Mechanical finger and manipulator

Abstract

The utility model provides a mechanical finger which comprises a finger root and a fingertip which are hinged to each other, the mechanical finger further comprises a telescopic driver, a supporting seat, a swing rod and a connecting rod, the supporting seat is connected to the telescopic driver, the near end of the connecting rod is hinged to the telescopic output end of the telescopic driver, and the swing rod is connected to the supporting seat. The far end of the connecting rod is hinged to the near end of the finger root, the near end of the swing rod and the near end of the finger root are both hinged to the supporting base, and the far end of the finger root and the far end of the swing rod are both hinged to the fingertip. The utility model further provides the manipulator. The mechanical finger 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 manipulator finger and a manipulator. Background Art

[0002] As the most complex structure of humanoid robots, the operation of the manipulator needs to meet various conditions such as gripping force, gripping accuracy, adaptability, and freedom in order to be closer to the real human hand. At present, the four-finger structure of the manipulator is complex and occupies a large space, which is not conducive to grasping objects and is also prone to damage.

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

[0004] The present application provides a mechanical finger and a mechanical hand to solve the technical problem of the complex structure of the mechanical finger in the prior art.

[0005] In a first aspect, the present application provides a mechanical finger, comprising a finger base and a fingertip hinged to each other, the mechanical finger further comprising: a telescopic drive, a support seat, a rocker rod and a connecting rod, the support seat being connected to the telescopic drive, the proximal end of the connecting rod being hinged to the telescopic output end of the telescopic drive, the distal end of the connecting rod being hinged to the proximal end of the finger base, the proximal end of the rocker rod and the proximal end of the finger base being hinged to the support seat, the distal end of the finger base and the distal end of the rocker rod being hinged to the fingertip, the mechanical finger having an extended state and a bent state, the telescopic output end of the telescopic drive being able to move linearly relative to the support seat, driving the connecting rod and the rocker rod to move, so that the finger base rotates relative to the support seat, and the fingertip rotates relative to the finger base, thereby switching the mechanical finger between the extended state and the bent state.

[0006] In combination with the first aspect, in a possible implementation, the mechanical finger further includes an elastic connector, a proximal end of the elastic connector is hinged to a proximal end of the finger base, and a distal end of the elastic connector is connected to a middle section of the rocker arm.

[0007] In combination with the first aspect, in a possible implementation manner, the finger base is a hollow structure, and the rocker arm, the connecting rod and the elastic connecting member are arranged in the finger base.

[0008] In combination with the first aspect, in a possible implementation, the support base is fixedly connected to the housing of the telescopic drive, and a first hinge structure and a second hinge structure are provided at one end of the support base away from the housing of the telescopic drive, and relative to the second hinge structure, the first hinge hole hinge structure is close to the inner side of the mechanical finger, the proximal end of the rocker arm is hinged to the support base through the first hinge structure, and the proximal end of the finger root is hinged to the support base through the second hinge structure.

[0009] In combination with the first aspect, in a possible implementation, the axial direction of the rotation of the rocker arm relative to the first hinge structure and the axial direction of the rotation of the finger root relative to the second hinge structure are both perpendicular to the telescopic movement direction of the telescopic output end of the telescopic drive.

[0010] In combination with the first aspect, in a possible implementation manner, there are two swing rods, the proximal ends of the two swing rods are connected to the first hinge structure, and the distal ends of the two swing rods are hinged to the proximal ends of the fingertips.

[0011] In combination with the first aspect, in a possible implementation, a third hinge structure and a fourth hinge structure are provided at the proximal end of the fingertip, the third hinge structure is closer to the inner side of the mechanical finger than the fourth hinge structure, the distal end of the finger base is hinged to the third hinge structure, and the distal end of the rocker arm is hinged to the fourth hinge structure.

[0012] In combination with the first aspect, in a possible implementation manner, the swing rod is close to the inner side of the finger base, and the elastic connecting member is close to the outer side of the finger base.

[0013] In combination with the first aspect, in a possible implementation manner, the connecting rod is hinged to the outer side of the finger base, and the supporting seat is hinged to the inner side of the finger base.

