Adjustable gripping force manipulator with adaptive hole plate specification

Abstract

The application relates to an adjustable gripping force manipulator with an adaptive hole plate specification, which is fixed to the end of a mechanical arm and comprises a rack, the lower end of the rack being fixedly connected with the end of the mechanical arm, the upper end of the rack being provided with a gripping assembly, the gripping assembly comprising two oppositely arranged movable fingers and two oppositely arranged fixed fingers, a driving mechanism being arranged on the rack, the driving mechanism being used for driving the two movable fingers to close or separate, and the two fixed fingers to close or separate, so as to realize gripping and releasing actions, and a moving mechanism for driving the two movable fingers to move horizontally in opposite directions being further arranged on the rack. The application can be applied to hole plates with different specifications, and can redistribute the clamping force.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to an adjustable gripping force manipulator that adapts to the size of the seedling tray. Background Technology

[0002] Plug seedling transplanting technology is widely used in the cultivation of vegetables, flowers, and other crops. This technology effectively reduces labor intensity and increases crop yield. In recent years, as plug seedling transplanting technology has matured, plug seedling transplanting machines have also been developed and applied in agricultural facilities.

[0003] While numerous transplanting robots exist, most are designed for a specific type of seedling tray, lacking broad adaptability. In practice, transplanting seedlings from different trays requires different types of robots, severely impacting efficiency and reducing crop yield. Furthermore, existing robots cannot adjust the force applied to the seedlings, easily damaging them and affecting survival rates. Currently, no robot on the market meets these requirements. Summary of the Invention

[0004] To address the problems existing in the prior art, this invention provides an adjustable gripping force robotic hand that adapts to the specifications of acupuncture trays, is applicable to acupuncture trays of different specifications, and can redistribute the gripping force.

[0005] The technical solution adopted by the present invention to solve the above-mentioned technical problems is: an adjustable gripping force robot that adapts to the specifications of the acupuncture plate, the robot being fixed to the end of a robotic arm, including a frame, the lower end of the frame being fixedly connected to the end of the robotic arm, and the upper end being provided with a gripping component;

[0006] The gripping component includes two oppositely positioned moving fingers and two oppositely positioned fixed fingers. A drive mechanism is provided on the frame to drive the two moving fingers to close or separate, and the two fixed fingers to close or separate, so as to realize the gripping and releasing actions. The frame is also provided with a moving mechanism for driving the two moving fingers to move horizontally in opposite directions.

[0007] As a preferred embodiment, the frame includes a base plate, a top plate, and a plurality of guide rods disposed between the base plate and the top plate. A movable plate is slidably disposed on the guide rods. A drive mechanism is disposed between the base plate and the top plate to drive the movable plate to move. Movable fingers and fixed fingers are both disposed on the top plate. The movable fingers are hinged to and slidably connected to the movable plate, and the fixed fingers are hinged to the movable plate.

[0008] As a preferred embodiment, the driving mechanism includes a drive motor, a lead screw, and a nut seat. The drive motor is located at the bottom of the base plate, and the output shaft of the drive motor passes through the base plate and is connected to one end of the lead screw. The other end of the lead screw is rotatably connected to the bottom of the top plate. The nut seat is threadedly engaged with the lead screw and is located on the movable plate.

[0009] In a preferred embodiment, the movable finger includes a first finger assembly and a first linkage assembly. The first finger assembly includes a movable finger root, a movable finger middle joint, and a movable finger tip joint, which are hinged sequentially. The first linkage assembly includes a movable block, a movable finger drive rod I, a movable finger root push rod, a movable finger middle joint push rod, and a movable finger tip joint push rod, which are hinged sequentially. A first notch is provided on the movable plate, and a first slide rod is provided at the first notch. The movable block is slidably mounted on the first slide rod. The end of the movable finger tip joint push rod is hinged to the movable finger tip joint. The hinge point between the movable finger middle joint push rod and the movable finger tip joint push rod is hinged. A movable fingertip joint cross rod is provided, the end of which is rotatably connected to the hinge of the movable finger middle joint and the movable fingertip joint. A movable finger middle joint cross rod is hinged to the hinge of the movable finger root push rod and the movable finger middle joint push rod. The end of the movable finger middle joint cross rod is rotatably connected to the hinge of the movable finger root and the movable finger middle joint. A movable finger drive rod II is rotatably connected to the hinge of the movable finger drive rod I and the movable finger root push rod. The end of the movable finger drive rod II is hinged to the end of the movable finger root. The hinge of the movable finger drive rod II and the movable finger root is hinged to the moving mechanism.

