A rope-driven dexterous hand

Abstract

The application discloses a rope-driven dexterous hand, which comprises a hand part, a wrist part and a forearm, the hand part comprises a shell, a first driving assembly, a thumb and a plurality of universal fingers, the thumb and the plurality of universal fingers are movably installed on the shell, and the first driving assembly is used for driving the metacarpophalangeal joint of the thumb to rotate by a preset angle; the wrist part is movably arranged between the hand part and the forearm, the wrist part comprises a first connecting piece, a second connecting piece, a connecting shaft and a rotary driving assembly, the rotary driving assembly is used for driving the connecting shaft to rotate, so as to drive the first connecting piece to rotate relative to the second connecting piece, and then the hand part is rotated relative to the forearm by a preset angle; the forearm comprises a mounting frame and a plurality of second driving assemblies, the plurality of second driving assemblies are arranged on the mounting frame, and each second driving assembly is used for driving a joint of one universal finger or a joint of one thumb to rotate by a preset angle, so that the degree of freedom of the wrist part is increased, the degree of freedom is higher, and the operation range of the hand part is expanded.

Description

Technical Field

[0001] This invention belongs to the field of robot dexterous hand technology, and particularly relates to a rope-driven dexterous hand. Background Technology

[0002] With the continuous development of technology, bionic dexterous hands have demonstrated enormous application potential in numerous fields such as medical rehabilitation, industrial production, aerospace, and service robots. Among them, the rope-driven dexterous hand uses a remote motor to drive a rope, enabling flexible multi-joint movement of the fingers. It combines lightweight design, high degree of freedom, compliant control, and strong environmental adaptability, making it more suitable for scenarios such as precision grasping and human-robot collaboration. In the design of the rope-driven dexterous hand, the rope-driven joint module, as the core component, plays a crucial role in achieving the lightweight, modularity, and flexibility of the dexterous hand itself, as well as ensuring the safety of human-robot interaction.

[0003] In existing technologies, traditional rope-driven dexterous hands lack wrist structures, making it impossible to rotate and adjust the hand relative to the forearm. This results in a lack of wrist freedom and limited overall posture adjustment capabilities. Furthermore, the fingers often employ a centralized and unified driving method, which prevents independent and controllable movement of each joint. Consequently, the overall effective degree of freedom is low, resulting in limited movement, poor bionic effects, and difficulty in performing multi-posture, refined, and complex grasping operations. Summary of the Invention

[0004] The purpose of this invention is to provide a rope-driven dexterous hand to solve the problem of low degree of freedom in rope-driven dexterous hands.

[0005] To achieve this objective, the present invention adopts the following technical solution: A rope-driven dexterous hand comprising a hand, a wrist, and a forearm, wherein: The hand includes a housing, a first drive assembly, a thumb, and multiple universal fingers, all of which are movably mounted on the housing. The first drive assembly is configured to drive the base of the thumb to rotate by a preset angle. The wrist is movably disposed between the hand and the forearm. The wrist includes a first connector, a second connector, a connecting shaft, and a rotation drive assembly. The first end of the first connector is connected to the end of the hand, and the second end of the first connector is connected to the connecting shaft. The first end of the second connector is connected to the top of the forearm, and the second end of the second connector is connected to the connecting shaft. The connecting shaft is connected to the drive end of the rotation drive assembly. The rotation drive assembly is configured to drive the connecting shaft to rotate, thereby causing the first connector to rotate relative to the second connector, and thus causing the hand to rotate relative to the forearm by a preset angle. The forearm includes a mounting frame and multiple second drive components arranged on the mounting frame. Each second drive component is configured to drive the joint of a universal finger or the joint of a thumb to rotate by a preset angle.

[0006] Optionally, the first drive assembly is located at the base of the thumb. The first drive assembly includes a first drive motor, a first gear, and a second gear. The first gear is located at the drive end of the first drive motor, and the second gear is located at the base of the thumb. The first gear and the second gear mesh with each other.

[0007] Optionally, the rotary drive assembly includes two sets of first drive members, which are symmetrically arranged on both sides of the first connector. The drive ends of the two sets of first drive members are respectively connected to both sides of the second end of the first connector, and the two sets of first drive members are respectively configured to drive one side of the second end of the first connector to rise or fall.

