High-agility self-adaptive aligning rope-driven four-finger manipulator

Abstract

The invention relates to the technical field of manipulators, and particularly discloses a high-agility self-adaptive aligning rope-driven four-finger manipulator which comprises a rope-driven differential mechanism, a passive centering mechanism, an X-axis direction clamping finger group and a Y-axis direction clamping finger group, the rope-driven differential mechanism comprises a main differential mechanism and two auxiliary differential mechanisms; two second antagonism rope groups and two third antagonism rope groups are guided out of the auxiliary differential mechanism; the two second antagonism rope groups are guided by the passive centering mechanism and are respectively used for driving the X-axis direction clamping finger group and the Y-axis direction clamping finger group; the two third antagonism rope groups are guided by a passive centering mechanism and are respectively used for driving the first guide rail and the second guide rail to slide and adjusting the clamping center of the X-axis direction clamping finger group and the clamping center of the Y-axis direction clamping finger group; according to the high-agility self-adaptive aligning rope-driven four-finger manipulator, simultaneous centering adjustment in the X direction and the Y direction is achieved, and therefore the final grabbing center of the clamping jaw coincides with the center of an object.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and particularly relates to a cable-driven four-finger manipulator with high agility and self-adaptive centering. Background Art

[0002] The existing self-adaptive clamping devices have the following problems:

[0003] 1) The traditional gear differential mechanism has obvious mechanical performance defects. Its differential triggering threshold is restricted by the static friction coefficient of gear meshing. In practical applications, a relatively high starting torque difference needs to be overcome to initiate the differential motion. When clamping objects with a low friction coefficient or light objects, it is extremely easy for the differential to fail due to insufficient contact surface friction, resulting in clamping failure. Its response speed is slow and the triggering is not sensitive enough. In addition, the involute gear has an inherent meshing gap of 0.1 - 0.3 mm, which makes it impossible for the clamping mechanism to accurately achieve self-adaptive clamping actions. Moreover, the gear-type self-adaptive clamping device has a large mass, which will result in a large mass moment of inertia of the robotic arm, making it unfavorable for working in common scenarios such as the end of the robotic arm.

[0004] 2) Few of the existing self-adaptive clamping devices have the self-adaptive clamping function in two directions. When facing structures such as spherical objects, it is difficult to clamp the object while ensuring self-adaptive clamping, and the object may slip off. The self-adaptive clamping in two directions generally uses multiple motors for driving to control the clamping actions in each direction respectively, which makes it difficult to lightweight the clamping device.

[0005] 3) The existing clamping devices do not have the passive center adjustment function. Their clamping center positioning depends on the cooperation of a vision servo system and a motion planning algorithm. In the clamping process, pre-positioning of the object to be clamped is required, which leads to data processing in visual recognition for its clamping actions, reducing the agility of the reaction during the clamping action and making it difficult to apply to the clamping of moving objects. Summary of the Invention

[0006] The purpose of the present invention is to provide a cable-driven four-finger manipulator with high agility and self-adaptive centering, which can, under the condition of being driven by only one motor, make the four fingers fit on the object to be clamped within the working range of the clamping device, regardless of how the shape and position of the object to be clamped change, and complete the clamping action on it.

[0007] To achieve the above purpose, the present invention adopts the following technical solutions:

[0008] An embodiment provides a cable-driven four-finger manipulator with high agility and self-adaptive centering, including: a cable-driven differential mechanism, a passive centering mechanism, an X-axis direction finger group, and a Y-axis direction finger group.

[0009] The passive centering mechanism has a first guide rail and a second guide rail. The first guide rail is configured to be slidable along the X-axis direction. The Y-axis direction finger group is slidably disposed on the first guide rail. The second guide rail is configured to be slidable along the Y-axis direction. The X-axis direction finger group is slidably disposed on the second guide rail.

[0010] The cable-driven differential mechanism includes a main differential mechanism and two sub-differential mechanisms.

[0011] Two first antagonistic cable groups are led out from the main differential mechanism.

[0012] The two first antagonistic cable groups respectively control the swinging of the two sub-differential mechanisms, and the two sub-differential mechanisms can work at different speeds.

[0013] The sub-differential mechanism leads out two second antagonistic cable groups and two third antagonistic cable groups, and the second antagonistic cable group and the third antagonistic cable group are interlocked.

