CN215240957U

CN215240957U - Bionic joint

Info

Publication number: CN215240957U
Application number: CN202121204685.3U
Authority: CN
Inventors: 范广
Original assignee: Guangdong Liangcai Industry Incubation Investment Co ltd
Current assignee: Guangdong Liangcai Industry Incubation Investment Co ltd
Priority date: 2021-05-31
Filing date: 2021-05-31
Publication date: 2021-12-21
Anticipated expiration: 2031-05-31

Abstract

The utility model belongs to the technical field of the bionical hand technique, especially, relate to a bionical joint, including first joint, second joint and third joint, the first end fixedly connected with first gear of first joint, the first end of second joint is rotated with the first end of first joint and is connected, and the second joint is close to its first end department and rotates and be connected with the second gear, second gear and first gear engagement, still is equipped with first transmission group on the second joint, and first transmission group is connected with the second gear transmission. The first end of the third joint is rotationally connected with the second end of the second joint, the first end of the fifth gear is fixedly connected with a fifth gear, and the fifth gear is in transmission connection with the first transmission set; the three joints are arranged, relative rotation is generated between any two adjacent joints, the other rest joint is driven to rotate along with the relative rotation, the first joint, the second joint and the third joint move in a matched mode, various postures can be achieved, and the bionic joint can move more flexibly.

Description

Bionic joint

Technical Field

The utility model belongs to the technical field of the bionical hand, especially, relate to a bionical joint.

Background

As a product of advanced integration theory, mechano-electronics, computers, materials and bionics, the robot can automatically execute various operations, is suitable for various severe working environments, brings great benefits for releasing the workload of human beings and improving the production efficiency, and is widely applied to various fields of production and life. With the rapid development of robotics, the functional requirements of people on robots have been increasing more and more, and the traditional clumsy concept is no longer satisfied. For this reason, the biomimetic performance of the robot has become increasingly important to highly simulate joint movement or expression motion of a human or an animal.

The bionic finger in the prior art comprises bionic joints which are pivoted with each other and a driving motor which is used for driving the bionic joints so as to enable the bionic joints to realize flexion and extension actions and grabbing actions. The working process of bending or grabbing an object by using the bionic finger comprises the following steps: the driving motor drives the bionic joint to perform bending motion to be close to the object, and then the bionic joint finally contacts the object to complete grabbing. At present, most of bionic fingers are only provided with two joints, each joint has only one degree of freedom, so that the movement of the whole bionic finger is not flexible enough, and meanwhile, the design of a transmission mechanism among the joints is not reasonable enough.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a bionic joint aims at solving the technical problem that the bionic joint among the prior art is not nimble enough.

In order to achieve the above object, an embodiment of the present invention provides a bionic joint, including:

the first end of the first joint is fixedly connected with a first gear;

the first end of the second joint is rotatably connected with the first end of the first joint, a second gear is rotatably connected to the second joint close to the first end of the second joint, the second gear is meshed with the first gear, and a first transmission set is further arranged on the second joint and is in transmission connection with the second gear;

and the first end of the third joint is rotationally connected with the second end of the second joint, the first end of the third joint is fixedly connected with a fifth gear, and the fifth gear is in transmission connection with the first transmission set.

Optionally, the first transmission set comprises a fourth gear for transmitting power, the fourth gear being in mesh with the second gear and the fifth gear, respectively.

Optionally, at least one fourth gear is provided, and the number of the fourth gears is odd.

Optionally, an axis formed at the rotational connection position of the first end of the first joint and the first end of the second joint is coaxial with the axis of the first gear; and an axis formed at the rotary joint of the first end of the third joint and the second end of the second joint is coaxial with the fifth gear.

Optionally, the bionic joint comprises a first driving mechanism, the first driving mechanism is arranged on the first joint, and the first driving mechanism is in transmission connection with the second joint so as to drive the second joint to rotate.

Optionally, the first drive mechanism comprises a first drive element and a third gear; the third gear is fixedly connected to the second joint, the third gear and the first gear are coaxially arranged, a positioning shaft is fixedly connected to the axis of the third gear, and the positioning shaft is rotatably connected with the first gear; the first driving element is arranged on the first joint, and the first driving element and the third gear are in transmission connection to drive the second joint to rotate.

