CN113319878A

CN113319878A - Parallel connecting rod double-shifting block linear parallel clamping self-adaptive robot finger device

Info

Publication number: CN113319878A
Application number: CN202110789504.6A
Authority: CN
Inventors: 董尹凯; 张文增
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-07-13
Filing date: 2021-07-13
Publication date: 2021-08-31
Anticipated expiration: 2041-07-13
Also published as: CN113319878B

Abstract

Parallel connection connecting rod double-shifting block linear parallel clamping self-adaptive robot finger device belongs to the technical field of robot hands, and comprises a base, three finger sections, three joint shafts, a motor, a transmission mechanism, five connecting rods, three spring pieces, two shifting blocks, a limiting block and the like. The device can complete linear parallel clamping and adaptive envelope grabbing. When the near finger section and the far finger section are not blocked, the device is in a straight line parallel clamping state, the far finger section translates, the motion track is approximate to a straight line, and the device is suitable for clamping an object on a plane; when one of the proximal finger section and the distal finger section is blocked, the device enters an adaptive envelope grabbing state, and the distal finger section rotates around the distal joint shaft until contacting an object. The device has adaptability to objects of different shapes and sizes, has the effect of changing the grabbing force when grabbing the objects, only adopts one motor to drive a plurality of joints, is stable in grabbing, simple to control, low in manufacturing and maintenance cost and suitable for various robots for grabbing.

Description

Parallel connecting rod double-shifting block linear parallel clamping 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 parallel connecting rod double-shifting block linear parallel clamping self-adaptive robot finger device.

Background

The robot hand is an important executing mechanism for the robot to perform grabbing operation. In order to mimic the flexibility, reliability and applicability of human hands as much as possible, researchers have developed dexterous hands with more active degrees of freedom, such as the Gifu II hand developed by the university of japanese mons and the Robonaut hand developed by the united states space agency. The dexterous hand is driven by a motor with most joint degrees of freedom, and has high precision. However, the dexterous hand has the defects of high cost, complex structure and difficult operation and control, and is difficult to be widely popularized and applied in a short period.

In this case, researchers have attempted to drive more joints using fewer motors. An adaptive under-actuated hand is designed by Laval university Canada, and the SARAH hand developed based on the adaptive under-actuated hand is applied to an international space station and is successful. The number of under-actuated finger motors is less than the number of joint degrees of freedom, and the under-actuated finger motors are large in holding power, simple to control and low in cost, so that the under-actuated finger motors are popularized and applied. Barret's adaptive hand in the united states, Robotiq's hand in canada, SDM's hand at yale university in the united states, and the like are under-actuated hands.

The under-actuated hand is divided into several basic types such as a flat clamp, a coupling, an adaptation and the like and a composite type combining them. The horizontal clamping fingers are the postures of the tail end finger sections which are always kept unchanged from the base in the grabbing process; the coupled fingers mean that more than two joints are linked to achieve the cage-type enveloping grabbing effect of a plurality of fingers; the self-adaptive finger is characterized in that the finger rotates from a root joint to a tail end joint in sequence to adapt to objects with different shapes and sizes, and the object is grabbed by taking the finger section which is close to the palm before the object contacts as a trigger condition.

The parallel clamping self-adaptive finger is a composite grabbing type finger which is generated by combining parallel clamping and self-adaptive grabbing functions in two time stages in tandem. For example, the Robotiq finger in Canada is a typical parallel grip and adaptive compound mode finger.

The traditional parallel clamping self-adaptive finger has the defect that the tail end finger section presents a circular arc track, so that the danger that the tail end of the finger collides with a tabletop for placing an object can occur when the finger grabs the object, the size of the object needs to be known before grabbing, the height of the finger is adjusted, and the height perpendicular to the tabletop for placing the object is compensated through the mechanical arm. Therefore, the working efficiency of the robot is greatly reduced, and the control difficulty in real-time grabbing of different objects is increased.

