An adaptive two-finger gripper with variable stiffness

Abstract

The present invention discloses an adaptive two-finger gripper with variable stiffness, comprising: a finger module, a variable stiffness module, and a mounting base. The finger module and the variable stiffness module are provided in at least one group, and both the finger module and the variable stiffness module are fixed to the mounting base. The finger module includes a finger lever, a connecting lever, a driving lever, a driving rope, and a guide wheel. The finger lever, the connecting lever, the driving lever, and the mounting base together form a parallelogram connecting rod structure. The variable stiffness module includes an optical axis, a spring module, a synchronous belt module, and a guide rail. The finger module is connected to the optical axis in the variable stiffness module via a driving rope. The upper and lower parts of the spring module are mutually constrained with the optical axis and the guide rail, respectively, and slide relative to each other. The synchronous belt module drives the spring module to slide linearly, thereby changing the resistance arm of the lever formed by the optical axis, the driving rope, and the spring module. The present invention has a simple and compact structure, balanced force, and good adjustability, and can achieve infinite stiffness adjustment of the gripper.

Description

Technical Field

[0001] The present invention relates to the technical field of robot end grippers, and in particular to an adaptive two-finger gripper with variable stiffness. Background Art

[0002] With the continuous development of robotics technology, robots have played an increasingly important role in industrial production, gradually replacing many manual production and manufacturing processes. Two-finger grippers play a vital role in the field of robotics. They can be used as the end effector of robots to perform various gripping operations and are widely used in assembly, transportation, material sorting and other fields. However, traditional robot two-finger grippers are generally rigid structures that cannot adapt to the shape of the object to be gripped, nor can they change the stiffness of the gripper itself according to the strength of the object to be gripped. Therefore, when gripping fragile objects, they are prone to damage.

[0003] For example, the variable stiffness mechanical gripper with patent publication number CN115533953A uses a leaf spring at the rear of the mechanical gripper as an elastic component and a ball screw as a driving device to adjust the position where the leaf spring is subjected to force, thereby adjusting the overall stiffness of the gripper. However, the fingers in the gripper are fixedly connected to the motor, and the movement of the fingers is restricted by the motor and cannot be passively adapted. In addition, the direction in which the force applied to the leaf spring by the finger structure is unstable, making the stiffness adjustment and control of the leaf spring complicated. In addition, the gripper is large in size and has a relatively complex structure.

[0004] For example, patent publication number CN115781750A is a fast-response flexible three-finger hand based on a bistable mechanism. It uses a bistable structure to enable the mechanical gripper to have two fixed states: grasping and opening, which simplifies the control strategy of the gripper. A series of connecting rods are designed to enable the gripper to adapt to the shape of the object. Although it can adapt to the shape of the object, it does not have the ability to change the stiffness and cannot adjust the stiffness during gripping, which can easily cause damage to the object. In addition, it is large in size and has a relatively complex structure. Summary of the Invention

[0005] In order to overcome the defects and shortcomings of the prior art, the present invention provides an adaptive two-finger gripper with variable stiffness. The present invention has a simple and compact structure, good adjustability, and can achieve infinite stiffness adjustment.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] The present invention provides an adaptive two-finger gripper with variable stiffness, comprising: a finger module, a variable stiffness module and a mounting seat;

[0008] The finger modules and the variable stiffness modules are provided in at least one group, and the finger modules and the variable stiffness modules correspond to each other one by one;

[0009] The mounting seat is provided with a mounting vertical plate and a mounting horizontal plate, and the mounting vertical plate and the mounting horizontal plate are perpendicular to each other;

[0010] The finger module includes a finger lever, a connecting lever, a driving lever, a driving rope, and a guide wheel;

