Connecting structure of mechanical fingers, manipulator and robot

Abstract

The connecting structure of the mechanical finger comprises a first connecting base, a second connecting base, a sliding piece, a connecting piece and an elastic piece, and the second connecting base and the first connecting base are rotatably connected around the same rotating axis; the sliding piece is slidably connected to the first connecting base in the direction of the rotating axis and clamped to the first connecting base in the rotating direction surrounding the rotating axis. A limiting groove is formed in the second connecting seat; the connecting piece is fixed to the sliding piece, and the connecting piece is contained in the limiting groove and abuts against the limiting groove wall of the limiting groove when the first connecting base rotates to the preset locking position relative to the second connecting base. The elastic piece is arranged between the sliding piece and the first connecting base in an abutting mode and can be compressed by the sliding piece in the direction of the rotating axis to generate elastic deformation when the abutting force between the connecting piece and the wall of the limiting groove reaches a preset value, so that the sliding piece can drive the connecting piece to be disengaged from the limiting groove. According to the technical scheme, the situation that the driving device is damaged due to the fact that loads borne by the mechanical fingers are too large can be avoided. The utility model further provides a manipulator comprising the connecting structure of the mechanical fingers and a robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and in particular to a connecting structure of a mechanical finger, a mechanical hand and a robot. BACKGROUND

[0002] With the development of the robot industry, the mechanical hand applied to the robot has also been widely used. The mechanical hand usually has a plurality of mechanical fingers, and the mechanical fingers are driven to move by a driving device arranged in the mechanical hand, so that the mechanical hand can realize complex actions such as grasping an object, pulling the object and lifting the object.

[0003] However, since the output power of the driving device is limited, when the driving device is used to drive the mechanical fingers to operate on some objects with large loads, the driving device is often damaged due to the large load.

[0004] Therefore, how to avoid damaging the driving device of the mechanical finger due to the large load has become a technical problem to be solved urgently. CONTENT OF THE INVENTION

[0005] The purpose of the embodiments of the present application is to provide a connecting structure of a mechanical finger, a mechanical hand and a robot, so as to solve the technical problem that the driving device of the existing mechanical finger is easily damaged due to the large load.

[0006] In a first aspect, the embodiments of the present application provide a connecting structure of a mechanical finger, which is used to connect the mechanical finger and a driving device for driving the mechanical finger to move, and the connecting structure comprises:

[0007] a first connecting seat;

[0008] a second connecting seat, one of the first connecting seat and the second connecting seat is used to connect the mechanical finger, and the other of the first connecting seat and the second connecting seat is used to connect the driving device; the second connecting seat is rotatably connected with the first connecting seat around the same rotation axis;

[0009] a sliding piece, the sliding piece is slidably connected to the first connecting seat along the direction of the rotation axis, and the sliding piece is clamped to the first connecting seat along the rotation direction around the rotation axis; the second connecting seat is provided with a connecting end opposite to the sliding piece along the direction of the rotation axis, and the connecting end is provided with a limiting groove;

[0010] a connecting piece, the connecting piece is fixed to the sliding piece, and the connecting piece is accommodated in the limiting groove and abuts against the limiting groove wall of the limiting groove when the first connecting seat is rotated to a preset locking position relative to the second connecting seat, and the limiting groove wall is gradually extended outward along the rotation direction around the rotation axis from the abutting position abutting against the connecting piece;

[0011] An elastic member is arranged between the sliding member and the first connecting base, and is capable of being compressed by the sliding member along the rotation axis direction to produce elastic deformation when the abutting force between the connecting member and the limiting slot wall reaches a preset value, so that the sliding member can drive the connecting member to move outward along the limiting slot wall and disengage from the limiting slot.

[0012] Optionally, the limiting slot is a V-shaped slot, and the limiting slot wall is an inner side wall of the V-shaped slot.

[0013] Optionally, the connecting structure of the mechanical finger further comprises a rotating member rotatably mounted on the second connecting base along a rotation direction around the rotation axis, the first connecting base is provided with a connecting column extending towards the second connecting base, an axis direction of the connecting column coincides with the rotation axis direction, and the connecting column is fixedly connected with the rotating member.

