Friction-free tendon rope driven bionic hand

Abstract

The utility model discloses a friction-free tendon rope driven bionic hand, which is suitable for the field of bionic hand development and comprises a palm, fingers connected with the palm, a driving structure and a finger resetting structure, the driving structure and the finger resetting structure are arranged between the palm and the fingers, and the fingers comprise a thumb, an index finger and a middle finger. The driving structure comprises a main driving unit for driving the index finger and the thumb and a driven driving unit for driving the index finger and the middle finger, and the index finger and the middle finger are connected in a matched mode through a rotary plug arranged at the finger root; the bionic hand is novel in design and reasonable in structure, the middle finger, the ring finger and the little finger of the bionic hand are connected in a plug-in mode through the plug, the index finger and the middle finger are connected in a matched mode through the rotary connector, coordination actions of the five fingers are smoothly achieved, assembly is convenient, and connection is firm and reliable; under the combined action of the driving tendon rope and the locking unit, multiple functions of the bionic hand are smoothly achieved, practicability is good, friction between the driving tendon rope and the bionic hand is avoided in the whole driving process, and the service life of the bionic hand is prolonged.

Description

Technical Field

[0001] The utility model relates to the field of the development of bionic hands, and specifically relates to a bionic hand driven by a frictionless tendon rope. Background Art

[0002] ‌The driving modes of bionic hands include tendon-driven type, link-driven type, joint motor-driven type, pneumatic-driven type, and hydraulic-driven type. Different driving modes enable bionic hands to simulate and execute various complex hand movements, thereby helping users better perform daily life activities.‌

[0003] ‌The tendon-driven type relies on a DC motor to control the movement of fingers through a driving tendon rope fixedly connected thereto. It adopts a highly simplified mechanical structure design, and its joints adopt a curved hinge structure design, making the interaction with humans safer. The finger design is compact, light in weight, low in cost, and convenient for users to use. Currently, this driving mode is more popular among users. However, after long-term use, the driving tendon rope is prone to being worn and broken due to friction, affecting the normal use of the bionic hand.

[0004] To prevent the driving tendon rope from being worn and broken, the driving tendon rope is replaced with an iron rope or a steel wire rope instead of the original nylon rope. After replacement, the service life of the bionic hand is improved to some extent. However, a deep indentation often appears at the place where the driving tendon rope is in direct contact with the bionic hand, affecting the control accuracy of the fingers. It is necessary to improve the structure of the bionic hand to avoid direct friction between the bionic hand and the driving tendon rope. Summary of the Utility Model

[0005] The technical problem to be solved by the utility model is to provide a bionic hand driven by a frictionless tendon rope, in which the driving tendon rope and the bionic hand have no direct frictional contact, eliminating the friction between the driving tendon rope and the bionic hand, and thoroughly realizing frictionless tendon rope driving. Moreover, it has powerful functions and good practicability, and is deeply liked by users.

[0006] To solve the above technical problem, the technical solution adopted by the utility model is as follows:

[0007] The utility model includes a palm, fingers connected to the palm, a driving structure arranged between the palm and the fingers, and a finger reset structure arranged between the distal phalanx and the proximal phalanx. The fingers include a thumb, an index finger, and a middle finger. The driving structure includes a main driving unit for driving the index finger and the thumb, and a passive driving unit for driving the index finger and the middle finger. The index finger and the middle finger are connected by a rotary plug arranged at the finger root.

[0008] A further improvement of the utility model lies in that: the finger reset structure includes a reset spring fixedly arranged between the distal phalanx and the proximal phalanx, and the ends of the reset spring are respectively connected to the distal phalanx and the proximal phalanx through spring fixing holes.

[0009] A further improvement of the present utility model lies in that: the main drive unit includes a winch, an index finger drive assembly and a thumb drive assembly which are connected to the winch through a drive tendon rope. The index finger drive assembly is a wire fixing shaft arranged on the proximal phalanx of the index finger. One end of the drive tendon rope is fixed to the winch, and the other end is fixed to the wire fixing shaft. The winch is connected to the drive shaft of the motor.

