A robot and a robot hand

Abstract

The utility model discloses a machine hand and robot. Machine hand includes installation base, thumb module, a plurality of finger module except thumb module and shell, one side of installation base is equipped with first installation site, and the other side is equipped with a plurality of second installation sites, thumb module includes thumb drive base and installs the thumb part on thumb drive base, and thumb module is installed in first installation site through thumb drive base, every finger module includes finger drive base and installs the finger part on finger drive base, a plurality of finger module installs respectively in a plurality of second installation sites through corresponding finger drive base, and the shell is covered in the both sides of installation base, the case will thumb module and each finger module carry out the different layout on the both sides of installation base, and improve the utilization of machine hand internal space in combination with the overall covering of shell, and the utilization of each module that installs independently also provides the basis for modular maintenance, and effectively alleviates the conflict of machine hand internal space compact and maintenance convenience.

Description

Technical Field

[0001] This utility model relates to the field of intelligent mechanical design, and in particular to a robotic arm and robot. Background Technology

[0002] In the field of humanoid robots, robotic hands are the core component for achieving precise grasping and interaction functions. With the development of robotic technology, higher demands are placed on the humanoid movement capabilities, environmental adaptability, and reliability of robotic hands. Traditional robotic hand structures generally face two major contradictions: on the one hand, to simulate the multi-degree-of-freedom movement of the human hand, drive units (such as motors, transmission mechanisms), and sensing systems must be densely arranged within the limited space of the palm, resulting in a highly complex internal structure; on the other hand, this highly integrated design makes maintenance or replacement of faulty parts extremely difficult, often requiring the disassembly of the entire palm or even damage to the sealing structure, significantly increasing operating costs and downtime.

[0003] While existing technologies have attempted modular finger designs, they have not effectively resolved the fundamental conflict between internal space utilization and maintainability in robotic hands. Most solutions design individual fingers as detachable modules, but their drive mechanisms remain rigidly coupled to the main hand body or share a mounting base, resulting in intersecting wiring between modules and interference between assembly and disassembly paths. When a drive unit fails, it is still necessary to remove an adjacent healthy module to access the faulty point. Utility Model Content

[0004] The purpose of this invention is to provide a robotic arm and robot that aims to resolve the conflict between the utilization rate of internal space and maintainability of the robotic arm.

[0005] To solve the above-mentioned technical problems, the purpose of this utility model is achieved through the following technical solution: providing a robotic arm, comprising:

[0006] The mounting base has a first mounting position on one side and multiple second mounting positions arranged side by side on the other side;

[0007] A thumb module includes a thumb drive base and a thumb portion mounted on the thumb drive base; the thumb module is mounted on the first mounting position via the thumb drive base.

[0008] In addition to the thumb module, there are multiple finger modules, each of which includes a finger driving base and a finger portion mounted on the finger driving base; the multiple finger modules are respectively mounted in multiple second mounting positions through corresponding finger driving bases;

[0009] The outer casing covers both sides of the mounting base.

[0010] Furthermore, the robotic arm also includes a control board, which is mounted on the other side of the mounting base and is used for electrical connection with various components inside the robotic arm;

[0011] The mounting base has a cutout portion, which is used to expose the components on the control board to one side of the mounting base.

[0012] Further, the housing includes:

[0013] The first housing is snapped onto one side of the mounting base and covers the thumb drive base, and has a first opening for the thumb to extend out;

[0014] The second housing is snapped onto the other side of the mounting base and covers the multiple finger drive bases.

[0015] Furthermore, the outer casing also includes:

[0016] A soft housing is fitted onto the side of the first housing opposite to the mounting base, and has a second opening for the thumb to extend out.

[0017] Furthermore, the thumb module, the multiple finger modules, and the palm position of the robotic hand are all equipped with a grasping force detection sensor for detecting the grasping force when grasping an object.

[0018] Furthermore, the thumb portion is rotatably mounted on the thumb drive base, and the thumb drive base is provided with a first transmission component and a second transmission component;

[0019] The first transmission component is linked to the thumb and is used to drive the joint position of the thumb to perform a bending grasping motion.

