Connecting structure of mechanical fingers, manipulator and robot

Abstract

The utility model belongs to the technical field of robots, and relates to a connecting structure of a mechanical finger, a manipulator and a robot, the connecting structure is used for connecting the mechanical finger and a driving device and comprises a base, an adsorption part and a connecting part, and the base is used for being connected with the driving device; the adsorption piece is connected to the base; the connecting piece is provided with a first connecting end in spherical hinge connection with the base and a second connecting end used for being connected with the mechanical finger, the connecting piece is provided with a magnetic attraction part, the magnetic attraction part is used for providing magnetic attraction force within a preset safety attraction force range for the attraction piece, and the attraction piece can be attracted to the connecting piece through the magnetic attraction force. And when the adsorption piece is adsorbed on the connecting piece, the adsorption piece is fixedly connected with the connecting piece. According to the technical scheme, the driving device can be prevented from being damaged due to overlarge load, and the technical problem that a driving device of an existing mechanical finger is prone to being damaged due to overlarge load is solved.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a connection structure for a mechanical finger, a robotic hand, and a robot. Background Technology

[0002] With the development of the robotics industry, robotic arms have been widely used. A robotic arm typically has multiple robotic fingers, which are driven by a drive mechanism within the arm, enabling the robotic arm to perform complex actions such as grasping, pulling, and lifting objects.

[0003] However, due to the limited output power of the drive unit, when using the drive unit to operate the mechanical finger on some objects with heavy loads, the drive unit is often easily damaged due to excessive load.

[0004] It is evident that how to avoid damaging the drive mechanism of the mechanical finger due to excessive load has become a technical problem that urgently needs to be solved. Utility Model Content

[0005] The purpose of this application is to provide a connection structure for a mechanical finger, a robotic hand, and a robot to solve the technical problem that the driving device of existing mechanical fingers is easily damaged due to excessive load.

[0006] In a first aspect, embodiments of this application provide a connection structure for a mechanical finger, used to connect a mechanical finger and a driving device for driving the movement of the mechanical finger, the connection structure comprising:

[0007] Base, the base being used for connection to the drive device;

[0008] An adsorption element, wherein the adsorption element is connected to the base;

[0009] The connector has a first connecting end that is connected to the base ball joint and a second connecting end for connecting to the mechanical finger. The connector has a magnetic suction part for providing a magnetic suction force within a preset safe suction force range to the adsorbent. The adsorbent can be adsorbed onto the connector by the magnetic suction force, so that the adsorbent and the connector are fixedly connected when the adsorbent is adsorbed onto the connector.

[0010] Optionally, the adsorption element is rotatably connected to the base.

[0011] Optionally, multiple adsorption elements are provided, and the multiple adsorption elements are arranged around the connector; the connector is fixed with a plurality of magnetic suction parts equal in number to the adsorption elements, and each magnetic suction part can provide a magnetic suction force within a preset safe suction force range to a corresponding adsorption element, so that each adsorption element can be adsorbed onto the connector.

[0012] Optionally, the connector is prismatic in shape, and the magnetic attraction part is disposed on the side surface of the connector.

[0013] Optionally, the base has the same prism shape as the connector, and each of the adsorption members is rotatably connected to the base with the edge of the base as the axis of rotation.

[0014] Optionally, one of the adsorption member and the connecting member is provided with a positioning groove, and the other of the adsorption member and the connecting member is provided with a positioning protrusion. The positioning protrusion is used to engage with the positioning groove when the adsorption member is adsorbed onto the connecting member.

[0015] And / or, the base is provided with a spherical mounting groove, and the first connecting end of the connector is fixed with a rotating ball, which is rotatably mounted in the spherical mounting groove.

[0016] Optionally, the side surface of the connector is provided with a mounting groove, and the magnetic part is fixedly installed in the mounting groove.

[0017] Optionally, the connection structure further includes a mounting pin, and the connector has a mounting hole on the wall of the mounting groove. The mounting pin is fixedly installed in the mounting hole and abuts against the magnetic part to fix the magnetic part in the mounting groove.

[0018] And / or, the connector has a disassembly hole penetrating the bottom of the mounting groove.