[0014] Optionally, the sliding member is slidably sleeved on the connecting column along the rotation axis direction, and the sliding member is clamped on the connecting column along the rotation direction around the rotation axis.

[0015] Optionally, the rotating member comprises a locking screw and a rotating ring, the second connecting base is provided with a countersunk hole and a connecting hole in communication with the countersunk hole, the rotating ring is rotatably mounted on the countersunk hole along the rotation direction around the rotation axis, and the locking screw is fixedly connected with the connecting column in a threaded connection manner through the rotating ring and the connecting hole.

[0016] Optionally, the first connecting base is provided with an annular ring at one end thereof along the rotation axis direction towards the second connecting base, and the connecting column is located in the annular ring.

[0017] The second connecting base is provided with an annular protrusion, an inner side wall of the annular ring is rotatably sleeved on an outer side wall of the annular protrusion, the annular protrusion is the connecting end, and the limiting slot is arranged on an end face of the annular protrusion close to the first connecting base.

[0018] Optionally, the sliding member is provided with a mounting hole on an end face facing the limiting slot, the mounting hole is a spherical hole, the connecting member is spherical, and the connecting member is fixed in the mounting hole.

[0019] Optionally, the connecting member is clamped and fixed in the mounting hole, and a depth of the mounting hole is greater than a spherical radius of the connecting member.

[0020] Optionally, a plurality of the limiting grooves are arranged non-uniformly around the rotation axis, the sliding member is provided with a plurality of mounting holes corresponding to the plurality of limiting grooves on an end face facing the limiting grooves, and the connecting member is provided with a plurality of connecting members which are fixed to the mounting holes one by one.

[0021] Optionally, the elastic member is a disc spring.

[0022] Alternatively, the elastic member comprises a first disc spring and a second disc spring, the outer edge of the first disc spring and the outer edge of the second disc spring abut each other, the inner edge of the first disc spring abuts the sliding member, and the inner edge of the second disc spring abuts the first connecting seat.

[0023] In a second aspect, the embodiments of the present application further provide a robot, which comprises the connecting structure of the robot finger.

[0024] In a third aspect, the embodiments of the present application further provide a robot, which comprises the connecting structure of the robot finger.

[0025] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0026] The connecting structure of the mechanical finger of the embodiment of the present application, when the connecting piece is rotated to the preset locking position relative to the second connecting seat, is accommodated in the limiting groove and abuts against the limiting groove wall of the limiting groove, at this time the limiting groove can limit the rotation of the connecting piece relative to the connecting end, and the connecting piece is fixed to the sliding piece, the sliding piece is engaged in the first connecting seat along the rotation direction around the rotation axis, so the second connecting seat is relatively fixed with the first connecting seat at the preset locking position, at this time the driving device can transmit the output power to the mechanical finger through the connecting structure of the mechanical finger, so that the mechanical finger can bear the load; and due to the load, the first connecting seat and the second connecting seat have a relative rotation trend, so that the connecting piece indirectly fixed to the first connecting seat along the rotation direction is pressed against the limiting groove wall, so that the abutting force of the limiting groove wall and the connecting piece abutting against each other can increase to a preset value, and the preset value is the abutting force value of the limiting groove wall and the connecting piece abutting against each other when the driving device drives the mechanical finger to move through the connecting structure of the mechanical finger and actually bears the preset safety load, the elastic piece is compressed along the rotation axis direction from the sliding piece to generate elastic deformation, the preset safety load can be set based on the maximum safety load that the driving device can bear, and the preset safety load can be less than or equal to the maximum safety load; therefore, when the load of the mechanical finger is too large so that the abutting force reaches the preset value, the connecting piece can be pressed by the abutting force to compress the elastic piece along the rotation axis direction from the sliding piece, so that the elastic piece generates elastic deformation, and then the sliding piece can drive the connecting piece to move outward along the limiting groove wall to make the connecting piece separate from the limiting groove, so that the second connecting seat and the first connecting seat are relatively rotated after the connecting piece separates from the limiting groove, so that the driving device cannot transmit power through the connecting structure of the mechanical finger, and the driving device is prevented from being damaged due to the load of the mechanical finger being too large, so as to protect the driving device. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the scheme in the present application, the following will briefly introduce the drawings needed in the description of the embodiments of the present application. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0028] Figure 1 A perspective structural schematic view of the connecting structure of the mechanical finger provided by an embodiment of the present application;

