Bidirectional coupling rope-driven mechanical claw based on parallel gear module

Abstract

The utility model discloses a two-way coupling rope-driven mechanical claw based on a parallel gear module. The two-way coupling rope-driven mechanical claw comprises a driving motor, rope-driven mechanical fingers, a driving rope set and a driving shaft. The driving rope group comprises an outer driving rope and an inner driving rope; the rope-driven mechanical finger comprises a first rotating part and a second rotating part; the upper synchronous driving pulley module is used for connecting and arranging an outer driving rope; the lower synchronous driving pulley module is used for connecting and arranging an inner driving rope; the driving shaft rotates to drive the upper synchronous gear set and the lower synchronous gear set, the upper synchronous gear set and the lower synchronous gear set rotate synchronously and reversely, the upper synchronous gear set is used for winding or unwinding an outer driving rope, and the lower synchronous gear set is used for winding or unwinding an inner driving rope. The technical problem to be solved by the utility model is to provide the two-way coupling rope-driven mechanical claw based on the parallel gear module. The two-way coupling rope-driven mechanical claw solves the problems that in the prior art, the number of motors is large, the cost is high, the degree of freedom is small, control is complex, and driving force distribution is uneven.

Description

A bidirectional coupled rope-driven mechanical claw based on a parallel gear module Technical Field

[0001] This invention relates to the field of mechanical structure technology, particularly the field of flexible robots, and specifically to a bidirectional coupled rope-driven mechanical gripper based on a parallel gear module. Background Technology

[0002] With the rapid development of robotics technology, flexible robots have shown great application potential in fields such as industrial automation, medical rehabilitation, and service robots. Among them, rope-driven manipulators, as key actuators of flexible robots, have attracted widespread attention due to their advantages such as simple structure, light weight, and high flexibility. However, traditional rope-driven manipulators generally suffer from problems such as insufficient driving force, low control precision, and poor coupling, making it difficult to meet the needs of precise operation in complex scenarios.

[0003] Chinese patent document CN114939885B discloses a rope-driven three-finger robotic gripper and its control method. The gripper includes a lower mounting plate, a rope drive assembly, and three finger assemblies. Each finger assembly consists of an upper joint and a lower joint, and bending motion is achieved through a rope wheel and a drive rope. A first motor drives the first finger assembly to adjust its posture, while a second motor simultaneously drives the second and third finger assemblies to perform grasping. A pressure sensor provides real-time feedback of the grasping force to control stability.

[0004] The technical problems are: (1) Using two motors to drive different finger components increases cost and control complexity; (2) Multi-motor collaborative control may lead to uneven distribution of driving force, affecting grasping stability and accuracy. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a bidirectional coupled rope-driven mechanical gripper based on a parallel gear module. It solves the problems of large number of motors, high cost, few degrees of freedom, complex control and uneven distribution of driving force in the prior art, greatly reduces economic cost, effectively improves driving force and control accuracy, and provides a new solution for flexible robots to perform fine operations.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical means:

[0007] A bidirectional coupled rope-driven mechanical gripper based on a parallel gear module includes a drive motor, a rope-driven mechanical finger, a drive rope assembly, a drive shaft, an upper synchronous drive pulley module, and a lower synchronous drive pulley module. The drive rope assembly includes an outer drive rope and an inner drive rope. The outer drive rope and the inner drive rope are connected to the rope-driven mechanical finger. The rope-driven mechanical finger includes a first rotating part and a second rotating part. One end of the first rotating part is provided with a rotating shaft that is hinged to a mechanical hand connecting plate, and the other end of the first rotating part is hinged to the rotating shaft at one end of the second rotating part.

[0008] The first rotating part includes an upper part and a lower part. The connection between the upper and lower parts is a bent part, which bends the upper and lower parts inward. A lower synchronous drive pulley 1 is provided on the inner side of the bent part, and an upper synchronous drive pulley 2 is provided on the outer side of the bent part. The lower synchronous drive pulley 1 and the upper synchronous drive pulley 2 are spaced apart. An upper synchronous drive pulley 4 is provided on the outer side of the top of the lower part, and a lower synchronous drive pulley 4 is provided on the inner side of the middle part of the lower part. An inner rope through hole is provided in the upper half of the lower part. An upper synchronous drive pulley 5 is provided on the outer side of the top of the second rotating part. The inner side of the top of the second rotating part is hinged to the bottom of the first rotating part. A lower synchronous drive pulley 5 is provided on the inner side of the bottom of the second rotating part.