[0010] A further improvement of the present utility model lies in that: the thumb drive assembly includes a wire guide wheel arranged below the proximal phalanx of the thumb, a first channel arranged in the proximal phalanx of the thumb, and a wire fixing channel arranged in the distal phalanx of the thumb. The wire fixing channel is connected to a wire fixing hole arranged below the wire fixing channel. The wire fixing hole is located below the wire fixing channel and is in fit connection with a wire fixing screw.

[0011] A further improvement of the present utility model lies in that: the first channel is arranged along the tangent direction of the wire guide wheel. A matching part is arranged between the first channel and the wire fixing channel. The distal phalanx is connected to the proximal phalanx through a matching part arranged in an arc shape. The first channel and the wire fixing channel are both in the same tangent direction as the matching part.

[0012] A further improvement of the present utility model lies in that: the passive drive unit includes a fixed shaft arranged on the back of the palm and connected to the passive drive tendon ropes of the index finger and the middle finger, a second channel, a third channel arranged in the proximal phalanges of the index finger and the middle finger, and a wire fixing channel arranged in the distal phalanges of the index finger and the middle finger. The wire fixing channel is connected to a wire fixing hole arranged below the wire fixing channel. The wire fixing hole is located below the wire fixing channel and is in fit connection with a wire fixing screw.

[0013] A further improvement of the present utility model lies in that: a first wire guide wheel is arranged between the fixed shaft and the second channel, a second wire guide wheel is arranged between the second channel and the third channel, and a matching part is arranged between the third channel and the wire fixing channel. The distal phalanx is connected to the proximal phalanx through the matching part.

[0014] A further improvement of the present utility model lies in that: a fixing hole is opened in the center of the rotary plug. The rotary plug includes a first stop block arranged at the middle finger and a second stop block which is in fit connection with the first stop block and arranged at the index finger. The second stop block is arranged on the back of the first stop block in a matching manner.

[0015] A further improvement of the present utility model lies in that: the fingers further include a ring finger and a little finger. The middle finger and the ring finger, and the ring finger and the little finger are both connected through plug-in connection. A fixing hole is arranged in the center of the plug. The cross section is a ring. Uniformly distributed convex blocks and concave pits with the same shape and quantity are arranged on the ring. The convex blocks and concave pits on the two fingers connected through plug-in connection are corresponding and arranged in a matching manner. A rotating shaft passing through the fixing hole connects the plug and the rotary plug together.

[0016] A further improvement of the present utility model lies in: it further includes a locking unit, and the locking unit includes a button arranged on the side of the palm, a bolt connected to the button, and a groove corresponding to the bolt and arranged at the root of the finger.

[0017] Due to the adoption of the above technical solution, the beneficial effects obtained by the present utility model are:

[0018] The present utility model has novel design and reasonable structure. During the driving process, the driving tendon rope has no contact friction with the bionic hand, which effectively prolongs the service life of the bionic hand; the middle finger, ring finger and little finger of the bionic hand are connected by plug-in connection, and the index finger and the middle finger are connected by a rotary joint, which smoothly realizes the coordinated movement of the five fingers, and is convenient for assembly, and the connection is firm and reliable; together with the locking unit, it smoothly realizes the smooth conversion from the coordinated movement of the five fingers to the coordinated movement of the index finger and the thumb. Therefore, this bionic hand not only has good practicability, but also has diverse functions and can realize most of the functions of the human hand, which is the best choice for users. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic structural diagram of the present utility model;

[0020] Figure 2 is a schematic internal structure diagram of the driving structure of the present utility model;

[0021] Figure 3 is a schematic structural diagram of the rotary plug at the root of the index finger of the present utility model;

[0022] Figure 4 is a schematic structural diagram of the rotary plug at the root of the middle finger of the present utility model;

[0023] Figure 5 is a schematic structural diagram of the plug of the present utility model;

[0024] Figure 6 is a schematic structural diagram of the locking state of the middle finger, ring finger and little finger of the present utility model.

