Robotic thumb and hand

Abstract

The application provides a mechanical thumb, comprising a proximal phalanx, a fingertip, a rotary drive assembly, a swing piece, a linear drive motor, a first connecting rod and a second connecting rod, the swing piece, the first connecting rod and the second connecting rod are sequentially arranged from a proximal end to a distal end of the mechanical thumb, the rotary drive assembly is connected with the swing piece, the linear drive motor is arranged in the proximal phalanx and connected with the proximal phalanx, a telescopic output end of the linear drive motor is hinged with a distal end of the first connecting rod and the second connecting rod, a proximal end of the first connecting rod is hinged with the swing piece, and the second connecting rod is hinged with the fingertip. The application further provides a mechanical hand. The mechanical thumb and the mechanical hand provided by the application have simple overall structures and take up small space.

Description

Technical Field

[0001] This invention relates to the field of robotic hand technology, and in particular to a robotic thumb and robotic hand. Background Technology

[0002] As the most complex structure in humanoid robots, the robotic hand needs to simultaneously meet various conditions such as gripping force, gripping accuracy, self-adaptation, and degrees of freedom to further approximate the operation of a real human hand. Currently, the thumb structure of robotic hands is complex and occupies a large space, which is not conducive to grasping objects and is also prone to damage. Furthermore, the existing thumb structure has external linear drive motors and other structures to avoid contact with the object being grasped during operation, which would affect its ease of use.

[0003] Therefore, it is necessary to provide a thumb assembly to solve the above-mentioned technical problems. Summary of the Invention

[0004] This invention provides a mechanical thumb and a mechanical hand to solve the technical problems of existing technologies, such as large space occupation.

[0005] In a first aspect, a mechanical thumb includes a finger root and a fingertip hinged together. The mechanical thumb further includes: a rotary drive assembly, a oscillating member, a linear drive motor, a first link, and a second link. The oscillating member, the first link, and the second link are arranged sequentially from the proximal end to the distal end of the mechanical thumb. The rotary drive assembly is connected to the oscillating member. The linear drive motor is disposed inside the finger root and connected to the finger root. The telescopic output end of the linear drive motor is hinged to the distal end of the first link and the second link. The proximal end of the first link is hinged to the oscillating member, and the second link is hinged to the fingertip. The rotary drive assembly drives the oscillating member to rotate, thereby causing the finger root and the fingertip to rotate. The telescopic output end of the linear drive motor extends and retracts, causing the first link and the second link to move, thereby causing the finger root and the fingertip hinged to the first link and the second link to rotate, realizing the bending and straightening of the mechanical thumb.

[0006] In conjunction with the first aspect, in one possible implementation, the mechanical thumb further includes an elastic connector, the proximal end of the first link being connected to one end of the elastic connector, and the other end of the elastic connector being connected to the oscillating member to provide an elastic restoring force when the first link and the oscillating member move relative to each other.

[0007] In conjunction with the first aspect, in one possible implementation, the finger root and the fingertip are hollow structures, the proximal end of the first connecting rod, the elastic connector, and the main body of the linear drive motor are disposed inside the finger root, and the second connecting rod, the distal end of the first connecting rod, and the telescopic output end of the linear drive motor are disposed inside the fingertip.

[0008] In conjunction with the first aspect, in one possible implementation, the rotary drive assembly includes a rotary motor, a reducer, a rotary bearing, and a bearing housing connected in sequence. The oscillating member is connected between the reducer and the rotary bearing. The rotary motor drives the oscillating member to rotate through the reducer. The rotary bearing and the bearing housing support the rotation of the oscillating member.

[0009] In conjunction with the first aspect, in one possible implementation, the first connecting rod is arranged along the telescopic direction of the telescopic output end, and the angle between the telescopic direction of the telescopic output end of the linear drive motor and the extension direction of the rotation axis of the rotary motor is an acute angle.

[0010] In conjunction with the first aspect, in one possible implementation, one end of the second link is hinged to the distal end of the first link, and the other end of the second link extends from the distal end of the first link toward the outside of the mechanical thumb.

