Mechanical finger and robot hand

Abstract

The application discloses a mechanical finger, which comprises a first phalanx, a mounting module, a connecting module, a transmission module and a driving module. The connecting module is rotatably mounted on the top of the mounting module and connected with a second phalanx. The transmission module comprises first and second transmission members. The driving module comprises first and second motors. The first and second motors are respectively mounted on the bottom of the mounting module and oppositely arranged along a first direction. The first motor is connected with the first transmission member on different sides. The second motor is connected with the second transmission member on different sides. The first transmission member is driven to rotate by the first motor. The second transmission member is driven to rotate by the second motor. When the first and second transmission members rotate in the same direction, the connecting module can rotate around an axis parallel to the first direction. When the first and second transmission members rotate in opposite directions, the connecting module can rotate around an axis parallel to a second direction. The application further discloses a mechanical hand with the mechanical finger.

Description

Technical Field

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

[0002] The robotic arm is the core execution component of a robot. In existing multi-posture adjustable robotic arm designs, to achieve the two types of movements—swinging and bending—the industry generally adopts a split, independent module design. That is, separate swing drive modules and bending drive modules are set up. The two modules are independent of each other and drive the fingers to complete the swinging and bending movements, thereby meeting the multi-dimensional posture adjustment needs of the robotic arm.

[0003] The current modular design requires significant assembly space, greatly increasing the overall size and weight of the robot, which hinders its development towards miniaturization, lightweighting, and integration. It also increases the overall assembly complexity, material costs, and maintenance costs. Furthermore, the independently designed swing and bending modules have misaligned power output points, leading to eccentric forces and torque shifts when the robot performs combined or individual swinging or bending movements. This directly results in poor stability of the swing motion, irregular movement trajectories, and a high susceptibility to swing deviation, shaking, and posture errors. Summary of the Invention

[0004] The technical solution of the present invention is as follows: A mechanical finger is provided, comprising a first phalanx and a second phalanx pivotally connected. The first phalanx includes an installation module, a connection module, a transmission module, a drive module, and a reduction module. The installation module includes a base, a first side plate, and a second side plate. The first side plate is disposed on one side of the base and forms a first lateral space with the base. The second side plate is disposed on the other side of the base and forms a second lateral space with the base. The base has a through hole extending along the first direction, communicating with both the first lateral space and the second lateral space. The connection module is rotatably mounted on the top of the installation module and connected to the second phalanx. The transmission module includes a first transmission member and a second transmission member, arranged sequentially along the first direction. The transmission module is located on the top of the base, with the first transmission member adjacent to the first side plate and the second transmission member adjacent to the second side plate. The drive module includes a first motor and a second motor, respectively mounted on the bottom of the base and arranged in opposite directions along the first direction. The output end of the first motor and the second transmission member are close to one side wall of the mounting module, and the output end of the second motor and the first transmission member are close to the other side wall of the mounting module. The output end of the first motor is located in the second side space, and the output end of the second motor is located in the first side space. The deceleration module includes a first deceleration component and a second deceleration component. The output end of the first motor is connected to the first transmission member through the first deceleration component, and the output end of the second motor is connected to the second transmission member through the second deceleration component. The first deceleration component and the second deceleration component are both installed in the first side space, the second side space, and the through hole. The first transmission member can rotate under the drive of the first motor, and the second transmission member can rotate under the drive of the second motor. When the first transmission member and the second transmission member rotate in the same direction, the connecting module can rotate around an axis parallel to the first direction. When the first transmission member and the second transmission member rotate in opposite directions, the connecting module can rotate around an axis parallel to the second direction. The second direction intersects the first direction.

[0005] Preferably, the mechanical finger further includes a reduction module, which includes a first reduction component and a second reduction component. Both the first and second reduction components include multiple gear sets, and each gear set includes at least two coaxially arranged gears. The output end of the first motor is connected to the first transmission component through the first reduction component, and the output end of the second motor is connected to the second transmission component through the second reduction component. The first motor drives the first reduction component to move, which in turn drives the first transmission component to rotate. The second motor drives the second reduction component to move, which in turn drives the second transmission component to rotate, thereby driving the connecting module to rotate. The connecting module then drives the second phalanx to rotate or swing relative to the mounting module.

[0006] Preferably, the mounting module includes a base, a first side plate, and a second side plate. The first side plate is disposed on one side of the base and forms a first side space with the base. The second side plate is disposed on the other side of the base and forms a second side space with the base.

[0007] Preferably, the transmission module is located at the top of the base, the first transmission component is adjacent to the first side plate, the second transmission component is adjacent to the second side plate, the first motor and the second motor are both mounted at the bottom of the base, the output end of the first motor is located in the second side space, and the output end of the second motor is located in the first side space.

[0008] Preferably, the base is provided with a through hole extending along the first direction, the through hole communicating with the first side space and the second side space respectively, and the first deceleration component and the second deceleration component are both installed in the first side space, the second side space and the through hole.

[0009] Preferably, at least two sets of gears in the first reduction assembly are disposed in the through hole, and at least two sets of gears in the second reduction assembly are disposed in the through hole; and in the through hole, at least one set of gears in the first reduction assembly and one set of gears in the second reduction assembly are arranged coaxially, at least one set of gears in the first reduction assembly and one set of gears in the second reduction assembly are not coaxial, and at least one set of gears in the second reduction assembly and one set of gears in the first reduction assembly are not coaxial.

[0010] Preferably, the base includes an isolation section and a receiving section, the isolation section being located between the first side plate and the second side plate, and the through hole being provided in the isolation section; the transmission module is located on top of the isolation section; Preferably, the receiving portion is located at the bottom of the isolation portion and extends toward the first side plate and the second side plate respectively along the first direction; the receiving portion is provided with a first receiving groove and a second receiving groove, the first receiving groove and the second receiving groove are arranged separately along the second direction, and the first receiving groove and the second receiving groove are partially misaligned along the first direction; the first motor is installed in the first receiving groove, and the second motor is installed in the second receiving groove.

[0011] Preferably, both the first reduction gear assembly and the second reduction gear assembly include a first gear, a second gear, a third gear, a fourth gear, a fifth gear, a sixth gear, a seventh gear, an eighth gear, a ninth gear, a tenth gear, and an eleventh gear. The second gear and the third gear are coaxially arranged to form one gear set; the fourth gear, the fifth gear, the eighth gear, and the ninth gear are coaxially arranged to form another gear set; and the sixth gear and the seventh gear are coaxially arranged to form yet another gear set. Furthermore, the first gear is connected to the output end of the first motor or the second motor; the second gear is connected to the first gear; the third gear is connected to the fourth gear; the fifth gear is connected to the sixth gear; the seventh gear is connected to the eighth gear; and the ninth, tenth, and eleventh gears are sequentially connected. The eleventh gear is connected to the first transmission member or the second transmission member.

