Two-fingered grasping system based on parallel adaptive transmission mechanism

Abstract

The application discloses a two-finger grabbing system based on a parallel adaptive transmission mechanism and relates to the field of robot end effectors, which comprises a motor and a parallel adaptive transmission mechanism, and the parallel adaptive transmission mechanism is composed of a center synchronous pulley, two closed-loop synchronous belts, a sliding block and an idler wheel group, and strict synchronous movement of the two fingers before contact is realized through a pure mechanical parallel structure. When any finger is blocked in contacting an object, the system is automatically switched to an adaptive mode, and the other finger continues to feed by using a synchronous belt length compensation mechanism, so that the adaptive enveloping grabbing without sensing is completed. The clamping force is in linear relationship with the motor output torque, and only current feedback is needed to realize accurate force control. The two-finger grabbing system based on the parallel adaptive transmission mechanism has the advantages of low cost and wide adaptation scene, and can be used in scenes such as precision assembly, logistics sorting and man-machine cooperation.

Description

Technical Field

[0001] This invention relates to the field of robot end effector technology, and in particular to a two-finger grasping system based on a parallel adaptive transmission mechanism. Background Technology

[0002] Single-drive adaptive gripping technology balances structural simplification and operational flexibility, and has become a research hotspot in industrial automation, service robots, and other scenarios. Early adaptive gripping systems often employed multi-motor independent drive schemes, which suffered from high cost, bulky structure, high energy consumption, and difficult maintenance. Single-drive transmission technology emerged to address this issue, using a single drive source in conjunction with mechanical transmission mechanisms such as linkages and ropes to achieve multi-degree-of-freedom motion transmission, thus solving the cost and size problems of multi-drive systems.

[0003] As scenario requirements evolve, single-drive systems integrate adaptive functions, forming two mainstream technical approaches: flexible structure passive adaptation uses soft materials to wrap around objects through deformation, adapting to objects with curvature radii from 0.5mm to 200mm; rigid linkage differential adaptation introduces a differential mechanism, enabling fingers to sequentially conform to objects, improving shape adaptation rate to over 80%. To meet the demands of precision manufacturing, single-drive adaptive systems integrate sensing and control technologies, with some solutions achieving 0.1N-level force control accuracy and 0.01mm-level positioning resolution, while structural optimization improves gripping force.

[0004] Existing technologies still have four major gaps: insufficient coordination of parallel adaptive configurations, making it difficult to balance dynamic balance and adaptive flexibility; lack of position control precision and flexibility before contact, failing to meet the requirements for precise positioning; weak adaptive ability to object placement deviation after contact, resulting in insufficient grasping stability; and a contradiction between the controllability of clamping force and structural simplification, limiting the accuracy, range, and response speed of force control. Summary of the Invention

[0005] The purpose of this invention is to provide a two-finger gripping system based on a parallel adaptive transmission mechanism, which solves the problems of insufficient coordination of parallel adaptive configurations, low accuracy of pre-contact position control, and insufficient gripping stability in gripping technology.

[0006] To achieve the above objectives, the present invention provides a two-finger grasping system based on a parallel adaptive transmission mechanism, comprising a motor housing, a parallel adaptive transmission mechanism, and a two-finger mechanism. The motor housing is connected to the parallel adaptive transmission mechanism, and the two-finger mechanism is connected to the parallel adaptive transmission mechanism. The parallel adaptive transmission mechanism is configured to drive the two fingers to move synchronously before contact and to adaptively adjust after contact. The parallel adaptive transmission mechanism includes a drive wheel assembly, a core assembly, and a housing component, and the housing component is connected to the core assembly and the drive wheel assembly.

[0007] Preferably, the drive wheel assembly includes a motor, an indirect flange, a motor flange, a cover plate, a main shaft, and a drive wheel. The interior of the drive wheel is connected to the main shaft via a key. The main shaft is provided with multiple keyways, which are connected to the indirect flange. The upper part of the indirect flange is connected to the motor rotor. The cover plate is connected to the motor housing via the motor flange. The exterior of the drive wheel is connected to the core component.

