Manipulator

Abstract

Two finger mechanisms are installed on a base of the manipulator, a contact face and a deviating face which are opposite are arranged at the end, away from the base, of each finger mechanism, meanwhile, a first limiting structure and a second limiting structure are arranged on the base, the first limiting structure is used for limiting rotation of a finger module of one finger mechanism, and the second limiting structure is used for limiting rotation of a finger module of the other finger mechanism. The first limiting structure is used for limiting rotation of the finger module of one set of finger mechanism and enabling the finger module to have a first limit position and a second limit position, and the second limiting structure is used for limiting rotation of the finger module of the other set of finger mechanism and enabling the finger module to have a third limit position and a fourth limit position; when the two finger modules are located at the first limit position and the third limit position respectively, the two contact faces can make contact through the bending and stretching functions of the two finger modules, and when the two finger modules are located at the second limit position and the fourth limit position respectively, the two deviating faces can make contact through the bending and stretching functions of the two finger modules, so that a control structure and an algorithm are simplified, and the overall production cost is reduced; and the handle can stretch into a narrow space to grab or push an object, so that the application range is wider.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a robotic hand. Background Technology

[0002] Robots are widely used in processes such as grasping and assembly in industries like 3C and logistics. As the tools used by robots to perform grasping and assembly tasks, the gripping ability and operational stability of robotic arms have a significant impact on the efficiency and stability of the work process. One type of robotic arm currently used in robots is the human-hand-like dexterous robotic arm, which has strong gripping ability and operational stability, especially suitable for grasping and gripping small objects. However, its structure and control algorithms are relatively complex, and its price is relatively high, thus limiting its widespread application. Furthermore, the gripping ability and precision of existing robotic arms still need improvement for grasping in extremely confined spaces and for grasping ultra-thin objects. Summary of the Invention

[0003] The technical solution of this invention is as follows: A robotic hand is provided, comprising a base and two finger mechanisms; each finger mechanism includes a finger module, a swing module, and a connecting module; wherein the swing module is mounted on the base, and the connecting module is connected to the output end of the swing module and the finger module; the connecting module can move under the drive of the swing module and drive the finger module to rotate; and each finger module has a contact surface and a back surface at the end away from the connecting module; the base is provided with a first limiting structure and a second limiting structure for limiting the two finger mechanisms respectively, the first limiting structure being used to restrict their... The rotation of one set of finger modules causes the finger module to have a first limit position and a second limit position; the second limiting structure is used to restrict the rotation of the other set of finger modules, causing the finger module to have a third limit position and a fourth limit position; and when the two sets of finger modules are respectively in the first limit position and the third limit position, the two sets of finger modules can respectively make their contact surfaces contact each other under their own flexion and extension; when the two sets of finger modules are respectively in the second limit position and the fourth limit position, the two sets of finger modules can respectively make their opposing surfaces contact each other under their own flexion and extension.

[0004] Preferably, a plane perpendicular to the rotation center line of the finger module is used as the projection plane, and in the two finger mechanisms located at the first extreme position and the third extreme position, the contact surfaces that are in contact with each other are located outside the base.

[0005] Preferably, a plane perpendicular to the rotation center line of the finger module is used as the projection plane, and in the two finger mechanisms located at the second and fourth extreme positions, the part of the opposing surface that is in contact with each other is located outside the base.

[0006] Preferably, a plane perpendicular to the rotation center line of the finger module is used as the projection plane, and the finger module forms rotation dead angles between the first limit position and the second limit position, and between the third limit position and the fourth limit position, respectively, and the rotation dead angles of the two sets of finger modules are symmetrical.

[0007] Preferably, the dead angle of rotation is greater than 10 degrees and less than 90 degrees.

[0008] Preferably, the base is provided with two mounting slots, and the first limiting structure and the second limiting structure are respectively provided in the two mounting slots, and the first limiting structure and the second limiting structure are symmetrically arranged.

[0009] Preferably, the two sets of connecting modules are respectively installed in the mounting slot, and the two sets of connecting modules are respectively provided with a third limiting structure and a fourth limiting structure. When the connecting module rotates under the drive of the swing module, the third limiting structure can interfere with the first limiting structure, thereby placing the finger module in a relative first limit position or a relative second limit position, or the fourth limiting structure can interfere with the second limiting structure, thereby placing the finger module in a relative third limit position or a relative fourth limit position.

[0010] Preferably, the pendulum module includes a first housing and a first drive component, a first transmission assembly, a first reduction assembly, a first rotating shaft, and a first connecting component housed within the first housing. The output end of the first drive component is connected to one end of the first rotating shaft via the first transmission assembly. The other end of the first rotating shaft is connected to the first reduction assembly. The first reduction assembly is connected to the first connecting component. The first connecting component is connected to the bottom of the connecting module. The first drive component, the first rotating shaft, the first reduction assembly, and the first connecting component are all located on the same side of the first transmission assembly. The first drive component drives the first rotating shaft to rotate via the first transmission assembly, and the first rotating shaft drives the connecting module to rotate via the first reduction assembly and the first connecting component. This structural arrangement of the pendulum module creates a zigzag power transmission path internally, resulting in high torque and strong driving force. Furthermore, all components are integrated within the first housing, forming a modular structure. This simplifies the structure, reduces the size, and eliminates the need for numerous other installation and connection structures, making installation more convenient.

[0011] Preferably, the gyratory module further includes a first bearing, which is disposed outside the first connector.

[0012] Preferably, the connecting module includes a second connector, a third connector, and a positioning member; wherein, the second connector is connected to the output end of the swing module; the third connector is installed in the mounting groove and connected to the second connector, the third connector has a receiving groove corresponding to the bottom shape of the finger module, and the outer wall of the third connector has the third limiting structure or the fourth limiting structure; the positioning member is installed in the mounting groove and abuts against the third connector, and the positioning member is connected to the base; the swing module drives the third connector to rotate in the mounting groove through the second connector, thereby driving the finger module installed in the receiving groove to rotate.

[0013] Preferably, a first storage cavity is formed between the second connector and the third connector, and both the second connector and the third connector are provided with through holes that communicate with the first storage cavity. The connecting wire extending from the finger module passes through the through hole of the second connector into the first storage cavity, and then passes through the through hole of the third connector and extends into the base.

[0014] Preferably, the connecting module further includes a second bearing and a third bearing. The second bearing is disposed between the third connector and the inner wall of the mounting groove, and the third bearing is disposed between the third connector and the positioning member, and cooperates with the inner wall of the mounting groove.

