CN114888832B

CN114888832B - Tendon rope under-actuated humanoid multi-finger dexterous hand device

Info

Publication number: CN114888832B
Application number: CN202210479411.8A
Authority: CN
Inventors: 刘兵; 王刚; 樊哲良; 周兴博; 王铭鹤
Original assignee: Dalian University of Technology
Current assignee: Dalian University of Technology
Priority date: 2022-05-05
Filing date: 2022-05-05
Publication date: 2023-09-15
Anticipated expiration: 2042-05-05
Also published as: CN114888832A

Abstract

The invention provides a tendon rope under-actuated humanoid multi-finger smart hand device, and belongs to the technical field of bionic robots. Comprises a thumb, an index finger, a middle finger, a ring finger, a little finger, a palm base, a palm cover plate and a palm thread arranging device. Wherein the relative positions of the five fingers and the palm imitate the relative positions of the fingers and the palm of the human hand; the middle finger is fixedly connected with the palm skeleton in the same structure and size as the index finger, and the connection mode is the same as that of the index finger; the structures and the sizes of the little finger and the ring finger are the same, the little finger is fixedly connected with the palm skeleton, and the connection mode is the same as that of the ring finger. The underactuated mode of the humanoid multi-finger smart hand device enables the whole structure to be concise and efficient, the mechanical characteristics can enable the fingers to automatically adapt to the shape of an object, and the humanoid multi-finger smart hand device has good shape adaptability and good external impact resistance flexibility; the driver with large mass can be far away from the end execution mechanism, the inertia of the end execution mechanism is lightened through reasonable arrangement, and the dynamic performance is improved; meets the background and requirements of the bionic design.

Description

Tendon rope under-actuated humanoid multi-finger dexterous hand device

Technical Field

The invention belongs to the technical field of bionic robots, and relates to a tendon rope underactuated humanoid multi-finger smart hand device.

Background

In the intelligent research process of robots, bionic anthropomorphic robots are taken as important fields of robot research, and the realization of the behavior of the anthropomorphic robots is always taken as a final target. Most functions of the bionic robot are realized through hand operation, so that the hand structure is an important component of the bionic anthropomorphic robot, and the design of the bionic anthropomorphic robot is a key technology of the anthropomorphic robot.

The simulated multi-finger dexterous hand as the end effector of the robot arm has the advantages of strong flexibility, wide application task range and the like, and has important influences on the fingers such as dexterous, reliability, volume and the like.

In recent 30 years, human-simulated dexterous hand research has achieved a great deal of success. The dexterous hand has 3-5 fingers, each finger has 2-4 joint degrees of freedom, and most joints are active joints driven by motors, air muscles, hydraulic pressure and the like. The dexterous hand can make various actions of the human hand, including both grabbing and manipulating. Such as Hitachi hand, utah/MIT hand, stanford/JPL hand, shadow company C5 hand, DLR hand and Robonout hand developed abroad, HIT dexterous hand developed in Hadamard, and BH dexterous hand developed in North navigation. The smart hand has the main advantages of more degrees of freedom, more flexible and active object grabbing, good grabbing stability, and incapability of realizing automatic adaptation to the shape and the size of the object when grabbing the object, high requirements on a sensing and control system, complex system, high cost and low reliability.

Tendon rope underactuated humanoid multi-finger dexterous fingers can overcome some defects of the dexterous hand, and the underactuated robot mainly designed based on the defects is paid more attention to. The under-actuated humanoid multi-finger hand has the advantages of being capable of automatically adapting to the shape and the size of an object, achieving the purpose of self-adapting grabbing and reducing the requirements on a sensing and control system.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides the tendon rope underactuated humanoid multi-finger dexterous hand device which utilizes the long-distance tendon rope conduction to adjust the initial position of the underactuated dexterous hand, can realize grabbing gestures of two-finger pinching, three-finger pinching, lateral pinching, grabbing and the like, improves the stability of the dexterous hand for grabbing objects with different sizes and shapes, and ensures the grabbing effect of automatically adapting to the shapes and the sizes of the objects when grabbing the objects. The device has the appearance similar to the hand structure of a person, and is suitable for being used as an end effector of an anthropomorphic robot.

In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:

a tendon rope underactuated humanoid multi-finger dexterous hand device comprises a thumb, an index finger, a middle finger, a ring finger, a little finger, a palm base, a palm cover plate and a palm thread tidying device.

The palm comprises a palm skeleton and a palm cover plate, and the palm thread managing device is fixedly connected with the palm skeleton.

The thumb comprises a first thumb rope, a second thumb rope, a third thumb rope, a distal thumb joint, a middle thumb joint, a proximal thumb joint, a distal thumb joint shaft, a middle thumb joint shaft, a proximal thumb joint shaft, a first thumb rope wheel, a second thumb rope wheel, a third thumb rope wheel, a fourth thumb rope wheel, a fifth thumb rope wheel, a sixth thumb rope wheel, a seventh thumb rope wheel, an eighth thumb rope wheel, a ninth thumb rope wheel, a tenth thumb rope wheel, an eleventh thumb rope wheel, a twelfth thumb rope wheel, a thirteenth thumb rope wheel, a fourteenth thumb rope wheel, a fifteenth thumb rope wheel, a sixteenth thumb rope wheel, a seventeenth thumb rope wheel, a eighteenth thumb rope wheel, a nineteenth thumb rope wheel, a twenty first thumb rope wheel, a twenty second thumb rope wheel, a twenty third thumb rope wheel, a twenty fourth thumb rope wheel, a twenty fifth thumb rope wheel, a twenty sixth thumb rope wheel, a twenty seventh thumb rope wheel, a first thumb rope wheel, a second thumb rope wheel, a third thumb rope wheel, a fourth thumb rope wheel, a fifth rope wheel, a sixth thumb rope wheel, a second thumb spring axle, a third thumb spring, and a cover plate.

The thumb near knuckle is rotationally connected with the palm skeleton through a thumb near joint shaft, the thumb middle knuckle is rotationally connected with the thumb near knuckle through a thumb middle joint shaft, the thumb far knuckle is rotationally connected with the thumb middle knuckle through a thumb far joint shaft, the thumb first rope wheel shaft is rotationally connected with the thumb far knuckle, the thumb second rope wheel shaft and the thumb third rope wheel shaft are rotationally connected with the thumb middle knuckle, the thumb fourth rope wheel shaft and the thumb fifth rope wheel shaft are rotationally connected with the thumb near knuckle, the thumb sixth rope wheel shaft is rotationally connected with the palm skeleton, and the thumb first rope wheel shaft, the thumb second rope wheel shaft, the thumb third rope wheel shaft, the thumb fourth rope wheel shaft, the thumb fifth rope wheel shaft and the thumb sixth rope wheel shaft are mutually parallel.

