Humanoid dexterous hand and humanoid robot adopting humanoid dexterous hand

Abstract

The utility model discloses a humanoid dexterous hand which comprises a power piece, a pull rope driven by the power piece to move, a sliding rail fixed to a single-finger base and a connecting base arranged on the sliding rail in a sliding mode, the connecting base is movably connected with a connecting rod, the pull rope comprises an upper pull section and a lower pull section, and the pull rope is connected with the upper pull section. The upper pulling section and the lower pulling section are fixedly connected with the connecting base from the two ends of the sliding direction of the connecting base respectively, and the power piece drives the connecting base to slide in a reciprocating mode along the sliding rail through the pull rope. The utility model further discloses a humanoid robot which adopts the humanoid dexterous hand. The human-simulated dexterous hand has the advantage of solving the problem that the current human-simulated dexterous hand is slow in action response. The power transmission device is simple in structure, short in response time, free of influence of materials, free of interference of external environment factors, high in anti-interference capacity and capable of transmitting power to fingers more accurately to control actions of the fingers.

Description

Technical Field

[0001] The utility model relates to the field of humanoid robots, in particular to a humanoid dexterous hand and a humanoid robot using the humanoid dexterous hand. Background Art

[0002] The anthropomorphic dexterous hand has a structure that imitates the structure and size of the human hand. Regarding the driving method of each finger joint, for example, the technical solution disclosed in Chinese patent publication number CN118386270A, entitled "A full-size variable stiffness anthropomorphic dexterous manipulator", uses a motor wound around a rod to drive a pull wire to pull a connecting block, thereby realizing the offline movement of the connecting block. At the same time, a spring is provided on the outer sleeve of the pull wire. When the connecting block moves downward, the spring accumulates elastic potential energy. When the motor moves in the opposite direction around the rod to release the pull wire, the elasticity of the spring is used to move the connecting block upward, thereby causing the finger joints connected to the connecting block to swing, producing a bending or straightening effect.

[0003] In the above scheme, since the connecting block is supported on the support seat by a spring, the movement direction of the connecting block cannot be guaranteed to be completely in the vertical reverse direction. Moreover, when the connecting block needs to move upward, from the release of the motor to the actual start of the upward movement of the connecting block, the spring is affected by the material properties and external environmental factors, and the release of elastic potential energy will be delayed. This makes it impossible for the flexion and extension of the fingers to respond immediately, affecting the accuracy of the anti-human dexterous hand control. Utility Model Content

[0004] The purpose of the utility model is to provide a humanoid dexterous hand and a humanoid robot using the same, which can effectively solve the problem of slow action response of the existing humanoid dexterous hand.

[0005] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0006] A humanoid dexterous hand comprises a single-finger base and a finger joint arranged on the single-finger base, a posture control device is provided on the single-finger base, the posture control device is connected to the corresponding finger joint through a connecting rod to control the movement of the corresponding finger joint, the posture control device comprises a power piece, a pull rope driven by the power piece, a slide rail fixed to the single-finger base and a connecting seat slidingly arranged on the slide rail, the connecting seat is movably connected to the connecting rod, the pull rope comprises an upper pull section and a lower pull section, the upper pull section and the lower pull section are fixedly connected to the connecting seat at both ends of the sliding direction of the connecting seat, and the power piece drives the connecting seat to slide back and forth along the slide rail through the pull rope.

[0007] In the above-mentioned anthropomorphic dexterous hand, a first pulley is provided at one end of the slide rail, one of the upper pull section and the lower pull section passes around the first pulley, and the upper pull section and the lower pull section are connected to the same power member.

[0008] In the above-mentioned anthropomorphic dexterous hand, a second pulley is further provided between the first pulley and the power member, the upper pull section and the lower pull section are respectively located on both sides of the second pulley, and the connecting seat is slidably arranged on a slide rail between the first pulley and the second pulley.

[0009] In the above-mentioned anthropomorphic dexterous hand, the first pulley and the second pulley are respectively arranged on the slide rail through rotating shafts, and positioning sleeves are provided on the rotating shafts on both sides of the first pulley and the rotating shafts on both sides of the second pulley.