[0015] Preferably, the finger module includes a root unit, a middle unit, and a tip unit; wherein, one end of the root unit is fixedly connected to the connecting module, and the root unit includes a first flexion-extension driving component; the middle unit is pivotally connected to the end of the root unit away from the connecting module and connected to the first flexion-extension driving component, and the first flexion-extension driving component drives the middle unit to pivot, and the middle unit includes a second flexion-extension driving component; the tip unit is pivotally connected to the end of the middle unit away from the root unit and connected to the second flexion-extension driving component, and the second flexion-extension driving component drives the tip unit to pivot, and the end of the tip unit away from the middle unit is provided with the contact surface and the opposing surface.

[0016] Preferably, the first flexion-extension drive assembly includes a second housing and a second drive member, a second transmission assembly, a second reduction assembly, a second rotating shaft, and a second connecting member housed within the second housing. The output end of the second drive member is connected to one end of the second rotating shaft via the second transmission assembly, and the other end of the second rotating shaft is connected to the second reduction assembly. The second reduction assembly is connected to the second connecting member, and the second drive member, the second rotating shaft, and the second reduction assembly are all located on the same side of the second transmission assembly. When the second drive member drives the second rotating shaft to rotate via the second transmission assembly, the second rotating shaft and the second reduction assembly drive the finger unit. This structural arrangement, on the one hand, creates a folded power transmission path within the first flexion-extension drive assembly, resulting in high torque and strong driving force; on the other hand, it integrates all components within the second housing, simplifying the overall structure, reducing its size, and the modular structure facilitates installation and use.

[0017] Preferably, the second flexion-extension drive assembly includes a third housing and a third drive member, a third transmission assembly, a third reduction assembly, a third rotating shaft, and a third connecting member housed within the third housing. The output end of the third drive member is connected to one end of the third rotating shaft via the third transmission assembly, and the other end of the third rotating shaft is connected to the third reduction assembly. The third reduction assembly is connected to the third connecting member, and the third drive member, the third rotating shaft, and the third reduction assembly are all located on the same side of the third transmission assembly. When the third drive member drives the third rotating shaft to rotate via the third transmission assembly, the third rotating shaft and the third reduction assembly drive the third connecting member to rotate, thereby driving the fingertip unit to rotate. This design, on the one hand, creates a folding power transmission path within the second flexion-extension drive assembly, resulting in high torque and strong driving force; on the other hand, it integrates all components within the third housing, simplifying the overall structure, reducing its size, and the modular structure facilitates installation and use.

[0018] Preferably, the fingertip unit further includes a sensing component mounted on the contact surface, and a connecting wire connected to the sensing component extends into the second flexion-extension drive component.

[0019] Preferably, both the middle finger unit and the fingertip unit further include a pivoting component, through which pivoting is achieved.

[0020] Preferably, the pivot assembly includes a connecting seat and two connecting ears, the two connecting ears being respectively connected to the connecting seat, and the two connecting ears being clamped outside the finger root unit and connected to the first flexion-extension drive assembly, or clamped outside the finger middle unit and connected to the second flexion-extension drive assembly.

[0021] Preferably, the connecting seat has a second storage cavity, and the bottom of the connecting seat also has a through hole communicating with the second storage cavity; the connecting wire of the fingertip unit passes through the second storage cavity and through hole of the pivot component at its tail and extends into the second flexion-extension driving component, and the connecting wire of the middle finger unit passes through the second storage cavity and through hole of the pivot component at its tail and extends into the first flexion-extension driving component.

[0022] Preferably, the outer wall of the finger root unit is spaced apart from at least one of the connecting ears to form a gap for the connecting wire to enter the finger root unit; the outer wall of the finger middle unit is spaced apart from at least one of the connecting ears to form a gap for the connecting wire to enter the finger middle unit.

[0023] Preferably, the connecting line extending from the fingertip unit into the middle finger unit extends from the side away from the third transmission component, extends to the side where the third transmission component is located, then extends to the tail of the second flexion-extension drive component, and merges with the connecting line of the third drive component. The merged connecting line then passes through the finger root unit.

[0024] Preferably, the connecting line extending from the middle finger unit into the root finger unit extends from the side away from the second transmission component, extends to the side where the second transmission component is located, and then extends to the tail of the second flexion-extension drive component or the first flexion-extension drive component, and merges with the connecting line of the second drive component. The merged connecting line extends into the connecting module.

[0025] Compared with the prior art, the robotic arm of the present invention has a first limiting structure and a second limiting structure on the base. The first limiting structure restricts the rotation of one finger module, giving that finger module a first limit position and a second limit position. The second limiting structure restricts the rotation of the other finger module, giving that finger module a third limit position and a fourth limit position. Furthermore, when the two finger modules are in the first and third limit positions respectively, their contact surfaces can contact each other under their own flexion and extension, and they extend out of the base. When the two finger modules are in the second and fourth limit positions respectively, their opposing surfaces can contact each other under their own flexion and extension, thereby giving the robotic arm the following effects:

[0026] 1. When the contact surfaces of the two sets of finger modules are in contact and extend out of the base, the gripping ability and gripping accuracy of the two are improved, which is especially suitable for pinching small or extremely thin objects.

[0027] Second, when the opposing surfaces of the two sets of finger modules come into contact, the two sets of finger modules can be inserted into an extremely narrow space to push the two objects apart, thus improving applicability in extremely narrow spaces.

[0028] Third, by using the first and second limiting structures to mechanically limit the two sets of finger modules respectively, the accuracy of the extreme positions of the two sets of finger modules is ensured, which simplifies the control structure and algorithm of the finger modules, thereby reducing the overall production cost and expanding the application range of the robot. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the robotic arm of the present invention.

[0030] Figure 2 yes Figure 1 The exploded diagram. Figure 3 yes Figure 1 A cross-sectional view of the disassembled finger mechanism.

[0031] Figure 4 yes Figure 2 A structural diagram of the upper seat from another angle.

[0032] Figure 5 yes Figure 1 A projection diagram of the rotation dead angle of the two-finger mechanism.

[0033] Figure 6 yes Figure 2 A schematic diagram of the structure of the pendulum module.

[0034] Figure 7 yes Figure 6 A sectional view.

[0035] Figure 8 yes Figure 2 A schematic diagram of the connection module in the diagram.

[0036] Figure 9 yes Figure 8 Top view.

[0037] Figure 10 yes Figure 8 A sectional view.

[0038] Figure 11 yes Figure 2 A schematic diagram of the structure of the finger module in the image.

[0039] Figure 12 yes Figure 11 A schematic diagram of the internal structure.

[0040] Figure 13 yes Figure 11 A schematic diagram of the structure of the finger root unit.

