Robotic arms and robots

Abstract

The present invention discloses a manipulator and a robot, wherein the manipulator comprises: a palm-shaped shell; at least two side-by-side fingers with multiple degrees of freedom; and at least one non-side-by-side finger with multiple degrees of freedom; wherein the movement modes of the side-by-side fingers include: rotation within the plane where the palm-shaped shell is located and rotation within the first vertical plane of the palm-shaped shell; and the movement modes of the non-side-by-side fingers include: rotation within the second vertical plane of the palm-shaped shell and rotation within the third vertical plane of the palm-shaped shell. Since each side-by-side finger and each non-side-by-side finger has multiple degrees of freedom, multiple movement modes are formed, making the manipulator closer to a real palm, and can be applied to different application scenarios, broadening the types of tasks to be performed, and improving the task execution capability of the manipulator.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a manipulator and a robot. Background Art

[0002] The robot's manipulator serves as an end effector to perform various tasks, thereby assisting or replacing human hands in operating in human working environments. The manipulator has multiple fingers, and performs tasks by controlling the movement of multiple fingers. In some under-actuated manipulator designs, the functions are single, the degrees of freedom are few, and the movements of human fingers cannot be well imitated. In the prior art, the movement modes of the fingers of the manipulator tend to be the same, and the types of tasks that can be performed need to be expanded. For example, in the patent document with publication number CN101500764B, the structures of the multiple finger structures of the manipulator are basically the same, and the rotation modes are also basically the same, which limits the application of the manipulator.

[0003] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a robotic arm and a robot in view of the above-mentioned defects of the prior art, aiming to solve the problem that the movement modes of the fingers of the robotic arm in the prior art tend to be the same and the types of tasks that can be performed need to be broadened.

[0005] The technical solution adopted by the present invention to solve the technical problem is as follows:

[0006] A robot arm, comprising:

[0007] Palm-shaped shell;

[0008] at least two side-by-side fingers with multiple degrees of freedom;

[0009] at least one non-side-by-side finger with multiple degrees of freedom;

[0010] The movement modes of the side-by-side fingers include: rotation within the plane where the palm-shaped shell is located and rotation within the first vertical plane of the palm-shaped shell;

[0011] The movement modes of the non-side-by-side fingers include: rotation within the second vertical plane of the palm-shaped shell and rotation within the third vertical plane of the palm-shaped shell.

[0012] The robot arm, wherein the side-by-side fingers include:

[0013] A first driving mechanism is located in the palm-shaped shell;

[0014] a first finger, disposed on the first driving mechanism;

[0015] The non-side-by-side means include:

[0016] A second driving mechanism is located in the palm-shaped shell;

[0017] a second finger, disposed on the second driving mechanism;

[0018] Wherein, the movement mode of the side-by-side fingers further includes: curling of the first fingers;

[0019] The non-side-by-side finger movement mode also includes: curling of the second finger;

[0020] The first driving mechanism is located in the first vertical plane;

[0021] The second driving mechanism is parallel to the second vertical plane or located in the second vertical plane.

[0022] The robot arm, wherein the first driving mechanism comprises:

[0023] A first base, disposed on the palm-shaped shell;

[0024] A first telescopic assembly and a second telescopic assembly are both disposed on the first base;

[0025] Wherein, the first finger is movably connected to the first base, the first telescopic component, and the second telescopic component respectively.

[0026] The robot arm, wherein the first telescopic assembly and the second telescopic assembly both include:

[0027] A moving body, moving relative to the first base;

[0028] A kit is mounted outside the movable body; the kit moves in a direction away from the first finger and separates from the movable body;

[0029] A connecting piece, two ends of which are movably connected to the first finger and the kit respectively;

[0030] An elastic member is used for providing an elastic force for the kit to move toward the first finger.

[0031] The robot arm, wherein the first driving mechanism further comprises:

[0032] A first rotating frame, rotatably disposed on the first base;

[0033] Wherein, the first rotating frame is rotatably connected to the first finger;

[0034] The first telescopic assembly and the second telescopic assembly both include:

[0035] A first driver, disposed on the first base;

[0036] a threaded rod connected to the drive shaft of the first actuator;

[0037] Wherein, the moving body is threadedly connected to the threaded rod;

[0038] The sleeve slides relative to the first base.

[0039] The robot arm, wherein the second driving mechanism comprises:

[0040] Second Plinth;

[0041] The second rotating frame and the third rotating frame are both rotatably disposed on the second base;

[0042] A bending rod, rotatably connected to the third rotating frame and the second finger respectively;

[0043] Wherein, the second rotating frame is rotatably connected to the second finger;

[0044] The rotation direction of the second rotating frame is different from the rotation direction of the third rotating frame.

