Dexterous thumb and dexterous hand

Abstract

The invention provides a dexterous thumb and a dexterous hand. The first appearance piece and the second appearance piece are arranged on the two sides of the second connecting piece correspondingly, the first appearance piece is provided with the first tendon rope sleeve used for allowing the first end of the first tendon rope to pass through, the second appearance piece is provided with the second tendon rope sleeve used for allowing the second end of the first tendon rope to pass through, and the third appearance piece is arranged on the outer side of the third connecting piece; the third appearance part is provided with a third tendon rope sleeve for the second tendon rope to pass through, so that when the first tendon rope drives the second movable connecting piece to rotate and the second tendon rope drives the first movable connecting piece to rotate, the wire outlet direction of the corresponding tendon rope can be restrained through the first tendon rope sleeve, the second tendon rope sleeve and the third tendon rope sleeve; movement interference between the first tendon rope and the second tendon rope is avoided, and then the thumb can be conveniently controlled to conduct various actions.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a dexterous thumb and a dexterous hand. Background Technology

[0002] Rope-driven dexterous manipulators are biomimetic structures that use tendon ropes to pull the fingers to achieve grasping actions. Compared to end effectors that pick up a single object, perform a single picking action, and have a simple design structure, rope-driven dexterous manipulators can pick up multiple objects and perform multiple picking actions by mimicking the structure of the human hand.

[0003] However, as a rope-driven dexterous manipulator, the thumb has a more complex structure than other fingers because it needs to perform various movements with them. As a result, when the motor drives the joint movement through the tendon rope, multiple tendon ropes are not only prone to interference, but also to interference with other parts, which seriously affects the thumb's movement with other fingers. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a dexterous thumb and a dexterous hand to solve the problem caused by the complex structure of the existing thumb, which makes it easy for multiple tendons and ligaments to interfere with each other and also interfere with other parts.

[0005] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0006] The first aspect of the present invention discloses a dexterous thumb, comprising: a palm fixing member, a first connector, a second connector, a third connector, a fingertip, a first tendon cord, a second tendon cord, a first movable connector, a second movable connector, a reset assembly, a first appearance member, a second appearance member, and a third appearance member;

[0007] The first end of the first connector is rotatably connected to the palm fixing component;

[0008] The first end of the second connector is rotatably connected to the second end of the first connector;

[0009] The first movable connector is rotatably disposed at the second end of the second connector and connected to the first end of the third connector;

[0010] The second movable connector is rotatably disposed at the second end of the third connector and is connected to the fingertip;

[0011] The first tendon cord is connected to the first movable connector, and the first tendon cord is used to drive the first movable connector to rotate forward or in the opposite direction so that the third connector can rotate in the first plane.

[0012] One end of the second tendon cord is connected to the second movable connector. The second tendon cord is used to drive the second movable connector to rotate in the forward direction so that the fingertip rotates in the first plane.

[0013] The reset component is located at the second end of the third connector. The reset component is used to drive the second movable connector to rotate in the opposite direction so that the fingertip rotates in the first plane.

[0014] The first appearance component and the second appearance component are respectively disposed on both sides of the second connector. The first appearance component is provided with a first tendon rope sleeve for the first end of the first tendon rope to pass through, and the second appearance component is provided with a second tendon rope sleeve for the second end of the first tendon rope to pass through.

[0015] The third exterior component is located on the outside of the third connector, and the third exterior component has a third tendon rope sleeve for the passage of the second tendon rope.

[0016] Preferably, the second movable connector includes: a first movable plate, a second movable plate, a first bearing, a second bearing, and a plurality of first screws;

[0017] A first protrusion is provided between the first movable plate and the second movable plate, wherein the first movable plate and the second movable plate are parallel;

[0018] The side of the second movable plate away from the first movable plate is rotatably connected to the inner wall of the third connecting member through the first bearing;

[0019] The side of the first movable plate away from the second movable plate is rotatably connected to the inner wall of the third connecting member via the second bearing;

[0020] The second movable plate has a first through hole in the vertical direction that corresponds to the bearing hole of the first bearing;

[0021] The first protrusion has a first channel communicating with the first through hole, and the two ends of the first channel are located on both sides of the first protrusion.

[0022] The third connector has a second through hole on the side near the first bearing for the wire harness to pass through, wherein the second through hole corresponds to the bearing hole of the first bearing;

[0023] The second tendon rope is arranged sequentially along the edge of the first protrusion, the first end of the first channel, and one side of the first channel, and is fixed to one side of the first channel. The second tendon rope is used to drive the first movable plate and the second movable plate to rotate synchronously.

[0024] The second movable plate is fixed to the first movable plate by a plurality of first screws.

[0025] Preferably, the second movable connector further includes: a first mounting post;

[0026] The first mounting post is located at the second end of the first channel, and the first mounting post has an axially formed threaded hole that engages with the thread of the first screw.

[0027] The reset assembly includes: a torsion spring and a torsion spring mounting post;

[0028] The torsion spring mounting post is located inside the third connector;

[0029] The torsion spring is sleeved on the torsion spring mounting post, with one end of the torsion spring abutting against one side of the third connector and the other end abutting against the first mounting post.

[0030] Preferably, the first protrusion includes a first sub-protrusion and a second sub-protrusion;

[0031] The first sub-protrusion and the second sub-protrusion are set at a preset distance to form a first channel;

[0032] The second tendon rope is arranged sequentially along the edge of the first sub-protrusion and the inner side of the first sub-protrusion, and is fixed to the inner side of the first sub-protrusion.

[0033] The second tendon rope has a first knot;

[0034] The inner side of the first protrusion is provided with a first storage groove for storing the first knot;

[0035] The second movable plate works in conjunction with the first movable plate to prevent the first knot from coming out of the first storage slot.

[0036] Preferably, the first movable connector includes: a third movable plate, a fourth movable plate, a third bearing, a fourth bearing, a second mounting post, and a plurality of second screws;

[0037] A second protrusion is provided between the third movable plate and the fourth movable plate, wherein the third movable plate and the fourth movable plate are parallel;

[0038] The side of the fourth movable plate away from the third movable plate is rotatably connected to the inner wall of the second connecting piece via the third bearing;

[0039] The side of the third movable plate away from the fourth movable plate is rotatably connected to the inner wall of the second connector via the fourth bearing;

[0040] The fourth movable plate has a third through hole in the vertical direction, which corresponds to the bearing hole of the third bearing.

[0041] The second protrusion has a second channel communicating with the third through hole, and the two ends of the second channel are located on both sides of the second protrusion.

