Mechanical arm collision protection mechanism

Abstract

The utility model provides a collision protection mechanism for a mechanical arm, which comprises the mechanical arm, a sliding rail and a collision protection mechanism, the gripper assembly is connected with the mechanical arm; the connecting assembly comprises a first connecting assembly and a second connecting assembly, the first connecting assembly is connected with the second connecting assembly, the first connecting assembly is connected with the mechanical arm, the second connecting assembly is connected with the sliding rail, and the first connecting assembly is movably arranged relative to the second connecting assembly; the protection assembly comprises a marking part and a sensing part, the marking part is arranged on the first connecting assembly, the sensing part is arranged on the second connecting assembly, and the marking part and the sensing part are correspondingly arranged so that the sensing part can sense the marking part; the controller is in signal connection with the driving unit of the sliding rail and the sensing part. According to the collision protection mechanism for the mechanical arm, the technical problems that in the prior art, when the operation error of the mechanical arm occurs, the grabbed sample tube collides with other objects, the sample tube is damaged, and the mechanical arm is damaged are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a mechanical arm collision protection mechanism. Background Art

[0002] In the medical field, it is often necessary to put the collected samples into test tubes, and then send the test tubes to the laboratory for testing. In automated laboratories, a large amount of automated work is the operation of taking and placing test tubes. The process of taking out or putting test tubes from the testing instrument is usually completed by robots or mechanical arms.

[0003] Most existing robotic arms have their moving trajectories set by control programs. The robotic arms move back and forth on the slide rails according to the set moving trajectories, thereby carrying test tubes. However, when obstacles appear on the testing instrument or the robotic arm fails to operate, causing the robotic arm to deviate from the original moving trajectory and continue to move downward, the sample tubes it carries can easily come into contact with and collide with other objects, which in serious cases may cause the sample tubes to break, thus affecting the testing of the samples. At the same time, when a fault occurs, the robotic arm continues to move downward, and the lack of an anti-collision device will damage the driving motor of the robotic arm.

[0004] Therefore, the prior art needs to be further developed. Utility Model Content

[0005] The purpose of the utility model is to overcome the above-mentioned technical deficiencies and provide a robot arm collision protection mechanism to solve the technical problem in the related technology that when the robot arm malfunctions, the grasped sample tube collides with other objects, causing damage to the sample tube and injury to the robot arm.

[0006] In order to achieve the above technical objectives, the utility model adopts the following technical solutions: a robot arm collision protection mechanism is provided, including: a robot arm, which is movably arranged on a slide rail; a gripper assembly, which is connected to the robot arm; a connecting assembly, which includes a first connecting assembly and a second connecting assembly, the first connecting assembly is connected to the second connecting assembly, the first connecting assembly is connected to the robot arm, the second connecting assembly is connected to the slide rail, and the first connecting assembly is movably arranged relative to the second connecting assembly; a protection assembly, which includes a marking component and a sensing component, the marking component is arranged on the first connecting assembly, the sensing component is arranged on the second connecting assembly, the marking component and the sensing component are correspondingly arranged so that the sensing component senses the marking component; a controller, which is respectively connected to the driving unit of the slide rail and the sensing component signal.

[0007] Furthermore, the marking component is a magnet, and the sensing component is a Hall circuit board. When the first connecting component drives the robot arm to move relative to the second connecting component so that the magnet is away from the Hall circuit board, the Hall circuit board transmits a signal to the controller.

[0008] Furthermore, the first connecting component includes a first sliding block, the second connecting component includes a first sliding groove, and the first sliding block moves in the first sliding groove so that the robotic arm moves relative to the second connecting component.

[0009] Furthermore, the first connecting component also includes a first fixed plate, the first fixed plate is connected to the robotic arm, the first slider is arranged on the side of the first fixed plate away from the robotic arm, and the marking component is arranged on the side of the first fixed plate away from the robotic arm; the second connecting component also includes a second fixed plate, the second fixed plate is connected to the slide rail, the first slide groove is arranged on the side of the second fixed plate away from the slide rail, and the sensing component is arranged on the side of the second fixed plate away from the slide rail, so that the marking component and the sensing component are arranged relative to each other.

