A fast response rope-driven adaptive two-finger gripper

Abstract

The present invention relates to the technical field of manipulators, and specifically discloses a fast-response rope-driven adaptive two-finger gripper, comprising a transmission mechanism, a drive mechanism, a linear guide mechanism, a first clamping finger, a second clamping finger, a rope guide assembly, a differential rope winding wheel and four fixed-axis rope winding wheels; the differential rope winding wheel has a first rope, a second rope, a third rope and a fourth rope; the four fixed-axis rope winding wheels are configured to correspond to the first rope, the second rope, the third rope and the fourth rope one by one; the swing of the transmission mechanism can drive the linear motion of the first clamping finger and the second clamping finger; the rotational direct-drive differential motion is realized by two groups of antagonistic rope pairs, when the tension formed by the four ropes is balanced with each other, the two groups of ropes move in the same way, however, when the tension of the two groups of antagonistic rope pairs is unbalanced, the rope tension difference directly drives the differential wheel to rotate, thereby avoiding the problems of gear transmission friction and large rotational inertia in traditional technologies, and reducing the response delay caused by static friction.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, and in particular to a fast-response rope-driven adaptive two-finger gripper. Background Art

[0002] Current adaptive grippers have the following problems:

[0003] (1) Currently, gear-type adaptive grippers are only suitable for large load scenarios. A large force difference is required to achieve differential motion, and it is difficult to achieve fast and sensitive response with a small force difference. In addition, the gear-type adaptive gripper itself is heavy.

[0004] (2) At present, the minimum cable force of the slider-type adaptive gripper needs to be greater than the maximum static friction of the slider, which makes it difficult to achieve rapid response and adaptive grasping through a small force difference.

[0005] (3) The gripper that meets the requirements of posture adaptation cannot meet the larger load requirements due to the influence of the material, and is constrained by feedback control and has difficulty in grasping fast-moving targets in real time. Summary of the invention

[0006] In order to solve the above-mentioned technical problems, the present invention provides a fast-response rope-driven adaptive two-finger gripper, which realizes rotational direct-drive differential motion through two groups of antagonistic rope pairs. When the tension formed by the four ropes is balanced with each other, the two groups of ropes move in the same way; when the tension of the two groups of antagonistic rope pairs is unbalanced, the difference in rope tension directly drives the differential wheel to rotate, which not only avoids the problems of gear transmission friction and large rotational inertia, but also converts the moving pair in the first slider-type differential into a rotating pair, greatly reducing the response delay caused by static friction.

[0007] To solve the above problems, the present invention adopts the following technical solutions:

[0008] A fast-response rope-driven adaptive two-finger gripper comprises: a transmission mechanism, a driving mechanism, a linear guide mechanism, a first gripping finger, a second gripping finger, a rope guide assembly, a differential rope reel and four fixed-axis rope reels.

[0009] The driving mechanism is used to drive the transmission mechanism to swing.

[0010] The first clamping finger is slidably arranged on the linear guide mechanism.

[0011] The second clamping finger is slidably arranged on the linear guide mechanism, and the second clamping finger is opposite to the first clamping finger.

[0012] The differential rope pulley has a first rope, a second rope, a third rope and a fourth rope.

[0013] The four fixed-axis rope wheels are configured to correspond one-to-one to the first rope, the second rope, the third rope and the fourth rope.

[0014] The fixed-axis rope reel and the differential rope reel are both rotationally connected to the transmission mechanism, and the swing axis of the transmission mechanism coincides with the center axis of the fixed-axis rope reel.

[0015] The first rope and the second rope antagonize to form a first antagonistic pair.

[0016] The third rope and the fourth rope antagonize to form a second antagonistic pair.

[0017] The first antagonistic pair and the second antagonistic pair are configured for differential antagonism.

[0018] The swinging motion of the transmission mechanism is converted into the linear motion of the first clamping finger through the first rope, the second rope, the rope guide assembly, the fixed-axis rope reel and the differential rope reel.

[0019] The swinging motion of the transmission mechanism is converted into the linear motion of the second clamping finger through the third rope, the fourth rope, the rope guide assembly, the fixed-axis rope reel and the differential rope reel.

[0020] In the fast-response rope-driven adaptive two-finger gripper provided in at least one embodiment of the present disclosure, the transmission mechanism includes: a connecting rod, a first connecting shaft, a second connecting shaft, a rotating shaft and a first light rod.

[0021] The first connecting shaft is configured to be rotatably connected to the connecting rod and the fixed-axis rope winding wheel.

