Mechanical thumb and manipulator

Abstract

The utility model provides a mechanical thumb which comprises a finger root, a fingertip, a rotary driving assembly, a swing part, a linear driving motor, a first connecting rod and a second connecting rod, the swing part, the first connecting rod and the second connecting rod are sequentially arranged from the near end to the far end of the mechanical thumb, the rotary driving assembly is connected with the swing part, and the linear driving motor is connected with the rotary driving assembly. The linear driving motor is arranged in the finger root and connected with the finger root, the telescopic output end of the linear driving motor is hinged to the far end of the first connecting rod and the second connecting rod, the near end of the first connecting rod is hinged to the swing part, and the second connecting rod is hinged to the fingertip. The utility model further provides the manipulator. The mechanical thumb and the manipulator are simple in overall structure and small in occupied space.

Description

Technical Field

[0001] The present application relates to the technical field of manipulators, and in particular to a mechanical thumb and a manipulator. Background Art

[0002] As the most complex structure of a humanoid robot, the operation of the manipulator needs to meet various conditions such as gripping force, gripping accuracy, adaptability, and degrees of freedom in order to be closer to a real human hand. The thumb structure of the current manipulator is complex and occupies a large space, which is not conducive to grasping objects and is prone to damage. In addition, the linear drive motor and other structures of the existing thumb structure are externally placed to avoid contact with the grasped object during operation, affecting its working convenience.

[0003] Therefore, it is necessary to provide a thumb assembly to solve the above technical problems. Utility Model Content

[0004] The present application provides a mechanical thumb and a mechanical hand to solve the technical problems existing in the prior art such as occupying a large space.

[0005] In a first aspect, a mechanical thumb comprises a finger base and a fingertip hinged to each other, the mechanical thumb further comprising: a rotation drive assembly, a swing member, a linear drive motor, a first connecting rod and a second connecting rod, the swing member, the first connecting rod and the second connecting rod are sequentially arranged from the proximal end to the distal end of the mechanical thumb, the rotation drive assembly is connected to the swing member, the linear drive motor is arranged inside the finger base and connected to the finger base, the telescopic output end of the linear drive motor is hinged to the distal end of the first connecting rod and the second connecting rod, the proximal end of the first connecting rod is hinged to the swing member, and the second connecting rod is hinged to the fingertip, the rotation drive assembly is used to drive the swing member to rotate, thereby driving the finger base and the fingertip to rotate, the telescopic output end of the linear drive motor telescopically moves, driving the first connecting rod and the second connecting rod to move, thereby causing the finger base and the fingertip hinged to the first connecting rod and the second connecting rod to rotate, thereby realizing the bending and straightening of the mechanical thumb.

[0006] In combination with the first aspect, in a possible implementation, the mechanical thumb further includes an elastic connecting member, the proximal end of the first connecting rod is connected to one end of the elastic connecting member, and the other end of the elastic connecting member is connected to the swinging member to provide an elastic restoring force when the first connecting rod and the swinging member move relative to each other.

[0007] In combination with the first aspect, in a possible implementation, the finger base and the fingertip are hollow structures, the proximal end of the first connecting rod, the elastic connecting member and the main body of the linear drive motor are arranged inside the finger base, and the second connecting rod, the distal end of the first connecting rod and the telescopic output end of the linear drive motor are arranged inside the fingertip.

[0008] In combination with the first aspect, in a possible embodiment, the rotary drive assembly includes a rotary motor, a reducer, a rotary bearing and a bearing seat connected in sequence, the swinging member is connected between the reducer and the rotary bearing, the rotary motor drives the swinging member to rotate through the reducer, and the rotary bearing and the bearing seat are used to support the rotation of the swinging member.

[0009] In combination with the first aspect, in a possible implementation, the first connecting rod is arranged along the telescopic direction of the telescopic output end, and the angle formed by the telescopic direction of the telescopic output end of the linear drive motor and the extension direction of the rotating shaft of the rotating motor is an acute angle.

[0010] In combination with the first aspect, in a possible implementation manner, one end of the second connecting rod is hinged to the distal end of the first connecting rod, and the other end of the second connecting rod extends from the distal end of the first connecting rod to the outside of the mechanical thumb.