[0014] In a second aspect, the present application provides a robot arm, comprising a palm seat and at least one of the aforementioned robot fingers, wherein the telescopic driver is mounted on the palm seat.

[0015] The mechanical finger and manipulator provided by the present application can conveniently realize the movement of the mechanical finger through the telescopic drive by setting a hinged structure between the telescopic drive, the support seat, the swing rod, the connecting rod, the finger root and the finger tip. The overall structure is simple and occupies a small space. Furthermore, the support seat, the swing rod and the connecting rod are built into the finger root to avoid too many components being exposed to the outside, which is convenient for operation when performing actual work. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional schematic diagram of the mechanical finger provided in an embodiment of the present application when it is in an unfolded state.

[0017] Figure 2 yes Figure 1 Schematic diagram of the cross-section of the robotic finger along line II-II.

[0018] Figure 3 yes Figure 1 The three-dimensional schematic diagram of the mechanical finger shown is in the unfolded state from another angle.

[0019] Figure 4A It is a schematic diagram of the connection relationship of various components when the mechanical finger is in the unfolded state in the embodiment of the present application.

[0020] Figure 4B It is a schematic diagram of the connection relationship of various components when the mechanical finger is in a bent state in an embodiment of the present application.

[0021] Figure 5 It is a cross-sectional schematic diagram of the mechanical finger provided in an embodiment of the present application when it is in a bent state.

[0022] Explanation of the symbols of the main components: mechanical finger - 100; finger base - 110; inner plate - 111; outer plate - 112; fingertip - 120; link part - 121; working part - 122; third hinge structure - 123; fourth hinge structure - 124; telescopic drive - 130; motor housing - 131; telescopic output end - 132; support seat - 140; first hinge structure - 141; second hinge structure - 142; rocker arm - 150; connecting rod - 160; elastic connector - 170. DETAILED DESCRIPTION

[0023] The following embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0024] 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.

[0025] See also Figures 1 to 3 , Figure 1 and Figure 3 is a three-dimensional schematic diagram of a mechanical finger provided in an embodiment of the present application, Figure 2 1 is a cross-sectional schematic diagram of a mechanical finger provided in an embodiment of the present application. In this embodiment, the mechanical finger 100 includes a finger root 110, a finger tip 120, a telescopic driver 130, a support seat 140, a swing rod 150 and a connecting rod 160. The support seat 140 is connected to the telescopic driver 130, the proximal end of the connecting rod 160 is hinged to the telescopic output end of the telescopic driver 130, and the distal end of the connecting rod 160 is hinged to the proximal end of the finger root 110. The proximal end of the swing rod 150 and the proximal end of the finger root 110 are both hinged to the support seat 140, and the distal end of the finger root 110 and the distal end of the swing rod 150 are both hinged to the finger tip 120.

[0026] The mechanical finger 100 may further include an elastic connector 170 , the proximal end of the elastic connector 170 being hinged to the proximal end of the finger base 110 , and the distal end of the elastic connector 170 being connected to the middle section of the swing rod 150 .

[0027] The mechanical finger 100 has Figure 1-4A The expanded state shown and Figure 4B and Figure 5 In the bent state shown in FIG. 1 , the output end of the telescopic actuator 130 can move linearly relative to the support base 140, driving the connecting rod 160 and the swing rod 150 to move, so that the finger base 110 rotates relative to the support base 140, and the finger tip 120 rotates relative to the finger base 110, so that the mechanical finger 100 can move in a straight line relative to the support base 140. Figure 1 -4 and the expanded state shown in Figure 4B and Figure 5Switch between the bending states shown.

[0028] 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 manipulator finger, that is, the palm side of the manipulator, and the outer side in this embodiment refers to the other side opposite to the inner side, that is, the back side of the manipulator.