[0042] The second mounting post is located at the first end of the second channel, and the second mounting post has an axially formed threaded hole that engages with the thread of the second screw.

[0043] The second connector has a fourth through hole on one side for the wire harness to pass through, wherein the fourth through hole corresponds to the bearing hole of the third bearing.

[0044] The first tendon rope is arranged along one edge of the second protrusion, the second end of the second channel, one side of the second channel, the second mounting post, the other side of the second channel, the second end of the second channel, and the other edge of the second protrusion, and is fixed inside the second channel. The first tendon rope is used to drive the first movable plate and the second movable plate to rotate synchronously.

[0045] The fourth movable plate is fixed to the third movable plate by multiple second screws.

[0046] Preferably, the second protrusion includes a third sub-protrusion and a fourth sub-protrusion;

[0047] The third and fourth sub-protrusions are spaced at a preset distance to form a second channel;

[0048] The first tendon rope is arranged sequentially along the edge of the third sub-protrusion, the inner side of the third sub-protrusion, the second mounting post, the inner side of the fourth sub-protrusion, and the outer side of the fourth sub-protrusion, and is fixed to the inner side of the third sub-protrusion. The second tendon rope is used to drive the third movable plate and the fourth movable plate to rotate synchronously.

[0049] The first tendon rope has a second knot;

[0050] The inner side of the third protrusion is provided with a second storage groove for storing the second knot;

[0051] The third and fourth movable plates work together to prevent the second knot from coming out of the second storage slot.

[0052] Preferably, it further includes: a first detection component for detecting the rotation angle of the second movable connector and / or a second detection component for detecting the rotation angle of the first movable connector.

[0053] Preferably, the first detection component is the same as the second detection component;

[0054] The third connector has a fixed shaft for mounting the bearing on the side near the second movable connector;

[0055] The first detection component includes a sensor mounting plate, a magnetic ring, a first Hall angle sensor, a second Hall angle sensor, and a connector;

[0056] The sensor mounting plate is located inside the second end of the third connector and has a positioning hole for fixing the shaft to pass through.

[0057] The first Hall angle sensor, the second Hall angle sensor, and the connector are all mounted on the sensor mounting plate. The first Hall angle sensor and the second Hall angle sensor are mounted at a preset angle on one side of the positioning hole.

[0058] The connector is used to connect the first Hall angle sensor and the second Hall angle sensor;

[0059] The magnetic ring is located on the side of the second movable connector near the sensor mounting plate.

[0060] Preferably, it also includes: a plurality of third movable connectors and a plurality of third tendon cords;

[0061] The first end of the first connector is provided with a third movable connector that is rotatably connected to the palm fixing member, so that the first connector can rotate in a second plane, wherein the second plane is different from the first plane;

[0062] The first end of the second connector is provided with a third movable connector that is rotatably connected to the second end of the first connector, so that the second connector can rotate in the first plane.

[0063] The third tendon cord is connected to the third movable connector and is used to drive the third movable connector to rotate.

[0064] A second aspect of the present invention discloses a dexterous hand, including a dexterous thumb as disclosed in the first aspect of the present invention.

[0065] Based on the above-described dexterous thumb and dexterous hand provided by the present invention, the first end of a first connecting member is rotatably connected to a palm fixing member, the first end of a second connecting member is rotatably connected to the second end of the first connecting member, a first movable connecting member is rotatably disposed at the second end of the second connecting member and connected to the first end of a third connecting member, the second movable connecting member is rotatably disposed at the second end of the third connecting member and connected to the fingertip, a first tendon cord is connected to the first movable connecting member, and the first tendon cord is used to drive the first movable connecting member to rotate forward or backward, so that the third connecting member rotates in a first plane, and one end of the second tendon cord is connected to the second movable connecting member. The system comprises a second tendon cord that drives the second movable connector to rotate forward, causing the fingertip to rotate within a first plane. A reset component is located at the second end of the third connector and drives the second movable connector to rotate in the opposite direction, causing the fingertip to rotate within the first plane. A first and second outer surface component are respectively located on opposite sides of the second connector. The first outer surface component has a first tendon cord sleeve for the first end of the first tendon cord to pass through, and the second outer surface component has a second tendon cord sleeve for the second end of the first tendon cord to pass through. A third outer surface component is located on the outside of the third connector and has a third tendon cord sleeve for the second tendon cord to pass through. With this dexterous thumb, when the first tendon cord drives the second movable connector to rotate, and when the second tendon cord drives the first movable connector to rotate, the first, second, and third tendon cord sleeves can constrain the direction of the corresponding tendon cord's exit, preventing motion interference between the first and second tendon cords, thus facilitating thumb control for various movements. Attached Figure Description

[0066] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0067] Figure 1 A schematic diagram of the structure of a dexterous thumb provided in an embodiment of the present invention;

[0068] Figure 2 This is a schematic diagram of the structure of the second movable connector provided in an embodiment of the present invention;

[0069] Figure 3 An exploded view of the second movable connector provided in an embodiment of the present invention;

[0070] Figure 4 This is a schematic diagram of the structure of the first movable connector provided in an embodiment of the present invention;

[0071] Figure 5 An exploded view of the third connector provided in an embodiment of the present invention;

[0072] Figure 6 This is a schematic diagram of the structure of the third movable plate provided in an embodiment of the present invention;

[0073] Figure 7 This is a schematic diagram of the structure of the second connector provided in an embodiment of the present invention;

[0074] Figure 8 This is a schematic diagram of the structure of the third movable connector provided in an embodiment of the present invention;

[0075] Figure 9 An exploded view of the second connector provided in an embodiment of the present invention;

[0076] Figure 10 This is a schematic diagram of the structure of the second exterior component provided in an embodiment of the present invention;

[0077] Figure 11 This is a schematic diagram of the structure of the first exterior component provided in an embodiment of the present invention;

[0078] Figure 12 An exploded view of the first connector provided in an embodiment of the present invention;

[0079] Figure 13 An exploded view of the hand fixing component provided in an embodiment of the present invention;

[0080] Figure 14 A cross-sectional view of a dexterous thumb provided in an embodiment of the present invention.

