Motor and bionic manipulator

Abstract

The utility model relates to a motor and a bionic manipulator, and the motor comprises a motor assembly, a rotating shaft, a speed reducing mechanism, a worm, a worm gear, and an output shaft. The worm is meshed with the worm gear; the motor assembly is used for driving the rotating shaft to rotate, the rotating shaft drives the worm to rotate through the reducing mechanism, and the worm drives the worm gear to rotate. The worm gear is fixedly sleeved on the output shaft to drive the output shaft to rotate together; the motor further comprises an elastic piece, and the elastic piece is used for applying force abutting against the worm to the worm gear so as to eliminate the gap between the worm gear and the worm. According to the technical scheme of the utility model, clearance elimination can be realized by controlling the center distance between the worm gear and the worm and utilizing the hardness of the elastic body, so that the speed of the motor is more stable, the output torque is large, the use safety is improved, the operation difficulty of a user is reduced, and the whole body looks smaller and more exquisite and can better simulate actions and functions of a human hand; and the space is reasonably utilized, and good adaptability is achieved, so that the application requirements of various fields are met.

Description

Technical Field

[0001] The utility model relates to the technical field of motors, in particular to a motor and a bionic manipulator. Background Art

[0002] The bionic manipulator in the prior art has a thumb and a motor for driving the movement of the thumb, enabling the thumb to achieve various grasping states and helping patients complete daily actions. This motor is sometimes also called the thumb motor.

[0003] The above-mentioned motor generally outputs power through a worm and worm gear structure. The worm and worm gear structure has a worm and a worm gear. The worm meshes with the worm gear, and the worm is driven to drive the worm gear to rotate, so as to output power through the axle of the worm gear. Among them, there is generally a gap between the worm and the worm gear, and this gap will affect the transmission stability and generate relatively large noise. Therefore, it is necessary to solve this problem. Summary of the Utility Model

[0004] In view of this, the utility model provides a motor and a bionic manipulator. The main technical problem to be solved is: how to reduce the gap between the worm and the worm gear and reduce the noise.

[0005] To achieve the above object, the utility model mainly provides the following technical solutions:

[0006] An embodiment of the utility model provides a motor, which includes a motor assembly, a rotating shaft, a reduction mechanism, a worm, a worm gear and an output shaft; the worm meshes with the worm gear; the motor assembly is used to drive the rotating shaft to rotate, so that the rotating shaft drives the worm to rotate through the reduction mechanism, and the worm drives the worm gear to rotate; the worm gear is fixedly sleeved on the output shaft to drive the output shaft to rotate together;

[0007] Wherein, the motor further includes an elastic member, and the elastic member is used to apply a force to the worm gear that abuts against the worm, so as to eliminate the gap between the worm gear and the worm.

[0008] In some embodiments, the elastic member applies a force to the worm gear that abuts against the worm through the output shaft.

[0009] In some embodiments, the motor further includes a machine base, and the output shaft is rotatably arranged on the machine base;

[0010] The elastic member is arranged on the machine base, and a limiting hole is arranged on the elastic member. The output shaft passes through the limiting hole, and the elastic member applies a force to the output shaft through the inner wall of the limiting hole, so that the output shaft applies a force to the worm gear that abuts against the worm.

[0011] In some embodiments, the limiting hole includes a first hole section and a second hole section connected in sequence. A step is formed between the first hole section and the second hole section, and the aperture of the first hole section is smaller than that of the second hole section.

[0012] The motor further includes a bearing. The bearing is fixedly sleeved in the second hole section, and the bearing abuts against the step in the axial direction of the output shaft.

[0013] The output shaft passes through the bearing. The output shaft is rotationally matched with the bearing and is also rotationally matched with the first hole section.

[0014] Wherein, the limiting hole applies a force to the output shaft through the inner wall of the first hole section, so that the output shaft applies a force against the worm gear to abut against the worm; and / or, the limiting hole applies a force to the bearing through the inner wall of the second hole section, so as to apply a force to the output shaft through the bearing, so that the output shaft applies a force against the worm gear to abut against the worm.

