Thumb assembly, non-thumb assembly, dexterous hand and robot

Abstract

The utility model provides a thumb assembly, a non-thumb assembly, a dexterous hand and a robot, and relates to the field of robots. The thumb assembly is applied to a dexterous hand (100) and comprises a thumb (1); a third motor (36); the third speed reduction self-locking device (37) is connected with the third motor (36); the third speed reduction self-locking device (37) comprises a third worm (371) connected with the third motor (36), a third worm gear (372) meshed with the third worm (371), a rotating shaft (71) fixedly connected with the third worm gear (372), and a mounting table (72) fixedly connected with the rotating shaft (71); the thumb (1) is connected to the mounting table (72).

Description

Technical Field

[0001] This utility model relates to the field of robotics, specifically to a thumb component, a non-thumb component, a dexterous hand, and a robot. Background Technology

[0002] Currently, the dexterous hands used in existing humanoid robots often cause objects to fall or slip when grasping or holding them due to the failure of the control motors in the hand. In addition, existing dexterous hands are difficult to adapt to picking up objects of different shapes and materials. Utility Model Content

[0003] The purpose of this invention is to provide a thumb component, a non-thumb component, a dexterous hand, and a robot, which aims to solve the problem that objects slip from the hand due to the failure of the hand motor in existing robots, and to enable the robot to pick up objects of different shapes.

[0004] In a first aspect, this utility model embodiment provides a thumb assembly for use in a dexterous hand (100), comprising:

[0005] Thumb (1);

[0006] The third motor (36); and

[0007] A third reduction self-locking device (37) connected to the third motor (36);

[0008] The third deceleration self-locking device (37) includes a third worm (371) connected to the third motor (36), a third worm wheel (372) meshing with the third worm (371), a rotating shaft (71) fixedly connected to the third worm wheel (372), and a mounting platform (72) fixedly connected to the rotating shaft (71); the thumb (1) is connected to the mounting platform (72).

[0009] In some embodiments, the thumb (1) includes a first root segment (11) and a first tip segment (13) hinged to the mounting platform (72), and a first middle segment (12) located between the first root segment (11) and the first tip segment (13), wherein the two ends of the first middle segment (12) are hinged to the first root segment (11) and the first tip segment (13) via a first pin (14) and a second pin (15), respectively.

[0010] A first torsion spring and a second torsion spring are respectively sleeved on the first pin (14) and the second pin (15). The two torsion arms of the first torsion spring elastically abut against the first finger root segment (11) and the first middle segment (12), and the two torsion arms of the second torsion spring elastically abut against the first finger tip segment (13) and the first middle segment (12).

[0011] The mounting platform (72) has a wire hole (721) for the first tendon rope to pass through;

[0012] The first tendon cord passes sequentially through the wire hole (721), the first finger root segment (11), the first middle segment (12) and the first finger tip segment (13), and one end of the first tendon cord is fixed to the first finger tip segment (13), and the other end of the first tendon cord is fixed to the first deceleration self-locking device (17) driven by the first motor (16).

[0013] In some embodiments, the first deceleration self-locking device (17) includes

[0014] The first worm (171) is connected to the first motor (16), the first worm wheel (172) meshes with the first worm (171), and the first winch (173) rotates synchronously with the first worm wheel (172). The first winch (173) is connected to the first tendon rope.

[0015] In some embodiments, the first worm gear (172) is integrally formed with the first winch (173).

[0016] In some embodiments, the outer shell of the first root segment (11), the outer shell of the first middle segment (12), and the outer shell of the first fingertip segment (13) are respectively provided with a first routing hole (112), a second routing hole (122), and a third routing hole (132) for the first tendon cord to pass through.

[0017] In a second aspect, this utility model embodiment also provides a non-thumb component for use in a dexterous hand (100), comprising:

[0018] The non-thumb includes a second root segment (21), a second tip segment (23), and a second middle segment (22) located between the second root segment (21) and the second tip segment (23). The two ends of the second middle segment (22) are hinged to the second root segment (21) and the second tip segment (23) via a third pin (24) and a fourth pin (25), respectively. A third torsion spring and a fourth torsion spring are respectively sleeved on the third pin (24) and the fourth pin (25). The two torsion arms of the third torsion spring elastically abut against the second root segment (21) and the second middle segment (22), and the two torsion arms of the fourth torsion spring elastically abut against the second tip segment (23) and the second middle segment (22).