Optionally, the first drive element comprises a first drive motor, a sixth gear, a seventh gear, and a basin gear; the first driving motor is connected to the first joint, the sixth gear is connected to an output shaft of the first driving motor, the basin gear is rotatably connected to the first joint, an axis of the basin gear is perpendicular to an axis of the output shaft of the first driving motor, the basin gear is meshed with the sixth gear, the seventh gear is fixedly connected to the basin gear, and the seventh gear is meshed with the third gear.

Optionally, the first joint includes a first upper shell and a first lower shell which are symmetrically arranged, a first mounting portion is arranged at a first end of the first upper shell, a first mounting shaft is arranged at an outer side of the first mounting portion, an inner side of the first mounting portion is fixedly connected with the first gear, a second mounting portion corresponding to the first mounting portion is arranged at a first end of the first lower shell, and a first mounting hole is arranged at an inner side of the second mounting portion; the second joint includes second epitheca and the second inferior valve that the symmetry set up, the first end of second epitheca is equipped with the third installation department, the inboard of third installation department is equipped with the second mounting hole, the second mounting hole with first installation hub connection, the second end of second inferior valve is equipped with the fourth installation department, the inboard of fourth installation department with third gear fixed connection, the outside of fourth installation department is equipped with the second installation axle, second installation hub connection in the first installation hole.

Optionally, the biomimetic joint further comprises a fourth joint; the first end of the fourth joint is rotatably connected with the second end of the first joint, a second driving mechanism is arranged in the first joint, and the second driving mechanism is respectively connected with the second joint and the fourth joint to drive the second joint and the fourth joint to rotate.

Optionally, the biomimetic joint further comprises a fifth joint; a first end of the fifth joint is rotatably connected with a second end of the fourth joint, an eighth gear is fixedly arranged at the first end of the fifth joint, a ninth gear is fixedly connected with the first end of the fourth joint, a tenth gear is rotatably connected with the first end of the fourth joint, and a second transmission set for transmitting power is arranged between the tenth gear and the eighth gear; an eleventh gear is fixedly arranged at the second end of the first joint and is meshed with the tenth gear; the second driving mechanism comprises a second driving motor, a twelfth gear, a thirteenth gear, a fourteenth gear, a fifteenth gear and a transmission shaft, wherein the twelfth gear and the thirteenth gear are both rotatably connected in the first joint, the transmission shaft is arranged between the twelfth gear and the thirteenth gear for transmitting power, the fourteenth gear is respectively meshed with the thirteenth gear and the ninth gear, the fifteenth gear is fixedly connected to the first end of the first joint, and the fifteenth gear is meshed with the twelfth gear.

The embodiment of the utility model provides an above-mentioned one or more technical scheme in the bionic joint have one of following technological effect at least: the first joint, the second joint and the third joint are sequentially arranged, the adjacent two joints can rotate relatively, when the first joint and the second joint rotate relatively, the first gear is fixed and does not rotate, the second gear rotates, and the second gear transmits power to the fifth gear through the first transmission group, so that the fifth gear rotates, and the third joint is driven to rotate; the three joints are arranged, relative rotation is generated between any two adjacent joints, the other rest joint is driven to rotate along with the relative rotation, the first joint, the second joint and the third joint move in a matched mode, various postures can be achieved, and the bionic joint can move more flexibly.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.

Fig. 1 is a schematic structural diagram of a bionic joint provided by the first and second embodiments of the present invention.

Fig. 2 is a front view of a bionic joint provided by the first and second embodiments of the present invention.

Fig. 3 is an explosion diagram of a bionic joint provided by the first and second embodiments of the present invention.

Fig. 4 is a schematic structural diagram of a third joint provided in the first and second embodiments of the present invention.

Fig. 5 is a schematic structural diagram of a second joint according to the first and second embodiments of the present invention.

Fig. 6 is a schematic structural diagram of a first joint according to a first embodiment and a second embodiment of the present invention.

Fig. 7 is a front view of a bionic joint provided by the third embodiment of the present invention.

