Tendon-roped control structure for a robotic finger

Abstract

A tendon rope drive control structure for a robot finger, comprising a palm component, a finger assembly and a pull wire driving device, the finger assembly is respectively installed on the corresponding part of the finger joint of the palm component; the finger assembly comprises five finger structures, each finger structure comprises a metacarpal joint and a finger joint, and the metacarpal joint is rotatably connected with the finger joint and all finger joints; the output end of the pull wire driving device is connected with a control pull wire, the palm side of the finger joint between the metacarpal joint and the last finger joint is provided with a threading slot hole part, the end of the control pull wire is sequentially threaded through the threading slot hole part and connected on the last finger joint, and the distance between the threading slot hole part and the rotation axis of the finger joint is different in the same finger structure; an elastic reset structure is further arranged at the finger joint. The utility model can make the palm conform to the human palm proportion, the finger can also be designed to be slender, and the finger joint can conform to the human finger joint movement law, and the operation is high in fine degree.

Description

Technical Field

[0001] This utility model belongs to the technical field of robots, specifically relating to a tendon ligament drive control structure for robot fingers. Background Technology

[0002] In the field of robotics, the robot hand, as a key component for achieving fine manipulation and complex interaction, has a precise and complex motion control structure to simulate the diverse hand movements of humans, thus distinguishing it from other screen-based human-computer interaction methods.

[0003] In the prior art, patent CN 20773078 A discloses a humanoid five-fingered dexterous hand based on spatial linkages and planetary gear systems, including: a palm, a thumb, and four fingers. Four sets of spatial linkage mechanisms are configured on the palm and correspondingly connected to the four fingers, enabling freedom of finger bending and lateral movement. A horizontally placed micro-electric cylinder is installed at the bottom of the palm, which drives the thumb through a gear and rack assembly to achieve freedom of palm swing. While this solution uses linkage transmission control to drive finger grasping movements, and the linkages possess high structural strength and load-bearing capacity, the drive motor needs to be integrated into a space the size of the palm, resulting in a thick palm that does not conform to human hand proportions, making it difficult for users to adapt to gesture interactions, such as handshakes. Furthermore, the number of control motors that can be accommodated within the palm-sized space is limited, and when controlling finger grasping movements, only all finger joints can move simultaneously, which does not conform to the movement patterns of human finger joints, easily leading to insufficient precision in operation and the uncanny valley effect in interaction. Utility Model Content

[0004] This invention addresses the shortcomings of existing technologies by proposing a simple, human-proportioned tendon-and-wire drive control structure for robotic fingers. This structure allows for hand proportions, slender finger designs, and finger joints that conform to human finger joint movement patterns, while also providing a high degree of precision in operation.

[0005] The specific technical solution is as follows:

[0006] A tendon-wire-driven control structure for a robot finger includes a palm component, finger components, and a pull-wire drive device, wherein the finger components are respectively installed on the corresponding parts of the knuckles of the palm component;

[0007] The finger assembly includes at least two finger structures, each finger structure including a metacarpal joint and at least one finger joint, wherein the metacarpal joints and finger joints, as well as all finger joints, are rotatably connected by knuckles.

[0008] The output end of the pull-wire drive device is connected to a control pull wire. Each finger joint between the metacarpal joint and the distal phalanx is provided with a threading slot on the palm side. The end of the control pull wire passes through the threading slot in sequence and is connected to the distal phalanx. The distance between the wire inlet end of each threading slot and the rotation axis of the finger joint is different in the same finger structure.

[0009] An elastic reset structure is also provided at the finger joint, which provides elastic force to restore the finger structure to an upright position.

[0010] Preferably, the finger assembly includes a five-finger structure, wherein four of the parallel finger structures include a metacarpal joint and three finger joints, and the other finger structure includes a metacarpal joint and two finger joints, wherein the metacarpal joints and finger joints, as well as all finger joints, are connected by rotatable knuckles.

