Bionic manipulator tail end assembly with replaceable grabbing part

Abstract

The invention discloses a bionic manipulator tail end assembly with a replaceable grabbing part, and relates to the technical field of bionic robots, the bionic manipulator tail end assembly comprises an arm sleeve body, the grabbing part and a convenient-to-replace mechanism; the convenient-to-replace mechanism comprises a limiting assembly, a slot and a plug, the slot is formed in the arm sleeve body, the plug is fixed to the grabbing part, and a limiting hole is formed in the plug; the limiting assembly comprises a support, a guide cavity, a round cavity, a guide rod, a rack, an L-shaped limiting head, a gear motor and a gear, the support is provided with the guide cavity and the round cavity, the guide rod penetrates through the guide cavity, the rack is slidably connected with the guide rod, the L-shaped limiting head fixes the rack and is matched with the limiting hole, the gear motor fixes the support, and the output shaft extends into the round cavity and is provided with the gear meshed with the rack. During working, the gear motor drives the gear rack to drive the L-shaped limiting head to extend into / retreat from the limiting hole, so that the grabbing part is locked / unlocked, and accurate mounting is realized by matching with the positioning convex strip and the groove. The mechanical arm is convenient to replace, reliable in limiting, accurate in positioning, excellent in wear-resisting buffering performance and suitable for the scene where the grabbing part needs to be frequently replaced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bionic robots, in particular to a bionic mechanical hand end assembly with replaceable gripping part, which is especially suitable for bionic mechanical hands that need to frequently replace the gripping part according to different operation requirements, and can also be applied to the field of prosthetic devices to realize quick replacement and maintenance of the gripping function part. BACKGROUND

[0002] With the rapid development of bionic robot technology and prosthetic engineering, bionic mechanical hands are increasingly widely used in the fields of industrial production, medical rehabilitation, home service, etc. The end gripping part of the bionic mechanical hand, as the core component directly contacting the work object, needs to be frequently replaced in the use process due to collision, wear or adaptation to different operation scenes (such as soft gripping part for grabbing precision parts and high-strength gripping part for grabbing heavy objects).

[0003] The gripping part and the arm sleeve body of the existing bionic mechanical hand end assembly are usually fixed by bolt connection, buckle connection or interference fit. Among them, the bolt connection needs to be disassembled with tools, which is tedious and time-consuming, especially when the operation scene needs to be quickly switched, which seriously affects the work efficiency; although the buckle connection does not require tools, the buckle is prone to fatigue deformation after long-term use, resulting in loose connection, poor limiting reliability, and the gripping part is prone to deviation or even falling off during operation, which poses a safety hazard; the interference fit faces the problems of difficult installation and easy damage to the parts during disassembly, and cannot realize precise positioning, resulting in large coaxiality deviation between the gripping part and the arm sleeve body after installation, which affects the gripping precision.

[0004] In addition, the existing connection structure also has the following deficiencies: first, there is a lack of effective buffer structure, the vibration of the mechanical hand during operation is easy to be transmitted to the connection part, causing the wear of the connection part to be aggravated and the service life to be shortened; second, the surface of the driving part (such as the sliding rod and the cavity for limiting) has poor wear resistance, and the gap is easy to increase after long-term sliding, affecting the limiting stability; third, there is a lack of positioning guide structure during installation, which makes it difficult to align the gripping part and the arm sleeve body, and installation deviation is easy to occur. Therefore, there is an urgent need for a bionic mechanical hand end assembly that is convenient to replace, reliable in limiting, accurate in positioning and excellent in wear-resistant buffer performance to solve the defects of the existing technology. SUMMARY

[0005] The present application provides a bionic mechanical hand end assembly with replaceable gripping part, which comprises an arm sleeve body and a gripping part, and the arm sleeve body and the gripping part are detachably connected through a convenient replacement mechanism to quickly complete the replacement and maintenance of the gripping part.

[0006] The interchangeable mechanism includes a limiting component, a slot, and a plug. The slot is located on the arm sleeve body, and the plug is fixed on the gripper. The plug and slot are compatible, and the gripper and arm sleeve body can be initially connected by plugging and unplugging. The limiting component is located inside the arm sleeve body and is used to lock the plug in the slot to prevent the gripper from loosening or falling off during operation.

