CN107053220A - The flat folder indirect self-adaptive robot finger apparatus of connecting rod rack straight line - Google Patents

Abstract

The connecting rod and rack linear flat clip indirect self-adaptive robot finger device belongs to the field of robot hand technology, and includes a base, two finger segments, two joint shafts, a rack, multiple gears, two transmission wheels, transmission parts, and guides. rods and springs etc. The device realizes the functions of straight-line parallel clamping and adaptive grasping of the robot fingers; the linear movement of the distal joint axis is realized by using the link mechanism, and the second finger segment is kept in the first grasping stage by using the spring element and the rack mechanism. The posture is fixed relative to the base; the rack mechanism is used to realize the self-adaptive rotation of the second finger around the distal joint axis when the object touches the first finger segment; it can adapt to the grasping of objects of different shapes and sizes; the grasping range is large, and the grasping It is stable and reliable, simple in structure and low in cost.

Description

Indirect self-adaptive robot finger device with connecting rod and rack linear flat clamp

technical field

The invention belongs to the technical field of robot hands, and in particular relates to a structural design of a connecting rod rack linear flat clip indirect self-adaptive robot finger device.

Background technique

With the development of automation technology, robot technology has ushered in a new peak. As a kind of end effector of robot, the robot hand has attracted more attention, and more and more researches have been done on the robot hand. In order to assist robots to complete more tasks under special circumstances, people have developed a variety of robotic hands, such as dexterous hands, special hands, pincer hands (industrial grippers), etc. Objects in space have six degrees of freedom. The robot hand needs to limit the six degrees of freedom of the object while grasping the object to stably grasp the object. The clamp-like hand generally adopts a parallel clamping method, which can only limit no more than four degrees of freedom. One degree of freedom, in order to maintain the stability of the clamping, it is necessary to apply a large clamping force, and use the friction between the object and the robot hand to ensure the stable grasping of the object, but the huge clamping force will cause a relatively large clamping force on the surface of the object. Large strains can even cause plastic deformation or destruction of the object, especially for thin-walled objects and objects with low hardness, the pliers-like hands cannot be directly grasped.

A robot hand with linear translation clamping has been invented, such as patent WO2016063314A1, which consists of several connecting rods, a clamping finger segment, and a driver. The device can realize the linear translation of the clamping finger segment, and realize the parallel clamping function for objects of different sizes by using the parallel movement of the clamping finger segment. Its shortcoming is that the device can only realize the function of linear parallel clamping, but cannot realize the function of adaptive envelope grabbing objects.

Adaptive envelope object grasping uses the idea of differentiation, so that the robot hand can adapt to the surface of the object when grasping the object, so that more surfaces can be in contact with the object, and it can limit more degrees of freedom of the object when grasping the object. In this way, the object can be grasped stably without too much clamping force, which can greatly reduce the damage of the robot hand to the object when grasping the object. For the grasping of irregularly shaped objects, the adaptive robot hand has obvious advantage. The dexterous hand can also grasp the surface of the object, but because the dexterous hand requires multiple drivers to be controlled separately, the control system is complex, the precision is high, and the maintenance cost is high, which makes the cost of the dexterous hand relatively high, which is not conducive to general production and use. . Therefore, the adaptive underactuated hand was developed, and the adaptive underactuated robot hand only needs fewer drivers to drive more joints than the number of drivers, so as to realize the grasping object of the robot hand adaptive envelope. Compared with dexterous hands, the cost of underactuated robotic hands is greatly reduced, the structure is compact, and complex control systems are not required. For example, an existing underactuated two-joint robot finger device (Chinese invention patent CN101234489A) includes a base, a motor, a middle finger section, an end finger section, and a parallel pulley transmission mechanism. The device realizes the special effect of double-joint underactuated fingers bending and grabbing objects, and is self-adaptive. The disadvantage of the underactuated mechanical finger device is that the fingers are always in a straight state before they touch the object, and the grasping method is mainly a gripping method, which makes it difficult to achieve a better end-parallel clamping and grasping effect. But for small objects, due to the small surface of the object, and the length of each segment of the underactuated robot finger is too long relative to the surface of the object, it is difficult to adapt to the surface of the object. At this time, parallel clamping has achieved obvious The advantages. Therefore, a robot hand with parallel clamping and adaptive grasping functions is very necessary, which expands the scope of the robot hand's grasping objects, and is of great benefit to industrial production and daily life.

