Mechanical hand finger and mechanical hand

Abstract

The application provides a mechanical hand finger and a mechanical hand, and relates to the technical field of mechanical hands. The mechanical hand finger comprises a distal phalanx, a proximal phalanx and a finger root which are connected in relative rotation, a driving mechanism, a driving connecting rod and a web, the driving mechanism is installed on the finger root, a joint shaft is arranged at the connection position of the proximal phalanx and the finger root, the driving connecting rod is located on the side of the proximal phalanx facing or facing away from the finger web, the upper end of the driving connecting rod is hinged to the distal phalanx, the lower end of the driving connecting rod is hinged to the web, the web is connected to the joint shaft, the driving mechanism is drivingly connected to the web and is used for driving the web and the joint shaft to rotate synchronously, so that the proximal phalanx rotates relative to the finger root, and the driving connecting rod rotates relative to the proximal phalanx through the rotation of the web. The load borne by the joint between the distal phalanx and the proximal phalanx is reduced, so that the stability of the joint between the distal phalanx and the proximal phalanx of the mechanical hand finger is improved.

Description

A robotic finger and robotic hand Technical Field

[0001] This invention relates to the field of robotic arm technology, and more specifically, to a robotic finger and a robotic arm. Background Technology

[0002] Bionic robotic hands include robotic fingers, which consist of three phalanges: the distal phalanx, the proximal phalanx, and the phalanx. By coordinating the relative rotation angles of these three phalanges, objects can be grasped.

[0003] Currently, drive structures are often installed on the distal and proximal phalanges to enable the rotation of the distal phalanx relative to the proximal phalanx. However, since the drive structure is directly installed at the joint of the distal and proximal phalanges, the load on the joint is relatively large to some extent, which affects the structural strength of the joint and thus its stability. Summary of the Invention

[0004] The problem solved by this invention is: how to improve the stability of the distal and proximal phalanges of a mechanical finger.

[0005] To address the aforementioned problems, this invention provides a robotic finger, comprising a distal phalanx, a proximal phalanx, and a phalanx that are rotatably connected relative to each other. It also includes a drive mechanism, a drive link, and a web. The drive mechanism is mounted on the phalanx. A joint axis is provided at the connection between the proximal phalanx and the phalanx. The drive link is located on the side of the proximal phalanx facing or away from the fingertip. The upper end of the drive link is hinged to the distal phalanx, and the lower end is hinged to the web. The web is connected to the joint axis. The drive mechanism is driven by the web and drives the web and the joint axis to rotate synchronously, thereby enabling the proximal phalanx to rotate relative to the phalanx. Furthermore, the drive link achieves the rotation of the distal phalanx relative to the proximal phalanx through the rotation of the web.

[0006] Optionally, the robotic hand finger further includes a spring-link mechanism, which includes a spring, a transmission link, and a connecting plate. The upper end of the transmission link is hinged to the distal phalanx, and the lower end of the transmission link is hinged to the connecting plate. The connecting plate is hinged to the joint axis. The spring is connected between the lower end of the transmission link and the finger root, and the spring force resists the rotation of the connecting plate around the joint axis. The drive link and the transmission link are located on both sides of the proximal phalanx, respectively.

[0007] Optionally, a connecting groove is provided on the finger root, and the spring is installed in the connecting groove.

[0008] Optionally, the upper end of the drive link is positioned above the transmission link, close to the fingertip of the distal phalanx.

[0009] Optionally, the drive mechanism includes a motor, a lead screw, a drive rod, and a nut. The motor is mounted on the finger root and is driven by the lead screw through a gear transmission mechanism. Both ends of the lead screw are mounted on the finger root through bearings. The nut is threadedly connected to the lead screw and hinged to one end of the drive rod. The other end of the drive rod is hinged to the web plate.

[0010] Optionally, a groove is provided on the base of the finger, and the motor is mounted in the groove.

[0011] Optionally, the gear transmission mechanism includes a meshing driving gear and a driven gear, wherein the diameter of the driving gear is larger than the diameter of the driven gear, the driving gear is connected to the output shaft of the motor, and the driven gear is connected to the lead screw.