[0011] In combination with the first aspect, in a possible embodiment, the number of the first connecting rods is two, and the two first connecting rods are respectively arranged on both sides of the linear drive motor body, each of the first connecting rods includes a proximal end portion, a turning portion, an extension portion and a distal end portion which are connected in sequence, the proximal end portion is hinged to the swing member, the elastic connecting member is connected to the connection between the proximal end portion and the turning portion, the second connecting rod and the output end of the linear drive motor are connected to the distal end portion, the extension directions of the proximal end portion and the extension portion are parallel to each other, the extension direction of the turning portion is perpendicular to the extension direction of the extension portion, and the distal end portion extends obliquely from the extension portion to the outside of the mechanical thumb.

[0012] In combination with the first aspect, in a possible embodiment, the swinging member includes a rotating connection part and two mounting plates connected to each other, the rotating connection part is connected to the rotating drive assembly, the two mounting plates are arranged opposite to each other and at intervals, each of the mounting plates is hinged to the proximal end of one of the first connecting rods, and the linear drive motor is arranged between the two mounting plates.

[0013] In combination with the first aspect, in a possible implementation, a connecting rod is provided between the two mounting plates, and the mechanical thumb further includes an elastic connecting member, one end of the elastic connecting member is connected to the proximal end of the first connecting rod, and the other end of the elastic connecting member is connected to the connecting rod.

[0014] In a second aspect, the present application provides a robot arm, comprising a palm seat and the mechanical thumb, wherein the rotation drive assembly of the mechanical thumb is mounted on the palm seat.

[0015] The mechanical thumb and manipulator provided by the present application can conveniently realize the movement of the mechanical thumb by setting a hinged structure between a rotary drive assembly, a swing member, a linear drive motor, a first connecting rod and a second connecting rod. The overall structure is simple and occupies a small space. Furthermore, the swing member, the linear drive motor, the first connecting rod and the second connecting rod are built into the base and the fingertip of the finger, which can avoid too many components being exposed to the outside, and facilitate operation when performing actual work. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional schematic diagram of a mechanical thumb provided in an embodiment of the present application.

[0017] Figure 2 yes Figure 1 Schematic diagram of the mechanical thumb after removing the base and fingertip.

[0018] Figure 3 yes Figure 2 A three-dimensional schematic diagram of the mechanical thumb from another angle.

[0019] Figure 4 It is a schematic diagram of the connection relationship of various components in the mechanical thumb in the embodiment of the present application.

[0020] Figure 5 It is a three-dimensional schematic diagram of the robot provided in the embodiment of the present application.

[0021] Main component symbols: robot hand 10; mechanical thumb 100; finger root 110; first hinge 111; finger tip 120; rotation drive assembly 130; rotation motor 131; reducer 132; rotation bearing 133; bearing seat 134; swing member 140; rotation connection part 141; mounting plate 142; second hinge 1421; connecting rod 1422; linear drive motor Machine-150; main body-151; telescopic output end 152; hinge shaft-1521; third hinge-153; first connecting rod-160; proximal end-161; turning part-162; extension part-163; distal end-164; connecting block-165; connecting ring-166; second connecting rod-170; first connecting end-171; second connecting end-172; hinge pin-173; elastic connecting member-180. DETAILED DESCRIPTION

[0022] The following embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0023] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, "connection" can be detachably connected or non-detachably connected; it can be directly connected or indirectly connected through an intermediate medium. Among them, "fixed connection" can be connected to each other and the relative position relationship after connection remains unchanged. "Rotational connection" can be connected to each other and can rotate relative to each other after connection. The term "integrated molding" means that in the process of forming one of the multiple components, the component is connected to other components, and there is no need to connect the two components together by reprocessing (such as bonding, welding, snap connection, screw connection). The orientation terms mentioned in the embodiments of the present application, such as "top", "bottom", "inside", "outside", "side", etc., are only reference directions of the accompanying drawings. Therefore, the orientation terms used are for better and clearer explanation and understanding of the embodiments of the present application, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0024] See also Figures 1 to 3 , Figures 1 to 3 1 is a three-dimensional schematic diagram of a mechanical thumb provided by an embodiment of the present application. In this embodiment, the mechanical thumb 100 includes a finger root 110 and a finger tip 120 that are hinged to each other, a rotation drive assembly 130, a swing member 140, a linear drive motor 150, a first connecting rod 160, a second connecting rod 170 and an elastic connecting member 180. The swing member 140, the first connecting rod 160 and the second connecting rod 170 are sequentially arranged from the proximal end to the distal end of the mechanical thumb 100. The rotation drive assembly 130 is rotatably connected to the swing member 140, and the linear drive motor 150 is arranged inside the finger root 110 and connected to the finger root 110. The telescopic output end 152 of the linear drive motor 150 is hinged to the distal end of the first connecting rod 160 and the second connecting rod 170, the proximal end of the first connecting rod 160 is hinged to the swing member 140 and connected to one end of the elastic connecting member 180, the other end of the elastic connecting member 180 is connected to the swing member 140, and the second connecting rod 170 is connected to the finger tip 120. Specifically, Figure 1-3 As shown, the telescopic output end 152 of the linear drive motor 150, the distal end of the first connecting rod 160 and the second connecting rod 170 are hinged at the same position, so that the structure among the three is reasonable and compact.