[0019] The non-thumb section also includes a second tendon cord that passes sequentially through the second finger root segment (21), the second middle segment (22), and the second finger tip segment (23). One end of the second tendon cord is fixed to the second finger tip segment (23), and the other end of the second tendon cord is fixed to a second deceleration self-locking device (27) driven by a second motor (26).

[0020] The second deceleration self-locking device (27) includes a second worm (271) connected to the second motor (26), a second worm wheel (272) meshing with the second worm (271), and a second winch (273) rotating synchronously with the second worm wheel (272). The second winch (273) is connected to the second tendon rope.

[0021] In some embodiments, the second worm gear (272) is integrally formed with the second winch (273).

[0022] In some embodiments, the non-thumb is the index finger, middle finger, ring finger, or little finger.

[0023] In a third aspect, this utility model embodiment also provides a dexterous hand (100), including the thumb component described above and the non-thumb component described above.

[0024] In a fourth aspect, this utility model embodiment also provides a robot, including the dexterous hand (100) described above. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 A schematic diagram of the structure of a dexterous hand provided in an embodiment of this utility model;

[0027] Figure 2 for Figure 1 A schematic diagram of the structure after the worm gear box is disassembled by a dexterous hand.

[0028] Figure 3 for Figure 1 Schematic diagram of the middle thumb component;

[0029] Figure 4 for Figure 1 Schematic diagram of the structure of the worm gearbox;

[0030] Figure 5 for Figure 4 A schematic diagram of the structure of the worm gearbox after the cover is removed.

[0031] Icons: 100 - Dexterous Hand; 1 - Thumb; 11 - First Finger Base Segment; 12 - First Middle Segment; 112 - First Wiring Hole; 122 - Second Wiring Hole; 132 - Third Wiring Hole; 13 - First Finger Tip Segment; 14 - First Pin; 15 - Second Pin; 2 - Index Finger; 21 - Second Finger Base Segment; 212 - Wiring Hole; 222 - Wiring Hole; 232 - Wiring Hole; 22 - Second Middle Segment; 23 - Second Finger Tip Segment; 24 - Third Pin; 25 - Fourth Pin; 26 - Second Motor; 27 - Second Reduction Self-Locking Device; 271 - Second Worm Gear; 27 2-Second worm gear; 273-Second winch; 3-Middle finger; 4-Ring finger; 5-Little finger; 6-Palm; 61-Guide post; 62-Connecting position; 63-Circuit board; 71-Shaft; 72-Mounting platform; 721-Wire hole; 36-Third motor; 37-Third reduction self-locking device; 371-Third worm; 372-Third worm gear; 16-First motor; 17-First reduction self-locking device; 171-First worm; 172-First worm gear; 173-First winch; 8-Worm gear box; 81-Box body; 82-Cover; 811-Leaving hole. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0033] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0034] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0035] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0036] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," not that the structure must be completely horizontal, but can be slightly tilted.

[0037] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0038] like Figures 1 to 3 The dexterous hand 100 provided in this embodiment can be applied to robots, such as humanoid robots, to achieve grasping or holding of objects. The dexterous hand 100 includes a palm 6, a thumb 1 connected to the palm 6, and non-thumb fingers. The non-thumb fingers may include, for example, the index finger 2, middle finger 3, ring finger 4, and little finger 5. It should be understood that the number of fingers in the hand used in the robot does not necessarily have to be 5. Therefore, the number of fingers in the dexterous hand 100 of this embodiment does not necessarily have to be 5. For example, the number of non-thumb fingers can be 3 or even 2. It can be flexibly selected according to the actual working conditions of the application of the dexterous hand 100. For ease of description, the dexterous hand 100 of this embodiment is described using 5 fingers as an example.

[0039] The edge of the palm 6 is provided with connecting positions 62 for connecting the index finger 2, middle finger 3, ring finger 4, and little finger 5. For example, the index finger 2, middle finger 3, ring finger 4, and little finger 5 can be hinged to their respective connecting positions 62.