[0010] As a preferred embodiment, the fixed finger includes a second finger assembly and a second linkage assembly. The second finger assembly includes a fixed finger root, a fixed finger middle joint, and a fixed finger tip joint that are hinged sequentially. The second linkage assembly includes a fixed finger connector, a fixed finger drive rod I, and a fixed finger drive rod II that are hinged sequentially. The fixed finger connector is disposed on a movable plate, and a second notch is provided on the top plate. The first end of the fixed finger root is hinged to the second notch and to the end of the fixed finger drive rod II. A fixed finger cross rod is rotatably connected at the hinge between the fixed finger root and the fixed finger middle joint. A fixed finger root push rod is hinged between the fixed finger cross rod and the fixed finger drive rod II. The second linkage assembly also includes a fixed finger tip joint push rod, and the two ends of the fixed finger tip joint push rod are respectively hinged to the end of the fixed finger cross rod and the fixed finger tip joint.

[0011] As a preferred embodiment, the moving mechanism includes a moving motor and two racks. A mounting groove is provided in the top plate, and two U-shaped sliding plates are arranged opposite each other in the mounting groove. The racks are slidably arranged in the U-shaped sliding plates. The output shaft of the moving motor extends into the top plate and has a gear at its end that meshes with the racks. A moving rod is provided on the side of the rack away from the teeth, passing through the U-shaped sliding plates and the top plate. Both the U-shaped sliding plates and the top plate have moving through slots for horizontal movement of the moving rod. A moving sleeve and a connecting plate are provided in sequence at the end of the moving rod. The hinge of the moving finger drive rod II and the root of the moving finger is hinged to the connecting plate. A third notch is provided on the top plate, and a second sliding rod is provided in the third notch. The moving sleeve is slidably fitted on the second sliding rod.

[0012] As a preferred embodiment, the end of the mobile motor away from the gear is provided with a mounting plate, and the mounting plate is provided with a camera for taking pictures of the grasped object.

[0013] As a preferred embodiment, the movable finger root, movable finger middle joint, movable finger tip joint, fixed finger root, fixed finger middle joint, and fixed finger tip joint are all provided with cushioning pads.

[0014] As a preferred embodiment, the cushioning pad is a silicone pad or a rubber pad.

[0015] As a preferred embodiment, the drive motor is provided with a protective shell, which is connected to the end of the robotic arm.

[0016] The beneficial effects of this application are: 1. The robotic arm adjusts two moving fingers and two fixed fingers through a drive mechanism, thus making it suitable for grasping seedlings in seedling trays of different sizes.

[0017] 2. After grasping the seedling in the pot, the moving motor can make fine adjustments to the movement of the fingers, which can redistribute the grasping force of the four fingers on the seedling, thereby reducing damage to the seedling.

[0018] 3. The camera can take pictures of the seedlings in the pot, thereby obtaining the characteristics of the seedlings and making it easier to judge whether the seedlings are healthy.

[0019] 4. By setting up a buffer pad, the damage to the seedlings during the grasping process is reduced, and it plays a flexible buffering role. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 This is a schematic diagram of the drive mechanism and frame of the present invention;

[0022] Figure 3 This is a schematic diagram illustrating the movement and fixation of the finger according to the present invention;

[0023] Figure 4 This is a schematic diagram of the moving mechanism of the present invention.