[0012] Preferably, the first gear is fixed to the first rotating shaft, the second and third gears are fixed to the second rotating shaft, the fourth and fifth gears are fixedly connected and both are fixed to the third rotating shaft, and the sixth and seventh gears are fixed to the fourth rotating shaft; the ninth and eighth gears are both fixedly connected to the fifth rotating shaft, the tenth gear is fixed to the sixth rotating shaft, and the eleventh gear is fixed to the seventh rotating shaft; wherein, the first rotating shaft is connected to the output end of the first motor or the second motor, and the first, second, and third rotating shafts are sequentially arranged along a third direction and close to one side wall of the mounting module; the third and fourth rotating shafts are arranged side by side along the second direction; the third direction, the second direction, and the first direction intersect each other; the fifth rotating shaft is fitted onto the third rotating shaft, the seventh rotating shaft is connected to the rotating shaft of the first or second transmission component, and the fifth, sixth, and seventh rotating shafts are sequentially arranged along the third direction and close to the other side wall of the mounting module.

[0013] Preferably, the first knuckle further includes a first detection component, which includes a first code disk and a first circuit board. The first code disk is mounted on a code disk gear, and the code disk gear meshes with a gear of the first deceleration component near the first transmission member, or with a gear of the second deceleration component near the second transmission member. The first circuit board is spaced apart from the first code disk.

[0014] Preferably, the first knuckle further includes a second detection component, which includes a second code disk and a second circuit board. The second code disk is installed at the output end of the first motor or the output end of the second motor, and the second circuit board is spaced apart from the second code disk.

[0015] Preferably, both the first side plate and the second side plate are provided with mounting holes, and both the first circuit board and the second circuit board are mounted in the mounting holes and exposed to the outside through the mounting holes.

[0016] Preferably, both the first side plate and the second side plate have grooves that communicate with the mounting holes, and the grooves are used to accommodate a first connecting line that is connected to at least one of the first circuit board and the second circuit board.

[0017] Preferably, the mechanical finger further includes a second connecting line, which enters from the top of the transmission module, passes through the center of the rotating shaft of the first or second transmission member, and then exits from the first or second side plate and extends along the groove toward the bottom of the mounting module.

[0018] Preferably, the transmission module further includes a third transmission component and a fourth transmission component, the third transmission component and the fourth transmission component being arranged sequentially along the second direction, and both being connected to the first transmission component and the second transmission component, wherein the third transmission component is fixedly connected to the connecting module, and the fourth transmission component is rotatably connected to the connecting module.

[0019] Preferably, the transmission module further includes a mounting base, which includes a first connecting shaft, a second connecting shaft, a third connecting shaft, and a fourth connecting shaft. The first connecting shaft and the second connecting shaft are spaced apart and coaxially arranged along the first direction, and the third connecting shaft and the fourth connecting shaft are spaced apart and coaxially arranged along the second direction. The first transmission component is mounted on the first connecting shaft, the second transmission component is mounted on the second connecting shaft, the third transmission component is mounted on the third connecting shaft, and the fourth transmission component is mounted on the fourth connecting shaft.

[0020] Preferably, the connection module includes a first connecting seat and a second connecting seat; wherein, the first connecting seat is installed on the top of the mounting module, the first connecting seat has a receiving cavity, and two sides have a first opening and a second opening communicating with the receiving cavity, the receiving cavity is provided with the mounting seat and the third transmission member and the fourth transmission member, and the third transmission member and the fourth transmission member are respectively connected to the first transmission member and the second transmission member through the first opening and the second opening; one end of the second connecting seat is swayably installed in the receiving cavity and is fixedly connected to the third transmission member and rotatably connected to the fourth transmission member, and the other end protrudes out of the first connecting seat and is connected to the second knuckle; wherein, when the third transmission member drives the second connecting seat to rotate relative to the first connecting seat about an axis parallel to the second direction, the second connecting seat drives the second knuckle to swing; when the third transmission member and the fourth transmission member drive the first connecting seat to rotate about an axis parallel to the first direction, the first connecting seat drives the second connecting seat to rotate, thereby driving the second knuckle to rotate.

[0021] Preferably, the second connecting seat includes a first connecting rod, a second connecting rod, a third connecting rod, and a connecting plate. The first connecting rod and the second connecting rod are spaced apart and connected to one end of the third connecting rod. The first connecting rod and the second connecting rod are housed in the receiving cavity. One of the first connecting rod and the second connecting rod is fixedly connected to the third transmission member, and the other is rotatably connected to the fourth transmission member. The other end of the third connecting rod protrudes out of the first connecting seat and is connected to the connecting plate. The connecting plate is used to connect the second knuckle.

[0022] Correspondingly, this application also provides a robotic hand, which includes a palm and a plurality of robotic fingers as described above, each of which is mounted on the palm via the mounting module, and the robotic fingers can be bent and / or swing relative to the palm.

[0023] Compared with the prior art, the mechanical finger of the present invention has several advantages. First, the first motor and the second motor are respectively installed at the bottom of the mounting module and arranged in opposite directions. The output end of the first motor and the first transmission component are located on different sides, and the output end of the second motor and the second transmission component are located on different sides. This results in a compact structure, small space occupation, and a significant reduction in the overall volume and weight of the mechanical finger. This is conducive to the development of mechanical fingers towards miniaturization, lightweighting, and integration. At the same time, it simplifies the assembly process of the overall equipment and reduces material and maintenance costs. Second, the transmission module is provided with a first transmission component and a second transmission component arranged sequentially along the first direction. Both are driven by the first motor and the second motor, which operate independently. This greatly reduces the deviation of the power output point. As a result, when the mechanical finger performs individual or combined actions such as swinging and bending, the occurrence of eccentric force and torque deviation is greatly reduced or minimized. This reduces or avoids problems such as swing deviation, shaking, and posture deviation, improves the stability of the bending and swinging actions of the mechanical finger, and makes its movement trajectory regular.

[0024] Correspondingly, a robotic hand having the mechanical fingers of this application also has the aforementioned technical effects. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the robotic arm of the present invention.