[0015] In some embodiments, the machine base is provided with a mounting groove, and the bottom surface of the mounting groove is provided with a through hole for the output shaft to pass through; the elastic member is axially inserted and fixed in the mounting groove along the output shaft.

[0016] In some embodiments, the elastic member abuts against the bottom surface of the mounting groove.

[0017] And / or, one of the outer wall of the elastic member and the inner wall of the mounting groove is provided with a positioning protrusion, and the other is provided with a positioning groove. The positioning protrusion is used to insert into the positioning groove to keep the elastic member relatively fixed with respect to the machine base in the circumferential direction.

[0018] And / or, the outer wall of the elastic member has two or more grooves in the circumferential direction, and a protrusion is formed between two adjacent grooves. The elastic member abuts against the groove wall of the mounting groove through the protrusion.

[0019] In some embodiments, an output flange is provided on the output shaft to output power through the output flange.

[0020] In some embodiments, the reduction mechanism includes a sun gear, a planetary gear, a fixed seat and a wheel disc. The fixed seat has an inner hole, and transmission teeth are provided on the inner wall of the inner hole in the circumferential direction.

[0021] The planetary gear meshes between the sun gear and the transmission teeth. The wheel shaft of the planetary gear is installed on the wheel disc; the rotating shaft is used to be driven to drive the sun gear to rotate, so that the sun gear drives the planetary gear to revolve around the axis of the sun gear, and the planetary gear drives the wheel disc to rotate through its wheel shaft.

[0022] Among them, the roulette is fixedly sleeved on the worm to drive the worm to rotate together.

[0023] The present utility model also provides a bionic manipulator, which includes a thumb and the motor described in any one of the above, and the motor is used to drive the thumb to move.

[0024] By means of the above technical solutions, the motor and the bionic manipulator of the present utility model at least have the following

[0025] Beneficial effects:

[0026] 1. Since the elastic member can exert a force against the worm on the worm wheel to eliminate the gap between the worm wheel and the worm, noise and vibration can be reduced.

[0027] 2. The technical solution of the motor of the present utility model can improve the transmission efficiency, reduce noise, and extend the service life of the equipment. By controlling the center distance between the worm wheel and the worm and using the hardness of the elastic body to achieve backlash elimination, the motor speed is more stable, the output torque is large, the use safety is improved, the user operation difficulty is reduced, the overall appearance is more compact, it can better simulate the actions and functions of the human hand, make rational use of space, and has good adaptability, so as to meet the application requirements of various fields.

[0028] The above description is only an overview of the technical solution of the present utility model. In order to be able to understand the technical means of the present utility model more clearly and implement it according to the content of the specification, the following takes the preferred embodiments of the present utility model and combines the accompanying drawings to describe in detail as follows. Brief Description of the Drawings

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the structures shown in these drawings.

[0030] Figure 1 It is a schematic structural diagram of a motor provided by an embodiment of the present utility model;

[0031] Figure 2 It is a cross-sectional view of a motor provided by an embodiment of the present utility model;

[0032] Figure 3 It is a partial schematic structural diagram of a motor provided by an embodiment of the present utility model;

[0033] Figure 4It is a partial top view of a motor provided by an embodiment of the present utility model;

[0034] Figure 5 It is another cross-sectional view of a motor provided by an embodiment of the present utility model.

[0035] Reference numerals: 1, machine base; 2, motor assembly; 3, worm gear; 4, fixed seat; 5, output flange; 6, output shaft; 7, worm; 8, elastic member; 9, bearing; 10, installation groove; 11, sun gear; 12, planetary gear; 13, disc; 21, rotating shaft; 41, transmission tooth; 80, limit hole; 81, protrusion; 82, groove; 83, positioning protrusion; 101, through hole; 102, positioning groove; 121, wheel shaft; 801, first hole section; 802, second hole section; 803, step. Detailed implementation manners

[0036] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

[0037] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present utility model, then the directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If this specific posture changes, the directional indications will also change accordingly.