[0020] The second transmission component is linked to the thumb and is used to drive the thumb to rotate.

[0021] Furthermore, the finger drive base is provided with a third transmission component, which is linked to the corresponding finger and is used to drive the joint position of the finger to perform bending and grasping movements.

[0022] Furthermore, the finger portion includes:

[0023] One end of the finger joint is rotatably mounted on the finger drive base;

[0024] The fingertip is rotatably mounted on the other end of the finger joint;

[0025] The three transmission components are used to drive the finger joint to rotate relative to the finger drive base and to drive the fingertip to rotate relative to the finger joint.

[0026] Furthermore, the third transmission assembly includes:

[0027] The motor is mounted at the bottom of the finger drive base;

[0028] The worm gear is coaxially connected to the output shaft of the motor, and its rotation is limited within the finger drive base;

[0029] A helical gear is rotatably mounted in the finger drive base;

[0030] The connecting rod has one end rotatably mounted in the finger drive base coaxially with the helical gear, and the other end is connected to one end of the fingertip;

[0031] The drive base, connecting rod, finger joint, and fingertip form a four-bar linkage structure. When the motor drives the worm gear to rotate, it drives the four-bar linkage structure to move and causes the finger to perform a bending and grasping motion.

[0032] This utility model embodiment also provides a robot, including the robotic arm described above.

[0033] The beneficial effects of this utility model embodiment are as follows: By differentiating the layout of the thumb module and other finger modules on both sides of the mounting base and combining them with the overall enclosure of the shell, the utilization efficiency of the internal space of the robot hand is significantly improved. At the same time, the feature of each module being independently installed on the mounting base also provides a basis for subsequent modular maintenance or replacement, effectively alleviating the core conflict between the compact internal space of the robot hand and the convenience of maintenance. Attached Figure Description

[0034] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 A schematic diagram of the overall structure of the robotic arm provided in an embodiment of this utility model.

[0036] Figure 2 This is an exploded structural diagram of the robotic arm provided in an embodiment of the present invention.

[0037] Figure 3 This is a schematic diagram of the mounting base provided in an embodiment of the present utility model.

[0038] Figure 4 This is a schematic diagram of the overall structure of the thumb module provided in an embodiment of the present utility model.

[0039] Figure 5 This is a schematic diagram of the overall structure of the finger module provided in an embodiment of the present invention.

[0040] Figure 6 A cross-sectional structural diagram of the finger module provided in an embodiment of this utility model.

[0041] Explanation of the markings in the image:

[0042] 1. Mounting base; 11. First mounting position; 12. Second mounting position; 13. Cutout section;

[0043] 2. Thumb module; 21. Thumb drive base; 22. Thumb part; 23. First transmission assembly; 24. Second transmission assembly; 25. Rotating seat;

[0044] 3. Finger module; 31. Finger drive base; 32. Finger part; 321. Finger joint; 322. Finger tip; 33. Third transmission assembly; 331. Motor; 332. Worm gear; 333. Helical gear; 334. Connecting rod;

[0045] 4. Outer shell; 41. First shell; 411. First opening; 42. Second shell; 43. Soft shell; 431. Second opening;

[0046] 5. Control panel;

[0047] 6. Wrist adapter; 61. Aircraft connector;

[0048] 7. Light guide components;

[0049] 8. Light source. Detailed Implementation

[0050] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0051] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0052] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0053] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0054] Please see Figures 1 to 5 This utility model provides a robotic hand, including a mounting base 1, a thumb module 2, multiple finger modules 3 other than the thumb module 2, and a shell 4.

[0055] The mounting base 1 has a first mounting position 11 on one side and multiple second mounting positions 12 arranged side by side on the other side.

[0056] The thumb module 2 includes a thumb drive base 21 and a thumb portion 22 mounted on the thumb drive base 21; the thumb module 2 is mounted on the first mounting position 11 via the thumb drive base 21.

[0057] Each finger module 3 includes a finger driving base 31 and a finger portion 32 mounted on the finger driving base 31; multiple finger modules 3 are respectively mounted on multiple second mounting positions 12 through corresponding finger driving bases 31.