[0022] The second connecting shaft is configured to be rotatably connected to the connecting rod.

[0023] The rotating shaft is configured to be rotatably connected to the connecting rod and the differential rope pulley.

[0024] Two ends of the first polished rod are fixedly connected to the first connecting shaft and the second connecting shaft respectively.

[0025] The driving mechanism is a crank driving mechanism, a first slider is arranged on the first polished rod, and a crank of the crank driving mechanism is rotatably connected to the first slider.

[0026] The first connecting axis and the second connecting axis are both parallel to the rotating axis, and the first connecting axis and the second connecting axis are both perpendicular to the first polished rod.

[0027] In the fast response rope-driven adaptive two-finger gripper provided in at least one embodiment of the present disclosure, the fixed-axis rope winding wheel and the differential rope winding wheel are respectively provided with a first rope groove and a second rope groove, and the first rope groove and the second rope groove are arranged opposite to each other.

[0028] The fixed-axis rope wheel is located on one side of the differential rope wheel, and the diameters of the first rope, the second rope, the third rope and the fourth rope are all larger than the gap between the fixed-axis rope wheel and the differential rope wheel.

[0029] In the fast-response rope-driven adaptive two-finger gripper provided in at least one embodiment of the present disclosure, the linear guide mechanism includes: a second polished rod, a second slider and a third slider.

[0030] The second sliding block is configured to be slidably connected to the second polished rod.

[0031] The third sliding block is configured to be slidably connected to the second polished rod.

[0032] The first clamping finger is fixedly connected to the second sliding block, and the second clamping finger is fixedly connected to the third sliding block.

[0033] One ends of the first rope and the second rope are both fixedly connected to the second slider, and the other ends of the first rope and the second rope are both fixedly connected to the differential rope winding wheel.

[0034] One end of the third rope and the fourth rope are both fixedly connected to the third slider, and the other end of the third rope and the fourth rope are both fixedly connected to the differential rope winding wheel.

[0035] The fast-response rope-driven adaptive two-finger gripper provided in at least one embodiment of the present disclosure further includes: a frame having a movable opening.

[0036] The second polished rod and the driving mechanism are both fixedly connected to the frame.

[0037] The frame is provided with a bearing, the outer ring of the bearing is fixedly connected to the frame, the first connecting shaft is fixedly connected to the inner ring of the bearing, and the frame and the first connecting shaft are rotatably connected via the bearing.

[0038] The first polished rod is located above the movable opening, and the second connecting shaft passes through the movable opening.

[0039] The movable opening is arranged in a fan shape, and the center of the fan shape is located on the central axis of the fixed-axis rope winding wheel.

[0040] In the fast-response rope-driven adaptive two-finger gripper provided in at least one embodiment of the present disclosure, the rope guide assembly includes: a plurality of fixed pulleys, and the plurality of fixed pulleys are configured to be rotatably connected to the frame.

[0041] In the fast-response rope-driven adaptive two-finger gripper provided in at least one embodiment of the present disclosure, there are two connecting rods, and the two connecting rods are symmetrically distributed in the upper and lower parts.

[0042] The fixed-axis rope winding wheel and the differential rope winding wheel are located between the two connecting rods.

[0043] In the fast-response rope-driven adaptive two-finger gripper provided in at least one embodiment of the present disclosure, threading holes are provided on the second slider and the third slider.

[0044] In the fast-response rope-driven adaptive two-finger gripper provided in at least one embodiment of the present disclosure, a first insertion slot is provided on the first gripping finger, and the second sliding block is located in the first insertion slot.

[0045] The second clamping finger is provided with a second insertion groove, and the third sliding block is located in the second insertion groove.

[0046] The beneficial effects of the present invention are:

[0047] The differential motion is achieved by using the rope drive principle. Compared with gears, the rope greatly reduces the mass of the differential mechanism, which is conducive to lightweight design.

[0048] The differential mechanism is designed using the rope drive principle, which not only compensates for the large friction problem of the moving pair of the slider differential mechanism, but also avoids the large size moment of inertia and the large cumulative impact of friction in the gear transmission route in the gear differential mechanism.

[0049] Essentially, the rope antagonistic force difference is directly converted into a rotational motion with less static friction, thereby achieving a fast differential response effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0051] Figure 1 The present invention is a schematic structural diagram of a fast-response rope-driven adaptive two-finger gripper.

[0052] Figure 2 The figure is a schematic structural diagram of a fast-response rope-driven adaptive two-finger gripper of the present invention after the frame is removed.

