CN106426240B - Idle running kinematic link coupling adaptive robot finger apparatus - Google Patents

Abstract

An adaptive robot finger device coupled with space transmission connecting rods belongs to the technical field of robotic hands, including a base, two finger segments, two joint shafts, a driver, multiple connecting rods, a transition transmission mechanism, an intermediate transmission mechanism, and an active dial , driven dial, bump dial, two spring parts and limit bumps, etc. The device realizes the coupling and self-adaptive compound grasping mode. The device can not only link two joints to pinch objects with the end, but also has a high degree of anthropomorphism. It can also rotate the first finger segment to touch the object and then rotate the second finger segment The envelope grips the object, and the grasping force is large, achieving the adaptive grasping effect on objects of different shapes and sizes; the grasping is stable and reliable; only one driver is used to drive two joints, without complex sensing and real-time control systems; at the same time, the structure Simple, small size, light weight, low processing, assembly and maintenance costs, suitable for robotic hands.

Description

Adaptive robotic finger device coupled with air-travel transmission link

technical field

The invention belongs to the technical field of robot hands, and in particular relates to a structural design of a free-travel transmission link coupling self-adaptive robot finger device.

Background technique

The adaptive underactuated robot hand uses a small number of motors to drive joints with multiple degrees of freedom. Due to the small number of motors, the motors hidden in the palm can choose larger power and volume, and the output is large. At the same time, the purely mechanical feedback system does not need to be sensitive to the environment. It can achieve stable grasping, automatically adapt to objects of different shapes and sizes, without the need for real-time sensing and closed-loop feedback control, simple and convenient control, and reduces manufacturing costs.

There are mainly two grasping methods when grasping objects, one is pinching and the other is holding.

Pinch is to use the fingertips of the end fingers to grasp objects, using two points or two soft finger surfaces to contact objects, mainly for small-sized objects or larger objects with opposite sides; grip is to use multiple fingers The finger segment envelope surrounds the object to achieve multiple points of contact, achieving a more stable shape envelope capture.

Adaptive underactuated fingers can be grasped in a way that adaptively envelopes objects, but cannot perform end-pinch grasping.

An existing underactuated two-joint robot finger device (Chinese invention patent CN101234489A) includes a base, a motor, a middle finger section, a terminal finger section, a proximal joint shaft, a distal joint shaft, a pulley transmission mechanism, and a spring. The device realizes the special effect of double-joint underactuated fingers bending and grabbing objects, and is self-adaptive, and can adapt to objects of different shapes and sizes. The disadvantages of the underactuated two-joint robotic finger device are: 1) the grasping method can only be grasping, and it is difficult to achieve the effect of pinching and grasping at the end of the bent distal joint; 2) the process of grasping objects by the device is not human-like , the device is always in a straight state until it touches an object.

A robotic finger with a coupled and adaptive grasping mode is called a coupled adaptive finger. The so-called coupling and adaptive composite grasping mode means that the finger can realize the composite underactuated grasping combining coupled grasping and adaptive underactuated grasping, that is, the robot finger device touches the object when it bends and grasps the object. In the past, each finger segment was bent at the same time according to a certain angle ratio; after the proximal finger segment hits the object, the second joint can be decoupled and rotated, so that the second finger segment automatically adapts to the surface shape of the object, thereby completely enveloping the object, and Multiple joints are driven by only one driver; if the second finger touches the object during the process of coupling and rotating the two joints, the grasping ends and the pinching effect is realized.

An existing dual-joint parallel underactuated robot finger device (Chinese invention patent CN101633171B), including a base, a middle finger section, an end finger section, a proximal joint axis, a distal joint axis, a motor, a coupling transmission mechanism, and an adaptive transmission mechanism and three springs. The device can realize the coupling and self-adaptive composite grasping mode, but the disadvantages are: 1) the mechanism is complicated, and there are two sets of transmission mechanisms installed between the proximal joint shaft and the distal joint shaft; Difficulty in selection; 3) Use multiple springs to achieve decoupling - to reconcile the contradiction between the coupling transmission mechanism and the adaptive transmission mechanism, often making the deformation of multiple springs large, resulting in excessive and unnecessary energy loss .