Fig. 8 is an explosion diagram of a bionic joint provided in the third embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

1-first joint 2-second joint 3-third joint

4-fourth joint 5-fifth joint 11-first gear

12-second gear 13-third gear 14-fourth gear

15-fifth gear 16-sixth gear 17-seventh gear

18-eighth gear 19-ninth gear 20-tenth gear

21-eleventh gear 22-twelfth gear 23-thirteenth gear

24-fourteenth gear 25-fifteenth gear 26-sixteenth gear

27-bevel ring gear 30 a positioning shaft 31-a first driving motor

32 a drive shaft 100 a first upper housing 101 a first lower housing

102 a first mounting portion 103 a first mounting shaft 104 a second mounting portion

105 a first mounting hole 106 a second upper case 107 a second lower case

108 a third mounting portion 109 a second mounting hole 110 a fourth mounting portion

111 a second mounting shaft.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to fig. 1-8 are exemplary and intended to be used to illustrate embodiments of the present invention, and should not be construed as limiting the invention.

In the description of the embodiments of the present invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings, which is only for convenience in describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element so indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as fixed or detachable connections or as an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the embodiments of the present invention can be understood by those skilled in the art according to specific situations.

Example one

In the present embodiment, as shown in fig. 1 to 6, a bionic joint is provided, which includes a first joint 1, a second joint 2, and a third joint 3.

Wherein, a first end of the first joint 1 is fixedly connected with a first gear 11.

The first end of the second joint 2 is rotatably connected with the first end of the first joint 1, the second joint 2 is rotatably connected with a second gear 12 near the first end, the second gear 12 is meshed with the first gear 11, a first transmission set is further arranged on the second joint 2, and the first transmission set is in transmission connection with the second gear 12.

The first end of the third joint 3 is rotatably connected with the second end of the second joint 2, the first end of the third joint 3 is fixedly connected with a fifth gear 15, and the fifth gear 15 is in transmission connection with the first transmission set.

In the embodiment, the first joint 1, the second joint 2 and the third joint 3 are sequentially arranged, two adjacent joints can relatively rotate, when the first joint 1 and the second joint 2 relatively rotate, the first gear 11 is fixed and does not rotate, the second gear 12 rotates, and the second gear 12 transmits power to the fifth gear 15 through the first transmission set, so that the fifth gear 15 rotates, and the third joint 3 is driven to rotate; the three joints are arranged, relative rotation is generated between any two adjacent joints, the other rest joint is driven to rotate along with the relative rotation, the first joint 1, the second joint 2 and the third joint 3 move in a matched mode, various postures can be achieved, and the bionic joint can move flexibly.

In the embodiment, the first transmission set of the bionic joint comprises a fourth gear 14 for transmitting power, and the fourth gear 14 is respectively meshed with the second gear 12 and the fifth gear 15; when the second gear 12 rotates, the fourth gear 14 is driven to rotate, the fourth gear 14 drives the fifth gear 15 to rotate, and the fifth gear 15 and the fourth gear 14 rotate relatively; the fourth gear 14 is provided for transmitting power, and simultaneously, the direction of the variable force is changed, so that the second joint 2 and the third joint 3 rotate in the same direction, and bionic swing is realized.

In this embodiment, the number of the fourth gears 14 of the bionic joint is at least one, the number of the fourth gears 14 is an odd number, the fourth gears 14 with a proper number can be arranged according to the length of the joint, the fourth gears 14 are meshed with each other and perform power transmission, the practicability is improved, and the application range is wide.

In the embodiment, the axis formed at the rotary connection position of the first end of the first joint 1 and the first end of the second joint 2 of the bionic joint is coaxial with the axis of the first gear 11; the axis formed by the rotary connection of the first end of the third joint 3 and the second end of the second joint 2 is arranged coaxially with the fifth gear 15.

In this embodiment, the second end of the first joint 1 may be rotatably connected to a palm of a bionic hand, and a third driving mechanism is disposed on the bionic hand, and is in transmission connection with the first joint 1 and used for driving the first joint 1 to rotate; a plurality of bionic joints can be arranged on the bionic palm, and each bionic joint can independently move.

In this embodiment, the gear ratio among the second joint 12, the fourth joint 14 and the fifth gear 15 can be set to adjust the rotation speed and angle among the joints, so as to adjust the swing posture of the bionic joint, thereby being suitable for various situations and improving the practicability.

In this embodiment, the first gear 11 can be replaced by a transmission member, and the transmission member is provided with gear teeth on the periphery thereof, and the transmission member is meshed with the second gear 12 through the gear teeth; similarly, the third gear 13 and the fifth gear 15 can be replaced by transmission members.