[0025] Among them, 1. Rotary plug; 1-1. First stop block; 1-2. Second stop block; 2. Plug; 2-1. Protrusion; 2-2. Concave pit; 3. Spring fixing hole; 4. Wire fixing shaft; 5. Distal phalanx; 5-1. Wire fixing channel; 5-2. Wire fixing hole; 6. Fitting part; 7. Proximal phalanx; 7-1. First channel; 7-2. Second channel; 7-3. Third channel; 8. Button; 8-1. Groove; 8-3. Bolt; 9. Fixing hole; 10. Palm; 11. Wire guide wheel; 12. Winch; 13. Wire fixing shaft; 14. First wire guide wheel; 15. Second wire guide wheel. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] The following further describes the present utility model in detail with reference to the embodiments:

[0027] A frictionless tendon-driven bionic hand, as Figure 1-6 shown, which includes a palm 10, fingers connected to the palm 10, a driving structure arranged between the palm 10 and the fingers, and a finger reset structure arranged between the distal phalanx 5 and the proximal phalanx 7. The driving structure drives the fingers to gradually approach the palm to complete the grasping of the bionic hand; then, under the action of the finger reset structure, the fingers in the grasping and bending state gradually extend and unfold.

[0028] The finger reset structure includes a reset spring fixedly arranged between the distal phalanx 5 and the proximal phalanx 7. The ends of the reset spring are respectively connected to the distal phalanx 5 and the proximal phalanx 7 through spring fixing holes 3. During the process that the fingers continuously approach the palm under the action of the driving structure, it is necessary to continuously overcome the elastic force of the reset spring to make the reset spring bend and deform, thereby completing the bending and grasping of the fingers. After grasping is completed, the driving structure reverses. Under the action of the elastic restoring force, the reset spring continuously makes the bent fingers extend and return to their original state.

[0029] According to user needs, the fingers can be set to three, namely the thumb, index finger and middle finger, or can be set to five, namely the thumb, index finger, middle finger, ring finger and little finger. As Figure 1 shown, the index finger and the middle finger are connected by a rotary plug 1 arranged at the finger root. The middle finger and the ring finger, and between the ring finger and the little finger are connected by plug-in connection with plug 2. A rotating shaft passing through the fixing holes 9 of the rotary plug 1 and the plug 2 connects the index finger, middle finger, ring finger and little finger together to realize the simultaneous grasping and extension of the four fingers and the thumb.

[0030] As Figure 5 shown, the center of the plug 2 is provided with a fixing hole 9, and the cross section is a ring. The ring is evenly distributed with convex blocks 2-1 and concave pits 2-2 with the same shape and quantity. The convex blocks 2-1 and the concave pits 2-2 on the two fingers connected by plug-in connection are correspondingly and cooperatively arranged. A rotating shaft passing through the fixing hole 9 connects the plug 2 and the rotary plug 1. The convex blocks 2-1 on the ring finger correspond to the concave pits 2-2 on the middle finger and little finger on both sides, and the convex blocks 2-1 on the middle finger and little finger on both sides correspond to the concave pits 2-2 on the ring finger. Its connection is convenient and fast, realizing the firm and reliable connection of the little finger and the ring finger, and the ring finger and the middle finger, ensuring the synchronous movement of the plug-connected middle finger, ring finger and little finger. And during the whole movement process, the middle finger, ring finger and little finger are firmly connected and not easy to separate, with fast assembly and good practicability. Since the plug 2 and the rotary plug 1 share a rotating shaft, when driving the index finger, the middle finger, ring finger and little finger connected together by the rotary plug 1 and the plug 2 will move simultaneously; or when the middle finger, ring finger and little finger are locked, the index finger connected to the middle finger through the rotary plug 1 moves alone in coordination with the thumb.

[0031] As Figure 1 shown, the bionic hand is further provided with a locking unit. The locking unit includes a button 8 arranged on the side of the palm 10, a bolt 8-2 connected to the button 8, and a groove 8-1 corresponding to the bolt 8-2 and arranged at the root of the finger. As Figure 6 shown, when the middle finger, ring finger, and little finger are passively bent in the grasping direction, the bolt 8-2 pops out under the action of the spring force and cooperates with the groove 8-1, and the middle finger, ring finger, and little finger are grasped together with the palm 10 and locked. At this time, under the action of the driving structure and the rotary plug 1, the thumb and index finger can cooperate to complete grasping and stretching. When the index finger, middle finger, ring finger, and little finger need to move simultaneously, just operate the button 8 to separate the bolt 8-2 from the groove 8-1, and under the action of the return spring, the fingers are reset and stretched as Figure 1 shown.

