A rope-driven dexterous hand

Abstract

The utility model provides a kind of rope drive type dexterous hand.The driving member not only can drive finger movement by first tendon and second tendon, but also can adjust the tension of first tendon by corresponding first tension adjusting member when the length of first tendon increases due to plastic deformation, and / or adjust the tension of second tendon by corresponding second tension adjusting member when the length of second tendon increases due to plastic deformation.Compared with the existing tensioning device, since there is no torsional spring, the present application does not cause the problem of moving delay of the movable pulley caused by torsional spring buffering, thereby ensuring the control accuracy and speed of the tendon on the finger.Furthermore, when the first tension adjusting member and / or the second tension adjusting member need to be adjusted, the tension adjusting window can be directly used for adjustment, greatly improving the tension adjustment efficiency of the first tendon and / or the second tendon.

Description

Technical Field

[0001] This utility model relates to the field of robotic arms, specifically a rope-driven dexterous hand. Background Technology

[0002] The rope-driven dexterous hand is a biomimetic robotic end effector based on the principle of tendon-cord transmission. It drives the coordinated movement of multiple joints through a remote motor pulling a flexible, high-strength fiber rope, achieving anthropomorphic grasping and precise manipulation. Its core design uses a rigid finger bone combined with a tendon-cord-sleeve system. By precisely controlling the displacement of the tendon rope, the bending angle of the knuckles and the posture of the fingertips are adjusted to complete various actions such as clenching a fist and grasping.

[0003] However, as the ligaments are used for longer periods, their length increases due to plastic deformation, which inevitably leads to unused travel. Therefore, a tensioning module with a torsion spring and a movable pulley is needed to adjust the tension of the ligaments.

[0004] However, the movement of the movable pulley caused by the torsion spring buffer has a lag problem, which affects the joint control accuracy and speed. Therefore, there is an urgent need for a rope-driven dexterity hand that allows for easy adjustment of tendon tension. Utility Model Content

[0005] In view of this, the present invention provides a rope-driven dexterous hand to solve the problem that the torsion spring buffer of the tension module of the existing rope-driven dexterous hand causes lag in the movement of the movable pulley, which affects the joint control accuracy and speed.

[0006] To achieve the above objectives, the present invention provides the following technical solutions:

[0007] A rope-driven dexterous hand includes: an arm, a drive mechanism, and fingers;

[0008] The fingers are positioned at one end of the arm;

[0009] The drive mechanism is located inside the arm and is used to drive finger movements;

[0010] The drive mechanism includes a drive component, a tensioning module, a first guide wheel, a second guide wheel, a first tendon rope, and a second tendon rope;

[0011] The tensioning module is connected to the drive mechanism, and the drive component is used to drive the tensioning module to perform linear reciprocating motion.

[0012] The first guide wheel and the second guide wheel are both located on the same side of the tensioning module, with the first guide wheel located at the first end of the tensioning module and the second guide wheel located at the second end of the tensioning module.

[0013] The first end of the first tendon rope is connected to the tensioning module, and the second end of the first tendon rope is connected to one side of the finger around the first guide wheel.

[0014] The first end of the second tendon rope is connected to the tensioning module, and the second end of the second tendon rope is connected to the other side of the finger around the second guide wheel.

[0015] The tensioning module is provided with a first tensioning adjustment member for adjusting the tension of the first tendon rope and a second tensioning adjustment member for adjusting the tension of the second tendon rope;

[0016] The arm has tension adjustment windows corresponding to the first and second tension adjustment components.

[0017] Preferably, the first tension adjusting member and the second tension adjusting member are bolts;

[0018] The tensioning module has a first screw hole and a second screw hole, wherein the first screw hole is used to engage with the first tensioning adjustment component, and the second screw hole is used to engage with the second tensioning adjustment component.

[0019] The first end of the first tendon rope is connected to the first tensioning adjustment element;

[0020] The first end of the second tendon rope is connected to the second tensioning adjustment element.

[0021] Preferably, the first tensioning adjustment member has an axially formed first through hole for the first tendon rope to pass through;

[0022] The first end of the first tendon cord is provided with a first knot, which is used to restrict the first tendon cord from passing through the first through hole;

[0023] The second tensioning adjustment component has a second through hole in the axial direction for the second tendon rope to pass through;

[0024] The first end of the second tendon cord is provided with a second knot, which is used to restrict the first end of the second tendon cord from passing through the second through hole.

