Mechanical finger and robot hand with locking device

Abstract

The utility model discloses a mechanical finger and mechanical hand with locking device, and the mechanical finger includes connecting piece and visual tactile sensor, and connecting piece is connected with external component, and visual tactile sensor is detachably connected with connecting piece through locking device. The locking device includes lock catch, locking structure and anti -drop structure. The lock catch is rotatably installed on the visual tactile sensor, and on its rotation stroke, the lock catch has locking position and unlocking position. The locking structure includes locking part and cooperation part. When the lock catch rotates to the locking position, the locking part and the cooperation part can be locked and fixed, so that the visual tactile sensor and the connecting piece can be relatively fixed. When the lock catch rotates to the unlocking position, the locking part and the cooperation part can be separated and unlocked, so that the visual tactile sensor and the connecting piece can be unlocked and separated. The anti -drop structure is used to prevent the locking part and the cooperation part from dropping when the lock catch rotates to the locking position.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a mechanical finger and robotic hand with a locking device. Background Technology

[0002] Tactile sensing plays a crucial role in robots' tasks such as perception in complex environments, dexterous grasping, and fine manipulation. Taking the mechanical fingers of a robotic arm as an example, they are typically equipped with visual-tactile sensors. However, existing visual-tactile sensors are usually fixed to connectors, which are used to drive external components. When the visual-tactile sensor fails due to damage or decreased sensitivity, the entire mechanical finger needs to be disassembled for repair or replacement, which is a complex operation. Utility Model Content

[0003] The main purpose of this invention is to propose a mechanical finger and a robotic hand with a locking device, which aims to solve the problem that existing mechanical fingers need to be completely disassembled when the visual and tactile sensors fail.

[0004] To achieve the above objectives, this utility model proposes a mechanical finger with a locking device. The mechanical finger includes a connector and a visual-tactile sensor. The connector is connected to an external component, and the visual-tactile sensor is detachably connected to the connector via the locking device. The locking device includes:

[0005] A latch is rotatably mounted on the visual-tactile sensor, and during its rotational stroke, the latch has a locked position and an unlocked position;

[0006] A locking structure includes a locking part and a mating part, one of which is located on the latch and the other on the connector. When the latch is rotated to the locked position, the locking part and the mating part can be locked in place, so that the visual-tactile sensor and the connector can be relatively fixed. When the latch is rotated to the unlocked position, the locking part and the mating part can be disengaged, so that the visual-tactile sensor and the connector can be unlocked and separated.

[0007] An anti-disengagement structure is provided to prevent the locking part and the mating part from disengaging when the latch is rotated to the locking position.

[0008] Optionally, the latch is cantilevered, with one end of the latch rotatably mounted on the visual-tactile sensor, and its rotation axis is set along the finger width direction;

[0009] The locking structures are respectively provided on two opposing surfaces of the latch and the connector, so as to lock and fix the latch when it is rotated to the locking position, and to disengage and unlock the latch when it is rotated to the unlocking position.

[0010] Optionally, the connector has two opposing sidewalls in the finger width direction;

[0011] The latch is curved and has two connecting arms, with the two ends of the two connecting arms rotatably mounted on both sides of the visual tactile sensor in the finger width direction;

[0012] The locking device includes two locking structures, each of which is disposed on a connecting arm and a corresponding sidewall.

[0013] Optionally, the rotating end of the latch is rotatably mounted on the visual-tactile sensor, and its rotation axis is set along the finger width direction, and the connector has a locking post protruding from the outer wall of the latch;

[0014] The latch has a slot on the side surface facing the visual-touch sensor. The slot wall extends through the first side of the latch and forms an opening on the first side, so that the locking pin can engage with or disengage from the slot through the opening during the rotation of the latch.

[0015] The locking part and the mating part are respectively configured as the locking post and the corresponding locking groove, and the anti-disengagement structure is provided on the groove wall of the locking groove.

[0016] Optionally, the slot has a first slot wall away from the rotating end and a second slot wall opposite to the opening. In the direction away from the opening, the first slot wall is inclined toward the side closer to the rotating end, and an arc-shaped retaining wall is formed at the connection between the first slot wall and the second slot wall.

