CN107030719B

CN107030719B - Multi-joint built-in driving variable gripping force time-delay self-adaptive robot finger device

Info

Publication number: CN107030719B
Application number: CN201710221752.4A
Authority: CN
Inventors: 阮思乔; 张文增; 李特
Original assignee: Shenzhen Casun Intelligent Robot Co ltd; Tsinghua University
Current assignee: Shenzhen Casun Intelligent Robot Co ltd; Tsinghua University
Priority date: 2017-04-06
Filing date: 2017-04-06
Publication date: 2023-07-14
Anticipated expiration: 2037-04-06
Also published as: CN107030719A

Abstract

The utility model provides a multi-joint built-in drive becomes holding power time delay self-adaptation robot finger device, belongs to robot hand technical field, including base, first finger section, second finger section, third finger section, near joint axle, well joint axle, far joint axle, two motors, two reducers, twelve gears, six spring pieces, four driving levers and four lugs. The device realizes the built-in variable gripping force pinching and holding composite self-adaptive grabbing function. The device places the motor at the middle part of the finger, reduces the base space and occupies, can have the effect of self-adaptation snatch to different shape and size objects when snatching the object, and control is simple, need not complicated sensing and control system to the action anthropomorphic degree is high, can hold little object, also can hold heavy object and big object, and the gripping power is changeable.

Description

Multi-joint built-in driving variable gripping force time-delay self-adaptive robot finger device

Technical Field

The invention belongs to the technical field of robot hands, and particularly relates to a structural design of a multi-joint built-in driving variable gripping force time-delay self-adaptive robot finger device.

Background

The self-adaptive underactuated robot hand adopts a small amount of motors to drive the joints with multiple degrees of freedom, the motors hidden in the palm can select larger power and volume due to the small number of the motors, the output force is large, meanwhile, a purely mechanical feedback system does not need to be sensitive to the environment, stable grabbing can be realized, the self-adaptive underactuated robot hand is automatically adapted to objects with different shapes and sizes, the requirements of real-time sensing and closed loop feedback control are eliminated, the control is simple and convenient, and the manufacturing cost is reduced.

There are mainly two gripping methods when gripping objects, one is pinching and the other is holding. The pinching is to pinch the object by the fingertip part of the tail end finger, and to contact the object by two points or two soft finger surfaces, mainly aiming at small-size objects or larger objects with opposite surfaces; the holding is to achieve contact of multiple points by wrapping multiple finger segments of fingers around an object, so as to achieve more stable shape wrapping and grabbing. The traditional purely self-adaptive under-actuated finger can be held in a self-adaptive object enveloping mode, but cannot be used for terminal pinching and grabbing.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a multi-joint built-in driving variable gripping force time-delay self-adaptive robot finger device. The device places the motor at the middle part of the finger, reduces the base space and occupies, can have the effect of self-adaptation snatch to different shape and size objects when snatching the object, and control is simple, need not complicated sensing and control system to the action anthropomorphic degree is high, can hold little object, also can hold heavy object and big object, and the gripping power is changeable.

The technical scheme of the invention is as follows:

the invention relates to a multi-joint built-in driving variable gripping force time-delay self-adaptive robot finger device, which is characterized in that: the device comprises a base, a first finger section, a second finger section, a third finger section, a proximal joint shaft, a middle joint shaft, a distal joint shaft, a first intermediate shaft, a second intermediate shaft, a third intermediate shaft, a fourth intermediate shaft, a first motor, a second motor, a first speed reducer, a second speed reducer, a first gear, a second gear, a third gear, a fourth gear, a fifth gear, a sixth gear, a seventh gear, an eighth gear, a ninth gear, a tenth gear, an eleventh gear, a twelfth gear, a first spring, a second spring, a third spring, a fourth spring, a fifth spring, a sixth spring, a first deflector rod, a second deflector rod, a third deflector rod, a fourth deflector rod, a first lug, a second lug, a third lug and a fourth lug; the near joint shaft is movably sleeved in the base; the first finger section is movably sleeved on the near joint shaft; the middle joint shaft is movably sleeved in the first finger section; the second finger section is movably sleeved on the middle joint shaft; the distal joint sleeve is sleeved in the second finger section; the third finger section is sleeved on the far joint shaft; the first intermediate shaft and the second intermediate shaft are respectively sleeved in the first finger section, and the third intermediate shaft and the fourth intermediate shaft are respectively sleeved in the second finger section; the first motor is arranged in a first finger section, the first motor is fixedly connected with the first finger section, an output shaft of the first motor is connected with an input shaft of a first speed reducer, a first gear is sleeved and fixed on an output shaft of the first speed reducer, the first gear is meshed with a second gear, the second gear is movably sleeved and connected on a near joint shaft, two ends of a first spring part are respectively connected with a second gear and a base, a first deflector rod is fixedly connected with the first gear, the second deflector rod is fixedly connected with a fourth gear, the first deflector rod is in movable contact with the second deflector rod in a stroke range, the first deflector rod is in contact with the second deflector rod or is separated from the first deflector rod by a first distance, the third gear is movably sleeved and connected on the near joint shaft, the third gear is meshed with a fourth gear, the fourth gear is movably sleeved and connected on the second intermediate shaft, the fifth gear is movably sleeved and connected with the sixth gear, the fifth gear is movably and connected with the second bump in a second joint, the second bump is movably sleeved and connected with the second spring part in a second joint, the second bump is in a first joint range, and the second bump is in contact with the second bump is fixedly connected with the second bump in a second joint section; the second motor is arranged in the second finger section, the second motor is fixedly connected with the second finger section, the output shaft of the second motor is connected with the input shaft of the second speed reducer, the seventh gear is fixedly sleeved on the output shaft of the second speed reducer, the seventh gear is meshed with the eighth gear, the eighth gear is movably sleeved on the middle joint shaft, the two ends of the third spring part are respectively connected with the eighth gear and the first finger section, the third deflector rod is fixedly connected with the seventh gear, the fourth deflector rod is fixedly connected with the fifth gear, the third deflector rod is movably contacted with the fourth deflector rod within the stroke range, the third deflector rod is contacted with the fourth deflector rod or separated from the fourth deflector rod by a certain distance, the ninth gear is movably sleeved on the middle joint shaft, the ninth gear is meshed with the tenth gear, the tenth gear is movably sleeved on the third intermediate shaft, the tenth gear is meshed with the eleventh gear, the eleventh gear is movably sleeved on the fourth intermediate shaft, the eleventh gear is meshed with the twelfth gear, the twelfth gear is movably sleeved on the far joint shaft, two ends of the sixth spring piece are respectively connected with the twelfth gear and the third finger section, the third lug is fixedly connected with the first finger section, the fourth lug is fixedly connected with the ninth gear, the third lug is movably contacted with the fourth lug in a stroke range, and the third lug is contacted with the fourth lug or is separated from the fourth lug by a distance; the two ends of the second spring piece are respectively connected with the base and the third gear, and the second spring piece enables the second protruding block to lean against the first protruding block; the two ends of the fourth spring piece are respectively connected with the first finger section and the ninth gear, and the fourth spring piece enables the fourth lug to lean against the third lug; the first gear and the second gear have the same modulus, the seventh gear and the eighth gear have the same modulus, the third gear, the fourth gear, the fifth gear and the sixth gear have the same modulus, and the ninth gear, the tenth gear, the eleventh gear and the twelfth gear have the same modulus; the moduli of the first gear and the second gear are equal; the first intermediate shaft is coaxial with the output shaft of the first speed reducer, and the third intermediate shaft is coaxial with the output shaft of the second speed reducer.

The invention relates to a multi-joint built-in driving variable gripping force time-delay self-adaptive robot finger device, which is characterized in that: the number of teeth of the third gear is equal to that of the sixth gear, and the number of teeth of the ninth gear is equal to that of the twelfth gear.

The invention relates to a multi-joint built-in driving variable gripping force time-delay self-adaptive robot finger device, which is characterized in that: the first spring piece, the third spring piece, the fifth spring piece and the sixth spring piece are all torsion springs; the second spring part and the fourth spring part are all tension springs.

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

the device comprehensively realizes the functions of driving built-in variable gripping force pinching and holding composite self-adaptive grabbing by utilizing a motor, a gear combination, a plurality of spring pieces, a delay deflector rod, a bump constraint and the like. The device places the motor at the middle part of the finger, reduces the base space and occupies, can have the effect of self-adaptation snatch to different shape and size objects when snatching the object, and control is simple, need not complicated sensing and control system to the action anthropomorphic degree is high, can hold little object, also can hold heavy object and big object, and the gripping power is changeable.