[0025] Preferably, the direction of the first screw hole is the same as the direction of the second screw hole, and the first screw hole is perpendicular to the movement direction of the tensioning module.

[0026] Preferably, the first tensioning adjustment element includes: a screw head and a stud;

[0027] The screw head is located at one end of the stud, and the screw head is an internal hexagonal screw head.

[0028] Preferably, the tensioning module is further provided with a first guide post and a second guide post;

[0029] The first guide post is disposed at the first end near the first screw hole, and the first guide post is perpendicular to the axis of the first screw hole, wherein the second end of the first screw hole is used for the first tension adjustment member to be screwed in;

[0030] The second end of the first tendon rope is connected to the finger by successively wrapping around the first guide post and the first guide wheel;

[0031] The second guide post is disposed near the first end of the second screw hole, and the second guide post is perpendicular to the axis of the second screw hole. The second end of the second screw hole is used for the second tension adjustment member to be screwed in.

[0032] The second end of the second tendon rope is connected to the finger by successively wrapping around the second guide post and the second guide wheel.

[0033] Preferably, the driving component is a linear lead screw motor.

[0034] Preferably, the tensioning module is connected to the shaft of the drive unit via an adapter.

[0035] Preferably, the adapter and the drive shaft are threaded together;

[0036] The adapter is threadedly connected to the tensioning module.

[0037] Preferably, it also includes: a cover plate;

[0038] The cover plate is fixed to the tension adjustment window by bolts.

[0039] Based on the above, this utility model provides a rope-driven dexterous hand, in which fingers are positioned at one end of the arm, a driving mechanism for driving finger movement is located inside the arm, a tensioning module is connected to the driving mechanism, and the tensioning module is driven to perform linear reciprocating motion through a driving component, a first guide wheel and a second guide wheel are both located on the same side of the tensioning module, with the first guide wheel located at the first end of the tensioning module and the second guide wheel located at the second end of the tensioning module, the first end of the first tendon rope is connected to the tensioning module, the second end of the first tendon rope is connected to one side of the finger around the first guide wheel, the first end of the second tendon rope is connected to the tensioning module, and the second end of the second tendon rope is connected to the other side of the finger around the second guide wheel, and a first tensioning adjustment component for adjusting the tension of the first tendon rope and a second tensioning adjustment component for adjusting the tension of the second tendon rope are provided in the tensioning module, and a tension adjustment window corresponding to the first tensioning adjustment component and the second tensioning adjustment component is provided in the arm. The cable-driven dexterous hand disclosed above allows the drive unit to not only move the fingers via the first and second tendon cables, but also adjust the tension of the first tendon cable by means of a corresponding first tension adjustment unit when the length of the first tendon cable increases due to plastic deformation, and / or adjust the tension of the second tendon cable by means of a corresponding second tension adjustment unit when the length of the second tendon cable increases due to plastic deformation. Compared with existing tensioning devices, this application does not have a torsion spring, therefore, it does not have the problem of delayed movement of the movable pulley caused by the torsion spring buffer, thus ensuring the accuracy and speed of the tendon cable control over the fingers. Furthermore, when it is necessary to adjust the first and / or second tension adjustment units, it can be adjusted directly through the tension adjustment window, which greatly improves the tension adjustment efficiency of the first and / or second tendon cables. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0041] Figure 1 A schematic diagram of the structure of a rope-driven dexterous hand provided in an embodiment of this utility model;

[0042] Figure 2 This is a schematic diagram of the internal structure of the arm provided in an embodiment of the present utility model;

[0043] Figure 3 A schematic diagram of the drive mechanism provided in an embodiment of this utility model;

[0044] Figure 4 This is a schematic diagram of the tensioning module provided in an embodiment of the present invention.