[0053] Figure 3 Schematic diagram of the winding of the first rope and the second rope.

[0054] Figure 4 Schematic diagram of the winding of the third rope and the fourth rope.

[0055] Figure 5 The figure is a schematic structural diagram of a fast-response rope-driven adaptive two-finger gripper of the present invention after some components are removed.

[0056] Figure 6 It is a schematic diagram of the structure after the differential rope winding wheel and the fixed-axis rope winding wheel are assembled to the transmission mechanism.

[0057] Figure 7 Schematic diagram of the distribution of the second rope groove and the first rope groove.

[0058] Figure 8 It is a schematic diagram of the assembly of the first clamping finger, the second clamping finger and the linear guide mechanism.

[0059] Fig. 9 It is a schematic diagram of the assembly of the second polished rod, the second slider and the third slider.

[0060] Fig.10 It is a three-dimensional diagram of the first clamping finger.

[0061] Fig.11 Considering only a differential rope reel A and a fixed-axis rope reel B, there are four schematic diagrams of the same-side routing, opposite-side routing and rope output direction.

[0062] Fig.12 This is a schematic diagram of the AB rod rotating 90° clockwise, assuming that the differential rope pulley A does not rotate due to the antagonistic force during rotation.

[0063] In the figure:

[0064] 10. Transmission mechanism; 11. Connecting rod; 12. First connecting shaft; 13. Second connecting shaft; 14. Rotating shaft; 15. First polished rod; 151. First sliding block;

[0065] 20. driving mechanism; 21. motor; 22. crank;

[0066] 30. Linear guide mechanism; 31. Second polished rod; 32. Second slider; 33. Third slider; 321. Threading hole;

[0067] 40. first clamping finger; 41. first insertion slot;

[0068] 50. Second clamp finger;

[0069] 60. differential rope pulley; 61. first rope; 62. second rope; 63. third rope; 64. fourth rope; 65. second rope groove;

[0070] 70. Fixed-axis rope reel; 71. First rope groove;

[0071] 80, frame; 81, bearing; 82, movable opening;

[0072] 90. Fixed pulley. DETAILED DESCRIPTION

[0073] The technical solutions in the embodiments will be described clearly and completely below in conjunction with the drawings in the embodiments. Obviously, the described embodiments are only a part of the embodiments, rather than all the embodiments.

[0074] Example

[0075] like Figures 1 to 5 As shown, this embodiment provides a fast response rope-driven adaptive two-finger clamp, including a transmission mechanism 10, a drive mechanism 20, a linear guide mechanism 30, a first clamping finger 40, a second clamping finger 50, a rope guide assembly, a differential rope winding wheel 60, a frame 80 and four fixed-axis rope winding wheels 70.

[0076] Specifically, the driving mechanism 20 is used to drive the transmission mechanism 10 to swing. The driving mechanism 20 includes a motor 21 and a crank 22 . The output shaft of the motor 21 is fixedly connected to the crank 22 .

[0077] Specifically, the first clamping finger 40 is slidably disposed on the linear guide mechanism 30 ; the second clamping finger 50 is slidably disposed on the linear guide mechanism 30 , and the second clamping finger 50 is opposite to the first clamping finger 40 .

[0078] Specifically, the differential sheave 60 has a first rope 61, a second rope 62, a third rope 63 and a fourth rope 64. The four fixed-axis sheaves 70 correspond to the first rope 61, the second rope 62, the third rope 63 and the fourth rope 64, respectively.

[0079] Specifically, the fixed-axis rope pulley 70 and the differential rope pulley 60 are both rotationally connected to the transmission mechanism 10 , and the swing axis of the transmission mechanism 10 coincides with the center axis of the fixed-axis rope pulley 70 .

[0080] Specifically, the first rope 61 and the second rope 62 antagonize to form a first antagonistic pair; the third rope 63 and the fourth rope 64 antagonize to form a second antagonistic pair; the first antagonistic pair and the second antagonistic pair are in a differential antagonistic relationship.

[0081] Specifically, the swinging motion of the transmission mechanism 10 is converted into the linear motion of the first clamping finger 40 through the first rope 61, the second rope 62, the rope guiding assembly, the fixed-axis rope winding wheel 70 and the differential rope winding wheel 60, and at the same time, the swinging motion of the transmission mechanism 10 is converted into the linear motion of the second clamping finger 50 through the third rope 63, the fourth rope 64, the rope guiding assembly, the fixed-axis rope winding wheel 70 and the differential rope winding wheel 60.