[0012] Optionally, the proximal phalanx includes a first assembly cavity, the phalanx includes a second assembly cavity, the first assembly cavity and the second assembly cavity are connected, the drive mechanism is installed in the second assembly cavity, and the drive link, the transmission link, the web and the connecting plate are all installed in the first assembly cavity.

[0013] Optionally, the robotic hand finger further includes a metal rubber finger pad, which is respectively installed on the fingertip of the distal phalanx and the proximal phalanx.

[0014] Compared with the prior art, the robotic finger of the present invention is hinged between the distal phalanx and the septum via a drive link located on the side of the proximal phalanx facing or away from the fingertip. The septum is hinged to the joint axis between the distal phalanx and the root of the finger. This allows the rotation of the septum around the joint axis to be converted into the rotation of the distal phalanx relative to the proximal phalanx via the drive link. The rotation is then driven by a drive mechanism installed at the root of the finger, which is connected to the septum and drives the septum to rotate around the joint axis. This achieves the rotation of the distal phalanx relative to the proximal phalanx, thus realizing the underactuation of the robotic finger. The root of the finger bears the load of the drive structure, while the joint between the distal and proximal phalanx only needs to bear the force of the drive link. In this way, compared with directly setting the drive structure at the joint between the distal and proximal phalanx, the load on the joint can be reduced, thereby improving the stability of the distal and proximal phalanx joints of the robotic finger.

[0015] On the other hand, the present invention also provides a robotic hand, including the robotic hand fingers as described above.

[0016] The advantages of this robotic hand over existing technologies are the same as those of the robotic hand's fingers, which will not be elaborated here. Attached Figure Description

[0017] Figure 1 is a schematic diagram of the structure when the driving linkage is located on the fingertip side in an embodiment of the present invention;

[0018] Figure 2 is a schematic diagram of the structure when the driving linkage is located on the back of the finger in an embodiment of the present invention;

[0019] Figure 3 is a schematic diagram of the structure when the distal phalanx pinches an object in an embodiment of the present invention;

[0020] Figure 2 is a schematic diagram of the structure when the distal and proximal phalanges encircle an object in an embodiment of the present invention.

[0021] Explanation of reference numerals in the attached figures:

[0022] 1-Drive link; 2-Transmission link; 3-Web plate; 4-Connecting plate; 5-Tension spring; 6-Compression spring; 7-Motor; 8-Lead screw; 9-Drive rod; 10-Nut; 100-Distal phalanx; 200-Proximal phalanx; 201-Joint shaft; 300-Finger root; 301-Groove; 400-First assembly cavity; 500-Second assembly cavity; 600-Metal rubber finger pad. Detailed Implementation

[0023] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0024] In the attached diagram, the Z-axis represents the vertical direction, i.e., up and down. The positive direction of the Z-axis (where the arrow points) indicates up, and the negative direction (opposite to the positive direction) indicates down. The Y-axis represents the front and back direction, with the positive direction (where the arrow points) indicating the front and the negative direction (opposite to the positive direction) indicating the back. It should be noted that the aforementioned representations of the Z and Y axes are merely for ease of description and simplification of the invention, 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.

[0025] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in sequences other than those illustrated or described herein.

[0026] On one hand, in conjunction with Figures 1 and 2, the present invention provides a robotic finger, including a distal phalanx 100, a proximal phalanx 200, and a finger root 300 that are rotatably connected relative to each other, and also includes a drive mechanism, a drive link 1, and a belly plate 3. The drive mechanism is mounted on the finger root 300. A joint axis 201 is provided at the connection between the proximal phalanx 200 and the finger root 300. The drive link 1 is located on the side of the proximal phalanx 200 facing or away from the fingertip. The upper end of the drive link 1 is hinged to the distal phalanx 100, and the lower end of the drive link 1 is hinged to the belly plate. The belly plate 3 is hinged to the joint axis 201. The drive mechanism is drivenly connected to the belly plate 3 and is used to drive the belly plate 3 to rotate around the joint axis 201, so as to realize the rotation of the distal phalanx 100 relative to the proximal phalanx 200.