[0025] In this embodiment, the elastic connecting member 180 and the proximal end of the first connecting rod 160 are connected in a hinged manner, and the elastic connecting member 180 and the swinging member 140 may also be connected in a hinged manner.

[0026] In one embodiment, the mechanical thumb 100 further includes an elastic connector 180, wherein the proximal end of the first connecting rod 160 is connected to one end of the elastic connector 180, and the other end of the elastic connector 180 is connected to the swinging member 140, so as to maintain the stability of the positional relationship between the finger base 110, the fingertip 120, the swinging member 140, the first connecting rod 160 and the second connecting rod 170 during the bending and straightening process of the mechanical thumb 100.

[0027] In the present application, the rotary drive assembly 130 is used to drive the swing member 140 to rotate, thereby driving the base of the finger 110 and the fingertip 120 to rotate. The telescopic output end 152 of the linear drive motor 150 contracts and moves, driving the first connecting rod 160 and the second connecting rod 170 to move, and causing the elastic connecting member 180 to elastically deform, so that the base of the finger 110 and the fingertip 120 hinged to the first connecting rod 160, the second connecting rod 170 and the elastic connecting member 180 rotate, thereby realizing the bending and straightening of the mechanical thumb 100.

[0028] The mechanical thumb 100 provided in this embodiment has the linear drive motor 150 disposed inside the finger base 110, thereby avoiding the inconvenience caused by the exposure of the motor and other drive devices during the operation of the mechanical thumb. In addition, the connection method between the first connecting rod 160, the second connecting rod 170, the elastic connecting member 180, the finger base 110 and the fingertip 120 provided in this embodiment makes the entire mechanical thumb 100 compact in structure and flexible in driving.

[0029] It can be understood that the proximal end mentioned in this embodiment refers to the end close to the palm seat of the manipulator, and the distal end refers to the end away from the palm seat. It can also be said that the proximal end is the end away from the fingertip 120, and the distal end refers to the end close to the fingertip 120. The inner side in this embodiment refers to the side in the bending direction of the mechanical thumb, and the outer side refers to the other side opposite to the inner side.

[0030] In this embodiment, the finger base 110 and the finger tip 120 are both hollow shell structures. The finger base 110 is hinged to the swing member 140 and the first connecting rod 160, and is fixedly connected to the main body 151 of the linear drive motor 150. It can be understood that since the finger base 110 is fixedly connected to the main body 151 of the linear drive motor 150, the finger base 110 is also hinged to the swing member 140 and the first connecting rod 160, which is equivalent to the main body 151 of the linear drive motor 150 being hinged to the swing member 140 and the first connecting rod 160, but not limited to this. The appearance of the finger base 110 is designed to imitate the shape of the thumb finger base. The finger tip 120 is hinged to the second connecting rod 170 and the main body 151 of the linear drive motor 150.

[0031] In this embodiment, since the finger base 110 and the finger tip 120 are both hollow structures, the proximal end of the first connecting rod 160, the elastic connecting member 180 and the main body 151 of the linear drive motor 150 are all arranged inside the finger base 110. The second connecting rod 170, the distal end of the first connecting rod 160 and the telescopic output end 152 of the linear drive motor 150 are arranged inside the finger tip 120.

[0032] The rotation drive assembly 130 includes a rotation motor 131, a reducer 132, a rotation bearing 133 and a bearing seat 134 connected in sequence, and the swing member 140 is connected between the reducer 132 and the rotation bearing 133. The rotation motor 131 and the reducer 132 cooperate to drive the swing member 140 to rotate along the rotation axis of the output end of the rotation motor 131, and the rotation bearing 133 and the bearing seat 134 are used to support the rotation of the swing member 140. In this embodiment, the rotation axis of the output end of the rotation motor 131 is arranged along the extension direction of the four fingers of the manipulator, so that the rotation drive assembly 130 can drive the mechanical thumb 100 to rotate around the rotation axis.

