A gripping manipulator device and a robot having the same

Abstract

The application belongs to the technical field of grabbing manipulator, and provides a grabbing manipulator device and a robot with the grabbing manipulator device. The grabbing manipulator device comprises a mounting plate, four-finger manipulator finger components, a thumb manipulator finger component and a deflection driving component for driving the thumb manipulator finger component to deflect relative to the mounting plate as a whole. The four-finger manipulator finger components are connected to the mounting plate, and the deflection driving component is connected to the mounting plate and the thumb manipulator finger component. The robot has a mechanical arm, and the mechanical arm is connected with the grabbing manipulator device. The grabbing manipulator device and the robot with the grabbing manipulator device have good stability, large grabbing force, precise control of the bending state of each finger joint and good use effect.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of mechanical hand, and particularly relates to a grabbing mechanical hand device and a robot with the grabbing mechanical hand device. BACKGROUND

[0002] The mechanical hand is an automatic operation device which can imitate some action functions of human hands, and can grab, carry and operate tools according to fixed programs. The dexterous mechanical hand with five fingers designed according to the shape of human hands has more degrees of freedom, is more dexterous, and is closer to human hands, and can assist people to complete more complex work. For example, the inductive bionic mechanical arm used for surgical operation can be remotely controlled to complete the operation, and can be used as a prosthesis for disabled people and paralyzed people to help patients to live independently. Therefore, the five-fingered mechanical hand has great significance and has been the focus of bionic robot research. In the prior art, the mechanical hand has a structure connected through power transmission of a conveyor belt and a pulley. The connection between the conveyor belt and the pulley is a soft connection, and it is not easy to slip during the rotation of the pulley. Moreover, the conveyor belt itself is easy to deform, which makes it difficult to control the rotation angle of the knuckles by using the rotation angle of the pulley, and precise control cannot be achieved. On the other hand, the conveyor belt is easy to wear and tear and has poor stability due to its own properties during long-term traction and stretching. SUMMARY

[0003] The present application aims to overcome the shortcomings of the prior art, and provides a grabbing mechanical hand device and a robot with the grabbing mechanical hand device, which has good stability, large grabbing force, and can precisely control the bending state of each knuckle, and has good use effect.

[0004] The technical scheme of the present application is as follows: a grabbing mechanical hand device, comprising a mounting plate, four-finger mechanical finger components, a big thumb mechanical finger component, and a deflection driving component for driving the big thumb mechanical finger component to deflect relative to the mounting plate as a whole, the four-finger mechanical finger components are connected to the mounting plate, and the deflection driving component is connected to the mounting plate and the big thumb mechanical finger component.

[0005] The four-finger mechanical finger components comprise a first power device, a first connecting seat with a first arc-shaped groove and fixedly connected to the mounting plate, a first proximal finger connected to the first connecting seat and slidable along the first arc-shaped groove, a first middle finger connected to the first proximal finger, and a first distal finger connected to the first middle finger; the four-finger mechanical finger components further comprise a first connecting rod mechanism connected to the first power device, the first connecting seat and the first middle finger, and a second connecting rod mechanism connected to the first connecting rod mechanism, the first middle finger and the first distal finger.

[0006] The big thumb mechanical finger component comprises a second power device, a second connecting seat with a second arc-shaped slot, a big thumb proximal finger connected to the second connecting seat and slidable along the second arc-shaped slot, and a big thumb distal finger connected to the big thumb proximal finger, the second power device, the big thumb proximal finger and the big thumb distal finger are connected with a third linkage mechanism, the second connecting seat is fixedly connected with or integrally formed with a deflection base plate, and the deflection driving component is connected to the deflection base plate.