[0011] Preferably, the arm component is also included, wherein the wrist of the hand component is provided with a cross wrist joint component, the end of the arm component is movably connected to the hand component through the cross wrist joint component, and the pull-wire drive device is disposed in the arm component.

[0012] Preferably, a plurality of threading sleeves are provided between the arm component and the palm component to control the passage of the pull wire.

[0013] Preferably, the control cable consists of an elastic pull rope section and two rigid pull rope sections, with the two rigid pull rope sections respectively located at both ends of the elastic pull rope section, and the elastic pull rope section being the control pull rope section between the finger assembly and the pull cable drive device.

[0014] Preferably, the elastic pull rope segment is located between the finger joints connecting the palm part and the metacarpal joint.

[0015] Preferably, the elastic reset structure is provided with a reset elastic pull rope, and limiting grooves are provided on the back side of each finger joint between the metacarpal joint and the distal finger joint. An arc-shaped groove is provided on the finger joint. All limiting grooves and arc-shaped grooves are arranged in a straight line. The reset elastic pull rope is located in the limiting grooves and arc-shaped grooves, and both ends of the reset elastic pull rope are connected to the metacarpal joint and the distal finger joint, respectively.

[0016] Preferably, the palm component has a finger mounting hole, and the metacarpal joint has an insertion part, which is detachably and / or rotatably mounted in the finger mounting hole.

[0017] Preferably, the middle part of the plug-in portion is provided with at least a half-circle elastic sheet contraction ring, and a ring-shaped elastic fence sheet group is connected to the bottom of the elastic sheet contraction ring. The outer diameter of the elastic fence sheet group is the same as that of the plug-in portion, and a positioning arc protrusion is provided at the upper end of the elastic fence sheet group. A positioning arc groove is opened in the middle of the finger mounting hole, and the arc protrusion cooperates with the positioning arc groove.

[0018] Preferably, the pull-wire drive device includes a drive motor, the output end of which is connected to a winding rudder, the control pull wire is wound on the winding rudder, a pull wire clamping hole is provided on the outer side of the winding rudder, and pull wire clamps are provided at both ends of the control pull wire, one pull wire clamp is locked in the pull wire clamping hole, and the other is locked in the distal finger joint.

[0019] The beneficial effects of this utility model are as follows: the structure is simple, and by controlling the pull wire to drive at the distal end such as the arm, the hand design can conform to the proportion of the human hand, and the fingers can also be designed to be slender, which can be used for female robot characters with relatively long hands. Furthermore, the different distances between the wire inlet end of the wire slot and the rotation axis of the finger joint create different torques for pulling control. Moreover, by controlling the elastic pull rope section of the pull wire to provide a more obvious and gradual elastic pulling force, the finger joints can conform to the movement law of human finger joints without increasing the number of drive motors used, resulting in a high degree of precision in operation. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall front structure of this utility model.

[0021] Figure 2 This is a three-dimensional structural diagram of the present invention.

[0022] Figure 3 This is a schematic diagram of the overall back structure of this utility model.

[0023] Figure 4 This is a structural schematic diagram of the arm component and the hand component in this utility model.

[0024] Figure 5 This is a schematic diagram of the cruciate wrist joint component in this utility model.

[0025] Figure 6 This is a schematic diagram of the second drive gear structure in this utility model.

[0026] Figure 7 This is a schematic diagram of the wire-driven device in this utility model.

[0027] Figure 8 This is a schematic diagram of the finger structure in this utility model.

[0028] Figure 9 This is a schematic diagram showing the structure and relative position of screw shaft A and screw shaft B in this utility model.

[0029] In the diagram: Arm component 1; Hand component 2; Finger assembly 3; Cross wrist joint component 4; Cable drive device 5; Elastic reset structure 6;

[0030] Forearm skeleton housing 11; cable drive mounting cavity 12; first wire threading hole group 13; mounting groove 14; control adapter circuit board 15; robot connector 16; clamping plate pivot support lug assembly 17; wire threading sleeve group 18.