[0045] The components include: arm 1; tension adjustment window 11; drive mechanism 2; drive component 21; tension module 22; first guide wheel 23; second guide wheel 24; third guide wheel 25; first tendon rope 26; second tendon rope 27; first tension adjustment component 28; second tension adjustment component 29; first guide post 210; second guide post 211; finger 3; cover plate 4; and adapter 5. Detailed Implementation

[0046] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0047] This utility model embodiment provides a rope-driven dexterous hand, see [link to relevant documentation]. Figure 1 and combined Figures 2 to 4 , Figure 1 This is a schematic diagram of the structure of a rope-driven dexterous hand, which includes: an arm 1, a drive mechanism 2, and fingers 3;

[0048] Finger 3 is positioned at one end of arm 1;

[0049] The drive mechanism 2 is located inside the arm 1 and is used to drive the movement of the fingers 3;

[0050] The drive mechanism 2 includes a drive component 21, a tensioning module 22, a first guide wheel 23, a second guide wheel 24, a first tendon rope 26, and a second tendon rope 27;

[0051] The tensioning module 22 is connected to the drive mechanism 2 via a transmission, and the drive component 21 is used to drive the tensioning module 22 to perform linear reciprocating motion.

[0052] The first guide wheel 23 and the second guide wheel 24 are both located on the same side of the tensioning module 22, with the first guide wheel 23 located at the first end of the tensioning module 22 and the second guide wheel 24 located at the second end of the tensioning module 22.

[0053] The first end of the first tendon rope 26 is connected to the tensioning module 22, and the second end of the first tendon rope 26 is connected to one side of the finger 3 by wrapping around the first guide wheel 23 in sequence.

[0054] The first end of the second tendon rope 27 is connected to the tensioning module 22, and the second end of the second tendon rope 27 is connected to the other side of the finger 3 around the second guide wheel 24.

[0055] The tensioning module 22 is provided with a first tensioning adjustment member 28 for adjusting the tension of the first tendon rope 26 and a second tensioning adjustment member 29 for adjusting the tension of the second tendon rope 27;

[0056] The arm 1 has a tension adjustment window 11 corresponding to the first tension adjustment member 28 and the second tension adjustment member 29.

[0057] It should be noted that by providing tension adjustment windows 11 on the arm 1 corresponding to the first tension adjustment member 28 and the second tension adjustment member 29, the operator can adjust the tension of the first tendon rope 26 through the first tension adjustment member 28 at the tension adjustment window 11, and adjust the tension of the second tendon rope 27 through the second tension adjustment member 29.

[0058] It should also be noted that the finger 3 of this application is connected to the drive unit 21 through the first tendon rope 26 and the second tendon rope 27. When the drive unit 21 drives the tensioning module 22 to perform linear reciprocating motion, it will drive the finger 3 to move (such as swinging left and right, and bending or unfolding) through the first tendon rope 26 and the second tendon rope 27.

[0059] In this embodiment of the invention, a finger 3 is positioned at one end of an arm 1. A driving mechanism 2 for moving the finger 3 is located inside the arm 1. A tensioning module 22 is connected to the driving mechanism 2 and is driven by a driving component 21 to perform linear reciprocating motion. The first guide wheel 23 and the second guide wheel 24 are both located on the same side of the tensioning module 22, with the first guide wheel 23 located at the first end of the tensioning module 22 and the second guide wheel 24 located at the second end of the tensioning module 22. The first end of the first tendon rope 26 is connected to the tensioning module 22. The second end of the first tendon rope 26 is connected to one side of the finger 3 by winding around the first guide wheel 23. The first end of the second tendon rope 27 is connected to the tensioning module 22. The second end of the second tendon rope 27 is connected to the other side of the finger 3 by winding around the second guide wheel 24. The tensioning module 22 is provided with a first tensioning adjustment member 28 for adjusting the tension of the first tendon rope 26 and a second tensioning adjustment member 29 for adjusting the tension of the second tendon rope 27. The arm 1 is provided with a tensioning adjustment window 11 corresponding to the first tensioning adjustment member 28 and the second tensioning adjustment member 29. Through the aforementioned rope-driven dexterous hand, the drive member 21 can not only drive the finger 3 to move through the first tendon rope 26 and the second tendon rope 27, but also adjust the tension of the first tendon rope 26 through the corresponding first tension adjustment member 28 when the length of the first tendon rope 26 increases due to plastic deformation, and / or adjust the tension of the second tendon rope 27 through the corresponding second tension adjustment member 29 when the length of the second tendon rope 27 increases due to plastic deformation. Compared with existing tensioning devices, since there is no torsion spring, this application will not have the problem of delayed movement of the movable pulley caused by the torsion spring buffer, thereby ensuring the control accuracy and speed of the tendon rope on the finger 3. Furthermore, when it is necessary to adjust the first tension adjustment member 28 and / or the second tension adjustment member 29, it can be adjusted directly through the tension adjustment window 11, which greatly improves the tension adjustment efficiency of the first tendon rope 26 and / or the second tendon rope 27.

