A robot and a dexterous hand and a coupling mechanism thereof

Abstract

The utility model discloses a kind of robot and its dexterous hand, coupling mechanism, the first coupling wheel cover of this coupling mechanism is in the proximal interphalangeal joint of finger, and is fixed with proximal phalanx;Second coupling wheel cover is in the distal interphalangeal joint of finger, and is fixed with distal phalanx;First coupling tendon rope is wound on the outer edge of first coupling wheel and second coupling wheel, and its both ends are fixed with the outer edge of both;Second coupling tendon rope is wound on the outer edge of first coupling wheel and second coupling wheel, and its both ends are fixed with the outer edge of both;When middle phalanx of finger rotates relative to proximal interphalangeal joint, the winding length of first coupling tendon rope on first coupling wheel increases, and the winding length on second coupling wheel reduces, drives second coupling wheel and distal phalanx rotate around distal interphalangeal joint;When middle phalanx relative to proximal interphalangeal joint returns to original position, the winding length of second coupling tendon rope on first coupling wheel will increase, and the winding length on second coupling wheel will reduce, drives second coupling wheel and distal phalanx return to original position around distal interphalangeal joint.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a robot and its dexterous hand and coupling mechanism. Background Technology

[0002] Currently, in the fingers of a robot's dexterous hand, the common coupling method between the middle and distal phalanges is the use of linkage assemblies; among them, such as Figure 1 As shown, the proximal interphalangeal joint (PIP) and distal interphalangeal joint (DIP) are fixed on two axes, while the other two axes are free. When the proximal interphalangeal joint rotates, it drives the short connecting rod to move, which in turn drives the long connecting rod to move, ultimately causing the distal interphalangeal joint to rotate, thus completing the precise coupled movement of the middle and distal interphalangeal joints.

[0003] The linkage assembly requires many components and has two freely moving axes, which significantly increases the size of the fingers, resulting in a larger dexterous hand and heavier fingertips, failing to meet the requirements for lightweight design. In addition, the movement relationship between the middle and distal phalanges of the linkage assembly is non-linear, meaning that the coupling relationship between the distal and middle phalanges is non-linear, making finger control complex and difficult. Utility Model Content

[0004] In view of this, the present invention provides a coupling mechanism that helps to solve the problems existing in the coupling methods of existing linkage assemblies.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A coupling mechanism for use in the fingers of a dexterous hand includes: a first coupling wheel, a second coupling wheel, a first coupling tendon cord, and a second coupling tendon cord;

[0007] The first coupling wheel is used to fit onto the proximal joint of the finger and is fixed to the proximal joint;

[0008] The second coupling wheel is used to fit onto the distal phalanx of the finger and is fixed to the distal phalanx;

[0009] The first coupling tendon is wrapped around the outer edges of the first coupling wheel and the second coupling wheel, and its two ends are fixed to the outer edges of both wheels.

[0010] The second coupling tendon is wrapped around the outer edges of the first coupling wheel and the second coupling wheel, and its two ends are fixed to the outer edges of both; wherein the first coupling tendon and the second coupling tendon are parallel and staggered.

[0011] Specifically, when the middle phalanx of the finger rotates relative to the proximal interphalangeal joint, the length of the first coupling tendon cord wound on the first coupling wheel increases, and the length of the cord wound on the second coupling wheel decreases, so as to drive the second coupling wheel and the distal phalanx to rotate synchronously around the distal interphalangeal joint; when the middle phalanx rotates back to its original position relative to the proximal interphalangeal joint, the length of the second coupling tendon cord wound on the first coupling wheel increases, and the length of the cord wound on the second coupling wheel decreases, so as to drive the second coupling wheel and the distal phalanx to rotate back to their original position synchronously around the distal interphalangeal joint.

[0012] Preferably, the second coupling wheel includes: a second left coupling wheel and a second right coupling wheel;

[0013] The second left coupling wheel and the second right coupling wheel are respectively fitted onto the distal finger joint;

[0014] The first coupling tendon is wrapped around the outer edges of the first coupling wheel and the second left coupling wheel, and its two ends are fixed to the outer edges of both.

[0015] The second coupling tendon is wrapped around the outer edges of the first coupling wheel and the second right coupling wheel, and its two ends are fixed to the outer edges of both.

[0016] The second left coupling wheel is rotatable relative to the distal phalanx and is locked to the distal phalanx by a first locking assembly; the second right coupling wheel is rotatable relative to the second left coupling wheel and is locked to the second left coupling wheel by a second locking assembly.

[0017] Preferably, the first locking assembly includes a first locking bolt assembly, which is used to lock the left end face of the second left coupling wheel to the distal phalanx, and its head is countersunk to the right end face of the second left coupling wheel;

[0018] The second locking assembly includes a second locking bolt assembly, which is used to lock the second right coupling wheel to the right end face of the second left coupling wheel, and its head is countersunk to the right end face of the second right coupling wheel.

[0019] Preferably, the first locking bolt assembly includes a plurality of first locking bolts;

[0020] Multiple first locking bolts are used to lock the second left coupling wheel and the distal phalanx respectively, and their bolt heads are countersunk to the right end face of the second left coupling wheel;

[0021] The second locking bolt assembly includes a plurality of second locking bolts;

[0022] Multiple second locking bolts are used to lock the second right coupling wheel and the second left coupling wheel respectively, and the bolt heads are countersunk to the right end face of the second right coupling wheel.

[0023] Preferably, the right end face of the second left coupling wheel is provided with a plurality of through first countersunk holes, which are used to install the bolt heads of the plurality of first locking bolts one by one;

[0024] The right end face of the second right coupling wheel is provided with a plurality of through second countersunk holes, which are used to install the bolt heads of a plurality of second locking bolts one by one;

[0025] The plurality of first countersunk holes are all arc-shaped first waist-shaped countersunk holes, and are evenly distributed around the center of the second left coupling wheel; the plurality of second countersunk holes are all arc-shaped second waist-shaped countersunk holes, and are evenly distributed around the center of the second right coupling wheel.

[0026] Preferably, both ends of the first coupling tendon rope are provided with a first fixing member;

[0027] The second coupling tendon rope is provided with a second fixing member at both ends;

[0028] The outer edge of the first coupling wheel is provided with a first left mounting groove and a first right mounting groove, the outer edge of the second left coupling wheel is provided with a second left mounting groove, and the outer edge of the second right coupling wheel is provided with a second right mounting groove;

[0029] The first coupling tendon rope is wound into the grooves on the outer edges of the first coupling wheel and the second left coupling wheel, and its two first fixing parts are snapped into the first left mounting groove and the second left mounting groove, respectively.

[0030] The second coupling tendon rope is wound into the grooves on the outer edges of the first coupling wheel and the second right coupling wheel, and its two second fixing parts are respectively snapped into the first right mounting groove and the second right mounting groove.

[0031] Preferably, the first fastener includes a first rope loop;

[0032] The second fastener includes a second rope loop;

[0033] The first left mounting groove includes: a first left arc-shaped mounting groove, which is connected to and tangent to the first left linear groove on the outer edge of the first coupling wheel;

[0034] The first right mounting groove includes: a first right arc-shaped mounting groove, which is connected to and tangent to the first right line groove on the outer edge of the first coupling wheel;

[0035] The second left mounting groove includes: a second left arc-shaped mounting groove, which is connected to and tangent to the second left line groove on the outer edge of the second left coupling wheel;

[0036] The second right mounting groove includes a second right arc-shaped mounting groove, which is connected to and tangent to the second right line groove on the outer edge of the second right coupling wheel.