[0041] Figure 14 yes Figure 13 A schematic diagram of the internal structure.

[0042] Figure 15 yes Figure 13 A sectional view.

[0043] Figure 16 yes Figure 11 A schematic diagram of the structure of the finger unit in the diagram.

[0044] Figure 17 yes Figure 16 A schematic diagram of the internal structure.

[0045] Figure 18 yes Figure 16 A sectional view.

[0046] Figure 19 yes Figure 11 A schematic diagram of the structure of the fingertip unit.

[0047] Figure 20 yes Figure 19 A sectional view.

[0048] Figure 21 This is a schematic diagram showing the contact state of the two finger modules of the robotic arm of the present invention.

[0049] Figure 22 yes Figure 21 Top view.

[0050] Figure 23 This is a schematic diagram showing the contact state of the two fingers of the robotic arm of the present invention on their opposite sides.

[0051] Figure 24 yes Figure 23 Top view. Detailed Implementation

[0052] Embodiments of the invention will now be described with reference to the accompanying drawings, in which similar element reference numerals denote similar elements.

[0053] Combination Figures 1-24 As shown, in one embodiment of the present invention, the provided robotic arm 1 includes a base 400 and two finger mechanisms. Each finger mechanism includes a swing module 100, a connecting module 200, and a finger module 300. The swing module 100 is installed within the base 400, and the connecting module 200 is connected to the output end of the swing module 100 and the finger module 300. The connecting module 200 can move under the drive of the swing module 100 and drive the finger module 300 to rotate. The end of each finger module 300 away from the connecting module 200 has an opposing contact surface 3311 and a facing surface 3312.

[0054] The following is combined Figure 1-4 , Figure 21-24 As shown, in one embodiment of the present invention, the base 400 is provided with a first limiting structure 410 and a second limiting structure 420 for respectively limiting the movement of two finger mechanisms. Specifically, the first limiting structure 410 is used to limit the rotation of one set of finger modules 300, and causes the finger module 300 to have a first limit position and a second limit position. The second limiting structure 420 is used to limit the rotation of the other set of finger modules 300, and causes the finger module 300 to have a third limit position and a fourth limit position. Furthermore, when the two sets of finger modules 300 are respectively in the first limit position and the third limit position, the two sets of finger modules 300 can respectively make their contact surfaces 3311 partially contact each other under their own flexion and extension action, and extend out of the base 400, as shown. Figure 21-22 As shown, it can pinch or grip objects within a large range of extension and contraction, and has strong pinching force and stability, making it especially suitable for pinching small or extremely thin objects. When the two sets of finger modules 300 are in the second and fourth extreme positions respectively, the two sets of finger modules 300 can, under their own flexion and extension, make their opposing surfaces 3312 partially contact each other, as shown. Figure 23-24 As shown, the two sets of finger modules 300 not only have a large range of extension and retraction, but their ends can also be inserted into narrow spaces to push two objects to separate them, thus improving their applicability in extremely narrow spaces.

[0055] Continue to combine Figures 1-4 As shown, in one embodiment of the present invention, the base 400 is provided with a first mounting groove 430 and a second mounting groove 440, wherein a first limiting structure 410 is provided in the first mounting groove 430, and a second limiting structure 420 is provided in the second mounting groove 440. Furthermore, the first limiting structure 410 and the second limiting structure 420 are symmetrically arranged. See also... Figure 3 As shown, the base 400 also has a first receiving cavity 450, which is connected to both the first mounting groove 430 and the second mounting groove 440. When the finger mechanism is installed, the swing module 100 is installed in the first receiving cavity 450; the connecting module 200 is rotatably installed in the first mounting groove 430 or the second mounting groove 440 and connected to the swing module 100 housed in the base 400; the finger module 300 is installed in the connecting module 200, with its bottom housed in the connecting module 200 and the remaining parts protruding above the base 400, such as... Figure 1-2 As shown.

[0056] The following is combined Figure 2-3As shown, in one embodiment of the present invention, after the two-finger mechanism's swing module 100, it is preferable that the two swing modules 100 are symmetrically installed in the first receiving cavity 450 of the base 400, so that the layout of the two is compact, reducing the internal space occupied by the base 400, thereby reducing the volume of the base 400, and also making the installation of the two convenient. Of course, the two swing modules 100 can be flexibly installed in the first receiving cavity 450 at any angle according to different needs.

[0057] Continue reading Figure 3 As shown, in one embodiment of the present invention, the bottom of the base 400 is further provided with a second receiving cavity 460. The second receiving cavity 460 is used to install components such as control modules. The structure and installation method of the control module are conventional in the art and will not be described in detail. Furthermore, in conjunction with... Figure 2-3 As shown, in this embodiment, a first through hole 451 is preferably provided on the partition between the second accommodating cavity 460 and the first accommodating cavity 450. The first through hole 451 connects the first accommodating cavity 450 and the second accommodating cavity 460 and is used to pass through the connecting wire led out by the finger mechanism so that the connecting wire enters the second accommodating cavity 460 and connects with the control module, making the passing through of the connecting wire simple and not interfering with other components.

[0058] The following is combined Figure 2-4 , Figure 8 As shown, in one embodiment of the present invention, the two finger mechanisms are respectively provided with a third limiting structure 210 and a fourth limiting structure (not shown) on the connecting module 200. The third limiting structure 210 and the fourth limiting structure have the same structure and arrangement. When the connecting module 200 rotates in the first mounting groove 430 or the second mounting groove 440 under the drive of the swing module 100, the third limiting structure 210 can interfere with the first limiting structure 410, thereby placing the finger module 300 in a relative first limit position or a second limit position, or the fourth limiting structure can interfere with the second limiting structure 420, thereby placing the finger module 300 in a relative third limit position or a fourth limit position.

[0059] The following is combined Figure 1-5 , Figure 22 , Figure 24As shown, the projection plane is a plane perpendicular to the rotation center line of the connecting module 200 and / or the finger module 300. In other words, within the projection plane perpendicular to the height direction of the base 400, the finger module 300 installed in the first mounting groove 430 forms a first rotation dead angle a1 between the first and second extreme positions, and the finger module 300 installed in the second mounting groove 440 forms a second rotation dead angle a2 between the third and fourth extreme positions. Furthermore, the first rotation dead angle a1 and the second rotation dead angle a2 are symmetrical. Specifically, the first rotation dead angle a1 and the second rotation dead angle a2 are symmetrical along the perpendicular first direction (X direction) and the second direction (Y direction), both of which are located within the projection plane, specifically the length and width directions of the base 400. This method of controlling the extreme positions of the finger modules 300 by mechanical limiting simplifies the control of rotating the two sets of finger modules 300 to their extreme positions, and ensures that the contact surfaces 3311 of the two can contact each other to pinch the object at the extreme positions, or that the opposing surfaces 3312 of the two can contact each other to push the object away, thereby improving the accuracy of control.

