Linear actuator and bionic manipulator

Abstract

The invention relates to the technical field of robots, in particular to a linear actuator and a bionic manipulator. The linear actuator comprises a driving module, the driving module comprises a lead screw and a motor, and the motor is connected with the lead screw and used for driving the lead screw to rotate; the passive module can move along the lead screw, the passive module comprises a nut, the nut is arranged on the lead screw in a sleeving mode, the nut is provided with a push rod hinge part, and the hinge axis of the push rod hinge part and the axis of a screw hole of the nut are in a different-plane relation; one end of the push rod and the nut are hinged to the push rod hinge part, and the other end of the push rod is hinged to a target component; and the passive module moves along the lead screw to enable the target component to rotate.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics, and in particular to a linear actuator and a bionic manipulator. 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 automated operation hardware to achieve precise and fine operations and miniaturization of products. 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] In this context, the precise manipulation and miniaturization of the fingers of a mechanical bionic hand are issues that need to be urgently addressed with existing technologies. Summary of the invention

[0004] In view of the above analysis, the embodiments of the present disclosure are intended to provide a linear actuator and a bionic manipulator.

[0005] Some embodiments of the present disclosure provide a linear actuator, comprising:

[0006] Drive module, the drive module includes:

[0007] Screw rod;

[0008] A motor is connected to the screw rod and is used to drive the screw rod to rotate;

[0009] Passive module, the passive module can move along the lead screw, the passive module includes:

[0010] The nut is sleeved on the screw rod, and the nut has a push rod hinge portion, and the hinge axis of the push rod hinge portion is in a non-planar relationship with the axis of the screw hole of the nut;

[0011] A push rod, one end of which is hinged to a push rod hinge portion with a nut, and the other end of which is used to hinge to a target component;

[0012] The passive module moves along the lead screw to cause the target component to rotate.

[0013] In some embodiments, the linear actuator further comprises: a position sensing assembly, the position sensing assembly comprising:

[0014] Brush, the brush is connected to the nut of the passive module;

[0015] Conductor, the conductor is connected to the motor;

[0016] The position sensing assembly is configured such that the brush maintains sliding contact with the conductor as the nut moves along the lead screw.

[0017] In some embodiments, the position sensor assembly further includes: a mounting plate, one end of which is connected to the motor 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.

[0018] In some embodiments, the position sensing assembly further comprises:

[0019] A lug, the lug is arranged on the nut, and a brush is arranged on the lug;

[0020] 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.

[0021] In some embodiments of the present disclosure, a bionic manipulator is also provided, comprising:

[0022] Palm frame;

[0023] Fingers, the bases of which are hinged to the palm frame;

[0024] A linear actuator as in any of the above embodiments, wherein the linear actuator is fixed to a palm frame, the target member is a finger, and the other end of the push rod is hinged to the root of the finger;

[0025] The passive module moves along the lead screw to cause the finger to rotate relative to the palm frame.

[0026] In some embodiments, the palm frame has a palm side and a dorsal side; the base of the fingers includes:

[0027] A first hinged portion, the first hinged portion is arranged close to the palm side, and the first hinged portion is used to be hinged to the palm frame;

[0028] The second hinged part is arranged close to the back of the palm and is used for being hinged to the push rod.

[0029] In some embodiments, when the direction of the root of the finger is defined to be parallel to the plane where the palm side of the palm frame is located, the finger is at the 0 degree position, and the angle of the finger rotated toward the palm side is a positive angle, and vice versa is a negative angle;

[0030] The linear actuator is configured so that the finger can rotate at an angle ranging from -15 degrees to 90 degrees.

[0031] In some embodiments, when the direction of the root of the finger is defined to be parallel to the plane where the palm side of the palm frame is located, the finger is located at the 0 degree position, and when the finger is at the 0 degree position, the passive module is at a position before the two extreme positions of movement along the lead screw.

[0032] In some embodiments, a fixing groove is provided on the back of the palm frame, and the fixing groove is used to fix the motor of the linear actuator.