The first rope wheel of the thumb is fixedly connected or sleeved on a first rope wheel shaft of the thumb, the second rope wheel of the thumb is fixedly connected or sleeved on a far joint shaft of the thumb, the third rope wheel of the thumb is fixedly connected or sleeved on a second rope wheel shaft of the thumb, the fourth rope wheel of the thumb and the fourteenth rope wheel of the thumb are fixedly connected or sleeved on a third rope wheel shaft of the thumb, the fifth rope wheel of the thumb and the fifteenth rope wheel of the thumb are fixedly connected or sleeved on a middle joint shaft of the thumb, the sixth rope wheel of the thumb and the sixteenth rope wheel of the thumb are fixedly connected or sleeved on a near joint shaft of the thumb, the seventh rope wheel of the thumb is fixedly connected or sleeved on a fourth rope wheel shaft of the thumb, and the eighth rope wheel of the thumb and the seventeenth rope wheel of the thumb are fixedly connected or sleeved on a fifth rope wheel shaft of the thumb.

The thumb ninth rope pulley, the thumb eighteenth rope pulley and the thumb twenty-third rope pulley are fixedly connected or sleeved on a thumb near joint shaft, the thumb tenth rope pulley, the thumb nineteenth rope pulley and the thumb twenty-fourth rope pulley are fixedly connected or sleeved on a thumb sixth rope pulley shaft, and the thumb eleventh rope pulley, the thumb twelfth rope pulley, the thumb thirteenth rope pulley, the thumb twenty-fourth rope pulley, the thumb twenty-first rope pulley, the thumb twenty-second rope pulley, the thumb twenty-fifth rope pulley, the thumb twenty-sixth rope pulley and the thumb twenty-seventh rope pulley are fixedly connected or sleeved on a palm framework.

The thumb first reset spring is fixedly connected or sleeved on the thumb far joint shaft, two ends of the reset spring are respectively connected with the thumb far knuckle and the thumb middle knuckle, the thumb second reset spring is fixedly connected or sleeved on the thumb middle joint shaft, two ends of the reset spring are respectively connected with the thumb middle knuckle and the thumb fifth rope wheel shaft, the thumb third reset spring is fixedly connected or sleeved on the thumb near joint shaft, and two ends of the reset spring are respectively connected with the thumb near knuckle and the palm skeleton.

The two ends of the thumb first tendon rope are respectively connected with the thumb distal knuckle and the palm wire arranging device through rope wheel guidance, the thumb first tendon rope passes through the thumb first rope wheel from the thumb distal knuckle to the thumb proximal joint shaft direction, bypasses the thumb second rope wheel fixedly connected or sleeved with the thumb distal joint shaft in the same direction as the bending direction of the thumb, passes through the thumb third rope wheel and the thumb fourth rope wheel, bypasses the thumb fifth rope wheel fixedly connected or sleeved with the joint shaft in the thumb in the same direction as the bending direction of the thumb, is guided through the thumb sixth rope wheel, bypasses the thumb seventh rope wheel and the thumb eighth rope wheel which are perpendicular to the thumb sixth rope wheel, bypasses the thumb ninth rope wheel positioned on the thumb proximal joint shaft in the opposite direction to the bending direction of the thumb proximal knuckle, and is connected with the palm wire arranging device after the direction of the thumb is changed.

The two ends of the thumb second tendon rope are respectively connected with the thumb middle knuckle and the palm wire arranging device, the thumb second tendon rope passes through the thumb fourteenth rope wheel from the thumb middle knuckle to the direction of the thumb near joint shaft, bypasses the thumb fifteenth rope wheel fixedly connected with or sleeved on the thumb middle joint shaft in the same direction with the bending direction of the thumb, is guided by the thumb sixteenth rope wheel, bypasses the thumb eighteenth rope wheel fixedly connected with or sleeved on the thumb near joint shaft in the opposite direction of the bending direction of the thumb near knuckle, and is connected with the palm wire arranging device after bypassing the thumb nineteenth rope wheel, the thumb twentieth rope wheel, the thumb twenty first rope wheel and the thumb twenty second rope wheel.

The two ends of the thumb third rope are respectively connected with the thumb twenty-third rope pulley and the palm wire arranging device, the thumb third rope pulley bypasses the thumb twenty-third rope pulley along the bending direction of the thumb near knuckle from the thumb twenty-third rope pulley fixedly connected with or sleeved with the thumb near joint shaft, and is connected with the palm wire arranging device after the direction of the thumb twenty-fourth rope pulley, the thumb twenty-fifth rope pulley, the thumb twenty-sixth rope pulley and the thumb twenty-seventh rope pulley is changed.

The thumb far knuckle cover plate is clamped on the surface of the thumb far knuckle, and the thumb middle knuckle cover plate is clamped on the surface of the thumb middle knuckle.

The first rope, the second rope, the third rope, the long knuckle, the middle knuckle, the near knuckle, the long knuckle, the middle knuckle, the long knuckle, the first rope, the second rope, the third rope, the fourth rope, the fifth rope, the sixth rope, the seventh rope, the eighth rope, the ninth rope, the tenth rope, the eleventh rope, the twelfth rope, the thirteenth rope, the fourteenth rope, the fifteenth rope, the sixteenth rope, the first rope axle, the second rope axle, the third rope axle, the fourth rope axle, the first return spring, the second return spring, the third return spring, the long knuckle cover plate, the middle knuckle cover plate, the near knuckle cover plate.

The middle finger joint of the index finger is rotationally connected with the middle finger joint of the index finger through the middle finger joint shaft of the index finger, the first rope wheel shaft of the index finger is rotationally connected with the middle finger joint of the index finger, the second rope wheel shaft of the index finger, the third rope wheel shaft of the index finger are rotationally connected with the middle finger joint of the index finger, and the fourth rope wheel shaft of the index finger is rotationally connected with the palm framework.

The first rope pulley of the forefinger fixedly connected or sleeved on the far joint shaft of the thumb, the second rope pulley of the forefinger and the fourth rope pulley of the forefinger fixedly connected or sleeved on the first rope pulley shaft of the forefinger, the third rope pulley of the forefinger and the fifth rope pulley of the forefinger fixedly connected or sleeved on the middle joint shaft of the forefinger, the sixth rope pulley of the forefinger fixedly connected or sleeved on the second rope pulley shaft of the forefinger, the seventh rope pulley of the forefinger and the twelfth rope pulley fixedly connected or sleeved on the third rope pulley shaft of the forefinger, the eighth rope pulley of the forefinger and the thirteenth rope pulley fixedly connected or sleeved on the near joint shaft of the forefinger, the ninth rope pulley of the forefinger and the fourteenth rope pulley fixedly connected or sleeved on the fourth rope pulley shaft of the forefinger, the tenth rope pulley of the forefinger, the eleventh rope pulley of the forefinger and the fifteenth rope pulley of the forefinger and the sixteenth rope pulley of the palm fixedly connected or sleeved on the skeleton of the forefinger.

The first reset spring of forefinger rigid coupling or cup joint on the long joint axle of forefinger, the knuckle in the long knuckle of forefinger and the forefinger are connected respectively at reset spring both ends, the second reset spring rigid coupling of forefinger or cup joint on the joint axle in the forefinger, the knuckle in the forefinger and the near knuckle of forefinger are connected respectively at reset spring both ends, the third reset spring of forefinger rigid coupling or cup joint on the near joint axle of forefinger, the near knuckle of forefinger and palm skeleton are connected respectively at reset spring both ends.

