Linear actuator, bionic finger and bionic hand

Abstract

The invention relates to the technical field of robots, in particular to a linear actuator, a bionic finger and a bionic hand. The linear actuator provided by the invention comprises a driving module, wherein the driving module comprises a screw rod; the motor is connected with the lead screw and used for driving the lead screw to rotate, and the motor comprises a motor shell; the first rotary connecting piece is arranged on the side wall of the motor shell; the passive module comprises a nut, and the nut is arranged on the lead screw in a sleeving mode and can move along the lead screw; the second rotating connecting piece is connected with the nut, the second rotating connecting piece is arranged far away from the motor relative to the nut in the axis direction of the lead screw, and the rotating axis of the second rotating connecting piece and the axis of a screw hole of the nut are in a non-coplanar perpendicular relation; wherein the first rotary connecting piece and the second rotary connecting piece are used for connecting the two hinged components respectively, and the passive module moves along the lead screw to enable the two components to rotate relatively.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics, and in particular to a linear actuator, a bionic finger and a bionic hand. Background Art

[0002] The significant increase in labor costs and the trend of miniaturization of the objects being operated have put forward the demand for miniaturization of automated operation hardware and the realization of precise and fine operations. Driven by the above-mentioned demand, the relevant technical field has developed multi-degree-of-freedom robots with upper limb movements similar to those of human primates under the guidance of bionics, and the technological frontier has evolved to and promoted the development of dexterous bionic manipulators that simulate the hand movements of human primates.

[0003] However, due to the limitations of the driving mode of existing driving devices and the difficulty in achieving miniaturized control, although the fingers in existing manipulators have achieved multiple degrees of freedom control similar to that of primate human fingers through connecting methods such as connecting rod structures, the aforementioned fingers with multiple degrees of freedom are mostly still driven by only one driving device, and perform actions such as grasping that do not require high control accuracy in an under-driven and less flexible manner, and are unable to achieve other refined operating actions that primate-like fingers can achieve.

[0004] In summary, the prior art lacks targeted improvements on how to miniaturize the robot joint drive. Summary of the invention

[0005] In view of the above analysis, the embodiments of the present disclosure are intended to provide a linear actuator, a bionic finger and a bionic hand.

[0006] The present disclosure provides a linear actuator, including:

[0007] Drive module, the drive module includes:

[0008] Screw rod;

[0009] A motor, the motor is connected to the lead screw and is used to drive the lead screw to rotate, and the motor includes a motor housing;

[0010] A first rotating connecting member, the first rotating connecting member is arranged on a side wall of the motor housing;

[0011] Passive module, passive module includes:

[0012] A nut, which is sleeved on the screw rod and can move along the screw rod;

[0013] A second rotating connecting member, the second rotating connecting member is connected to the nut, the second rotating connecting member is arranged away from the motor relative to the nut in the axial direction of the screw rod, and the rotation axis of the second rotating connecting member is in a non-planar perpendicular relationship with the axis of the screw hole of the nut;

[0014] The first rotating connecting member and the second rotating connecting member are respectively used to connect two hinged components, and the passive module moves along the screw rod to make the two components rotate relative to each other.

[0015] In some embodiments, the linear actuator further comprises: a position sensing assembly, the position sensing assembly comprising:

[0016] The brush is connected to the nut of the passive module;

[0017] Conductor, connected to the motor;

[0018] The position sensing assembly is configured such that the brush maintains sliding contact with the conductor as the passive module moves along the lead screw.

[0019] In some embodiments, the position sensor assembly further includes: a mounting plate, one end of which is connected to the motor housing and arranged parallel to the axis direction of the screw rod; and a conductor is arranged on one side of the mounting plate close to the brush.

[0020] In some embodiments, the position sensing assembly further comprises:

[0021] A lug, the lug is arranged on the nut, and the brush is arranged on the lug;

[0022] The wire pressing plate is arranged at the end of the mounting plate away from the conductor, and is used to receive the wires electrically connected to the conductor.

