CN216030858U

CN216030858U - Multi-path differential linear parallel-clamping double-finger-section self-adaptive robot finger device

Info

Publication number: CN216030858U
Application number: CN202121594429.XU
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: 2022-03-15
Anticipated expiration: 2031-07-13

Abstract

A multi-path differential linear parallel-clamping double-finger-section self-adaptive robot finger device belongs to the technical field of robot hands and comprises a base, a motor, a transmission mechanism, three finger sections, three joint shafts, six connecting rods, five spring pieces, two shifting blocks, two limiting blocks and the like. The device can realize three-joint linear parallel clamping and double-finger-section self-adaptive grabbing modes. In the initial stage, the device is in a straight-line parallel clamping mode: the far finger section translates and the track is a straight line, so that the far finger section is suitable for clamping an object on a plane; when the near finger section is blocked from contacting the object, the device enters an adaptive grabbing mode: the middle finger section and the far finger section respectively rotate around a middle joint shaft and a far joint shaft; when the middle finger section contacts the object, the far finger section can continue to rotate until the near finger section, the middle finger section and the far finger section all contact the object. The device has the self-adaptability to different shapes and sizes of objects, adopts a motor to drive three joints, is stable in grabbing and has the effect of changing the grabbing force, and is simple to control and low in manufacturing and maintenance cost.

Description

Multi-path differential linear parallel-clamping double-finger-section self-adaptive robot finger device

Technical Field

The utility model belongs to the technical field of robot hands, and particularly relates to a structural design of a multi-path differential linear parallel-clamping double-finger-section self-adaptive robot finger device.

Background

With the development of science and technology, robots help people to complete repeated and dangerous work in industrial production and daily life, and play an increasingly important role. The robot hand has been widely studied as an important actuator for the robot to perform a gripping operation. The multi-finger robot hand is similar to a human hand, can grab objects with different shapes and sizes, and has wide adaptability, so that the multi-finger robot hand is researched a lot. A robotic hand with multiple fingers is constructed with a palm and a plurality of articulated fingers. Generally, a robot finger having three joints performs a grasping operation by controlling three degrees of freedom of the proximal, middle, and distal joints.

The multi-finger robot hand mainly comprises a dexterous hand and an under-actuated hand. The dexterous hand controls a plurality of joint degrees of freedom through a plurality of drivers respectively, and has high grabbing precision, such as a Gifu II hand developed by the Japanese mons university and a Robonaut-II hand developed by the United states space agency. However, the dexterous hand needs a sensing system to detect and determine the object posture and the optimal grabbing gesture in advance before grabbing, plans the movement of each joint of the finger and determines the space position of the object, the cost of the whole system is high, the control is complex, and the large-scale popularization and application are difficult at present.

An under-actuated hand is a robotic hand with under-actuated fingers. An under-actuated finger actuates more joint degrees of freedom with fewer actuators. Existing under-actuated fingers include three basic categories, a flat-grip finger, a coupled finger, and an adaptive finger. The tail end finger section of the clamp finger keeps a posture unchanged relative to the base in the grabbing process and is suitable for grabbing objects on a working table top (a certain plane); when the near finger section of the coupling finger rotates, the far finger section can rotate relative to the near finger section simultaneously, so that the device has the characteristic of more anthropomorphic grabbing action and can grab more quickly; the self-adaptive finger proximal joint rotates first, the proximal finger section triggers the next joint, namely the middle joint to rotate after contacting an object, and the like, so that the enveloping grabbing effect that a plurality of finger sections contact the object is realized, and the self-adaptive finger proximal joint is suitable for objects with different shapes and sizes. This adaptive gripping feature is not possible with conventional parallel grip fingers or coupled fingers.

The parallel clamping self-adaptive finger is a composite grabbing finger which is generated by combining parallel clamping and self-adaptive grabbing functions in two time stages in tandem. The coupled adaptive finger is another composite grabbing finger combining coupled grabbing and adaptive grabbing.

