一种软体驱动的夹爪装置

本申请公开了一种软体驱动的夹爪装置，包括夹爪根部、至少两个夹爪手指和至少两个第一连杆组件。由于增设了夹爪根部、夹爪手指和第一连杆组件，当需要使用夹爪手指夹持物品时，通过第一软体驱动单元驱动第一活动件向手指夹持位运动，带动第一连杆组件运动，通过第一连杆组件带动相对设置的夹爪手指同时朝向接触面转动，实现对物品的夹持。通过第一连杆组件将第一软体驱动单元的输出力转化为夹爪手指的夹持力，使得夹爪装置输出的夹持力不依赖于软体夹爪自身的弹性，有利于实现夹爪装置稳定输出较大的夹持力。

The invention discloses a software-driven clamping jaw device which comprises a clamping jaw root part, at least two clamping jaw fingers and at least two first connecting rod assemblies. Since the clamping jaw root part, the clamping jaw fingers and the first connecting rod assemblies are additionally arranged, when an article needs to be clamped by using the clamping jaw fingers, a first software drive unit drives a first movable piece to move toward a finger clamping station so as to drive the first connecting rod assemblies to move; and the first connecting rod assemblies drive the oppositely arranged clamping jaw fingers to simultaneously rotate toward a contact surface so as to clamp the article. Through the first connecting rod assemblies, an output force of the first software driveunit is converted into a clamping force of the clamping fingers, so that the clamping force output by the clamping jaw device does not depend on the own elasticity of a software clamping jaw, and theclamping jaw device can favorably and stably output a larger clamping force.