A tendon end fixing device integrated with a transmission assembly of a humanoid dexterous hand and the dexterous hand

Abstract

The application discloses a tendon end fixing device integrated with a transmission assembly of a humanoid dexterous hand and the dexterous hand, the tendon end fixing device integrated with the transmission assembly of the humanoid dexterous hand comprises a rope, a fastening bolt and a pulley, a plurality of threading through holes are arranged on the two side end faces of the pulley in a circumferential interval, one of the threading through holes has an opening penetrating to the outer circumferential face of the pulley, the pulley is provided with a socket, the fastening bolt is inserted into the socket, the end of the rope enters the corresponding threading through hole through the opening and is threaded out to any side end face of the pulley, and then the rope is sequentially threaded through a plurality of the threading through holes from the two side end faces of the pulley in turn and is fixed by the fastening bolt. The above scheme realizes the improvement effects of super-high reliability, structural miniaturization and convenient disassembly and assembly through the innovative pulley design, greatly improves transmission precision and service life, and effectively avoids the industry pain points of unstable connection, complex assembly and the like in the prior art.

Description

Technical Field

[0001] This invention relates to the technical field of robot hand structures, and more specifically to a humanoid dexterous hand transmission component integrating a tendon rope end fixing device and a dexterous hand. Background Technology

[0002] As a crucial end effector in the field of robotics, the performance of the transmission system in humanoid dexterous hands directly determines the precision, load capacity, and lifespan of hand operations. Among various transmission methods, wire transmission is widely used in highly integrated humanoid dexterous hand designs due to its advantages such as compact structure, good flexibility, and ability to transmit power over long distances. The end-fixing structure of the wire is one of the core technical challenges in this design. Because the wire must withstand frequent and enormous instantaneous tension during transmission, the fixing point, as a critical stress concentration point, must ensure that it does not slip, lengthen, or break under extreme loads, while also meeting the assembly feasibility and compactness requirements under the extremely limited internal space of the dexterous hand. Therefore, designing a wire end-fixing structure that combines high reliability, miniaturization, and easy disassembly and maintenance is of great significance for promoting the development of humanoid dexterous hands towards high performance and high integration.

[0003] Currently, the main methods for fixing the ends of ropes are as follows: First, the knotting method, which uses knots to mechanically limit the rope relative to the pulley. However, knots are bulky, have low space utilization, and stress concentration at the knot can accelerate rope fatigue and breakage, resulting in low connection reliability. Second, the adhesive method, which uses glue to bond the ends of the rope to the pulley base. However, the long curing cycle of the glue restricts production efficiency, and the adhesive material is prone to aging, leading to strength reduction and safety hazards. Third, the bolt pressing method, which uses bolts to tighten the rope. However, this method has the risk of slippage under high loads and is not reliable enough. Summary of the Invention

[0004] The purpose of this invention is to provide an integrated tendon rope end fixing device for a humanoid dexterous hand transmission component that is reliable in connection, compact in structure, and easy to disassemble and maintain.

[0005] The present invention provides an integrated tendon cord end fixing device for a humanoid dexterous hand transmission component, comprising a cord, a fastening bolt, and a pulley. The pulley has multiple through holes arranged circumferentially at intervals on both end faces. One of the through holes has an opening extending to the outer circumferential surface of the pulley. The pulley has an insertion hole, and the fastening bolt is inserted into the insertion hole. The end of the cord enters the corresponding through hole through the opening and exits to either end face of the pulley. Then, it sequentially passes through multiple through holes from both end faces of the pulley and is fixed by the fastening bolt.