[0011] In conjunction with the first aspect, in one possible implementation, there are two first connecting rods, which are respectively disposed on both sides of the linear drive motor body. Each first connecting rod includes a proximal end, a turning part, an extension part, and a distal end connected in sequence. The proximal end is hinged to the swing member, and the elastic connector is connected at the connection between the proximal end and the turning part. The second connecting rod and the telescopic output end of the linear drive motor are connected to the distal end. The extension direction of the proximal end and the extension part are parallel to each other, the extension direction of the turning part is perpendicular to the extension direction of the extension part, and the distal end extends obliquely from the extension part toward the outside of the mechanical thumb.

[0012] In conjunction with the first aspect, in one possible implementation, the oscillating member includes an interconnected rotating connection portion and two mounting plates. The rotating connection portion is connected to the rotating drive assembly. The two mounting plates are opposite to each other and spaced apart. Each mounting plate is hinged to the proximal end of one of the first connecting rods. The linear drive motor is disposed between the two mounting plates.

[0013] In conjunction with the first aspect, in one possible implementation, a connecting rod is provided between the two mounting plates, and the mechanical thumb further includes an elastic connector, one end of which is connected to the proximal end of the first connecting rod, and the other end of which is connected to the connecting rod.

[0014] Secondly, this application provides a robotic hand, including a palm base and a robotic thumb, wherein the rotation drive assembly of the robotic thumb is mounted on the palm base.

[0015] The mechanical thumb and robotic hand provided in this application, through the setting of a rotary drive component, a swinging component, a linear drive motor, and a hinge structure between the first and second links, can easily realize the movement of the mechanical thumb. The overall structure is simple and occupies little space. Furthermore, by embedding the swinging component, the linear drive motor, the first link, and the second link inside the finger root and fingertip, too many components can be avoided from being exposed, making operation convenient during actual work. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a three-dimensional schematic diagram of the mechanical thumb provided in an embodiment of the present invention.

[0018] Figure 2 yes Figure 1 A 3D diagram of a mechanical thumb after the base and tip of the finger have been removed.

[0019] Figure 3 yes Figure 2 A three-dimensional diagram of the mechanical thumb from another angle.

[0020] Figure 4 This is a schematic diagram showing the connection relationship of each component in the mechanical thumb in the embodiments of this application.

[0021] Figure 5 This is a three-dimensional schematic diagram of the robotic arm provided in the embodiments of this application.

[0022] Key component symbols: Robotic arm - 10; Robotic thumb - 100; Finger root - 110; First hinge - 111; Fingertip - 120; Rotary drive assembly - 130; Rotary motor - 131; Reducer - 132; Rotary bearing - 133; Bearing housing - 134; Swing component - 140; Rotary connection - 141; Mounting plate - 142; Second hinge - 1421; Connecting rod - 1422; Linear drive motor Machine-150; Main body-151; Telescopic output end-152; Hinge shaft-1521; Third hinge-153; First connecting rod-160; Proximal end-161; Turning part-162; Extension part-163; Distal end-164; Connecting block-165; Connecting ring-166; Second connecting rod-170; First connecting end-171; Second connecting end-172; Hinge pin-173; Elastic connector-180. Detailed Implementation

[0023] The following description of various embodiments of the present invention is based on the accompanying drawings.

[0024] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. "Fixed connection" means that the components are connected to each other and their relative positional relationship remains unchanged after connection. "Rotary connection" means that the components are connected to each other and can rotate relative to each other after connection. The term "integral molding" means that during the formation of one of a plurality of components, that component is connected to the other components without requiring further processing (such as bonding, welding, snap-fit ​​connection, screw connection) to connect the two components together. The directional terms mentioned in the embodiments of the present invention, such as "top," "bottom," "inner," "outer," and "side," are only for reference to the directions in the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of the present invention, and are not intended to 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 embodiments of the present invention.

