CN109571539B - Controllable-force self-adaptive robot hand device for quick grabbing rod cluster - Google Patents

Abstract

The utility model provides a controllable quick snatch pole cluster self-adaptation robot hand device, belongs to robot hand technical field, including base, first motor, second motor, cam, tendon rope, second spring spare and a plurality of push rod subassembly etc.. The device is used for grabbing objects, achieves a space discrete self-adaptive grabbing function, achieves the self-adaptive function on the size and shape of the objects by utilizing a plurality of push rod assemblies, and achieves rapid grabbing and grabbing force control by utilizing the combination of the cam and the second spring piece; the device achieves the multidirectional gripping effect on the object, can provide gripping force for the object in multiple directions, and can effectively grip various shapes (including long strips) of objects placed in different directions; the device is not limited by the power of a driving source, and can simultaneously have extremely high grabbing speed and extremely high grabbing force; the device has simple structure and low energy consumption, is suitable for various robots needing general grabbing, and is particularly suitable for being used in occasions needing controllable force to grab rapidly.

Description

Adaptable robotic hand device for fast grasping rod clusters with controllable force

Technical field

The invention belongs to the technical field of robot hands, and particularly relates to the structural design of an adaptive robot hand device for quickly grasping rod clusters with controllable force.

Background technique

Robot hands are widely used in the field of robotics. They are used to temporarily connect and fix robots with objects, and can be released at the appropriate time. The former enables grabbing objects, and the latter enables objects to be released. In order to reduce costs, a general robot hand is made with two relatively moving parts to facilitate the simplest realization of the grabbing and releasing functions. There are also many structures that imitate the human hand and are designed to have more fingers and several joints on the fingers, but that will bring complexity and high cost to the mechanical system, sensing system, control system and control algorithm. Some robot hands are adaptable, that is, they do not know the shape and size of the object to be grasped before grasping, and they do not perform sensor detection on the grasped object during grasping, but they can grasp adaptively. This automatic adaptability to the shape and size of objects allows the robot hand to grasp a wider range of different objects without increasing the need for sensing and control.

In the literature (Peter B.Scott, "The'Omnigripper': a form of robot universal gripper", Robotica, vol.3:pp 153-158, 1985), Peter B.Scott introduced a universal method for mechanically passively adapting to the shape of objects. Gripper Omnigripper. The gripper has two sets of rod clusters. Each set of rod clusters has multiple long rods parallel to each other. These long rods are pushed by the object to be grasped and slide freely up and down to adapt to the shape of the object. They are driven by a driver. The two groups of rod clusters move closer or apart to grasp objects. For example, when the end of the robot is close to an object placed on a support surface (such as a tabletop), the object squeezes the long rods and causes them to slide into the base. Since there are many long rods and the long rods are thin, (smaller diameter), different long rods contact different surface points of the object, and the sliding distance of each long rod into the palm is different. This distance is related to the local shape of the object; then, two groups of rod clusters, one on the left and one on the right Collect and then close to clamp the object, and use the long rod to clamp the object from the side to achieve the purpose of grabbing.

The disadvantages of this device are:

(1) Multi-directional grasping cannot be achieved. When this device applies a grasping force to the target object, the grasping force can only be along the direction in which the two groups of rod clusters come together, which is equivalent to a two-finger gripper. It only produces a one-dimensional clamping mode and the clamping effect is poor. .

(2) Failure to grasp long strip objects placed in a specific direction. When the target object is parallel to this direction and the target object is longer than the device in this direction, the target object will not be grasped by the closing of the two sets of telescopic rods, such as grabbing a long object.

(3) The structure is complex and energy consumption is large. This device has two sets of rod clusters, which require two mutually moving movable supports (or moving bases), a set of linear guide rails, two slide blocks, drivers, transmission mechanisms, etc. The structure is relatively complex and requires a The collective movement of bulky pole clusters with many long poles is relatively energy consuming.

(4) The gripping stability needs to be improved. The gripping force of this device on the target object is only generated by the closing of the two groups of rod clusters. It can only use the force of the gripping force to grasp the object in a closed manner, but lacks a better enveloping closed grasping effect, because the force Closed grasping of objects may not necessarily result in form-closed grasping, but shape-closed grasping must include force-closed grasping, so the grasping stability has reached the best form-closed grasp.