[0027] Specifically, during the process of the robotic hand's fingers grasping an object, the end of the finger joint facing the object is the fingertip, and the end away from the object is the finger back. The Z-axis represents the vertical direction of the robotic hand's fingers, and the Y-axis represents the front-back direction. The fingertip refers to the end of the distal phalanx 100 and proximal phalanx 200 facing the positive Y-axis. The proximal phalanx 200 is located between the distal phalanx 100 and the finger root 300. Both ends of the proximal phalanx 200 are hinged to the distal phalanx 100 and the finger root 300 respectively via bearings, and a joint shaft 201, i.e., a hinge shaft, is provided at the hinge point between the proximal phalanx 200 and the finger root 300. The drive link 1 is located on the side of the proximal phalanx 200 facing or away from the fingertip; here, we take the example of the drive link 1 being located on the side of the proximal phalanx 200 facing the fingertip. The drive mechanism is mounted on the base of the finger 300. The drive link 1 is located on the front side of the proximal phalanx 200. The web plate 3 is located between the drive link 1 and the joint axis 201. The upper end of the drive link 1 is connected to the front end of the distal phalanx 1, and the lower end of the drive link 1 is hinged to the front end of the web plate 3. The rear end of the web plate 3 is hinged to the joint axis 201. The output end of the drive mechanism is driven and connected to the front end of the web plate 3. When the drive mechanism is started, it applies a downward driving force to the front end of the web plate 3. Under the action of this driving force, the web plate 3 rotates downward to rotate around the joint axis 201. As the web plate 3 rotates downward, it pulls the drive link 1 downward, so that the drive link 1 applies a downward pulling force to the distal phalanx 100. Under the action of this pulling force, the distal phalanx 100 rotates relative to the proximal phalanx 200.

[0028] Therefore, in this embodiment, the drive link 1 is hinged between the distal phalanx 100 and the web plate 3, and the web plate 3 is hinged to the joint axis 201 between the distal phalanx 100 and the finger root 300. This allows the rotation of the web plate 3 around the joint axis 201 to be converted into the rotation of the distal phalanx 100 relative to the proximal phalanx 200 by the drive link 1. The drive mechanism installed on the finger root 300 is then connected to the web plate 3 and used to drive the web plate 3 to rotate around the joint axis 201, thereby realizing the rotation of the distal phalanx 100 relative to the proximal phalanx 200. This achieves underactuation of the robotic finger, and the finger root 300 bears the load of the drive structure. The joint between the distal phalanx 100 and the proximal phalanx 200 only needs to bear the force of the drive link 1. In this way, compared to directly setting the drive structure at the joint between the distal phalanx 100 and the proximal phalanx 200, the load on the joint can be reduced, thereby improving the stability of the distal and proximal phalanx joints of the robotic finger.

[0029] Optionally, as shown in Figure 1, the robotic finger also includes a spring-link mechanism, which includes a spring, a transmission link, and a connecting plate. The upper end of the transmission link 2 is hinged to the distal phalanx 100, and the lower end of the transmission link 2 is hinged to the connecting plate 4. The connecting plate 4 is hinged to the joint shaft 201. The spring is connected between the lower end of the transmission link 2 and the finger root 300. The spring force resists the rotation of the connecting plate 4 around the joint shaft 201. The drive link 1 and the transmission link 2 are located on both sides of the proximal phalanx 200, respectively.