[0017] When the latch is rotated to the locked position, the locking pin engages with the locking groove and abuts against the arc-shaped retaining wall; when the latch is rotated to the unlocked position, the locking pin disengages from the arc-shaped retaining wall.

[0018] The anti-detachment structure includes the arc-shaped retaining wall.

[0019] Optionally, the locking post and the connector are integrally formed.

[0020] Optionally, the locking device further includes an elastic element disposed between the connector and the visual-tactile sensor, so that when the latch rotates to the locking position, the locking part and the mating part are interference-fitted.

[0021] Optionally, the connector forms a cavity with an opening on one side, the opening being disposed toward the visual-touch sensor, and the elastic member is housed within the cavity;

[0022] When the locking part and the mating part are locked and fixed, the elastic element is compressed and deformed to press against the inner wall of the cavity and the visual-tactile sensor.

[0023] Optionally, the latch is curved and has two connecting arms, with the two ends of the two connecting arms rotatably mounted on the visual-tactile sensor;

[0024] The outer wall of the visual-tactile sensor is provided with a clearance groove, which is arranged around the three outer walls of the visual-tactile sensor. The side wall contour of the clearance groove is adapted to the outer contour shape of the latch, so as to avoid the latch when the latch rotates.

[0025] This utility model also proposes a robotic hand, including the aforementioned mechanical fingers with a locking device.

[0026] The technical solution provided by this utility model has at least the following advantages:

[0027] This utility model provides a mechanical finger with a locking device for detachably connecting a visual-tactile sensor and a connector. The locking device includes a latch and a locking structure. The latch is rotatably mounted on the visual-tactile sensor. A locking part and a mating part are respectively provided on the latch and the connector. After the visual-tactile sensor and the connector are assembled, the latch is rotated to lock the locking part and the mating part in place, thus fixing the visual-tactile sensor and the connector relatively. This prevents the sensor from loosening or shifting due to vibration or force during movement or grasping, ensuring accurate and reliable sensor data. Simultaneously, an anti-detachment structure is provided to prevent the locking part and the mating part from detaching when the latch is rotated to the locked position, further ensuring the connection stability between the visual-tactile sensor and the connector. When the visual-tactile sensor needs to be disassembled and replaced due to failure, the latch is rotated to disengage the locking part and the mating part, allowing the visual-tactile sensor and the connector to be unlocked and separated. Thus, the visual-tactile sensor and the connector can be quickly assembled and disassembled simply by rotating the latch. This process does not require disassembling the entire mechanical finger or using complex tools, significantly simplifying the sensor repair and replacement process, reducing operational difficulty, and improving the maintenance efficiency of the mechanical finger. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0029] Figure 1A schematic diagram of the structure of an embodiment of a mechanical finger (with the connector and visual-tactile sensor in an unlocked state) provided by this utility model;

[0030] Figure 2 for Figure 1 The mechanical finger is shown in the exploded structural diagram of the locking device;

[0031] Figure 3 for Figure 1 Another structural diagram of the mechanical finger;

[0032] Figure 4 for Figure 1 The mechanical finger is shown in the structural diagram of the latch;

[0033] Figure 5 for Figure 1 The mechanical finger is shown in a cross-sectional view along AA;

[0034] Figure 6 A schematic diagram of an embodiment of a mechanical finger (with the connector and visual-tactile sensor in a locked state) provided by this utility model;

[0035] Figure 7 for Figure 6 The mechanical finger is shown in a cross-sectional view along BB;

[0036] Figure 8 for Figure 6 The mechanical diagram refers to the structural diagram of the locking mechanism.

[0037] Explanation of icon numbers:

[0038] 1000 Mechanical finger; 100 Locking device; 1 Locking buckle; 11 Connecting arm; 2 Locking structure; 21 Locking part; 22 Fitting part; 23 Locking post; 24 Locking groove; 241 Opening; 242 First groove wall; 243 Second groove wall; 244 Arc-shaped holding wall; 3 Rotating shaft; 4 Elastic element; 200 Connecting part; 201 Side wall; 300 Visual and tactile sensor; 301 Clearance groove; F1 Finger width direction; F2 Finger length direction.