[0025] Please see Figures 1 to 3 , Figures 1 to 3This is a perspective view of the mechanical thumb provided in an embodiment of this application. In this embodiment, the mechanical thumb 100 includes a finger root 110 and a fingertip 120 hinged together, a rotary drive assembly 130, a swing member 140, a linear drive motor 150, a first connecting rod 160, a second connecting rod 170, and an elastic connector 180. The swing member 140, the first connecting rod 160, and the second connecting rod 170 are arranged sequentially from the proximal end to the distal end of the mechanical thumb 100. The rotary drive assembly 130 is rotatably connected to the swing member 140, and the linear drive motor 150 is disposed inside the finger root 110 and connected to the finger root 110. The telescopic output end 152 of the linear drive motor 150 is hinged to the distal end of the first connecting rod 160 and the second connecting rod 170. The proximal end of the first connecting rod 160 is hinged to the swing member 140 and connected to one end of the elastic connector 180. The other end of the elastic connector 180 is connected to the swing member 140, and the second connecting rod 170 is connected to the fingertip 120. Specifically, such as Figure 1-3 As shown, the telescopic output end 152 of the linear drive motor 150, the far end of the first link 160, and the second link 170 are hinged at the same position, making the structure of the three components reasonable and compact.

[0026] In this embodiment, the connection between the elastic connector 180 and the proximal end of the first connecting rod 160 is hinged, and the connection between the elastic connector 180 and the swing member 140 can also be hinged.

[0027] In one embodiment, the mechanical thumb 100 further includes an elastic connector 180, the proximal end of the first link 160 is connected to one end of the elastic connector 180, and the other end of the elastic connector 180 is connected to the swing member 140, so as to maintain the stability of the positional relationship between the finger root 110, fingertip 120, swing member 140, first link 160 and second link 170 during the bending and straightening of the mechanical thumb 100.

[0028] In this application, the rotary drive assembly 130 is used to drive the oscillating member 140 to rotate, thereby causing the base of the finger 110 and the fingertip 120 to rotate. The telescopic output end 152 of the linear drive motor 150 retracts, causing the first link 160 and the second link 170 to move, and causing the elastic connector 180 to elastically deform, thereby causing the base of the finger 110 and the fingertip 120, which are hinged to the first link 160, the second link 170 and the elastic connector 180, to rotate, thereby realizing the bending and straightening of the mechanical thumb 100.

[0029] The mechanical thumb 100 provided in this embodiment houses the linear drive motor 150 inside the finger root 110, thereby avoiding the inconvenience caused by exposed drive devices such as motors during operation. Furthermore, the connection method between the first link 160, the second link 170, the elastic connector 180, the finger root 110, and the fingertip 120 in this embodiment makes the entire mechanical thumb 100 compact and flexibly driven.

[0030] It is understood that in this embodiment, the proximal end refers to the end closer to the palm base of the robotic hand, and the distal end refers to the end farther from the palm base. Alternatively, the proximal end can be described as the end farther from the fingertip 120, and the distal end as the end closer to the fingertip 120. In this embodiment, the inner side refers to the side in the direction the robotic thumb bends, and the outer side refers to the opposite side.

[0031] In this embodiment, both the finger root 110 and the fingertip 120 are hollow shell structures. The finger root 110 is hinged to the swing member 140 and the first connecting rod 160, and fixedly connected to the main body 151 of the linear drive motor 150. It can be understood that since the finger root 110 is fixedly connected to the main body 151 of the linear drive motor 150, the hinged connection between the finger root 110 and the swing member 140 and the first connecting rod 160 is equivalent to the hinged connection between the main body 151 of the linear drive motor 150 and the swing member 140 and the first connecting rod 160, but this is not a limitation. The finger root 110 is designed to mimic the shape of the thumb root. The fingertip 120 is hinged to the second connecting rod 170 and the main body 151 of the linear drive motor 150.

[0032] In this embodiment, since both the finger root 110 and the fingertip 120 are hollow structures, the proximal end of the first connecting rod 160, the elastic connector 180, and the main body 151 of the linear drive motor 150 are all disposed inside the finger root 110. The second connecting rod 170, the distal end of the first connecting rod 160, and the telescopic output end 152 of the linear drive motor 150 are disposed inside the fingertip 120.

[0033] The rotary drive assembly 130 includes a rotary motor 131, a reducer 132, a rotary bearing 133, and a bearing housing 134 connected in sequence. A swing member 140 is connected between the reducer 132 and the rotary bearing 133. The rotary motor 131 and the reducer 132 cooperate to drive the swing member 140 to rotate along the rotation axis at the output end of the rotary motor 131. The rotary bearing 133 and the bearing housing 134 support the rotation of the swing member 140. In this embodiment, the rotation axis at the output end of the rotary motor 131 is arranged along the extension direction of the four fingers of the robotic hand, so that the rotary drive assembly 130 can drive the robotic thumb 100 to rotate around the rotation axis.