[0011] One end of the finger lever is provided with a bent portion for clamping an object, the other end of the finger lever is movably connected to one end of the driving lever, the other end of the driving lever is movably connected to the mounting vertical plate, one end of the connecting lever is movably connected to the finger lever, the other end of the connecting lever is movably connected to the mounting vertical plate, the connecting lever and the driving lever are parallel to each other, the finger lever, the connecting lever, the driving lever and the mounting vertical plate together form a parallelogram connecting rod structure, and the plane where the parallelogram of the connecting rod structure is located is perpendicular to the plane where the mounting horizontal plate is located;

[0012] One end of the driving rope is fixed to the connecting lever, and the other end spans the guide wheel and is fixedly connected to the optical axis;

[0013] The variable stiffness module includes: an optical axis, a spring module, a synchronous belt module, and a guide rail;

[0014] The spring module includes an optical axis slider, a spring, and a spring guide seat. The top of the optical axis slider is provided with a first groove, the first groove is matched with the optical axis, one end of the optical axis is movably connected to the mounting seat, the optical axis slider slides along the extension direction of the optical axis, the bottom of the optical axis slider is connected to the spring guide seat, the spring is located in the spring guide seat, the outer side of the spring is provided with a sleeve, the sleeve and the spring guide seat are spaced apart, and the spring guide seat is fixedly connected to the synchronous belt module;

[0015] The spring guide seat is provided with a second groove, the second groove is matched and engaged with the guide rail, and the spring guide seat slides along the extension direction of the guide rail;

[0016] The guide rail is arranged parallel to the optical axis and is in the same plane as the parallelogram of the connecting rod structure;

[0017] The synchronous belt module is used to drive the optical axis slider connected to the spring guide seat to slide along the optical axis.

[0018] As an optimal technical solution, a lever motor is also provided, which is fixedly connected to the mounting base. An output shaft gear is provided on the output shaft of the lever motor, and a driving gear is provided at one end of the driving lever connected to the mounting base. The output shaft gear is engaged with the driving gear, and the lever motor drives the driving lever to rotate.

[0019] As a preferred technical solution, the synchronous belt module includes a synchronous belt motor, a synchronous belt, a synchronous belt pulley, and a tensioning pulley;

[0020] The synchronous belt motor is fixedly connected to the mounting vertical plate, the output shaft of the synchronous belt motor is fixedly connected to the synchronous belt pulley, and the synchronous belt is fixedly connected to the spring guide seat;

[0021] There are multiple synchronous pulleys, and the synchronous belt is engaged with multiple synchronous pulleys. The tensioning pulley is in close contact with the synchronous belt, so that the synchronous belt remains in a tensioned state. The synchronous belt motor drives the synchronous belt to rotate through the rotation of the synchronous belt pulley, and the motion trajectory of the synchronous belt is parallel to the plane where the optical axis, spring module, and guide rail are located.

[0022] As a preferred technical solution, a first boss is provided on the side of the connecting lever, and the first boss is provided with a channel. One end of the driving rope is fixed to the first boss, and the other end passes through the channel, crosses the guide wheel and is fixedly connected to the optical axis.

[0023] As a preferred technical solution, the side surface of the spring guide seat has a second boss, and the second boss is fixedly connected to the synchronous belt module.

[0024] As a preferred technical solution, the second bosses on different groups of spring guides are set at different heights and are respectively arranged on both sides of the synchronous belt and fixedly connected to the corresponding positions of the synchronous belt. The synchronous belt drives the spring guides on both sides simultaneously.

[0025] As a preferred technical solution, a third boss is provided on the optical axis, and the other end of the drive rope is fixedly connected to the third boss.

[0026] As a preferred technical solution, a notch is provided at one end of the connecting lever connected to the mounting seat, a cylindrical shaft is provided on the mounting vertical plate, the cylindrical shaft passes through the notch, and the guide wheel is fixedly connected to the cylindrical shaft.

[0027] As a preferred technical solution, a flange is provided at the bottom of the mounting base for connection to external equipment.

[0028] As a preferred technical solution, the first groove is a circular groove or an incomplete cylindrical groove, which matches and fits with the optical axis, and the second groove is a trapezoidal groove, which matches and fits with the guide rail.