A traditional underactuated hand with two grasping modes has been developed. An existing underactuated finger, such as US Pat. The device realizes arc parallel clamping and adaptive grabbing mode. When working, at the beginning stage, the posture of the terminal finger segment is maintained relative to the base for proximal joint bending, and then the function of parallel clamping or adaptive envelope holding can be realized according to the position of the object. Its disadvantages are: (1) The device can only realize the arc parallel clamping function, and cannot realize the straight line parallel clamping function. When clamping thin plate objects of different sizes on the workbench, the movement of the robot arm is needed to cooperate to realize the grasping. Therefore, there is a serious deficiency in grasping; (2) the device adopts a multi-link mechanism, and there is a large dead zone in motion, and the grasping range is small.

Contents of the invention

The object of the present invention is to overcome the disadvantages of the prior art, and provide a link rack linear flat clip indirect self-adaptive robot finger device. The device has two grasping modes: linear parallel clamping and self-adaptive grasping. It does not need complex real-time detection and planning of the object environment. The first finger segment and the second finger segment are moved successively to adaptively envelope objects of different shapes and sizes; the grasping range is large.

Technical scheme of the present invention is as follows:

A connecting rod and rack linear flat clip indirect self-adaptive robot finger device designed by the present invention comprises a base, a first finger section, a second finger section, a proximal joint axis, and a distal joint axis; the center line of the proximal joint axis Parallel to the centerline of the distal joint shaft; the first finger segment is sleeved on the proximal joint shaft, the distal joint shaft is sleeved in the first finger segment, and the second finger segment is sleeved on the distal joint shaft ; It is characterized in that: the connecting rod and rack linear flat clip indirect adaptive robot finger device also includes a first transmission wheel, a transmission member, a second transmission wheel, a first shaft, a second shaft, a first gear, a second gear, The third gear, the fourth gear, the fifth gear, a rack, a spring and a guide rod; Set in the first finger segment, the second shaft is sleeved in the first finger segment, the third shaft is sleeved in the first finger segment; the first shaft, the second shaft, the third shaft and The centerlines of the proximal joint shafts are parallel to each other; the centerline of the guide rod is perpendicular to the centerline of the first shaft; the first transmission wheel is sleeved on the distal joint shaft, and the first transmission wheel is fixedly connected to the second finger segment, The second transmission wheel is sleeved on the first shaft, the transmission member is respectively connected to the first transmission wheel and the second transmission wheel, and the transmission member, the first transmission wheel and the second transmission wheel form a transmission relationship; The first gear is sleeved on the first shaft, the first gear is fixedly connected to the second transmission wheel, the second gear is sleeved on the second shaft, and the second gear meshes with the first gear; the third The gear is sleeved on the second shaft, the third gear is fixedly connected to the second gear, the fourth gear is sleeved on the proximal joint shaft, and the third gear meshes with the fourth gear; through the transmission member, the first transmission wheel, The transmission of the second transmission wheel, the first gear, the second gear, the third gear and the fourth gear constitutes a transmission relationship in the same direction from the first transmission wheel to the fourth gear; the fifth gear is sleeved on the proximal joint shaft , the fifth gear is fixedly connected to the fourth gear, the rack is fixedly connected to the frame, and the rack and the fifth gear form a transmission relationship; the two ends of the spring member are respectively connected to the first finger section and the base.