[0026] Figure 2 yes Figure 1 A schematic diagram of the structure of a mechanical finger.

[0027] Figure 3 yes Figure 2 A schematic diagram of the structure of the first phalanx.

[0028] Figure 4 yes Figure 3 A structural diagram showing the removal of the first and second side panels.

[0029] Figure 5 yes Figure 3 Another structural diagram showing the removal of the first and second side panels.

[0030] Figure 6 yes Figure 5 A structural diagram showing the disassembly of the connecting module.

[0031] Figure 7 yes Figure 6 A structural diagram from another angle.

[0032] Figure 8 yes Figure 5 A schematic diagram of the dismantled transmission module.

[0033] Figure 9 yes Figure 8 A structural diagram from another angle.

[0034] Figure 10 yes Figure 8 A top view of the base after it has been removed.

[0035] Figure 11 This is a schematic diagram of the structure of the first motor and the first reduction gear assembly in this invention.

[0036] Figure 12 yes Figure 11 A structural diagram from another angle.

[0037] Figure 13 This is a schematic diagram of the installation module in this invention.

[0038] Figure 14 yes Figure 13 The exploded diagram.

[0039] Figure 15 This is a schematic diagram of the connection between the transmission module and the connection module in this invention.

[0040] Figure 16 yes Figure 15 A structural diagram from another angle.

[0041] Figure 17 This is a schematic diagram of the transmission module in this invention.

[0042] Figure 18 yes Figure 17 The exploded diagram.

[0043] Figure 19 This is an exploded view of the connection module in this invention. Detailed Implementation

[0044] Embodiments of the present invention will now be described with reference to the accompanying drawings, in which similar element reference numerals represent similar elements. It should be noted that the directional descriptions involved in the present invention, such as up, down, left, right, front, and rear, indicating directions or positional relationships, are based on the directions or positional relationships shown in the drawings and are only for the convenience of describing the technical solutions of this application and / or simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. The terms "first," "second," etc., described are only used to distinguish technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the sequential relationship of the indicated technical features.

[0045] Combination Figures 1-2As shown, in one embodiment of the present invention, the provided mechanical finger 10 includes at least a first phalanx 100 and a second phalanx 200 pivotally connected. The structure of the second phalanx 200 may be the same as that of the first phalanx 100, or it may be a conventional structure in the art, which is not limited here. The second phalanx 200 may rotate or swing relative to the first phalanx 100 to realize the bending and swinging of the mechanical finger 10, as detailed below.

[0046] Continue reading Figure 2 As shown, in this embodiment, the mechanical finger 10 may further be provided with a third phalanx 300, which is pivotally connected to the second phalanx 200 and can rotate or swing relative to the second phalanx 200. The structure and connection method of the third phalanx 300 are conventional methods in the art.

[0047] The following is combined with Figures 3-10 As shown, in one embodiment of the present invention, the first finger joint 100 includes a mounting module 110, a drive module 120, a reduction module 130, a transmission module 140, and a connecting module 150. The connecting module 150 is rotatably mounted on the top of the mounting module 110 and connected to the second finger joint 200. The transmission module 140 is mounted on the top of the mounting module 110 and connected to the connecting module 150. The drive module 120 is mounted on the bottom of the mounting module 110 and connected to the transmission module 140 via the reduction module 130. The drive module 120 drives the transmission module 140 to move via the reduction module 130, causing the connecting module 150 to rotate about an axis parallel to a first direction (X direction) or about an axis parallel to a second direction (Y direction), thereby causing the connecting module 150 to cause the second finger joint 200 to rotate or oscillate relative to the first finger joint 100.

[0048] The following is combined with Figures 4-10 As shown, in one embodiment of the present invention, the transmission module 140 includes a first transmission member 141 and a second transmission member 142, which are arranged sequentially along a first direction (X direction). The drive module 120 includes a first motor 121 and a second motor 122, which are respectively mounted on the bottom of the mounting module 110 and arranged oppositely along the first direction (X direction). Specifically, the output end of the first motor 121 and the second transmission member 142 are close to one side wall of the mounting module 110, and the output end of the second motor 122 and the first transmission member 141 are close to the other side wall of the mounting module 110. The output end of the first motor 121 is drive-connected to the first transmission member 141, and the output end of the second motor 122 is drive-connected to the second transmission member 142. Figures 3-4As shown. The first transmission member 141 can rotate under the drive of the first motor 121, and the second transmission member 142 can rotate under the drive of the second motor 122. When the first transmission member 141 and the second transmission member 142 rotate in the same direction, the connecting module 150 can rotate about an axis parallel to the first direction (X direction). When the first transmission member 141 and the second transmission member 142 rotate in opposite directions, the connecting module 150 can rotate about an axis parallel to the second direction (Y direction). This causes the connecting module 150 to drive the second phalanx 200 to rotate or swing relative to the first phalanx 100.

[0049] Continue to combine Figures 4-10 As shown, in one embodiment of the present invention, the reduction module 130 includes a first reduction assembly 131 and a second reduction assembly 133. Both the first reduction assembly 131 and the second reduction assembly 133 include multiple gear sets, and each gear set includes at least two coaxially arranged gears. The output end of the first motor 121 is connected to the first transmission member 141 via the first reduction assembly 131, and the output end of the second motor 122 is connected to the second transmission member 142 via the second reduction assembly 133. Figure 4 , Figures 6-7 As shown. The first motor 121 can drive the first reduction gear 131 to move, and the first reduction gear 131 drives the first transmission member 141 to rotate. Correspondingly, the second motor 122 can drive the second reduction gear 133 to move, and the second reduction gear 133 drives the second transmission member 142 to rotate. This drives the connecting module 150 to rotate, and the connecting module 150 drives the second finger joint 200 to rotate or swing relative to the mounting module 110, that is, to rotate or swing relative to the first finger joint 100. In this embodiment, the structural arrangement of the first reduction gear 131 and the second reduction gear 133 allows both to be equipped with more reduction gears, thereby achieving a greater reduction effect and making the driving of the first transmission member 141 and the second motor 122 more precise.