[0039] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0040] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0041] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0042] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0043] Tactile sensing plays a crucial role in robots' tasks such as perception in complex environments, dexterous grasping, and fine manipulation. Taking the mechanical finger of a robotic hand as an example, the mechanical finger includes a connector and a visual-tactile sensor. The connector is connected to external components, and the visual-tactile sensor is mounted on the connector.

[0044] To enable quick assembly and disassembly of the visual-tactile sensor 300 in case of failure, this invention improves the mechanical finger 1000. The structure of the mechanical finger 1000 is described in detail below with reference to the accompanying drawings.

[0045] Please see Figure 1 , Figure 2 and Figure 6 The mechanical finger 1000 includes a connector 200 and a visual-tactile sensor 300. The connector 200 is connected to an external component (not shown in the figure).

[0046] In this invention, in some application scenarios, the visual-tactile sensor 300 serves only as a clamping component, and the external component can be a driving mechanism that directly drives the visual-tactile sensor 300 to move. In other application scenarios, the mechanical finger includes a hinged proximal phalanx and a distal phalanx, with the visual-tactile sensor 300 mounted on the distal phalanx; in this case, the external component can be the proximal phalanx.

[0047] The mechanical finger 1000 also includes a locking device 100, which is detachably connected to the visual-tactile sensor 300 and the connector 200. The locking device 100 includes a latch 1, a locking structure 2, and an anti-detachment structure. The latch 1 is rotatably mounted on the visual-tactile sensor 300, and during its rotational stroke, the latch 1 has a locked position and an unlocked position.

[0048] The locking structure 2 includes a locking part 21 and a mating part 22. One of the locking part 21 and the mating part 22 is located on the latch 1 and the other is located on the connector 200. When the latch 1 is rotated to the locking position, the locking part 21 and the mating part 22 can be locked and fixed so that the visual tactile sensor 300 and the connector 200 can be relatively fixed. When the latch 1 is rotated to the unlocking position, the locking part 21 and the mating part 22 can be disengaged and unlocked so that the visual tactile sensor 300 and the connector 200 can be unlocked and separated.

[0049] In this invention, the latch 1 is rotatably mounted on the visual-tactile sensor 300. A locking part 21 and a mating part 22 are respectively provided on the latch 1 and the connector 200. After the visual-tactile sensor 300 and the connector 200 are assembled, the latch 1 is rotated to lock the locking part 21 and the mating part 22 in place, thus fixing the visual-tactile sensor 300 and the connector 200 relatively. This prevents the mechanical finger 1000 from loosening or shifting due to vibration or force during movement or grasping, ensuring accurate and reliable sensor data. Simultaneously, an anti-detachment structure is provided to prevent the locking part 21 and the mating part 22 from detaching when the latch 1 is rotated to the locked position; this further ensures the connection stability between the visual-tactile sensor 300 and the connector 200.

[0050] When the visual-tactile sensor 300 needs to be disassembled and replaced due to failure, the locking buckle 1 is rotated to disengage the locking part 21 and the mating part 22, thus unlocking and separating the visual-tactile sensor 300 from the connector 200. In this way, the visual-tactile sensor 300 and the connector 200 can be quickly disassembled and assembled simply by rotating the locking buckle 1. This process does not require disassembling the entire mechanical finger 1000 or using complex tools, significantly simplifying the sensor's maintenance and replacement process, reducing operational difficulty, and improving the maintenance efficiency of the mechanical finger 1000.

[0051] The size of the mechanical finger 1000 is usually limited by biomimetic design or working environment. For example, the mechanical finger 1000 is often used to grasp small objects, so it can be designed with a relatively slender structure. In such scenarios, the space available for installing the locking device 100 on the mechanical finger 1000 is extremely limited.