[0010] Furthermore, the connecting assembly also includes a third connecting assembly, which includes a connecting rod and a spring, one end of the connecting rod is connected to the first fixed plate, and the other end of the connecting rod is connected to the spring, the spring is located on the side of the second fixed plate away from the first slide groove, and both ends of the spring are respectively connected to the connecting rod and the second fixed plate.

[0011] Furthermore, the gripper assembly includes: a moving assembly, the moving assembly is connected to the robotic arm, and the moving part of the moving assembly is movably arranged relative to the robotic arm; a first gripper, the first gripper is connected to the moving part; a second gripper, the second gripper is connected to the moving part, and the first gripper and the second gripper are arranged opposite to each other; the moving part drives the first gripper and the second gripper to move in opposite directions so that the first gripper and the second gripper move away from or closer to each other.

[0012] Furthermore, the moving part includes a second slider and a third slider, the first gripper is connected to the second slider, and the second gripper is connected to the third slider; the moving component also includes a second slide groove and a third slide groove, the second slide groove and the third slide groove are both connected to the robotic arm, the second slide groove and the third slide groove are arranged parallel to each other, the second slider moves in the second slide groove, and the third slider moves in the third slide groove.

[0013] Further, the first gripper includes a first connecting block, a first gripping finger and a second gripping finger. The first connecting block is connected to the second sliding block. The first gripping finger and the second gripping finger are arranged on the first connecting block at intervals.

[0014] Furthermore, the second gripper includes a second connecting block, a third gripping finger and a fourth gripping finger. The second connecting block is connected to the third sliding block. The third gripping finger and the fourth gripping finger are arranged on the second connecting block at intervals.

[0015] Furthermore, the first gripping finger and the second gripping finger are each provided with a first flange at one end away from the first connecting block, and the two first flanges are protruding; the third gripping finger and the fourth gripping finger are each provided with a second flange at one end away from the second connecting block, and the two second flanges are protruding; the first flange and the second flange are correspondingly arranged.

[0016] Beneficial effects:

[0017] 1. With the robot arm collision protection mechanism of the utility model, when the robot arm grabs the sample and causes a collision due to an operation error, the first slider moves upward in the first slide groove, and the magnet also moves upward, so that the magnet and the Hall circuit board are misaligned and separated, causing the Hall circuit board to disconnect the induction, and the controller transmits a signal to the driving unit of the robot arm, prompting the robot arm to stop descending, thereby effectively preventing the sample tube from being damaged.

[0018] 2. The robot arm collision protection mechanism of the utility model is adopted, four fingers are used to surround the sample tube, and the sample tube is clamped between the four fingers, so as to improve the firmness of the grasping.

[0019] 3. The robot arm collision protection mechanism of the utility model is adopted, and the lifting track is connected to the lifting platform. The lifting platform is provided with a slide rail, so that the robot arm can be telescopically operated in two stages in the vertical direction, so that the robot arm can grab sample tubes of different heights and place them in the placement area with particularly large height deviation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of a mechanical arm collision protection mechanism adopted in an embodiment of the utility model;

[0021] Figure 2 yes Figure 1 A partial enlarged view of part A;

[0022] Figure 3 It is an exploded view of the mechanical arm collision protection mechanism adopted in the embodiment of the utility model;

[0023] Figure 4 It is a structural schematic diagram of a gripper assembly of a mechanical arm collision protection mechanism used in an embodiment of the utility model;

[0024] Figure 5 It is a structural schematic diagram of the slide rail of the mechanical arm collision protection mechanism adopted in the embodiment of the utility model;

[0025] Figure 6 yes Figure 5 A partial enlarged view of part B.

[0026] The above drawings include the following reference numerals:

[0027] 1. Robotic arm; 2. Gripper assembly; 21. Moving assembly; 211. Second slider; 212. Third slider; 213. Second slide; 214. Third slide; 22. First gripper; 221. First connecting block; 222. First gripper finger; 223. Second gripper finger; 224. First flange; 23. Second gripper; 231. Second connecting block; 232. Third gripper finger; 233. Fourth gripper finger; 234. Second flange; 3. Connection Component; 31. first connecting component; 311. first slider; 312. first fixed plate; 32. second connecting component; 321. first slide groove; 322. second fixed plate; 33. third connecting component; 331. connecting rod; 332. spring; 4. slide rail; 5. protection component; 51. marking component; 52. sensing component; 6. sample tube; 71. lifting track; 72. lifting platform; 73. lifting slider; 74. belt assembly. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0029] According to an embodiment of the utility model, a mechanical arm collision protection mechanism is provided. Figures 1 to 6 , including: a robot arm 1, which is movably arranged on a slide rail 4; a gripper assembly 2, which is connected to the robot arm 1; a connecting assembly 3, which includes a first connecting assembly 31 and a second connecting assembly 32, the first connecting assembly 31 is connected to the second connecting assembly 32, the first connecting assembly 31 is connected to the robot arm 1, and the second connecting assembly 32 is connected to the slide rail 4, and the first connecting assembly 31 is movably arranged relative to the second connecting assembly 32; a protective assembly 5, which includes a marking component 51 and a sensing component 52, the marking component 51 is arranged on the first connecting assembly 31, and the sensing component 52 is arranged on the second connecting assembly 32, and the marking component 51 and the sensing component 52 are correspondingly arranged so that the sensing component 52 senses the marking component 51; a controller, which is respectively connected to the drive unit of the slide rail 4 and the sensing component 52 by signal.

[0030] by Figure 1Taking the vertical operation of the robot arm as an example, the height at which the robot arm 1 grabs the sample is controlled by the controller. The gripper assembly 2 is below the robot arm 1, and the robot arm 1 moves downward on the slide rail 4, driving the gripper assembly 2 to move downward. When the gripper assembly 2 puts the sample tube 6 it carries into the target area, the robot arm 1 drives the gripper assembly 2 to move to the corresponding position according to the moving distance set by the controller, and then the gripper assembly 2 releases the sample tube 6, allowing the sample tube 6 to gently fall into the target area to implement the operation of taking and placing the sample. The marking component 51 and the sensing component 52 on the robot arm 1 are correspondingly arranged, and the sensing component 52 senses or identifies the marking component 51, thereby monitoring the operating status of the robot arm 1. When the gripper assembly 2 carrying the sample tube 6 moves, the bottom of the sample tube 6 hits an obstacle, or the robot arm 1 continues to move downward after reaching the set position due to an operation error. Since the sample tube 6 that continues to move downward generates mutual thrust after contacting the object, the first connection assembly 31 connected to the gripper assembly 2 is prompted to move upward, and the marking component 51 on the first connection assembly 31 also moves upward, thereby disconnecting the induction component 52 on the second connection assembly 32. At this time, the induction component 52 transmits a signal to the controller, and the controller controls the drive unit of the slide rail 4 to prompt the robot arm 1 to stop moving downward, so that the bottom of the sample tube 6 is prevented from continuing to squeeze each other during the first time period of contact with the object, effectively preventing the sample tube 6 from being squeezed and ruptured, and also avoiding burning the drive motor that drives the robot arm to move downward. The robot arm collision protection mechanism of this embodiment solves the technical problem in the related art that when the robot arm fails to operate, the sample tube that is grabbed collides with other objects, causing the sample tube to be damaged and the robot arm to be damaged.

[0031] The robot arm collision protection mechanism of this embodiment is also equipped with an alarm device. When the sensing component 52 disconnects the marking component 51, the alarm device makes a sound to remind the operator to perform maintenance.

[0032] See also Figure 1 and Figure 2 In the robot arm collision protection mechanism of this embodiment, the marking component 51 is a magnet, and the induction component 52 is a Hall circuit board. When the first connecting component 31 drives the robot arm 1 to move relative to the second connecting component 32, so that the magnet is away from the Hall circuit board, the Hall circuit board transmits a signal to the controller. The magnet and the Hall circuit board generate induction. When the robot arm 1 descends to grab the sample and collides with it by mistake, the magnet and the Hall circuit board are misaligned and separated, causing the Hall circuit board to disconnect the induction, and at the same time transmit the signal to the controller, so that the robot arm 1 stops continuing to descend and prevents the sample tube 6 from being damaged or lost.

[0033] See also Figure 2 and Figure 3In the robot arm collision protection mechanism of the present embodiment, the first connecting component 31 includes a first slider 311, and the second connecting component 32 includes a first slide groove 321. The first slider 311 moves in the first slide groove 321 to enable the robot arm 1 to move relative to the second connecting component 32. The first slider 311 is provided on the first connecting component 31, and the first slide groove 321 is provided on the second connecting component 32. When the slider and the slide groove are used in coordination, when extrusion occurs, the robot arm 1 moves more smoothly, and the induction component 52 is enabled to quickly disconnect the induction of the marking component 51, thereby improving the sensitivity of the robot arm collision protection mechanism.