The Robotiq finger in Canada is a typical flat-clamping adaptive finger, and the finger is a flat-clamping adaptive finger with an arc-shaped tail end, and cannot realize a flat-clamping adaptive mode with a straight-line tail end. When snatching desktop object, Robotiq finger needs arm cooperation control just can realize that the terminal section of indicating accurately presss from both sides and gets the object of equidimension not, has increased the degree of difficulty for arm control, because when snatching not equidimension object, the device need highly carry out the operation at the difference, otherwise takes place the device's the terminal section of indicating and the danger of table surface collision mutually easily.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the defects of the prior art and provides a multipath differential linear parallel clamping double-finger-section self-adaptive robot finger device. The device has three joints, has the function of parallel clamping of the straight track of the tail end finger segment, can realize the self-adaptive grabbing mode of the double finger segments of the middle finger segment and the far finger segment, and has self-adaptability to objects with different shapes and sizes.

The technical scheme of the utility model is as follows:

the utility model relates to a multipath differential linear parallel clamping double-finger-section self-adaptive robot finger device which comprises a base, a motor, a transmission mechanism, a near finger section, a middle finger section, a far finger section, a near joint shaft, a middle joint shaft and a far joint shaft; the motor is fixedly connected with the base and is connected with the input end of the transmission mechanism; the near joint shaft is sleeved in the base, the near finger section is sleeved on the near joint shaft, the middle joint shaft is sleeved in the near finger section, the middle finger section is sleeved on the middle joint shaft, the far joint shaft is sleeved in the middle finger section, and the far finger section is sleeved on the far joint shaft; 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 multipath differential linear parallel clamping double-finger-section self-adaptive robot finger device further comprises a transition shaft, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod, a first shaft, a second shaft, a third shaft, a fourth shaft, a fifth shaft, a first gear, a second gear, a third gear, a fourth gear, a first spring piece, a second spring piece, a third spring piece, a fourth spring piece, a fifth spring piece, a first shifting block, a second shifting block, a first limiting block and a second limiting block; the transition shaft is sleeved in the base, 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 is meshed with the first gear; two ends of the first spring piece are respectively connected with the second gear and the proximal finger section; the third gear is sleeved on the transition shaft, the fourth gear is sleeved on the proximal joint shaft, and the third gear is meshed with the fourth gear; the first shifting block is fixedly connected with the first gear, 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 central lines of the transition shaft, the first shaft, the second shaft, the third shaft, the fourth shaft, the fifth shaft and the near joint shaft are mutually parallel; the first connecting rod is sleeved on the proximal joint shaft, the first shaft is sleeved in the first connecting rod, the second connecting rod is sleeved on the first shaft, the second shaft is sleeved in the second connecting rod, and the middle finger section is sleeved on the second shaft; one end of the third connecting rod is sleeved on the proximal joint shaft, and the other end of the third connecting rod is sleeved on the third shaft; the fourth connecting rod is sleeved on the third shaft, and the fourth shaft is sleeved in the fourth connecting rod; one end of the fifth connecting rod is sleeved on the fourth shaft, and the other end of the fifth connecting rod is sleeved on the middle joint shaft; the sixth connecting rod is sleeved on a fourth shaft, the fifth shaft is sleeved in the sixth connecting rod, and the far finger section is sleeved on the fifth shaft; two ends of the second spring are respectively connected with a fourth gear and a third connecting rod; two ends of the third spring are respectively connected with a fourth gear and a first connecting rod; two ends of the fourth spring are respectively connected with the first connecting rod and the base; the first limiting block and the second limiting block are fixedly connected with the base respectively; two ends of the fifth spring are respectively connected with the third connecting rod and the base; in an initial state, the first connecting rod is in contact with the first limiting block, and the third connecting rod is in contact with the second limiting block; the central points of the near joint shaft, the middle joint shaft, the far joint shaft, the first shaft, the second 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 BG and the length of the line segment CH are equal; the length of the line segment AB is equal to the length of the line segment FG; the length of segment GH is equal to the length of segment BC; the length relation of the line segment AD, the line segment DE, the line segment BE, the line segment BC, the line segment EC and the line segment AB meets the following requirements: AD: BE: BC: CE: AB: 68:51:49:68:110: 100.

The utility model relates to a multipath differential linear parallel-clamping double-finger-section 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 utility model relates to a multipath differential linear parallel-clamping double-finger-section 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 part adopts a tension spring, a pressure spring or a torsion spring, and the fourth spring part adopts a tension spring, a pressure spring or a torsion spring; and the fifth spring piece adopts a tension spring, a pressure spring or a torsion spring.