The first tendon rope of forefinger both ends connect first rope sheave of forefinger and forefinger third rope sheave respectively, first tendon rope of forefinger is connected with the forefinger third rope sheave from first rope sheave department of forefinger to the form of falling 8-shaped is through forefinger second rope sheave.

The two ends of the index finger second tendon rope are respectively connected with an index finger fourth rope pulley fixedly connected with or sleeved on the index finger first rope pulley shaft and a palm wire arranging device, the index finger second tendon rope is connected with the index finger near joint shaft direction from the index finger fourth rope pulley fixedly connected with or sleeved on the index finger first rope pulley shaft, bypasses the index finger fifth rope pulley fixedly connected with or sleeved on the joint shaft in the index finger in the same direction as the bending direction of the index finger, bypasses the index finger eighth rope pulley fixedly connected with or sleeved on the index finger near joint shaft in the same direction as the bending direction of the index finger, and is connected with the palm wire arranging device after changing the direction.

The two ends of the index finger third tendon rope are respectively connected with the index finger near knuckle and the palm wire arranging device, the index finger third tendon rope is connected with the palm wire arranging device from the index finger near knuckle to the index finger near knuckle shaft direction, bypasses the index finger thirteenth rope wheel in the same direction with the index finger bending direction through the index finger twelfth rope wheel, and is connected with the palm wire arranging device after the direction of the index finger fourteenth rope wheel, the index finger fifteenth rope wheel and the index finger sixteenth rope wheel is changed.

The index finger far knuckle cover plate 2-2 is clamped on the surface of the index finger far knuckle 2-1 through a buckle, the index finger middle knuckle cover plate 2-4 is clamped on the surface of the index finger middle knuckle 2-5 through a buckle, and the index finger near knuckle cover plate 2-7 is clamped on the surface of the index finger near knuckle 2-8 through a buckle.

The ring finger comprises a ring finger first tendon rope, a ring finger second tendon rope, a ring finger distal knuckle, a ring finger middle knuckle, a ring finger proximal knuckle, a ring finger lateral knuckle, a ring finger distal knuckle shaft, a ring finger middle knuckle shaft, a ring finger proximal knuckle shaft, a ring finger first rope pulley, a ring finger second rope pulley, a ring finger third rope pulley, a ring finger fourth rope pulley, a ring finger fifth rope pulley, a ring finger sixth rope pulley, a ring finger seventh rope pulley, a ring finger eighth rope pulley, a ring finger ninth rope pulley, a ring finger tenth rope pulley, a ring finger eleventh rope pulley, a ring finger twelfth rope pulley, a ring finger thirteenth rope pulley, a ring finger fourteenth rope pulley, a ring finger fifteenth rope pulley, a ring finger sixteenth rope pulley, a ring finger third rope pulley, a ring finger fourth rope pulley, a ring finger fifth rope pulley, a ring finger first reset spring, a ring finger second reset spring, a ring finger reset cover plate and a ring finger cover plate.

The ring finger side swing joint is rotationally connected with the palm skeleton, the ring finger proximal knuckle is rotationally connected with the ring finger side swing joint through a ring finger proximal joint shaft, the ring finger middle knuckle is rotationally connected with the ring finger proximal knuckle through a ring finger middle joint shaft, the ring finger distal knuckle is rotationally connected with the ring finger middle knuckle through a ring finger distal joint shaft, the ring finger first rope wheel shaft is rotationally connected with the ring finger distal knuckle, the ring finger second rope wheel shaft is rotationally connected with the ring finger middle knuckle, the ring finger third rope wheel shaft, the ring finger fourth rope wheel shaft is rotationally connected with the ring finger proximal knuckle, and the ring finger fifth rope wheel shaft is rotationally connected with the ring finger side swing knuckle.

The third rope pulley is fixedly connected or sleeved on the second rope pulley shaft of the ring finger, the fourth rope pulley is fixedly connected or sleeved on the middle joint shaft of the ring finger, the fifth rope pulley is fixedly connected or sleeved on the third rope pulley shaft of the ring finger, the sixth rope pulley is fixedly connected or sleeved on the fourth rope pulley shaft of the ring finger, the seventh rope pulley is fixedly connected or sleeved on the near joint shaft of the ring finger, the eighth rope pulley is fixedly connected or sleeved on the fifth rope pulley shaft of the ring finger, the ninth rope pulley of the ring finger, the tenth rope pulley of the ring finger, the thirteenth rope pulley of the ring finger, the fourteenth rope pulley of the ring finger, the fifteenth rope pulley of the ring finger, the sixteenth rope pulley of the ring finger or the skeleton of the palm.

The ring finger first reset spring 4-15 is fixedly connected or sleeved on the ring finger far joint shaft 4-3, two ends of the reset spring are respectively connected with the ring finger far joint 4-1 and the ring finger middle joint 4-5, the ring finger second reset spring 4-19 is fixedly connected or sleeved on the ring finger middle joint shaft 4-6, two ends of the reset spring are respectively connected with the ring finger middle joint 4-5 and the ring finger near joint 4-8, the ring finger third reset spring 4-25 is fixedly connected or sleeved on the ring finger near joint shaft 4-9, and two ends of the reset spring are respectively connected with the ring finger near joint 4-8 and the ring finger side swing joint 4-10.

The first tendon rope of the ring finger is connected with the ring finger distal knuckle and the palm wire arranging device at two ends respectively, passes through the first rope pulley of the ring finger, bypasses a second rope pulley of the ring finger fixedly connected or sleeved with a ring finger distal joint shaft in the same direction with the bending direction of the ring finger, passes through the third rope pulley of the ring finger, bypasses a fourth rope pulley of the ring finger fixedly connected or sleeved with a joint shaft in the ring finger in the same direction with the bending direction of the ring finger, passes through the fifth rope pulley of the ring finger and the sixth rope pulley of the ring finger, bypasses a seventh rope pulley of the ring finger fixedly connected or sleeved with a ring finger proximal joint shaft in the same direction with the bending direction of the ring finger, and is connected with the palm wire arranging device after the direction of the eighth rope pulley of the ring finger, the ninth rope pulley of the ring finger and the tenth rope pulley of the ring finger is changed.

The two ends of the second ring-finger tendon rope are connected with the palm wire arranging device, the middle of the second ring-finger tendon rope is fixedly connected with the ring-finger side swing knuckle, the second ring-finger tendon rope starts from one side of the palm wire arranging device, is guided by the seventeenth ring-finger rope pulley, the fifteenth ring-finger rope pulley and the twelfth ring-finger rope pulley, bypasses the ring-finger side swing knuckle, and is then guided by the thirteenth ring-finger rope pulley, the fourteenth ring-finger rope pulley and the sixteenth ring-finger rope pulley and then is connected with the palm wire arranging device.

The ring finger far knuckle cover plate 4-2 is clamped on the surface of the ring finger far knuckle 4-1 through a buckle, the ring finger middle knuckle cover plate 4-4 is clamped on the surface of the ring finger middle knuckle 4-5 through a buckle, and the ring finger near knuckle cover plate 4-7 is clamped on the surface of the ring finger near knuckle 4-8 through a buckle.