[0031] Second threading hole group 21; Finger mounting hole 22; Rotary shaft support structure 23;

[0032] Finger structure 31; metacarpal joint 32; finger joint 33; finger joint 34;

[0033] 321; 322; 323; 324; 325; 326; 327; 328; 329; 320; 321; 322; 323; 324; 325; 322; 323; 324 ...5; 3

[0034] Joint base 41; first joint pivot assembly 42; second joint pivot assembly 43; first sector tooth structure 44; second sector tooth structure 45; first rotary drive device 46; second rotary drive device 47; first drive gear structure 48; second drive gear structure 49.

[0035] Screw shaft A421; Screw shaft B431; Fixing screw hole 411;

[0036] Driven gear 491; driven gear 492; connecting shaft 493; output gear 494;

[0037] 51. Control cable; 52. Drive motor; 53. Winding rudder disc; 54. Cable clamp hole; 55. Cable clamp; 56. Cable threading slot.

[0038] Elastic pull rope section 511; Rigid pull rope section 512;

[0039] 61. Reset elastic pull rope; 62. Limiting groove; 63. Arc-shaped groove. Detailed Implementation

[0040] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the scope of protection of the present invention.

[0041] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. 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.

[0042] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" 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 direct connection or a connection through an intermediate medium; or they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0043] Example:

[0044] like Figures 1 to 9 As shown: A tendon-wire drive control structure for a robot finger includes an arm component 1, a palm component 2, and a finger assembly 3. The finger assembly 3 is respectively installed on the corresponding part of the finger joint of the palm component 2. A cross wrist joint component 4 is provided at the wrist of the palm component 2. The end of the arm component 1 is movably connected to the palm component 2 through the cross wrist joint component 4.

[0045] The aforementioned finger assembly 3 includes at least two finger structures 31. Each finger structure 31 includes a metacarpal joint 32 and at least one finger joint 33. The metacarpal joint 32 and the finger joint 33, as well as all the finger joints 33, are rotatably connected through finger joints 34. Specifically, for a human simulated hand, a normal finger assembly 3 includes five finger structures 31. Other numbers are not limited because special cases such as disability or polydactyly are considered. Four finger structures 31 arranged side by side include a metacarpal joint 32 and three finger joints 33. Another finger structure 31 includes a metacarpal joint 32 and two finger joints 33. The metacarpal joint 32 is designed to allow the connected finger joints 33 to have room for movement and to provide a more realistic skin space for the overlay. The metacarpal joints 32 and the finger joints 33 of the same finger structure 31, as well as all the finger joints 33, are rotatably connected through finger joints 34.

[0046] The arm component 1 is provided with a forearm skeleton shell 11. Pull-wire drive mounting cavities 12 are evenly provided on both sides of the forearm skeleton shell 11. The pull-wire drive mounting cavities 12 on both sides are arranged alternately, and a pull-wire drive device 5 is installed in the pull-wire drive mounting cavity 12. A first threading hole group 13 is provided in the forearm skeleton shell 11. The first threading hole group 13 is connected to each pull-wire drive mounting cavity 12. A second threading hole group 21 is provided in the palm component 2. The first threading hole group 13 and the second threading hole group 21 have multiple independent threading holes. The output end of the pull-wire drive device 5 is connected to a control pull wire 51. The other end of the control pull wire 51 passes through the first threading hole group 13 and the second threading hole group 21 in sequence, and finally passes around the finger joint 34 and is fixedly connected to the finger joint 33 for controlling the gripping movement of the finger structure 31. In addition, the arm component 1, palm component 2, and finger component 3 are all made of non-metallic materials, such as PVC and other plastic materials. The purpose of this is twofold: first, it can achieve lightweight design and low power consumption; second, it can avoid interference when the simulated hand is used in places with electricity or magnetism. Since the palm component 2 and finger component 3 are flexibly driven by the control cable 51, there is no need to set other rigid linkages or other transmission structures in the whole. The palm component 2 and finger component 3 can be made of non-metallic materials without affecting the performance.