[0037] Preferably, the portion of the first left arc-shaped mounting groove away from the axis of the first coupling wheel has a first left opening;

[0038] The portion of the first right arc-shaped mounting groove away from the axis of the first coupling wheel has a first right opening;

[0039] The portion of the second left arc-shaped mounting groove away from the axis of the second left coupling wheel has a second left opening;

[0040] The portion of the second right arc-shaped mounting groove away from the axis of the second right coupling wheel has a second right opening;

[0041] The widths of the first left opening and the second left opening are both smaller than the diameter of the first rope loop and greater than or equal to the diameter of the first coupling tendon rope; the widths of the first right opening and the second right opening are both smaller than the diameter of the second rope loop and greater than or equal to the diameter of the second coupling tendon rope.

[0042] A dexterous hand, including fingers, said fingers including the coupling mechanism described above.

[0043] A robot comprising a dexterous hand as described above.

[0044] As can be seen from the above technical solution, the coupling mechanism provided by this utility model is a tendon rope coupling mechanism. Through the combined use of two coupling tendon ropes and two coupling wheels, the coupling movement of the middle phalanx and the distal phalanx can be realized, which helps to solve the problems existing in the coupling method of the existing linkage assembly. That is, it can satisfy the linear coupling relationship between the middle phalanx and the distal phalanx. Moreover, the coupling structure is small in size and light in weight. Attached Figure Description

[0045] 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 some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a schematic diagram of an existing four-bar linkage.

[0047] Figure 2A schematic diagram illustrating the principle of the tendon-chord coupling mechanism provided in this embodiment of the utility model;

[0048] Figure 3 This is a schematic diagram of tendon-chord coupling bending provided for an embodiment of the present invention;

[0049] Figure 4 A schematic diagram of finger extension provided for an embodiment of this utility model;

[0050] Figure 5 A schematic diagram of finger bending provided for an embodiment of this utility model;

[0051] Figure 6 A schematic diagram of the installation of the coupling mechanism provided in an embodiment of this utility model;

[0052] Figure 7 A schematic diagram of the coupling mechanism provided in an embodiment of this utility model;

[0053] Figure 8 Another perspective structural schematic diagram of the coupling mechanism provided in the embodiment of this utility model;

[0054] Figure 9 A schematic diagram of the coupling mechanism provided in an embodiment of this utility model from another perspective;

[0055] Figure 10 A schematic diagram of the structure of the first and second coupling tendons provided in the embodiments of this utility model;

[0056] Figure 11 An exploded view of the coupling mechanism provided in an embodiment of this utility model;

[0057] Figure 12 This is a front view of the coupling mechanism provided in an embodiment of the present utility model;

[0058] Figure 13 A front view of the structure of the second left coupling wheel provided in an embodiment of this utility model;

[0059] Figure 14 The front view of the structure of the second right coupling wheel provided in the embodiment of this utility model.

[0060] Among them, 101 is the proximal knuckle, 102 is the first coupling wheel, 102-1 is the first left arc-shaped mounting groove, 102-2 is the first left line groove, 102-3 is the first right arc-shaped mounting groove, 102-4 is the first right line groove, 102-5 is the first left opening, 102-6 is the first right opening, and 103 is the proximal knuckle.

[0061] 201 is the middle finger joint, 202 is the driving tendon ligament, and 203 is the rebound tendon ligament;

[0062] 301 is the distal phalanx; 302 is the second coupling wheel; 302-1 is the second left coupling wheel; 302-1-1 is the first countersunk hole; 302-1-2 is the second left arc-shaped mounting groove; 302-1-3 is the second left groove; 302-1-4 is the second left opening; 302-1-5 is the first bolt hole; 302-1-6 is the first hexagonal hole; 302-2 is the second right coupling wheel; 302-2-1 is the second countersunk hole; 302-2-2 is the second right arc-shaped mounting groove; 302-2-3 is the second right groove; 302-2-4 is the second right opening; 302-2-5 is the second hexagonal hole; 303 is the distal phalanx.

[0063] 401 is the first coupling tendon cord, and 402 is the second coupling tendon cord;

[0064] 501 is the first locking bolt, 502 is the second locking bolt, 503 is the second rope loop, and 504 is the first rope loop. Detailed Implementation

[0065] 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.

[0066] The coupling mechanism provided in this embodiment of the invention is applied to the fingers of a dexterous hand, such as... Figure 6 As shown, it includes: a first coupling wheel 102, a second coupling wheel 302, a first coupling tendon rope 401, and a second coupling tendon rope 402;

[0067] like Figure 2 and Figure 6 As shown, the first coupling wheel 102 is used to fit onto the proximal interphalangeal joint 103 of the finger and is fixed to the proximal interphalangeal joint 101;

[0068] The second coupling wheel 302 is used to fit onto the distal interphalangeal joint 303 of the finger and is fixed to the distal phalanx 301;

[0069] The first coupling tendon rope 401 is wrapped around the outer edge of the first coupling wheel 102 and the second coupling wheel 302, and its two ends are fixed to the outer edge of the two respectively;

[0070] The second coupling tendon 402 is wrapped around the outer edges of the first coupling wheel 102 and the second coupling wheel 302, and its two ends are fixed to the outer edges of both; wherein, as Figure 2 As shown, the first coupling tendon cord 401 and the second coupling tendon cord 402 are parallel and staggered.

[0071] When the middle phalanx 201 of the finger rotates relative to the proximal interphalangeal joint 103, the winding length of the first coupling tendon 401 on the first coupling wheel 102 increases, and the winding length on the second coupling wheel 302 decreases, so as to drive the second coupling wheel 302 and the distal phalanx 301 to rotate synchronously around the distal interphalangeal joint 303.

[0072] When the middle phalanx 201 rotates back to its original position relative to the proximal interphalangeal joint 103, the length of the second coupling tendon 402 wound on the first coupling wheel 102 will increase, and the length of the second coupling wheel 302 wound on the second coupling wheel 302 will decrease, so as to drive the second coupling wheel 302 and the distal phalanx 301 to rotate back to their original positions around the distal interphalangeal joint 303 synchronously.

[0073] It should be noted that, as Figure 6 As shown, the first coupling wheel 102 can be fitted onto the proximal interphalangeal joint 103 of the finger, and is connected to the proximal interphalangeal joint 101 ( Figure 6 (Not shown) is fixed; wherein, the middle phalanx 201 and the proximal phalanx 101 are connected by the proximal interphalangeal joint 103, that is, the middle phalanx 201 can rotate around the proximal interphalangeal joint 103; as shown Figure 2 As shown, the end of the finger's driving tendon 202 is rigidly fixed to the middle phalanx 201. The driving tendon 202 can pull the middle phalanx 201 to rotate around the proximal interphalangeal joint 103, thus causing the middle phalanx 201 to rotate relative to the proximal interphalangeal joint 103; additionally, as... Figure 2 As shown, the end of the rebound tendon 203 is fixed to the middle finger joint 201;

[0074] The second coupling wheel 302 can be fitted onto the distal interphalangeal joint 303 of the finger and fixed to the distal phalanx 301 (also fitted onto the distal interphalangeal joint 303). The distal phalanx 301 and the second coupling wheel 302 can rotate together around the distal interphalangeal joint 303. The proximal interphalangeal joint 103 and the distal interphalangeal joint 303 are distributed in parallel, and the axes of the first coupling wheel 102 and the second coupling wheel 302 are parallel. In addition, the distal phalanx 301 and the middle phalanx 201 are connected through the distal interphalangeal joint 303.

