A mechanical thumb, a mechanical hand and a robot

Abstract

The application provides a mechanical thumb, a mechanical hand and a robot, the mechanical thumb comprising: a rotating module configured to be connected with a mechanical palm, the rotating module comprising a rotating shell; a first knuckle shell provided with a receiving cavity, the first knuckle shell comprising a first end and a second end, the distance between the first end and the rotating shell being smaller than the distance between the second end and the rotating shell, a first power module being at least partially arranged in the receiving cavity and close to the first end of the first knuckle shell, the shell of the first power module being fixedly connected with the first knuckle shell, the output end of the first power module being directly or indirectly fixedly connected with the rotating shell, a second power module being at least partially arranged in the receiving cavity and close to the second end of the first knuckle shell, the shell of the second power module being fixedly connected with the first knuckle shell, and a second knuckle being directly or indirectly fixedly connected with the output end of the second power module. The above scheme solves the technical problem of the increase in the length of the proximal knuckle caused by the layout structure of the mechanical thumb.

Description

Technical Field

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

[0002] The robotic dexterous hand is a key actuator for performing complex robotic tasks. It typically integrates a power module to drive the movement of each phalanx and has corresponding circuitry for transmitting power or signals to maintain the normal operation of the power module. In related technologies, the proximal phalanx of the mechanical thumb is often relatively long, affecting the overall appearance of the dexterous hand. Summary of the Invention

[0003] The main objective of this invention is to provide a mechanical thumb, a mechanical hand, and a robot. According to one aspect of the invention, a mechanical thumb is provided, comprising: a rotating module configured to connect to a mechanical hand, the rotating module including a rotating housing; a first phalanx, the first phalanx including a first phalanx housing, a first power module, and a second power module, the first phalanx housing having a receiving cavity, the first phalanx housing including a first end and a second end, the distance between the first end and the rotating housing being less than the distance between the second end and the rotating housing, the first power module being at least partially disposed within the receiving cavity and near the first end of the first phalanx housing, the outer shell of the first power module being fixedly connected to the first phalanx housing, the output end of the first power module being directly or indirectly fixedly connected to the rotating housing, the second power module being at least partially disposed within the receiving cavity and near the second end of the first phalanx housing, the outer shell of the second power module being fixedly connected to the first phalanx housing; and a second phalanx, the second phalanx being directly or indirectly fixedly connected to the output end of the second power module; wherein the first power module and the second power module respectively include a stator assembly and a rotor assembly.

[0004] Furthermore, the rotor assembly of the first power module is rotatable about the first rotor rotation axis. The rotating housing includes a rotating housing body and two clamping portions protruding from the rotating housing body. The two clamping portions are arranged opposite to each other along the first rotor rotation axis. The first end of the first finger housing is at least partially located between the two clamping portions. The first power module is at least partially located between the two clamping portions. At least one clamping portion is connected to the output end of the first power module. A recessed area is provided on the rotating housing body, and the first end of the first finger housing is at least partially located in the recessed area.

[0005] Furthermore, the mechanical thumb also includes: a circuit board assembly disposed within a rotating housing; the rotating module further includes a rotating power module disposed within the rotating housing; the circuit board assembly is used to drive the first power module, the second power module, and the rotating power module; a first ribbon cable, one end of which is disposed within the first knuckle housing and electrically connected to the first power module; a first lead port at the first end of the first knuckle housing; the first power module can drive the first knuckle housing to rotate relative to the rotating housing; during the rotation of the first knuckle housing relative to the rotating housing, the first lead port is blocked by the wall of the recessed area; a second lead port is provided on the rotating housing, located in the recessed area; the first ribbon cable enters the rotating housing through the first and second lead ports; the other end of the first ribbon cable is electrically connected to the circuit board assembly; a second ribbon cable, one end of which is disposed within the first knuckle housing and electrically connected to the second power module; the second ribbon cable enters the rotating housing through the first and second lead ports; the other end of the second ribbon cable is electrically connected to the circuit board assembly.

[0006] Furthermore, the rotating housing body is also provided with a raised area, which is raised relative to the recessed area. The connection between the recessed area and the raised area forms a stepped structure. The stepped structure includes a first wall and a second wall that are connected to each other. The first wall serves as at least part of the wall of the recessed area, and the second wall serves as at least part of the wall of the raised area. The first finger joint housing includes a first limiting surface and a second limiting surface that are connected to each other. The first power module drives the first finger joint housing to rotate relative to the rotating housing between a first limit position and a second limit position. When the first finger joint housing is in the first limit position relative to the rotating housing, the first wall and the first limiting surface abut against each other. When the first finger joint housing is in the second limit position relative to the rotating housing, the second wall and the second limiting surface abut against each other. The angle through which the first finger joint housing rotates relative to the rotating housing from the first limit position to the second limit position is 60°~120°.

[0007] Furthermore, a deformation receiving cavity is formed between the raised area and the rotating power module. The deformation receiving cavity is connected to the second lead port. The first ribbon cable enters the deformation receiving cavity through the first lead port and the second lead port, and further extends to the circuit board assembly. When the first knuckle housing is in the first extreme position relative to the rotating housing, the length of the first ribbon cable in the deformation receiving cavity is the first length. When the first knuckle housing is in the second extreme position relative to the rotating housing, the length of the first ribbon cable in the deformation receiving cavity is the second length. The first length is greater than the second length.

[0008] Furthermore, the outer shell of the first power module includes a first shell segment and a second shell segment connected to each other along the rotation axis of the first rotor; the mechanical thumb also includes a connecting frame disposed inside the first phalanx shell, the connecting frame including a connecting base and a first fixing part, the first fixing part being fixedly connected to the outer peripheral surface of the first shell segment, the connecting base being connected to the first fixing part, the connecting base being fixedly connected to the first phalanx shell, at least a portion of the connecting base extending relative to the first fixing part in the direction of the second shell segment to cooperate with the second shell segment to form a limiting channel, and the first ribbon cable passing through the limiting channel.

[0009] Furthermore, the gap between the first finger joint housing and the second housing segment forms a first wiring channel, the first lead port is connected to the first wiring channel, the first ribbon cable enters the first wiring channel through the limiting channel, and exits the first finger joint housing through the first lead port.

[0010] Furthermore, the first finger joint housing includes a first fitting part that is adapted to the outer peripheral surface of the second housing segment. A first limiting groove is provided on the inner wall of the first fitting part. The first limiting groove participates in forming a first wiring channel. The first ribbon cable is at least partially disposed in the first limiting groove. The groove width of the first limiting groove is adapted to the line width of the first ribbon cable.