[0006] The beneficial effects of the above scheme include: 1. High connection strength: By passing the rope through the through hole from both ends of the pulley in turn, a large frictional resistance is formed between the rope and the pulley, achieving initial fastening of the rope. Then, the ends of the rope are connected by fastening bolts to achieve secondary fastening of the rope. Thus, the multi-stage fastening provides a pull-out resistance far exceeding that of traditional solutions, effectively solving the hidden dangers of rope loosening and slippage during transmission, and ensuring the stable operation of the transmission system. 2. Good stress distribution of the rope: Multiple through holes provide frictional resistance to the rope, making the stress distribution of the rope more uniform, eliminating local stress concentration points, reducing the probability of rope breakage due to uneven stress and long-term wear, and significantly extending the actual service life of the rope. 3. Good transmission stability: Since the rope passes through the corresponding through hole from the opening on the outer circumference of the pulley, it can avoid the generation of lateral deflection torque between the rope and the pulley, thus ensuring the stability of the rope when the pulley rotates. 4. Easy to install and disassemble: The rope end can be installed or removed from the pulley by removing and installing the fastening bolt. The operation is simple and convenient, which greatly reduces the later maintenance cost. 5. Compact structure: The main body of the rope is threaded into the through hole of the pulley, which greatly reduces the installation space. In addition, no extra parts are needed except for the fastening bolt, which helps to achieve a more slender bionic hand that fits the physiological characteristics of the human body.

[0007] Compared to existing technologies, the above solution, through innovative pulley design, simultaneously achieves improved reliability, miniaturization, and ease of assembly and disassembly, significantly enhancing transmission accuracy and service life. It effectively avoids industry pain points such as unstable connections and complex assembly found in existing technologies. This solution not only precisely meets the precision control requirements of humanoid dexterous hands but also possesses strong technological scalability, enabling wide application in high-end fields such as minimally invasive surgical instruments, precision industrial robotic arms, and aerospace transmission systems. It combines significant technological breakthrough value with broad commercialization prospects.

[0008] In an improved embodiment, the insertion hole is formed on the end face of the pulley and is located between the open threading hole and the threading hole through which the end of the rope last passes, so that after the rope passes through the last threading hole, it can smoothly reach the insertion hole and be fixed by the fastening bolt, avoiding stress concentration problems caused by bending and turning of the rope.

[0009] In an improved embodiment, the insertion hole has an internal thread, and the fastening bolt includes a nut end and a screw end. The screw end of the fastening bolt is screwed into the insertion hole, and the end of the rope is pressed by the nut end of the fastening bolt. Thus, by rotating the fastening bolt, the clamping force on the end of the rope can be changed, making adjustment simple and convenient.

[0010] In an improved embodiment, the end of the rope wraps around the screw end of the fastening bolt once before being pressed against the nut end of the fastening bolt. The circumferential direction of the rope is the same as the rotation direction of the fastening bolt when it is screwed into the hole. This increases the contact area between the nut end of the fastening bolt and the end of the rope, thereby increasing the clamping force on the end of the rope by increasing friction. Furthermore, by designing the circumferential direction of the rope, as the fastening bolt is screwed into the hole and the nut end presses against the rope, the nut end will cause the rope to wrap closer and closer to the screw end, further improving the fixing reliability of the end of the rope.

[0011] In an improved embodiment, the end face of the pulley is provided with a receiving groove for accommodating the nut end of the fastening bolt at the position corresponding to the insertion hole. This groove allows for the storage of the nut end of the fastening bolt and the end of the rope, reducing the exposure of the fastening bolt and the end of the rope relative to the end face of the pulley and making the structure more compact.

[0012] In an improved embodiment, the wall of the storage groove is provided with a slot that extends to the threading hole through which the end of the rope last passes, so that when the end of the rope passes out from the threading hole, it enters the storage groove through the slot, and the degree of exposure of the end of the rope relative to the pulley end face.

[0013] In an improved embodiment, the outer circumferential surface of the pulley is provided with an annular guide groove for the rope to be wound, and the opening extends through the guide groove, thereby guiding the rope through the guide groove and improving the transmission stability of the rope.

[0014] In an improved embodiment, the opening extends to one end face of the pulley, and the end of the rope enters through the opening into a corresponding threading hole and then exits to the other end face of the pulley, thereby facilitating assembly.

