Manipulators and robots

Abstract

The embodiment of the present application discloses a mechanical hand, which comprises a palm, fingers and a plurality of joint modules; the fingers comprise an index finger, a middle finger, a ring finger and a little finger, each of the index finger, the middle finger, the ring finger and the little finger comprises a knuckle base, a proximal knuckle and a distal knuckle which are rotatably connected in sequence, the plurality of joint modules are arranged on the palm and correspond to the index finger, the middle finger, the ring finger and the little finger one by one, the joint module comprises a driving part and a transmission part, the knuckle base is arranged on the driving part, at least part of the driving part is rotatably connected with the proximal knuckle, the output end of the driving part can drive the proximal knuckle to rotate relative to the palm to bend and contract the proximal knuckle, the transmission part is rotatably connected between the distal knuckle and the knuckle base, and the proximal knuckle can be coupled to drive the distal knuckle to bend relative to the palm. The single driving unit of the mechanical hand of the embodiment of the present application can control the movement of a plurality of knuckles at the same time, the synchronous movement of the multiple knuckles is realized through mechanical coupling, and the complexity of the control system is simplified.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to a robotic arm and a robot. Background Technology

[0002] With the development of robotics and intelligent equipment, dexterous hands, as crucial end effectors for enabling robot grasping, manipulation, and human-robot interaction, are widely used in industrial automation, service robots, and scientific research. Compared to traditional gripper-type end effectors, dexterous hands typically use the coordinated movement of multiple fingers to grasp and manipulate objects, thus placing higher demands on structural design and motion control.

[0003] In related technologies, dexterous hands are usually improved in terms of operational flexibility by increasing the number of active degrees of freedom. However, increasing the number of active degrees of freedom often leads to structural complexity, a large number of drive units, and enhanced coupling of the control system, resulting in problems such as increased size, increased cost, and decreased reliability. Summary of the Invention

[0004] The present invention aims to at least partially solve one of the technical problems in the related art.

[0005] To address this, embodiments of the present invention propose a robotic hand that enables a single drive unit to simultaneously control the movement of multiple phalanges, thereby reducing the number of drive units while ensuring natural and smooth finger movements. Synchronous movement of multiple phalanges is achieved through mechanical coupling, simplifying the complexity of the control system.

[0006] The robotic hand of this invention includes a palm, fingers, and multiple joint modules. The fingers include an index finger, middle finger, ring finger, and little finger. Each of the index finger, middle finger, ring finger, and little finger includes a knuckle base, a proximal phalanx, and a distal phalanx that are rotatably connected in sequence. The multiple joint modules are disposed on the palm and correspond one-to-one with the index finger, middle finger, ring finger, and little finger. Each joint module includes a driving component and a transmission component. The driving component is disposed on the palm, and the knuckle base is disposed on the driving component. At least a portion of the driving component is rotatably connected to the proximal phalanx. The output end of the driving component can drive the proximal phalanx to rotate relative to the palm, thereby bending and contracting the proximal phalanx. The transmission component is rotatably connected between the distal phalanx and the knuckle base, so that when the proximal phalanx bends relative to the palm, the proximal phalanx can couple and drive the distal phalanx to bend relative to the palm.

[0007] In the robotic hand joint module of this invention, the output end of the drive component performs linear motion and can convert this linear motion into a bending motion of the proximal phalanx. Then, the transmission component can couple the motion of the proximal phalanx to the distal phalanx, realizing the overall coordinated movement of the fingers. This allows a single drive unit to control the movement of multiple phalanges simultaneously, reducing the number of drive units while ensuring the natural and smooth movement of the fingers. The synchronous movement of multiple phalanges is achieved through mechanical coupling, simplifying the complexity of the control system.

[0008] In some embodiments, the driving component of the robotic arm of the present invention includes an electric cylinder, a first connecting rod, and a second connecting rod; the electric cylinder is disposed on the palm and the delivery end of the electric cylinder is extendable and retractable relative to the palm along the length direction of the palm; the first connecting rod is rotatably connected to the delivery end of the electric cylinder; the second connecting rod is rotatably connected to the first connecting rod and the proximal phalanx, and the movement of the output end of the electric cylinder can sequentially drive the first connecting rod, the second connecting rod, and the proximal phalanx to move, so as to bend the proximal phalanx.