[0011] Furthermore, the rotor assembly of the rotary power module can rotate around the rotation axis of the second rotor. The mechanical thumb also includes a mounting bracket, which includes a first support and a second support. The first support is located on one side of the rotary power module along the rotation axis of the second rotor. The circuit board assembly is located on the first support. The second support is connected to the first support and extends along the rotation axis of the second rotor. The second support is provided with a second wiring channel. The first ribbon cable enters the first wiring channel through a limiting channel, and then passes through the first lead-out port to exit the first knuckle housing. After entering the rotating housing, the first ribbon cable is electrically connected to the circuit board assembly through the second wiring channel.

[0012] Furthermore, the second ribbon cable enters the first wiring channel via the limiting channel, then passes through the first lead port out of the first finger joint housing, and after entering the rotating housing, the second ribbon cable is electrically connected to the circuit board assembly via the second wiring channel.

[0013] Furthermore, a third lead port is provided at the second end of the first phalanx housing, and a tactile sensor is provided on the palmar side of the second phalanx. The mechanical thumb also includes a third ribbon cable, which is electrically connected to the tactile sensor and enters the first phalanx housing through the third lead port. The third ribbon cable enters the first wiring channel through the limiting channel, and then exits the first phalanx housing through the first lead port. After entering the rotating housing, the third ribbon cable is electrically connected to the circuit board assembly through the second wiring channel.

[0014] Furthermore, the rotor assembly of the second power module is rotatable around the rotation axis of the third rotor. The outer shell of the second power module includes a third shell segment and a fourth shell segment connected to each other along the rotation axis of the third rotor. The connecting frame also includes a second fixing part, which is fixedly connected to the outer peripheral surface of the third shell segment and connected to the connecting base. The gap between the first finger joint shell and the fourth shell segment forms a third wiring channel, which is connected to a third lead-in port. The third wiring cable enters the third wiring channel through the third lead-in port, passes through the third wiring channel, enters the first wiring channel through the limiting channel, and then passes through the first lead-in port to exit the first finger joint shell.

[0015] Furthermore, the first finger joint housing includes a second fitting part that is adapted to the outer peripheral surface of the fourth housing segment. A second limiting groove is provided on the inner wall of the second fitting part. The second limiting groove participates in forming a third wiring channel. The third ribbon cable is at least partially disposed in the second limiting groove. The groove width of the second limiting groove is adapted to the line width of the third ribbon cable.

[0016] According to another aspect of the present invention, a robotic hand is provided, the robotic hand including a robotic palm and the aforementioned robotic thumb, the robotic thumb being connected to the robotic palm.

[0017] According to another aspect of the present invention, a robot is provided, which includes the aforementioned robotic arm.

[0018] Applying the technical solution of the present invention, at least a portion of the first power module and at least a portion of the second power module are disposed within the receiving cavity of the first phalanx housing. The outer shell of the first power module is fixedly connected to the first phalanx housing, and the output end of the first power module is directly or indirectly fixedly connected to the rotating housing, so that the first power module drives the first phalanx housing to rotate relative to the rotating housing in the opposite direction. The built-in layout of the first power module is beneficial to simplifying the wiring layout inside the first phalanx housing, thereby helping to reduce the overall length of the first phalanx housing. Attached Figure Description

[0019] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0020] Figure 1 A schematic diagram of the robotic arm in this application is shown;

[0021] Figure 2 An explosion diagram of the mechanical thumb in this application is shown;

[0022] Figure 3 A cross-sectional schematic diagram of the mechanical thumb in the first embodiment of this application is shown;

[0023] Figure 4 A cross-sectional schematic diagram of the mechanical thumb in the second embodiment of this application is shown;

[0024] Figure 5 A schematic diagram of the mechanical thumb in the third embodiment of this application is shown;

[0025] Figure 6 A schematic diagram of the mechanical thumb in the fourth embodiment of this application is shown;

[0026] Figure 7 A schematic diagram of the mechanical thumb in the fifth embodiment of this application is shown;

[0027] Figure 8 A schematic diagram of the mechanical thumb in the sixth embodiment of this application is shown;

[0028] Figure 9 An exploded schematic diagram of the knuckles of the mechanical thumb in this application is shown;

[0029] Figure 10 An explosion diagram of the first phalanx in this application is shown;

[0030] Figure 11 A schematic diagram of the connecting skeleton in this application is shown;

[0031] Figure 12 A schematic diagram of the structure of the first half-shell (second half-shell) in this application is shown;

[0032] Figure 13 A schematic diagram of the rotating shell structure in this application is shown.

[0033] The above figures include the following reference numerals:

[0034] 1. Rotation module;

[0035] 11. Rotating housing; 111. Rotating housing body; 1111. Recessed area; 1112. Protruding area; 1113. First wall surface; 1114. Second wall surface; 112. Clamping part; 113. Second lead-in port; 114. Deformation receiving cavity;

[0036] 12. Rotary power module;

[0037] 13. Mounting bracket; 131. First support part; 132. Second support part; 1321. Second wiring channel;

[0038] 2. First phalanx;

[0039] 21. First power module; 211. First housing section; 212. Second housing section; 213. First rotor rotation axis;

[0040] 22. First finger joint housing; 221. First lead-in port; 222. First limiting surface; 223. Second limiting surface; 224. First adapter part; 2241. First limiting groove; 225. Second adapter part; 2251. Second limiting groove; 226. Third lead-in port; 227. First half-shell; 228. Second half-shell;

[0041] 23. First cabling channel;

[0042] 24. Connecting frame; 241. Connecting base; 242. First fixing part; 243. Second fixing part; 244. First ear plate; 245. Second ear plate;

[0043] 25. Third cabling channel;

[0044] 27. Limiting channel;

[0045] 28. Second power module; 281. Third housing section; 282. Fourth housing section; 283. Second rotor rotation axis;

[0046] 3. Second phalanx;

[0047] 4. Circuit board assembly;

[0048] 5. First row of cables;

[0049] 6. Second row of cables;

[0050] 7. Third row of cables;

[0051] 8. Mechanical hand. Detailed Implementation

[0052] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0053] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0054] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0055] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art. In the drawings, for clarity, the thickness of layers and regions may be exaggerated, and the same reference numerals are used to denote the same devices, and therefore their description will be omitted. Figures 1 to 13 As shown, according to a specific embodiment of this application, a mechanical thumb is provided.