[0052] In one embodiment, please refer to Figure 2The latch 1 is cantilevered, with one end of the latch 1 rotatably mounted on the visual-tactile sensor 300. The cantilevered latch 1 does not need to occupy the entire circumferential space of the visual-tactile sensor 300 or the connector 200. It only needs to be installed in a local area reserved on the sensor surface for the latch 1 to rotate, which greatly reduces the space occupied by the device on the overall space of the mechanical finger 1000.

[0053] The cantilevered latch 1 is connected at only one end, with the other end suspended. The suspended end provides a clear point of application for the driving force, allowing the latch 1 to be turned directly without the need for tools, making operation more direct. At the same time, the cantilevered latch 1 has a certain elastic margin, which can provide a slight damping sensation during rotation, helping the operator to perceive the rotation status and avoid misoperation.

[0054] Meanwhile, the rotation axis of the latch 1 is set along the finger width direction F1, so that the rotation trajectory of the latch 1 unfolds along the finger length direction F2 of the mechanical finger 1000. This rotation direction can prevent the latch 1 from interfering with the proximal phalanx, external grasping objects or other mechanical structures when rotating or locked, ensuring that the core actions of the mechanical finger 1000 such as grasping and bending are not affected.

[0055] The locking structure 2 is respectively provided on two opposing surfaces of the latch 1 and the connector 200, so as to lock and fix the latch 1 when it is rotated to the locking position, and to disengage and unlock the latch 1 when it is rotated to the unlocking position.

[0056] By placing the locking structure 2 on two opposing surfaces, it means that during locking, the two form a close-fitting surface or line contact, rather than a single-point contact. This engagement method can distribute the force on the mechanical finger 1000 during operation, preventing the locking structure 2 from deforming or falling off due to excessive local force, thereby improving the stability of the connection. At the same time, when the cantilevered latch 1 rotates to lock the locking part 21 and the mating part 22, its own elastic deformation can generate a slight preload on the locking structure 2, making the locking part 21 and the mating part 22 fit more tightly, further enhancing the locking effect and preventing the lock from loosening due to vibration of the mechanical finger 1000.

[0057] Specifically, please refer to Figure 2 and Figure 4 The latch 1 is curved and has two connecting arms 11, the two ends of which are rotatably mounted on the visual tactile sensor 300. At least one connecting arm 11 is provided with a locking structure 2 corresponding to the connector 200.

[0058] In this embodiment, the latch 1 is curved. The two connecting arms 11 of the curved latch 1 are rotatably mounted at their ends, forming a double-support structure between the latch 1 and the visual-tactile sensor 300. When the mechanical finger 1000 is working, the tensile force, torque, and other loads borne by the latch 1 are distributed to the two rotational fulcrums through the two connecting arms 11, avoiding the stress concentration problem under single-point support, significantly reducing the risk of bending, breakage, and other deformation of the latch 1 due to long-term stress, and extending the service life of the device.

[0059] Simultaneously, both ends of the double connecting arms 11 rotate synchronously around the rotation axis, forming a stable motion trajectory in the form of a parallelogram, preventing radial offset or wobbling when the latch 1 rotates. This stable rotational characteristic ensures precise alignment of the locking structure 2, reducing problems such as misalignment and false locking caused by the wobbling of the latch 1.

[0060] Furthermore, the curved latch 1 can be designed with a curvature based on the arc contour of the mechanical finger 1000, so that the latch 1 can fit the surface of the sensor or connector 200 after installation, avoiding protrusion outside the contour of the mechanical finger 1000 and occupying extra space, thus adapting to confined working environments. The curved structure of the double connecting arm 11 can avoid the detection area of ​​the visual-tactile sensor 300 and other components on the connector 200, so as not to affect the detection function of the sensor, nor to interfere with the joint rotation, wire arrangement and other structures of the mechanical finger 1000.

[0061] In one embodiment, the locking device 100 further includes a rotating shaft 3, and the latch 1 is rotatably mounted on the visual tactile sensor 300 via the rotating shaft 3. The rotating shaft 3 is arranged along the finger width direction F1.