[0075] The first coupling tendon rope 401 is wound in the grooves on the outer edges of the first coupling wheel 102 and the second coupling wheel 302 respectively, with one end fixed to the outer edge of the first coupling wheel 102 and the other end fixed to the outer edge of the second coupling wheel 302.

[0076] The second coupling tendon 402 is wound in the grooves on the outer edges of the first coupling wheel 102 and the second coupling wheel 302, with one end fixed to the outer edge of the first coupling wheel 102 and the other end fixed to the outer edge of the second coupling wheel 302. The first coupling tendon 401 and the second coupling tendon 402 are parallel and can be staggered, that is, the first coupling tendon 401 and the second coupling tendon 402 are wound in opposite directions. Of course, the first coupling tendon 401 and the second coupling tendon 402 are fixed in different positions, and considering that the first coupling tendon 401 and the second coupling tendon 402 have volume, they can be avoided from being arranged in the same vertical direction.

[0077] During the bending motion, the first coupling wheel 102 and the proximal interphalangeal joint 103 remain fixed as a base, such as... Figure 3 As shown, the drive tendon 202 pulls the middle finger joint 201 to rotate around the proximal interphalangeal joint 103, as... Figure 4 and Figure 5 As shown, this will cause the first coupling tendon 401 to have a larger winding angle on the first coupling wheel 102, that is, to increase the winding length of the first coupling tendon 401 on the first coupling wheel 102. However, since the distance between the first coupling wheel 102 and the second coupling wheel 302 remains unchanged, the straight-line distance from the first coupling wheel 102 to the second coupling wheel 302 remains unchanged, and the total length of the first coupling tendon 401 remains unchanged. In this case, the winding length of the first coupling tendon 401 on the second coupling wheel 302 will decrease, such as... Figure 4 and Figure 5 As shown, the first coupling tendon cord 401 wraps around the second coupling wheel 302 at a reduced angle. The first coupling tendon cord 401 then drives the second coupling wheel 302 and the distal phalanx 301 to rotate synchronously around the distal phalanx 303, achieving... Figure 3 This allows for the flexural coupling movement of the middle phalanx 201 and the distal phalanx 301. During this process, the length of the first coupling tendon 401 wound on the first coupling wheel 102 increases by a certain amount, and the length of the first coupling tendon 401 wound on the second coupling wheel 302 decreases accordingly. This ensures that the flexural coupling between the middle phalanx 201 and the distal phalanx 301 is linearly related. For example, when the middle phalanx 201 rotates from 0° to 10°, the distal phalanx 301 can rotate by 10°. The first coupling tendon 401 is equivalent to the flexural coupling tendon.

[0078] The extension and flexion movements of the distal phalanx 301 are opposite processes. Furthermore, while the driving tendon ligament 202 pulls the middle phalanx 201 to rotate, the middle phalanx 201 also pulls the rebound tendon ligament 203, causing the rebound tendon ligament 203 to store energy. During the extension movement, when the driving tendon ligament 202 relaxes, the rebound tendon ligament 203 can act as a force to cause the middle phalanx 201 to rotate in the opposite direction around the proximal interphalangeal joint 103, thus causing the middle phalanx 201 to return to its original position around the proximal interphalangeal joint 103. Similarly, as... Figure 4 and Figure 5 As shown, this will cause the winding angle of the second coupling tendon 402 on the first coupling wheel 102 to increase, which will increase the winding length of the second coupling tendon 402 on the first coupling wheel 102. However, since the positional relationship between the first coupling wheel 102 and the second coupling wheel 302 remains unchanged, and the total length of the second coupling tendon 402 remains unchanged, the winding length of the second coupling tendon 402 on the second coupling wheel 302 will decrease in this case, such as... Figure 4 and Figure 5 As shown, the second coupling tendon 402 decreases in the angle of wrapping around the second coupling wheel 302. This causes the second coupling tendon 402 to drive the second coupling wheel 302 and the distal phalanx 301 to rotate in the opposite direction around the distal phalanx 303, thus causing the second coupling wheel 302 and the distal phalanx 301 to rotate back to their original position around the distal phalanx 303, achieving... Figure 2 The state of the second coupling tendon 402 enables the extension coupling movement of the middle phalanx 201 and the distal phalanx 301. During this process, the length of the second coupling tendon 402 wound on the first coupling wheel 102 increases by a certain amount, and the length of the second coupling tendon 402 wound on the second coupling wheel 302 decreases accordingly. This allows the extension coupling of the middle phalanx 201 and the distal phalanx 301 to have a linear relationship. For example, when the middle phalanx 201 rotates from 10° to 0°, the distal phalanx 301 can rotate to 0°. The second coupling tendon 402 is equivalent to the extension coupling tendon 402.

[0079] In addition, the first coupling tendon rope 401 and the second coupling tendon rope 402 need to have the same winding radius on the first coupling wheel 102 and the same winding radius on the second coupling wheel 302. However, the winding radii of the two coupling wheels do not need to be the same. The coupling relationship can be adjusted by adjusting the radii of the two wheels.

[0080] Among them, the length L of the first coupling tendon 401 remains unchanged, and the distance D between the two coupling wheels remains unchanged;

[0081] exist Figure 4 middle, ;

[0082] exist Figure 5 middle, ;

[0083] Right now:

[0084]

[0085] That is, the ratio of the two turning angles is inversely proportional to the radius.

[0086] In other words, the coupling mechanism provided by this solution is a tendon rope coupling mechanism. Through the combined use of two coupling tendon ropes and two coupling wheels, the coupled movement of the middle and distal phalanges can be realized, which helps to solve the problems existing in the coupling method of the existing linkage assembly. That is, it can satisfy the linear coupling relationship between the middle and distal phalanges, and the coupling structure is small in size and light in weight.

[0087] In this plan, such as Figure 7 As shown, the second coupling wheel 302 includes: a second left coupling wheel 302-1 and a second right coupling wheel 302-2;

[0088] The second left coupling wheel 302-1 and the second right coupling wheel 302-2 are respectively fitted onto the distal finger joint 303;

[0089] The first coupling tendon rope 401 is wrapped around the outer edge of the first coupling wheel 102 and the second left coupling wheel 302-1, and its two ends are fixed to the outer edge of the two wheels respectively;

[0090] The second coupling tendon 402 is wrapped around the outer edge of the first coupling wheel 102 and the second right coupling wheel 302-2, and its two ends are fixed to the outer edge of both of them.

[0091] The second left coupling wheel 302-1 is rotatable relative to the distal phalanx 301 and is locked to the distal phalanx 301 by the first locking assembly; the second right coupling wheel 302-2 is rotatable relative to the second left coupling wheel 302-1 and is locked to the second left coupling wheel 302-1 by the second locking assembly.