The indirect self-adaptive robot finger device of connecting rod and rack linear flat clip according to the present invention is characterized in that it also includes a frame, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod Connecting rod, sixth connecting rod, seventh connecting rod, eighth connecting rod, third shaft, fourth shaft, fifth shaft, sixth shaft, seventh shaft, eighth shaft, ninth shaft, tenth shaft, The eleventh shaft, the twelfth shaft, the transmission mechanism and the driver; the driver is fixed on the frame, and the output end of the driver is connected to the input end of the transmission mechanism; the output end of the transmission mechanism is connected to the eleventh The shafts are connected; the eleventh shaft is sleeved on the frame; one end of the sixth connecting rod is sleeved on the eleventh shaft, and the other end of the sixth connecting rod is sleeved on the seventh shaft; One end of the second connecting rod is sleeved on the seventh shaft, the other end of the second connecting rod is sleeved on the fourth shaft; one end of the first connecting rod is sleeved on the third shaft, and the other end of the first connecting rod is sleeved on the third shaft. One end is sleeved on the fourth shaft, the first connecting rod is fixedly connected to the base; the fifth shaft is sleeved in the middle of the second connecting rod; one end of the fourth connecting rod is sleeved on the fifth shaft, The other end of the fourth connecting rod is sleeved on the ninth shaft; the ninth shaft is sleeved on the frame; the twelfth shaft is sleeved on the frame; one end of the seventh connecting rod is sleeved On the twelfth shaft, the other end of the seventh connecting rod is sleeved on the eighth shaft; one end of the third connecting rod is sleeved on the eighth shaft, and the other end of the third connecting rod is sleeved on the third shaft; the sixth shaft is sleeved on the middle of the third connecting rod; one end of the fifth connecting rod is sleeved on the sixth shaft, and the other end of the fifth connecting rod is sleeved on the tenth shaft; The tenth shaft is sleeved on the frame; one end of the eighth connecting rod is sleeved on the seventh shaft, and the other end of the eighth connecting rod is sleeved on the eighth shaft; the center of the twelfth shaft is Point A, the center of the eighth axis is point B, the center of the sixth axis is point C, the center of the proximal joint axis is point D, the center of the tenth axis is point E, and the center of the eleventh axis is point A' , the center of the seventh axis is point B', the center of the fifth axis is point C', the center of the fourth axis is point D', the center of the ninth axis is point E', the length of line segment BC, the length of line segment CD The three are equal to the length of the line segment CE, the length of the line segment AE is equal to twice the length of the line segment AB, the length of the line segment CE is 2.5 times the length of the line segment AB, the length of the line segment B'C', and the length of the line segment C'D' The three are equal to the length of line segment C'E', the length of line segment A'E' is equal to twice the length of line segment A'B', the length of line segment C'E' is 2.5 times the length of line segment A'B', The length of line segment AA', the length of line segment BB', the length of line segment DD' and the length of line segment EE' are equal; the length of line segment AB is equal to the length of line segment A'B'; point A, point A', point E, The four points of point E' are collinear, and the straight line AA' is set as K.

The indirect self-adaptive robot finger device of the connecting rod and rack straight line flat clip according to the present invention is characterized in that the transmission part adopts gears, connecting rods, transmission belts, chains or ropes.

The indirect self-adaptive robotic finger device of the connecting rod and rack linear flat clip according to the present invention is characterized in that the straight line K is parallel to the central line of the guide rod.

The indirect self-adaptive robot finger device of the connecting rod and rack linear flat gripper according to the present invention is characterized in that the driver adopts a motor, an air cylinder or a hydraulic cylinder.

The toggle sliding bar self-adaptive robot finger device according to the present invention is characterized in that the spring element is a compression spring.