[0023] In some embodiments, the first rotating connection member and the second rotating connection member are respectively located on two sides of the screw rod.

[0024] The present disclosure also provides a bionic finger, comprising:

[0025] At least two knuckles, two adjacent knuckles being hingedly connected;

[0026] At least one linear actuator, wherein the at least one linear actuator is any one of the linear actuators in the above embodiments;

[0027] The first rotating connector and the second rotating connector of the linear actuator are respectively hinged to two adjacent finger joints; the passive module of the linear actuator moves along the lead screw to make the two adjacent finger joints rotate relative to each other.

[0028] In some embodiments, at least two of the knuckles include:

[0029] A first knuckle, wherein the first knuckle comprises a first knuckle housing;

[0030] A second finger joint, the second finger joint comprises a second finger joint housing, and the second finger joint housing is hingedly connected to one end of the first finger joint housing;

[0031] The at least one linear actuator comprises: a first linear actuator;

[0032] Among them, the first linear actuator is arranged inside a finger joint shell; the first rotating connection member of the first linear actuator is hinged to one end of the first finger joint shell away from the second finger joint shell, and the second rotating connection member of the first linear actuator is located in one finger joint shell at one end close to the second finger joint shell and is hinged to the second finger joint shell.

[0033] In some embodiments, at least two finger joints further include: a third finger joint, the third finger joint includes a third finger joint housing, the third finger joint housing is hingedly connected to an end of the second finger joint housing away from the first finger joint housing; at least one linear actuator further includes: a second linear actuator;

[0034] Among them, the second linear actuator is arranged inside the second finger joint shell; the first rotating connection member of the second linear actuator is hinged to one end of the second finger joint shell away from the third finger joint shell, and the second rotating connection member of the second linear actuator is located in one end of the second finger joint shell close to the third finger joint shell and is hinged to the third finger joint shell.

[0035] In some embodiments, the lead screw of the first linear actuator is arranged along the axial direction of the first knuckle housing; or,

[0036] The lead screw of the first linear actuator is arranged along the axial direction of the first finger joint housing, and the lead screw of the second linear actuator is arranged along the axis of the second finger joint housing.

[0037] The present disclosure also provides a bionic hand, comprising:

[0038] At least one bionic finger according to any of the above embodiments;

[0039] A palm frame is hinged to one of at least two knuckles of the bionic finger. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The drawings are only for the purpose of illustrating particular embodiments and are not to be considered limiting of the present disclosure, and like reference symbols denote like components throughout the drawings.

[0041] Figure 1 The linear actuator structure provided in the embodiment of the present disclosure is shown in FIG. Figure 1 ;

[0042] Figure 2 The linear actuator structure provided in the embodiment of the present disclosure is shown in FIG. Figure 2

[0043] Figure 3 It is a schematic diagram of the nut structure in the linear actuator;

[0044] Figure 4A schematic cross-sectional view of a bionic finger structure provided in an embodiment of the present disclosure Figure 1 ;

[0045] Figure 5 A schematic cross-sectional view of a bionic finger structure provided in an embodiment of the present disclosure Figure 2 ;

[0046] Figure 6 A schematic cross-sectional view of a bionic finger structure provided in an embodiment of the present disclosure Figure 3 ;

[0047] Figure 7 A schematic diagram of the bionic hand structure provided in an embodiment of the present disclosure.

[0048] Reference numerals:

[0049] 10. Linear actuator; 11. Drive module; 111. Screw rod; 112. Motor; 113. First rotating connector; 12. Passive module; 121. Nut; 122. Second rotating connector; 123. Transition connector; 13. Position sensor assembly; 131. Brush; 132. Conductor; 133. Mounting plate; 134. Lug; 135. Wire pressing plate; 20. Bionic finger; 21. First knuckle housing; 22. Second knuckle housing; 23. First linear actuator; 24. Third knuckle housing; 25. Second linear actuator; 50. Bionic hand; 51. Palm frame. DETAILED DESCRIPTION

[0050] The embodiments of the present disclosure are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the present disclosure and are used together with the embodiments of the present disclosure to illustrate the principles of the present disclosure, but are not used to limit the scope of the present disclosure.

