Articulated fingered hand and robot

Abstract

The utility model discloses a kind of dexterous hand and robot of independent control of finger joint, wherein, a kind of dexterous hand of independent control of finger joint, including finger, finger includes: pedestal;First phalanx, one end is rotatably connected in the pedestal, the first phalanx is equipped with first tendon, and the both ends of the first tendon are simultaneously connected with first driver;Second phalanx, one end is rotatably connected in the other end of the first phalanx, the second phalanx is equipped with second tendon, and the both ends of the second tendon are simultaneously connected with second driver;Third phalanx, one end is rotatably connected in the other end of the second phalanx, the third phalanx is equipped with third tendon, and the both ends of the third tendon are simultaneously connected with third driver.The dexterous hand and robot of independent control of finger joint of the utility model can improve gripping stability.

Description

Technical Field

[0001] This utility model relates to the field of robotics, specifically to a dexterous hand and robot with independently controllable finger joints. Background Technology

[0002] Grasping actuators should be able to grasp and manipulate various objects. Dexterous hands are the most feasible grasping actuators. Humanoid dexterous hands, by mimicking the structure of the human hand, have the advantage of human-like grasping flexibility, enabling the picking up of multiple objects and various picking actions. However, existing dexterous hands and bionic fingers struggle to achieve human-like knuckle coupling when grasping objects, and the finger surfaces cannot fully adhere to the object, resulting in weak gripping force and poor gripping stability. Utility Model Content

[0003] The purpose of this invention is to provide a dexterous hand and robot with independently controllable finger joints, which is used to solve the above-mentioned technical problems.

[0004] This utility model discloses a dexterous hand with independently controllable finger joints, including fingers, the fingers comprising:

[0005] Base;

[0006] The first finger joint has one end rotatably connected to the base. The first finger joint is provided with a first tendon rope. The middle end of the first tendon rope is fixedly connected to the first finger joint, and the two ends away from the first finger joint are simultaneously connected to a first driver. The first driver is used to pull the first tendon rope to make a pull and release movement to drive the first finger joint to open and close.

[0007] The second phalanx has one end rotatably connected to the other end of the first phalanx. The second phalanx is provided with a second tendon cord. The middle end of the second tendon cord is fixedly connected to the second phalanx, and the two ends away from the second phalanx are simultaneously connected to a second actuator. The second actuator is used to simultaneously pull the two ends of the second tendon cord to perform a pull-release movement, so as to drive the second phalanx to open and close.

[0008] The third phalanx has one end rotatably connected to the other end of the second phalanx. The third phalanx is provided with a third tendon cord. The middle end of the third tendon cord is fixedly connected to the third phalanx, and the two ends away from the third phalanx are simultaneously connected to a third actuator. The third actuator is used to simultaneously pull the two ends of the third tendon cord to perform a pull-release movement, so as to drive the third phalanx to open and close.

[0009] According to one embodiment of the present invention, it further includes three traction seats, each of the three traction seats including a traction shaft and a traction wheel coaxially rotatably connected to the traction shaft. One end of each of the three traction shafts is respectively connected to the base, the other end of the first finger joint, and the other end of the second finger joint. One end of each of the three traction wheels is respectively fixedly connected to one end of the first finger joint, one end of the second finger joint, and one end of the third finger joint. The middle end of each of the first tendon ropes is fixed to the corresponding traction wheel, the middle end of each of the second tendon ropes is fixed to the corresponding traction wheel, and the middle end of each of the third tendon ropes is fixed to the corresponding traction wheel.

[0010] According to one embodiment of the present invention, the sidewalls of the three traction wheels are provided with slots, and each is provided with an annular groove coaxially and circumferentially communicating with the corresponding slot; each of the three traction seats also includes a tendon rope zinc head adapted to and locked in the corresponding slot, and the middle ends of the first tendon rope, the second tendon rope, and the third tendon rope are all wrapped around the corresponding annular groove and fixedly connected to the corresponding tendon rope zinc head.

[0011] According to one embodiment of the present invention, each of the three traction seats further includes a sensor, and the three sensors are respectively disposed on the three traction shafts to identify the opening and closing angles of the first phalanx, the second phalanx and the third phalanx respectively.