Fu Hong et al. introduced it in the literature (Fu H, Yang H, Song W, et al. A novel cluster-tube self-adaptive robot hand: [J]. Robotics & Biomimetics, 2017, 4(1): 25.) A rod-cluster adaptive robot hand. This rod cluster adaptive robot hand has multiple push rod assemblies. Each push rod assembly includes a rotating shaft, a guide rod, a spring and a sliding tube. Each push rod assembly has the freedom of vertical sliding and lateral swinging. When grabbing an object, first all push rod components adapt to the shape of the object longitudinally, and then all push rod components gather toward the center to achieve grabbing. The transmission device that drives all push rod components is composed of a wheel train and an elastic rope. The flexible rope is wrapped around the periphery of all push rod components. When an object is grasped, the wheel train rotates to tighten the flexible rope. However, this device still has some shortcomings. For example, the grab is not fast because the wheel train needs to rotate to tighten the flexible rope. This tightening process takes a long time and is limited by the power of the driving source. If the tightening process is accelerated, It will also lead to a reduction in tightening force.

Contents of the invention

The purpose of the present invention is to overcome the shortcomings of the prior art and provide an adaptive robot hand device for quickly grasping rod clusters with controllable force. The device is used to grasp objects and is adaptive to the size and shape of objects; it achieves a multi-directional grasping effect on objects: it can provide gripping force to objects in multiple directions, and can handle various shapes placed in different directions (including It can effectively grasp all long and long objects; it has a simple structure and low energy consumption; it is not limited by the power limit of the driving source and has extremely fast grabbing speed.

The technical solution of the present invention is as follows:

The invention designs an adaptive robot hand device for quickly grasping rod clusters with controllable force, including a base, K push rod assemblies, a first motor and a first transmission mechanism; each of the push rod assemblies includes a slide tube , guide rod, rotating shaft and first spring; K slide tubes are evenly distributed in a circle, and each slide tube is slidably embedded in the base; in the push rod assembly, the slide tubes are slidably sleeved in the corresponding On the guide rod, the two ends of the first spring are respectively connected to the corresponding guide rod and the corresponding slide tube, and the guide rod is sleeved on the corresponding rotating shaft; the K rotating shafts are respectively sleeved in the base , K rotating shafts are evenly distributed in a circle; the sliding direction of the sliding tube is parallel to the center line of the guide rod; the center line of the sliding tube and the center line of the rotating shaft are perpendicular to each other; the first motor is fixed in the base , the output shaft of the first motor is connected to the input end of the first transmission mechanism; it is characterized in that: the controllable force fast grabbing rod cluster adaptive robot hand device also includes a cam, a second motor, and a second transmission mechanism , bobbin, intermediate shaft, tendons and K second springs; the outer edge surface of the cam has K protrusions and K recesses, the protrusions are evenly distributed around the circumference, and the recesses parts are evenly distributed around the circumference, and the convex parts and recessed parts are arranged at intervals on the outer edge surface of the cam; the cam is set in the base, and the cam is connected to the output end of the first transmission mechanism, and the cam is connected to the output end of the first transmission mechanism. The outer edge surface is in contact with each guide rod; the base includes a binding cavity, the second motor is fixed on the base, the output shaft of the second motor is connected to the input end of the second transmission mechanism, and the second The output end of the transmission mechanism is connected to the bobbin; the intermediate shaft is sleeved in the base; the bobbin is sleeved on the intermediate shaft; the starting end of the tendon is fixedly connected to the bobbin, and the tendon is wound through The bobbin; the second spring member is a tension spring; the two ends of the i-th second spring member are respectively connected to the ends of the tendons and the i-th push rod assembly, and all second spring members are connected to the corresponding push rods. The connection points of the components are all located in the strapping cavity; where K is a natural number greater than 3, i=1,2,3...K, i is a natural number.

The self-adaptive robot hand device for quickly grasping rod clusters with controllable force according to the present invention is characterized in that: the convex portion has a first slope and a second slope, and the slope of the first slope is greater than the slope of the second slope, All the first slopes are evenly distributed around the circumference of the cam, and all the second slopes are evenly distributed around the circumference of the cam.