[0029] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0030] (1) The present invention utilizes the lever principle to transmit the contact force between the end and the outside world through a lever assembly based on the lever principle, and realizes infinitely changing the length of the lever resistance arm through the mutual cooperation of the finger module and the variable stiffness module, thereby enabling the two-finger gripper to achieve an infinitely variable stiffness effect.

[0031] (2) The present invention utilizes a synchronous belt drive to drive the optical axis slider to slide linearly along the optical axis, thereby changing the size of the resistance arm of the lever. It has good adjustability, the stiffness changes continuously, and its adjustment accuracy is basically not affected by external factors. It can enable the robotic arm to meet the needs of various production scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A front view of the structure of the adaptive two-finger gripper with variable stiffness according to the present invention;

[0033] Figure 2 This is a structural axonometric diagram of the adaptive two-finger gripper with variable stiffness according to the present invention;

[0034] Figure 3 Schematic diagram of the partial structure of the adaptive two-finger gripper with variable stiffness of the present invention;

[0035] Figure 4 (a) is a schematic diagram of the open state of the adaptive two-finger gripper with variable stiffness of the present invention;

[0036] Figure 4 (b) is a schematic diagram of the combined state of the adaptive two-finger gripper with variable stiffness of the present invention;

[0037] Figure 5 Schematic diagram of the local structure of the variable stiffness module of the present invention;

[0038] Figure 6 Schematic diagram of the structure of the synchronous belt module of the present invention.

[0039] Among them, 1-finger lever, 2-connecting lever, 3-driving lever, 4-driving rope, 5-guide wheel, 6-optical axis, 7-spring module, 8-synchronous belt module, 9-guide rail, 10-mounting seat, 11-lever motor, 12-synchronous belt motor, 13-synchronous belt, 14-synchronous belt pulley, 15-tensioning pulley, 16-optical axis slider, 17-spring, 18-spring guide seat. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0041] Example

[0042] like Figures 1-6As shown, this embodiment provides an adaptive two-finger gripper with variable stiffness, which is mainly used for adaptive gripping operations on objects during robot assembly, transportation, etc., and includes a finger module, a variable stiffness module and a mounting base 10. The finger module and the variable stiffness module are fixed on the mounting base 10, and the finger module is connected to the variable stiffness module;

[0043] In this embodiment, the finger module and the variable stiffness module are provided in at least one group, preferably two groups, the finger modules and the variable stiffness modules correspond one to one, and the mounting base 10 is provided in one group, and the finger module and the variable stiffness module are both fixed on the mounting base 10;

[0044] In this example, the mounting base 10 is located below the entire two-finger gripper, and its bottom has a cylindrical flange that can be connected to external equipment such as a robotic arm, so that the two-finger gripper can be installed on other equipment to be used. There are some mounting horizontal plates and mounting vertical plates above the mounting base 10, and the mounting horizontal plates and mounting vertical plates have certain holes and cylindrical shafts for installing the corresponding parts in the gripper. The bottom of the guide rail 9 in the variable stiffness module is fixed on the mounting horizontal plate of the mounting base 10, and the connecting lever 2, driving lever 3, guide wheel 5, lever motor 11 in the finger module and the synchronous belt motor 12, synchronous belt pulley 14, and tensioning pulley 15 of the synchronous belt module 8 in the variable stiffness module are all installed on the mounting vertical plate of the mounting base 10, so that some parts can rotate freely relative to the mounting base 10, and some parts are fixed relative to the mounting base 10.