[0062] In one embodiment, please refer to Figures 3 to 7 The rotating end of the latch 1 is rotatably mounted on the visual-tactile sensor 300, and its rotation axis is set along the finger width direction F1. Setting the rotation axis along the finger width direction F1, that is, along the left-right lateral direction of the mechanical finger 1000 in the figure, makes the rotation direction of the latch 1 the finger length direction F2, which means the latch 1 rotates up and down. This direction matches the operator's habitual force application when gripping the mechanical finger 1000, eliminating the need to adjust the grip posture during operation and further improving operational convenience.

[0063] The connector 200 has a locking post 23 protruding from the outer wall of the latch 1. The latch 1 has a slot 24 on the side surface facing the visual-touch sensor 300. The slot wall of the slot 24 penetrates the first side of the latch 1 and forms an opening 241 on the first side, so that the locking post 23 can be engaged into or disengaged from the slot 24 through the opening 241 during the rotation of the latch 1.

[0064] The locking post 23 on the connector 200 is a fixed protrusion, and the locking groove 24 of the latch 1 forms an opening 241 on the first side. When the visual-tactile sensor 300 needs to be installed, it is not necessary to precisely align the positions of the locking groove 24 and the locking post 23. Simply rotate the latch 1 towards the locking post 23, and the locking post 23 will slide into the locking groove 24 through the opening 241. To unlock, rotate the latch 1 in the opposite direction, and the locking post 23 will directly disengage from the opening 241. The entire process requires only a single rotation action, making it simple to operate.

[0065] Meanwhile, the groove wall of the slot 24 penetrates the first side of the latch 1, forming an opening 241 on the first side. The main force direction of the mechanical finger 1000 during operation is the direction of finger bending, i.e., the finger length direction F2; this force direction is misaligned with the orientation of the opening 241. This design prevents the normal force during operation from directly acting on the opening 241 in the disengagement direction; only by actively rotating the latch 1 can the locking pin 23 disengage from the opening 241, effectively preventing accidental unlocking due to vibration or impact and improving structural safety.

[0066] Furthermore, the locking post 23 is a rigid protrusion, and the groove wall of the locking groove 24 can precisely fit with the outer peripheral surface of the locking post 23, forming a surface contact locking relationship. When the mechanical finger 1000 is subjected to force or vibration, the groove wall of the locking groove 24 can provide all-round constraint on the locking post 23, preventing the locking post 23 from shaking within the locking groove 24, ensuring that the relative position of the sensor and the connector 200 is fixed and does not affect the detection accuracy.

[0067] Once the locking pin 23 is fully engaged in the slot 24, the closed end of the slot 24 will axially limit the locking pin 23, preventing the latch 1 from rotating further. The operator can clearly determine that the locking is in place by feeling the resistance to the rotation of the latch 1, thus avoiding the problem of partial locking due to insufficient rotation and further reducing the risk of misoperation.

[0068] Meanwhile, an anti-disengagement structure is provided on the groove wall of the slot 24 to prevent the locking part 21 and the mating part 22 from disengaging when the latch 1 is rotated to the locking position; thus, the connection stability between the visual tactile sensor 300 and the connector 200 is further ensured.

[0069] Specifically, please refer to Figure 8 The slot 24 has a first slot wall 242 away from the rotating end and a second slot wall 243 opposite to the opening 241. In the direction away from the opening 241, the first slot wall 242 is inclined towards the side closer to the rotating end, and an arc-shaped retaining wall 244 is formed at the connection between the first slot wall 242 and the second slot wall 243.

[0070] The junction of the first groove wall 242 and the second groove wall 243 of the slot 24 forms an arc-shaped retaining wall 244, the outline of which can completely fit the outer circumferential surface of the cylindrical retaining post 23. When the retaining post 23 is engaged in the slot 24 and pressed against the arc-shaped retaining wall 244, the contact area between the two increases significantly, which can evenly distribute the tensile force, torque and other loads during the operation of the mechanical finger 1000 to the entire arc surface, avoiding wear and deformation of the retaining post 23 or the slot 24 caused by local stress concentration. At the same time, through the constraint effect of the curved surface fit, the radial vertical and circumferential rotational displacement of the retaining post 23 in the slot 24 is restricted, ensuring the absolute stability of the locking state.

