CN114147760A - Humanoid finger device based on two-rod tensioning adaptive mechanism - Google Patents

Humanoid finger device based on two-rod tensioning adaptive mechanism Download PDF

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Publication number
CN114147760A
CN114147760A CN202111546458.3A CN202111546458A CN114147760A CN 114147760 A CN114147760 A CN 114147760A CN 202111546458 A CN202111546458 A CN 202111546458A CN 114147760 A CN114147760 A CN 114147760A
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finger
bar
rod
joint
shaft
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CN114147760B (en
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孙建伟
李雨峰
董家麟
朱铁林
王金朔
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Changchun University of Technology
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Changchun University of Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
    • Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a human-simulated finger device based on a two-rod tensioning adaptive mechanism, which comprises a first four-bar linkage mechanism, a second four-bar linkage mechanism, a third four-bar linkage mechanism, a coupling rod assembly, a first two-rod tensioning adaptive mechanism and a second two-rod tensioning adaptive mechanism; the first four-bar linkage is hinged with the third four-bar linkage and is in transmission connection through the coupling rod assembly; the first two-rod tensioning adaptive mechanism is arranged on the first four-bar linkage; the second two-bar tensioning adaptive mechanism is installed on the third four-bar linkage mechanism. The four-bar mechanism formed between the finger section and the finger joint can realize the flexion and extension movement of the simulated human finger, and meanwhile, the adaptability of the two-bar stretching integral structure is utilized, the two-bar stretching adaptive mechanism forms adaptive grabbing to different object shapes, the connecting bar mechanism provides larger grabbing force and reliability, and meanwhile, objects with different shapes can be grabbed by the stretching mechanism in a self-adaptive mode, and the manufacturing and maintenance cost is low.

Description

Humanoid finger device based on two-rod tensioning adaptive mechanism
Technical Field
The invention relates to the technical field of robot finger structures, in particular to a human-simulated finger device based on a two-rod tensioning adaptive mechanism.
Background
With the development of the robot technology, the skeleton of the human body is gradually replaced by the rigid connecting rod, each joint of the human body is replaced by the revolute pair, and the muscle group of the human body is replaced by the driving element, so that the humanoid robot which is similar to the shape, the structure, the function and the like of the human body and can cooperate with the human body to complete the task is created. As the hand is one of the most common organs in the mysterious natural world in the daily life of human beings, the hand has certain importance and great application value for the research of the human finger simulating device.
But present imitative people's finger device linkage mode mainly divide into line drive and connecting rod drive, and line drive finger device is light, and occupation space is little, but has the power of grabbing not enough, and transmission efficiency is low shortcoming, and though grabbing power is strong, the kinematic position is accurate, and the reliability is strong by traditional rigidity member and rigid joint's imitative people's finger device, but general adaptability is poor, is difficult to laminate the surface of different shapes object in order to increase area of contact.
Therefore, it is an urgent need to solve the problems of the art to provide a human-simulated finger device based on a two-rod tension adaptive mechanism with a combination of grasping force, stability and adaptability.
Disclosure of Invention
In view of the above, the invention provides a human-simulated finger device based on a two-rod tensioning adaptive mechanism, which solves the technical problem that the finger grabbing force, the stability and the adaptability of the existing robot cannot be considered simultaneously by utilizing the characteristics of light weight, self-stability and adaptability of a tensioning overall structure.
In order to achieve the purpose, the invention adopts the following technical scheme:
a human-simulated finger device based on a two-rod tensioning adaptive mechanism comprises a first four-bar linkage mechanism, a third four-bar linkage mechanism, a coupling rod assembly, a first two-rod tensioning adaptive mechanism and a second two-rod tensioning adaptive mechanism; the first four-bar linkage mechanism is hinged with the third four-bar linkage mechanism and is in transmission connection through the coupling rod assembly; the first two-bar tensioning adaptive mechanism is mounted on the first four-bar linkage; the second two-bar tensioning adaptive mechanism is mounted on the third four-bar linkage.