[0032] When the middle finger, ring finger, and little finger are locked, under the action of the driving structure, the index finger and thumb will cooperate to complete actions such as pinching, side pinching, and single-point pressing. As Figure 3 and Figure 4 shown, a fixing hole 9 is opened in the center of the rotary plug 1. The rotary plug 1 includes a first stopper 1-1 arranged at the middle finger and a second stopper 1-2 connected to and cooperating with the first stopper 1-1 and arranged at the index finger. The second stopper 1-2 is arranged on the back of the first stopper 1-1. When the middle finger, ring finger, and little finger are locked together, the middle finger is in a grasping state with the palm 10, and the first stopper 1-1 on the middle finger is fixed and immovable. At this time, when the index finger continuously stretches under the action of the driving structure, the second stopper 1-2 on the index finger rotates in the opposite direction away from the first stopper 1-1 and gradually stretches. When the stretched index finger needs to bend and grasp the palm 10 together, the driving structure drives the index finger and drives the second stopper 1-2 to gradually approach the locked first stopper 1-1 until the second stopper 1-2 is close to cooperating with the first stopper 1-1. That is, in the state where the middle finger is locked, the second stopper 1-2 rotates in the rotation space provided between the first stopper 1-1 and the second stopper 1-2 on the rotary plug 1 to realize the cooperative grasping and stretching of the index finger and thumb in the state where the middle finger, ring finger, and little finger are locked.

[0033] As Figure 2As shown, the driving structure includes a main driving unit for driving the index finger and the thumb, and a passive driving unit for driving the index finger and the middle finger. The main driving unit includes a winch 12, and an index finger driving assembly and a thumb driving assembly connected to the winch 12 through a driving tendon rope. The index finger driving assembly is a wire fixing shaft 4 provided on the proximal phalanx 7 of the index finger. One end of the driving tendon rope is fixed to the winch 12, and the other end is fixed to the wire fixing shaft 4. The winch 12 is connected to the driving shaft of the motor. While the driving shaft of the motor drives the winch 12 to rotate, the driving tendon rope drives the wire fixing shaft 4 to move inward to complete the grasping action between the index finger and the thumb. When the winch reverses and gradually releases the driving tendon rope, the fingers extend under the action of the return spring to complete the extension of the index finger and the thumb.

[0034] The thumb driving assembly includes a wire guiding wheel 11 provided below the proximal phalanx 7 of the thumb, a first channel 7-1 provided inside the proximal phalanx 7 of the thumb, and a wire fixing channel 5-1 provided inside the distal phalanx 5 of the thumb. The wire fixing channel 5-1 is connected to a wire fixing hole 5-2 provided below the wire fixing channel 5-1. The wire fixing hole 5-2 is located below the wire fixing channel 5-1, and the wire fixing hole 5-2 is connected to a wire fixing screw in a matching manner. One end of the thumb driving tendon rope is fixed to the winch 12, and the other end enters the first channel 7-1 vertically provided inside the proximal phalanx 7 of the thumb through the wire guiding wheel 11, then crosses the matching part 6 and enters the horizontally provided wire fixing channel 5-1, and finally is connected to the fixing screw that matches the wire fixing hole 5-2. When the winch 12 rotates, the distal phalanx 5 of the thumb can be driven to approach or move away from the proximal phalanx 7 through the driving tendon rope to complete the bending and extension of the thumb, and realize the pinching or unfolding between the thumb and the index finger.