[0007] Optionally, the first linkage mechanism comprises a first rod, a second rod and a third rod, and the second linkage mechanism comprises a fourth rod, a fifth rod and a sixth rod;

[0008] The rear end of the first rod, the rear end of the first proximal finger and the straight push rod at the front end of the first power device are rotationally connected through a first pin shaft; the rear end of the second rod is connected to the first connecting seat, the front end of the second rod, the front end of the first rod and the rear end of the third rod are rotationally connected to the fourth rod; the front end of the fourth rod and the rear end of the fifth rod are rotationally connected, the middle segment of the fifth rod is rotationally connected to the first middle finger, the front end of the fifth rod is rotationally connected to the rear end of the sixth rod, the first distal finger is rotationally connected to the front end of the sixth rod and the front end of the first middle finger respectively, and the rear end of the first middle finger is also rotationally connected to the front end of the first proximal finger and the front end of the third rod.

[0009] Optionally, the first connecting seat comprises a first bottom plate and two first side plates oppositely and spaced apart; both the first side plates are provided with the first arc-shaped slot;

[0010] The first proximal finger comprises a proximal finger connecting rod between the two first side plates, the proximal finger connecting rod is provided with two second connecting holes, the proximal finger shafts are provided through the second connecting holes, the proximal finger shafts are provided with two and pass through the second connecting holes respectively, the proximal finger bearings are provided with four and are connected to the two ends of the proximal finger shafts respectively, and each of the first arc-shaped slots has two proximal finger bearings slidable along the first arc-shaped slot 121;

[0011] The proximal finger connecting rod has a proximal finger connecting fork near one end of the first power device, the rear end of the first rod is a first connecting fork, and the front end of the first rod is a second connecting fork;

[0012] The second rod is provided with two, each of the first side plates is provided with a first connecting hole below the middle part of the first arc-shaped slot; the second rod is provided outside the first side plate, and the rear end of the second rod is rotationally connected to the first connecting hole through a rotating pin shaft;

[0013] The first connecting fork is arranged inside the proximal phalangeal connecting fork, the front end of the straight push rod extends into the first connecting fork, and the first pin shaft passes through the proximal phalangeal connecting fork, the first connecting fork and the front end of the straight push rod.

[0014] The second connecting fork is located between the two second link members, the rear end of the third link member and the rear end of the fourth link member are located inside the second connecting fork, a second pin shaft passes through the front end of the second link member, the second connecting fork and the rear end of the third link member, and a third pin shaft passes through the second connecting fork and the rear end of the fourth link member.

[0015] Optionally, the first middle phalangeal member is provided with three groups of connecting holes and is connected to the front end of the first proximal phalangeal member, the front end of the third link member and the front end of the fifth link member through pin shafts.

[0016] Optionally, the fifth link member is in an arc shape.

[0017] Optionally, the second connecting seat comprises a second bottom plate and two second side plates arranged oppositely and spaced apart, the two second side plates are both provided with the second arc-shaped slot, and the thumb proximal phalangeal member has a thumb connecting rod located between the two second side plates.

[0018] The thumb connecting rod is provided with two fourth pin shafts, the two ends of each fourth pin shaft are both provided with a second bearing, each second arc-shaped slot has two second bearings, the rear end of the thumb connecting rod is provided with a thumb connecting fork, the front end of the second power device extends into the thumb connecting fork and is rotationally connected to the thumb connecting fork through a fifth pin shaft.

[0019] Optionally, the third connecting rod mechanism comprises a seventh link member, an eighth link member and a ninth link member, the rear end of the seventh link member, the thumb connecting fork and the front end of the second power device are rotationally connected, the rear end of the eighth link member is connected to the second connecting seat, the front end of the seventh link member, the front end of the eighth link member and the rear end of the ninth link member are rotationally connected, and the front end of the ninth link member and the front end of the thumb connecting rod are rotationally connected to the thumb distal phalangeal member respectively.

[0020] Optionally, the four-fingered mechanical hand member is provided with four groups, and each group corresponds to an independent first power device.

[0021] Optionally, the deflection driving part is a rotary rudder, the rotary rudder has a double-headed rotating shaft, the double-headed rotating shaft is connected with a U-shaped adapter plate, and the thumb mechanical hand member is connected to the adapter plate.

[0022] The application further provides a robot, which has a mechanical arm connected with the above-mentioned grabbing mechanical hand device.