[0029] The telescopic actuator 130 is used to drive the finger base 110 and the finger tip 120 to move. The telescopic actuator 130 can be a linear motor, which directly converts electrical energy into linear motion mechanical energy without requiring any transmission device of an intermediate conversion mechanism. In this embodiment, the telescopic actuator 130 includes a motor housing 131 and a telescopic output end 132. The motor housing 131 can drive the telescopic output end 132 to telescopically move, and is used to drive the movement of the element connected thereto. In this embodiment, the telescopic output end 132 of the telescopic actuator 130 is provided with a hinge structure for being hinged with the connecting rod 160.

[0030] The support base 140 is connected to the telescopic driver 130. In the present embodiment, the support base 140 is fixedly connected to the motor housing 131. It extends from the motor housing 131 to the far end of the robot finger 100. The support base 140 is provided with a first hinge structure 141 and a second hinge structure 142 at one end of the housing away from the telescopic driver 130. Compared with the second hinge structure 142, the first hinge structure 141 is located on the inner side of the robot finger 100. In other words, the first hinge structure 141 is closer to the inner side of the robot finger 100 than the second hinge structure 142. In some embodiments, the axial direction of the rotation of the swing arm 150 relative to the first hinge structure 141 and the axial direction of the rotation of the finger root 110 relative to the second hinge structure 142 are both perpendicular to the telescopic movement direction of the telescopic output end 132 of the telescopic driver 130.

[0031] It is understandable that each hinge structure in this embodiment can be a pivot connection structure. In this case, it can be realized by the cooperation of holes and protrusions between two mutually hinged elements; it can also be realized by the cooperation of a pin with hinge holes provided on both mutually hinged elements; it can also be realized by the cooperation of tubular structures between two mutually hinged elements; it can also be realized by other ways to realize the hinge between elements. In this embodiment, there is no limitation on the form of the hinge structure, and it can be selected and designed according to actual needs or the convenience of installation operation.

[0032] The connecting rod 160 is connected between the telescopic output end 132 of the telescopic actuator 130 and the finger base 110, and is connected to one end of the elastic connector 170. The proximal end of the connecting rod 160 is hinged to the telescopic output end 132 of the telescopic actuator 130, so as to generate movement when the telescopic output end 132 of the telescopic actuator 130 telescopes, and transmit the movement to the finger base 110 and the elastic connector 170. In this embodiment, the axis direction of the proximal end of the connecting rod 160 relative to the telescopic output end 132 is parallel to the axis direction of the swing rod 150 relative to the first hinge structure 141, and is also parallel to the axis direction of the finger base 110 relative to the second hinge structure 142. The distal end of the connecting rod 160 is provided with a hinge structure for hinge connection with the proximal end of the finger base 110. A connection point 161 is also provided at the distal end of the connecting rod 160, and the connection point 161 is used to connect with the elastic connecting member 170. Compared with the hinge structure at the distal end of the connecting rod 160, the connection point 161 is closer to the inner side of the mechanical finger 100 and farther away from the telescopic output end 132 of the telescopic drive 130. Specifically, the connection between the elastic connecting member 170 and the connecting rod 160 can also be hinged. The connecting rod 160 is hinged to the outer side of the finger root 110, and the support seat 140 is hinged to the inner side of the finger root 110.

[0033] The swing rod 150 is connected between the support base 140 and the fingertip 120, and the middle section of the swing rod 150 is connected to the distal end of the elastic connector 170. In this embodiment, there are two swing rods 150, which are arranged on opposite sides of the support base 140. The proximal end of each swing rod 150 is connected to one side of the support base 140, and the distal end of each swing rod 150 is hinged to the proximal end of the fingertip 120. Each swing rod 150 is inclined relative to the telescopic direction of the telescopic output end 132 of the telescopic actuator 130, that is, compared with the distal end of the swing rod 150, the proximal end of the swing rod 150 is closer to the inner side of the mechanical finger 100.