[0010] In the above-mentioned anthropomorphic dexterous hand, a protective tube is provided between the second pulley and the power member and is sleeved on the outer periphery of the pull rope.

[0011] In the above-mentioned anthropomorphic dexterous hand, the first pulley is located on the side of the slide rail away from the single-finger base, the power component is arranged at one end of the slide rail close to the single-finger base, or the power component is arranged on the single-finger base.

[0012] In the above-mentioned anthropomorphic dexterous hand, the connecting seat includes a seat body and a slider detachably fixed to the seat body, the slider is provided with a sliding groove that cooperates with the sliding rail, and the seat body is provided with a first connecting part fixed to the pull rope and a second connecting part connected to the connecting rod.

[0013] In the above-mentioned anthropomorphic dexterous hand, a fixing groove is provided on the first connecting portion, and the pull rope is fixed in the fixing groove by screwing or clamping.

[0014] In the above-mentioned anthropomorphic dexterous hand, the second connecting portion is connected to the connecting rod through a fisheye bearing.

[0015] A humanoid robot adopts a humanoid dexterous hand of any of the above schemes.

[0016] Compared with the prior art, the advantages of the present invention are:

[0017] The power element controls the pull rope to drive the connecting seat to slide along the slide rail, solving the problem of slow response of the current dexterous hand. The slide rail is arranged on the single finger base, and the connecting seat slides along the slide rail, thereby effectively controlling the sliding direction of the connecting seat, keeping the track of the connecting seat consistent during the sliding process, and more accurately transmitting power to the finger to control the action of the finger. The reciprocating sliding of the connecting seat along the slide rail is controlled by the pull rope. After the action signal is given, the power element can quickly respond, and the connecting seat is driven to move by the pull rope. The response speed can reach milliseconds. Compared with the existing spring drive, it is not affected by the material quality and external environmental factors, has strong anti-interference ability, and enables the dexterous hand to quickly respond to actions.

[0018] Further, one end of the slide rail is provided with a first pulley, one of the upper pull section and the lower pull section passes around the first pulley, and the upper pull section and the lower pull section are connected to the same power element. The first pulley can change the direction of the pull rope of the upper pull section or the lower pull section, so that the two pull ropes can be directed towards the same direction, thereby achieving the purpose of simultaneously controlling the two pull ropes by one power element. This not only makes the control response of the upper pull section and the lower pull section faster, but also reduces the number of power elements, which is conducive to reducing costs.

[0019] Further, a second pulley is arranged between the first pulley and the power element, the upper pull section and the lower pull section are located on the two sides of the second pulley respectively, and the connecting seat is slidably arranged on the slide rail between the first pulley and the second pulley. The second pulley can prevent the pull rope passing around the first pulley from being entangled with another pull rope, ensuring smooth movement of the two pull ropes. Furthermore, by arranging the connecting seat on the slide rail between the first pulley and the second pulley, the pull rope passing around the first pulley can also be prevented from being entangled on the connecting seat, ensuring smooth sliding of the connecting seat.

[0020] Further, the first pulley and the second pulley are arranged on the slide rail through shafts respectively, and positioning sleeves are arranged on the shafts on both sides of the first pulley and the shafts on both sides of the second pulley. The positioning sleeves can ensure the positions of the pulleys on the corresponding shafts, preventing the pulleys from moving axially along the shafts during rolling, which may cause the pull rope to be detached from the pulley.

[0021] Further, a protective tube is arranged between the second pulley and the power element, and the protective tube is sleeved around the pull rope. The protective tube can protect the pull rope from colliding with other components of the dexterous hand, can fold the pull rope to reduce the space occupied by the pull rope, and can also prevent the pull ropes from being entangled.

[0022] Furthermore, the first pulley is located on a side of the slide rail away from the single-finger base, and the power member is disposed at an end of the slide rail close to the single-finger base, or the power member is disposed on the single-finger base. Placing the power member close to or on the single-finger base provides more installation space for the power member, lowers the center of gravity of the entire dexterous hand, reduces the weight of the finger portion, and, because of the ample space, provides a wider range of power member options, which helps reduce overall costs.