[0033] In some embodiments, the nut is provided with a sliding connection portion, and the dorsal side of the palm frame is provided with:

[0034] A limiting groove, the limiting groove is used to limit the motor;

[0035] The guide slide rail is arranged along the length direction of the limiting groove, and the guide slide rail and the sliding connection part form a sliding pair. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] 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.

[0037] Figure 1 The linear actuator structure provided in the embodiment of the present disclosure is shown in FIG. Figure 1 ;

[0038] Figure 2 The linear actuator structure provided in the embodiment of the present disclosure is shown in FIG. Figure 2 ;

[0039] Figure 3 Schematic diagram of the nut related structure Figure 1 ;

[0040] Figure 4 Schematic diagram of the nut related structure Figure 2 ;

[0041] Figure 5 Schematic diagram of the push rod structure;

[0042] Figure 6 Schematic diagram of the structure of the bionic manipulator provided in the embodiment of the present disclosure Figure 1 ;

[0043] Figure 7 Schematic diagram of the structure of the bionic manipulator provided in the embodiment of the present disclosure Figure 2 ;

[0044] Figure 8 Schematic diagram of finger structure;

[0045] Fig. 9 Schematic diagram of the structure of the bionic manipulator provided in the embodiment of the present disclosure Figure 3 ;

[0046] Fig.10 This is an overall schematic diagram of a bionic manipulator provided in one embodiment of the present disclosure.

[0047] Reference numerals:

[0048] 30. Linear actuator; 31. Drive module; 311. Screw rod; 312. Motor; 312a. Fixed part; 32. Passive module; 321. Nut; 321a. Screw hole part; 321b. First mounting part; 321c. Second mounting part; 321d. Sliding connection part; 322. Push rod; 323. Push rod hinge part; 33. Position sensor assembly; 331. Brush; 332. Conductor; 333. Mounting plate; 334. Wiring piece; 335. Wire pressing plate; 40. Bionic manipulator; 41. Palm frame; 41a. Palm side; 41b. Back side of palm; 411. Mounting platform; 42. Finger; 421. First hinge part; 422. Second hinge part; 412. Fixing groove; 413. Limiting groove; 414. Guide rail; 43. Thumb. DETAILED DESCRIPTION

[0049] The preferred 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] Some embodiments of the present disclosure provide a linear actuator, which includes a driving module and a passive module.

[0054] 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.

[0055] The passive module can move along the lead screw. The passive module includes a nut and a push rod. The nut is sleeved on the lead screw. One end of the push rod is hinged with the nut and the other end is connected to the target component. When the motor drives the lead screw to rotate, the nut and the lead screw rotate relative to each other, thereby driving the push rod to move along the lead screw.

[0056] The linear actuator provided in the embodiment of the present disclosure can be used to achieve relative movement between two components, and can also be used to achieve relative rotation between two components.

[0057] Figure 1 and Figure 2 The linear actuator 30 provided by some embodiments of the present disclosure is shown. Figure 1 As shown, the linear actuator 30 includes a driving module 31 and a passive module 32 .

[0058] The driving module 31 includes a screw rod 311 and a motor 312 , and the motor 312 is used to drive the screw rod 311 to rotate.

[0059] The passive module 32 can move along the screw rod 311, and the passive module 32 includes a nut 321 and a push rod 322. The nut 321 is sleeved on the screw rod 311, and the push rod 322 is hinged to the nut 321. Figure 3 As shown, a push rod hinge portion 323 is provided on the nut 321, one end of the push rod 322 is hinged to the nut 321 at the push rod hinge portion 323, and the other end of the push rod 322 is hinged to the target member. Optionally, the nut 321 includes a screw hole portion 321a and a first mounting portion 321b, the screw hole portion 321a is sleeved on the screw rod 311, and the push rod hinge portion 323 is connected to the first mounting portion 321b. Optionally, the push rod 322 is located at a side away from the motor 312 relative to the nut 321.

[0060] In an optional embodiment, if Figure 3 As shown, the hinge axis of the push rod hinge part 323 is in a non-planar relationship with the screw hole axis of the nut 321. In this way, the push rod hinge part 323 can be arranged closer to the motor 312, so that the push rod 332 does not significantly increase the axial size of the linear actuator 30, which is conducive to saving space. Optionally, the hinge axis of the push rod hinge part 323 and the screw hole axis of the nut 321 can be in a non-planar perpendicular relationship.