[0008] Preferably, the core component includes two belts, a high-position belt and a low-position belt. The low-position belt is connected to a low-position slider component, a high-position slider component, a double pulley component, and a low-position single pulley component. The low-position single pulley component is located at the right end of the core component and is fixedly connected to the housing component via a connector. The housing component is connected to the low-position slider component, the low-position single pulley component, the double pulley component, the high-position single pulley component, and the high-position slider component.

[0009] Preferably, the high-position slider component is disposed at the right end of the housing component. The high-position slider component includes four idler wheels and a high-position slider. All four idler wheels are connected to the high-position slider. The lower part of the high-position slider is provided with a threaded hole for connection with the two-finger mechanism.

[0010] Preferably, the high-position slider component is disposed at the end of the high-position single pulley component. The high-position single pulley component comprises a high-position single pulley frame, a toothed idler wheel, a bearing, and an adjusting bolt. The adjusting bolt is connected to the high-position single pulley frame. The bottom of the high-position single pulley frame is provided with a slot and a threaded hole. Both the slot and the threaded hole are connected to the housing component. The upper part of the high-position single pulley frame is connected to the toothed idler wheel and the bearing. Both the bearing and the toothed idler wheel are connected to the high-position belt.

[0011] Preferably, the low-position slider component is disposed at the left end of the drive wheel assembly. The low-position slider component includes an idler wheel two and a low-position slider. The low-position slider is connected to the idler wheel two. Multiple idler wheels two are respectively connected to the low-position belt and the high-position belt. The lower part of the low-position slider is provided with a threaded hole for connection with the two-finger mechanism.

[0012] Preferably, the low-position slider component is disposed above the low-position single pulley component. The low-position single pulley component consists of adjusting bolt two, bearing three, and low-position single pulley frame. The bottom of the low-position single pulley frame is provided with a slot, which is slidably connected to the housing component. The middle part of the low-position single pulley frame is connected to adjusting bolt two. A toothed idler wheel three is provided at the lower part of the connection between adjusting bolt two and the low-position single pulley frame. There is one toothed idler wheel three, and one toothed idler wheel three is connected to the low-position single pulley frame.

[0013] Preferably, the double pulley component is arranged in a centrally symmetrical manner about the housing component. The double pulley component consists of a double pulley frame, a second toothed idler wheel, and a second bearing. The second bearing and the second toothed idler wheel are connected in series. The second toothed idler wheel is connected to the double pulley frame. The bottom of the double pulley frame is provided with a threaded hole, and the threaded hole is fixedly connected to the housing component.

[0014] Preferably, the housing component includes belt fixing posts, guide rails, sliders, and a housing. The guide rail is provided at the bottom of the housing. Both ends of the guide rail are connected to the slider. Both ends of the guide rail are provided with end buffer blocks. A central buffer block is provided in the middle of the guide rail. Four belt fixing posts are provided and fixedly connected to the housing component.

[0015] Preferably, the two-finger mechanism includes two symmetrically arranged finger assemblies, each finger assembly including a finger body and a finger flange; the finger body is connected to the slider in the parallel adaptive transmission mechanism via the finger flange;

[0016] The finger body includes a high-position spring plate, a low-position spring plate, a movable rod, and a clamping end; the high-position spring plate and the low-position spring plate are arranged crosswise and fixed to the finger flange; one end of the movable rod is hinged to the intersection area of ​​the high-position spring plate and the low-position spring plate, and the other end is connected to the clamping end; the clamping end is provided with a flexible rubber block.

[0017] Therefore, this invention employs a two-finger gripping system based on a parallel adaptive transmission mechanism. It utilizes a pure parallel structure with a central synchronous pulley driving two synchronous belts. The displacement relationship x1=x2=(1 / 4)Rθ achieves absolute synchronous movement of the two sliders before contact, resulting in balanced power distribution without off-center load. It adapts to both regular and irregular objects, balancing dynamic stability and adaptive flexibility. Through the quantitative correlation between motor rotation angle and slider displacement, precise control of any intermediate slider position is achieved. This enhances the adaptability to placement offsets, automatically compensating for misalignment between the workpiece and the gripper's central axis or object tilt deviation, avoiding gripping center offset, wobbling, and slippage, thus improving gripping stability and success rate. It achieves unified force control and structural simplification; precise force control is achieved by adjusting motor torque, and the force control range can be flexibly expanded to adapt to gripping needs across different scales. It also features fast response speed, avoiding overshoot damage during dynamic gripping.

