The invention provides a double-toggle-joint, connecting rod, linear and parallel clamping and self-adapting type finger device of a
robot hand, and belongs to the technical field of
robot hands. The double-toggle-joint, connecting rod, linear and parallel clamping and self-adapting type finger device of the
robot hand comprises a rack, two finger sections, two housings, two joint shafts, a motor, a plurality of connecting rods, three spring parts, a guide rail and a slide block. With the adoption of the device, fingers of the
robot hand can linearly parallelly clamp and adaptively grab, in particularly can clamp a thin-wall workpiece. According to the double-toggle-joint, connecting rod, linear and parallel clamping and self-adapting type finger device of the
robot hand, a
crank block mechanism meeting a certain condition is utilized to achieve the linear movement of a remote joint shaft and a near joint shaft; a four-connecting-rod mechanism and the spring parts are used in match to remain the
second finger section relative to the first finger section at the same location, thus achieving parallel movement; a six-connecting-rod mechanism and the spring parts are used in match to achieve the self-adaptive grabbing function, so as to adapt to grab articles with different shape and size. Therefore, the grabbing range is large, and the grabbing stability and reliability can be ensured; one motor can be used for driving the two finger sections. The device is simple in structure, and low in cost of
processing, assembling and repairing.