[0061] In some embodiments, the motor 312 can be fixedly mounted on a frame, and the target component is hinged to the frame. When the motor 312 drives the screw rod 311 to rotate, the nut 321 drives the push rod hinge portion 323 and one end of the push rod 322 to move along the screw rod 311 together, thereby driving the target component to rotate through the other end of the push rod 322.

[0062] In the disclosed embodiment, one end of the push rod 322 is hinged to the nut 321 at the push rod hinge part 323, and the other end of the push rod 322 is hinged to the target member, and the hinge axis of the push rod hinge part 323 is in a non-planar relationship with the screw hole axis of the nut 321. During the rotation of the target member, the push rod 322 can swing to a certain extent, which is conducive to making the rotation angle range of the target member larger; and the hinge axis of the push rod hinge part 323 is in a non-planar relationship with the screw hole axis of the nut 321, so that the push rod 322 does not significantly increase the axial size of the linear actuator 30, and can make the target member have a larger rotation range in a limited space.

[0063] Alternatively, if Figure 3 and Figure 4 As shown, the first mounting portion 321b extends from the screw hole portion 321a in a direction perpendicular to the screw hole axis, and the push rod hinge portion 323 is connected to the first mounting portion 321b, and the push rod hinge portion 323 protrudes from the end surface of the screw hole portion 321a away from the motor 312. Optionally, the push rod hinge portion 323 includes two hinge ears, and the two hinge ears are symmetrically arranged on both sides of the first mounting portion 321b; or, the push rod hinge portion 323 may include a pin shaft or a shaft sleeve, and the other of the pin shaft or the shaft sleeve is connected therewith.

[0064] In the embodiment of the present disclosure, the push rod hinge portion 323 is connected to the first mounting portion 321b, and the first mounting portion 321 extends from one side of the screw hole portion 321a in a direction perpendicular to the axis of the screw hole, so that the push rod hinge portion 323 can be arranged close to the motor 312. In this way, the push rod 332 will not significantly increase the axial size of the linear actuator 30, which is conducive to saving space. The push rod 332 is hinged to the push rod hinge portion 323, allowing the push rod 332 to swing relative to the nut 321, which is conducive to making the rotation angle range of the target component larger.

[0065] In some embodiments, Figure 1 and Figure 2 As shown, the linear actuator 30 further includes a position sensor assembly 33. The position sensor assembly 33 includes a brush 331 and a conductor 332. The brush 331 is connected to the nut 321 of the passive module 32; the conductor 332 is connected to the motor 312. When the nut 321 moves along the lead screw 311, the brush 331 and the conductor 332 maintain sliding contact.

[0066] Alternatively, if Figure 3 and Figure 4As shown, the nut 321 further includes a second mounting portion 321c, and the brush 331 is mounted and fixed on the second mounting portion 321c of the nut 321. Optionally, the second mounting portion 321c extends from the other side of the screw hole portion 321a in a direction perpendicular to the screw hole axis; the second mounting portion 321c can be located on the adjacent side of the screw hole portion 321a with the first mounting portion 321b, or on the opposite side of the screw hole portion 321a.

[0067] In the disclosed embodiment, the brush 331 and the conductor 332 form a sliding variable resistance structure. During the movement of the nut 321 along the screw rod 311, the brush 331 slides along the surface of the conductor 332, and the moving distance of the passive module 32 is monitored by reading the change in the resistance value of the conductor 332 connected to the circuit. When the linear actuator 30 is used to achieve the rotation between the target components, the change in the resistance value of the brush 331 can be used to monitor the rotation angle of the target component.

[0068] In some embodiments, Figure 2 As shown, the position sensor assembly 33 further includes a mounting plate 333 , one end of which is connected to the motor 312 and is arranged parallel to the axis direction of the lead screw 311 . The conductor 332 is arranged on one side of the mounting plate 333 close to the brush 331 .