[0024] Markings in the diagram: 1. Drive mechanism, 2. Frame, 3. Moving finger, 4. Fixed finger, 5. Moving mechanism, 6. Camera, 11. Protective shell, 12. Drive motor, 13. Coupling, 14. Lead screw, 15. Nut seat, 21. Base plate, 22. Top plate, 221. Second notch, 23. Guide rod, 24. Moving plate, 241. First notch, 242. First slide rod, 31. Moving finger root, 32. Moving finger middle phalanx, 33. Moving finger tip phalanx, 34. Moving block, 35. Moving finger drive rod I, 36. Moving finger root push rod, 37. Moving finger middle phalanx push rod, 38. Moving... 39. Moving finger tip joint push rod; 310. Moving finger tip joint cross rod; 311. Moving finger middle joint cross rod; 412. Moving finger drive rod II; 43. Fixed finger root; 44. Fixed finger middle joint; 45. Fixed finger tip joint; 46. Fixed finger drive rod I; 47. Fixed finger drive rod II; 48. Fixed finger root push rod; 49. Fixed finger cross rod; 50. Fixed finger tip joint push rod; 51. Moving motor; 52. Rack; 53. U-shaped slide plate; 54. Moving through groove; 55. Gear; 56. Moving rod; 57. Moving sleeve; 58. Connecting plate; 59. Mounting plate. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that, in the description of this invention, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0026] Please see Figure 1-4This invention provides an adjustable gripping force robotic hand that adapts to the specifications of acupuncture plates. The robotic hand is fixed to the end of a robotic arm and includes a frame 2. The lower end of the frame 2 is fixedly connected to the end of the robotic arm, and the upper end is provided with a gripping component. The gripping component includes two oppositely arranged movable fingers 3 and two oppositely arranged fixed fingers 4. The frame 2 is provided with a drive mechanism 1, which is used to drive the two movable fingers 3 to close or separate and the two fixed fingers 4 to close or separate, so as to realize the gripping and releasing action. The frame 2 is also provided with a moving mechanism 5 for driving the two movable fingers 3 to move horizontally in opposite directions.

[0027] Combination Figure 2 As shown, the frame 2 includes a base plate 21, a top plate 22, and multiple guide rods 23 disposed between the base plate 21 and the top plate 22. There are three guide rods 23 evenly distributed. The two ends of the guide rods 23 are respectively connected to the base plate 21 and the top plate 22 by bolts. A movable plate 24 is slidably disposed on the guide rods 23. The guide rods 23 pass through the movable plate 24, and the movable plate 24 can move up and down along the axial direction of the guide rods 23. The drive mechanism 1 is disposed between the base plate 21 and the top plate 22 and is used to drive the movable plate 24 to move. The movable finger 3 and the fixed finger 4 are both disposed on the top plate 22. The movable finger 3 is hinged and slidably connected to the movable plate 24, and the fixed finger 4 is hinged to the movable plate 24.

[0028] Specifically, such as Figure 1 and Figure 2 As shown, the drive mechanism 1 includes a drive motor 12, a lead screw 14, and a nut seat 15. The drive motor 12 is located at the bottom of the base plate 21. The output shaft of the drive motor 12 passes through the base plate 21 and its end is connected to one end of the lead screw 14. The other end of the lead screw 14 is rotatably connected to the bottom of the top plate 22. The output shaft of the drive motor 12 is connected to the lead screw 14 through a coupling 13. The nut seat 15 is threadedly engaged with the lead screw 14 and is threadedly connected to the lead screw 14. The nut seat 15 is located on the moving plate 24. The drive motor 12 drives the lead screw 14 to rotate, and the moving plate 24 moves accordingly under the action of the nut seat 15.

[0029] Among them, such as Figure 1 and Figure 3As shown, the movable finger 3 includes a first finger assembly and a first linkage assembly. The first finger assembly includes a movable finger root 31, a movable finger middle joint 32, and a movable finger tip joint 33, which are hinged sequentially. The movable finger root 31, the movable finger middle joint 32, and the movable finger tip joint 33 are hinged sequentially by a pivot. The first linkage assembly includes a movable block 34, a movable finger drive rod 35, a movable finger root push rod 36, a movable finger middle joint push rod 37, and a movable finger tip joint push rod 38, which are hinged sequentially. The movable plate 24 has a first notch 241, and a first slide rod 242 is provided at the first notch 241. The movable block 34 is slidably mounted on the first slide rod 242. The end of the movable finger tip joint push rod 38 is hinged to the movable finger tip joint 33. The movable finger middle joint push rod 37 and the movable finger tip joint push rod 38 are hinged together by a pivot. The movable finger tip joint push rod 38 is hinged to the hinge of the movable finger tip joint cross rod 39. The end of the movable finger tip joint cross rod 39 is rotatably connected to the hinge of the movable finger middle joint 32 and the movable finger tip joint 33. The movable finger root push rod 36 and the movable finger middle joint push rod 37 are hinged to the hinge of the movable finger middle joint cross rod 310. The end of the movable finger middle joint cross rod 310 is rotatably connected to the hinge of the movable finger root 31 and the movable finger middle joint 32. The movable finger drive rod I 35 and the movable finger root push rod 36 are rotatably connected to the hinge of the movable finger drive rod II 311. The end of the movable finger drive rod II 311 is hinged to the end of the movable finger root 31. The hinge of the movable finger drive rod II 311 and the movable finger root 31 is hinged to the moving mechanism 5.