[0009] In some embodiments, the robotic arm of the present invention further includes a pull rod disposed on the second connecting rod. The proximal phalanx has a semi-waist hole, and the pull rod passes through the semi-waist hole and slides in the semi-waist hole, so that when the second connecting rod drives the pull rod to slide in the semi-waist hole, the pull rod can drive the proximal phalanx to move, thereby bending the proximal phalanx.

[0010] In some embodiments of the present invention, the finger further includes a distal phalanx base, which is disposed at the bottom of the distal phalanx. The transmission component includes a screw, a square-headed pin, and a third link. The square-headed pin passes through the distal phalanx base, and the outer wall of the distal phalanx base has a square groove. The square head of the square-headed pin can be fitted into the square groove to position the square-headed pin. The screw is threaded to one end of the square-headed pin away from the square head to lock the square-headed pin. The third link is sleeved on the square-headed pin so that the third link is rotatably connected between the phalanx base and the distal phalanx base.

[0011] In some embodiments, the robotic arm of the present invention further includes a torsion spring disposed between the square-headed pin and the third link.

[0012] In some embodiments of the present invention, the fingers of the robotic hand further include a thumb and a rotating component. The thumb includes a thumb base and a thumb module that are rotatably connected in sequence. The rotating component is disposed on the palm, and the thumb base is connected to the output end of the rotating component, so that the output end of the rotating component can drive the thumb base to swing along the thickness direction of the palm.

[0013] In some embodiments, the rotating component of the robotic hand of the present invention includes a housing, a rotary motor, and an output shaft. The housing is disposed in the palm, the rotary motor is disposed inside the housing, the output shaft is disposed at the output end of the rotary motor and rotates coaxially with the output end of the rotary motor, and the output shaft can pass through the housing to connect the output shaft to the thumb base. The movement of the output shaft can drive the thumb base to swing along the thickness direction of the palm.

[0014] In some embodiments, the thumb module of the robotic arm of the present invention includes a thumb electric cylinder and a crank rod. The thumb electric cylinder is disposed along the length direction of the palm, and the output end of the thumb electric cylinder is rotatably connected to the thumb base. The first end of the crank rod is rotatably connected to the thumb electric cylinder. The thumb base has a protrusion that extends along the thickness direction of the palm. The second end of the crank rod is connected to the protrusion. The crank rod is used to support the thumb electric cylinder so that when the output end of the thumb electric cylinder extends or retracts, the thumb module can bend on the thumb base.

[0015] In some embodiments, the robotic arm of the present invention further includes a first fixed seat and a second fixed seat, both of which are disposed at one end of the housing near the palm, and the housing is disposed on the palm via the first fixed seat and the second fixed seat.

[0016] The robot in this embodiment of the invention includes the robotic arm described in any of the above embodiments. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the robotic arm according to an embodiment of the present invention.

[0018] Figure 2 This is the robotic arm of the present invention. Figure 1 The left view.

[0019] Figure 3 This is a schematic diagram of the structure of the first and second connecting rods according to an embodiment of the present invention.

[0020] Figure 4 This is a schematic diagram of the structure of the knuckle base according to an embodiment of the present invention.

[0021] Figure 5 This is a schematic diagram of the structure of the thumb in an embodiment of the present invention.

[0022] Figure 6 This is a schematic diagram of the structure of a rotary motor according to an embodiment of the present invention.

[0023] Figure 7 This is a schematic diagram of the structure of four fingers according to an embodiment of the present invention.

[0024] Figure label:

[0025] 100. Robotic arm; 1. Hand; 101. Mounting slot; 2. Finger; 201. Knuckle base; 202. Proximal knuckle; 2021. Semi-waist hole; 203. Distal knuckle; 204. Distal finger base; 3. Joint module; 301. Drive component; 3011. Electric cylinder; 3012. First connecting rod; 3013. Second connecting rod; 302. Transmission component; 3021. Screw; 3022. Third connecting rod; 3023. Square head pin; 4. 5. Pull rod; 6. Torsion spring; 7. Thumb; 8. Thumb base; 9. Slot; 10. Protrusion; 11. Base body; 12. First plate; 13. Second plate; 14. Thumb module; 15. Thumb electric cylinder; 16. Crank rod; 17. Rotating assembly; 18. Housing; 19. Rotary motor; 20. Output shaft; 31. First fixed seat; 42. Second fixed seat. Detailed Implementation