Contents of the invention

The purpose of the present invention is to overcome the disadvantages of the prior art, and provide an adaptive robot finger device coupled with a lost motion transmission link. The device can realize coupling and self-adaptive composite grasping mode, which can not only link the two joints to pinch the object with the end, but also turn the first finger segment to touch the object and then rotate the second finger segment to hold the object in an envelope. Adaptive gripping effects on objects of different shapes and sizes; no complicated sensing and control systems are required.

Technical scheme of the present invention is as follows:

The space transmission link coupling self-adaptive robot finger device designed by the present invention includes a base, a first finger section, a second finger section, a proximal joint shaft, a distal joint shaft and a driver; the driver is fixedly connected to the base; The center line of the near-joint axis is parallel to the center line of the far-joint axis; it is characterized in that: the space transmission link coupling adaptive robot finger device also includes a transition transmission mechanism, a driving dial, a first spring member, a first pendulum Rod, second swing rod, connecting rod, first shaft, second shaft, driven dial, intermediate transmission mechanism, bump dial, limit bump and second spring; said proximal joint shaft is movably sleeved In the base; the distal joint shaft is movably sleeved in the first finger segment; the first finger segment is movably sleeved on the proximal joint shaft; the second finger segment is sleeved on the distal joint shaft; The transition transmission mechanism is arranged in the base; the output shaft of the driver is connected with the input end of the transition transmission mechanism, and the output end of the transition transmission mechanism is connected with the driving dial; the driving dial includes a fixed driving cam block, the active dial is movably socketed on the proximal joint shaft; the first swing rod is movably socketed on the proximal joint shaft; the second swing rod is socketed on the far joint shaft, and the second swing rod is connected to the The second finger section is fixedly connected; the first shaft is movably sleeved on the first swing rod, the second shaft is movably sleeved on the second swing rod, and the two ends of the connecting rod are respectively sleeved on the first swing rod. shaft and the second shaft; the first pendulum, the connecting rod, the second pendulum and the first finger section constitute an "8" four-bar linkage mechanism; on the shaft; the driven dial includes a fixed driven protrusion; the intermediate transmission mechanism is arranged in the base, the input end of the intermediate transmission mechanism is fixedly connected with the driven dial, and the output of the intermediate transmission mechanism The end is fixedly connected with the bump dial, and the intermediate transmission mechanism makes the transmission from the driven dial to the bump dial a reverse transmission; the bump dial is movably sleeved on the proximal joint shaft, and the bump dial is The block dial is affixed to the first swing bar; the limit bump is affixed to the base; the bump dial includes a fixed bump; the bump is in contact with the limit bump or leaves a distance Distance; the driven bump is in contact with the active bump or separated by a certain distance; the rotation direction of the first finger segment close to the object is the positive direction near the joint, and the rotation direction of the first finger segment away from the object is the reverse direction near the joint ; When the free-running transmission link coupling adaptive robot finger device is in the initial state, the bump contacts the limit bump, assuming that the rotation angle of the bump dial relative to the base is 0 degrees at this time, starting from this position, The rotation angle of the bump dial is positive when it rotates in the positive direction near the joint, and the rotation angle is negative when the bump dial rotates in the opposite direction near the joint; the limit bump limits the rotation angle of the bump dial to only Negative; the two ends of the second spring part are respectively connected to the bump dial and the base; when the lost motion transmission link coupling adaptive robot finger device is in the initial state, the driven bump and the active bump There is a certain distance; within the rotation range of the driving dial, the driving protrusion will touch the driven protrusion; the two ends of the first spring member are respectively connected to the driving dial and the first finger segment.

The self-adaptive robot finger device coupled with a free-running transmission link of the present invention is characterized in that: the driver adopts a motor, an air cylinder or a hydraulic cylinder.

The free-running transmission link coupling self-adaptive robot finger device according to the present invention is characterized in that: the second spring member adopts a tension spring, a compression spring, a leaf spring or a torsion spring.

The free-running transmission link coupling adaptive robot finger device according to the present invention is characterized in that: the first spring member is a tension spring, a compression spring, a leaf spring or a torsion spring.