[0050] The following is combined with Figures 6-7 , Figures 15-17As shown, in one embodiment of the present invention, the transmission module 140 further includes a third transmission member 143 and a fourth transmission member 144. After installation, the third transmission member 143 and the fourth transmission member 144 are arranged sequentially along the second direction (Y direction), and both are connected to the first transmission member 141 and the second transmission member 142. The third transmission member 143 is fixedly connected to the connecting module 150, while the fourth transmission member 144 is rotatably connected to the connecting module 150. When the first transmission member 141 and the second transmission member 142 rotate in the same direction, the third transmission member 143 and the fourth transmission member 144 drive the connecting module 150 to rotate around an axis parallel to the first direction (X direction), thereby enabling the second phalanx 200 to rotate relative to the first phalanx 100, achieving bending of the entire finger. When the first transmission member 141 and the second transmission member 142 rotate in opposite directions, the third transmission member 143 drives the connecting module 150 to rotate around an axis parallel to the second direction (Y direction), achieving swinging of the entire finger.

[0051] The following is combined with Figures 15-18 As shown, in one embodiment of the present invention, the transmission module 140 further includes a mounting base 145, which includes a first connecting shaft 1451, a second connecting shaft 1452, a third connecting shaft 1453, and a fourth connecting shaft 1454. The first connecting shaft 1451 and the second connecting shaft 1452 are coaxially arranged, as are the third connecting shaft 1453 and the fourth connecting shaft 1454. During installation, the first transmission member 141 is mounted on the first connecting shaft 1451, the second transmission member 142 is mounted on the second connecting shaft 1452, the third transmission member 143 is mounted on the third connecting shaft 1453, and the fourth transmission member 144 is mounted on the fourth connecting shaft 1454. Figures 6-7 As shown, when the transmission module 140 is installed on the mounting module 110, the first connecting shaft 1451 and the second connecting shaft 1452 are spaced apart along the first direction (X direction), while the third connecting shaft 1453 and the fourth connecting shaft 1454 are spaced apart along the second direction (Y direction).

[0052] Continue reading Figure 18 As shown, in this embodiment, the first connecting shaft 1451 and the second connecting shaft 1452 are hollow and connected, and the third connecting shaft 1453 and the fourth connecting shaft 1454 are hollow and connected. The hollow first connecting shaft 1451 and the second connecting shaft 1452, or the third connecting shaft 1453 and the fourth connecting shaft 1454, located on the same axis, can be used to thread electrical connecting wires, as detailed later. This reduces interference between electrical connecting wires and improves the stability of the electrical connection.

[0053] In this application, the first transmission component 141, the second transmission component 142, the third transmission component 143, and the fourth transmission component 144 are all preferably bevel gears, which makes the structure of the transmission module 140 compact, but is not limited thereto, and other transmission components can also be selected.

[0054] The following is combined with Figures 15-19 As shown, in one embodiment of the present invention, the connecting module 150 includes a first connecting seat 151 and a second connecting seat 152. The first connecting seat 151 is mounted on the top of the mounting module 110, and has a receiving cavity 1513 within it, with a first opening 1511 and a second opening 1512 on both sides communicating with the receiving cavity 1513. After the transmission module 140 and the connecting module 150 are assembled, the mounting seat 145 and the third transmission member 143 and the fourth transmission member 144 are installed in the receiving cavity 1513, so that the third transmission member 143 and the fourth transmission member 144 are connected to the first transmission member 141 and the second transmission member 142 respectively through the first opening 1511 and the second opening 1512. (See attached diagram.) Figures 15-16 As shown.

[0055] Combination Figures 2-5 As shown, one end of the second connecting seat 152 is oscillatingly mounted in the accommodating cavity 1513 and is fixedly connected to the third transmission member 143 and rotatably connected to the fourth transmission member 144, respectively. The other end protrudes out of the first connecting seat 151 and is connected to the second finger joint 200. Thus, when the third transmission member 143 drives the second connecting seat 152 to rotate relative to the first connecting seat 151 about an axis parallel to the second direction (Y direction), the second connecting seat 152 drives the second finger joint 200 to oscillate. When the third transmission member 143 and the fourth transmission member 144 drive the first connecting seat 151 to rotate about an axis parallel to the first direction (X direction), the first connecting seat 151 drives the second connecting seat 152 to rotate, thereby driving the second finger joint 200 to rotate.

[0056] Continue to combine Figures 15-19 As shown, in one embodiment of the present invention, the second connecting seat 152 includes a first connecting rod 1521, a second connecting rod 1522, a third connecting rod 1523, and a connecting plate 1524. The first connecting rod 1521 and the second connecting rod 1522 are spaced apart and connected to one end of the third connecting rod 1523, and the other end of the third connecting rod 1523 is connected to the connecting plate 1524. Figures 4-5As shown, when assembled with the transmission module 140, the first connecting rod 1521 and the second connecting rod 1522 are housed in the receiving cavity 1513 of the first connecting seat 151, and one of the first connecting rod 1521 and the second connecting rod 1522 is fixedly connected to the third transmission member 143, and the other is rotatably connected to the fourth transmission member 144. For example, the first connecting rod 1521 is fixedly connected to the third transmission member 143, and the second connecting rod 1522 is rotatably connected to the fourth transmission member 144. (See Figure 140) Figure 15 As shown, but not limited to. The third connecting rod 1523 passes through the first connecting seat 151, so that the connecting plate 1524 is located outside the first connecting seat 151. The connecting plate 1524 is used to connect the second finger joint 200, thereby making the installation of the second finger joint 200 simpler and more convenient.

[0057] The following is combined with Figures 2-9 , Figures 13-14 As shown, in one embodiment of the present invention, the mounting module 110 includes a first side plate 111, a second side plate 112, and a base 113. The first side plate 111 is disposed on one side of the base 113 and forms a first side space with the base 113. The second side plate 112 is disposed on the other side of the base 113 and forms a second side space with the base 113. The transmission module 140 is located on top of the base 113, with a first transmission member 141 adjacent to the first side plate 111 and a second transmission member 142 adjacent to the second side plate 112. The connecting module 150 is mounted above the transmission module 140 and connected to the first side plate 111 and the second side plate 112. The connecting module 150 is rotatable relative to the first side plate 111 and the second side plate 112. The first motor 121 and the second motor 122 are both mounted on the bottom of the base 113. The output end of the first motor 121 is located in the second side space, and the output end of the second motor 122 is located in the first side space. This structural arrangement of the mounting module 110 not only makes the installation of the transmission module 140, the connection module 150, and the drive module 120 more convenient, but also makes the structural arrangement of each module more compact, thereby reducing the space occupied and reducing the overall volume of the first finger joint 100.