Example two

In the present embodiment, the difference from the first embodiment is that, as shown in fig. 3, the bionic joint of the bionic joint includes a first driving mechanism, the first driving mechanism is disposed on the first joint 1, and the first driving mechanism is in transmission connection with the second joint 2 for driving the second joint 2 to rotate; the first driving mechanism drives the second joint 2 to rotate, so that relative rotation is generated between the first joint 1 and the second joint 2, and the first joint 1 and the second joint 2 realize automatic rotation.

In the present embodiment, the first drive mechanism of the biomimetic joint comprises a first drive element and a third gear 13; the third gear 13 is fixedly connected to the second joint 2, the third gear 13 and the first gear 11 are coaxially arranged, a positioning shaft 30 is fixedly connected to the axis of the third gear 13, the positioning shaft 30 is rotatably connected with the first gear 11, and the positioning shaft 30 is arranged to be used for positioning and correcting the positions of the third gear 13 and the first gear 11, so that the axes of the third gear 13 and the first gear 11 are overlapped, and the stability of the rotation process between the first joint 1 and the second joint 2 is improved, wherein the third gear 13 and the first gear 11 are arranged in parallel, namely the third gear 13 and the first gear 11 are mutually independently arranged and do not interfere with each other; first drive element locates on first joint 1, first drive element and third gear 13 transmission are connected in rotating with drive second joint 2, first drive element drive third gear 13 rotates, second joint 2 rotates for first joint 1, produce relative rotation between second joint 2 and the first joint 1, make second gear 12 rotate, second gear 12 rotates and drives fourth gear 14 and rotate, fourth gear 14 rotates and drives fifth gear 15 and rotate, thereby make third joint 3 rotate, drive two joints simultaneously and rotate through setting up a power supply drive, improve bionic joint's flexibility, the practicality is stronger.

In the present embodiment, the first driving element of the biomimetic joint comprises a first driving motor 31, a sixth gear 16, a seventh gear 17 and a bevel ring gear 27; the first driving motor 31 is connected in the first joint 1, the sixth gear 16 is connected on the output shaft of the first driving motor 31, the basin gear 27 is rotatably connected in the first joint 1, the axis of the basin gear 27 is perpendicular to the axis of the output shaft of the first driving motor 31, the basin gear 27 is meshed with the sixth gear 16, the seventh gear 17 is fixedly connected on the basin gear 27, the seventh gear 17 is meshed with the third gear 13, and the axis of the seventh gear 17 is parallel to the axis of the third gear 13; the first driving motor 31 works to drive the sixth gear 16 to rotate, the sixth gear 16 rotates to drive the basin gear 27 to rotate, the basin gear 27 rotates to drive the seventh gear 17 to rotate, and the seventh gear 17 rotates to drive the third gear 13 to rotate, so that the second joint 2 rotates.

In this embodiment, as shown in fig. 4 to 6, the first joint 1 of the bionic joint includes a first upper shell 100 and a first lower shell 101, which are symmetrically arranged, a first mounting portion 102 is arranged at a first end of the first upper shell 100, a first mounting shaft 103 is arranged at an outer side of the first mounting portion 102, an inner side of the first mounting portion 102 is fixedly connected with the first gear 11, a second mounting portion 104 corresponding to the first mounting portion 102 is arranged at a first end of the first lower shell 101, and a first mounting hole 105 is arranged at an inner side of the second mounting portion 104; the second joint 2 comprises a second upper shell 106 and a second lower shell 107 which are symmetrically arranged, a first end of the second upper shell 106 is provided with a third mounting part 108, the inner side of the third mounting part 108 is provided with a second mounting hole 109, the second mounting hole 109 is connected with the first mounting shaft 103, the rotation stability of the first mounting shaft 103 is improved, so that the rotation between the joints is more stable, a second end of the second lower shell 107 is provided with a fourth mounting part 110, the inner side of the fourth mounting part 110 is fixedly connected with the third gear 13, the outer side of the fourth mounting part 110 is provided with a second mounting shaft 111, the second mounting shaft 111 is connected in the first mounting hole 105, the stability of the second mounting shaft 111 is improved, so that the rotation stability of the third gear 13 is improved, the rotation stability between the joints is further improved, the first joint 1 and the second joint 2 are fixed in a staggered connection mode to improve the mutual connection stability, the bionic joint can bear larger acting force, improve the strength of joints between the joints, bear larger impact force and improve the overall stability of the bionic joint.