[0069] In the embodiment of the present disclosure, a mounting plate 333 of the conductor 332 is arranged on the motor 312, and the mounting plate 333 is arranged parallel to the axial direction of the screw rod 311, so as to ensure that the brush 331 and the conductor 332 always maintain sliding contact during the movement of the passive module 32. The mounting plate 333 is directly connected to the housing of the motor 312, and no additional fixing structure is required, and only a slight increase in the radial size of the linear actuator 30 exists.

[0070] In some embodiments, the position sensor assembly 33 further includes a wiring piece 334. Figure 3 As shown, the terminal piece 334 is arranged on the nut 321, and the brush 331 is arranged on the terminal piece 334. Optionally, the terminal piece 334 can be arranged on the end side of the second mounting portion 321c. Optionally, an insulating mounting block is arranged between the terminal piece 334 and the second mounting portion 321c.

[0071] In some embodiments, the position sensor further includes a wire pressing plate 335, such as Figure 2 As shown, the wire pressing plate 335 is disposed at the end of the mounting plate 333. Optionally, the wire pressing plate 335 is disposed at one end of the mounting plate 333 close to the motor 312. The wire pressing plate 335 is used to receive the wire electrically connected to the conductor 332.

[0072] Alternatively, if Figure 5As shown, the push rod 322 includes two rod-like structures symmetrically arranged, and the two rod-like structures are connected by a connecting structure. The distance between the two rod-like structures and one end of the push rod hinged portion can be the same as or different from the distance between the two rod-like structures and one end of the target member hinged. For example, the distance between the two rod-like structures and one end of the target member hinged is larger.

[0073] Figure 6 A bionic manipulator 40 provided by some embodiments of the present disclosure is shown. Figure 6 As shown, the bionic manipulator 40 includes a palm frame 41, a finger 42 and a linear actuator 30 as in any of the above embodiments. The root of the finger 42 is hinged to the palm frame 41. The linear actuator 30 is fixed to the palm frame 41, the target component is the finger 42, and the other end of the push rod 322 is hinged to the root of the finger 42; wherein, the passive module 32 moves along the screw rod 311 so that the finger 42 rotates relative to the palm frame 41.

[0074] In the disclosed embodiment, the linear actuator 30 is fixed on the palm frame 41, one end of the push rod 322 of the linear actuator 30 is hinged to the push rod hinge part 323 with the nut 321, and the other end of the push rod 322 is hinged to the root of the finger 42, and the hinge axis of the push rod hinge part 323 is in a non-planar relationship with the screw hole axis of the nut 321. During the rotation of the finger 42 relative to the finger frame 41, the push rod 322 can swing to a certain extent, so that the finger 42 can have a larger rotation range; and the hinge axis of the push rod hinge part 323 is in a non-planar relationship with the screw hole axis of the nut 321, so that the push rod 322 does not significantly increase the axial size of the linear actuator 30, which can enable the finger 42 to have a larger rotation range while saving space on the palm frame 41, which is conducive to setting the palm frame 41 more compact.

[0075] Alternatively, if Figure 6 and Figure 7 As shown, the palm frame 41 is a plate-like structure, similar to a human palm. The palm frame 41 includes a palm side 41a and a palm back side 41b. Optionally, one end of the palm frame 41 close to the finger 42 protrudes toward the palm side 41a to form a mounting platform 411, and an angle is formed between the platform surface of the mounting platform 411 and the plate surface of the palm side 41a of the palm frame 41, and the angle is, for example, 90 degrees.

[0076] In some embodiments, Figure 7 and Figure 8As shown, the base of the finger 42 includes a first hinge portion 421 and a second hinge portion 422. The first hinge portion 421 is arranged near the palm side 41a, and the first hinge portion 421 is used to be hinged with the palm frame 41. The second hinge portion 422 is arranged near the back of the palm side 41b, and the second hinge portion 422 is used to be hinged with the push rod 322. Optionally, the linear actuator 30 is fixed to the back of the palm side 41b of the palm frame 41 to facilitate the hinge of the push rod 322 and the second hinge portion 422. Optionally, the first hinge portion 421 is hinged with the mounting platform 411.