[0012] According to one embodiment of the present invention, the first phalanx, the second phalanx, and the third phalanx each include a first housing and a second housing that are connected to each other. A first channel is formed between the first housing and the second housing of the first phalanx for the second tendon rope and the third tendon rope to pass through. A second channel is formed between the first housing and the second housing of the second phalanx for the third tendon rope to pass through. One end of each of the three traction wheels is fixedly connected to one end of the corresponding first housing. One end of each pair of first housings and second housings is rotatably connected to the corresponding traction shaft.

[0013] According to one embodiment of the present invention, each of the traction shafts includes a first shaft and a second shaft arranged coaxially and at intervals. One end of each of the three first shafts is connected to the base, the other end of the first housing of the first finger joint, and the other end of the first housing of the second finger joint, respectively. The other ends are coaxially rotatably connected to the corresponding traction wheel. One end of each of the three second shafts is connected to the base, the other end of the second housing of the first finger joint, and the other end of the second housing of the second finger joint, respectively. The other ends are coaxially rotatably connected to one end of the corresponding first finger joint, one end of the second finger joint, and one end of the third finger joint, respectively.

[0014] According to one embodiment of the present invention, each of the first shafts and each of the second shafts are stepped shaft structures, and the larger diameter end of each of the first shafts is rotatably connected to the base, the other end of the first housing of the first phalanx, and the other end of the first housing of the second phalanx, respectively. The larger diameter end of each of the second shafts is rotatably connected to the base, the other end of the second housing of the first phalanx, and the other end of the second housing of the second phalanx, respectively.

[0015] According to one embodiment of the present invention, the other ends of the three first shafts are all coaxially fixedly connected to a first bushing, the three traction wheels are rotatably connected to the corresponding first shafts through the corresponding first bushings, the other ends of the three second shafts are all coaxially fixedly connected to a second bushing, and one end of the first finger joint, one end of the second finger joint, and one end of the third finger joint are all rotatably connected to the corresponding second shaft through the corresponding second bushings.

[0016] This utility model also discloses a robot, including a dexterous hand with at least one finger joint that can be independently controlled.

[0017] Compared with existing technologies, the dexterous hand and robot with independently controllable finger joints of this invention have the following advantages:

[0018] This invention relates to a dexterous hand and robot with independently controllable finger joints. Through the traction of a first, second, and third tendon cord, the first, second, and third phalanges can be independently flexed and extended. This allows the bionic finger to fully adhere to the surface of the object when grasping it, greatly improving the gripping force and stability. It also addresses the problem that existing dexterous hands struggle to achieve human-like finger joint coupling and that the finger surface cannot fully adhere to the object, resulting in weak gripping force and poor gripping stability. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the dexterous hand with independently controllable finger joints according to this utility model;

[0020] Figure 2 This is the first exploded view of this utility model;

[0021] Figure 3 This is the second exploded view of the present invention;

[0022] Figure 4 This is a first partial structural diagram of the present invention, mainly showing the connection structure of each first shell;

[0023] Figure 5 For the present utility model Figure 4 Exploded view of the local structure;

[0024] Figure 6 This is a second partial structural diagram of the present invention, mainly showing the connection structure of each of the second housings;

[0025] Figure 7 For the present utility model Figure 6 Exploded view of the local structure;

[0026] Figure 8 This is an exploded view of the first phalanx of this utility model;

[0027] Figure 9 This is a partial structural cross-sectional view of the present invention, mainly showing the installation structure of the third finger joint.

[0028] In the picture:

[0029] 1. Base; 2. First phalanx; 3. First tendon cord; 4. Second phalanx; 5. Second tendon cord; 6. Third phalanx; 7. Third tendon cord; 8. Traction seat; 81. Traction shaft; 811. First shaft; 812. Second shaft; 813. First bushing; 814. Second bushing; 82. Traction wheel; 821. Slot; 822. Ring groove; 83. Zinc head of tendon cord; 84. Sensor; 90. First housing; 91. Second housing; 92. Socket hole; 93. Socket insert; 94. Guide post; 95. Guide hole.

[0030] The implementation and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0031] The following drawings will disclose several embodiments of this utility model. For clarity, many practical details will be described in the following description. However, it should be understood that these practical details should not be used to limit this utility model. That is, in some embodiments of this utility model, these practical details are not essential. In addition, for the sake of simplicity, some conventional structures and components will be shown in the drawings in a simple schematic manner.