[0015] In an improved embodiment, the outer circumference of the pulley is provided with an annular guide groove for winding ropes. There are two guide grooves arranged along the axial direction of the pulley. There are two openings, each extending through one of the guide grooves. The pulley has two insertion holes, each containing a fastening bolt. Two ropes are wound around the two guide grooves. The ends of the two ropes enter corresponding through-holes from the two openings and exit to the two end faces of the pulley. They then alternately pass through multiple through-holes from the two end faces of the pulley and are secured by the fastening bolts. By providing two guide grooves, two insertion holes, and fastening bolts, the pulley can be equipped with two ropes, which can independently control the extension and retraction of the fingertips of the anthropomorphic dexterous hand, achieving a more precise and stable control effect.

[0016] In an improved embodiment, the pulley has a wire-receiving groove on both end faces that connects the ends of two adjacent wire-passing holes. This allows the rope to pass through the groove after passing through any wire-passing hole before entering the next wire-passing hole. The wire-receiving groove reduces the degree of exposure of the rope relative to the pulley end face, making the structure more compact.

[0017] The present invention also provides a humanoid dexterous hand, including the humanoid dexterous hand transmission component integrated with the tendon rope end fixing device as described above. Attached Figure Description

[0018] Figure 1 A schematic diagram of the left side of an integrated tendon cord end fixing device for a humanoid dexterous hand transmission component; Figure 2 A schematic diagram of the right side of an integrated tendon cord end fixing device for a humanoid dexterous hand transmission component; Figure 3 A left-side schematic diagram of an integrated tendon rope end fixing device for a humanoid dexterous hand transmission component; Figure 4 Right view schematic diagram of a humanoid dexterous hand transmission component integrating tendon rope end fixing device; Figure 5 For along Figure 4 Cross-sectional view of section AA in the middle; Figure 6 For along Figure 4 Schematic diagram of the BB section line.

[0019] Explanation of reference numerals in the attached figures: 1. Rope; 2. Fastening bolt; 21. Nut end; 22. Screw end; 3. Pulley; 31. Wire through hole; 311. Opening; 32. Insertion hole; 33. Storage groove; 331. Groove opening; 34. Wire groove; 35. Wire holding groove. Detailed Implementation

[0020] It should be understood by those skilled in the art that the following embodiments are merely illustrative of the technical principles of the embodiments of this application and are not intended to limit the scope of protection of the embodiments of this application. Those skilled in the art can make adjustments as needed to adapt to specific application scenarios.

[0021] In the following description of the embodiments, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0022] In the embodiments of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0023] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0024] Please see Figures 1-6 An embodiment of the present invention provides an integrated tendon cord end fixing device for a humanoid dexterous hand transmission component, comprising a cord 1, a fastening bolt 2, and a pulley 3. The pulley 3 has multiple circumferentially spaced through holes 31 on both end faces. One of the through holes 31 has an opening 311 that extends to the outer circumferential surface of the pulley 3. The pulley 3 has an insertion hole 32, and the fastening bolt 2 is inserted into the insertion hole 32. The end of the cord 1 enters the corresponding through hole 31 through the opening 311 and exits to either end face of the pulley 3. Then, it passes through multiple through holes 31 sequentially from both end faces of the pulley 3 and is fixed by the fastening bolt 2.