[0038] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present utility model, then the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first", "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions appears to be contradictory or unable to be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0039] Such as Figures 1 to 5As shown in the figure, a motor proposed in an embodiment of the present utility model includes a motor assembly 2, a rotating shaft 21, a speed reduction mechanism, a worm 7, a worm gear 3, and an output shaft 6. The worm 7 meshes with the worm gear 3. The motor assembly 2 is used to drive the rotating shaft 21 to rotate, so that the rotating shaft 21 drives the worm 7 to rotate through the speed reduction mechanism, and the worm 7 drives the worm gear 3 to rotate. The worm gear 3 is fixedly sleeved on the output shaft 6 to drive the output shaft 6 to rotate together.

[0040] Wherein, the motor further includes an elastic member 8, and the elastic member 8 is used to apply a force against the worm gear 3 to the worm 7 to eliminate the gap between the worm gear 3 and the worm 7.

[0041] In the above example, since the elastic member 8 can apply a force against the worm gear 3 to the worm 7 to eliminate the gap between the worm gear 3 and the worm 7, noise and vibration can be reduced.

[0042] It should be noted here that: in a specific application example, the above-mentioned elastic member 8 can be a flexible plastic part, such as a rubber ring, etc.

[0043] The aforementioned elastic member 8 can directly apply a force to the worm gear 3 to make the worm gear 3 abut against the worm 7. Of course, the elastic member 8 can also indirectly apply a force to the worm gear 3 to make the worm gear 3 abut against the worm 7. The following takes the elastic member 8 indirectly applying a force to the worm gear 3 to make the worm gear 3 and the worm 7 abut against each other as an example. As Figure 2 shown, in some embodiments, the aforementioned elastic member 8 can apply a force against the worm gear 3 to the worm 7 through the output shaft 6. Specifically, the motor of the present utility model can include a machine base 1, and the aforementioned output shaft 6 is rotatably arranged on the machine base 1. The aforementioned elastic member 8 is arranged on the machine base 1, and a limiting hole 80 is provided on the elastic member 8, and the output shaft 6 passes through the limiting hole 80. The elastic member 8 applies a force to the output shaft 6 through the inner wall of the limiting hole 80, so that the output shaft 6 applies a force against the worm gear 3 to the worm 7.

[0044] In the above example, by designing the installation positions of the elastic member 8 and the output shaft 6, after the output shaft 6 and the elastic member 8 are both installed, the elastic member 8 squeezes the output shaft 6 through the inner wall of the limiting hole 80, so that the output shaft 6 drives the worm gear 3 to abut against the worm 7.

[0045] In some embodiments, as Figure 2As shown, the aforementioned limiting hole 80 includes a first hole section 801 and a second hole section 802 connected in sequence. A step 803 is formed between the first hole section 801 and the second hole section 802, and the aperture of the first hole section 801 is smaller than that of the second hole section 802. The aforementioned motor further includes a bearing 9, the bearing 9 is fixedly sleeved in the second hole section 802, and the bearing 9 abuts against the step 803 in the axial direction of the output shaft 6. Among them, the step 803 has the effect of limiting the installation position of the bearing 9, which is beneficial to the quick installation of the bearing 9 in place. The aforementioned output shaft 6 passes through the bearing 9, and the output shaft 6 is rotationally matched with the bearing 9. And the output shaft 6 is rotationally matched with the first hole section 801.

[0046] Among them, in one example, the limiting hole 80 can apply a force to the output shaft 6 through the inner wall of the first hole section 801, so that the output shaft 6 applies a force to the worm wheel 3 that abuts against the worm 7. In this way, the aforementioned elastic member 8 can apply a force to the output shaft 6 through the inner wall of the limiting hole 80, so that the output shaft 6 applies a force to the worm wheel 3 that abuts against the worm 7. In another example, the limiting hole 80 can apply a force to the bearing 9 through the inner wall of the second hole section 802, so as to apply a force to the output shaft 6 through the bearing 9, so that the output shaft 6 applies a force to the worm wheel 3 that abuts against the worm 7. In this way, the aforementioned elastic member 8 can also apply a force to the output shaft 6 through the inner wall of the limiting hole 80, so that the output shaft 6 applies a force to the worm wheel 3 that abuts against the worm 7.