[0045] The robot arm, wherein the second driving mechanism further comprises:

[0046] A second driver, disposed on the second base and connected to the second rotating frame;

[0047] The third driver is disposed on the second base and connected to the third rotating frame.

[0048] The robot hand, wherein the second finger is provided with a support frame, and the support frame comprises:

[0049] The first side portion and the second side portion are respectively rotatably connected to the second rotating frame;

[0050] A first connecting portion, two ends of which are respectively connected to the first side portion and the second side portion;

[0051] Wherein, the first connecting portion is rotatably connected to the bending rod.

[0052] The robot arm, wherein the second rotating frame comprises:

[0053] a third side portion, rotatably connected to the first side portion;

[0054] a fourth side portion, rotatably connected to the second side portion;

[0055] A second connecting portion, two ends of which are respectively connected to the third side portion and the fourth side portion;

[0056] Wherein, the second connecting portion is connected to the second driver;

[0057] The robot arm, wherein the third rotating frame comprises:

[0058] A third connecting portion connected to the third driver;

[0059] an inclined portion, disposed on the third connecting portion;

[0060] Wherein, the inclined portion is rotatably connected to the bending rod.

[0061] A robot, comprising: a robotic arm as described in any one of the above items.

[0062] Beneficial effects: Different types of parallel fingers and non-side-by-side fingers are configured, and each parallel finger and each non-side-by-side finger has multiple degrees of freedom, forming a variety of activity modes, making the robot hand closer to a real palm, and can be suitable for different application scenarios, broadening the types of tasks to be performed, and improving the task execution capability of the robot hand. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 Schematic diagram of the structure of the robot arm in an embodiment of the present invention.

[0064] Figure 2 is a side view of the robot arm in an embodiment of the present invention.

[0065] Figure 3 yes Figure 2 Enlarged view of point A in the middle.

[0066] Figure 4 It is a cross-sectional view of the embodiment of the present invention.

[0067] Figure 5 yes Figure 4 Enlarged view of point B in the middle.

[0068] Figure 6 It is a cross-sectional view of non-side-by-side fingers in an embodiment of the present invention.

[0069] Figure 7 yes Figure 6 Enlarged view of point C in the middle.

[0070] Figure 8 Schematic diagram of the structure of the support frame in an embodiment of the present invention.

[0071] Fig. 9 2 is a schematic structural diagram of a second rotating frame in an embodiment of the present invention.

[0072] Fig.10 2 is a schematic structural diagram of a third rotating frame in an embodiment of the present invention.

[0073] Description of reference numerals:

[0074] 10. Palm-shaped shell; 20. Side-by-side fingers; 21. First driving mechanism; 211. First base; 212. First telescopic assembly; 213. Second telescopic assembly; 21a. Moving body; 21b. Kit; 21c. Connecting member; 21d. Elastic member; 21e. First driver; 21f. Threaded rod; 214. First rotating frame; 22. First finger; 30. Non-side-by-side fingers; 31. Second driving mechanism; 311. Second base; 312. Second rotating frame; 3121. Third side portion; 3122. Fourth side portion; 3123. Second connecting portion; 313. Third rotating frame; 3131. Third connecting portion; 3132. Inclined portion; 314. Bending rod; 315. Second driver; 316. Third driver; 32. Second finger; 33. Support frame; 331. First side portion; 332. Second side portion; 333. First connecting portion. DETAILED DESCRIPTION

[0075] In order to make the purpose, technical solution and advantages of the present invention clearer and more specific, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0076] Please also see Figure 1-Figure 10 , the present invention provides some embodiments of a robot hand.

[0077] like Figure 1-Figure 2 As shown, the robot arm of the present invention comprises:

[0078] Palm-shaped shell 10;

[0079] at least two multi-degree-of-freedom fingers 20 arranged side by side;

[0080] at least one multi-degree-of-freedom non-side-by-side finger 30;

[0081] Among them, the movement modes of the side-by-side fingers 20 include: rotation within the plane where the palm-shaped shell 10 is located and rotation within the first vertical plane of the palm-shaped shell 10; the movement modes of the non-side-by-side fingers 30 include: rotation within the second vertical plane of the palm-shaped shell 10 and rotation within the third vertical plane of the palm-shaped shell 10.