[0082] This embodiment realizes rotational direct-drive differential motion through two sets of antagonistic rope pairs. When the tension formed by the four ropes is balanced with each other, the two sets of ropes move in the same way. When the tension of the two sets of antagonistic rope pairs is unbalanced, the difference in rope tension directly drives the differential wheel to rotate, avoiding the problems of gear transmission friction and large rotational inertia, and greatly reducing the response delay caused by static friction.

[0083] like Figures 5 to 7 As shown, the structure of the transmission mechanism 10 will be further described below in conjunction with the accompanying drawings.

[0084] In this embodiment, the transmission mechanism 10 includes a connecting rod 11 , a first connecting shaft 12 , a second connecting shaft 13 , a rotating shaft 14 and a first polished rod 15 .

[0085] Specifically, the first connecting shaft 12 is configured to be rotatably connected to the connecting rod 11 and the fixed-axis rope winding wheel 70; the second connecting shaft 13 is configured to be rotatably connected to the connecting rod 11; the rotating shaft 14 is configured to be rotatably connected to the connecting rod 11 and the differential rope winding wheel 60; the two ends of the first light rod 15 are fixedly connected to the first connecting shaft 12 and the second connecting shaft 13 respectively; the first connecting shaft 12 and the second connecting shaft 13 are both parallel to the rotating shaft 14, and the first connecting shaft 12 and the second connecting shaft 13 are both perpendicular to the first light rod 15.

[0086] Specifically, a first slider 151 is provided on the first polished rod 15 , and the crank 22 is rotatably connected to the first slider 151 .

[0087] Specifically, there are two connecting rods 11 , and the two connecting rods 11 are symmetrically distributed up and down; the fixed-axis rope winding wheel 70 and the differential rope winding wheel 60 are located between the two connecting rods 11 .

[0088] like Figure 3 , 4 As shown in FIG. 7 , the structures of the fixed-axis rope winding wheel 70 and the differential rope winding wheel 60 will be further described below in conjunction with the accompanying drawings.

[0089] In this embodiment, the fixed-axis rope pulley 70 and the differential rope pulley 60 are respectively provided with a first rope groove 71 and a second rope groove 65 , and the first rope groove 71 and the second rope groove 65 are arranged opposite to each other.

[0090] Specifically, the fixed-axis rope wheel 70 is located on one side of the differential rope wheel 60, and the diameters of the first rope 61, the second rope 62, the third rope 63 and the fourth rope 64 are all larger than the gap between the fixed-axis rope wheel 70 and the differential rope wheel 60, so that the first rope 61, the second rope 62, the third rope 63 and the fourth rope 64 have better stability after assembly and are difficult to fall off from the first rope groove 71 and the second rope groove 65.

[0091] like Figure 8 and 9As shown, the structure of the linear guide mechanism 30 will be further described below in conjunction with the accompanying drawings.

[0092] In this embodiment, the linear guide mechanism 30 includes a second polished rod 31 , a second slider 32 and a third slider 33 .

[0093] Specifically, the second sliding block 32 is configured to be slidably connected to the second polished rod 31 ; and the third sliding block 33 is configured to be slidably connected to the second polished rod 31 .

[0094] Specifically, the first clamping finger 40 is fixedly connected to the second slider 32 , and the second clamping finger 50 is fixedly connected to the third slider 33 .

[0095] Specifically, one end of the first rope 61 and the second rope 62 are fixedly connected to the second slider 32, and the other end of the first rope 61 and the second rope 62 are fixedly connected to the differential rope winding wheel 60; one end of the third rope 63 and the fourth rope 64 are fixedly connected to the third slider 33, and the other end of the third rope 63 and the fourth rope 64 are fixedly connected to the differential rope winding wheel 60.

[0096] like Figure 1 , 2 , 3, 4, 5 and 8, the structure of the rack 80 will be further described below in conjunction with the accompanying drawings.

[0097] In this embodiment, the frame 80 is used to provide support for multiple components.

[0098] Specifically, the frame 80 has a movable opening 82 ; the second polished rod 31 and the motor 21 are both fixedly connected to the frame 80 .

[0099] Specifically, a bearing 81 is provided on the frame 80 , an outer ring of the bearing 81 is fixedly connected to the frame 80 , the first connecting shaft 12 is fixedly connected to the inner ring of the bearing 81 , and the frame 80 and the first connecting shaft 12 are rotatably connected via the bearing 81 .

