A single-drive adaptive three-finger manipulator based on rope drive

Abstract

The present invention discloses a single-drive adaptive three-finger manipulator based on rope drive, which belongs to the field of robot technology, including a connecting rod gripper assembly, a rope-driven power adaptive assembly is arranged below the connecting rod gripper assembly, the rope-driven power adaptive assembly is connected to the power drive assembly, and the rope-driven power adaptive assembly includes a central shell, a bevel gear roller pulley block is fixed on the central shell, a double-layer triangular center frame is arranged at the center, and the double-layer triangular center frame is connected to the bevel gear roller pulley block by a steel wire rope. The present invention adopts the above-mentioned single-drive adaptive three-finger manipulator based on rope drive, the gripper part has replaceable parts, and the different gripping types brought by the two-way drive structure make the actual application scenarios of the manipulator more extensive, and the manufacturing and control costs are greatly reduced by the single motor plus rope transmission method, which is suitable for the actual needs of multi-variety small batch customized production required by modern enterprises.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a rope-driven single-drive adaptive three-finger manipulator. Background Art

[0002] In the field of robotics, the design and application of manipulators have always been a key component of automation and intelligent manufacturing. With the development of Industry 4.0 and intelligent manufacturing, the performance requirements of manipulators are getting higher and higher, especially in terms of flexibility, adaptability and cost-effectiveness. Traditional multi-finger dexterous manipulators usually use multi-motor drives to achieve complex dexterous grasping tasks, but this design has disadvantages such as high cost, complex structure and difficult maintenance.

[0003] First, traditional manipulators usually rely on complex multi-motor drive systems, which not only increases the manufacturing cost of the manipulator, but also increases the difficulty of maintenance and energy consumption. Secondly, these manipulators often lack sufficient flexibility and adaptability, and have difficulty handling objects of irregular shapes or varying sizes, limiting their application in application scenarios that require high flexibility. In addition, the safety of traditional manipulators when collaborating with humans is also a challenge, as they may not be able to completely avoid accidental contact with humans. Finally, existing manipulators usually require professional knowledge in programming and operation, which limits their popularity among non-professional users. Therefore, although robots play an important role in improving production efficiency and quality, they still have room for improvement in cost, flexibility, safety, and user-friendliness.

[0004] In actual industrial application scenarios, the grasping and flexible assembly of irregular parts are very important and common scenarios. Traditional manipulators are difficult to meet this specific demand due to their lack of adaptability. Traditional manipulators require many conditions in specific applications, and the grasping effect under non-ideal conditions is very poor. At the same time, the multi-motor drive system and complex mechanical structure make the operation and maintenance of the mechanical gripper relatively complicated, requiring professional knowledge and skills to operate and maintain the mechanical gripper. In order to accommodate multiple motors and complex mechanical structures, traditional mechanical grippers may require a larger workspace. Summary of the invention

[0005] The purpose of the present invention is to provide a single-drive adaptive three-finger manipulator based on rope drive. The manipulator can realize synchronous movement and realize even distribution of power through the first rope connection point and the second rope connection point at the central tripod, so that the movement of the manipulator is synchronous when it is unloaded or not in contact with the object. This makes it possible to maximize the guarantee that the position of the object remains unchanged when grasping the object, and realize the original grasping of the object, which greatly facilitates the perception of the position of the object and subsequent assembly operations; the gripper part has replaceable parts, and the gripper type of translation or rotation is adopted according to the needs, and the different grasping types brought by the two-way drive structure make the actual application scenarios of the manipulator more extensive, and the single motor plus rope transmission method greatly reduces its manufacturing and control costs, which is suitable for the actual needs of multi-variety small batch customized production required by modern enterprises.

[0006] To achieve the above-mentioned objectives, the present invention provides a single-drive adaptive three-finger manipulator based on rope drive, including a connecting rod gripper assembly, a rope-driven power adaptive assembly is provided below the connecting rod gripper assembly, the rope-driven power adaptive assembly is connected to the power drive assembly, the rope-driven power adaptive assembly includes a central shell, a bevel gear roller pulley block is fixed on the central shell, a double-layer triangular center frame is provided at the center, and the double-layer triangular center frame is connected to the bevel gear roller pulley block by a steel wire rope.