[0034] The finger root 110 is connected between the telescopic driver 130 and the finger tip 120, and is used to accommodate the support seat 140, the rocker arm 150, the connecting rod 160 and the elastic connector 170. Specifically, the outer shape of the finger root 110 is a contoured design, and the finger root 110 is a hollow structure, roughly cylindrical, and the outer diameter of the proximal end is larger than the outer diameter of the distal end. The proximal end of the finger root 110 is hinged to the distal end of the support seat 140 and the connecting rod 160. In this embodiment, the finger root 110 includes an inner plate 111 located on the inner side of the mechanical finger 100 and an outer plate 112 located on the outer side of the mechanical finger 100. The inner plate 111 is hinged to the second hinge structure 142 of the support seat 140. The outer plate 112 is hinged to the distal end of the connecting rod 160.

[0035] In a specific embodiment, the inner plate 111 of the finger base 110 is provided with two hinge holes for correspondingly cooperating with the second hinge structure 142 of the support seat 140, so that the finger base 110 is hinged to the support seat 140 through a pivot. The outer plate 112 of the finger base 110 is provided with a hinge hole inside for hinge connection with the distal end of the connecting rod 160, so that the distal end of the connecting rod 160 is hinged to the finger base 110 through a pivot. The elastic connector 170 is located inside the finger base 110, the proximal end of the elastic connector 170 is connected to the connection point 161 of the connecting rod 160, and the distal end of the elastic connector 170 is connected to the middle section of the swing rod 150. Inside the finger base 110, the swing rod 150 is closer to the outer side of the finger base 110 than the elastic connector 170, and the elastic connector 170 is closer to the outer side of the finger base 110. Specifically, the elastic connecting member 170 is close to the outer plate 112 of the finger base 110 , and the swing rod 150 is close to the inner plate 111 of the finger base 110 .

[0036] The outside of the fingertip 120 is smoothly connected to the finger base 110. The external shape of the fingertip 120 is also a contoured design. It is understandable that the external shape or material of the fingertip can be designed according to actual needs. In the present embodiment, the fingertip 120 includes a connecting portion 121 and a working portion 122 that are interconnected, the working portion 122 is fixedly connected to the connecting portion 121, and the working portion 122 is located on the inner side of the mechanical finger 100. In the present embodiment, a third hinge structure 123 and a fourth hinge structure 124 are provided at the proximal end of the connecting portion 121, the third hinge structure 123 is closer to the inner side of the mechanical finger 100 than the fourth hinge structure 124, the distal end of the finger base 110 is hinged to the fingertip 120 through the third hinge structure 123, and the distal end of the swing rod 150 is hinged to the fingertip 120 through the fourth hinge structure 124.

[0037] In a preferred embodiment, the directions of the relative rotation axes between two connected parts of all hinge structures are parallel to each other.

[0038] Please also read Figure 1-5 The mechanical finger 100 provided in the embodiment of the present application is implemented as follows Figure 1-4A The expanded state shown switches to Figure 4B and Figure 5 The process of the bending state shown is described as follows: the telescopic output end 132 of the telescopic actuator 130 extends, that is, Figure 4A The proximal end of the connecting rod 160 and the portion connected to the telescopic output end 132 move toward the distal end along with the telescopic output end 132 ( Figure 4A The connecting rod 160 and the finger root 110 are connected to the inner side of the robot finger 100 ( Figure 4A The finger root 110 is driven to pivot toward the inner side of the robot finger 100 relative to the support base 140 ( Figure 4AThe finger root 110 drives a portion of the finger tip 120 to swing inwardly of the mechanical finger 100 ( Figure 4A The other part of the finger tip 120 drives the swing rod 150 to pivot toward the inner side of the robot finger 100 relative to the support seat 140 ( Figure 4A The finger tip 120 pivots to the left relative to the finger base 110 toward the inside of the mechanical finger 100 ( Figure 4A The elastic force of the elastic connecting member 170 is tightened to maintain the relative relationship between the components.