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

The device of the present invention realizes the functions of straight line parallel clamping and self-adaptive grasping of the robot fingers by comprehensively utilizing the driver, the link mechanism wheel train, the rack mechanism, the transmission mechanism and the spring element; Movement, the spring is used to cooperate with the rack mechanism to realize that the second finger segment maintains a fixed posture relative to the base in the first grasping stage; the rack mechanism is used to realize the movement of the second finger segment around the distal joint axis when the object touches the first finger segment Adaptive rotation. According to the shape and position of the object, the device can linearly move the first finger segment and the second finger segment to clamp the object, especially for the clamping of thin-walled or complex-shaped objects. After the object, the second finger segment is automatically rotated to touch the object, so as to achieve the purpose of adaptively enveloping objects of different shapes and sizes; the grasping range is large, and the grasping is stable and reliable; a driver is used to simultaneously drive the translation of the finger and the second finger segment Self-adaptive rotation around the distal joint axis; the device has simple structure and low cost.

Description of drawings

Fig. 1 is the side partial cross-sectional view (not drawing some parts) of an embodiment of the indirect self-adaptive robot finger device of the connecting rod and rack straight line flat clip of the present invention design.

Fig. 2 is a left side view of Fig. 1 .

Fig. 3 is an exploded view of the embodiment shown in Fig. 1 .

Fig. 4 is a perspective view of the embodiment shown in Fig. 1 .

Fig. 5 is an external view of Fig. 1 .

Fig. 6 is the appearance view of Fig. 1 (partial parts are not drawn).

Figure 7 is a side view of the embodiment shown in Figure 1 showing the locations of points A, B, C, D, E, A', B', C', D' and E'.

Fig. 8 is a schematic diagram of the action of the embodiment shown in Fig. 1 in the linear parallel clamping stage (wherein the dotted line represents the end state of the flat clamp gripping the object).

FIG. 9 to FIG. 12 are action process diagrams of the embodiment shown in FIG. 1 in the adaptive envelope stage.

In Figures 1 to 12:

111-base, 1-frame, 2-first finger segment, 3-second finger segment,

4-proximal joint shaft, 5-distal joint shaft, 6-first transmission wheel, 7-transmission member,

8-the second transmission wheel, 25-the first shaft, 26-the second shaft, 9 the first gear,

10-second gear, 11-third gear, 12-fourth gear, 13-fifth gear,

14-rack, 15-spring, 16-guide rod, 17-first connecting rod,

18-second connecting rod, 19-third connecting rod 19, 20-fourth connecting rod, 21-fifth connecting rod,

22-sixth connecting rod, 23-seventh connecting rod, 24-eighth connecting rod, 27-third shaft,

28-fourth axis, 29-fifth axis, 30-sixth axis, 31-seventh axis,

32-eighth axis, 33-ninth axis, 34-tenth axis, 35-eleventh axis,

36-the twelfth shaft, 39-transmission mechanism, 391-reducer, 392-the first bevel gear,

393-second bevel gear, 40-driver, 50-object.

