Finger module for a robot hand, robot hand and robot

Abstract

Embodiments of the present disclosure provide a finger module for a robot hand, a robot hand and a robot. The finger module comprises a finger body movably coupled to a palm module of the robot hand to move relative to the palm module upon obtaining a motion instruction; and a metacarpophalangeal side swing driving assembly arranged between the palm module and the finger body and adapted to drive the finger body to move relative to the palm module about a first rotation axis, the metacarpophalangeal side swing driving assembly comprising: a first linear driving assembly coupled to the palm module and comprising a first sliding part adapted to move relative to the palm module along a linear direction perpendicular to the first rotation axis; and a first connecting rod extending in a direction perpendicular to the first rotation axis and movably coupled between the first sliding part and the finger body to drive the finger body to rotate relative to the palm module about the first rotation axis during movement of the first sliding part. Thus, the flexibility of the motion of the finger module can be improved.

Description

Technical Field

[0001] The exemplary embodiments disclosed herein generally relate to the field of robotics, and particularly to finger modules for robotic hands, robotic hands, and robots. Background Technology

[0002] With the continuous development of robotics technology, the structure of a robot's hand is playing an increasingly important role. The design and function of a robot's fingers not only affect its ability to perform tasks, but also relate to its flexibility, accuracy, and adaptability in different application scenarios. Summary of the Invention

[0003] In a first aspect of this disclosure, a finger module for a robotic hand is provided. The finger module includes: a finger body movably coupled to a palm module of the robotic hand for movement relative to the palm module upon receiving a motion command; and a palm-finger lateral swing drive assembly disposed between the palm module and the finger body, adapted to drive the finger body to move relative to the palm module about a first rotation axis. The palm-finger lateral swing drive assembly includes: a first linear drive assembly coupled to the palm module and including a first sliding portion adapted to move relative to the palm module in a linear direction perpendicular to the first rotation axis; and a first link extending in a direction perpendicular to the first rotation axis and movably coupled between the first sliding portion and the finger body to drive the finger body to rotate relative to the palm module about the first rotation axis during movement of the first sliding portion.

[0004] In some embodiments, the finger body includes: a finger holder rotatably coupled to a palm module and rotatably coupled to one end of a first link to enable the finger body to rotate relative to the palm module about a first rotation axis.

[0005] In some embodiments, the first linear drive assembly further includes: a first lead screw rotatably coupled to the palm module and extending in a linear direction; a first drive motor including an output shaft coupled to the first lead screw and adapted to drive the first lead screw to rotate about its own axis, wherein a first sliding portion is threadedly engaged with the first lead screw to perform linear motion in a linear direction during the rotation of the first lead screw about its own axis.

[0006] In some embodiments, the first linear drive assembly further includes: a first gear set disposed between the first lead screw and the output shaft of the first drive motor, and adapted to transmit rotation of the output shaft to the first lead screw.

[0007] In some embodiments, the finger module further includes: a linear guide rail, comprising: a slide rail disposed on one side of the first lead screw in the radial direction and coupled to the palm module, the length direction of the slide rail being parallel to the linear direction; and a slider coupled to the first sliding portion and slidingly connected to the slide rail along the length direction of the slide rail.

[0008] In some embodiments, the finger body further includes: a proximal knuckle support hinged to the finger fixation seat about a second rotation axis; and a metacarpophalangeal joint drive assembly coupled to the proximal knuckle support and connected to the finger fixation seat, adapted to drive the proximal knuckle support to rotate relative to the finger fixation seat about the second rotation axis.

[0009] In some embodiments, the metacarpophalangeal joint drive assembly includes: a second sliding portion slidably connected to the proximal phalanx support along the extending direction of the proximal phalanx support; a second link extending in a direction perpendicular to the second rotation axis, with both ends of the second link hinged to the second sliding portion and the finger fixation seat, respectively; and a second linear drive assembly coupled to the proximal phalanx support and adapted to drive the second sliding portion to slide along the extending direction, so that the proximal phalanx support rotates relative to the finger fixation portion about the second rotation axis.