[0018] Compared with the prior art, the present invention has the following outstanding advantages:

[0019] (1) The first pure parallel double synchronous belt drive configuration driven by a single motor is created. The two independent closed-loop synchronous belts are driven simultaneously through the central synchronous pulley, so that the two fingers strictly maintain displacement synchronization before contacting the object (satisfying x1=x2=1 / 4Rθ). This fundamentally avoids the problems of uneven power distribution and accumulation of synchronization error in the traditional differential linkage or dual motor scheme.

[0020] (2) Adaptive gripping can be achieved without sensors or complex control algorithms: When any finger first touches the object and is blocked, the corresponding slider stops moving, and the driving force is automatically transmitted to the other side through the synchronous belt length compensation mechanism, so that the untouched finger continues to feed, completing adaptive gripping, which significantly improves the success rate of gripping irregular, fragile or uncertain objects.

[0021] (3) The clamping force and the motor output torque have a deterministic linear relationship (F=2τR). High-precision sensorless force control can be achieved by monitoring the motor current, eliminating the need for expensive force / torque sensors and reducing system cost and complexity.

[0022] (4) It has a large adaptive range, compact structure, few parts, and simple assembly. All movements are completed by a single motor and flexible synchronous belt, without gear meshing or complex linkages. It is suitable for scenarios with high requirements for reliability, cleanliness and response speed, such as precision electronic assembly, medical operation, and logistics sorting.

[0023] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of the two-finger grasping system assembly of the present invention;

[0025] Figure 2 This is a schematic diagram of the parallel adaptive transmission mechanism of the present invention;

[0026] Figure 3 This is a schematic diagram of the drive wheel assembly structure of the present invention;

[0027] Figure 4 This is a schematic diagram of the core component structure of the present invention;

[0028] Figure 5 This is a schematic diagram of the high-position single pulley component structure of the present invention;

[0029] Figure 6 This is a schematic diagram of the high-position slider component of the present invention;

[0030] Figure 7 This is a schematic diagram of the low-position slider component of the present invention;

[0031] Figure 8 This is a schematic diagram of the double pulley component structure of the present invention;

[0032] Figure 9 This is a schematic diagram of the low-position single pulley component structure of the present invention;

[0033] Figure 10 This is a schematic diagram of the housing component structure of the present invention;

[0034] Figure 11 This is a schematic diagram of the finger component structure of the present invention;

[0035] Figure 12 This is a schematic diagram of the parallel adaptive transmission mechanism of the present invention;

[0036] Figure Labels

[0037] 1. Motor housing; 2. Parallel adaptive transmission mechanism; 21. Drive wheel assembly; 211. Motor; 212. Motor flange; 213. Cover plate; 214. Indirect flange; 215. Main shaft; 216. Drive wheel; 22. Core component; 221. High-position single pulley assembly; 2211. High-position single pulley frame; 2212. Toothed idler wheel one; 2213. Adjusting bolt one; 2214. Bearing one; 222. High-position slider assembly; 2221. High-position slider; 2222. Idler wheel one; 223. High-position belt; 224. Low-position belt; 225. Low-position slider assembly; 2251. Low-position slider; 2252. Idler wheel two; 226. Double pulley assembly; 22 61. Double pulley frame; 2262. Toothed idler wheel II; 2263. Bearing II; 227. Low-position single pulley assembly; 2271. Low-position single pulley frame; 2272. Adjusting bolt II; 2273. Toothed idler wheel III; 2274. Bearing III; 23. Housing assembly; 231. Housing; 232. Guide rail; 233. Slider; 234. Central belt connecting column; 235. Central buffer block; 236. Buffer blocks at both ends; 237. Belt connecting columns at both ends; 3. Two-finger mechanism; 31. Finger flange; 32. Finger; 33. High-position spring plate; 34. High-position movable rod; 35. Rubber block; 36. Low-position spring plate; 37. Low-position movable rod; 4. Belt connection point. Detailed Implementation

[0038] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0039] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0040] Example

[0041] Please see Figures 1-12 The present invention provides a two-finger gripping system based on a parallel adaptive transmission mechanism, including a motor housing 1, a parallel adaptive transmission mechanism 2 and a two-finger mechanism 3. The two-finger mechanism 3 is connected to the motor housing 1. The interior of the motor housing 1 is connected to the parallel adaptive transmission mechanism 2. The parallel adaptive transmission mechanism includes a drive wheel assembly 21, a core assembly 22 and a housing component 23. The housing component 23 is connected to the core assembly 22 and the drive wheel assembly 21.