[0047] In some embodiments, as Figure 2 shown, the aforementioned machine base 1 can be provided with an installation groove 10, and a through hole 101 for the output shaft 6 to pass through is provided on the bottom surface of the installation groove 10. The elastic member 8 is axially inserted and fixed in the installation groove 10 along the output shaft 6.

[0048] In the above example, by providing the installation groove 10, it is beneficial to the installation of the elastic member 8, and the installation groove 10 can provide housing protection for the elastic member 8.

[0049] In some embodiments, the aforementioned elastic member 8 abuts against the bottom surface of the installation groove 10, and the bottom surface of the installation groove 10 has the effect of limiting the installation position of the elastic member 8, which is beneficial to the quick installation of the elastic member 8 in place.

[0050] In some embodiments, as Figure 4 shown, a positioning protrusion 83 is provided on one of the outer wall of the aforementioned elastic member 8 and the inner wall of the installation groove 10, and a positioning groove 102 is provided on the other. The positioning protrusion 83 is used to insert into the positioning groove 102, so that the elastic member 8 is kept relatively fixed with respect to the machine base 1 in the circumferential direction, preventing the elastic member 8 from rotating together with the output shaft 6. In this way, it is beneficial to the stable power output of the output shaft 6.

[0051] In some embodiments, as Figure 3 and Figure 4As shown, the outer wall of the aforementioned elastic member 8 has more than two grooves 82 along the circumferential direction, and a protrusion 81 is formed between two adjacent grooves 82. The elastic member 8 abuts against the groove wall of the mounting groove 10 through the protrusion 81.

[0052] In the above example, since the elastic member 8 abuts against the groove wall of the mounting groove 10 through the protrusion 81, the contact area between the elastic member 8 and the groove wall of the mounting groove 10 can be reduced, the resistance of the elastic member 8 inserted into the mounting groove 10 can be lowered, which is beneficial to the elastic member 8 being inserted and fixed into the mounting groove 10. In addition, the position of the protrusion 81 is more likely to undergo elastic deformation, which is beneficial to the elastic member 8 applying a force against the worm 7 through the output shaft 6 to the worm gear 3.

[0053] In some embodiments, as Figure 1 and Figure 2 shown, an output flange 5 may be provided on the aforementioned output shaft 6 to output power through the output flange 5.

[0054] In the above example, the output flange 5 may be integrally formed on the output shaft 6. Among them, the output shaft 6 is connected to an external component to be driven through the output flange 5, which is beneficial to the output of the power of the output shaft 6.

[0055] In order to achieve the function of reducing the mechanism described above, in some embodiments, as Figure 5 shown, the aforementioned reduction mechanism may include a sun gear 11, a planetary gear 12, a fixed seat 4 and a disk 13. The fixed seat 4 has an inner hole, and transmission teeth 41 are provided along the circumferential direction on the hole wall of the inner hole. Each transmission tooth 41 forms an internal gear ring within the fixed seat 4. The planetary gear 12 meshes between the sun gear 11 and the transmission teeth 41. The axle 121 of the planetary gear 12 is installed on the disk 13. The aforementioned rotating shaft 21 is used to be driven to drive the sun gear 11 to rotate, so that the sun gear 11 drives the planetary gear 12 to revolve around the axis of the sun gear 11, and the planetary gear 12 drives the disk 13 to rotate through its axle 121. Among them, the disk 13 is sleeved and fixed on the worm 7 to drive the worm 7 to rotate together.

[0056] In the above example, the sun gear 11, the planetary gear 12 and the transmission teeth 41 cooperate to form a planetary reduction mechanism. The sun gear 11 can drive the planetary gear 12 to revolve around the axis of the sun gear 11, so that the planetary gear 12 drives the disk 13 to rotate around the axis of the sun gear 11. Among them, the axis of the sun gear 11 coincides with the axis of the worm 7. The disk 13 can drive the worm 7 to rotate itself.

[0057] The present utility model further provides a bionic manipulator, which may include a thumb and the motor of any one of the above, and the motor is used to drive the thumb to move. In this example, due to the adoption of the above motor in the bionic manipulator, since the elastic member 8 can apply a force against the worm gear 3 to counteract the worm 7, so as to eliminate the clearance between the worm gear 3 and the worm 7, thereby reducing noise and vibration.