[0039] Please also read Figure 1-5 The mechanical finger 100 provided in the embodiment of the present application is implemented as follows Figure 4B and Figure 5 The bending state shown is switched to Figure 1-4A The process of the unfolded state shown is described as follows: the telescopic output end 132 of the telescopic drive 130 is retracted, that is, Figure 4B The proximal end of the connecting rod 160 and the portion connected to the telescopic output end 132 move toward the proximal end along with the telescopic output end 132 ( Figure 4B The connecting rod 160 and the finger root 110 are connected to the outer side of the robot finger 100 ( Figure 4B The finger root 110 is driven to pivot relative to the support base 140 toward the outside of the robot finger 100 ( Figure 4B The finger root 110 drives a part of the finger tip 120 to swing outward from the robot finger 100 ( Figure 4B The other part of the finger tip 120 drives the swing rod 150 to pivot to the outside of the robot finger 100 relative to the support seat 140 ( Figure 4B The finger tip 120 pivots to the right, and the relative finger root 110 pivots to the outside of the mechanical finger 100 ( Figure 4B The elastic force of the elastic connecting member 170 is tightened to maintain the relative relationship between the components.

[0040] like Figure 4A As shown, when the mechanical finger 100 is in the unfolded state, the first hinge structure 141 is closer to the inner side of the mechanical finger 100 than the second hinge structure 142, and the third hinge structure 123 is closer to the inner side of the mechanical finger 100 than the fourth hinge structure 124, so that the swing rod 150 and the finger root 110 are staggered with each other, reducing the space occupied by the swing rod 150 and the finger root 110, so that the structure of the mechanical finger 100 provided in the embodiment of the present application is more compact and reasonable. Preferably, when the mechanical finger 100 is in the unfolded state, the fourth hinge structure 124 is closer to the support seat 140 than the third hinge structure 123, so as to ensure that the bending angle of the fingertip 120 relative to the finger root 110 is large enough, so as to ensure that the mechanical finger 100 is firmly held when in the bent state.

[0041] like Figure 4A As shown, when the robot finger 100 is in the unfolded state, the connection point 161 between the connecting rod 160 and the elastic connecting member 160 is closer to the inner side of the robot finger 100 (i.e., as shown in FIG. 1 ) than the hinge point between the connecting rod 160 and the finger root 110. Figure 2 and Figure 4A to the left side in the figure) to ensure that the portion connected to the connecting rod 160 and the telescopic output end 132 moves toward the distal end along with the telescopic output end 132 ( Figure 4A When the connecting rod 160 moves upward in the middle, the connecting rod 160 pivots toward the inside of the robot finger 100 relative to the telescopic output end 132 to further pull the elastic connecting member 170 to ensure that the elastic connecting member 170 tightens the relative relationship between the components during the bending process.

[0042] like Figure 4A As shown, when the mechanical finger 100 is in the unfolded state, the connection point 161 between the connecting rod 160 and the elastic connecting member 170 is closer to the distal end of the mechanical finger 110 (i.e., Figure 2 and Figure 4A to further ensure that the portion connected to the connecting rod 160 and the telescopic output end 132 moves with the telescopic output end 132 toward the distal end ( Figure 4A When the connecting rod 160 moves upward in the middle, the connecting rod 160 pivots toward the inside of the robot finger 100 relative to the telescopic output end 132, further ensuring the pulling effect on the elastic connecting member 170, thereby further ensuring the tightening effect of the relative relationship between the components.

[0043] like Figure 4A As shown, when the robot finger 100 is in the unfolded state, the hinge point between the connecting rod 160 and the telescopic output end 132 is closer to the proximal end of the robot finger 100 (i.e., Figure 2 and Figure 4A The lower end of the connecting rod 160 and the finger root 110 is closer to the outer side of the mechanical finger 100, ensuring that the connecting rod 160 and the telescopic output end 132 are connected to the distal end with the telescopic output end 132 ( Figure 4A When the robot finger 100 moves upward in the middle, the connecting rod 160 drives the finger root 110 to pivot toward the inside of the robot finger 100 relative to the support base 140, and ensures that the pivot angle of the finger root 110 is large enough.

[0044] Another embodiment of the present application further provides a manipulator, which includes a palm seat and the above-mentioned manipulator finger 100. The telescopic driver 130 of the manipulator finger 100 is installed on the palm seat.