[0007] The plug has limit holes at both the top and bottom. The limit assembly includes a bracket, guide cavity, circular cavity, guide rod, rack, L-shaped limit head, reduction motor, and gear. The bracket is fixed inside the arm sleeve body. The bracket has a pair of guide cavities and a circular cavity. The circular cavity communicates with the pair of guide cavities and is located between the pair of guide cavities, forming an "I"-shaped cavity structure. The guide rod is inserted through the guide cavity. The rack is slidably connected to the guide rod and is adapted to the guide cavity to ensure stable sliding of the rack along the guide rod. The L-shaped limit head is fixed to the rack and is adapted to the limit hole. It can extend into or out of the limit hole to lock and unlock the plug. The reduction motor is fixed to the rear side wall of the bracket. The output shaft of the reduction motor extends into the circular cavity. The gear is fixed to the output shaft of the reduction motor and meshes with the rack. The reduction motor drives the gear to rotate, thereby causing the rack to slide along the guide rod.

[0008] To further enhance component performance, anti-slip textures are provided on the inner wall of the limiting hole, evenly distributed along the axial direction of the limiting hole; limiting blocks are fixed at both ends of the guide rod, corresponding to the ends of the rack; the reduction motor is a planetary reduction motor with self-locking function; a guide slope is provided at the end of the L-shaped limiting head away from the rack, and the surface of the guide slope is polished; a buffer pad is provided between the bracket and the inner wall of the arm sleeve body, the buffer pad is made of silicone rubber, and several circular vent holes are opened on the buffer pad; two positioning protrusions are symmetrically arranged on the outer wall of the plug, and positioning grooves corresponding to the positioning protrusions are opened on the inner wall of the slot, with a clearance fit between the positioning protrusions and the positioning grooves; the inner wall of the guide cavity is coated with a wear-resistant coating, which is a nano-ceramic coating.

[0009] This invention enables quick assembly and disassembly of the gripper and the arm sleeve body through a convenient replacement mechanism. The specific working process is divided into two stages: "grip assembly installation" and "grip assembly disassembly".

[0010] 1. Grip assembly installation process

[0011] (1) Positioning and alignment: Align the plug on the grip with the slot on the arm sleeve body, so that the positioning protrusion on the outer wall of the plug is aligned with the positioning groove on the inner wall of the slot. The positioning protrusion slides along the positioning groove to achieve the initial guiding and positioning of the plug and the slot, avoid installation deviation, and ensure that the L-shaped limiting head and the limiting hole are in the same position.

[0012] (2) Preliminary docking: along the matching direction of the positioning convex stripe and the positioning concave groove, insert the plug into the insertion slot until the end of the plug abuts with the bottom of the insertion slot, complete the preliminary docking of the gripping part and the arm sleeve body. At this time, the limiting holes of the upper and lower parts of the plug are just corresponding to the position of the L-shaped limiting head, making good preparation for subsequent locking.

[0013] (3) Limiting locking: start the speed reducer motor, the output shaft of the speed reducer motor drives the gear in the circular cavity to rotate clockwise (taking the locking direction as an example). Since the gear is engaged with the rack, the gear will drive the rack to slide along the guide rod in the guide cavity in the direction close to the plug (the guide rod plays a guiding and supporting role on the rack to prevent the rack from deviating) when the gear rotates. During the sliding of the rack, the L-shaped limiting head fixed on the rack moves synchronously, and the end of the L-shaped limiting head away from the rack (the end with the guide slope) gradually extends into the limiting hole of the plug.

[0014] (4) Self-locking fixation: when the L-shaped limiting head completely extends into the limiting hole, the anti-slip pattern on the inner wall of the limiting hole tightly contacts with the surface of the L-shaped limiting head, increasing the friction between them to prevent the L-shaped limiting head from loosening during operation; at the same time, the speed reducer motor is turned off, the self-locking structure of the speed reducer motor is started, the output shaft of the speed reducer motor remains fixed, the position of the gear and the rack is locked, and then the L-shaped limiting head is stably clamped in the limiting hole, completing the installation and fixation of the gripping part.

[0015] 2. Disassembly process of the gripping part

[0016] (1) Unlocking start: when the gripping part needs to be replaced, start the speed reducer motor and control its reverse rotation, the output shaft of the speed reducer motor drives the gear to rotate counterclockwise, and the gear drives the rack to slide along the guide rod in the guide cavity away from the plug.