detailed description

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 the indirect self-adaptive robot finger device of the connecting rod and rack linear flat clamp designed in the present invention, as shown in Figures 1 to 7, includes a base 111, a first finger segment 2, a second finger segment 3, a joint shaft 4, far joint shaft 5; the center line of the near joint shaft 4 is parallel to the center line of the far joint shaft 5; the first finger section 2 is sleeved on the near joint shaft 4, and the far joint shaft 5 Sleeved in the first finger segment 2, the second finger segment 3 is sleeved on the distal joint shaft 5; the slider rack 14 adaptive robotic finger device also includes a first transmission wheel 6, a transmission member 7, a first Two transmission wheels 8, the first shaft 25, the second shaft 26, the first gear 9, the second gear 10, the third gear 11, the fourth gear 12, the fifth gear 13, the rack 14, the spring element 15 and the guide rod 16. The guide rod 16 is fixedly connected to the base 111, the guide rod 16 is slidably embedded in the first finger segment 2, the first shaft 25 is sleeved in the first finger segment 2, and the second shaft 26 is sleeved in the first finger section 2, and the third shaft 27 is sleeved in the first finger section 2; the center of the first shaft 25, the second shaft 26, the third shaft 27 and the proximal joint shaft 4 The lines are parallel to each other; the centerline of the guide rod 16 is perpendicular to the centerline of the first shaft 25; the first transmission wheel 6 is sleeved on the distal joint shaft 5, and the first transmission wheel 6 is fixedly connected to the second finger segment 3 , the second transmission wheel 8 is sleeved on the first shaft 25, the transmission member 7 is respectively connected to the first transmission wheel 6 and the second transmission wheel 8, and the transmission member 7, the first transmission wheel 6 and the second transmission wheel The three transmission wheels 8 form a transmission relationship; the first gear 9 is sleeved on the first shaft 25, the first gear 9 is fixedly connected to the second transmission wheel 8, and the second gear 10 is sleeved on the second shaft 26 Above, the second gear 10 meshes with the first gear 9; the third gear 11 is sleeved on the second shaft 26, the third gear 11 is fixedly connected to the second gear 10, and the fourth gear 12 is sleeved close to On the joint shaft 4, the third gear 11 meshes with the fourth gear 12; through the transmission member 7, the first transmission wheel 6, the second transmission wheel 8, the first gear 9, the second gear 10, the third gear 11 and the fourth gear The transmission of the gear 12 constitutes a transmission relationship in the same direction from the first transmission wheel 6 to the fourth gear 12; the fifth gear 13 is sleeved on the proximal joint shaft 4, and the fifth gear 13 is fixedly connected to the fourth gear 12, so The rack 14 is fixedly connected to the frame 1 , and the rack 14 forms a transmission relationship with the fifth gear 13 ; the two ends of the spring 15 are respectively connected to the first finger segment 2 and the base 111 .

Present embodiment also includes frame 1, first connecting rod 17, second connecting rod 18, third connecting rod 19, fourth connecting rod 20, fifth connecting rod 21, sixth connecting rod 22, seventh connecting rod 23 , the eighth connecting rod 24, the third shaft 27, the fourth shaft 28, the fifth shaft 29, the sixth shaft 30, the seventh shaft 31, the eighth shaft 32, the ninth shaft 33, the tenth shaft 34, the eleventh Shaft 35, the twelfth shaft 36, transmission mechanism 39 and driver 40; Said driver 40 is fixedly connected on the frame 1, and the output end of described driver 40 links to each other with the input end of transmission mechanism 39; The transmission mechanism 39 The output end is connected with the eleventh shaft 35; the eleventh shaft 35 is sleeved on the frame 1; one end of the sixth connecting rod 22 is sleeved on the eleventh shaft 35, and the sixth connecting rod 22 The other end is sleeved on the seventh shaft 31; one end of the second connecting rod 18 is sleeved on the seventh shaft 31, and the other end of the second connecting rod 18 is sleeved on the fourth shaft 28; the first connecting rod 18 is sleeved on the seventh shaft 31; One end of the rod 17 is sleeved on the third shaft 27, the other end of the first connecting rod 17 is sleeved on the fourth shaft 28, and the first connecting rod 17 is fixedly connected to the base 111; the fifth shaft 29 is sleeved In the middle of the second connecting rod 18; one end of the fourth connecting rod 20 is sleeved on the fifth shaft 29, and the other end of the fourth connecting rod 20 is sleeved on the ninth shaft 33; the ninth shaft 33 Sleeved on the frame 1; the twelfth shaft 36 is sleeved on the frame 1; one end of the seventh connecting rod 23 is sleeved on the twelfth shaft 36, and the other end of the seventh connecting rod 23 Sleeved on the eighth shaft 32; one end of the third connecting rod 19 is sleeved on the eighth shaft 32, and the other end of the third connecting rod 19 is sleeved on the third shaft 27; the sixth shaft 30 Set in the middle of the third connecting rod 19; one end of the fifth connecting rod 21 is sleeved on the sixth shaft 30, and the other end of the fifth connecting rod 21 is sleeved on the tenth shaft 34; the tenth The shaft 34 is sleeved on the frame 1; one end of the eighth connecting rod 24 is sleeved on the seventh shaft 31, and the other end of the eighth connecting rod 24 is sleeved on the eighth shaft 32; the twelfth shaft The center of 36 is point A, the center of the eighth axis 32 is point B, the center of the sixth axis 30 is point C, the center of the proximal joint axis 4 is point D, and the center of the tenth axis 34 is point E. The center of the first axis 35 is point A', the center of the seventh axis 31 is point B', the center of the fifth axis 29 is point C', the center of the fourth axis 28 is point D', and the center of the ninth axis 33 is At point E', the length of line segment BC, the length of line segment CD and the length of line segment CE are equal, the length of line segment AE is equal to twice the length of line segment AB, the length of line segment CE is 2.5 times the length of line segment AB, and the length of line segment B The length of 'C', the length of line segment C'D' and the length of line segment C'E' are three equal, the length of line segment A'E' is equal to twice the length of line segment A'B', and the length of line segment C'E' The length is 2.5 times the length of line segment A'B', the length of line segment AA', the length of line segment BB', the length of line segment DD' and the length of line segment EE' are equal, the length of line segment AB is equal to the length of line segment A'B' length; point A, point A', point E, The four points of point E' are collinear, and the straight line AA' is set as K.