[0077] In the implementation of the present disclosure, the first hinge part 421 of the finger 42 is arranged near the palm center side, the finger 42 is hinged to the palm frame 41 through the first hinge part 421, and the second hinge part 422 of the finger 42 is arranged near the back of the palm, so that the root of the finger 42 is also hinged to the push rod 322 of the linear actuator 30. In the process of the passive module 32 of the linear actuator 30 moving along the screw rod 311, the push rod 322 pushes the finger 42 to rotate around the hinge axis of the first hinge part 421. This allows the finger 42 to have a larger rotation range.

[0078] In some embodiments of the present disclosure, the screw rod 311 of the linear actuator 30 is arranged parallel to the plate surface of the palm back side 41b, and the screw rod 311 is close to the mounting platform 411 relative to the motor 312. Figure 3 and Figure 7 As shown, the push rod hinge portion 323 of the nut 321 is located between the screw hole portion 321a and the palm frame 41, so that the push rod 322 is located in the gap between the screw rod 311 and the palm frame 41. Optionally, the mounting plate 333 of the position sensor assembly 33 is perpendicular to the palm back side 41b of the palm frame 41.

[0079] Alternatively, if Figure 8 As shown, when the finger 42 is placed vertically in a straight state, the second hinge part 422 protrudes downward from the root of the finger 42, that is, when the length direction of the finger 42 is parallel to the plate surface of the palm back side 41b of the palm frame 41, the second hinge part 422 is closer to the motor 312 than the first hinge part 421 in the axial direction of the screw rod 311. In this way, when the finger 42 rotates through a larger angle range, the push rod and the root of the finger 42 do not interfere with each other.

[0080] In the embodiment of the present disclosure, a first hinge part 421 and a second hinge part 422 are arranged at the base of the finger 42. Since the radial size of the base of the finger 42 is limited, the distance between the first hinge part 421 and the second hinge part 422 is limited. The second hinge part 422 is arranged closer to the motor 312 than the first hinge part 421 in the axial direction of the screw rod 311, which is conducive to reducing the length of the push rod 322. It can be understood that the length of the push rod 322 is, for example, the length of the rod-shaped structure.

[0081] In some embodiments, when the direction of the root of the finger 42 is defined to be parallel to the plane where the palm side of the palm frame 41 is located, the finger 42 is at the 0 degree position, and the angle of rotation of the finger 42 toward the palm side 41a is a positive angle, and vice versa is a negative angle; Figure 7 and Fig. 9 As shown, the linear actuator 30 is configured to allow the rotation angle of the finger 42 to be in the range of -15 degrees to 90 degrees. It should be understood that the direction of the root of the finger 42 can be understood as the length direction of the finger 42 in the straight state.

[0082] Such a configuration enables the mechanical bionic hand disclosed in the present invention to more accurately imitate a human hand. It not only allows the fingers 42 to rotate significantly toward the palm side 41a to achieve conventional operations such as grasping, but also allows the fingers 42 to be slightly tilted toward the back of the palm side 41b, for example, in some scenarios, to achieve partial avoidance movements imitating a human hand.

[0083] In some embodiments, when the direction of the root of the finger 42 is defined to be parallel to the plane of the palm side of the palm frame 41, the finger 42 is at the 0 degree position, and the passive module 32 has a first limit position and a second limit position along the movement of the screw rod 311; when the finger 42 is at the 0 degree position, the passive module 32 is at a position between the first limit position and the second limit position. When the passive module 32 moves to the first limit position, the finger 42 rotates to the maximum amplitude toward the palm side 41a, and when the passive module 32 moves to the second limit position, the finger 42 tilts slightly toward the back of the palm side 41b.

[0084] In some embodiments, Figure 6 As shown, the palm back side 41b of the palm frame 41 is provided with a fixing groove 412, and the fixing groove 412 is used to fix the motor 312 of the linear actuator 30. Figure 2 As shown, the motor 312 is further provided with a fixing portion 312a, which is sleeved on the motor 312 and used to fix the motor 312 in the fixing slot 412. Optionally, the mounting plate 333 of the position sensor assembly 33 is connected to the fixing portion 312a.

[0085] In some embodiments, Figure 4 As shown, the nut 321 of the linear actuator 30 is provided with a sliding connection portion 321d. Optionally, the sliding connection portion 321d is provided at the end of the first mounting portion 321b, and is located between the first mounting portion 321b and the palm frame 41.