[0092] It should be noted that both the first coupling tendon rope 401 and the second coupling tendon rope 402 require tension adjustment, and considering that the first coupling tendon rope 401 and the second coupling tendon rope 402 have opposite winding directions, they need to be tensioned separately; accordingly, as Figure 6 As shown, the second left coupling wheel 302-1 and the second right coupling wheel 302-2 are arranged in parallel and are respectively fitted onto the distal interphalangeal joint 303; as Figure 7As shown, the first coupling tendon cord 401 is wound around the grooves on the outer edges of the first coupling wheel 102 and the second left coupling wheel 302-1, with one end fixed to the outer edge of the first coupling wheel 102 and the other end fixed to the outer edge of the second left coupling wheel 302-1; the second coupling tendon cord 402 is wound around the grooves on the outer edges of the first coupling wheel 102 and the second right coupling wheel 302-2, with one end fixed to the outer edge of the first coupling wheel 102 and the other end fixed to the outer edge of the second right coupling wheel 302-2; in addition, the second left coupling wheel 302-1 can rotate clockwise or counterclockwise relative to the distal phalanx 301 to adjust the tension of the first coupling tendon cord 401, and when rotating the second... After adjusting the tension of the first coupling tendon 401 using the left coupling wheel 302-1, the second left coupling wheel 302-1 can be locked to the distal phalanx 301 via the first locking assembly, thus fixing the tension of the first coupling tendon 401 after adjustment. Furthermore, the second right coupling wheel 302-2 can rotate clockwise or counterclockwise relative to the second left coupling wheel 302-1 to adjust the tension of the second coupling tendon 402. After adjusting the tension of the second coupling tendon 402 by rotating the second right coupling wheel 302-2, the second right coupling wheel 302-2 can be locked to the second left coupling wheel 302-1 via the second locking assembly, thus fixing the tension of the second coupling tendon 402 after adjustment. Of course, if... Figure 12 As shown, the second left coupling wheel 302-1 is distributed between the distal phalanx 301 and the second right coupling wheel 302-2.

[0093] In other words, the second coupling wheel 302 includes two sub-coupling wheels arranged in parallel, namely the second left coupling wheel 302-1 and the second right coupling wheel 302-2. Both of these sub-coupling wheels can be rotated independently to adjust the tension of the coupling tendon ropes on them and can be locked, thereby facilitating the separate adjustment of the tension of the first coupling tendon rope 401 and the second coupling tendon rope 402.

[0094] Specifically, the first locking assembly includes a first locking bolt assembly, which is used to lock the left end face of the second left coupling wheel 302-1 to the distal phalanx 301, and its head is countersunk to the right end face of the second left coupling wheel 302-1.

[0095] The second locking assembly includes a second locking bolt assembly, which is used to lock the second right coupling wheel 302-2 to the right end face of the second left coupling wheel 302-1, and its head is countersunk to the right end face of the second right coupling wheel 302-2.

[0096] It should be noted that, as Figure 6As shown, the distal phalanx 301 and the second right coupling wheel 302-2 can be distributed on the left and right sides of the second left coupling wheel 302-1. Furthermore, after rotating the second left coupling wheel 302-1 to adjust the tension of the first coupling tendon 401, the first locking bolt assembly is used to lock the left end face of the second left coupling wheel 302-1 to the distal phalanx 301, thus fixing the first coupling tendon 401 after tension adjustment. Moreover, the head (bolt head) of the first locking bolt assembly is countersunk to the right end face of the second left coupling wheel 302-1, thereby locking the second right coupling wheel 302-2 to the second left coupling wheel 302-1 using the second locking bolt assembly. When the right end face of 2-1 is rotated, interference between the head of the first locking bolt assembly and the second right coupling wheel 302-2 can be avoided. In addition, after the second right coupling wheel 302-2 is rotated to adjust the tension of the second coupling tendon rope 402, the second locking bolt assembly is used to lock the second right coupling wheel 302-2 to the right end face of the second left coupling wheel 302-1, thereby fixing the second coupling tendon rope 402 after tension adjustment. Moreover, the head (bolt head) of the second locking bolt assembly can be countersunk to the right end face of the second right coupling wheel 302-2. Of course, this design makes the split structure of the second coupling wheel 302 more compact.

[0097] Furthermore, such as Figure 11 As shown, the first locking bolt assembly includes a plurality of first locking bolts 501;

[0098] Multiple first locking bolts 501 are used to lock the second left coupling wheel 302-1 and the distal phalanx 301 respectively, and their bolt heads are countersunk to the right end face of the second left coupling wheel 302-1;

[0099] The second locking bolt assembly includes a plurality of second locking bolts 502;

[0100] Multiple second locking bolts 502 are used to lock the second right coupling wheel 302-2 and the second left coupling wheel 302-1 respectively, and the bolt heads are countersunk to the right end face of the second right coupling wheel 302-2 respectively.

[0101] It should be noted that the structure of the distal phalanx 301 can be referred to Figure 11As shown, its first part is fitted onto the proximal interphalangeal joint 103; after rotating the second left coupling wheel 302-1 to adjust the tension of the first coupling tendon 401, a plurality of first locking bolts 501 are used to tighten the second left coupling wheel 302-1 onto the right end face of the first part of the distal interphalangeal joint 301, and the bolt heads are respectively countersunk to the right end face of the second left coupling wheel 302-1; wherein, the plurality of first locking bolts 501 can be evenly distributed around the center of the second left coupling wheel 302-1, so that the second left coupling wheel 302-1 has a good locking effect; in addition, when rotating the second After adjusting the tension of the second coupling tendon 402, the right coupling wheel 302-2 is tightened to the right end face of the second left coupling wheel 302-1, and the bolt heads are countersunk to the right end face of the second right coupling wheel 302-2. The multiple second locking bolts 502 can be evenly distributed around the center of the second right coupling wheel 302-2, so that the second right coupling wheel 302-2 has a good locking effect. Of course, the multiple second locking bolts 502 can protrude from the right end face of the second right coupling wheel 302-2.

[0102] Furthermore, such as Figure 13 As shown, the right end face of the second left coupling wheel 302-1 is provided with a plurality of through first countersunk holes 302-1-1, which are used to install the bolt heads of a plurality of first locking bolts 501 one by one.

[0103] like Figure 14 As shown, the right end face of the second right coupling wheel 302-2 is provided with a plurality of through second countersunk holes 302-2-1, which are used to install the bolt heads of a plurality of second locking bolts 502 one by one.

[0104] Among them, such as Figure 13 As shown, the multiple first countersunk holes 302-1-1 are all arc-shaped first waist-shaped countersunk holes, and are evenly distributed around the center of the second left coupling wheel 302-1; as Figure 14 As shown, the multiple second countersunk holes 302-2-1 are all arc-shaped second waist-shaped countersunk holes, and are evenly distributed around the center of the second right coupling wheel 302-2.