[0014] Both of the two second antagonistic cable groups are guided by the passive centering mechanism. The two second antagonistic cable groups are respectively used to drive the X-axis direction finger group and the Y-axis direction finger group, so that the X-axis direction finger group and the Y-axis direction finger group approach each other.

[0015] Both of the two third antagonistic cable groups are guided by the passive centering mechanism. The two third antagonistic cable groups are respectively used to drive the first guide rail and the second guide rail to slide, so as to adjust the clamping center of the X-axis direction finger group and the Y-axis direction finger group.

[0016] In the cable-driven four-finger manipulator with high-agility adaptive centering provided by at least one embodiment of the present disclosure, the main differential mechanism includes: a main link, a main differential shaft, and a main differential wheel.

[0017] The main link is rotatably connected to the main differential shaft, and the main differential wheel is fixedly disposed on the main differential shaft.

[0018] In the cable-driven four-finger manipulator with high-agility adaptive centering provided by at least one embodiment of the present disclosure, the sub-differential mechanism includes: a sub-link, a sub-differential shaft, a sub-differential wheel, and a cable winding wheel.

[0019] The sub-differential shaft is rotatably connected to the main link, and the cable winding wheel is rotatably connected to the sub-differential shaft.

[0020] The sub-link is fixedly connected to the cable winding wheel.

[0021] The sub-differential wheel is rotatably connected to the sub-link, and there is a gap between the sub-differential wheel and the cable winding wheel.

[0022] Both ends of the first antagonistic rope set are fixedly connected to the main differential wheel and the rope winding wheel respectively.

[0023] One end of each of the second antagonistic rope set and the third antagonistic rope set is fixedly connected to the auxiliary differential wheel.

[0024] In the rope-driven four-finger manipulator with high-agility adaptive alignment provided by at least one embodiment of the present disclosure, an encoder is connected to the main differential shaft.

[0025] In the rope-driven four-finger manipulator with high-agility adaptive alignment provided by at least one embodiment of the present disclosure, the passive centering mechanism includes: a frame, a first connecting frame, a second connecting frame, a first pulley set, a second pulley set, a third pulley set, and a fourth pulley set.

[0026] A plurality of first spline shaft groups and a plurality of second spline shaft groups are arranged on the frame. Both the first spline shaft group and the second spline shaft group are rotatably connected to the frame. The first connecting frame is slidably connected to the first spline shaft group, and the second connecting frame is slidably connected to the second spline shaft group.

[0027] The first guide rail is fixedly arranged on the first connecting frame, and the second guide rail is fixedly arranged on the second connecting frame.

[0028] The two second antagonistic rope sets are respectively guided by the first pulley set and the second pulley set.

[0029] The two third antagonistic rope sets are respectively guided by the third pulley set and the fourth pulley set.

[0030] In the rope-driven four-finger manipulator with high-agility adaptive alignment provided by at least one embodiment of the present disclosure, a lead hole is provided on the auxiliary differential shaft, and the third antagonistic rope set passes through the lead hole.

[0031] In the rope-driven four-finger manipulator with high-agility adaptive alignment provided by at least one embodiment of the present disclosure, driving wheels are arranged on both the first spline shaft group and the second spline shaft group, and the other end of the second antagonistic rope set is fixedly connected to the driving wheel.

[0032] A first driven wheel and a second driven wheel are respectively arranged on the first spline shaft group and the second spline shaft group.

[0033] The first driven wheel is in rope transmission with the finger clamping group in the X-axis direction.

[0034] The second driven wheel is in rope transmission with the finger clamping group in the Y-axis direction.

[0035] In the rope-driven four-finger manipulator with high-agility adaptive alignment provided by at least one embodiment of the present disclosure, a connecting seat is arranged on the frame, and the connecting seat is rotatably connected to the auxiliary differential shaft.

[0036] In the cable-driven four-finger manipulator with high-agility self-aligning provided by at least one embodiment of the present disclosure, the main differential shaft and the secondary differential shaft are parallel.