[0086] like Fig. 9As shown, optionally, a limiting groove 413 and a guide rail 414 are provided on the back of the palm frame 41. The limiting groove 413 is used to limit the motor 312. The guide rail 414 is arranged along the length direction of the limiting groove 413. The guide rail 414 and the sliding connection part 321d form a sliding pair. Optionally, the limiting groove 413 is arranged corresponding to the finger 42, extending from the end close to the finger 42 to the direction away from the finger 42, and the axis direction of the motor 312 is arranged parallel to the limiting groove 413.

[0087] Optionally, the guide rail 414 includes a limit plate, one end of which is fixedly connected to the palm frame 41, and the other end of which partially covers the limit groove 413 to form the guide rail 414, and the sliding connection part 321d is located in the guide rail 414. Optionally, the cross-sectional shape of the guide rail 414 matches the cross-sectional shape of the sliding connection part 321d.

[0088] In the embodiment of the disclosure, the sliding pair of the guide rail 414 and the sliding connection part 321d can guide the nut 321 of the linear actuator 30, so that the nut 321 can move precisely along the axis direction of the screw rod 311. Since the sliding connection part 321d and the guide rail 414 use the structural gap between the motor 312 and the palm frame 41, no additional space burden is generated, which is conducive to miniaturization of the overall size of the palm.

[0089] Alternatively, if Fig.10 As shown, in some embodiments of the present disclosure, the bionic manipulator 40 includes three fingers 42 and a thumb 43, and the thumb 43 is arranged at one end of the palm frame 41 away from the mounting platform 411. Through the cooperation of the fingers 42 and the thumb 43, various actions can be simulated to realize human hands.

[0090] 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; A passive module, the passive module can move along the lead screw, and the passive module includes: A nut, wherein the nut is sleeved on the screw rod, the nut has a push rod hinge portion, and the hinge axis of the push rod hinge portion is in a non-planar relationship with the axis of the screw hole of the nut; A push rod, one end of which is hinged to the push rod hinge portion with the nut, and the other end of which is used for hingedly connecting the target component; Wherein, the passive module moves along the lead screw to cause the target component to rotate.

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 the brush maintains sliding contact with the conductor during movement of the nut along the lead screw.

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 and is arranged parallel to the axial direction of the lead screw; 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. A bionic manipulator, comprising: Palm frame; Fingers, the bases of the fingers being hinged to the palm frame; The linear actuator according to any one of claims 1 to 4, wherein the linear actuator is fixed to the palm frame, the target member is the finger, and the other end of the push rod is hinged to the root of the finger; Wherein, the passive module moves along the lead screw so that the finger rotates relative to the palm frame.

6. The bionic manipulator according to claim 5, wherein: The palm frame has a palm side and a palm back side; the root of the finger includes: A first hinged portion, the first hinged portion is arranged close to the palm side, and the first hinged portion is used to be hinged to the palm frame; A second hinged portion, wherein the second hinged portion is arranged close to the back of the palm, and the second hinged portion is used for being hinged to the push rod.

7. The bionic manipulator according to claim 6, wherein: It is defined that when the direction of the root of the finger is parallel to the plane where the palm side of the palm frame is located, the finger is at the 0 degree position, and the angle of the finger rotated toward the palm side is a positive angle, and vice versa is a negative angle; The linear actuator is configured to allow the finger to rotate at an angle ranging from -15 degrees to 90 degrees.

8. The bionic manipulator according to claim 6, wherein: It is defined that when the direction of the root of the finger is parallel to the plane where the palm side of the palm frame is located, the finger is at the 0 degree position, and when the finger is at the 0 degree position, the passive module is at a position before the two extreme positions of movement along the lead screw.

9. The bionic manipulator according to claim 6, wherein: A fixing groove is provided on the back of the palm frame, and the fixing groove is used to fix the motor of the linear actuator.

10. The bionic manipulator according to claim 6, wherein: The nut is provided with a sliding connection portion, and the palm back side of the palm frame is provided with: A limiting groove, wherein the limiting groove is used to limit the motor; A guide rail is arranged along the length direction of the limiting groove, and the guide rail and the sliding connection part form a sliding pair.

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