The invention discloses an idle
stroke transmission gear
coupling self-adaption
robot finger device, and belongs to the technical field of
robot hands. The device comprises a base, two finger sections, two joint shafts, a drive, multiple gears, a transition transmission mechanism, an intermediate transmission mechanism, a driving poking wheel, a driven poking wheel, a convex block poking disc, two springs, a limiting convex block and the like. The device realizes
coupling and a self-adaption compound grabbing mode, can link two joints to hold an object by the
tail ends to achieve high action personification degree, can rotate the
second finger section to wrap the held object after rotating the first finger section to touch the object, is high in grabbing strength, achieves self-adaption grabbing effect of objects with different shape sizes, is stable and reliable in grabbing, drives two joints by using one drive without complex sensing and real-
time control systems, and meanwhile, is simple in structure, small in size, light in weight, low in
machining,
assembly and maintenance costs and suitable for the
robot hands.