[0009] The upper synchronous drive pulley module includes upper synchronous drive pulley one, upper synchronous drive pulley two, upper synchronous drive pulley three, upper synchronous drive pulley four, and upper synchronous drive pulley five; the upper synchronous drive pulley module is used to connect and set the external drive rope;

[0010] The lower synchronous drive pulley module includes lower synchronous drive pulley one, lower synchronous drive pulley two, lower synchronous drive pulley three, lower synchronous drive pulley four, and lower synchronous drive pulley five; the lower synchronous drive pulley module is used to connect and set the inner drive rope;

[0011] One end of the external drive rope is connected to the lower synchronous drive rope recovery drum, and the other end of the external drive rope passes through the upper synchronous drive pulley 1, upper synchronous drive pulley 2, upper synchronous drive pulley 3, and upper synchronous drive pulley 4 in sequence before being fixedly connected to the upper synchronous drive pulley 5.

[0012] One end of the inner drive rope is fixedly connected to the lower synchronous drive rope recovery drum, and the other end of the inner drive rope passes through the lower synchronous drive pulley 1, lower synchronous drive pulley 2, lower synchronous drive pulley 3, and lower synchronous drive pulley 4 in sequence before being fixedly connected to the lower synchronous drive pulley 5.

[0013] The drive motor drives the drive shaft; the drive shaft rotates to drive the upper synchronous gear set; the drive shaft, through coupling, causes the output drive shaft to drive the lower synchronous gear set. The drive shaft first transmits power to the input bevel gear, then the input bevel gear meshes with the transmission bevel gear, which is mounted on the bevel gear connecting frame. Next, the transmission bevel gear meshes with the output bevel gear, causing the output bevel gear to rotate in the opposite direction to the input bevel gear, thereby transmitting power to the output drive shaft; the drive shaft rotates to drive the upper and lower synchronous gear sets, which rotate synchronously and in opposite directions. The upper synchronous gear set is used to retract or release the outer drive rope, and the lower synchronous gear set is used to retract or release the inner drive rope.

[0014] This invention uses a single motor drive, which solves the problems of numerous motors, high cost, few degrees of freedom, complex control, and uneven distribution of driving force in the prior art. It greatly reduces economic costs, effectively improves driving force and control accuracy, and provides a new solution for flexible robots to perform fine operations.

[0015] As a further improvement to this technical solution:

[0016] The drive motor is mounted on the shaft hole of the top coupling drive rope frame, and a drive shaft is connected to the shaft hole, and the drive motor drives the drive shaft.

[0017] The top coupling drive rope frame is provided with drive rope arms at equal intervals along the circumference. The drive rope arms are provided with pulley fixing grooves. Two pulley fixing grooves are provided at intervals along the drive rope arms. The two pulley fixing grooves are respectively provided with upper synchronous drive pulley one and upper synchronous drive pulley three. The top coupling drive rope frame is provided with an upper synchronous gear set below.

[0018] The upper synchronous gear set includes an upper synchronous planetary gear, a lower synchronous drive rope recovery drum, an upper synchronous planetary drive shaft, an upper synchronous center gear, an upper synchronous planetary shaft connecting plate, an upper synchronous connecting frame plate, and a robot arm connecting plate. The upper synchronous planetary gear and the lower synchronous drive rope recovery drum are connected to the upper synchronous planetary drive shaft. Both ends of the upper synchronous planetary drive shaft are connected to the upper synchronous planetary shaft connecting plate and the upper synchronous connecting frame plate, respectively. The upper synchronous planetary drive shaft is evenly spaced along the circumference. The drive shaft is connected to the upper synchronous center gear through bearings in the shaft holes at the center of the upper synchronous planetary shaft connecting plate and the upper synchronous connecting frame plate. The drive shaft is connected to the upper synchronous center gear, which meshes with the upper synchronous planetary gear. The upper synchronous connecting frame plate is provided with robot arm connecting plates evenly spaced along the circumference of the upper synchronous connecting frame plate. The robot arm connecting plates are hinged to the rope-driven robot fingers. The drive shaft is driven to rotate, causing the upper synchronous center gear to rotate, which in turn causes the six upper synchronous planetary gears meshing with the upper synchronous center gear to rotate, thereby causing the lower synchronous drive rope recovery drum to rotate to recover or unload the rope.