[0047] A threading sleeve group 18 is provided between the first threading hole group 13 and the second threading hole group 21. The control pull wire 51 passes through the threading sleeve group 18. Similarly, the threading sleeve group 18 is composed of multiple independent threading sleeves. The number of threading sleeves is the same as the number of threading holes. It can be seen from the fact that the threading sleeve group 18 is located between the first threading hole group 13 and the second threading hole group 21 that the threading sleeve group 18 is used to avoid the adjustment of the movement space of the cross wrist joint component 4 from interfering with the control pulling stroke of the control pull wire 51. Generally speaking, this interference is very large. It is difficult to calculate the movement stroke of the cross wrist joint component 4 and then use the pull wire drive device 5 to control and compensate for this stroke. Therefore, it is simpler to reserve the movement space of the cross wrist joint component 4 by using the threading sleeve group 18. In addition, the threading sleeves in the threading sleeve group 18 can also pass through each threading hole. In this way, the control pull wire 51 passes through the entire threading sleeve, which can maintain the integrity and stability of the shuttle space and avoid getting stuck or worn in the interface gap.

[0048] The number of pull-wire drive devices 5 is the same as that of finger structures 31. That is, five pull-wire drive mounting cavities 12 are evenly provided on both sides of the forearm skeleton shell 11. Each of the five pull-wire drive mounting cavities 12 is equipped with a pull-wire drive device 5. The control pull wire 51 connected to the pull-wire drive device 5 passes around the palm side of each finger joint 34 in sequence and is finally fixedly connected to the last finger joint 33. An elastic reset structure 6 is also provided at the finger joint 34. The elastic reset structure 6 provides elastic force to make the finger structure 31 return to the upright state. Alternatively, the pull-wire drive device 5 can be used to directly control the finger structure 31 to return to the upright state. In this case, the number of pull-wire drive devices 5 is more than that of finger structures 31, or the same pull-wire drive device 5 is connected to two control pull wires 51 in opposite directions. Similarly, the first threading hole group 13 and the second threading hole group 21 have the same number of independent threading holes as the number of control pull wires 51.

[0049] The aforementioned elastic reduction structure 6 includes a reduction elastic pull cord 61. Limiting grooves 62 are provided on the dorsal side of each finger joint 33 between the metacarpal joint 32 and the distal finger joint 33. Each limiting groove 62 has a closed connecting bridge at both ends to prevent the reduction elastic pull cord 61 from detaching from the limiting groove 62. The limiting grooves 62 can also be fully enclosed. An arc-shaped groove 63 is provided on the finger joint 34. All limiting grooves 62 and arc-shaped grooves 63 are arranged in a straight line. The reduction elastic pull cord 61 is located at the limiting grooves. In the groove 62 and the arc-shaped groove 63, the two ends of the reset elastic pull rope 61 are respectively connected to the metacarpal joint 32 and the distal phalanx 33. The two ends of the reset elastic pull rope 61 can be provided with ball head clips, which are locked at the opposite ends of the metacarpal joint 32 and the distal phalanx 33. The elastic reset structure 6 can also be provided with a reset spiral spring at each finger joint 34, but the reset spiral spring will increase the weight and the size of the joint, which is easy to generate installation spikes, and it is generally made of metal, which can easily scratch the outer skin.

[0050] The aforementioned control cable 51 consists of an elastic pull rope segment 511 and two rigid pull rope segments 512. The two rigid pull rope segments 512 are respectively set at both ends of the elastic pull rope segment 511. They can be connected as a whole or tied together. The elastic pull rope segment 511 is set to facilitate feedback on the gripping force. On the other hand, during the process of controlling the finger structure 31 to bend towards the palm to grasp, the control cable 51 can stably provide a gradual pulling force. As the elasticity increases, the pulling force of the control cable 51 increases. By setting different pulling force arms for different finger joints 33 in the finger structure 31, the sequential bending of each finger joint 33 can be achieved, forming a more natural finger movement effect.