Compared with the prior art, the present invention has the following advantages and outstanding effects:

The device of the present invention utilizes a driver, a connecting rod mechanism, an intermediate transmission mechanism, two spring parts, a driven dial, a bump dial, a limit bump and a driving dial to comprehensively realize the coupling and self-adaptive composite grabbing mode, The device can not only link the two joints to pinch the object with the end, but also has a high degree of anthropomorphism. It can also turn the first finger segment to touch the object and then turn the second finger segment to hold the object in an envelope. Adaptive grasping effect of objects of different shapes and sizes; since there is a gap between the active bump on the driving dial and the driven bump on the driven dial, when the first finger segment rotates, the second finger segment It will rotate at the same time due to the action of the "8"-shaped linkage mechanism, reaching the coupling grabbing mode; when the first finger segment is blocked from touching the object, after a short period of time (the first spring member is deformed at this time), the active dial Only the active lug on the dial will touch and move the driven lug on the driven dial, so that through the transmission of the intermediate transmission mechanism, the first pendulum will be driven to rotate in the opposite direction, and then driven by the "8"-shaped linkage mechanism. , to drive the second finger segment to rotate further until the second finger segment touches the object, reaching the adaptive grasping mode. The device is stable and reliable in grasping; only one driver is used to drive two joints, without complex sensing and real-time control systems; at the same time, it has a simple structure, small size, light weight, low processing, assembly and maintenance costs, and is suitable for robot hands.

Description of drawings

Fig. 1 is a three-dimensional appearance view of an embodiment of a free-travel transmission link coupling adaptive robot finger device designed by the present invention.

Figure 2 is a front view of the embodiment shown in Figure 1 .

Fig. 3 is a side view of the embodiment shown in Fig. 1 (left side view of Fig. 2).

Fig. 4 is a front view of the embodiment shown in Fig. 1 (base front plate, base surface plate, first finger segment front plate, first finger segment surface plate are not shown).

Fig. 5 is a three-dimensional appearance view of the embodiment shown in Fig. 1 (some parts are not drawn).

Fig. 6 is A-A sectional view of the embodiment shown in Fig. 2 .

Fig. 7 is a position diagram of some parts in the embodiment shown in Fig. 1 .

Figure 8 is an exploded view of the embodiment shown in Figure 1 .

Fig. 9 to Fig. 13 are schematic diagrams of the action process of the embodiment shown in Fig. 1 grasping an object in a coupled and adaptive compound grasping manner.

FIG. 14 to FIG. 16 are schematic diagrams of the action process of the embodiment shown in FIG. 1 when pinching an object in a simple coupling manner.

Figure 17 and Figure 18 are the relative positions of the bump dial, the second spring and the limit bump when the embodiment shown in Figure 1 is at several key positions in the process of grabbing objects in the coupling and adaptive composite grabbing mode changes.

Fig. 19 to Fig. 22 are the changes of the relative positions of the driving dial and the driven dial when the embodiment shown in Fig. 1 grasps several key positions during the action process of the coupled and adaptive composite grasping method.

In Figures 1 to 22:

1-base, 111-base front panel, 112-base rear panel, 113-base left panel,

114 - the right side plate of the base, 115 - the surface plate of the base, 116 - the bottom plate of the base, 2 - the first finger segment,

21 - surface panel of the first digit, 22 - left panel of the first digit, 23 - right panel of the first digit, 24 - front panel of the first digit,

25 - the rear plate of the first finger segment, 3 - the second finger segment, 4 - proximal joint axis, 5 - distal joint axis,

83-bearing, 84-sleeve, 85-screw, 86-pin,

9-the first swing rod, 91-the first shaft, 92-the second shaft, 10-the second swing rod,

11 - connecting rod,

12-bump dial, 121-bump,

13-the second spring member, 14-driver (motor), 141-reducer, 142-the first bevel gear,

143-second bevel gear, 144-transition gear shaft, 145-transition pulley, 147-transition transmission belt,

15-driving dial, 151-driving bump, 16-first spring member, 17-object,

18-limiting protrusion, 19-intermediate transmission mechanism, 190-driven protrusion, 191-driven dial (first intermediate gear),

192-the second intermediate gear, 193-the intermediate transmission shaft, 194-the first intermediate transmission wheel, 195-the intermediate transmission member,

196 - second intermediate transmission wheel.