Further, the first four-bar linkage mechanism comprises a base, a metacarpophalangeal joint piece, a first finger section, a first connecting rod and a second connecting rod; a first rotating shaft driven by a motor is arranged on the base; the metacarpophalangeal joint piece is fixed on the base; the first finger segment is hinged with the metacarpophalangeal joint piece through a first joint shaft; the first rotating shaft is in transmission connection with the first finger section through the first connecting rod and the second connecting rod in sequence;
the coupling rod assembly comprises a first coupling rod, a first coupling shaft and a second coupling shaft; the first coupling shaft is arranged on a first shaft hole formed in the second finger section and penetrates through a displacement groove formed in the proximal interphalangeal joint piece; the second coupling shaft is arranged on a second shaft hole formed in the third finger section; one end of the first coupling rod is hinged to the metacarpophalangeal joint piece, and the other end of the first coupling rod is installed on the first coupling shaft;
the third four-bar linkage mechanism comprises a second finger section, a near-end finger joint part, a far-end finger joint part, a third finger section and a second coupling rod; the proximal knuckle piece is fixed on the first finger section; the distal knuckle piece is fixed on the second finger section; the second finger section is hinged with the proximal finger joint part through a second joint shaft; the third finger section is hinged with the distal finger joint part through a third joint shaft; one end of the second coupling rod is hinged to the near-end knuckle piece, and the other end of the second coupling rod is installed on the second coupling shaft;
the first finger section, the metacarpophalangeal joint, the first coupling rod and the second finger section form a second four-bar linkage;
the first joint axis, the second joint axis and the third joint axis are distributed in parallel.
Further, the first two-bar tensioning adaptive mechanism and the second two-bar tensioning adaptive mechanism have the same structure and respectively comprise a first sliding shaft, a first sliding block, a second sliding block, a first tension spring, a contact section and a cross rod assembly, the first sliding shaft of the first two-bar tensioning adaptive mechanism is installed inside the first finger section, and the first sliding shaft of the second two-bar tensioning adaptive mechanism is installed inside the second finger section; the first sliding block and the second sliding block are arranged on the first sliding shaft at intervals; the first tension spring is sleeved on the first sliding shaft and is positioned between the first sliding block and the second sliding block; the contact section is connected with the first slide block and the second slide block through the first cross rod assembly.
Furthermore, the first cross rod assembly comprises a first rod piece, a second tension spring and a third tension spring, one end of the first rod piece is hinged on the first sliding block, and the other end of the first rod piece is hinged on the inner wall of the contact section; one end of the second rod piece is hinged to the second sliding block, the other end of the second rod piece is hinged to the inner wall of the contact section, and the second rod piece and the first rod piece are distributed in a crossed mode; one end of the second tension spring is fixed at the hinged position of the first rod piece and the first sliding block, and the other end of the second tension spring is fixed at the hinged position of the first rod piece and the inner wall of the contact section; one end of a third tension spring is fixed at the hinged position of the second rod piece and the second sliding block, and the other end of the third tension spring is fixed at the hinged position of the second rod piece and the inner wall of the contact section.
Further, first two pole stretch-draw adaptability mechanism still includes first stopper and second stopper, first stopper with the second stopper is all fixed indicate on the section, just the side of first stopper with first slider is laminated mutually, the side of second stopper with the second slider is laminated mutually.