[0019] The lower synchronous gear set includes a lower synchronous connecting frame, an opening planetary gear, a lower synchronous drive rope recovery drum, a lower synchronous planetary drive shaft, a lower synchronous planetary shaft connecting plate, a lower synchronous center gear, and an output drive shaft. The lower synchronous planetary drive shaft is connected between the lower synchronous connecting frame and the lower synchronous planetary shaft connecting plate. The lower synchronous planetary drive shaft is evenly spaced along the circumference. The opening planetary gear and the lower synchronous drive rope recovery drum are connected to each lower synchronous planetary drive shaft. The opening planetary gear meshes with the lower synchronous center gear. The lower synchronous center gear is connected to the output drive shaft. The lower synchronous connecting frame and the lower synchronous planetary shaft connecting plate are provided with shaft holes for connecting to the output drive shaft.

[0020] The working principle of this utility model:

[0021] The drive shaft, through meshing with the transmission bevel gear and the meshing of the transmission bevel gear with the bevel gear connecting frame, transmits power from the drive shaft to the input end of the lower synchronous gear set, causing the input bevel gear to rotate in the same direction as the drive shaft, while the output bevel gear rotates in the opposite direction to the drive shaft.

[0022] When the drive motor rotates in the forward direction, it transmits power to the upper synchronous gear set, which in turn causes the lower synchronous drive rope reel to rotate. At this time, the outer drive rope connected to the upper synchronous gear set is stretched, which causes the rope-driven mechanical finger to open outward. At the same time, the output drive shaft reverses relative to the drive shaft, which causes the lower synchronous drive rope reel to release the inner drive rope connected to it synchronously, thus enabling the rope-driven mechanical finger to complete the opening action.

[0023] Conversely, when the drive motor rotates in the reverse direction, it transmits power to the upper synchronous gear set, which in turn causes the lower synchronous drive rope recovery drum to rotate. At this time, the outer drive rope connected to the upper synchronous gear set is released synchronously, and the output drive shaft reverses, which causes the lower synchronous drive rope recovery drum to synchronously retract the inner drive rope connected to it, thereby enabling the rope-driven mechanical finger to complete the closing action.

[0024] One advantage of this embodiment is that:

[0025] First: A single motor is used, and the forward and reverse rotation of the motor, combined with the bidirectional coupling of the gear module, realizes the opening and closing actions of the mechanical claw.

[0026] Second: When a single motor works, related components rotate forward and reverse simultaneously to complete the opening and closing of the mechanical gripper. The driving force is distributed more evenly, the gripping is more stable, and the precision is also higher. Attached Figure Description

[0027] Figure 1 is a perspective view of a bidirectional coupled rope-driven mechanical claw based on a parallel gear module.

[0028] Figure 2 is a perspective view of a bidirectional coupled rope-driven mechanical claw based on a parallel gear module.

[0029] Figure 3 is a front view of a bidirectional coupled rope-driven mechanical claw based on a parallel gear module.

[0030] Figure 4 is a full sectional front view of a bidirectional coupled rope-driven mechanical claw based on a parallel gear module.

[0031] Figure 5 is a perspective view of the top coupling drive rope frame.

[0032] Figure 6 is a perspective view of the upper synchronous gear set.

[0033] Figure 7 is a perspective view of the upper synchronous gear set.

[0034] Figure 8 is a perspective view of the lower synchronizing gear set.

[0035] Figure 9 is a three-dimensional view of the lower synchronous gear set.

[0036] Figure 10 is a three-dimensional view of a rope-driven mechanical finger.