[0060] Continue reading Figure 5 As shown, in a preferred embodiment, both the first dead angle a1 and the second dead angle a2 are greater than 10 degrees and less than 90 degrees. However, this is not limited to the aforementioned angles; the size of the dead angles can be flexibly set as needed.

[0061] The following is combined Figure 21-24 As shown, in one embodiment of the present invention, within the aforementioned projection plane, when the finger module 300 installed in the first mounting groove 430 rotates to the first extreme position, and the finger module 300 installed in the second mounting groove 440 rotates to the third extreme position, at least a portion of the contact surfaces 3311 of the two sets of finger modules 300 are in contact with each other (see...). Figure 21 ), and at least a portion of the contact surface 3311 protrudes beyond the base 400 (see Figure 22 This allows the two contact surfaces 3311 to mate and clamp and pinch the component. Correspondingly, when the finger modules 300 of the two finger mechanisms rotate to the second and fourth limit positions respectively, at least a portion of the opposing surfaces 3312 of the two sets of finger modules 300 are in contact with each other (see...). Figure 23 ), and at least a portion of the facing surface 3312 protrudes beyond the base 400 (see Figure 24 This allows the two contact surfaces 3311 to contact different objects respectively, so as to push the two objects apart and achieve separation of the two objects.

[0062] The following is combined Figure 3 , Figure 6-7As shown, in one embodiment of the present invention, the pendulum module 100 includes a first housing 110 and a first drive member 120, a first transmission assembly 130, a first rotating shaft 140, a first reduction assembly 150, a first connector 160, and a first bearing 170 housed within the first housing 110. The output end of the first drive member 120 is connected to one end of the first rotating shaft 140 via the first transmission assembly 130. The other end of the first rotating shaft 140 is connected to the first reduction assembly 150. The first reduction assembly 150 is connected to one end of the first connector 160. The other end of the first connector 160 protrudes from the first housing 110 to connect with the connecting module 200, as detailed below. Furthermore, the first bearing 170 is mounted on the outside of the first rotating shaft 140 and the first connector 160, respectively, using a conventional mounting method in the art. When the pendulum module 100 is working, the first driving member 120 drives the first rotating shaft 140 to rotate via the first transmission assembly 130. The first rotating shaft 140 drives the first connecting member 160 to rotate via the first reduction assembly 150, thereby driving the connecting module 200 to rotate. In this embodiment, the first driving member 120, the first rotating shaft 140, the first reduction assembly 150, and the first connecting member 160 are all located on the same side of the first transmission assembly 130 (see...). Figure 7 As shown, it not only forms a folding power transmission route with large torque and strong driving force, but also integrates all components into the first housing 110, making the structural layout between the components compact, which is beneficial for a smaller volume, and makes the gyratory module 100 a modular structure, making installation more convenient.

[0063] Continue reading Figure 7 As shown, in this embodiment, the first driving member 120 is preferably a rotary motor. The first transmission assembly 130 is preferably a transmission gear set, and the specific number of gears is not limited, for example... Figure 7 The diagram illustrates three meshing gears, with two gears mounted on the output end of the rotary motor and one end of the first rotating shaft 140, respectively, and the third gear meshing between the aforementioned two gears. Furthermore, the first reduction assembly 150 is preferably a planetary gear set, the structure of which and its connection to the first rotating shaft 140 are conventional in the art. In this embodiment, by setting a transmission gear set and a planetary gear set at both ends of the first rotating shaft 140, multi-stage reduction in the transmission path is achieved, thereby efficiently converting input power into a low-speed, high-torque output within a limited space and ensuring smooth power transmission for more stable driving of the connecting module 200. It is understood that the first drive component 120, the first transmission assembly 130, and the first reduction assembly 150 are not limited to those in this embodiment, and other components can be used according to actual usage requirements.

[0064] The following is combined Figure 2-3 , Figure 8-10 As shown, in one embodiment of the present invention, the connecting module 200 includes a second connector 220, a third connector 230, and a positioning member 240. The lower end of the second connector 220 is connected to the output end of the swing module 100, specifically fixedly connected to the first connector 160 of the swing module 100. The upper end of the second connector 220 is connected to the third connector 230, and the third connector 230 is provided with a receiving groove 231 corresponding to the bottom shape of the finger module 300. Figure 9 As shown. The shape of the receiving groove 231 is not limited. Figure 9 The diagram shows a square structure for accommodating and fixing a square finger module 300 to it. Of course, the accommodating groove 231 can also be other shapes. Additionally, a third limiting structure 210 (see...) is provided on the outer wall of the third connector 230. Figure 8 (as shown) or a fourth limiting structure. The positioning member 240 presses against the top of the third connecting member 230 to limit its rotation.

[0065] Combination Figure 3-4 As shown, taking the connection module 200 installed in the first mounting groove 430 as an example, during installation, the third connector 230 is installed in the first mounting groove 430 so that the third limiting structure 210 protruding on its outer wall can interfere with the first limiting structure 410 in the first mounting groove 430. At the same time, the second connector 220 extends into the first receiving cavity 450 to be fixedly connected to the first connector 160 of the swing module 100. The positioning member 240 is received in the first mounting groove 430 and abuts against the top of the third connector 230, and is also fixedly connected to the base 400. In this way, when the swing module 100 drives the second connector 220 to rotate, the second connector 220 drives the third connector 230 to rotate in the first mounting groove 430, thereby driving the finger module 300 installed in the receiving groove 231 to rotate. During rotation, the third limiting structure 210 on the outer wall of the third connector 230 can interfere with the first limiting structure 410, so that the finger module 300 is in a relative first limit position or a second limit position.

[0066] Continue to combine Figure 2-3 , Figure 8-10As shown, in this embodiment, the connecting module 200 further includes a second bearing 250 and a third bearing 260. The second bearing 250 is disposed between the third connecting member 230 and the inner wall of the first mounting groove 430; that is, the second bearing 250 is sleeved on the outside of the third connecting member 230 and abuts against the inner wall of the first mounting groove 430. The third bearing 260 is disposed between the third connecting member 230 and the positioning member 240, and also abuts against the inner wall of the first mounting groove 430. In other words, the third bearing 260 is mounted above the third connecting member 230, and the lower end of the positioning member 240, after being installed in the first mounting groove 430, abuts against the third bearing 260. The upper end of the positioning member 240 is fixed to the base 400, thereby causing the third bearing 260 to abut between the third connecting member 230 and the positioning member 240, while the outer wall of the third bearing 260 mates with the inner wall of the first mounting groove 430. The use of two bearings allows for smoother rotation of the third connector 230 within the first mounting groove 430. Of course, the number of bearings is not limited to two.