[0030] Specifically, the spring linkage mechanism and drive linkage 1 being distributed on both sides of the joint shaft 201 refers to the transmission linkage 2 and drive linkage 1 being distributed on the front and rear sides of the joint shaft 201. For example, drive linkage 1 is located on the side of the finger closer to the fingertip, while transmission linkage 2 is located on the side of the finger away from the fingertip. The two are located on both sides of the joint shaft 201 without intersecting. Correspondingly, the web plate 3 and connecting plate 4 are also located on the front and rear sides of the joint shaft 201, respectively. When drive linkage 1 is located on the front side of the joint shaft 201 and transmission linkage 2 is located on the rear side of the joint shaft 201, the spring is a tension spring 5. The upper end of transmission linkage 2 is hinged to the distal phalanx 100, and the lower end of transmission linkage 2 is hinged to the connecting plate 4. The connecting plate 4 is connected to the joint shaft 201. Tension spring 5 is connected between the finger root 300 and the lower end of transmission linkage 2. When the web plate 3 rotates to its limit position, the elasticity of tension spring 5 hinders the rotation of the proximal phalanx relative to the finger root 300. As shown in Figure 1, the specific process is as follows: When the distal phalanx 100 needs to pinch an object, referring to Figure 3, the proximal phalanx 200 rotates forward, and the connecting plate 4 remains stationary under the elastic force of the tension spring 5. The drive mechanism drives the web plate 3 and the drive link 1 to move downward. The web plate 3 and the drive link 1 enable the distal phalanx 100 to rotate forward, and the transmission link 2 rotates forward relative to the connecting plate 4, thereby ensuring that the length direction of the distal phalanx 100 is always consistent with the Z-axis, that is, to achieve the horizontal forward movement of the distal phalanx 100, so that the object can be pinched through the two opposing distal phalanxes 100. When the distal phalanx 100 and the proximal phalanx 200 need to hug an object, referring to Figure 4, before the fingertip of the proximal phalanx 200 touches the object, the proximal phalanx 200 rotates forward, and the connecting plate 4 remains stationary under the elastic force of the tension spring 5. The drive mechanism drives the web plate 3 and the drive link 1 to move downward, and the web plate 3 and the drive link 1 enable the distal phalanx 100 to rotate forward. The transmission link 2 rotates forward relative to the connecting plate 4, thus ensuring that the length direction of the distal phalanx 100 is always aligned with the Z-axis. When the fingertip of the proximal phalanx 200 (i.e., the front end of the proximal phalanx 200) contacts the object and stops rotating, the drive mechanism continues to drive the web plate 3 and drive link 1 to move downward. The web plate 3 and drive link 1 drive the distal phalanx 100 to rotate downward. As the distal phalanx 100 rotates, the angle between the length direction of the distal phalanx 100 and the Z-axis gradually increases, causing the transmission link 2 to drive the connecting plate 4 to rotate upward. The elastic force of the tension spring 5 gradually increases until the fingertip of the distal phalanx 100 contacts the object, achieving a hug around the object. The elastic force of the tension spring 5 is at its maximum value. When releasing the object, the increased elastic force of the tension spring 5, in conjunction with the driving force of the drive mechanism, ensures that the length direction of the distal phalanx 100 is parallel to the Z-axis before moving horizontally, thus achieving stable release of the distal phalanx 100.

[0031] Thus, with the joint shaft 200 located between the spring linkage mechanism and the drive linkage 1, the upper end of the transmission linkage 2 is hinged to the distal phalanx 100, and the lower end of the transmission linkage 2 is hinged to the connecting plate 4. The connecting plate 4 is hinged to the joint shaft 201, and the spring is connected between the lower end of the transmission linkage 2 and the finger root 300. The spring force resists the rotation of the connecting plate 4 around the joint shaft 201. In this way, during the grasping process, on the one hand, the spring force resists the rotation of the connecting plate 4 around the joint shaft 201 to realize the horizontal movement of the distal phalanx 100, thereby realizing the grasping of the object by the distal phalanx 100. On the other hand, the spring force can also cooperate with the drive mechanism to realize the encirclement of the object by the distal phalanx 100 and the proximal phalanx 200, thereby improving the adaptability of the robotic hand fingers.