[0026] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0027] Reference Figures 1-7 The robotic arm 100 of this embodiment includes a palm 1, fingers 2 and multiple joint modules 3. The fingers 2 include the index finger, middle finger, ring finger, and little finger. Each of the index finger, middle finger, ring finger, and little finger includes a knuckle base 201, a proximal knuckle 202, and a distal knuckle 203 that are rotatably connected in sequence. Multiple joint modules 3 are disposed on the palm 1 and correspond one-to-one with the index finger, middle finger, ring finger, and little finger. Each joint module 3 includes a driving component 301 and a transmission component 302. The driving component 301 is disposed on the palm 1, and the knuckle base 201 is disposed on the driving component 301. At least a portion of the driving component 301 is rotatably connected to the proximal knuckle 202. The output end of the driving component 301 can drive the proximal knuckle 202 to rotate relative to the palm 1, so as to bend and retract the proximal knuckle 202. The transmission component 302 is rotatably connected between the distal knuckle 203 and the knuckle base 201, so that when the proximal knuckle 202 bends relative to the palm 1, the proximal knuckle 202 can couple and drive the distal knuckle 203 to bend relative to the palm 1.

[0028] In this embodiment of the invention, the output end of the drive component 301 in the joint module 3 of the robotic arm 100 performs linear motion and can convert this linear motion into a bending motion of the proximal phalanx 202. Then, the transmission component 302 can couple the motion of the proximal phalanx 202 to the distal phalanx 203, realizing the overall coordinated movement of the finger 2. This allows a single drive unit to control the movement of multiple phalanges simultaneously, reducing the number of drive units while ensuring the natural and smooth movement of the finger 2. The synchronous movement of multiple phalanges is achieved through mechanical coupling, simplifying the complexity of the control system.

[0029] Optionally, the distal phalanx 203 is provided with a fingertip, which is positioned by being inserted into a slot on the distal phalanx 203 and then connected by a screw, thereby facilitating the replacement of the fingertip.

[0030] In some embodiments, such as Figures 2-4 As shown, the driving component 301 of the robotic arm 100 in this embodiment of the invention includes an electric cylinder 3011, a first connecting rod 3012, and a second connecting rod 3013. The electric cylinder 3011 is disposed on the palm 1, and the output end of the electric cylinder 3011 is extendable and retractable relative to the palm 1 along the length direction of the palm 1. The first connecting rod 3012 is rotatably connected to the output end of the electric cylinder 3011. The second connecting rod 3013 is rotatably connected to the first connecting rod 3012 and the proximal phalanx 202. The movement of the output end of the electric cylinder 3011 can sequentially drive the first connecting rod 3012, the second connecting rod 3013, and the proximal phalanx 202 to move, thereby bending the proximal phalanx 202.

[0031] The output end of the electric cylinder 3011 extends and retracts along the length of the palm 1, causing the first connecting rod 3012 to swing. The first connecting rod 3012 then transmits the motion to the second connecting rod 3013 through the hinge point, causing the second connecting rod 3013 to bend the proximal knuckle 202. In this way, the linear motion of the electric cylinder 3011 can be efficiently converted into the bending motion of the finger 2, forming a stable crank-slider mechanism. The connecting rod transmission structure is simple and reliable, reducing energy loss in the transmission link and improving driving efficiency.

[0032] Optionally, the palm 1 has a mounting groove 101, and the electric cylinder 3011 can be installed on the palm 1 by first embedding it into the mounting groove 101 and then by screws.

[0033] In some embodiments, such as Figure 3 and Figure 4As shown, the robotic arm 100 of this embodiment of the invention also includes a pull rod 4, which is disposed on the second connecting rod 3013. The proximal phalanx 202 has a semi-waist hole 2021. The pull rod 4 passes through the semi-waist hole 2021 and slides in the semi-waist hole 2021, so that when the second connecting rod 3013 drives the pull rod 4 to slide in the semi-waist hole 2021, the pull rod 4 can drive the proximal phalanx 202 to move, thereby bending the proximal phalanx 202.