[0010] In some embodiments, the finger body further includes: a middle phalanx support hinged to the proximal phalanx support about a third rotation axis; and a proximal interphalangeal joint drive assembly coupled to the proximal phalanx support and connected to the middle phalanx support, the proximal interphalangeal joint drive assembly being adapted to drive the middle phalanx support to rotate relative to the proximal phalanx support about a third rotation axis.

[0011] In some embodiments, the proximal interphalangeal joint drive assembly includes: a third sliding portion slidably connected to the proximal phalanx support along the extension direction of the proximal phalanx support; a third link extending in a direction perpendicular to a third rotation axis, with its two ends respectively hinged to the third sliding portion and the middle phalanx support; and a third linear drive assembly coupled to the proximal phalanx support and adapted to drive the third sliding portion to slide along the extension direction so that the middle phalanx support rotates about the third rotation axis relative to the proximal phalanx.

[0012] In some embodiments, the proximal phalanx support further includes: a pair of sliding guide posts coupled to the proximal phalanx support and extending in an extension direction, wherein a second sliding portion of the metacarpophalangeal joint drive assembly and / or a third sliding portion of the proximal interphalangeal joint at least partially surrounds the pair of sliding guide posts to slide in an extension direction driven by the sliding guide posts.

[0013] In some embodiments, the finger module further includes a fingertip support hinged to the middle knuckle support about a fourth rotation axis; and a fingertip link, the two ends of which are respectively hinged to the proximal knuckle support and the fingertip support, the end of the fingertip link near the proximal knuckle support being arranged inside the third rotation axis relative to the bending direction of the finger module, and the end of the fingertip link near the fingertip support being arranged outside the fourth rotation axis relative to the bending direction of the finger module.

[0014] According to the finger module provided in this embodiment, the first linear drive component of the palm-finger lateral swing drive assembly drives the movement of the first link, thereby allowing the first link to push the finger body to rotate relative to the palm module around a first rotation axis. This enables the finger module to perform lateral swing motion relative to the palm module, thus improving the flexibility of the finger module's movement.

[0015] In a second aspect of this disclosure, a robotic hand is provided. The robotic hand includes: a palm module; and a plurality of finger modules according to a first aspect of this disclosure, arranged at the edge of the palm module.

[0016] In a third aspect of this disclosure, a robot is provided, comprising: a body; a pair of robotic arms disposed on opposite sides of the body; and a pair of robotic hands provided according to a second aspect of this disclosure, each coupled to one of the robotic arms.

[0017] It should be understood that the content described in this content section is not intended to limit the key or essential features of the embodiments of this disclosure, nor is it intended to restrict the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0018] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. In the drawings, the same or similar reference numerals denote the same or similar elements, wherein:

[0019] Figure 1 A schematic diagram showing the connection relationship between the finger module and the palm module according to some embodiments of the present disclosure is provided.

[0020] Figure 2 A schematic diagram of a finger body in a bent state according to some embodiments of the present disclosure is shown;

[0021] Figure 3 A schematic diagram of a finger body from the fingertip perspective according to some embodiments of the present disclosure is shown; and

[0022] Figure 4 A schematic diagram of a finger body from the back of the finger perspective according to some embodiments of the present disclosure is shown. Detailed Implementation

[0023] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0024] It should be noted that the headings of any section / subsection provided herein are not limiting. Various embodiments are described throughout this document, and embodiments of any type may be included under any section / subsection. Furthermore, embodiments described in any section / subsection may be combined in any way with any other embodiments described in the same section / subsection and / or different sections / subsections.

[0025] In the description of embodiments of this disclosure, the term "comprising" and similar terms should be understood as open-ended inclusion, i.e., "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The term "some embodiments" should be understood as "at least some embodiments". Other explicit and implicit definitions may also be included below. The terms "first", "second", etc., may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0026] As briefly mentioned earlier, well-designed robotic fingers typically require multiple degrees of freedom, enabling the robot's hand (i.e., the robotic hand) to perform more complex movements in three-dimensional space. For example, a robotic thumb can bend, extend, and rotate in different planes, and when working in conjunction with other fingers, it can perform actions like tightening screws or turning knobs, much like a human hand. Multiple robotic fingers can also cooperate to form a gripping shape that conforms to the surface of a sculpture, ensuring that objects are stably grasped and do not slip. However, current robotic fingers generally suffer from low degrees of freedom and insufficient dexterity, thus affecting the accuracy and flexibility of the robotic hand when performing corresponding tasks.