In this embodiment, the first upper shell 100 and the first lower shell 101 are connected to form the first joint 1 of the cylindrical structure, a cavity is formed between the first upper shell 100 and the first lower shell 101, the inner side of the first upper shell 100 is provided with a positioning column, the inner side of the first lower shell 101 is provided with a positioning hole matched with the positioning column, the positioning hole is clamped with the positioning column to connect and fix the first upper shell 100 and the first lower shell 101, and the positioning hole and the positioning column are matched to enable the positioning between the first upper shell 100 and the first lower shell 101 to be more convenient and faster, so that the assembling efficiency is improved.

In this embodiment, a micro switch is disposed at a first end of the first joint 1, a main control board is disposed in the first joint 1, the main control board is electrically connected to the touch switch and the first driving motor, when the first joint 1 and the second joint 2 rotate relatively, when an angle formed between the first joint 1 and the second joint 2 reaches a preset angle, the second joint 2 contacts with the micro switch, the micro switch transmits an electric signal to the main control board, and the main control board drives the first driving motor to stop working or reverse.

EXAMPLE III

In this embodiment, the difference from the first embodiment is that, as shown in fig. 7 to 8, the bionic joint of the bionic joint further includes a fourth joint 4; the first end of the fourth joint 4 is rotatably connected with the second end of the first joint 1, a second driving mechanism is arranged in the first joint 1, and the second driving mechanism is respectively connected with the second joint 2 and the fourth joint 4 so as to drive the second joint 2 and the fourth joint 4 to rotate.

In this embodiment, a second driving mechanism is provided to simultaneously drive the second joint 2 and the fourth joint 4 to rotate, the second joint 2 and the fourth joint 4 rotate around the first joint 1, meanwhile, when the second joint 2 and the first joint 1 rotate relatively, the first gear 11 is fixed, the second gear 12 rotates, the second gear 12 transmits power to the fifth gear 15 through the first transmission set, so that the fifth gear 15 rotates, thereby driving the third joint 3 to rotate, a single driving source is provided to realize simultaneous movement of the four joints, and the flexibility of the bionic joint is further improved.

In this embodiment, the biomimetic joint of the biomimetic joint further comprises a fifth joint 5; a first end of the fifth joint 5 is rotatably connected with a second end of the fourth joint 4, an eighth gear 18 is fixedly arranged at the first end of the fifth joint 5, a ninth gear 19 is fixedly connected with the first end of the fourth joint 4, a tenth gear 20 is rotatably connected with the first end of the fourth joint 4, and a second transmission set for transmitting power is arranged between the tenth gear 20 and the eighth gear 18; an eleventh gear 21 is fixedly arranged at the second end of the first joint 1, and the eleventh gear 21 is meshed with the tenth gear 20; relative rotation is generated between the fourth joint 4 and the first joint 1, the eleventh gear 21 is fixed, the tenth gear 20 rotates, and the tenth gear 20 transmits power to the eighth gear 18 through the second transmission set, so that the eighth gear 18 rotates, and the fifth joint 5 is driven to rotate; the second driving mechanism comprises a second driving motor, a twelfth gear 22, a thirteenth gear 23, a fourteenth gear 24, a fifteenth gear 25 and a transmission shaft 32, wherein the twelfth gear 22 and the thirteenth gear 23 are both rotatably connected in the first joint 1, the transmission shaft 32 is arranged between the twelfth gear 22 and the thirteenth gear 23 for transmitting power, the fourteenth gear 24 is respectively meshed with the thirteenth gear 23 and the ninth gear 19, the fifteenth gear 25 is fixedly connected to the first end of the second joint 2, and the fifteenth gear 25 is meshed with the twelfth gear 22; the second driving motor works to drive the twelfth gear 22 and the thirteenth gear 23 to rotate simultaneously, the twelfth gear 22 rotates to drive the fifteenth gear 25 to rotate, so that the second joint 2 and the first joint 1 rotate relatively, meanwhile, the thirteenth gear 23 drives the fourteenth gear 24 to rotate, the fourteenth gear 24 rotates to drive the ninth gear 19 to rotate, and therefore the fourth joint 4 and the first joint 1 rotate relatively.