[0025] The beneficial effects of the above scheme include: 1. High connection strength: By passing the rope 1 through the wire through hole 31 from both ends of the pulley 3 in turn, a large frictional resistance is formed between the rope 1 and the pulley 3, which achieves the initial fastening of the rope 1. Then, the end of the rope 1 is connected by the fastening bolt 2 to achieve the secondary fastening of the rope 1. Thus, the pull-out force is provided by the multi-stage fastening, which is far greater than that of the traditional solution. This effectively solves the hidden danger of the rope 1 loosening and slipping during the transmission process and ensures the stable operation of the transmission system. 2. Good stress distribution of rope 1: Multiple through holes 31 provide frictional resistance to rope 1, making the stress distribution of rope 1 more uniform, eliminating local stress concentration points, reducing the probability of rope 1 breaking due to uneven stress and long-term wear, and significantly extending the actual service life of rope 1. 3. Good transmission stability: Since the rope 1 passes through the opening 311 on the outer circumference of the pulley 3 into the corresponding through hole 31, it can avoid the generation of lateral deflection torque between the rope 1 and the pulley 3, thus ensuring the stability of the rope 1 when the pulley 3 rotates. 4. Easy to assemble and disassemble: The end of the rope 1 can be assembled and disassembled relative to the pulley 3 by removing and installing the fastening bolt 2. The operation is simple and convenient, which greatly reduces the later maintenance cost. 5. Compact structure: The main body of the rope 1 is inserted into the threading hole 31 of the pulley 3, which is compact and greatly reduces the installation space. In addition to the fastening bolt 2, no additional parts are needed, which helps to achieve a more slender bionic hand that fits the physiological characteristics of the human body.

[0026] The aforementioned solution, through its innovative pulley design, simultaneously achieves improved reliability, miniaturization, and ease of assembly and disassembly, significantly enhancing transmission accuracy and service life. It effectively avoids industry pain points such as unstable connections and complex assembly found in existing technologies. This solution not only precisely meets the precision control requirements of humanoid dexterous hands but also possesses strong technological scalability, enabling wide application in high-end fields such as minimally invasive surgical instruments, precision industrial robotic arms, and aerospace transmission systems. It combines significant technological breakthrough value with broad commercialization prospects.

[0027] To provide a more specific explanation, Figure 1 Based on this, the two end faces of pulley 3 are located in the left and right directions respectively. The uppermost threading hole 31 has an opening 311 that extends upward to the upper part of the outer circumference of pulley 3. The rope 1 passes through the opening 311 from top to bottom into the corresponding threading hole 31, then bends to the left and reaches the left end face of pulley 3. It then passes through the next threading hole 31 from the left end face to the right, and then from the right end face to the left, and so on, thus realizing the setting method of "passing through multiple threading holes in turn from both end faces of pulley 3". Finally, after passing through the last threading hole 31, the end of the rope 1 is fixed by the fastening bolt 2. This method constructs a two-stage fastening mechanism: the first stage is the fastening of the rope 1 by the threading hole 31; as... In this embodiment, the insertion hole 32 is opened on the end face of the pulley 3 and is located between the threading hole 31 with opening 311 and the threading hole 31 through which the end of the rope 1 last passes. This allows the rope 1 to smoothly reach the insertion hole 32 after passing through the threading hole 31 and be fixed by the fastening bolt 2, thus avoiding stress concentration caused by bending and turning of the rope 1.

[0028] The fastening bolt 2 is preferably a bolt, including a nut end 21 and a screw end 22; the insertion hole 32 has internal threads, and the screw end 22 of the fastening bolt 2 is screwed into the insertion hole 32. The end of the rope 1 is crimped by the nut end 21 of the fastening bolt 2, so that the clamping force on the end of the rope 1 can be changed by rotating the fastening bolt 2, which is simple and convenient to adjust. Of course, the fastening bolt 2 and the insertion hole 32 can also be connected in other ways, such as the fastening bolt 2 being riveted into the insertion hole 32; the fastening bolt 2 can also be used to fasten the end of the rope 1 in a form other than crimping, such as the end of the rope 1 being directly tied to the fastening bolt 2, all of which are within the protection scope of this design concept.

[0029] In this embodiment, the end of the rope 1 is wrapped around the screw end 22 of the fastening bolt 2 once and then pressed by the nut end 21 of the fastening bolt 2. The circumferential direction of the rope 1 is the same as the rotation direction of the fastening bolt 2 when it is screwed into the insertion hole 32. This increases the contact area between the nut end 21 of the fastening bolt 2 and the end of the rope 1, thereby increasing the clamping force on the end of the rope 1 by increasing friction. On the other hand, by designing the circumferential direction of the rope 1, when the fastening bolt 2 is screwed into the insertion hole 32 and the nut end 21 presses the rope 1, the nut end 21 will drive the rope 1 to wrap closer and closer to the screw end 22, further improving the fixing reliability of the end of the rope 1.