[0060] Preferably, the rope-driven dexterous hand includes: a third guide wheel 25;

[0061] The first guide wheel 23, the second guide wheel 24, and the third guide wheel 25 are all located on the same side of the tensioning module 22, with the first guide wheel 23 located at the first end of the tensioning module 22, and the second guide wheel 24 and the third guide wheel 25 located at the second end of the tensioning module 22.

[0062] The first end of the first tendon cord 26 is connected to the tensioning module 22, and the second end of the first tendon cord 26 is connected to one side of the finger 3 by sequentially wrapping around the first guide wheel 23 and the third guide wheel 25. It should be noted that by setting the third guide wheel 25, the third guide wheel 25 can guide the first tendon cord 26 to connect with the finger 3, avoiding interference between the first tendon cord 26 and the second tendon cord 27.

[0063] Specifically, the first tension adjusting member 28 and the second tension adjusting member 29 are bolts;

[0064] The tensioning module 22 has a first screw hole and a second screw hole, wherein the first screw hole is used to engage with the first tensioning adjustment member 28, and the second screw hole is used to engage with the second tensioning adjustment member 29.

[0065] The first end of the first tendon rope 26 is connected to the first tensioning adjustment member 28;

[0066] The first end of the second tendon rope 27 is connected to the second tension adjustment.

[0067] It should be noted that the first tension adjustment member 28 and the second tension adjustment member 29 are set as bolts, and a first screw hole and a second screw hole are opened in the tensioning module 22. The first screw hole is threaded with the first tension adjustment member 28, and the second screw hole is used to thread with the second tension adjustment member 29. The first end of the first tendon rope 26 is connected to the first tension adjustment member 28, and the first end of the second tendon rope 27 is connected to the second tension adjustment member 29. Thus, when the first tension adjustment member 28 is rotated by a tool, the first tendon rope 26 can gradually reach a tensioned state, and when the second tension adjustment member 29 is rotated by a tool, the second tendon rope 27 can gradually reach a tensioned state.

[0068] Specifically, the first tensioning adjustment member 28 has an axially formed first through hole for the first tendon rope 26 to pass through;

[0069] The first end of the first tendon rope 26 is provided with a first knot, which is used to restrict the first tendon rope 26 from passing through the first through hole;

[0070] The second tensioning adjustment member 29 has a second through hole in the axial direction for the second tendon rope 27 to pass through;

[0071] The first end of the second tendon rope 27 is provided with a second knot, which is used to restrict the first end of the second tendon rope 27 from passing through the second through hole.

[0072] It should be noted that by providing a first through hole in the first tension adjustment member 28 for the first tendon rope 26 to pass through, and tying a knot at the first end of the first tendon rope 26 to form a first knot, the first tension adjustment member 28 and the first tendon rope 26 are fixed by restricting the first tendon rope 26 from passing through the first through hole. When the first tension adjustment member 28 rotates (screws out of the first screw hole), the distance of the first tension adjustment member 28 to the first guide wheel 23 around the first tendon rope 26 increases. Therefore, when the first tension adjustment member 28 rotates, it will drive the first tendon rope 26 to gradually tighten.

[0073] The second tension adjustment member 29 has a second through hole in its axial direction for the second tendon rope 27 to pass through. A knot is tied at the first end of the second tendon rope 27 to form a second knot. The second knot restricts the first end of the second tendon rope 27 from passing through the second through hole, thereby fixing the second tension adjustment member 29 and the second tendon rope 27. When the second tension adjustment member 29 rotates (screws out of the second screw hole), the distance traveled by the second tension adjustment member 29 around the second guide wheel 24 for the second tendon rope 27 increases. Therefore, when the second tension adjustment member 29 rotates, it will drive the second tendon rope 27 to gradually tighten.

[0074] Specifically, the direction of the first screw hole is the same as that of the second screw hole, and the first screw hole is perpendicular to the movement direction of the tensioning module 22.