[0030] Combination Figure 1 and Figure 3 As shown, the fixed finger 4 includes a second finger assembly and a second linkage assembly. The second finger assembly includes a fixed finger root 41, a fixed finger middle joint 42, and a fixed finger tip joint 43, which are hinged sequentially. The fixed finger root 41, fixed finger middle joint 42, and fixed finger tip joint 43 are hinged sequentially by a pivot. The second linkage assembly includes a fixed finger connector 44, a fixed finger drive rod I 45, and a fixed finger drive rod II 46, which are hinged sequentially. The fixed finger connector 44 is mounted on the movable plate 24, and its bottom is connected to the movable plate 24 by screws. A second notch 221 is provided on the top plate 22. The first end of the finger root 41 is hinged to the second notch 221 and to the end of the fixed finger drive rod II 46. The fixed finger root 41 and the fixed finger middle joint 42 are rotatably connected to the hinge of the fixed finger root 41 and the fixed finger middle joint 42. The fixed finger root push rod 47 is hinged between the fixed finger cross rod 48 and the fixed finger drive rod II 46. The two ends of the fixed finger root push rod 47 are respectively hinged to the middle of the fixed finger cross rod 48 and the fixed finger drive rod II 46. The second linkage assembly also includes a fixed finger tip joint push rod 49. The two ends of the fixed finger tip joint push rod 49 are respectively hinged to the end of the fixed finger cross rod 48 and the fixed finger tip joint 43.

[0031] In addition, such as Figure 1 and Figure 4As shown, the moving mechanism 5 includes a moving motor 51 and two racks 52. A mounting groove is provided in the top plate 22, and two U-shaped sliding plates 53 are arranged opposite each other in the mounting groove. The racks 52 are slidably disposed within the U-shaped sliding plates 53. The output shaft of the moving motor 51 extends into the top plate 22, and its end is provided with a gear 54 that meshes with the racks 52. A moving rod 55 is provided on the side of the rack 52 away from the gear, penetrating the U-shaped sliding plates 53 and the top plate 22. Both the U-shaped sliding plates 53 and the top plate 22 are provided with moving through slots 531 for horizontal movement of the moving rod 55. A moving sleeve 56 and a connecting plate 57 are sequentially provided at the end of the moving rod 55. A moving finger drive rod II 311 and a moving finger root are also provided. The hinge of 31 is hinged to the connecting plate 57. The top plate 22 is provided with a third notch 222. The third notch 222 is provided with a second slide rod 223. The movable sleeve 56 is slidably sleeved on the second slide rod 223. The length of the third notch 222 is greater than the length of the movable through groove 531. There is a through hole in the top plate 22, which can accommodate components such as gear 54 and rack 52. This application provides a guiding function by setting the movable sleeve 56, the second slide rod 223, the movable block 34, and the first slide rod 242, ensuring the straightness of the horizontal movement of the movable finger 3 and improving the accuracy of the robot. The cross-sections of the first slide rod 242 and the second slide rod 223 are both rectangular.

[0032] Combination Figure 1 and Figure 4 As shown, the end of the moving motor 51 away from the gear 54 is provided with a mounting plate 58, and the mounting plate 58 is provided with a camera 6 for taking pictures of the grasped object. The drive motor 12 is provided with a protective shell 11, which is connected to the end of the robotic arm.