The self-adaptive robot hand device for quickly grasping rod clusters with controllable force according to the present invention is characterized in that: the two ends of the i-th second spring are respectively connected to the end of the tendon rope and the i-th guide rod, i =1,2,3...K, i is a natural number, and K is the number of push rod components.

The self-adaptive robot hand device for quickly grasping rod clusters with controllable force according to the present invention is characterized in that: the two ends of the i-th second spring are respectively connected to the end of the tendon rope and the i-th slide tube, i =1,2,3...K, i is a natural number, and K is the number of push rod components.

The force-controllable fast-grabbing rod cluster adaptive robot hand device of the present invention is characterized in that: each push rod assembly also includes a flexible film and a flexible contact, and the flexible film is made of rubber, silicone or latex. Made of any one or more of them, the flexible contact is made of any one or more of rubber, silicone or latex, the i-th flexible film is wrapped around the outside of the i-th slide tube, the i-th A flexible contact is fixed at the end of the i-th slide tube, i=1,2,3...K, i is a natural number, and K is the number of push rod assemblies.

The self-adaptive robot hand device for quickly grasping rod clusters with controllable force according to the present invention is characterized in that the protruding part includes a permanent magnet or an electromagnet, the guide rod is provided with a magnetically conductive material, and the magnetically conductive material The material is installed on the guide rod at a height corresponding to the boss.

The self-adaptive robot hand device for quickly grasping rod clusters with controllable force according to the present invention is characterized in that: the recessed part includes a permanent magnet or an electromagnet, and the guide rod is provided with a magnetically conductive material, and the magnetically conductive material Install on the guide rod at a height corresponding to the recess.

The adaptive robot hand device for quickly grasping rod clusters with controllable force according to the present invention is characterized in that: the first transmission mechanism includes a reducer, a worm and a worm gear, and the output shaft of the motor and the input shaft of the reducer The worm is connected to the output end of the reducer, the worm gear meshes with the worm gear, and the worm gear is connected to the cam; the middle part of the cam has a through hole, and the tendon rope passes through the through hole of the cam.

The adaptive robot hand device for quickly grasping rod clusters with controllable force according to the present invention is characterized in that the second transmission mechanism is a reducer.

Compared with the existing technology, the present invention has the following advantages and outstanding effects:

The device of the present invention utilizes multiple push rod assemblies, a first motor, a cam, a second motor, a tendon rope, a second spring, etc. to comprehensively realize the spatial discrete adaptive grabbing function, and utilizes multiple push rod assemblies to realize the size and shape of an object. The adaptive function of the shape utilizes the combination of the cam and the second spring to achieve rapid gripping and gripping force control; the device achieves a multi-directional gripping effect on objects and can provide gripping force to objects in multiple directions. , can effectively grasp objects of various shapes (including long strips) placed in different directions; the device is not limited by the power of the driving source, and can have extremely fast grasping speed and great grasping force at the same time; structure Simple and low energy consumption. This device is suitable for use on a variety of robots that require universal grasping, and is especially suitable for use in situations where rapid grasping with controllable force is required.

Description of drawings

Figure 1 is a three-dimensional appearance view of an embodiment of an adaptive robot hand device for fast grasping rod clusters with controllable force designed according to the present invention.

FIG. 2 is an isometric cross-sectional view of the embodiment shown in FIG. 1 .

Figure 3 is a top view of the embodiment shown in Figure 1 (some parts are not shown).

Figure 4 is a three-dimensional appearance view of the embodiment shown in Figure 1 in a tightened state (some parts are not shown).

FIG. 5 is a three-dimensional appearance view of the cam of the embodiment shown in FIG. 1 .

FIG. 6 is a top view of the cam of the embodiment shown in FIG. 1 .

FIG. 7 is a schematic diagram of the internal structure of the embodiment shown in FIG. 1 in an open state (some parts are not shown).

Figure 8 is a schematic diagram of the internal structure of the embodiment shown in Figure 1 in a tightened state (some parts are not shown).

FIG. 9 is a schematic diagram of the process of grabbing objects according to the embodiment shown in FIG. 1 .

FIG. 10 is an isometric cross-sectional view of an object grasped by the embodiment shown in FIG. 1 .