The prior connecting rod gear parallel clamping self-adaptive robot finger device (patent CN105583830B) comprises a base, two finger sections, two joint shafts, a driver, three transmission rods, a plurality of gears, a lug drive plate, a spring piece, a limiting lug and the like. The device utilizes driver, connecting rod drive mechanism, gear drive mechanism, spring spare, lug driver plate and spacing lug etc. to realize the function that parallel centre gripping and self-adaptation snatched comprehensively. The disadvantages are that: this finger is the parallel-clamping self-adaptation finger that the end is the circular arc orbit, can't realize that the end is the parallel-clamping self-adaptation of straight line orbit and compound the mode of snatching, when snatching desktop object, needs the arm cooperation control collaborative operation just can realize that more accurate object snatchs, brings the trouble for mechanical arm control, when snatching not equidimension object simultaneously, the device need highly carry out the operation at the difference, otherwise takes place the device's the danger that terminal finger and desktop collided easily.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a parallel connecting rod double-shifting block linear parallel clamping self-adaptive robot finger device. The device has two grabbing modes of straight-line parallel clamping and self-adaptive grabbing, does not need to carry out complex real-time detection and planning on the environment of an object, can clamp the object along a straight-line translation far finger section, and can also move a near finger section, a middle finger section and a far finger section in sequence to carry out self-adaptive enveloping on the objects with different shapes and sizes; and a single motor is adopted for driving, so that the grabbing range is wide.

The technical scheme of the invention is as follows:

the invention relates to a parallel connecting rod double-shifting block linear parallel clamping self-adaptive robot finger device which comprises a base, a near finger section, a middle finger section, a far finger section, a near joint shaft, a middle joint shaft, a far joint shaft, a motor and a transmission mechanism, wherein the base is provided with a base plate; the near joint shaft is sleeved in the base, the near finger section is sleeved on the near joint shaft, and the middle joint shaft is sleeved in the near finger section; the middle finger section is sleeved on a middle joint shaft, and the far joint shaft is sleeved in the middle finger section; the far finger section is sleeved on the far joint shaft; the motor is fixedly connected with the base and is connected with the input end of the transmission mechanism; the central lines of the proximal joint shaft, the middle joint shaft and the distal joint shaft are parallel to each other; the method is characterized in that: the parallel connecting rod double shifting block linear parallel clamping self-adaptive robot finger device further comprises a transition shaft, a first shaft, a second shaft, a third shaft, a fourth shaft, a fifth shaft, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a first gear, a second gear, a third gear, a fourth gear, a first shifting block, a second shifting block, a first spring piece, a second spring piece, a third spring piece and a limiting block; the central lines of the first shaft, the second shaft, the third shaft, the fourth shaft and the fifth shaft are parallel to each other; the first shaft is sleeved in the base, one end of the first connecting rod is sleeved on the first shaft, the other end of the first connecting rod is sleeved on the second shaft, and the middle finger section is sleeved on the second shaft; one end of the second connecting rod is sleeved on the proximal joint shaft, and the other end of the second connecting rod is sleeved on the third shaft; the third connecting rod is sleeved on a third shaft, and the fourth shaft is sleeved in the third connecting rod; two ends of the fourth connecting rod are respectively sleeved on the fourth shaft and the middle joint shaft; the fifth connecting rod is sleeved on a fourth shaft, and the fifth shaft is sleeved in the fifth connecting rod; the far finger section is sleeved on a fifth shaft; the limiting block is fixedly connected with the base; two ends of the first spring piece are respectively connected with the second connecting rod and the limiting block; in an initial state, the second connecting rod is in contact with the limiting block; the transition shaft is sleeved in the base, and the central lines of the transition shaft and the near joint shaft are parallel to each other; the first gear is sleeved on the transition shaft, and the output end of the transmission mechanism is connected with the first gear; the second gear is sleeved on the proximal joint shaft and meshed with the first gear, and two ends of the second spring part are respectively connected with the second gear and the proximal finger section; the first shifting block is fixedly connected with the first gear; the third gear is sleeved on the transition shaft, and the second shifting block is fixedly connected with the third gear; in an initial state, a distance exists between the first shifting block and the second shifting block; the fourth gear is sleeved on the proximal joint shaft, and the third gear is meshed with the fourth gear; two ends of the third spring are respectively connected with a fourth gear and a second connecting rod; the central points of the near joint shaft, the first shaft, the second shaft, the middle joint shaft, the far joint shaft, the third shaft, the fourth shaft and the fifth shaft are A, B, C, D, E, F, G, H; the length of the line segment AF, the length of the line segment DG and the length of the line segment EH are equal; the length of the line segment AD is equal to the length of the line segment FG; the length of the line segment GH is equal to the length of the line segment DE; the length relationship of the line segments AB, BC, CD, DE, CE and AD satisfies: AB: BC: CD: DE: CE: AD: 68:51:49:68:110: 100.

