The invention relates to a finger device of a double-motor cooperative combination grabbing
robot, and belongs to the technical field of arms of robots. The finger device comprises a base, two motors, two speed reducers, a
middle finger section, a
tail finger section, a proximal joint shaft, a distal joint shaft, two one-way transmission mechanisms, a driving wheel, a driven wheel, transmission parts, spring parts and the like. By the aid of the two motors arranged separately, the two one-way transmission mechanisms, a reverse transmission mechanism, the movably sleeved
middle finger section, the spring parts and the like, the finger device can realize a combination under-actuated grabbing mode of
coupling grabbing first and self-adaptive grabbing second. Excessive interference among various motion
modes is eliminated, deformation of the spring parts in
coupling motion is small, a finger can stop at any middle position during the
coupling motion, and thus,
energy consumption is low. The two motors which are respectively arranged in space of the base and space of the
middle finger section act onto two joints cooperatively, so that the middle finger section, especially the
tail finger section, can provide high grabbing force. The finger device is compact in structure, low in cost and easy to control.