[0056] Specifically, the mechanical thumb includes: a rotating module 1, a first phalanx 2, and a second phalanx 3. The rotating module 1 is configured to connect to the mechanical hand 8 and includes a rotating housing 11. The first phalanx 2 includes a first phalanx housing 22, a first power module 21, and a second power module 28. The first phalanx housing 22 has a receiving cavity and includes a first end and a second end. The distance between the first end and the rotating housing 11 is less than the distance between the second end and the rotating housing 11. The first power module 21 is at least partially disposed within the receiving cavity and near the first end of the first phalanx housing 22. The outer shell of the first power module 21 is fixedly connected to the first phalanx housing 22. The output end of the first power module 21 is directly or indirectly fixedly connected to the rotating housing 11. The second power module 28 is at least partially disposed within the receiving cavity and near the second end of the first phalanx housing 22. The outer shell of the second power module 28 is fixedly connected to the first phalanx housing 22. The second phalanx 3 is directly or indirectly fixedly connected to the output end of the second power module 28; wherein the first power module and the second power module respectively include a stator assembly and a rotor assembly.

[0057] In the description of this application, the phrase "component A is fixedly connected to component B" includes both cases where component A is directly fixedly connected to component B and cases where component A is indirectly fixedly connected to component B; similarly, the phrase "component A is connected to component B" includes both cases where component A is directly connected to component B and cases where component A is indirectly connected to component B. In short, unless otherwise specified, the description of the connection relationship between component A and component B in this application includes both direct and indirect cases.

[0058] In related technologies, the proximal phalanx of the mechanical thumb is connected to the rotation module 1 via a first power module 21. The first power module 21 is located outside the first phalanx housing 22. The outer shell of the first power module 21 is directly or indirectly connected to the rotation module. The output end of the first power module 21 is connected to the first phalanx housing 22. At this time, the wiring layout inside the first phalanx housing 22 needs to be coordinated with the relative rotation between the outer shell of the first power module 21 and the first phalanx housing 22, which makes the wiring layout inside the first phalanx housing 22 complex and requires a large length, resulting in an increase in the length of the proximal phalanx.

[0059] In the embodiments of this application, at least a portion of the first power module 21 and at least a portion of the second power module 28 are disposed within the receiving cavity of the first phalanx housing 22. The outer shell of the first power module 21 is fixedly connected to the first phalanx housing 22, and the output end of the first power module 21 is directly or indirectly fixedly connected to the rotating housing 11, so that the first power module 21 drives the first phalanx housing 22 to rotate relative to the rotating housing 11 in the opposite direction. The built-in layout of the first power module 21, compared with the solutions in related technologies, is beneficial to simplifying the wiring layout inside the first phalanx housing 22, thereby reducing the overall length of the first phalanx housing 22.

[0060] In one exemplary embodiment of this application, the rotor assembly of the first power module 21 is rotatable about the first rotor rotation axis 213. The rotating housing 11 includes a rotating housing body 111 and two clamping portions 112 protruding from the rotating housing body 111. The two clamping portions 112 are arranged opposite to each other along the first rotor rotation axis 213. The first end of the first finger housing 22 is at least partially located between the two clamping portions 112. The first power module 21 is at least partially located between the two clamping portions 112. At least one clamping portion 112 is connected to the output end of the first power module 21. A recessed area 1111 is provided on the rotating housing body 111, and the first end of the first finger housing 22 is at least partially located in the recessed area 1111.

[0061] In the embodiments of this application, on the one hand, at least a portion of the first end of the first knuckle housing 22 and at least a portion of the first power module 21 are located between two clamping portions 112, and at least one clamping portion 112 is connected to the output end of the first power module 21. This structural layout shortens the power transmission path, reduces the connection space and length required by traditional adapters, and improves the overall structural compactness. On the other hand, at least a portion of the first end of the first knuckle housing 22 is located within the recessed area 1111 of the rotating housing body 111, further improving the overall structural compactness.

[0062] like Figure 2 , Figure 3 , Figure 4 , Figure 13 As shown, the first power module 21 is disposed near the first end of the first knuckle housing 22. A portion of the first power module 21 is disposed within the receiving cavity of the first knuckle housing 22. The outer shell of the first power module 21 is fixedly connected to the first knuckle housing 22. A portion of the output end of the first power module 21 and a portion of the outer shell of the first power module 21 are located outside the first knuckle housing 22. The rotating housing 11 includes a rotating housing body 111 and two clamping portions 112. The two clamping portions 112 are disposed opposite each other along the rotation axis of the first rotor. The first end of the first knuckle housing 22 is located between the two clamping portions 112, and the first power module 21 is located between the two clamping portions 112. The output end of the first power module 21 is fixedly connected to one of the clamping portions 112, and the outer shell of the first power module 21 located outside the first knuckle housing 22 is rotatably connected to the other clamping portion 112. The first power module 21 drives the first knuckle housing 22 to rotate relative to the rotating housing 11 in the opposite direction. The rotating housing body 111 has a recessed area 1111, which is located between the two clamping parts 112, and a portion of the first end of the first finger joint housing 22 is located in the recessed area 1111.

[0063] In another exemplary embodiment of this application, the mechanical thumb further includes: a circuit board assembly 4, a first ribbon cable 5, and a second ribbon cable 6. The circuit board assembly 4 is disposed within the rotating housing 11, and the rotating module 1 further includes a rotating power module 12, which is disposed within the rotating housing 11. The circuit board assembly 4 is used to drive the first power module 21, the second power module 28, and the rotating power module 12. One end of the first ribbon cable 5 is disposed inside the first knuckle housing 22 and electrically connected to the first power module 21. The first end of the first knuckle housing 22 is provided with a first lead port 221. The first power module 21 can drive the first knuckle housing 22 to rotate relative to the rotating housing 11. During the rotation of the first knuckle housing 22 relative to the rotating housing 11, the first lead port 221 is blocked by the wall of the recessed area 1111. The rotating housing 11 is provided with a second lead port 113, which is disposed in the recessed area 1111. The first ribbon cable 5 enters the rotating housing 11 through the first lead port 221 and the second lead port 113. The other end of the first ribbon cable 5 is electrically connected to the circuit board assembly 4. One end of the second ribbon cable 6 is disposed inside the first knuckle housing 22 and electrically connected to the second power module 28. The second ribbon cable 6 enters the rotating housing 11 through the first lead port 221 and the second lead port 113. The other end of the second ribbon cable 6 is electrically connected to the circuit board assembly 4.