[0045] The mechanical finger and the manipulator provided by the present application can conveniently realize the movement of the mechanical finger 100 through the telescopic driver 130 by setting a hinged structure between the telescopic driver 130, the support seat 140, the swing rod 150, the connecting rod 160, the elastic connecting member 170, the finger base 110 and the finger tip 120. The overall structure is simple and occupies a small space. Furthermore, the support seat 140, the swing rod 150, the connecting rod 160 and the elastic connecting member 170 are built into the finger base 110 to avoid too many components being exposed to the outside, which is convenient for operation when performing actual work.

[0046] The telescopic driver 130 may also include a rotating motor, a reducer, a screw and a nut. The rotating motor drives the screw to rotate through the reducer, and the rotating screw drives the nut to move linearly along the axial direction of the screw. The nut is the telescopic output end 132 of the telescopic driver 130, so that the telescopic output end 132 of the telescopic driver 130 performs telescopic movement. Of course, according to actual conditions, the telescopic driver 130 may also be other linear drive structures, so it is not limited to this. Of course, the reducer may be a planetary gear reducer, but it is not limited to this.

[0047] 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 finger, comprising a finger base and a finger tip articulated with each other, characterized in that: The mechanical finger also includes: a telescopic drive, a support seat, a rocker arm and a connecting rod, the support seat is connected to the telescopic drive, the proximal end of the connecting rod is hinged to the telescopic output end of the telescopic drive, the distal end of the connecting rod is hinged to the proximal end of the finger root, the proximal end of the rocker arm and the proximal end of the finger root are both hinged to the support seat, the distal end of the finger root and the distal end of the rocker arm are both hinged to the fingertip, the mechanical finger has an expanded state and a bent state, the telescopic output end of the telescopic drive can move linearly relative to the support seat, drive the connecting rod and the rocker arm to move, so that the finger root rotates relative to the support seat, and the fingertip rotates relative to the finger root, thereby switching the mechanical finger between the expanded state and the bent state.

2. The mechanical finger according to claim 1, characterized in that: The mechanical finger also includes an elastic connecting member, the proximal end of the elastic connecting member is hinged to the proximal end of the finger root, and the distal end of the elastic connecting member is connected to the middle section of the swing rod.

3. The mechanical finger according to claim 2, characterized in that: The finger base is a hollow structure, and the swing rod, the connecting rod and the elastic connecting piece are arranged in the finger base.

4. The mechanical finger according to claim 3, characterized in that: The support base is fixedly connected to the housing of the telescopic drive, and a first hinge structure and a second hinge structure are provided at one end of the support base away from the housing of the telescopic drive. Compared with the second hinge structure, the first hinge structure is closer to the inner side of the mechanical finger, the proximal end of the rocker arm is hinged to the support base through the first hinge structure, and the proximal end of the finger root is hinged to the support base through the second hinge structure.

5. The mechanical finger according to claim 4, characterized in that: The axis direction of rotation of the swing rod relative to the first hinge structure and the axis direction of rotation of the finger root relative to the second hinge structure are both perpendicular to the telescopic movement direction of the telescopic output end of the telescopic driver.

6. The mechanical finger according to claim 4, characterized in that: There are two swing rods, the proximal ends of the two swing rods are connected to the first hinge structure, and the distal ends of the two swing rods are hinged to the proximal ends of the fingertips.

7. The mechanical finger according to claim 6, characterized in that: The proximal end of the fingertip is provided with a third hinge structure and a fourth hinge structure, the third hinge structure is closer to the inner side of the mechanical finger than the fourth hinge structure, the distal end of the finger base is hinged to the third hinge structure, and the distal end of the rocker arm is hinged to the fourth hinge structure.

8. The mechanical finger according to claim 3, characterized in that: The swing rod is close to the inner side of the finger base, and the elastic connecting member is close to the outer side of the finger base.

9. The mechanical finger according to claim 1, characterized in that: The connecting rod is hinged to the outer side of the finger base, and the supporting seat is hinged to the inner side of the finger base.

10. A robot arm, comprising a palm seat and at least one robot finger according to any one of claims 1 to 9, wherein the telescopic driver is mounted on the palm seat.

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