Palm structure of mechanical arm, mechanical arm and robot

Abstract

The utility model relates to the technical field of robots, and provides a palm structure of a mechanical arm, the mechanical arm and the robot, the palm structure comprises a palm seat and an image acquirer, a mounting cavity is formed in the palm seat, a window is arranged on the palm surface of the palm seat, and the window is communicated with the mounting cavity; the image acquirer is arranged in the mounting cavity and is suitable for acquiring an image outside the mounting cavity through the window. According to the palm structure of the mechanical arm, the mechanical arm and the robot, the image acquirer is arranged in the mounting cavity, and the mounting cavity plays a role in fixing and protecting the image acquirer; the image acquirer is suitable for acquiring an image outside the mounting cavity through the window so as to observe the external environment of the mechanical arm; the window is formed in the palm face of the palm seat, and when the mechanical arm moves, an image of a target object located outside the mounting cavity is captured in time, so that the mechanical arm responds in time.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a palm structure of a mechanical arm, a mechanical arm and a robot. Background Art

[0002] Some robotic arms on the market are equipped with cameras, which play a role in safety monitoring. When encountering obstacles, the robotic arm can detect, judge and avoid them in advance, and it is also convenient to obtain images of the objects being operated by the robotic arm. However, due to the large size of the camera, the overall size of the robotic arm becomes larger, which is not conducive to the flexible rotation of the robotic arm. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the related art. To this end, the utility model proposes a palm structure of a mechanical arm, a mechanical arm and a robot, which can conveniently obtain an image of an object operated by the mechanical arm and will hardly increase the size of the mechanical arm.

[0004] The utility model provides a palm structure of a mechanical arm, comprising:

[0005] A palm seat, an installation cavity is formed inside the palm seat, and a window is provided on the palm surface of the palm seat, and the window is connected to the installation cavity;

[0006] An image acquirer is disposed in the installation cavity, and the image acquirer is suitable for acquiring an image outside the installation cavity through the window.

[0007] According to the palm structure of the robotic arm of the embodiment of the utility model, the palm seat includes a seat body and a cover body, the seat body is provided with a mounting groove, the cover body is covered on the notch of the mounting groove to form the mounting cavity, and the cover body is provided with the window.

[0008] According to the palm structure of the robotic arm of the embodiment of the utility model, a connecting column is provided at the bottom of the mounting groove, and the connecting column is fixedly connected to the cover body; the connecting column is provided at the edge of the mounting groove.

[0009] According to the palm structure of the robotic arm of the embodiment of the utility model, a mounting protrusion is provided on the side wall or the bottom of the mounting groove, and a connecting ear is provided on the outer wall of the image acquirer, and the connecting ear is fixed to the mounting protrusion.

[0010] According to the palm structure of the robotic arm of the embodiment of the utility model, two connecting ears are provided, and the two connecting ears are respectively located on both sides of the image acquirer; two mounting protrusions are correspondingly provided, and the two mounting protrusions are located at the edges of the mounting groove.

[0011] According to the palm structure of the mechanical arm of the embodiment of the utility model, the palm structure of the mechanical arm further includes:

[0012] A support seat, the support seat is installed at the lower end of the palm seat;

[0013] The movable finger, the support seat is provided with a receiving groove, and the receiving groove is used to set the driving part of the movable finger.

[0014] According to the palm structure of the robotic arm in the embodiment of the utility model, an extension portion extends from the side wall of the movable finger, and the extension portion is connected to the support seat and / or the palm seat.

[0015] According to the palm structure of the robotic arm of the embodiment of the utility model, the movable finger is provided with two extension parts, and at least one of the extension parts is located between the support seat and the palm seat.

[0016] The utility model also provides a mechanical arm, comprising the palm structure of the mechanical arm.

[0017] The utility model also provides a robot, comprising the palm structure of the mechanical arm or the mechanical arm.

