Belt wheel type surface longitudinal sliding robot finger device

The invention discloses a belt wheel type surface longitudinal sliding robot finger device, and belongs to the technical field of robot hands. The belt wheel type surface longitudinal sliding robot finger device comprises a base, a plurality of finger sections, a plurality of joints, a plurality of joint drivers and at least one longitudinal sliding assembly. Each longitudinal sliding assembly comprises an auxiliary transmission mechanism, a longitudinal sliding driver, a belt wheel transmission mechanism, a skin layer and the like. The belt wheel type surface longitudinal sliding robot finger device realizes a skin longitudinal sliding function, namely a special function that the surface of a robot finger can slide or rotate in the longitudinal direction of the finger. The rotation and horizontal movement of the skin layer can generate frictional force moving towards or away from the root of the finger on an object making contact with the finger section at the tail end, and operation in a hand is realized. An object can be picked up from a tabletop conveniently by cooperation with other fingers, and the belt wheel type surface longitudinal sliding robot finger device is especially suitable for picking up flat objects such as an eraser, a coin, paper and cloth. The belt wheel type surface longitudinal sliding robot finger device is simple in structure, easy to control and suitable for the robot hand.