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

the device adopts base, motor, drive mechanism, three finger section, three joint shaft, six connecting rods, five spring spare, two shifting blocks and two stoppers etc. and has comprehensively realized three joint straight line parallel clamp and two finger section self-adaptation and snatched the mode. In the initial stage, the device is in a straight-line parallel clamping mode: the far finger section translates and the track is a straight line, so that the far finger section is suitable for clamping an object on a plane; when the near finger section is blocked from contacting the object, the device enters an adaptive grabbing mode: the middle finger section and the far finger section respectively rotate around a middle joint shaft and a far joint shaft; when the middle finger section contacts the object, the far finger section can continue to rotate until the near finger section, the middle finger section and the far finger section all contact the object. The device has the self-adaptability to different shapes and sizes of objects, adopts a motor to drive three joints, is stable in grabbing and has the effect of changing the grabbing force, and is simple to control and low in manufacturing and maintenance cost.

Drawings

Fig. 1 is a perspective external view of an embodiment of a multipath differential linear parallel-clamping double-finger-section adaptive robot finger device designed by the utility model.

Fig. 2 is a front view of the embodiment of fig. 1 (not shown with parts).

Fig. 3 is a rear view of the embodiment of fig. 1 (not shown with some parts).

Fig. 4 is a left side view of the embodiment shown in fig. 1.

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

Fig. 8 is a schematic diagram of a portion of the mechanism in the embodiment of fig. 1.

Fig. 9 is a schematic mechanical diagram of the embodiment shown in fig. 1.

Fig. 10-13 are diagrams illustrating the relative position movement of the first block and the second block in the embodiment of fig. 1.

Fig. 14 is a process of linear parallel clamping operation of the embodiment of fig. 1.

FIG. 15 is a finger segment adaptive action process in the embodiment shown in FIG. 1.

Fig. 16 is a far finger segment adaptive action process of the embodiment shown in fig. 1.

In fig. 1 to 16:

10-base, 11-motor, 12-reducer, 13-worm,

14-worm wheel, 15-transition shaft, 21-proximal finger section, 22-middle finger section,

23-distal finger segment, 31-proximal joint axis, 32-middle joint axis, 33-distal joint axis,

34-first axis, 35-second axis, 36-third axis, 37-fourth axis,

38-fifth shaft, 41-first link, 42-second link, 43-third link,

44-fourth link, 45-fifth link, 46-sixth link, 51-first gear,

52-second gear, 53-third gear, 54-fourth gear, 61-first spring,

62-second spring element, 63-third spring element, 64-fourth spring element, 65-fifth spring element,

71-a first shifting block, 72-a second shifting block, 81-a first limit block, 82-a second limit block,