[0032] Optionally, when the drive link 1 is located in front of the joint shaft 201 and the transmission link 2 is located behind the joint shaft 201, the spring is a compression spring 6. The upper end of the transmission link 2 is hinged to the distal phalanx 100, and the lower end of the transmission link 2 is hinged to the connecting plate 4. The connecting plate 4 is hinged to the joint shaft 201. The compression spring 6 is connected between the finger root 300 and the lower end of the transmission link 2. The elastic force of the compression spring 6 hinders the rotation of the connecting plate 4 around the joint shaft 201, as shown in Figure 2. The specific process is as follows: When the distal phalanx 100 needs to pinch an object, the proximal phalanx 200 rotates forward. The drive mechanism drives the web plate 3 and the drive link 1 to move upward. The web plate 3 and the drive link 1 enable the distal phalanx 100 to rotate forward, and the transmission link 2 rotates forward relative to the connecting plate 4. The compression spring 6 applies an upward elastic force to the connecting plate 4. Under the action of the elastic force of the compression spring 6, the connecting plate 4 hinders the rotation of the connecting plate around the joint shaft 201. The distal phalanx 100 rotates downwards to remain stationary. During the forward rotation of the distal phalanx 100, its length direction is always aligned with the Z-axis, thus achieving horizontal movement of the distal phalanx 100. This allows for the pinching of objects using the two opposing distal phalanxes 100. When the distal phalanx 100 and proximal phalanx 200 need to encircle an object, before the fingertip of the proximal phalanx 200 contacts the object, the distal phalanx 100 rotates downwards under the drive of the drive linkage 1. The transmission linkage 2 compresses the compression spring 6 through the downward rotation of the distal phalanx 100, increasing the elastic force of the compression spring 6 until the fingertip of the distal phalanx 100 contacts the object, at which point the elastic force of the compression spring 6 reaches its maximum, achieving the encirclement of the object by the distal phalanx 100 and proximal phalanx 200. During the release of the object, the elastic force of the compression spring 6 can cooperate with the driving force of the drive mechanism to achieve a smooth release of the distal phalanx 100.

[0033] Optionally, a connecting groove is provided on the finger root 300, and the spring is installed in the connecting groove.

[0034] Specifically, the upper end of the finger root 300 is provided with a connecting groove, and the lower end of the spring is installed in the connecting groove.

[0035] Thus, by installing the spring on the connecting groove provided on the finger root 300, the connecting groove can limit the lower end of the spring, thereby preventing the spring from separating from the finger root 300 during the rotation of the connecting plate 4, thus improving the stability of the spring.

[0036] Optionally, as shown in Figure 1, the upper end of the drive link 1 is positioned above the fingertip of the distal phalanx 100 relative to the upper part of the transmission link 2.

[0037] Specifically, since the rotation of the distal phalanx 100 is driven by the drive link 1, the greater the rotation path of the drive link 1 before reaching the dead center position, the greater the rotation angle of the distal phalanx 100. For example, taking the maximum rotation distance of the hinge point between the distal phalanx 100 and the drive link 1 towards the negative Z-axis as the dead center, the upper end of the drive link 1 is closer to the fingertip of the distal phalanx 100 relative to the upper part of the transmission link 2. This allows for a larger arc-shaped path distance between the hinge point and the dead center, thus maximizing the rotation path of the drive link 1. The angle formed by the line connecting the upper end of the drive link 1 at the hinge point on the distal phalanx 100, the rotation center of the distal phalanx 100, and the dead center is an obtuse angle.

[0038] Thus, by positioning the upper end of the drive link 1 closer to the fingertip of the distal phalanx 100 relative to the upper part of the transmission link 2, the rotation angle range of the distal phalanx 100 can be increased, thereby improving the flexibility of the distal phalanx 100 in use.

[0039] On the other hand, when the transmission link 2 is located on the fingertip side, as shown in Figure 2, the upper end of the transmission link 2 can be positioned above the upper end of the drive link 1, which can also increase the rotation angle range of the distal phalanx 100.

[0040] Optionally, as shown in Figure 1, the drive mechanism includes a motor 7, a lead screw 8, a drive rod 9, and a nut 10. The motor 7 is mounted on the finger root 300 and is driven by the lead screw 8 through a gear transmission mechanism. Both ends of the lead screw 8 are mounted on the finger root 300 through bearings. The nut 10 is threadedly connected to the lead screw 8 and hinged to one end of the drive rod 9. The other end of the drive rod 9 is hinged to the web plate 3.