[0037] The beneficial effects of the present invention are as follows:

[0038] 1) The present invention utilizes the cable-driven principle to achieve differential motion, and through a compound cable-driven differential mechanism, it realizes underactuated gripping of four fingers by a single driving device. Compared with a relatively heavy gear-type self-adaptive gripping device, the lightweight of the cable and the structure of a single driving device greatly reduce the overall mass, which is beneficial for use on equipment such as robotic arms.

[0039] 2) The present invention utilizes the self-rotation of the differential wheel in the differential mechanism to reflect the distance of the required adjustment center, realizing passive automatic centering, which is beneficial for improving the success rate and stability of gripping when gripping moving objects or circular objects, and reducing the possibility of the object slipping out of the gripping device. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0041] Figure 1 It is a schematic diagram of the overall structure of a cable-driven four-finger manipulator with high-agility self-aligning according to the present invention.

[0042] Figure 2 It is a connection schematic diagram of one of the secondary differential mechanisms.

[0043] Figure 3 For Figure 2 The enlarged view of part A in

[0044] Figure 4 It is a schematic diagram of the structure of a cable-driven four-finger manipulator with high-agility self-aligning according to the present invention after disassembling the cable-driven differential mechanism.

[0045] Figure 5 It is an assembly schematic diagram of the first guide rail and the second guide rail.

[0046] Figure 6 It is a winding schematic diagram of the third antagonistic cable group for driving the second connecting frame.

[0047] Figure 7 It is a winding schematic diagram of the third antagonistic cable group for driving the first connecting frame.

[0048] Figure 8 Schematic diagram of the winding of the second antagonistic rope group for driving the finger group in the X-axis direction.

[0049] Figure 9 Schematic diagram of the winding of the second antagonistic rope group for driving the finger group in the Y-axis direction.

[0050] Figure 10 Schematic diagrams of four common ways considering only a set of differential wheels A and rope winding wheels B according to the same-side wire routing, different-side wire routing methods, and the rope exit direction.

[0051] Figure 11 Schematic diagram after the AB rod rotates clockwise by an angle θ when the differential wheel A does not rotate on its own due to balanced antagonistic forces during rotation.

[0052] Figure 12 View of the rope-driven differential mechanism.

[0053] Figure 13 Schematic diagram of the distribution of the first spline shaft group and the second spline shaft group.

[0054] Figure 14 Schematic diagram of the distribution of the first spline shaft group.

[0055] In the figure:

[0056] 10. Rope-driven differential mechanism; 11. Main differential mechanism; 12. Sub-differential mechanism; 13. First antagonistic rope group; 14. Second antagonistic rope group; 15. Third antagonistic rope group; 111. Main connecting rod; 112. Main differential shaft; 113. Main differential wheel; 121. Sub-connecting rod; 122. Sub-differential shaft; 123. Sub-differential wheel; 124. Rope winding wheel; 1221. Lead hole;

[0057] 20. Passive centering mechanism; 21. First guide rail; 22. Second guide rail; 23. Frame; 24. First connecting frame; 25. Second connecting frame; 231. First spline shaft group; 232. Second spline shaft group; 2311. First driven wheel; 2312. Second driven wheel; 2313. First transmission rope; 2314. Second transmission rope;

[0058] 30. Finger group in the X-axis direction;

[0059] 40. Finger group in the Y-axis direction. Specific implementation mode

[0060] Next, the technical solutions in the embodiments will be clearly and completely described in conjunction with the accompanying drawings in the embodiments. Obviously, the described embodiments are only a part of the embodiments, rather than all the embodiments.

[0061] Such as Figure 1 、 2As shown in Figures 5, 6, 7, 8, and 9, this embodiment provides a cable-driven four-finger manipulator with high-agility and self-aligning capabilities, including a cable-driven differential mechanism 10, a passive centering mechanism 20, an X-axis direction finger group 30, and a Y-axis direction finger group 40.

[0062] Specifically, the passive centering mechanism 20 has a first guide rail 21 and a second guide rail 22. The first guide rail 21 is configured to be slidable along the X-axis direction, and the Y-axis direction finger group 40 is slidably disposed on the first guide rail 21; the second guide rail 22 is configured to be slidable along the Y-axis direction, and the X-axis direction finger group 30 is slidably disposed on the second guide rail 22.