Therefore, compared with the prior art, the human-simulated finger device based on the two-rod tensioning adaptive mechanism provided by the invention has the advantages that the first four-bar linkage mechanism, the second four-bar linkage mechanism and the third four-bar linkage mechanism formed between the finger section and the finger joint can realize the buckling and stretching movement of a human-simulated finger, meanwhile, the adaptive grabbing to different object shapes is formed by the first two-rod tensioning adaptive mechanism and the second two-rod tensioning adaptive mechanism by utilizing the adaptability of the two-rod tensioning overall structure, the connecting rod mechanism provides larger grabbing force and reliability, meanwhile, objects with different shapes can be grabbed by the tensioning mechanism in a self-adaptive manner, the control is easy, the manufacturing and maintenance cost is low, and the human-simulated finger device is suitable for robots needing grabbing functions.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic perspective view of a human finger-like device based on a two-rod tension adaptive mechanism according to the present invention;
FIG. 2 is a side view of a two bar stretch adaptive mechanism based human finger-like device in accordance with the present invention;
FIG. 3 is a schematic structural diagram of a human finger-like device in a buckling state based on a two-rod tension adaptive mechanism according to the present invention;
fig. 4 is a schematic structural diagram of a first two-rod tension adaptive mechanism provided by the invention in a limit compression state.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 4, an embodiment of the present invention discloses a human-simulated finger device based on a two-bar stretch-draw adaptive mechanism, which includes a first four-bar linkage mechanism, a third four-bar linkage mechanism, a coupling bar assembly, a first two-bar stretch-draw adaptive mechanism and a second two-bar stretch-draw adaptive mechanism; the first four-bar linkage is hinged with the third four-bar linkage and is in transmission connection through the coupling rod assembly; the first two-rod tensioning adaptive mechanism is arranged on the first four-bar linkage; the second two-bar tensioning adaptive mechanism is installed on the third four-bar linkage mechanism. The first four-bar linkage mechanism and the third four-bar linkage mechanism formed between the finger section and the finger joint can realize the flexion and extension movement of the simulated human finger, and meanwhile, the adaptability of the two-bar stretching integral structure is utilized, and the first two-bar stretching adaptive mechanism and the second two-bar stretching adaptive mechanism form adaptive grabbing to different object shapes, so that the connecting bar mechanism provides larger grabbing force and reliability, and meanwhile, the tensioning mechanism can grab different shapes of objects in a self-adaptive manner, the control is easy, the manufacturing and maintenance cost is low, and the robot is suitable for robots needing grabbing functions.
Specifically, the first four-bar linkage mechanism comprises a base 1, a metacarpophalangeal joint part 2, a first finger section 3, a first connecting rod 4 and a second connecting rod 5; a first rotating shaft 6 driven by a motor is arranged on the base 1; the metacarpophalangeal joint part 2 is fixed on the base 1; the first finger section 3 is hinged with the metacarpophalangeal joint part 2 through a first joint shaft 7; the first rotating shaft 6 is in transmission connection with the first finger section 3 through a first connecting rod 4 and a second connecting rod 5 in sequence;
the coupling rod assembly comprises a first coupling rod 14, a first coupling shaft 15 and a second coupling shaft 17; the first coupling shaft 15 is arranged on a first shaft hole formed in the second finger section 8 and penetrates through a displacement groove formed in the proximal interphalangeal joint 9; the second coupling shaft 17 is arranged on a second shaft hole formed in the third finger section 11; one end of the first coupling rod 14 is hinged on the metacarpophalangeal joint element 2, and the other end of the first coupling rod 14 is arranged on the first coupling shaft 15;
the third four-bar linkage comprises a second finger section 8, a proximal knuckle piece 9, a distal knuckle piece 10, a third finger section 11 and a second coupling rod 16; the proximal knuckle piece 9 is fixed on the first finger section 3; the distal knuckle member 10 is fixed on the second finger section 8; the second finger section 8 is hinged with the proximal finger joint part 9 through a second joint shaft 12; the third finger section 11 is hinged with the distal finger joint part 10 through a third joint shaft 13; one end of the second coupling rod 16 is hinged on the proximal knuckle part 9, and the other end of the second coupling rod 16 is arranged on the second coupling shaft 17;
the first finger section 3, the metacarpophalangeal joint 2, the first coupling rod 14 and the second finger section 8 form a second four-bar linkage;
the central lines of the first joint shaft 7, the second joint shaft 12 and the third joint shaft 13 are distributed in parallel.