The invention relates to a parallel connecting rod double-shifting block linear parallel clamping self-adaptive robot finger device, which is characterized in that: the transmission mechanism comprises a speed reducer, a worm and a worm wheel; the output shaft of the motor is connected with the input shaft of the speed reducer; the worm is fixedly sleeved on an output shaft of the speed reducer; the worm wheel is fixedly sleeved on the transition shaft, and the first gear is fixedly connected with the transition shaft; the worm is engaged with the worm wheel.

The invention relates to a parallel connecting rod double-shifting block linear parallel clamping self-adaptive robot finger device, which is characterized in that: the first spring piece adopts a tension spring, a pressure spring or a torsion spring; the second spring piece adopts a tension spring, a pressure spring or a torsion spring; the third spring piece adopts a tension spring, a pressure spring or a torsion spring.

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

the device adopts base, three finger section, three articulated shaft, motor, drive mechanism, five connecting rods, three spring spare, two shifting blocks and stopper etc. to synthesize and realize straight line parallel centre gripping and self-adaptation envelope and snatch. When the near finger section and the far finger section are not blocked, the device is in a straight line parallel clamping state, the far finger section translates and the motion track is approximate to a straight line, the device is particularly suitable for clamping an object on a plane, and the position compensation of a mechanical arm in the direction vertical to the plane where the object is located is not needed; when one of the proximal finger section and the distal finger section is blocked, the device automatically enters an adaptive envelope grabbing state, and the distal finger section rotates around the distal joint shaft until contacting an object. The device has adaptability to objects with different shapes and sizes in the self-adaptive grabbing stage. The device has the effect of changing the holding power when the device is used for holding an object. The device is an under-actuated finger, only adopts one motor to realize the rotation of a plurality of joints, is stable in grabbing, simple to control, low in manufacturing and maintenance cost and suitable for various robots for grabbing.

Drawings

Fig. 1 is a perspective external view of an embodiment of a parallel connecting rod double shifting block linear parallel clamping adaptive robot finger device designed by the invention.

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

Fig. 3 is a sectional view a-a of fig. 2.

Fig. 4 is a sectional view B-B of fig. 2.

Fig. 5 is a rear view of the embodiment of fig. 1 (not shown with some parts).

Fig. 6 is a perspective view of the embodiment of fig. 1 (not shown with some parts).

Fig. 7 is a left side view of the embodiment of fig. 1 (not shown with some parts).

Fig. 8 is a left side view of the embodiment of fig. 1 (not shown with some parts).

Fig. 9 is an exploded view of the embodiment shown in fig. 1.

Fig. 10 is a schematic diagram of a portion of the mechanism in the embodiment of fig. 1.

Fig. 11 is a schematic mechanical diagram of the embodiment shown in fig. 1.

Fig. 12-15 are diagrams illustrating the relative position movement of the first block and the second block in the embodiment of fig. 1.

Fig. 16 is a process of linear parallel clamping operation of the embodiment of fig. 1.

Fig. 17 is a process of adaptive action for the embodiment shown in fig. 1.