[0018] The above one or more technical solutions in the embodiments of the utility model have at least one of the following technical effects:

[0019] The image acquirer is arranged in the installation cavity. The installation cavity fixes and protects the image acquirer while preventing the image acquirer from occupying too much volume, which is conducive to the miniaturization of the palm structure of the robotic arm. The image acquirer is suitable for acquiring images outside the installation cavity through a window so as to observe the external environment of the robotic arm. The window is arranged on the palm surface of the palm seat. When the robotic arm moves, the image of the target object outside the installation cavity is captured in time so that the robotic arm can respond in time.

[0020] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1It is a three-dimensional structural schematic diagram of the palm structure of the mechanical arm provided by an embodiment of the utility model;

[0023] Figure 2 It is an exploded view of the palm structure of the mechanical arm provided by the embodiment of the utility model;

[0024] Figure 3 It is a schematic diagram of the three-dimensional structure of the palm seat of the palm structure of the mechanical arm provided by an embodiment of the utility model;

[0025] Figure 4 It is a schematic diagram of the internal structure of the palm structure of the robotic arm provided by an embodiment of the utility model.

[0026] Reference numerals:

[0027] 100, palm seat; 110, mounting cavity; 120, palm surface; 130, window; 140, seat body; 141, mounting groove; 150, cover body; 160, connecting column; 170, mounting protrusion; 180, avoidance space;

[0028] 200, image acquisition device; 210, connecting ear;

[0029] 300, support seat; 310, receiving groove;

[0030] 400, movable finger; 410, driving part; 420, extension part;

[0031] 500, transmission component; 510, driving gear; 520, driven gear; 530, steering gear;

[0032] 600, base; 610, receiving tank;

[0033] 700, fixing finger; 710, connecting part. DETAILED DESCRIPTION

[0034] The following is a further detailed description of the implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0035] In the description of the embodiments of the present utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present utility model. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0036] In the description of the embodiments of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.

[0037] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0038] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model embodiment. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0039] In the prior art, a camera is usually installed on the robot arm. When operating the target object, the camera can obtain the image of the target object and make judgments and responses in time. However, due to the large size of the camera, the overall size of the robot arm becomes larger, which is not conducive to the flexible rotation of the robot arm.

[0040] See also Figure 1 to Figure 2 The first aspect of the utility model provides a palm structure of a robotic arm, including a palm seat 100 and an image acquirer 200. The interior of the palm seat 100 forms a mounting cavity 110, and a palm surface 120 of the palm seat 100 is provided with a window 130, which is connected to the mounting cavity 110; the image acquirer 200 is arranged in the mounting cavity 110, and the image acquirer 200 is suitable for acquiring an image outside the mounting cavity 110 through the window 130.

[0041] The image acquirer 200 is arranged in the installation cavity 110. The installation cavity 110 fixes and protects the image acquirer 200 while preventing the image acquirer 200 from occupying too much volume, which is conducive to the miniaturization of the palm structure of the robotic arm; the image acquirer 200 is suitable for acquiring images outside the installation cavity 110 through the window 130 so as to observe the external environment of the robotic arm; the window 130 is arranged on the palm surface 120 of the palm seat 100, and when the robotic arm is moving, the image of the target object outside the installation cavity 110 is captured in time so that the robotic arm can respond in time.

[0042] It is understandable that the image acquirer 200 is arranged in the mounting cavity 110 of the palm seat 100, and the palm seat 100 supports and protects the image acquirer 200; if the image acquirer 200 is directly arranged on the outer wall of the palm seat 100, the overall size of the robot arm will be increased. The mounting cavity 110 provides a physical barrier for the image acquirer 200, isolating the image acquirer 200 from the external environment, thereby effectively preventing the image acquirer 200 from being damaged by external impurities, dust, water droplets, etc. The image acquirer 200 is arranged inside the mounting cavity 110, and can also play a certain shockproof and vibration-reducing effect. By absorbing external impact force, the impact of vibration on the image acquirer 200 is reduced, thereby improving the stability and image quality of the image acquirer 200. In addition, the mounting cavity 110 can also accommodate the wires of the image acquirer 200 to prevent the wires from being exposed to the outside.