[0008] Optionally, the first driving component includes a second driving motor, a transmission assembly, a guide rail, a slider, a first push rod, and a second push rod. The first end of the first push rod is connected to the slider, the second end of the first push rod is connected to the first end of the second push rod, and the second end of the second push rod is connected to a connecting shaft. The second driving motor is mounted on a mounting bracket, and the driving end of the second driving motor is connected to the slider through the transmission assembly. The guide rail is mounted on the mounting bracket and extends along a first horizontal direction. The motor is configured to cooperate with the transmission assembly to drive the slider to reciprocate along the first horizontal direction, thereby driving the first push rod to push the first end of the second push rod to move along the first horizontal direction, and thus driving the connecting shaft connected to the second push rod to rotate by a preset angle.

[0009] Optionally, the second drive assembly includes a second drive member and a check assembly. The check assembly includes a rotating shaft, a wheel, a tendon cord, a ratchet ring, and a ratchet assembly. The rotating shaft is rotatably mounted on the first movable end of the second drive member along its own axis. The wheel is rotatably mounted on the rotating shaft. One end of the tendon cord is fixed and wound around the wheel, and the other end of the tendon cord is fixedly connected to a joint. A ratchet ring is fixedly mounted on a rotating wheel. Multiple teeth are arranged on the ratchet ring along the circumferential direction. The ratchet assembly includes a chassis and at least one pawl. The chassis is fixedly mounted on a rotating shaft. The pawl is rotatably hinged to the chassis by an elastic element, which is configured to provide a spring force to abut the pawl against the teeth. When the tendon rope is tightened or loosened, the rotating shaft rotates, which drives the rotating wheel to rotate in the first rotation direction through the cooperation of the pawl and the ratchet ring, thereby driving the joint to rotate by a preset angle; When the tendon ligament is tensioned, the rotating shaft is stationary, and the operating wheel rotates in the first rotation direction, thereby causing the tendon ligament to become tensioned.

[0010] Optionally, a receiving cavity is provided on the inner side of the rotating wheel, a first threaded portion is provided on the inner wall of the receiving cavity, and a second threaded portion is provided on the outer wall of the ratchet ring, with the ratchet ring being threadedly fixed in the receiving cavity.

[0011] Optionally, the wheel is provided with a protrusion, on which a fixing groove and a winding groove are provided. The winding groove is connected to the fixing groove. A fixing hole is provided in the fixing groove, and a fixing member is provided in the fixing hole. The fixing member is configured to fix one end of the tendon rope.

[0012] Optionally, a plurality of limiting holes are provided at equal intervals along the circumference on the outer wall of the wheel. The limiting holes are configured as protrusions on the wrench to cooperate with the wrench to rotate the wheel and thus tension the drive rope.

[0013] Optionally, the second drive member is further provided with a second movable end, and the second movable end is provided with another set of check components. The tendon ropes on the two sets of check components are wound in opposite directions along the winding groove. The second drive member is configured to drive the two sets of check components to rotate synchronously so as to simultaneously retract and release the two tendon ropes.

[0014] Optionally, the check valve assembly also includes a mounting base, wherein: The mounting base has a mounting groove along the vertical direction, and a clamping ring can be detachably installed on the mounting groove. The mounting groove is configured to cooperate with the clamping ring to fix the second driving component. The top of the mounting base is symmetrically provided with a first wire-passing groove and a second wire-passing groove. A first baffle is provided at intervals below the first wire-passing groove, and a second baffle is provided at intervals below the second wire-passing groove. Both the first baffle and the second baffle are configured to keep the tendon rope tightly against the winding groove.