The middle finger is fixedly connected with the palm skeleton in the same structure and size as the index finger, and the connection mode is identical with the index finger. The structure and the size of the little finger are the same as those of the ring finger, the little finger is fixedly connected with the palm skeleton, and the connection mode is the same as that of the ring finger. The relative positions of the index finger, the middle finger, the ring finger, the little finger, the thumb and the palm imitate the relative positions of the fingers and the palm of the hand.

Further, the first return spring of thumb, the second return spring of thumb, the third return spring of thumb, the first return spring of index finger, the second return spring of index finger, the third return spring of index finger, the first return spring of ring finger, the second return spring of ring finger, the third return spring of ring finger adopts one or a combination of more of torsion spring, tension spring, pressure spring leaf spring, spring and elastic rope;

further, the first tendon rope of the thumb, the second tendon rope of the thumb, the third tendon rope of the thumb, the first tendon rope of the index finger, the second tendon rope of the index finger, the third tendon rope of the index finger, the first tendon rope of the ring finger and the second tendon rope of the ring finger adopt one or a combination of more ropes, belts, chains and tendons.

The beneficial effects of the invention are as follows:

(1) The underactuated form of the invention ensures that the whole structure is simple and efficient, the volume is small, and the weight is light; the mechanical characteristics of the underactuated form can enable the finger to automatically adapt to the shape of an object, and the shape self-adaption is good; the characteristics of the underactuated form determine the flexibility of free movement of most finger joints, and the underactuated type finger joint has good flexibility for resisting external impact; compared with a full-driving scheme, the underactuated mode is simple in design and low in cost.

(2) The invention adopts rope tendon driving, can lead a driver (motor) with larger mass to be far away from an end execution mechanism, can lighten the inertia of the end execution mechanism through reasonable arrangement, and improves the dynamic performance; the rope tendons are flexibly arranged in a driving way, the occupied geometric space is small, and the device is very suitable for transmission occasions with small space and a large number of required driving degrees of freedom; the rope tendon driving and the human tendon transmission principle are consistent, and the driving mechanism meets the background and the requirement of the bionic design.

Drawings

FIG. 1 is a front exterior view of one embodiment of a tendon rope under-actuated humanoid multi-fingered dexterous hand device of the present invention.

Fig. 2 is a side elevational view of the embodiment of fig. 1.

Fig. 3 is a top view of the embodiment of fig. 1.

Fig. 4 is an outward view of the embodiment of fig. 1 rotated ninety degrees counterclockwise.

Fig. 5 is a left side view of the embodiment of fig. 4 with the distal thumb knuckle cover plate and the middle thumb knuckle cover plate removed.

FIG. 6 is a top cross-sectional view of the thumb portion at A-A of the embodiment of FIG. 4 with the index finger, middle finger, ring finger, and little finger removed.

FIG. 7 is a front elevational view of the embodiment of FIG. 4 with the knuckle and palm cover removed, illustrating the index finger portion.

Fig. 8 is a front view of the embodiment of fig. 4 with the knuckle and palm cover removed, illustrating the ring finger and little finger portions.

FIG. 9 is a cross-sectional view of the index finger of the embodiment of FIG. 2, taken at A-A, showing only the first tendon rope of the thumb.

FIG. 10 is a cross-sectional view of the index finger of the embodiment of FIG. 2, taken at A-A, showing only the second tendon rope of the thumb.

Fig. 11 is a cross-sectional view of the embodiment of fig. 8 at C-C, showing only the third tendon rope of the thumb, as seen in direction B.

FIG. 12 is a cross-sectional view of the embodiment of FIG. 8, taken at D-D, showing only the first tendon rope of the index finger.

FIG. 13 is a cross-sectional view of the embodiment of FIG. 8, taken at D-D, showing only the second tendon rope of the index finger.

FIG. 14 is a cross-sectional view of the embodiment of FIG. 8, taken at D-D, showing only the third tendon rope of the index finger.

Fig. 15 is a cross-sectional view of the embodiment of fig. 8, taken at E-E, showing only the first tendon rope without a name.

Fig. 16 is a cross-sectional view of the embodiment of fig. 2, taken at A-A, showing only the second tendon rope without a name.

Fig. 17 is a front view of the embodiment of fig. 4 with the thumb turned to the front of the palm.

Fig. 18 is a left side view of the embodiment of fig. 4 with the thumb turned to the front of the palm.

Fig. 19 is a side elevational view of the embodiment of fig. 4 with the thumb rotated to the front of the palm.

Fig. 20, 21 and 22 are schematic views showing the process from the contact of the knuckle in the thumb with the object to the completion of gripping when the thumb is turned to the front of the palm in the present embodiment.

Fig. 23 and 24 are schematic views showing the process from the thumb distal knuckle to the grabbing completion of the object when the thumb is turned to the palm front side as an initial state in the present embodiment.

Fig. 25, 26 and 27 are schematic views showing the process of grabbing an object when the third tendon rope of the index finger moves first and the second tendon rope of the index finger moves later in the state shown in fig. 19.

Fig. 28, 29, 30 and 31 are schematic views showing the process of grabbing an object when the second tendon rope of the index finger moves first and the third tendon rope of the index finger moves later in the state of fig. 19.

Fig. 32 is a front elevational view of the embodiment of fig. 17 as it would be used to grasp a cylindrical object.

Fig. 33 is a left side view of the embodiment of fig. 17 when gripping a cylindrical object.

Fig. 34 is a top view of the embodiment of fig. 17 when gripping a cylindrical object.

Fig. 35 is a front view of the embodiment of fig. 17 when the ball is grasped and the object is positioned on the side of the palm near the thumb.

Fig. 36 is a left side view of the embodiment of fig. 17 when the ball is grasped and the object is positioned on the side of the palm near the thumb.

Fig. 37 is a top view of the embodiment of fig. 17 when the ball is grasped and the object is positioned on the side of the palm near the thumb.

Fig. 38 is a front view of the embodiment of fig. 17 when the ball is grasped and the object is positioned on the side of the palm away from the thumb.

Fig. 39 is a left side view of the embodiment of fig. 17 when the ball is grasped and the object is positioned on the side of the palm away from the thumb.

Fig. 40 is a top view of the embodiment of fig. 17 when the ball is grasped and the object is positioned on the side of the palm away from the thumb.