Detailed ways

The specific structure and working principle of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

An embodiment of an adaptive robotic finger device designed by the present invention with a space transmission link coupling, as shown in FIGS. 4. The distal joint shaft 5 and the driver 14 ; the driver 14 is fixedly connected to the base 1 ; the centerline of the proximal joint shaft 4 is parallel to the centerline of the distal joint shaft 5 . This embodiment also includes a transition transmission mechanism, a driving dial 15, a first spring member 16, a first fork 9, a second fork 10, a connecting rod 11, a first shaft 91, a second shaft 92, a driven dial 191, the intermediate transmission mechanism, the bump dial 12, the limit bump 18 and the second spring 13; the proximal joint shaft 4 is movably sleeved in the base 1; the distal joint shaft 5 is movably sleeved in the second One finger section 2; the first finger section 2 is movably socketed on the proximal joint shaft 4; the second finger section 3 is socketed on the distal joint shaft 5; the transition transmission mechanism is arranged in the base 1 The output shaft of the driver 14 is connected to the input end of the transition transmission mechanism; the output end of the transition transmission mechanism is connected to the driving dial 15; the driving dial 15 includes a fixed active bump 151, and the driving The dial is movably sleeved on the proximal joint shaft 4 .

In this embodiment, the first swing rod is movably socketed on the proximal joint shaft; the second swing rod is socketed on the distal joint shaft, and the second swing rod is fixedly connected to the second finger segment; the first The shaft 91 is movably sleeved on the first swing rod 9, the second shaft 92 is movably sleeved on the second swing rod 10, and the two ends of the connecting rod 11 are respectively sleeved on the first shaft 91 and the second shaft. 92; the first fork 9, the connecting rod 11, the second fork 10 and the first finger section 2 four constitute an "8" four-bar linkage; the driven dial 191 is movably socketed in the On the joint shaft 4; the driven dial 191 includes a fixed driven protrusion 190; the intermediate transmission mechanism 19 is arranged in the base 1, and the input end of the intermediate transmission mechanism 19 is connected to the driven dial 191 Fixed connection, the output end of the intermediate transmission mechanism is fixedly connected with the convex dial 12, and the intermediate transmission mechanism 19 makes the transmission from the driven dial 191 to the convex dial 12 a reverse transmission.

In this embodiment, the bump dial 12 is movably sleeved on the proximal joint shaft 4, and the bump dial 12 is fixedly connected to the first swing rod 9; the limit bump 18 is fixed to the base 1 connected; the bump dial 12 includes a fixed bump 121; The driven projection 190 is in contact with the active projection 151 or separated by a certain distance; the rotation direction of the first finger segment 2 against the object 17 is the positive direction near the joint, and the rotation direction of the first finger segment 2 away from the object 17 is In the opposite direction near the joint; when the free-running transmission link coupling adaptive robot finger device is in the initial state, the bump 121 is in contact with the limit bump 18, and the rotation angle of the bump dial 12 relative to the base 1 at this time is 0 degree, starting from this position, the rotation angle when the bump dial 12 rotates toward the positive direction near the joint is positive, and the rotation angle when the bump dial 12 rotates toward the opposite direction near the joint is negative; the limit bump 18 restricts the rotation angle of the bump dial 12 to only be negative, that is, the bump dial 12 can only rotate along the direction indicated by the arrow as shown in FIG. 17 . The two ends of the second spring part 13 are respectively connected to the bump dial 12 and the base 1, and the second spring part 13 makes the bump dial 12 lean against the limit bump 18; When the robot finger device is in the initial state, the driven bump 190 is separated from the driving bump 151 by a certain distance, as shown in Figure 7; within the rotation range of the driving dial 15, the driving bump 151 will touch the driven bump. Block 190, as shown in FIGS. 19 to 22 ; the two ends of the first spring member 16 are respectively connected to the driving dial 15 and the first finger segment 2 , as shown in FIG. 4 .