[0105] It should be noted that, as Figure 11 and Figure 13 As shown, the right end face of the second left coupling wheel 302-1 is provided with a plurality of through first countersunk holes 302-1-1, which are evenly distributed around the center of the second left coupling wheel 302-1. Each first countersunk hole 302-1-1 is an arc-shaped first waist-shaped countersunk hole, which can be concentric with the second left coupling wheel 302-1. Correspondingly, as Figure 11As shown, the right end face of the first part of the distal phalanx 301 has multiple first internal threaded holes, which are distributed one-to-one with the multiple first countersunk holes 302-1-1 of the second left coupling wheel 302-1; multiple first locking bolts 501 are installed one-to-one in the multiple first countersunk holes 302-1-1 of the second left coupling wheel 302-1, and are tightened one-to-one in the multiple first internal threaded holes of the first part of the distal phalanx 301, so that the left end face of the second left coupling wheel 302-1 is locked to the right end face of the first part of the distal phalanx 301; of course, the second left coupling wheel 302-1 can be pre-installed by the multiple first locking bolts 501. The second left coupling wheel 302-1 is mounted on the right end face of the first part of the distal phalanx 301, but the multiple first locking bolts 501 are not yet fully locked. The multiple first countersunk holes 302-1-1 are all designed as arc-shaped first waist-shaped countersunk holes, allowing the second left coupling wheel 302-1 to rotate relative to the distal phalanx 301 to adjust the tension of the first coupling tendon 401. After adjusting the tension of the first coupling tendon 401 by rotating the second left coupling wheel 302-1, the second left coupling wheel 302-1 can be fully locked to the right end face of the first part of the distal phalanx 301 using the multiple first locking bolts 501. Additionally, as... Figure 13 As shown, the center of the right end face of the second left coupling wheel 302-1 may also be provided with a first hexagonal hole 302-1-3, which is a first hexagonal blind hole, so as to insert a torque wrench to drive the rotation of the second left coupling wheel 302-1; wherein, the torque wrench can be inserted into the first hexagonal blind hole on the right end face of the second left coupling wheel 302-1, rotate the torque wrench, and continuously tighten the first coupling tendon rope 401. When the torque wrench reaches a certain torque value, the second left coupling wheel 302-1 is completely locked to the right end face of the first part of the distal phalanx 301 through multiple first locking bolts 501, thus completing the tensioning and fixing of the first coupling tendon rope 401;

[0106] like Figure 11 and Figure 14 As shown, the right end face of the second right coupling wheel 302-2 is provided with multiple through countersunk holes 302-2-1, which are evenly distributed around the center of the second right coupling wheel 302-2. Each countersunk hole 302-2-1 is an arc-shaped second waist-shaped countersunk hole, which can be concentric with the second right coupling wheel 302-2. Correspondingly, as Figure 11As shown, the right end face of the second left coupling wheel 302-1 has multiple second internal threaded holes, which are distributed one-to-one with the multiple second countersunk holes 302-2-1 of the second right coupling wheel 302-2, and the multiple second internal threaded holes are offset one-to-one with the multiple first countersunk holes 302-1-1; multiple second locking bolts 502 are installed one-to-one in the multiple second countersunk holes 302-2-1 of the second right coupling wheel 302-2, and are tightened one-to-one in the multiple second internal threaded holes of the second right coupling wheel 302-2, so that the left end face of the second right coupling wheel 302-2 is locked to the right end face of the second left coupling wheel 302-1; of course, the multiple second locking bolts 502 can be used to pre-lock the left end face of the second right coupling wheel 302-2 to the right end face of the second left coupling wheel 302-1. The second right coupling wheel 302-2 is installed on the right end face of the second left coupling wheel 302-1, but the multiple second locking bolts 502 are not yet fully locked on the second right coupling wheel 302-2. The multiple second countersunk holes 302-2-1 are all designed as arc-shaped second waist-shaped countersunk holes, allowing the second right coupling wheel 302-2 to rotate relative to the second left coupling wheel 302-1 to adjust the tension of the second coupling tendon rope 402. After adjusting the tension of the second coupling tendon rope 402 by rotating the second right coupling wheel 302-2, the second right coupling wheel 302-2 can then be fully locked to the right end face of the second left coupling wheel 302-1 using the multiple second locking bolts 502. Additionally, if... Figure 14 As shown, the center of the right end face of the second right coupling wheel 302-2 may also be provided with a second hexagonal hole 302-2-5, which is a second hexagonal blind hole, so as to insert a torque wrench to drive the rotation of the second right coupling wheel 302-2; of course, the center of the second left coupling wheel 302-1 and the second right coupling wheel 302-2 are both provided with through holes for passing through the distal interphalangeal joint 303, and the second hexagonal blind hole and the first hexagonal blind hole are both concentric with the through hole; wherein, the torque wrench can be inserted to drive the rotation of the second right coupling wheel 302-2. Insert the wrench into the second hexagonal blind hole on the right end face of the second right coupling wheel 302-2, rotate the torque wrench, and continuously tighten the second coupling tendon rope 402. When the torque wrench reaches a certain torque value, the second right coupling wheel 302-2 is completely locked to the right end face of the second left coupling wheel 302-1 through multiple second locking bolts 502, thus completing the tensioning and fixing of the second coupling tendon rope 402, and finally fixing the distal phalanx 301, the second left coupling wheel 302-1, and the second right coupling wheel 302-2.

[0107] In other words, the multiple first countersunk holes 302-1-1 on the right end face of the second left coupling wheel 302-1 are all arc-shaped first waist-shaped countersunk holes, and are evenly distributed around the center of the second left coupling wheel 302-1. This does not affect the adjustment of the tension of the first coupling tendon rope 401 by rotating the second left coupling wheel 302-1, and after the tension is adjusted, it is convenient for the multiple first locking bolts 501 to completely lock the second left coupling wheel 302-1 to the right end face of the first part of the distal phalanx 301. Similarly, the multiple second countersunk holes 302-2-1 on the right end face of the second right coupling wheel 302-2 are all arc-shaped second waist-shaped countersunk holes, and are evenly distributed around the center of the second right coupling wheel 302-2. This does not affect the adjustment of the tension of the second coupling tendon rope 402 by rotating the second right coupling wheel 302-2, and after the tension is adjusted, it is convenient for the multiple second locking bolts 502 to completely lock the second right coupling wheel 302-2 to the right end face of the second left coupling wheel 302-1.

[0108] In this plan, such as Figure 10 As shown, both ends of the first coupling tendon rope 401 are provided with first fixing members;

[0109] like Figure 10 As shown, the second coupling tendon rope 402 has a second fixing member at both ends;

[0110] The outer edge of the first coupling wheel 102 is provided with a first left mounting groove and a first right mounting groove, the outer edge of the second left coupling wheel 302-1 is provided with a second left mounting groove, and the outer edge of the second right coupling wheel 302-2 is provided with a second right mounting groove.

[0111] The first coupling tendon rope 401 is wound into the grooves on the outer edge of the first coupling wheel 102 and the second left coupling wheel 302-1, and its two first fixing parts are snapped into the first left mounting groove and the second left mounting groove, respectively.

[0112] The second coupling tendon rope 402 is wound into the grooves on the outer edges of the first coupling wheel 102 and the second right coupling wheel 302-2, and its two second fixing parts are respectively snapped into the first right mounting groove and the second right mounting groove.