[0017] (2) Limiting exit: when the rack reverses, it drives the L-shaped limiting head to exit the limiting hole of the plug synchronously until the L-shaped limiting head completely leaves the limiting hole, releasing the locking restriction on the plug.

[0018] (3) Separation and disassembly: hold the gripping part and pull it out outward along the matching direction of the positioning convex stripe and the positioning concave groove, the plug is pulled out from the insertion slot, and the disassembly of the gripping part is completed. At this time, a new gripping part can be replaced, and the above installation process can be repeated to realize the quick replacement of the gripping part.

[0019] During the entire working process, the nanometer ceramic wear-resistant coating on the inner wall of the guide cavity can reduce the friction and wear between the rack and the guide cavity when the rack slides, prolonging the service life of the components; the silicon rubber buffer pad between the bracket and the arm sleeve body can absorb the vibration when the manipulator is working, preventing the vibration from being transmitted to the replacement mechanism and causing the components to loosen; the circular air vents on the buffer pad can prevent moisture accumulation in the inner cavity of the arm sleeve body due to sealing, protecting the internal electrical components (such as the reduction motor); the limiting blocks at both ends of the guide rod can limit the sliding stroke of the rack, preventing the rack from disengaging from the guide cavity when it slides to the extreme position, ensuring the safe operation of the mechanism.

[0020] Advantages

[0021] Convenient and efficient replacement: the automatic extension and retraction of the L-shaped limiting head is achieved through the reduction motor driven gear rack mechanism, without the need for tools to disassemble and assemble the gripping part, with a replacement efficiency improved by more than 50% compared to traditional bolt connection, especially suitable for work scenarios that require frequent switching of the gripping part.

[0022] Reliable and stable limiting: the planetary reduction motor with self-locking function is used, which can lock the output shaft through the self-locking structure when stopped working, preventing accidental sliding of the rack; the anti-slip pattern on the inner wall of the limiting hole can increase the friction between the L-shaped limiting head and the limiting hole, providing double protection against loosening and deviation of the gripping part after installation, improving the safety of the operation.

[0023] Precise installation and positioning: the positioning protrusions of the plug cooperate with the positioning grooves of the socket, allowing quick alignment of the plug and the socket, avoiding installation deviation, ensuring precise docking of the L-shaped limiting head and the limiting hole, and ensuring the coaxiality of the gripping part and the arm sleeve body, improving the gripping accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0024] The accompanying drawings are included to provide a further understanding of the application, and constitute a part of the specification, together with the embodiments of the application, to explain the application, and do not constitute a limitation on the application. In the drawings:

[0025] Fig. 1 is a structural schematic diagram of the application;

[0026] Fig. 2 is a structural schematic diagram of the arm sleeve body of the application;

[0027] Fig. 3 is a structural schematic diagram of the gripping part of the application;

[0028] Fig. 4 is a structural schematic diagram of the connection state of the gripping part and the limiting assembly of the application;

[0029] Fig. 5 is a structural schematic diagram of the limiting assembly of the application;

[0030] Fig. 6A schematic view of a sectional structure of the position limiting assembly of the present application;

[0031] In the figure:

[0032] 1-arm sleeve body, 2-gripping part, 3-easy-to-replace mechanism, 31-position limiting assembly, 32-slot, 33-plug, 34-limiting hole, 311-bracket, 312-guide cavity, 313-circular cavity, 314-guide rod, 315-rack, 316-L-shaped limiting head, 317-reduction motor, 318-gear. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0034] As Figs. 1-6 shown;

[0035] A bionic mechanical hand end assembly with replaceable gripping part.

[0036] In the present embodiment: to solve the technical problems existing in the prior art, as disclosed in the background art above, the gripping part and the arm sleeve body of the existing bionic mechanical hand end assembly are fixed by means of bolt connection, buckle connection or interference fit, etc. Among them, the bolt connection needs to be disassembled with the help of tools, which is tedious and time-consuming to operate, especially when quick switching of operation scenarios is required, which seriously affects the work efficiency; although the buckle connection does not require tools, the buckle is prone to fatigue deformation after long-term use, resulting in loose connection, poor limiting reliability, and the gripping part is prone to deviation or even falling off during operation, which poses a safety hazard; the interference fit faces the problems of difficult installation and easy damage to parts during disassembly, and cannot achieve precise positioning, resulting in a large deviation of the coaxiality of the gripping part and the arm sleeve body after installation, affecting the gripping precision.