The indirect self-adaptive robot finger device of the connecting rod and rack straight line and flat clip according to the present invention is characterized in that: the transmission part 7 adopts gears, connecting rods, transmission belts, chains or ropes. In this embodiment, the transmission member 7 is a transmission belt.

In this embodiment, the straight line K is parallel to the centerline of the guide rod 16 .

The indirect self-adaptive robotic finger device of the connecting rod and rack linear flat gripper according to the present invention is characterized in that: the driver 40 adopts a motor, an air cylinder or a hydraulic cylinder. In this embodiment, the driver 40 is a motor.

In this embodiment, the spring member 15 is a compression spring.

In this embodiment, the transmission mechanism 39 includes a speed reducer 391, a first bevel gear 392 and a second bevel gear 393, the output shaft of the driver 40 is connected with the input shaft of the speed reducer 391, and the first bevel gear 392 The second bevel gear 393 is sleeved on the eleventh shaft 35 , and the first bevel gear 392 meshes with the second bevel gear 393 .

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

When this embodiment is in an initial state, it is shown in FIG. 1 .

The driver 40 rotates, and drives the sixth connecting rod 22 to rotate around the center line of the eleventh shaft 35 through the transmission mechanism 39; because the second connecting rod 18, the fourth connecting rod 20, the sixth connecting rod 22 and the frame 1 constitute a Four-bar linkage mechanism, the third linkage 19, the fifth linkage 21, the seventh linkage 23 and the frame 1 constitute a four-bar linkage, and satisfy the following conditions:

a) The lengths of the line segment BC, the length of the line segment CD and the length of the line segment CE are three equal,

b) The length of line segment AE is equal to twice the length of line segment AB,

c) The length of the line segment CE is 2.5 times the length of the line segment AB,

d) The length of the line segment AA', the length of the line segment BB', the length of the line segment DD' and the length of the line segment EE' are equal,

e) The length of line segment AB is equal to the length of line segment A'B',

f) Point A, point A', point E, and point E' are collinear.

As shown in Figures 8 to 12, the four-bar linkage mechanism will drive the end of the first finger segment 2 (distal joint axis 5) to move linearly due to the rotation of the sixth link 22, so the distal joint axis 5 will translate along the straight line , as shown in Figure 8 to Figure 12.

When the second finger touches the object during this process, the grasping ends, and the purpose of holding the object in parallel is achieved, as shown in FIG. 8 .