[0015] The beneficial effects of this invention are as follows: Compared with the prior art, the rope-driven dexterous hand provided by this invention has the following beneficial effects: 1. It adopts a three-section modular layout of hand, wrist and forearm, with clear structural hierarchy, convenient assembly and maintenance, increased wrist freedom, and expanded hand working range; 2. The thumb base independently drives rotation, allowing for flexible adjustment of the thumb posture to adapt to different grasping needs; 3. Each joint is equipped with a second drive component for control, and the second drive components are centrally located on the forearm, which can effectively reduce the weight of the hand and improve the finger load capacity and movement response speed. Attached Figure Description

[0016] To more clearly illustrate and understand the technical solutions in the embodiments of the present invention, the accompanying drawings used in the background technology and embodiment descriptions of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of the present invention and these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of the rope-driven dexterous hand of the present invention; Figure 2This is a rear view of the rope-driven dexterous hand of the present invention; Figure 3 This is a side view of the rope-driven dexterous hand of the present invention; Figure 4 This is another structural schematic diagram of the rope-driven dexterous hand of the present invention; Figure 5 This is a cross-sectional view of the first driving component in the rope-driven dexterous hand of the present invention; Figure 6 This is a schematic diagram of the ratchet assembly in the rope-driven dexterous hand of the present invention; Figure 7 This is a schematic diagram of the structure of the rope-driven dexterous handwheel of the present invention; Figure 8 This is a schematic diagram showing the positional relationship between the rotating wheel and the ratchet ring in the rope-driven dexterous hand of the present invention; Figure 9 This is a schematic diagram of the structure of the first driving component in the rope-driven dexterous hand of the present invention. Detailed Implementation

[0018] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail 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.

[0019] Please see Figures 1 to 9As shown, this embodiment provides a rope-driven dexterous hand, which includes a hand 10, a wrist 20, and a forearm 30. The hand 10 includes a housing 11, a first drive assembly 12, a thumb 13, and multiple universal fingers 14. The thumb 13 and the multiple universal fingers 14 are movably mounted on the housing 11. The first drive assembly 12 is configured to drive the base of the thumb 13 to rotate at a preset angle. The wrist 20 is movably mounted between the hand 10 and the forearm 30. The wrist 20 includes a first connector 21, a second connector 22, a connecting shaft 23, and a rotation drive assembly 24. The first end of the first connector 21 is connected to the end of the hand 10, and the second end of the first connector 21 is connected to... The connecting shaft 23 is connected to the top end of the second connecting member 22, and the second end of the second connecting member 22 is connected to the connecting shaft 23. The connecting shaft 23 is connected to the driving end of the rotation drive assembly 24. The rotation drive assembly 24 is configured to drive the connecting shaft 23 to rotate, thereby causing the first connecting member 21 to rotate relative to the second connecting member 22, and thus causing the hand 10 to rotate relative to the forearm 30 by a preset angle. The forearm 30 includes a mounting frame 31 and a plurality of second drive assemblies 32. The plurality of second drive assemblies 32 are arranged on the mounting frame 31. Each second drive assembly 32 is configured to drive the joint of a general finger 14 or the joint of a thumb 13 to rotate by a preset angle.

[0020] As can be seen, the three-section modular layout of hand 10, wrist 20 and forearm 30 has a clear structural hierarchy and is easy to assemble and maintain; the thumb 13 is independently driven to rotate, and the thumb 13 posture can be flexibly adjusted to adapt to different grasping needs; the wrist 20 has increased degrees of freedom, which expands the working range of hand 10; each joint is equipped with a second drive component 32 for control, and the second drive component 32 is centrally arranged in the forearm 30, which can effectively reduce the weight of hand 10 and improve finger load capacity and movement response speed.

[0021] In one embodiment, the first drive assembly 12 is disposed at the base of the thumb 13. The first drive assembly 12 includes a first drive motor 120, a first gear 121 and a second gear 122. The first gear 121 is disposed at the drive end of the first drive motor 120, and the second gear 122 is disposed at the base of the thumb 13. The first gear 121 and the second gear 122 mesh with each other.

[0022] As can be seen, the thumb 13 is driven to rotate by the cooperation of the first drive motor 120, the first gear 121 and the second gear 122. The transmission ratio is accurate and the control accuracy of the rotation angle of the thumb 13 root is high. The drive component is directly integrated into the root position, the transmission chain is short and the response is fast, and no additional transmission structure is needed to occupy the internal space of the hand 10.

