Abstract: The present application relates to the technical field of motors, and provides a motor with two degrees of freedom and a robot. Such a motor with two degrees of freedom comprises a motor shell, an outer rotor motor and a disk-type motor, wherein the outer rotor motor comprises an outer-rotor-motor stator assembly and an outer rotor disk, the outer-rotor-motor stator assembly is fixed to the motor shell and arranged circumferentially around the motor shell, and the outer rotor disk serves as a power output end of a first degree of freedom; the disk-type motor is sleeved on the outer rotor motor, and comprises an inner rotor disk and a disk-type-motor stator assembly, the disk-type-motor stator assembly is fixed at a central part of the motor shell, and the inner rotor disk serves as a power output end of a second degree of freedom.

Abstract: A gene related to biosynthesis of ergothioneine is provided. Based on five synthesis genes of ergothioneine in Mycobacteroides abscessus, only an encoding sequence of each of the five genes is retained, and a gene structure of an encoding region in each gene is optimized to obtain genes related to the biosynthesis of the ergothioneine that are stably expressed in rice. These genes have sequences set forth in SEQ ID NO: 1 to SEQ ID NO: 5, and encoded proteins thereof have amino acid sequences set forth in SEQ ID NO: 6 to SEQ ID NO: 10. The gene is transferred into rice to construct a transgenic rice molecular farm to produce the ergothioneine. As a molecular farm, rice seeds do not contain alkaloids or allergens that are harmful to the human body. Moreover, biosynthesized ergothioneine shows the advantages of easy extraction and processing and of low production cost.