[0029] Figure 2 A perspective structural schematic view of the connecting structure of the mechanical finger provided by an embodiment of the present application from another angle;

[0030] Figure 3An exploded structural schematic view of a connecting structure of a mechanical finger according to an embodiment of the present application;

[0031] Figure 4 An exploded structural schematic view of a connecting structure of a mechanical finger according to an embodiment of the present application from another angle;

[0032] Figure 5 A sectional structural schematic view of the connecting structure along A-A direction when the connecting member is accommodated in the limiting groove; Figure 2

[0033] Figure 6 A sectional structural schematic view of the connecting structure along A-A direction when the connecting member is separated from the limiting groove; Figure 2

[0034] Figure 7 A partial structural schematic view of a mechanical finger according to an embodiment of the present application.

[0035] Reference Signs:

[0036] 1, connecting structure of a mechanical finger; 2, mechanical finger;

[0037] 100, first connecting seat; 110, annular ring; 120, connecting column; 121, threaded connecting hole;

[0038] 200, second connecting seat; 210, annular protrusion; 211, limiting groove; 211a, limiting groove wall; 220, counterbore; 230, connecting hole;

[0039] 300, sliding member; 310, mounting hole; 320, second avoiding hole;

[0040] 400, connecting member;

[0041] 500, elastic member; 510, first disc spring; 520, second disc spring; 530, first avoiding hole;

[0042] 600, rotating ring. DETAILED DESCRIPTION

[0043] 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 belongs; the terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting of the application; the description and claims herein and the above description of drawings herein utilize terms such as "comprising", "having" and "including" to convey construction that is inclusive of, but not limited to, the specified material, constituent, or step, or combinations thereof. The terminology includes the words specifically mentioned above, derivatives thereof, and words of similar import. ​​

[0044] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive of one another. As will be apparent to those of ordinary skill in the art, embodiments described herein can be combinable with other embodiments.

[0045] In order to make the person skilled in the art better understand the scheme of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the drawings below.

[0046] Please refer to Figures 1-6 The first part of the embodiments of the present application provides a connecting structure 1 of a mechanical finger, which is used to connect the mechanical finger and a driving device for driving the mechanical finger to move.

[0047] The mechanical finger refers to a mechanical finger usually arranged on a robot for realizing various complex actions such as grabbing, holding, pinching, twisting, clamping, hooking and the like. The driving device refers to a power device arranged on the mechanical hand for driving the mechanical finger to move, for example, various electric cylinders and motors usually used on the mechanical hand.

[0048] Please refer to Figures 1-6 In an embodiment, the connecting structure 1 of the mechanical finger includes a first connecting seat 100, a second connecting seat 200, a sliding member 300, a connecting member 400 and an elastic member 500. The first connecting seat 100 is used to connect the mechanical finger, and the second connecting seat 200 is used to connect the driving device, so that the output power of the driving device can be transmitted to the mechanical finger through the second connecting seat 200 and the first connecting seat 100 in sequence to drive the mechanical finger to move.

[0049] The second connecting seat 200 is rotatably connected with the first connecting seat 100 around the same rotation axis, and the sliding member 300 is clamped to the first connecting seat 100 along the rotation direction around the rotation axis, so that when the first connecting seat 100 and the second connecting seat 200 produce relative rotation (tendency), the sliding member 300 can also be driven by the first connecting seat 100 to produce relative rotation (tendency) with respect to the second connecting seat 200.

[0050] The second connecting seat 200 is provided with a connecting end opposite to the sliding member 300 along the rotation axis direction, and the connecting end is provided with a limiting groove 211. The connecting member 400 is fixed to the sliding member 300, and when the first connecting seat 100 rotates relative to the second connecting seat 200 to a preset locking position, the connecting member 400 is accommodated in the limiting groove 211 and abuts against the limiting groove wall 211a of the limiting groove 211, so as to limit the rotation of the connecting member 400 relative to the connecting end, thereby limiting the rotation of the first connecting seat 100 relative to the second connecting seat 200. It should be noted that the connecting member 400 can be partially accommodated in the limiting groove 211 (as shown in Figure 5 ), or can be completely accommodated in the limiting groove 211, as long as the connecting member 400 can abut against the limiting groove wall 211a.