[0051] In the description of the embodiments of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the term "connected" should be understood in a broad sense, for example, it can be a fixed connection, or a detachable connection, or an integral connection can be a mechanical connection, or an electrical connection can be a direct connection, or it can be indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0052] The terms "top", "bottom", "above", "lower", and "on" used throughout the description are relative to the relative positions of components of a device, such as the relative positions of the top and bottom substrates within a device. It is understood that devices are multifunctional regardless of their orientation in space.

[0053] The working surface of the present invention can be a plane or a curved surface, can be inclined, or can be horizontal. For the convenience of description, the embodiments of the present invention are placed on a horizontal plane and used on the horizontal plane, and "high and low" and "up and down" are defined in this way.

[0054] Some embodiments of the present disclosure provide a linear actuator, which includes a driving module and a passive module.

[0055] The drive module includes a screw and a motor, and the motor is used to drive the screw to rotate. Optionally, the screw can be connected to the output shaft of the motor, or the screw can serve as the output shaft of the motor. The motor includes a motor housing (or casing), which is used to protect the internal parts of the motor (such as stator, rotor bearings, etc.), provide mechanical support, and isolate the inside of the motor to a certain extent to avoid external influences.

[0056] The passive module includes a nut, which is sleeved on the lead screw. When the motor drives the lead screw to rotate, the nut and the lead screw rotate relative to each other, so that the nut can move along the lead screw.

[0057] The linear actuator disclosed in the present invention can be used to achieve relative movement between two components, and can also be used to achieve relative rotation between two components. Figure 1 and Figure 2 1 shows a linear actuator provided by some embodiments of the present disclosure. Figure 1 As shown, the linear actuator 10 includes a driving module 11 and a passive module 12 .

[0058] The drive module 11 includes a screw 111 and a motor 112, and the motor 112 is used to drive the screw 111 to rotate. The motor 112 includes a motor housing, which is used to protect the internal components of the motor and provide mechanical support; the drive module 11 also includes a first rotating connector 113, which is arranged on the side wall of the motor housing.

[0059] The passive module 12 includes a nut 121 and a second rotating connector 122. The nut 121 is sleeved on the screw rod 111 and can move along the screw rod 111; the second rotating connector 122 is connected to the nut 121. Optionally, the nut 121 includes a screw hole portion and a mounting portion; the screw hole portion is sleeved on the screw rod 111. Optionally, as Figure 3 As shown, the second rotating connector 122 can be connected to the mounting portion of the nut 121 through a transition connector 123 .

[0060] The first rotating connector 113 and the second rotating connector 122 are respectively used to connect the two hinged components. When the motor 112 drives the screw rod 111 to rotate, the nut 121 drives the second rotating connector 122 to move along the screw rod 111, thereby driving the two hinged components to rotate relative to each other.

[0061] In an optional embodiment, in the axial direction of the screw rod 111, the second rotating connector 122 is arranged away from the motor 112 relative to the nut 121, and the radial dimension of the passive module 12 is not significantly increased, so that the passive module 12 and even the linear actuator are suitable for being arranged inside the component. Optionally, the transition connector 123 extends from the end face of the mounting portion of the nut 121 away from the motor 122 and along the axial direction of the screw rod 111 to the second rotating connector 122.

[0062] In an optional embodiment, the rotation axis of the second rotating connector 122 is in a non-planar perpendicular relationship with the axis of the screw hole of the nut 121. This arrangement can avoid the hinge structure between the two components and easily achieve a larger rotation range; on the other hand, it can naturally form a constraint on the circumferential movement of the nut 121. Compared with the general screw nut pair that needs to cooperate with the structure of the slider guide to limit the circumferential movement of the nut, this part can be omitted in the embodiment of the present disclosure.