Drawings

FIG. 1 is a front cross-sectional view of one embodiment of a multi-joint built-in drive variable grip time-lapse adaptive robotic finger device of the present invention.

Fig. 2 is a front view of the embodiment shown in fig. 1.

Fig. 3 is a side view (left side view of fig. 2) of the embodiment shown in fig. 1.

Fig. 4 is a diagram of the positional relationship of a part of the embodiment shown in fig. 1.

Fig. 5 is a diagram of the positional relationship of a part of the embodiment shown in fig. 1.

FIG. 6 is a diagram showing the relative positions of the first gear, the first lever and the second lever in the initial state according to the embodiment shown in FIG. 1.

FIG. 7 is a diagram showing the relative positions of the seventh gear, the third lever and the fourth lever in the initial state according to the embodiment shown in FIG. 1.

FIG. 8 is a schematic view of the embodiment of FIG. 1 with a first lever contacting a second lever during a grasping process.

FIG. 9 is a schematic view of the embodiment of FIG. 1 with the first lever pushing the second lever through an angle during a grasping process.

FIG. 10 is a schematic view of the embodiment of FIG. 1 with a third lever contacting a fourth lever during a grabbing process.

FIG. 11 is a schematic illustration of the embodiment of FIG. 1 with the third lever pushing the fourth lever through an angle during a grasping process.

Fig. 12-13 illustrate the embodiment of fig. 1 when the third finger section first contacts the object as it is grasped.

Fig. 14 to 16 show the embodiment of fig. 1 when the first finger section and the second finger section contact the object before the third finger section contacts the object.

Fig. 17 to 20 are views showing the case where the first finger section, the second finger section, and the third finger section sequentially contact the object while the embodiment shown in fig. 1 grips the object.

In fig. 1 to 20:

1-a base, 21-a first finger section, 22-a second finger section, 23-a third finger section,

31-proximal joint axis, 32-middle joint axis, 33-distal joint axis, 341-first intermediate axis,

342-second intermediate shaft, 343-third intermediate shaft, 344-fourth intermediate shaft, 41-first motor,

42-second motor, 411-first reducer, 421-second reducer, 51-first gear,

52-second gear, 53-third gear, 54-fourth gear, 55-fifth gear,

56-sixth gear, 57-seventh gear, 58-eighth gear, 59-ninth gear,

60-tenth gear, 61-eleventh gear, 62-twelfth gear, 71-first spring element,

72-second spring, 73-third spring, 74-fourth spring, 75-fifth spring,

76-sixth spring element, 81-first deflector rod, 82-second deflector rod, 83-third deflector rod,

84-fourth lever, 91-first bump, 92-second bump, 93-third bump,

94-fourth bump, 99-object.

Detailed Description

The details of the specific construction and operation of the present invention will be further described with reference to the accompanying drawings and examples.