[0032] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0033] Furthermore, in this utility model, the use of terms such as "first" and "second" is for descriptive purposes only and does not specifically refer to any order or sequence, nor is it intended to limit the utility model. They are merely used to distinguish components or operations described with the same technical terms and should not be construed as indicating or implying their relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but only if they are feasible for those skilled in the art. If a combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0034] To further understand the content, features, and effects of this utility model, the following embodiments are provided, and detailed descriptions are given below in conjunction with the accompanying drawings:

[0035] This utility model discloses a dexterous hand with independently controllable finger joints. The dexterous hand includes a palm and fingers connected to the palm. The fingers are connected to actuators. This application uses the actuators connected to the fingers to drive the flexion and extension of the fingers, thereby achieving grasping or releasing by the dexterous hand. The dexterous hand provided by this application can be used independently, mounted on a robot arm, or mounted on other devices. In other words, the usage and environment of the dexterous hand of this application are not limited. Any device or structure using the dexterous hand of this application should fall within the protection scope of this application.

[0036] Please see Figures 1 to 9 A dexterous hand includes fingers, and fingers include:

[0037] Base 1;

[0038] The first finger joint 2 has one end rotatably connected to the base 1. The first finger joint 2 is provided with a first tendon rope 3. The middle end of the first tendon rope 3 is fixedly connected to the first finger joint 2, and the two ends away from the first finger joint 2 are simultaneously connected to a first driver. The first driver is used to pull the first tendon rope 3 to make a pull and release movement, so as to drive the first finger joint 2 to open and close.

[0039] The second phalanx 4 has one end rotatably connected to the other end of the first phalanx 2. The second phalanx 4 is provided with a second tendon rope 5. The middle end of the second tendon rope 5 is fixedly connected to the second phalanx 4, and the two ends away from the second phalanx 4 are simultaneously connected to a second actuator. The second actuator is used to simultaneously pull the two ends of the second tendon rope 5 to make a pull and release movement, so as to drive the second phalanx 4 to open and close.

[0040] The third phalanx 6 has one end rotatably connected to the other end of the second phalanx 4. The third phalanx 6 is provided with a third tendon rope 7. The middle end of the third tendon rope 7 is fixedly connected to the third phalanx 6, and the two ends away from the third phalanx 6 are simultaneously connected to a third actuator. The third actuator is used to simultaneously pull the two ends of the third tendon rope 7 to make a pull-release movement, so as to drive the third phalanx 6 to open and close.

[0041] The first, second, and third actuators respectively achieve traction on the first tendon cord 3, the second tendon cord 5, and the third tendon cord 7, independently controlling the opening and closing of the first phalanx 2, the second phalanx 4, and the third phalanx 6. When the first tendon cord 3 pulls the first phalanx 2 to open and close, it will cause the second phalanx 4 and the third phalanx 6 to open and close synchronously; similarly, when the second tendon cord 5 pulls the second phalanx 4 to open and close, it will cause the third phalanx 6 to open and close synchronously. In other words, through paired tendon cord control, the first phalanx 2, the second phalanx 4, and the third phalanx 6 can be independently controlled to extend and flex. When the second phalanx 2 or the second phalanx 4 opens and closes, the opening and closing of the second phalanx 4 and / or the third phalanx 6, which are located in front of the first phalanx 2, can also be controlled independently at the same time, or the opening and closing of the third phalanx 6, which is located in front of the second phalanx 4, can be controlled independently at the same time, forming a combined control mode. This allows the first phalanx 2, the second phalanx 4, and the third phalanx 6 to fully adhere to the surface of the object when the bionic finger grasps it, which greatly improves the grasping force and grasping stability of the bionic finger. This improves the problem that existing dexterous hands are unable to achieve human-like finger joint coupling, and the finger surface is not able to fully adhere to the object, resulting in weak grasping force and poor grasping stability.

[0042] Furthermore, by mimicking the oblique ligaments of the human hand through the first tendon rope 3, the second tendon rope 5, and the third tendon rope 7, coupled movements of the human-like finger are achieved, improving the dexterity of the bionic finger, thereby increasing its adaptability in application and enhancing its universality.