[0045] Combine Figure 1-Figure 3As shown, the finger module includes a finger lever 1, a connecting lever 2, a driving lever 3, a driving rope 4, a guide wheel 5, and a lever motor 11. The finger lever 1, the connecting lever 2, and the driving lever 3 are all rectangular rod-shaped components with two hinges. The two hinges of the finger lever 1 are respectively located at one end and the middle, and the hinges of the connecting lever 2 and the driving lever 3 are located at both ends. The end of the finger lever 1 without a hinge has a bent part, which can be used as a finger to clamp an object. The hinge at one end of the connecting lever 2 has a notch, and the side of the connecting lever 2 has a boss, and the boss has a channel for fixing and guiding the driving rope 4. The hinge at one end of the driving lever 3 has a gear structure on the outside, wherein the hinge at one end of the finger lever 1 is connected to the hinge at the end of the driving lever 3 without a gear structure, and the hinge in the middle of the finger lever 1 is connected to the hinge at the end of the connecting lever 2 without a notch. The hinge with the notch of the connecting lever 2 and the hinge with the gear structure of the driving lever 3 are both connected to the cylindrical shaft on the mounting seat 10 and can rotate around the cylindrical shaft. Furthermore, connecting lever 2 and driving lever 3 remain parallel, and finger lever 1 remains parallel to the line connecting the hinges on the other side of connecting lever 2 and driving lever 3. Therefore, finger lever 1, connecting lever 2, driving lever 3, and the mounting plate form a parallelogram linkage structure, which ensures that the side of the finger structure at the end of finger lever 1 always remains vertical. Drive rope 4 is a soft, but inelastic, cord. One end is fixed to the boss on connecting lever 2 and passes through the hole in the boss. Its center contacts guide pulley 5, and the other end is fixed to the boss on optical axis 6. Guide pulley 5 is a small wheel with a groove on its cylindrical surface. It is fixed to the same cylindrical axis as the hinge at one end of the notch in connecting lever 2. It guides and tensions drive rope 4, keeping the portion of drive rope 4 between guide pulley 5 and optical axis 6 vertical, thereby maintaining the force transmitted from drive rope 4 to optical axis 6 in a vertically upward direction. Lever motor 11 is fixed to mounting base 10. Its output shaft features a pinion gear that meshes with a gear on one end of drive lever 3, allowing lever motor 11 to drive drive lever 3 in rotation. Lever motor 11 drives drive lever 3 to rotate, driving the entire finger structure to rotate. When the finger structure at one end of finger lever 1 contacts an object, finger lever 1 is forced to rotate away from the object, thereby driving the notch at the end of connecting lever 2 to move relative to the cylindrical axis. At this point, drive rope 4 is tensioned and pulls optical axis 6 to move. The finger structure on finger lever 1 is then offset relative to the object, adapting to the object's shape with a certain degree of rigidity. When drive rope 4 pulls optical axis 6 to rotate, the force exerted on optical axis 6 by drive rope 4 is equivalent to the power. Because drive rope 4 is fixed to a boss on optical axis 6 and its hinge distance from one end of optical axis 6 is fixed, the power arm remains constant.

[0046] Combine Figure 1-Figure 3As shown, the variable stiffness module includes an optical axis 6, a spring module 7, a synchronous belt module 8, and a guide rail 9. The optical axis 6 is a cylindrical rod, the spring module 7 is a component that can expand and contract and rotate to a certain extent, the synchronous belt module 8 forms the synchronous belt transmission system, and the guide rail 9 is a rectangular rod with grooves on its surface. The optical axis 6, spring module 7, and guide rail 9 always lie in the same plane, and the motion trajectory of the synchronous belt 13 in the synchronous belt module 8 is always parallel to the plane of the optical axis 6, spring module 7, and guide rail 9. The optical axis 6 has a low surface roughness. One end has a hinge fixed to a mounting hole on the mounting base 10, allowing rotation. The other end is free. A small boss is located above the side of the optical axis 6 near the hinge, which is used to secure the lower end of the drive rope 4. The guide rail 9 has a low surface roughness and a trapezoidal cross-section. Its lower end is fixed to the mounting base 10. The spring module 7 is capable of some expansion and contraction and rotation. Grooves with corresponding cross-sections at its upper and lower ends mate and constrain the optical axis 6 and guide rail 9, respectively, allowing the spring module 7 to slide linearly relative to the optical axis 6 and guide rail 9. The timing belt module 8 is mounted on a vertical mounting plate of the mounting base 10. The timing belt 13 within the timing belt module 8 is secured to the spring module 7, driving the spring module 7 to slide linearly along the optical axis 6 and guide rail 9.