[0023] In one embodiment, the rotary drive assembly 24 includes two sets of first drive members 240, which are symmetrically arranged on both sides of the first connector 21. The drive ends of the two sets of first drive members 240 are respectively connected to both sides of the second end of the first connector 21. The two sets of first drive members 240 are respectively configured to drive one side of the second end of the first connector 21 to rise or fall.

[0024] It is evident that the dual-sided symmetrical drive structure drives the wrist 20 to rotate, resulting in balanced force distribution and high operational stability.

[0025] In one embodiment, the first driving component 240 includes a second driving motor 241, a transmission assembly 242, a guide rail 243, a slider 244, a first push rod 245, and a second push rod 246. The first end of the first push rod 245 is connected to the slider 244, and the second end of the first push rod 245 is connected to the first end of the second push rod 246. The second end of the second push rod 246 is connected to the connecting shaft 23. The second driving motor 241 is mounted on the mounting bracket 31, and the driving end of the second driving motor 241 is connected to the slider 244 through the transmission assembly 242. The guide rail 243 is mounted on the mounting bracket 31 and extends along a first horizontal direction. The second driving motor 241 is configured to cooperate with the transmission assembly 242 to drive the slider 244 to reciprocate along the first horizontal direction, thereby driving the first push rod 245 to push the first end of the second push rod 246 to move along the first horizontal direction, and thereby driving the connecting shaft 23 connected to the second push rod 246 to rotate by a preset angle.

[0026] Specifically, the transmission assembly 242 includes a lead screw, a third gear, and a fourth gear. The third gear is located at the output end of the second drive motor 241, and the fourth gear is located at the input end of the lead screw. One end of the slider 244 is located on the lead screw, and the other end of the slider 244 is located on the guide rail 243. The second drive motor 241 is configured to drive the third gear to rotate, thereby driving the lead screw to rotate, so that the slider 244 reciprocates along the direction of the lead screw.

[0027] It is evident that the combined double push rod parallel mechanism can control the movement of the wrist in any direction with two degrees of freedom, resulting in a high degree of mobility; the 243 guide rail structure ensures stable motion trajectory, no jamming, and strong transmission rigidity.

[0028] In one embodiment, the second drive assembly 32 includes a second drive member and a check assembly. The check assembly includes a rotating shaft 320, a wheel 321, a tendon cord 322, a ratchet ring 323, and a ratchet assembly 324. The rotating shaft 320 is rotatably mounted on the first movable end of the second drive member along its own axis. The wheel 321 is rotatably mounted on the rotating shaft 320. One end of the tendon cord 322 is fixed and wound around the wheel 321, and the other end of the tendon cord 322 is fixedly connected to a joint. The ratchet ring 323 is fixedly mounted on the wheel 321, and the ratchet ring 323 has a circumferentially oriented... The ratchet assembly 324, equipped with multiple locking teeth, includes a chassis and at least one pawl. The chassis is fixedly mounted on a rotating shaft 320, and the pawl is rotatably hinged to the chassis via an elastic element configured to provide elastic force that abuts the pawl against the locking teeth. When the tendon rope 322 is tightened or loosened, the rotating shaft 320 rotates to drive the rotating wheel 321 to rotate in a first rotation direction through the cooperation of the pawl and the ratchet ring 323, thereby driving the joint to rotate by a preset angle. When the tendon rope 322 is tensioned, the rotating shaft 320 is stationary, and the rotating wheel 321 rotates in the first rotation direction, thereby driving the tendon rope 322 to be tensioned.

[0029] Specifically, the second driving component includes a motor, a planetary reducer, a worm gear, and a worm. The driving end of the motor is connected to the planetary reducer, which meshes with the worm gear. The worm gear meshes with the worm. Each end of the worm is provided with a rotating shaft 320. The motor is configured to drive the worm to rotate through the planetary reducer and the worm gear, thereby driving the two rotating shafts 320 to rotate synchronously.