[0027] The finger module, robotic hand, and robot provided according to embodiments of this disclosure solve or at least partially solve the aforementioned problems or other potential problems existing in the conventional art. The finger module provided according to embodiments of this disclosure drives the movement of a first link through a first linear drive component of a palm-finger lateral swing drive assembly. This first link can push the finger body to rotate relative to the palm module about a first rotation axis, thereby enabling the finger module to perform lateral swing motion relative to the palm module, thus improving the flexibility of the finger module's movement.

[0028] The robotic hand provided according to embodiments of this disclosure includes a palm module and a plurality of finger modules mounted on the edge of the palm module. The finger modules are adapted to be controlled to laterally swing and / or bend relative to the palm module. This allows the robotic hand to perform predetermined actions to manipulate a target object. For example, the robotic hand can mimic a human hand to perform grasping actions to obtain a target object. Because the finger modules can move in multiple degrees of freedom relative to the palm module, the accuracy and flexibility of the robotic hand in performing predetermined actions are improved, thereby enabling the robotic hand to manipulate the target object more stably.

[0029] According to embodiments of this disclosure, a robot is also provided, including a main body, a pair of robotic arms arranged on opposite sides of the main body, and a pair of robotic hands respectively coupled to the pair of robotic arms. The robot can adjust the position of the robotic hands by controlling the movement of the main body and the robotic arms. Multiple finger modules of the robotic hands can swing and / or bend relative to the palm module to perform corresponding manipulation actions. For example, when the robotic hand moves to the vicinity of a target object (e.g., a water cup), the multiple finger modules swing to a predetermined angle and bend relative to the palm module to at least partially surround the outside of the target object. Thus, the robotic hand can perform a grasping action on the target object. After the robotic hands grasp the target object, the robotic arms and the main body can drive the robotic hands to move, thereby allowing the robot to mimic human movements to move the target object. The swinging and bending of the finger modules will be described in more detail below.

[0030] Figure 1 A schematic diagram illustrating the connection relationship between the finger module and the palm module according to some embodiments of the present disclosure is shown. Figure 1 As shown, the finger module generally includes a finger body coupled to the palm module 2 and a palm-finger lateral swing drive assembly 3 arranged between the finger body and the palm module 2. The finger body is rotatably coupled to the palm module 2 about a first rotation axis A, and the palm-finger lateral swing drive assembly 3 can drive the finger body to rotate about the first rotation axis A, thereby realizing the lateral swing action of the finger module relative to the palm module 2.

[0031] In some embodiments, the finger body includes a finger holder 1 hinged to the palm module 2. The palm-finger lateral swing drive assembly 3 includes a first linear drive assembly 32 coupled to the palm module 2, a first sliding portion 31 coupled to the first drive assembly 32, and a first connecting rod 33 disposed between the first linear drive assembly 32 and the finger holder 1. The first sliding portion 31 is adapted to be driven by the first linear drive assembly 32 to reciprocate linearly along a linear direction X perpendicular to the first rotation axis A.

[0032] The two ends of the first link 33 are respectively hinged to the first sliding part 31 and the finger fixing seat 1, and the two hinge axes of the first link 33 relative to the first sliding part 31 and the finger fixing seat 1 are parallel to the first rotation axis A. One end of the first link 33 hinged to the finger fixing seat 1 is arranged on one side of the first rotation axis A in the radial direction and spaced apart from the first rotation axis A by a predetermined distance. Thus, when the first sliding part 31 is driven and moves in the linear direction X, the finger fixing seat 1 can swing around the first rotation axis A through the transmission action of the first link 33. That is, the finger body can swing around the first rotation axis A, thereby realizing the lateral swinging movement of the finger module relative to the palm module 2.

