly connected to the first output end and the second joint housing, respectively.

9. The bionic limb according to claim 8, characterized in that, The first joint motor includes a first joint housing; The first frame includes a rotating bracket and a frame body. The rotating bracket is rotatably connected to the first joint housing, and the rotation axis is parallel to the rotor axis of the first joint motor. The frame body is fixedly connected to the second joint housing.

10. The bionic limb according to claim 9, characterized in that, The main frame includes a first frame plate and a second frame plate. The first frame plate is connected to one side of the second joint shell and extends toward the second frame. The second frame plate is connected to the opposite side of the second joint shell and extends toward the second frame. In the extending direction, the distance between the first shelf and the second shelf gradually decreases.

11. The bionic limb according to claim 10, characterized in that, The first shelf includes at least one weight-reducing groove; and / or, The second shelf includes at least one weight-reducing groove; and / or The bionic limb also includes a support rib, which connects the first frame plate and the second frame plate.

12. The bionic limb according to claim 1, characterized in that, The first joint motor includes a first joint housing, and the bionic limb segment further includes: The third joint motor includes a third output terminal and a third joint housing, and the third output terminal is fixedly connected to the first joint housing. The fourth joint motor includes a fourth output terminal, which is fixedly connected to the housing of the third joint.

13. The bionic limb according to claim 12, characterized in that, The rotor axis of the first joint motor is parallel to the direction of gravity of the bionic limb. The rotor axis of the third joint motor forms a 45° angle with the plane perpendicular to the direction of gravity of the bionic limb, and the third joint motor is located on the side of the first joint motor that is relatively far away from the second skeleton. The rotor axis of the fourth joint motor is perpendicular to the rotor axis of the third joint motor.

14. The bionic limb according to claim 1, characterized in that, The bionic limb segment is a bionic limb segment, wherein the first joint motor is a hip joint motor and the second joint motor is a knee joint motor; or, the bionic limb segment is a bionic hand segment, wherein the first joint motor is a shoulder joint motor and the second joint motor is an elbow joint motor; or, the bionic limb segment is a bionic limb segment, wherein the first joint motor is a knee joint motor and the second joint motor is an ankle joint motor.

15. A robot, characterized in that, Includes the bionic limbs as described in any one of claims 1-14.

16. The robot according to claim 15, characterized in that, The number of bionic limbs is two, and the first joint motors of the two bionic limbs are arranged face to face in the side-by-side direction.

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