[0075] It should be noted that the direction of the first screw hole can be set to be perpendicular to the movement direction of the tensioning module 22, or it can be set at a preset angle. Those skilled in the art can choose according to their needs.

[0076] It should also be noted that the direction of the first screw hole can be the same as or different from the direction of the second screw hole, or it can be set at a certain angle. Those skilled in the art can choose according to their needs.

[0077] Specifically, the first tensioning adjustment element 28 includes: a screw head and a stud;

[0078] The screw head is located at one end of the stud, and the screw head is an internal hexagonal screw head.

[0079] It should be noted that the screw head can be set to either an internal hexagonal head or an external hexagonal head, and those skilled in the art can choose according to their needs.

[0080] For details, please refer to Figure 4 The tensioning module 22 is also provided with a first guide post 210 and a second guide post 211;

[0081] The first guide post 210 is disposed near the first end of the first screw hole, and the first guide post 210 is perpendicular to the axis of the first screw hole. The second end of the first screw hole is used for the first tension adjustment member 28 to be screwed in.

[0082] The second end of the first tendon rope 26 is connected to the finger 3 by sequentially wrapping around the first guide post 210 and the first guide wheel 23;

[0083] The second guide post 211 is disposed near the first end of the second screw hole, and the second guide post 211 is perpendicular to the axis of the second screw hole. The second end of the second screw hole is used for the second tension adjustment member 29 to be screwed in.

[0084] The second end of the second tendon rope 27 is connected to the finger 3 by sequentially wrapping around the second guide post 211 and the second guide wheel 24.

[0085] It should be noted that, since the first end of the first screw hole and the first end of the second screw hole are relatively sharp, and the first tendon rope 26 and the second tendon rope 27 have a certain tension, the first tendon rope 26 is prone to breakage due to prolonged contact with the first end of the first screw hole, and the second tendon rope 27 is prone to breakage due to prolonged contact with the first end of the second screw hole.

[0086] This application, by setting a first guide post 210 and a second guide post 211, with the first guide post 210 positioned near the first end of the first screw hole and perpendicular to the axis of the first screw hole, and the second end of the first screw hole used for screwing in the first tension adjustment member 28, effectively avoids direct contact between the first tendon rope 26 and the first end of the first screw hole, thus extending the lifespan of the first tendon rope 26. Similarly, by setting the second guide post 211 near the first end of the second screw hole and perpendicular to the axis of the second screw hole, with the second end of the second screw hole used for screwing in the second tension adjustment member 29, and with the second end of the second tendon rope 27 connected to the finger 3 via the second guide post 211 and the second guide wheel 24, it effectively avoids direct contact between the second tendon rope 27 and the first end of the second screw hole, thus extending the lifespan of the second tendon rope 27.

[0087] Specifically, the drive component 21 is a linear lead screw motor.

[0088] It should be noted that the drive component 21 can be a linear screw motor, or other mechanisms that can drive the tensioning module 22 to perform linear reciprocating motion (such as cylinders, hydraulic rods, etc.). Those skilled in the art can choose according to their needs.

[0089] Furthermore, the tensioning module 22 is connected to the shaft of the drive component 21 via the adapter 5.

[0090] It should be noted that the tensioning module 22 is connected to the shaft of the drive component 21 via the adapter 5. The adapter 5 not only ensures the connection strength between the drive component 21 and the tensioning module 22, but also allows for the replacement of different types of drive components 21 as needed, thus improving the ease of replacement of the drive component 21.

[0091] Specifically, the adapter 5 is threadedly connected to the shaft of the drive component 21;

[0092] The adapter 5 is threadedly connected to the tensioning module 22.

[0093] It should be noted that threading the adapter 5 to the shaft of the drive component 21 not only ensures the connection strength between the adapter 5 and the shaft of the drive component 21, but also improves the ease of installation of the adapter 5 and the drive component 21.

[0094] Connecting the adapter 5 to the tensioning module 22 by thread not only ensures the connection strength between the adapter 5 and the tensioning module 22, but also improves the ease of installation of the adapter 5 and the tensioning module 22.

[0095] Furthermore, the rope-driven dexterous hand also includes: cover plate 4;

[0096] The cover plate 4 is fixed to the tension adjustment window 11 by bolts.