In this embodiment, the second transmission set includes a sixteenth gear 26, the sixteenth gear 26 is respectively engaged with the tenth gear 20 and the eighth gear 18, the tenth gear 20 rotates to drive the sixteenth gear 26 to rotate, the sixteenth gear 26 rotates to drive the eighth gear 18 to rotate, the sixteenth gear 26 is arranged to transmit power, and the direction of the variable force is changed simultaneously, so that the fourth joint 4 and the fifth joint 5 rotate in the same direction, thereby realizing the bionic swing and increasing the degree of freedom of the bionic finger.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. A biomimetic joint, comprising:

the first end of the first joint is fixedly connected with a first gear;

2. The biomimetic joint of claim 1, wherein: the first transmission set comprises a fourth gear for transmitting power, and the fourth gear is meshed with the second gear and the fifth gear respectively.

3. The biomimetic joint of claim 2, wherein: at least one fourth gear is arranged, and the number of the fourth gears is odd.

4. The biomimetic joint of claim 1, wherein: the axis formed at the rotary connection position of the first end of the first joint and the first end of the second joint is coaxial with the axis of the first gear; and an axis formed at the rotary joint of the first end of the third joint and the second end of the second joint is coaxial with the fifth gear.

5. The biomimetic joint of claim 4, wherein: the bionic joint comprises a first driving mechanism, the first driving mechanism is arranged on the first joint, and the first driving mechanism is in transmission connection with the second joint so as to drive the second joint to rotate.

6. The biomimetic joint of claim 5, wherein: the first drive mechanism comprises a first drive element and a third gear; the third gear is fixedly connected to the second joint, the third gear and the first gear are coaxially arranged, a positioning shaft is fixedly connected to the axis of the third gear, and the positioning shaft is rotatably connected with the first gear; the first driving element is arranged on the first joint, and the first driving element and the third gear are in transmission connection to drive the second joint to rotate.

7. The biomimetic joint of claim 6, wherein: the first driving element comprises a first driving motor, a sixth gear, a seventh gear and a basin gear; the first driving motor is connected to the first joint, the sixth gear is connected to an output shaft of the first driving motor, the basin gear is rotatably connected to the first joint, an axis of the basin gear is perpendicular to an axis of the output shaft of the first driving motor, the basin gear is meshed with the sixth gear, the seventh gear is fixedly connected to the basin gear, and the seventh gear is meshed with the third gear.

8. The biomimetic joint of claim 6, wherein: the first joint comprises a first upper shell and a first lower shell which are symmetrically arranged, a first mounting part is arranged at the first end of the first upper shell, a first mounting shaft is arranged on the outer side of the first mounting part, the inner side of the first mounting part is fixedly connected with the first gear, a second mounting part corresponding to the first mounting part is arranged at the first end of the first lower shell, and a first mounting hole is formed in the inner side of the second mounting part; the second joint includes second epitheca and the second inferior valve that the symmetry set up, the first end of second epitheca is equipped with the third installation department, the inboard of third installation department is equipped with the second mounting hole, the second mounting hole with first installation hub connection, the second end of second inferior valve is equipped with the fourth installation department, the inboard of fourth installation department with third gear fixed connection, the outside of fourth installation department is equipped with the second installation axle, second installation hub connection in the first installation hole.

9. The biomimetic joint according to any one of claims 1-4, wherein: the biomimetic joint further comprises a fourth joint; the first end of the fourth joint is rotatably connected with the second end of the first joint, a second driving mechanism is arranged in the first joint, and the second driving mechanism is respectively connected with the second joint and the fourth joint to drive the second joint and the fourth joint to rotate.

10. The biomimetic joint of claim 9, wherein: the biomimetic joint further comprises a fifth joint; a first end of the fifth joint is rotatably connected with a second end of the fourth joint, an eighth gear is fixedly arranged at the first end of the fifth joint, a ninth gear is fixedly connected with the first end of the fourth joint, a tenth gear is rotatably connected with the first end of the fourth joint, and a second transmission set for transmitting power is arranged between the tenth gear and the eighth gear; an eleventh gear is fixedly arranged at the second end of the first joint and is meshed with the tenth gear; the second driving mechanism comprises a second driving motor, a twelfth gear, a thirteenth gear, a fourteenth gear, a fifteenth gear and a transmission shaft, wherein the twelfth gear and the thirteenth gear are both rotatably connected in the first joint, the transmission shaft is arranged between the twelfth gear and the thirteenth gear for transmitting power, the fourteenth gear is respectively meshed with the thirteenth gear and the ninth gear, the fifteenth gear is fixedly connected to the first end of the first joint, and the fifteenth gear is meshed with the twelfth gear.