1-7, the multi-joint built-in driving variable gripping force time-delay self-adaptive robot finger device comprises a base 1, a first finger section 21, a second finger section 22, a third finger section 23, a near joint shaft 31, a middle joint shaft 32, a far joint shaft 33, a first middle shaft 341, a second middle shaft 342, a third middle shaft 343, a fourth middle shaft 344, a first motor 41, a second motor 42, a first speed reducer 411, a second speed reducer 421, a first gear 51, a second gear 52, a third gear 53, a fourth gear 54, a fifth gear 55, a sixth gear 56, a seventh gear 57, an eighth gear 58, a ninth gear 59, a tenth gear 60, an eleventh gear 61, a twelfth gear 62, a first spring 71, a second spring 72, a third spring 73, a fourth spring 74, a fifth spring 75, a sixth spring 76, a first deflector 81, a second deflector 82, a third deflector 83, a fourth deflector 84, a fourth deflector 92, a fourth bump 93 and a fourth bump 93; the near joint shaft 31 is movably sleeved in the base 1; the first finger section 21 is movably sleeved on the near joint shaft 31; the middle joint shaft 32 is movably sleeved in the first finger section 21; the second finger section 22 is movably sleeved on the middle joint shaft 32; the far joint shaft 33 is sleeved in the second finger section 23; the third finger section 24 is sleeved on the far joint shaft 33; the first intermediate shaft 341 and the second intermediate shaft 342 are respectively sleeved in the first finger section 21, and the third intermediate shaft 343 and the fourth intermediate shaft 344 are respectively sleeved in the second finger section 22; the first motor 41 is arranged in the first finger section 21, the first motor 41 is fixedly connected with the first finger section 21, an output shaft of the first motor 41 is connected with an input shaft of the first speed reducer 411, the first gear 51 is fixedly sleeved on an output shaft of the first speed reducer 411, the first gear 51 is meshed with the second gear 52, the second gear 52 is movably sleeved on the near joint shaft 31, two ends of the first spring piece 71 are respectively connected with the second gear 52 and the base 1, the first deflector rod 81 is fixedly connected with the first gear 51, the second deflector rod 82 is fixedly connected with the fourth gear 54, the first deflector rod 81 is movably contacted with the second deflector rod 82 in a range of travel, the first deflector rod 81 is contacted with the second deflector rod 82 or separated from the second deflector rod 82 by a certain distance, the third gear 53 is movably sleeved on the near joint shaft 31, the third gear 53 is meshed with the fourth gear 54, the fourth gear 54 is movably sleeved on the first intermediate shaft 341, the fourth gear 54 is meshed with the fifth gear 55, the fifth gear 55 is movably sleeved on the second intermediate shaft 342, the fifth gear 55 is meshed with the sixth gear 56, the sixth gear 56 is movably sleeved on the middle joint shaft 32, two ends of the fifth spring element 75 are respectively connected with the sixth gear 56 and the second finger section 22, the first lug 92 is fixedly connected with the base 1, the second lug 92 is fixedly connected with the third gear 53, the first lug 91 is movably contacted with the second lug 92 in a range of travel, and the first lug 91 is contacted with the second lug 92 or separated from the second lug 92 by a certain distance; the second motor 42 is arranged in the second finger section 22, the second motor 42 is fixedly connected with the second finger section 22, the output shaft of the second motor 42 is connected with the input shaft of the second speed reducer 421, the seventh gear 57 is fixedly sleeved on the output shaft of the second speed reducer 421, the seventh gear 57 is meshed with the eighth gear 58, the eighth gear 58 is movably sleeved on the middle joint shaft 32, the two ends of the third spring piece 73 are respectively connected with the eighth gear 58 and the first finger section 21, the third deflector rod 83 is fixedly connected with the seventh gear 57, the fourth deflector rod 84 is fixedly connected with the fifth gear 55, the third deflector rod 83 is in movable contact with the fourth deflector rod 84 in a range of travel, the third deflector rod 83 is in contact with the fourth deflector rod 84 or is separated from the first range of travel, the ninth gear 59 is movably sleeved on the middle joint shaft 32, the ninth gear 59 is meshed with the tenth gear 60, the tenth gear 60 is movably sleeved on the third middle shaft 343, the tenth gear 60 is movably sleeved on the eleventh gear 62 is meshed with the eleventh gear 61, the eleventh gear 61 is meshed with the fourth gear 61, the eleventh gear 33 is movably sleeved on the fourth gear 33, the fourth gear 94 is movably sleeved on the fourth intermediate shaft 33, the second finger section 94 is movably connected with the eleventh gear 61 is in the range of travel, the eleventh gear 94 is movably sleeved on the eleventh gear 61, the eleventh gear 33 is movably connected with the fourth gear 93, and the fourth boss 94 is movably sleeved on the fourth gear 93, and the fourth boss is movably connected with the fourth boss 94 in a range of travel, and the fourth boss is respectively; both ends of the second spring element 72 are respectively connected with the base 1 and the third gear 53, and the second spring element 72 makes the second bump 92 lean against the first bump 91; both ends of the fourth spring element 74 are respectively connected with the first finger section 21 and the ninth gear 59, and the fourth spring element 74 makes the fourth protruding block 94 lean against the third protruding block 93; the first gear 51 and the second gear 52 have the same modulus, the seventh gear 57 and the eighth gear 58 have the same modulus, the third gear 53, the fourth gear 54, the fifth gear 55 and the sixth gear 56 have the same modulus, and the ninth gear 59, the tenth gear 60, the eleventh gear 61 and the twelfth gear 62 have the same modulus; the modules of the first gear 51 and the second gear 52 are equal; the first intermediate shaft 341 is coaxial with the output shaft of the first speed reducer 411, and the third intermediate shaft 343 is coaxial with the output shaft of the second speed reducer 421.