[0063] Specifically, the cable-driven differential mechanism 10 includes a main differential mechanism 11 and two sub-differential mechanisms 12. The main differential mechanism 11 leads out two first antagonistic cable groups 13. The two first antagonistic cable groups 13 respectively control the swinging of the two sub-differential mechanisms 12, enabling the two sub-differential mechanisms 12 to operate at different speeds.

[0064] Specifically, both of the two sub-differential mechanisms 12 lead out two second antagonistic cable groups 14 and two third antagonistic cable groups 15, and the second antagonistic cable groups 14 and the third antagonistic cable groups 15 are interlocked.

[0065] Furthermore, both of the two second antagonistic cable groups 14 are guided by the passive centering mechanism 20. The two second antagonistic cable groups 14 are respectively used to drive the X-axis direction finger group 30 and the Y-axis direction finger group 40, causing the X-axis direction finger group 30 and the Y-axis direction finger group 40 to approach each other.

[0066] Furthermore, both of the two third antagonistic cable groups 15 are guided by the passive centering mechanism 20. The two third antagonistic cable groups 15 are respectively used to drive the sliding of the first guide rail 21 and the second guide rail 22 to adjust the clamping center of the X-axis direction finger group 30 and the Y-axis direction finger group 40.

[0067] Next, the structure of the main differential mechanism 11 will be further disclosed in conjunction with the accompanying drawings.

[0068] As Figure 12 shown, the main differential mechanism 11 includes a main connecting rod 111, a main differential shaft 112, and a main differential wheel 113.

[0069] Specifically, the main connecting rod 111 is rotatably connected to the main differential shaft 112, and the main differential wheel 113 is fixedly disposed on the main differential shaft 112.

[0070] Furthermore, the main differential shaft 112 is connected to an encoder (not shown). During use, the information obtained by the encoder can be used in combination with the motor drive input information to estimate the relative position between the object and the gripper, which can then be converted into the pose information required for the task, providing a control basis for automated control.

[0071] The structure of the secondary differential mechanism 12 will be further disclosed in conjunction with the accompanying drawings.

[0072] As Figure 2 and 3 shown, the secondary differential mechanism 12 includes a secondary connecting rod 121, a secondary differential shaft 122, a secondary differential wheel 123, and a rope winding wheel 124.

[0073] Specifically, the secondary differential shaft 122 is rotatably connected to the main connecting rod 111, and the rope winding wheel 124 is rotatably connected to the secondary differential shaft 122. The main differential shaft 112 and the secondary differential shaft 122 are parallel.

[0074] Specifically, the secondary connecting rod 121 is fixedly connected to the rope winding wheel 124. The secondary differential wheel 123 is rotatably connected to the secondary connecting rod 121, and there is a gap between the secondary differential wheel 123 and the rope winding wheel 124.

[0075] Specifically, both ends of the first antagonistic rope group 13 are fixedly connected to the main differential wheel 113 and the rope winding wheel 124 respectively.

[0076] Specifically, one end of each of the second antagonistic rope group 14 and the third antagonistic rope group 15 is fixedly connected to the secondary differential wheel 123.

[0077] A lead hole 1221 is provided on the secondary differential shaft 122, and the third antagonistic rope group 15 passes through the lead hole 1221.

[0078] The structure of the passive centering mechanism 20 will be further disclosed in conjunction with the accompanying drawings.

[0079] As Figure 1 , 4 , 6, 7, 8, 9, 13, and 14 shown, the passive centering mechanism 20 includes a frame 23, a first connecting frame 24, a second connecting frame 25, a first pulley group, a second pulley group, a third pulley group, and a fourth pulley group.

[0080] Specifically, a plurality of first spline shaft groups 231 and a plurality of second spline shaft groups 232 are provided on the frame 23. The first spline shaft groups 231 and the second spline shaft groups 232 are both rotatably connected to the frame 23. The first connecting frame 24 is slidably connected to the first spline shaft groups 231, and the second connecting frame 25 is slidably connected to the second spline shaft groups 232.

[0081] Specifically, the first guide rail 21 is fixedly provided on the first connecting frame 24, and the second guide rail 22 is fixedly provided on the second connecting frame 25.

[0082] Specifically, the two second antagonistic rope groups 14 are respectively guided by the first pulley group and the second pulley group. The two third antagonistic rope groups 15 are respectively guided by the third pulley group and the fourth pulley group.