[0064] In the embodiments of this application, on the one hand, the circuit board assembly 4 driving the first power module 21 and the second power module 28 is disposed inside the rotating housing 11, which helps to reduce the size of the first phalanx 2 and the second phalanx 3. The first ribbon cable 5 and the second ribbon cable 6 enter the rotating housing 11 through the first lead port 221 and the second lead port 113, realizing centralized control of the electrical system and reducing external messy wiring. On the other hand, the second lead port 113 is disposed in the recessed area 1111 on the rotating housing 11, and the recessed area 1111 cooperates with the first lead port 221 on the first phalanx housing 22 to form a concealed wiring path. During the rotation of the first phalanx housing 22 relative to the rotating housing 11, the wall of the recessed area 1111 blocks the first lead port 221, and the first phalanx housing 22 blocks the second lead port 113, avoiding the exposure of the lead port and the corresponding ribbon cable, and improving the reliability of the cable layout.

[0065] Furthermore, the rotating housing body 111 is also provided with a raised area 1112, which is raised relative to the recessed area 1111. The connection between the recessed area 1111 and the raised area 1112 forms a stepped structure. The stepped structure includes a first wall surface 1113 and a second wall surface 1114 connected to each other. The first wall surface 1113 serves as at least part of the wall surface of the recessed area 1111, and the second wall surface 1114 serves as at least part of the wall surface of the raised area 1112. The first knuckle housing 22 includes a first limiting surface 222 and a second limiting surface 223 connected to each other. The first power module 21 drives the first knuckle housing 22 to rotate relative to the rotating housing 11 between a first extreme position and a second extreme position. When the first knuckle housing 22 is in the first extreme position relative to the rotating housing 11, the first wall surface 1113 abuts against the first limiting surface 222. When the first knuckle housing 22 is in the second extreme position relative to the rotating housing 11, the second wall surface 1114 abuts against the second limiting surface 223. The angle through which the first knuckle housing 22 rotates relative to the rotating housing 11 from the first extreme position to the second extreme position is 60° to 120°. Figure 3 and Figure 4 The diagram shows a schematic of the structure of the first finger shell 22 in the first extreme position relative to the rotating shell 11.

[0066] In the embodiments of this application, a stepped structure is formed at the connection between the recessed area 1111 and the raised area 1112. When the first phalanx housing 22 rotates relative to the rotating housing 11, the limiting surface on the first phalanx housing 22 cooperates with the stepped structure to limit the rotation range of the first phalanx housing 22, avoiding excessive pulling of the cable due to excessive rotation angle, and improving the accuracy and reliability of the mechanical thumb's movement. The rotation angle range of the first phalanx housing 22 is limited to 60°~120° to ensure that the first phalanx housing 22 has sufficient effective working stroke to meet the requirements of the mechanical thumb for the rotation angle in actual grasping operation. While providing reliable limiting protection, the space utilization rate is optimized.

[0067] like Figure 3 , Figure 4 , Figure 9 , Figure 13As shown, the rotary power module 12 is disposed within the rotary housing body 111. The rotary housing body 111 has a recessed area 1111 and a raised area 1112, which are distributed along the direction of the second rotor rotation axis of the rotary module 1. The raised area 1112 is raised relative to the recessed area 1111. A stepped structure is formed at the connection between the recessed area 1111 and the raised area 1112. The stepped structure includes a first wall surface 1113 and a second wall surface 1114 connected to each other. The first wall surface 1113 and the second wall surface 1114 are set at a first included angle. The first wall surface 1113 serves as part of the wall surface of the recessed area 1111, and the second wall surface 1114 serves as part of the wall surface of the raised area 1112. The first knuckle housing 22 includes a first limiting surface 222 and a second limiting surface 223 connected to each other. The first limiting surface 222 and the second limiting surface 223 are set at a second included angle. The first power module 21 drives the first finger joint housing 22 to rotate relative to the rotating housing 11. When the first limiting surface 222 of the first finger joint housing 22 abuts against the first wall surface 1113, the first finger joint housing 22 is in the first extreme position, such as... Figure 3 As shown. When the second limiting surface 223 of the first finger joint housing 22 abuts against the second wall surface 1114, the first finger joint housing 22 is in the second extreme position. The angle through which the first finger joint housing 22 rotates relative to the rotating housing 11 from the first extreme position to the second extreme position is 60° to 120°. For example, the angle through which it rotates can be 60°, 70°, 80°, 90°, 100°, 110°, or 120°.

[0068] Furthermore, a deformation receiving cavity 114 is formed between the protrusion area 1112 and the rotational power module 12. The deformation receiving cavity 114 is connected to the second lead port 113. The first ribbon cable 5 enters the deformation receiving cavity 114 through the first lead port 221 and the second lead port 113, and further extends to the circuit board assembly 4. When the first knuckle housing 22 is in the first extreme position relative to the rotating housing 11, the length of the first ribbon cable 5 in the deformation receiving cavity 114 is the first length. When the first knuckle housing 22 is in the second extreme position relative to the rotating housing 11, the length of the first ribbon cable 5 in the deformation receiving cavity 114 is the second length. The first length is greater than the second length. That is to say, when the first knuckle housing 22 is in the first extreme position relative to the rotating housing 11, the first ribbon cable 5 is at least partially redundant, and the redundant part is received in the deformation receiving cavity 114, providing a margin that allows the first knuckle housing 22 to rotate relative to the rotating housing 11.

[0069] In the embodiments of this application, a deformation receiving cavity 114 is formed between the protrusion area 1112 and the rotary power module 12. The deformation receiving cavity 114 is connected to the second lead port 113. During the rotation of the first finger shell 22 relative to the rotating shell 11, the redundant first ribbon cable 5 is received in the deformation receiving cavity 114. When the first finger shell 22 rotates relative to the rotating shell 11, the first ribbon cable 5 can be freely bent or stretched.

[0070] In another exemplary embodiment of this application, the outer shell of the first power module 21 includes a first shell segment 211 and a second shell segment 212 connected to each other along the direction of the first rotor rotation axis 213; the mechanical thumb also includes a connecting frame 24, which is disposed in the first phalanx shell 22. The connecting frame 24 includes a connecting base 241 and a first fixing part 242. The first fixing part 242 is fixedly connected to the outer peripheral surface of the first shell segment 211. The connecting base 241 is connected to the first fixing part 242 and fixedly connected to the first phalanx shell 22. At least a portion of the connecting base 241 extends relative to the first fixing part 242 in the direction of the second shell segment 212 to cooperate with the second shell segment 212 to form a limiting channel 27. The first ribbon cable 5 passes through the limiting channel 27.