When the second finger section does not touch the object, and when the first finger section 2 touches the object, the first finger section 2 stops moving, the driver 30 continues to rotate forward, the spring member 15 is compressed and shortened, and the guide rod 16 is relatively short relative to the first finger section. The finger segment 2 slides, the rack 14 moves relative to the fifth gear 13, and the fifth gear 13 rotates clockwise (the clockwise is the clockwise in Fig. 1, the same below) through the transmission member 7, the first transmission wheel 6, The transmission of the second transmission wheel 8, the first gear 9, the second gear 10, the third gear 11 and the fourth gear 12 constitutes the same direction transmission relationship from the first transmission wheel 6 to the fourth gear 12, driving the second finger section 3 rotate clockwise around the distal joint axis 5; when the second finger segment 3 touches the object 50, the second finger segment 3 stops moving, and the driver 30 continues to apply clamping force to clamp the object 50 to form an adaptive envelope object 50, as shown in the figure 9 to Figure 12.

When releasing the object 50, the driver 30 is reversed, and the process of releasing the object 50 is opposite to the grasping process, and will not be repeated here.

The device of the present invention realizes the functions of straight line parallel clamping and self-adaptive grasping of the robot fingers by comprehensively utilizing the driver, the link mechanism wheel train, the rack mechanism, the transmission mechanism and the spring element; Movement, the spring is used to cooperate with the rack mechanism to realize that the second finger segment maintains a fixed posture relative to the base in the first grasping stage; the rack mechanism is used to realize the movement of the second finger segment around the distal joint axis when the object touches the first finger segment Adaptive rotation. According to the shape and position of the object, the device can linearly move the first finger segment and the second finger segment to clamp the object, especially for the clamping of thin-walled or complex-shaped objects. After the object, the second finger segment is automatically rotated to touch the object, so as to achieve the purpose of adaptively enveloping objects of different shapes and sizes; the grasping range is large, and the grasping is stable and reliable; a driver is used to simultaneously drive the translation of the finger and the second finger segment Self-adaptive rotation around the distal joint axis; the device has simple structure and low cost.

Claims (6)