[0033] In some embodiments, the first linear drive assembly 32 further includes a pair of fixed plates 21 arranged along a linear direction X. A first lead screw 321 is rotatably coupled between the pair of fixed plates 21. A first drive motor 322 is coupled to one of the fixed plates 21. The output shaft of the first drive motor 322 is coupled to the first lead screw 321, thereby enabling the first drive motor 322 to drive the first lead screw 321 to rotate about its axis. A first sliding portion 31 at least partially surrounds the circumferential surface of the first lead screw 321 and is threadedly engaged with the first lead screw 321. In this way, the first sliding portion 31 can reciprocate linearly relative to the palm module 2 along the linear direction X during the rotation of the first lead screw 321 about its own axis.

[0034] In some embodiments, the connection structure between the first lead screw 321 and the first sliding part 31 can be a ball screw connection structure, which can reduce the friction between the first lead screw 321 and the first sliding part 31, thereby improving the sliding stability of the first sliding part 31. By controlling the rotation of the output shaft of the first drive motor 322 and driving the first lead screw 321 to rotate by a predetermined angle, the sliding distance of the first sliding part 31 can be accurately controlled. Thus, the swing angle of the finger module relative to the palm module 2 can be accurately controlled. It should be understood that in some other embodiments, the first linear drive assembly 32 may also include any suitable mechanism capable of outputting linear power, such as a linear motor or a cylinder.

[0035] In some embodiments, the first linear drive assembly 32 further includes a first gear set 323. The first gear set 323 includes at least two sequentially meshing gears, and is coupled to the output shaft of the first drive motor 322 and the first lead screw 321, respectively. The first gear set 323 can transmit the rotational power output from the output shaft of the first drive motor 322 to the first lead screw 321. In some embodiments, the at least two gears in the first gear set 323 can have any suitable gear ratio, thereby adjusting the rotational speed of the first lead screw 321 relative to the output shaft of the first drive motor 322. In some embodiments, the first drive motor 322 can be arranged between a pair of fixed plates 21 and side by side with the lead screw, thereby reducing the space occupied by the first linear drive assembly 32, improving the integration of the robot, and reducing the size of the robot.

[0036] In some embodiments, the finger module further includes a linear guide rail 4. The linear guide rail 4 includes a slide rail 41 coupled to the palm module 2 and a slider 42 coupled to the first sliding portion 31. The slide rail 41 is arranged on one side of the first lead screw 321 in the radial direction and the length direction of the slide rail 41 is parallel to the linear direction X. The slider 42 is coupled to the slide rail 41 and slides along the length direction of the slide rail 41. Through the cooperation of the slider 42 and the slide rail 41, the first sliding portion 31 can slide stably along the linear direction X, thereby improving the stability of the first lead screw 321 driving the first sliding portion 31 to slide along the linear direction X.

[0037] Figure 2 A schematic diagram of a finger body in a bent state according to some embodiments of the present disclosure is shown. Figure 3 A schematic diagram of a finger body from the fingertip perspective, according to some embodiments of the present disclosure, is shown. For example... Figure 2 and Figure 3 As shown, in some embodiments, the finger body further includes a proximal knuckle support 5 hinged to the finger holder 1 and a metacarpophalangeal joint drive assembly 6 coupled to the proximal knuckle support 5. The metacarpophalangeal joint drive assembly 6 is adapted to drive the proximal knuckle support 5 to rotate relative to the finger holder 1 about a second rotation axis B (i.e., the bending and straightening of the finger module at the metacarpophalangeal joint).

[0038] In some embodiments, the metacarpophalangeal joint drive assembly 6 includes a second sliding portion 61 slidably coupled to the proximal knuckle support 5, a second connecting rod 63 disposed between the second sliding portion 61 and the finger retainer 1, and a second linear drive assembly 62 for driving the second sliding portion 61 to slide along the extension direction Y of the proximal knuckle support 5. The second connecting rod 63 extends in a direction perpendicular to the second rotation axis B and is spaced at a predetermined distance from the extension direction Y of the proximal knuckle support 5. One end of the second connecting rod 63 is hinged to the proximal knuckle support 5, and the other end is hinged to the second sliding portion 61. Thus, during the sliding of the second sliding portion 61 along the extension direction Y on the proximal knuckle support 5, the proximal knuckle support 5 can rotate relative to the finger retainer 1 about the second rotation axis B, thereby realizing the bending or straightening of the finger module at the metacarpophalangeal joint.