[0071] In the embodiments of this application, on the one hand, the connecting base 241 is fixedly connected to the first finger joint housing 22 to connect the first fixing part 242 to the first finger joint housing 22, thereby fixing the outer shell of the first power module 21 to the first finger joint housing 22; the connecting base 241 and the second shell segment 212 cooperate to form a limiting channel 27 to limit the first ribbon cable 5 and standardize the routing path of the first ribbon cable 5; the integrated design of the connecting base 241 and the first fixing part 242 realizes a high degree of integration of structure and function and improves the compactness of the overall structure.

[0072] like Figure 10 , Figure 11 As shown, the outer shell of the first power module 21 includes a first shell section 211 and a second shell section 212 connected to each other along the rotation axis of the first rotor. The outer diameter of the first shell section 211 is smaller than the outer diameter of the second shell section 212, and the inner diameter of the first shell section 211 is smaller than the inner diameter of the second shell section 212. The first power module 21 includes a first motor body and a first reducer assembly. The first motor body is disposed in the second shell section 212, and the first reducer assembly is disposed in the first shell section 211. The second shell section 212 can accommodate stator and rotor assemblies with larger diameters, thereby effectively increasing the torque radius of the first motor body and improving the output torque and power density.

[0073] like Figure 5 , Figure 10 , Figure 11As shown, the connecting frame 24 is disposed within the first knuckle housing 22. The connecting frame 24 includes a connecting base 241 and a first fixing part 242, which are connected together. The first knuckle housing 22 includes a first half-shell 227 and a second half-shell 228, which are respectively connected to the connecting base 241 of the connecting frame 24 by fasteners (such as bolts or screws). The first fixing part 242 is an annular structure with one open end. The open end of the first fixing part 242 is provided with a first ear plate 244. The first fixing part 242 is sleeved on the outer peripheral surface of the first shell segment 211. Fasteners pass through the first ear plate 244 and the connecting base 241 in sequence to lock the first fixing part 242 and the first shell segment 211. A portion of the connecting base 241 extends relative to the first fixing part 242 toward the direction of the second shell segment 212, so that a limiting channel 27 is formed between the connecting base 241 and the second shell segment 212.

[0074] Furthermore, such as Figure 3 , Figure 4 , Figure 5 , Figure 7 , Figure 8 As shown, the gap between the first finger joint housing 22 and the second housing segment 212 forms the first wiring channel 23. The first lead port 221 is connected to the first wiring channel 23. The first ribbon cable 5 enters the first wiring channel 23 through the limiting channel 27 and exits the first finger joint housing 22 through the first lead port 221.

[0075] In the embodiments of this application, on the one hand, the gap between the first finger joint housing 22 and the second housing segment 212 forms the first wiring channel 23, which does not require additional wiring structure and helps to simplify wiring; on the other hand, the first ribbon cable 5 enters the first wiring channel 23 through the limiting channel 27, which restricts part of the first ribbon cable 5 within the first wiring channel 23, further standardizing the routing path of the first ribbon cable 5, preventing the ribbon cables from stacking disorderly and interfering with each other in the receiving cavity, and reducing the risk of wear.

[0076] Furthermore, the first finger joint housing 22 includes a first adapter portion 224 that is adapted to the outer peripheral surface of the second housing segment 212. A first limiting groove 2241 is provided on the inner wall of the first adapter portion 224. The first limiting groove 2241 participates in forming the first wiring channel 23. The first ribbon cable 5 is at least partially disposed in the first limiting groove 2241. The groove width of the first limiting groove 2241 is adapted to the line width of the first ribbon cable 5.

[0077] In the embodiments of this application, the first ribbon cable 5 is disposed in the first limiting groove 2241. The groove width of the first limiting groove 2241 is adapted to the line width of the first ribbon cable 5. That is, the first limiting groove 2241 limits the first ribbon cable 5 along the line width direction of the first ribbon cable 5. This not only prevents the first ribbon cable 5 from shaking along the line width direction of the first ribbon cable 5, but also enables precise positioning of the first ribbon cable 5, ensuring the stability of the wiring position.

[0078] like Figure 5 , Figure 10 , Figure 12 As shown, the first finger joint housing 22 includes a first fitting portion 224 that adapts to the outer peripheral surface of the second housing segment 212. The first fitting portion 224 is a first through groove formed on the first finger joint housing 22, which extends along the direction of the first rotor's rotation axis. The inner wall of the first fitting portion 224 is provided with a first limiting groove 2241 with one end open. The width of the first limiting groove 2241 is equal to the width of the first ribbon cable 5. The first ribbon cable 5 is disposed in the first limiting groove 2241, restricting the first ribbon cable 5 from swaying along the width direction of the first ribbon cable 5. In order to prevent the first ribbon cable 5 from moving along its length direction, the first ribbon cable 5 can be glued to the groove wall of the first limiting groove 2241.

[0079] like Figure 5 As shown, the first ribbon cable 5, the second ribbon cable 6, and the third ribbon cable 7 share the first wiring channel 23 and the first limiting groove 2241. The first ribbon cable 5, the second ribbon cable 6, and the third ribbon cable 7 can be glued together first, and then the ribbon cables can be glued to the groove wall of the first limiting groove 2241.

[0080] Furthermore, the rotor assembly of the rotary power module 12 can rotate around the second rotor rotation axis 283. The mechanical thumb also includes a mounting bracket 13, which includes a first support part 131 and a second support part 132. The first support part 131 is disposed on one side of the rotary power module 12 along the direction of the second rotor rotation axis 283. The circuit board assembly 4 is disposed on the first support part 131. The second support part 132 is connected to the first support part 131 and extends along the direction of the second rotor rotation axis. The second support part 132 is provided with a second wiring channel 1321. The first ribbon cable 5 enters the first wiring channel 23 through the limiting channel 27, and then passes through the first lead port 221 to exit the first knuckle housing 22. After entering the rotary housing 11, the first ribbon cable 5 is electrically connected to the circuit board assembly 4 through the second wiring channel 1321.

[0081] In the embodiments of this application, the mounting bracket 13 can not only fix the circuit board assembly 4, but also regulate the routing path of the first ribbon cable 5 through the second wiring channel 1321, preventing the ribbon cables from piling up disorderly and interfering with each other in the rotating housing 11, and reducing the risk of wear.