[0043] It can be understood that, generally, when the robotic arm is working, the palm surface 120 of the palm seat 100 is facing the target operation object of the robotic arm. Therefore, setting the window 130 on the palm surface 120 of the palm seat 100 is more conducive to accurately acquiring the image of the target operation object; during the use of the robotic arm, the target operation object may be a dynamic object. The image acquirer 200 is set on the palm seat 100, and the image acquirer 200 can move with the palm seat 100 to timely acquire the image of the target operation object, thereby realizing real-time and accurate shooting.

[0044] It is understandable that fingers can be provided on the palm seat 100 to form a clamp, and the clamp grabs the target operation object according to the image feedback from the image acquirer 200; of course, magnets, suction cups and other components can also be provided on the palm seat 100 to absorb specific target operation objects, and other tools can also be provided on the palm seat 100, and the embodiment of the utility model does not specifically limit this.

[0045] It is understandable that the image acquirer 200 is a device for acquiring dynamic or static images, such as a camera or a video recorder, and the embodiment of the utility model does not specifically limit the specific structure of the image acquirer 200. The image acquirer 200 may be in a strip shape to accommodate more cameras, so as to acquire images with a wider field of view; the image acquirer 200 may integrate different types of cameras to achieve different functions, for example, the image acquirer 200 may include a wide-angle lens, a zoom lens, an infrared sensor, etc., to meet the needs of different application scenarios.

[0046] In one embodiment, the palm seat 100 includes a seat body 140 and a cover body 150. The seat body 140 is provided with a mounting groove 141. The cover body 150 covers the groove of the mounting groove 141 to form a mounting cavity 110. The mounting groove 141 is provided to facilitate the installation and removal of the image acquisition device 200. The cover body 150 protects the image acquisition device 200 and prevents external dust, moisture and other substances from entering the interior of the mounting groove 141, thereby reducing the risk of damage to the image acquisition device 200.

[0047] See also Figure 2 In one embodiment, the cover 150 is provided with a window 130, that is, the notch of the mounting groove 141 is located on the palm surface 120 of the palm seat 100. Generally speaking, the back of the palm structure is fixed to the joint of the mechanical arm, so the notch of the mounting groove 141 is located on the palm surface 120 of the palm seat 100 for easy maintenance. Of course, the notch of the mounting groove 141 can also be located on the side wall of the palm seat 100. The shape of the window 130 can be square, circular, etc., and the embodiment of the utility model does not impose any special restrictions on this. The edge of the cover 150 can be set to an arc shape to prevent scratching the user's hand.

[0048] See also Figures 2 to 3In one embodiment, a connecting column 160 is provided at the bottom of the installation groove 141, and the connecting column 160 is fixedly connected to the cover body 150; the seat body 140 is connected to the cover body 150 through the connecting column 160, and the connecting column 160 plays a connecting role; for example, a first threaded hole can be provided on the connecting column 160, and a second threaded hole can be provided on the cover body 150, and a screw can be installed on the cover body 150, and the screw passes through the second threaded hole and the first threaded hole in sequence to achieve the installation of the cover body 150; at the same time, the connecting column 160 also plays a role in supporting the cover body 150, which can improve the structural strength and stability of the palm seat 100. If the first threaded hole is directly provided on the side wall of the seat body 140, the side wall of the seat body 140 needs to have a certain thickness, resulting in an oversized size of the palm seat 100 and a waste of materials.

[0049] See also Figures 2 to 3 In one embodiment, the connecting column 160 is disposed at the edge of the mounting groove 141, so that a larger installation space is formed in the middle of the mounting groove 141 to prevent the connecting column 160 from interfering with the installation of the image acquirer 200. In other embodiments, the connecting column 160 may also be disposed in the middle of the mounting groove 141 to better support the cover body 150; this is not particularly limited in the embodiment of the utility model. The connecting column 160 may be provided with one, two, three or four, and the number of the connecting columns 160 may be set according to specific needs. The connecting column 160 may be a round column, a square column, etc. The embodiment of the utility model does not particularly limit the number and shape of the connecting column 160.