[0042] The parallel adaptive mechanism is a double-layer synchronous belt drive, with two belts driven by a central synchronous pulley, such as... Figure 12 As shown. Two synchronous belts are symmetrically arranged on both sides of the central synchronous pulley and mesh with the central synchronous pulley. Two sliders are connected to the two synchronous belts respectively through idler pulleys, forming a pure parallel transmission structure. The displacement of the two sliders and the rotation angle of the central synchronous pulley satisfy x1=x2=(1 / 4)Rθ. The slider movement is compensated by the length of the two sections of the belt, realizing absolute synchronous movement before contact.

[0043] Analysis of synchronized motion of the sliders: When the synchronous pulley rotates clockwise, the force is transmitted through the belt, causing the sliders at both ends to slide towards the center. A displacement relationship exists:

[0044]

[0045] Furthermore, because the synchronous belt has a symmetrical structure design, the sliders on both sides experience the same force, and the sliders move synchronously during operation. That is:

[0046]

[0047] x1 represents the displacement of the left slider, x2 represents the displacement of the right slider, and R represents the radius of the synchronous pulley. This represents the rotation angle of the synchronous belt pulley.

[0048] Slider adaptive motion analysis: Adaptive means that when one of the sliders contacts the object, the slider that is not under force remains stationary, while the slider that is not under force continues to move until it contacts the object. This characteristic can adapt to the situation where the workpiece center axis and the gripper center axis are misaligned, avoiding damage to the object caused by rigid gripping.

[0049] When only a single slider moves, the lengths of the individual belts must be complementary; this is the condition for the device's self-adaptability. For example, divide each of the two belts into two segments. The first segment is the section of the higher belt (solid line) from the synchronous pulley through two pulleys to belt connection point 4. The remaining sections of the higher belt constitute the second segment. The lower belt (dashed line) is segmented in the same way as the higher belt. When slider one moves x1 to the right, slider two remains stationary. As the synchronous pulley rotates, the reduced length of the first belt segment needs to be compensated for by the second belt segment. The same applies to the third and fourth belt segments. This achieves the adaptation where the central synchronous pulley rotates to drive the belts that pull the two sliders. When one slider contacts an object, the other slider can still be pulled by the synchronous pulley and belt, thus achieving self-adaptability.

[0050] Clamping force analysis: Since the force applied to the belt or rope is the same at every point, and the double-layer belt has a symmetrical structure, the clamping force on the object is as follows:

[0051]

[0052] This refers to the output torque of the motor.

[0053] This parallel adaptive transmission mechanism enables controllable position before contact, adaptive shape and placement after contact, and controllable clamping force. It employs a core transmission structure of a central synchronous pulley and double-layer synchronous belts. Two synchronous belts connect the two sliders, which are uniformly driven by the central synchronous pulley, constructing a parallel transmission system with no timing difference and balanced power. The pre-contact synchronous motion quantification mechanism: through transmission structure parameter matching, a quantified relationship between slider displacement and motor rotation angle is established, achieving absolute synchronous movement of the two sliders before contact, breaking through the positioning limitations of traditional single-drive systems.

[0054] By leveraging the force transmission characteristics of synchronous belt drives, a mechanical adaptive structure is designed with one side in contact and fixed while the other side continues to feed. This structure can compensate for object placement misalignment and centering deviations without additional control. Based on the inherent mechanical relationship of the transmission structure, precise clamping force control is achieved by directly adjusting the motor output torque, eliminating the need for integrated external force sensors or complex algorithms.

[0055] The drive wheel assembly 21 includes a motor 211, a cover plate 213, and a drive wheel 216. The upper part of the drive wheel 216 is connected to the main shaft 215 via a key. The main shaft 215 is a shaft plus disc structure, with keyways on both the shaft and the disc. The keyways are connected to an indirect flange 214. The upper part of the indirect flange 214 is connected to the motor 211. The cover plate 213 is connected to the motor 211 via a motor flange 212. The motor flange 212 is a disc structure, with one side connected to the motor housing and the other side connected to the housing 231, serving to fix the motor. The lower part of the drive wheel 216 is connected to the core assembly 22.