[0081] The components include: a hand fixing component 1; a first connecting component 2; a second connecting component 3; a third connecting component 4; a fingertip 5; a first tendon rope 6, a second knot 61; a second tendon rope 7, a first knot 71; a first movable connecting component 8, a third movable plate 81, a fourth movable plate 82, a third bearing 83, a fourth bearing 84, a second mounting post 85, a second screw 86, a third sub-protrusion 871, a second storage groove 8711, a fourth sub-protrusion 872, a second channel 873; a second movable connecting component 9, a first movable plate 91, a second movable... Moving plate 92, first bearing 93, second bearing 94, first screw 95, first sub-protrusion 961, first storage groove 9611, second sub-protrusion 962, first channel 963, first mounting post 97; reset assembly 10, torsion spring 101, torsion spring mounting post 102; first appearance part 11, first tendon rope sleeve 111; second appearance part 12, second tendon rope sleeve 121; third appearance part 13; first detection assembly 14; second detection assembly 15; third movable connector 16; third detection assembly 17. Detailed Implementation

[0082] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0083] This invention provides a dexterous thumb, see [link to relevant documentation]. Figure 1 and combined Figures 2 to 14 , Figure 1 The diagram shows the structure of a dexterous thumb, which includes: a palm fixing component 1, a first connecting component 2, a second connecting component 3, a third connecting component 4, a fingertip 5, a first tendon 6, a second tendon 7, a first movable connecting component 8, a second movable connecting component 9, a reset component 10, a first appearance component 11, a second appearance component 12, and a third appearance component 13.

[0084] The first end of the first connector 2 is rotatably connected to the palm fixing member 1;

[0085] The first end of the second connector 3 is rotatably connected to the second end of the first connector 2;

[0086] The first movable connector 8 is rotatably disposed at the second end of the second connector 3 and connected to the first end of the third connector 4;

[0087] The second movable connector 9 is rotatably disposed at the second end of the third connector 4 and connected to the fingertip 5;

[0088] The first tendon rope 6 is connected to the first movable connector 8. The first tendon rope 6 is used to drive the first movable connector 8 to rotate forward or backward, so that the third connector 4 can rotate in the first plane.

[0089] One end of the second tendon cord 7 is connected to the second movable connector 9. The second tendon cord 7 is used to drive the second movable connector 9 to rotate in the forward direction so that the fingertip 5 rotates in the first plane.

[0090] The reset component 10 is disposed at the second end of the third connector 4. The reset component 10 is used to drive the second movable connector 9 to rotate in the opposite direction so that the fingertip 5 rotates in the first plane.

[0091] The first appearance component 11 and the second appearance component 12 are respectively disposed on both sides of the second connector 3. The first appearance component 11 is provided with a first tendon rope sleeve 111 for the first end of the first tendon rope 6 to pass through, and the second appearance component 12 is provided with a second tendon rope sleeve 121 for the second end of the first tendon rope 6 to pass through.

[0092] The third exterior component 13 is disposed on the outside of the third connector 4, and the third exterior component 13 is provided with a third tendon rope sleeve for the passage of the second tendon rope 7.

[0093] It should be noted that by providing a first tendon cord sleeve 111 for the first end of the first tendon cord 6 to pass through on the first appearance component 11, a second tendon cord sleeve 121 for the second end of the first tendon cord 6 to pass through on the second appearance component 12, and a third tendon cord sleeve for the second tendon cord 7 to pass through on the third appearance component 13, when the first tendon cord 6 drives the second movable connector 9 to rotate, and when the second tendon cord 7 drives the first movable connector 8 to rotate, the first tendon cord sleeve 111, the second tendon cord sleeve 121, and the third tendon cord sleeve can constrain the exit direction of the corresponding tendon cords, avoiding motion interference between the first tendon cord 6 and the second tendon cord 7, thereby facilitating the control of the thumb to perform various actions, and also effectively reducing the friction between the first tendon cord 6, the second tendon cord 7 and the structural components, extending the service life of the first tendon cord 6 and the second tendon cord 7.

[0094] It should also be noted that when the first tendon rope 6 and the second tendon rope 7 simultaneously drive the second movable connector 9 and the first movable connector 8 to rotate in the forward direction, they can drive the thumb to bend. When the first tendon rope 6 drives the first movable connector 8 to rotate in the reverse direction, and the second tendon rope 7 removes the tension on the first movable connector, the thumb can straighten under the combined action of the first tendon rope 6 and the reset assembly 10.

[0095] It is worth noting that the first appearance component 11, the second appearance component 12, and the third appearance component 13 of this application can be fixed by screws or by adhesive.

[0096] In this embodiment of the invention, the first end of the first connecting member 2 is rotatably connected to the palm fixing member 1, the first end of the second connecting member 3 is rotatably connected to the second end of the first connecting member 2, the first movable connecting member 8 is rotatably disposed at the second end of the second connecting member 3 and connected to the first end of the third connecting member 4, the second movable connecting member 9 is rotatably disposed at the second end of the third connecting member 4 and connected to the fingertip 5, the first tendon rope 6 is connected to the first movable connecting member 8, and the first tendon rope 6 is used to drive the first movable connecting member 8 to rotate forward or backward, so that the third connecting member 4 rotates in the first plane, and one end of the second tendon rope 7 is connected to the second movable connecting member 9, the second tendon rope 7 is used to drive the second movable connecting member 5 to rotate in the first plane. The movable connector 9 rotates in the forward direction to allow the fingertip 5 to rotate within the first plane. The reset assembly 10 is located at the second end of the third connector 4 and is used to drive the second movable connector 9 to rotate in the reverse direction, allowing the fingertip 5 to rotate within the first plane. The first outer surface component 11 and the second outer surface component 12 are respectively located on both sides of the second connector 3. The first outer surface component 11 has a first tendon cord sleeve 111 for the first end of the first tendon cord 6 to pass through, and the second outer surface component 12 has a second tendon cord sleeve 121 for the second end of the first tendon cord 6 to pass through. The third outer surface component 13 is located on the outside of the third connector 4 and has a third tendon cord sleeve for the second tendon cord 7 to pass through. With the aforementioned dexterous thumb, when the first tendon cord 6 drives the second movable connector 9 to rotate, and when the second tendon cord 7 drives the first movable connector 8 to rotate, the first tendon cord sleeve 111, the second tendon cord sleeve 121, and the third tendon cord sleeve can constrain the exit direction of the corresponding tendon cords, preventing motion interference between the first tendon cord 6 and the second tendon cord 7, thereby facilitating control of the thumb to perform various movements.

[0097] Preferably, the first tendon cord 6 includes an active tendon cord and a repositioning tendon cord;

[0098] Both the active tendon cord and the reset tendon cord are connected to the first movable connector. The active tendon cord is used to drive the first movable connector to rotate in the forward direction, thereby enabling the third connector to rotate. The reset tendon cord is used to drive the first movable connector to rotate in the reverse direction, thereby enabling the third connector to reset.