[0058] The outer casing 4 covers both sides of the mounting base 1.

[0059] In this embodiment, the mounting base 1 serves as the core support structure. A first mounting position 11 is provided on one side of the mounting base 1 for mounting the thumb drive base 21 of the thumb module 2. On the other side of the mounting base 1, multiple second mounting positions 12 are arranged in parallel, each for mounting the finger drive base 31 of a finger module 3. The thumb module 2 consists of the thumb drive base 21 and a thumb portion 22 mounted thereon. The thumb drive base 21 is connected to the second mounting positions 12 of the mounting base 1 (e.g., by screw fixing), thus fixing the thumb module 2 entirely to the first mounting position 11. Multiple finger modules 3 each consist of a finger drive base 31 and a finger portion 32 mounted thereon, and are independently mounted on their respective second mounting positions 12. Finally, the outer shell 4 structure is assembled and covers both sides of the mounting base 1, forming the main outline of the robotic hand's palm.

[0060] Based on this, by differentiating the layout of the thumb module 2 and other finger modules 3 on both sides of the mounting base 1 and combining them with the overall enclosure of the shell 4, the utilization efficiency of the internal space of the robot hand is significantly improved. At the same time, the feature of each module being independently installed on the base also provides a basis for subsequent modular maintenance or replacement, effectively alleviating the core conflict between the compact internal space of the robot hand and the convenience of maintenance.

[0061] Furthermore, the multiple finger modules 3 include a little finger module 3a, a ring finger module 3b, a middle finger module 3c, and an index finger module 3d. All finger modules 3 adopt the same structural design principle, namely, each finger module 3 includes a finger driving base 31 and a finger part 32. The finger driving base 31 is connected to the second mounting position 12 of the mounting base 1 (e.g., fixed with screws), allowing the multiple finger modules 3 to be arranged side-by-side in a compact manner. The little finger module, ring finger module, index finger module, and middle finger module correspond to the natural arrangement of human fingers, not only simulating the structure of a human hand in appearance but also achieving similar dexterity and grasping force. This design not only improves the practicality of the robotic hand but also gives it a more biomimetic and natural appearance, enabling it to blend more harmoniously into the environment when applied in various scenarios, enhancing overall aesthetics and user experience.

[0062] In one embodiment, the robotic arm further includes a control board 5, which is mounted on the other side of the mounting base 1 and is used to electrically connect with various components inside the robotic arm; the mounting base 1 is provided with a cutout portion 13, which is used to expose the components on the control board 5 to one side of the mounting base 1.

[0063] In this embodiment, the control board 5 can establish an electrical connection with components inside the robot arm, such as the thumb drive base 21 and the finger drive base 31, via wires or interfaces. To facilitate debugging, testing, or maintenance of the control board 5, a cutout portion 13 corresponding to the location of key components on the control board 5 is designed on the mounting base 1. This cutout portion 13 allows direct observation or contact with the components on the control board 5 from one side of the mounting base 1 without first disassembling the control board 5 itself or the entire housing 4.

[0064] Based on this, this embodiment makes full use of the spatial structure of the mounting base 1, placing the control board 5 on the other side of the mounting base 1, and providing an access channel on one side of the mounting base 1 through the cutout portion 13. This makes maintenance operations on the core control unit feasible and relatively simple within a limited space, without the need to completely disassemble the robotic arm, further improving the maintainability of the robotic arm and serving the core objective of resolving the conflict between space utilization and maintainability. Specifically, maintenance of the control board 5 can be performed by only removing part of the outer shell 4 (i.e., the first shell 41 and the soft shell 43 described below).

[0065] In one embodiment, the outer casing 4 includes a first casing 41 and a second casing 42; the first casing 41 is snapped onto one side of the mounting base 1 and covers the thumb drive base 21, and has a first opening 411 for the thumb 22 to extend out; the second casing 42 is snapped onto the other side of the mounting base 1 and covers a plurality of finger drive bases 31.