[0067] See below. Figure 3 , Figure 9-10 As shown, in one embodiment of the present invention, after the second connector 220 and the third connector 230 are connected, a first receiving cavity 270 is formed between them. Simultaneously, the second connector 220 has a second through hole 221, and the third connector 230 has a third through hole 232. Both the second through hole 221 and the third through hole 232 communicate with the first receiving cavity 270. Figure 10 As shown. This structural arrangement allows the connecting wire extending from the finger module 300 to pass through the second through hole 221 into the first receiving cavity 270, and then exit through the third through hole 232. Then, the connecting wire can pass through the gap between the two sets of swing modules 100 into the aforementioned first through hole 451 (see...). Figure 3 Inside the base 400, the wire enters the second accommodating cavity 460 through the first through hole 451 and connects with the control module, so that the connecting wire will not interfere with the connecting module 200 and the swing module 100 after it passes through the base 400.

[0068] Combination Figure 2-3 , Figure 8-10 As shown, in this application, the way the connecting module 200 is installed in the second mounting slot 440 is the same as the way it is installed in the first mounting slot 430, so it will not be described again.

[0069] The following is combined Figure 1-2 , Figure 11-12As shown, in one embodiment of the present invention, the finger module 300 includes a root unit 310, a middle unit 320, and a fingertip unit 330. After installation, the bottom of the root unit 310 is accommodated in the receiving groove 231 of the connecting module 200 and fixedly connected to the third connector 230. The root unit 310 includes a first flexion-extension drive assembly. The middle unit 320 is pivotally connected to the end of the root unit 310 away from the connecting module 200 and is connected to the first flexion-extension drive assembly. The first flexion-extension drive assembly drives the middle unit 320 to pivot. The middle unit 320 includes a second flexion-extension drive assembly. The fingertip unit 330 is pivotally connected to the end of the middle unit 320 away from the root unit 310 and is connected to the second flexion-extension drive assembly. The second flexion-extension drive assembly drives the fingertip unit 330 to pivot. The end of the fingertip unit 330 away from the middle unit 320 is provided with a contact surface 3311 and a back surface 3312. The overall structure of the finger module 300 closely resembles the shape of a human finger, and it achieves flexion and extension through the pivoting of the middle finger unit 320 and the fingertip unit 330, thus having greater flexibility. The two sets of finger modules 300 working together have stronger gripping ability and operational stability, making them especially suitable for gripping and picking up small objects.

[0070] The following is combined Figures 13-15 As shown, in one embodiment of the present invention, the first flexion-extension drive assembly of the finger root unit 310 includes a second housing 311 and a second drive member 312, a second transmission assembly 313, a second rotating shaft 314, a second reduction assembly 315, and a second connector 316 housed within the second housing 311. The output end of the second drive member 312 is connected to one end of the second rotating shaft 314 via the second transmission assembly 313. The other end of the second rotating shaft 314 is connected to the second reduction assembly 315. The second reduction assembly 315 is connected to one end of the second connector 316, and the other end of the second connector 316 protrudes from the second housing 311 (see...). Figure 15 The second drive member 312, the second rotating shaft 314, and the second reduction assembly 315 are all located on the same side of the second transmission assembly 313. During operation, the second drive member 312 drives the second rotating shaft 314 to rotate via the second transmission assembly 313. The second rotating shaft 314 then drives the second connecting member 316 to rotate via the second reduction assembly 315, which in turn drives the finger unit 320 to rotate. This structural arrangement, on the one hand, creates a folded-back power transmission path within the first flexion-extension drive assembly (see...). Figure 15 As shown), it has high torque and strong driving force; on the other hand, it integrates all components into the second housing 311, with a compact structural layout between components and a reduced overall volume. Furthermore, the first bending and stretching drive assembly forms a modular structure, eliminating the need for excessive other installation and connection structures, which facilitates installation and use.

[0071] Continue to combine Figures 13-15 As shown, in one embodiment of the present invention, the first flexion-extension drive assembly further includes a fourth bearing 317, which is respectively mounted on the outside of the second rotating shaft 314 and the second connecting member 316 to make the rotation of the second rotating shaft 314 and the second connecting member 316 smoother. The mounting method of the fourth bearing 317 is a conventional method in the art and will not be described in detail.

[0072] Continue to combine Figures 13-15 As shown, in one embodiment of the invention, a first connecting end 3111 is formed at the top of the second housing 311. Furthermore, in the axial direction of the second rotating shaft 314, the distance between the two side walls of the first connecting end 3111 is slightly smaller than the distance between the two side walls of other parts of the second housing 311. This constricted arrangement of the first connecting end 3111 creates a gap between at least one side wall and the finger unit 320, facilitating the passage of a connecting wire extending from the finger unit 320. Moreover, a gap 3112 is provided between the second connector 316 and the side wall of the first connecting end 3111 (see...). Figure 15 This allows the connecting wire extending from the middle finger unit 320 to pass through the gap 3112 into the root finger unit 310.

[0073] Furthermore, in this embodiment, the bottom plate of the second housing 311 has at least one fourth through hole 3113 for threading a connecting wire. For example, in Figure 15 In the illustrated specific embodiment, two fourth through holes 3113 are provided on the bottom plate of the second housing 311. The two fourth through holes 3113 are respectively located at both ends of the second rotating shaft 314 in the axial direction, so as to make the threading of the connecting wire more flexible. More preferably, a first receiving cavity 3114 is formed between the bottom plate of the second housing 311 and the second driving member 312 with a slight interval (see Figure 15 The first receiving cavity 3114 is connected to the two fourth through holes 3113 respectively. In this way, the connecting wires that pass through the middle finger unit 320 into the finger root unit 310 and the connecting wires connected to the second driving member 312 can pass through the first receiving cavity 3114 and then exit through either of the fourth through holes 3113, making the threading of the connecting wires more flexible.