[0034] The pull rod 4 is fixed to the second connecting rod 3013 and passes through the semi-waist hole 2021 near the knuckle 202. When the electric cylinder 3011 drives the first connecting rod 3012 and the second connecting rod 3013 to move, the pull rod 4 slides in the semi-waist hole 2021, which can convert the rotational motion of the second connecting rod 3013 into the bending motion of the knuckle 202. At the same time, the semi-waist hole 2021 is designed so that, at any position within the designed stroke of the output end of the electric cylinder 3011, under the action of external force, the first connecting rod 3012 and the second connecting rod 3013 can be bent relative to each other and / or the pull rod 4 can move freely between the waist holes, thus achieving the effect of retracting the middle knuckle.

[0035] In some embodiments, such as Figures 2-4 As shown, the finger in this embodiment of the invention also includes a distal phalanx base 204, which is disposed at the bottom of the distal phalanx 203. The transmission component includes a screw 3021, a square-headed pin 3023, and a third connecting rod 3022. The square-headed pin 3023 passes through the distal phalanx base 204. The outer wall of the distal phalanx base 204 has a square groove. The square head of the square-headed pin 3023 can be fitted into the square groove to position the square-headed pin 3023. The screw 3021 is threadedly connected to the end of the square-headed pin 3023 away from the square head to lock the square-headed pin. The third connecting rod 3022 is sleeved on the square-headed pin 3023 so that the third connecting rod 3022 is rotatably connected between the phalanx base 201 and the distal phalanx base 204.

[0036] The knuckle base 201, distal knuckle base 204, and screw 3021 are connected by a third link 3022 to form a four-bar linkage. When the proximal knuckle 202 retracts, the distal knuckle 203 retracts simultaneously.

[0037] In some embodiments, such as Figure 4 As shown, the robotic arm 100 in this embodiment of the invention also includes a torsion spring 5, which is disposed between the square-headed pin 3023 and the third connecting rod 3022. The torsion spring 5 enables the automatic reset of the distal phalanx 203.

[0038] In some embodiments, such as Figures 5-7As shown, the robotic arm 100 of this embodiment of the invention also includes a thumb 6 and a rotating component 7. The thumb 6 includes a thumb base 601 and a thumb module 602 that are rotatably connected in sequence. The rotating component 7 is disposed on the palm 1, and the thumb base 601 is connected to the output end of the rotating component 7 so that the output end of the rotating component 7 can drive the thumb base 601 to swing along the thickness direction of the palm 1.

[0039] The rotating component 7 is fixed on the palm 1. The output end of the rotating component 7 is connected to the thumb base 601. When the output end of the rotating component 7 is activated, it can drive the thumb base 601 to swing along the thickness direction of the palm 1. The thumb module 602 is hinged to the thumb base 601, so that the thumb can swing as a whole and bend independently, thereby realizing the grasping and operation action.

[0040] In some embodiments, such as Figure 5 and Figure 6 As shown, the rotating component 7 of the robotic arm 100 in this embodiment of the invention includes a housing 701, a rotary motor 702, and an output shaft 703. The housing 701 is disposed in the palm 1, the rotary motor 702 is disposed inside the housing 701, and the output shaft 703 is disposed at the output end of the rotary motor 702 and rotates coaxially with the output end of the rotary motor 702. The output shaft 703 can pass through the housing 701 so that the output shaft 703 is connected to the thumb base 601. The movement of the output shaft 703 can drive the thumb base 601 to swing along the thickness direction of the palm 1.

[0041] The rotary motor 702 is installed inside the housing 701, which is fixed on the palm 1. The output shaft 703 of the rotary motor 702 passes through the housing 701 and is connected to the thumb base 601. When the rotary motor 702 rotates, the output shaft 703 of the rotary motor 702 drives the thumb base 601 to swing along the thickness direction of the palm 1. In this way, the rotational motion of the rotary motor 702 can be converted into the swinging motion of the thumb, realizing the pinching and side gripping action of the thumb 6 and other fingers 2.