[0041] Specifically, the lead screw 8 is set along the Z-axis direction, and its upper and lower ends are respectively mounted on the finger root 300 through bearings. The motor 7 is driven and connected to the lead screw 8 through a gear transmission mechanism. The nut 10 is threadedly connected to the lead screw 8 and hinged to one end of the drive rod 9. The other end of the drive rod 9 is hinged to the web plate 3 to realize the rotation of the web plate 3. That is, when the motor 7 starts, the motor 7 drives the nut 10 to move downward through the lead screw 8. The nut 10 drives the drive rod 9 to move downward, and the drive rod 9 drives the web plate 3 to rotate downward, thereby realizing the rotation of the distal phalanx 100 and the proximal phalanx 200.

[0042] Thus, the motor 7 is installed on the finger root 300, and the motor 7 is driven by the lead screw 8 through the gear transmission mechanism. The two ends of the lead screw 8 are installed on the finger root 300 through bearings. The nut 10 is threadedly connected to the lead screw 8 and hinged to one end of the drive rod 9. The other end of the drive rod 9 is hinged to the web plate 3 to realize the rotation of the web plate 3. In this way, the threaded connection between the lead screw 8 and the nut 10 can ensure the transmission accuracy of the power output by the motor 7. At the same time, it can improve the self-locking ability of the robotic hand fingers when grasping objects.

[0043] Optionally, as shown in Figure 1, a groove 301 is provided on the finger root 300, and the motor 7 is mounted in the groove 301.

[0044] Specifically, the motor 7 includes an output end and a fixed end, with the fixed end of the motor 7 installed in the groove 301.

[0045] Thus, by mounting the motor 7 on the groove 301 provided on the finger root 300, the groove 301 limits the movement of the motor 7, thereby improving the stability of the motor 7.

[0046] Optionally, the gear transmission mechanism includes a meshing driving gear and a driven gear, the diameter of the driving gear being larger than the diameter of the driven gear, the driving gear being connected to the output shaft of the motor 7, and the driven gear being connected to the lead screw 8.

[0047] Specifically, the driving gear is keyed to the output shaft of the motor 7, and the driven gear is keyed to the lead screw 8.

[0048] Thus, by having a larger diameter for the driving gear than for the driven gear, and by connecting the driving gear to the output shaft of the motor 7 and the driven gear to the lead screw 8, the driving gear and the driven gear form a speed reduction mechanism, thereby enabling the motor 7 to achieve adjustable speed.

[0049] Optionally, as shown in Figure 1, the proximal phalanx 200 includes a first assembly cavity 400, the phalanx 300 includes a second assembly cavity 500, the first assembly cavity 400 and the second assembly cavity 500 are connected, the drive mechanism is installed in the second assembly cavity 500, and the drive link 1, the transmission link 2, the web plate 3 and the connecting plate 4 are all installed in the first assembly cavity 400.

[0050] Specifically, the proximal phalanx 100 and the finger root 300 are both hollow structures. The proximal phalanx 200 includes a first assembly cavity 400, and the finger root 300 includes a second assembly cavity 500. The first assembly cavity 400 and the second assembly cavity 500 are connected. The drive mechanism is installed in the second assembly cavity 500, and the drive link 1, the transmission link 2, the web plate 3 and the connecting plate 4 are all installed in the first assembly cavity 400.

[0051] Thus, the first assembly cavity 400 and the second assembly cavity 500 are connected. The drive mechanism is installed in the second assembly cavity 500, while the drive link 1, transmission link 2, web plate 3 and connecting plate 4 are all installed in the first assembly cavity 400. This isolates the drive link 1, transmission link 2, web plate 3 and connecting plate 4 from the external environment, preventing them from being exposed and thus improving the aesthetics of the robotic hand's fingers.