[0034] The oscillating member 140 is used to connect the finger root 110, the fingertip 120, and the elements disposed within the finger root 110 and the fingertip 120 to the rotation drive assembly 130. In this embodiment, the oscillating member 140 is rotatably connected to the rotation drive assembly 130, hinged to the proximal end of the first link 160 and the finger root 110, and hinged to the proximal end of the elastic connector 180.

[0035] Specifically, the swing member 140 includes a rotating connecting part 141 and two mounting plates 142 connected to each other. The rotating connecting part 141 is connected to the rotating drive assembly 130. The two mounting plates 142 are opposite to each other and spaced apart. Each mounting plate 142 is hinged to the proximal end of a first connecting rod 160. The linear drive motor 150 is disposed between the two mounting plates 142.

[0036] In this embodiment, the rotating connection 141 is connected between the reducer 132 and the rotary bearing 133, and is used to generate rotation under the drive of the rotary motor 131. Two mounting plates 142 are located inside the finger root 110. Each mounting plate 142 has a first hinge hole and a second hinge hole. The first hinge hole of each mounting plate 142 is used to hinge with the finger root 110 through a first hinge member 111. Each second hinge hole is used to hinge with the first connecting rod 160 through a second hinge member 1421. The first hinge hole is located on the outside of the mechanical thumb 100, and the second hinge hole is located on the inside of the mechanical thumb 100. The first hinge member 111 and the second hinge member 1421 can be hinge shafts.

[0037] In this embodiment, a connecting rod 1422 is also connected between the two mounting plates 142. The connecting rod 1422 is used to connect the proximal end of the elastic connector 180. By setting the connecting rod 1422, the proximal end of the elastic connector 180 can be hinged to the middle of the two mounting plates 142, so as to avoid uneven application of the elastic force generated by the deformation of the elastic connector 180 to the two mounting plates 142, which would cause the movement direction of the mechanical thumb 100 to deviate.

[0038] A linear drive motor 150 is used to drive the movement of the finger base 110 and fingertip 120. The linear drive motor 150 can be a linear motor that directly converts electrical energy into linear motion mechanical energy without requiring any intermediate conversion mechanism. In this embodiment, the linear drive motor 150 includes a main body 151 and a telescopic output end 152. The main body 151 can drive the telescopic output end 152 to extend and retract, thereby driving the movement of components connected to it. In this embodiment, the main body 151 is located at the proximal end of the mechanical thumb 100, and the telescopic output end 152 is located at the distal end of the mechanical thumb 100. Specifically, the main body 151 is located inside the finger base 110, and the telescopic output end 152 is located inside the fingertip 120.

[0039] In this embodiment, the main body 151 is disposed between two mounting plates 142. The main body 151 is fixedly connected to the finger root 110, so that when the mechanical thumb 100 bends or rotates, the linear drive motor 150 moves synchronously with the finger root 110. In this embodiment, the main body 151 is hinged to the fingertip 120 and the finger root 110. Specifically, on opposite sides of the main body 151, third hinge members 153 are respectively provided, each third hinge member 153 for hinged to the finger root 110, fingertip 120 and main body 151 at one point. It can be understood that the hinged connection of the finger root 110, fingertip 120 and main body 151 makes the structure of the mechanical thumb 100 compact.

[0040] The telescopic output end 152 is used to perform telescopic movement under the drive of the main body 151. The telescopic output end 152 is hinged to the distal end of the first connecting rod 160 and the second connecting rod 170. Specifically, the telescopic output end 152 is connected to a hinge shaft 1521. The distal end of the first connecting rod 160 and the second connecting rod 170 are respectively provided with hinge holes and are fitted onto the hinge shaft 1521. Thus, the telescopic output end 152 is hinged to the first connecting rod 160 and the second connecting rod 170 through the hinge shaft 1521. Therefore, when the telescopic output end 152 extends or retracts, it drives the first connecting rod 160 and the second connecting rod 170 to rotate around the hinge shaft 1521 and move in the telescopic direction of the telescopic output end 152.