[0035] The first channel 7-1 is arranged along the tangent direction of the wire guiding wheel 11. There is a matching part 6 between the first channel 7-1 and the wire fixing channel 5-1. The distal phalanx 5 is connected to the proximal phalanx 7 through the matching part 6. The matching part 6 is arranged in an arc shape. The first channel 7-1 and the wire fixing channel 5-1 are both in the same tangent direction as the matching part 6. The driving tendon rope is sequentially connected through the wire guiding wheel 11, the first channel 7-1 inside the proximal phalanx 7, the matching part 6 connected to the proximal phalanx 7 in a matching manner, and the wire fixing channel 5-1 arranged along the tangent direction of the matching part 6 above the matching part 6. The matching part 6 is arranged in an arc shape. The wire fixing channel 5-1 is connected to the wire fixing hole 5-2. The wire fixing hole 5-2 is located below the wire fixing channel 5-1, and the wire fixing hole 5-2 is connected to a wire fixing screw in a matching manner. Both the wire guiding wheel 11 and the matching part 6 play a role in changing the direction of the driving tendon rope, and both the wire guiding wheel 11 and the matching part 6 are arranged in an arc shape, which can effectively avoid the contact and damage between the driving tendon rope and the bionic hand during the driving process, play an effective role in protecting the bionic hand, and ensure the frictionless connection between the driving tendon rope and the bionic hand during the driving process of the driving tendon rope.

[0036] The wire pulley 11 is arranged below the proximal phalanx 7. The tangent direction of the wire pulley 11 and the tangent direction of the mating part 6 are both correspondingly arranged with the first channel 7-1. The driving tendon cord bypasses the mating part 6 and is connected to the wire fixing hole 5-2. The driving tendon cord connected to the winch 12 horizontally enters the first channel 7-1 and then becomes vertically arranged. After passing through the mating part 6, it changes from vertical arrangement to horizontal arrangement. When the driving direction of the driving tendon cord changes, it is only connected to the wire pulley 11 and the mating part 6, without any friction with the bionic hand, which effectively protects the bionic hand. Moreover, during the driving process, the driving tendon cord bends and extends synchronously with the mating part 6, and the driving tendon cord and the mating part 6 are always in a relatively static state. Therefore, there will be no friction marks at the connection between the mating part 6 and the driving tendon cord. The driving tendon cord and the bionic hand will be protected to the greatest extent, and the service life of the bionic hand will be greatly extended.

[0037] Therefore, when the winch 12 rotates, the driving tendon cord, under the action of the main driving unit, enables the index finger and the thumb to cooperate to perform the actions of pinching and spreading. Moreover, during the driving process, there is no frictional contact between the driving tendon cord and the bionic hand, so no friction will be generated, and neither the driving tendon cord nor the bionic hand will be damaged.

[0038] When the winch 12 drives the main driving unit to act, the wire fixing shaft 4 on the proximal phalanx 7 of the index finger moves together with the index finger. The wire fixing shaft 4 drives the proximal phalanx 7 to move together. When the proximal phalanx 7 moves, the passive driving unit will drive the distal phalanx 5 to move along with the movement of the proximal phalanx 7, realizing the synchronous movement of the distal phalanx 5 and the proximal phalanx 7 on the index finger.

[0039] As Figure 2 shown, the passive driving unit includes a fixed shaft 13 arranged on the back of the palm 10 and connected to the passive driving tendon cords of the index finger, middle finger, ring finger or little finger, a second channel 7-2 and a third channel 7-3 arranged in the proximal phalanx 7 of the index finger, middle finger, ring finger or little finger, and a wire fixing channel 5-1 arranged in the distal phalanx 5 of the index finger, middle finger, ring finger or little finger. The wire fixing channel 5-1 is connected to a wire fixing hole 5-2 arranged below the wire fixing channel 5-1. The wire fixing hole 5-2 is located below the wire fixing channel 5-1, and the wire fixing hole 5-2 is connected to the wire fixing screw in a matching manner. The movement of the driving tendon cord enables the distal phalanges 5 of the index finger, middle finger, ring finger and little finger to approach or move away from the proximal phalanges 7, realizing the bending and stretching of the index finger, middle finger, ring finger and little finger. Under the combined action of the main driving unit and the locking unit, the passive driving unit can realize the coordinated actions of the thumb with the index finger, middle finger, ring finger and little finger, or the coordinated actions of the index finger and the thumb.