[0063] In an optional embodiment, the first rotating connector 113 is disposed on the side wall of the motor housing. The motor 112 can be installed and fixed by the first rotating connector 113 on the side wall of the motor housing. The first rotating connector 113 is disposed on the side wall of the motor housing, and the axial space in the component is not required.

[0064] The embodiment of the present disclosure does not need to provide a housing for the linear actuator, and is suitable for being arranged in a narrow internal space. Optionally, the first rotating connector 113 and the second rotating connector 122 can each be a pin or a sleeve, and the other of the pin or sleeve is connected to the first rotating connector 113 or the second rotating connector 122.

[0065] The linear actuator provided by the embodiment of the present disclosure is provided with a first rotating connection member 113 on the motor housing, and a second rotating connection member 122 on the nut 121, thereby omitting a redundant structure for installing and fixing the linear actuator; the first rotating connection member 113 is provided on the side wall of the motor housing, which can save the installation space of the linear actuator in the axial direction inside the component; in the axial direction of the screw rod 111, the second rotating connection member 122 is provided away from the motor 112 relative to the nut 121, and the rotation axis of the second rotating connection member 122 is in a non-planar perpendicular relationship with the axis of the screw hole of the nut 121, which does not significantly increase the radial size of the passive module 12, so that the passive module and even the linear actuator are suitable for being arranged inside the component, and can also avoid the hinge structure between the two components, so that a larger rotation range can be easily achieved.

[0066] In some embodiments, Figure 1As shown, the linear actuator further includes: a position sensor assembly 13. The position sensor assembly 13 includes a brush 131 and a conductor 132, the brush 131 is connected to the nut 121 of the passive module 12, and the conductor 132 is connected to the motor 112. When the passive module 12 moves along the lead screw 111, the brush 131 and the conductor 132 maintain sliding contact.

[0067] Optionally, the brush 131 is mounted and fixed on one side of the mounting portion of the nut 121 .

[0068] In the disclosed embodiment, the brush 131 and the conductor 132 form a sliding variable resistance structure. During the movement of the nut 121 along the screw rod 111, the brush 131 slides along the surface of the conductor 132, and the moving distance of the passive module 12 is monitored by reading the change in the resistance value of the conductor 132 connected to the circuit. When the linear actuator is used to achieve relative rotation between two components, the change in the resistance value of the brush 131 can be used to monitor the rotation angle between the two components.

[0069] In some embodiments, Figure 1 and Figure 2 As shown, the position sensor assembly 13 may further include a mounting plate 133 , one end of which is connected to the motor housing and is arranged parallel to the axial direction of the screw rod 111 , and the conductor 132 is arranged on one side of the mounting plate 133 close to the brush 131 .

[0070] The embodiment of the present disclosure provides a mounting plate 133 for the conductor 132 on the motor 112, and the mounting plate 133 is arranged parallel to the axial direction of the screw rod 111, so as to ensure that the brush 131 and the conductor always maintain sliding contact during the movement of the passive module 12. The mounting plate 133 is directly connected to the motor housing without the need for an additional fixing structure, which is conducive to reducing the size of the linear actuator.

[0071] Specifically, in some embodiments, Figure 2 and Figure 3 As shown, the position sensor assembly 13 also includes a wiring piece 134. Figure 3 As shown, the terminal lug 134 is disposed on the nut 121, and the brush 131 is disposed on the first terminal lug 134. Optionally, the terminal lug 134 may be disposed on one side of the mounting portion of the nut 121. Optionally, an insulating mounting block is disposed between the terminal lug 134 and the mounting portion of the nut 121.