1. A connecting rod and rack linear flat clip indirect self-adaptive robotic finger device, comprising a base, a first finger segment, a second finger segment, a proximal joint shaft, and a far joint shaft; the center line of the proximal joint shaft is connected to the far The centerlines of the joint shafts are parallel; the first finger segment is sleeved on the proximal joint shaft, the distal joint shaft is sleeved in the first finger segment, and the second finger segment is sleeved on the far joint shaft; It is characterized in that: the connecting rod rack linear flat clip indirect adaptive robot finger device also includes a first transmission wheel, a transmission member, a second transmission wheel, a first shaft, a second shaft, a first gear, a second gear, a third Gear, fourth gear, fifth gear, rack, spring and guide rod; the guide rod is fixedly connected to the base, the guide rod is slidably embedded in the first finger section, and the first shaft is sleeved on In the first finger segment, the second shaft is sleeved in the first finger segment, and the third shaft is sleeved in the first finger segment; the first shaft, the second shaft, the third shaft and the proximal joint The center lines of the shafts are parallel to each other; the center line of the guide rod is perpendicular to the center line of the first shaft; The second transmission wheel is sleeved on the first shaft, and the transmission member is respectively connected to the first transmission wheel and the second transmission wheel, and the transmission member, the first transmission wheel and the second transmission wheel form a transmission relationship; The first gear is sleeved on the first shaft, the first gear is fixedly connected to the second transmission wheel, the second gear is sleeved on the second shaft, and the second gear meshes with the first gear; the third gear sleeve Connected to the second shaft, the third gear is fixedly connected to the second gear, the fourth gear is sleeved on the proximal joint shaft, and the third gear meshes with the fourth gear; through the transmission member, the first transmission wheel, the second The transmission of the transmission wheel, the first gear, the second gear, the third gear and the fourth gear constitutes a transmission relationship in the same direction from the first transmission wheel to the fourth gear; the fifth gear is sleeved on the proximal joint shaft, and the The fifth gear is fixedly connected to the fourth gear, the rack is fixedly connected to the frame, and the rack and the fifth gear form a transmission relationship; the two ends of the spring member are respectively connected to the first finger section and the base. 2. The indirect self-adaptive robot finger device of connecting rod and rack straight line flat clip as claimed in claim 1, is characterized in that: also comprises frame, first connecting rod, second connecting rod, the 3rd connecting rod, the 4th connecting rod Rod, Fifth Link, Sixth Link, Seventh Link, Eighth Link, Third Axis, Fourth Axis, Fifth Axis, Sixth Axis, Seventh Axis, Eighth Axis, Ninth Axis, The tenth axis, the eleventh axis, the twelfth axis, the transmission mechanism and the driver; the driver is fixedly connected to the frame, and the output end of the driver is connected with the input end of the transmission mechanism; the output end of the transmission mechanism Connected with the eleventh shaft; the eleventh shaft is sleeved on the frame; one end of the sixth connecting rod is sleeved on the eleventh shaft, and the other end of the sixth connecting rod is sleeved on the seventh shaft ; One end of the second connecting rod is sleeved on the seventh shaft, the other end of the second connecting rod is sleeved on the fourth shaft; one end of the first connecting rod is sleeved on the third shaft, the first The other end of the connecting rod is sleeved on the fourth shaft, and the first connecting rod is fixedly connected to the base; the fifth shaft is sleeved in the middle of the second connecting rod; one end of the fourth connecting rod is sleeved on the second On the fifth shaft, the other end of the fourth connecting rod is sleeved on the ninth shaft; the ninth shaft is sleeved on the frame; the twelfth shaft is sleeved on the frame; the seventh connecting rod One end of the third connecting rod is sleeved on the twelfth shaft, the other end of the seventh connecting rod is sleeved on the eighth shaft; one end of the third connecting rod is sleeved on the eighth shaft, and the other end of the third connecting rod is sleeved on the eighth shaft. Set on the third shaft; the sixth shaft is sleeved on the middle of the third connecting rod; one end of the fifth connecting rod is sleeved on the sixth shaft, and the other end of the fifth connecting rod is sleeved on the tenth shaft; the tenth shaft is sleeved on the frame; one end of the eighth connecting rod is sleeved on the seventh shaft, and the other end of the eighth connecting rod is sleeved on the eighth shaft; the twelfth The center of the axis is point A, the center of the eighth axis is point B, the center of the sixth axis is point C, the center of the proximal joint axis is point D, the center of the tenth axis is point E, let the center of the eleventh axis is point A', the center of the seventh axis is point B', the center of the fifth axis is point C', the center of the fourth axis is point D', the center of the ninth axis is point E', the length of line segment BC, The length of line segment CD is equal to the length of line segment CE, the length of line segment AE is equal to twice the length of line segment AB, the length of line segment CE is 2.5 times the length of line segment AB, the length of line segment B'C', the length of line segment C' The length of D' is equal to the length of line segment C'E', the length of line segment A'E' is equal to twice the length of line segment A'B', and the length of line segment C'E' is the length of line segment A'B' 2.5 times of the line segment AA', the length of the line segment BB', the length of the line segment DD' and the length of the line segment EE' are equal, the length of the line segment AB is equal to the length of the line segment A'B'; point A, point A' , point E, and point E' are collinear, let the straight line AA' be K. 3. The indirect self-adaptive robot finger device of connecting rod and rack linear flat clip according to claim 1, characterized in that: the transmission part adopts gears, connecting rods, transmission belts, chains or ropes. 4. The indirect self-adaptive robot finger device for connecting rod and rack linear flat clip according to claim 2, characterized in that the straight line K is parallel to the center line of the guide rod. 5. The indirect self-adaptive robot finger device for connecting rod and rack linear flat gripper according to claim 1, characterized in that: the driver adopts a motor, an air cylinder or a hydraulic cylinder. 6. The toggle slider adaptive robot finger device according to claim 1, wherein the spring member is a compression spring.