In fig. 1 to 25: 1 thumb, 2 index finger, 3 middle finger, 4 ring finger, 5 little finger and 6 palm;

1-1 thumb distal knuckle, 1-2 thumb distal joint axis, 1-3 thumb middle knuckle, 1-4 thumb middle joint axis, 1-5 thumb proximal knuckle, 1-6 thumb proximal joint axis, 1-7 thumb distal knuckle cover, 1-8 thumb middle knuckle cover, 1-9 thumb first tendon rope, 1-10 thumb first sheave, 1-11 thumb first rope axle, 1-12 thumb second sheave, 1-13 thumb first return spring, 1-14 thumb third sheave, 1-15 thumb second rope axle, 1-16 thumb fourth sheave, 1-17 thumb second tendon rope, 1-18 thumb third rope axle, 1-19 thumb fourteenth sheave, 1-20 thumb fifth sheave, 1-21 thumb second return spring, a fifteenth sheave with 1-22 thumbs, a sixth sheave with 1-23 thumbs, a sixteenth sheave with 1-24 thumbs, a seventh sheave with 1-25 thumbs, a fourth sheave with 1-26 thumbs, an eighth sheave with 1-27 thumbs, a seventeenth sheave with 1-28 thumbs, a fifth sheave with 1-29 thumbs, a ninth sheave with 1-30 thumbs, an eighteenth sheave with 1-31 thumbs, a third return spring with 1-32 thumbs, a tenth sheave with 1-33 thumbs, a nineteenth sheave with 1-34 thumbs, a sixth sheave with 1-35 thumbs, an eleventh sheave with 1-36 thumbs, a twelfth sheave with 1-37 thumbs, a twentieth sheave with 1-38 thumbs, a twenty-first sheave with 1-39 thumbs, a twenty-second sheave with 1-40 thumbs, a thirteenth sheave with 1-41 thumbs, 1-42 thumb third rope pulley, 1-43 thumb third tendon rope, 1-44 thumb fourth rope pulley, 1-45 thumb twenty-fifth rope pulley, 1-46 thumb twenty-sixth rope pulley, 1-47 thumb twenty-seventh rope pulley;

2-1 index finger distal knuckle, 2-2 index finger distal knuckle cover plate, 2-3 index finger distal knuckle spindle, 2-4 index finger middle knuckle cover plate, 2-5 index finger middle knuckle, 2-6 index finger middle knuckle spindle, 2-7 index finger proximal knuckle cover plate, 2-8 index finger proximal knuckle, 2-9 index finger proximal knuckle spindle, 2-10 index finger first return spring, 2-11 index finger first sheave, 2-12 index finger first tendon rope, 2-13 index finger fourth sheave, 2-14 index finger second tendon rope, 2-15 index finger first rope axle, 2-16 index finger second sheave, 2-17 index finger second return spring, 2-18 index finger fifth sheave, 2-19 index finger third sheave, 2-20 index finger sixth sheave, 2-21 index finger second rope axle, 2-22 index finger third rope, 2-23 index finger seventh sheave, 2-24 index finger third rope axle, 2-25 index finger twelfth sheave, 2-26 index finger third return spring, 2-27 index finger eighth sheave, 2-28, 2-29 th sheave, 2-35 th sheave,

3-1 middle finger distal knuckle, 3-2 middle finger distal knuckle cover plate, 3-3 middle finger distal knuckle axis, 3-4 middle finger middle knuckle cover plate, 3-5 middle finger middle knuckle, 3-6 middle knuckle axis, 3-7 middle finger proximal knuckle cover plate, 3-8 middle finger proximal knuckle, 3-9 middle finger proximal knuckle axis;

4-1 ring finger distal knuckle, 4-2 ring finger distal knuckle cover plate, 4-3 ring finger distal knuckle spindle, 4-4 ring finger knuckle cover plate, 4-5 ring finger middle knuckle, 4-6 ring finger middle knuckle spindle, 4-7 ring finger proximal knuckle cover plate, 4-8 ring finger proximal knuckle, 4-9 ring finger proximal knuckle spindle, 4-10 ring finger lateral knuckle, 4-11 ring finger first tendon rope, 4-12 ring finger first rope pulley, 4-13 ring finger first rope pulley shaft, 4-14 ring finger second rope pulley, 4-15 ring finger first return spring, 4-16 ring finger third rope pulley, 4-17 ring finger second rope pulley shaft, 4-18 ring finger fourth rope pulley, 4-19 ring finger second return spring, 4-20 ring finger fifth rope pulley, 4-21 ring finger third rope pulley, 4-22 ring finger sixth rope pulley, 4-23 ring finger fourth rope pulley, 4-24 ring finger seventh rope pulley, 4-25 ring finger third return spring, 4-26 ring finger eighth rope pulley, 4-27 ring finger fifth rope pulley, 4-28 ring finger ninth rope pulley, 4-29 ring finger twelfth rope pulley, 4-30 ring finger thirteenth rope pulley, 4-31 ring finger second rope, 4-32 ring finger fourteenth rope pulley, 4-33 ring finger tenth rope pulley, 4-34 ring finger fifteenth rope pulley, 4-35 ring finger eleventh rope pulley, 4-36 ring finger sixteenth rope pulley, 4-37 ring finger seventeenth rope pulley;

The small finger joint comprises a 5-1 small finger distal knuckle, a 5-2 small finger distal knuckle cover plate, a 5-3 small finger distal knuckle spindle, a 5-4 small thumb middle knuckle cover plate, a 5-5 small finger middle knuckle, a 5-6 small finger middle knuckle spindle, a 5-7 small finger proximal knuckle cover plate, a 5-8 small finger proximal knuckle, a 5-9 small finger proximal knuckle spindle, a 5-10 small finger lateral knuckle, a 5-11 small finger first tendon rope, a 5-12 small finger first rope pulley, a 5-13 small finger first rope pulley, a 5-14 small finger second rope pulley, a 5-15 small finger first return spring, a 5-16 small finger third rope pulley, a 5-17 small finger second rope pulley, a 5-18 small finger fourth rope pulley, a 5-19 small finger second return spring, a 5-20 small finger fifth rope pulley, a 5-21 small finger third rope pulley, a 5-22 small finger sixth rope pulley, a 5-23 small finger fourth rope pulley, a 5-24 small finger seventh rope pulley, a 5-25 small finger third rope pulley, a 5-15 small finger second return spring, a 5-16 small finger third rope pulley, a 5-19 small finger second rope pulley, a 5-16 small finger third rope pulley, a 5-25 small finger rope pulley, a 5-33 small finger rope pulley, a 5-35 small finger second rope pulley, a 5-eight rope pulley, a 5-small finger rope pulley, a third rope pulley, a 5-small finger, and a third rope pulley, and a small finger rope pulley;

6-1 palm skeleton, 6-2 palm apron, 6-3 palm reason line ware.

Detailed Description

The technical scheme of the present invention is further described below with reference to the examples and the accompanying drawings, but is not limited thereto, and all modifications and equivalents of the technical scheme of the present invention without departing from the spirit and scope of the technical scheme of the present invention are included in the protection scope of the present invention.

One embodiment of the tendon rope underactuated humanoid multi-finger smart hand device designed by the invention is shown as a figure and comprises a thumb 1, an index finger 2, a middle finger 3, a ring finger 4, a little finger 5 and a palm 6. The index finger 2 and the middle finger 3 in the embodiment have the same structural size and the same working principle. The ring finger 4 and the little finger 5 in the embodiment have the same structural size and the same working principle. The thumb 1 is shown in the figure.