[0113] It should be noted that, as Figure 7 As shown, a first left groove 102-2 is formed on the outer edge of the first coupling wheel 102; as Figure 8 As shown, a second right groove 302-2-3 is provided on the outer edge of the second right coupling wheel 302-2; as Figure 9 As shown, the outer edge of the first coupling wheel 102 is provided with a first right groove 102-4, and the outer edge of the second left coupling wheel 302-1 is provided with a second left groove 302-1-3; Figure 7As shown, the middle portion of the first coupling tendon rope 401 is respectively wound into the first left groove 102-2 on the outer edge of the first coupling wheel 102 and the second left groove 302-1-3 on the outer edge of the second left coupling wheel 302-1, to prevent displacement of the middle portion of the first coupling tendon rope 401. The first fixing members at both ends of the first coupling tendon rope 401 are respectively snapped into the first left mounting groove on the outer edge of the first coupling wheel 102 and the second left mounting groove on the outer edge of the second left coupling wheel 302-1, realizing the installation and fixation of the first coupling tendon rope 401 on the outer edges of the first coupling wheel 102 and the second left coupling wheel 302-1, and making the first coupling tendon rope 401 stable and reliable; Figure 8 As shown, the middle part of the second coupling tendon rope 402 is respectively wound into the first right groove 102-4 on the outer edge of the first coupling wheel 102 and the second right groove 302-2-3 on the outer edge of the second right coupling wheel 302-2, to prevent the middle part of the second coupling tendon rope 402 from shifting. The second fixing members at both ends of the second coupling tendon rope 402 are respectively snapped into the first right mounting groove on the outer edge of the first coupling wheel 102 and the second right mounting groove on the outer edge of the second right coupling wheel 302-2, so as to realize the installation and fixation of the second coupling tendon rope 402 on the outer edge of the first coupling wheel 102 and the second right coupling wheel 302-2, and can make the second coupling tendon rope 402 fixed stably and reliably. In addition, the first fixing member at each end of the first coupling tendon 401 can be radially or tangentially engaged in the first left mounting groove or the second left mounting groove of the corresponding coupling wheel, and the second fixing member at each end of the second coupling tendon 402 can be radially or tangentially engaged in the first right mounting groove or the second right mounting groove of the corresponding coupling wheel. Of course, as mentioned above, the tension of the first coupling tendon 401 can be adjusted by rotating the second left coupling wheel 302-1, and the tension of the second right coupling wheel 302-2 can be adjusted by the second hexagonal hole 302-2-5. In this way, it can be ensured that the above-mentioned fixing members can be tangentially engaged in the corresponding mounting groove of the corresponding coupling wheel.

[0114] Specifically, such as Figure 10 As shown, the first fastener includes a first rope loop 504;

[0115] The second fastener includes a second rope loop 503;

[0116] like Figure 7 As shown, the first left mounting groove includes: a first left arc-shaped mounting groove 102-1, which is connected to and tangent to the first left linear groove 102-2 on the outer edge of the first coupling wheel 102;

[0117] like Figure 9 As shown, the first right mounting groove includes: a first right arc-shaped mounting groove 102-3, which is connected to and tangent to the first right line groove 102-4 on the outer edge of the first coupling wheel 102;

[0118] like Figure 9As shown, the second left mounting groove includes: a second left arc-shaped mounting groove 302-1-2, which is connected to and tangent to the second left line groove 302-1-3 on the outer edge of the second left coupling wheel 302-1;

[0119] like Figure 8 As shown, the second right mounting groove includes a second right arc-shaped mounting groove 302-2-2, which is connected to and tangent to the second right line groove 302-2-3 on the outer edge of the second right coupling wheel 302-2.

[0120] It should be noted that, as Figure 10 As shown, both ends of the first coupling tendon rope 401 are fixed with a first rope sleeve 504, and both ends of the second coupling tendon rope 402 are fixed with a second rope sleeve 503. Each coupling tendon rope, after passing one end through its corresponding rope sleeve, can be fixed to the other end by glue or welding, thus securing the rope end of the coupling tendon rope to the corresponding rope sleeve. The outer diameter of the first rope sleeve 504 can be slightly larger than the diameter of the first coupling tendon rope 401, and the outer diameter of the second rope sleeve 503 can be slightly larger than the diameter of the second coupling tendon rope 402. Furthermore, the use of rope sleeves as fixing components at both ends of each coupling tendon rope results in a simple structure and small size.

[0121] like Figure 7 As shown, the first left arc-shaped mounting groove 102-1 is distributed tangentially along the outer edge of the first coupling wheel 102, and is connected to and tangential to the first left line groove 102-2 on the outer edge of the first coupling wheel 102, so that one end of the first coupling tendon rope 401 is distributed and fixed along the outer periphery of the first coupling wheel 102;

[0122] like Figure 9 As shown, the first right arc-shaped mounting groove 102-3 is distributed tangentially along the outer edge of the first coupling wheel 102, and is connected to and tangential to the first right line groove 102-4 on the outer edge of the first coupling wheel 102, so that one end of the second coupling tendon rope 402 is distributed and fixed along the outer periphery of the first coupling wheel 102;

[0123] like Figure 9 As shown, the second left arc-shaped mounting groove 302-1-2 is distributed tangentially along the outer edge of the second left coupling wheel 302-1, and is connected to and tangential to the second left linear groove 302-1-3 on the outer edge of the second left coupling wheel 302-1.

[0124] So that the other end of the first coupling tendon 401 is distributed and fixed along the outer periphery of the second left coupling wheel 302-1;

[0125] like Figure 8 As shown, the second right arc-shaped mounting groove 302-2-2 is distributed tangentially along the outer edge of the second right coupling wheel 302-2, and is connected to and tangential to the second right linear groove 302-2-3 on the outer edge of the second right coupling wheel 302-2.

[0126] This allows the other end of the second coupling tendon 402 to be distributed and fixed along the outer periphery of the second right coupling wheel 302-2. Of course, the above design can also prevent the fixing of the two coupling tendons from bending, ensuring the service life of the two coupling tendons, and at the same time, it can also prevent each coupling tendon from coming off along the axial direction of the two corresponding coupling wheels.

[0127] In addition, such as Figure 7 As shown, the shape of the inner wall of the first left arc-shaped mounting groove 102-1 can be adapted to the shape of the outer shape of the first rope sleeve 504. That is, the diameter of the first left arc-shaped mounting groove 102-1 can be adapted to the outer diameter of the first rope sleeve 504. Moreover, the diameter of the first left arc-shaped mounting groove 102-1 is larger than the width of the first left groove 102-2. In this way, the first rope sleeve 504 can be tangentially fitted into the first left arc-shaped mounting groove 102-1 on the outer periphery of the first coupling wheel 102. Furthermore, the fitting of the first rope sleeve 504 into the first left arc-shaped mounting groove 102-1 is tight, preventing the first rope sleeve 504 from shaking within the first left arc-shaped mounting groove 102-1. This makes the fixation of one end of the first coupling tendon rope 401 more stable and reliable.

[0128] like Figure 9 As shown, the shape of the inner wall of the first right arc-shaped mounting groove 102-3 can be adapted to the shape of the second rope sleeve 503. That is, the diameter of the first right arc-shaped mounting groove 102-3 can be adapted to the outer diameter of the second rope sleeve 503. Moreover, the diameter of the first right arc-shaped mounting groove 102-3 is larger than the width of the first right groove 102-4. In this way, the second rope sleeve 503 can be tangentially fitted into the first right arc-shaped mounting groove 102-3 on the outer periphery of the first coupling wheel 102. Furthermore, the fitting of the second rope sleeve 503 into the first right arc-shaped mounting groove 102-3 is tight, preventing the second rope sleeve 503 from shaking within the first right arc-shaped mounting groove 102-3. This makes the fixation of one end of the second coupling tendon rope 402 more stable and reliable.