[0023] The grasping manipulator device and the robot with the grasping manipulator device have good stability, large grasping force, and precise control of the bending state of each finger joint, and have good use effect. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0025] Figure 1 is a perspective view of a grasping manipulator device provided by the embodiments of the present application;

[0026] Figure 2 is a perspective assembly view of a four-finger manipulator finger component (extended state) in a grasping manipulator device provided by the embodiments of the present application;

[0027] Figure 3 is a perspective exploded view of a four-finger manipulator finger component in a grasping manipulator device provided by the embodiments of the present application;

[0028] Figure 4 is a perspective assembly view of a thumb manipulator finger component (extended state) in a grasping manipulator device provided by the embodiments of the present application;

[0029] Figure 5 is a perspective exploded view of a thumb manipulator finger component in a grasping manipulator device provided by the embodiments of the present application;

[0030] Figure 6 is a perspective view of the active state of a thumb manipulator finger component in a grasping manipulator device provided by the embodiments of the present application;

[0031] Figure 7 is a perspective assembly view of a four-finger manipulator finger component (contracted holding state) in a grasping manipulator device provided by the embodiments of the present application;

[0032] Figure 8 is a perspective assembly view of a thumb manipulator finger component (contracted holding state) in a grasping manipulator device provided by the embodiments of the present application;

[0033] Figure 9 is a perspective assembly view of a four-finger manipulator finger component, a thumb manipulator finger component (contracted holding process) in a grasping manipulator device provided by the embodiments of the present application;

[0034] Figure 10 Figure 1 is a perspective assembly view of a four-fingered mechanical hand component and a thumb mechanical finger component (retracted gripping) of a grabbing mechanical hand device according to an embodiment of the present application. DETAILED DESCRIPTION

[0035] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely intended to explain the present application and should not be used to limit the present application.

[0036] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there can be an intermediate element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there can be an intermediate element.

[0037] It should also be noted that the terms of left, right, up, down and the like in the embodiments of the present application are merely relative concepts or are referenced to the normal use state of the product, and should not be considered as limiting.

[0038] As shown in Figure 1, the four-fingered mechanical hand component 1 and the thumb mechanical finger component 2 are connected to the mechanical hand body 3. Figures 1 to 10As shown, the embodiment of the present application provides a grabbing manipulator device, which comprises a mounting plate 410, four-finger manipulator finger components 100, a thumb manipulator finger component 200 and a deflection driving component 300 for driving the deflection of the thumb manipulator finger component 200 relative to the mounting plate 410 as a whole, which has high action bionics and can well simulate human hand gripping and other actions. The four-finger manipulator finger components 100 are connected to the mounting plate 410, and the mounting plate 410 can correspond to the palm of the manipulator. The deflection driving component 300 is connected to the mounting plate 410 and the thumb manipulator finger component 200, which can well drive the deflection of the thumb manipulator finger component 200 relative to the mounting plate 410 as a whole within a certain angle range, and better simulate human hand gripping and other actions. Each of the four-finger manipulator finger components 100 and the thumb manipulator finger component 200 can be independently controlled. In the embodiment, the fingers corresponding to the four-finger manipulator finger components 100 are divided into three sections, the part close to the palm is called the proximal finger, the middle part is called the middle finger (in the embodiment, the middle finger joint), and the part far from the palm is called the distal finger. The four-finger manipulator finger component 100 comprises a first power device 110, a first connecting seat 120 with a first arc-shaped groove 121 and fixedly connected to the mounting plate 410, a first proximal finger 130 connected to the first connecting seat 120 and slidable along the first arc-shaped groove 121, a first middle finger 140 connected to the first proximal finger 130 and a first distal finger 150 connected to the first middle finger 140. The first proximal finger 130, the first middle finger 140 and the first distal finger 150 correspond to the three-section finger joints of the human body. The first proximal finger 130, the first middle finger 140 and the first distal finger 150 can be rotated inward to the mounting plate 410 to grab and hold objects, and can be rotated outward to release objects. The mounting plate 410 can be connected to a multi-axis mechanical arm of a robot, for example. The four-finger manipulator finger component 100 further comprises a first linkage mechanism connected to the first power device 110, the first connecting seat 120 and the first middle finger 140, and a second linkage mechanism connected to the first linkage mechanism, the first middle finger 140 and the first distal finger 150. When the first power device 110 acts, the first proximal finger 130, the first middle finger 140 and the first distal finger 150 can act like human fingers through the driving of the first linkage mechanism and the second linkage mechanism, the manipulator has good stability, large grabbing force and precise control of the bending state of the fingers.