[0072] In some embodiments, Figure 2 As shown, the position sensor assembly further includes a wire pressing plate 135, which can be disposed at an end of the mounting plate 133 away from the conductor 132. The wire pressing plate 135 is used to receive a wire electrically connected to the conductor 132. Optionally, the wire pressing plate 135 is disposed at one end of the mounting plate 133 close to the motor 112.

[0073] In some embodiments, the first rotating connector 113 and the second rotating connector 122 are respectively located on both sides of the screw rod 111. This structural design is more conducive to applying the linear actuator 10 provided by the embodiment of the present disclosure to multiple environments such as finger knuckle driving and stacking multiple linear actuators, and this structural design can avoid complicating the structure or increasing the space burden of the linear actuator.

[0074] Figure 4 and Figure 5 1 shows a bionic finger provided by some embodiments of the present disclosure. Figure 4 As shown, the bionic finger 20 includes at least two finger joints and at least one linear actuator 10, wherein two adjacent finger joints are hingedly connected, and the at least one linear actuator is the linear actuator 10 provided in any of the above embodiments.

[0075] The first rotating connector 113 and the second rotating connector 122 of the linear actuator 10 respectively hinge two adjacent finger joints. The passive module 12 of the linear actuator 10 moves along the screw rod 111 so that the two adjacent finger joints rotate relative to each other.

[0076] It is understandable that the bionic finger 20 needs to have a dexterous structure and sufficient degrees of freedom in order to achieve dexterous operation and have a bionic morphology. The linear actuator 10 for the bionic finger 20 provided in the embodiment of the present disclosure is provided with a first rotating connector 113 on the motor housing and a second rotating connector 122 on the nut 121, omitting the redundant structure for installing and fixing the linear actuator 10, making it possible to install the linear actuator 10 inside the knuckle. The first rotating connector 113 is arranged on the side wall of the motor housing, which can save the installation space of the linear actuator 10 in the axial direction inside the knuckle; in the axial direction of the screw rod 111, the second rotating connector 122 is arranged away from the motor 112 relative to the nut 121, and the rotation axis of the second rotating connector 122 is in a non-planar vertical relationship with the screw hole axis of the nut 121. This enables the linear actuator 10 to be basically along the length direction of the knuckle, which is conducive to reducing the circumferential size of the knuckle, and can avoid the hinge structure between the two knuckles, and easily achieve a larger rotation range between the knuckles.

[0077] In some embodiments, Figure 5 As shown, at least two finger joints include a first finger joint and a second finger joint that are hinged to each other. The first finger joint includes a first finger joint housing 21, and the second finger joint includes a second finger joint housing 22, and the second finger joint housing 22 is hingedly connected to one end of the first finger joint housing 21, and at least one linear actuator 10 includes a first linear actuator 23.

[0078] Among them, the first linear actuator 23 is arranged inside the first finger joint shell 21; the first rotating connection member 113 of the first linear actuator 23 is hinged to one end of the first finger joint shell 21 away from the second finger joint shell 22, and the second rotating connection member 122 of the first linear actuator 23 is located in one end of the first finger joint shell 21 close to the second finger joint shell 22 and is hinged to the second finger joint shell 22.

[0079] like Figure 5 As shown, the bionic finger 20 has an inner side and a dorsal side of the finger, and the bionic finger can bend toward the inner side of the finger. The second finger joint housing 22 and the first finger joint housing 21 have two adjacent ends, and optionally, a hinge structure can be set at the positions of the two ends close to the inner side of the finger. The first rotating connection 113 of the first linear actuator 23 is hinged to the inner side of the finger of the first finger joint housing 21, and the second rotating connection 122 of the first rotating connection 113 is close to the dorsal side of the first finger joint housing 21. A hinge structure is set at the position of the second rotating connection 122 of the first linear actuator 23 and the second finger joint housing 22 close to the dorsal side of the finger to realize the hinge connection between the second rotating connection 122 of the first linear actuator 23 and the second finger joint housing 22.

[0080] This helps to provide a larger rotation range between the second knuckle and the first knuckle.