[0071] Simultaneously, when the latch 1 rotates to the locked position, the locking pin 23 engages with the slot 24 and abuts against the arc-shaped retaining wall 244. When the latch 1 rotates to the unlocked position, the locking pin 23 disengages from the arc-shaped retaining wall 244. The arc-shaped retaining wall 244 forms an anti-disengagement structure. It can be understood that the first groove wall 242 is inclined towards the rotating end, away from the opening 241. This design gives the slot 24 a wedge-shaped locking mechanical characteristic. When the latch 1 rotates to the locked position, the locking pin 23 slides along the inclined first groove wall 242 towards the arc-shaped retaining wall 244. The inclined surface exerts a component force on the locking pin 23 in the direction of the arc-shaped retaining wall 244, pushing the locking pin 23 tightly against the arc-shaped retaining wall 244. If the mechanical finger 1000 generates an external force that causes the locking pin 23 to disengage from the slot 24 during operation, the inclined first groove wall 242 will act as a reverse obstruction. The greater the external force, the stronger the clamping force between the locking post 23 and the arc-shaped retaining wall 244, achieving a self-tightening effect where the greater the force, the more secure the locking.

[0072] Furthermore, the first groove wall 242 is inclined towards the rotating end, away from the opening 241. Since the relative positions of the locking pin 23 and the latch 1 in the finger-length direction F2 are fixed, when the locking pin 23 slides along the first groove wall 242, the first groove wall 242 will apply a force to the locking pin 23 in the finger-length direction F2, thereby pressing the connector 200 and the visual-touch sensor 300 together in the finger-length direction F2, thus achieving a tight assembly between the connector 200 and the visual-touch sensor 300.

[0073] This utility model does not impose specific limitations on the arrangement of the locking post 23. In one embodiment, the locking post 23 and the connector 200 are integrally formed.

[0074] In another embodiment, please refer to Figure 5 and Figure 7 The locking device 100 also includes an elastic element 4, which is disposed between the connector 200 and the visual-tactile sensor 300.

[0075] During machining and assembly, minor dimensional errors are inevitable in the locking pin 23, the slot 24, and the latch 1. Over time, wear will cause gaps in the contact surfaces of the locking pin 23 and the slot 24. These gaps can lead to loosening, abnormal noises, and even affect the sensor's detection accuracy in the locked state. The elastic element 4, located between the connector 200 and the visual-tactile sensor 300, can generate a continuous preload through its own elastic deformation.

[0076] In the locked state, the elastic element 4 pushes the sensor or connector 200 slightly in the locking direction, ensuring that the locking pin 23 and the arc-shaped retaining wall 244 of the slot 24 remain tightly fitted, dynamically compensating for assembly errors and wear gaps. Even after long-term use and slight wear, the elastic force can still maintain the tightness of the fit between the two, extending the effective service life of the locking device 100. During the unlocking process, the preload of the elastic element 4 can provide a separation thrust to the sensor through elastic rebound when the latch 1 rotates away from the locking pin 23, assisting the sensor and connector 200 to separate quickly.

[0077] Meanwhile, when the mechanical finger 1000 grasps and moves objects, it inevitably experiences instantaneous impacts or continuous vibrations. The elastic element 4 can convert impact and vibration energy into elastic deformation energy through its own energy absorption characteristics, preventing the impact force from being directly transmitted to the mating surface of the locking post 23 and the locking groove 24. At the same time, the continuous action of the elastic force can constrain the relative displacement between the sensor and the connector 200, preventing the locking post 23 from sliding in the locking groove 24 due to vibration.