[0030] It is evident that, compared to existing technologies, the second driving component overcomes the shortcomings of existing driving rope tensioning mechanisms, which are characterized by large size and complex structure. On the one hand, it reduces the installation space occupied by the tensioning mechanism, which helps to keep the overall structure of the dexterous hand compact and reduce the overall size of the machine. On the other hand, it simplifies the tensioning operation steps of the driving rope, reduces the difficulty of disassembly and maintenance in the later stages, and effectively improves the practicality and maintainability of the dexterous hand.

[0031] In one embodiment, the inner side of the rotating wheel 321 is provided with a receiving cavity, the inner wall of the receiving cavity is provided with a first threaded portion, the outer wall of the ratchet ring 323 is provided with a second threaded portion, and the ratchet ring 323 is threadedly fixed in the receiving cavity.

[0032] As can be seen, the ratchet ring 323 is integrated inside the rotating wheel 321, resulting in a compact structure; the threaded connection provides reliable positioning, preventing the ratchet ring 323 from slipping relative to the rotating wheel 321 and causing transmission failure; the ratchet ring 323 can be disassembled and replaced separately, resulting in low maintenance costs.

[0033] In one embodiment, the wheel 321 is provided with a protrusion 325, and the protrusion 325 is provided with a fixing groove 3250 and a winding groove 3251. The winding groove 3251 is connected to the fixing groove 3250. The fixing groove 3250 is provided with a fixing hole 3253, and a fixing member is provided in the fixing hole 3253. The fixing member is configured to fix one end of the tendon rope 322.

[0034] As can be seen, the end of the tendon cord 322 is fixed in the fixing groove 3250, and the connection is reliable and not easy to loosen; the winding groove 3251 can regulate the winding path of the tendon cord 322, avoid the tendon cord 322 from stacking and tangling, and ensure that the tendon cord 322 can be wound and unwound smoothly.

[0035] In one embodiment, a plurality of limiting holes 326 are provided at equal intervals along the circumference on the outer wall of the wheel 321. The limiting holes 326 are configured as protrusions 325 on the wrench to cooperate with the wrench to rotate the wheel 321, thereby tensioning the drive rope.

[0036] As can be seen, the limiting hole 326 can be used with a universal wrench to apply force, and the tendon rope 322 can be manually tensioned without special tooling, making the adjustment operation convenient; the multiple points of uniform force application can prevent the rotating wheel 321 from being deformed by force.

[0037] In one embodiment, the second drive member is also provided with a second movable end, and the second movable end is provided with another set of check components. The tendon ropes 322 on the two sets of check components are wound in opposite directions along the winding groove 3251. The second drive member is configured to drive the two sets of check components to rotate synchronously so as to simultaneously retract and release the two tendon ropes 322.

[0038] As can be seen, a single drive unit can synchronously drive two reverse-wound tendon ropes 322 to achieve bidirectional joint drive, eliminating the need for two independent drive structures and resulting in a compact overall structure; the simultaneous movement of the tendon ropes 322 on both sides ensures smooth joint rotation without any backlash.

[0039] In one embodiment, the check valve assembly also includes a mounting base 327, which has a mounting groove 3270 in a vertical direction. A clamping ring 3271 is detachably mounted on the mounting groove 3270. The mounting groove 3270 is configured to cooperate with the clamping ring 3271 to fix the second driving member. A first wire-passing groove 3272 and a second wire-passing groove 3273 are symmetrically provided on the top of the mounting base 327. A first baffle 3274 is provided at intervals below the first wire-passing groove 3272, and a second baffle 3275 is provided at intervals below the second wire-passing groove 3273. Both the first baffle 3274 and the second baffle 3275 are configured to tightly press the tendon rope 322 against the winding groove 3251.

[0040] As can be seen, the clamping ring 3271 clamps and fixes the drive component, which is convenient to install and remove and can reduce the vibration of the drive component during operation; the wire groove guides the exit path of the tendon rope 322, and the baffle can limit the radial position of the tendon rope 322, ensuring that the tendon rope 322 always fits the winding groove 3251 of the rotating wheel 321, avoiding derailment and wire jump during the winding and unwinding process, and the transmission stability is good.