9-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 multi-path differential linear parallel clamping double-finger-section self-adaptive robot finger device designed by the utility model is shown in fig. 1 to 7, and comprises a base 10, a motor 11, a transmission mechanism, a near finger section 21, a middle finger section 22, a far finger section 23, a near joint shaft 31, a middle joint shaft 32 and a far joint shaft 33; 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 proximal joint shaft 31 is sleeved in the base 10, the proximal finger section 21 is sleeved on the proximal joint shaft 31, the middle joint shaft 32 is sleeved in the proximal finger section 21, the middle finger section 22 is sleeved on the middle joint shaft 32, the distal joint shaft 33 is sleeved in the middle finger section 22, and the distal finger section 23 is sleeved on the distal joint shaft 33; the central lines of the proximal joint shaft 31, the middle joint shaft 32 and the distal joint shaft 33 are parallel to each other; the method is characterized in that: the multi-path differential linear parallel clamping double-finger-section self-adaptive robot finger device further comprises a transition shaft 15, a first connecting rod 41, a second connecting rod 42, a third connecting rod 43, a fourth connecting rod 44, a fifth connecting rod 45, a sixth connecting rod 46, a first shaft 34, a second shaft 35, a third shaft 36, a fourth shaft 37, a fifth shaft 38, a first gear 51, a second gear 52, a third gear 53, a fourth gear 54, a first spring part 61, a second spring part 62, a third spring part 63, a fourth spring part 64, a fifth spring part 65, a first shifting block 71, a second shifting block 72, a first limiting block 81 and a second limiting block 82; the transition shaft 15 is sleeved in the base 10, the first gear 51 is sleeved on the transition shaft 15, and the output end of the transmission mechanism is connected with the first gear 51; the second gear 52 is sleeved on the proximal joint shaft 31, and the second gear 52 is meshed with the first gear 51; the two ends of the first spring element 61 are respectively connected with the second gear 52 and the proximal finger section 21; the third gear 53 is sleeved on the transition shaft 15, the fourth gear 54 is sleeved on the proximal joint shaft 31, and the third gear 53 is meshed with the fourth gear 54; the first shifting block 71 is fixedly connected with the first gear 51, and the second shifting block 72 is fixedly connected with the third gear 53; in the initial state, a distance exists between the first shifting block 71 and the second shifting block 72; the central lines of the transition shaft 15, the first shaft 34, the second shaft 35, the third shaft 36, the fourth shaft 37, the fifth shaft 38 and the proximal joint shaft 31 are parallel to each other; the first connecting rod 41 is sleeved on the proximal joint shaft 31, the first shaft 34 is sleeved in the first connecting rod 41, the second connecting rod 42 is sleeved on the first shaft 34, the second shaft 35 is sleeved in the second connecting rod 42, and the middle finger section 22 is sleeved on the second shaft 35; one end of the third connecting rod 43 is sleeved on the proximal joint shaft 31, and the other end of the third connecting rod 43 is sleeved on the third shaft 36; the fourth connecting rod 44 is sleeved on the third shaft 36, and the fourth shaft 37 is sleeved in the fourth connecting rod 44; one end of the fifth connecting rod 45 is sleeved on the fourth shaft 37, and the other end of the fifth connecting rod 45 is sleeved on the middle joint shaft 32; the sixth connecting rod 46 is sleeved on the fourth shaft 37, the fifth shaft 38 is sleeved in the sixth connecting rod 46, and the far finger section 23 is sleeved on the fifth shaft 38; the two ends of the second spring element 62 are respectively connected with the fourth gear 54 and the third connecting rod 43; two ends of the third spring 63 are respectively connected with the fourth gear 54 and the first connecting rod 41; two ends of the fourth spring element 64 are respectively connected with the first connecting rod 41 and the base 10; the first limiting block 81 and the second limiting block 82 are fixedly connected with the base 10 respectively; the two ends of the fifth spring element 65 are respectively connected with the third connecting rod 43 and the base 10; in an initial state, the first link 41 contacts with the first stopper 81, and the third link 43 contacts with the second stopper 82; let the central point of the proximal joint axis 31, the middle joint axis 32, the distal joint axis 33, the first axis 34, the second axis 35, the third axis 36, the fourth axis 37 and the fifth axis 38 be A, B, C, D, E, F, G, H; the length of the line segment AF, the length of the line segment BG and the length of the line segment CH are equal; the length of the line segment AB is equal to the length of the line segment FG; the length of segment GH is equal to the length of segment BC; the length relation of the line segment AD, the line segment DE, the line segment BE, the line segment BC, the line segment EC and the line segment AB meets the following requirements: AD: BE: BC: CE: AB: 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 51 is fixedly connected with the transition shaft 15; the worm 13 meshes with a worm wheel 14.

The utility model relates to a multipath differential linear parallel-clamping double-finger-section self-adaptive robot finger device, which is characterized in that: the first spring piece 61 adopts a tension spring, a pressure spring or a torsion spring; the second spring part 62 adopts a tension spring, a pressure spring or a torsion spring; the third spring part 63 is a tension spring, a pressure spring or a torsion spring, and the fourth spring part 64 is a tension spring, a pressure spring or a torsion spring; the fifth spring element 65 is a tension spring, a compression spring or a torsion spring. In this embodiment, the first spring element 61 is a torsion spring, the second spring element 62 is a torsion spring, the third spring element 63 is a torsion spring, the fourth spring element 64 is a tension spring, and the fifth spring element 65 is a tension spring.

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 principle of the point E moving along the straight track by the proximal finger section 21, the middle finger section 22, the first link 41, the second link 42, the proximal joint shaft 31, the middle joint shaft 32, the distal joint shaft 33, the first shaft 34, the second shaft 35, and the like in this embodiment is shown in fig. 8. When the line segment AB rotates around A, the line segment AB can beThe line segment DE is driven to rotate around the point D, and the point C moves along the track of the straight line S. The center point C of the distal joint axis is at C₁And C₂The 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, the third spring element 63, the fourth spring element 64 and the fifth spring element 65, the first link 41 contacts with the first limit block 81, the third link 43 contacts with the second limit block 82, and a distance is left between the first shifting block 71 and the second shifting block 72.