[0082] Specifically, the palm-shaped shell 10 refers to a shell in the shape of a palm, the side-by-side fingers 20 refer to at least two fingers arranged side by side, and the non-side-by-side fingers 30 refer to fingers separated from other fingers and independent. The side-by-side fingers 20 have multiple degrees of freedom, and the non-side-by-side fingers 30 also have multiple degrees of freedom. The side-by-side fingers 20 have at least rotation within the plane where the palm-shaped shell 10 is located and rotation within the first vertical plane of the palm-shaped shell 10, and the non-side-by-side fingers 30 have at least rotation within the second vertical plane of the palm-shaped shell 10 and rotation within the third vertical plane of the palm-shaped shell 10.

[0083] The vertical plane refers to a plane perpendicular to the plane where the palm-shaped shell 10 is located. The second vertical plane and the third vertical plane are two different vertical planes of the palm-shaped shell 10. The first vertical plane can overlap with the second vertical plane to form a vertical plane, or the first vertical plane and the second vertical plane can be two different vertical planes. The first vertical plane can overlap with the third vertical plane to form a vertical plane, or the first vertical plane and the third vertical plane can be two different vertical planes.

[0084] The degrees of freedom of movement of each side-by-side finger 20 may be the same or different. The at least two side-by-side fingers 20 are respectively the first side-by-side finger 20 and the second side-by-side finger 20. The degrees of freedom of movement of the first side-by-side finger 20 include at least rotation within the plane where the palm-shaped shell 10 is located and rotation within the first vertical plane of the palm-shaped shell 10. The degrees of freedom of movement of the second side-by-side finger 20 include at least rotation within the plane where the palm-shaped shell 10 is located and rotation within the first vertical plane of the palm-shaped shell 10. The plane where the palm-shaped shell 10 is located in the degrees of freedom of movement of different side-by-side fingers 20 may be the same plane, and different side-by-side fingers 20 are arranged close together in the plane where the palm-shaped shell 10 is located. The first vertical plane of the palm-shaped shell 10 in the degrees of freedom of movement of different side-by-side fingers 20 may be the same vertical plane or different vertical planes. For example, when different side-by-side fingers 20 are arranged close together in the plane where the palm-shaped shell 10 is located, the directions they point to are different, and the first vertical planes of the palm-shaped shell 10 in the degrees of freedom of movement of different side-by-side fingers 20 are different vertical planes.

[0085] Since each of the parallel fingers 20 and each of the non-parallel fingers 30 has multiple degrees of freedom and forms a variety of activity modes, the robotic hand is closer to a real palm and can be applied to different application scenarios, which broadens the types of tasks to be performed and improves the task execution capability of the robotic hand.

[0086] In a preferred implementation of the embodiment of the present invention, Figure 1-Figure 2 As shown, the side-by-side finger 20 includes:

[0087] A first driving mechanism 21 is located in the palm-shaped housing 10;

[0088] A first finger 22, disposed on the first driving mechanism 21;

[0089] The movement of the parallel fingers 20 further includes: the first fingers 22 are curled; and the first driving mechanism 21 is located in the first vertical plane.

[0090] Specifically, the first driving mechanism 21 drives the first finger 22 to move as a whole, and the first finger 22 also has the freedom to curl. The first driving mechanism 21 is located in the first vertical plane and also in the plane where the palm-shaped shell 10 is located. The first driving mechanism 21 drives the first finger 22 to rotate as a whole in the plane where the palm-shaped shell 10 is located and in the first vertical plane.

[0091] In a preferred implementation of the embodiment of the present invention, Figure 1-Figure 2 As shown, the non-side-by-side finger 30 includes:

[0092] The second driving mechanism 31 is located in the palm-shaped housing 10;

[0093] A second finger 32, disposed on the second driving mechanism 31;

[0094] The movement of the non-side-by-side fingers 30 further includes: the second fingers 32 are curled; the second driving mechanism 31 is parallel to the second vertical plane or is located in the second vertical plane.

[0095] Specifically, the second driving mechanism 31 drives the second finger 32 to move as a whole, and the second finger 32 also has the freedom to curl. The second driving mechanism 31 is located in the second vertical plane or parallel to the second vertical plane, and the second driving mechanism 31 is also located in the plane where the palm-shaped shell 10 is located. The second driving mechanism 31 drives the second finger 32 to rotate as a whole in the second vertical plane and in the third vertical plane.