The thumb comprises a first thumb rope 1-9, a second thumb rope 1-17, a third thumb rope 1-43, a distal thumb joint 1-1, a middle thumb joint 1-3, a proximal thumb joint 1-5, a distal thumb joint shaft 1-2, a middle thumb joint shaft 1-4, a proximal thumb joint shaft 1-6, a first thumb rope 1-10, a second thumb rope 1-12, a third thumb rope 1-14, a fourth thumb rope 1-16, a fifth thumb rope 1-20, a sixth thumb rope 1-23, a seventh thumb rope 1-25, an eighth thumb rope 1-27, a ninth thumb rope 1-30, a tenth thumb rope 1-33, an eleventh thumb rope 1-36, a twelfth thumb rope 1-37, a thirteenth thumb rope 1-41, a fourteenth thumb rope 1-19, a fifteenth thumb rope 1-22, a seventeenth thumb rope 1-24, a seventeenth thumb rope 1-28, a eighteenth thumb rope 1-31, a nineteenth thumb rope 1-34, a twenty first thumb rope 1-34, a twenty-first thumb rope 1-38, a twenty-first thumb rope 1-35, a twenty-fourth thumb rope 1-35, a second thumb rope 1-35, a twenty-fourth thumb rope 1-30, a wheel shaft 1-35, a second thumb rope 1-35, a wheel and an axle shaft 1-45 The thumb second reset spring 1-21, the thumb third reset spring 1-32, the thumb distal knuckle cover plate 1-7 and the thumb middle knuckle cover plate 1-8.

The thumb far knuckle cover plate 1-7 is clamped on the surface of the thumb far knuckle 1-1, and the thumb middle knuckle cover plate 1-8 is clamped on the surface of the thumb middle knuckle 1-3.

The thumb near knuckle 1-5 is rotationally connected with the palm skeleton 6-1 through a thumb near joint shaft 1-6, the thumb middle knuckle 1-3 is rotationally connected with the thumb near knuckle 1-5 through a thumb middle joint shaft 1-4, the thumb far knuckle 1-1 is rotationally connected with the thumb middle knuckle 1-3 through a thumb far joint shaft 1-2, the thumb first rope wheel shaft 1-11 is rotationally connected with the thumb far knuckle 1-1, the thumb second rope wheel shaft 1-15 and the thumb third rope wheel shaft 1-18 are rotationally connected with the thumb middle knuckle 1-3, the thumb fourth rope wheel shaft 1-26 is rotationally connected with the thumb near knuckle 1-5, the thumb fifth rope wheel shaft 1-29 is rotationally connected with the palm skeleton 6-1, and the thumb first rope wheel shaft 1-11, the thumb second rope wheel shaft 1-15, the thumb third rope wheel shaft 1-18, the thumb fourth rope wheel shaft 1-25 and the thumb fourth rope wheel shaft 1-26 are mutually parallel.

The first rope wheel 1-10 of the thumb is fixedly connected or sleeved on the first rope wheel shaft 1-11 of the thumb, the second rope wheel 1-12 of the thumb is fixedly connected or sleeved on the far joint shaft 1-2 of the thumb, the third rope wheel 1-14 of the thumb is fixedly connected or sleeved on the second rope wheel shaft 1-15 of the thumb, the fourth rope wheel 1-16 of the thumb and the fourteenth rope wheel 1-19 of the thumb are fixedly connected or sleeved on the third rope wheel shaft 1-18 of the thumb, the fifth rope wheel 1-20 of the thumb and the fifteenth rope wheel 1-22 of the thumb are fixedly connected or sleeved on the joint shaft 1-4 of the middle of the thumb, the sixth rope wheel 1-23 of the thumb and the sixteenth rope wheel 1-24 of the thumb are fixedly connected or sleeved on the near joint shaft 1-26 of the thumb, the seventh rope wheel 1-25 of the thumb is fixedly connected or sleeved on the fourth rope wheel shaft 1-26 of the thumb, and the eighth rope wheel 1-27 of the thumb and the seventeenth rope wheel 1-28 of the thumb are fixedly connected or sleeved on the fifth rope wheel shaft 1-29 of the thumb.

The thumb ninth rope pulley 1-30, the thumb eighteenth rope pulley 1-31 and the thumb twenty-third rope pulley 1-42 are fixedly connected or sleeved on the thumb near joint shaft 1-6, the thumb tenth rope pulley 1-33, the thumb nineteenth rope pulley 1-34 and the thumb fourth rope pulley 1-44 are fixedly connected or sleeved on the thumb sixth rope pulley shaft 1-35, and the thumb eleventh rope pulley 1-36, the thumb twelfth rope pulley 1-37, the thumb thirteenth rope pulley 1-41, the thumb twentieth rope pulley 1-38, the thumb twenty-first rope pulley 1-39, the thumb twenty-second rope pulley 1-40, the thumb twenty-fifth rope pulley 1-45, the thumb twenty-sixth rope pulley 1-46 and the thumb seventeenth rope pulley 1-47 are fixedly connected or sleeved on the palm skeleton 6-1.

The thumb first reset spring 1-13 is fixedly connected or sleeved on the thumb far joint shaft 1-2, two ends of the reset spring are respectively connected with the thumb far knuckle 1-1 and the thumb middle knuckle 1-3, the thumb second reset spring 1-21 is fixedly connected or sleeved on the thumb middle joint shaft 1-4, two ends of the reset spring are respectively connected with the thumb middle knuckle 1-3 and the thumb near knuckle 1-5, the thumb third reset spring 1-32 is fixedly connected or sleeved on the thumb near joint shaft 1-6, and two ends of the reset spring are respectively connected with the thumb near knuckle 1-5 and the palm skeleton 6-1.

The index finger comprises an index finger first tendon rope 2-12, an index finger second tendon rope 2-14, an index finger third tendon rope 2-22, an index finger distal knuckle 2-1, an index finger middle knuckle 2-5, an index finger proximal knuckle 2-8, an index finger distal joint shaft 2-3, an index finger middle joint shaft 2-6, an index finger proximal joint shaft 2-9, an index finger first rope pulley 2-11, an index finger second rope pulley 2-16, an index finger third rope pulley 2-19, an index finger fourth rope pulley 2-13, an index finger fifth rope pulley 2-18, an index finger sixth rope pulley 2-20, an index finger seventh rope pulley 2-23, an index finger eighth rope pulley 2-27, an index finger ninth rope pulley 2-29 2-32 parts of an index finger tenth rope pulley, 2-34 parts of an index finger eleventh rope pulley, 2-25 parts of an index finger twelfth rope pulley, 2-28 parts of an index finger thirteenth rope pulley, 2-31 parts of an index finger fourteenth rope pulley, 2-33 parts of an index finger fifteenth rope pulley, 2-35 parts of an index finger sixteenth rope pulley, 2-15 parts of an index finger first rope pulley shaft, 2-21 parts of an index finger second rope pulley shaft, 2-24 parts of an index finger third rope pulley shaft, 2-30 parts of an index finger fourth rope pulley shaft, 2-10 parts of an index finger first return spring, 2-17 parts of an index finger second return spring, 2-26 parts of an index finger third return spring, 2-2 parts of an index finger distal knuckle cover plate, 2-4 parts of an index finger middle knuckle cover plate and 2-7 parts of an index finger proximal knuckle cover plate.

The index finger proximal knuckle 2-8 is rotationally connected with the palm skeleton 6-1 through the index finger proximal knuckle axis 2-9, the index finger middle knuckle 2-5 is rotationally connected with the index finger proximal knuckle 2-8 through the index finger middle knuckle axis 2-6, the index finger distal knuckle 2-1 is rotationally connected with the index finger middle knuckle 2-5 through the index finger distal knuckle axis 2-3, the index finger first rope wheel shaft 2-15 is rotationally connected with the index finger middle knuckle 2-5, the index finger second rope wheel shaft 2-21, the index finger third rope wheel shaft 2-24 are rotationally connected with the index finger proximal knuckle 2-8, and the index finger fourth rope wheel shaft 2-30 is rotationally connected with the palm skeleton 6-1.