[0066] In this embodiment, the first housing 41 is assembled to one side (i.e., the palm side) of the mounting base 1 by means of snaps or inserts. Its shape is designed to cover the thumb drive base 21, and a first opening 411 is provided at the end for the thumb 22 to extend and move. The second housing 42 is assembled to the other side (i.e., the back of the hand side) of the mounting base 1 where multiple finger modules 3 are installed by means of snaps or inserts. Its shape is designed to cover all the finger drive bases 31. The first housing 41 and the second housing 42 together complete the coverage of the structures on both sides of the mounting base 1.

[0067] Based on this, the split-type outer shell 4 in this embodiment facilitates quick disassembly and installation. The independent first shell 41 specifically protects the thumb drive part, and the second shell 42 protects the multi-finger drive part, with clear partitioning. This design allows for maintenance of a specific drive module (especially the thumb module 2) or control board 5 by simply disassembling the corresponding shell part, without disassembling the entire outer shell 4. This greatly simplifies the maintenance process, directly improves the maintainability of the robot arm, and is a key peripheral design for resolving core conflicts.

[0068] In one embodiment, the outer casing 4 further includes a soft casing 43; the soft casing 43 is snapped onto the side of the first casing 41 opposite to the mounting base 1, and the soft casing 43 is provided with a second opening 431 for the thumb portion 22 to extend out.

[0069] In this embodiment, the assembly of the soft housing 43 is further enhanced. The soft housing 43 is connected to the outer end of the first housing 41 away from the mounting base 1 by adhesive or snap-fit, that is, covering the outermost position of the thumb drive base 21. The shape of the soft housing 43 imitates the contour of the human palm, and a second opening 431 is provided on the soft housing 43 for the thumb 22 to extend out.

[0070] In this embodiment, the second opening 431 of the soft shell 43 is located at the base of the thumb portion 22. Its flexibility allows it to better adapt to the larger range or more flexible movements required by the base of the thumb portion 22, avoiding movement interference or wear that may be caused by the hard shell. This effectively enhances the freedom of movement and reliability of the thumb portion 22.

[0071] In this embodiment, the outer surface of the soft housing 43 is provided with anti-slip texture. The anti-slip texture not only improves the stability when the user holds the device, but also increases the aesthetics.

[0072] In one embodiment, the thumb module 2, the multiple finger modules 3, and the palm position of the robotic hand are all equipped with a grasping force detection sensor for detecting the grasping force when grasping an object.

[0073] In this embodiment, gripping force detection sensors are integrated inside the thumb module 2 (generally at the fingertip of the thumb portion 22), inside the multiple finger modules 3 (generally at the fingertip of the finger portion 32), and in the area representing the palm position (e.g., on the soft shell 43). These sensors are activated when grasping an object, and detect the force signals generated when the thumb, each finger, and the palm come into contact with the object in real time.

[0074] This embodiment deploys gripping force detection sensors across the entire range of key contact points, enabling precise and comprehensive perception of the force applied to various parts of the robotic arm when gripping an object. This provides the necessary data foundation for accurately controlling the gripping force and solves the problem of not being able to precisely control the gripping force when gripping an object.

[0075] In this embodiment, the gripping force detection sensor can be capacitive or piezoresistive, and the appropriate type can be selected according to actual needs.

[0076] In one embodiment, the thumb portion 22 is rotatably mounted on the thumb drive base 21, and the thumb drive base 21 is provided with a first transmission component 23 and a second transmission component 24; the first transmission component 23 is linked with the thumb portion 22 and is used to drive the joint position of the thumb portion 22 to perform bending grasping motion; the second transmission component 24 is linked with the thumb portion 22 and is used to drive the thumb portion 22 to perform rotational motion.

[0077] In this embodiment, the thumb portion 22 is mounted on the thumb drive base 21 via a pivot or other rotating seat 25, allowing the entire thumb portion 22 to rotate relative to the drive base. The thumb drive base 21 houses two independent transmission systems: a first transmission assembly 23 and a second transmission assembly 24. The first transmission assembly 23 includes a first driving member and a first linkage member. The first driving member is disposed within the thumb drive base 21, and the first linkage member is disposed within the thumb portion 22. The first driving member drives the first linkage member to move, thereby coordinating the finger portion 32 to perform bending or extending movements, achieving grasping or releasing actions. The second transmission assembly 24 is disposed within the thumb drive base 21. The second transmission assembly 24 drives the pivot or rotating seat 25 to rotate, thereby coordinating the entire thumb portion 22 to perform swinging or rotating movements (such as palm-against-palm movements).