[0030] As an improvement to this embodiment, the end face of the pulley 3 is provided with a receiving groove 33 for accommodating the nut end 21 of the fastening bolt 2 at the position corresponding to the insertion hole 32. The receiving groove 33 is used to store the nut end 21 of the fastening bolt 2 and the end of the rope 1, reducing the degree of exposure of the fastening bolt 2 and the end of the rope 1 relative to the end face of the pulley 3, making the structure more compact.

[0031] Furthermore, the wall of the storage groove 33 is provided with a slot 331 that extends to the end of the rope 1 through the last threading hole 31. Thus, when the end of the rope 1 passes through the last threading hole 31, it enters the storage groove 33 through the slot 331. The degree of exposure of the end of the rope 1 relative to the end face of the pulley 3.

[0032] The statement that the opening 311 extends through the outer circumference of the pulley 3 should be interpreted broadly, meaning that the opening 311 can extend to the middle or edge of the outer circumference of the pulley 3; this design does not impose any limitation. In this embodiment, the outer circumference of the pulley 3 is provided with an annular guide groove 34 for the rope 1 to be wound around. The opening 311 extends through the guide groove 34, thereby guiding the rope 1 through the guide groove 34 and improving the transmission stability of the rope 1. In a preferred embodiment, the radial position of the threading hole 31 is offset from the guide groove 34; of course, even if the radial position of the threading hole 31 overlaps with the guide groove 34, that is, the threading hole 31 is located at the groove wall of the guide groove 34, the guide groove 34 can still guide the rope 1 subsequently.

[0033] Furthermore, the opening 311 extends to the right end face of the pulley 3, and the end of the rope 1 enters the corresponding threading hole 31 through the opening 311 and then exits to the left end face of the pulley 3, thereby facilitating assembly.

[0034] In another improved embodiment, the outer circumferential surface of the pulley 3 is provided with two annular wire grooves 34, which are arranged along the axial direction of the pulley 3. There are two openings 311, each extending through one of the wire grooves 34. The pulley 3 is provided with two insertion holes 32, each containing a fastening bolt 2. Two ropes 1 are wound around the two wire grooves 34. The ends of the two ropes 1 enter the corresponding through holes 31 from the two openings 311 and exit to the two end faces of the pulley 3. They then alternately pass through multiple through holes 31 from the two end faces of the pulley 3 and are fixed by the fastening bolts 2. By providing two wire grooves 34, two insertion holes 32, and fastening bolts 2, the pulley 3 can be equipped with two ropes 1. The two ropes 1 can control the extension and retraction of the fingertips of the anthropomorphic dexterous hand, achieving a more precise and stable control effect.

[0035] As another improvement to this embodiment, the pulley 3 has a wire-receiving groove 35 on both sides of its end face, which connects the ends of two adjacent wire-passing holes 31. This allows the rope 1 to pass through the wire-receiving groove 35 after passing through any wire-passing hole 31, and then pass through the wire-receiving groove 35 before entering the next wire-passing hole 31. The wire-receiving groove 35 can reduce the degree of exposure of the rope 1 relative to the end face of the pulley 3, making the structure more compact.

[0036] Embodiments of the present invention also provide a humanoid dexterous hand, including the humanoid dexterous hand transmission assembly integrated with a tendon rope end fixing device as described above.

[0037] It should be noted that in the description of this application, the terms "inner" and "outer," etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or component must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this application. All directional indications (such as up, down, left, right, front, back, inner, and outer) are only used to explain the relative positional relationships and movement between components in a specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0038] In the description of this application, the references to terms such as "an embodiment," "some embodiments," "in this embodiment," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0039] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A humanoid dexterous hand transmission component integrating tendon rope end fixing device, characterized in that, The device includes a rope (1), a fastening bolt (2), and a pulley (3). The pulley (3) has multiple through holes (31) arranged circumferentially on both sides of its end face. One of the through holes (31) has an opening (311) that extends to the outer circumferential surface of the pulley (3). The pulley (3) has an insertion hole (32) and the fastening bolt (2) is inserted into the insertion hole (32). The end of the rope (1) enters the corresponding through hole (31) through the opening (311) and exits to either side of the pulley (3). The rope then passes through multiple through holes (31) sequentially from both sides of the pulley (3) and is fixed by the fastening bolt (2).