[0019] Secondly, embodiments of this application also provide a robotic hand, including a robotic finger, a driving device, and a connection structure for the robotic finger, wherein the second connecting end of the connector is connected to the robotic finger, and the base is connected to the driving device.

[0020] Thirdly, embodiments of this application also provide a robot, including the aforementioned mechanical finger connection structure.

[0021] Compared with the prior art, the embodiments of this application have the following main advantages:

[0022] The mechanical finger connection structure of this application embodiment connects the adsorption member to the base, and when the adsorption member is magnetically attracted to the connector, the connector and the adsorption member are fixedly connected. Simultaneously, the connector is ball-jointed to the base. This allows the driving device to drive the base to move, thereby driving the connector and the mechanical finger connected to the connector. Since the magnetic attraction force fixing the adsorption member to the connector is within a preset safe attraction force range, and this preset safe attraction force range refers to the range where, when the actual load borne by the driving device when driving the mechanical finger through the connection structure exceeds its safe load, the connector can be driven by the mechanical finger to engage with the adsorption member. The mechanical finger is subjected to a series of magnetic attraction forces that separate the components. Therefore, when the mechanical finger is subjected to a load that causes the actual load on the drive device to exceed the safe load, the connecting component will be driven by the mechanical finger to overcome the magnetic attraction force and separate from the adsorbed component. This allows the connecting component and the base to be connected only through a ball joint, so that the connecting component will rotate under any load. This prevents the base from transmitting power to the connecting component, effectively separating the connecting component and the base on the power transmission path. This avoids damage to the drive device due to excessive load and solves the technical problem that the drive device of existing mechanical fingers is easily damaged by excessive load. Attached Figure Description

[0023] To more clearly illustrate the solutions in this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 A three-dimensional structural diagram of the connection structure of a mechanical finger provided in an embodiment of this application;

[0025] Figure 2 A three-dimensional structural diagram of the mechanical finger connection structure provided in an embodiment of this application when the connector and the adsorption component are partially separated;

[0026] Figure 3 A three-dimensional structural diagram of the mechanical finger connection structure provided in an embodiment of this application when the connector and the adsorption component are completely separated;

[0027] Figure 4 A partially exploded structural diagram of the connector of the mechanical finger connection structure provided in an embodiment of this application;

[0028] Figure 5 A three-dimensional structural diagram of the base of the connecting structure of the mechanical finger provided in an embodiment of this application.

[0029] Figure label:

[0030] 1. Connection structure of a mechanical finger; 2. Mechanical finger;

[0031] 100. Base; 110. Base body; 120. First mounting plate; 130. Spherical mounting groove;

[0032] 200. Adsorption component; 210. Positioning groove;

[0033] 300, Connector; 301, First connecting end; 302, Second connecting end; 310, Magnetic suction part; 320, Positioning protrusion; 330, Rotating ball; 331, Fixed terminal; 340, Fixed base; 341, Fixed groove; 350, Mounting groove; 351, Mounting hole; 352, Removal hole; 360, Second mounting plate. Detailed Implementation

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application, are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0035] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0036] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0037] Please see Figure 1-5 The first part of this application provides a mechanical finger connection structure 1 for connecting a mechanical finger 2 and a driving device (not shown in the figure) for driving the mechanical finger 2 to move.

[0038] Here, "mechanical finger 2" refers to the mechanical finger on a human-hand-shaped robotic hand, typically installed on a robot to perform various complex actions such as grasping, holding, pinching, twisting, clamping, and hooking. The driving device refers to the power unit on the robotic hand used to drive the mechanical finger 2 to move; for example, various electric cylinders and motors commonly used on robotic hands.

[0039] Please see Figure 1-5 The connecting structure 1 of the mechanical finger includes a base 100, an adsorption member 200, and a connector 300. The base 100 is used to connect with the driving device so as to receive the power transmitted by the driving device. The connector 300 is provided with a first connecting end 301 that is ball-jointed with the base 100 and a second connecting end 302 that is connected with the mechanical finger 2. This allows the connector 300 to receive the power transmitted by the driving device to the base 100 through the first connecting end 301 and to transmit the power to the mechanical finger 2 through the second connecting end 302, thereby driving the mechanical finger 2 to move.