[0047] Combine Figure 5As shown, the spring module 7 of this embodiment includes an optical axis slider 16, a spring 17, and a spring guide 18. The upper portion of the optical axis slider 16 has an incomplete cylindrical groove that allows it to engage with and slide relative to the optical axis 6. This groove has a low surface roughness. The lower portion of the optical axis slider 16 is hingedly connected to the upper portion of the spring guide 18 and can rotate relative to it. The spring 17 is mounted within the spring guide 18, which limits its range of motion, restricting its telescopic movement to a linear direction. A sleeve (i.e., a continuous cylindrical surface in the figure) is sleeved around the outer portion of the spring 17. The sleeve is spaced from the spring guide 18. The lower portion of the spring guide 18 has a trapezoidal groove with a low surface roughness that engages with the guide rail 9 fixed to the mounting base 10 and allows for relative sliding. The side of the spring guide 18 has a boss, with bosses of different heights in different groups of spring guides 18. The bosses can be fixedly connected to the timing belt 13 in the timing belt module 8. Because the optical axis 6 and the guide rail 9 are located in the same plane, the optical axis slider 16 can slide relative to the optical axis 6, the spring guide seat 18 can slide relative to the guide rail 9, and the optical axis slider 16 can rotate relative to the spring guide seat 18, allowing the spring 17 to expand and contract accordingly. Therefore, the spring module 7 of this embodiment can also expand and contract linearly while sliding linearly. The linear expansion and contraction are always in the vertical direction under the constraint of the spring guide seat 18, ensuring that the force applied by the spring module 7 on the optical axis 6 is always in the vertical direction. When the drive rope 4 pulls the optical axis 6 to rotate, the rotation of the optical axis 6 drives the spring module 7 to expand and contract. Therefore, the force applied by the spring module 7 on the optical axis 6 is equivalent to resistance. Since the spring module 7 can slide linearly along the optical axis 6 and the guide rail 9, the distance of the spring module 7 relative to the hinge at one end of the optical axis 6 can change relatively, that is, the resistance arm can change.

[0048] Combine Figure 6As shown, the synchronous belt module 8 of this embodiment includes a synchronous belt motor 12, a synchronous belt 13, a synchronous pulley 14, and a tensioning pulley 15, wherein the synchronous belt 13 is an elastic belt with a trapezoidal boss on the surface, the synchronous pulley 14 is a metal wheel with a trapezoidal groove on the surface, and there are three of them in this example, and the tensioning pulley 15 is a cylindrical small wheel, and there are two of them in this example. The synchronous belt motor 12 is fixed on the mounting vertical plate of the mounting seat 10, and a synchronous pulley 14 is fixed on the output shaft, and the remaining synchronous pulleys 14 and the tensioning pulley 15 are installed on the cylindrical shaft of the mounting seat 10 and can rotate. The synchronous belt 13 is engaged with the three synchronous pulleys 14 and is squeezed to one side by the tensioning pulley 15, so that the synchronous belt 13 always remains in a tensioned state. The synchronous belt motor 12 can drive the synchronous belt 13 to rotate by rotating the synchronous belt pulley 14. The movement trajectory of the synchronous belt 13 always remains parallel to the plane where the optical axis 6, the spring module 7, and the guide rail 9 are located, and the synchronous belt 13 is fixedly connected to the spring guide seat 18 in the spring module 7. Therefore, the synchronous belt motor 12 can drive the spring module 7 to slide in a straight line along the optical axis 6 and the guide rail 9, thereby changing the distance between the spring module 7 and the hinge of the optical axis 6, that is, the resistance arm changes, thereby producing a variable stiffness effect. Since the bosses on different groups of spring guides 18 have different heights, in this example, the bosses on one group of spring guides 18 are higher and fixed to the upper part of the synchronous belt 13, and the bosses on one group of spring guides 18 are lower and fixed to the lower part of the synchronous belt 13. The two groups are distributed on both sides of the synchronous belt motor 12. Therefore, when the synchronous belt motor 12 is driven, the two groups of spring guides 18 can simultaneously approach or move away from the synchronous belt motor 12 along the optical axis 6 and the guide rail 9, so that the distances between the two groups of spring modules 7 and the hinges of the optical axis 6 are equal, so that the variable stiffness effects of the two groups of variable stiffness modules are consistent.