[0082] like Figure 5 , Figure 6 , Figure 7 , Figure 8 As shown, the rotor assembly of the rotary power module 12 can rotate around the rotation axis of the second rotor. A mounting bracket 13 is provided inside the rotary housing 11, and the mounting bracket 13 is fixedly connected to the rotary housing 11. The mounting bracket 13 includes a first support portion 131 and a second support portion 132. The first support portion 131 is connected to the second support portion 132, and the first support portion 131 and the second support portion 132 are perpendicular to each other. The first support portion 131 is located on one side of the rotary power module 12 along the rotation axis of the second rotor. The circuit board assembly 4 is fixed on the first support portion 131. The second support portion 132 extends along the rotation axis of the second rotor, and a second wiring channel 1321 is provided on the second support portion 132, which is through the second rotor rotation axis. The first ribbon cable 5 enters the first wiring channel 23 through the limiting channel 27, then exits the first finger joint housing 22 through the first lead port 221. After entering the rotary housing 11, the first ribbon cable 5 is electrically connected to the circuit board assembly 4 through the second wiring channel 1321. In order to prevent the first ribbon cable 5 from moving relative to the second wiring channel 1321, the first ribbon cable 5 can be attached to the inner wall of the second wiring channel 1321.

[0083] like Figure 5 As shown, the first ribbon cable 5, the second ribbon cable 6, and the third ribbon cable 7 share the second wiring channel 1321. The first ribbon cable 5, the second ribbon cable 6, and the third ribbon cable 7 can be glued together first, and then the ribbon cables can be glued to the inner wall of the second wiring channel 1321.

[0084] Furthermore, such as Figure 5 , Figure 6 As shown, the second ribbon cable 6 enters the first wiring channel 23 via the limiting channel 27, then passes through the first lead port 221 and exits the first finger housing 22. After entering the rotating housing 11, the second ribbon cable 6 is electrically connected to the circuit board assembly 4 via the second wiring channel 1321.

[0085] In the embodiments of this application, the second cable 6 and the first cable 5 have the same routing path, that is, they share the same wiring channel and lead-in port, which makes it easy to centrally fix and protect the cables. This not only improves the space utilization inside the mechanical thumb, but also simplifies the internal structural layout of the mechanical thumb, which is conducive to the miniaturization design of the mechanical thumb.

[0086] Furthermore, such as Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 12As shown, the second end of the first phalanx housing 22 is provided with a third lead port 226, the palmar side of the second phalanx 3 is provided with a tactile sensor, and the mechanical thumb also includes a third ribbon cable 7. The third ribbon cable 7 is electrically connected to the tactile sensor and enters the first phalanx housing 22 through the third lead port 226. The third ribbon cable 7 enters the first wiring channel 23 through the limiting channel 27, and then exits the first phalanx housing 22 through the first lead port 221. After entering the rotating housing 11, the third ribbon cable 7 is electrically connected to the circuit board assembly 4 through the second wiring channel 1321.

[0087] In the embodiments of this application, the third cable 7 makes full use of the wiring channel and lead-in port of the first cable 5 for wiring, reducing the need to open up an independent wiring path for the third cable 7. This allows for centralized fixing and protection of the cables, which not only improves the space utilization inside the mechanical thumb but also simplifies the internal structural layout of the mechanical thumb, thus facilitating the miniaturization design of the mechanical thumb.

[0088] Furthermore, the rotor assembly of the second power module 28 is rotatable around the rotation axis of the third rotor. The outer shell of the second power module 28 includes a third shell segment 281 and a fourth shell segment 282 connected to each other along the rotation axis of the third rotor. The connecting frame 24 also includes a second fixing part 243, which is fixedly connected to the outer peripheral surface of the third shell segment 281 and connected to the connecting base 241. The gap between the first finger shell 22 and the fourth shell segment 282 forms a third wiring channel 25, which is connected to the third lead port 226. The third cable 7 enters the third wiring channel 25 through the third lead port 226, passes through the third wiring channel 25, enters the first wiring channel 23 through the limiting channel 27, and then passes through the first lead port 221 to exit the first finger shell 22.

[0089] In the embodiments of this application, on the one hand, the outer shell of the second power module 28 is fixedly connected to the first phalanx shell 22 through the connecting frame 24, that is, the connecting frame 24 realizes the fixation of the outer shell of the first power module 21; on the other hand, a third wiring channel 25 is formed between the connecting base 241 of the connecting frame 24 and the fourth shell segment 282, so as to restrict part of the third wiring 7 within the third wiring channel 25, further standardize the wiring path of the third wiring 7, prevent the third wiring 7 from being disorderly piled up and interfering with each other in the receiving cavity, and reduce the risk of wear; the connecting frame 24 integrates multiple functions, thereby simplifying the structure of the mechanical thumb and improving space utilization.

[0090] like Figure 10 , Figure 11As shown, the outer casing of the second power module 28 includes a third shell section 281 and a fourth shell section 282 connected to each other along the rotation axis of the third rotor. The outer diameter of the third shell section 281 is smaller than the outer diameter of the fourth shell section 282, and the inner diameter of the third shell section 281 is smaller than the inner diameter of the fourth shell section 282. The second power module 28 includes a second motor body and a second reducer assembly. The second motor body is located in the fourth shell section 282, and the second reducer assembly is located in the third shell section 281. The fourth shell section 282 can accommodate stator and rotor assemblies with larger diameters, thereby effectively increasing the torque radius of the second motor body and improving the output torque and power density.

[0091] like Figure 5 , Figure 10 , Figure 11 As shown, the connecting frame 24 is disposed within the first phalanx housing 22. The connecting frame 24 includes a connecting base 241, a first fixing part 242, and a second fixing part 243. The first fixing part 242 and the second fixing part 243 are respectively connected to the connecting base 241. The second fixing part 243 is an annular structure with one open end. The open end of the second fixing part 243 is provided with a second ear plate 245. The second fixing part 243 is sleeved on the outer peripheral surface of the third housing segment 281. Fasteners pass through the second ear plate 245 and the connecting base 241 in sequence to lock the second fixing part 243 and the third housing segment 281. The gap between the first phalanx housing 22 and the fourth housing segment 282 forms a third wiring channel 25. The third wiring channel 25 is connected to the third lead port 226. The third ribbon cable 7 enters the third wiring channel 25 through the third lead port 226, passes through the third wiring channel 25, enters the first wiring channel 23 through the limiting channel 27, and then passes through the first lead port 221 to exit the first phalanx housing 22.