[0056] The core component 22 includes two belts, a high-position belt 223 and a low-position belt 224. The drive wheel assembly 21 drives the movement of the two belts within the drive assembly. The low-position belt 224 passes over the low-position slider component 225 and the high-position slider component 222. The low-position belt 224 is connected to the low-position slider component 225, the high-position slider component 222, the double pulley component 226, and the low-position single pulley component 227. The low-position single pulley component 227 is located at the right end of the core component 22 and is fixedly connected to the housing component 23 via a connector. The housing component 23 is connected to the low-position slider component 225, the double pulley component 226, the high-position single pulley component 221, and the high-position slider component 222. The high-position slider component 222 and the low-position slider component 225 are connected to the housing component 23. The high-position single pulley component 221 and the low-position single pulley component 227 are fixed to the bottom of the housing component 23 via connectors and are tensioned by adjusting bolts on both ends of the housing component 23. The two double pulley components 226 are arranged in a centrally symmetrical manner and are fixed to the bottom of the housing component 23 by a connector.

[0057] The high-position slider component 222 is located at the right end of the housing component 23. The high-position slider component 222 includes four idler wheels 2222, all of which are connected to the high-position slider 2221. The lower part of the high-position slider 2221 is provided with a threaded hole for connection with the two-finger mechanism 3.

[0058] The high-position slider component 222 is located at the end of the high-position single pulley component 221, which is located at the upper left end of the housing component 23. The high-position single pulley component 221 can slide at the bottom of the housing component 23. The high-position single pulley component 221 includes a high-position single pulley frame 2211, a toothed idler wheel 2212, a bearing 2214, and an adjusting bolt 2213. The adjusting bolt 2213 is connected to the high-position single pulley frame 2211 and tensions the belt. The bottom of the high-position single pulley frame 2211 is provided with a slot and a threaded hole to connect with the housing component 23. The upper part of the high-position single pulley frame 2211 is connected to the toothed idler wheel 2212 and the bearing 2214. Both the bearing 2214 and the toothed idler wheel 2212 are connected to the high-position belt 223.

[0059] The low-position slider component 225 is located at the left end of the drive wheel assembly 21. The low-position slider component 225 includes a low-position slider 2251. The lower part of the low-position slider 2251 is connected to the two-finger mechanism 3 through a threaded hole. The low-position slider 2251 is connected to four idler wheels 2252. The four idler wheels 2252 are respectively connected to the low-position belt 224 and the high-position belt 223.

[0060] The low-position slider component 225 is located on the upper part of the low-position single pulley component 227. The low-position single pulley component 227 consists of adjusting bolt 2272, bearing 2274 and low-position single pulley frame 2271. The bottom of the low-position single pulley frame 2271 has a slot, which is slidably connected to the housing component 23. The middle part of the low-position single pulley frame 2271 is connected to adjusting bolt 2272. Adjusting bolt 2272 tensions the belt. A toothed idler wheel 2273 is provided at the lower part of the connection between adjusting bolt 2272 and low-position single pulley frame 2271. There is one toothed idler wheel 2273, which is connected to the low-position single pulley frame 2271.

[0061] The double pulley component 226 is arranged in a centrally symmetrical manner with respect to the housing component 23. The double pulley component 226 consists of a double pulley frame 2261, a toothed idler wheel 2262, and a bearing 2263. The bearing 2263 and the toothed idler wheel 2262 are connected in series. The toothed idler wheel 2262 is connected to the double pulley frame 2261. The bottom of the double pulley frame 2261 is provided with a threaded hole and is fixedly connected to the housing component 23.

[0062] The housing component 23 includes a slider 233 and a housing 231. A guide rail 232 is provided at the bottom of the housing 231. Both the low-position slider component 225 and the high-position slider component 222 are connected to the slider 233 and slide on the guide rail 232. Both ends of the guide rail 232 are connected to the slider 233. Both ends of the guide rail 232 are provided with end buffer blocks 236. A central buffer block 235 is provided in the middle of the guide rail 232. The housing 231 is connected to the cover plate 213 in the drive wheel assembly 21. A central belt connecting post 234 is provided at the end of the central buffer block 235. There are two central belt connecting posts 234. The two central belt connecting posts 234 are connected to the bottom of the housing 231 through connectors. The openings allow the belt to enter and lock. The two end belt connecting posts 237 are connected to both ends of the housing 231 through connectors. The openings allow the belt to enter and lock.