[0039] In some embodiments, the proximal knuckle support 5 includes a pair of mounting plates 51 arranged along the extending direction Y. A second linear drive assembly 62 is arranged between the pair of mounting plates 51, comprising a second lead screw 621 and a second drive motor 622 for driving the second lead screw 621 to rotate. The axial direction of the second lead screw 621 is parallel to the extending direction Y of the proximal knuckle support 5. The second lead screw 621 passes through a second sliding portion 61 and is threadedly engaged with the second sliding portion 61. When the second lead screw 621 rotates about its own axis under the drive of the second drive motor 622, the threaded engagement between the second lead screw 621 and the second sliding portion 61 allows the second sliding portion 61 to slide along the extending direction Y, thereby allowing the proximal knuckle support 5 to rotate relative to the finger retainer 1 about the second rotation axis B through the transmission action of the second connecting rod 63.

[0040] In some embodiments, a pair of sliding guide posts 52 are also arranged between a pair of mounting plates 51. The axial direction of each sliding guide post 52 is parallel to the extension direction Y of the proximal knuckle support 5. A second sliding part 61 can be sleeved on the pair of sliding guide posts 52 and slide along the extension direction Y by the guiding action of the sliding guide posts 52. The sliding engagement between the sliding guide posts 52 and the second sliding part 61 can improve the strength of the finger module, reduce the interference of lateral forces on the finger module, and improve the bending stability of the finger module.

[0041] Similar to the first linear drive assembly 32 of the palmar finger oscillation drive joint, in some embodiments, the second linear drive assembly 62 may also include a second gear set 623 disposed between the second drive motor 622 and the second lead screw 621. The second gear set 623 can transmit the rotational power output by the second drive motor 622 to the second lead screw 621, causing the second lead screw 621 to rotate about its own axis. Furthermore, the second gear set 623 can adjust the rotation ratio between the second drive motor 622 and the second lead screw 621 through its own gear ratio. This allows for more precise control of the rotation angle of the second lead screw 621.

[0042] Figure 4 A schematic diagram of a finger body from the back of the finger, according to some embodiments of the present disclosure, is shown. Figure 2 and Figure 4 As shown, in some embodiments, the finger body further includes a middle knuckle support 7 disposed at the end of the proximal knuckle support 5 away from the finger fixing seat 1, and a proximal interphalangeal joint drive assembly 8 coupled to the proximal knuckle support 5. The middle knuckle support 7 is hinged to the proximal knuckle support 5, so that the middle knuckle support 7 can rotate relative to the proximal knuckle support 5 about a third rotation axis C (that is, the finger module bends or straightens at the proximal interphalangeal joint).

[0043] In some embodiments, the proximal interphalangeal joint drive assembly 8 includes a third sliding portion 81 slidably coupled to the proximal phalanx support 5, a third link 83 disposed on the side of the third sliding portion 81 facing the middle phalanx support 7, and a third linear drive assembly 82 for driving the third sliding portion 81 to slide along the extension direction Y on the proximal phalanx support 5. The third link 83 extends in a direction perpendicular to the third rotation axis C and is spaced apart from the extension direction Y of the proximal phalanx support 5 by a predetermined distance. One end of the third link 83 facing the third sliding portion 81 is hinged to the third sliding portion 81, and the other end of the third link 83 facing the middle phalanx support 7 is hinged to the middle phalanx support 7. In this way, if the third sliding part 81 slides along the extension direction Y on the proximal phalanx support 5 and moves closer to or away from the middle phalanx support 7, the proximal phalanx support 5 and the middle phalanx support 7 can rotate relative to each other about the third rotation axis C because the third link 83 is hinged to the middle phalanx support 7 and the third sliding part 81 respectively (that is, the finger module bends and straightens at the proximal interphalangeal joint).

[0044] In some embodiments, the third sliding portion 81 can be sleeved on the sliding guide post 52 and slide more stably along the extension direction Y under the guidance of the sliding guide post 52. The cooperation between the third sliding portion 81 and the sliding guide post 52 further improves the resistance to lateral forces of the finger module, especially the proximal interphalangeal joint of the finger module.

