Twisted-pair synchronous-locking and self-adapting robot finger device

The invention belongs to the technical field of robot hands and discloses a twisted-pair synchronous-locking and self-adapting robot finger device. The device comprises a motor, finger sections, joint shafts, joint spring parts, tendon ropes, rope pull parts, joint pulleys, drive plates, friction blocks and flexible part drive mechanisms. The device realizes the self-adapting grabbing function and the function of continuously and synchronously locking the multiple joints through the comprehensive effect of the motor, the tendon ropes, the spring parts, the flexible part drive mechanisms and a twisted-pair locking mechanism; when used for grabbing objects, the device can automatically adapt to the appearances and sizes of the objects; the joint locking mode can be adopted after the objects are grabbed; the grabbing process is fast and stable, the joints are locked after the objects are grabbed, fingers are prevented against resilience and unstability, and large grabbing force can be provided; the multiple joints can be synchronously locked; the angles of the joints capable of being locked are continuous. In addition, the device is compact in structure, small in size, light in weight, easy to control and low in designing, manufacturing, assembling and maintaining cost.