[0043] In this embodiment, the dexterous hand may include multiple fingers and a palm. Generally, the dexterous hand may include five fingers, and the bases 1 of the five fingers are all mounted on the palm. This embodiment enables basic hand movements and improves the human-likeness and dexterity of the dexterous hand. The palm has multiple mounting slots, and the multiple bionic fingers are mounted one-to-one in the mounting slots. The base has a rotating part, which is rotatably connected to the mounting slots.

[0044] In this embodiment, four mounting slots can be provided on the top of the palm, and one mounting slot can be provided in the center of the palm, so as to install five bionic fingers respectively. It should be noted that the bionic finger installed in the center of the palm can have one less phalanx than the other bionic fingers, so as to serve as a "thumb".

[0045] In this embodiment, the first, second, and third drivers each include a rotatably mounted lead screw shaft and a first sliding arm and a second sliding arm slidably mounted on the lead screw shaft. The first and second sliding arms are respectively connected to the two ends of the corresponding first tendon cord 3, second tendon cord 5, or third tendon cord 7. The first and second sliding arms can slide in opposite directions under the rotation of the lead screw shaft, thereby allowing the two ends of the corresponding first tendon cord 3, second tendon cord 5, or third tendon cord 7 to be in a forward-extending and backward-retracting motion mode, realizing the opening and closing of the fingers. To drive the lead screw shaft to rotate, the driving component also includes a motor whose driving end is coaxially fixedly connected to one end of the lead screw shaft. When the motor starts, it drives the lead screw shaft to rotate, and the first and second sliding arms slide in opposite directions under the rotation of the lead screw shaft, realizing a pull and push action on the first tendon cord 3, second tendon cord 5, or third tendon cord 7.

[0046] Based on the above embodiments, the dexterous hand with independently controllable finger joints of this utility model also includes a motherboard and a data transmission board. The first driver, second driver, and third driver are signal-connected to the motherboard. The first driver, second driver, and third driver drive the movement of the corresponding first phalanx 2, second phalanx 4, and third phalanx 6 by controlling the push-pull motion of the corresponding first tendon cord 3, second tendon cord 5, and third tendon cord 7. The motherboard receives information sent by the data transmission board, compares it with preset parameters, and sends execution commands to the corresponding first driver, second driver, and third driver. The first driver, second driver, and third driver execute the commands of the motherboard, controlling the push-pull motion of the corresponding first tendon cord 3, second tendon cord 5, and third tendon cord 7 to drive the movement of the corresponding first phalanx 2, second phalanx 4, and third phalanx 6.

[0047] This invention relates to a dexterous hand with independently controllable finger joints. Please refer to [link / reference needed]. Figures 3-9 The dexterous hand with independently controllable finger joints of this utility model also includes three traction seats 8. Each of the three traction seats 8 includes a traction shaft 81 and a traction wheel 82 coaxially rotatably connected to the traction shaft 81. One end of the three traction shafts 81 is respectively connected to the base 1, the other end of the first finger joint 2, and the other end of the second finger joint 4. One end of the three traction wheels 82 is respectively fixedly connected to one end of the first finger joint 2, one end of the second finger joint 4, and one end of the third finger joint 6. The middle ends of the first tendon ropes 3, the second tendon ropes 5, and the third tendon ropes 7 are all fixed to the corresponding traction wheels 82.

[0048] When the first phalanx 2, the second phalanx 4, and the third phalanx 6 flex and extend under the drive of the corresponding first driver, second driver, and third driver, the traction wheel 82 rotates around the corresponding traction shaft 81.

[0049] The side walls of the three traction wheels 82 are provided with slots 821, and each of them is provided with an annular groove 822 that connects to the corresponding slots 821 in the circumferential direction. The three traction seats 8 also include tendon rope zinc heads 83 that are adapted to and locked in the corresponding slots 821. The middle ends of the first tendon rope 3, the second tendon rope 5, and the third tendon rope 7 are all wrapped around the corresponding annular grooves 822 and fixedly connected to the corresponding tendon rope zinc heads 83.