[0058] The following is combined with Figures 4-9 As shown, in one embodiment of the present invention, the base 113 is provided with a through hole 1131a extending along a first direction (X direction). The through hole 1131a communicates with a first side space and a second side space, respectively. The first reduction assembly 131 and the second reduction assembly 133 are both installed in the first side space, the second side space, and the through hole 1131a. Specifically, at least two sets of gears in the first reduction assembly 131 are disposed in the through hole 1131a, and at least two sets of gears in the second reduction assembly 133 are disposed in the through hole 1131a. See [reference needed]. Figures 8-9As shown. The other gear sets of the first reduction assembly 131 are disposed in the second side space, and the other gear sets of the second reduction assembly 133 are disposed in the first side space. See reference. Figures 4-7 As shown. Furthermore, in the through hole 1131a, at least one set of gears in the first reduction assembly 131 and one set of gears in the second reduction assembly 133 are arranged coaxially. In one specific embodiment, one set of gears in the first reduction assembly 131 and one set of gears in the second reduction assembly 133 are arranged coaxially, as shown. Figure 10 As shown, see the following description for details. At least one set of gears in the first reduction assembly 131 is not coaxial with the gear set in the second reduction assembly 133; correspondingly, at least one set of gears in the second reduction assembly 133 is not coaxial with the gear set in the first reduction assembly 131.

[0059] The following will continue to combine Figures 4-9 , Figures 13-14 As shown, in one embodiment of the present invention, the base 113 includes an isolation portion 1131 and a receiving portion 1132, and a through hole 1131a is provided in the isolation portion 1131, as shown. Figure 14 As shown, the transmission module 140 is mounted on the top of the isolation section 1131. Two receiving sections 1132 are provided at the bottom of the isolation section 1131, and the two receiving sections 1132 protrude in opposite directions. Specifically, the two receiving sections 1132 are arranged spaced apart along the second direction (Y direction), and both protrude toward the first side plate 111 and the second side plate 112 respectively, as shown. Figure 14 As shown. In this embodiment, a first receiving groove 1132a and a second receiving groove 1132b are respectively provided on the two receiving portions 1132, and the opening ends of the first receiving groove 1132a and the second receiving groove 1132b are arranged opposite to each other. When the base 113 is connected to the first side plate 111 and the second side plate 112, the isolation portion 1131 is located between the first side plate 111 and the second side plate 112, as shown. Figure 13 As shown, two receiving portions 1132 extend towards the first side plate 111 and the second side plate 112 respectively along a first direction (X direction), and the first receiving groove 1132a and the second receiving groove 1132b are arranged separately along a second direction (Y direction), with the first receiving groove 1132a and the second receiving groove 1132b partially offset along the first direction (X direction). The first motor 121 is mounted in the first receiving groove 1132a, and the second motor 122 is mounted in the second receiving groove 1132b. This structural arrangement not only allows for a more compact installation of the base 113 with the first motor 121 and the second motor 122, but also improves the reliability of the installation of the first motor 121 and the second motor 122.

[0060] Continue to combine Figures 13-14As shown, in a preferred embodiment, the bottom end of the first side plate 111 has a first notch 1114 corresponding to the position of a receiving portion 1132, and the second side plate 112 has a second notch 1124 corresponding to the position of another receiving portion 1132. After assembly, the two receiving portions 1132 can expose the base 113 outwards through the first notch 1114 and the second notch 1124 respectively (see...). Figure 13 (As shown) or directly protruding from the base 113, thereby increasing the length of the receiving part 1132, which in turn helps to increase the space of the first receiving groove 1132a and the second receiving groove 1132b, improve the installation reliability of the first motor 121 and the second motor 122, and make the structure of the mounting module 110 more compact, thereby reducing its width in the first direction (X direction) and further reducing its size.

[0061] The following is combined with Figures 4-12 As shown, in one embodiment of the present invention, the first deceleration component 131 and the second deceleration component 133 have the same structure. The structure of the first deceleration component 131 will be described in detail below.

[0062] Combination Figures 10-12 As shown, the first reduction gear assembly 131 includes a first gear 1311, a second gear 1312, a third gear 1313, a fourth gear 1314, a fifth gear 1315, a sixth gear 1316, a seventh gear 1317, an eighth gear 1318, a ninth gear 1319, a tenth gear 1320, and an eleventh gear 1321. The second gear 1312 and the third gear 1313 are arranged coaxially to form one gear set; the fourth gear 1314, the fifth gear 1315, the eighth gear 1318, and the ninth gear 1319 are arranged coaxially to form another gear set; and the sixth gear 1316 and the seventh gear 1317 are arranged coaxially to form yet another gear set. After installation, the first gear 1311 is connected to the output end of the first motor 121, the second gear 1312 is connected to the first gear 1311, the third gear 1313 is connected to the fourth gear 1314, the fifth gear 1315 is connected to the sixth gear 1316, the seventh gear 1317 is connected to the eighth gear 1318, and the ninth gear 1319, the tenth gear 1320, and the eleventh gear 1321 are connected in sequence, with the eleventh gear 1321 connected to the first transmission component 141.

[0063] Continue to combine Figures 10-12As shown, in this embodiment, the first gear 1311 is fixed to the first rotating shaft 131a, the second gear 1312 and the third gear 1313 are fixed to the second rotating shaft 131b, the fourth gear 1314 and the fifth gear 1315 are fixedly connected and both are fixed to the third rotating shaft 131c, and the sixth gear 1316 and the seventh gear 1317 are fixed to the fourth rotating shaft 131d. The eighth gear 1318 and the ninth gear 1319 are both fixed to the fifth rotating shaft 131e, the tenth gear 1320 is fixed to the sixth rotating shaft 131f, and the eleventh gear 1321 is fixed to the seventh rotating shaft 131g.

[0064] Combination Figure 3 , Figures 5-6 As shown, after installation, the first rotating shaft 131a is connected to the output end of the first motor 121, and the first rotating shaft 131a, the second rotating shaft 131b, and the third rotating shaft 131c are sequentially arranged along the third direction (Z direction) and close to the second side plate 112 of the mounting module 110. Furthermore, the third rotating shaft 131c and the fourth rotating shaft 131d are arranged side-by-side along the second direction (Y direction). Thus, the first rotating shaft 131a, the second rotating shaft 131b, the third rotating shaft 131c, and the fourth rotating shaft 131d are all located in the second side space, and at least the first gear 1311, the second gear 1312, the third gear 1313, and the fourth gear 1314 are located in the second side space. Furthermore, the fifth rotating shaft 131e is fitted outside the third rotating shaft 131c, and the fifth rotating shaft 131e, the sixth rotating shaft 131f, and the seventh rotating shaft 131g are sequentially arranged along the third direction (Z direction) and close to the first side plate 111 of the mounting module 110. The seventh rotating shaft 131g is connected to the rotating shaft of the first transmission member 141, or in other words, the seventh rotating shaft 131g and the first transmission member 141 are mounted on the same rotating shaft. Thus, the fifth rotating shaft 131e, the sixth rotating shaft 131f, and the seventh rotating shaft 131g are mounted in the first side space, and at the same time, the ninth gear 1319, the tenth gear 1320, and the eleventh gear 1321 are located in the first side space.