In fig. 1 to 17:

10-base, 101-base front plate, 102-base rear plate, 103-base left plate,

104-base right plate, 105-base bottom plate, 105-base cover plate, 11-motor,

12-a reducer, 13-a worm, 14-a worm wheel, 15-a transition shaft,

16-first gear, 17-second gear, 18-third gear, 19-fourth gear,

21-first link, 211-first link a, 212-first link B, 22-second link,

23-a third connecting rod, 24-a fourth connecting rod, 25-a fifth connecting rod, 31-a proximal finger section,

311-left board of proximal finger section, 312-right board of proximal finger section, 313-surface board of proximal finger section, 32-middle finger section,

321-left plate of middle finger section, 322-right plate of middle finger section, 323-surface plate of middle finger section, 33-far finger section,

41-proximal joint axis, 42-first axis, 421-first axis A, 422-first axis B,

43-second axis, 431-second axis A, 432-second axis B, 44-middle joint axis,

45-distal joint axis, 46-third axis, 47-fourth axis, 48-fifth axis,

51-a first shifting block, 52-a second shifting block, 61-a first spring element, 62-a second spring element,

63-a third spring element, 7-a limiting block and 9-an object.

Detailed Description

The details of the structure and the operation principle of the present invention are further described in detail below with reference to the accompanying drawings and embodiments.

An embodiment of the parallel connecting rod double shifting block linear parallel clamping self-adaptive robot finger device designed by the invention is shown in fig. 1 to 9 and comprises a base 10, a near finger section 31, a middle finger section 32, a far finger section 33, a near joint shaft 41, a middle joint shaft 44, a far joint shaft 45, a motor 11 and a transmission mechanism; the proximal joint shaft 41 is sleeved in the base 10, the proximal finger section 31 is sleeved on the proximal joint shaft 41, and the middle joint shaft 44 is sleeved in the proximal finger section 31; the middle finger section 32 is sleeved on a middle joint shaft 44, and the far joint shaft 45 is sleeved in the middle finger section 32; the distal finger section 33 is sleeved on the distal joint shaft 45; the motor 11 is fixedly connected with the base 10, and the motor 11 is connected with the input end of the transmission mechanism; the central lines of the proximal joint shaft 41, the middle joint shaft 44 and the distal joint shaft 45 are parallel to each other; the method is characterized in that: the parallel connecting rod double shifting block linear parallel clamping self-adaptive robot finger device further comprises a transition shaft 15, a first shaft 42, a second shaft 43, a third shaft 46, a fourth shaft 47, a fifth shaft 48, a first connecting rod 21, a second connecting rod 22, a third connecting rod 23, a fourth connecting rod 24, a fifth connecting rod 25, a first gear 16, a second gear 17, a third gear 18, a fourth gear 19, a first shifting block 51, a second shifting block 52, a first spring piece 61, a second spring piece 62, a third spring piece 63 and a limiting block 7; the central lines of the first shaft 42, the second shaft 43, the third shaft 46, the fourth shaft 47 and the fifth shaft 48 are parallel to each other; the first shaft 42 is sleeved in the base 10, one end of the first connecting rod 21 is sleeved on the first shaft 42, the other end of the first connecting rod 21 is sleeved on the second shaft 43, and the middle finger section 32 is sleeved on the second shaft 43; one end of the second connecting rod 22 is sleeved on the proximal joint shaft 41, and the other end of the second connecting rod 22 is sleeved on the third shaft 46; the third connecting rod 23 is sleeved on the third shaft 46, and the fourth shaft 47 is sleeved in the third connecting rod 23; two ends of the fourth connecting rod 24 are respectively sleeved on the fourth shaft 47 and the middle joint shaft 44; the fifth connecting rod 25 is sleeved on the fourth shaft 47, and the fifth shaft 48 is sleeved in the fifth connecting rod 25; the far finger section 33 is sleeved on a fifth shaft 48; the limiting block 7 is fixedly connected with the base 10; two ends of the first spring piece 61 are respectively connected with the second connecting rod 22 and the limiting block 7; in an initial state, the second connecting rod 22 is in contact with the limiting block 7; the transition shaft 15 is sleeved in the base 10, and the central lines of the transition shaft 15 and the proximal joint shaft 41 are parallel to each other; the first gear 16 is sleeved on the transition shaft 15, and the output end of the transmission mechanism is connected with the first gear 16; the second gear 17 is sleeved on the proximal joint shaft 41, the second gear 17 is meshed with the first gear 16, and two ends of the second spring element 62 are respectively connected with the second gear 17 and the proximal finger section 31; the first shifting block 51 is fixedly connected with the first gear 16; the third gear 18 is sleeved on the transition shaft 15, and the second shifting block 52 is fixedly connected with the third gear 18; in the initial state, a distance exists between the first shifting block 51 and the second shifting block 52; the fourth gear 19 is sleeved on the proximal joint shaft 41, and the third gear 18 is meshed with the fourth gear 19; two ends of the third spring 63 are respectively connected with the fourth gear 19 and the second connecting rod 22; let A, B, C, D, E, F, G, H be the central point of the proximal joint axis 41, the first axis 42, the second axis 43, the middle joint axis 44, the distal joint axis 45, the third axis 46, the fourth axis 47 and the fifth axis 48; the length of the line segment AF, the length of the line segment DG and the length of the line segment EH are equal; the length of the line segment AD is equal to the length of the line segment FG; the length of the line segment GH is equal to the length of the line segment DE; the length relationship of the line segments AB, BC, CD, DE, CE and AD satisfies: AB: BC: CD: DE: CE: AD: 68:51:49:68:110: 100.