Specifically, the first two-rod tensioning adaptive mechanism and the second two-rod tensioning adaptive mechanism have the same structure and respectively comprise a first sliding shaft 18, a first sliding block 19, a second sliding block 20, a first tension spring 21, a contact section 22 and a cross rod assembly, the first sliding shaft 18 of the first two-rod tensioning adaptive mechanism is installed inside the first finger section 3, and the first sliding shaft of the second two-rod tensioning adaptive mechanism is installed inside the second finger section 8; the first slide block 19 and the second slide block 20 are arranged on the first slide shaft 18 at intervals; a first tension spring 21 is sleeved on the first sliding shaft 18 and is positioned between the first sliding block 19 and the second sliding block 20; the contact section 22 is connected to the first slider 19 and the second slider 20 by means of a first crossbar assembly.
Specifically, the first cross bar assembly comprises a first bar 23, a second bar 24, a second tension spring 25 and a third tension spring 26, one end of the first bar 23 is hinged on the first sliding block 19, and the other end of the first bar 23 is hinged on the inner wall of the contact section 22; one end of a second rod member 24 is hinged on the second sliding block 20, the other end of the second rod member 14 is hinged on the inner wall of the contact section 22, and the second rod member 24 and the first rod member 23 are distributed in a crossed manner; one end of a second tension spring 25 is fixed at the hinged position of the first rod piece 23 and the first slide block 19, and the other end of the second tension spring 25 is fixed at the hinged position of the first rod piece 23 and the inner wall of the contact section 22; one end of a third tension spring 26 is fixed at the hinge joint of the second rod 24 and the second sliding block 20, and the other end of the third tension spring 26 is fixed at the hinge joint of the second rod 24 and the inner wall of the contact section 22.
Specifically, the first two-rod tensioning adaptive mechanism further comprises a first limiting block 27 and a second limiting block 28, the first limiting block 27 and the second limiting block 28 are both fixed on the first finger section 3, the side surface of the first limiting block 27 is attached to the first sliding block 19, and the side surface of the second limiting block 28 is attached to the second sliding block 20.
The working principle of the invention is as follows:
the motor drives the first rotating shaft 6, the first connecting rod 4 is connected with the first rotating shaft 6 to drive the first connecting rod 4 to rotate around the first rotating shaft 6, the first finger section 3 is driven to rotate around the first joint shaft 7 under the action of the second connecting rod 5, the first coupling shaft 15 is driven to rotate in a displacement groove formed in the proximal interphalangeal joint piece 9 through the rotation of the first finger section 3, so that the second finger section 8 is driven to rotate around the proximal interphalangeal joint piece 9 under the action of the second joint shaft 12, and the third finger section 11 is driven to rotate around the third joint shaft 13;