[0033] First, the fingertip size of the robotic arm is adjusted according to the specifications of the seedling tray: the spacing between the four fingers is appropriately adjusted by the drive motor 12 to accommodate different seedling sizes. After determining the specifications of the seedling tray, when the robotic arm moves to the seedling tray position, the camera 6 located on the mounting plate 58 collects information on the seedlings in the seedlings below to determine the quality of the seedlings. Then, the seedlings are grasped. When the robotic arm is adjusting, the drive motor 12 rotates and the lead screw 14 rotates. The lead screw 14 drives the moving plate 24 to move downward along the guide rod 23. When the moving plate 24 moves, it drives the various drive rods of the four fingers to move, driving each finger to adjust. Taking one fixed finger 4 as an example, during the adjustment process, the fixed finger drive rod I 45 moves, driving the fixed finger drive rod II 46 to rotate. 46. ​​On one hand, the fixed finger root 41 rotates inward, and on the other hand, it drives the fixed finger root push rod 47 to converge inward. The fixed finger root push rod 47 is rotatably connected to the fixed finger crossing rod 48, which in turn drives it to move inward. One end of the fixed finger crossing rod 48 is connected to the fixed finger tip joint push rod 49, which pushes the fixed finger tip joint push rod 49 to retract inward. The adjustment of the fixed finger is completed through the interaction between the rods. The process of the other three fingers is similar and will not be described in detail here. Finally, the movement of the drive motor 12 enables the robot to adapt to the specifications of the seedling tray and then complete the clamping of the seedling and the pot. After the clamping action is completed, the moving motor 51 on the top plate 22 starts working, driving the gear 54 to rotate, and the two racks 52 follow and move in opposite directions. In the opposite direction, the rack 52 drives the moving sleeve 56 to move linearly via the moving rod 55. At the same time, it drives the moving block 34 located in the first notch 241 on the moving plate 24 to move via the moving finger drive rod I35 and the moving finger drive rod II311. This, in turn, drives the entire moving finger 3 to move, completing the fine adjustment of the moving finger 3. Through the moving mechanism 5, the moving finger 3 is prompted to make fine adjustments in the linear direction, thereby realizing the redistribution of the force applied by the robot arm to the seedling pot. This can prevent damage to the seedlings caused by the clamping force and improve the success rate of transplanting seedlings. After the seedlings are taken out, they are transplanted or discarded according to the feedback information. After replacing the seedling tray, the adjustment process is repeated again when using the seedling tray to adapt to the specifications of the seedling tray.

[0034] Of course, the present invention is not limited to the embodiments described above. Several other embodiments based on the design concept of the present invention are also provided below.

[0035] For example, in other embodiments, unlike the embodiments described above, such as... Figure 1 and Figure 2As shown, the movable finger root 31, movable finger middle joint 32, movable finger tip joint 33, fixed finger root 41, fixed finger middle joint 42 and fixed finger tip joint 43 are all equipped with buffer pads. The buffer pads are silicone pads or rubber pads. By setting the buffer pads, the damage to the seedlings in the pot during the grasping process is reduced, and they play a flexible buffering role.

[0036] It should be noted that the above embodiments are only used to illustrate the present invention, but the present invention is not limited to the above embodiments. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. An adjustable gripping force robotic arm that adapts to the specifications of a burette, the robotic arm being fixed to the end of a robotic arm, characterized in that, Includes a frame (2), the lower end of which is fixedly connected to the end of the robotic arm, and the upper end is provided with a gripping component; The gripping component includes two oppositely arranged moving fingers (3) and two oppositely arranged fixed fingers (4). The frame (2) is provided with a drive mechanism (1). The drive mechanism (1) is used to drive the two moving fingers (3) to close or separate and the two fixed fingers (4) to close or separate, so as to realize the gripping and releasing action. The frame (2) is also provided with a moving mechanism (5) for driving the two moving fingers (3) to move horizontally in opposite directions. After grasping the seedling, the moving mechanism (5) causes the moving finger (3) to make fine adjustments in the straight line direction, thereby realizing the redistribution of the force applied by the robot to the seedling body, which can prevent damage to the seedling caused by the clamping force. The movable finger (3) includes a first finger assembly and a first linkage assembly. The first finger assembly includes a movable finger root (31), a movable finger middle joint (32), and a movable finger tip joint (33) that are hinged in sequence. The first linkage assembly includes a movable block (34), a movable finger drive rod I (35), a movable finger root push rod (36), a movable finger middle joint push rod (37), and a movable finger tip joint push rod (38) that are hinged in sequence. A first notch (241) is provided on the movable plate (24), and a first slide rod (242) is provided at the first notch (241). The movable block (34) is slidably disposed on the first slide rod (242). The end of the movable finger tip joint push rod (38) is hinged to the movable finger tip joint (33). The hinge joint of the movable finger middle joint push rod (37) and the movable finger tip joint push rod (38) is hinged together. The fingertip joint cross rod (39) is rotatably connected to the hinge of the middle joint (32) and the fingertip joint (33) of the finger. The middle joint cross rod (310) of the finger is hinged to the hinge of the finger root push rod (36) and the middle joint push rod (37) of the finger. The end of the middle joint cross rod (310) of the finger is rotatably connected to the hinge of the finger root (31) and the middle joint (32) of the finger. The finger drive rod I (35) of the finger and the finger root push rod (36) of the finger are rotatably connected to the hinge of the finger drive rod II (311). The end of the finger drive rod II (311) is hinged to the end of the finger root (31) of the finger. The hinge of the finger drive rod II (311) and the finger root (31) of the finger is hinged to the moving mechanism (5). The moving mechanism (5) includes a moving motor (51) and two racks (52). A mounting groove is provided in the top plate (22), and two U-shaped sliding plates (53) are arranged opposite each other in the mounting groove. The racks (52) are slidably disposed within the U-shaped sliding plates (53). The output shaft of the moving motor (51) extends into the top plate (22) and has a gear (54) at its end that meshes with the racks (52). A moving rod (55) is provided on the side of the rack (52) facing away from the gear, penetrating the U-shaped sliding plates (53) and the top plate (22). Both (53) and the top plate (22) are provided with a moving through groove (531) for the horizontal movement of the moving rod (55). The end of the moving rod (55) is provided with a moving sleeve (56) and a connecting plate (57) in sequence. The hinge of the moving finger drive rod II (311) and the moving finger root (31) is hinged to the connecting plate (57). The top plate (22) is provided with a third notch (222). The third notch (222) is provided with a second slide rod (223). The moving sleeve (56) is slidably sleeved on the second slide rod (223).