[0037] Explanation of reference numerals in the attached figures:

[0038] 1. Drive motor;

[0039] 2. Top coupling drive rope frame, 201. Drive rope arm, 2012. Pulley fixing groove;

[0040] 3. Upper synchronous gear set; 301. Upper synchronous planetary gear; 302. Upper synchronous retraction drum; 303. Upper synchronous planetary drive shaft; 304. Upper synchronous center gear; 305. Upper synchronous planetary shaft connecting plate; 306. Upper synchronous connecting frame plate; 307. Robot arm connecting plate.

[0041] 4. Lower synchronous gear set; 401. Lower synchronous connecting frame plate; 402. Opening planetary gear; 403. Lower synchronous drive rope recovery drum; 404. Lower synchronous planetary drive shaft; 405. Lower synchronous planetary shaft connecting plate; 406. Lower synchronous center gear; 407. Output drive shaft.

[0042] 5. Rope-driven mechanical finger, 501, first rotating part, 502, second rotating part;

[0043] 6. Drive rope, 601. Outer drive rope, 602. Inner drive rope;

[0044] 7. Drive shaft;

[0045] 8. Input bevel gear;

[0046] 9. Transmission bevel gear;

[0047] 10. Bevel gear connecting frame;

[0048] 11. Output bevel gear;

[0049] 12. Upper synchronous drive pulley module, 1201. Upper synchronous drive pulley one, 1202. Upper synchronous drive pulley two, 1203. Upper synchronous drive pulley three, 1204. Upper synchronous drive pulley four, 1205. Upper synchronous drive pulley five;

[0050] 13. Lower synchronous drive pulley module, 1301. Lower synchronous drive pulley one, 1302. Lower synchronous drive pulley two, 1303. Lower synchronous drive pulley three, 1304. Lower synchronous drive pulley four, 1305. Lower synchronous drive pulley five. Detailed Implementation

[0051] The present invention will be further described below with reference to the embodiments.

[0052] Referring to Figures 1-10, the present invention provides a bidirectional coupled rope-driven mechanical claw based on a parallel gear module, which consists of a drive motor 1, a top coupled drive rope frame 2, an upper synchronous gear set 3, a lower synchronous gear set 4, a rope-driven mechanical finger 5, a drive rope set 6, a drive shaft 7, an input bevel gear 8, a transmission bevel gear 9, a bevel gear connecting frame 10, an output bevel gear 11, an upper synchronous drive module 12, and a lower synchronous drive module 13.

[0053] The drive motor 1 is mounted on the shaft hole of the top coupling drive rope frame 2, and the drive shaft 7 is connected and set at the shaft hole. The drive motor 1 drives the drive shaft 7.

[0054] Referring to Figure 5, the top coupling drive rope frame 2 has drive rope arms 201 arranged at equal intervals along the circumference at the top. The drive rope arms 201 are provided with pulley fixing grooves 2012. Two pulley fixing grooves 2012 are arranged at intervals along the drive rope arms 201. The two pulley fixing grooves 2012 are respectively provided with upper synchronous drive pulley one 1201 and upper synchronous drive pulley three 1203.

[0055] The drive rope frame 2 is equipped with an upper synchronous gear set 3, as shown in Figures 6 and 7. The upper synchronous gear set 3 includes an upper synchronous planetary gear 301, an upper synchronous retraction drum 302, an upper synchronous planetary drive shaft 303, an upper synchronous center gear 304, an upper synchronous planetary shaft connecting plate 305, an upper synchronous connecting frame plate 306, and a robot arm connecting plate 307. As shown in Figure 6, the upper synchronous planetary gear 301 and the upper synchronous retraction drum 302 are connected to the upper synchronous planetary drive shaft 303. The two ends of the upper synchronous planetary drive shaft 303 are respectively connected to the upper synchronous planetary shaft connecting plate 305 and the upper synchronous connecting frame plate. The upper synchronous planetary drive shaft 303 is evenly spaced along the circumference of the upper synchronous planetary drive shaft 303; the drive shaft 7 is connected to the shaft hole at the center of the upper synchronous planetary drive shaft connecting plate 305 and the upper synchronous connecting frame plate 306 through the bearing, the drive shaft 7 is connected to the drive upper synchronous center gear 304, the upper synchronous center gear 304 meshes with the upper synchronous planetary gear 301; the upper synchronous connecting frame plate 306 is provided with a robot arm connecting plate 307 evenly spaced along the circumference of the upper synchronous connecting frame plate 306, the robot arm connecting plate 307 is evenly spaced along the circumference, and the robot arm connecting plate 307 is hinged to the rope-driven robot finger 5.