[0040] In this embodiment, the non-thumb, namely index finger 2, middle finger 3, ring finger 4 and little finger 5, can adopt the same structure and the same driving method. The only difference between index finger 2, middle finger 3, ring finger 4 and little finger 5 is the size selection. Therefore, the following description will take index finger 2 as an example.

[0041] The index finger 2 includes a second root segment 21 connected to the palm 6, a second tip segment 23 away from the palm 6, and a second middle segment 22 located between the second root segment 21 and the second tip segment 23. The two ends of the second middle segment 22 are hinged to the second root segment 21 and the second tip segment 23 via a third pin 24 and a fourth pin 25, respectively.

[0042] A third torsion spring and a fourth torsion spring are respectively fitted onto the third pin 24 and the fourth pin 25. The two torsion arms of the third torsion spring elastically abut against the second finger root segment 21 and the second middle segment 22, respectively. The two torsion arms of the fourth torsion spring elastically abut against the second finger tip segment 23 and the second middle segment 22, respectively.

[0043] The elastic resistance of the third and fourth torsion springs allows the index finger 2, which is composed of the second root segment 21, the second middle segment 22, and the second tip segment 23, to be in a straight position.

[0044] In this embodiment, a stop and limiting step can be formed between the second root segment 21 and the second middle segment 22, as well as between the second middle segment 22 and the second fingertip segment 23, to limit the second middle segment 22 from rotating too far away from the palm 6 relative to the second root segment 21, and to limit the second fingertip segment 23 from rotating too far away from the palm 6 relative to the second middle segment 22.

[0045] In this embodiment, the second finger root segment 21, the second middle segment 22, and the second finger tip segment 23 each include a shell and a hollow cavity formed in the shell. Each shell is provided with a wiring hole 212, a wiring hole 222, and a wiring hole 232 that pass through both ends of the finger segment. These wiring holes 212, 222, and 232 allow the second tendon cord to pass through.

[0046] One end of the second tendon cord passes through the aforementioned wiring holes 212, 222, and 232 in sequence and is fixed in the wiring hole 232 of the second fingertip segment 23. The other end of the second tendon cord is connected to the second deceleration self-locking device 27 driven by the second motor 26. Both the second motor 26 and the second deceleration self-locking device 27 are fixed to the palm 6.

[0047] In this embodiment, the second deceleration self-locking device 27 includes a second worm 271 connected to the second motor 26, a second worm wheel 272 meshing with the second worm 271, and a second winch 273 fixedly connected to the second worm wheel 272 and rotating synchronously with the second worm wheel 272. The second winch 273 is connected to the second tendon rope.

[0048] The second worm gear 272 and the second winch 273 can be integrally molded, which is equivalent to configuring the second worm gear 272 and the second winch 273 in a modular form. For example, they can be integrally molded using brass. In this way, not only can the stability of the synchronous rotation of the second worm gear 272 and the second winch 273 be guaranteed, but compared with the second worm gear 272 and the second winch 273 adopting a separate structure, the integrally molded structure of the second worm gear 272 and the second winch 273 can effectively save the space occupied by the palm of the hand 6. In particular, the integral structure makes the assembly process more convenient.

[0049] Furthermore, the brass-made second winch 273 is softer than the iron winch, allowing for better winding of the second tendon rope and preventing wear. Additionally, the brass-made second worm gear 272, due to its flexibility, provides a buffering effect during repeated engagement, thus extending its service life.

[0050] As described above, when the second motor 26 drives the second worm 271 to rotate, the second worm 271 drives the second worm wheel 272 meshing with it to rotate, and the second worm wheel 272 drives the second winch 273, which is fixed to or integrally formed with it, to rotate synchronously. Then, the second tendon rope wound on the second winch 273 pulls the index finger 2. Since the other end of the second tendon rope is fixed to the cable hole 232 of the second fingertip segment 23, for example, the other end of the second tendon rope can be tied to a stop block positioned on the second fingertip segment 23, and the movement of the second tendon rope is limited by the stop block.