[0092] A portion of the connecting base 241 extends relative to the first fixing part 242 in the direction of the second shell section 212, so that a limiting channel 27 is formed between the connecting base 241 and the second shell section 212.

[0093] like Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 12 As shown, the first ribbon cable 5, the second ribbon cable 6 and the third ribbon cable 7 share the limiting channel 27, the first wiring channel 23, the first lead port 221, the second lead port 113 and the second wiring channel 1321. The ribbon cables passing through the second wiring channel 1321 are electrically connected to the circuit board assembly 4.

[0094] Furthermore, the first finger joint housing 22 includes a second adapter portion 225 that is adapted to the outer peripheral surface of the fourth housing segment 282. A second limiting groove 2251 is provided on the inner wall of the second adapter portion 225. The second limiting groove 2251 participates in forming the third wiring channel 25. The third ribbon cable 7 is at least partially disposed in the second limiting groove 2251. The groove width of the second limiting groove 2251 is adapted to the line width of the third ribbon cable 7.

[0095] In the embodiments of this application, the third cable 7 is disposed in the second limiting groove 2251. The groove width of the second limiting groove 2251 is adapted to the line width of the third cable 7. That is, the second limiting groove 2251 limits the third cable 7 along the line width direction of the third cable 7. This not only prevents the third cable 7 from shaking along the line width direction of the third cable 7, but also enables precise positioning of the third cable 7, ensuring the stability of the wiring position.

[0096] like Figure 5 , Figure 10 , Figure 12 As shown, the first finger joint housing 22 includes a second fitting portion 225 that adapts to the outer peripheral surface of the fourth housing segment 282. The second fitting portion 225 is a second through groove formed on the first finger joint housing 22, which extends along the direction of the rotation axis of the third rotor. The inner wall of the second fitting portion 225 is provided with a second limiting groove 2251 with one end open. The width of the second limiting groove 2251 is equal to the width of the third wire 7. The third wire 7 is disposed in the second limiting groove 2251, restricting the third wire 7 from swaying along the width direction of the third wire 7. In order to prevent the third wire 7 from moving along the length direction of the third wire 7, the third wire 7 can be glued to the groove wall of the second limiting groove 2251.

[0097] According to another specific embodiment of this application, a robotic arm is provided, such as... Figure 1 As shown, the robotic hand includes a robotic palm 8 and a robotic thumb as described in the above embodiment, with the robotic thumb connected to the robotic palm 8.

[0098] According to another specific embodiment of this application, a robot is provided, which includes the robotic arm described in the above embodiments.

[0099] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0100] In addition to the above, it should be noted that the terms "one embodiment," "another embodiment," and "embodiment" used in this specification refer to specific features, structures, or characteristics described in connection with that embodiment, which are included in at least one embodiment described in the general description of this application. The appearance of the same expression in multiple places in the specification does not necessarily refer to the same embodiment. Furthermore, when a specific feature, structure, or characteristic is described in connection with any embodiment, the intention is to suggest that implementing such a feature, structure, or characteristic in conjunction with other embodiments also falls within the scope of this invention.

[0101] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0102] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A mechanical thumb, characterized in that, include: A rotating module (1) is configured to be connected to a robotic hand (8), the rotating module (1) including a rotating housing (11). The first phalanx (2) includes a first phalanx housing (22), a first power module (21), and a second power module (28). The first phalanx housing (22) has a receiving cavity. The first phalanx housing (22) includes a first end and a second end. The distance between the first end and the rotating housing (11) is less than the distance between the second end and the rotating housing (11). The first power module (21) is at least partially disposed in the receiving cavity and close to the first end of the first phalanx housing. The outer shell of the first power module is fixedly connected to the first phalanx housing. The output end of the first power module (21) is directly or indirectly fixedly connected to the rotating housing (11). The second power module (28) is at least partially disposed in the receiving cavity and close to the second end of the first phalanx housing (22). The outer shell of the second power module (28) is fixedly connected to the first phalanx housing (22). The second phalanx (3) is directly or indirectly fixedly connected to the output end of the second power module (28); The first power module (21) and the second power module (28) respectively include a stator assembly and a rotor assembly.

2. The mechanical thumb according to claim 1, characterized in that, The rotating housing (11) includes a rotating housing body (111) and two clamping portions (112) protruding from the rotating housing body (111). The two clamping portions (112) are arranged opposite to each other along the first rotor rotation axis (213) of the first power module (21). The first end of the first finger housing (22) is at least partially located between the two clamping portions (112). The first power module (21) is at least partially located between the two clamping portions (112). At least one of the clamping portions (112) is connected to the output end of the first power module (21). The rotating housing body (111) is provided with a recessed area (1111), and the first end of the first finger housing (22) is at least partially located in the recessed area (1111).

3. The mechanical thumb according to claim 2, characterized in that, The mechanical thumb also includes: The circuit board assembly (4) is disposed inside the rotating housing (11). The rotating module (1) further includes a rotating power module (12), which is disposed inside the rotating housing (11). The circuit board assembly (4) is used to drive the first power module (21), the second power module (28), and the rotating power module (12). The first ribbon cable (5) has one end located inside the first knuckle housing (22) and electrically connected to the first power module (21). The first end of the first knuckle housing (22) is provided with a first lead port (221). The first power module (21) can drive the first knuckle housing (22) to rotate relative to the rotating housing (11). During the rotation of the first knuckle housing (22) relative to the rotating housing (11), the first lead port (221) is blocked by the wall of the recessed area (1111). The rotating housing (11) is provided with a second lead port (113). The second lead port (113) is located in the recessed area (1111). The first ribbon cable (5) enters the rotating housing (11) through the first lead port (221) and the second lead port (113). The other end of the first ribbon cable (5) is electrically connected to the circuit board assembly (4). The second ribbon cable (6) has one end located inside the first knuckle housing (22) and is electrically connected to the second power module (28). The second ribbon cable (6) enters the rotating housing (11) through the first lead port (221) and the second lead port (113). The other end of the second ribbon cable (6) is electrically connected to the circuit board assembly (4).