[0056] The drive shaft 7 is driven to rotate, causing the upper synchronous center gear 304 to rotate, which in turn causes the six upper synchronous planetary gears 301 meshing with the upper synchronous center gear 304 to rotate, which in turn causes the upper synchronous retraction drum 302 to rotate to retract or release the rope.

[0057] The lower synchronous gear set 4, as shown in Figures 8 and 9, includes a lower synchronous connecting frame plate 401, an opening planetary gear 402, a lower synchronous drive rope recovery drum 403, a lower synchronous planetary drive shaft 404, a lower synchronous planetary shaft connecting plate 405, a lower synchronous center gear 406, and an output drive shaft 407. The lower synchronous planetary drive shaft 404 is connected between the lower synchronous connecting frame plate 401 and the lower synchronous planetary shaft connecting plate 405. The lower synchronous planetary drive shaft 404 is evenly spaced along the circumference. The opening planetary gear 402 and the upper synchronous retraction drum 302 are connected to each lower synchronous planetary drive shaft 404. The opening planetary gear 402 meshes with the lower synchronous center gear 406. The lower synchronous center gear 406 is connected to the output drive shaft 407. The lower synchronous connecting frame plate 401 and the lower synchronous planetary shaft connecting plate 405 are provided with shaft holes to connect to the output drive shaft 407.

[0058] The rope-driven mechanical finger 5 includes a first rotating part 501 and a second rotating part 502; one end of the first rotating part 501 is provided with a rotating shaft that is hinged to the mechanical hand connecting plate 307, and the other end of the first rotating part 501 is hinged to the rotating shaft at one end of the second rotating part 502.

[0059] The first rotating part 501 includes an upper part 5011 and a lower part 5012. The connection between the upper part 5011 and the lower part 5012 is a bent part 5013. The bent part 5013 causes the upper part 5011 and the lower part 5012 to bend inward. A lower synchronous drive pulley 1301 is provided on the inner side of the bent part 5013, and an upper synchronous drive pulley 2 1202 is provided on the outer side of the bent part 5013. The lower synchronous drive pulley 1301 and the upper synchronous drive pulley 2 1202 are spaced apart. An upper synchronous drive pulley 4 1204 is provided on the top outer side of the lower part 5012, and a lower synchronous drive pulley 4 1304 is provided on the middle inner side of the lower part 5012. An inner rope through hole 5014 is provided in the upper half of the lower part 5012.

[0060] The upper synchronous drive pulley 1205 is provided on the outer side of the top of the second rotating part 502. The inner side of the top of the second rotating part 502 is hinged to the bottom of the first rotating part 501. The inner side of the bottom of the second rotating part 502 is provided with a lower synchronous drive pulley 1305.

[0061] Referring to Figures 1, 2 and 3, the drive rope assembly 6 includes an outer drive rope 601 and an inner drive rope 602.

[0062] As shown in Figure 4, one end of the outer drive rope 601 is connected to the upper synchronous retraction drum 302, and the other end of the outer drive rope 601 passes through the upper synchronous drive pulley 1201, upper synchronous drive pulley 2202, upper synchronous drive pulley 3203, and upper synchronous drive pulley 41204 in sequence before being fixedly connected to the upper synchronous drive pulley 51205.

[0063] One end of the inner drive rope 602 is fixedly connected to the lower synchronous drive rope recovery drum 403, and the other end of the inner drive rope 602 passes through the lower synchronous drive pulley 1 1301, lower synchronous drive pulley 2 1302, lower synchronous drive pulley 3 1303, and lower synchronous drive pulley 4 1304 in sequence before being fixedly connected to the lower synchronous drive pulley 5 1305.