In the present embodiment, the transmission mechanism includes a speed reducer 12, a worm 13, and a worm wheel 14; the output shaft of the motor 11 is connected with the input shaft of the speed reducer 12; the worm 13 is fixedly sleeved on an output shaft of the speed reducer 12; the worm wheel 14 is fixedly sleeved on the transition shaft 15, and the first gear 16 is fixedly connected with the transition shaft 15; the worm 13 meshes with a worm wheel 14.

The invention relates to a parallel connecting rod double-shifting block linear parallel clamping self-adaptive robot finger device, which is characterized in that: the first spring piece adopts a tension spring, a pressure spring or a torsion spring; the second spring piece adopts a tension spring, a pressure spring or a torsion spring; the third spring piece adopts a tension spring, a pressure spring or a torsion spring. In the present embodiment, the first spring element 61 is a tension spring; the second spring piece 62 adopts a torsion spring; the third spring member 63 is a torsion spring.

In the present embodiment, the first link 21 includes a first link a211 and a first link B212, the first shaft 42 includes a first shaft a421 and a first shaft B422, and the second shaft 43 includes a second shaft a431 and a second shaft a 432; one end of the first connecting rod A211 is sleeved on the first shaft A421, the other end of the first connecting rod A211 is sleeved on the second shaft A431, and the middle finger section 32 is sleeved on the second shaft A431; one end of the first connecting rod B212 is sleeved on the first shaft B422, the other end of the first connecting rod B212 is sleeved on the second shaft B432, and the middle finger section 32 is sleeved on the second shaft B432; the center lines of the first shaft A421 and the first shaft B422 are collinear, and the center lines of the second shaft A431 and the second shaft B432 are collinear.

In this embodiment, the base 10 includes a base front plate 101, a base rear plate 102, a base left plate 103, a base right plate 104, a base bottom plate 105, and a base cover 106.

In the present embodiment, the proximal segment 31 includes a proximal segment left plate 311, a proximal segment right plate 312, and a proximal segment panel 313; the left plate 311 of the proximal finger section is fixedly connected with the surface plate 313 of the proximal finger section, and the right plate 312 of the proximal finger section is fixedly connected with the panel 313 of the proximal finger section; the middle finger section 32 comprises a middle finger section left plate 321, a middle finger section right plate 322 and a middle finger section surface plate 323; the middle finger section left plate 321 is fixedly connected with a middle finger section panel 323, and the middle finger section right plate 322 is fixedly connected with the middle finger section panel 323.

The working principle of the embodiment is described as follows with reference to the attached drawings:

the initial state of this embodiment is shown in fig. 1.