[0049] In this example, when an adaptive two-finger gripper with variable stiffness is in operation, the finger lever 1 will come into contact with an external object and be subjected to a certain force. Since the driving lever 3 is relatively fixed in position under the meshing action of the lever motor 11, the finger lever 1 will rotate relative to the driving lever 3 toward the opening trend, thereby driving the connecting lever 2 to move upward, so that the driving rope 4 is subjected to tension. The driving rope 4 applies a vertical force to the optical axis 6 through the guidance of the guide wheel 5. The optical axis 6 transmits the force to the optical axis slider 16, and then to the spring 17, causing the spring 17 to expand and contract to a certain extent. Thereafter, the force is transmitted in sequence through the spring guide seat 18, the guide rail 9, and the mounting seat 10, and finally the force is transmitted to an external device connected to the bottom flange of the mounting seat 10, such as a robotic arm. The main principle of stiffness adjustment is to regulate the force transmitted from optical axis 6 to optical axis slider 16. Optical axis 6 acts as a lever. The external force transmitted from finger lever 1 to connecting lever 2 and then to drive rope 4 can be considered the lever's power, while the force transmitted from optical axis 6 to optical axis slider 16 and then to spring 17 can be considered the lever's resistance. The power arm remains unchanged, while stiffness adjustment in the present invention adjusts the length of the resistance arm in the lever. During stepless stiffness adjustment, synchronous belt motor 12 rotates synchronous belt 13, which drives the spring guide 18 fixed to it to slide linearly along guide rail 9. This causes optical axis slider 16, connected to spring guide 18, to slide linearly along optical axis 6. This changes the length of the resistance arm transmitted from optical axis 6 to optical axis slider 16, thereby varying the force transmitted from optical axis 6 to optical axis slider 16. Consequently, the force transmitted from optical axis slider 16 to spring 17 changes, resulting in different compression levels and, consequently, different stiffness characteristics for the two-finger gripper. Since the distance that the optical axis slider 16 in the synchronous belt module 8 moves along the optical axis 6 is infinitely variable, the adjustment of the stiffness of the two-finger gripper is also infinitely variable.

[0050] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. An adaptive two-finger gripper with variable stiffness, characterized in that: include: Finger modules, variable stiffness modules, and mounts; The finger modules and the variable stiffness modules are provided in at least one group, and the finger modules and the variable stiffness modules correspond to each other one by one; The mounting seat is provided with a mounting vertical plate and a mounting horizontal plate, and the mounting vertical plate and the mounting horizontal plate are perpendicular to each other; The finger module includes a finger lever, a connecting lever, a driving lever, a driving rope, and a guide wheel; One end of the finger lever is provided with a bent portion for clamping an object, the other end of the finger lever is movably connected to one end of the driving lever, the other end of the driving lever is movably connected to the mounting vertical plate, one end of the connecting lever is movably connected to the finger lever, the other end of the connecting lever is movably connected to the mounting vertical plate, the connecting lever and the driving lever are parallel to each other, the finger lever, the connecting lever, the driving lever and the mounting vertical plate together form a parallelogram connecting rod structure, and the plane where the parallelogram of the connecting rod structure is located is perpendicular to the plane where the mounting horizontal plate is located; One end of the driving rope is fixed to the connecting lever, and the other end spans the guide wheel and is fixedly connected to the optical axis; The variable stiffness module includes: an optical axis, a spring module, a synchronous belt module, and a guide rail; The spring module includes an optical axis slider, a spring, and a spring guide seat. The top of the optical axis slider is provided with a first groove, the first groove is matched with the optical axis, one end of the optical axis is movably connected to the mounting seat, the optical axis slider slides along the extension direction of the optical axis, the bottom of the optical axis slider is connected to the spring guide seat, the spring is located in the spring guide seat, the outer side of the spring is provided with a sleeve, the sleeve and the spring guide seat are spaced apart, and the spring guide seat is fixedly connected to the synchronous belt module; The spring guide seat is provided with a second groove, the second groove is matched and engaged with the guide rail, and the spring guide seat slides along the extension direction of the guide rail; The guide rail is arranged parallel to the optical axis and is in the same plane as the parallelogram of the connecting rod structure; The synchronous belt module is used to drive the optical axis slider connected to the spring guide seat to slide along the optical axis.