[0063] The two-finger mechanism includes a finger 32 and a finger flange 31. One side of the finger flange 31 is connected to the high-position slider component 222 and the low-position slider component 225, and the other side is connected to the finger 32. The upper and lower parts of the finger 32 are respectively provided with a high-position spring plate 33 and a low-position spring plate 36. The end of the finger 32 has a bevel, so that the spring plates connected to the finger 32 are arranged in a cross pattern. The low-position spring plate 36 is connected to the low-position movable rod 37, and the high-position spring plate 33 is connected to the high-position movable rod 34. The ends of both the high-position movable rod 34 and the low-position movable rod 37 are connected to the rubber block 35. The cross structure of the double spring plates gives the movable rod a certain range of elastic movement during grasping, which can adapt to the shape of the object.

[0064] Two sliders 233 are fixedly connected to the two fingertips of the two-finger mechanism 3, forming a single-drive two-finger gripping actuator. The gripping force satisfies F1=F2=2τR, and precise force control is achieved by adjusting the motor torque, eliminating the need for an additional integrated force sensor. The two-finger mechanism 3 can achieve precise control at any intermediate position, breaking through the limitation of fully open and fully closed positions, and adapting to different pre-positioning requirements.

[0065] Therefore, this invention employs a two-finger gripping system based on a parallel adaptive transmission mechanism to enhance the synergy of the parallel configuration. It utilizes a pure parallel structure with a central synchronous pulley driving two synchronous belts. The displacement relationship x1=x2=(1 / 4)Rθ achieves absolute synchronous movement of the two sliders before contact, resulting in balanced power distribution without off-center load. This system adapts to both regular and irregular objects, balancing dynamic stability and adaptive flexibility. Optimized pre-contact position control, through the quantitative correlation between motor rotation angle and slider displacement, enables precise control of any intermediate slider position, overcoming the "fully open-fully closed" limitation. Synchronous belt transmission reduces deformation and gap accumulation, improving positioning accuracy without relying on robot body compensation, thus increasing operational efficiency. Enhanced placement offset adaptability, it possesses adaptive characteristics of single-sided contact fixation while the other side continues feeding. It can automatically compensate for misalignment between the workpiece and the gripper's central axis or object tilt deviation, avoiding gripping center offset, wobbling, and slippage, thereby improving gripping stability and success rate. It achieves a unified approach to force control and structural simplification. Precise force control can be achieved by adjusting the motor torque without the need for additional integrated sensors and complex algorithms, thus retaining the cost advantages of a single-drive system. The force control range can be flexibly expanded to adapt to grasping needs across different weight levels, with fast response speed and avoidance of overshoot damage during dynamic grasping.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A two-finger grasping system based on a parallel adaptive transmission mechanism, characterized in that: The device includes a motor housing, a parallel adaptive transmission mechanism, and a two-finger mechanism. The motor housing is connected to the parallel adaptive transmission mechanism, and the two-finger mechanism is also connected to the parallel adaptive transmission mechanism. The parallel adaptive transmission mechanism is configured to drive the two fingers to move synchronously before contact and to adaptively adjust after contact. The parallel adaptive transmission mechanism includes a drive wheel assembly, a core assembly, and a housing component. The housing component is connected to the core assembly and the drive wheel assembly. The core component includes two belts, a high-position belt and a low-position belt. The low-position belt is connected to a low-position slider component, a high-position slider component, a double pulley component, and a low-position single pulley component. The low-position single pulley component is located at the right end of the core component and is fixedly connected to the housing component via a connector. The housing component is connected to the low-position slider component, the low-position single pulley component, the double pulley component, the high-position single pulley component, and the high-position slider component. The high-position slider component is located at the right end of the housing component. The high-position slider component includes four idler wheels and a high-position slider, and all four idler wheels are connected to the high-position slider. The high-position slider component is disposed at the end of the high-position single pulley component. The high-position single pulley component includes a high-position single pulley frame, a toothed idler wheel, a bearing, and an adjusting bolt. The bearing and the toothed idler wheel are both connected to the high-position belt. The low-position slider component is disposed at the left end of the drive wheel assembly. The low-position slider component includes an idler wheel two and a low-position slider. The low-position slider is connected to the idler wheel two. A plurality of idler wheels two are respectively connected to the low-position belt and the high-position belt. The double pulley assembly is arranged in a centrally symmetrical manner with respect to the housing assembly; When only a single slider moves, it is necessary to ensure that the lengths of the two belts are complementary. Each of the two belts is divided into two segments. Slider one moves to the right while slider two remains stationary. When the synchronous pulley rotates, the length of the first segment of the belt that is reduced needs to be compensated for by the second segment of the belt.