[0040] The connector 300 is also provided with a magnetic attraction part 310, which provides a magnetic attraction force within a preset safe attraction force range to the adsorption member 200. The adsorption member 200 can be magnetically attracted to the connector 300, thus fixing the adsorption member 200 and the connector 300 together. The preset safe attraction force range refers to a series of magnetic attraction forces that allow the connector 300 to be separated from the adsorption member 200 when the actual load borne by the driving device driving the mechanical finger 2 through the connecting structure 1 exceeds its safe load. In other words, if the actual load borne by the driving device driving the mechanical finger 2 through the connecting structure 1 exceeds the safe load, the magnetic attraction force provided by the magnetic attraction part 310 will not be sufficient to fix the adsorption member 200 to the connector 300.

[0041] The adsorption member 200 is connected to the base 100. For example, the adsorption member 200 can be connected to the base 100 by a rotatable connection as described below, or it can be fixedly connected to the base 100. The adsorption member 200 can be adsorbed onto the part of the connector 300 that covers the magnetic part 310, or it can be adsorbed onto the connector 300 by directly adsorbing onto the magnetic part 310.

[0042] For example, the magnetic attraction part 310 may be made of a metal magnet or an electromagnet, and the part of the adsorption member 200 that is magnetically attracted to the magnetic attraction part 310 may be made of a ferromagnetic material or a magnet that can be attracted by the magnetic attraction part 310. Alternatively, the part of the adsorption member 200 that is magnetically attracted to the magnetic attraction part 310 may be made of a metal magnet or an electromagnet, while the magnetic attraction part 310 may be made of a ferromagnetic material or a magnet that can be attracted by the adsorption member 200.

[0043] Understandably, because the connector 300 is ball-jointed to the base 100, and the adsorption member 200 can be adsorbed onto the connector 300 and fixedly connected to the connector 300, and the adsorption member 200 is also connected to the base 100, the connector 300 can be simultaneously constrained by the ball-joint connection of the base 100 and by the fixed connection provided to it by the base 100 through the adsorption member 200. This allows the connector 300 to withstand a certain load in at least some specific directions (e.g., along the direction in which the connector 300 overcomes the magnetic attraction to get away from the adsorption member 200) without being subjected to an arbitrary load, i.e., to rotate relative to the base 100 through the ball-joint connection structure. This allows the connector 300 to transmit the power from the drive device to the base 100 to the mechanical finger 2.

[0044] The mechanical finger connection structure 1 of this application embodiment connects the adsorption member 200 to the base 100, and fixes the connector 300 to the adsorption member 200 when the adsorption member 200 is magnetically adsorbed to the connector 300. Simultaneously, the connector 300 is ball-jointed to the base 100. This allows the driving device to drive the base 100 to move, thereby driving the connector 300 and the mechanical finger 2 connected to the connector 300. Since the magnetic attraction force fixing the adsorption member 200 to the connector 300 is within a preset safe attraction force range, and the preset safe attraction force range refers to the range where the actual load borne by the driving device when driving the mechanical finger 2 through the connection structure 1 exceeds its safe load, allowing the connector 300 to be moved by the mechanical finger. The mechanical finger 2 is driven by a series of magnetic attraction forces that separate it from the adsorption component 200. Therefore, when the mechanical finger 2 is subjected to a load that makes the actual load on the drive device greater than the safe load, the connecting component 300 will be driven by the mechanical finger to overcome the magnetic attraction forces and separate from the adsorption component 200. This allows the connecting component 300 to be connected to the base 100 only through a ball joint connection. This allows the connecting component 300 to rotate under any load, thus preventing the base 100 from transmitting power to the connecting component 300. This effectively separates the connecting component 300 from the base 100 on the power transmission path, thereby preventing the drive device from being damaged due to excessive load. This solves the technical problem that the drive device of existing mechanical fingers is easily damaged due to excessive load.