[0051] The limiting groove wall 211a is gradually extended outward along the rotation direction around the rotation axis from the abutting position abutting against the connecting member 400, so as to ensure that the abutting force of the limiting groove wall 211a applied to the connecting member 400 can be decomposed into a component force along the rotation axis direction, thereby being able to push the sliding member 300, so that the connecting member 400 can be driven by the sliding member 300 to move outward along the limiting groove wall 211a and then be separated from the limiting groove 211. The structure of the limiting groove 211 and the limiting groove wall 211a will be further illustrated in the following embodiments.

[0052] The elastic member 500 is arranged between the sliding member 300 and the first connecting seat 100, and the sliding member 300 is slidably connected to the first connecting seat 100 along the rotation axis direction. When the abutting force of the connecting member 400 abutting against the limiting groove wall 211a increases to a preset value, the elastic member 500 can be compressed by the sliding member 300 along the rotation axis direction to generate elastic deformation, so that the sliding member 300 can drive the connecting member 400 to move outward along the limiting groove wall 211a and then be separated from the limiting groove 211.

[0053] It should be noted that the above-mentioned preset locking position refers to a position of the first connecting seat 100 relative to the second connecting seat 200, at which the connecting member 400 can be just accommodated in the limiting groove 211 and abut against the limiting groove wall 211a of the limiting groove 211. The above-mentioned preset value refers to the abutting force of the limiting groove wall 211a abutting against the connecting member 300 when the driving device drives the mechanical finger to move through the connecting structure 1 of the mechanical finger and actually bears a preset safety load, which is just enough to make the elastic member 500 be compressed by the sliding member 300 along the rotation axis direction to generate elastic deformation. The preset safety load can be usually set based on the maximum safety load that the driving device can bear, and the preset safety load can be less than or equal to the maximum safety load. The elastic member 500 refers to a part that can generate elastic deformation and generate an elastic restoring force in the direction of elastic deformation when the elastic deformation occurs, such as various common springs or elastic objects equivalent to the springs.

[0054] The connecting structure 1 of the mechanical finger of the embodiment of the present application, the connecting piece 400 is accommodated in the limiting groove 211 and abuts against the limiting groove wall 211a of the limiting groove 211 when the first connecting seat 100 rotates relative to the second connecting seat 200 to the preset locking position, at this time, the limiting groove 211 can limit the rotation of the connecting piece 400 relative to the connecting end, and the connecting piece 400 is fixed to the sliding piece 300, the sliding piece 300 is engaged in the first connecting seat 100 along the rotation direction around the rotation axis, so the second connecting seat 200 and the first connecting seat 100 are relatively fixed at the preset locking position, at this time, the driving device can transmit the output power to the mechanical finger through the connecting structure 1 of the mechanical finger, so that the mechanical finger can bear the load; due to the action of the excessive load, the mechanical finger can make the first connecting seat 100 and the second connecting seat 200 have a relative rotation trend, so that the connecting piece 400 indirectly fixed to the first connecting seat 100 along the rotation direction is extruded with the limiting groove wall 211a, so that the abutting force between the limiting groove wall 211a and the connecting piece 400 can increase to the preset value, and the preset value is the abutting force value between the limiting groove wall 211a and the connecting piece 300 when the driving device drives the mechanical finger to move through the connecting structure 1 of the mechanical finger and actually bears the preset safety load, which just makes the elastic piece 500 compressed by the sliding piece 300 along the rotation axis direction to produce elastic deformation, the preset safety load can be set based on the maximum safety load that the driving device can bear, which can make the preset safety load less than or equal to the maximum safety load; therefore, when the load of the mechanical finger is too large so that the abutting force reaches the preset value, the connecting piece 400 can be compressed by the abutting force to make the sliding piece 300 fixedly connected thereto compressed along the rotation axis direction to compress the elastic piece 500, so that the elastic piece 500 produces elastic deformation, and then the sliding piece 300 can drive the connecting piece 400 to move outward along the limiting groove wall 211a to make the connecting piece 400 disengaged from the limiting groove 211, so that the second connecting seat 200 and the first connecting seat 100 are relatively rotated after the connecting piece 400 is disengaged from the limiting groove 211, so that the driving device cannot transmit power through the connecting structure 1 of the mechanical finger, to avoid the driving device damaged due to the excessive load of the mechanical finger, to protect the driving device.