[0041] The above-mentioned rope-driven dexterous hand works on the following principle: S1. Keep the second drive unit stopped and the rotating shaft 320 stationary. Insert the wrench into the limiting hole 326 on the outer wall of the rotating wheel 321. Manually rotate the rotating wheel 321 to wind the tendon rope 322 in the first rotation direction. The pawl slides along the inclined surface of the locking teeth to achieve free rotation, thus completing the pre-tensioning of the tendon rope 322. After the adjustment is completed, rely on the ratchet mechanism for one-way self-locking to prevent the tendon rope 322 from loosening. S2. Start the first drive component 12 at the base of the thumb 13. The first drive motor 120 drives the first gear 121 to mesh with the second gear 122, driving the base of the thumb 13 to rotate at a preset angle, so as to realize the independent positioning of the thumb 13. S3 and the second drive components 32 on the forearm 30 are activated, driving the rotating shaft 320 to rotate; the chassis rotates synchronously with the rotating shaft 320, and the pawl pushes the ratchet ring 323 and the wheel 321 to rotate in the same direction, releasing and retracting the tendon rope 322, pulling the corresponding thumb 13 joint or the universal finger 14 joint to rotate, completing the finger bending and extension movements; each set of second drive components 32 is equipped with two sets of anti-return components with opposite winding directions to achieve bidirectional coordinated control of the tendon rope 322; S4 and the wrist 20, two sets of symmetrically arranged first drive members 240 work together to drive the first connecting member 21 to rise and fall on both sides, drive the connecting shaft 23 to swing, so that the hand 10 rotates at a preset angle relative to the forearm 30, and adjusts the overall orientation of the hand 10. S5. Synchronously coordinate the first drive component 12, each second drive component 32, and the wrist 20 rotation drive component 24 to control the thumb 13 and each general finger 14 to bend and close together to complete the grasping of the target object; during the grasping process, the ratchet check component continuously locks the rotating wheel 321 to maintain the tension of the tendon rope 322 and keep the grasping posture from loosening. S6. The second drive component 32 moves in the opposite direction, driving the wheel 321 to release the tendon rope 322. The finger joints extend under the action of passive reset force, releasing the target object. The wrist 20 can adjust its posture synchronously to adapt to the placement position. S7. After all actions are completed, shut down all drive units. If the tendon rope 322 needs to be replaced or repaired, the pawl can be disengaged from the ratchet ring 323 to release the one-way lock. Rotate the wheel 321 in the opposite direction to release the tendon rope 322 and disassemble the corresponding parts for maintenance.

[0042] The above embodiments merely illustrate the basic principles and characteristics of the present invention. The present invention is not limited to the above examples. Various changes and modifications can be made to the present invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A rope-driven dexterous hand, characterized in that, The rope-driven dexterous hand includes a hand, wrist, and forearm, wherein: The hand includes a housing, a first drive assembly, a thumb, and a plurality of universal fingers, all of which are movably disposed on the housing. The first drive assembly is configured to drive the base of the thumb to rotate by a preset angle. The wrist is movably disposed between the hand and the forearm. The wrist includes a first connector, a second connector, a connecting shaft, and a rotation drive assembly. A first end of the first connector is connected to the end of the hand, and a second end of the first connector is connected to the connecting shaft. A first end of the second connector is connected to the top of the forearm, and a second end of the second connector is connected to the connecting shaft. The connecting shaft is connected to the drive end of the rotation drive assembly. The rotation drive assembly is configured to drive the connecting shaft to rotate, thereby causing the first connector to rotate relative to the second connector, and thus causing the hand to rotate relative to the forearm by a preset angle. The forearm includes a mounting frame and a plurality of second drive components arranged on the mounting frame. Each second drive component is configured to drive a joint of one of the general fingers or a joint of one of the thumbs to rotate by a preset angle.

2. The rope-driven dexterous hand according to claim 1, characterized in that, The first driving component is disposed at the base of the thumb. The first driving component includes a first driving motor, a first gear, and a second gear. The first gear is disposed at the driving end of the first driving motor, and the second gear is disposed at the base of the thumb. The first gear meshes with the second gear.