[0037] In addition, the existing connection structure also has the following deficiencies: first, there is a lack of effective buffer structure, and the vibration during the operation of the mechanical hand is easy to be transmitted to the connection part, resulting in accelerated wear of the connection part, and shortening the service life; second, the surface of the driving part (such as the sliding rod for limiting) has poor wear resistance, and after long-term sliding, the gap is easy to increase, affecting the limiting stability; third, there is a lack of positioning guide structure during installation, and it is difficult to align the gripping part and the arm sleeve body, and installation deviation is easy to occur. In view of the actual use, this problem obviously exists and is relatively difficult to solve. Therefore, in order to solve this technical problem, a bionic mechanical hand end assembly with replaceable gripping part is provided on this basis.

[0038] Embodiment 1

[0039] As Figs. 1-6 shown in the figure;

[0040] The embodiment provides a bionic mechanical hand end assembly with replaceable gripping parts, and the specific structure is as follows.

[0041] The assembly comprises an arm sleeve body 1 and a gripping part 2, and the arm sleeve body 1 and the gripping part 2 are detachably connected through a convenient replacement mechanism 3. The convenient replacement mechanism 3 comprises a limiting assembly 31, a plug groove 32 and a plug 33. The plug groove 32 is arranged at the end of the arm sleeve body 1, and the plug 33 is fixed at the end of the gripping part 2 by welding. The outer diameter of the plug 33 is matched with the inner diameter of the plug groove 32, so that the plug 33 can be smoothly inserted into the plug groove 32.

[0042] The upper and lower parts of the plug 33 are provided with circular limiting holes 34, and the inner wall of the limiting hole 34 is provided with anti-skid lines. The anti-skid lines are uniformly distributed along the axial direction of the limiting hole 34, and the depth of the anti-skid lines is 0.3mm (in the preferred range of 0.2-0.5mm), which can increase the frictional resistance with the L-shaped limiting head 316.

[0043] The limiting assembly 31 is arranged in the arm sleeve body 1, and the limiting assembly 31 comprises a bracket 311, a guide cavity 312, a circular cavity 313, a guide rod 314, a rack 315, an L-shaped limiting head 316, a speed reducer 317 and a gear 318. The bracket 311 is made of aluminum alloy material and is fixed on the inner wall of the arm sleeve body 1 by bolts. The bracket 311 is integrally formed with a pair of guide cavities 312 and a circular cavity 313. The circular cavity 313 is located between the pair of guide cavities 312 and communicates with the guide cavities 312, forming a continuous cavity structure. The guide rod 314 is made of stainless steel, and the two ends of the guide rod 314 are fixed on the two end walls of the guide cavities 312 through interference fit. The outer diameter of the guide rod 314 is matched with the inner diameter of the guide hole of the rack 315, and the rack 315 is slidably connected to the guide rod 314 through the guide hole and can slide axially along the guide rod 314. The L-shaped limiting head 316 is made of high-strength alloy steel and is fixed on one end of the rack 315 close to the plug 33 by screws. The end shape of the L-shaped limiting head 316 is matched with the limiting hole 34. An inclined surface is arranged on the end of the L-shaped limiting head 316 away from the rack 315, and the included angle between the inclined surface and the end surface of the L-shaped limiting head 316 is 40° (in the preferred range of 30°-45°). The surface of the inclined surface is polished (surface roughness Ra≤0.8μm), so as to reduce the resistance when the plug 33 is inserted into the limiting hole 34.

[0044] The planetary deceleration motor with self-locking function is selected as the deceleration motor 317, which is fixed on the rear side wall of the support 311 through screws. The output shaft of the deceleration motor 317 penetrates the side wall of the support 311 and extends into the circular cavity 313. The gear 318 is fixed on the output shaft of the deceleration motor 317 through key connection. The gear 318 is engaged with the rack 315. The rated rotating speed of the deceleration motor 317 is 80 r / min (not exceeding the limit requirement of 100 r / min). Stable driving force can be provided. When the deceleration motor 317 stops working, the output shaft is locked through the self-locking structure to prevent the gear 318 from rotating.