[0055] When the connecting piece 400 is disengaged from the limiting groove 211, the load or the load in the opposite direction is continuously applied to the mechanical finger, so that the first connecting seat 100 drives the sliding piece 300 and the connecting piece 400 to continuously rotate relative to the second connecting seat 200, and the connecting piece 400 is re-pressed into the limiting groove 211 to abut against the limiting groove wall 211a due to the elastic restoring force of the elastic piece 500 when the connecting piece 400 moves to the position of the limiting groove 211, so that the driving device can again transmit the output power to the mechanical finger through the second connecting seat 200, the connecting piece 400, the sliding piece 300 and the first connecting seat 100.

[0056] In some other embodiments, the first connecting seat 100 is used to connect the driving device, and the second connecting seat 200 is used to connect the mechanical finger, so that the driving device can transmit the output power to the mechanical finger through the first connecting seat 100 and the second connecting seat 200 in sequence.

[0057] Please refer to Figures 3-6 In an embodiment, the limiting groove 211 is a V-shaped groove arranged on the connecting end, and the limiting groove wall 211a is the inner side wall of the V-shaped groove.

[0058] It can be understood that, by arranging the limiting groove 211 as a V-shaped groove, the connecting piece 400 can abut against the limiting groove wall 211a when accommodated in the limiting groove 211, so that the abutting force applied by the limiting groove wall 211a to the connecting piece 400 can be decomposed into a component force along the rotation axis direction to push the sliding piece 300, so that the sliding piece 300 can compress the elastic piece 500 along the rotation axis direction to make the elastic piece 500 elastically deform. Moreover, because the limiting groove 211 is a V-shaped groove, it is also beneficial for the connecting piece 400 to move along the limiting groove wall 211a under the driving of the sliding piece 300, to disengage from the limiting groove 211 when moving to the position of the slot of the limiting groove 211, to be re-pressed into the limiting groove 211 under the elastic restoring force of the elastic piece 500 to abut against the limiting groove wall 211a again, and to reduce the manufacturing cost of the limiting groove 211.

[0059] In some other embodiments, the first protrusion and the second protrusion are arranged on the connecting end along the rotation direction around the rotation axis, and the limiting groove 211 is formed by the first protrusion, the connecting end and the second protrusion (the figure is omitted), the space reserved between the first protrusion, the connecting end and the second protrusion forms an accommodation space for accommodating the connecting piece 400, the connecting piece 400 abuts against the first protrusion and the second protrusion, and the limiting groove wall 211a is the surface of the first protrusion or the surface of the second protrusion which can abut against the connecting piece 400.

[0060] Please refer to Figures 3-4In an embodiment, the sliding member 300 is provided with a mounting hole 310 on the end surface facing the limiting groove 211, and the connecting member 400 is fixed to the mounting hole 310. By providing the mounting hole 310 to fix the connecting member 400, the connecting member 400 can be conveniently fixed to the sliding member 300 and accommodated in the limiting groove 211 and abut against the limiting groove wall 211a.

[0061] Referring to Figures 3-4 In an embodiment, the connecting member 400 is in a spherical shape, and the mounting hole 310 is a spherical hole. By setting the connecting member 400 in a spherical shape, the connecting member 400 can be conveniently moved along the limiting groove wall 211a and then separated from the limiting groove 211. By setting the connecting member 400 and the mounting hole 310 in a spherical shape, the connecting member 400 can be stably fixed to the mounting hole 310, and the fixed connection relationship between the connecting member 400 and the sliding member 300 is more stable.

[0062] Specifically, the connecting member 400 is clamped and fixed to the mounting hole 310, and the depth of the mounting hole 310 is greater than the spherical radius of the connecting member 400. The clamped and fixed connection of the connecting member 400 and the sliding member 300 can facilitate the quick assembly of the two; by setting the depth of the mounting hole 310 to be greater than the spherical radius of the connecting member 400, the connecting member 400 can be stably fixed and constrained by the mounting hole 310 after being separated from the limiting groove 211, so as to avoid the connecting member 400 from falling off the mounting hole 310.