[0023] Furthermore, the connecting seat includes a seat body and a slider detachably fixed to the seat body, the slider is provided with a slide groove that cooperates with the slide rail, and the seat body is provided with a first connection portion fixed to the pull rope and a second connection portion connected to the connecting rod. The seat body and the slider are detachably connected, which can reduce maintenance costs when the slider is worn.

[0024] Furthermore, the first connecting portion is provided with a fixing groove, in which the draw cord is fixed by screwing or clamping. The inserted draw cord can be positioned through the fixing groove so as to better fix the draw cord to the first connecting portion.

[0025] Furthermore, the second connecting portion is connected to the connecting rod via a fisheye bearing. The fisheye bearing connection allows the connecting rod to obtain greater degrees of freedom, and the position of the posture control device can also have a larger arrangement range accordingly, reducing the design difficulty of the entire humanoid dexterous hand.

[0026] The utility model also discloses a humanoid robot, which adopts the humanoid dexterous hand of any of the above solutions, so that the response speed of the humanoid robot is faster and the hand movements are closer to those of a real person. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a three-dimensional diagram of a single finger in a humanoid dexterous hand of the present invention;

[0028] Figure 2 This is a schematic structural diagram of the posture control device in the present utility model;

[0029] Figure 3 This is an exploded view of the posture control device in the present invention;

[0030] Figure 4 This is a front view of the posture control device in the present utility model;

[0031] Figure 5 for Figure 4 AA cross-sectional view.

[0032] The accompanying drawings are:

[0033] Single-finger base 100, posture control device 200, power part 210, pull rope 220, upper pull section 221, lower pull section 222, slide rail 230, connecting seat 240, seat body 241, slider 242, slide groove 2421, first connecting part 243, fixing groove 2431, second connecting part 244, first pulley 250, second pulley 260, rotating shaft 270, positioning sleeve 280, connecting rod 300, fisheye bearing 400. DETAILED DESCRIPTION

[0034] A humanoid dexterous hand includes a single-finger base 100 and a finger joint arranged on the single-finger base 100, wherein the single-finger base 100 is provided with a posture control device 200, and the posture control device 200 is connected to the corresponding finger joint through a connecting rod 300 to control the movement of the corresponding finger joint, the posture control device 200 includes a power piece 210, a pull rope 220 driven by the power piece 210, a slide rail 230 fixed on the single-finger base 100 and a connecting seat 240 slidably arranged on the slide rail 230, the connecting seat 240 is movably connected to the connecting rod 300, the pull rope 220 includes an upper pull section 221 and a lower pull section 222, and the upper pull section 221 and the lower pull section 222 are fixedly connected to the connecting seat 240 at both ends of the sliding direction of the connecting seat 240, and the power piece 210 drives the connecting seat 240 to slide back and forth along the slide rail 230 through the pull rope 220.

[0035] The power member 210 controls the pull cord 220 to drive the connecting seat 240 to slide back and forth along the slide rail 230, thereby solving the problem of slow response of the current humanoid dexterous hand movements. The slide rail 230 is set on the single-finger base, and the connecting seat 240 slides along the slide rail 230, thereby effectively controlling the sliding direction of the connecting seat 240, keeping the trajectory of the connecting seat 240 consistent during the sliding process, and being able to more accurately transmit power to the finger to control the movement of the finger. The reciprocating sliding of the connecting seat 240 along the slide rail 230 is controlled by the pull cord 220. After the action signal is given, the power member 210 can respond quickly and drive the connecting seat 240 to move through the pull cord 220. Its response speed can reach the millisecond level. Compared with the existing spring drive, it is no longer affected by the material and is not interfered with by external environmental factors, and has strong anti-interference ability.

[0036] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0037] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0038] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this utility model, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0039] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0040] See Figures 1 to 5 This is an embodiment of the present invention of a humanoid dexterous hand and a humanoid robot using the same. The structure of the humanoid dexterous hand is similar to that of a human hand, including a palm and fingers arranged on the palm. Each finger includes a single finger base 100 and a knuckle arranged on the single finger base 100. Each joint or multiple joints of the finger can share a connecting rod 300 to control its movement. A posture control device 200 is provided between each connecting rod 300 and the single finger base 100 to control the movement of the corresponding knuckle. Figure 1 The finger structure shown is equipped with four groups of posture control devices 200, which respectively control the bending of the fingertips and knuckles, and can also control the fingers to swing left and right.