[0051] When the second tendon rope is pulled by the second winch 273, the second finger root segment 21, the second middle segment 22, and the second fingertip segment 23 all move toward the palm of the hand 6, causing the index finger 2 to bend toward the palm of the hand 6. The third and fourth torsion springs, which are sleeved on the third pin 24 and the fourth pin 25, will be compressed and accumulate elastic potential energy. The "meshing self-locking characteristic" between the second worm 271 and the second worm wheel 272 is used to lock the current posture of the index finger 2. Even if the second motor 26 fails, the second worm 271 will not rotate in the opposite direction, allowing the second worm wheel 272 to remain locked at its current rotation angle. The second winch 2, which is fixed to or integrally formed with the second worm wheel 272, is then locked in place. 73 will also be locked in its current rotation angle state, and the second tendon rope wrapped around the second winch 273 will also maintain its current stretch stroke state, so the index finger 2 will be able to maintain its current bent posture. Since the index finger 2 can maintain its current bent posture, the middle finger 3, ring finger 4, and little finger 5, which adopt the same structure, can also maintain their current bent posture. So when the dexterous hand 100 with the index finger 2, middle finger 3, ring finger 4, and little finger 5 grasps or holds an object, even if the motors of each finger fail, since each finger can maintain its current bent posture, it can effectively prevent the grasped or held object from slipping or falling off the dexterous hand 100.

[0052] In this embodiment, the thumb 1 and index finger 2 have similar structures and operating processes. The difference lies in that the thumb 1 in this embodiment can also swing sideways relative to the palm 6. The thumb 1 can swing towards or away from the palm 6. The main mechanism is that the thumb 1 is not directly connected to the palm 6, but is indirectly rotatably connected to the palm 6 via the mounting platform 72, so that the thumb 1 can swing relative to the palm 6. The mounting platform 72 has a wire hole 721 for the first tendon cord to pass through.

[0053] The rotating shaft 71 is connected to a third deceleration self-locking device 37 driven by a third motor 36. Both the third motor 36 and the third deceleration self-locking device 37 are fixed to the palm 6. In this embodiment, the third deceleration self-locking device 37 includes a third worm gear 371 connected to the third motor 36 and a third worm wheel 372 meshing with the third worm gear 371. The third worm wheel 372 is fixed to the rotating shaft 71, and the rotating shaft 71 substantially constitutes the central axis of the third worm wheel 372.

[0054] The thumb 1 includes a first base segment 11 hinged to the mounting platform 72, a first tip segment 13 away from the palm 6, and a first middle segment 12 located between the first base segment 11 and the first tip segment 13. The two ends of the first middle segment 12 are hinged to the first base segment 11 and the first tip segment 13 via a first pin 14 and a second pin 15, respectively. A first torsion spring and a second torsion spring are respectively sleeved on the first pin 14 and the second pin 15. The two torsion arms of the first torsion spring elastically abut against the first base segment 11 and the first middle segment 12, and the two torsion arms of the second torsion spring elastically abut against the first tip segment 13 and the first middle segment 12. The elastic abutment of the first torsion spring and the second torsion spring allows the thumb 1, composed of the first base segment 11, the first middle segment 12 and the first tip segment 13, to be in a straight state.

[0055] The first finger root segment 11, the first middle segment 12, and the first finger tip segment 13 each have an outer shell and a hollow cavity formed within the outer shell. The outer shell is provided with a first thread hole 112, a second thread hole 122, and a third thread hole 132 that pass through both ends of each finger segment. The first thread hole 112, the second thread hole 122, and the third thread hole 132 are provided for the first tendon chord to pass through.

[0056] One end of the first tendon cord passes through the first wiring hole 112, the second wiring hole 122 and the third wiring hole 132 in sequence and is fixed to the first fingertip segment 13. The other end of the first tendon cord passes through the wire hole 721 on the mounting platform 72 and is connected to the first deceleration self-locking device 17 driven by the first motor 16. Both the first motor 16 and the first deceleration self-locking device 17 are fixed to the palm 6.

[0057] The first deceleration self-locking device 17 includes a first worm gear 171 connected to the first motor 16, a first worm wheel 172 meshing with the first worm gear 171, and a first winch 173 fixedly connected to the first worm wheel 172 and rotating synchronously with the first worm wheel 172. The first winch 173 is connected to the first tendon rope.