2. A two-finger grasping system based on a parallel adaptive transmission mechanism according to claim 1, characterized in that: The drive wheel assembly includes a motor, an indirect flange, a motor flange, a cover plate, a main shaft, and a drive wheel. The interior of the drive wheel is connected to the main shaft via a key. The main shaft has multiple keyways that connect to the indirect flange. The upper part of the indirect flange is connected to the motor rotor. The cover plate is connected to the motor housing via the motor flange. The exterior of the drive wheel is connected to the core assembly.

3. A two-finger grasping system based on a parallel adaptive transmission mechanism according to claim 2, characterized in that: The lower part of the high-position slider is provided with a threaded hole for connection with the two-finger mechanism.

4. A two-finger grasping system based on a parallel adaptive transmission mechanism according to claim 1, characterized in that: The adjusting bolt is connected to the high-position single pulley frame. The bottom of the high-position single pulley frame is provided with a slot and a threaded hole. Both the slot and the threaded hole are connected to the housing component. The upper part of the high-position single pulley frame is connected to the toothed idler wheel and the bearing.

5. A two-finger grasping system based on a parallel adaptive transmission mechanism according to claim 1, characterized in that: The lower part of the low-position slider is provided with a threaded hole for connection with the two-finger mechanism.

6. A two-finger grasping system based on a parallel adaptive transmission mechanism according to claim 1, characterized in that: The low-position slider component is disposed on the upper part of the low-position single pulley component. The low-position single pulley component consists of adjusting bolt two, bearing three, and low-position single pulley frame. The bottom of the low-position single pulley frame is provided with a slot, which is slidably connected to the housing component. The middle part of the low-position single pulley frame is connected to adjusting bolt two. A toothed idler wheel three is provided at the lower part of the connection between adjusting bolt two and the low-position single pulley frame. There is one toothed idler wheel three, and one toothed idler wheel three is connected to the low-position single pulley frame.

7. A two-finger grasping system based on a parallel adaptive transmission mechanism according to claim 1, characterized in that: The double pulley component consists of a double pulley frame, a second toothed idler wheel, and a second bearing. The second bearing and the second toothed idler wheel are connected in series. The second toothed idler wheel is connected to the double pulley frame. The bottom of the double pulley frame is provided with a threaded hole, which is fixedly connected to the housing component.

8. A two-finger grasping system based on a parallel adaptive transmission mechanism according to claim 7, characterized in that: The housing component includes belt fixing posts, guide rails, sliders, and a housing. The guide rails are provided at the bottom of the housing, and both ends of the guide rails are connected to the sliders. Both ends of the guide rails are provided with end buffer blocks, and a central buffer block is provided in the middle of the guide rails. Four belt fixing posts are provided, and the four belt fixing posts are fixedly connected to the housing component.

9. A two-finger grasping system based on a parallel adaptive transmission mechanism according to claim 1, characterized in that: The two-finger mechanism includes two symmetrically arranged finger assemblies, each of which includes a finger body and a finger flange; the finger body is connected to the slider in the parallel adaptive transmission mechanism via the finger flange. The finger body includes a high-position spring plate, a low-position spring plate, a movable rod, and a clamping end; the high-position spring plate and the low-position spring plate are arranged crosswise and fixed to the finger flange; one end of the movable rod is hinged to the intersection area of ​​the high-position spring plate and the low-position spring plate, and the other end is connected to the clamping end; the clamping end is provided with a flexible rubber block.

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