4. The mechanical thumb according to claim 3, characterized in that, The rotating housing body (111) is also provided with a raised area (1112), which is raised relative to the recessed area (1111). The connection between the recessed area (1111) and the raised area (1112) forms a stepped structure. The stepped structure includes a first wall surface (1113) and a second wall surface (1114) connected to each other. The first wall surface (1113) serves as at least a part of the wall surface of the recessed area, and the second wall surface (1114) serves as at least a part of the wall surface of the raised area (1112). The first knuckle housing (22) includes a first limiting surface (222) and a second limiting surface (223) connected to each other. The first power module (21) drives the first knuckle housing (22) to rotate relative to the rotating housing (11) between a first extreme position and a second extreme position. When the first knuckle housing (22) is in the first extreme position relative to the rotating housing (11), the first wall surface (1113) abuts against the first limiting surface (222). When the first knuckle housing (22) is in the second extreme position relative to the rotating housing (11), the second wall surface (1114) abuts against the second limiting surface (223). The first knuckle housing (22) rotates from the first extreme position to the second extreme position relative to the rotating housing (11) by an angle of 60° to 120°.

5. The mechanical thumb according to claim 4, characterized in that, A deformation receiving cavity (114) is formed between the protruding area (1112) and the rotating power module (12). The deformation receiving cavity (114) is connected to the second lead port (113). The first ribbon cable (5) enters the deformation receiving cavity (114) through the first lead port (221) and the second lead port (113) and extends further to the circuit board assembly (4). When the first knuckle housing (22) is in the first extreme position relative to the rotating housing (11), the length of the first ribbon cable (5) in the deformation receiving cavity (114) is the first length. When the first knuckle housing (22) is in the second extreme position relative to the rotating housing (11), the length of the first ribbon cable (5) in the deformation receiving cavity (114) is the second length. The first length is greater than the second length.

6. The mechanical thumb according to claim 3, characterized in that, The outer shell of the first power module (21) includes a first shell section (211) and a second shell section (212) connected to each other along the rotation axis of the first rotor. The mechanical thumb also includes a connecting frame (24), which is disposed inside the first phalanx housing (22). The connecting frame (24) includes a connecting base (241) and a first fixing part (242). The first fixing part (242) is fixedly connected to the outer peripheral surface of the first shell segment (211). The connecting base (241) is connected to the first fixing part (242) and fixedly connected to the first phalanx housing (22). At least a portion of the connecting base (241) extends relative to the first fixing part (242) in the direction of the second shell segment (212) to cooperate with the second shell segment (212) to form a limiting channel (27). The first ribbon cable (5) passes through the limiting channel (27).

7. The mechanical thumb according to claim 6, characterized in that, The gap between the first knuckle housing (22) and the second housing segment (212) forms a first wiring channel (23). The first lead port (221) is connected to the first wiring channel (23). The first ribbon cable (5) enters the first wiring channel (23) through the limiting channel (27) and exits the first knuckle housing (22) through the first lead port (221).

8. The mechanical thumb according to claim 7, characterized in that, The first finger joint housing (22) includes a first adapter part (224) that is adapted to the outer peripheral surface of the second housing segment (212). A first limiting groove (2241) is provided on the inner wall of the first adapter part (224). The first limiting groove (2241) participates in forming the first wiring channel (23). The first ribbon cable (5) is at least partially disposed in the first limiting groove (2241). The groove width of the first limiting groove (2241) is adapted to the line width of the first ribbon cable (5).

9. The mechanical thumb according to claim 7, characterized in that, The rotor assembly of the rotary power module (12) can rotate around the second rotor rotation axis (283). The mechanical thumb also includes a mounting bracket (13). The mounting bracket (13) includes a first support part (131) and a second support part (132). The first support part (131) is disposed on one side of the rotary power module (12) along the direction of the second rotor rotation axis. The circuit board assembly (4) is disposed on the first support part (131). The second support part (132) is connected to the first support part (131) and extends along the direction of the second rotor rotation axis. The second support part (132) is provided with a second wiring channel (1321). The first ribbon cable (5) enters the first wiring channel (23) through the limiting channel (27) and then passes through the first lead hole (221) and exits the first knuckle housing (22). After entering the rotary housing (11), the first ribbon cable (5) is electrically connected to the circuit board assembly (4) through the second wiring channel (1321).

10. The mechanical thumb according to claim 9, characterized in that, The second ribbon cable (6) enters the first wiring channel (23) through the limiting channel (27), and then passes through the first finger housing (22) through the first lead port (221). After entering the rotating housing (11), the second ribbon cable (6) is electrically connected to the circuit board assembly (4) through the second wiring channel (1321).

11. The mechanical thumb according to claim 9, characterized in that, The second end of the first knuckle housing (22) is provided with a third lead port (226), and the second knuckle (3) is provided with a tactile sensor on the palm side. The mechanical thumb also includes a third ribbon cable (7). The third ribbon cable (7) is electrically connected to the tactile sensor and enters the first knuckle housing (22) through the third lead port (226). The third ribbon cable (7) enters the first wiring channel (23) through the limiting channel (27) and then exits the first knuckle housing (22) through the first lead port (221). After entering the rotating housing (11), the third ribbon cable (7) is electrically connected to the circuit board assembly (4) through the second wiring channel (1321).

12. The mechanical thumb according to claim 11, characterized in that, The rotor assembly of the second power module (28) is rotatable about the rotation axis of the third rotor, and the housing of the second power module (28) includes a third housing segment (281) and a fourth housing segment (282) connected to each other along the rotation axis of the third rotor. The connecting frame (24) further includes a second fixing part (243), which is fixedly connected to the outer peripheral surface of the third shell segment (281) and connected to the connecting base (241). The gap between the first finger shell (22) and the fourth shell segment (282) forms a third wiring channel (25), which is connected to the third lead port (226). The third ribbon cable (7) enters the third wiring channel (25) through the third lead port (226), passes through the third wiring channel (25), enters the first wiring channel (23) through the limiting channel (27), and then passes through the first lead port (221) out of the first finger shell (22).

13. The mechanical thumb according to claim 12, characterized in that, The first knuckle housing (22) includes a second adapter (225) that is adapted to the outer peripheral surface of the fourth housing segment (282). A second limiting groove (2251) is provided on the inner wall of the second adapter (225). The second limiting groove (2251) participates in forming the third wiring channel (25). The third ribbon cable (7) is at least partially disposed in the second limiting groove (2251). The groove width of the second limiting groove (2251) is adapted to the line width of the third ribbon cable (7).

14. A robotic arm, characterized in that, The robotic hand includes a robotic palm (8) and a robotic thumb as described in any one of claims 1-13, the robotic thumb being connected to the robotic palm (8).

15. A robot, characterized in that, The robot includes the robotic arm as described in claim 14.

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