[0096] In a preferred implementation of the embodiment of the present invention, Figure 2-Figure 3 As shown, the first driving mechanism 21 includes:

[0097] A first base 211 is disposed on the palm-shaped housing 10;

[0098] The first telescopic assembly 212 and the second telescopic assembly 213 are both disposed on the first base 211;

[0099] The first finger 22 is movably connected to the first base 211 , the first telescopic component 212 , and the second telescopic component 213 , respectively.

[0100] Specifically, the first telescopic component 212 and the second telescopic component 213 can both be telescopic, and when the telescopic direction of the first telescopic component 212 and the telescopic direction of the second telescopic component 213 are different, the first finger 22 can rotate within the plane where the palm-shaped housing 10 is located. When the first telescopic component 212 and the second telescopic component 213 are synchronously telescoped (for example, the telescopic distance and the telescopic direction are the same), the first finger 22 rotates within the first vertical plane.

[0101] In a preferred implementation of the embodiment of the present invention, Figure 3 , Figure 4 as well as Figure 5 As shown, the first telescopic component 212 and the second telescopic component 213 both include:

[0102] A moving body 21a moves relative to the first base 211;

[0103] The kit 21b is sleeved outside the moving body 21a; the kit 21b moves in a direction away from the first finger 22 and separates from the moving body 21a;

[0104] A connecting member 21c, both ends of which are movably connected to the first finger 22 and the kit 21b respectively;

[0105] The elastic member 21d is used for providing an elastic force for the kit 21b to move toward the first finger 22 .

[0106] Specifically, the first telescopic component 212 and the second telescopic component 213 enable the first finger 22 to have an anti-accidental touch function, which is achieved by separating and combining the moving body 21a and the kit 21b. The moving body 21a moves relative to the first base 211, and the kit 21b can be separated or combined with the moving body 21a. When the first finger 22 is subjected to external force or accidental touch, the kit 21b is pushed to move, and the elastic member 21d is deformed; when the first finger 22 is not subjected to external force or is not accidentally touched, the elastic member 21d recovers the deformation, driving the kit 21b to be sleeved outside the moving body 21a, and the moving body 21a and the kit 21b are combined. The moving body 21a and the kit 21b are combined, and when the moving body 21a moves relative to the first base 211, it will drive the kit 21b to move, and also move the first finger 22.

[0107] In a preferred implementation of the embodiment of the present invention, Figure 3-Figure 5 As shown, the first driving mechanism 21 further includes:

[0108] A first rotating frame 214, rotatably disposed on the first base 211;

[0109] The first rotating frame 214 is rotatably connected to the first finger 22 .

[0110] Specifically, the first finger 22 is movably connected via the first rotating frame 214, the first rotating frame 214 is rotatably connected to the first base 211, and the first rotating frame 214 is also rotatably connected to the first finger 22. The rotation direction of the first rotating frame 214 relative to the first finger 22 is different from the rotation direction of the first rotating frame 214 relative to the first base 211.

[0111] In a preferred implementation of the embodiment of the present invention, Figure 3-Figure 5 As shown, the first telescopic component 212 and the second telescopic component 213 both include:

[0112] A first driver 21e, disposed on the first base 211;

[0113] A threaded rod 21f connected to the driving shaft of the first driver 21e;

[0114] The moving body 21 a is threadedly connected to the threaded rod 21 f ; and the kit 21 b slides relative to the first base 211 .

[0115] Specifically, the first driver 21e is used to drive the threaded rod 21f to rotate, and the threaded rod 21f is threadedly connected to the moving body 21a. When the threaded rod 21f rotates, the moving body 21a moves relative to the first base 211. Further, a guide rail slider structure can be provided on the first base 211, and the slider is connected to the moving body 21a, so that the moving body 21a slides relative to the first base 211.

[0116] In a preferred implementation of the embodiment of the present invention, Figure 6-Figure 7 As shown, the second driving mechanism 31 includes:

[0117] A second base 311;

[0118] The second rotating frame 312 and the third rotating frame 313 are both rotatably disposed on the second base 311;

[0119] The bending rod 314 is rotatably connected to the third rotating frame 313 and the second finger 32 respectively;

[0120] The second rotating frame 312 is rotatably connected to the second finger 32 ; the rotation direction of the second rotating frame 312 is different from the rotation direction of the third rotating frame 313 .