[0064] The opening drive shaft 7 passes from top to bottom through the top coupling drive rope frame 2, the upper synchronous planetary shaft connecting plate 305, the upper synchronous connecting frame plate 306, and the robot arm connecting plate 307; the bottom end of the opening drive shaft 7 is connected to the input bevel gear 8, the input bevel gear 8 meshes with the transmission bevel gear 9, and the transmission bevel gear 9 meshes with the output bevel gear 11; the transmission bevel gear 9 is hinged to the bevel gear connecting frame 10, and the two ends of the bevel gear connecting frame 10 are respectively connected and fixed to the upper synchronous gear set 3 and the lower synchronous gear set 4; the output bevel gear 11 is connected and set on the output drive shaft 407.

[0065] The upper synchronous drive pulley module 12 consists of upper synchronous drive pulley one 1201, upper synchronous drive pulley two 1202, upper synchronous drive pulley three 1203, upper synchronous drive pulley four 1204, and upper synchronous drive pulley five 1205. The upper synchronous drive pulley module 12 is used to connect and set the external drive rope 601.

[0066] The lower synchronous drive pulley module 13 consists of lower synchronous drive pulley one 1301, lower synchronous drive pulley two 1302, lower synchronous drive pulley three 1303, lower synchronous drive pulley four 1304, and lower synchronous drive pulley five 1305. The lower synchronous drive pulley module 13 is used to connect and set the inner drive rope 602.

[0067] The working principle of this utility model:

[0068] The drive shaft 7 rotates, driving the upper synchronous gear set 3. Through coupling, the output drive shaft 407 drives the lower synchronous gear set 4. The drive shaft 7 first transmits power to the input bevel gear 8, which then meshes with the transmission bevel gear 9, which is mounted on the bevel gear connecting frame 10. Next, the transmission bevel gear 9 meshes with the output bevel gear 11, causing the output bevel gear 11 to rotate in the opposite direction to the input bevel gear 8, thus transmitting power to the output drive shaft 407. This causes the input bevel gear 8 to rotate in the same direction as the drive shaft 7, while the output bevel gear 11 rotates in the opposite direction. The drive shaft 7 drives the upper synchronous gear set 3 to rotate, and the output drive shaft 407 drives the lower synchronous gear set 4 to rotate. The upper synchronous gear set 3 and the lower synchronous gear set 4 rotate synchronously and in opposite directions. The upper synchronous gear set 3 is used to retract or release the outer drive rope 601, and the lower synchronous gear set 4 is used to retract or release the inner drive rope 602.

[0069] When the drive motor 1 rotates in the forward direction, it transmits power to the upper synchronous gear set 3, which in turn causes the upper synchronous retraction drum 302 to rotate. At this time, the outer drive rope 601 connected to the upper synchronous gear set 3 is stretched, which causes the rope-driven mechanical finger 5 to open outward. At the same time, the output drive shaft 407 reverses relative to the drive shaft 7, which causes the lower synchronous drive rope recovery drum 403 to release the inner drive rope 602 connected to it in a synchronous manner, thereby enabling the rope-driven mechanical finger 5 to complete the opening action.

[0070] Conversely, when the drive motor 1 rotates in the reverse direction, it transmits power to the upper synchronous gear set 3, which in turn causes the upper synchronous retraction drum 302 to rotate. At this time, the outer drive rope 601 connected to the upper synchronous gear set 3 is released synchronously, and the output drive shaft 407 reverses, which causes the lower synchronous drive rope recovery drum 402 to synchronously retract the inner drive rope 602 connected to it, thereby causing the rope-driven mechanical finger 5 to complete the closing action.

[0071] One advantage of this embodiment is that:

[0072] First: A single motor is used, and the forward and reverse rotation of the motor, combined with the bidirectional coupling of the gear module, realizes the opening and closing actions of the mechanical claw.

[0073] Second: When a single motor works, related components rotate forward and reverse simultaneously to complete the opening and closing of the mechanical gripper. The driving force is distributed more evenly, the gripping is more stable, and the precision is also higher.