In Figures 1 to 10:

11-Upper base cover, 12-Upper base 13-Middle base 14-Lower base cover 15-Lower base

21-Rotating shaft 22-Hinge 23-First spring 24-Guide rod 25-Rod tube connector

26-Sliding tube 27-Flexible film 28-Flexible contact 3-First motor 41-Worm

42-Worm gear 51-Cam 51A-Protruding part 51B-Concave part 52-Bearing

6-Second motor 7-Bobbin 8-Tine cord 9-Second spring 10-Object

Detailed ways

The specific structure and working principle of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

The invention designs an adaptive robot hand device for quickly grasping rod clusters with controllable force, including a base, K push rod assemblies, a first motor and a first transmission mechanism; each of the push rod assemblies includes a slide tube , guide rod, rotating shaft and first spring; K slide tubes are evenly distributed in a circle, and each slide tube is slidably embedded in the base; in the push rod assembly, the slide tubes are slidably sleeved in the corresponding On the guide rod, the two ends of the first spring are respectively connected to the corresponding guide rod and the corresponding slide tube, and the guide rod is sleeved on the corresponding rotating shaft; the K rotating shafts are respectively sleeved in the base , K rotating shafts are evenly distributed in a circle; the sliding direction of the sliding tube is parallel to the center line of the guide rod; the center line of the sliding tube and the center line of the rotating shaft are perpendicular to each other; the first motor is fixed in the base , the output shaft of the first motor is connected to the input end of the first transmission mechanism; it is characterized in that: the controllable force fast grabbing rod cluster adaptive robot hand device also includes a cam, a second motor, and a second transmission mechanism , bobbin, intermediate shaft, tendons and K second springs; the outer edge surface of the cam has K protrusions and K recesses, the protrusions are evenly distributed around the circumference, and the recesses parts are evenly distributed around the circumference, and the convex parts and recessed parts are arranged at intervals on the outer edge surface of the cam; the cam is set in the base, and the cam is connected to the output end of the first transmission mechanism, and the cam is connected to the output end of the first transmission mechanism. The outer edge surface is in contact with each guide rod; the base includes a binding cavity, the second motor is fixed on the base, the output shaft of the second motor is connected to the input end of the second transmission mechanism, and the second The output end of the transmission mechanism is connected to the bobbin; the intermediate shaft is sleeved in the base; the bobbin is sleeved on the intermediate shaft; the starting end of the tendon is fixedly connected to the bobbin, and the tendon is wound through The bobbin; the second spring member is a tension spring; the two ends of the i-th second spring member are respectively connected to the ends of the tendons and the i-th push rod assembly, and all second spring members are connected to the corresponding push rods. The connection points of the components are all located in the strapping cavity; where K is a natural number greater than 3, i=1,2,3...K, i is a natural number.

Taking K=8, an embodiment of the self-adaptive robot hand device for fast grasping rod clusters with controllable force according to the present invention is shown in Figures 1 to 10. This embodiment includes a base, 8 push rod assemblies, a first motor 3 and a first transmission mechanism; each push rod assembly includes a slide tube 26, a guide rod 24, a rotating shaft 21 and a first spring 23; 8 The sliding tubes 26 are evenly distributed around the circumference, and each sliding tube 26 is slidably embedded in the base; in the push rod assembly, the sliding tubes 26 are slidably sleeved on the corresponding guide rod 24, and the first Both ends of the spring 23 are respectively connected to corresponding guide rods 24 and corresponding slide tubes 26. The guide rods 24 are sleeved on the corresponding rotating shafts 21; eight of the rotating shafts 21 are respectively sleeved in the base, and the eight rotating shafts 21 are respectively sleeved in the base. The rotating shaft 21 is evenly distributed around the circumference; the sliding direction of the sliding tube 26 is parallel to the center line of the guide rod 24; the center line of the sliding tube 26 and the center line of the rotating shaft 21 are perpendicular to each other; the first motor 3 is fixed on In the base, the output shaft of the first motor 3 is connected to the input end of the first transmission mechanism; this embodiment also includes a cam 51, a second motor 6, a second transmission mechanism, a bobbin 7, an intermediate shaft, and a tendon. Rope 8 and 8 second springs 9; the outer edge surface of the cam 51 has 8 convex portions 51A and 8 recessed portions 51B. The convex portions 51A are evenly distributed around the circumference, and the recessed portions 51B are evenly distributed around the circumference. The convex portions 51A and the recessed portions 51B are spaced apart on the outer edge surface of the cam 51; the cam 51 is set in the base, the cam 51 is connected to the output end of the first transmission mechanism, and the outer edge surface of the cam 51 is connected to each The guide rod 24 is in contact; the base includes a binding cavity, the second motor 6 is fixed on the base, the output shaft of the second motor 6 is connected to the input end of the second transmission mechanism, and the second transmission mechanism The output end is connected to the bobbin 7; the intermediate shaft is sleeved in the base; the bobbin 7 is sleeved on the intermediate shaft; the starting end of the tendon 8 is fixedly connected to the bobbin 7, and the tendon 8 Winding through the bobbin 7; the two ends of the i-th second spring 9 are respectively connected to the ends of the tendon 8 and the i-th push rod assembly, and the connection points of all second springs 9 and the corresponding guide rods 24 They are all located in the binding cavity; among them, 8 is a natural number greater than 3, i=1,2,3...8, and i is a natural number.