[0129] like Figure 9 As shown, the shape of the inner wall of the second left arc-shaped mounting groove 302-1-2 can be adapted to the shape of the first rope sleeve 504. That is, the diameter of the second left arc-shaped mounting groove 302-1-2 can be adapted to the outer diameter of the first rope sleeve 504. Moreover, the diameter of the second left arc-shaped mounting groove 302-1-2 is larger than the width of the second left groove 302-1-3. In this way, the first rope sleeve 504 can be tangentially fitted into the second left arc-shaped mounting groove 302-1-2 on the outer periphery of the second left coupling wheel 302-1. Furthermore, the fitting of the first rope sleeve 504 in the second left arc-shaped mounting groove 302-1-2 is tight, preventing the first rope sleeve 504 from shaking in the second left arc-shaped mounting groove 302-1-2. This makes the fixation of the other end of the first coupling tendon rope 401 more stable and reliable.

[0130] like Figure 8 As shown, the shape of the inner wall of the second right arc-shaped mounting groove 302-2-2 can be adapted to the shape of the outer shape of the second rope sleeve 503. That is, the diameter of the second right arc-shaped mounting groove 302-2-2 can be adapted to the outer diameter of the second rope sleeve 503. Moreover, the diameter of the second right arc-shaped mounting groove 302-2-2 is larger than the width of the second right groove 302-2-3. In this way, the second rope sleeve 503 can be tangentially fitted into the second right arc-shaped mounting groove 302-2-2 on the outer periphery of the second right coupling wheel 302-2. Furthermore, the fitting of the second rope sleeve 503 in the second right arc-shaped mounting groove 302-2-2 is tight, preventing the second rope sleeve 503 from shaking in the second right arc-shaped mounting groove 302-2-2. This makes the fixation of the other end of the second coupling tendon rope 402 more stable and reliable.

[0131] Furthermore, such as Figure 7 As shown, the portion of the first left arc-shaped mounting groove 102-1 that is away from the axis of the first coupling wheel 102 has a first left opening 102-5;

[0132] like Figure 9 As shown, the portion of the first right arc-shaped mounting groove 102-3 that is away from the axis of the first coupling wheel 102 has a first right opening 102-6;

[0133] like Figure 9 As shown, the portion of the second left arc-shaped mounting groove 302-1-2 that is away from the axis of the second left coupling wheel 302-1 is provided with a second left opening 302-1-4;

[0134] like Figure 8 As shown, the portion of the second right arc-shaped mounting groove 302-2-2 that is away from the axis of the second right coupling wheel 302-2 is provided with a second right opening 302-2-4;

[0135] The widths of the first left opening 102-5 and the second left opening 302-1-4 are both smaller than the diameter of the first rope loop 504 and greater than or equal to the diameter of the first coupling tendon rope 401; the widths of the first right opening 102-6 and the second right opening 302-2-4 are both smaller than the diameter of the second rope loop 503 and greater than or equal to the diameter of the second coupling tendon rope 402.

[0136] It should be noted that, considering that both ends of each coupling tendon cord are fitted with loops, and the diameter of each arc-shaped mounting groove is larger than the width of the corresponding groove, to ensure that the middle part of each coupling tendon cord can be wound into the grooves of the two coupling wheels, and that the two loops can be tangentially snapped into the corresponding arc-shaped mounting grooves, each arc-shaped mounting groove needs to have an opening structure for inserting the coupling tendon cord; accordingly, such as Figure 7As shown, the portion of the first left arc-shaped mounting groove 102-1 away from the central axis of the first coupling wheel 102 has a first left opening 102-5, meaning the entire first left arc-shaped mounting groove 102-1 is connected to the outer periphery of the first coupling wheel 102. The width of the first left opening 102-5 is less than the diameter of the first rope loop 504 to prevent the first rope loop 504 from falling out radially outward inside the first left arc-shaped mounting groove 102-1. Moreover, the width of the first left opening 102-5 is greater than or equal to the diameter of the first coupling tendon rope 401 to ensure that the first left opening 102-5 of the first left arc-shaped mounting groove 102-1 can accommodate the first coupling tendon rope 401.

[0137] like Figure 9 As shown, the portion of the first right arc-shaped mounting groove 102-3 away from the central axis of the first coupling wheel 102 has a first right opening 102-6, meaning the entire first right arc-shaped mounting groove 102-3 is connected to the outer periphery of the first coupling wheel 102. The width of the first right opening 102-6 is less than the diameter of the second rope loop 503, preventing the second rope loop 503 from falling out radially outward within the first right arc-shaped mounting groove 102-3. Furthermore, the width of the first right opening 102-6 is greater than or equal to the diameter of the second coupling tendon rope 402, ensuring that the second coupling tendon rope 402 can be inserted into the first right opening 102-6 of the first right arc-shaped mounting groove 102-3.

[0138] like Figure 9 As shown, the portion of the second left arc-shaped mounting groove 302-1-2 away from the central axis of the second left coupling wheel 302-1 is provided with a second left opening 302-1-4. That is, the entire second left arc-shaped mounting groove 302-1-2 is connected to the outer periphery of the second left coupling wheel 302-1. The width of the second left opening 302-1-4 is less than the diameter of the first rope loop 504 to prevent the first rope loop 504 from falling out radially outward in the second left arc-shaped mounting groove 302-1-2. Moreover, the width of the second left opening 302-1-4 is greater than or equal to the diameter of the first coupling tendon rope 401 to ensure that the second left opening 302-1-4 of the second left arc-shaped mounting groove 302-1-2 can accommodate the first coupling tendon rope 401.

[0139] like Figure 8As shown, the portion of the second right arc-shaped mounting groove 302-2-2 away from the central axis of the second right coupling wheel 302-2 has a second right opening 302-2-4, meaning the second right arc-shaped mounting groove 302-2-2 is connected to the outer periphery of the second right coupling wheel 302-2. The width of the second right opening 302-2-4 is less than the diameter of the second rope loop 503 to prevent the second rope loop 503 from falling out radially outward within the second right arc-shaped mounting groove 302-2-2. The width of the second right opening 302-2-4 is greater than or equal to the diameter of the second coupling tendon rope 402, ensuring that the second right opening 302-2-4 of the second right arc-shaped mounting groove 302-2-2 can accommodate the second coupling tendon rope 402. In other words, each coupling wheel's arc-shaped mounting groove away from its central axis has an opening to accommodate the corresponding coupling tendon rope, ensuring that the coupling tendon rope can be properly installed and fixed on both coupling wheels.

[0140] This embodiment of the invention also provides a dexterous hand, including fingers, which include the coupling mechanism described above. Because this solution employs the aforementioned coupling mechanism, it possesses corresponding beneficial effects, as detailed in the preceding description, which will not be repeated here.

[0141] This embodiment of the invention also provides a robot, which includes the dexterous hand described above. Because this solution employs the aforementioned dexterous hand, it possesses corresponding beneficial effects, as detailed in the preceding description, which will not be repeated here.