[0074] The above are merely preferred embodiments of the present utility model and are not intended to limit the scope of the present utility model. All equivalent structural changes made based on the description and drawings of the present utility model are included within the scope of the present utility model.

Claims

1. A bidirectional coupled rope-driven mechanical gripper based on a parallel gear module, comprising a drive motor (1), a rope-driven mechanical finger (5), a drive rope assembly (6), a drive shaft (7), an upper synchronous drive pulley module (12), and a lower synchronous drive pulley module (13), characterized in that: The drive rope assembly (6) includes an outer drive rope (601) and an inner drive rope (602); the outer drive rope (601) and the inner drive rope (602) are connected to the drive rope-driven mechanical finger (5); the drive rope-driven mechanical finger (5) includes a first rotating part (501) and a second rotating part (502); one end of the first rotating part (501) is provided with a rotating shaft that is hinged to the mechanical hand connecting plate (307), and the other end of the first rotating part (501) is hinged to the rotating shaft at one end of the second rotating part (502); the first rotating part (501) includes an upper part (5011) and a lower part (5012), and the connection between the upper part (5011) and the lower part (5012) is a bent part (501). 3) The bending part (5013) bends the upper part (5011) and the lower part (5012) inward. A lower synchronous drive pulley 1 (1301) is provided on the inner side of the bending part (5013), and an upper synchronous drive pulley 2 (1202) is provided on the outer side of the bending part (5013). The lower synchronous drive pulley 1 (1301) and the upper synchronous drive pulley 2 (1202) are spaced apart. An upper synchronous drive pulley 4 (1204) is provided on the outer side of the top of the lower part (5012), and a lower synchronous drive pulley 4 (1304) is provided on the inner side of the middle part of the lower part (5012). An inner rope through hole (5014) is provided in the upper half of the lower part (5012). The second rotating part (502) The top outer side is provided with an upper synchronous drive pulley five (1205), the top inner side of the second rotating part (502) is hinged to the bottom end of the first rotating part (501), and the bottom inner side of the second rotating part (502) is provided with a lower synchronous drive pulley five (1305); the upper synchronous drive pulley module (12) includes an upper synchronous drive pulley one (1201), an upper synchronous drive pulley two (1202), an upper synchronous drive pulley three (1203), an upper synchronous drive pulley four (1204), and an upper synchronous drive pulley five (1205); the upper synchronous drive pulley module (12) is used to connect and set the outer drive rope (601); the lower synchronous drive pulley module (13) includes a lower synchronous drive pulley five (1305). Drive pulley one (1301), lower synchronous drive pulley two (1302), lower synchronous drive pulley three (1303), lower synchronous drive pulley four (1304), and lower synchronous drive pulley five (1305); the lower synchronous drive pulley module (13) is used to connect and set the inner drive rope (602); one end of the outer drive rope (601) is connected to the upper synchronous retraction drum (302), and the other end of the outer drive rope (601) passes through the upper synchronous drive pulley one (1201), upper synchronous drive pulley two (1202), upper synchronous drive pulley three (1203), and upper synchronous drive pulley four (1204) in sequence and is fixedly connected to the upper synchronous drive pulley five (1205);One end of the inner drive rope (602) is fixedly connected to the lower synchronous drive rope recovery drum (403), and the other end of the inner drive rope (602) passes sequentially around the lower synchronous drive pulley one (1301), lower synchronous drive pulley two (1302), lower synchronous drive pulley three (1303), and lower synchronous drive pulley four (1304) before being fixedly connected to the lower synchronous drive pulley five (1305); the drive motor (1) drives the drive shaft (7); the drive shaft (7) rotates to drive the upper synchronous gear set (3); the drive shaft (7) is coupled to enable the output drive shaft (407) to drive the lower synchronous gear set (4), and the drive shaft (7) first transmits power to the input bevel gear (8), and then The input bevel gear (8) meshes with the transmission bevel gear (9), which is mounted on the bevel gear connecting frame (10). Next, the transmission bevel gear (9) meshes with the output bevel gear (11), causing the output bevel gear (11) to rotate in the opposite direction to the input bevel gear (8), thereby transmitting power to the output drive shaft (407). The drive shaft (7) drives the upper synchronous gear set (3) to rotate, and the output drive shaft (407) drives the lower synchronous gear set (4) to rotate. The upper synchronous gear set (3) and the lower synchronous gear set (4) rotate synchronously and in opposite directions. The upper synchronous gear set (3) is used to retract or release the outer drive rope (601), and the lower synchronous gear set (4) is used to retract or release the inner drive rope (602).