[0078] It is understandable that different models of visual-tactile sensors 300 have different dimensions in the finger-length direction F2. If the position of the locking post 23 is fixed, there may be a mismatch problem where the locking slot 24 cannot be aligned with the locking post 23. The adjustable position design of the locking post 23 allows the position of the locking post 23 to be adjusted along the finger-length direction F2 according to the actual size of the sensor, so that the locking slot 24 and the locking post 23 can fit precisely. This makes the locking device 100 compatible with visual-tactile sensors 300 of different sizes, expanding its application range. Combined with the added elastic element 4, the position of the locking post 23 can be adjusted to ensure that the locking post 23 and the locking slot 24 always maintain an interference fit.

[0079] In one embodiment, the connector 200 forms a cavity with an opening on one side facing the visual-touch sensor 300, and the elastic member 4 is housed within the cavity. When the locking part 21 and the mating part 22 are locked in place, the elastic member 4 is compressed and deformed to press against the inner wall of the cavity and the visual-touch sensor 300.

[0080] In this embodiment, the elastic element 4 is embedded inside the connector 200 by setting a cavity, eliminating the need to reserve additional installation space for the elastic element 4 between the connector 200 and the sensor, thus avoiding structural bulkiness caused by the elastic element 4 occupying external space. At the same time, the cavity can be integrally formed with the connector 200, eliminating the need for additional fixing bases and achieving a high degree of structural integration.

[0081] The elastic element 4 is housed within the cavity, and its deformation range is limited to the cavity, preventing interference with surrounding components such as the latch 1, the locking pin 23, and the proximal knuckle due to elastic rebound or vibration. Simultaneously, the cavity opening faces the visual-tactile sensor 300, only contacting the elastic element 4 when the sensor and connector 200 are in contact. This ensures that the force of the elastic element 4 is precisely applied to the sensor, without causing additional interference to other structures, thus guaranteeing the smoothness of the mechanical finger 1000's bending, grasping, and other movements.

[0082] Meanwhile, during assembly, it is only necessary to first place the elastic element 4 into the cavity of the connector 200, and then attach the sensor to the connector 200 and fix it with the locking device 100. There is no need to separately position, glue or bolt the elastic element 4, simplifying the assembly steps.

[0083] In one embodiment, please refer to Figure 2 The outer wall of the visual tactile sensor 300 is provided with a clearance groove 301 to avoid the latch 1 when the latch 1 rotates.

[0084] Specifically, the latch 1 is curved and has two connecting arms 11, the two ends of which are rotatably mounted on the visual-tactile sensor 300. The clearance groove 301 is arranged around the three outer walls of the visual-tactile sensor 300, and the contour of the side wall 201 of the clearance groove 301 is adapted to the outer contour shape of the latch 1.

[0085] During rotation, especially at the extreme angles of locking or unlocking, the outer contour of the double connecting arms 11 of the curved latch 1 may collide or rub against the outer wall of the visual-tactile sensor 300. Without the clearance groove 301, the latch 1 may be obstructed or jammed during rotation, or even cause wear and deformation of the latch 1 or the outer wall of the sensor due to forced rotation. The contour of the side wall 201 of the clearance groove 301 is adapted to the shape of the outer contour of the latch 1. For example, if the latch 1 is curved, the side wall 201 of the clearance groove 301 is also designed to be curved accordingly, reserving room for the rotation trajectory of the latch 1. Whether the latch 1 is rotated to the locked or unlocked position, its connecting arms 11 will not contact the outer wall of the sensor, ensuring smooth and unobstructed rotation.

[0086] Meanwhile, the clearance groove 301 is arranged around the three outer walls of the visual-tactile sensor 300, forming a recessed structure, and the double connecting arms 11 of the curved latch 1 can be partially embedded in the clearance groove 301. In this way, the overall thickness of the latch 1 and the sensor can be reduced, compressing the space occupied by the locking device 100.

[0087] This utility model also provides a robotic hand. The robotic hand includes at least two mechanical fingers 1000. It should be noted that the mechanical fingers 1000 are configured as described above, which means that they include all the technical features of the aforementioned mechanical fingers 1000. Therefore, the robotic hand also includes all the technical features of the aforementioned mechanical fingers 1000, and thus has the technical effects brought about by all the aforementioned technical features.