The free-running transmission connecting rod coupling adaptive robot finger device according to the present invention is characterized in that: the driver 14 adopts a motor, an air cylinder or a hydraulic cylinder. In this embodiment, the driver 14 is a motor.

The free-running transmission link coupling self-adaptive robot finger device according to the present invention is characterized in that: the second spring member adopts a tension spring, a compression spring, a leaf spring or a torsion spring. In this embodiment, the second spring member 13 is a tension spring.

The free-running transmission link coupling adaptive robot finger device according to the present invention is characterized in that: the first spring member is a tension spring, a compression spring, a leaf spring or a torsion spring. In this embodiment, the first spring member 16 is a torsion spring.

In this embodiment, the transmission diameters of the first swing link and the second swing link are equal, so that the rotation angles of the two joints in the initial coupling rotation stage obtained in this way are equal.

In this embodiment, the base 1 includes a base front plate 111, a base rear plate 112, a base left side plate 113, a base right side plate 114, a base surface plate 115 and a base that are fixed together. Bottom plate 116. In this embodiment, the first finger segment 2 includes a first finger segment surface plate 21, a first finger segment left side plate 22, a first finger segment right side plate 23, and a first finger segment front plate that are fixed together. 24 and the first finger section rear plate 25.

In this embodiment, the intermediate transmission mechanism 19 adopts a gear transmission mechanism and a pulley transmission mechanism connected in series, wherein the gear transmission mechanism realizes reverse transmission, the pulley transmission mechanism is the same direction transmission, and the intermediate transmission mechanism is close to the joint axis. The forward rotation of the driven dial 191 on the top becomes the reverse rotation of the cam dial 12. The specific composition and connection relationship are as follows: the intermediate transmission mechanism 19 includes a first intermediate gear 191, a second intermediate gear 192, an intermediate transmission shaft 193, a first intermediate transmission wheel 194, a second intermediate transmission wheel 196 and an intermediate transmission member 195; The intermediate transmission shaft 193 is sleeved in the base, and the center line of the intermediate transmission shaft 193 is parallel to the center line of the proximal joint shaft; the first intermediate gear (ie driven dial) 191 is sleeved on the proximal joint shaft On the shaft 4; the second intermediate gear 192 meshes with the first intermediate gear 191, and the second intermediate gear 192 is sleeved on the intermediate transmission shaft 193; the first intermediate transmission wheel 194 is sleeved on the intermediate transmission shaft 193 Above, the first intermediate transmission wheel 194 is fixedly connected with the second intermediate gear 192; the second intermediate transmission wheel 196 is sleeved on the proximal joint shaft 4, and the intermediate transmission member 195 connects the first intermediate transmission wheel 194 and the second intermediate transmission wheel 194 Intermediate transmission wheel 196. The intermediate transmission member 195, the first intermediate transmission wheel 194 and the second intermediate transmission wheel 196 constitute a pulley transmission mechanism, a sprocket transmission mechanism or a rope pulley transmission mechanism. In the present embodiment, a pulley transmission mechanism is adopted. . The intermediate transmission mechanism can also use other transmission methods to achieve the purpose of reverse transmission from the driven dial to the cam dial.

In this embodiment, the transition transmission mechanism includes a reducer 141, a first bevel gear 142, a second bevel gear 143, a transition gear shaft 144, a transition pulley 145 and a transition transmission belt 147; The input shaft of the reducer 141 is connected, the first bevel gear 142 is sleeved on the output shaft of the reducer 141, the second bevel gear 143 is sleeved on the transition gear shaft 144, the first bevel gear 142 and the second bevel gear The two bevel gears 143 mesh; the transition gear shaft 144 is sleeved in the base 1, the transition pulley 145 is sleeved on the transition gear shaft 144, and the transition transmission belt 147 connects the transition pulley 145 and the driving dial 15 , the transition belt 147, the transition pulley 145 and the driving pulley 15 form a pulley transmission relationship.

This embodiment also includes several bearings 83, several sleeves 84, several screws 85, several pins 86 and the like.