[0050] The zinc head 83 of the tendon cord is engaged in the slot 821. The middle ends of the first tendon cord 3, the second tendon cord 5, and the third tendon cord 7 are all wound around the corresponding annular grooves 822 to ensure the stable installation of the zinc head 83, the first tendon cord 3, the second tendon cord 5, and the third tendon cord 7. When the first tendon cord 3, the second tendon cord 5, and the third tendon cord 7 apply a pulling and pushing force to the corresponding zinc head 83, under the limitation of the slot 821, the zinc head 83 of the tendon cord under force transmits the force to the corresponding traction wheel 82, thereby realizing the flexion and extension of the first phalanx 2, the second phalanx 4, or the third phalanx 6.

[0051] The slot 821 can be an arc-shaped slot structure or a polygonal structure.

[0052] Based on the above embodiment, the slot 821 is located at the end of the annular groove 822 away from the base 1 to ensure that the first tendon rope 3, the second tendon rope 5 and the third tendon rope 7 under force can smoothly pull the corresponding tendon rope zinc head 83, so that the tendon rope zinc head 83 and the corresponding traction wheel 82 can rotate smoothly, realizing the flexion and extension of the first phalanx 2, the second phalanx 4 or the third phalanx 6.

[0053] Each of the three traction seats 8 also includes a sensor 84, which is respectively disposed on the three traction shafts 81 to identify the opening and closing angles of the first phalanx 2, the second phalanx 4 and the third phalanx 6.

[0054] The sensor 84 can be an angle sensor or a position sensor, and is communicatively connected to the data transmission board to send information to the main board. The measuring axes of the three sensors 84 are respectively driven and connected to three traction shafts 81 to monitor and record the rotation angle of the corresponding first phalanx 2, second phalanx 4, or third phalanx 6. After being transmitted to the main board, the main board controls and adjusts the rotation angle of the corresponding first phalanx 2, second phalanx 4, or third phalanx 6.

[0055] As a conventional technical means for those skilled in the art, the measuring shaft of the sensor 84 can be connected to the traction shaft 81 via a coupling.

[0056] Based on the above embodiment, pressure sensors are provided at the fingertips of the first phalanx 2, the second phalanx 4, and the third phalanx 6. These pressure sensors accurately measure the gripping force of the corresponding first phalanx 2, second phalanx 4, or third phalanx 6, and, in conjunction with the first tendon cord 3, second tendon cord 5, or third tendon cord 7, adjust the gripping force.

[0057] Please see Figures 3-9 The first phalanx 2, the second phalanx 4, and the third phalanx 6 each include a first housing 90 and a second housing 91 that are connected to each other. A first channel is formed between the first housing 90 and the second housing 91 of the first phalanx 2 for the second tendon rope 5 and the third tendon rope 7 to pass through. A second channel is formed between the first housing 90 and the second housing 91 of the second phalanx 4 for the third tendon rope 7 to pass through. One end of each of the three traction wheels 82 is fixedly connected to one end of the corresponding first housing 90. One end of each pair of first housings 90 and second housings 91 is rotatably connected to the corresponding traction shaft 81.

[0058] The first housing 90 and the second housing 91 are connected to each other to facilitate the installation of each tendon cord zinc head 83 and fixing cord 84, and to facilitate the installation of the second tendon cord 5 and the third tendon cord 7. After the connection, the first channel and the second channel formed inside facilitate the concealment of the second tendon cord 5 and the third tendon cord 7 to ensure the normal flexion and extension of the first phalanx 2, the second phalanx 4 and the third phalanx 6.

[0059] The pair of first housings 90 and second housings 91 are engaged with each other through matching socket holes 92 and socket inserts 93.

[0060] Specifically, multiple socket holes 92 are provided at the back of the hand end of the first housing 90 and the palm end of the second housing 91, and multiple inserts 93 are fixedly connected to the palm end of the first housing 90 and the back of the hand end of the second housing 91. Each insert 93 is inserted into and locked in the socket hole 92 to achieve mutual locking of the paired first housing 90 and second housing 91.

[0061] Multiple guide posts 94 are fixedly connected at intervals on the first housing 90, and multiple guide holes 95 are opened on the second housing 91. Each guide post 94 is inserted into each guide hole 95 in a corresponding manner to improve the connection stability of the first housing 90 and the second housing 91.