[0045] The two ends of the guide rod 314 are welded with limiting blocks 3141. The limiting blocks 3141 are circular stainless steel blocks. The outer diameter of the limiting blocks 3141 is greater than the outer diameter of the guide rod 314 (the outer diameter of the limiting blocks 3141 is 1.5 times the outer diameter of the guide rod 314). The limiting blocks 3141 correspond to the end portions of the rack 315. When the rack 315 slides to the limit position, the limiting blocks 3141 abut against the end portions of the rack 315 to prevent the rack 315 from disengaging from the guide rod 314.

[0046] The buffer pad 3111 is arranged between the support 311 and the inner wall of the arm sleeve body 1. The buffer pad 3111 is made of silicone rubber material. The thickness of the buffer pad 3111 is 1.5 mm (within the preferred range of 1-2 mm). The buffer pad 3111 is pasted between the support 311 and the arm sleeve body 1 through glue. A circular ventilation hole with a diameter of 2 mm is formed in the buffer pad 3111. The spacing of the ventilation holes is 5 mm. Ventilation can be achieved to prevent moisture accumulation.

[0047] Two positioning convex strips 331 are symmetrically arranged on the outer side wall of the plug 33. The positioning convex strips 331 are integrally formed with the plug 33. The length of the positioning convex strips 331 is consistent with the length of the plug 33 (both are 50 mm). A positioning groove 321 corresponding to the positioning convex strips 331 is formed in the inner side wall of the slot 32. The width of the positioning convex strips 331 is matched with the width of the positioning groove 321. The gap between them is 0.1 mm. This ensures that the plug 33 can be smoothly inserted along the positioning groove 321 and accurately positioned.

[0048] A nano-ceramic wear-resistant coating is coated on the inner wall of the guide cavity 312. The thickness of the wear-resistant coating is 0.08 mm (within the preferred range of 0.05-0.1 mm). The hardness of the coating is HV850 (not less than HV800). This can significantly improve the wear resistance of the inner wall of the guide cavity 312 and reduce the wear of the rack 315 when sliding.

[0049] The mounting and dismounting process of the assembly in this embodiment is as follows:

[0050] 1. Installation process

[0051] (1) Positioning alignment: the operator holds the gripping part 2, and aligns the two positioning protrusions 331 on the plug 33 with the two positioning grooves 321 on the inner wall of the slot 32 respectively, to ensure that the protrusions correspond to the grooves one by one.

[0052] (2) Preliminary docking: along the guide direction of the positioning protrusions 331 and the positioning grooves 321, slowly insert the plug 33 into the slot 32 until the end of the plug 33 abuts against the bottom of the slot 32, at this time, the limiting hole 34 of the plug 33 is aligned with the position of the L-shaped limiting head 316.

[0053] (3) Limiting locking: start the reduction motor 317 through the control button on the arm sleeve body 1, the reduction motor 317 rotates clockwise, the output shaft drives the gear 318 to rotate clockwise, the gear 318 drives the rack 315 to slide along the guide rod 314 towards the plug 33, the rack 315 drives the L-shaped limiting head 316 to extend into the limiting hole 34. When the L-shaped limiting head 316 is completely inserted into the limiting hole 34, the reduction motor 317 automatically stops (detected by a travel switch installed at one end of the guide cavity 312 close to the plug 33), the self-locking structure of the reduction motor 317 is started to lock the output shaft, and the L-shaped limiting head 316 is stably clamped in the limiting hole 34, and the installation is completed.

[0054] 2. Disassembly process

[0055] (1) Unlocking and starting: press the control button to start the reduction motor 317 and control its reverse rotation, the reduction motor 317 rotates counterclockwise, the output shaft drives the gear 318 to rotate counterclockwise, the gear 318 drives the rack 315 to slide along the guide rod 314 away from the plug 33, and the L-shaped limiting head 316 exits the limiting hole 34 synchronously with the rack 315. When the L-shaped limiting head 316 completely leaves the limiting hole 34, the reduction motor 317 automatically stops (detected by another travel switch installed at one end of the guide cavity 312 away from the plug 33).

[0056] (2) Separation and disassembly: the operator holds the gripping part 2 and pulls it outwards along the direction of the positioning protrusions 331 and the positioning grooves 321, and the plug 33 is pulled out of the slot 32, and the disassembly of the gripping part 2 is completed. When replacing a new gripping part 2, repeat the above installation process.