2. The integrated tendon rope end fixing device for the humanoid dexterous hand transmission component according to claim 1, characterized in that, The insertion hole (32) is opened on the end face of the pulley (3) and is located between the threading hole (31) with an opening (311) and the threading hole (31) through which the end of the rope (1) last passes.

3. The integrated tendon rope end fixing device for the humanoid dexterous hand transmission component according to claim 2, characterized in that, The insertion hole (32) has an internal thread, and the fastening bolt (2) includes a nut end (21) and a screw end (22). The screw end (22) of the fastening bolt (2) is screwed to the insertion hole (32), and the end of the rope (1) is pressed by the nut end (21) of the fastening bolt (2).

4. The integrated tendon rope end fixing device for the humanoid dexterous hand transmission component according to claim 3, characterized in that, The end of the rope (1) wraps around the screw end (22) of the fastening bolt (2) once and is then pressed by the nut end (21) of the fastening bolt (2), and the circumferential direction of the rope (1) is the same as the rotation direction of the fastening bolt (2) when it is screwed into the insertion hole (32).

5. The integrated tendon rope end fixing device for the humanoid dexterous hand transmission component according to claim 3, characterized in that, The end face of the pulley (3) is provided with a receiving groove (33) for accommodating the nut end (21) of the fastening bolt (2) at the position corresponding to the insertion hole (32).

6. The integrated tendon rope end fixing device for the humanoid dexterous hand transmission component according to claim 5, characterized in that, The storage groove (33) has a groove (331) on its wall that leads to the end of the rope (1) through which the last threading hole (31) passes.

7. The integrated tendon rope end fixing device for the humanoid dexterous hand transmission component according to claim 1, characterized in that, The outer circumferential surface of the pulley (3) is provided with an annular wire groove (34) for the rope (1) to be wound, and the opening (311) extends through the wire groove (34).

8. The integrated tendon rope end fixing device for the humanoid dexterous hand transmission component according to claim 7, characterized in that, The opening (311) extends to one side of the pulley (3), and the end of the rope (1) enters the corresponding threading hole (31) through the opening (311) and then exits to the other side of the pulley (3).

9. The integrated tendon rope end fixing device for the humanoid dexterous hand transmission component according to claim 1, characterized in that, The outer circumferential surface of the pulley (3) is provided with an annular wire groove (34) for the rope (1) to be wound. There are two wire grooves (34) arranged along the axial direction of the pulley (3). There are two openings (311) that pass through the two wire grooves (34) respectively. The pulley (3) is provided with two insertion holes (32) and fastening bolts (2) are provided in both insertion holes (32). There are two ropes (1) that are wound around the two wire grooves (34) respectively. The ends of the two ropes (1) enter the corresponding wire through holes (31) from the two openings (311) respectively and pass out to the two end faces of the pulley (3). Then, they pass through multiple wire through holes (31) in turn from the two end faces of the pulley (3) and are fixed by the fastening bolts (2).

10. The integrated tendon rope end fixing device for the humanoid dexterous hand transmission component according to any one of claims 1-9, characterized in that, The pulley (3) has a wire-receiving groove (35) on both sides of its end face that connects the ends of two adjacent wire-passing holes (31), so that the rope (1) passes through any wire-passing hole (31), then through the wire-receiving groove (35) and then into the next wire-passing hole (31).

11. A humanoid dexterous hand, characterized in that, Including the integrated tendon rope end fixing device of the humanoid dexterous hand transmission component as described in any one of claims 1-10.

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