[0041] The proximal end of the first link 160 is hinged to the swing member 140, and the distal end of the first link 160 is hinged to the second link 170 and the telescopic output end 152, respectively. In this embodiment, to make the mechanical thumb 100 move more accurately, there are two first links 160. The two first links 160 are arranged on opposite sides of the linear drive motor 150. Specifically, each first link 160 is arranged between the corresponding mounting plate 142 and the linear drive motor 150.

[0042] In this embodiment, each first link 160 includes a proximal end 161, a turning portion 162, an extension portion 163, and a distal end 164 connected in sequence. The proximal end 161 is hinged to the swing member 140, and the elastic connector 180 is hinged at the connection between the proximal end 161 and the turning portion 162. The second link 170 and the telescopic output end 152 of the linear drive motor 150 are connected to the distal end 164. The extension directions of the proximal end 161 and the extension portion 163 are parallel to each other, and the extension direction of the turning portion 162 is perpendicular to the extension direction of the extension portion 163. The length of the extension portion 163 is greater than the length of the proximal end 161. The proximal end 161 and the turning portion 162 are located inside the finger root 110, and the extension portion 163 extends from inside the finger root 110 to inside the fingertip 120. The distal end 164 extends obliquely from the extension portion 163 towards the outside of the mechanical thumb 100, and the distal end 164 is located inside the fingertip 120.

[0043] A connecting block 165 is provided between the two first connecting rods 160. The connecting block 165 is located at the connection between the proximal end 161 and the turning part 162. A connecting ring 166 is provided in the middle of the connecting block 165. The connecting ring 166 is used to hinge the distal end of the elastic connecting member 180. In this way, the distal end of the elastic connecting member 180 is also located in the middle of the two first connecting rods 160, thereby maintaining the balance of the elastic connecting member 180 acting on the two first connecting rods 160. In this embodiment, along the direction from the distal end to the proximal end, the second hinge hole is located between the connecting rod 1422 and the connecting block 165.

[0044] One end of the second link 170 is hinged to the distal end of the first link 160 and the telescopic output end 152 of the linear drive motor 150, and the other end of the second link 170 extends from the distal end of the first link 160 toward the outside of the mechanical thumb 100.

[0045] In this embodiment, the second connecting rod 170 has two first connecting ends 171 and one second connecting end 172. The two first connecting ends 171 are respectively hinged to opposite sides of the telescopic output end 152 of the linear drive motor 150, and the second connecting end 172 is used to connect to the fingertip 120. Specifically, each first connecting end 171 is sleeved on the hinge shaft 1521 of the telescopic output end 152 of the linear drive motor 150, such that each first connecting end 171 is located between the distal end of the corresponding first connecting rod 160 and the telescopic output end 152 of the linear drive motor 150. This symmetrical arrangement makes the various components inside the mechanical thumb 100 subject to balanced forces, and the movement and force application are more precise.

[0046] Two hinge pins 173 are provided at the second connecting end 172 for hinged with the hinge hole provided at the fingertip 120, so that when the second link 170 moves under the drive of the linear drive motor 150, it drives the fingertip 120 to move.

[0047] Please refer to the following: Figure 4 When the telescopic output end 152 of the linear drive motor 150 extends, it drives the first connecting rod 160 to swing inward relative to the swinging member 140 under the pull of the elastic connecting member 180. This causes the finger root 110 and the linear drive motor 150 fixedly connected to the finger root 110 to deflect inward relative to the swinging member 140. At the same time, the second connecting rod 170 deflects outward relative to the fingertip 120, thereby causing the fingertip 120 to deflect inward relative to the finger root 110, thus realizing the inward bending of the mechanical thumb 100.

[0048] Correspondingly, when the telescopic output end 152 of the linear drive motor 150 retracts, it drives the first connecting rod 160 to swing outward relative to the swinging member 140 under the pull of the elastic connecting member 180, thereby causing the finger root 110 and the linear drive motor 150 fixedly connected to the finger root 110 to deflect inward and outward relative to the swinging member 140. At the same time, the second connecting rod 170 deflects inward relative to the fingertip 120, thereby causing the fingertip 120 to deflect outward relative to the finger root 110, that is, to realize the mechanical thumb 100 to straighten outward.