[0099] Preferably, the first appearance component 11, the second appearance component 12 and the third appearance component 13 are all flexible appearance components.

[0100] It should be noted that setting the first appearance component 11, the second appearance component 12, and the third appearance component 13 as flexible appearance components can further enhance the aesthetics of the thumb and better simulate the human thumb.

[0101] Furthermore, the second movable connector 9 includes: a first movable plate 91, a second movable plate 92, a first bearing 93, a second bearing 94, and a plurality of first screws 95;

[0102] A first protrusion is provided between the first movable plate 91 and the second movable plate 92, wherein the first movable plate 91 and the second movable plate 92 are parallel;

[0103] The side of the second movable plate 92 away from the first movable plate 91 is rotatably connected to the inner wall of the third connecting piece 4 via the first bearing 93.

[0104] The side of the first movable plate 91 away from the second movable plate 92 is rotatably connected to the inner wall of the third connecting member 4 via the second bearing 94.

[0105] The second movable plate 92 has a first through hole in the vertical direction that corresponds to the bearing hole of the first bearing 93;

[0106] The first protrusion has a first channel 963 that communicates with the first through hole, and the two ends of the first channel 963 are located on both sides of the first protrusion.

[0107] The third connector 4 has a second through hole on the side near the first bearing 93 for the wire harness to pass through, wherein the second through hole corresponds to the bearing hole of the first bearing 93;

[0108] The second tendon rope 7 is arranged sequentially along the edge of the first protrusion, the first end of the first channel 963, and one side of the first channel 963, and is fixed to one side of the first channel 963. The second tendon rope 7 is used to drive the first movable plate 91 and the second movable plate 92 to rotate synchronously.

[0109] The second movable plate 92 is fixed to the first movable plate 91 by a plurality of first screws 95.

[0110] It should be noted that the second tendon cord 7 is arranged sequentially along the edge of the first protrusion, the first end of the first channel 963, and one side of the first channel 963, and fixed to one side of the first channel 963. When the second tendon cord 7 is pulled by an external force (the pulling force applied by the driving mechanism), the second movable connector 9 will rotate. Since the second movable connector 9 is connected to the fingertip 5, the fingertip 5 can be driven to rotate in the first plane by the second tendon cord 7.

[0111] Furthermore, the second movable connector 9 also includes: a first mounting post 97;

[0112] The first mounting post 97 is located at the second end of the first channel 963, and the first mounting post 97 has a threaded hole that is threaded to engage with the first screw 95 in the axial direction.

[0113] The reset assembly 10 includes a torsion spring 101 and a torsion spring mounting post 102;

[0114] The torsion spring mounting post 102 is disposed within the third connector 4;

[0115] The torsion spring 101 is sleeved on the torsion spring mounting post 102. One end of the torsion spring 101 abuts against one side of the third connector 4, and the other end abuts against the first mounting post 97.

[0116] It should be noted that by providing a first mounting post 97 for fixing the first screw 95 at the second end of the first channel 963, the first movable plate 91 and the second movable plate 92 can be firmly connected through the screw hole of the first mounting post 97 and the thread engagement of the first screw 95.

[0117] The reset assembly 10 is configured as a torsion spring 101 and a torsion spring mounting post 102. The torsion spring mounting post 102 is sleeved inside the third connector 4, and the torsion spring 101 is set on the torsion spring mounting post 102. One end of the torsion spring 101 abuts against one side of the third connector 4, and the other end abuts against the first mounting post 97. When the second tendon rope 7 pulls the second movable connector 9 to rotate in the first plane, it can drive the torsion spring 101 to store energy. When the external force of the second tendon rope 7 is removed, the second movable connector 9 can rotate in the first plane in the opposite direction under the elastic restoring force of the torsion spring 101, thereby realizing the reset of the fingertip 5.

[0118] Specifically, the first protrusion includes a first sub-protrusion 961 and a second sub-protrusion 962;

[0119] The first sub-protrusion 961 and the second sub-protrusion 962 are set at a preset distance to form the first channel 963;

[0120] The second tendon rope 7 is arranged sequentially along the edge of the first sub-protrusion 961 and the inner side of the first sub-protrusion 961, and is fixed to the inner side of the first sub-protrusion 961.

[0121] The second tendon rope 7 is provided with a first knot 71;

[0122] The inner side of the first protrusion 961 is provided with a first storage groove 9611 for storing the first knot 71;

[0123] The second movable plate 92 works in conjunction with the first movable plate 91 to prevent the first knot 71 from coming out of the first storage slot 9611.

[0124] It should be noted that the first protrusion is configured as a first sub-protrusion 961 and a second sub-protrusion 962, and the first sub-protrusion 961 and the second sub-protrusion 962 are set at a preset distance to form a first channel 963. The second tendon rope 7 is arranged sequentially along the edge of the first sub-protrusion 961 and the inner side of the first sub-protrusion 961, and fixed to the inner side of the first sub-protrusion 961. When the second tendon rope 7 is pulled by the drive mechanism (such as a motor), the second movable connector 9 will rotate. Since the first movable plate 91 and the second movable plate 92 of the second movable connector 9 are both connected to the fingertip 5, the fingertip 5 can be driven to rotate in the first plane by the second tendon rope 7, thereby achieving the bending of the fingertip 5.

[0125] Furthermore, the first knot 71 of this application is a knot tied on the second tendon rope 7. By providing a first storage groove 9611 for storing the first knot 71 on the inner side of the first sub-protrusion 961, and by using the second movable plate 92 to cooperate with the first movable plate 91 to restrict the first knot 71 from coming out of the first storage groove 9611, the second tendon rope 7 can be fixed in the first channel 963. Then, when the second tendon rope 7 is pulled by the drive mechanism (such as a motor), the second movable connector 9 will rotate.

[0126] It should also be noted that the second tendon 7 can be fixed to one side of the first channel 963 by screw fastening or by adhesive bonding. Those skilled in the art can choose according to their needs.

[0127] Preferably, the side of the first sub-protrusion 961 away from the second sub-protrusion 962 has an arc-shaped structure.

[0128] It should be noted that the side of the first sub-protrusion 961 away from the second sub-protrusion 962 is an arc-shaped structure, making the first sub-protrusion 961 similar to a semi-circular structure. Thus, when the second tendon rope 7 is pulled by the drive mechanism (such as a motor), the rotation of the movable connector can be more linear, thereby making the relative rotation of the fingertip 5 or other joints more linear.