[0058] For the convenience of understanding, the overall structure of the present utility model will be described below, and its working principle will be elaborated.

[0059] 1. The present utility model utilizes an elastic member 8 to be sleeved outside the outer rings of the bearings 9 at both ends of the output shaft 6, and realizes backlash elimination by controlling the center distance between the worm 7 and the worm gear 3 and the hardness of the elastic member 8, and can achieve complex and precise operations.

[0060] 2. The motor of the present utility model can be applied to a bionic manipulator. The motor is used to drive the thumb of the prosthesis, enabling it to achieve a variety of grasping states, helping the patient to complete daily actions and achieving a backlash-free effect. The motor of the present utility model has high efficiency and low noise, adopts a special design, and can easily achieve the continuity, stability and high efficiency of power output.

[0061] 3. The motor of the present utility model effectively utilizes space, reduces material consumption, reduces costs, reduces volume and weight, improves load-bearing capacity; is convenient for users to operate; and has good adaptability.

[0062] 4. The motor of the present utility model greatly utilizes the motor assembly 2, the planetary gear 12, the worm 7 and the worm gear 3 to drive the whole inside of the motor to rotate.

[0063] The motor of the present utility model includes a machine base 1, a worm 7, a fixed seat 4, a worm gear 3, an output end cover, a sun gear 11 and a planetary gear 12. A motor fixed seat is provided on the machine base 1, and a motor assembly 2 is arranged on the motor fixed seat. The fixed seat 4 is fixed to the motor fixed seat by screws. Among them, through the provided backlash-free worm gear 3 and worm 7 transmission structure, the transmission efficiency and service life of the motor are effectively improved, the noise is reduced, and the requirements of specific application scenarios can be met. For example, in a bionic manipulator, the motor is used as part of the dexterous hand to simulate the movements and flexibility of a human hand, enabling it to achieve various grasping states, perform complex and delicate operations, effectively simulate the function of the thumb of a human hand, and provide users with a high degree of natural movement and flexibility. For the motor of the present utility model, the motor assembly 2 is used to input power. The sun gear 11 meshes with the planetary gear 12, and the output of the planetary transmission is the worm 7. The worm 7 drives the worm gear 3 to output power. Finally, after the motor assembly 2 is decelerated and torque-increased, power is output through an output shaft 6 sleeved on the worm gear 3, so that the entire motor outputs power through the output shaft 6 to achieve the design purpose, which can improve the transmission efficiency of the motor, reduce noise and vibration, the output speed and torque are uniform, and backlash elimination is achieved by using an elastic member 8, which can improve the adaptability, durability, reliability and safety of the entire motor.

[0064] The present utility model can solve the problems of the existing motor such as large volume, complex structure, large backlash and high cost. The technical solution of the motor of the present utility model can improve the transmission efficiency, reduce the noise and extend the service life of the equipment. By controlling the center distance between the worm gear 3 and the worm 7 and using the hardness of the elastic body to achieve backlash elimination, the speed of the motor is made more stable, the output torque is large, the use safety is improved, the operation difficulty for users is reduced, the whole looks smaller and more compact, it can better simulate the movements and functions of a human hand, make reasonable use of space, and has good adaptability, so as to meet the application requirements in various fields.

[0065] The above are only the preferred embodiments of the present utility model, and do not limit the patent scope of the present utility model accordingly. Any equivalent structural transformation made under the inventive concept of the present utility model by using the content of the specification and drawings of the present utility model, or any direct / indirect application in other related technical fields is included in the patent protection scope of the present utility model.

Claims

1. A motor, characterized in that, It includes a motor assembly (2), a rotating shaft (21), a speed reduction mechanism, a worm (7), a worm gear (3) and an output shaft (6); the worm (7) meshes with the worm gear (3); the motor assembly (2) is used to drive the rotating shaft (21) to rotate, so that the rotating shaft (21) drives the worm (7) to rotate through the speed reduction mechanism, and the worm (7) drives the worm gear (3) to rotate; the worm gear (3) is sleeved and fixed on the output shaft (6) to drive the output shaft (6) to rotate together; Wherein, the motor further includes an elastic member (8), and the elastic member (8) is used to apply a force against the worm gear (3) to the worm (7) to eliminate the gap between the worm gear (3) and the worm (7).