[0007] Preferably, the double-layer triangular center frame includes an upper tripod and a lower tripod, three supporting sleeves are arranged between the upper tripod and the lower tripod, the supporting sleeves are connected to the upper tripod and the lower tripod by connecting screws, and two first pulleys are sleeved on the supporting sleeves, one of the first pulleys is close to the upper tripod, and the other first pulley is close to the lower tripod.

[0008] Preferably, the connecting rod gripper assembly includes an upper top plate, on which a first connecting column and a second connecting column are fixedly provided, a first finger joint is provided between the first connecting columns, a slot is provided on the first finger joint, a transmission pinion gear is provided at the slot, and the transmission pinion gear is rotatably connected to the first finger joint and the first connecting column via a rotating shaft.

[0009] Preferably, the first knuckle is rotatably connected to the second knuckle via a rotating shaft, the second knuckle is rotatably connected to the third knuckle and the fourth knuckle via a rotating shaft, the third knuckle is provided with a fingertip gripping surface, and the fourth knuckle is rotatably connected to the second connecting column via a rotating shaft.

[0010] Preferably, a through slot is provided on the upper top plate, the transmission pinion bevel gear is placed in the through slot, and the first connecting column is placed on both sides of the through slot.

[0011] Preferably, the bevel gear roller pulley group includes a roller support frame, on which a roller is provided, the roller support frame is slidingly connected to a T-shaped groove of a pulley support block, and the pulley support block is fixedly connected to the center shell by two screws.

[0012] Preferably, the pulley support block is connected to the second pulley by a screw, the number of the second pulleys is two, the two second pulleys are connected by a connecting shaft, and the two second pulleys do not contact, the upper second pulley is fixedly connected to the transmission large bevel gear, and the pulley support block is connected with an adjustment screw, and the transmission large bevel gear is meshed with the transmission small bevel gear.

[0013] Preferably, the power drive assembly includes a steering gear disc, a lower top plate is provided below the steering gear disc, a slot is provided on the lower top plate, the steering gear disc is connected to the steering gear via a connecting shaft passing through the slot, a steering gear fixing frame is provided below the lower top plate, the steering gear fixing frame is fixedly connected to the steering gear, and a steering gear housing is provided outside the steering gear.

[0014] Preferably, the number of the steel wire ropes is three, one end of each of the steel wires is fixedly connected to the first rope connection point, and the other end thereof is fixedly connected to the second rope connection point.

[0015] Preferably, there are three groups of the connecting rod gripper assemblies and the bevel gear roller pulley groups, each group of the connecting rod gripper assemblies has the same structure and is evenly distributed on the upper top plate, and each group of the bevel gear roller pulley groups has the same structure and is evenly distributed in the central housing.

[0016] Therefore, the present invention adopts the above-mentioned single-drive adaptive three-finger manipulator based on rope drive, which has the following beneficial effects:

[0017] (1) The wire rope tensioning mechanism of the present invention is designed at the place where the double-layer pulley block is fixed. The position of the horizontally placed drum is adjusted by adjusting the screw, so that it moves inward to tighten the wire ropes at both ends, thereby achieving the effect of simultaneously tensioning the wire ropes of the upper and lower pulleys.

[0018] (2) The clamp of the present invention adopts a bidirectional drive structure, and does not require other return mechanisms such as springs. Since both opening and closing have force characteristics, the clamp can subsequently change the type of clamp according to specific needs, so that the clamp can simultaneously have closed-type enveloping grasping from the outside to the inside and open-type internal support grasping from the inside to the outside, which has a wide range of applications.

[0019] (3) The grippers of the present invention can realize synchronous movement, and even distribution of power is achieved through the steel wire rope connection point at the center of the double-layer triangular center frame, so that the grippers move synchronously when they are unloaded or not in contact with an object. This ensures that the position of the object remains unchanged to the greatest extent possible when grasping the object, and the object can be grasped in its original state, which greatly facilitates the perception of the object's position and subsequent assembly operations.