The first rope wheel 2-11 of the forefinger is fixedly connected or sleeved on the far joint shaft 2-3 of the forefinger, the second rope wheel 2-16 of the forefinger and the fourth rope wheel 2-13 of the forefinger are fixedly connected or sleeved on the first rope wheel shaft 2-15 of the forefinger, the third rope wheel 2-19 of the forefinger and the fifth rope wheel 2-18 of the forefinger are fixedly connected or sleeved on the middle joint shaft 2-6 of the forefinger, the sixth rope wheel 2-20 of the forefinger is fixedly connected or sleeved on the second rope wheel shaft 2-21 of the forefinger, the seventh rope wheel 2-23 of the forefinger and the twelfth rope wheel 2-25 of the forefinger are fixedly connected or sleeved on the third rope wheel shaft 2-24 of the forefinger, the eighth rope wheel 2-27 of the forefinger and the thirteenth rope wheel 2-28 of the forefinger are fixedly connected or sleeved on the near joint shaft 2-9 of the forefinger, the ninth rope wheel 2-29 of the forefinger and the fourteenth rope wheel are fixedly connected or sleeved on the fourth rope wheel shaft 2-30 of the forefinger, the tenth rope wheel 2-32 of the forefinger and the eleventh rope wheel 2-34 of the forefinger and the fifteenth rope wheel 2-33 of the sixteenth rope wheel are fixedly connected or sleeved on the first rope wheel 2-35 of the palm frame 1-6 of the forefinger.

The first return spring 2-10 of forefinger rigid coupling or cup joint on the far joint axle 2-3 of forefinger, the second return spring 2-17 rigid coupling of forefinger or cup joint on joint axle 2-6 in the forefinger, the third return spring 2-26 rigid coupling of forefinger or cup joint on near joint axle 2-9 of forefinger, the return spring both ends connect near joint 2-8 of forefinger and palm skeleton 6-1 respectively.

The middle finger proximal knuckle 3-8 is rotationally connected with the palm skeleton 6-1 through a middle finger proximal joint shaft 3-9, the middle finger middle knuckle 3-5 is rotationally connected with the middle finger proximal knuckle 3-8 through a middle finger middle joint shaft 3-6, and the middle finger distal knuckle 3-1 is rotationally connected with the middle finger middle knuckle 3-5 through a middle finger distal joint shaft 3-3.

The middle finger distal knuckle cover plate 3-2 is clamped on the surface of the middle finger distal knuckle 3-1 through a buckle, the middle finger middle knuckle cover plate 3-4 is clamped on the surface of the middle finger middle knuckle 3-5 through a buckle, and the middle finger proximal knuckle cover plate 3-7 is clamped on the surface of the middle finger proximal knuckle 3-8 through a buckle.

The ring finger comprises a ring finger first tendon rope 4-11, a ring finger second tendon rope 4-31, a ring finger distal knuckle 4-1, a ring finger middle knuckle 4-5, a ring finger proximal knuckle 4-8, a ring finger lateral knuckle 4-10, a ring finger distal joint shaft 4-3, a ring finger middle joint shaft 4-6, a ring finger proximal joint shaft 4-9, a ring finger first rope pulley 4-12, a ring finger second rope pulley 4-14, a ring finger third rope pulley 4-16, a ring finger fourth rope pulley 4-18, a ring finger fifth rope pulley 4-20, a ring finger sixth rope pulley 4-22, a ring finger seventh rope pulley 4-24, a ring finger eighth rope pulley 4-26, a ring finger ninth rope pulley 4-28, a ring finger tenth rope pulley 4-33 the pulley comprises, by weight, an eleventh sheave 4-35 of a ring finger, a twelfth sheave 4-29 of a ring finger, a thirteenth sheave 4-30 of a ring finger, a fourteenth sheave 4-32 of a ring finger, a fifteenth sheave 4-34 of a ring finger, a sixteenth sheave 4-36 of a ring finger, a seventeenth sheave 4-37 of a ring finger, a first rope pulley shaft 4-13 of a ring finger, a second rope pulley shaft 4-17 of a ring finger, a third rope pulley shaft 4-21 of a ring finger, a fourth rope pulley shaft 4-23 of a ring finger, a fifth rope pulley shaft 4-27 of a ring finger, a first return spring 4-15 of a ring finger, a second return spring 4-19 of a ring finger, a third return spring 4-25 of a ring finger distal knuckle cover plate 4-2 of a ring finger middle knuckle cover plate 4-4, and a proximal knuckle cover plate 4-7 of a ring finger.

The ring finger side swing knuckle 4-10 is rotationally connected with the palm skeleton 6-1, the ring finger near knuckle 4-8 is rotationally connected with the ring finger side swing knuckle 4-10 through a ring finger near knuckle shaft 4-9, the ring finger middle knuckle 4-5 is rotationally connected with the ring finger near knuckle 4-8 through a ring finger middle knuckle shaft 4-6, the ring finger far knuckle 4-1 is rotationally connected with the ring finger middle knuckle 4-5 through a ring finger far knuckle shaft 4-3, the ring finger first rope wheel shaft 4-13 is rotationally connected with the ring finger far knuckle 4-1, the ring finger second rope wheel shaft 4-17 is rotationally connected with the ring finger middle knuckle 4-5, the ring finger third rope wheel shaft 4-21, the ring finger fourth rope wheel shaft 4-23 and the ring finger near knuckle 4-8 are rotationally connected, and the ring finger fifth rope wheel shaft 4-27 is rotationally connected with the ring finger side swing knuckle 4-10.

The third ring-finger rope pulley 4-16 is fixedly connected or sleeved on the second ring-finger rope pulley 4-17, the fourth ring-finger rope pulley 4-23 is fixedly connected or sleeved on the third ring-finger rope pulley 4-21, the sixth ring-finger rope pulley 4-22 is fixedly connected or sleeved on the fourth ring-finger rope pulley 4-23, the seventh ring-finger rope pulley 4-24 is fixedly connected or sleeved on the third ring-finger rope pulley 4-9, the eighth ring-finger rope pulley 4-26 is fixedly connected or sleeved on the fifth ring-finger rope pulley 4-27, the ninth ring-finger rope pulley 4-28, the tenth ring-finger rope pulley 4-33, the eleventh ring-finger rope pulley 4-35, the thirteenth ring-finger rope pulley 4-34, the seventeenth ring-finger rope pulley 4-35, the sixteenth ring-finger rope pulley 4-36, the sixteenth ring-finger rope pulley 4-32-35, the sixteenth ring-finger rope pulley 4-36, the sixteenth ring-finger rope pulley 4-35 and the sixteenth ring-finger rope pulley 4-35.