[0129] Preferably, the first protrusion is disposed on the first movable plate 91.

[0130] It should be noted that the first protrusion can be set on the first movable plate 91 or on the second movable plate 92, and those skilled in the art can choose according to their needs.

[0131] Specifically, the first movable connector 8 includes: a third movable plate 81, a fourth movable plate 82, a third bearing 83, a fourth bearing 84, a second mounting post 85, and a plurality of second screws 86;

[0132] A second protrusion is provided between the third movable plate 81 and the fourth movable plate 82, wherein the third movable plate 81 and the fourth movable plate 82 are parallel;

[0133] The side of the fourth movable plate 82 away from the third movable plate 81 is rotatably connected to the inner wall of the second connecting piece 3 via the third bearing 83;

[0134] The side of the third movable plate 81 away from the fourth movable plate 82 is rotatably connected to the inner wall of the second connecting piece 3 via the fourth bearing 84.

[0135] The fourth movable plate 82 has a third through hole in the vertical direction, which corresponds to the bearing hole of the third bearing 83;

[0136] The second protrusion has a second channel 873 that communicates with the third through hole, and the two ends of the second channel 873 are located on both sides of the second protrusion.

[0137] The second mounting post 85 is located at the first end of the second channel 873, and the second mounting post 95 has an axially threaded hole that engages with the second screw 86.

[0138] The second connector 3 has a fourth through hole on one side for the wire harness to pass through, wherein the fourth through hole corresponds to the bearing hole of the third bearing 83;

[0139] The first tendon rope 6 is arranged along one edge of the second protrusion, the second end of the second channel 873, one side of the second channel 873, the second mounting post 85, the other side of the second channel 873, the second end of the second channel 873, and the other edge of the second protrusion, and is fixed inside the second channel 873. The first tendon rope 6 is used to drive the first movable plate 91 and the second movable plate 92 to rotate synchronously.

[0140] The fourth movable plate 82 is fixed to the third movable plate 81 by a plurality of second screws 86.

[0141] It should be noted that the first movable connector 8 is configured as a third movable plate 81, a fourth movable plate 82, a third bearing 83, a fourth bearing 84, a second mounting post 85, and multiple second screws 86. A second protrusion is provided between the third movable plate 81 and the fourth movable plate 82, and the third movable plate 81 and the fourth movable plate 82 are arranged parallel to each other. The side of the fourth movable plate 82 away from the third movable plate 81 is rotatably connected to the inner wall of the second connector 3 through the third bearing 83, and the side of the third movable plate 81 away from the fourth movable plate 82 is rotatably connected to the inner wall of the second connector 3 through the fourth bearing 84. A third through hole corresponding to the bearing hole of the third bearing 83 is opened in the vertical direction of the fourth movable plate 82, and the second protrusion is opened with a corresponding third through hole. The second channel 873 is connected, with its two ends located on both sides of the second protrusion. The second mounting post 85 is located at the first end of the second channel 873 to facilitate the fixing of the second screw 86. A fourth through hole for the wire harness to pass through is provided on one side of the second connector 3, and the fourth through hole corresponds to the bearing hole of the third bearing 83. The first tendon rope 6 is arranged along one edge of the second protrusion, the second end of the second channel 873, one side of the second channel 873, the second mounting post 85, the other side of the second channel 873, the second end of the second channel 873, and the other edge of the second protrusion, and is fixed in the second channel 873. When the drive mechanism pulls the first tendon rope 6, the first tendon rope 6 drives the first movable plate 91 and the second movable plate 92 to rotate synchronously.

[0142] It should also be noted that, since the first tendon cord 6 of this application is arranged along one edge of the second protrusion, the second end of the second channel 873, one side of the second channel 873, the second mounting post 85, the other side of the second channel 873, the second end of the second channel 873, and the other edge of the second protrusion, and is fixed in the second channel 873, when a driving mechanism pulls the first end of the first tendon cord 6, it can drive the first movable plate 91 and the second movable plate 92 to rotate synchronously in the forward direction, and when another driving mechanism pulls the second end of the first tendon cord 6 (the first driving mechanism removes the pulling force), it can drive the first movable plate 91 and the second movable plate 92 to rotate synchronously in the reverse direction.

[0143] Specifically, the second protrusion includes a third sub-protrusion 871 and a fourth sub-protrusion 872;

[0144] The third sub-protrusion 871 and the fourth sub-protrusion 872 are set at a preset distance to form the second channel 873;

[0145] The first tendon rope 6 is arranged sequentially along the edge of the third sub-protrusion 871, the inner side of the third sub-protrusion 871, the second mounting post 85, the inner side of the fourth sub-protrusion 872, and the outer side of the fourth sub-protrusion 872, and is fixed to the inner side of the third sub-protrusion 871. The second tendon rope 7 is used to drive the third movable plate 81 and the fourth movable plate 82 to rotate synchronously.

[0146] The first tendon rope 6 is provided with a second knot 61;

[0147] The inner side of the third protrusion 871 is provided with a second storage groove 8711 for storing the second knot 61;

[0148] The third movable plate 81 and the fourth movable plate 82 work together to prevent the second knot 61 from coming out of the second storage slot 8711.

[0149] It should be noted that the second protrusion is configured as the third sub-protrusion 871 and the fourth sub-protrusion 872, and the third sub-protrusion 871 and the fourth sub-protrusion 872 are set at a preset distance to form the second channel 873. The first tendon rope 6 is arranged sequentially along the edge of the third sub-protrusion 871, the inner side of the third sub-protrusion 871, the second mounting post 85, the inner side of the fourth sub-protrusion 872, and the outer side of the fourth sub-protrusion 872, and is fixed to the inner side of the third sub-protrusion 871. When the first tendon rope 6 is pulled by the drive mechanism (such as a motor), the first movable connector 8 will rotate. Since the third movable plate 81 and the fourth movable plate 82 of the first movable connector 8 are both connected to the third connector 4, the third connector 4 can be driven to rotate in the first plane by the first tendon rope 6, thereby realizing the bending of the third connector 4.

[0150] It should also be noted that the second knot 61 of this application is a knot tied by the first tendon rope 6. By providing a second storage groove 8711 for storing the second knot 61 on the inner side of the third sub-protrusion 871, and by using the cooperation of the third movable plate 81 and the fourth movable plate 82 to restrict the second knot 61 from coming out of the second storage groove 8711, the first tendon rope 6 can be fixed. Then, when the first tendon rope 6 is pulled down by the drive mechanism (such as a motor), the first movable connector 8 can be rotated.