[0045] Similar to the structure of the first linear drive assembly 32 and the second linear drive assembly 62, the third linear drive mechanism may include a third lead screw 821 and a third drive motor 822 for driving the third lead screw 821 to rotate about its own axis. The two ends of the third lead screw 821 are rotatably coupled to a pair of mounting plates 51, and the axial direction of the third lead screw 821 is parallel to the extension direction Y of the proximal knuckle support 5.

[0046] The third sliding part 81 is sleeved on the outside of the third lead screw 821 and threadedly engaged with the third lead screw 821. When the third lead screw 821 rotates around its own axis under the drive of the third drive motor 822, the threaded engagement between the third lead screw 821 and the third sliding part 81 allows the third sliding part 81 to slide along the extension direction Y. Consequently, the third connecting rod 83 can push the middle finger joint support 7 to rotate around the third rotation axis C. In some embodiments, a third gear set 823 is also provided between the output shaft of the third drive motor 822 and the third lead screw 821. Through the transmission action of the third gear set 823, the third drive motor 822 can drive the third lead screw 821 to rotate around its own axis.

[0047] In some embodiments, a fingertip support 9 is further provided at the end of the middle knuckle support 7 away from the proximal knuckle support 5. The fingertip support 9 is hinged to the middle knuckle support 7 and can rotate relative to the middle knuckle support 7 about a fourth rotation axis D. A fingertip link 91 is also coupled to the fingertip support 9. The two ends of the fingertip link 91 are respectively hinged to the proximal knuckle support 5 and the fingertip support 9. The end of the fingertip link 91 near the proximal knuckle support 5 is arranged inside the third rotation axis C relative to the bending direction of the finger module, and the end of the fingertip link 91 near the fingertip support 9 is arranged outside the fourth rotation axis D relative to the bending direction of the finger module. When the proximal interphalangeal joint of the finger module bends (that is, the middle knuckle support 7 rotates relative to the proximal knuckle support 5 about the third rotation axis C), the distal fingertip joint is also bent under the push of the fingertip link 91, thereby increasing the bending range of the finger module and thus improving the gripping ability of the robotic hand.

[0048] In some embodiments, the fingertip support 9 is further provided with an anti-slip pad on its inner side facing the bending direction. The anti-slip pad can be a flexible material such as silicone or rubber. On the one hand, it can increase the friction between the finger module and the target object; on the other hand, the anti-slip pad can provide cushioning between the finger module and the target object.

[0049] Various implementations of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed implementations. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described implementations. The terminology used herein is chosen to best explain the principles, practical applications, or improvements to technology in the market, or to enable others skilled in the art to understand the various implementations disclosed herein.

Claims

1. A finger module for a robotic hand, comprising: The finger body is movably coupled to the palm module (2) of the robotic hand so as to move relative to the palm module (2) after receiving an action command; as well as A palmar-finger lateral swing drive assembly (3) is disposed between the palm module (2) and the finger body, and is adapted to drive the finger body to move relative to the palm module (2) about a first rotation axis. The palmar-finger lateral swing drive assembly (3) includes: A first linear drive assembly (32) is coupled to the palm module (2) and includes a first sliding part (31). The first sliding part (31) is adapted to move relative to the palm module (2) in a straight direction (X) perpendicular to the first rotation axis (A); and A first link (33) extends in a direction perpendicular to the first rotation axis (A) and is movably coupled between the first sliding part (31) and the finger body to drive the finger body to rotate relative to the palm module (2) about the first rotation axis (A) during the movement of the first sliding part (31).

2. The finger module according to claim 1, wherein the finger body comprises: The finger holder (1) is rotatably coupled to the palm module (2) and rotatably coupled to one end of the first link (33) so that the finger body can rotate about the first rotation axis (A) relative to the palm module (2).

3. The finger module according to claim 1 or 2, wherein the first linear drive component (32) further comprises: The first lead screw (321) is rotatably coupled to the palm module (2) and extends in a straight line (X); A first drive motor (322) includes an output shaft coupled to a first lead screw (321) and is adapted to drive the first lead screw (321) to rotate about its own axis. The first sliding part (31) is threadedly engaged with the first lead screw (321) so that the first lead screw (321) can move linearly in the straight direction (X) during its rotation around its own axis.