[0062] Each traction shaft 81 includes a first shaft 811 and a second shaft 812 that are coaxially spaced apart. One end of the three first shafts 811 is connected to the other end of the base 1, the first housing 90 of the first finger joint 2, and the first housing 90 of the second finger joint 4, respectively. The other end is coaxially rotatably connected to the corresponding traction wheel 82. One end of the three second shafts 812 is connected to the other end of the base 1, the second housing 91 of the first finger joint 2, and the second housing 91 of the second finger joint 4, respectively. The other end is coaxially rotatably connected to one end of the corresponding first finger joint 2, one end of the second finger joint 4, and one end of the third finger joint 6, respectively.

[0063] The first shaft 811 and the second shaft 812 are spaced apart, forming a space in between for the second tendon rope 5 and the third tendon rope 7 to pass through. Based on the above embodiment, the measuring shafts of the three sensors 84 are respectively driven to the second shaft 812 of the three traction shafts 81.

[0064] Each first shaft 811 and each second shaft 812 has a stepped shaft structure. The larger diameter end of each first shaft 811 is rotatably connected to the other end of the base 1, the first housing 90 of the first finger joint 2, and the first housing 90 of the second finger joint 4, respectively. The larger diameter end of each second shaft 812 is rotatably connected to the other end of the base 1, the second housing 91 of the first finger joint 2, and the second housing 91 of the second finger joint 4, respectively.

[0065] The first shaft 811 and the second shaft 812, with their stepped shaft structure, ensure their stable installation. Each first shaft 811 and each second shaft 812 is rotatably connected to the corresponding base 1 or first housing 90, further ensuring the smooth flexion and extension of the first phalanx 2, the second phalanx 4, and the third phalanx 6. It should be noted that the tensioned connection of the first tendon cord 3, the second tendon cord 5, and the third tendon cord 7 ensures the static state of the first phalanx 2, the second phalanx 4, and the third phalanx 6 after flexion and extension.

[0066] As a parallel arrangement, the larger diameter end of each first shaft 811 is fixedly connected to the base 1, the other end of the first housing 90 of the first finger joint 2, and the other end of the first housing 90 of the second finger joint 4.

[0067] The other ends of the three first shafts 811 are all coaxially fixedly connected to the first bushings 813. The three traction wheels 82 are rotatably connected to the corresponding first shafts 811 through the corresponding first bushings 813. The other ends of the three second shafts 812 are all coaxially fixedly connected to the second bushings 814. One end of the first finger joint 2, one end of the second finger joint 4, and one end of the third finger joint 6 are all rotatably connected to the corresponding second shafts 812 through the corresponding second bushings 814.

[0068] This utility model also provides a robot, including at least one dexterous hand with independently controllable finger joints, for achieving precise grasping of objects through the dexterous hand. The robot provided in this application is an intelligently controlled mobile robot, and such robots should all fall within the protection scope of this application, and are not limited to humanoid robots.

[0069] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A dexterous hand with independently controllable finger joints, comprising fingers, characterized in that, The fingers include: Base (1); The first phalanx (2) has one end rotatably connected to the base (1). The first phalanx (2) is provided with a first tendon cord (3). The middle end of the first tendon cord (3) is fixedly connected to the first phalanx (2), and the two ends away from the first phalanx (2) are simultaneously connected to a first driver. The first driver is used to pull the first tendon cord (3) to make a pull and release movement, so as to drive the first phalanx (2) to open and close. The second phalanx (4) has one end rotatably connected to the other end of the first phalanx (2). The second phalanx (4) is provided with a second tendon cord (5). The middle end of the second tendon cord (5) is fixedly connected to the second phalanx (4), and the two ends away from the second phalanx (4) are simultaneously connected to a second driver. The second driver is used to simultaneously pull the two ends of the second tendon cord (5) to perform a pull-release movement, so as to drive the second phalanx (4) to open and close. The third phalanx (6) has one end rotatably connected to the other end of the second phalanx (4). The third phalanx (6) is provided with a third tendon cord (7). The middle ends of the two third tendon cords (7) are fixedly connected to the third phalanx (6), and the two ends away from the third phalanx (6) are simultaneously connected to a third actuator. The third actuator is used to simultaneously pull the two ends (7) of the third tendon cord to perform a pull-release movement, so as to drive the third phalanx (6) to open and close.

