The invention provides an axial spiral synchronous locking self-adaptive
robot finger device and belongs to the technical field of
robot hands. The axial spiral synchronous locking self-adaptive
robot finger device comprises a motor, a plurality of finger sections, a plurality of joint shafts, a plurality of spring pieces, a
tendon rope, a
rope drawing piece, a plurality of joint wheels, a plurality of sets of nut sliding blocks and screws, and a plurality of sets of wheel type transmission mechanisms. According to the axial spiral synchronous locking self-adaptive
robot finger device, the functions of self-adaptive grabbing and continuous and synchronous locking of a plurality of joints are achieved comprehensively through the motor, the
tendon rope, the spring pieces, the wheel type transmission mechanisms and threaded transmission mechanisms. The axial spiral synchronous locking self-adaptive
robot finger device is used for grabbing objects and can automatically adapt to the shapes and sizes of the objects. A
joint locking mode or a non-locking mode can be adopted after the objects are grabbed. The grabbing process is fast and stable, the joints are locked after grabbing, a finger is protected against rebounding and
instability, and large grabbing force can be provided. The multiple joints can be locked synchronously. The angles of the joints capable of being locked are continuous. The axial spiral synchronous locking self-adaptive
robot finger device is simple in structure, small in size, low in weight, easy to control, and low in design, manufacturing, assembling and maintenance cost.