2. The motor according to claim 1, wherein, The elastic member (8) applies a force against the worm gear (3) to the worm (7) through the output shaft (6).

3. The motor according to claim 2, characterized in that, It further includes a machine base (1), and the output shaft (6) is rotatably arranged on the machine base (1); The elastic member (8) is arranged on the machine base (1), a limiting hole (80) is provided on the elastic member (8), the output shaft (6) passes through the limiting hole (80), and the elastic member (8) applies a force to the output shaft (6) through the inner wall of the limiting hole (80), so that the output shaft (6) applies a force against the worm gear (3) to the worm (7).

4. The motor according to claim 3, wherein, The limiting hole (80) includes a first hole section (801) and a second hole section (802) connected in sequence, a step (803) is formed between the first hole section (801) and the second hole section (802), and the aperture of the first hole section (801) is smaller than that of the second hole section (802); The motor further includes a bearing (9), the bearing (9) is sleeved and fixed in the second hole section (802), and the bearing (9) abuts against the step (803) in the axial direction of the output shaft (6); The output shaft (6) passes through the bearing (9), the output shaft (6) is rotationally matched with the bearing (9), and the output shaft (6) is rotationally matched with the first hole section (801); Wherein, the limiting hole (80) applies a force to the output shaft (6) through the inner wall of the first hole section (801), so that the output shaft (6) applies a force against the worm gear (3) to the worm (7); and / or, the limiting hole (80) applies a force to the bearing (9) through the inner wall of the second hole section (802) to apply a force to the output shaft (6) through the bearing (9), so that the output shaft (6) applies a force against the worm gear (3) to the worm (7).

5. The motor according to claim 3 or 4, wherein, An installation groove (10) is provided on the machine base (1), and a through hole (101) for the output shaft (6) to pass through is provided on the bottom surface of the installation groove (10); the elastic member (8) is axially inserted and fixed in the installation groove (10) along the output shaft (6).

6. The motor according to claim 5, wherein the elastic member (8) abuts against the bottom surface of the mounting groove (10); and / or, a positioning protrusion (83) is provided on one of the outer wall of the elastic member (8) and the inner wall of the mounting groove (10), and a positioning groove (102) is provided on the other, and the positioning protrusion (83) is used to be inserted into the positioning groove (102) to keep the elastic member (8) relatively fixed with respect to the machine base (1) in the circumferential direction; and / or, the outer wall of the elastic member (8) has two or more grooves (82) along the circumferential direction, and a protrusion (81) is formed between two adjacent grooves (82), and the elastic member (8) abuts against the groove wall of the mounting groove (10) through the protrusion (81).

7. The motor according to any one of claims 1 to 4, 6, wherein an output flange (5) is provided on the output shaft (6) to output power through the output flange (5).

8. The motor according to any one of claims 1 to 4, 6, wherein the reduction mechanism includes a sun gear (11), a planetary gear (12), a fixed seat (4) and a wheel disc (13), the fixed seat (4) has an inner hole, and a transmission tooth (41) is provided on the inner wall of the inner hole along the circumferential direction; the planetary gear (12) is meshed between the sun gear (11) and the transmission tooth (41), and the axle (121) of the planetary gear is mounted on the wheel disc (13); the rotating shaft (21) is used to be driven to drive the sun gear (11) to rotate, so that the sun gear (11) drives the planetary gear (12) to revolve around the axis of the sun gear (11), and the planetary gear (12) drives the wheel disc (13) to rotate through its axle (121); wherein, the wheel disc (13) is sleeved and fixed on the worm (7) to drive the worm (7) to rotate together.

9. A bionic manipulator, characterized in that, including the thumb and the motor according to any one of claims 1 to 8, and the motor is used to drive the thumb to move.

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