[0042] In some embodiments, such as Figure 5 and Figure 6 As shown, the thumb module 602 of the robotic arm 100 in this embodiment of the invention includes a thumb electric cylinder 6021 and a crank 6022. The thumb electric cylinder 6021 is arranged along the length direction of the palm 1, and the output end of the thumb electric cylinder 6021 is rotatably connected to the thumb base 601. The first end of the crank 6022 is rotatably connected to the thumb electric cylinder 6021. The thumb base 601 has a protrusion 6012, which extends along the thickness direction of the palm 1. The second end of the crank 6022 is connected to the protrusion 6012. The crank 6022 is used to support the thumb electric cylinder 6021 so that when the output end of the thumb electric cylinder 6021 extends or retracts, the thumb module 602 can bend on the thumb base 601.

[0043] The thumb electric cylinder 6021 is set along the length of the palm 1. The output end of the thumb electric cylinder 6021 is hinged to the thumb base 601. One end of the crank rod 6022 is hinged to the thumb electric cylinder 6021, and the other end is connected to the protrusion 6012 on the thumb base 601, forming a stable support structure. When the thumb electric cylinder 6021 extends or retracts, the linear motion is converted into the bending motion of the thumb module 602 through the transmission and conversion of the crank rod 6022. In this process, the crank rod 6022 plays a supporting role and also acts as a force transmission medium, which helps to make the thumb bend.

[0044] Optionally, a housing is provided on the thumb electric cylinder 6021, so that one end of the crank 6022 is rotatably connected to the housing. The housing is used to support the thumb electric cylinder 6021, and threaded holes are provided on both sides of the housing for fixing the thumb external parts.

[0045] Optionally, the thumb base 601 has a base body 6013, a first plate 6014 and a second plate 6015. The top and bottom of the thumb base 601 both have slots 6011. The first plate 6014 and the second plate 6015 are fixed to the base body 6013 by screws into the slots 6011. The first plate 6014 and the second plate 6015 can enclose the housing 701. The first plate 6014 is connected to the output shaft 703 so that the output shaft 703 can rotate to drive the thumb base 601 to swing.

[0046] In some embodiments, such as Figure 6 As shown, the robotic arm 100 of this embodiment further includes a first fixed base 8 and a second fixed base 9. Both the first fixed base 8 and the second fixed base 9 are disposed at the end of the housing 701 near the palm 1, and the housing 701 is disposed on the palm 1 via the first fixed base 8 and the second fixed base 9. The use of a double fixed base helps to improve the connection stability between the housing 701 and the palm 1.

[0047] Optionally, a PCBA module is provided on the palm 1, and the drive component 301, thumb electric cylinder 6021 and rotary motor 702 are all electrically connected to the PCBA module for centralized control.

[0048] The robot of this invention includes the robotic arm 100 from any of the above embodiments. The robot of this invention has the following beneficial effects: Modular design, simple structure, easy maintenance and replacement.

[0049] Long lifespan, utilizing the ball screw linear electric cylinder 3011, with a no-load reciprocating life of up to millions of cycles. When the robotic arm 100 is not powered, the electric cylinder 3011 can be reverse-driven. Thanks to the ball screw, the four fingers can naturally open when gripped by external force, avoiding damage to the mechanical structure.

[0050] The opening and closing speed is fast, averaging 0.5 seconds.

[0051] Strong grip strength: grip strength of four fingertips greater than 30kg, and pressure of a single fingertip greater than 35N.

[0052] The four fingers can passively retract and collapse, slowly releasing when gripping under overload to prevent impact damage.

[0053] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0054] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0055] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0056] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0057] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0058] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A robotic arm, characterized in that, include: Palm (1); The hand comprises fingers (2) and multiple joint modules (3). The fingers (2) include an index finger, a middle finger, a ring finger, and a little finger. Each of the index finger, the middle finger, the ring finger, and the little finger includes a knuckle base (201), a proximal knuckle (202), and a distal knuckle (203) that are rotatably connected in sequence. The multiple joint modules (3) are located on the palm (1) and correspond one-to-one with the index finger, the middle finger, the ring finger, and the little finger. Each joint module (3) includes a driving component (301) and a transmission component (302). The driving component (301) is located on the palm (1). The knuckle base (201) is located on the palm (1). A drive component (301) is provided, at least a portion of which is rotatably connected to the proximal phalanx (202). The output end of the drive component (301) can drive the proximal phalanx (202) to rotate relative to the palm (1) to bend and retract the proximal phalanx (202). The transmission component (302) is rotatably connected between the distal phalanx (203) and the phalanx base (201) so that when the proximal phalanx (202) bends relative to the palm (1), the proximal phalanx (202) can couple and drive the distal phalanx (203) to bend relative to the palm (1).