[0039] The big thumb mechanical finger component 200 comprises a second power device 210, a second connecting seat 220 with a second arc-shaped slot 221, a big thumb proximal finger 230 connected to the second connecting seat 220 and slidable along the second arc-shaped slot 221, a big thumb distal finger 240 connected to the big thumb proximal finger 230, the second power device 210, the big thumb proximal finger 230 and the big thumb distal finger 240 are connected with a third linkage mechanism, the second connecting seat 220 is fixedly connected with or integrally formed with a deflection base plate 290, the deflection driving component 300 is connected to the deflection base plate 290, the big thumb mechanical finger component 200 is two-joint and can be twisted, the other four four-finger mechanical finger components 100 can have the same structure and are three-joint.

[0040] Specifically, the first linkage mechanism comprises a first rod 510, a second rod 520 and a third rod 530, and the second linkage mechanism comprises a fourth rod 540, a fifth rod 550 and a sixth rod 560; the first rod 510, the second rod 520 and the third rod 530, the fourth rod 540, the fifth rod 550 and the sixth rod 560 can be aluminum alloy rods, which are light in weight and high in strength.

[0041] Specifically, the rear end of the first rod 510, the rear end of the first proximal finger 130 and the linear push rod at the front end of the first power device 110 are rotationally connected through a first pin shaft 611; the rear end of the second rod 520 is rotationally connected to the first connecting seat 120, the front end of the first rod 510 is rotationally connected to the rear end of the fourth rod 540 through a first shaft body, the front end of the second rod 520 and the rear end of the third rod 530 are rotationally connected to the rear end of the first rod 510 through a second shaft body; the first shaft body and the second shaft body are adjacent. The front end of the fourth rod 540 and the rear end of the fifth rod 550 are rotationally connected, the middle segment (close to the front end) of the fifth rod 550 is rotationally connected to the first middle finger 140, the front end of the fifth rod 550 is rotationally connected to the rear end of the sixth rod 560, the first distal finger 150 is respectively rotationally connected to the front end of the sixth rod 560 and the front end of the first middle finger 140, and the rear end of the first middle finger 140 is also rotationally connected to the front end of the first proximal finger 130 and the front end of the third rod 530, which has a compact structure and good flexibility.

[0042] Specifically, the first connecting seat 120 comprises a first bottom plate and two first side plates oppositely and spacedly arranged; both the first side plates are provided with the first arc-shaped slot 121.

[0043] The first proximal finger 130 comprises a proximal finger connecting rod 131 between the two first side plates, and the first proximal finger 130 has good stability and good reliability when the grabbing manipulator device grips heavy objects. The proximal finger connecting rod 131 is provided with two second connecting holes, and the proximal finger shafts are provided through the second connecting holes. The proximal finger shafts are provided with two and are respectively connected to the two ends of the proximal finger shafts. Each of the first arc-shaped grooves 121 has two proximal finger bearings 132 which can slide along the first arc-shaped groove 121. The first proximal finger 130 can stably slide along the first arc-shaped groove 121, which is beneficial to the grabbing manipulator device gripping heavy objects.