[0050] See also Figures 2 to 3 In one embodiment, a mounting protrusion 170 is provided on the side wall or the bottom of the mounting groove 141, and a connecting ear 210 is provided on the outer wall of the image acquisition device 200, and the connecting ear 210 is fixed to the mounting protrusion 170. The image acquisition device 200 is fixed in the mounting groove 141 by the cooperation between the connecting ear 210 and the mounting protrusion 170; the connecting ear 210 and the mounting protrusion 170 can be fixed by a threaded connection, which is convenient for installation; of course, in other embodiments, the connecting ear 210 and the mounting protrusion 170 can also be connected by a snap-fit ​​connection. In addition, the mounting protrusion 170 also plays a role in supporting the image acquisition device 200.

[0051] See also Figure 2 In one embodiment, two connecting ears 210 are provided, and the two connecting ears 210 are respectively located on both sides of the image acquisition device 200; and two mounting protrusions 170 are correspondingly provided. The two mounting protrusions 170 make the installation of the image acquisition device 200 more stable. The two mounting protrusions 170 are located at the edge of the mounting groove 141, so that the volume of the palm seat 100 is minimized.

[0052] See also Figure 2In one embodiment, the palm structure of the robotic arm also includes a support base 300 and a movable finger 400, and the support base 300 is installed at the lower end of the palm base 100; a receiving groove 310 is opened on the support base 300, and the receiving groove 310 is used to set the driving part 410 of the movable finger 400 of the palm structure.

[0053] The support base 300 is installed at the lower end of the palm base 100. The support base 300 plays the role of supporting and bearing the palm base 100. The receiving groove 310 on the support base 300 is suitable for installing the driving part 410 of the movable finger 400 to prevent the driving part 410 of the movable finger 400 from being exposed; it should be noted that the driving part 410 of the movable finger 400 is located in the receiving groove 310, and the driving part 410 can be partially located in the receiving groove 310, or the driving part 410 can be completely located in the receiving groove 310; generally, the driving part 410 of the movable finger 400 is a motor; the support base 300 provides a physical barrier for the driving part 410 of the movable finger 400, isolates the driving part 410 of the movable finger 400 from the external environment, thereby effectively preventing external impurities, dust, water droplets, etc. from invading the driving part 410 of the movable finger 400. By disposing the driving part 410 of the movable finger 400 in the accommodating groove 310 , the space of the supporting base 300 can be fully utilized and the volume of the movable finger 400 can be reduced.

[0054] See also Figure 2 In one embodiment, the notch of the accommodating groove 310 can face the support base 300, and the palm seat 100 is located above the support base 300. The palm seat 100 can cover the accommodating groove 310, and there is no need to provide an additional cover for the accommodating groove 310.

[0055] See also Figure 2 In one embodiment, an extension portion 420 extends from the side wall of the movable finger 400, and the extension portion 420 is connected to at least one of the support seat 300 and the palm seat 100. The extension portion 420 is suitable for connecting the movable finger 400 to the support seat 300 or the palm seat 100; compared with directly connecting the main body of the movable finger 400 to the palm seat 100, it is convenient for the extension portion 420 to connect the support seat 300 or the palm seat 100, and while playing a connecting role, the area of ​​the palm surface 120 of the palm structure can be greatly reduced, thereby reducing the volume of the finger structure. The extension portion 420 can be in the form of a sheet or a block, etc., and the embodiment of the utility model does not particularly limit the specific structure of the extension portion 420.

[0056] It should be noted that the movable finger 400 can also be rotatably connected to the support base 300 or the palm base 100, so as to facilitate the change of different finger postures to adapt to different target operation objects. For example, the palm structure of the embodiment of the utility model can also include a transmission component 500, and the driving part 410 of the movable finger 400 drives the movable finger 400 to move through the transmission component 500 to change different grasping postures; two movable fingers 400 can be provided, and the two movable fingers 400 are rotatably connected to the palm base 100 through the connecting component; please refer to Figure 2 The transmission component 500 may include a driving gear 510 and two driven gears 520, wherein the driving gear 510 is connected to the output shaft of the driving member; the two driven gears 520 are respectively coupled to the driving gear 510 by power, and correspond to and are connected to the extension portion 420 of the movable finger 400 one by one. The transmission component 500 may also include a steering gear 530, wherein one driven gear 520 is meshed with the driving gear 510 through the steering gear 530, and the other driven gear 520 is meshed with the driving gear 510, so as to realize the reverse rotation of the two movable fingers 400. Of course, in other embodiments, the movable finger 400 may be fixedly connected to the support seat 300 or the palm seat 100, so as to facilitate the grabbing of the target operation object at any time, and the embodiment of the utility model does not impose any special restrictions on this.