2. The robotic arm according to claim 1, characterized in that, The drive component (301) includes: An electric cylinder (3011) is provided on the palm (1) and the conveying end of the electric cylinder (3011) is retractable relative to the palm (1) along the length direction of the palm (1); The first link (3012) is rotatably connected to the conveying end of the electric cylinder (3011); The second link (3013) is rotatably connected to the first link (3012) and the proximal phalanx (202). The movement of the output end of the electric cylinder (3011) can sequentially drive the first link (3012), the second link (3013) and the proximal phalanx (202) to move, so as to bend the proximal phalanx (202).

3. The robotic arm according to claim 2, characterized in that, It also includes a pull rod (4), which is disposed on the second connecting rod (3013). The proximal phalanx (202) has a semi-waist hole (2021). The pull rod (4) passes through the semi-waist hole (2021) and slides with the semi-waist hole (2021) so that when the second connecting rod (3013) drives the pull rod (4) to slide in the semi-waist hole (2021), the pull rod (4) can drive the proximal phalanx (202) to move, so as to bend the proximal phalanx (202).

4. The robotic arm according to claim 1, characterized in that, The finger (2) also includes a distal base (204), which is located at the bottom of the distal phalanx (203). The transmission component (302) includes a screw (3021), a square-headed pin (3023), and a third link (3022). The square-headed pin (3023) passes through the distal base (204). The outer wall of the distal base (204) has a square groove. The square head of the square-headed pin (3023) can be fitted into the square groove to position the square-headed pin (3023). The screw (3021) is threaded to the end of the square-headed pin (3023) away from the square head to lock the square-headed pin (3023). The third link (3022) is sleeved on the square-headed pin (3023) so that the third link (3022) is rotatably connected between the phalanx base (201) and the distal base (204).

5. The robotic arm according to claim 4, characterized in that, The robotic arm also includes a torsion spring (5), which is located between the square-headed pin (3023) and the third link (3022).

6. The robotic arm according to any one of claims 1-5, characterized in that, The finger (2) also includes a thumb (6) and a rotating component (7). The thumb (6) includes a thumb base (601) and a thumb module (602) that are rotatably connected in sequence. The rotating component (7) is located on the palm (1), and the thumb base (601) is connected to the output end of the rotating component (7) so that the output end of the rotating component (7) can drive the thumb base (601) to swing along the thickness direction of the palm (1).

7. The robotic arm according to claim 6, characterized in that, The rotating assembly (7) includes a housing (701), a rotary motor (702), and an output shaft (703). The housing (701) is located in the palm (1), the rotary motor (702) is located inside the housing (701), and the output shaft (703) is located at the output end of the rotary motor (702) and rotates coaxially with the output end of the rotary motor (702). The output shaft (703) can pass through the housing (701) so that the output shaft (703) is connected to the thumb base (601). The movement of the output shaft (703) can drive the thumb base (601) to swing along the thickness direction of the palm (1).

8. The robotic arm according to claim 6, characterized in that, The thumb module (602) includes a thumb electric cylinder (6021) and a crank (6022). The thumb electric cylinder (6021) is arranged along the length direction of the palm (1), and the output end of the thumb electric cylinder (6021) is rotatably connected to the thumb base (601). The first end of the crank (6022) is rotatably connected to the thumb electric cylinder (6021). The thumb base (601) has a protrusion (6012) that extends along the thickness direction of the palm (1). The second end of the crank (6022) is connected to the protrusion (6012). The crank (6022) is used to support the thumb electric cylinder (6021) so that when the output end of the thumb electric cylinder (6021) extends or retracts, the thumb module (602) can bend on the thumb base (601).

9. The robotic arm according to claim 7, characterized in that, It also includes a first fixing seat (8) and a second fixing seat (9), both of which are located at one end of the housing (701) near the palm (1). The housing (701) is located on the palm (1) via the first fixing seat (8) and the second fixing seat (9).

10. A robot, characterized in that, The robotic arm included in any one of claims 1-9.

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