[0083] Specifically, driving wheels are provided on both the first spline shaft group 231 and the second spline shaft group 232. The other end of the second antagonistic rope group 14 is fixedly connected to the driving wheels. The first driven wheel 2311 and the second driven wheel 2312 are respectively provided on the first spline shaft group 231 and the second spline shaft group 232. The first driven wheel 2311 is in rope drive connection with the X-axis direction finger group 30. The second driven wheel 2312 is in rope drive connection with the Y-axis direction finger group 40.

[0084] Exemplarily, there are two sets of the first spline shaft group 231, and the two sets of the first spline shaft group 231 are horizontally arranged oppositely. Each set of the first spline shaft group 231 contains two splines.

[0085] A first transmission rope 2313 is arranged between two opposed splines, and a second transmission rope 2314 is arranged between the other two opposed splines. Two fingers in the X-axis direction finger group are respectively fixedly connected to the first transmission rope 2313 and the second transmission rope 2314.

[0086] Meanwhile, through holes for the transmission ropes that do not drive themselves are provided on the two fingers in the X-axis direction finger group.

[0087] Next, the working principle of the differential mechanism will be further disclosed with reference to the drawings. The working principles of the main differential mechanism and the two sub-differential mechanisms are the same, as described below.

[0088] The differential mechanism consists of two types of wheels, namely, differential wheel A and rope winding wheel B. Among them, point A is the center of the differential wheel, and point B is the center of the rope winding wheel. Driven by the connecting rod AB, point A can make a circular motion around point B, and point B is a fixed point. The differential wheel can make a circular motion around its own center point A, and the rope winding wheel can make a circular motion around its own center point B.

[0089] Considering only a set of differential wheel A (with a radius of ra) and rope winding wheel B (with a radius of rb), according to the same-side wire routing, different-side wire routing methods and the rope outlet direction, there are four methods, as Figure 10 shown.

[0090] When the connecting rod AB is used as the prime mover to make point A make a circular motion around point B, point B is a fixed point and does not move. At the same time, during the rotation of the differential wheel, it is subjected to balanced antagonistic forces and does not generate self-rotation. After the AB rod rotates clockwise by an angle θ, as Figure 11 shown.

[0091] At this time, the rope change amounts corresponding to each group are as follows:

[0092] <![CDATA[(a)-θ*r b > <![CDATA[(b)+θ*r b > <![CDATA[(c)+θ*r b > <![CDATA[(d)-θ*r b >

[0093] Among them, (a) and (b), (c) and (d) are respectively used as two sets of antagonistic pairs. When there is a difference in the force conducted between the two ropes of the antagonistic pair, the differential wheel will rotate around its own center point A. When the differential wheel rotates clockwise by an angle α, the rope change amounts of each wire routing method are respectively:

[0094] <![CDATA[(a)-α*r a > <![CDATA[(b)+α*r a > <![CDATA[(c) - α * r a > <![CDATA[(d)+α*r a >

[0095] If the AB rod rotates clockwise by an angle θ and the differential wheel rotates clockwise by an angle α at the same time, the rope change amounts of each wire routing method are respectively:

[0096] <![CDATA[(a) - θ * r b -α * r a > <![CDATA[(b)+θ*r b +α*r a > <![CDATA[(c)+θ*r b -α*r a > <![CDATA[(d)-θ*r b +α*r a >

[0097] It can be seen that when the rope change amount of the antagonistic pair composed of (a) and (b) is different from that generated by (c) and (d) under the action of the mechanism, differential speed is achieved. By changing the radius of the wheel and the rotation angles of the two wheels, different differential speed effects on the ropes in different situations can be achieved.

[0098] The following conclusions can be obtained from the above working principle:

[0099] In the differential mechanism, when there is no external interference on the ropes, due to the equal rope tensions of each antagonistic rope pair, the differential wheels of the main differential mechanism and the auxiliary differential mechanism will not rotate, and the rope change amounts of each antagonistic rope pair should be equal.