In this embodiment, the number of teeth of the third gear 53 is equal to the number of teeth of the sixth gear 56, and the number of teeth of the ninth gear 59 is equal to the number of teeth of the twelfth gear 62.

In this embodiment, torsion springs are used for the first spring 71, the third spring 73, the fifth spring 75, and the sixth spring 76; the second spring element 72 and the fourth spring element 74 are both tension springs.

The working principle of the present embodiment is described below with reference to the accompanying drawings:

the initial state of the device is shown in fig. 1, 2, 3, 4, 5, 6 and 7, at this time, the second spring 72 makes the second protrusion 92 abut against the first protrusion 91 (shown in fig. 4), the fourth spring 74 makes the fourth protrusion 94 abut against the third protrusion 93 (shown in fig. 5), the first lever 81 and the second lever 82 have an angular distance (shown in fig. 6), and the third lever 83 and the fourth lever 84 have an angular distance (shown in fig. 7).

The first motor 41 rotates, the first gear 51 is driven by the first reducer 411 to drive the second gear 52, the second gear 52 drives the first finger segment 21 to rotate around the joint axis 31 (i.e. the first finger segment 21 is close to the object 99) by the first spring element 71, the second spring element 72 makes the second bump 92 close to the first bump 91, so that the third gear 53 is fixed relative to the base 1, the rotation of the first finger segment 21 can cause the fourth gear 54 to rotate relative to the first finger segment 21, the fifth gear 55 is driven to drive the sixth gear 56, the second finger segment 22 is driven by the fifth spring element 75 to rotate around the middle joint axis 32 (i.e. the second finger segment 22 is close to the object 99), and at this time, the ninth gear 59 is fixed relative to the first finger segment 21, the rotation of the second finger segment 22 can cause the tenth gear 60 to rotate relative to the second finger segment 22, the eleventh gear 61 is driven to drive the twelfth gear 62, and the third finger segment 23 is driven by the sixth spring element 75 to rotate around the joint axis 23 (i.e. the third finger segment 23 is close to the object 99), thereby realizing the coupling effect.

At this time, the following different cases may be encountered:

1) When the third finger section 23 contacts the object 99, the first motor 41 rotates a small angle again, the first spring element 71, the fifth spring element 75 and the sixth spring element 76 deform, the deformation elasticity of the first spring element 71, the fifth spring element 75 and the sixth spring element 76 becomes the gripping force source for gripping the object 99, and the gripping process is finished, as shown in fig. 12 and 13;

2) When the first finger segment 21 contacts the object 99, the first motor 41 continues to rotate, the first spring element 71 is deformed, the first shift lever 81 on the first gear 51 rotates to contact the second shift lever 82 on the fourth gear 54 (as shown in fig. 8) after a period of time (i.e., a first delay), and the first shift lever 81 pushes the second shift lever 82 to rotate by an angle (as shown in fig. 9), so that the fourth gear 54 is rotated, the fifth gear 55 is driven to drive the sixth gear 56, the fifth spring element 75 drives the second finger segment 22 to rotate around the middle joint shaft 32, the ninth gear 59 is fixed relative to the first finger segment 21, the tenth gear 60 rotates relative to the second finger segment 22 to drive the eleventh gear 61, the twelfth gear 62 is driven to drive the third finger segment 23 to rotate around the distal joint shaft 33 through the sixth spring element 76.