[0051] Furthermore, the elastic pull cord segment 511 is the control pull cord segment located between the finger assembly 3 and the pull cord drive device 5. Currently, the optimal location for the elastic pull cord segment 511 is between the second threading hole group 21 and the finger joint 34 connecting the metacarpal joint 32. In order to ensure that the elastic pull cord segment 511 has sufficient stability and tension, the elastic pull cord segment 511 is relatively thick or composed of multiple elastic pull cords stacked together. There is more space for setting it here, and the elastic pull cord segment 511 should not be too long or the deformation length should not be too large. That is, a short elastic pull cord segment with a large elastic coefficient is required. The large elastic coefficient is to avoid the pull cord drive device 5 having too large a control stroke, and the short length of the elastic cord segment is to avoid the elastic cord segment being easily affected by external forces during deformation, which would cause the end to calculate the gripping force inaccurately.

[0052] Each finger joint 33 between the metacarpal joint 32 and the distal finger joint 33 has a threading slot 56 on its palm side. The control wire 51 is located in the threading slot 56. The distance between the wire inlet end of each threading slot 56 and the rotation axis of the finger joint 34 is different in the same finger structure 31. This allows different finger joints 33 to have different pulling arms. Generally, the lever arm is smaller for the finger joint 33 further away from the metacarpal joint 32. That is, the distance between the wire inlet end and the rotation axis of the finger joint 34 is smaller for the finger joint 33 further away from the metacarpal joint 32. The pulling force required is greater and the bending time is later. The finger joint 33 that is closer to the metacarpal joint 32 needs to be bent first, and then the subsequent connected finger joints 33 bend in sequence, thus conforming to the bending sequence of human fingers.

[0053] The palm component 2 is provided with a finger mounting hole 22, and the metacarpal joint 32 is provided with a plug part 321. The plug part 321 is detachably and / or rotatably installed in the finger mounting hole 22.

[0054] Specifically, the insertion part 321 has at least a half-circle elastic sheet contraction ring 322 in the middle. At the bottom of the elastic sheet contraction ring 322, a ring-shaped elastic fence sheet group 323 is connected. The outer diameter of the elastic fence sheet group 323 is the same as that of the insertion part 321. Each elastic fence sheet group 323 has a positioning arc protrusion 324 at its upper end. A positioning arc groove is opened in the middle of the finger mounting hole 22. The arc protrusion 324 cooperates with the positioning arc groove. This arrangement facilitates the disassembly and rotation of the finger structure 31 to adjust the gripping direction. Alternatively, a drive mechanism such as a motor can be connected to the insertion part 321 to drive the root of the finger structure 31 to twist or rotate.

[0055] The aforementioned cable-driven device 5 includes a drive motor 52, the output end of which is connected to a winding rudder disk 53. The control cable 51 is wound around the winding rudder disk 53. A cable clamping hole 54 is provided on the outer side of the winding rudder disk 53. Both ends of the control cable 51 are provided with cable clamping heads 55. One cable clamping head 55 is locked in the cable clamping head hole 54, and the other is locked in the finger joint 33 at the very end. The drive motor 52 drives the winding rudder disk 53 to rotate, thereby winding the control cable 51 and realizing the control and pulling of the finger structure 31.

[0056] An installation groove 14 is provided on the outside of the forearm frame housing 11 for installing the control adapter circuit board 15. A robot connector 16 is installed at the end of the forearm frame housing 11 for connecting the robot body or the arm part, generally connecting the arm part of the robot body.