The base 10, the proximal finger section 31, the middle finger section 32, the first link 21, the proximal joint shaft 31, the first shaft 42, the third shaft 33, the middle joint shaft 34, the distal joint shaft 35, and the like in this embodiment are shown in fig. 10, which shows the principle that the point E moves along a linear trajectory. When the line segment AD rotates around the circle center A, the line segment BC can be driven to rotate around the point B, and the point E moves along the track of the straight line S. The center point E of the distal joint axis is at E₁And E₂The motion between the two tracks is approximately a straight line.

In the initial state of this embodiment, under the action of the first spring element 61, the second spring element 62 and the third spring element 63, the second connecting rod 22 contacts with the stopper 7, and a distance is left between the first shifting block 51 and the second shifting block 52.

When the present embodiment performs the grasping operation, there are two grasping modes: a straight line parallel clamping mode and an adaptive envelope grabbing mode. The working principle is described as follows.

(1) Linear parallel clamping grabbing mode

The motor 10 rotates, the second gear 17 is rotated by the speed reducer, and the proximal finger section 31 is rotated by the second spring member 62. Since the distal end of the mechanism constituted by the proximal finger section 31, the middle finger section 32 and the first link 21 moves in an approximately linear manner, the distal joint shaft 45 moves in a linear manner with respect to the base 10; since the proximal finger section 31, the second link 22, the third link 23, and the fourth link 24 constitute a parallel four-bar linkage, the line segment AF in fig. 11 is parallel to the line segment DG; the middle finger section 32, the fourth link 24, the fifth link 25, and the distal finger section 33 also constitute a parallel four-link mechanism, so that the line segment DG in fig. 11 is parallel to the line segment EH; the line segment EH is parallel to AF. During the process of starting movement from the initial state, the second connecting rod 22 keeps contacting the limiting block 7 under the action of the first spring element 61, so that the second connecting rod 22 is kept fixed relative to the base, the far finger section 33 keeps a constant posture relative to the base 10 during the process, and therefore the far finger section 33 translates along an approximately linear track during the movement process.

There is a distance between the first block 51 and the second block 52 so that the second block 52 and the third gear 18 are stationary for a period of time after the first gear 16 has started moving.

The process is called a linear parallel clamping motion process. In the process, when the distal finger section 33 contacts the object, the grasping is finished, and the function of straight-line flat clamping of the object is realized, as shown in fig. 16.

After that, the motor 11 continues to rotate, the deformation of the second spring element 62 is increased, the gripping force on the object is increased, and the effect of variable gripping force adjustment is obtained.

(2) Adaptive grab mode

During the above-mentioned linear parallel clamping movement, when the proximal finger section 31 or the middle finger section 32 contacts the object, the proximal finger section 31 or the middle finger section 32 is blocked from further rotation, and since the proximal finger section 31 and the second gear 17 are connected through the second spring element 62, the first gear 16 and the second gear 17 continue to rotate, and the second spring element 62 is stretched. After a period of time, the first shifting block 51 fixed to the first gear will contact the second shifting block 52 fixed to the third gear, and push the second shifting block 52 and the third gear to rotate, as shown in fig. 12, 13, 14 and 15.

The second shifting block 52 and the third gear 18 rotate to enable the fourth gear 19 to rotate, the third spring element 63 pulls the second connecting rod 22 to rotate, the second connecting rod 22 leaves the limiting block 7, and the deformation of the first spring element 61 is increased; rotation of the second link causes a corresponding angular rotation of the distal finger section 33 about the distal joint axis 45 until the distal finger section 33 also contacts the object, completing the adaptive envelope capture function, as shown in fig. 17. The process is adaptive to objects of different shape and size.

The process of releasing the object 9 is the reverse of the above process and will not be described in detail.