At this time, the following different cases may be encountered:

a) When the third finger section 23 contacts the object 99, the first motor 41 rotates a small angle again, the first spring 71, the fifth spring 75 and the sixth spring 76 deform, the deformation elasticity of the first spring 71, the fifth spring 75 and the sixth spring 76 becomes the gripping force source for gripping the object 99, and the gripping is finished;

b) When the second finger section 22 contacts the object 99, the second motor 42 is restarted, the seventh gear 57 is driven by the second speed reducer 421, the eighth gear 58 is driven by the third spring 73 to drive the second finger section 22 to rotate around the middle joint shaft 32, the second finger section 22 leans against the object 99, the ninth gear 59 is fixed relative to the first finger section 21, the tenth gear 60 is rotated relative to the second finger section 22, the eleventh gear 61 is driven, the twelfth gear 62 is driven by the sixth spring 76 to drive the third finger section 23 to rotate.

At this time, the following different cases may be encountered:

i) When the third finger section 23 contacts the object 99, the second motor 42 rotates a small angle again, the third spring member 73 and the sixth spring member 76 deform, the deformation elastic force of the third spring member 73 and the sixth spring member 76 becomes a gripping force source for gripping the object, and the gripping process is finished, as shown in fig. 14, 15 and 16;

II) when the second finger section 22 contacts the object 99, the second motor 42 continues to rotate, the seventh gear 57 is driven by the second speed reducer 421, the third shift lever 83 on the seventh gear 57 contacts the fourth shift lever 84 on the tenth gear 60 (as shown in fig. 10) through idle rotation for a period of time (i.e., a second delay), and the third shift lever 83 pushes the fourth shift lever 84 to rotate by an angle (as shown in fig. 11), so as to rotate the tenth gear 60, drive the eleventh gear 61, drive the twelfth gear 62, drive the third finger section 23 to rotate by the sixth spring 76 until the third finger section 23 contacts the object, and the grabbing process is completed, as shown in fig. 17, 18, 19 and 20.

The grabbing is that a plurality of joints rotate simultaneously, and simultaneously, the grabbing device can adapt to objects with different shapes and sizes well and has self-adaptability; when a small grabbing force is needed, only the first motor 41 needs to be started, when a large grabbing force is needed, after a certain finger section (namely the first finger section 21, the second finger section 22 or the third finger section 23) contacts an object, the first motor 41 continues to rotate for a small period of time, the grabbing force can be changed through different spring pieces (namely the first spring piece 71, the third spring piece 73, the fifth spring piece 75 and the sixth spring piece 76), and when a particularly large grabbing force is needed, the second motor 42 can also be started to perform collaborative grabbing, and the grabbing force at the moment is provided by the first motor 41 and the second motor 42 together, so that the grabbing force is increased more. The first motor 41 may bring about a coupling-first-then-adaptive-coupling-adaptive composite gripping mode of three joints (proximal, middle and distal), and the second motor 42 may bring about a coupling-first-then-adaptive-coupling-adaptive composite gripping mode of two joints (middle and distal).

When the self-adapting grabbing of the middle joint occurs, the first finger section 21 contacts the object 99 and is blocked by the object 99, when the first deflector rod 81 pushes the second deflector rod 82 to rotate, the fourth gear 54 rotates, the third gear 53 rotates relative to the base 1, and the second spring piece 72 deforms; when the distal joint is adaptively grasped, the second finger section 22 contacts the object 99 and is blocked by the object 99, the tenth gear 60 rotates and the ninth gear 59 rotates relative to the first finger section 21, and the fourth spring 74 is deformed, when the third lever 83 pushes the fourth lever 84 to rotate.

When the object 99 is released in this embodiment, the second motor 42 is reversed, the first motor 41 is reversed, and the subsequent process is reverse to the above process, and will not be described again.