when the contact section 22 does not contact an object, due to the self-stability characteristic of the integral tensioning structure, the structure is stable, the inner surface of the first sliding block 19 is attached to the first limiting block 27, the inner surface of the second sliding block 20 is attached to the second limiting block 28, and the rotational freedom degree of the integral tensioning structure is limited, in the buckling process, when the contact section 22 contacts the object, the first rod piece 23 and the second rod piece 24 are continuously compressed, the first sliding block 19 and the second sliding block 20 are continuously displaced along the central line of the first sliding shaft 18, the stretching amount of the first tension spring 21 is increased, the stretching amounts of the second tension spring 25 and the third tension spring 26 are reduced, the contact section 22 rotates on one plane, the surface of the object with different shapes can be attached, after the finger finishes the stretching process, the contact section 22 is not stressed any more, and due to the self-stability characteristic of the integral tensioning structure, the two-rod tensioning adaptive mechanism returns to the original shape.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (5)

1.一种基于两杆张拉适应性机构的仿人手指装置，其特征在于，包括第一四连杆机构、第三四连杆机构、耦合杆组件、第一两杆张拉适应性机构和第二两杆张拉适应性机构；所述第一四连杆机构与所述第三四连杆机构铰接，并通过所述耦合杆组件传动连接；所述第一两杆张拉适应性机构安装在所述第一四连杆机构上；所述第二两杆张拉适应性机构安装在所述第三四连杆机构上。1. A humanoid finger device based on two-bar tensioning adaptability mechanism, is characterized in that, comprises the first four-bar linkage mechanism, the third four-bar linkage mechanism, coupling rod assembly, the first two-bar tensioning adaptability mechanism and the second two-bar tension adaptability mechanism; the first four-bar linkage mechanism is hinged with the third four-bar linkage mechanism, and is connected via the coupling rod assembly; the first two-bar tension adaptability The mechanism is mounted on the first four-bar linkage mechanism; the second two-bar tension adaptability mechanism is mounted on the third four-bar linkage mechanism. 2.根据权利要求1所述的一种基于两杆张拉适应性机构的仿人手指装置，其特征在于，所述第一四连杆机构包括基座、掌指关节件、第一指段、第一连杆和第二连杆；所述基座上安装有由电机驱动的第一转动轴；所述掌指关节件固定在所述基座上；所述第一指段通过第一关节轴与所述掌指关节件铰接；所述第一转动轴依次通过所述第一连杆和所述第二连杆与所述第一指段传动连接；2 . The human-like finger device based on a two-bar tensioning adaptability mechanism according to claim 1 , wherein the first four-bar linkage mechanism comprises a base, a metacarpophalangeal joint, and a first finger segment. 3 . , a first connecting rod and a second connecting rod; a first rotating shaft driven by a motor is installed on the base; the metacarpophalangeal joint is fixed on the base; the first finger segment passes through the first The joint shaft is hinged with the metacarpophalangeal joint; the first rotation shaft is connected to the first finger segment through the first link and the second link in sequence; 所述耦合杆组件包括第一耦合杆、第一耦合轴和第二耦合轴；所述第一耦合轴安装在所述第二指段开设的第一轴孔上，且贯穿所述近端指间关节件开设的位移槽；所述第二耦合轴安装在所述第三指段开设的第二轴孔上；所述第一耦合杆的一端铰接在所述掌指关节件上，所述第一耦合杆的另一端安装在所述第一耦合轴上；The coupling rod assembly includes a first coupling rod, a first coupling shaft and a second coupling shaft; the first coupling shaft is mounted on the first shaft hole opened in the second finger segment and penetrates the proximal finger. the displacement slot opened in the inter-joint joint; the second coupling shaft is installed on the second shaft hole opened in the third finger segment; one end of the first coupling rod is hinged on the metacarpophalangeal joint, the The other end of the first coupling rod is mounted on the first coupling shaft; 所述第三四连杆机构包括第二指段、近端指关节件、远端指关节件、第三指段和第二耦合杆；所述近端指关节件固定在所述第一指段上；所述远端指关节件固定在所述第二指段上；所述第二指段通过第二关节轴与所述近端指关节件铰接；所述第三指段通过第三关节轴与所述远端指关节件铰接；所述第二耦合杆的一端铰接在所述近端指关节件上，所述第二耦合杆的另一端安装在所述第二耦合轴上；The third four-bar linkage mechanism includes a second finger segment, a proximal finger joint piece, a distal finger joint piece, a third finger segment and a second coupling rod; the proximal finger joint piece is fixed on the first finger joint. The distal finger joint piece is fixed on the second finger piece; the second finger piece is hinged with the proximal finger joint piece through the second joint shaft; the third finger piece passes through the third finger joint The joint shaft is hinged with the distal finger joint; one end of the second coupling rod is hinged on the proximal finger joint, and the other end of the second coupling rod is mounted on the second coupling shaft; 所述第一指段、所述掌指关节、所述第一耦合杆和所述第二指段组成第二四连杆机构；The first finger segment, the metacarpophalangeal joint, the first coupling rod and the second finger segment form a second four-bar linkage mechanism; 所述第一关节轴、所述第二关节轴和所述第三关节轴中心线平行分布。