[0044] Specifically, the proximal finger connecting rod 131 has a proximal finger connecting fork 133 near one end of the first power device 110. The rear end of the first rod 510 is a first connecting fork or is provided with a first shaft hole. The front end of the first rod 510 is a second connecting fork. The second rod 520 is provided with two. Each of the first side plates is provided with a first connecting hole below the middle of the first arc-shaped groove 121. The second rod 520 is provided outside the first side plate, and the rear end of the second rod 520 is rotatably connected to the first connecting hole through a rotating pin shaft. The first connecting fork is provided inside the proximal finger connecting fork 133. The front end of the straight-line push rod extends into the first connecting fork. The first pin shaft 611 passes through the proximal finger connecting fork 133, the first connecting fork (or the first shaft hole) and the front end of the straight-line push rod. The second connecting fork is located between the two second rods 520. The rear end of the third rod 530 and the rear end of the fourth rod 540 are located inside the second connecting fork. The second pin shaft 612 passes through the front end of the second rod 520, the second connecting fork and the rear end of the third rod 530. The third pin shaft 613 passes through the second connecting fork and the rear end of the fourth rod 540. The structure has good reliability.

[0045] Specifically, the first middle finger 140 is provided with three groups of connecting holes, which are arranged near the rear end of the first middle finger 140, and the centers of the three groups of connecting holes are not on the same straight line. The three groups of connecting holes are connected to the front end of the first proximal finger 130, the front end of the third rod 530 and the middle segment of the fifth rod 550 through pin shafts. The first middle finger 140 can act under the action of the first linkage mechanism and drive the second linkage mechanism to make the first distal finger 150 act.

[0046] Specifically, the fifth rod 550 can be arc-shaped.

[0047] Specifically, the second connecting seat 220 comprises a second bottom plate and two second side plates oppositely and spaced apart; both of the second side plates are provided with the second arc-shaped slot 221, and the thumb proximal finger 230 has a thumb connecting rod 231 located between the two second side plates, and the load-bearing performance of the thumb proximal finger 230 is better.

[0048] Specifically, the thumb connecting rod 231 is provided with two fourth pin shafts, and both ends of each fourth pin shaft are provided with a second bearing 232; each second arc-shaped slot 221 has two second bearings 232; the rear end of the thumb connecting rod 231 is provided with a thumb connecting fork 233, the front end of the second power device 210 extends into the thumb connecting fork 233 and is rotationally connected to the thumb connecting fork 233 through a fifth pin shaft 615, and the structure is compact and reliable.

[0049] Specifically, the third connecting rod mechanism comprises a seventh rod member 570, an eighth rod member 580 and a ninth rod member 590, the rear end of the seventh rod member 570, the thumb connecting fork 233 and the front end of the second power device 210 are rotationally connected, the rear end of the eighth rod member 580 is connected to the second connecting seat 220; the front end of the seventh rod member 570, the front end of the eighth rod member 580 and the rear end of the ninth rod member 590 are rotationally connected, and the front end of the ninth rod member 590 and the front end of the thumb connecting rod 231 are respectively rotationally connected to the thumb distal finger 240, and the thumb proximal finger 230 and the thumb distal finger 240 can reliably act.

[0050] Specifically, the four-fingered mechanical finger component 100 is provided with four groups, each group corresponding to an independent first power device 110, and the first power device 110 and the second power device 210 can be a linear power device, such as a linear push rod (linear motor) and the like. The rear end of the first power device 110 can be rotationally connected to a first seat body 710, and the first seat body 710 can be fixed to a mounting plate 410. The rear end of the second power device 210 can be rotationally connected to a second seat body 720, and the second seat body 720 can be fixed to the mounting plate 410 or a deflection base plate 290.

[0051] Specifically, the deflection driving component 300 can be a rotary rudder machine, which has high control precision and large output torque.

[0052] Specifically, the rotary rudder machine has a double-headed rotating shaft, a U-shaped adapter plate 310 is connected to the double-headed rotating shaft, and the deflection base plate 290 of the thumb mechanical finger component 200 is fixedly connected to the adapter plate 310, so that the thumb mechanical finger component 200 can rotate as a whole, and the mechanical hand has better grabbing and holding capacity.