[0041] The posture control device 200 comprises a power member 210, a pull rope 220 driven by the power member 210, a slide rail 230 fixed on the single-finger base 100, and a connecting seat 240 sliding on the slide rail 230. The setting direction of the slide rail 230 can be set according to the requirements of the anthropomorphic dexterous hand. In the embodiment, the slide rail 230 is vertically set, and the connecting seat 240 slides in the vertical direction along the slide rail 230.

[0042] The pull rope 220 comprises an upper pull section 221 and a lower pull section 222. The upper pull section 221 is mainly used for pulling the connecting seat 240 upward, so that the connecting seat 240 slides upward along the slide rail 230. The lower pull section 222 is mainly used for pulling the connecting seat 240 downward, so that the connecting seat 240 slides downward along the slide rail 230. The upper pull section 221 and the lower pull section 222 can be two sections of one pull rope 220 playing different roles, or two pull ropes 220 used for different purposes. Whether one or two pull ropes 220, they are connected with the power member 210, so that the power member 210 controls the connecting seat 240 to reciprocate along the slide rail 230 by the pull rope 220.

[0043] The power member 210 can be one or two. If two power members 210, they respectively provide power for the lifting of the upper pulling section 221 and the lowering of the lower pulling section 222, such as two driving motors respectively arranged at the two ends of the upper sliding rail 230 as the power member 210, the driving motor shaft is wound or released to control the sliding of the connecting seat 240 on the sliding rail 230. In the embodiment, the power member 210 will only have one, which simultaneously controls the lifting of the upper pulling section 221 or the lowering of the lower pulling section 222. Specifically, a first pulley 250 is arranged at one end of the sliding rail 230, one of the upper pulling section 221 and the lower pulling section 222 passes through the first pulley 250, the first pulley 250 changes the direction of the upper pulling section 221 or the lower pulling section 222, so that the upper pulling section 221 or the lower pulling section 222 is parallel and faces one direction, and is connected with the power member 210. The power member 210 can adopt a driving motor, the pulling rope 220 of the upper pulling section 221 and the pulling rope 220 of the lower pulling section 222 are all arranged on the motor shaft of the driving motor, when the motor shaft rotates forward, the pulling rope 220 of the upper pulling section 221 is released, and the pulling rope 220 of the lower pulling section 222 is wound, so as to realize the action of lowering the connecting seat 240; when the motor shaft reverses, the pulling rope 220 of the upper pulling section 221 is wound, and the pulling rope 220 of the lower pulling section 222 is released, so as to realize the action of lifting the connecting seat 240. The upward movement or downward movement of the connecting seat 240 will also drive the corresponding finger joint action through the connecting rod 300. A sensor is arranged on the driving motor, such as a Hall sensor, which detects the rotation speed and rotation number of the motor shaft, controls the rotation speed and rotation number, adjusts the finger movement position, and detects the actual rotation speed of the motor, so as to realize real-time understanding and adjustment of the motor rotation speed, and accurate control of the flexion and extension speed of the finger.

[0044] In addition to adopting the driving motor, a double-head air cylinder or other power member 210 can also be adopted, so as to realize the forward and reverse action control of the pulling rope 220 by the power member 210, and drive the connecting seat 240 to reciprocate along the sliding rail 230. Similarly, a sensor can be added to detect the piston movement position of the double-head air cylinder, so as to accurately adjust the finger movement position.

[0045] Furthermore, the power element 210 is positioned within the single-finger base 100, below the slide rail 230, fully utilizing the space within the single-finger base 100. This lowers the center of gravity of the entire anthropomorphic dexterous hand and reduces the diameter of the fingers, making them closer to the size of human fingers. Of course, the power element 210 can also be positioned at the end of the slide rail 230 closer to the single-finger base 100. In this case, the first pulley 250 is located at the end of the slide rail 230 away from the single-finger base 100, allowing the connecting base 240 to slide on the slide rail 230 between the first base and the power element 210. If the power element 210 is positioned on the knuckle, its size is limited and it would need to generate a large torque. A suitable power element 210 would be very expensive. In this embodiment, the power element 210 is positioned within the single-finger base 100, providing ample space within the base 100. This reduces the size restrictions on the power element 210, allowing for a wider range of power element 210 options and helping to reduce the manufacturing cost of the entire dexterous hand.