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

(1) Linear parallel clamping grabbing mode

The motor 11 rotates, the second gear 51 is rotated by the speed reducer 12, and the proximal finger section 21 is rotated by the first spring member 61. Since the end of the mechanism composed of the proximal finger section 21, the middle finger section 22, the first link 41 and the second link 42 moves along an approximately straight line, the distal joint shaft 33 moves along a straight line relative to the base 10; since the proximal finger section 21, the third link 43, the fourth link 44, and the fifth link 45 constitute a parallel four-link mechanism, the line segment AF in fig. 9 is parallel to the line segment BG; the middle finger section 22, the fifth link 45, the sixth link 46, and the far finger section 23 also constitute a parallel four-bar linkage, so the line segment BG in fig. 9 is parallel to the line segment CH, which is parallel to the AF. In the process of starting movement from the initial state, the first link 41 is kept in contact with the first limit block 81 under the action of the fourth spring element 64, and the third link 43 is kept in contact with the second limit block 82 under the action of the fifth spring element 65, so that the first link 41 and the third link 43 are kept fixed relative to the base 10, so that the far finger section 23 is kept in a constant posture relative to the base 10 in the process, and therefore, the far finger section 23 is translated along an approximately linear track in the movement process.

There is a distance between the first and

second blocks

71, 72 so that the second and

third blocks

72, 53 are stationary for a period of time after the first gear wheel 51 begins to move.

The process is called a linear parallel clamping motion process. In the process, when the distal finger section 23 contacts the object, the grasping is finished, and the function of straight-line flat clamping of the object is realized, as shown in fig. 14.

After the far finger section 23 contacts the object 9, the motor 11 continues to rotate, the deformation amount of the first spring element 61 is increased, the gripping force on the object is increased, and the effect of adjusting the variable gripping force is obtained.

(2) Adaptive grab mode

According to different grabbing situations, there are two grabbing modes: and the far finger segment self-adaptive grabbing mode and the middle and far finger segment self-adaptive grabbing mode.

During the linear parallel clamping movement, when the proximal finger section 21 first contacts the object 9, the proximal finger section 21 is blocked from further rotation, and the first spring element 61 is stretched because the proximal finger section 21 is connected with the second gear 52 through the first spring element 61, so that the first gear 51 and the second gear 52 continue to rotate. After a while, the first shifting block 71 fixed to the first gear 51 will contact the second shifting block 72 fixed to the third gear 53, and push the second shifting block 72 and the third gear 53 to rotate, as shown in fig. 10, 11, 12 and 13.

The second shifting block 72 and the third gear 53 rotate to enable the fourth gear 54 to rotate, the third spring element 63 pulls the first connecting rod 41 to rotate, the first connecting rod 41 leaves the first limiting block 81, and the deformation quantity of the fourth spring element 64 is increased; the third connecting rod 43 is pulled to rotate through the second spring element 62, the third connecting rod 43 leaves the second limiting block 82, and the deformation amount of the fifth spring element 65 is increased; since the proximal finger section 21 is fixed, rotation of the first link 41 causes the middle finger section 22 to rotate about the middle joint axis 32 until the middle finger section 22 contacts the object 9; meanwhile, the rotation of the third link 43 will make the distal finger section 33 rotate around the distal joint shaft 43 by a corresponding angle until the distal finger section 33 also contacts the object, and the function of the middle and distal finger section adaptive envelope capture is completed, as shown in fig. 15 and 16. The process is adaptive to objects of different shape and size.

When the middle finger section 22 contacts the object 9 first, the middle finger section 22 is blocked from further movement, the first shifting block 51 pushes the second shifting block 52, the fourth gear 54 is rotated through the third gear 53, the third connecting rod 43 is pulled to rotate through the second spring element 62, the third connecting rod 43 leaves the second limit block 82, the rotation of the third connecting rod 43 is increased by the deformation amount of the fifth spring element 65, so that the distal finger section 33 rotates around the distal joint shaft 33 by a corresponding angle until the distal finger section 33 also contacts the object, and the function of distal joint adaptive envelope capture is completed as shown in fig. 16. The process is adaptive to objects of different shape and size.