[0065] Combination Figure 10 As shown, in this embodiment, the gear sets composed of the fifth gear 1315 and the sixth gear 1316, and the gear set composed of the fifth gear 1315 and the eighth gear 1318, are both installed in the through holes 1131a on the isolation part 1131, so that the first reduction assembly 131 has two sets of gears disposed in the through holes 1131a. Of course, it is not limited to this arrangement.

[0066] The following is combined with Figures 4-10As shown, in this embodiment, the structure of the second reduction assembly 133 is the same as that of the first reduction assembly 131, and will not be described again. When the second reduction assembly 133 is installed, its first rotating shaft 133a is connected to the output end of the second motor 122, and its first rotating shaft 133a, second rotating shaft 133b, and third rotating shaft 133c are arranged sequentially along the third direction (Z direction) and close to the first side plate 111. Furthermore, the third rotating shaft 133c and the fourth rotating shaft 133d are arranged side by side along the second direction (Y direction). The first rotating shaft 133a, second rotating shaft 133b, third rotating shaft 133c, and fourth rotating shaft 133d are all located in the first side space, and at least the first gear 1331, second gear 1332, third gear 1333, and fourth gear 1334 are located in the first side space. Meanwhile, its fifth rotating shaft 133e is fitted outside the third rotating shaft 133c, and the fifth rotating shaft 133e, the sixth rotating shaft 133f, and the seventh rotating shaft 133g are arranged sequentially along the third direction (Z direction) and close to the second side plate 112. The seventh rotating shaft 133g is connected to the rotating shaft of the second transmission member 142, thereby installing the fifth rotating shaft 133e, the sixth rotating shaft 133f, and the seventh rotating shaft 133g in the second side space, so that the ninth gear 1339, the tenth gear 1340, and the eleventh gear 1341 are located in the second side space.

[0067] Combination Figure 10 As shown, in this embodiment, the gear sets of the second reduction assembly 133, consisting of the fifth gear 1335 and the sixth gear 1336, and the gear set consisting of the fifth gear 1335 and the eighth gear 1338, are both installed in the through holes 1131a on the isolation part 1131, thus placing both gear sets within the through holes 1131a. Furthermore, the fourth shaft 133d of the second reduction assembly 133 is coaxially arranged with the fourth shaft 131d of the first reduction assembly 131, thereby further compressing the structure and reducing the installation space. Of course, the arrangement is not limited to that in this embodiment.

[0068] The following is combined with Figures 3-4 , Figures 13-14 As shown, in one embodiment of the present invention, the first knuckle 100 further includes a first detection component 160, which is used to detect the rotation of the first transmission member 141 or the second transmission member 142. Specifically, the first detection component 160 includes a first code disk 161 and a first circuit board 162. The first code disk 161 is mounted on a code disk gear 163, which meshes with a gear of the first reduction assembly 131 near the first transmission member 141, or with a gear of the second reduction assembly 133 near the second transmission member 142. The first circuit board 162 is mounted on the first side plate 111 or the second side plate 112 and is spaced apart from the first code disk 161.

[0069] Combination Figures 3-4 , Figure 7 As shown, taking the installation of the first detection component 160 and the first reduction component 131 as an example, the encoder gear 163 meshes with the eleventh gear 1321 of the first reduction component 131, and the first encoder 161 is installed on the encoder gear 163, but this is not a limitation. The first circuit board 162 is installed on the first side plate 111 and is spaced apart from the first encoder 161. The rotation of the first encoder 161 is detected by the first circuit board 162 to realize the rotation detection of the first transmission component 141.

[0070] Correspondingly, the installation method between the first detection component 160 and the second deceleration component 133 is the same as that of the first deceleration component 131, and will not be described again.

[0071] Continue to combine Figures 3-4 , Figures 13-14 As shown, in one embodiment of the present invention, the first knuckle 100 further includes a second detection component 170. The second detection component 170 includes a second code disk 171 and a second circuit board 172. The second code disk 171 is mounted on the output end of the first motor 121 or the output end of the second motor 122, and the second circuit board 172 is mounted on the first side plate 111 or the second side plate 112 and is spaced apart from the second code disk 171.

[0072] Combination Figures 3-6 As shown, taking the installation of the second detection component 170 and the first deceleration component 131 as an example, the second code disk 171 is installed at the output end of the first motor 121, and the second circuit board 172 is installed on the second side plate 112 and is spaced apart from the second code disk 171 to realize the rotation detection of the output end of the first motor 121.

[0073] The following is combined with Figure 3 , Figures 13-14 As shown, in one embodiment of the present invention, the first side plate 111 and the second side plate 112 have the same structure and are arranged angularly symmetrically. Taking the first side plate 111 as an example, it has a first mounting hole 1111 and a second mounting hole 1112. The first mounting hole 1111 corresponds to the position of the encoder gear 163, and the second mounting hole 1112 corresponds to the output end of the second motor 122. The first circuit board 162 is mounted in the first mounting hole 1111, and the second circuit board 172 is mounted in the second mounting hole 1112. Both are exposed outward through the first mounting hole 1111 and the second mounting hole 1112, thereby making the installation and electrical connection of the circuit boards more convenient.

[0074] In this embodiment, the first side plate 111 also has a groove 1113, which communicates with the first mounting hole 1111 and / or the second mounting hole 1112. The groove 1113 is used to accommodate a first connecting line connected to at least one of the first circuit board 162 and the second circuit board 172. For example, in one specific embodiment, the groove 1113 communicates with the first mounting hole 1111 and extends to the bottom of the base 113. The first connecting line connected to the first circuit board 162 can be accommodated in the groove 1113 and extend downward, while the first connecting line connected to the second circuit board 172 extends directly downward. Of course, the groove 1113 is not limited to the arrangement shown in this embodiment.

[0075] In this embodiment, the structure of the second side plate 112 is the same as that of the first side plate 111, and will not be described again.