[0020] (4) The gripper of the present invention can realize adaptive gripping of the grasped object. In the actual gripping process, the gripper will move synchronously when it does not contact the object, and when one of the grippers contacts the object, the gripper will stop moving, while the other grippers will continue to move, and then grasp the object in sequence according to the shape of the object. The realization of this function mainly relies on the first rope connection point and the second rope connection point at the double-layer triangular center frame. When the gripper moves synchronously, the position of the connection point remains unchanged. When a gripper contacts the object, the corresponding wire rope will no longer be transmitted, and the first rope connection point and the second rope connection point of the wire rope will also perform a planar motion biased toward the gripper, that is, the planar position of the first rope connection point and the second rope connection point of the wire rope depends on the gripping posture of the external gripper.

[0021] (5) The gripper part of the present invention has no replaceable parts and can adopt a translational or rotational gripper type according to needs. In addition, the different gripping types brought by the bidirectional drive structure make the actual application scenarios of the gripper more extensive.

[0022] (6) The single motor plus wire rope transmission method adopted by the present invention greatly reduces its manufacturing and control costs, and is very suitable for the actual needs of multi-variety small batch customized production required by modern enterprises.

[0023] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is an assembly of an embodiment of a single-drive adaptive three-finger manipulator based on rope drive of the present invention;

[0025] Figure 2 It is a schematic structural diagram of a connecting rod gripper assembly of an embodiment of a single-drive adaptive three-finger manipulator based on rope drive of the present invention;

[0026] Figure 3 It is a schematic diagram of the structure of a rope-driven power adaptive component of an embodiment of a rope-driven single-drive adaptive three-finger manipulator according to the present invention;

[0027] Figure 4 It is a schematic diagram of the structure of a double-layer triangular center frame of an embodiment of a single-drive adaptive three-finger manipulator based on rope drive of the present invention;

[0028] Figure 5 It is a structural schematic diagram of a bevel gear roller pulley block of a single-drive adaptive three-finger manipulator based on rope drive according to the present invention;

[0029] Figure 6 This is a rope-driven motion principle diagram of an embodiment of a rope-driven single-drive adaptive three-finger manipulator according to the present invention;

[0030] Figure 7 It is a wire rope arrangement diagram of an embodiment of a single-drive adaptive three-finger manipulator based on rope drive of the present invention;

[0031] Figure 8 It is a grasping motion diagram of a rope-driven single-drive adaptive three-finger manipulator embodiment of the present invention;

[0032] Fig. 9 It is an exploded view of the power drive assembly of an embodiment of a single-drive adaptive three-finger manipulator based on rope drive of the present invention.

[0033] Reference numerals

[0034] 1. Connecting rod gripper assembly; 11. Finger tip gripping surface; 12. Third finger joint; 13. Fourth finger joint; 14. Second finger joint; 15. Rotating shaft; 16. First finger joint; 17. Transmission small bevel gear; 18. Upper top plate; 2. Rope drive power adaptive assembly; 21. Double-layer triangular center frame; 211. Upper triangular frame; 212. First pulley; 213. Connecting screw; 214. Support sleeve; 215. Lower triangular frame; 22. Bevel gear roller pulley group; 221. Transmission large bevel gear; 222. Second pulley; 223. Roller; 224. Roller support frame; 225. Adjustment screw; 226. Pulley support block; 23. Center housing; 24. Wire rope; 3. Power drive assembly; 31. Servo disc; 32. Lower top plate; 33. Servo fixing frame; 34. Servo; 35. Servo housing. DETAILED DESCRIPTION

[0035] The technical solution of the present invention is further described below through the accompanying drawings and embodiments.

[0036] Unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0037] Embodiment 1

[0038] like Figure 1 As shown, the present invention provides a single-drive adaptive three-finger manipulator based on rope drive, including a connecting rod gripper assembly 1, the number of connecting rod gripper assemblies 1 is three groups, the structure of each group of connecting rod gripper assemblies 1 is the same, and the connecting rod gripper assembly 1 is used to adaptively grasp various abnormal parts and objects. A rope-driven power adaptive assembly 2 is provided below the connecting rod gripper assembly 1, and the rope-driven power adaptive assembly 2 is used to realize power transmission through a steel wire rope 24, so that the connecting rod gripper assembly 1 can grasp. The rope-driven power adaptive assembly 2 is connected to a power drive assembly 3, and the power drive assembly 3 is used to provide a power source for the rope-driven power adaptive assembly 2.