[0052] Optionally, as shown in Figure 1, the robotic hand finger also includes a metal rubber finger pad 600, which is installed on the fingertip of the distal phalanx 100 and the proximal phalanx 200, respectively.

[0053] Specifically, the metal rubber finger pad 600 is assembled to the fingertip of the distal phalanx 100 and proximal phalanx 200 by screws.

[0054] Thus, by installing the metal rubber finger pads 600 on the fingertips of the distal phalanx 100 and proximal phalanx 200 respectively, the metal rubber finger pads 600 increase the contact friction between the fingertips of the distal phalanx 100 and proximal phalanx 200 and the object, thereby facilitating the grasping of the object.

[0055] Another embodiment of the present invention also provides a robotic hand, including the robotic hand fingers as described above.

[0056] The advantages of this robotic hand over existing technologies are the same as those of the robotic hand's fingers, which will not be elaborated here.

[0057] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A robotic hand finger, comprising a distal phalanx (100), a proximal phalanx (200), and a phalanx (300) rotatably connected relative to each other, characterized in that, It also includes a drive mechanism, a drive link (1), and a web (3). The drive mechanism is mounted on the phalanx (300). A joint axis (201) is provided at the connection between the proximal phalanx (200) and the phalanx (300). The upper end of the drive link (1) is hinged to the distal phalanx (100), and the lower end of the drive link (1) is hinged to the web (3). The web (3) is hinged to the joint axis (201). The drive mechanism is drivenly connected to the web (3) and is used to drive the web (3) to rotate around the joint axis (201) so that the distal phalanx (100) is relative to the proximal phalanx (200). The mechanism also includes a spring linkage mechanism, which includes a spring, a transmission link (2) and a connecting plate (4). The upper end of the transmission link (2) is hinged to the distal phalanx (100), and the lower end of the transmission link (2) is hinged to the connecting plate (4). The connecting plate (4) is hinged to the joint shaft (201). The spring is connected between the lower end of the transmission link (2) and the finger root (300). The elasticity of the spring hinders the rotation of the connecting plate (4) around the joint shaft (201). The driving link (1) and the transmission link (2) are located on both sides of the proximal phalanx (200).

2. The robotic finger according to claim 1, characterized in that, A connecting groove is provided on the finger root (300), and the spring is installed in the connecting groove.

3. The robotic finger according to claim 1, characterized in that, The upper end of the drive link (1) is closer to the fingertip of the distal phalanx (100) than the upper end of the transmission link (2).

4. The robotic finger according to claim 1, characterized in that, The drive mechanism includes a motor (7), a lead screw (8), a drive rod (9), and a nut (10). The motor (7) is mounted on the finger root (300). The motor (7) is driven by the lead screw (8) through a gear transmission mechanism. The two ends of the lead screw (8) are mounted on the finger root (300) through bearings. The nut (10) is threaded to the lead screw (8) and hinged to one end of the drive rod (9). The other end of the drive rod (9) is hinged to the web plate (3).

5. The robotic finger according to claim 4, characterized in that, A groove (301) is provided on the finger root (300), and the motor (7) is installed in the groove (301).

6. The robotic finger according to claim 4, characterized in that, The gear transmission mechanism includes a meshing driving gear and a driven gear. The diameter of the driving gear is larger than the diameter of the driven gear. The driving gear is connected to the output shaft of the motor (7), and the driven gear is connected to the lead screw (8) for transmission.

7. The robotic finger according to claim 1, characterized in that, The proximal phalanx (200) includes a first assembly cavity (400), the phalanx (300) includes a second assembly cavity (500), the first assembly cavity (400) and the second assembly cavity (500) are connected, the drive mechanism is installed in the second assembly cavity (500), and the drive link (1), the transmission link (2), the web plate (3) and the connecting plate (4) are all installed in the first assembly cavity (400).

8. The robotic finger according to claim 1, characterized in that, It also includes a metal rubber finger pad (600), which is installed on the fingertip of the distal phalanx (100) and the proximal phalanx (200).

9. A robotic arm, characterized in that, Including the robotic hand fingers as described in any one of claims 1 to 8.

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