[0063] Referring to Figures 3-4 In an embodiment, the limiting groove 211 is provided with a plurality of limiting grooves 211, and the plurality of limiting grooves 211 are non-uniformly spaced around the rotation axis; the sliding member 300 is provided with a plurality of mounting holes 310 corresponding to the plurality of limiting grooves 211 on the end surface facing the limiting groove 211, and the number of the mounting holes 310 is the same as that of the limiting grooves 211; the connecting member 400 is provided with a plurality of connecting members 400, and the plurality of connecting members 400 are respectively and one-to-one fixed to the mounting holes 310.

[0064] It can be understood that, by setting multiple limiting grooves 211 and multiple mounting holes 310 and connecting pieces 400 corresponding thereto, the reliability of the connection of the second connecting seat 200 with the first connecting seat 100 through the connecting pieces 400 can be improved, and the reliability of the power transmission from the driving device to the mechanical fingers through the connecting structure 1 of the mechanical fingers can be ensured; and because the multiple limiting grooves 211 are non-uniformly spaced, in order to press all the connecting pieces 400 into the limiting grooves 211 and abut against the limiting groove walls 211a again after the multiple connecting pieces 400 are all separated from the limiting grooves 211, the first connecting seat 100 and the second connecting seat 200 must be rotated to the relative position (i.e., the preset locking position) before the connecting pieces 400 are separated from the limiting grooves 211, that is, the first connecting seat 100 and the second connecting seat 200 need to be relatively rotated by about 360°, so that the connecting pieces 400 can be prevented from being mistakenly pressed into the limiting grooves 211 due to the inertia of the relative rotation of the first connecting seat 100 and the second connecting seat 200 or the mistaken operation of the user after the connecting pieces 400 are separated from the limiting grooves 211, and the reliability of the automatic separation of the first connecting seat 100 and the second connecting seat 200 on the power transmission route due to excessive load is improved, so that the damage of the driving device due to excessive load can be better avoided.

[0065] Please refer to Figures 3-6 In an embodiment, the connecting structure 1 of the mechanical fingers further comprises a rotating piece rotatably mounted on the second connecting seat 200 in a rotating direction around a rotating axis, and the first connecting seat 100 is provided with a connecting column 120 extending towards the second connecting seat 200 at an end facing the second connecting seat 200, the axis direction of the connecting column 120 coincides with the direction of the rotating axis, and the connecting column 120 is fixedly connected with the rotating piece, so that the first connecting seat 100 and the second connecting seat 200 are rotatably connected around the rotating axis.

[0066] Please refer to Figures 3-6 In an embodiment, the sliding piece 300 is slidably sleeved on the connecting column 120 in the direction of the rotating axis, and the sliding piece 300 is engaged with the connecting column 120 in the rotating direction around the rotating axis, so that the sliding piece 300 can be driven by the connecting column 120 to produce relative rotation (tendency) with respect to the first connecting seat 100 when the first connecting seat 100 and the second connecting seat 200 produce relative rotation (tendency), and the sliding piece 300 can slide along the axis direction (i.e., the direction of the rotating axis) of the connecting column 120 to compress the elastic piece 500.

[0067] Specifically, the cross-sectional shape of the connecting column 120 is non-circular, so that when the sliding piece 300 is slidably sleeved on the connecting column 120 in the direction of the rotating axis, the sliding piece 300 can be engaged with the connecting column 120 in the rotating direction around the rotating axis.

[0068] Referring to Figures 3-6 In an embodiment, the rotating member comprises a locking screw (not shown in the figure) and a rotating ring 600, the second connecting seat 200 is provided with a counterbore 220 and a connecting hole 230 in communication with the counterbore 220, the rotating ring 600 is rotatably installed in the counterbore 220 along the rotating direction around the rotating axis, and the locking screw is fixedly connected to the connecting column 120 in a threaded connection manner by penetrating through the rotating ring 600 and the connecting hole 230.

[0069] Specifically, the connecting column 120 is provided with a threaded connecting hole 121, and the locking screw is threadedly connected to the threaded connecting hole 121 by penetrating through the rotating ring 600 and the connecting hole 230.