[0081] In some embodiments, for example, by imitating a human finger, Figure 5 As shown, at least two finger joints further include a third finger joint, the third finger joint includes a third finger joint housing 24, and the third finger joint housing 24 is hingedly connected to an end of the second finger joint housing 22 away from the first finger joint housing 21; at least one linear actuator further includes a second linear actuator 25;

[0082] Among them, the second linear actuator 25 is arranged inside the second finger joint shell 22; the first rotating connection member 113 of the second linear actuator 25 is hinged to one end of the second finger joint shell 22 away from the third finger joint shell 24, and the second rotating connection member 122 of the second linear actuator 25 is located in one end of the second finger joint shell 22 close to the third finger joint shell 24, and is hinged to the third finger joint shell 24.

[0083] In this way, active freedom can be provided between the second knuckle and the first knuckle, and between the third knuckle and the second knuckle, and the rotation between two adjacent knuckles can be driven respectively.

[0084] The third finger joint housing 24 and the second finger joint housing 22 have two adjacent ends, and optionally, a hinge structure can be provided at the positions of the two ends close to the inner side of the finger. The first rotating connection member 113 of the second linear actuator 25 is hinged to the inner side of the finger of the second finger joint housing 22, and the second rotating connection member 122 of the second linear actuator 25 is close to the back side of the finger of the second finger joint housing 22. A hinge structure is provided at the positions of the second rotating connection member 122 of the second linear actuator 25 and the third finger joint housing 22 close to the back side of the finger, so as to realize the hinge connection between the second rotating connection member 122 of the second linear actuator 25 and the third finger joint housing 24.

[0085] This helps to provide a larger rotation range between the third knuckle and the second knuckle.

[0086] In some embodiments, the lead screw 111 of the first linear actuator 23 is arranged along the axial direction of the first knuckle housing 21. Alternatively, the lead screw 111 of the first linear actuator 23 is arranged along the axial direction of the first knuckle housing 21, and the lead screw 111 of the second linear actuator 25 is arranged along the axis of the second knuckle housing 22.

[0087] It should be understood that the axial direction of the screw rod 111 of the linear actuator 10, that is, the telescopic direction of the passive module 12, is arranged along the axial direction of the knuckle housing, including: the axial direction of the screw rod 111 is coaxial with the axial direction of the knuckle housing, the axial direction of the screw rod 111 is parallel to the axial direction of the knuckle housing, or is approximately parallel.

[0088] In some embodiments, Figure 6 As shown, for two adjacent knuckles and the linear actuator connecting the two, the connection relationship is configured as follows: defining a first distance D1 between the rotation center of the first rotating connector 113 and the relative rotation center between the two knuckles, and a second distance D2 between the rotation center of the second rotating connector 122 and the relative rotation center between the two knuckles. The ratio of the first distance D1 to the second distance D2 is between 0.15 and 0.4. In this way, when the passive module 12 moves along the screw 111, the relative rotation angle of the two knuckles can be between 0 and 90 degrees. In this way, it is beneficial to obtain a larger rotation range between the knuckles, and at the same time, the radial size of the knuckle shell can be reduced, which is beneficial to the miniaturized design of the bionic hand.

[0089] Figure 7 The bionic hand provided by the embodiment of the present disclosure is shown, the bionic hand 50 comprises at least one bionic finger 20 provided by any of the above embodiments; the bionic hand further comprises a palm frame 51, and the palm frame 51 is hinged to one of at least two knuckles of the bionic finger 20. The bionic hand 50 provided by the embodiment has active degrees of freedom between two adjacent knuckles, and the bionic hand has a bionic appearance, dexterous fingers, and a large rotation range between adjacent knuckles.

[0090] Some embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referenced to each other.

[0091] The above description is only a preferred specific implementation manner of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed in the present disclosure should be covered by the protection scope of the present disclosure.