[0074] The following is combined Figures 16-18As shown, in one embodiment of the present invention, the second flexion-extension drive assembly of the finger unit 320 includes a third housing 321 and a third drive member 322, a third transmission assembly 323, a third rotating shaft 324, a third reduction assembly 325, and a third connector 326 housed within the third housing 321. The output end of the third drive member 322 is connected to one end of the third rotating shaft 324 via the third transmission assembly 323. The other end of the third rotating shaft 324 is connected to the third reduction assembly 325. The third reduction assembly 325 is connected to one end of the third connector 326, and the other end of the third connector 326 protrudes from the third housing 321 (see...). Figure 18 The fingertip unit 320 is connected to the third drive member 322. During operation, the third drive member 322 drives the third rotating shaft 324 to rotate via the third transmission assembly 323. The third rotating shaft 324 drives the third connecting member 326 to rotate via the third reduction assembly 325, which in turn drives the fingertip unit 330 to rotate. Furthermore, the third drive member 322, the third rotating shaft 324, the third reduction assembly 325, and the third connecting member 326 are all located on the same side of the third transmission assembly 323. This structural arrangement, on the one hand, creates a folded-back power transmission path within the second flexion-extension drive assembly (see...). Figure 18 It has high torque and strong driving force; on the other hand, it integrates all components into the third housing 321, with a compact structural layout between components and a reduced overall volume. Furthermore, the second bending and extending drive assembly has a modular structure, which does not require too many other installation and connection structures, making it easy to install and use.

[0075] Continue to combine Figures 16-18 As shown, in one embodiment of the present invention, the second flexion-extension drive assembly further includes a fifth bearing 327, which is respectively mounted on the outside of the third rotating shaft 324 and the third connecting member 326 to make the rotation of the third rotating shaft 324 and the third connecting member 326 smoother. The mounting method of the fifth bearing 327 is a conventional method in the art and will not be described in detail.

[0076] Continue to combine Figures 16-18 As shown, in one embodiment of the invention, a second connecting end 3211 is formed at the top of the third housing 321. Furthermore, in the axial direction of the third rotating shaft 324, the distance between the two side walls of the second connecting end 3211 is slightly smaller than the distance between the two side walls of other parts of the third housing 321. This constricted arrangement of the second connecting end 3211 creates a gap between at least one side wall and the fingertip unit 330, facilitating the passage of a connecting wire extending from the fingertip unit 330. Moreover, a gap 3212 is provided between the third connector 316 and the side wall of the second connecting end 3211 (see...). Figure 18 This allows the connecting wire extending from the fingertip unit 330 to pass into the middle finger unit 320.

[0077] Furthermore, the bottom plate of the third housing 321 has at least one fifth through hole 3213 for threading a connecting wire. For example, in Figure 18 In the illustrated specific embodiment, two fifth through holes 3213 are provided on the bottom plate of the third housing 321. The two fifth through holes 3213 are respectively located at both ends of the third rotating shaft 324 in the axial direction, so as to make the threading of the connecting wire more flexible. More preferably, a second receiving cavity 3214 is formed between the bottom plate of the third housing 321 and the third driving member 322 with a slight gap, see Figure 18 As shown, the second receiving cavity 3214 is connected to two fifth through holes 3213 respectively. In this way, the connecting wires that pass through the fingertip unit 330 into the middle finger unit 320 and the connecting wires that are connected to the third driving member 322 can pass through the second receiving cavity 3214 and then exit through either of the fifth through holes 3213, making the threading of the connecting wires more flexible.

[0078] It should be noted that in this application, the structure and arrangement of the first flexion-extension drive assembly and the second flexion-extension drive assembly are actually exactly the same. The different serial numbers and labels used above are only for the purpose of more conveniently illustrating their specific structures.

[0079] Continue to combine Figures 16-18 As shown, in one embodiment of the present invention, the finger unit 320 further includes a first pivot assembly 328, through which its pivoting is achieved. Specifically, the first pivot assembly 328 includes a first connecting seat 3281 and two first connecting ears 3282, the two first connecting ears 3282 being connected to the first connecting seat 3281 at intervals. During installation, the first connecting seat 3281 is connected to the bottom plate of the third housing 321, the two first connecting ears 3282 are clamped to the first connecting end 3111 of the finger root unit 310 and connected to the second connecting member 316. When the second connecting member 316 rotates, it drives the first pivot assembly 328 connected to it to rotate, thereby realizing the rotation of the entire finger unit 320.

[0080] Continue to combine Figures 16-18 As shown, in this embodiment, the first connecting seat 3281 has a second receiving cavity 3283, and the bottom of the first connecting seat 3281 also has a sixth through hole 3284 communicating with the second receiving cavity 3283. The sixth through hole 3284 is located near at least one first connecting lug 3282, for example... Figure 16-18 In the specific embodiment shown, a sixth through hole 3284 is provided along one of the first connecting ears 3282. In this way, the connecting wire that passes through the third housing 321 of the finger unit 320 can be stored in the second receiving cavity 3283, and then pass through the sixth through hole 3284 to be inserted into the finger root unit 310 below.

[0081] The following is combined Figure 11-12 , Figures 19-20 As shown, in one embodiment of the present invention, the fingertip unit 330 includes a fourth housing 331 and a sensing component 332 installed within the fourth housing 331. The fourth housing 331 has a contact surface 3311 and a back surface 3312 formed on opposite sides, and a third accommodating cavity 3313 is formed within the fourth housing 331. The sensing component 332 is installed within the third accommodating cavity 3313 and protrudes from the contact surface 3311, so that the sensing component 332 can detect an object when the contact surface 3311 contacts an object. Furthermore, the bottom plate of the fourth housing 331 has an opening communicating with the third accommodating cavity 3313, so that the connecting wire to the sensing component 332 can be accommodated within the third accommodating cavity 3313 and easily pass through the fourth housing 331.

[0082] More preferably, the fingertip unit 330 also includes an elastic element 333, which is mounted on the contact surface 3311 and arranged around the sensing component 332. The elastic element 333 has textured surface. The elastic element 333 can increase the friction when the contact surface 3311 contacts the object, thereby giving the fingertip unit 330 a stronger gripping ability and improving the stability of gripping and picking up small objects.

[0083] Continue to combine Figures 19-20 As shown, in one embodiment of the present invention, the fingertip unit 330 further includes a second pivot assembly 334, through which its pivoting is achieved. Specifically, the second pivot assembly 334 includes a second connecting seat 3341 and two second connecting ears 3342, the two second connecting ears 3342 being spaced apart from the second connecting seat 3341. During installation, the second connecting seat 3341 is connected to the bottom plate of the fourth housing 331, the two second connecting ears 3342 are clamped to the second connecting end 3211 of the finger unit 320 and connected to the third connecting member 326. When the third connecting member 326 rotates, it drives the second pivot assembly 334 connected to it to rotate, thereby realizing the rotation of the entire fingertip unit 330.