[0078] Based on this, the dual-drive system used in this embodiment enables independent and precise control of the two key degrees of freedom of the thumb (bending and rotation), giving the thumb a flexible movement ability close to that of a human hand, enabling it to adapt to more complex grasping postures and task requirements, and improving the overall operational performance of the robotic hand.

[0079] Please combine Figure 6 In one embodiment, a third transmission component 33 is provided in the finger drive base 31. The third transmission component 33 is linked with the corresponding finger part 32 and is used to drive the joint position of the finger part 32 to perform bending and grasping movements.

[0080] In this embodiment, a third transmission component 33 for driving the finger part 32 to perform grasping motion is provided inside each finger driving base 31.

[0081] The finger portion 32 includes a knuckle 321 and a fingertip 322. One end of the knuckle 321 is mounted on the top of the finger drive base 31, and one end of the fingertip 322 is mounted on the other end of the knuckle 321.

[0082] The third transmission component 33 includes a motor 331, a worm gear 332, a helical gear 333, and a connecting rod 334. The motor 331 is mounted on the bottom of the finger drive base 31. The worm gear 332 is coaxially connected to the output shaft of the motor 331, and both ends of the worm gear 332 are stably confined inside the finger drive base 31 by two support bearings. One end of the helical gear 333 and the connecting rod 334 are coaxially rotatably mounted in the finger drive base 31. The helical gear 333 is meshed with the worm gear 332. The other end of the connecting rod 334 is connected to one end of the fingertip 322 by a connecting rod pin. The finger drive base 31, the connecting rod 334, the finger joint 321, and the fingertip 322 constitute a four-bar linkage 334 structure. When the motor 331 drives the worm gear 332 to rotate, it drives the helical gear 333 and the connecting rod 334 to rotate, thereby driving the finger part 32 to achieve the opening and closing action through the four-bar linkage 334 structure. This design makes the movement of the fingers 32 more flexible and precise, simulating the action of a human hand grasping an object, and is suitable for various precision operations and grasping tasks.

[0083] Please see Figure 2 In one embodiment, the robotic arm further includes a wrist adapter 6, a light guide 7, and a light source 8; the wrist adapter 6 is disposed at the bottom of the mounting base 1; the light guide 7 is disposed at the connection between the wrist adapter 6 and the mounting base 1 and is exposed to the outside; the light source 8 is disposed inside the light guide 7.

[0084] In this embodiment, the wrist adapter 6 is used to connect the entire robotic hand to a robotic arm or other support structure. A light guide 7 is provided at the junction (usually an annular seam or gap) where the wrist adapter 6 connects to the mounting base 1. The light guide 7 is partially or entirely exposed to the external environment of the robotic hand. A light source 8 (such as an LED) is installed inside or near the light guide 7. The light emitted by the light source 8 is received by the light guide 7 and conducted along its structure, ultimately being projected from its exposed portion (especially the relatively conspicuous junction between the wrist adapter 6 and the base), forming a status indicator light. By placing the light source (LED 8) internally and the large-area light guide 7 at the external connection gap, the problem of traditional status indicator lights being too small or too dim, making it difficult for the human eye to observe the robotic hand's movement status, is solved. This significantly improves the visibility of the status indicator light and represents a non-core design that enhances the human-computer interaction experience.

[0085] In one embodiment, the light guide 7 is annular in shape, and its outer circumferential surfaces are exposed to the outside.

[0086] This embodiment further defines the specific structure of the light guide 7. The light guide 7 is manufactured in a ring shape (such as a circular ring), and its entire outer surface (i.e., the outer surface of the entire circumference) is designed to be exposed to the external environment of the robot hand. This ring-shaped and fully exposed design allows the light emitted by the lamp source 8 to be uniformly guided and diffused across the entire outer surface of the ring by the light guide 7, achieving 360-degree visible light indication without blind spots. No matter what angle the observer looks at the wrist connection of the robot hand, the status light can be clearly seen, greatly enhancing the reliability and ease of observation of the status indication.