2. The dexterous hand with independently controllable finger joints according to claim 1, characterized in that, It also includes three traction seats (8), each of the three traction seats (8) includes a traction shaft (81) and a traction wheel (82) coaxially rotatably connected to the traction shaft (81). One end of the three traction shafts (81) is respectively connected to the base (1), the other end of the first finger joint (2) and the other end of the second finger joint (4). One end of the three traction wheels (82) is respectively fixedly connected to one end of the first finger joint (2), one end of the second finger joint (4) and one end of the third finger joint (6). The middle end of the first tendon rope (3) is fixed to the corresponding traction wheel (82), the middle end of the second tendon rope (5) is fixed to the corresponding traction wheel (82), and the middle end of the third tendon rope (7) is fixed to the corresponding traction wheel (82).

3. The dexterous hand with independently controllable finger joints according to claim 2, characterized in that, The sidewalls of the three traction wheels (82) are provided with slots (821), and all of them are provided with annular grooves (822) that communicate with the corresponding slots (821) in the circumferential direction. The three traction seats (8) also include tendon rope zinc heads (83) that are adapted to and locked in the corresponding slots (821), and the middle ends of the first tendon rope (3), the second tendon rope (5) and the third tendon rope (7) are all wrapped around the corresponding annular grooves (822) and fixedly connected to the corresponding tendon rope zinc heads (83).

4. The dexterous hand with independently controllable finger joints according to claim 3, characterized in that, Each of the three traction seats (8) also includes a sensor (84), which is respectively disposed on the three traction shafts (81) to identify the opening and closing angles of the first phalanx (2), the second phalanx (4) and the third phalanx (6).

5. The dexterous hand with independently controllable finger joints according to claim 2, characterized in that, The first phalanx (2), the second phalanx (4), and the third phalanx (6) each include a first housing (90) and a second housing (91) that are connected to each other. A first channel is formed between the first housing (90) and the second housing (91) of the first phalanx (2) for the second tendon rope (5) and the third tendon rope (7) to pass through. A second channel is formed between the first housing (90) and the second housing (91) of the second phalanx (4) for the third tendon rope (7) to pass through. One end of each of the three traction wheels (82) is fixedly connected to one end of the corresponding first housing (90). One end of each pair of first housings (90) and second housings (91) is rotatably connected to the corresponding traction shaft (81).

6. The dexterous hand with independently controllable finger joints according to claim 5, characterized in that, Each of the traction shafts (81) includes a first shaft (811) and a second shaft (812) that are coaxially spaced apart. One end of each of the three first shafts (811) is connected to the other end of the first housing (90) of the base (1), the first finger joint (2), and the first housing (90) of the second finger joint (4), respectively. The other end is coaxially rotatably connected to the corresponding traction wheel (82). One end of each of the three second shafts (812) is connected to the other end of the second housing (91) of the base (1), the first finger joint (2), and the second housing (91) of the second finger joint (4), respectively. The other end is coaxially rotatably connected to one end of the corresponding first finger joint (2), one end of the second finger joint (4), and one end of the third finger joint (6).

7. The dexterous hand with independently controllable finger joints according to claim 6, characterized in that, Each of the first shafts (811) and each of the second shafts (812) has a stepped shaft structure. The larger diameter end of each of the first shafts (811) is rotatably connected to the other end of the first housing (90) of the base (1), the first phalanx (2), and the second phalanx (4). The larger diameter end of each of the second shafts (812) is rotatably connected to the other end of the second housing (91) of the base (1), the first phalanx (2), and the second housing (91) of the second phalanx (4).

8. The dexterous hand with independently controllable finger joints according to claim 6, characterized in that, The other ends of the three first shafts (811) are all coaxially fixedly connected to a first bushing (813). The three traction wheels (82) are rotatably connected to the corresponding first shafts (811) through the corresponding first bushings (813). The other ends of the three second shafts (812) are all coaxially fixedly connected to a second bushing (814). One end of the first finger joint (2), one end of the second finger joint (4) and one end of the third finger joint (6) are all rotatably connected to the corresponding second shafts (812) through the corresponding second bushings (814).

9. The dexterous hand with independently controllable finger joints according to claim 5, characterized in that, The first housing (90) and the second housing (91) are connected to each other by a matching socket (92) and a socket (93).

10. A robot, characterized in that, Including at least one dexterous hand with independently controllable finger joints as described in any one of claims 1-9.

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