[0151] It is worth noting that the first tendon 6 of this application can be fixed to one side of the second channel 873 by screw fastening or by adhesive bonding. Those skilled in the art can choose according to their needs.

[0152] Preferably, the side of the third sub-protrusion 871 away from the fourth sub-protrusion 872 has an arc-shaped structure;

[0153] The side of the fourth sub-protrusion 872 away from the third sub-protrusion 871 has an arc-shaped structure.

[0154] It should be noted that by setting the side of the third sub-protrusion 871 away from the fourth sub-protrusion 872 to an arc shape, and by setting the side of the fourth sub-protrusion 872 away from the third sub-protrusion 871 to an arc shape, the first movable connector 8 can rotate more linearly when the first end or the second end of the first tendon rope 6 is pulled by the drive mechanism (such as a motor), thereby making the third connector 4 rotate more linearly.

[0155] Preferably, the second protrusion is disposed on the third movable plate 81.

[0156] It should be noted that the second protrusion can be set on the third movable plate 81 or the fourth movable plate 82, and those skilled in the art can choose according to their needs.

[0157] Furthermore, the dexterous thumb also includes: a first detection component 14 for detecting the rotation angle of the second movable connector 9 and / or a second detection component 15 for detecting the rotation angle of the first movable connector 8.

[0158] It should be noted that by setting a first detection component 14 for detecting the rotation angle of the second movable connector 9 and a second detection component 15 for detecting the rotation angle of the first movable connector 8, the rotation angles of the second movable connector 9 and the first movable connector 8 can be detected in real time.

[0159] Specifically, the first detection component 14 is the same as the second detection component 15;

[0160] The third connector 4 has a fixed shaft for mounting the bearing on the side near the second movable connector 9;

[0161] The first detection component 14 includes a sensor mounting plate, a magnetic ring, a first Hall angle sensor, a second Hall angle sensor, and a connector;

[0162] The sensor mounting plate is located inside the second end of the third connector 4 and has a positioning hole for fixing the shaft to pass through;

[0163] The first Hall angle sensor, the second Hall angle sensor, and the connector are all mounted on the sensor mounting plate. The first Hall angle sensor and the second Hall angle sensor are mounted at a preset angle on one side of the positioning hole.

[0164] The connector is used to connect the first Hall angle sensor and the second Hall angle sensor;

[0165] The magnetic ring is located on the side of the second movable connector 9 near the sensor mounting plate.

[0166] It should be noted that the first detection component 14 and the second detection component 15 may be the same or different. Those skilled in the art can choose according to their needs. However, the present invention preferably makes the first detection component 14 and the second detection component 15 the same.

[0167] It should also be noted that the rotation angle of the second movable connector 9 can be detected by a magnetic ring, a first Hall angle sensor and a second Hall angle sensor, or by a non-contact method such as an optical encoder.

[0168] It is worth noting that the sensor mounting plate is a PCB (Printed Circuit Board), which mates with the fixing shaft through positioning holes.

[0169] Preferably, the preset angle is 90°.

[0170] Preferred, Reference Figure 5 The third connector 4 is assembled from the first housing and the second housing by screws.

[0171] It should be noted that by setting the third connector 4 as the first housing and the second housing, and assembling the first housing and the second housing with screws, it is possible to facilitate the installation of the second movable connector 9 and the second tendon rope 7 and other components inside the third connector 4, thereby reducing production costs.

[0172] It is worth noting that the first connector 2 and the second connector 3 of this application are both assembled from the first housing and the second housing by screws, just like the third connector 4.

[0173] It should also be noted that after the third connector 4 is assembled from the first shell and the second shell, there is a hollow structure between the first shell and the second shell. The control line of the thumb can be laid through this structure, and the tendon rope sleeves corresponding to each tendon rope can also be set at the corresponding position of the hollow structure.

[0174] Preferably, the second through hole is an oblong hole;

[0175] The first bearing 93 is located at one end of the oblong hole;

[0176] The first bearing 93 and the other end of the waist-shaped hole form a wiring hole for the wire harness to pass through.

[0177] It should be noted that the second through hole is set as an oblong hole, and the first bearing 93 is set at one end of the oblong hole. Since the length of the oblong hole is greater than the radius of the first bearing 93, the first bearing 93 and the other end of the oblong hole can form a wiring hole for the wire harness to pass through. Thus, the wire harness can enter the third connector 4 through the wiring hole for routing, avoiding wire harness exposure and improving the overall aesthetics.

[0178] Furthermore, the dexterous thumb also includes: multiple third movable connectors 16 and multiple third tendon cords;

[0179] The first end of the first connector 2 is provided with a third movable connector 16 that is rotatably connected to the palm fixing member 1, so that the first connector 2 can rotate in a second plane, wherein the second plane is different from the first plane;

[0180] The first end of the second connector 3 is provided with a third movable connector 16 that is rotatably connected to the second end of the first connector 2, so that the second connector 3 can rotate in the first plane.

[0181] The third tendon rope is connected to the third movable connector 16 and is used to drive the third movable connector 16 to rotate.

[0182] It should be noted that by setting multiple third movable connectors 16 and multiple third tendon ropes, and by providing a third movable connector 16 at the first end of the first connector 2 that is rotatably connected to the palm fixing member 1, the first connector 2 can rotate in the second plane, and by providing a third movable connector 16 at the first end of the second connector 3 that is rotatably connected to the second end of the first connector 2, the second connector 3 can rotate in the first plane, and by connecting the third tendon rope to the third movable connector 16, when the driving mechanism (such as a motor) pulls the third tendon rope, it can drive the third movable connector 16 to rotate, thereby driving the corresponding joint to rotate.

[0183] Preferably, the third movable connector 16 is the same as the second movable connector 9 or the first movable connector 8.

[0184] It should be noted that the third movable connector 16 can be configured to be the same as the second movable connector 9 or the first movable connector 8. Those skilled in the art can choose according to their needs.

[0185] Preferably, the dexterous thumb also includes a third detection component 17 for detecting the rotation angle of the third movable connector 16.

[0186] It should be noted that by setting a third detection component 17 for detecting the rotation angle of the third movable connector 16, the rotation angle of the third movable connector 16 can be detected in real time.