[0039] like Figure 3 , Figure 6 As shown, the rope-driven power adaptive component 2 includes a central shell 23, which provides protection and an installation position for the internal structure. A bevel gear drum pulley block 22 is fixed to the central shell 23, and a double-layer triangular center frame 21 is provided at the center thereof. The bevel gear drum pulley block 22 is used to transmit power and tension the wire rope 24. The double-layer triangular center frame 21 is connected to the bevel gear drum pulley block 22 by a wire rope 24, and the double-layer triangular center frame 21 is used to rotate on the wire rope 24, thereby transmitting power to the connecting rod gripper assembly 1. There are three wire ropes 24, and one end of each wire is fixedly connected to the first rope connection point, and the other end is fixedly connected to the second rope connection point, as shown in FIG. Figure 7 As shown, the first rope connection point and the second rope connection point are used to connect the head and tail of the three ropes respectively.

[0040] The principle of rope-driven motion is that the motor drives the double-layer triangular center frame 21 to rotate, thereby driving the rope wrapped on its pulley to move, and then driving the second pulley 222 on its bevel gear drum pulley group 22 to rotate, thereby transmitting power to the three fingers to complete power transmission.

[0041] The rope transmission adopts three steel wire ropes 24 connected at the head and tail, and a parallel adaptive winding structure is formed by three fixed pulley groups and three movable pulley groups. The three movable pulleys are installed on the double-layer triangular center frame 21, and the double-layer triangular center frame 21 is driven to rotate by the steering gear 34. The three fixed pulley groups are fixed on the central housing 23, and each group includes upper and lower second pulleys 222 and a motion output bevel gear group, wherein the upper second pulley 222 is fixedly connected to the transmission large bevel gear 221.

[0042] like Figure 4 As shown, the double-layer triangular center frame 21 includes an upper triangular frame 211 and a lower triangular frame 215. The upper triangular frame 211 and the lower triangular frame 215 are used to provide installation positions for the installation of other structures, and simultaneously drive the structures at the three corners to rotate. Three support sleeves 214 are arranged between the upper triangular frame 211 and the lower triangular frame 215. The support sleeves 214 are connected to the upper triangular frame 211 and the lower triangular frame 215 by connecting screws 213. Two first pulleys 212 are sleeved on the support sleeves 214. The support sleeves 214 are used to provide an installation position for the installation of the first pulleys 212. One first pulley 212 is close to the upper triangular frame 211, and the other first pulley 212 is close to the lower triangular frame 215. The first pulleys 212 are used to slide on the wire rope 24.

[0043] like Figure 2 As shown, the connecting rod gripper assembly 1 includes an upper top plate 18, and the upper top plate 18 provides support for the installation of other structures. A first connecting column and a second connecting column are fixedly provided on the upper top plate 18, and a first finger joint 16 is provided between the first connecting columns, and the first connecting column provides support for the installation of the first finger joint 16. A card slot is provided on the first finger joint 16, and a transmission pinion gear 17 is provided at the card slot. The transmission pinion gear 17 and the first finger joint 16 are rotatably connected to the first connecting column through a rotating shaft 15, and the transmission pinion gear 17 transmits power to the first finger joint 16. The five-bar linkage composed of the first finger joint 16, the second finger joint 14, the third finger joint 12 and the fourth finger joint 13 and the upper top plate 18 completes adaptive grasping through the power received by the first finger joint 16. A through slot is provided on the upper top plate 18, and the transmission pinion gear 17 is placed at the through slot, and the first connecting column is placed on both sides of the through slot, and the transmission pinion gear 17 receives power through the through slot.

[0044] The first knuckle 16 is rotatably connected to the second knuckle 14 via a rotating shaft 15, the second knuckle 14 is rotatably connected to the third knuckle 12 and the fourth knuckle 13 via a rotating shaft 15, the third knuckle 12 is provided with a fingertip grasping surface 11, the fourth knuckle 13 is rotatably connected to the second connecting column via the rotating shaft 15, and the first knuckle 16, the second knuckle 14, the third knuckle 12 and the fourth knuckle 13 are rotatably connected via the rotating shaft 15 respectively to realize the grasping action of the manipulator.