[0045] Please see Figure 2-3In one embodiment, the magnetic part 310 is disposed on the side surface of the connector 300, thereby facilitating the placement of the adsorption member 200 so that the adsorption member 200 can be magnetically adsorbed onto the connector 300.

[0046] Please see Figure 2-3 In one embodiment, the connector 300 has a positioning protrusion 320 on its surface facing the adsorption member 200, and the adsorption member 200 has a positioning groove 210 on its surface facing the connector 300. The positioning protrusion 320 is used to engage with the positioning groove 210 when the adsorption member 200 is adsorbed onto the connector 300. This arrangement facilitates the accurate positioning of the adsorption member 200 onto the connector 300 at a preset position during the magnetic adsorption process.

[0047] In some other embodiments, the connector 300 has a positioning groove on the surface facing the adsorption member 200, and the adsorption member 200 has a positioning protrusion on the surface facing the connector 300. This also helps to accurately position the adsorption member 200 on the connector 300 during the process of magnetically adsorbing the adsorption member 200 onto the connector 300.

[0048] Please see Figure 5 In one embodiment, the base 100 includes a base body 110 and a first mounting plate 120. The first mounting plate 120 is fixedly connected to the base body 110, and the adsorption member 200 is connected to the base 100 by being connected to the first mounting plate 120.

[0049] Specifically, the first mounting plate 120 is provided with a first threaded hole (not shown in the figure), and the first mounting plate 120 is fixedly connected to the base body 110 by a threaded connection.

[0050] Please see Figure 1-3 In one embodiment, the adsorption member 200 is rotatably connected to the base 100.

[0051] Understandably, if the adsorption member 200 is fixedly connected to the base 100, the adsorption member 200 cannot move relative to the base 100. Since the connector 300 is ball-jointed to the base 100, the connector 300 cannot directly separate from the adsorption member 200 in a direction away from the contact surface with the adsorption member 200 (because it would be obstructed by the base 100 or the adsorption member 200). Therefore, the connector 300 can only separate from the adsorption member 200 by creating relative sliding between the surfaces that magnetically attract each other. Thus, this mechanical finger connection structure 1 can only prevent the drive device from being damaged by excessive load that would cause the connector 300 to slide in this way. However, it cannot prevent the drive device from being damaged by excessive load that would cause the connector 300 to move in other directions. In this embodiment, by rotatably connecting the adsorption member 200 to the base 100, when the connector 300 is subjected to the load of the mechanical finger 2 and has a tendency to rotate relative to the base 100, the connector 300 can abut against the adsorption member 200 and drive the adsorption member 200 to rotate relative to the base 100. In this case, the connector 300 and the adsorption member 200 may also separate from each other. Thus, the mechanical finger connection structure 1 of this embodiment can also avoid damage to the drive device due to excessive load. Compared with the method of fixing the adsorption member 200 to the base 100, it can more comprehensively protect the drive device.

[0052] Please see Figure 1-4 In one embodiment, multiple adsorption elements 200 are provided, and the multiple adsorption elements 200 are arranged around the connector 300; the connector 300 is fixed with multiple magnetic suction parts 310 in the same number as the adsorption elements 200, and each magnetic suction part 310 can provide a magnetic suction force within a preset safe suction force range to a corresponding adsorption element 200, so that each adsorption element 200 can be adsorbed onto the connector 300.

[0053] Understandably, by setting up the above-mentioned multiple adsorption elements 200 and multiple magnetic suction parts 310, the load on the mechanical finger 2 may cause the connector 300 to rotate relative to the base 100 by driving any one of the adsorption elements 200, thereby separating it from the adsorption element 200 and all other adsorption elements 200. This can more comprehensively protect the drive device from damage caused by excessive load on the mechanical finger 2 in multiple directions corresponding to the multiple adsorption elements 200.

[0054] Please see Figure 1-4 In one embodiment, the connector 300 is prism-shaped.

[0055] Understandably, by setting the connector 300 to a prism shape, it is convenient to set the magnetic part 310 on the side surface of the connector 300, thereby making it convenient to set the adsorption member 200 and the magnetic part 310 to correspond to each other; at the same time, compared with the connector 300 being cylindrical, it is possible to reduce the mutual interference that may occur between adjacent magnetic parts 310 on the connector 300.