[0087] Furthermore, the light source 8 can also be set to a ring shape that matches the shape of the light guide 7, ensuring that the light can be evenly distributed along the ring path of the light guide 7. The light emitted by the light source 8 is reflected and guided inside the light guide 7, and finally shines evenly from the outer ring of the light guide 7, forming a bright and uniform ring of status indicator lights. This improves the clarity of the status indication and also makes the robot arm look more beautiful and refined.

[0088] Furthermore, the light guide 7 includes a socket for mounting the aviation connector 61, which is used to electrically connect to the control board 5 to enable the transmission and control of various signals. The socket is designed to precisely match the dimensions of the aviation connector 61, ensuring a stable installation and good contact, reducing signal loss and interference during transmission. Simultaneously, the socket's placement is logical, facilitating installation and debugging by operators, thus improving overall ease of use and efficiency.

[0089] This utility model embodiment also provides a robot, including the robotic arm described above.

[0090] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this utility model, and these modifications or substitutions should all be covered within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A robotic arm, characterized in that, include: The mounting base has a first mounting position on one side and multiple second mounting positions arranged side by side on the other side; A thumb module includes a thumb drive base and a thumb portion mounted on the thumb drive base; the thumb module is mounted on the first mounting position via the thumb drive base. In addition to the thumb module, there are multiple finger modules, each of which includes a finger driving base and a finger portion mounted on the finger driving base; the multiple finger modules are respectively mounted in multiple second mounting positions through corresponding finger driving bases; The outer casing covers both sides of the mounting base.

2. The robotic arm according to claim 1, characterized in that, It also includes a control board, which is mounted on the other side of the mounting base and is used to electrically connect with the various components inside the robot arm; The mounting base has a cutout portion, which is used to expose the components on the control board to one side of the mounting base.

3. The robotic arm according to claim 1, characterized in that, The outer casing includes: The first housing is snapped onto one side of the mounting base and covers the thumb drive base, and has a first opening for the thumb to extend out; The second housing is snapped onto the other side of the mounting base and covers the multiple finger drive bases.

4. The robotic arm according to claim 3, characterized in that, The outer casing also includes: A soft housing is fitted onto the side of the first housing opposite to the mounting base, and has a second opening for the thumb to extend out.

5. The robotic arm according to claim 1, characterized in that, The thumb module, multiple finger modules, and the palm of the robotic hand are all equipped with sensors for detecting the grasping force when grasping an object.

6. The robotic arm according to claim 1, characterized in that, The thumb portion is rotatably mounted on the thumb drive base, and the thumb drive base is provided with a first transmission component and a second transmission component. The first transmission component is linked to the thumb and is used to drive the joint position of the thumb to perform a bending grasping motion. The second transmission component is linked to the thumb and is used to drive the thumb to rotate.

7. The robotic arm according to claim 1, characterized in that, The finger drive base is provided with a third transmission component, which is linked to the corresponding finger and is used to drive the joint position of the finger to perform bending and grasping movements.

8. The robotic arm according to claim 7, characterized in that, The finger portion includes: One end of the finger joint is rotatably mounted on the finger drive base; The fingertip is rotatably mounted on the other end of the finger joint; The three transmission components are used to drive the finger joint to rotate relative to the finger drive base and to drive the fingertip to rotate relative to the finger joint.

9. The robotic arm according to claim 8, characterized in that, The third transmission component includes: The motor is mounted at the bottom of the finger drive base; The worm gear is coaxially connected to the output shaft of the motor, and its rotation is limited within the finger drive base; A helical gear is rotatably mounted in the finger drive base; The connecting rod has one end rotatably mounted in the finger drive base coaxially with the helical gear, and the other end is connected to one end of the fingertip; The drive base, connecting rod, finger joint, and fingertip form a four-bar linkage structure. When the motor drives the worm gear to rotate, it drives the four-bar linkage structure to move and causes the finger to perform a bending and grasping motion.

10. A robot, characterized in that, Including the robotic arm as described in any one of claims 1 to 9.

Images