[0058] In this embodiment, such as Figure 4 and Figure 5 The dexterous hand 100 may further include a worm gear box 8 that provides a closed chamber for the first worm 171 and the first worm wheel 172. The worm gear box 8 includes a housing 81 and a cover 82 that can be opened and closed and removed from the housing 81. The housing 81 is provided with a clearance hole 811 into which the drive shaft of the first motor 16 extends. The worm gear box 8 can contain lubricating oil for lubricating the first worm 171 and the first worm wheel 172 to ensure smooth meshing of the first worm 171 and the first worm wheel 172. It should be emphasized that in this embodiment, whenever a worm and a worm wheel are used, a corresponding worm gear box 8 can be used.

[0059] like Figure 2 The palm 6 can also form a guide post 61 for guiding the first tendon cord. The first tendon cord passes through and fits the outer periphery of the guide post 61. The guide post 61 can act as a pulley and can increase the tension when the first tendon cord is pulled.

[0060] As described above, when the first motor 16 drives the first worm gear 171 to rotate, the first worm gear 171 drives the first worm wheel 172 meshing with it to rotate, and the first worm wheel 172 drives the first winch 173 fixed to or integrally formed with it to rotate synchronously. Then, the first tendon rope wound on the first winch 173 pulls the thumb 1. The other end of the first tendon rope can be fixed in the third cable hole 132 of the first fingertip segment 13. For example, the other end of the first tendon rope can be tied to a stop block positioned on the first fingertip segment 13, and the movement of the first tendon rope is limited by the stop block.

[0061] When the first tendon rope is pulled by the first winch 173, the first finger root segment 11, the first middle segment 12, and the first fingertip segment 13 all move toward the palm of the hand 6, causing the thumb 1 to bend toward the palm of the hand 6. The first torsion spring and the second torsion spring, which are sleeved on the first pin 14 and the second pin 15, will be compressed and accumulate elastic potential energy. Utilizing the "meshing self-locking characteristic" between the first worm 171 and the first worm wheel 172, even if the first motor 16 fails, the first worm 171 will not rotate in the opposite direction, so that the first worm wheel 172 can remain locked at its current rotation angle. The first winch 173, which is fixed to or integrally formed with the first worm wheel 172, will also be locked at its current rotation angle. The first tendon rope wound on the first winch 173 will also remain at its current stretch stroke, so the thumb 1 can maintain its current bent posture.

[0062] The thumb 1 has the same function as the index finger 2, and can lock in its bent position. The dexterous hand 100 uses the thumb 1, and together with the index finger 2, middle finger 3, ring finger 4 and little finger 5, it can effectively prevent the grasped or held object from slipping off or falling from the dexterous hand 100.

[0063] In addition, the third motor 36 drives the third worm gear 371 connected to it to rotate, and the third worm gear 371 drives the third worm wheel 372 meshing with it to rotate, and the third worm wheel 372 drives the rotating shaft 71 fixed to it to rotate, and the rotating shaft 71 drives the mounting platform 72 fixed to it to rotate synchronously, and the mounting platform 72 drives the thumb 1 to rotate around the rotating shaft 71, so that the thumb 1 rotates relative to the palm 6, thereby realizing the side swing of the thumb 1 relative to the palm 6.

[0064] When the dexterous hand 100 adopts the aforementioned thumb 1, which can be bent and tilted to the side, and is combined with the bendable index finger 2, middle finger 3, ring finger 4, and little finger 5, the "meshing self-locking characteristic" of the worm gears of each finger allows each finger to lock in its current bending posture. This not only prevents the grasped or held object from slipping or falling off the dexterous hand 100, but also allows for precise control of the bending posture and gripping force of each finger by controlling the motor speed and rotation angle of each finger. Thus, the dexterous hand 100 can grasp and pick up objects of different shapes and materials.

[0065] In addition, in this embodiment, the thumb 1, index finger 2, middle finger 3, ring finger 4 and little finger 5 can all be attached with an elastic layer, such as silicone, on the palm side facing the hand 6, to increase the friction of each finger when picking up objects.