[0056] Please see Figure 1-4 In one embodiment, the base 100 has the same prism shape as the connector 300, and each adsorption member 200 is rotatably connected to the base 100 with the edge of the base 100 as the axis of rotation.

[0057] Understandably, by setting the base 100 and the connector 300 to have the same prism shape, it is easier to install the adsorption member 200 and the magnetic part 310 so that their positions correspond to each other. By making each adsorption member 200 rotatably connected to the base 100 about the edge of the base 100 as the axis of rotation, each adsorption member 200 can be magnetically adsorbed by the magnetic part 310 provided on the corresponding side surface of the connector 300. Furthermore, multiple adsorption members 200 can surround the connector 300 around the side surface of the connector 300. When the load of the mechanical finger 2 causes the connector 300 to tend to rotate along any edge of the base 100 as the axis of rotation, the connector 300 will be resisted by the magnetic attraction between at least one adsorption member 200 and the magnetic part 310. Thus, the mechanical finger connection structure 1 of this embodiment can avoid excessive load in this direction and damage to the drive device, and can more comprehensively protect the drive device.

[0058] Specifically, both the base 100 and the connector 300 are quadrangular prisms. Four adsorption members 200 are provided along the edges of the base 100, and magnetic suction parts 310 are respectively provided on the four side surfaces of the connector 300. With this arrangement, when the connector 300 is subjected to the load of the mechanical finger 2 and has a tendency to rotate in any of the four directions, it will be resisted by the magnetic attraction between the adsorption members 200 and the magnetic suction parts 310. Thus, the mechanical finger connection structure 1 of this embodiment can protect the drive device from being damaged by excessive load in four directions, which is more in line with the actual use scenario where the mechanical finger 2 needs to apply load in four preset directions.

[0059] Please see Figure 4-5 In one embodiment, the base 100 is provided with a spherical mounting groove 350, and the first connecting end 301 of the connector 300 is fixed with a rotating ball 330, which is rotatably mounted in the spherical mounting groove 350.

[0060] Specifically, the rotating ball 330 has a fixed terminal 331 at the end away from the base 100, and the connector 300 has a fixed seat 340 corresponding to the fixed terminal 331. The fixed seat 340 has a fixed groove 341, and the fixed terminal 331 is fixedly connected to the fixed groove 341 so that the rotating ball 330 can be fixedly installed on the fixed seat 340.

[0061] More specifically, the fixed terminal 331 is provided with external threads, and the fixed groove 341 is provided with internal threads. The fixed terminal 331 is fixedly connected to the fixed groove 341 by means of threaded connection.

[0062] Please see Figure 2-4 In one embodiment, the magnetic attraction part 310 is a magnetic body that can be separated from the connector 300. The side surface of the connector 300 is provided with a mounting groove 350, and the magnetic attraction part 310 is fixedly installed in the mounting groove 350.

[0063] Specifically, the connector 300 has a mounting hole 351 on the groove wall of the mounting groove 350. The connection structure also includes a mounting pin (not shown in the figure), which is fixedly installed in the mounting hole 351 and abuts against the magnetic part 310 to fix the magnetic part 310 in the mounting groove 350.

[0064] More specifically, the inner wall of the mounting hole 351 is provided with internal threads, and the mounting pin is fixedly installed in the mounting hole 351 by means of threaded connection and abuts against the magnetic part 310 to fix the magnetic part 310 in the mounting groove 350.

[0065] Specifically, the connector 300 has a disassembly hole 352 penetrating the bottom of the mounting groove 350. When disassembling the connecting structure 1 of the mechanical finger, a disassembly tool can be inserted into the disassembly hole 352, and the magnetic suction part 310 can be detached from the connector 300 by pushing the magnetic suction part 310 along the depth direction of the disassembly hole 352 with the disassembly tool.

[0066] More specifically, the inner wall of the disassembly hole 352 is provided with internal threads, so that a threaded connector such as a bolt or stud can be installed into the disassembly hole 352, and then the threaded connector can be rotated by a screw to push the magnetic part 310 along the depth direction of the disassembly hole 352, so that the magnetic part 310 can be disassembled from the connector 300.