[0033] The swing member 140 is used to connect the finger base 110, the finger tip 120 and the elements disposed in the finger base 110 and the finger tip 120 to the rotation drive assembly 130. In this embodiment, the swing member 140 is rotationally connected to the rotation drive assembly 130, is hinged to the proximal end of the first connecting rod 160 and the finger base 110, and is hinged to the proximal end of the elastic connecting member 180.

[0034] Specifically, the swing member 140 includes a rotating connection part 141 and two mounting plates 142 connected to each other. The rotating connection part 141 is connected to the rotating drive assembly 130. The two mounting plates 142 are arranged opposite to each other and at intervals. Each mounting plate 142 is correspondingly hinged to the proximal end of a first connecting rod 160, and the linear drive motor 150 is arranged between the two mounting plates 142.

[0035] In this embodiment, the rotary connection part 141 is connected between the reducer 132 and the rotary bearing 133, and is used to generate rotation under the drive of the rotary motor 131. Two mounting plates 142 are located in the finger base 110. Each mounting plate 142 is provided with a first hinge hole and a second hinge hole. The first hinge hole of each mounting plate 142 is used to be hinged to the finger base 110 through the first hinge 111. Each second hinge hole is used to be hinged to the first connecting rod 160 through the second hinge 1421. The first hinge hole is opposite to the second hinge hole, and the first hinge hole is located on the outside of the mechanical thumb 100, and the second hinge hole is located on the inside of the mechanical thumb 100. The first hinge 111 and the second hinge 1421 can be hinge shafts.

[0036] In this embodiment, a connecting rod 1422 is further connected between the two mounting plates 142, and the connecting rod 1422 is used to connect the proximal end of the elastic connector 180. By providing the connecting rod 1422, the proximal end of the elastic connector 180 can be hinged to the middle of the two mounting plates 142 to avoid the elastic force generated by the deformation of the elastic connector 180 being applied to the two mounting plates 142 in an uneven manner, resulting in a deviation in the movement direction of the mechanical thumb 100.

[0037] The linear drive motor 150 is used to drive the base of the finger 110 and the fingertip 120 to move. The linear drive motor 150 can be a linear motor, which directly converts electrical energy into linear motion mechanical energy without the need for any intermediate conversion mechanism transmission device. In the present embodiment, the linear drive motor 150 includes a main body 151 and a telescopic output end 152. The main body 151 can drive the telescopic output end 152 to telescopically move, and is used to drive the movement of the element connected thereto. In the present embodiment, the main body 151 is arranged at the proximal end of the mechanical thumb 100, and the telescopic output end 152 is arranged at the distal end of the mechanical thumb 100. Specifically, the main body 151 is arranged inside the base of the finger 110, and the telescopic output end 152 is arranged inside the fingertip 120.

[0038] In the present embodiment, the main body 151 is disposed between the two mounting plates 142. The main body 151 is fixedly connected to the finger base 110, so when the mechanical thumb 100 is bent or rotated, the linear drive motor 150 moves synchronously with the finger base 110. In the present embodiment, the main body 151, the finger tip 120, and the finger base 110 are hinged to each other. Specifically, third hinges 153 are respectively provided on opposite sides of the main body 151, and each third hinge 153 is used to hinge the finger base 110, the finger tip 120, and the main body 151 at one place. It can be understood that the finger base 110, the finger tip 120, and the main body 151 are hinged at one place, so that the structure of the mechanical thumb 100 is compact.

[0039] The telescopic output end 152 is used to perform telescopic movement under the drive of the main body 151. The telescopic output end 152 is hinged to the distal end of the first connecting rod 160 and the second connecting rod 170. Specifically, the telescopic output end 152 is connected to a hinge shaft 1521, and the distal end of the first connecting rod 160 and the second connecting rod 170 are respectively provided with hinge holes, and are matched and sleeved on the hinge shaft 1521, so that the telescopic output end 152 is hinged to the first connecting rod 160 and the second connecting rod 170 through the hinge shaft 1521, and then when the telescopic output end 152 is extended, the first connecting rod 160 and the second connecting rod 170 are driven to rotate around the hinge shaft 1521 and move along the telescopic direction of the telescopic output end 152.