[0066] In addition, a circuit board 63 for controlling the working status of each motor is fixed on the back of the palm 6.

[0067] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A thumb assembly for use in a dexterous hand (100), characterized in that, include: Thumb (1); Third motor (36); as well as A third reduction self-locking device (37) connected to the third motor (36); The third deceleration self-locking device (37) includes a third worm (371) connected to the third motor (36), a third worm wheel (372) meshing with the third worm (371), a rotating shaft (71) fixedly connected to the third worm wheel (372), and a mounting platform (72) fixedly connected to the rotating shaft (71); the thumb (1) is connected to the mounting platform (72).

2. The thumb assembly according to claim 1, characterized in that, The thumb (1) includes a first root segment (11) and a first tip segment (13) hinged to the mounting platform (72), and a first middle segment (12) located between the first root segment (11) and the first tip segment (13). The two ends of the first middle segment (12) are respectively hinged to the first root segment (11) and the first tip segment (13) via a first pin (14) and a second pin (15). A first torsion spring and a second torsion spring are respectively sleeved on the first pin (14) and the second pin (15). The two torsion arms of the first torsion spring elastically abut against the first finger root segment (11) and the first middle segment (12), and the two torsion arms of the second torsion spring elastically abut against the first finger tip segment (13) and the first middle segment (12). The mounting platform (72) has a wire hole (721) for the first tendon rope to pass through; The first tendon cord passes sequentially through the wire hole (721), the first finger root segment (11), the first middle segment (12) and the first finger tip segment (13), and one end of the first tendon cord is fixed to the first finger tip segment (13), and the other end of the first tendon cord is fixed to the first deceleration self-locking device (17) driven by the first motor (16).

3. The thumb assembly according to claim 2, characterized in that, The first deceleration self-locking device (17) includes The first worm (171) is connected to the first motor (16), the first worm wheel (172) meshes with the first worm (171), and the first winch (173) rotates synchronously with the first worm wheel (172). The first winch (173) is connected to the first tendon rope.

4. The thumb assembly according to claim 3, characterized in that, The first worm gear (172) and the first winch (173) are integrally formed.

5. The thumb assembly according to claim 2, characterized in that, The outer shell of the first finger root segment (11), the outer shell of the first middle segment (12), and the outer shell of the first finger tip segment (13) are respectively provided with a first routing hole (112), a second routing hole (122), and a third routing hole (132) for the first tendon cord to pass through.

6. A non-thumb component for use in a dexterous hand (100), characterized in that, include: The non-thumb includes a second root segment (21), a second tip segment (23), and a second middle segment (22) located between the second root segment (21) and the second tip segment (23). The two ends of the second middle segment (22) are hinged to the second root segment (21) and the second tip segment (23) via a third pin (24) and a fourth pin (25), respectively. A third torsion spring and a fourth torsion spring are respectively sleeved on the third pin (24) and the fourth pin (25). The two torsion arms of the third torsion spring elastically abut against the second root segment (21) and the second middle segment (22), and the two torsion arms of the fourth torsion spring elastically abut against the second tip segment (23) and the second middle segment (22). The non-thumb section also includes a second tendon cord that passes sequentially through the second finger root segment (21), the second middle segment (22), and the second finger tip segment (23). One end of the second tendon cord is fixed to the second finger tip segment (23), and the other end of the second tendon cord is fixed to a second deceleration self-locking device (27) driven by a second motor (26). The second deceleration self-locking device (27) includes a second worm (271) connected to the second motor (26), a second worm wheel (272) meshing with the second worm (271), and a second winch (273) rotating synchronously with the second worm wheel (272). The second winch (273) is connected to the second tendon rope.

7. The non-thumb component according to claim 6, characterized in that, The second worm gear (272) and the second winch (273) are integrally formed.

8. The non-thumb component according to claim 6, characterized in that, The non-thumb refers to the index finger, middle finger, ring finger, or little finger.

9. A dexterous hand (100), characterized in that, It includes the thumb component as described in any one of claims 1-5, and the non-thumb component as described in any one of claims 6-8.

10. A robot, characterized in that, Including the dexterous hand (100) as described in claim 9.

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