[0034] See also Figure 2 and Figure 3 In the robot arm collision protection mechanism of the present embodiment, the first connecting component 31 also includes a first fixing plate 312, the first fixing plate 312 is connected to the robot arm 1, the first slider 311 is arranged on the side of the first fixing plate 312 away from the robot arm 1, and the marking component 51 is arranged on the side of the first fixing plate 312 away from the robot arm 1. The first fixing plate 312 is closely connected to one side of the robot arm 1, which not only increases the contact area between the two and improves the connection firmness, but also helps to provide sufficient installation width and length for the first slider 311. The second connecting component 32 also includes a second fixing plate 322, the second fixing plate 322 is connected to the slide rail 4, the first slide groove 321 is arranged on the side of the second fixing plate 322 away from the slide rail 4, and the sensing component 52 is arranged on the side of the second fixing plate 322 away from the slide rail 4, so that the marking component 51 and the sensing component 52 are arranged relative to each other. The plate-like structure of the second fixed plate 322, on the one hand, increases the contact area with the slide rail 4, making the connection more stable and providing sufficient installation width and length for the first slide groove 321; on the other hand, the first slide groove 321 and the sensing component 52 are both arranged on the second fixed plate 322, and the first slider 311 and the marking component 51 are both arranged on the first fixed plate 312. When the first slider 311 moves in the first slide groove 321, the marking component 51 is synchronously driven to move, so that the induction with the sensing component 52 is disconnected, thereby improving the accuracy of the anti-collision function.

[0035] See also Figure 2 and Figure 3In the robot arm collision protection mechanism of the present embodiment, the connecting assembly 3 further includes a third connecting assembly 33, which includes a connecting rod 331 and a spring 332. One end of the connecting rod 331 is connected to the first fixed plate 312, and the other end of the connecting rod 331 is connected to the spring 332. The spring 332 is located on the side of the second fixed plate 322 away from the first slide groove 321, and the two ends of the spring 332 are respectively connected to the connecting rod 331 and the second fixed plate 322. The driving motor continuously drives the robot arm to move on the lifting platform 72, and the lifting slider 73 drives the robot arm 1 to move downward on the slide rail 4. When the bottom of the robot arm 1 collides with other objects, the object pushes the robot arm 1 upward, driving the connecting rod 331 upward, and the connecting rod 331 pulls the spring 332 to cause the spring to deform, thereby driving the second fixed plate 322 and the lifting slider 73 to move upward on the slide rail 4. This design can reduce the mutual force generated by the collision between the robot arm 1 and the object, and timely make the robot arm 1 away from obstacles, protect the motor, and prevent the motor from being burned out.

[0036] In the robot arm collision protection mechanism of this embodiment, the spring 332 is sleeved on the guide rod, one end of the guide rod is connected to the connecting rod 331, and the other end is connected to the bottom of the second fixing plate 322. The guide rod is L-shaped, the connecting rod 331 is arranged perpendicular to the first fixing plate 312, and the L-shaped curved end is connected to the second fixing plate 322. The connecting rod 331, the L-shaped guide rod and the second fixing plate 322 form a ring, thereby fixing the spring 332. The spring 332 is sleeved on the guide rod, and when the spring 332 is compressed, the spring 332 is prevented from twisting and touching other components due to compression.

[0037] See also Figure 3 and Figure 4 In the robot arm collision protection mechanism of this embodiment, the gripper assembly 2 includes: a moving assembly 21, the moving assembly 21 is connected to the robot arm 1, and the moving part of the moving assembly 21 is movably arranged relative to the robot arm 1; a first gripper 22, the first gripper 22 is connected to the moving part; a second gripper 23, the second gripper 23 is connected to the moving part, and the first gripper 22 and the second gripper 23 are arranged oppositely; the moving part drives the first gripper 22 and the second gripper 23 to move in opposite directions, so that the first gripper 22 and the second gripper 23 move away from or close to each other. When the first gripper 22 and the second gripper 23 move in a direction of approaching each other, the sample tube 6 is grasped; when the first gripper 22 and the second gripper 23 move in a direction of moving away from each other, the sample tube 6 is released.