[0076] The following is combined with Figures 3-5 , Figures 15-17 As shown, in one embodiment of the present invention, the mechanical finger 10 further includes a second connecting line, which is inserted through the top of the connecting module 150 and the transmission module 140, then inserted into the mounting base 145, and exits through the center of the rotating shaft of the first transmission member 141 or the second transmission member 142, and finally exits through the first side plate 111 or the second side plate 112 and extends along the groove 1113 toward the bottom of the mounting module 110. This reduces interference or pulling on the second connecting line during operation, making the electrical connection of the mechanical finger 10 more stable.

[0077] Recombined Figures 1-19 As shown, in one embodiment of the present invention, a robotic hand 1 is also provided, which includes robotic fingers 10 and a palm 20. The structure of the palm 20 is a conventional structure in the art and will not be described in detail. Multiple robotic fingers 10 have identical structures, and each robotic finger 10 is mounted on the palm 20 via a mounting module 110. The robotic fingers 10 can be bent and / or swing relative to the palm 20.

[0078] Recombined Figures 1-12 As shown, when the mechanical finger 10 of the present invention is working, the first motor 121 and the second motor 122 of the drive module 120 operate simultaneously. The first motor 121 drives the first deceleration component 131 to move, and the first deceleration component 131 drives the first transmission component 141 to rotate. The second motor 122 drives the second deceleration component 133 to move, and the second deceleration component 133 drives the second transmission component 142 to rotate.

[0079] When the first transmission member 141 and the second transmission member 142 rotate in the same direction, they drive the third transmission member 143 and the fourth transmission member 144 to rotate. The third transmission member 143 and the fourth transmission member 144 drive the first connecting seat 151 of the connecting module 150 to rotate around an axis parallel to the first direction (X direction). The first connecting seat 151 drives the second connecting seat 152 to rotate, thereby driving the second phalanx 200 to rotate, thus realizing the bending of the mechanical finger 10. When the first transmission member 141 and the second transmission member 142 rotate in opposite directions, the third transmission member 143 drives the second connecting seat 152 to rotate relative to the first connecting seat 151 around an axis parallel to the second direction (Y direction). The second connecting seat 152 drives the second phalanx 200 to swing, thereby realizing the swinging of the mechanical finger 10.

[0080] In this application, the first direction (X direction), the second direction (Y direction), and the third direction (Z direction) intersect each other in pairs, preferably in pairs, but not limited thereto.

[0081] In summary, the mechanical finger 10 of the present invention has the following technical effects: First, the first motor 121 and the second motor 122 are respectively mounted on the bottom of the mounting module 110 and arranged in opposite directions. The output end of the first motor 121 is located on a different side from the first transmission member 141, and the output end of the second motor 122 is located on a different side from the second transmission member 142. This results in a compact structural layout, occupies less space, and significantly reduces the overall volume and weight of the mechanical finger 10. This facilitates the development of the mechanical finger 10 towards miniaturization, lightweighting, and integration. Simultaneously, it simplifies the assembly process of the overall device and reduces material costs. Material and maintenance costs; secondly, the transmission module 140 is provided with a first transmission and a second transmission component 142 arranged sequentially along the first direction (X direction), and both are driven by a first motor 121 and a second motor 122 that operate independently. This greatly reduces the deviation of the power output point, thereby greatly reducing or minimizing the eccentric force and torque offset when the mechanical finger 10 performs individual or combined actions of swinging and bending. This reduces or avoids problems such as swing offset, shaking, and posture deviation, improves the stability of the bending and swinging actions of the mechanical finger 10, and makes its movement trajectory regular.

[0082] Correspondingly, the robotic hand 1 having the robotic finger 10 of this application also has the above-mentioned technical effects.

[0083] 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 mechanical finger, comprising a first phalanx and a second phalanx pivotally connected, characterized in that, The first phalanx includes: The mounting module includes a base, a first side plate, and a second side plate. The first side plate is disposed on one side of the base and forms a first side space with the base. The second side plate is disposed on the other side of the base and forms a second side space with the base. The base is provided with a through hole extending along a first direction, and the through hole communicates with the first side space and the second side space respectively. A connecting module is rotatably mounted on the top of the mounting module and connected to the second knuckle; The transmission module includes a first transmission component and a second transmission component, the first transmission component and the second transmission component are arranged sequentially along the first direction, the transmission module is located on the top of the base, the first transmission component is adjacent to the first side plate, and the second transmission component is adjacent to the second side plate. The drive module includes a first motor and a second motor. The first motor and the second motor are respectively mounted on the bottom of the base and arranged in opposite directions along the first direction. The output end of the first motor and the second transmission member are close to one side wall of the mounting module, and the output end of the second motor and the first transmission member are close to the other side wall of the mounting module. The output end of the first motor is located in the second side space, and the output end of the second motor is located in the first side space. A speed reduction module, comprising a first speed reduction component and a second speed reduction component, wherein the output end of the first motor is connected to the first transmission component through the first speed reduction component, and the output end of the second motor is connected to the second transmission component through the second speed reduction component, wherein the first speed reduction component and the second speed reduction component are both installed in the first side space, the second side space and the through hole; The first transmission component can rotate under the drive of the first motor, and the second transmission component can rotate under the drive of the second motor. When the first transmission component and the second transmission component rotate in the same direction, the connecting module can rotate around an axis parallel to the first direction. When the first transmission component and the second transmission component rotate in opposite directions, the connecting module can rotate around an axis parallel to the second direction. The second direction intersects with the first direction.

2. The mechanical finger as described in claim 1, characterized in that, Both the first reduction assembly and the second reduction assembly include multiple gear sets, and each gear set includes at least two coaxially arranged gears; The first motor drives the first deceleration assembly to move, which in turn drives the first transmission component to rotate. The second motor drives the second deceleration assembly to move, which in turn drives the second transmission component to rotate, thereby driving the connecting module to rotate. The connecting module then drives the second knuckle to rotate or swing relative to the mounting module.

3. The mechanical finger as described in claim 2, characterized in that, At least two sets of gears in the first deceleration assembly are disposed in the through hole, and at least two sets of gears in the second deceleration assembly are disposed in the through hole; and in the through hole, at least one set of gears in the first deceleration assembly and one set of gears in the second deceleration assembly are arranged coaxially, at least one set of gears in the first deceleration assembly and one set of gears in the second deceleration assembly are not coaxial, and at least one set of gears in the second deceleration assembly and one set of gears in the first deceleration assembly are not coaxial.