[0100] In the differential mechanism, when an auxiliary differential mechanism performs differential motion due to the force difference of the antagonistic rope pair, since the force difference is only reflected in this auxiliary differential mechanism, the main differential mechanism and the other auxiliary differential mechanism still maintain the normal working mode and will not produce coupled differential motion; when the two pairs of antagonistic rope pairs of an auxiliary differential mechanism stop moving due to external factors (such as this pair of clamping fingers completely clamping an object), the main differential mechanism starts differential motion due to the force difference between the main antagonistic rope pair controlling this auxiliary differential mechanism and the other main antagonistic rope pair, resulting in one auxiliary differential mechanism stopping moving while the other auxiliary differential mechanism remains moving.

[0101] In the differential mechanism, whether it is the main differential mechanism or the auxiliary differential mechanism, the synchronous movement of the ropes is controlled by the rotation of the connecting rod, and the differential movement of the ropes is controlled by the self-rotation of the differential wheel. Through the combined action of the two, the clamping fingertips can clamp an object at any position.

[0102] Next, the working principle of the passive centering mechanism will be further disclosed in conjunction with the accompanying drawings.

[0103] Such as Figure 6As shown, since the rope Ⅰ5x and the rope Ⅱ6x pass through the rope guiding holes and pass through the center point of the rope winding wheel after being led out from the differential wheel, it can be considered that the radius of the rope winding wheel they pass through is 0. When the differential wheel rotates around the center of the rope winding wheel, if the differential wheel does not rotate by itself, the lengths of the ropes do not change. When the differential wheel rotates clockwise by an angle α, the change in the rope length is:

[0104] Rope Ⅰ 5x Rope Ⅱ 6x <![CDATA[-α*r 差速 > <![CDATA[+α*r 差速 >

[0105] When the fingers in the x direction are rotating clockwise by an angle θ around the center of the rope winding wheel and the differential wheel rotates clockwise by an angle α at the same time, as Figure 9 , the changes in the lengths of the four ropes are as follows:

[0106] Rope Ⅲ 1x <![CDATA[-θ*r 卷绳 -α*r 差速 > Rope Ⅳ 2x <![CDATA[θ*r 卷绳 +α*r 差速 > Rope Ⅴ 3x <![CDATA[θ*r 卷绳 -α*r 差速 > Rope Ⅵ 4x <![CDATA[-θ*r 卷绳 +α*r 差速 >

[0107] It can be seen that the differential distance L_differential of the fingers is controlled by the rope Ⅲ1x and the rope Ⅳ2x, and the rope Ⅴ3x and the rope Ⅵ4x respectively.

[0108] L 差速 =α*r 差速

[0109] That is, in the relative position, the difference in the distances between the two fingers and the original four-finger closed center is L_differential. Then, in order to adjust the center position so that the distances between the two fingers and the original four-finger closed center are equal, it is equivalent to needing to displace the original four-finger closed center by 0.5*L_differential towards the finger that is farther from the original four-finger closed center. As long as the slide rail of the finger pair in the Y direction is displaced by 0.5*L_differential, the center adjustment in the X direction can be achieved.

[0110] The change in the lengths of the rope Ⅰ5x and the rope Ⅱ6x is exactly L_differential. Through the action of the pulley, changing its length change to 0.5*L_differential can achieve passive automatic center adjustment.

[0111] Similarly, for the center adjustment in the Y direction, by performing center adjustment in both directions simultaneously, it can be achieved on the entire plane. As long as the object to be clamped can be contacted during the clamping process, regardless of whether there are differences in both directions between the original four-finger closed center and the geometric center of the object, the two points can coincide after the clamping action is completed.

[0112] Although the embodiments of the present application have been shown and described above, the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be thought of without creative labor should be covered within the protection scope of the present invention; unless otherwise clearly stated, any element, action, or instruction used in this text should not be construed as critical or necessary.