The working principle of the present embodiment is described as follows in conjunction with the accompanying drawings:

When the present embodiment is in the initial state, it is shown in Fig. 1 , Fig. 5 , Fig. 6 and Fig. 7 .

The motor 14 rotates, drives the first bevel gear 142 through the reducer 141, drives the second bevel gear 143, drives the transition gear shaft 144, drives the transition pulley 145, drives the driving dial 15 to rotate through the transition transmission belt 147, and passes through the first spring member 16 Pull the first finger segment 2 to rotate around the proximal joint axis 4 to realize proximal joint rotation.

At this time, the active bump 151 has not yet contacted the driven bump 190, and the second spring member 13 pulls the bump dial 12 to abut against the limit bump 18. Since the bump dial 12 is in contact with the first swing Rod 9 is affixed, so the first swing rod 9 keeps the initial posture unchanged; at this moment, under the effect of the first swing rod 9, the second swing rod 10, and the connecting rod 11, the second finger section 3 will be relative to the first swing rod 9. The finger segment 2 rotates an angle to achieve the coupled rotation effect.

Next, if the second finger section 3 touches the object, the effect of coupled pinching is achieved, and the grasping ends. If the second finger section 3 has not touched the object, at this time, if the first finger section 2 is blocked by the contact object and cannot continue to rotate, then the first spring member 16 is deformed, and the power of the motor will drive the driving dial 15 to continue to rotate , through idle rotation for a period of time, the driving bump 151 on the driving dial will touch the driven bump 190 on the driven dial 191, thereby driving the driven dial 191 to rotate, through the intermediate transmission mechanism, it can Make the bump dial 12 reversely rotate away from the limit bump 18, drive the first swing rod 9 to rotate reversely, through the transmission of the connecting rod 11, make the second swing rod 10 and the second finger segment 3 continue to rotate in the forward direction, Finally, when the second finger section 3 touches the object, the grasping ends.

The release process is just opposite to the above process, and will not be described in detail.

For objects of different shapes and sizes, this embodiment is self-adaptive and can grasp various objects.

FIG. 6 is a cross-sectional view (A-A cross-sectional view of FIG. 2 ) of an embodiment of the coupling and grasping stage, which shows the situation of the bump dial 12 , the limiting bump 18 and the second spring member 13 . At this moment, the present embodiment is in the initial position or the first finger section and the second finger section are bent at the same time, and the second spring member 13 makes the bump dial 12 contact with the limit bump 18, and this situation continues until the Adaptive envelope grabbing begins.

Fig. 17 and Fig. 18 are the relative position changes of the bump dial 12, the limit bump 18 and the second spring member 13 in the self-adaptive grasping stage. At this time, the first finger section 2 of this embodiment has been in contact with the object 17 and is blocked from moving. Under the driving action of the driver 14, the second finger section 3 has rotated an angle around the distal joint axis 5, and the bump dial 12 Leave the limit projection 18 that has been in contact with originally.

Fig. 19 and Fig. 20 are the positions of the active bump and the driven bump in the coupling grab stage. Figure 21 and Figure 22 are the positions of the active bump and the driven bump in the self-adaptive grabbing stage.

The device of the present invention utilizes a driver, a connecting rod mechanism, an intermediate transmission mechanism, two spring parts, a driven dial, a bump dial, a limit bump and a driving dial to comprehensively realize the coupling and self-adaptive composite grabbing mode, The device can not only link the two joints to pinch the object with the end, but also has a high degree of anthropomorphism. It can also turn the first finger segment to touch the object and then turn the second finger segment to hold the object in an envelope. Adaptive grasping effect of objects of different shapes and sizes; since there is a gap between the active bump on the driving dial and the driven bump on the driven dial, when the first finger segment rotates, the second finger segment It will rotate at the same time due to the action of the "8"-shaped linkage mechanism, reaching the coupling grabbing mode; when the first finger segment is blocked from touching the object, after a short period of time (the first spring member is deformed at this time), the active dial Only the active lug on the dial will touch and move the driven lug on the driven dial, so that through the transmission of the intermediate transmission mechanism, the first pendulum will be driven to rotate in the opposite direction, and then driven by the "8"-shaped linkage mechanism. , to drive the second finger segment to rotate further until the second finger segment touches the object, reaching the adaptive grasping mode. The device is stable and reliable in grasping; only one driver is used to drive two joints, without complex sensing and real-time control systems; at the same time, it has a simple structure, small size, light weight, low processing, assembly and maintenance costs, and is suitable for robot hands.