[0057] See also Figure 2 In one embodiment, the movable finger 400 is provided with two extensions 420, which can provide better mechanical strength and stability and avoid the extension 420 from breaking; furthermore, the provision of the two extensions 420 makes the movement of the movable finger 400 more balanced; at least one of the extensions 420 is located between the support seat 300 and the palm seat 100, and the support seat 300 and the palm seat 100 can support the extension 420 from both sides of the extension 420, so that when the extension 420 rotates, the load can be more evenly shared between the support seat 300 and the palm seat 100, reducing the risk of wear and damage; at the same time, the connection is made firmer, the stability of the rotation of the extension 420 is improved, and the instability of the extension 420 during the rotation process is avoided.

[0058] It is understandable that the palm seat 100 and the support seat 300 not only support the extension part 420, but also simplify the installation and maintenance process; the driving part 410 and the transmission component 500 of the movable finger 400 can be arranged inside the support seat 300. When inspecting, the support seat 300 and the palm seat 100 are separated, and the transmission component 500 inside the support seat 300 can be inspected, and at the same time, the extension part 420 is detached from the support seat 300 and the palm seat 100. The operation of repairing and adjusting the extension part 420 is convenient, and the time and labor cost are reduced.

[0059] See also Figure 2In one embodiment, the extension portion 420 is in the form of a sheet, wherein one of the extension portions 420 is located between the support seat 300 and the palm seat 100, a gap is formed between the support seat 300 and the palm seat 100, and the sheet-shaped extension portion 420 extends into the gap between the support seat 300 and the palm seat 100, and the support seat 300 and the palm seat 100 have a certain guiding effect on the rotation of the extension portion 420; the other extension portion 420 is connected to the corresponding driven gear 520; when the driving member works, the driving gear 510 rotates, and the two driven gears 520 rotate accordingly, thereby driving the two active fingers 400 to rotate.

[0060] See also Figure 2 and Figure 4 In one embodiment, the palm structure of the robotic arm may further include a base 600, and the support seat 300 is located on the base 600, and the base 600 plays a supporting role; a receiving groove 610 may be provided on the base 600, and the transmission component 500 may be installed in the receiving groove 610, so as to accommodate and support the transmission component 500; at this time, the bottom of the receiving groove 610 and the bottom of the support seat 300 may support the transmission component 500 from both sides, so that the transmission component 500 can operate stably and prevent the transmission component 500 from falling off during operation. The driving unit 410 of the movable finger 400 can be partially arranged inside the support base 300, or can be completely arranged inside the support base 300; an avoidance space 180 can be set at the bottom of the palm base 100, and the avoidance space 180 is used to avoid the driving unit 410 of the movable finger 400; due to the large length of the motor, the height of the support base 300 may not be able to fully accommodate the driving unit 410 of the movable finger 400. If the internal space of the support base 300 is increased, the palm structure size of the entire robotic arm will be too large; therefore, an avoidance space 180 is set at the bottom of the palm base 100 to accommodate the part of the driving unit 410 of the movable finger 400 protruding from the support base 300; for example, an avoidance groove or avoidance hole can be set at the bottom of the support base 300.