[0045] like Figure 5 As shown, there are three bevel gear roller pulley blocks 22, and the structure of each bevel gear roller pulley block 22 is the same. The bevel gear roller pulley block 22 is used to tension the wire rope 24. The bevel gear roller pulley block 22 includes a roller support frame 224, and the roller support frame 224 is used to support the roller 223. The roller support frame 224 is provided with a roller 223, and the roller 223 is used to wind the wire rope 24. The roller support frame 224 is slidably connected with the T-shaped slide groove of the pulley support block 226, so that the pulley support block 226 can slide inside the roller support frame 224, thereby tensioning the wire rope 24. The pulley support block 226 is fixedly connected to the center housing 23 by two screws, and the screws are used to connect the pulley support block 226 to the center housing 23, so that the bevel gear roller pulley block 22 is fixed to the inner wall of the center housing 23.

[0046] The pulley support block 226 is connected to the second pulley 222 by a screw. There are two second pulleys 222. The two second pulleys 222 are connected by a connecting shaft, and the two second pulleys 222 do not touch each other. The second pulley 222 is used to limit the wire rope 24 and drive the second pulley 222 to rotate when the wire rope 24 moves. The upper second pulley 222 is fixedly connected to the transmission large bevel gear 221, and the second pulley 222 transmits power to the transmission large bevel gear 221. The pulley support block 226 is connected with an adjustment screw 225. The transmission large bevel gear 221 is meshed with the transmission small bevel gear 17. When the transmission large bevel gear 221 rotates, it drives the small bevel gear to rotate, thereby transmitting power to the transmission small bevel gear 17. The roller 223 is connected to the roller support frame 224, and the roller support frame 224 is fixed through a T-shaped slide groove with the pulley support block 226 so that it can slide in the slide groove, and then connected through the outermost adjustment screw 225 to make it serve as a tensioning device for the wire rope 24. By adjusting the outermost adjustment screw 225, the roller support frame 224 is driven to slide, thereby causing the roller 223 to move and tighten the wire rope 24.

[0047] like Fig. 9As shown, the power drive assembly 3 includes a steering gear disc 31. The power generated by the rotation of the internal motor of the steering gear 34 is finally transmitted to the steering gear disc 31 after the gear set decelerates and increases the torque. The steering gear disc 31 converts this rotational motion into a linear or rotational motion output, thereby driving the double-layer triangular center frame 21 to rotate. A lower top plate 32 is provided below the disc, and a slot is provided on the lower top plate 32. The steering gear disc 31 is connected to the steering gear 34 through a connecting shaft passing through the slot. The steering gear 34 is used to convert electrical signals into mechanical energy to drive the double-layer triangular center frame 21 to rotate. A steering gear fixing frame 33 is provided below the lower top plate 32. The steering gear fixing frame 33 is used to provide an installation position for the installation of the steering gear 34. The steering gear fixing frame 33 is fixedly connected to the steering gear 34, and a steering gear housing 35 is provided outside the steering gear 34. The steering gear housing 35 is used to provide protection for the steering gear 34.

[0048] When the single-drive adaptive three-finger manipulator based on rope drive provided by the present invention is used, Figure 8 As shown, when the servo 34 rotates forward to perform the grasping action, the double-layer triangular center frame 21 rotates, driving the wire rope 24 to move, and transmitting the power to the transmission large bevel gear 221, and then the transmission large bevel gear 221 transmits the power to the transmission small bevel gear 17, and the transmission small bevel gear 17 is connected to the finger component for transmission, thereby completing the grasping action. The adaptability of the gripper is reflected in that the fingers can grasp in different grasping postures according to the different structures of the grasped parts, which is specifically reflected in that the three fingers will move different strokes, corresponding to the three transmission large bevel gears 221 will rotate through different angles, which is expressed as ( θ 1 , θ 2 , θ 3 ). At the same time, the central connection point of the rope will move in a plane surrounded by the first pulley 212 and the second pulley 222, that is, the position of the node will be mapped to the angle of the transmission large bevel gear 221: , that is, in the macroscopic sense, it is finally manifested as a mapping relationship between the shape of the grasped object and the node position, which is the adaptability achieved by the rope drive structure. When the steering engine 34 reverses, that is, when the gripper opens, it manifests as an opposite movement.