3. The rope-driven dexterous hand according to claim 1, characterized in that, The rotary drive assembly includes two sets of first drive members, which are symmetrically arranged on both sides of the first connector. The drive ends of the two sets of first drive members are respectively connected to both sides of the second end of the first connector. The two sets of first drive members are respectively configured to drive one side of the second end of the first connector to rise or fall.

4. The rope-driven dexterous hand according to claim 3, characterized in that, The first driving component includes a second driving motor, a transmission assembly, a guide rail, a slider, a first push rod, and a second push rod. The first end of the first push rod is connected to the slider, the second end of the first push rod is connected to the first end of the second push rod, and the second end of the second push rod is connected to the connecting shaft. The second driving motor is mounted on the mounting bracket, and the driving end of the second driving motor is connected to the slider through the transmission assembly. The guide rail is mounted on the mounting bracket and extends along a first horizontal direction. The motor is configured to cooperate with the transmission assembly to drive the slider to reciprocate along the first horizontal direction, thereby driving the first push rod to push the first end of the second push rod to move along the first horizontal direction, and thus driving the connecting shaft connected to the second push rod to rotate by a preset angle.

5. The rope-driven dexterous hand according to claim 1, characterized in that, The second drive assembly includes a second drive member and a check assembly. The check assembly includes a rotating shaft, a wheel, a tendon cord, a ratchet ring, and a ratchet assembly. The rotating shaft is rotatably mounted on a first movable end of the second drive member along its own axis. The wheel is rotatably mounted on the rotating shaft. One end of the tendon cord is fixed and wound around the wheel, and the other end of the tendon cord is fixedly connected to a joint. The ratchet ring is fixedly mounted on the rotating wheel, and the ratchet ring has a plurality of teeth arranged along the circumferential direction. The ratchet assembly includes a chassis and at least one pawl. The chassis is fixedly mounted on the rotating shaft, and the pawl is rotatably hinged to the chassis by an elastic element. The elastic element is configured to provide an elastic force to abut the pawl against the teeth. When the tendon rope is released or retracted, the rotating shaft rotates, thereby driving the rotating wheel to rotate in the first rotation direction through the cooperation of the pawl and the ratchet ring, which in turn drives the joint to rotate by a preset angle; When the tendon rope is tensioned, the rotating shaft is stationary, and the rotating wheel is operated to rotate in the first rotation direction, thereby causing the tendon rope to be tensioned.

6. The rope-driven dexterous hand according to claim 5, characterized in that, The inner side of the rotating wheel has a receiving cavity, the inner wall of the receiving cavity has a first threaded portion, the outer wall of the ratchet ring has a second threaded portion, and the ratchet ring is threadedly fixed in the receiving cavity.

7. The rope-driven dexterous hand according to claim 5, characterized in that, The wheel is provided with a protrusion, and the protrusion has a fixing groove and a winding groove. The winding groove is connected to the fixing groove. The fixing groove has a fixing hole, and a fixing member is provided in the fixing hole. The fixing member is configured to fix one end of the tendon rope.

8. The rope-driven dexterous hand according to claim 7, characterized in that, The outer wall of the wheel is provided with a plurality of limiting holes at equal intervals along the circumference. The limiting holes are configured as protrusions on the wrench to cooperate with the wrench to rotate the wheel and thus tension the drive rope.

9. The rope-driven dexterous hand according to claim 7, characterized in that, The second drive member is also provided with a second movable end, and the second movable end is provided with another set of the aforementioned check components. The tendon ropes on the two sets of the aforementioned check components are wound in opposite directions along the winding groove. The second drive member is configured to drive the two sets of the aforementioned check components to rotate synchronously, so as to simultaneously retract and release the two tendon ropes.

10. The rope-driven dexterous hand according to claim 7, characterized in that, The check valve assembly also includes a mounting base, wherein: The mounting base has a mounting groove along the vertical direction, and a clamping ring is detachably mounted on the mounting groove. The mounting groove is configured to cooperate with the clamping ring to fix the second driving member. The top of the mounting base is symmetrically provided with a first threading groove and a second threading groove. A first baffle is provided at intervals below the first threading groove, and a second baffle is provided at intervals below the second threading groove. Both the first baffle and the second baffle are configured to keep the tendon rope tightly attached to the winding groove.

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