[0088] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the concept of the present utility model and using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included in the patent protection scope of the present utility model.

Claims

1. A mechanical finger with a locking device, characterized in that, The mechanical finger includes a connector and a visual-tactile sensor. The connector is connected to an external component, and the visual-tactile sensor is detachably connected to the connector via a locking device. The locking device includes: A latch is rotatably mounted on the visual-tactile sensor, and during its rotational stroke, the latch has a locked position and an unlocked position; A locking structure includes a locking part and a mating part, one of which is located on the latch and the other on the connector. When the latch is rotated to the locked position, the locking part and the mating part can be locked in place, so that the visual-tactile sensor and the connector can be relatively fixed. When the latch is rotated to the unlocked position, the locking part and the mating part can be disengaged, so that the visual-tactile sensor and the connector can be unlocked and separated. An anti-disengagement structure is provided to prevent the locking part and the mating part from disengaging when the latch is rotated to the locking position.

2. The mechanical finger with locking device according to claim 1, characterized in that, The latch is cantilevered, with one end of the latch rotatably mounted on the visual-tactile sensor, and its rotation axis is set along the finger width direction; The locking structures are respectively provided on two opposing surfaces of the latch and the connector, so as to lock and fix the latch when it is rotated to the locking position, and to disengage and unlock the latch when it is rotated to the unlocking position.

3. The mechanical finger with locking device according to claim 2, characterized in that, The connector has two opposing sidewalls in the finger width direction; The latch is curved and has two connecting arms, with the two ends of the two connecting arms rotatably mounted on both sides of the visual tactile sensor in the finger width direction; The locking device includes two locking structures, each of which is disposed on a connecting arm and a corresponding sidewall.

4. The mechanical finger with locking device according to claim 1, characterized in that, The rotating end of the latch is rotatably mounted on the visual-tactile sensor, and its rotation axis is set along the finger width direction. The connector has a locking post protruding from the outer wall of the latch. The latch has a slot on the side surface facing the visual-touch sensor. The slot wall extends through the first side of the latch and forms an opening on the first side, so that the locking pin can engage with or disengage from the slot through the opening during the rotation of the latch. The locking part and the mating part are respectively configured as the locking post and the corresponding locking groove, and the anti-disengagement structure is provided on the groove wall of the locking groove.

5. The mechanical finger with locking device according to claim 4, characterized in that, The slot has a first slot wall away from the rotating end and a second slot wall opposite to the opening. In the direction away from the opening, the first slot wall is inclined towards the side closer to the rotating end, and an arc-shaped retaining wall is formed at the connection between the first slot wall and the second slot wall. When the latch is rotated to the locked position, the locking pin engages with the locking groove and abuts against the arc-shaped retaining wall; when the latch is rotated to the unlocked position, the locking pin disengages from the arc-shaped retaining wall. The anti-detachment structure includes the arc-shaped retaining wall.

6. The mechanical finger with locking device according to claim 4, characterized in that, The locking pin and the connector are integrally formed.

7. The mechanical finger with locking device according to claim 1, characterized in that, The locking device further includes an elastic element disposed between the connector and the visual-tactile sensor, so that when the latch rotates to the locking position, the locking part and the mating part are interference-fitted.

8. The mechanical finger with locking device according to claim 7, characterized in that, The connector forms a cavity with an opening on one side, the opening being positioned towards the visual-touch sensor, and the elastic element is housed within the cavity; When the locking part and the mating part are locked and fixed, the elastic element is compressed and deformed to press against the inner wall of the cavity and the visual-tactile sensor.

9. The mechanical finger with locking device according to claim 1, characterized in that, The latch is curved and has two connecting arms, with the two ends of the two connecting arms rotatably mounted on the visual-tactile sensor; The outer wall of the visual-tactile sensor is provided with a clearance groove, which is arranged around the three outer walls of the visual-tactile sensor. The side wall contour of the clearance groove is adapted to the outer contour shape of the latch, so as to avoid the latch when the latch rotates.

10. A robotic arm, characterized in that, Including the mechanical finger with locking device as described in claim 9.

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