[0038] See also Figure 3 and Figure 4In the robot arm collision protection mechanism of the present embodiment, the moving part includes a second slider 211 and a third slider 212, the first gripper 22 is connected to the second slider 211, and the second gripper 23 is connected to the third slider 212; the moving assembly 21 also includes a second slide 213 and a third slide 214, both of which are connected to the robot arm 1, the second slide 213 and the third slide 214 are arranged parallel to each other, the second slider 211 moves in the second slide 213, and the third slider 212 moves in the third slide 214. The first gripper 22 includes a first connecting block 221, a first gripping finger 222, and a second gripping finger 223, the first connecting block 221 is connected to the second slider 211, and the first gripping finger 222 and the second gripping finger 223 are arranged on the first connecting block 221 at intervals. The second gripper 23 includes a second connection block 231, a third gripping finger 232 and a fourth gripping finger 233. The second connection block 231 is connected to the third slider 212. The third gripping finger 232 and the fourth gripping finger 233 are arranged at intervals on the second connection block 231. The four gripping fingers are arranged at intervals to surround the sample tube 6 from four directions when grabbing the sample tube 6, so as to prevent the sample tube 6 from falling during the movement and avoid damaging the sample tube 6.

[0039] See also Figure 5 In the robot arm collision protection mechanism of this embodiment, the gear on the lifting track 71 moves on the tooth groove, driving the lifting platform 72 to lift and lower. The lifting platform 72 is provided with a belt assembly 74 and a slide rail 4. The belt assembly 74 is connected to the slide rail 4. The driving unit of the belt assembly 74 causes the robot arm 1 to lift and lower on the slide rail 4. The slide rail 4 is arranged on the lifting plate below the belt assembly 74, which can greatly shorten the overall use space of the installation equipment and reduce its use area to make the equipment more precise and compact. The robot arm 1 is connected to the connecting assembly 3. The connecting assembly 3 is provided with a first slider 311 and a first slide groove 321. The robot arm 1 is movable relative to the second fixed plate 322, so that the robot arm can be telescopically operated in three stages in the vertical direction, grab sample tubes 6 of different heights and prevent the sample tubes 6 from being squeezed and broken.

[0040] See also Figure 4 and Figure 6In the robot arm collision protection mechanism of the present embodiment, the first gripping finger 222 and the second gripping finger 223 are both provided with a first flange 224 at one end away from the first connecting block 221, and the two first flanges 224 are raised; the third gripping finger 232 and the fourth gripping finger 233 are both provided with a second flange 234 at one end away from the second connecting block 231, and the two second flanges 234 are raised; the first flange 224 and the second flange 234 are correspondingly arranged. Some sample tubes 6 are covered with caps. When grabbing the sample tube 6 with a cap, the controller first adjusts the lifting distance of the robot arm 1 and the moving distance of the second slider 211 and the third slider 212, so that the first gripping finger 222, the second gripping finger 223, the third gripping finger 232 and the fourth gripping finger 233 surround the sample tube 6, so that the bottom of the cap of the sample tube 6 abuts against the first flange 224 and the second flange 234, so that the sample tube 6 is more firmly clamped between the first gripping finger 222, the second gripping finger 223, the third gripping finger 232 and the fourth gripping finger 233.

[0041] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0042] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment will not be described in detail here.

[0043] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0044] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0045] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A robot arm collision protection mechanism, characterized in that: include: A mechanical arm (1), wherein the mechanical arm (1) is movably arranged on a slide rail (4); A gripper assembly (2), the gripper assembly (2) being connected to the mechanical arm (1); A connecting component (3), the connecting component (3) comprising a first connecting component (31) and a second connecting component (32), the first connecting component (31) being connected to the second connecting component (32), the first connecting component (31) being connected to the mechanical arm (1), the second connecting component (32) being connected to the slide rail (4), and the first connecting component (31) being movably arranged relative to the second connecting component (32); A protection component (5), the protection component (5) comprising a marking component (51) and a sensing component (52), the marking component (51) being arranged on the first connecting component (31), the sensing component (52) being arranged on the second connecting component (32), the marking component (51) and the sensing component (52) being arranged correspondingly so that the sensing component (52) senses the marking component (51); A controller is respectively connected to the drive unit of the slide rail (4) and the sensing component (52) via signals.

