Integrated fluid driving device for parallelly clamping and indirect self-adaption of robot fingers

The invention discloses an integrated fluid driving device for parallelly clamping and indirect self-adaption of robot fingers and belongs to the technical field of robot hands. The integrated fluid driving device comprises a base, two finger sections, two joint shafts, a motor, fluids, four flexible pieces, a hose, three through holes, two sliding blocks, two spring pieces and the like. The functions of parallelly clamping and indirect self-adaption grabbing of the fingers of a double-joint robot are achieved. According to the differences of shapes and positions of target objects, the second finger section can be parallelly moved to pinch the objects, and the functions of parallelly clamping and grabbing are achieved. The first finger section and the second finger section can be sequentially rotated to envelop different shapes and sizes of objects, so that the characteristic of self-adaption grabbing is achieved. The device is stable in grabbing and large in grabbing range. An under-actuated mode is adopted,