[0040] A first wire pulley 14 is provided between the fixed shaft 13 and the second channel 7-2. A second wire pulley 15 is provided between the second channel 7-2 and the third channel 7-3. A mating part 6 is provided between the third channel 7-3 and the wire fixing channel 5-1. The distal phalanx 5 is connected to the proximal phalanx 7 through the mating part 6. The mating part 6 here has the same structure and function as the mating part 6 on the thumb and will not be described again. The first wire pulley 14 and the second wire pulley 15 are both circularly arranged. During the driving process of the passive driving unit, both the first wire pulley 14 and the second wire pulley 15 play a role in changing the driving direction of the driving tendon rope, which can avoid the direct contact and friction between the driving tendon rope and the bionic hand during the driving process, affecting the service life, and effectively protect the bionic hand.

[0041] One end of the driving tendon rope is fixed to the fixed shaft 13, crosses the first wire pulley 14, passes through the second channel 7-2, the second wire pulley 5, the third channel 7-3 in sequence, bypasses the arc surface of the mating part 6, passes through the wire fixing channel 5-1 and is connected to the wire fixing hole 5-2 below the wire fixing channel 5-1. The other end of the driving tendon rope is fixed to a wire fixing screw, and the wire fixing screw cooperates with the wire fixing hole 5-2. Under the action of the main driving unit, the driving tendon rope drives the distal phalanx 5 at the fixed end of the driving tendon rope to approach or move away from the proximal phalanx 7 through the second channel 7-2 and the third channel 7-3 in sequence, realizing the bending and unfolding of the finger.

[0042] Therefore, the entire movement process of the bionic hand is as follows: Under the action of the motor drive shaft, the winch 12 drives the fixed shaft 4 and the thumb drive assembly under the action of winding the driving tendon rope. While the fixed shaft 4 drives the proximal phalanx 7 to rotate towards the palm direction along the rotation axis in the fixed hole 9 to realize the main drive of the index finger, under the action of the thumb drive assembly, the coordinated movement of the thumb and the index finger is completed, and at the same time, bending realizes grasping.

[0043] When the index finger is in the main drive, while the proximal phalanx 7 of the index finger rotates, it drives the passive driving unit to act. The driving tendon rope fixed to the fixed shaft 13 winds and tightens along the first wire pulley 14 at the root of the proximal phalanx 7 when the index finger bends. The passive action is on the distal phalanx 5 fixed to the other end of the driving tendon rope, so that the distal phalanx 5 is driven to rotate along the connecting part 6 and continuously approaches the proximal phalanx 7, realizing the grasping action of the distal phalanx 5 together with the proximal phalanx 7. At the same time, the middle finger, ring finger and little finger fixed to the fixed shaft 13, under the action of the driving tendon rope, the distal phalanx 5 gradually approaches the proximal phalanx 7 to complete the synchronous grasping of the index finger with the middle finger, ring finger and little finger.

[0044] After the simultaneous grasping of the five fingers is completed, the winch 12 reverses under the action of the motor drive shaft to loosen the driving tendon rope, and then under the action of the return spring, the fingers gradually straighten. Under the action of the locking unit, when the middle finger, ring finger and little finger are locked, the coordinated movement of the index finger alone and the thumb can be completed.

[0045] In summary, the driving structure of the bionic hand does not come into direct contact with the bionic hand during the driving process and cause any friction. For the first time, the development and research of a bionic hand with frictionless driving has been successfully achieved, and the service life of the bionic hand has been greatly extended, making it necessary to promote it.

[0046] Finally, it should be noted that the above embodiments are only examples for clearly explaining the present invention and are by no means limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made on the basis of the above description. It is impossible to enumerate all the implementation manners here, and the obvious changes or modifications derived therefrom still fall within the protection scope of the present invention.

Claims

1. A frictionless tendon-driven bionic hand, characterized in that: It includes a palm (10), fingers connected to the palm (10), a driving structure arranged between the palm (10) and the fingers, and a finger reset structure arranged between the distal phalanx (5) and the proximal phalanx (7). The fingers include a thumb, an index finger, and a middle finger. The driving structure includes a main driving unit for driving the index finger and the thumb, and a passive driving unit for driving the index finger and the middle finger. The index finger and the middle finger are connected in cooperation through a rotary plug (1) arranged at the finger root.

2. The bionic hand driven by a frictionless tendon rope according to claim 1, characterized in that: The finger reset structure includes a reset spring fixedly arranged between the distal phalanx (5) and the proximal phalanx (7). The ends of the reset spring are respectively connected to the distal phalanx (5) and the proximal phalanx (7) through spring fixing holes (3).