[0100] Specifically, the first polished rod 15 is located above the movable opening 82 , and the second connecting shaft 13 passes through the movable opening 82 .

[0101] Specifically, the movable opening 82 is arranged in a fan shape, and the center of the fan shape is located on the central axis of the fixed-axis rope winding wheel 70.

[0102] like Figure 3 and 4 As shown, the rope guide assembly will be further described below in conjunction with the accompanying drawings.

[0103] In this embodiment, the rope guide assembly includes a plurality of fixed pulleys 90 , and the plurality of fixed pulleys 90 are all rotatably connected to the frame 80 .

[0104] Specifically, the plurality of fixed pulleys 90 are divided into four groups, and the first rope 61, the second rope 62, the third rope 63 and the fourth rope 64 correspond to the four groups of fixed pulleys 90 respectively, thereby guiding the first rope 61, the second rope 62, the third rope 63 and the fourth rope 64 respectively.

[0105] like Fig. 9 and 10 As shown, the structures of the first clamping finger 40, the second clamping finger 50, the second slider 32 and the third slider 33 will be further described below in conjunction with the accompanying drawings.

[0106] In this embodiment, the second slider 32 and the third slider 33 are both provided with threading holes 321 , and the threading holes 321 can facilitate the routing of the first rope 61 , the second rope 62 , the third rope 63 and the fourth rope 64 .

[0107] In this embodiment, the first clamping finger 40 is provided with a first insertion groove 41 , and the second slider 32 is located in the first insertion groove 41 ; the second clamping finger 50 is provided with a second insertion groove (not shown), and the third slider 33 is located in the second insertion groove.

[0108] The differential principle of the fast response rope-driven adaptive two-finger gripper in the embodiment is described below with reference to the accompanying drawings. The principle is as follows:

[0109] Considering only a differential rope reel A and a fixed-axis rope reel B, there are four ways according to the same-side routing, opposite-side routing and the direction of rope output, such as Fig.11 As shown, in the figure, A represents the differential rope pulley, B represents the fixed-axis rope pulley, and the line between points AB represents the connecting rod.

[0110] Assuming that the connecting rod AB is the prime mover and rotates around point B, and assuming that the differential rope pulley A does not rotate due to the antagonistic force during the rotation process, the connecting rod AB rotates 90° clockwise. Fig.12 shown.

[0111] At this time, the rope changes corresponding to each group are divided into:

[0112]

[0113] First, (a) and (b), (c) and (d) are two sets of antagonistic pairs, which can compensate for the unidirectional force transmission characteristics of the rope and realize the bidirectional motion drive of the first clamping finger and the second clamping finger. Secondly, when the differential rope reel A rotates without being affected by the antagonistic force, the rotation angles are (clockwise is +, counterclockwise is -):

[0114]

[0115] It can be seen that the differential rope pulley A in (a) and (b) only needs to rotate clockwise, and the differential rope pulley A in (c) and (d) only needs to rotate counterclockwise. These two sets of antagonistic pairs themselves cannot limit the rotation of the differential rope pulley A, but the combination of (a) and (b), (c) and (d) can form a set of differential antagonistic pairs, so that the differential rope pulley A does not rotate when the tension is the same, and achieves differential when the tension is different.

[0116] From the above differential principle, we can know that:

[0117] ① The connecting rod with the largest moment of inertia is the prime mover, that is, the minimum differential force difference will not be increased due to the large moment of inertia.

[0118] ② The differential principle is the rotation of the differential rope pulley, which is a rotating pair, and the required differential force difference is much smaller than the moving pair of the slider.

[0119] ③ Since the differential rope pulley only moves when the differential antagonism produces a force difference, if no differential occurs, the length of the rope wrapped on the differential rope pulley remains unchanged, and the only change is the length of the rope on the fixed-axis rope pulley. That is, the size of the differential rope pulley determines the differential range, and the fixed-axis rope pulley determines the stroke of the clamp.

[0120] Although the embodiments of the present application have been shown and described above, the scope of protection of the present invention is not limited thereto, and any changes or substitutions that are not conceivable through creative work should be included in the scope of protection of the present invention; unless explicitly stated, any elements, actions or instructions used in this document should not be interpreted as critical or necessary.