[0084] Continue to combine Figures 19-20 As shown, in this embodiment, the second connecting seat 3341 has a third receiving cavity 3343, and the bottom of the second connecting seat 3341 also has a seventh through hole 3344 communicating with the third receiving cavity 3343. The seventh through hole 3344 is located near at least one second connecting lug 3342, for example... Figures 19-20In the specific embodiment shown, a seventh through hole 3344 is provided along one of the second connecting ears 3342. In this way, the connecting wire led out from the sensing component 332 enters the third receiving cavity 3343 of the second pivot component 334 through the bottom of the fourth housing 331, is stored therein, then passes through the seventh through hole 3344, and then passes through the third housing 321 of the finger unit 320.

[0085] It should be noted that in this application, the structure and arrangement of the first pivot component 328 and the second pivot component 334 are actually the same. The use of different serial numbers and labels to describe and represent them is only for the purpose of more conveniently illustrating their specific structure.

[0086] Let's combine them again below. Figure 11-20 The method of threading the connecting wires within the finger module 300 of this application is illustrated below.

[0087] First combine Figure 11 , Figures 19-20 As shown, the first connecting line 341 connected to the sensing component 332 in the fingertip unit 330 enters the third storage cavity 3343 of the second pivot component 334 through the bottom of the fourth housing 331 and is then stored in the cavity 3343, and then passes through the seventh through hole 3344.

[0088] The following is combined Figure 11 , Figure 16-18 As shown, when the first connecting line 341 enters the second flexion-extension drive assembly, the first connecting line 341 first extends along the gap between the second connecting ear 3342 and the side wall of the second connecting end 3211 of the finger unit 320, and then enters the third housing 321 along the gap 3212 between the third connector 326 and the outer wall, as shown. Figure 11 , Figure 18 As shown. Next, the first connecting line 341 extends to the side where the third transmission assembly 323 is located, and extends downward along the third transmission assembly 323 until the tail of the second flexion-extension drive assembly, that is, reaching the bottom of the third housing 321. At this time, the first connecting line 341 merges with the second connecting line 342 of the third drive member 322. Specifically, the second connecting line 342 passes through the second receiving cavity 3214 at the bottom of the third housing 321 and merges with the first connecting line 341, and then both pass out through one of the fifth through holes 3213. At this time, the first connecting line 341 and the second connecting line 342 enter the second receiving cavity 3283 of the first connecting seat 3281 for storage. Next, the first connecting line 341 and the second connecting line 342 pass out through the sixth through hole 3284 at the bottom of the first connecting seat 3281, so that they can enter the finger root unit 310.

[0089] The following is combined Figure 11-15As shown, the first connecting line 341 and the second connecting line 342 first extend along the gap between one of the first connecting ears 3282 and the side wall of the first connecting end 3111 of the finger root unit 310, and then pass into the second housing 311 along the gap 3112 between the second connector 316 and the outer wall, as shown. Figure 11 , Figure 15 As shown. Next, the first connecting line 341 and the second connecting line 342 extend to the side where the second transmission assembly 313 is located, and extend downward along the second transmission assembly 313 until the tail of the first flexion-extension drive assembly, that is, reaching the bottom of the second housing 311. At this time, the first connecting line 341, the second connecting line 342 and the third connecting line 343 of the second drive member 312 merge. Specifically, the third connecting line 343 passes through the first receiving cavity 3114 at the bottom of the second housing 311 and merges with the first connecting line 341 and the second connecting line 342. The merged three connecting lines exit through one of the fourth through holes 3113, as shown. Figure 11 As shown.

[0090] Combination Figure 3 , Figure 10 As shown, the three combined connecting wires that emerge from the tail of the finger root unit 310 are threaded into the first receiving cavity 270 of the connecting module 200, and then pass through the third through hole 232. The connecting wires entering the first receiving cavity 450 can pass through the gap between the two sets of swing modules 100 and into the first through hole 451 (see...). Figure 3 Inside, it enters the second accommodating cavity 460 through the first through hole 451 and connects to the control module.

[0091] In summary, the robotic arm 1 of the present invention has a first limiting structure 410 and a second limiting structure 420 on the base 400. The first limiting structure 410 restricts the rotation of one finger module 300, giving the finger module 300 a first limit position and a second limit position. The second limiting structure 420 restricts the rotation of the other finger module 300, giving the finger module 300 a third limit position and a fourth limit position. When the two sets of finger modules 300 are in the first and third limit positions respectively, their contact surfaces 3311 can partially contact each other under their own flexion and extension, and they extend out of the base 400. When the two sets of finger modules 300 are in the second and fourth limit positions respectively, their opposing surfaces 3312 can partially contact each other under their own flexion and extension. This gives the robotic arm 1 the following effects:

[0092] 1. When the two sets of finger modules 300 partially contact each other on the contact surface 3311 and extend out of the base 400, the gripping ability and gripping accuracy between them are improved, which is especially suitable for pinching small or extremely thin objects.

[0093] Second, when the opposing surfaces 3312 of the two sets of finger modules 300 are in contact, the two sets of finger modules 300 can be extended into an extremely narrow space to push the two objects apart, thereby improving their applicability in extremely narrow spaces.

[0094] Third, by using the first limiting structure 410 and the second limiting structure 420 to mechanically limit the two sets of finger modules 300 respectively, the accuracy of the extreme positions of the two sets of finger modules 300 is ensured, which simplifies the control structure and algorithm of the finger modules 300, thereby reducing the overall production cost and increasing the application range of the robot 1.

[0095] The structures of the other parts of the robotic arm 1 involved in this invention are all conventional structures well known to those skilled in the art, and will not be described in detail here.

[0096] The above-disclosed embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. Therefore, any equivalent variations made in accordance with the claims of the present invention are still within the scope of the present invention.

Claims

1. A robotic arm, characterized in that, It includes a base and two finger mechanisms; each finger mechanism includes a finger module, a swing module, and a connecting module; wherein... The pendulum module is mounted on the base, and the connecting module is connected to the output end of the pendulum module and the finger module; the connecting module can move under the drive of the pendulum module and drive the finger module to rotate; and each finger module has a contact surface and a back surface at the end away from the connecting module. The base is provided with a first limiting structure and a second limiting structure for limiting the two finger mechanisms respectively. The first limiting structure is used to limit the rotation of one set of finger modules and make the finger module have a first limit position and a second limit position; the second limiting structure is used to limit the rotation of the other set of finger modules and make the finger module have a third limit position and a fourth limit position. When the two sets of finger modules are respectively in the first extreme position and the third extreme position, the two sets of finger modules can respectively make the contact surfaces of the two contact each other under their own flexion and extension. When the two sets of finger modules are in the second limit position and the fourth limit position respectively, the two sets of finger modules can make their opposing surfaces come into contact under their own flexion and extension.