[0067] Please see Figure 1-4 In one embodiment, the connection structure further includes a second mounting plate 360, which is fixedly connected to the second connection end 302 of the connector 300. The second mounting plate 360 ​​is used to connect with the mechanical finger 2, and the connector 300 achieves connection with the mechanical finger 2 through the second mounting plate 360.

[0068] Specifically, the connector 300 has a second threaded hole (not shown in the figure) at the second connecting end 302, and the second mounting plate 360 ​​is fixedly connected to the second connecting end 302 by a threaded connection.

[0069] The second part of this application provides a robotic hand, which includes a robotic finger 2, a driving device, and a connection structure 1 for the robotic finger as described in the above embodiment. The second connection end 302 of the connector 300 is connected to the robotic finger 2, and the base 100 is connected to the driving device.

[0070] The third part of this application provides a robot, which includes the mechanical finger connection structure 1 described in the above embodiments.

[0071] Obviously, the embodiments described above are only some embodiments of this application, not all embodiments. The accompanying drawings show preferred embodiments of this application, but do not limit the patent scope of this application. This application can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this application's specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the scope of patent protection of this application.

Claims

1. A connection structure for a mechanical finger, used to connect a mechanical finger and a drive device for driving the movement of the mechanical finger, characterized in that, include: Base, the base being used for connection to the drive device; An adsorption element, wherein the adsorption element is connected to the base; The connector has a first connecting end that is connected to the base ball joint and a second connecting end for connecting to the mechanical finger. The connector has a magnetic suction part for providing a magnetic suction force within a preset safe suction force range to the adsorbent. The adsorbent can be adsorbed onto the connector by the magnetic suction force, so that the adsorbent and the connector are fixedly connected when the adsorbent is adsorbed onto the connector.

2. The connection structure of the mechanical finger according to claim 1, characterized in that, The adsorption element is rotatably connected to the base.

3. The connection structure of the mechanical finger according to claim 2, characterized in that, The adsorption element is provided in multiple ways, and the multiple adsorption elements are arranged around the connector; the connector is fixed with a plurality of magnetic suction parts in the same number as the adsorption elements, and each magnetic suction part can provide a magnetic suction force within a preset safe suction force range to a corresponding adsorption element, so that each adsorption element can be adsorbed onto the connector.

4. The connection structure of the mechanical finger according to claim 3, characterized in that, The connector is prism-shaped, and the magnetic attraction part is disposed on the side surface of the connector.

5. The connection structure of the mechanical finger according to claim 4, characterized in that, The base has the same prism shape as the connector, and each of the adsorption components is rotatably connected to the base with the edge of the base as the axis of rotation.

6. The connection structure of the mechanical finger according to claim 1, characterized in that, One of the adsorption element and the connecting element is provided with a positioning groove, and the other of the adsorption element and the connecting element is provided with a positioning protrusion. The positioning protrusion is used to engage with the positioning groove when the adsorption element is adsorbed onto the connecting element. And / or, the base is provided with a spherical mounting groove, and the first connecting end of the connector is fixed with a rotating ball, which is rotatably mounted in the spherical mounting groove.

7. The connection structure of the mechanical finger according to claim 1, characterized in that, The connector has a mounting groove on its side surface, and the magnetic part is fixedly installed in the mounting groove.

8. The connection structure of the mechanical finger according to claim 7, characterized in that, The connection structure further includes a mounting pin, and the connector has a mounting hole on the wall of the mounting groove. The mounting pin is fixedly installed in the mounting hole and abuts against the magnetic part to fix the magnetic part in the mounting groove. And / or, the connector has a disassembly hole penetrating the bottom of the mounting groove.

9. A robotic arm, characterized in that, The device includes a mechanical finger, a driving device, and a connection structure for the mechanical finger as described in any one of claims 1-8, wherein the second connecting end of the connector is connected to the mechanical finger, and the base is connected to the driving device.

10. A robot, characterized in that, The connection structure of the mechanical finger as described in any one of claims 1-8.

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