[0057] The aforementioned cross wrist joint component 4 includes a joint base 41. The joint base 41 has a first joint pivot assembly 42 and a second joint pivot assembly 43 on its side. The rotation axes of the first joint pivot assembly 42 and the second joint pivot assembly 43 are perpendicular to each other. A first sector tooth structure 44 and a second sector tooth structure 45 are respectively provided at the upper and lower ends of the joint base 41. The rotation axes of the first sector tooth structure 44 and the second sector tooth structure 45 coincide with the rotation axes of the first joint pivot assembly 42 and the second joint pivot assembly 43, respectively. This arrangement can reduce structural complexity and save structural space.

[0058] Specifically: the first joint pivot assembly 42 consists of two opposing screw shafts A421, and the second joint pivot assembly 43 consists of two opposing screw shafts B431. Both screw shafts A421 and B431 consist of a threaded part, a pivot part, and a nut part. Two sets of opposing fixing screw holes 411 are respectively provided on the four sides of the joint base 41, and all fixing screw holes 411 are located on the same plane. The threaded parts of screw shafts A421 and B431 respectively mate with the corresponding fixing screw holes 411.

[0059] A drive mounting slot is provided in the palm component 2 and the forearm skeleton shell 11 respectively. A first rotary drive device 46 and a second rotary drive device 47 are respectively installed in the drive mounting slot. A first drive gear structure 48 and a second drive gear structure 49 are respectively provided at the output end of the first rotary drive device 46 and the second rotary drive device 47. The first drive gear structure 48 and the second drive gear structure 49 mesh with the first sector tooth structure 44 and the second sector tooth structure 45 respectively.

[0060] A pivot support structure 23 is provided on both sides of the palm component 2, and a clamp pivot support assembly 17 is installed at the end of the arm component 1. Both the pivot support structure 23 and the clamp pivot support assembly 17 have pivot mounting holes. The pivot parts of the screw shaft A421 and the screw shaft B431 are respectively rotatably installed in the pivot mounting holes of the pivot support structure 23 and the clamp pivot support assembly 17.

[0061] The second drive gear structure 49 consists of a driving gear 491, a driven gear 492, a connecting shaft 493, and an output gear 494. The driving gear 491 is installed at the output end of the second rotary drive device 47 and meshes with the driven gear 492. The driven gear 492 and the output gear 494 are both mounted on the connecting shaft 493, and the output gear 494 meshes with the second sector tooth structure 45. The clamping plate shaft support assembly 17 consists of two opposing clamping plate shaft supports. The output gear 494 and the second sector tooth structure 45 are both located between the two clamping plate shaft supports, and the connecting shaft 493 is rotatably mounted on the two clamping plate shaft supports. The upper part of the connecting shaft 493 passes through one of the clamping shaft lugs, and the driven gear 492 is located on the outside of the clamping shaft lug. This makes it easy to transmit the output power of the rotary drive device 47 from the edge to the two clamping shaft lugs and conceal it. This allows for the design of a smaller forearm skeleton shell 11, which can match the slender hand and is mostly used for the hand of female robot characters, or the hand of tall male robots. The first drive gear structure 48 is a single gear and can be directly set at the output end of the first rotary drive device 46. Since the palm part 2 is relatively wide, it is easy to adjust and set the position of the output end of the first rotary drive device 46.

[0062] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims.

Claims

1. A tendon-wire drive control structure for a robotic finger, characterized in that: It includes a palm component (2), a finger assembly (3) and a pull-wire drive device (5), wherein the finger assembly (3) is respectively installed on the corresponding part of the finger joint of the palm component (2); The finger assembly (3) includes at least two finger structures (31), each finger structure (31) including a metacarpal joint (32) and at least one finger joint (33), and the metacarpal joint (32) and the finger joint (33) and all the finger joints (33) are rotatably connected by finger joints (34). The output end of the pull-wire drive device (5) is connected to a control pull wire (51). A threading slot (56) is provided on the palm side of the finger joint (33) between the metacarpal joint (32) and the last finger joint (33). The end of the control pull wire (51) passes through the threading slot (56) in sequence and is connected to the last finger joint (33). The distance between the wire inlet end of each threading slot (56) in the same finger structure (31) and the rotation axis of the finger joint (34) is different. An elastic reset structure (6) is also provided at the finger joint (34), which provides elastic force to restore the finger structure (31) to an upright state.