Claims

1. A linear actuator, comprising: A driving module, the driving module comprising: Screw rod; A motor, the motor is connected to the screw rod and is used to drive the screw rod to rotate, and the motor includes a motor housing; A first rotating connecting member, wherein the first rotating connecting member is arranged on a side wall of the motor housing; A passive module, the passive module comprising: A nut, which is sleeved on the screw rod and can move along the screw rod; a second rotating connection member, the second rotating connection member is connected to the nut, the second rotating connection member is arranged away from the motor relative to the nut in the axial direction of the screw rod, and the rotation axis of the second rotating connection member is in a non-planar perpendicular relationship with the axis of the screw hole of the nut; The first rotating connection member and the second rotating connection member are respectively used to connect two hinged components, and the passive module moves along the screw rod to make the two components rotate relative to each other.

2. The linear actuator according to claim 1, wherein: The linear actuator further comprises: a position sensing assembly, wherein the position sensing assembly comprises: A brush connected to the nut of the passive module; A conductor connected to the motor; The position sensing assembly is configured such that when the passive module moves along the lead screw, the brush maintains sliding contact with the conductor.

3. The linear actuator according to claim 2, wherein: The position sensor assembly also includes: a mounting plate, one end of which is connected to the motor housing and is arranged parallel to the axial direction of the screw rod; the conductor is arranged on a side of the mounting plate close to the brush.

4. The linear actuator according to claim 3, wherein: The position sensing assembly further comprises: A terminal lug, the terminal lug is arranged on the nut, and the brush is arranged on the terminal lug; A wire pressing plate is arranged at an end of the mounting plate away from the conductor, and is used to receive a wire electrically connected to the conductor.

5. The linear actuator according to claim 1, wherein: The first rotating connecting member and the second rotating connecting member are respectively located on two sides of the screw rod.

6. A bionic finger, comprising: At least two finger joints, two adjacent finger joints are hingedly connected; At least one linear actuator, wherein the at least one linear actuator is a linear actuator according to any one of claims 1 to 5; The first rotating connector and the second rotating connector of the linear actuator are respectively hinged to two adjacent finger joints; the passive module of the linear actuator moves along the lead screw so that the two adjacent finger joints rotate relative to each other.

7. The bionic finger according to claim 6, wherein: The at least two knuckles include: a first knuckle, the first knuckle comprising a first knuckle housing; a second finger joint, the second finger joint comprising a second finger joint housing, the second finger joint housing being hingedly connected to one end of the first finger joint housing; The at least one linear actuator comprises: a first linear actuator; Among them, the first linear actuator is arranged inside the first finger joint shell; the first rotating connection member of the first linear actuator is hinged to one end of the first finger joint shell away from the second finger joint shell, and the second rotating connection member of the first linear actuator is located in one end of the first finger joint shell close to the second finger joint shell and is hinged to the second finger joint shell.

8. The bionic finger according to claim 7, wherein: The at least two finger joints further include: a third finger joint, the third finger joint includes a third finger joint housing, the third finger joint housing is hingedly connected to an end of the second finger joint housing away from the first finger joint housing; the at least one linear actuator further includes: a second linear actuator; Among them, the second linear actuator is arranged inside the second finger joint housing; the first rotating connecting member of the second linear actuator is hinged to one end of the second finger joint housing away from the third finger joint housing, and the second rotating connecting member of the second linear actuator is located in one end of the second finger joint housing close to the third finger joint housing and is hinged to the third finger joint housing.

9. The bionic finger according to claim 7 or 8, wherein: The lead screw of the first linear actuator is arranged along the axial direction of the first knuckle housing; or, The lead screw of the first linear actuator is arranged along the axial direction of the first knuckle housing, and the lead screw of the second linear actuator is arranged along the axis of the second knuckle housing.

10. A bionic hand, comprising: At least one bionic finger according to any one of claims 6 to 9; A palm frame is hingedly connected to one of the at least two knuckles of the bionic finger.

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