2. The adaptive two-finger gripper with variable stiffness according to claim 1, characterized in that: A lever motor is also provided, which is fixedly connected to the mounting seat. An output shaft of the lever motor is provided with an output shaft gear. A driving gear is provided at one end of the driving lever connected to the mounting seat. The output shaft gear is engaged with the driving gear, and the lever motor drives the driving lever to rotate.

3. The adaptive two-finger gripper with variable stiffness according to claim 1, characterized in that: The synchronous belt module includes a synchronous belt motor, a synchronous belt, a synchronous belt pulley, and a tensioning pulley; The synchronous belt motor is fixedly connected to the mounting vertical plate, the output shaft of the synchronous belt motor is fixedly connected to the synchronous belt pulley, and the synchronous belt is fixedly connected to the spring guide seat; There are multiple synchronous pulleys, and the synchronous belt is engaged with multiple synchronous pulleys. The tensioning pulley is in close contact with the synchronous belt, so that the synchronous belt remains in a tensioned state. The synchronous belt motor drives the synchronous belt to rotate through the rotation of the synchronous belt pulley, and the motion trajectory of the synchronous belt is parallel to the plane where the optical axis, spring module, and guide rail are located.

4. The adaptive two-finger gripper with variable stiffness according to claim 1, characterized in that: A first boss is provided on the side of the connecting lever, and a hole is provided on the first boss. One end of the driving rope is fixed to the first boss, and the other end passes through the hole, crosses the guide wheel and is fixedly connected to the optical axis.

5. The adaptive two-finger gripper with variable stiffness according to claim 1, characterized in that: The side surface of the spring guide seat is provided with a second boss, and the second boss is fixedly connected to the synchronous belt module.

6. The adaptive two-finger gripper with variable stiffness according to claim 5, characterized in that: The second bosses on different groups of spring guide seats are set at different heights and are respectively arranged on both sides of the synchronous belt and fixedly connected to corresponding positions of the synchronous belt. The synchronous belt drives the spring guide seats on both sides simultaneously.

7. The adaptive two-finger gripper with variable stiffness according to claim 1, characterized in that: A third boss is provided on the optical axis, and the other end of the driving rope is fixedly connected to the third boss.

8. The adaptive two-finger gripper with variable stiffness according to claim 1, characterized in that: A notch is provided at one end of the connecting lever connected to the mounting seat, a cylindrical shaft is provided on the mounting vertical plate, the cylindrical shaft passes through the notch, and the guide wheel is fixedly connected to the cylindrical shaft.

9. The adaptive two-finger gripper with variable stiffness according to claim 1, characterized in that: A flange is provided at the bottom of the mounting base for connecting to external equipment.

10. The adaptive two-finger gripper with variable stiffness according to claim 1, characterized in that: The first groove is a circular groove or an incomplete cylindrical groove, which is matched with the optical axis, and the second groove is a trapezoidal groove, which is matched with the guide rail.

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