Claims

1. The utility model provides a multi-joint embeds drive becomes holding power delay self-adaptation robot finger device which characterized in that: the device comprises a base, a first finger section, a second finger section, a third finger section, a proximal joint shaft, a middle joint shaft, a distal joint shaft, a first intermediate shaft, a second intermediate shaft, a third intermediate shaft, a fourth intermediate shaft, a first motor, a second motor, a first speed reducer, a second speed reducer, a first gear, a second gear, a third gear, a fourth gear, a fifth gear, a sixth gear, a seventh gear, an eighth gear, a ninth gear, a tenth gear, an eleventh gear, a twelfth gear, a first spring, a second spring, a third spring, a fourth spring, a fifth spring, a sixth spring, a first deflector rod, a second deflector rod, a third deflector rod, a fourth deflector rod, a first lug, a second lug, a third lug and a fourth lug; the near joint shaft is movably sleeved in the base; the first finger section is movably sleeved on the near joint shaft; the middle joint shaft is movably sleeved in the first finger section; the second finger section is movably sleeved on the middle joint shaft; the distal joint sleeve is sleeved in the second finger section; the third finger section is sleeved on the far joint shaft; the first intermediate shaft and the second intermediate shaft are respectively sleeved in the first finger section, and the third intermediate shaft and the fourth intermediate shaft are respectively sleeved in the second finger section; the first motor is arranged in a first finger section, the first motor is fixedly connected with the first finger section, an output shaft of the first motor is connected with an input shaft of a first speed reducer, a first gear is sleeved and fixed on an output shaft of the first speed reducer, the first gear is meshed with a second gear, the second gear is movably sleeved and connected on a near joint shaft, two ends of a first spring part are respectively connected with a second gear and a base, a first deflector rod is fixedly connected with the first gear, the second deflector rod is fixedly connected with a fourth gear, the first deflector rod is in movable contact with the second deflector rod in a stroke range, the first deflector rod is in contact with the second deflector rod or is separated from the first deflector rod by a first distance, the third gear is movably sleeved and connected on the near joint shaft, the third gear is meshed with a fourth gear, the fourth gear is movably sleeved and connected on the second intermediate shaft, the fifth gear is movably sleeved and connected with the sixth gear, the fifth gear is movably and connected with the second bump in a second joint, the second bump is movably sleeved and connected with the second spring part in a second joint, the second bump is in a first joint range, and the second bump is in contact with the second bump is fixedly connected with the second bump in a second joint section; the second motor is arranged in the second finger section, the second motor is fixedly connected with the second finger section, the output shaft of the second motor is connected with the input shaft of the second speed reducer, the seventh gear is fixedly sleeved on the output shaft of the second speed reducer, the seventh gear is meshed with the eighth gear, the eighth gear is movably sleeved on the middle joint shaft, the two ends of the third spring part are respectively connected with the eighth gear and the first finger section, the third deflector rod is fixedly connected with the seventh gear, the fourth deflector rod is fixedly connected with the fifth gear, the third deflector rod is movably contacted with the fourth deflector rod within the stroke range, the third deflector rod is contacted with the fourth deflector rod or separated from the fourth deflector rod by a certain distance, the ninth gear is movably sleeved on the middle joint shaft, the ninth gear is meshed with the tenth gear, the tenth gear is movably sleeved on the third intermediate shaft, the tenth gear is meshed with the eleventh gear, the eleventh gear is movably sleeved on the fourth intermediate shaft, the eleventh gear is meshed with the twelfth gear, the twelfth gear is movably sleeved on the far joint shaft, two ends of the sixth spring piece are respectively connected with the twelfth gear and the third finger section, the third lug is fixedly connected with the first finger section, the fourth lug is fixedly connected with the ninth gear, the third lug is movably contacted with the fourth lug in a stroke range, and the third lug is contacted with the fourth lug or is separated from the fourth lug by a distance; the two ends of the second spring piece are respectively connected with the base and the third gear, and the second spring piece enables the second protruding block to lean against the first protruding block; the two ends of the fourth spring piece are respectively connected with the first finger section and the ninth gear, and the fourth spring piece enables the fourth lug to lean against the third lug; the first gear and the second gear have the same modulus, the seventh gear and the eighth gear have the same modulus, the third gear, the fourth gear, the fifth gear and the sixth gear have the same modulus, and the ninth gear, the tenth gear, the eleventh gear and the twelfth gear have the same modulus; the moduli of the first gear and the second gear are equal; the first intermediate shaft is coaxial with the output shaft of the first speed reducer, and the third intermediate shaft is coaxial with the output shaft of the second speed reducer.

2. The multi-joint built-in driving variable gripping force delay self-adaptive robot finger device according to claim 1, wherein: the number of teeth of the third gear is equal to that of the sixth gear, and the number of teeth of the ninth gear is equal to that of the twelfth gear.

3. The multi-joint built-in driving variable gripping force delay self-adaptive robot finger device according to claim 1, wherein: the first spring piece, the third spring piece, the fifth spring piece and the sixth spring piece are all torsion springs; the second spring part and the fourth spring part are all tension springs.