[0070] Referring to Figures 3-6 In an embodiment, the first connecting seat 100 is provided with an annular ring 110 at one end facing the second connecting seat 200 along the direction of the rotating axis, the connecting column 120 is located in the annular ring 110, and the elastic member 500 is sleeved on the connecting column 120. The second connecting seat 200 is provided with an annular protrusion 210, the inner side wall of the annular ring 110 is rotatably sleeved on the outer side wall of the annular protrusion 210, and the annular protrusion 210 is the connecting end mentioned above. The limiting groove 211 is arranged on the end face of the annular protrusion 210 close to the first connecting seat 100.

[0071] Through such an arrangement, the connecting column 120, the sliding member 300, the connecting member 400 and the elastic member 500 are all located in the closed space surrounded by the first connecting seat 100, the annular ring 110, the annular protrusion 210 and the second connecting seat 200, so that the first connecting seat 100, the annular ring 110, the annular protrusion 210 and the second connecting seat 200 are better protected from being polluted by dust and moisture in the air. At the same time, because the sliding member 300 and the elastic member 500 are both sleeved on the connecting column 120, when the first connecting seat 100 and the connecting column 120 have a rotating trend relative to the second connecting seat 200 due to the load acting on the mechanical finger, the connecting column 120 can drive the sliding member 300 and the connecting member 400 fixed to the sliding member 300 to have a rotating trend relative to the second connecting seat 200, so that the connecting member 400 can be pressed against the limiting groove wall 211a, the abutting force between the limiting groove wall 211a and the connecting member 400 can be increased to a preset value, the connecting member 400 can press the sliding member 300 along the axis direction of the connecting column 120 and make the sliding member 300 compress the elastic member 500 to produce elastic deformation, so that the connecting member 400 can be separated from the limiting groove 211.

[0072] Specifically, the elastic member 500 and the sliding member 300 are respectively provided with a first avoiding hole 530 and a second avoiding hole 320, and the connecting column 120 is fixedly connected with the rotating ring 600 through the first avoiding hole 530 and the second avoiding hole 320, so that the elastic member 500 and the sliding member 300 can be sleeved on the connecting column 120.

[0073] In an embodiment, the elastic member 500 is a disc spring.

[0074] It can be understood that, compared with other types of springs, the disc spring has a larger deformation energy per unit volume, and can provide a stable elastic restoring force in a smaller space; and the elastic deformation stroke of the disc spring is relatively short, and is more suitable for being arranged in the limited installation space between the sliding member 300 and the first connecting seat 100 in the embodiment.

[0075] Please refer to Figures 3-5 In an embodiment, the elastic member 500 includes a first disc spring 510 and a second disc spring 520, the outer edges of the first disc spring 510 and the second disc spring 520 abut each other, the inner edge of the first disc spring 510 abuts the sliding member 300, and the inner edge of the second disc spring 520 abuts the first connecting seat 100.

[0076] It can be understood that, by respectively arranging the first disc spring 510 and the second disc spring 520 and making the first disc spring 510 and the second disc spring 520 opposite to each other, the elastic deformation stroke of the entire elastic member 500 can be increased. Both the sliding member 300 can be made to slide by elastically deforming the first disc spring 510 (and the second disc spring 520) under a large load, so that the connecting member 400 is separated from the limiting groove 211; and the first disc spring 510 (and the second disc spring 520) can be made to restore the deformation under the action of the elastic restoring force after the connecting member 400 is separated from the limiting groove 211, so as to drive the sliding member 300 to slide reversely to drive the connecting member 400 to be accommodated in the limiting groove 211.

[0077] Please refer to Figure 7 The second part of the embodiment provides a mechanical hand, the mechanical hand includes a mechanical finger 2, a driving device and the connecting structure 1 of the mechanical finger of the above embodiment, one of the second connecting seat 200 and the first connecting seat 100 is connected with the mechanical finger 2, and the other one of the second connecting seat 200 and the first connecting seat 100 is connected with the driving device.

[0078] The third part of the embodiment provides a robot, the robot includes the connecting structure 1 of the mechanical finger of the above embodiment.