2. The robot arm collision protection mechanism according to claim 1, characterized in that: The marking component (51) is a magnet, and the sensing component (52) is a Hall circuit board. When the first connecting component (31) drives the robot arm (1) to move relative to the second connecting component (32), so that the magnet moves away from the Hall circuit board, the Hall circuit board transmits a signal to the controller.

3. The robot arm collision protection mechanism according to claim 1, characterized in that: The first connecting component (31) includes a first sliding block (311), and the second connecting component (32) includes a first sliding groove (321). The first sliding block (311) moves in the first sliding groove (321) so that the robot arm (1) moves relative to the second connecting component (32).

4. The robot arm collision protection mechanism according to claim 3, characterized in that: The first connecting assembly (31) further comprises a first fixing plate (312), the first fixing plate (312) being connected to the mechanical arm (1), the first sliding block (311) being arranged on a side of the first fixing plate (312) away from the mechanical arm (1), and the marking component (51) being arranged on a side of the first fixing plate (312) away from the mechanical arm (1); The second connecting component (32) also includes a second fixing plate (322), the second fixing plate (322) is connected to the slide rail (4), the first slide groove (321) is arranged on a side of the second fixing plate (322) away from the slide rail (4), and the sensing component (52) is arranged on a side of the second fixing plate (322) away from the slide rail (4), so that the marking component (51) and the sensing component (52) are arranged relative to each other.

5. The robot arm collision protection mechanism according to claim 4, characterized in that: The connecting assembly (3) also includes a third connecting assembly (33), and the third connecting assembly (33) includes a connecting rod (331) and a spring (332), one end of the connecting rod (331) is connected to the first fixed plate (312), and the other end of the connecting rod (331) is connected to the spring (332), and the spring (332) is located on a side of the second fixed plate (322) away from the first sliding groove (321), and the two ends of the spring (332) are respectively connected to the connecting rod (331) and the second fixed plate (322).

6. The robot arm collision protection mechanism according to claim 1, characterized in that: The gripper assembly (2) comprises: A moving component (21), the moving component (21) being connected to the mechanical arm (1), and the moving part of the moving component (21) being movably arranged relative to the mechanical arm (1); A first gripper (22), the first gripper (22) being connected to the moving part; a second gripper (23), the second gripper (23) being connected to the moving part, the first gripper (22) and the second gripper (23) being arranged opposite to each other; The moving part drives the first gripper (22) and the second gripper (23) to move in opposite directions, so that the first gripper (22) and the second gripper (23) move away from or closer to each other.

7. The robot arm collision protection mechanism according to claim 6, characterized in that: The moving part comprises a second slider (211) and a third slider (212), the first gripper (22) is connected to the second slider (211), and the second gripper (23) is connected to the third slider (212); the moving component (21) also comprises a second slide groove (213) and a third slide groove (214), the second slide groove (213) and the third slide groove (214) are both connected to the mechanical arm (1), the second slide groove (213) and the third slide groove (214) are arranged parallel to each other, the second slider (211) moves in the second slide groove (213), and the third slider (212) moves in the third slide groove (214).

8. The robot arm collision protection mechanism according to claim 7, characterized in that: The first gripper (22) comprises a first connecting block (221), a first gripping finger (222) and a second gripping finger (223); the first connecting block (221) is connected to the second sliding block (211); the first gripping finger (222) and the second gripping finger (223) are arranged on the first connecting block (221) at intervals.

9. The robot arm collision protection mechanism according to claim 8, characterized in that: The second gripper (23) comprises a second connecting block (231), a third gripping finger (232) and a fourth gripping finger (233); the second connecting block (231) is connected to the third sliding block (212); the third gripping finger (232) and the fourth gripping finger (233) are arranged on the second connecting block (231) at intervals.

10. The robot arm collision protection mechanism according to claim 9, characterized in that: The first gripping finger (222) and the second gripping finger (223) are both provided with a first flange (224) at one end away from the first connecting block (221), and the two first flanges (224) are provided in a raised manner; The third gripping finger (232) and the fourth gripping finger (233) are both provided with a second flange (234) at one end away from the second connecting block (231), and the two second flanges (234) are provided in a raised manner; The first flange (224) and the second flange (234) are arranged correspondingly.

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