Claims (4)

1. a kind of idle running kinematic link coupling adaptive robot finger apparatus, including it is pedestal, the first segment, the second segment, close Joint shaft, remote joint shaft and driver；The driver and pedestal are affixed；The center line of the nearly joint shaft and remote joint shaft Centerline parallel；It is characterized in that：The idle running kinematic link coupling adaptive robot finger apparatus further includes transition driver Structure, active thumb wheel, the first spring part, the first swing rod, the second swing rod, connecting rod, first axle, the second axis, driven thumb wheel, intermediate transmission machine Structure, convex block driver plate, spacing block set and the second spring part；The nearly joint shaft is movably set in pedestal；The remote joint shaft activity It is set in the first segment；First segment is actively socketed on nearly joint shaft；Second segment is socketed in remote joint shaft On；The transition transmission mechanism is arranged in pedestal；The output shaft of the driver is connected with the input terminal of transition transmission mechanism, The output end of the transition transmission mechanism is connected with active thumb wheel；The active thumb wheel includes affixed active convex block, the master Dynamic thumb wheel is actively socketed on nearly joint shaft；First swing rod is actively socketed on nearly joint shaft；The second swing rod socket On remote joint shaft, the second swing rod and the second segment are affixed；The first axle is movably set on the first swing rod, second axis It is movably set on the second swing rod, the both ends of the connecting rod are socketed in respectively in first axle and the second axis；First swing rod connects Bar, the second swing rod and the first segment constitute figure of eight four-bar mechanism；The driven thumb wheel is actively socketed on nearly joint shaft On；The driven thumb wheel includes affixed driven convex block；The intermediate transmission mechanism is arranged in pedestal, the intermediate transmission machine The input terminal of structure and driven thumb wheel are affixed, and the output end and convex block driver plate of intermediate transmission mechanism are affixed, the intermediate transmission mechanism So that being reverse drive from driven thumb wheel to the transmission of convex block driver plate；The convex block driver plate is actively socketed on nearly joint shaft, institute It states convex block driver plate and the first swing rod is affixed；The spacing block set and pedestal are affixed；The convex block driver plate includes affixed convex block；Institute The convex block on convex block driver plate is stated to be in contact or stand away with spacing block set；The driven convex block is in contact with active convex block Or it stands away；If the rotation direction that the first segment is close to object is nearly joint positive direction, the first segment is far from object Rotation direction is nearly joint opposite direction；Original state is in the idle running kinematic link coupling adaptive robot finger apparatus When, the convex block on the convex block driver plate is contacted with spacing block set, if the rotation angle of convex block driver plate opposite base is 0 degree at this time, Since the position, rotational angle when convex block driver plate is rotated towards nearly joint positive direction is positive, and convex block driver plate is towards nearly joint negative side It is negative to rotational angle when rotation；The rotational angle of the spacing block set limitation convex block driver plate can only be negative；Second spring The both ends of part are separately connected convex block driver plate and pedestal；It is in just in the idle running kinematic link coupling adaptive robot finger apparatus When beginning state, the driven convex block stands away with active convex block；In active thumb wheel slewing area, active convex block can be connect Contact driven convex block；The both ends of the first spring part are separately connected active thumb wheel and the first segment.

2. idle running kinematic link coupling adaptive robot finger apparatus as described in claim 1, it is characterised in that：The drive Dynamic device uses motor, cylinder or hydraulic cylinder.

3. idle running kinematic link coupling adaptive robot finger apparatus as described in claim 1, it is characterised in that：Described Two spring parts use tension spring, pressure spring, leaf spring or torsional spring.

4. idle running kinematic link coupling adaptive robot finger apparatus as described in claim 1, it is characterised in that：Described One spring part uses tension spring, pressure spring, leaf spring or torsional spring.