[0079] Obviously, the above-described embodiments are only some embodiments but not all the embodiments of the present application, the preferred embodiments of the present application are shown in the drawings, but do not limit the patent scope of the present application. The present application can be implemented in many different forms, and conversely, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive. Although the present 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 replacements to some technical features therein. Any equivalent structure made by using the content of the specification and drawings, directly or indirectly applied to other related technical fields, is also within the patent protection scope of the present 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: First connecting seat; A second connecting seat, one of which is used to connect a mechanical finger, and the other of which is used to connect a drive device; the second connecting seat and the first connecting seat are rotatably connected about the same axis of rotation. A sliding member is slidably connected to the first connecting seat along the rotation axis, and the sliding member is engaged with the first connecting seat in the rotation direction around the rotation axis; the second connecting seat is provided with a connecting end opposite to the sliding member along the rotation axis, and the connecting end is provided with a limiting groove; A connector is fixed to the sliding member. When the first connecting seat rotates to a preset locking position relative to the second connecting seat, the connector is accommodated in the limiting groove and abuts against the limiting groove wall. The limiting groove wall is configured to gradually extend outward from the abutting position with the connector along the rotation direction around the rotation axis. An elastic element is abutting between the sliding element and the first connecting seat. When the abutting force between the connecting element and the limiting groove wall reaches a preset value, the elastic element is compressed by the sliding element along the rotation axis to generate elastic deformation, so that the sliding element can drive the connecting element to move outward along the limiting groove wall and disengage from the limiting groove.

2. The connection structure of the mechanical finger according to claim 1, characterized in that, The limiting groove is a V-shaped groove, and the wall of the limiting groove is the inner wall of the V-shaped groove; And / or, the connecting structure of the mechanical finger further includes a rotating member, which is rotatably mounted on the second connecting seat along the rotation direction around the rotation axis. The first connecting seat is provided with a connecting post extending toward the second connecting seat, the axial direction of the connecting post coincides with the rotation axis direction, and the connecting post is fixedly connected to the rotating member.

3. The connection structure of the mechanical finger according to claim 2, characterized in that, The sliding member is slidably sleeved on the connecting post along the rotation axis, and the sliding member is engaged with the connecting post along the rotation direction around the rotation axis. And / or, the rotating component includes a locking screw and a rotating ring, the second connecting seat is provided with a countersunk hole and a connecting hole communicating with the countersunk hole, the rotating ring is rotatably mounted in the countersunk hole along the rotation direction around the rotation axis, and the locking screw passes through the rotating ring, the connecting hole and is fixedly connected to the connecting post by a threaded connection.

4. The connection structure of the mechanical finger according to claim 2, characterized in that, The first connecting seat has an annular ring at one end facing the second connecting seat along the rotation axis, and the connecting post is located inside the annular ring; The second connecting seat is provided with an annular protrusion, and the inner sidewall of the annular ring is rotatably fitted onto the outer sidewall of the annular protrusion. The annular protrusion is the connecting end, and the limiting groove is provided on the end face of the annular protrusion near the first connecting seat.

5. The connection structure of the mechanical finger according to claim 1, characterized in that, The sliding member has a mounting hole on its end face facing the limiting groove. The mounting hole is spherical. The connecting member is spherical and is fixed to the mounting hole.

6. The connection structure of the mechanical finger according to claim 5, characterized in that, The connector engages and is fixed in the mounting hole, the depth of which is greater than the spherical radius of the connector.

7. The connection structure of the mechanical finger according to claim 1, characterized in that, The limiting groove is provided in multiple ways, and the multiple limiting grooves are arranged at non-uniform intervals around the rotation axis. The sliding member has multiple mounting holes on the end face facing the limiting groove, which are the same number as the multiple limiting grooves and correspond one-to-one. The connecting member is provided in multiple ways, and the multiple connecting members are fixed to the mounting holes one by one.

8. The connection structure of the mechanical finger according to claim 1, characterized in that, The elastic element is a disc spring; Alternatively, the elastic element may include a first disc spring and a second disc spring, with the outer edges of the first disc spring and the second disc spring abutting against each other, the inner edge of the first disc spring abutting against the sliding element, and the inner edge of the second disc spring abutting against the first connecting seat.

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 seat is connected to one of the first connecting seats of the mechanical finger, and the second connecting seat is connected to the other of the first connecting seats of 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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