In this embodiment, the base includes an upper base cover 11, an upper base 12, a middle base 13, a lower base cover 14 and a lower base 15; the first motor 3 and the second motor 6 Fixed on the upper base 12, the eight rotating shafts 21 are sleeved on the upper base 12; the middle base 13 connects the upper base 12 and the lower base 15; the lower base cover 15 has There are 8 sliding tube through holes and 1 tendon rope through hole. The lower base 15 has 8 sliding tube through holes.

In this embodiment, the push rod assembly further includes a hinge 22 , and the guide rod 24 is sleeved on the corresponding rotating shaft 21 through the hinge 22 .

In this embodiment, the raised portion 51A has a first slope and a second slope. The slope of the first slope is greater than the slope of the second slope. All the first slopes are evenly distributed around the outer edge of the cam 51 , and all the third slopes are evenly distributed around the circumference of the cam 51 . The two slopes are evenly distributed around the circumference of the cam 51 .

In this embodiment, the two ends of the i-th second spring are respectively connected to the ends of the tendons and the i-th guide rod, i=1, 2, 3...8, i is a natural number.

In another embodiment of the present invention, the two ends of the i-th second spring are respectively connected to the ends of the tendons and the i-th slide tube i=1, 2, 3...8, i is a natural number.

The force-controllable fast-grabbing rod cluster adaptive robot hand device of the present invention is characterized in that: each push rod assembly also includes a flexible film and a flexible contact, and the flexible film is made of latex, silicone or rubber. The flexible contact is made of any one or more of latex, silicone or rubber. The i-th flexible film is wrapped around the outside of the i-th slide tube, and the i-th flexible film is wrapped around the outside of the i-th slide tube. A flexible contact is fixed at the end of the i-th slide tube, i=1,2,3...K, i is a natural number, and K is the number of push rod assemblies.

In this embodiment, each push rod assembly also includes a flexible film 27 and a flexible contact 28. The flexible film 27 is made of rubber. The flexible contact 28 is made of rubber. The i-th flexible film 27 Wrapped around the outside of the i-th slide tube 26, the i-th flexible contact 28 is fixed at the end of the i-th slide tube 26, i=1, 2, 3...8, i is a natural number.

In this embodiment, the raised portion includes a permanent magnet or an electromagnet, and the guide rod is provided with a magnetic conductive material. The magnetic conductive material is installed on the guide rod at a height corresponding to the raised portion.

In this embodiment, the recessed part includes a permanent magnet or an electromagnet, and the guide rod is provided with a magnetic conductive material. The magnetic conductive material is installed on the guide rod at a height corresponding to the recessed part.

In this embodiment, the first transmission mechanism includes a reducer, a worm 41 and a worm gear 42. The output shaft of the first motor 3 is connected to the input shaft of the reducer, and the worm 41 is fixed at the output end of the reducer. , the worm gear 42 meshes with the worm 41, and the worm gear 42 is connected with the cam 51; the cam 51 has a through hole in the middle, and the tendon 8 passes through the through hole of the cam 51.

In this embodiment, the second transmission mechanism is a reducer.

The working principle of the embodiment shown in Figure 1 will be introduced below with reference to the accompanying drawings.