[0057] In actual use, the components in this embodiment can absorb the vibration of the mechanical hand during operation, avoid loosening of the limiting assembly 31 caused by vibration, the wear-resistant coating on the inner wall of the guide cavity 312 can reduce the wear of the rack 315 during sliding, and prolong the service life of the components; the cooperation of the positioning protrusions 331 and the positioning grooves 321 ensures accurate installation and avoids the deviation of the gripping part 2 affecting the operation accuracy.

[0058] Finally, it should be noted that the above is only the preferred embodiment of the present application, and is not intended to limit the present application, although the foregoing embodiments of the present application are described in detail, for those skilled in the art, it still can be modified to the technical solution recorded in the foregoing embodiments, or equivalent replacement of some technical features. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A bionic robotic hand end effector with a replaceable gripper, comprising an arm sleeve body (1) and a gripper (2), characterized in that: The arm sleeve body (1) and the gripping part (2) are connected by a convenient replacement mechanism (3). The convenient replacement mechanism (3) includes a limiting component (31) disposed on the arm sleeve body (1) and a slot (32) opened in the arm sleeve body (1), and a plug (33) fixed on the gripping part (2). The plug (33) has limiting holes (34) on both the upper and lower parts. The limiting component (31) includes a bracket (311) disposed inside the arm sleeve body (1). The bracket (311) is provided with a pair of guide cavities (312) and a circular cavity (313). The circular cavity (313) and the pair of guide cavities (312) are mutually... The circular cavity (313) is located between a pair of guide cavities (312). A guide rod (314) is installed through the inside of the guide cavity (312). A rack (315) is slidably connected to the guide rod (314). An L-shaped limiting head (316) matching the limiting hole (34) is fixed on the rack (315). The rack (315) is adapted to the guide cavity (312). A reduction motor (317) is fixed on the rear side wall of the bracket (311). The output shaft of the reduction motor (317) extends into the circular cavity (313) and is equipped with a gear (318). The gear (318) meshes with the rack (315).

2. The bionic robotic hand end effector assembly with replaceable gripper as described in claim 1, characterized in that: The inner wall of the limiting hole (34) is provided with anti-slip texture, which is evenly distributed along the axial direction of the limiting hole (34) and the depth of the anti-slip texture is 0.2-0.5mm.

3. The bionic robotic hand end effector assembly with a replaceable gripper as described in claim 1, characterized in that: Both ends of the guide rod (314) are fixed with limit blocks. The outer diameter of the limit block is larger than the outer diameter of the guide rod (314), and the limit block corresponds to the end of the rack (315). When the rack (315) slides to the limit position, the limit block abuts against the rack (315).

4. The bionic robotic hand end effector assembly with a replaceable gripper as described in claim 1, characterized in that: The geared motor (317) is a planetary geared motor with a self-locking function. When the geared motor (317) stops working, its output shaft is fixed by the self-locking structure, and the rated speed of the geared motor (317) does not exceed 100 r / min.

5. The bionic robotic hand end effector assembly with a replaceable gripper as described in claim 1, characterized in that: The L-shaped limiting head (316) has a guide slope at the end away from the rack (315). The angle between the guide slope and the end face of the L-shaped limiting head (316) is 30°-45°, and the surface of the guide slope is polished.

6. The bionic robotic hand end effector assembly with a replaceable gripper as described in claim 1, characterized in that: A buffer pad is provided between the bracket (311) and the inner wall of the arm sleeve body (1). The buffer pad is made of silicone rubber and has a thickness of 1-2 mm. Several circular ventilation holes are provided on the buffer pad.

7. The bionic robotic hand end effector assembly with a replaceable gripper as described in claim 1, characterized in that: Two positioning protrusions are symmetrically arranged on the outer side wall of the plug (33), and a positioning groove corresponding to the positioning protrusions is opened on the inner side wall of the slot (32). The length of the positioning protrusion is the same as the length of the plug (33), and the positioning protrusion and the positioning groove are fitted with a gap.

8. The bionic robotic hand end effector assembly with a replaceable gripper as described in claim 1, characterized in that: The inner wall of the guide cavity (312) is coated with a wear-resistant coating. The thickness of the wear-resistant coating is 0.05-0.1 mm, and the wear-resistant coating is a nano-ceramic coating with a hardness of not less than HV800.

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