Claims

1. A fast response rope-driven adaptive two-finger gripper, characterized in that: include: Transmission mechanism; A driving mechanism, used for driving the transmission mechanism to swing; Linear guide mechanism; A first clamping finger is slidably disposed on the linear guide mechanism; A second clamping finger is slidably disposed on the linear guide mechanism, and the second clamping finger is opposite to the first clamping finger; Rope guide assembly; A differential rope pulley having a first rope, a second rope, a third rope and a fourth rope; as well as Four fixed-axis rope reels are configured to correspond to the first rope, the second rope, the third rope and the fourth rope one by one; Wherein, the fixed-axis rope reel and the differential rope reel are both rotationally connected to the transmission mechanism, and the swing axis of the transmission mechanism coincides with the central axis of the fixed-axis rope reel; The first rope and the second rope antagonize to form a first antagonistic pair; The third rope and the fourth rope antagonize to form a second antagonistic pair; The first antagonistic pair and the second antagonistic pair are configured as differential antagonism; The swinging motion of the transmission mechanism is converted into the linear motion of the first clamping finger through the first rope, the second rope, the rope guide assembly, the fixed-axis rope reel and the differential rope reel; The swinging motion of the transmission mechanism is converted into the linear motion of the second clamping finger through the third rope, the fourth rope, the rope guide assembly, the fixed-axis rope reel and the differential rope reel.

2. A fast response rope-driven adaptive two-finger gripper according to claim 1, characterized in that: The transmission mechanism comprises: link; A first connecting shaft, configured to be rotatably connected to the connecting rod and the fixed-axis rope reel; a second connecting shaft, configured to be rotatably connected to the connecting rod; a rotating shaft configured to be rotatably connected to the connecting rod and the differential rope pulley; and A first polished rod, two ends of which are fixedly connected to the first connecting shaft and the second connecting shaft respectively; Wherein, the driving mechanism is a crank driving mechanism, a first slider is provided on the first polished rod, and a crank of the crank driving mechanism is rotatably connected to the first slider; The first connecting axis and the second connecting axis are both parallel to the rotating axis, and the first connecting axis and the second connecting axis are both perpendicular to the first polished rod.

3. The fast response rope-driven adaptive two-finger gripper according to claim 1, characterized in that: The fixed-axis rope reel and the differential rope reel are respectively provided with a first rope groove and a second rope groove, and the first rope groove and the second rope groove are arranged opposite to each other; The fixed-axis rope wheel is located on one side of the differential rope wheel, and the diameters of the first rope, the second rope, the third rope and the fourth rope are all larger than the gap between the fixed-axis rope wheel and the differential rope wheel.

4. A fast response rope-driven adaptive two-finger gripper according to claim 2, characterized in that: The linear guide mechanism comprises: Second light pole; A second sliding block configured to be slidably connected to the second polished rod; and a third sliding block configured to be slidably connected to the second polished rod; Wherein, the first clamping finger is fixedly connected to the second slider, and the second clamping finger is fixedly connected to the third slider; One end of the first rope and the second rope are both fixedly connected to the second slider, and the other end of the first rope and the second rope are both fixedly connected to the differential rope pulley; One end of the third rope and the fourth rope are both fixedly connected to the third slider, and the other end of the third rope and the fourth rope are both fixedly connected to the differential rope winding wheel.

5. A fast response rope-driven adaptive two-finger gripper according to claim 4, characterized in that: Also includes: A frame having a movable opening; Wherein, the second polished rod and the driving mechanism are both fixedly connected to the frame; The frame is provided with a bearing, the outer ring of the bearing is fixedly connected to the frame, the first connecting shaft is fixedly connected to the inner ring of the bearing, and the frame and the first connecting shaft are rotatably connected through the bearing; The first polished rod is located above the movable opening, and the second connecting shaft passes through the movable opening; The movable opening is arranged in a fan shape, and the center of the fan shape is located on the central axis of the fixed-axis rope winding wheel.

6. A fast response rope-driven adaptive two-finger gripper according to claim 5, characterized in that: The rope guide assembly comprises: A plurality of fixed pulleys are configured to be rotatably connected to the frame.

7. A fast response rope-driven adaptive two-finger gripper according to claim 2, characterized in that: There are two connecting rods, and the two connecting rods are symmetrically distributed up and down; The fixed-axis rope winding wheel and the differential rope winding wheel are located between the two connecting rods.

8. The fast response rope-driven adaptive two-finger gripper according to claim 4, characterized in that: The second sliding block and the third sliding block are both provided with threading holes.

9. The fast response rope-driven adaptive two-finger gripper according to claim 4, characterized in that: The first clamping finger is provided with a first insertion groove, and the second sliding block is located in the first insertion groove; The second clamping finger is provided with a second insertion groove, and the third sliding block is located in the second insertion groove.

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