2. The robotic arm as described in claim 1, characterized in that, Using a plane perpendicular to the rotation center line of the finger module as the projection plane, in the two finger mechanisms located at the first and third extreme positions, the contact surfaces of the parts that contact each other are located outside the base. And / or, using a plane perpendicular to the rotation center line of the finger module as the projection plane, in the two finger mechanisms located at the second and fourth extreme positions, the portion of the opposing surface that contacts each other is located outside the base; And / or, using a plane perpendicular to the rotation center line of the finger module as the projection plane, the finger module forms rotation dead angles between the first limit position and the second limit position, and between the third limit position and the fourth limit position, respectively, and the rotation dead angles of the two sets of finger modules are symmetrical.

3. The robotic arm as described in claim 1, characterized in that, The base is provided with two mounting slots, and the first limiting structure and the second limiting structure are respectively provided in the two mounting slots, and the first limiting structure and the second limiting structure are symmetrically arranged. The two sets of connecting modules are respectively installed in the mounting slot, and the two sets of connecting modules are respectively provided with a third limiting structure and a fourth limiting structure. When the connecting module rotates under the drive of the swing module, the third limiting structure can interfere with the first limiting structure, thereby placing the finger module in a relative first limit position or second limit position, or the fourth limiting structure can interfere with the second limiting structure, thereby placing the finger module in a relative third limit position or fourth limit position.

4. The robotic arm as described in claim 1, characterized in that, The gyratory module includes a first housing and a first drive component, a first transmission assembly, a first reduction assembly, a first rotating shaft, and a first connector housed within the first housing. The output end of the first drive component is connected to one end of the first rotating shaft via the first transmission assembly. The other end of the first rotating shaft is connected to the first reduction assembly. The first reduction assembly is connected to the first connector. The first connector is connected to the bottom of the connecting module. The first drive component, the first rotating shaft, the first reduction assembly, and the first connector are all located on the same side of the first transmission assembly. The first drive component drives the first rotating shaft to rotate via the first transmission assembly. The first rotating shaft drives the connecting module to rotate via the first reduction assembly and the first connector.

5. The robotic arm as described in claim 3, characterized in that, The connection module includes: The second connector is connected to the output end of the pendulum module; The third connector is installed in the mounting groove and connected to the second connector. The third connector has a receiving groove corresponding to the bottom shape of the finger module, and the outer wall of the third connector has the third limiting structure or the fourth limiting structure. A positioning element is installed in the mounting groove and presses against the third connecting element, and the positioning element is connected to the base; The pendulum module drives the third connector to rotate in the mounting slot via the second connector, thereby causing the finger module installed in the receiving slot to rotate.

6. The robotic arm as described in claim 5, characterized in that, A first storage cavity is formed between the second connector and the third connector, and both the second connector and the third connector have through holes that communicate with the first storage cavity. The connecting wire extending from the finger module passes through the through hole of the second connector into the first storage cavity, and then passes through the through hole of the third connector and extends into the base.

7. The robotic arm as described in claim 1, characterized in that, The finger module includes: A finger root unit, one end of which is fixedly connected to the connecting module, the finger root assembly includes a first flexion-extension drive assembly; The finger middle unit is pivotally connected to the end of the finger root unit away from the connecting module and connected to the first flexion-extension driving component. The finger middle unit is driven to pivot by the first flexion-extension driving component. The finger middle unit includes a second flexion-extension driving component. The fingertip unit is pivotally connected to the end of the middle finger unit away from the root finger unit and connected to the second flexion-extension drive assembly. The fingertip unit is driven to pivot by the second flexion-extension drive assembly, and the end of the fingertip unit away from the middle finger unit is provided with the contact surface and the back surface.

8. The robotic arm as described in claim 7, characterized in that, The first flexion-extension drive assembly includes a second housing and a second drive member, a second transmission assembly, a second reduction assembly, a second rotating shaft, and a second connecting member housed within the second housing. The output end of the second drive member is connected to one end of the second rotating shaft via the second transmission assembly. The other end of the second rotating shaft is connected to the second reduction assembly. The second reduction assembly is connected to the second connecting member. The second drive member, the second rotating shaft, and the second reduction assembly are all located on the same side of the second transmission assembly. When the second drive member drives the second rotating shaft to rotate via the second transmission assembly, the second rotating shaft and the second reduction assembly drive the second connecting member to rotate, thereby driving the finger unit to rotate; or / and, The second flexion-extension drive assembly includes a third housing and a third drive member, a third transmission assembly, a third reduction assembly, a third rotating shaft, and a third connecting member housed within the third housing. The output end of the third drive member is connected to one end of the third rotating shaft via the third transmission assembly, and the other end of the third rotating shaft is connected to the third reduction assembly. The third reduction assembly is connected to the third connecting member, and the third drive member, the third rotating shaft, and the third reduction assembly are all located on the same side of the third transmission assembly. When the third drive member drives the third rotating shaft to rotate via the third transmission assembly, the third rotating shaft and the third reduction assembly drive the third connecting member to rotate, thereby driving the fingertip unit to rotate.

9. The robotic arm as described in claim 7, characterized in that, The fingertip unit further includes a sensing component mounted on the contact surface, and a connecting wire connected to the sensing component extends into the second flexion-extension drive component; and / or Both the middle finger unit and the fingertip unit further include a pivot assembly, the pivot assembly comprising: A connecting seat, wherein a second storage cavity is provided inside the connecting seat, and a through hole communicating with the second storage cavity is also provided at the bottom of the connecting seat; Two connecting ears are connected to the connecting seat. The two connecting ears are clamped outside the finger root unit and connected to the first flexion-extension drive component, or clamped outside the finger middle unit and connected to the second flexion-extension drive component. The connecting wire of the fingertip unit passes through the second receiving cavity and through hole of the pivot component at its tail and extends into the second flexion-extension drive component, while the connecting wire of the middle finger unit passes through the second receiving cavity and through hole of the pivot component at its tail and extends into the first flexion-extension drive component.

10. The robotic arm as described in claim 8, characterized in that, The connecting line extending from the fingertip unit into the middle finger unit extends from the side opposite to the third transmission component, reaches the side where the third transmission component is located, then extends to the tail of the second flexion-extension drive component, and merges with the connecting line of the third drive component. The merged connecting line then passes through the finger root unit; or / and, The connecting line that extends from the middle finger unit into the root finger unit extends from the side away from the second transmission component and extends to the side where the second transmission component is located. Then it extends to the tail of the first flexion and extension drive component and merges with the connecting line of the second drive component. The merged connecting line extends into the connecting module.

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