[0040] The proximal end of the first connecting rod 160 is hinged to the swing member 140, and the distal end of the first connecting rod 160 is hinged to the second connecting rod 170 and the telescopic output end 152, respectively. In this embodiment, in order to make the mechanical thumb 100 move more accurately, the number of the first connecting rods 160 is two. The two first connecting rods 160 are arranged on opposite sides of the linear drive motor 150. Specifically, each first connecting rod 160 is arranged between the corresponding mounting plate 142 and the linear drive motor 150.

[0041] In this embodiment, each first connecting rod 160 includes a proximal portion 161, a turning portion 162, an extension portion 163 and a distal portion 164 connected in sequence. The proximal portion 161 is hinged to the swing member 140, and the elastic connecting member 180 is hinged at the connection between the proximal portion 161 and the turning portion 162. The second connecting rod 170 and the telescopic output end 152 of the linear drive motor 150 are connected to the distal portion 164. The extension directions of the proximal portion 161 and the extension portion 163 are parallel to each other, and the extension direction of the turning portion 162 is perpendicular to the extension direction of the extension portion 163. The length of the extension portion 163 is greater than the length of the proximal portion 161. The proximal portion 161 and the turning portion 162 are located inside the finger base 110, and the extension portion 163 extends from the inside of the finger base 110 to the inside of the finger tip 120. The distal portion 164 extends obliquely from the extension portion 163 to the outside of the mechanical thumb 100, and the distal portion 164 is located inside the finger tip 120.

[0042] A connecting block 165 is provided between the two first connecting rods 160, and the connecting block 165 is provided at the connection between the proximal end portion 161 and the turning portion 162. A connecting ring 166 is provided in the middle of the connecting block 165, and the connecting ring 166 is used to hinge the distal end of the elastic connecting member 180. In this way, the distal end of the elastic connecting member 180 is also located in the middle of the two first connecting rods 160, so that the elastic connecting member 180 acts on the two first connecting rods 160 in a balanced manner. In this embodiment, along the direction from the distal end to the proximal end, the second hinge hole is located between the connecting rod 1422 and the connecting block 165.

[0043] One end of the second connecting rod 170 is hinged to the distal end of the first connecting rod 160 and the telescopic output end 152 of the linear drive motor 150 , and the other end of the second connecting rod 170 extends from the distal end of the first connecting rod 160 to the outside of the mechanical thumb 100 .

[0044] In this embodiment, the second connecting rod 170 has two first connecting ends 171 and one second connecting end 172. The two first connecting ends 171 are respectively hinged to the opposite sides of the telescopic output end 152 of the linear drive motor 150, and the second connecting end 172 is used to connect with the fingertip 120. Specifically, each first connecting end 171 is sleeved on the hinge shaft 1521 of the telescopic output end 152 of the linear drive motor 150, so that each first connecting end 171 is arranged between the distal end of the corresponding first connecting rod 160 and the telescopic output end 152 of the linear drive motor 150. Such a symmetrical arrangement makes the forces of the components inside the mechanical thumb 100 balanced, and the movement and force application are more precise.

[0045] Two hinge pins 173 are provided at the second connecting end 172 for being hinged to the hinge holes provided at the fingertips 120 , so that when the second connecting rod 170 moves under the drive of the linear drive motor 150 , the fingertips 120 are driven to move.

[0046] Please also read Figure 4 When the telescopic output end 152 of the linear drive motor 150 is extended, the first connecting rod 160 is driven to swing inward relative to the swinging member 140 under the pull of the elastic connecting member 180, thereby driving the finger base 110 and the linear drive motor 150 fixedly connected to the finger base 110 to deflect inward relative to the swinging member 140. At the same time, the second connecting rod 170 deflects outward relative to the fingertip 120, thereby driving the fingertip 120 to deflect inward relative to the finger base 110, that is, realizing the inward bending of the mechanical thumb 100.

[0047] Correspondingly, when the telescopic output end 152 of the linear drive motor 150 contracts, the first connecting rod 160 is driven to swing outward relative to the swinging member 140 under the pull of the elastic connecting member 180, thereby driving the finger base 110 and the linear drive motor 150 fixedly connected to the finger base 110 to deflect inward and outward relative to the swinging member 140. At the same time, the second connecting rod 170 deflects inward relative to the fingertip 120, thereby driving the fingertip 120 to deflect outward relative to the finger base 110, thereby achieving the outward extension of the mechanical thumb 100.

[0048] See also Figure 5 The present application also provides a robot 10, comprising the above-mentioned robot thumb 100 and a palm seat 200. The rotation drive assembly of the robot thumb is installed on the palm seat.