The device has two states, the first state is an open state, and the second state is a closed state.

The gathered state of the device is shown in Figures 4 and 8. At this time, the eight recessed portions 51B of the cam 51 are directly facing the eight push rod assemblies. In this state, due to the pre-tightening force of the second spring 9, the The hinged frames of the eight push rod assemblies are in contact with the eight recessed portions 51B of the cam 51 respectively, so that all the push rod assemblies are brought together, and the ends of the slide tubes 26 of all the push rod assemblies are brought together.

The open state of the device is shown in Figures 1, 2 and 7. At this time, the eight protrusions 51A of the cam 51 are directly opposite to the eight push rod assemblies, and the hinged frames of the eight push rod assemblies are respectively aligned with the cam. The eight protrusions 51A of 51 are in contact, so that all push rod assemblies are in a vertical state, and the slide tubes 26 of all push rod assemblies are vertical. In this state, the second spring 9 has greater tension than in the gathered state.

The switching of the device between the open state and the gathered state is realized by the rotation of the first motor 3 driving the cam 51 through the first transmission mechanism. The slopes on both sides of the convex portion 51A of the cam 51 are different. As shown in Figures 5 and 6, when the grab switching state is in this embodiment, the selected rotation direction of the cam 51 should make the device change from the open state to the gathered state. quickly, and slowly from the gathered state to the open state, that is, the sequence of the parts of the hinge 22 contacting the cam 51 is: the convex part 51A, the side with a large slope, the recessed part 51B, the side with a small slope, the convex part 51A….

Since the deformation of the second spring member 9 is small in the gathered state, the device is in the gathered state when not working.

The device is divided into the following three steps when grabbing an object 10:

Step 1: Preparation, the cam 51 rotates at a certain angle driven by the first motor 3, so that the device changes from the gathered state to the open state.

Step 2: The device is driven by the mechanical arm to approach the object 10 placed on the supporting surface and squeeze the object 10. If the slide tube 26 touches the object 10, the slide tube 26 will react with the object 10. Slide along the corresponding guide rod 24; if the slide tube 26 does not touch the object 10, the slide tube 26 will not move relative to the grasping device; due to the extrusion reaction force of the object 10 under the different slide tube 26 Different sliding distances are produced, so the device adapts to the shape of the object 10 .

Step 3: The cam 51 rotates at a small angle driven by the first motor 3, so that the device quickly returns to the gathered state from the open state, and all the slide tubes 26 gather toward the center until the slide tubes touch the object 10 or the corresponding hinge. The member 22 touches the recessed portion 51B of the cam 51, thereby completing the grasping.

When the device releases the object 10, it is divided into two steps:

Step 1: The cam 51 rotates under the drive of the first motor 3, and the device gradually changes from the gathered state to the open state. During the change process, the slide tube around the object gradually moves away from the object, the grasping force gradually disappears, and the object is moved. Release, in addition, the slide tube also returns to the initial position under the action of the first spring.

Step 2: Resume work. The cam 51 rotates at a corresponding angle driven by the first motor 3. The device changes from the open state to the gathered state, and then closes the device.

The device adjusts the grabbing speed through the contour design of the cam 51 and the speed control of the first motor 3, and has fast grabbing performance. Since the device is driven by two sources, increased gripping speed does not weaken the gripping force. By controlling the angle at which the second motor 6 drives the reel, the expansion and contraction amount of the second spring 9 can be accurately controlled, thereby controlling the gripping force.

The device of the present invention utilizes multiple push rod assemblies, a first motor, a cam, a second motor, a tendon rope, a second spring, etc. to comprehensively realize the spatial discrete adaptive grabbing function, and utilizes multiple push rod assemblies to realize the size and shape of an object. The adaptive function of the shape utilizes the combination of the cam and the second spring to achieve rapid gripping and gripping force control; the device achieves a multi-directional gripping effect on objects and can provide gripping force to objects in multiple directions. , can effectively grasp objects of various shapes (including long strips) placed in different directions; the device is not limited by the power of the driving source, and can have extremely fast grasping speed and great grasping force at the same time; structure Simple and low energy consumption. This device is suitable for use on a variety of robots that require universal grasping, and is especially suitable for use in situations where rapid grasping with controllable force is required.