2. The bidirectional coupled rope-driven mechanical gripper based on a parallel gear module according to claim 1, characterized in that: The drive motor (1) is installed on the shaft hole of the top coupling drive rope frame (2), and the drive shaft (7) is connected and set at the shaft hole. The drive motor (1) drives the drive shaft (7).

3. The bidirectional coupled rope-driven mechanical gripper based on a parallel gear module according to claim 2, characterized in that: The top coupling drive rope frame (2) has drive rope arms (201) arranged at equal intervals along the circumference at the top. The drive rope arms (201) are provided with pulley fixing grooves (2012). Two pulley fixing grooves (2012) are arranged at intervals along the drive rope arms (201). The two pulley fixing grooves (2012) are respectively provided with upper synchronous drive pulley one (1201) and upper synchronous drive pulley three (1203). The top coupling drive rope frame (2) is provided with an upper synchronous gear set (3).

4. The bidirectional coupled rope-driven mechanical gripper based on a parallel gear module according to claim 1, characterized in that: The upper synchronous gear set (3) includes an upper synchronous planetary gear (301), an upper synchronous retracting drum (302), an upper synchronous planetary drive shaft (303), an upper synchronous center gear (304), an upper synchronous planetary shaft connecting plate (305), an upper synchronous connecting frame plate (306), and a robot arm connecting plate (307); the upper synchronous planetary gear (301) and the upper synchronous retracting drum (302) are connected to the upper synchronous planetary drive shaft (303), and both ends of the upper synchronous planetary drive shaft (303) are respectively connected to the upper synchronous planetary shaft connecting plate (305) and the upper synchronous connecting frame plate (306), and the upper synchronous planetary drive shaft (303) is evenly spaced along the circumference; the center of the upper synchronous planetary shaft connecting plate (305) and the upper synchronous connecting frame plate (306) is located at... The drive shaft (7) is connected to the shaft hole by a bearing. The drive shaft (7) is connected to the drive upper synchronous center gear (304). The upper synchronous center gear (304) meshes with the upper synchronous planetary gear (301). The upper synchronous connecting frame plate (306) is provided with robot arm connecting plates (307) that are equally spaced along the circumference of the upper synchronous connecting frame plate (306). The robot arm connecting plates (307) are equally spaced along the circumference. The robot arm connecting plates (307) are hinged to connect the rope-driven robot finger (5). The drive shaft (7) is driven to rotate, which drives the upper synchronous center gear (304) to rotate. This causes the six upper synchronous planetary gears (301) that mesh with the upper synchronous center gear (304) to rotate. This causes the upper synchronous retraction drum (302) to rotate to retract or release the rope.

5. A bidirectional coupled rope-driven mechanical gripper based on a parallel gear module according to claim 1, characterized in that: The lower synchronous gear set (4) includes a lower synchronous connecting frame (401), an opening planetary gear (402), a lower synchronous drive rope recovery drum (403), a lower synchronous planetary drive shaft (404), a lower synchronous planetary shaft connecting plate (405), a lower synchronous center gear (406), and an output drive shaft (407). The lower synchronous connecting frame (401) and the lower synchronous planetary shaft connecting plate (405) are connected to the lower synchronous planetary drive shaft (404). The lower synchronous planetary drive shaft (404) is evenly spaced along the circumference. The opening planetary gear (402) and the upper synchronous retraction drum (302) are connected to the lower synchronous planetary drive shaft (404). The opening planetary gear (402) meshes with the lower synchronous center gear (406). The lower synchronous center gear (406) is connected to the output drive shaft (407). The lower synchronous connecting frame (401) and the lower synchronous planetary shaft connecting plate (405) are provided with shaft holes to connect to the output drive shaft (407).

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