[0049] The mechanical thumb and manipulator provided by the present application can conveniently realize the movement of the mechanical thumb 100 by setting a hinge structure between the rotary drive assembly 130, the swing member 140, the linear drive motor 150, the first connecting rod 160 and the second connecting rod 170. The overall structure is simple and occupies a small space. Furthermore, the swing member 140, the linear drive motor 150, the first connecting rod 160, and the second connecting rod 170 are built into the base 110 and the fingertip 120, which can avoid too many components being exposed to the outside, and facilitate operation when performing actual work.

[0050] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A mechanical thumb, comprising a finger base and a finger tip articulated with each other, characterized in that: The mechanical thumb further includes: a rotation drive assembly, a swing member, a linear drive motor, a first connecting rod and a second connecting rod. The swing member, the first connecting rod and the second connecting rod are sequentially arranged from the proximal end to the distal end of the mechanical thumb. The rotation drive assembly is connected to the swing member. The linear drive motor is arranged inside the finger root and connected to the finger root. The telescopic output end of the linear drive motor is hinged to the distal end of the first connecting rod and the second connecting rod. The proximal end of the first connecting rod is hinged to the swing member, and the second connecting rod is hinged to the fingertip. The rotation drive assembly is used to drive the swing member to rotate, thereby driving the finger root and the fingertip to rotate. The telescopic output end of the linear drive motor telescopes to drive the first connecting rod and the second connecting rod to move, thereby causing the finger root and the fingertip hinged to the first connecting rod and the second connecting rod to rotate, thereby realizing the bending and straightening of the mechanical thumb.

2. The mechanical thumb according to claim 1, characterized in that: The mechanical thumb further includes an elastic connecting member, the proximal end of the first connecting rod is connected to one end of the elastic connecting member, and the other end of the elastic connecting member is connected to the swinging member.

3. The mechanical thumb according to claim 2, characterized in that: The finger base and the fingertip are hollow structures, the proximal end of the first connecting rod, the elastic connecting piece and the main body of the linear drive motor are arranged inside the finger base, and the second connecting rod, the distal end of the first connecting rod and the telescopic output end of the linear drive motor are arranged inside the fingertip.

4. The mechanical thumb according to claim 3, characterized in that: The rotary drive assembly includes a rotary motor, a reducer, a rotary bearing and a bearing seat connected in sequence, the swing member is connected between the reducer and the rotary bearing, the rotary motor drives the swing member to rotate through the reducer, and the rotary bearing and the bearing seat are used to support the rotation of the swing member.

5. The mechanical thumb according to claim 4, characterized in that: The first connecting rod is arranged along the telescopic direction of the telescopic output end, and the angle formed by the telescopic direction of the telescopic output end of the linear drive motor and the extending direction of the rotating shaft of the rotating motor is an acute angle.

6. The mechanical thumb according to claim 4, characterized in that: One end of the second connecting rod is hinged to the distal end of the first connecting rod, and the other end of the second connecting rod extends from the distal end of the first connecting rod to the outside of the mechanical thumb.

7. The mechanical thumb according to claim 6, characterized in that: There are two first connecting rods, which are respectively arranged on both sides of the linear drive motor body, each of which includes a proximal end portion, a turning portion, an extending portion and a distal end portion which are connected in sequence, the proximal end portion is hinged to the swing member, the elastic connecting member is connected to the connection between the proximal end portion and the turning portion, the second connecting rod and the output end of the linear drive motor are connected to the distal end portion, the extending directions of the proximal end portion and the extending portion are parallel to each other, the extending direction of the turning portion is perpendicular to the extending direction of the extending portion, and the distal end portion extends obliquely from the extending portion to the outside of the mechanical thumb.

8. The mechanical thumb according to claim 1, characterized in that: The swinging member includes a rotating connection part and two mounting plates connected to each other, the rotating connection part is connected to the rotating drive assembly, the two mounting plates are arranged opposite to each other and at intervals, each mounting plate is hinged to the proximal end of a first connecting rod, and the linear drive motor is arranged between the two mounting plates.

9. The mechanical thumb according to claim 8, characterized in that: A connecting rod is arranged between the two mounting plates, and the mechanical thumb further comprises an elastic connecting member, one end of which is connected to the proximal end of the first connecting rod, and the other end of which is connected to the connecting rod.

10. A robot arm, comprising a palm seat and a mechanical thumb as claimed in any one of claims 1 to 9, wherein the rotation drive assembly of the mechanical thumb is mounted on the palm seat.

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