[0049] Please see Figure 5 This application also provides a robotic hand 10, including the aforementioned robotic thumb 100 and palm base 200. The rotation drive assembly of the robotic thumb is mounted on the palm base.

[0050] The mechanical thumb and hand provided in this application, through the hinge structure between the rotary drive assembly 130, the swinging component 140, the linear drive motor 150, the first link 160, and the second link 170, can easily realize the movement of the mechanical thumb 100. The overall structure is simple and occupies little space. Furthermore, by embedding the swinging component 140, the linear drive motor 150, the first link 160, and the second link 170 inside the finger root 110 and the fingertip 120, too many components can be avoided from being exposed, making operation convenient during actual work.

[0051] The above description is merely a specific implementation of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A mechanical thumb, comprising a finger base and a fingertip hinged together, characterized in that, The mechanical thumb further includes: a rotary drive assembly, a oscillating element, a linear drive motor, a first link, and a second link. The oscillating element, the first link, and the second link are sequentially arranged from the proximal end to the distal end of the mechanical thumb. The first link includes a proximal end, a turning portion, an extension portion, and a distal end, which are connected in sequence. The extension directions of the proximal end and the extension portion are parallel to each other, and the extension direction of the turning portion is perpendicular to the extension direction of the extension portion. The distal end extends obliquely from the extension portion towards the outside of the mechanical thumb. The rotary drive assembly is connected to the oscillating element. The linear drive motor is disposed inside the finger root and connected to the finger root. The telescopic output end of the linear drive motor is hinged to the distal end and the second link. The proximal end... The mechanical thumb is hinged to the oscillating member, with one end of the second link hinged to the distal end and the other end of the second link extending outward from the distal end towards the outside of the mechanical thumb. The second link is hinged to the fingertip. The rotary drive assembly drives the oscillating member to rotate, thereby causing the finger root and the fingertip to rotate. The telescopic output end of the linear drive motor extends and retracts, causing the first link and the second link to move, thereby causing the finger root and the fingertip, which are hinged to the first link and the second link, to rotate, realizing the bending and straightening of the mechanical thumb. The mechanical thumb also includes an elastic connector, with one end of the elastic connector connected to the connection between the proximal end and the turning part, and the other end of the elastic connector connected to the oscillating member.

2. The mechanical thumb as described in claim 1, characterized in that, The finger root and the fingertip are hollow structures. The proximal end, the elastic connector, and the main body of the linear drive motor are disposed inside the finger root. The second connecting rod, the distal end, and the telescopic output end of the linear drive motor are disposed inside the fingertip.

3. The mechanical thumb as described in claim 2, characterized in that, The rotary drive assembly includes a rotary motor, a reducer, a rotary bearing, and a bearing housing connected in sequence. The oscillating component is connected between the reducer and the rotary bearing. The rotary motor drives the oscillating component to rotate through the reducer. The rotary bearing and the bearing housing support the rotation of the oscillating component.

4. The mechanical thumb as described in claim 3, characterized in that, The first connecting rod is arranged along the extension direction of the telescopic output end, and the angle between the extension direction of the telescopic output end of the linear drive motor and the extension direction of the rotation shaft of the rotary motor is an acute angle.

5. The mechanical thumb as described in claim 1, characterized in that, There are two first connecting rods, which are respectively located on both sides of the linear drive motor body.

6. The mechanical thumb as described in claim 1, characterized in that, The swing member includes a rotating connecting part and two mounting plates connected to each other. The rotating connecting part is connected to the rotating drive assembly. The two mounting plates are opposite to each other and spaced apart. Each mounting plate is hinged to the proximal end. The linear drive motor is disposed between the two mounting plates.

7. The mechanical thumb as described in claim 6, characterized in that, A connecting rod is provided between the two mounting plates, one end of the elastic connector is connected to the proximal end, and the other end of the elastic connector is connected to the connecting rod.

8. A robotic hand comprising a palm base and a robotic thumb as described in any one of claims 1 to 7, wherein the rotation drive assembly of the robotic thumb is mounted on the palm base.

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