4. The finger module of claim 3, wherein the first linear drive component (32) further comprises: A first gear set (323) is arranged between a first lead screw (321) and the output shaft of a first drive motor (322), and is adapted to transmit the rotation of the output shaft to the first lead screw (321).

5. The finger module according to claim 3, further comprising: Linear guide (4), including: A slide rail (41) is arranged on one side of the first lead screw (321) in the radial direction and coupled to the palm module (2). The length direction of the slide rail (41) is parallel to the straight line direction (X). The slider (42) is coupled to the first sliding part (31) and slides along the length of the slide rail (41).

6. The finger module according to claim 2, wherein the finger body further comprises: The proximal knuckle support (5) is hinged to the finger retainer (1) about the second rotation axis (B); as well as The metacarpophalangeal joint drive assembly (6) is coupled to the proximal phalanx support (5) and connected to the finger fixation seat (1), and is adapted to drive the proximal phalanx support (5) to rotate relative to the finger fixation seat (1) about a second rotation axis (B).

7. The finger module of claim 6, wherein the metacarpophalangeal joint driving component (6) comprises: The second sliding part (61) is slidably connected to the proximal phalanx support (5) along the extension direction (Y) of the proximal phalanx support (5); The second link (63) extends in a direction perpendicular to the second rotation axis (B), and both ends of the second link (63) are hinged to the second sliding part (61) and the finger fixing seat (1), respectively; and The second linear drive assembly (62) is coupled to the proximal knuckle support (5) and is adapted to drive the second sliding part (61) to slide along the extension direction (Y) so that the proximal knuckle support (5) rotates relative to the finger fixation part about the second rotation axis (B).

8. The finger module of claim 6, wherein the finger body further comprises: The middle knuckle support (7) is hinged to the proximal knuckle support (5) around the third moving axis; as well as The proximal interphalangeal joint drive assembly (8) is coupled to the proximal phalangeal support (5) and connected to the middle phalangeal support (7). The proximal interphalangeal joint drive assembly (8) is adapted to drive the middle phalangeal support (7) to rotate about a third rotation axis (C) relative to the proximal phalangeal support (5).

9. The finger module of claim 8, wherein the proximal interphalangeal joint drive assembly (8) comprises: The third sliding part (81) is slidably connected to the proximal phalanx support (5) along the extension direction (Y) of the proximal phalanx support (5); The third link (83) extends in a direction perpendicular to the third rotation axis (C), and both ends of the third link (83) are hinged to the third sliding part (81) and the middle finger joint support (7), respectively; and The third linear drive assembly (82) is coupled to the proximal phalanx support (5) and is adapted to drive the third sliding part (81) to slide along the extension direction (Y) so that the middle phalanx support (7) rotates about the third rotation axis (C) relative to the proximal phalanx.

10. The finger module of claim 8, wherein the proximal knuckle support (5) further comprises: A pair of sliding guide posts (52) are coupled to the proximal knuckle support (5) and extend along the extension direction (Y), and The second sliding portion (61) of the metacarpophalangeal joint drive assembly (6) and / or the third sliding portion (81) of the proximal interphalangeal joint are at least partially surrounded by a pair of sliding guide posts (52) to slide along the extension direction (Y) under the drive of the sliding guide posts (52).

11. The finger module of claim 8, further comprising a fingertip support (9) hinged about a fourth rotation axis (D) to the middle phalanx support (7); and The fingertip link (91) has two ends hinged to the proximal knuckle support (5) and the fingertip support (9), respectively. The end of the fingertip link (91) near the proximal knuckle support (5) is arranged inside the third rotation axis (C) relative to the bending direction of the finger module, and the end of the fingertip link (91) near the fingertip support (9) is arranged outside the fourth rotation axis (D) relative to the bending direction of the finger module.

12. A robotic arm, comprising: Palm module (2); as well as Multiple finger modules according to any one of claims 1-11 are arranged on the edge of the palm module (2).

13. A robot comprising: main body; A pair of robotic arms are positioned on opposite sides of the main body; as well as A pair of robotic hands according to claim 12, each coupled to a robotic arm.

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