After the proximal finger section 21 contacts the object 9, the motor 11 continues to rotate, the deformation of the first spring element 61 is increased, and the gripping force on the object is increased; after the middle finger section 22 contacts the object 9, the motor 11 continues to rotate, the deformation amount of the second spring element 62 is increased, and the gripping force on the object is increased; after the far finger section 23 contacts the object 9, the motor 11 continues to rotate, the deformation amount of the third spring element 63 is increased, the gripping force on the object is increased, and the effect of variable gripping force adjustment is achieved.

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

Claims

1. A multi-path differential linear parallel clamping double-finger-section self-adaptive robot finger device comprises a base, a motor, a transmission mechanism, a near finger section, a middle finger section, a far finger section, a near joint shaft, a middle joint shaft and a far joint shaft; the motor is fixedly connected with the base and is connected with the input end of the transmission mechanism; the near joint shaft is sleeved in the base, the near finger section is sleeved on the near joint shaft, the middle joint shaft is sleeved in the near finger section, the middle finger section is sleeved on the middle joint shaft, the far joint shaft is sleeved in the middle finger section, and the far finger section is sleeved on the far joint shaft; 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 multipath differential linear parallel clamping double-finger-section self-adaptive robot finger device further comprises a transition shaft, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod, a first shaft, a second shaft, a third shaft, a fourth shaft, a fifth shaft, a first gear, a second gear, a third gear, a fourth gear, a first spring piece, a second spring piece, a third spring piece, a fourth spring piece, a fifth spring piece, a first shifting block, a second shifting block, a first limiting block and a second limiting block; the transition shaft is sleeved in the base, 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 is meshed with the first gear; two ends of the first spring piece are respectively connected with the second gear and the proximal finger section; the third gear is sleeved on the transition shaft, the fourth gear is sleeved on the proximal joint shaft, and the third gear is meshed with the fourth gear; the first shifting block is fixedly connected with the first gear, 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 central lines of the transition shaft, the first shaft, the second shaft, the third shaft, the fourth shaft, the fifth shaft and the near joint shaft are mutually parallel; the first connecting rod is sleeved on the proximal joint shaft, the first shaft is sleeved in the first connecting rod, the second connecting rod is sleeved on the first shaft, the second shaft is sleeved in the second connecting rod, and the middle finger section is sleeved on the second shaft; one end of the third connecting rod is sleeved on the proximal joint shaft, and the other end of the third connecting rod is sleeved on the third shaft; the fourth connecting rod is sleeved on the third shaft, and the fourth shaft is sleeved in the fourth connecting rod; one end of the fifth connecting rod is sleeved on the fourth shaft, and the other end of the fifth connecting rod is sleeved on the middle joint shaft; the sixth connecting rod is sleeved on a fourth shaft, the fifth shaft is sleeved in the sixth connecting rod, and the far finger section is sleeved on the fifth shaft; two ends of the second spring are respectively connected with a fourth gear and a third connecting rod; two ends of the third spring are respectively connected with a fourth gear and a first connecting rod; two ends of the fourth spring are respectively connected with the first connecting rod and the base; the first limiting block and the second limiting block are fixedly connected with the base respectively; two ends of the fifth spring are respectively connected with the third connecting rod and the base; in an initial state, the first connecting rod is in contact with the first limiting block, and the third connecting rod is in contact with the second limiting block; the central points of the near joint shaft, the middle joint shaft, the far joint shaft, the first shaft, the second shaft, the third shaft, the fourth shaft and the fifth shaft are respectively A, B, C, D, E, F, G, H; the length of the line segment AF, the length of the line segment BG and the length of the line segment CH are equal; the length of the line segment AB is equal to the length of the line segment FG; the length of segment GH is equal to the length of segment BC; the length relation of the line segment AD, the line segment DE, the line segment BE, the line segment BC, the line segment EC and the line segment AB meets the following requirements: AD: BE: BC: CE: AB: 68:51:49:68:110: 100.

2. The multi-way differential linear parallel-clamping double-finger-section adaptive robot finger device as claimed in claim 1, wherein: 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.

3. The multi-way differential linear parallel-clamping double-finger-section adaptive robot finger device as claimed in claim 1, wherein: 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; the fourth spring piece adopts a tension spring, a pressure spring or a torsion spring; and the fifth spring piece adopts a tension spring, a pressure spring or a torsion spring.