Claims

1. A cable-driven four-finger manipulator with high agility and self-aligning adaptability, characterized in that, Comprising: A rope-driven differential mechanism, a passive centering mechanism, a finger group in the X-axis direction, and a finger group in the Y-axis direction; The passive centering mechanism has a first guide rail and a second guide rail. The first guide rail is configured to slide along the X-axis direction, the finger group in the Y-axis direction is slidably arranged on the first guide rail, the second guide rail is configured to slide along the Y-axis direction, and the finger group in the X-axis direction is slidably arranged on the second guide rail; The rope-driven differential mechanism includes a main differential mechanism and two sub-differential mechanisms; Two first antagonistic rope groups are led out from the main differential mechanism; The two first antagonistic rope groups respectively control the swinging of the two sub-differential mechanisms, and the two sub-differential mechanisms can work at different speeds; The sub-differential mechanism leads out two second antagonistic rope groups and two third antagonistic rope groups, and the second antagonistic rope group and the third antagonistic rope group are interlocked; Both of the two second antagonistic rope groups are guided by the passive centering mechanism, and the two second antagonistic rope groups are respectively used to drive the finger group in the X-axis direction and the finger group in the Y-axis direction, so that the finger group in the X-axis direction and the finger group in the Y-axis direction approach each other; Both of the two third antagonistic rope groups are guided by the passive centering mechanism, and the two third antagonistic rope groups are respectively used to drive the sliding of the first guide rail and the second guide rail to adjust the clamping center of the finger group in the X-axis direction and the finger group in the Y-axis direction.

2. The rope-driven four-finger manipulator with high-agility self-aligning according to claim 1, wherein The main differential mechanism includes: A main connecting rod, a main differential shaft, and a main differential wheel; The main connecting rod is rotatably connected to the main differential shaft, and the main differential wheel is fixedly arranged on the main differential shaft.

3. The cable-driven four-finger manipulator with high agility and self-aligning according to claim 2, characterized in that, The sub-differential mechanism includes: A sub-connecting rod, a sub-differential shaft, a sub-differential wheel, and a rope winding wheel; The sub-differential shaft is rotatably connected to the main connecting rod, and the rope winding wheel is rotatably connected to the sub-differential shaft; The sub-connecting rod is fixedly connected to the rope winding wheel; The sub-differential wheel is rotatably connected to the sub-connecting rod, and there is a gap between the sub-differential wheel and the rope winding wheel; Both ends of the first antagonistic rope group are fixedly connected to the main differential wheel and the rope winding wheel respectively; One ends of the second antagonistic rope group and the third antagonistic rope group are both fixedly connected to the sub-differential wheel.

4. The rope-driven four-finger manipulator with high-agility self-aligning according to claim 3, characterized in that, An encoder is connected to the main differential shaft.

5. The cable-driven four-finger manipulator with high-agility self-aligning according to claim 1, characterized in that, The passive centering mechanism includes: A frame, a first connecting frame, a second connecting frame, a first pulley group, a second pulley group, a third pulley group, and a fourth pulley group; A plurality of first spline shaft groups and a plurality of second spline shaft groups are arranged on the frame. The first spline shaft group and the second spline shaft group are both rotatably connected to the frame. The first connecting frame is slidably connected to the first spline shaft group, and the second connecting frame is slidably connected to the second spline shaft group; The first guide rail is fixedly arranged on the first connecting frame, and the second guide rail is fixedly arranged on the second connecting frame; Both of the two second antagonistic rope groups are guided by the first pulley group and the second pulley group respectively; Both of the two third antagonistic rope groups are guided by the third pulley group and the fourth pulley group respectively.

6. The cable-driven four-finger manipulator with high-agility self-aligning according to claim 3, wherein, A lead hole is arranged on the sub-differential shaft, and the third antagonistic rope group passes through the lead hole.

7. A cable-driven four-finger manipulator with high-agility self-aligning according to claim 5, characterized in that Active wheels are provided on both the first spline shaft group and the second spline shaft group, and the other end of the second antagonistic rope group is fixedly connected to the active wheel; A first driven wheel and a second driven wheel are respectively provided on the first spline shaft group and the second spline shaft group; The first driven wheel is in rope drive connection with the X-axis direction finger group; The second driven wheel is in rope drive connection with the Y-axis direction finger group.

8. The cable-driven four-finger manipulator with high-agility self-aligning according to claim 5, characterized in that A connecting seat is provided on the frame, and the connecting seat is rotatably connected to the auxiliary differential shaft.

9. The cable-driven four-finger manipulator with high-agility self-aligning according to claim 6, characterized in that, The outlet of the lead hole is located on the central axis of the rope winding wheel.

10. The cable-driven four-finger manipulator with high-agility self-aligning according to claim 2, characterized in that, The main differential shaft and the auxiliary differential shaft are parallel.

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