[0187] Based on the dexterous thumb provided in the above embodiments, the present invention also provides a dexterous hand, which includes: a dexterous thumb;

[0188] The dexterous thumb includes: a palm fixing component 1, a first connector 2, a second connector 3, a third connector 4, a fingertip 5, a first tendon cord 6, a second tendon cord 7, a first movable connector 8, a second movable connector 9, a reset assembly 10, a first appearance component 11, a second appearance component 12, and a third appearance component 13;

[0189] The first end of the first connector 2 is rotatably connected to the palm fixing member 1;

[0190] The first end of the second connector 3 is rotatably connected to the second end of the first connector 2;

[0191] The first movable connector 8 is rotatably disposed at the second end of the second connector 3 and connected to the first end of the third connector 4;

[0192] The second movable connector 9 is rotatably disposed at the second end of the third connector 4 and connected to the fingertip 5;

[0193] The first tendon rope 6 is connected to the first movable connector 8. The first tendon rope 6 is used to drive the first movable connector 8 to rotate forward or backward, so that the third connector 4 can rotate in the first plane.

[0194] One end of the second tendon cord 7 is connected to the second movable connector 9. The second tendon cord 7 is used to drive the second movable connector 9 to rotate in the forward direction so that the fingertip 5 rotates in the first plane.

[0195] The reset component 10 is disposed at the second end of the third connector 4. The reset component 10 is used to drive the second movable connector 9 to rotate in the opposite direction so that the fingertip 5 rotates in the first plane.

[0196] The first appearance component 11 and the second appearance component 12 are respectively disposed on both sides of the second connector 3. The first appearance component 11 is provided with a first tendon rope sleeve 111 for the first end of the first tendon rope 6 to pass through, and the second appearance component 12 is provided with a second tendon rope sleeve 121 for the second end of the first tendon rope 6 to pass through.

[0197] The third exterior component 13 is disposed on the outside of the third connector 4, and the third exterior component 13 is provided with a third tendon rope sleeve for the passage of the second tendon rope 7.

[0198] It should be noted that by providing a first tendon cord sleeve 111 for the first end of the first tendon cord 6 to pass through on the first appearance component 11, a second tendon cord sleeve 121 for the second end of the first tendon cord 6 to pass through on the second appearance component 12, and a third tendon cord sleeve for the second tendon cord 7 to pass through on the third appearance component 13, when the first tendon cord 6 drives the second movable connector 9 to rotate, and when the second tendon cord 7 drives the first movable connector 8 to rotate, the first tendon cord sleeve 111, the second tendon cord sleeve 121, and the third tendon cord sleeve can constrain the exit direction of the corresponding tendon cords, avoiding motion interference between the first tendon cord 6 and the second tendon cord 7, thereby facilitating the control of the thumb to perform various actions, and also effectively reducing the friction between the first tendon cord 6, the second tendon cord 7 and the structural components, extending the service life of the first tendon cord 6 and the second tendon cord 7.

[0199] It should also be noted that when the first tendon rope 6 and the second tendon rope 7 simultaneously drive the second movable connector 9 and the first movable connector 8 to rotate in the forward direction, they can drive the thumb to bend. When the first tendon rope 6 drives the first movable connector 8 to rotate in the reverse direction, and the second tendon rope 7 removes the tension on the first movable connector, the thumb can straighten under the combined action of the first tendon rope 6 and the reset assembly 10.

[0200] It is worth noting that the first appearance component 11, the second appearance component 12, and the third appearance component 13 of this application can be fixed by screws or by adhesive.

[0201] The palm fixing component 1 of this application mainly serves as a movable connection between the thumb and the palm in a dexterous hand, allowing the thumb to rotate and contact other fingers, thereby restoring all the movements of the human thumb, such as making a fist (with the thumb located outside the four fingers and the thumb located inside the four fingers) and opening the palm.

[0202] In this embodiment of the invention, the first end of the first connecting member 2 is rotatably connected to the palm fixing member 1, the first end of the second connecting member 3 is rotatably connected to the second end of the first connecting member 2, the first movable connecting member 8 is rotatably disposed at the second end of the second connecting member 3 and connected to the first end of the third connecting member 4, the second movable connecting member 9 is rotatably disposed at the second end of the third connecting member 4 and connected to the fingertip 5, the first tendon rope 6 is connected to the first movable connecting member 8, and the first tendon rope 6 is used to drive the first movable connecting member 8 to rotate forward or backward, so that the third connecting member 4 rotates in the first plane, and one end of the second tendon rope 7 is connected to the second movable connecting member 9, the second tendon rope 7 is used to drive the second movable connecting member 5 to rotate in the first plane. The movable connector 9 rotates in the forward direction to allow the fingertip 5 to rotate within the first plane. The reset assembly 10 is located at the second end of the third connector 4 and is used to drive the second movable connector 9 to rotate in the reverse direction, allowing the fingertip 5 to rotate within the first plane. The first outer surface component 11 and the second outer surface component 12 are respectively located on both sides of the second connector 3. The first outer surface component 11 has a first tendon cord sleeve 111 for the first end of the first tendon cord 6 to pass through, and the second outer surface component 12 has a second tendon cord sleeve 121 for the second end of the first tendon cord 6 to pass through. The third outer surface component 13 is located on the outside of the third connector 4 and has a third tendon cord sleeve for the second tendon cord 7 to pass through. With the aforementioned dexterous thumb, when the first tendon cord 6 drives the second movable connector 9 to rotate, and when the second tendon cord 7 drives the first movable connector 8 to rotate, the first tendon cord sleeve 111, the second tendon cord sleeve 121, and the third tendon cord sleeve can constrain the exit direction of the corresponding tendon cords, preventing motion interference between the first tendon cord 6 and the second tendon cord 7, thereby facilitating control of the thumb to perform various movements.

[0203] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A dexterous thumb, characterized in that, include: The hand fixing component, the first connector, the second connector, the third connector, the fingertip, the first tendon ligament, the second tendon ligament, the first movable connector, the second movable connector, the reset component, the first appearance component, the second appearance component, and the third appearance component; The first end of the first connector is rotatably connected to the palm fixing member; The first end of the second connector is rotatably connected to the second end of the first connector; The first movable connector is rotatably disposed at the second end of the second connector and connected to the first end of the third connector; The second movable connector is rotatably disposed at the second end of the third connector and is connected to the fingertip; The first tendon cord is connected to the first movable connector, and the first tendon cord is used to drive the first movable connector to rotate forward or backward, so that the third connector rotates in the first plane. One end of the second tendon cord is connected to the second movable connector, and the second tendon cord is used to drive the second movable connector to rotate in the forward direction so that the fingertip rotates in the first plane; The reset component is disposed at the second end of the third connector, and the reset component is used to drive the second movable connector to rotate in the opposite direction so that the fingertip rotates in the first plane; The first appearance component and the second appearance component are respectively disposed on both sides of the second connector. The first appearance component is provided with a first tendon rope sleeve for the first end of the first tendon rope to pass through, and the second appearance component is provided with a second tendon rope sleeve for the second end of the first tendon rope to pass through. The third exterior component is disposed on the outside of the third connector, and the third exterior component is provided with a third tendon rope sleeve for the passage of the second tendon rope.