4. The mechanical finger as described in claim 1, characterized in that, The base includes an isolation section and a receiving section. The isolation section is located between the first side plate and the second side plate, and the through hole is provided in the isolation section. The transmission module is located on the top of the isolation section. The receiving portion is located at the bottom of the isolation portion and extends toward the first side plate and the second side plate respectively along the first direction; the receiving portion is provided with a first receiving groove and a second receiving groove, the first receiving groove and the second receiving groove are arranged separately along the second direction, and the first receiving groove and the second receiving groove are partially misaligned along the first direction; The first motor is installed in the first receiving slot, and the second motor is installed in the second receiving slot.

5. The mechanical finger as described in claim 2, characterized in that, Both the first reduction assembly and the second reduction assembly include a first gear, a second gear, a third gear, a fourth gear, a fifth gear, a sixth gear, a seventh gear, an eighth gear, a ninth gear, a tenth gear, and an eleventh gear. The second gear and the third gear are coaxially arranged to form one gear set; the fourth gear, the fifth gear, the eighth gear, and the ninth gear are coaxially arranged to form another gear set; and the sixth gear and the seventh gear are coaxially arranged to form yet another gear set. Furthermore, the first gear is connected to the output end of either the first motor or the second motor; the second gear is connected to the first gear; the third gear is connected to the fourth gear; the fifth gear is connected to the sixth gear; the seventh gear is connected to the eighth gear; and the ninth, tenth, and eleventh gears are sequentially connected. The eleventh gear is connected to either the first transmission member or the second transmission member.

6. The mechanical finger as described in claim 5, characterized in that, The first gear is fixed to the first rotating shaft, the second gear and the third gear are fixed to the second rotating shaft, the fourth gear and the fifth gear are fixedly connected and both are fixed to the third rotating shaft, the sixth gear and the seventh gear are fixed to the fourth rotating shaft; the ninth gear and the eighth gear are both fixedly connected to the fifth rotating shaft, the tenth gear is fixed to the sixth rotating shaft, and the eleventh gear is fixed to the seventh rotating shaft; The first rotating shaft is connected to the output end of the first motor or the second motor, and the first rotating shaft, the second rotating shaft, and the third rotating shaft are arranged sequentially along a third direction and close to one side wall of the mounting module. The third rotating shaft and the fourth rotating shaft are arranged side by side along the second direction. The third direction, the second direction, and the first direction intersect each other. The fifth rotating shaft is fitted onto the third rotating shaft, and the seventh rotating shaft is connected to the rotating shaft of the first transmission component or the second transmission component. The fifth rotating shaft, the sixth rotating shaft, and the seventh rotating shaft are arranged sequentially along the third direction and close to the other side wall of the mounting module.

7. The mechanical finger as described in claim 1, characterized in that, The first phalanx also includes: The first detection component includes a first code disk and a first circuit board. The first code disk is mounted on a code disk gear. The code disk gear meshes with a gear of the first reduction component near the first transmission member, or meshes with a gear of the second reduction component near the second transmission member. The first circuit board is spaced apart from the first code disk. The second detection component includes a second code disk and a second circuit board. The second code disk is installed at the output end of the first motor or the output end of the second motor, and the second circuit board is spaced apart from the second code disk. And / or, both the first side plate and the second side plate are provided with mounting holes, and both the first circuit board and the second circuit board are mounted in the mounting holes and exposed to the outside through the mounting holes; And / or, both the first side plate and the second side plate are provided with grooves communicating with the mounting holes, the grooves being used to accommodate a first connecting line connected to at least one of the first circuit board and the second circuit board; And / or, the mechanical finger further includes a second connecting line, which passes through the top of the transmission module and through the center of the pivot of the first or second transmission member, then exits through the first or second side plate and extends along the groove toward the bottom of the mounting module.

8. The mechanical finger as described in claim 1, characterized in that, The transmission module further includes a third transmission component and a fourth transmission component. The third transmission component and the fourth transmission component are arranged sequentially along the second direction, and both are connected to the first transmission component and the second transmission component. The third transmission component is fixedly connected to the connection module, and the fourth transmission component is rotatably connected to the connection module.

9. The mechanical finger as described in claim 8, characterized in that, The transmission module further includes a mounting base, which includes a first connecting shaft, a second connecting shaft, a third connecting shaft, and a fourth connecting shaft. The first connecting shaft and the second connecting shaft are spaced apart and coaxially arranged along the first direction, and the third connecting shaft and the fourth connecting shaft are spaced apart and coaxially arranged along the second direction. The first transmission component is mounted on the first connecting shaft, the second transmission component is mounted on the second connecting shaft, the third transmission component is mounted on the third connecting shaft, and the fourth transmission component is mounted on the fourth connecting shaft.

10. The mechanical finger as described in claim 9, characterized in that, The connection module includes: A first connecting seat is installed on the top of the mounting module. The first connecting seat has a receiving cavity and a first opening and a second opening on both sides that communicate with the receiving cavity. The mounting seat, the third transmission component, and the fourth transmission component are arranged in the receiving cavity. The third transmission component and the fourth transmission component are respectively connected to the first transmission component and the second transmission component through the first opening and the second opening. The second connecting seat has one end swayably installed in the accommodating cavity and fixedly connected to the third transmission component and rotatably connected to the fourth transmission component, and the other end protrudes out of the first connecting seat and is connected to the second finger joint; When the third transmission member drives the second connecting seat to rotate relative to the first connecting seat about an axis parallel to the second direction, the second connecting seat drives the second knuckle to swing; when the third transmission member and the fourth transmission member drive the first connecting seat to rotate about an axis parallel to the first direction, the first connecting seat drives the second connecting seat to rotate, thereby driving the second knuckle to rotate.

11. The mechanical finger as described in claim 10, characterized in that, The second connecting seat includes a first connecting rod, a second connecting rod, a third connecting rod, and a connecting plate. The first connecting rod and the second connecting rod are spaced apart and connected to one end of the third connecting rod. The first connecting rod and the second connecting rod are housed in the receiving cavity. One of the first connecting rod and the second connecting rod is fixedly connected to the third transmission member, and the other is rotatably connected to the fourth transmission member. The other end of the third connecting rod protrudes out of the first connecting seat and is connected to the connecting plate. The connecting plate is used to connect the second knuckle.

12. A robotic arm, characterized in that, include: palm; Multiple mechanical fingers as described in any one of claims 1-11, each of the mechanical fingers being mounted on the palm via the mounting module, the mechanical fingers being bendable and / or swingable relative to the palm.

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