Claims

1. A parallel-link double-moving block linear flat-clamp adaptive robot finger device, comprising a base, a proximal finger segment, a middle finger segment, a distal finger segment, a proximal joint shaft, a middle joint shaft, a distal joint shaft, a motor and a transmission mechanism The proximal joint shaft is sleeved in the base, the proximal finger segment is sleeved on the proximal joint shaft, and the middle joint shaft is sleeved in the proximal finger segment; the middle finger segment is sleeved on the middle joint shaft , the distal joint shaft is sleeved in the middle finger segment; the distal finger segment is sleeved on the distal joint shaft; the motor is fixedly connected to the base, and the motor is connected to the input end of the transmission mechanism; the proximal joint The center lines of the shaft, the mid-joint shaft, and the far-joint shaft are parallel to each other; it is characterized in that: the parallel-link double-push-block linear flat-clamp adaptive robot finger device also includes a transition shaft, a first shaft, a second shaft, and a third shaft , the fourth axis, the fifth axis, the first link, the second link, the third link, the fourth link, the fifth link, the first gear, the second gear, the third gear, the fourth gear, The first dial block, the second dial block, the first spring member, the second spring member, the third spring member and the limit block; the first axis, the second axis, the third axis, the fourth axis and the fifth axis The centerlines are parallel to each other; the first shaft is sleeved in the base, one end of the first connecting rod is sleeved on the first shaft, and the other end of the first connecting rod is sleeved on the second shaft, so The middle finger segment is sleeved on the second shaft; one end of the second connecting rod is sleeved on the proximal joint shaft, and the other end of the second connecting rod is sleeved on the third shaft; the third connecting rod is sleeved On the third shaft, the fourth shaft is sleeved on the third connecting rod; both ends of the fourth connecting rod are sleeved on the fourth shaft and the middle joint shaft respectively; the fifth connecting rod is sleeved On the fourth shaft, the fifth shaft is sleeved on the fifth connecting rod; the distal finger segment is sleeved on the fifth shaft; the limiting block is fixedly connected to the base; the first spring member The two ends of the connecting rod are respectively connected to the second connecting rod and the limit block; in the initial state, the second connecting rod is in contact with the limit block; the transition shaft is sleeved in the base, and the transition shaft and the proximal joint shaft The centerlines are parallel to each other; the first gear is sleeved on the transition shaft, and the output end of the transmission mechanism is connected with the first gear; the second gear is sleeved on the proximal joint shaft, and the second gear is connected to the The first gear is meshed, and the two ends of the second spring element are respectively connected to the second gear and the proximal finger segment; the first shifting block is fixedly connected to the first gear; the third gear is sleeved on the transition shaft, so The second shifting block is fixedly connected with the third gear; in the initial state, there is a distance between the first shifting block and the second shifting block; the fourth gear is sleeved on the proximal joint shaft, and the first The third gear is meshed with the fourth gear; the two ends of the third spring element are respectively connected to the fourth gear and the second connecting rod; the proximal joint shaft, the first shaft, the second shaft, the middle joint shaft, the distal joint shaft, the The center points of the three axes, the fourth axis and the fifth axis are A, B, C, D, E, F, G, H; the length of the line segment AF, the length of the line segment DG and the length of the line segment EH are equal; the length of the line segment AD is equal to the length of the line segment FG; the length of the line segment GH is equal to the length of the line segment DE; the length relationship of the line segments AB, BC, CD, DE, CE and AD satisfies: AB:BC:CD:DE:CE:AD=68:51:4 9:68:110:100.

2. The parallel-link double-push-block linear flat-clamp adaptive robot finger device according to claim 1, characterized in that: the transmission mechanism comprises a reducer, a worm and a worm wheel; The input shaft is connected; the worm is sleeved on the output shaft of the reducer; the worm wheel is sleeved on the transition shaft, the first gear is fixedly connected with the transition shaft; the worm is meshed with the worm gear.

3 . The parallel-link double-dial-block linear flat-clamp adaptive robot finger device according to claim 1 , wherein: the first spring member adopts a tension spring, a compression spring or a torsion spring; the second spring member adopts a tension spring, a compression spring or a torsion spring; A tension spring, a compression spring or a torsion spring is used; the third spring member is a tension spring, a compression spring or a torsion spring.