2. The dexterous thumb according to claim 1, characterized in that, The second movable connector includes: a first movable plate, a second movable plate, a first bearing, a second bearing, and a plurality of first screws; A first protrusion is provided between the first movable plate and the second movable plate, wherein the first movable plate and the second movable plate are parallel; The side of the second movable plate away from the first movable plate is rotatably connected to the inner wall of the third connecting member through the first bearing; The side of the first movable plate away from the second movable plate is rotatably connected to the inner wall of the third connecting member via the second bearing; The second movable plate has a first through hole in the vertical direction that corresponds to the bearing hole of the first bearing; The first protrusion has a first channel communicating with the first through hole, and the two ends of the first channel are respectively located on both sides of the first protrusion. The third connector has a second through hole on the side near the first bearing for the wire harness to pass through, wherein the second through hole corresponds to the bearing hole of the first bearing; The second tendon rope is arranged sequentially along the edge of the first protrusion, the first end of the first channel, and one side of the first channel, and is fixed to one side of the first channel. The second tendon rope is used to drive the first movable plate and the second movable plate to rotate synchronously. The second movable plate is fixed to the first movable plate by a plurality of the first screws.

3. The dexterous thumb according to claim 2, characterized in that, The second movable connector further includes: a first mounting post; The first mounting post is disposed at the second end of the first channel, and the first mounting post has an axially formed threaded hole that engages with the thread of the first screw. The reset assembly includes: a torsion spring and a torsion spring mounting post; The torsion spring mounting post is disposed within the third connector; The torsion spring is sleeved on the torsion spring mounting post, with one end of the torsion spring abutting against one side of the third connector and the other end abutting against the first mounting post.

4. The dexterous thumb according to claim 2, characterized in that, The first protrusion includes a first sub-protrusion and a second sub-protrusion; The first sub-protrusion and the second sub-protrusion are spaced at a preset distance to form the first channel; The second tendon cord is arranged sequentially along the edge of the first sub-protrusion and the inner side of the first sub-protrusion, and is fixed to the inner side of the first sub-protrusion. The second tendon rope is provided with a first knot; The inner side of the first sub-protrusion is provided with a first storage groove for storing the first knot; The second movable plate cooperates with the first movable plate to prevent the first knot from coming out of the first storage slot.

5. The dexterous thumb according to claim 1, characterized in that, The first movable connector includes: a third movable plate, a fourth movable plate, a third bearing, a fourth bearing, a second mounting post, and a plurality of second screws; A second protrusion is provided between the third movable plate and the fourth movable plate, wherein the third movable plate and the fourth movable plate are parallel; The side of the fourth movable plate away from the third movable plate is rotatably connected to the inner wall of the second connecting member through the third bearing; The side of the third movable plate away from the fourth movable plate is rotatably connected to the inner wall of the second connecting member through the fourth bearing; The fourth movable plate has a third through hole in the vertical direction, which corresponds to the bearing hole of the third bearing. The second protrusion has a second channel communicating with the third through hole, and the two ends of the second channel are respectively located on both sides of the second protrusion; The second mounting post is disposed at the first end of the second channel, and the second mounting post has an axially formed threaded hole that engages with the thread of the second screw; The second connector has a fourth through hole on one side for the wire harness to pass through, wherein the fourth through hole corresponds to the bearing hole of the third bearing; The first tendon cord is arranged along one edge of the second protrusion, the second end of the second channel, one side of the second channel, the second mounting post, the other side of the second channel, the second end of the second channel, and the other edge of the second protrusion, and is fixed in the second channel. The first tendon cord is used to drive the first movable plate and the second movable plate to rotate synchronously. The fourth movable plate is fixed to the third movable plate by a plurality of second screws.

6. The dexterous thumb according to claim 5, characterized in that, The second protrusion includes a third sub-protrusion and a fourth sub-protrusion; The third sub-protrusion and the fourth sub-protrusion are spaced at a preset distance to form the second channel; The first tendon rope is arranged sequentially along the edge of the third sub-protrusion, the inner side of the third sub-protrusion, the second mounting post, the inner side of the fourth sub-protrusion, and the outer side of the fourth sub-protrusion, and is fixed to the inner side of the third sub-protrusion. The second tendon rope is used to drive the third movable plate and the fourth movable plate to rotate synchronously. The first tendon rope is provided with a second knot; The inner side of the third sub-protrusion is provided with a second storage groove for storing the second knot; The third movable plate and the fourth movable plate cooperate to prevent the second knot from coming out of the second storage slot.

7. The dexterous thumb according to claim 1, characterized in that, Also includes: A first detection component for detecting the rotation angle of the second movable connector and / or a second detection component for detecting the rotation angle of the first movable connector.

8. The dexterous thumb according to claim 7, characterized in that, The first detection component is the same as the second detection component; The third connector has a fixed shaft for mounting a bearing on the side near the second movable connector. The first detection component includes a sensor mounting plate, a magnetic ring, a first Hall angle sensor, a second Hall angle sensor, and a connector; The sensor mounting plate is disposed inside the second end of the third connector and has a positioning hole for the fixed shaft to pass through; The first Hall angle sensor, the second Hall angle sensor, and the connector are all disposed on the sensor mounting plate, and the first Hall angle sensor and the second Hall angle sensor are disposed at a preset angle on one side of the positioning hole; The connector is used to connect the first Hall angle sensor and the second Hall angle sensor; The magnetic ring is located on the side of the second movable connector near the sensor mounting plate.

9. The dexterous thumb according to claim 1, characterized in that, Also includes: Multiple third movable connectors and multiple third tendon cords; The first end of the first connector is provided with the third movable connector that is rotatably connected to the palm fixing member, so that the first connector can rotate in a second plane, wherein the second plane is different from the first plane; The first end of the second connector is provided with the third movable connector, which is rotatably connected to the second end of the first connector, so that the second connector can rotate in the first plane; The third tendon rope is connected to the third movable connector and is used to drive the third movable connector to rotate.

10. A dexterous hand, characterized in that, Including the dexterous thumb as described in any one of claims 1 to 9.

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