[0061] See also Figure 2In one embodiment, the palm structure of the robot arm also includes a fixed finger 700, the side wall of the fixed finger 700 is fixedly connected to the palm seat 100, and the bottom of the fixed finger 700 is provided with a connecting portion 710, which is fixed to the base 600, thereby fixing the fixed finger 700. The fixed finger 700 is fixedly set, and the remaining floating fingers move to different positions, and can be combined with the fixed finger 700 to form different gripper postures; the fixed finger 700 can play a role in assisting grasping, and the fixed setting of the fixed finger 700 can reduce some kinetic energy. The connecting portion 710 can be sheet-shaped. Compared with other shapes, the sheet-shaped connecting portion 710 is relatively thin, which can reduce the material to be processed. The sheet-shaped connecting portion 710 is relatively thin and can be set between the base 600 and the support seat 300 to reduce space occupation.

[0062] The second aspect of the utility model also provides a mechanical arm, including a palm structure of the mechanical arm.

[0063] It can be understood that if the palm structure of the robotic arm has the beneficial effects of the above-mentioned embodiments, then the robotic arm will correspondingly have the beneficial effects of the above-mentioned embodiments. Its specific implementation method can refer to the above-mentioned embodiments, and this application will not go into details.

[0064] The third aspect of the utility model also provides a robot, including a palm structure of a robotic arm or a robotic arm.

[0065] It can be understood that if the palm structure of the robotic arm and the robotic arm have the beneficial effects of the above embodiments, then the robot will correspondingly have the beneficial effects of the above embodiments. The specific implementation methods thereof may refer to the above embodiments, and this application will not elaborate on them.

[0066] Finally, it should be noted that the above implementation modes are only used to illustrate the present invention, rather than to limit the present invention. Although the present invention is described in detail with reference to the embodiments, a person skilled in the art should understand that various combinations, modifications or equivalent replacements of the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention, and should be included in the scope of the claims of the present invention.

Claims

1. A palm structure of a robotic arm, characterized in that: include: A palm seat (100) having an installation cavity (110) formed therein, a palm surface (120) of the palm seat (100) being provided with a window (130), the window (130) being in communication with the installation cavity (110); An image acquirer (200) is disposed in the installation cavity (110), and the image acquirer (200) is suitable for acquiring an image outside the installation cavity (110) through the window (130).

2. The palm structure of the robot arm according to claim 1, characterized in that: The palm seat (100) comprises a seat body (140) and a cover body (150); the seat body (140) is provided with a mounting groove (141); the cover body (150) is covered on the notch of the mounting groove (141) to form the mounting cavity (110); and the cover body (150) is provided with the window (130).

3. The palm structure of the robot arm according to claim 2, characterized in that: A connecting column (160) is provided at the bottom of the installation groove (141), and the connecting column (160) is fixedly connected to the cover body (150); the connecting column (160) is arranged at the edge of the installation groove (141).

4. The palm structure of the robot arm according to claim 2, characterized in that: A mounting protrusion (170) is provided on the side wall or the bottom of the mounting groove (141), and a connecting ear (210) is provided on the outer wall of the image acquisition device (200), and the connecting ear (210) is fixed to the mounting protrusion (170).

5. The palm structure of the robot arm according to claim 4, characterized in that: Two connecting ears (210) are provided, and the two connecting ears (210) are respectively located on both sides of the image acquirer (200); and two mounting protrusions (170) are correspondingly provided, and the two mounting protrusions (170) are located at the edges of the mounting groove (141).

6. The palm structure of the robot arm according to any one of claims 1 to 5, characterized in that: The palm structure of the robotic arm also includes: A support seat (300), the support seat (300) being mounted on the lower end of the palm seat (100); A movable finger (400), wherein the support seat (300) is provided with a receiving groove (310), and the receiving groove (310) is used to set a driving part (410) of the movable finger (400).

7. The palm structure of the robot arm according to claim 6, characterized in that: An extension portion (420) extends from the side wall of the movable finger (400), and the extension portion (420) is connected to the support seat (300) and / or the palm seat (100).

8. The palm structure of the robot arm according to claim 7, characterized in that: The movable finger (400) is provided with two extension parts (420), and at least one of the extension parts (420) is located between the support seat (300) and the palm seat (100).

9. A robotic arm, characterized in that: A palm structure of a robotic arm comprising any one of claims 1 to 8.

10. A robot, characterized in that: The palm structure of the robotic arm comprises any one of claims 1 to 8 or the robotic arm according to claim 9.

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