[0053] In the embodiment, when the first power device 110 is extended, the first proximal phalanx 130 is driven to rotate along the first arc-shaped slot 121, the center of the arc-shaped slot 121 is fitted or close to fitted with the rotation center of the proximal phalanx rotating around the palm, so that the first proximal phalanx 130 rotates around the mounting plate 410 (palm) by a certain angle; at the same time, when the first power device 110 is extended, the first connecting rod mechanism composed of the first rod 510, the second rod 520 and the third rod 530 is driven to work, so that the third rod 530 drives the first middle phalanx 140 to rotate around the first proximal phalanx 130 by a certain angle; at the same time, when the first power device 110 is extended, the second connecting rod mechanism composed of the fourth rod 540, the fifth rod 550 and the sixth rod 560 is driven to work, so that the sixth rod 560 drives the first distal phalanx 150 to rotate around the first middle phalanx 140 by a certain angle.

[0054] When the second power device 210 is extended, the second proximal phalanx is driven to rotate along the second arc-shaped slot 221, the center of the slot guide rail track is fitted or close to fitted with the rotation center of the proximal phalanx rotating around the palm, so that the proximal phalanx rotates around the palm by a certain angle; at the same time, when the second power device 210 is extended, the third connecting rod mechanism composed of the seventh rod 570, the eighth rod 580 and the ninth rod 590 is driven to work, so that the ninth rod 590 drives the second distal phalanx to rotate around the second proximal phalanx by a certain angle.

[0055] When the push rod of the first power device 110 and the second power rod is retracted, each phalanx and rod can be reversely actuated.

[0056] In the embodiment, the big thumb mechanical finger component 200 rotates on the adapter plate 310 of the rotating rudder, and the rotating rudder drives the adapter plate 310 to rotate, thereby driving the rotation of the whole big thumb.

[0057] The embodiment also provides a robot, which has a mechanical arm connected with the above-described grabbing mechanical hand device, and the mechanical arm and the mounting plate 410 can be fixedly connected or connected through a rudder. The mechanical arm can be a multi-axis mechanical arm.

[0058] The grabbing mechanical hand device and the robot provided by the embodiment have good stability, large grabbing force and good use effect.