[0097] It should be noted that by setting a cover plate 4 at the tension adjustment window 11, external dust can be effectively prevented from entering the arm 1 and affecting the drive mechanism 2 to drive the finger 3. Furthermore, when it is necessary to adjust the tension of the first tendon rope 26 and / or the second tendon rope 27, the cover plate 4 can be removed from the tension adjustment window 11 for adjustment.

[0098] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A rope-driven dexterous hand, characterized in that, include: Arm, drive mechanism, and fingers; The fingers are located at one end of the arm; The drive mechanism is disposed inside the arm and is used to drive the movement of the fingers; The driving mechanism includes a driving component, a tensioning module, a first guide wheel, a second guide wheel, a first tendon rope, and a second tendon rope; The tensioning module is connected to the drive mechanism, and the drive component is used to drive the tensioning module to perform linear reciprocating motion. The first guide wheel and the second guide wheel are both located on the same side of the tensioning module, with the first guide wheel located at the first end of the tensioning module and the second guide wheel located at the second end of the tensioning module. The first end of the first tendon rope is connected to the tensioning module, and the second end of the first tendon rope is connected to one side of the finger around the first guide wheel; The first end of the second tendon rope is connected to the tensioning module, and the second end of the second tendon rope is connected to the other side of the finger around the second guide wheel; The tensioning module is provided with a first tensioning adjustment component for adjusting the tension of the first tendon rope and a second tensioning adjustment component for adjusting the tension of the second tendon rope; The arm has tension adjustment windows corresponding to the first tension adjustment member and the second tension adjustment member.

2. The rope-driven dexterous hand according to claim 1, characterized in that, The first tension adjusting component and the second tension adjusting component are bolts; The tensioning module has a first screw hole and a second screw hole, wherein the first screw hole is used to engage with the first tensioning adjustment component, and the second screw hole is used to engage with the second tensioning adjustment component. The first end of the first tendon rope is connected to the first tension adjustment member; The first end of the second tendon rope is connected to the second tensioning adjustment element.

3. The rope-driven dexterous hand according to claim 2, characterized in that, The first tensioning adjustment member has an axially formed first through hole for the first tendon rope to pass through; The first end of the first tendon cord is provided with a first knot, which is used to restrict the first tendon cord from passing through the first through hole; The second tensioning adjustment member has a second through hole in the axial direction for the second tendon rope to pass through; The first end of the second tendon cord is provided with a second knot, which is used to restrict the first end of the second tendon cord from passing through the second through hole.

4. The rope-driven dexterous hand according to claim 2, characterized in that, The first screw hole is oriented in the same direction as the second screw hole, and the first screw hole is perpendicular to the movement direction of the tensioning module.

5. The rope-driven dexterous hand according to claim 2, characterized in that, The first tension adjusting component includes: a screw head and a stud; The screw head is located at one end of the stud, and the screw head is an internal hexagonal screw head.

6. The rope-driven dexterous hand according to claim 2, characterized in that, The tensioning module is also provided with a first guide post and a second guide post; The first guide post is disposed at a first end near the first screw hole, and the first guide post is perpendicular to the axis of the first screw hole, wherein the second end of the first screw hole is used for the first tension adjustment member to be screwed in; The second end of the first tendon cord is sequentially wrapped around the first guide post and the first guide wheel and connected to the finger; The second guide post is disposed near the first end of the second screw hole, and the second guide post is perpendicular to the axis of the second screw hole, wherein the second end of the second screw hole is used for the second tension adjustment member to be screwed in; The second end of the second tendon rope is connected to the finger by sequentially wrapping around the second guide post and the second guide wheel.

7. The rope-driven dexterous hand according to claim 1, characterized in that, The driving component is a linear lead screw motor.

8. The rope-driven dexterous hand according to claim 7, characterized in that, The tensioning module is connected to the shaft of the drive unit via an adapter.

9. The rope-driven dexterous hand according to claim 8, characterized in that, The adapter is threadedly connected to the shaft of the drive component; The adapter is threadedly connected to the tensioning module.

10. The rope-driven dexterous hand according to claim 1, characterized in that, Also includes: Cover plate; The cover plate is fixed to the tension adjustment window by bolts.

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