[0142] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0143] 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 coupling mechanism applied to the fingers of a dexterous hand, characterized in that, include: First coupling wheel (102), second coupling wheel (302), first coupling tendon rope (401), and second coupling tendon rope (402); The first coupling wheel (102) is used to fit onto the proximal interphalangeal joint (103) of the finger and is fixed to the proximal interphalangeal joint (101); The second coupling wheel (302) is used to fit onto the distal interphalangeal joint (303) of the finger and is fixed to the distal phalanx (301); The first coupling tendon (401) is wrapped around the outer edges of the first coupling wheel (102) and the second coupling wheel (302), and its two ends are fixed to the outer edges of both. The second coupling tendon (402) is wrapped around the outer edges of the first coupling wheel (102) and the second coupling wheel (302), and its two ends are fixed to the outer edges of both; wherein, the first coupling tendon (401) and the second coupling tendon (402) are parallel and staggered; When the middle phalanx (201) of the finger rotates relative to the proximal interphalangeal joint (103), the winding length of the first coupling tendon cord (401) on the first coupling wheel (102) increases, and the winding length on the second coupling wheel (302) decreases, so as to drive the second coupling wheel (302) and the distal phalanx (301) to rotate synchronously around the distal interphalangeal joint (303); when the middle phalanx (201) rotates back to its original position relative to the proximal interphalangeal joint (103), the winding length of the second coupling tendon cord (402) on the first coupling wheel (102) increases, and the winding length on the second coupling wheel (302) decreases, so as to drive the second coupling wheel (302) and the distal phalanx (301) to rotate back to their original position synchronously around the distal interphalangeal joint (303).

2. The coupling mechanism according to claim 1, characterized in that, The second coupling wheel (302) includes: a second left coupling wheel (302-1) and a second right coupling wheel (302-2); The second left coupling wheel (302-1) and the second right coupling wheel (302-2) are respectively fitted onto the distal finger joint (303); The first coupling tendon (401) is wrapped around the outer edges of the first coupling wheel (102) and the second left coupling wheel (302-1), and its two ends are fixed to the outer edges of both of them; The second coupling tendon (402) is wrapped around the outer edges of the first coupling wheel (102) and the second right coupling wheel (302-2), and its two ends are fixed to the outer edges of both of them; The second left coupling wheel (302-1) is rotatable relative to the distal phalanx (301) and is locked to the distal phalanx (301) by a first locking assembly; the second right coupling wheel (302-2) is rotatable relative to the second left coupling wheel (302-1) and is locked to the second left coupling wheel (302-1) by a second locking assembly.

3. The coupling mechanism according to claim 2, characterized in that, The first locking assembly includes a first locking bolt assembly, which is used to lock the left end face of the second left coupling wheel (302-1) to the distal phalanx (301), and its head is countersunk to the right end face of the second left coupling wheel (302-1); The second locking assembly includes a second locking bolt assembly for locking the second right coupling wheel (302-2) to the right end face of the second left coupling wheel (302-1), with its head countersunk to the right end face of the second right coupling wheel (302-2).

4. The coupling mechanism according to claim 3, characterized in that, The first locking bolt assembly includes a plurality of first locking bolts (501); Multiple first locking bolts (501) are used to lock the second left coupling wheel (302-1) and the distal phalanx (301) respectively, and their bolt heads are countersunk to the right end face of the second left coupling wheel (302-1); The second locking bolt assembly includes a plurality of second locking bolts (502); Multiple second locking bolts (502) are used to lock the second right coupling wheel (302-2) and the second left coupling wheel (302-1) respectively, and their bolt heads are countersunk to the right end face of the second right coupling wheel (302-2).

5. The coupling mechanism according to claim 4, characterized in that, The right end face of the second left coupling wheel (302-1) is provided with a plurality of through first countersunk holes (302-1-1), which are used to install the bolt heads of a plurality of first locking bolts (501) one by one; The right end face of the second right coupling wheel (302-2) is provided with a plurality of through second countersunk holes (302-2-1), which are used to install the bolt heads of a plurality of second locking bolts (502) one by one; Among them, the plurality of first countersunk holes (302-1-1) are all arc-shaped first waist-shaped countersunk holes, and are evenly distributed around the center of the second left coupling wheel (302-1); the plurality of second countersunk holes (302-2-1) are all arc-shaped second waist-shaped countersunk holes, and are evenly distributed around the center of the second right coupling wheel (302-2).

6. The coupling mechanism according to claim 2, characterized in that, Both ends of the first coupling tendon rope (401) are provided with first fixing members; The second coupling tendon rope (402) has a second fixing member at both ends; The outer edge of the first coupling wheel (102) is provided with a first left mounting groove and a first right mounting groove, the outer edge of the second left coupling wheel (302-1) is provided with a second left mounting groove, and the outer edge of the second right coupling wheel (302-2) is provided with a second right mounting groove; The first coupling tendon rope (401) is wound into the grooves on the outer edges of the first coupling wheel (102) and the second left coupling wheel (302-1), and its two first fixing parts are respectively snapped into the first left mounting groove and the second left mounting groove; The second coupling tendon rope (402) is wound into the grooves on the outer edges of the first coupling wheel (102) and the second right coupling wheel (302-2), and its two second fixing parts are respectively snapped into the first right mounting groove and the second right mounting groove.

7. The coupling mechanism according to claim 6, characterized in that, The first fastener includes a first rope loop (504); The second fastener includes a second rope loop (503); The first left mounting groove includes: a first left arc-shaped mounting groove (102-1), which is connected to and tangent to the first left linear groove (102-2) on the outer edge of the first coupling wheel (102); The first right mounting groove includes: a first right arc-shaped mounting groove (102-3), which is connected to and tangent to the first right line groove (102-4) on the outer edge of the first coupling wheel (102); The second left mounting groove includes: a second left arc-shaped mounting groove (302-1-2), which is connected to and tangent to the second left line groove (302-1-3) on the outer edge of the second left coupling wheel (302-1); The second right mounting groove includes a second right arc-shaped mounting groove (302-2-2), which is connected to and tangent to the second right line groove (302-2-3) on the outer edge of the second right coupling wheel (302-2).

8. The coupling mechanism according to claim 7, characterized in that, The portion of the first left arc-shaped mounting groove (102-1) away from the axis of the first coupling wheel (102) has a first left opening (102-5). The portion of the first right arc-shaped mounting groove (102-3) away from the axis of the first coupling wheel (102) has a first right opening (102-6). The portion of the second left arc-shaped mounting groove (302-1-2) away from the axis of the second left coupling wheel (302-1) is provided with a second left opening (302-1-4). The portion of the second right arc-shaped mounting groove (302-2-2) away from the axis of the second right coupling wheel (302-2) is provided with a second right opening (302-2-4); The widths of the first left opening (102-5) and the second left opening (302-1-4) are both smaller than the diameter of the first rope loop (504) and greater than or equal to the diameter of the first coupling tendon rope (401); the widths of the first right opening (102-6) and the second right opening (302-2-4) are both smaller than the diameter of the second rope loop (503) and greater than or equal to the diameter of the second coupling tendon rope (402).

9. A dexterous hand, comprising fingers, characterized in that, The finger includes the coupling mechanism as described in any one of claims 1-8.

10. A robot, characterized in that, The robot includes the dexterous hand as described in claim 9.

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