3. The bionic hand driven by a frictionless tendon rope according to claim 1, characterized in that: The main driving unit includes a winch (12), an index finger driving component and a thumb driving component connected to the winch (12) through a driving tendon rope. The index finger driving component is a wire fixing shaft (4) arranged on the proximal phalanx (7) of the index finger. One end of the driving tendon rope is fixed to the winch (12), and the other end is fixed to the wire fixing shaft (4). The winch (12) is connected to the driving shaft of the motor.

4. The bionic hand driven by a frictionless tendon rope according to claim 3, wherein: The thumb driving component includes a wire guiding wheel (11) arranged below the proximal phalanx (7) of the thumb, a first channel (7-1) arranged in the proximal phalanx (7) of the thumb, and a wire fixing channel (5-1) arranged in the distal phalanx (5) of the thumb. The wire fixing channel (5-1) is connected to a wire fixing hole (5-2) arranged below the wire fixing channel (5-1). The wire fixing hole (5-2) is located below the wire fixing channel (5-1), and the wire fixing hole (5-2) is connected in cooperation with a wire fixing screw.

5. The bionic hand driven by a frictionless tendon cord according to claim 4, wherein: The first channel (7-1) is arranged along the tangent direction of the wire guiding wheel (11). A matching part (6) is arranged between the first channel (7-1) and the wire fixing channel (5-1). The distal phalanx (5) is connected to the proximal phalanx (7) through a matching part (6) arranged in an arc shape. The first channel (7-1) and the wire fixing channel (5-1) are both consistent with the tangent direction of the matching part (6).

6. The bionic hand driven by a frictionless tendon rope according to claim 1, characterized in that: The passive driving unit includes a fixed shaft (13) arranged on the back of the palm (10) and connected to the passive driving tendon ropes of the index finger and the middle finger, a second channel (7-2), a third channel (7-3) arranged in the proximal phalanx (7) of the index finger and the middle finger, and a wire fixing channel (5-1) arranged in the distal phalanx (5) of the index finger and the middle finger. The wire fixing channel (5-1) is connected to a wire fixing hole (5-2) arranged below the wire fixing channel (5-1). The wire fixing hole (5-2) is located below the wire fixing channel (5-1), and the wire fixing hole (5-2) is connected in cooperation with a wire fixing screw.

7. The bionic hand driven by a frictionless tendon rope according to claim 6, wherein: A first wire guiding wheel (14) is arranged between the fixed shaft (13) and the second channel (7-2). A second wire guiding wheel (15) is arranged between the second channel (7-2) and the third channel (7-3). A matching part (6) is arranged between the third channel (7-3) and the wire fixing channel (5-1). The distal phalanx (5) is connected to the proximal phalanx (7) through the matching part (6).

8. A bionic hand driven by a frictionless tendon cord according to claim 1, characterized in that: A fixing hole (9) is provided at the center of the rotary plug (1). The rotary plug (1) includes a first stopper (1-1) disposed at the middle finger and a second stopper (1-2) which is cooperatively connected with the first stopper (1-1) and disposed at the index finger. The second stopper (1-2) is cooperatively disposed on the back surface of the first stopper (1-1).

9. The bionic hand driven by a frictionless tendon rope according to claim 1, characterized in that: The finger further includes a ring finger and a little finger. The middle finger and the ring finger, as well as the ring finger and the little finger, are connected by plug-in connection through a plug (2). A fixing hole (9) is provided at the center of the plug (2), and the cross section is a ring. Uniformly distributed on the ring are bumps (2-1) and pits (2-2) which have the same shape and quantity. The bumps (2-1) and pits (2-2) on the two fingers in the plug-in connection are correspondingly and cooperatively disposed. A rotating shaft passing through the fixing hole (9) connects the plug (2) and the rotary plug (1) together.

10. A bionic hand driven by a frictionless tendon rope according to any one of claims 1-9, characterized in that: It further includes a locking unit. The locking unit includes a button (8) disposed on the side surface of the palm (10), a bolt (8-2) connected with the button (8), and a groove (8-1) which corresponds to the bolt (8-2) and is disposed at the root of the finger.

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