[0049] Therefore, the present invention adopts the above-mentioned single-drive adaptive three-finger manipulator based on rope drive. The manipulator can realize synchronous movement, and realizes average distribution of power through the first rope connection point and the second rope connection point at the central tripod, so that the movement of the manipulator is synchronous when it is unloaded or not in contact with the object. This makes it possible to maximize the guarantee that the position of the object remains unchanged when grasping the object, and realize the original grasping of the object, which greatly facilitates the perception of the position of the object and subsequent assembly operations; the gripper part has replaceable parts, and the gripper type of translation or rotation is adopted according to the needs. In addition, the different grasping types brought by the two-way drive structure make the actual application scenarios of the manipulator more extensive, and the manufacturing and control costs are greatly reduced by the single motor plus rope transmission method, which is suitable for the actual needs of multi-variety small batch customized production required by modern enterprises.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A single-drive adaptive three-finger manipulator based on rope drive, characterized in that: It comprises a connecting rod gripper assembly, a rope-driven power adaptive assembly is arranged below the connecting rod gripper assembly, the rope-driven power adaptive assembly is connected to the power drive assembly, the rope-driven power adaptive assembly comprises a central housing, a bevel gear drum pulley block is fixed on the central housing, a double-layer triangular center frame is arranged at the center, and the double-layer triangular center frame is connected to the bevel gear drum pulley block through a steel wire rope; There are three steel wire ropes, one end of each steel wire rope is fixedly connected to the first rope connection point, and the other end of each steel wire rope is fixedly connected to the second rope connection point; The double-layer triangular center frame is used to rotate on the wire rope to transmit power to the connecting rod gripper assembly. The double-layer triangular center frame includes an upper triangular frame and a lower triangular frame. Three supporting sleeves are arranged between the upper triangular frame and the lower triangular frame. The supporting sleeves are connected to the upper triangular frame and the lower triangular frame by connecting screws. Two first pulleys are sleeved on the supporting sleeves, one of the first pulleys is close to the upper triangular frame, and the other first pulley is close to the lower triangular frame. The connecting rod gripper assembly comprises an upper top plate, a first connecting column and a second connecting column are fixedly arranged on the upper top plate, a first finger joint is arranged between the first connecting columns, a slot is arranged on the first finger joint, a transmission pinion gear is arranged at the slot, and the transmission pinion gear and the first finger joint are rotatably connected to the first connecting column via a rotating shaft; The number of the bevel gear roller pulley groups is three, and the bevel gear roller pulley groups include a roller support frame, on which a roller is provided, the roller support frame is slidably connected to a T-shaped slide groove of a pulley support block, and the pulley support block is fixedly connected to the central housing by two screws; The pulley support block is connected to the second pulley by a screw, there are two second pulleys, the two second pulleys are connected by a connecting shaft, and the two second pulleys do not contact, the upper second pulley is fixedly connected to the transmission large bevel gear, an adjustment screw is connected to the pulley support block, and the transmission large bevel gear is meshed with the transmission small bevel gear.

2. A rope-driven single-drive adaptive three-finger manipulator according to claim 1, characterized in that: The first knuckle is rotatably connected to the second knuckle via a rotating shaft, the second knuckle is rotatably connected to the third knuckle and the fourth knuckle via a rotating shaft, the third knuckle is provided with a fingertip gripping surface, and the fourth knuckle is rotatably connected to the second connecting column via a rotating shaft.

3. The single-drive adaptive three-finger manipulator based on rope drive according to claim 1, characterized in that: The upper top plate is provided with a through slot, the transmission pinion bevel gear is placed in the through slot, and the first connecting column is placed on both sides of the through slot.

4. The single-drive adaptive three-finger manipulator based on rope drive according to claim 1, characterized in that: The power drive assembly includes a steering gear disc, a lower top plate is provided below the steering gear disc, a slot is provided on the lower top plate, the steering gear disc is connected to the steering gear through a connecting shaft passing through the slot, a steering gear fixing frame is provided below the lower top plate, the steering gear fixing frame is fixedly connected to the steering gear, and a steering gear housing is provided outside the steering gear.

5. The single-drive adaptive three-finger manipulator based on rope drive according to claim 1, characterized in that: There are three groups of connecting rod gripper assemblies, each group of connecting rod gripper assemblies has the same structure and is evenly distributed on the upper top plate, and each group of bevel gear roller pulley assemblies has the same structure and is evenly distributed in the central housing.

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