The centerlines of the first joint axis, the second joint axis and the third joint axis are distributed in parallel. 3.根据权利要求2所述的一种基于两杆张拉适应性机构的仿人手指装置，其特征在于，所述第一两杆张拉适应性机构和所述第二两杆张拉适应性机构的结构相同，均包括第一滑动轴、第一滑块、第二滑块、第一拉簧、接触段和交叉杆组件，所述第一两杆张拉适应性机构的所述第一滑动轴安装在所述第一指段的内部，所述第二两杆张拉适应性机构的所述第一滑动轴安装在所述第二指段的内部；所述第一滑块和所述第二滑块间隔安装在所述第一滑动轴上；所述第一拉簧套合在所述第一滑动轴上且位于所述第一滑块和所述第二滑块之间；所述接触段通过所述第一交叉杆组件与所述第一滑块及所述第二滑块连接。3. A humanoid finger device based on a two-bar tension adaptability mechanism according to claim 2, wherein the first two-bar tension adaptability mechanism and the second two-bar tension adaption mechanism The structure of the sexual mechanism is the same, including a first sliding shaft, a first sliding block, a second sliding block, a first tension spring, a contact section and a cross-bar assembly. A sliding shaft is installed inside the first finger segment, and the first sliding shaft of the second two-bar tensioning adaptability mechanism is installed inside the second finger segment; the first sliding block and The second sliding block is installed on the first sliding shaft at intervals; the first tension spring is sleeved on the first sliding shaft and is located between the first sliding block and the second sliding block ; The contact section is connected with the first sliding block and the second sliding block through the first cross-bar assembly. 4.根据权利要求3所述的一种基于两杆张拉适应性机构的仿人手指装置，其特征在于，所述第一交叉杆组件包括第一杆件、第二杆件、第二拉簧和第三拉簧，所述第一杆件一端铰接在所述第一滑块上，所述第一杆件的另一端铰接在所述接触段内壁上；所述第二杆件一端铰接在所述第二滑块上，所述第二杆件另一端铰接在所述接触段内壁上，并且所述第二杆件与所述第一杆件交叉分布；所述第二拉簧一端固定在所述第一杆件与所述第一滑块的铰接处，所述第二拉簧另一端固定在所述第一杆件与所述接触段内壁铰接处；所述第三拉簧一端固定在所述第二杆件与所述第二滑块的铰接处，所述第三拉簧另一端固定在所述第二杆件与所述接触段内壁铰接处。4. A humanoid finger device based on a two-bar tensioning adaptability mechanism according to claim 3, wherein the first cross-bar assembly comprises a first bar, a second bar, a second tension A spring and a third tension spring, one end of the first rod is hinged on the first slider, the other end of the first rod is hinged on the inner wall of the contact section; one end of the second rod is hinged On the second slider, the other end of the second rod is hinged on the inner wall of the contact section, and the second rod and the first rod are distributed across the first rod; one end of the second tension spring The other end of the second tension spring is fixed at the hinge of the first rod and the first slider, and the other end of the second tension spring is fixed at the hinge of the first rod and the inner wall of the contact section; the third tension spring One end of the third tension spring is fixed at the hinged joint between the second rod and the second sliding block, and the other end of the third tension spring is fixed at the hinged joint between the second rod and the inner wall of the contact section. 5.根据权利要求4所述的一种基于两杆张拉适应性机构的仿人手指装置，其特征在于，所述第一两杆张拉适应性机构还包括第一限位块和第二限位块，所述第一限位块和所述第二限位块均固定在所述第一指段上，且所述第一限位块的侧面与所述第一滑块相贴合，所述第二限位块的侧面与所述第二滑块相贴合。5. A humanoid finger device based on a two-bar tension adaptability mechanism according to claim 4, wherein the first two-bar tension adaptability mechanism further comprises a first limit block and a second A limit block, the first limit block and the second limit block are both fixed on the first finger segment, and the side surface of the first limit block is in contact with the first slider , the side surface of the second limiting block is in contact with the second sliding block.
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