2. The tendon-wire drive control structure for a robotic finger according to claim 1, characterized in that: The finger assembly (3) includes five finger structures (31), of which four parallel finger structures (31) include metacarpal joints (32) and three finger joints (33), and the other finger structure (31) includes metacarpal joints (32) and two finger joints (33). The metacarpal joints (32) and finger joints (33) and all finger joints (33) are rotatably connected by finger joints (34).

3. The tendon-rove control structure for a robotic finger according to claim 1 or 2, characterized in that: It also includes an arm component (1), and the wrist of the hand component (2) is provided with a cross wrist joint component (4). The end of the arm component (1) is movably connected to the hand component (2) through the cross wrist joint component (4), and the pull-wire drive device (5) is provided in the arm component (1).

4. The tendon-rove control structure for a robotic finger of claim 3, wherein: Several threading sleeves are provided between the arm component (1) and the palm component (2) to control the passage of the pull wire (51).

5. The tendon-rove control structure for a robotic finger according to any one of claims 1, 2 or 4, wherein: The control pull line (51) consists of an elastic pull rope section (511) and two rigid pull rope sections (512). The two rigid pull rope sections (512) are respectively located at both ends of the elastic pull rope section (511), and the elastic pull rope section (511) is the control pull line section between the finger assembly (3) and the pull line drive device (5).

6. The tendon chord drive control structure for a robotic finger according to claim 5, characterized in that: The elastic pull rope segment (511) is located between the palm part (2) and the finger joint (34) connecting the metacarpal joint (32).

7. The tendon-rove control structure for a robotic finger of any one of claims 1, 2, 4, or 6, wherein: The elastic repositioning structure (6) is provided with a repositioning elastic pull rope (61). A limiting groove (62) is provided on the back of the hand of the finger joint (33) between the metacarpal joint (32) and the distal finger joint (33). An arc-shaped groove (63) is provided on the finger joint (34). All the limiting grooves (62) and the arc-shaped groove (63) are arranged in a straight line. The repositioning elastic pull rope (61) is located in the limiting groove (62) and the arc-shaped groove (63). The two ends of the repositioning elastic pull rope (61) are connected to the metacarpal joint (32) and the distal finger joint (33) respectively.

8. The tendon-rove control structure for a robotic finger of claim 7, wherein: The palm component (2) is provided with a finger mounting hole (22), and the metacarpal joint (32) is provided with a plug (321). The plug (321) is detachably and / or rotatably installed in the finger mounting hole (22).

9. The tendon chord drive control structure for a robotic finger according to claim 8, characterized in that: The insertion part (321) is provided with at least a half-circle elastic sheet contraction ring (322) in the middle. At the bottom of the elastic sheet contraction ring (322), a ring-shaped and evenly distributed elastic fence piece group (323) is connected. The outer diameter of the elastic fence piece group (323) is the same as that of the insertion part (321), and a positioning arc protrusion (324) is provided at the upper end of the elastic fence piece group (323). A positioning arc groove is opened in the middle of the finger mounting hole (22), and the arc protrusion (324) cooperates with the positioning arc groove.

10. The tendon-rove control structure for a robotic finger of any one of claims 1, 2, 4, 6, 8, or 9, wherein: The pull-wire drive device (5) includes a drive motor (52), the output end of which is connected to a winding rudder disk (53). The control pull wire (51) is wound on the winding rudder disk (53). A pull wire clamp hole (54) is provided on the outer side of the winding rudder disk (53). Both ends of the control pull wire (51) are provided with pull wire clamps (55). One pull wire clamp (55) is clamped in the pull wire clamp hole (54), and the other is clamped in the last finger joint (33).

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