[0046] If the length of the slide rail 230 is too long or the diameter of the first pulley 250 is too short, the upper pulley section 221 may interfere with or be entangled with the connecting seat 240 after passing around the first pulley 250, thereby affecting the normal sliding of the connecting seat 240. Therefore, a second pulley 260 is also provided on the slide rail 230 between the first pulley 250 and the power member 210, and the upper pulley section 221 and the lower pulley section 222 are respectively located on both sides of the second pulley 260. Through the restriction of the first pulley 250 and the second pulley 260, the pull ropes 220 on the left and right sides between the first pulley 250 and the second pulley 260 maintain a certain distance, thereby avoiding the occurrence of the above-mentioned problem.

[0047] Furthermore, a protective tube is provided between the second pulley 260 and the power part 210 and is sleeved on the outer periphery of the pull rope 220. Since multiple groups of posture control devices 200 are provided on the single-finger base 100, in order to prevent the pull ropes 220 of adjacent posture control devices 200 from being entangled, and to prevent the pull ropes 220 from touching other parts of the dexterous hand, the above functions are realized through the protective tube. The diameter of the protective tube can be smaller than the diameter of the second pulley 260, so that the two sections of the pull rope 220 below the second pulley 260 are in a retracted state.

[0048] The first pulley 250 and the second pulley 260 are both mounted on the slide rail 230 via a rotating shaft 270. Positioning sleeves 280 are provided on the rotating shafts 270 on both sides of the first pulley 250 and the second pulley 260. These sleeves limit the relative positions of the first pulley 250 and the second pulley 260 in the axial direction of the rotating shaft 270, preventing them from axially moving along the rotating shaft 270 when the rollers roll, thereby preventing the pull rope 220 from detaching from the pulleys. In addition to being an optical axis, the rotating shaft 270 can also be replaced by a bolt. The unthreaded portion of the bolt is provided with the pulley, and the bolt can also be used to secure the single-finger base 100. This eliminates the need for other components to secure the slide rail 230 to the single-finger base 100, simplifying the overall structure.

[0049] In the above embodiment, the first pulley 250 and the second pulley 260 are both arranged on the slide rail 230 through the rotating shaft 270. The first pulley 250 and the second pulley 260 are both fixed pulleys. The pull rope 220 cooperates with the fixed pulley to control the movement of the connecting seat 240. The moving speed of the connecting seat 240 is consistent with the retraction and extension speed of the pull rope 220. This method has a higher response speed. The movement of the power part 210 can be quickly transmitted to the connecting seat 240 and drive the corresponding finger joint movement through the connecting rod 300.

[0050] Based on the above embodiment, the connecting base 240 includes a base body 241 and a slider 242 that is detachably fixed to the connecting base 240. The slider 242 and the base body 241 can be connected by screws or by a detachable connection such as a snap connection. The detachable connection between the slider 242 and the base body 241 facilitates the manufacture of the connecting base 240 and meets the functional requirements of different positions of the connecting base 240. The slider 242 is a wearable part, while the base body 241 serves to connect components such as the pull rope 220 and the connecting rod 300. Therefore, the detachable connection method also facilitates replacement and maintenance of the slider 242 after it wears.

[0051] The slider 242 is provided with a slide groove 2421 that cooperates with the slide rail 230. The cross-sectional shape of the slide groove 2421 is adapted to the cross-sectional shape of the slide rail 230. For example, the slide rail 230 and the slider 242 can be made into a dovetail shape or a concave-convex cross-sectional shape.

[0052] The base body 241 is provided with a first connecting portion 243 fixed to the pull rope 220. The pull rope 220 can be fixed to the first connecting portion 243 by means of clipping or screwing. For example, a clip can be provided on the first connecting portion 243 to clamp the pull rope 220. A fixing groove 2431 can also be opened on the first connecting portion 243. The fixing groove 2431 can be provided with a spring clip to clamp the pull rope 220. The pull rope 220 can also be fixed in the fixing groove 2431 by a bolt passing through the fixing groove 2431.