Claims (5)

1. An adaptive robot hand device for quickly grasping rod clusters with controllable force, including a base, K push rod assemblies, a first motor and a first transmission mechanism; each push rod assembly includes a slide tube, a guide Rod, rotating shaft and first spring; K slide tubes are evenly distributed around the circumference, and each slide tube is slidably embedded in the base; in the push rod assembly, the slide tubes are slidably sleeved on the corresponding guide On the rod, the two ends of the first spring are respectively connected to corresponding guide rods and corresponding slide tubes, and the guide rods are sleeved on the corresponding rotating shafts; K of the rotating shafts are respectively sleeved in the base, K The rotating shafts are evenly distributed in a circle; the sliding direction of the sliding tube is parallel to the center line of the guide rod; the center line of the sliding tube and the center line of the rotating shaft are perpendicular to each other; the first motor is fixed in the base, so The output shaft of the first motor is connected to the input end of the first transmission mechanism; it is characterized in that: the controllable fast grabbing rod cluster adaptive robot hand device also includes a cam, a second motor, a second transmission mechanism, a winding Spool, intermediate shaft, tendons and K second springs; the outer edge surface of the cam has K protrusions and K recesses, the protrusions are evenly distributed around the circumference, and the recesses are in the shape of Evenly distributed around the circumference, the protrusions and recesses are arranged at intervals on the outer edge of the cam; the cam is set in the base, and the cam is connected to the output end of the first transmission mechanism; the push rod The assembly also includes a hinge, the guide rod is sleeved on the corresponding rotating shaft through the hinge, and the outer edge surface of the cam is in contact with the hinge; the base includes a strapping cavity, and the second motor is fixed on the base , the output shaft of the second motor is connected to the input end of the second transmission mechanism, and the output end of the second transmission mechanism is connected to the bobbin; the intermediate shaft is sleeved in the base; the bobbin is sleeved On the intermediate shaft; the starting end of the tendon rope is fixedly connected to the bobbin, and the tendon rope is wound through the bobbin; the second spring member is a tension spring; the two ends of the i- th second spring member are respectively connected to the tendon rope. At the end, the i- th push rod assembly, all connection points of the second spring member and the corresponding push rod assembly are located in the strapping cavity; the raised portion has a first slope and a second slope, and the slope of the first slope is greater than that of the i-th push rod assembly. The slope of the two slopes, all the first slopes are evenly distributed around the circumference of the cam, and all the second slopes are evenly distributed around the circumference of the cam; the two ends of the i- th second spring are connected to the tendons respectively. The end and the i- th guide rod or i- th slide tube; the first transmission mechanism includes a reducer, a worm and a worm gear, the output shaft of the motor is connected to the input shaft of the reducer, and the worm is fixed in the reducer The output end of the worm gear meshes with the worm, and the worm gear is connected to the cam; the middle part of the cam has a through hole, and the tendon passes through the through hole of the cam; where K is a natural number greater than 3, i =1, 2,3… K , i is a natural number. 2. The force-controllable fast-grabbing rod cluster adaptive robot hand device according to claim 1, characterized in that: each push rod assembly further includes a flexible film and a flexible contact, and the flexible film is made of rubber. , silicone or latex, the flexible contact is made of any one or more of rubber, silicone or latex, the i- th flexible film is wrapped around the i- th slide tube On the outside, the i- th flexible contact is fixed at the end of the i -th slide tube, i =1, 2,3... K , i is a natural number, and K is the number of push rod assemblies. 3. The adaptive robot hand device with controllable force for quickly grasping rod clusters as claimed in claim 1, characterized in that: the protruding portion includes a permanent magnet or an electromagnet, and the guide rod is provided with a magnetically conductive material. The magnetic conductive material is installed on the guide rod at a height corresponding to the raised portion. 4. The adaptive robot hand device with controllable force for quickly grasping rod clusters as claimed in claim 1, characterized in that: the recessed part includes a permanent magnet or an electromagnet, and the guide rod is provided with a magnetically conductive material, so The magnetic conductive material is installed on the guide rod at a height corresponding to the recessed portion. 5. The force-controllable fast-grabbing rod cluster adaptive robot hand device according to claim 1, characterized in that: the second transmission mechanism is a reducer.