[0121] Specifically, the second rotating frame 312 rotates relative to the second base 311, and the third rotating frame 313 rotates relative to the second base 311. The direction in which the second rotating frame 312 rotates relative to the second base 311 is different from the direction in which the third rotating frame 313 rotates relative to the second base 311. The second finger 32 rotates relative to the second rotating frame 312. The bending rod 314 rotates relative to the second finger 32 and also rotates relative to the third rotating frame 313. When the second finger 32, the second rotating frame 312 and the bending rod 314 all rotate, the third rotating frame 313 can remain stationary, and the second finger 32 rotates approximately along the second vertical plane. When the second finger 32, the third rotating frame 313 and the bending rod 314 all rotate, the second rotating frame 312 can remain stationary, and the second finger 32 rotates within the third vertical plane.

[0122] In a preferred implementation of the embodiment of the present invention, Figure 6-Figure 7 As shown, the second driving mechanism 31 further includes:

[0123] A second driver 315 is disposed on the second base 311 and connected to the second rotating frame 312;

[0124] The third driver 316 is disposed on the second base 311 and connected to the third rotating frame 313 .

[0125] Specifically, the second driver 315 is used to drive the second rotating frame 312 to rotate, and the third driver 316 is used to drive the third rotating frame 313 to rotate.

[0126] In a preferred implementation of the embodiment of the present invention, Figure 7-Figure 8 As shown, a support frame 33 is provided on the second finger 32, and the support frame 33 includes:

[0127] The first side portion 331 and the second side portion 332 are rotatably connected to the second rotating frame 312 respectively;

[0128] A first connecting portion 333, two ends of which are respectively connected to the first side portion 331 and the second side portion 332;

[0129] The first connection portion 333 is rotatably connected to the bending rod 314 .

[0130] Specifically, the second finger 32 is rotatably connected to the second rotating frame 312 and the bending rod 314 through the supporting frame 33. The two ends of the first connecting portion 333 are respectively connected to the first side portion 331 and the second side portion 332. The first side portion 331 is rotatably connected to the second rotating frame 312, the second side portion 332 is also rotatably connected to the second rotating frame 312, and the first connecting portion 333 is rotatably connected to the bending rod 314.

[0131] In a preferred implementation of the embodiment of the present invention, Figure 7-Figure 9 As shown, the second rotating frame 312 includes:

[0132] The third side portion 3121 is rotatably connected to the first side portion 331;

[0133] The fourth side portion 3122 is rotatably connected to the second side portion 332;

[0134] The second connecting portion 3123 has two ends respectively connected to the third side portion 3121 and the fourth side portion 3122;

[0135] The second connecting portion 3123 is connected to the second driver 315 .

[0136] Specifically, the second rotating frame 312 rotates relative to the second base 311, and is rotatably connected to the second base 311 through the second connecting portion 3123, and the second driver 315 drives the second connecting portion 3123 to rotate. The third side portion 3121 is rotatably connected to the first side portion 331, and the fourth side portion 3122 is rotatably connected to the second side portion 332.

[0137] In a preferred implementation of the embodiment of the present invention, Figure 7 and Fig.10 As shown, the third rotating frame 313 includes:

[0138] A third connecting portion 3131 connected to the third driver 316;

[0139] An inclined portion 3132, disposed on the third connecting portion 3131;

[0140] The inclined portion 3132 is rotatably connected to the bending rod 314 .

[0141] Specifically, the third rotating frame 313 rotates relative to the second base 311, and is rotatably connected to the second base 311 through the third connecting portion 3131. The third driver 316 is used to drive the third connecting portion 3131 to rotate. The inclined portion 3132 is inclined relative to the third connecting portion 3131, and the bending rod 314 is rotatably connected to the inclined portion 3132.

[0142] In a preferred implementation of the embodiment of the present invention, the first finger 22 and the second finger 32 both include:

[0143] first limb segment;

[0144] A second limb segment, rotatably connected to the first limb segment;

[0145] A rotating body, rotatably disposed on the first limb;

[0146] A third driving mechanism is provided on the first limb and is used to drive the rotating body to rotate;

[0147] Wherein, the rotating body is close to the second limb.

[0148] Specifically, the first limb segment is arranged on the first driving mechanism 21 or the second driving mechanism 31. The rotating body can be attached to the end of the second limb segment, and the third driving mechanism drives the rotating body to rotate and pushes the second limb segment to rotate.

[0149] In a preferred implementation of the embodiment of the present invention, the first limb and the second limb are connected to each other by a rotating shaft, and the rotating body is sleeved on the rotating shaft. The rotating body can be separated from the second limb, and after separation, there is a distance between the rotating body and the second limb. When the second limb is subjected to external force or accidental collision, the second limb rotates relative to the first limb, and will not drive the rotating body to rotate, and the rotating body does not hinder the rotation of the second limb.