[0053] The seat body 241 is also provided with a second connecting portion 244 connected to the connecting rod 300. The second connecting portion 244 and the connecting rod 300 are generally connected in an active manner to provide the connecting rod 300 with more degrees of freedom. For example, a sliding rod is provided on the second connecting portion 244, and the connecting rod 300 is slidably connected to the sliding rod. Alternatively, the connecting rod 300 is connected to the second connecting portion 244 through a fisheye bearing 400.

[0054] In order to avoid interference, the first connection part 243 and the second connection part 244 are respectively located on opposite sides of the slide rail 230. In this embodiment, the first connection part 243 and the pull rope 220 are located on the same side of the slide rail 230, while the second connection part 244 and the slider 242 are located on the other side of the slide rail 230, thereby avoiding the first pulley 250 or the pull rope 220 from affecting the movement of the connecting rod 300.

[0055] This embodiment also discloses a humanoid robot that employs any of the aforementioned dexterous humanoid hands. The dexterous humanoid hand and humanoid robot employing the aforementioned solutions exhibit extremely high responsiveness to finger control. The power element 210 rapidly drives the connecting seat 240 to slide along the slide rail 230 via the pull cord 220, thereby transmitting power through the connecting rod to the corresponding finger portion, driving the finger to bend and / or swing. Furthermore, the sliding engagement between the slide rail 230 and the connecting seat 240 limits the sliding path of the connecting seat 240, enabling even greater control precision for the fingers.

[0056] The above description is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any changes or modifications made by any technician in this field within the scope of the present invention are included in the patent scope of the present invention.

Claims

1. A humanoid dexterous hand, comprising a single-finger base and a phalanx disposed on the single-finger base, wherein the single-finger base is provided with a posture control device, the posture control device being connected to the corresponding phalanx via a connecting rod to control the movement of the corresponding phalanx, characterized in that: The posture control device includes a power piece, a pull rope driven by the power piece, a slide rail fixed on the single-finger base and a connecting seat slidably arranged on the slide rail. The connecting seat is movably connected to the connecting rod. The pull rope includes an upper pull section and a lower pull section. The upper pull section and the lower pull section are respectively fixedly connected to the connecting seat at both ends of the sliding direction of the connecting seat. The power piece drives the connecting seat to slide back and forth along the slide rail through the pull rope.

2. The humanoid dexterous hand according to claim 1, characterized in that: A first pulley is provided at one end of the slide rail, one of the upper pull-up section and the lower pull-down section passes around the first pulley, and the upper pull-up section and the lower pull-down section are connected to the same power member.

3. The humanoid dexterous hand according to claim 2, characterized in that: A second pulley is further provided between the first pulley and the power member. The upper pull section and the lower pull section are respectively located on both sides of the second pulley. The connecting seat is slidably provided on a slide rail between the first pulley and the second pulley.

4. The humanoid dexterous hand according to claim 3, characterized in that: The first pulley and the second pulley are respectively arranged on the slide rail through rotating shafts, and positioning sleeves are provided on the rotating shafts on both sides of the first pulley and the rotating shafts on both sides of the second pulley.

5. The humanoid dexterous hand according to claim 3, characterized in that: A protection tube is provided between the second pulley and the power member and is sleeved on the outer periphery of the pull rope.

6. The humanoid dexterous hand according to claim 2 or 3, characterized in that: The first pulley is located on a side of the slide rail away from the single-finger base, the power component is arranged at an end of the slide rail close to the single-finger base, or the power component is arranged on the single-finger base.

7. The humanoid dexterous hand according to claim 1, characterized in that: The connecting seat includes a seat body and a slider detachably fixed to the seat body, the slider is provided with a slide groove that cooperates with the slide rail, and the seat body is provided with a first connecting part fixed to the pull rope and a second connecting part connected to the connecting rod.

8. The humanoid dexterous hand according to claim 7, characterized in that: The first connecting portion is provided with a fixing groove, and the pull rope is fixed in the fixing groove by screwing or clamping.

9. The humanoid dexterous hand according to claim 7, characterized in that: The second connecting portion is connected to the connecting rod through a fisheye bearing.

10. A humanoid robot, characterized in that A humanoid dexterous hand according to any one of claims 1 to 9 is used.

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