2. The adjustable gripping force robotic arm with adaptive acupuncture plate specifications according to claim 1, characterized in that: The frame (2) includes a base plate (21), a top plate (22) and a plurality of guide rods (23) disposed between the base plate (21) and the top plate (22). A movable plate (24) is slidably disposed on the guide rods (23). A drive mechanism (1) is disposed between the base plate (21) and the top plate (22) for driving the movable plate (24) to move. A movable finger (3) and a fixed finger (4) are both disposed on the top plate (22). The movable finger (3) is hinged to the movable plate (24) and slidably connected. The fixed finger (4) is hinged to the movable plate (24).

3. The adjustable gripping force robotic arm with adaptive acupuncture plate specifications according to claim 2, characterized in that: The drive mechanism (1) includes a drive motor (12), a lead screw (14) and a nut seat (15). The drive motor (12) is located at the bottom of the base plate (21). The output shaft of the drive motor (12) passes through the base plate (21) and its end is connected to one end of the lead screw (14). The other end of the lead screw (14) is rotatably connected to the bottom of the top plate (22). The nut seat (15) is threadedly engaged with the lead screw (14) and is located on the moving plate (24).

4. The adjustable gripping force robotic arm with adaptive acupuncture plate specifications according to claim 1, characterized in that: The fixed finger (4) includes a second finger assembly and a second linkage assembly. The second finger assembly includes a fixed finger root (41), a fixed finger middle joint (42), and a fixed finger tip joint (43) that are hinged in sequence. The second linkage assembly includes a fixed finger connector (44), a fixed finger drive rod I (45), and a fixed finger drive rod II (46) that are hinged in sequence. The fixed finger connector (44) is mounted on the movable plate (24), and a second notch (221) is provided on the top plate (22). The first end of the fixed finger root (41) is hinged to the... At the second notch (221) and hinged to the end of the fixed finger drive rod II (46), a fixed finger cross rod (48) is rotatably connected at the hinge of the fixed finger root (41) and the fixed finger middle joint (42). A fixed finger root push rod (47) is hinged between the fixed finger cross rod (48) and the fixed finger drive rod II (46). The second linkage assembly also includes a fixed finger tip joint push rod (49). The two ends of the fixed finger tip joint push rod (49) are respectively hinged to the end of the fixed finger cross rod (48) and the fixed finger tip joint (43).

5. The adjustable gripping force robotic arm with adaptive acupuncture plate specifications according to claim 1, characterized in that: The end of the moving motor (51) away from the gear (54) is provided with a mounting plate (58), and the mounting plate (58) is provided with a camera (6) for taking pictures of the grasped object.

6. The adjustable gripping force robotic arm with adaptive acupuncture plate specifications according to claim 5, characterized in that: The movable finger root (31), movable finger middle joint (32), movable finger tip joint (33), fixed finger root (41), fixed finger middle joint (42) and fixed finger tip joint (43) are all provided with cushioning pads.

7. The adjustable gripping force robotic arm with adaptive acupuncture plate specifications according to claim 6, characterized in that: The buffer pad is a silicone pad or a rubber pad.

8. The adjustable gripping force robotic arm with adaptive acupuncture plate specifications according to claim 3, characterized in that: The drive motor (12) is provided with a protective shell (11) on the outside, and the protective shell (11) is connected to the end of the robotic arm.

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