[0150] In a preferred implementation of the embodiment of the present invention, the first finger 22 and the second finger 32 both include:

[0151] a third limb segment, rotatably disposed on the second limb segment;

[0152] A connecting rod, two ends of which are respectively connected to the first limb segment and the third limb segment;

[0153] A torsion spring, arranged on the third limb;

[0154] Wherein, the torsion spring is used to stretch the second limb segment and the third limb segment.

[0155] Specifically, when the second limb rotates relative to the first limb, driven by the connecting rod, the second limb will drive the third limb to rotate relative to the second limb, and the entire first limb, second limb and third limb are in a curled state. When the third limb or the second limb is subjected to external force or accidental collision, the second limb and the third limb will curl. If the external force disappears or there is no accidental collision, the second limb and the third limb will stretch out under the restoring action of the torsion spring, and the entire first limb, second limb and third limb are in an extended state.

[0156] Based on the robot hand described in any of the above embodiments, the present invention also provides a preferred embodiment of the robot:

[0157] The robot according to the embodiment of the present invention includes: the robot arm as described above.

[0158] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A robot arm, characterized in that: include: Palm-shaped shell; at least two side-by-side fingers with multiple degrees of freedom; at least one non-side-by-side finger with multiple degrees of freedom; The movement modes of the side-by-side fingers include: rotation within the plane where the palm-shaped shell is located and rotation within the first vertical plane of the palm-shaped shell; The movement modes of the non-side-by-side fingers include: rotation within the second vertical plane of the palm-shaped shell and rotation within the third vertical plane of the palm-shaped shell; The parallel means include: A first driving mechanism is located in the palm-shaped shell; a first finger, disposed on the first driving mechanism; The non-side-by-side means include: A second driving mechanism is located in the palm-shaped shell; a second finger, disposed on the second driving mechanism; Wherein, the movement mode of the side-by-side fingers further includes: curling of the first fingers; The non-side-by-side finger movement mode also includes: curling of the second finger; The first driving mechanism is located in the first vertical plane; The second driving mechanism is parallel to the second vertical plane or is located in the second vertical plane; The first driving mechanism comprises: A first base, disposed on the palm-shaped shell; A first telescopic assembly and a second telescopic assembly are both disposed on the first base; Wherein, the first finger is movably connected to the first base, the first telescopic component, and the second telescopic component respectively; The first telescopic assembly and the second telescopic assembly both include: A moving body, moving relative to the first base; A kit is mounted outside the movable body; the kit moves in a direction away from the first finger and separates from the movable body; A connecting piece, two ends of which are movably connected to the first finger and the kit respectively; an elastic member, the elastic member being used to provide an elastic force for the kit to move toward the first finger; The first driving mechanism further comprises: A first rotating frame, rotatably disposed on the first base; Wherein, the first rotating frame is rotatably connected to the first finger; The first telescopic assembly and the second telescopic assembly both include: A first driver, disposed on the first base; a threaded rod connected to the drive shaft of the first actuator; Wherein, the moving body is threadedly connected to the threaded rod; The kit slides relative to the first base; The second driving mechanism comprises: Second Plinth; The second rotating frame and the third rotating frame are both rotatably disposed on the second base; A bending rod, rotatably connected to the third rotating frame and the second finger respectively; Wherein, the second rotating frame is rotatably connected to the second finger; The rotation direction of the second rotating frame is different from the rotation direction of the third rotating frame.

2. The robot arm according to claim 1, characterized in that: The second driving mechanism further comprises: A second driver, disposed on the second base and connected to the second rotating frame; The third driver is disposed on the second base and connected to the third rotating frame.

3. The robot arm according to claim 2, characterized in that: The second finger is provided with a support frame, and the support frame comprises: The first side portion and the second side portion are respectively rotatably connected to the second rotating frame; A first connecting portion, two ends of which are respectively connected to the first side portion and the second side portion; Wherein, the first connecting portion is rotatably connected to the bending rod.

4. The robot arm according to claim 3, characterized in that: The second turret comprises: a third side portion, rotatably connected to the first side portion; a fourth side portion, rotatably connected to the second side portion; A second connecting portion, two ends of which are respectively connected to the third side portion and the fourth side portion; Wherein, the second connecting portion is connected to the second driver; The third turret comprises: A third connecting portion connected to the third driver; an inclined portion, disposed on the third connecting portion; Wherein, the inclined portion is rotatably connected to the bending rod.

5. A robot, characterized in that: include: A robotic arm as claimed in any one of claims 1 to 4.

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