[0059] The above only describes the preferred embodiments of the present application and is not used to limit the present application, and any modification, equivalent replacement or improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A gripping robot device, characterized in that, The mechanical hand comprises a mounting plate, a four-finger mechanical hand component, a big thumb mechanical hand component and a deflection driving component for driving the big thumb mechanical hand component to deflect relative to the mounting plate as a whole, the four-finger mechanical hand component is connected to the mounting plate, and the deflection driving component is connected to the mounting plate and the big thumb mechanical hand component; The four-finger mechanical hand component comprises a first power device, a first connecting seat with a first arc-shaped slot and fixedly connected to the mounting plate, a first proximal finger connected to the first connecting seat and slidable along the first arc-shaped slot, a first middle finger connected to the first proximal finger and a first distal finger connected to the first middle finger; the four-finger mechanical hand component further comprises a first linkage mechanism connected to the first power device, the first connecting seat and the first middle finger and a second linkage mechanism connected to the first linkage mechanism, the first middle finger and the first distal finger; The big thumb mechanical hand component comprises a second power device, a second connecting seat with a second arc-shaped slot, a big thumb proximal finger connected to the second connecting seat and slidable along the second arc-shaped slot, a big thumb distal finger connected to the big thumb proximal finger, the second power device, the big thumb proximal finger and the big thumb distal finger are connected with a third linkage mechanism, the second connecting seat is fixedly connected with or integrally formed with a deflection base plate, the deflection driving component is connected to the deflection base plate, the deflection driving component is a rotary rudder, the rotary rudder has a double-headed rotating shaft, the double-headed rotating shaft is connected with a U-shaped adapter plate, and the big thumb mechanical hand component is connected to the adapter plate; The first linkage mechanism comprises a first rod, a second rod and a third rod, and the second linkage mechanism comprises a fourth rod, a fifth rod and a sixth rod; The rear end of the first rod, the rear end of the first proximal finger and the straight-line push rod at the front end of the first power device are rotationally connected through a first pin shaft; the rear end of the second rod is connected to the first connecting seat, the front end of the second rod, the front end of the first rod and the rear end of the third rod are rotationally connected to the fourth rod; the front end of the fourth rod and the rear end of the fifth rod are rotationally connected, the middle segment of the fifth rod is rotationally connected to the first middle finger, the front end of the fifth rod is rotationally connected to the rear end of the sixth rod, the first distal finger is rotationally connected to the front end of the sixth rod and the front end of the first middle finger respectively, and the rear end of the first middle finger is also rotationally connected to the front end of the first proximal finger and the front end of the third rod; when the first power device operates, the first proximal finger, the first middle finger and the first distal finger are driven through the first linkage mechanism and the second linkage mechanism to operate like human fingers, so as to accurately control the bending state of the fingers; The first connecting seat comprises a first bottom plate and two first side plates oppositely and spaced apart; both the first side plates are provided with the first arc-shaped slot; The first proximal finger comprises a proximal finger connecting rod between the two first side plates, the proximal finger connecting rod is provided with two second connecting holes, the second connecting holes are provided with proximal finger shafts, the proximal finger shafts are provided with two and are respectively connected to the two ends of the proximal finger shafts, each first arc-shaped slot is provided with two proximal finger bearings which can slide along the first arc-shaped slot; The proximal finger connecting rod is provided with a proximal finger connecting fork near one end of the first power device, the rear end of the first rod is a first connecting fork, and the front end of the first rod is a second connecting fork; The second rod is provided with two, and each first side plate is provided with a first connecting hole below the middle of the first arc-shaped slot; the second rod is provided outside the first side plate, and the rear end of the second rod is rotatably connected to the first connecting hole through a rotating pin shaft; The first connecting fork is provided inside the proximal finger connecting fork, the front end of the straight line push rod extends into the first connecting fork, and the first pin shaft penetrates the proximal finger connecting fork, the first connecting fork and the front end of the straight line push rod; The second connecting fork is located between the two second rods, the rear end of the third rod and the rear end of the fourth rod are located inside the second connecting fork, and a second pin shaft penetrates the front end of the second rod, the second connecting fork and the rear end of the third rod; a third pin shaft penetrates the second connecting fork and the rear end of the fourth rod; The first middle finger is provided with three groups of connecting holes which are connected to the front end of the first proximal finger, the front end of the third rod and the front end of the fifth rod through pin shafts, the three groups of connecting holes are provided close to the rear end of the first middle finger, and the centers of the three groups of connecting holes are not on the same straight line, the first middle finger can act under the action of the first connecting rod mechanism and drive the second connecting rod mechanism to make the first distal finger act.

2. A gripping manipulator device as claimed in claim 1, characterized in that The fifth rod is arc-shaped.

3. The grabbing manipulator device according to any one of claims 1-2, characterized in that The second connecting seat comprises a second bottom plate and two second side plates which are oppositely and spaced apart; both the second side plates are provided with the second arc-shaped slots, and the thumb proximal finger has a thumb connecting rod between the two second side plates, The thumb connecting rod is provided with two fourth pin shafts, both ends of each fourth pin shaft are provided with second bearings; each second arc-shaped slot is provided with two second bearings; the rear end of the thumb connecting rod is provided with a thumb connecting fork, and the front end of the second power device extends into the thumb connecting fork and is rotatably connected to the thumb connecting fork through a fifth pin shaft.

4. A gripping manipulator device as claimed in claim 3, characterized in that The third connecting rod mechanism comprises a seventh rod, an eighth rod and a ninth rod, the rear end of the seventh rod, the thumb connecting fork and the front end of the second power device are rotatably connected, the rear end of the eighth rod is connected to the second connecting seat; the front end of the seventh rod, the front end of the eighth rod and the rear end of the ninth rod are rotatably connected, and the front end of the ninth rod and the front end of the thumb connecting rod are rotatably connected to the thumb distal finger respectively.

5. A gripping robot device according to any one of claims 1 to 2, characterized in that The four-finger mechanical finger component is provided with four groups, and each group corresponds to an independent first power device.

6. A robot, characterized in that The robot has a mechanical arm, and the mechanical arm is connected with the grabbing mechanical hand device as claimed in any one of claims 1 to 5.

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