The small finger comprises a small finger first tendon rope 5-11, a small finger second tendon rope 5-32, a small finger distal knuckle 5-1, a small finger middle knuckle 5-5, a small finger proximal knuckle 5-8, a small finger lateral knuckle 5-10, a small finger distal joint shaft 5-3, a small finger middle joint shaft 5-6, a small finger proximal joint shaft 5-9, a small finger first rope wheel 5-12, a small finger second rope wheel 5-14, a small finger third rope wheel 5-16, a small finger fourth rope wheel 5-18, a small finger fifth rope wheel 5-20, a small finger sixth rope wheel 5-22, a small finger third rope wheel 5-24, a small finger eighth rope wheel 5-26, a small finger ninth rope wheel 5-28, a small finger third rope wheel 5-31, a small finger eleventh rope wheel 5-33, a small finger twelfth rope wheel 5-29, a small finger thirteenth rope wheel 5-30, a small finger first rope wheel 5-13, a small finger second rope wheel 5-17, a small finger third rope wheel 5-21, a small finger restoring rope wheel 5-7, a small finger spring cover plate 5-15, a small finger restoring rope wheel 5-7 and a small finger cover plate 5-2.

The pinky side swing knuckle 5-10 is rotationally connected with the palm skeleton 6-1, the pinky proximal knuckle 5-8 is rotationally connected with the pinky side swing knuckle 5-10 through a pinky proximal knuckle shaft 5-9, the pinky middle knuckle 5-5 is rotationally connected with the pinky proximal knuckle 5-8 through a pinky middle knuckle shaft 5-6, the pinky distal knuckle 5-1 is rotationally connected with the pinky middle knuckle 5-5 through a pinky distal knuckle shaft 5-3, the pinky first rope wheel shaft 5-13 is rotationally connected with the pinky distal knuckle 5-1, the pinky second rope wheel shaft 5-17 is rotationally connected with the pinky middle knuckle 5-5, the pinky third rope wheel shaft 5-21, the pinky fourth rope wheel shaft 5-23 are rotationally connected with the pinky proximal knuckle 5-8, and the pinky fifth rope wheel shaft 5-27 is rotationally connected with the pinky side swing knuckle 5-10.

The first small finger pulley 5-12 is fixedly connected or sleeved on the first small finger pulley shaft 5-13, the second small finger pulley 5-14 is fixedly connected or sleeved on the small finger distal joint shaft 5-3, the third small finger pulley 5-16 is fixedly connected or sleeved on the second small finger pulley shaft 5-17, the fourth small finger pulley 5-18 is fixedly connected or sleeved on the middle small finger pulley shaft 5-6, the fifth small finger pulley 5-20 is fixedly connected or sleeved on the third small finger pulley shaft 5-21, the sixth small finger pulley 5-22 is fixedly connected or sleeved on the fourth small finger pulley shaft 5-23, the seventh small finger pulley 5-24 is fixedly connected or sleeved on the small finger proximal joint shaft 5-9, the eighth small finger pulley 5-26 is fixedly connected or sleeved on the fifth small finger pulley shaft 5-27, and the ninth small finger pulley 5-28, the tenth small finger pulley 5-31, the eleventh small finger pulley 5-33, the twelfth finger pulley 5-29, the thirteenth finger pulley 5-30 or the palm skeleton of the palm is fixedly connected or sleeved on the fourth small finger pulley shaft 5-23.

The pinky first reset spring 5-15 is fixedly connected or sleeved on the pinky distal joint shaft 5-3, two ends of the reset spring are respectively connected with the pinky distal joint 5-1 and the pinky middle joint 5-5, the pinky second reset spring 5-19 is fixedly connected or sleeved on the pinky middle joint shaft 5-6, two ends of the reset spring are respectively connected with the pinky middle joint 5-5 and the pinky proximal joint 5-8, the pinky third reset spring 5-25 is fixedly connected or sleeved on the pinky proximal joint shaft 5-9, and two ends of the reset spring are respectively connected with the pinky proximal joint 5-8 and the pinky side swing joint 5-10.

The pinky finger long knuckle cover plate 5-2 is clamped on the surface of the pinky finger long knuckle 5-1 through a buckle, the pinky finger middle knuckle cover plate 5-4 is clamped on the surface of the pinky finger middle knuckle 5-5 through a buckle, and the pinky finger near knuckle cover plate 5-7 is clamped on the surface of the pinky finger near knuckle 5-8 through a buckle.

The middle finger 3 has the same structure and size as the index finger 2, the middle finger 3 is fixedly connected with the palm skeleton 6-1, and the connection mode is the same as the index finger 2. The structure and the size of the little finger 5 are the same as those of the ring finger 4, the little finger 5 is fixedly connected with the palm skeleton 6-1, and the connection mode is the same as that of the ring finger 4. The relative positions between the index finger 2, the middle finger 3, the ring finger 4, the little finger 5, the thumb 1 and the palm 6 imitate the relative positions of the fingers and the palm of a human hand.

The two ends of the thumb first tendon rope 1-9 are respectively connected with the thumb distal knuckle 1-1 and the palm wire arranging device 6-3 through rope wheel guidance, the thumb first tendon rope 1-9 passes through the thumb first rope wheel 1-10 from the thumb distal knuckle 1-1 to the thumb proximal joint shaft 1-6, bypasses the thumb second rope wheel 1-12 fixedly connected or sleeved with the thumb distal joint shaft 1-2 in the same direction as the bending direction of the thumb, passes through the thumb third rope wheel 1-14 and the thumb fourth rope wheel 1-16, bypasses the thumb fifth rope wheel 1-20 fixedly connected or sleeved with the thumb middle joint shaft 1-4 in the same direction as the bending direction of the thumb, is guided through the thumb sixth rope wheel 1-23, bypasses the thumb ninth rope wheel 1-30 positioned on the thumb proximal joint shaft 1-6 in the same direction as the bending direction of the thumb, and then is connected with the palm wire arranging device 1-3 through the thumb seventh rope wheel 1-25 perpendicular to the thumb sixth rope wheel 1-23 in the same direction as the bending direction of the thumb, and the thumb ninth rope wheel 1-30 positioned on the thumb proximal joint shaft 1-6.

The two ends of the thumb second tendon rope 1-17 are respectively connected with the thumb middle knuckle 1-3 and the palm thread arranging device 6-3, the thumb second tendon rope 1-17 passes through the thumb fourteenth rope wheel 1-19 from the thumb middle knuckle 1-3 to the thumb near joint shaft 1-6, bypasses the thumb fifteenth rope wheel 1-22 fixedly connected or sleeved with the thumb middle joint shaft 1-4 in the same direction with the bending direction of the thumb, is guided by the thumb sixteenth rope wheel 1-24, and then bypasses the thumb eighteenth rope wheel 1-31 fixedly connected or sleeved with the thumb near joint shaft 1-6 in the opposite direction with the bending direction of the thumb near knuckle 1-5, and is connected with the palm thread arranging device 6-3 after passing through the thumb nineteenth rope wheel 1-34, the thumb twenty second rope wheel 1-38, the thumb twenty first rope wheel 1-39 and the thumb twenty second rope wheel 1-40.

The two ends of the thumb third rope 1-43 are respectively connected with the thumb third rope pulley 1-42 and the palm wire arranging device 6-3, the thumb third rope 1-43 bypasses the thumb third rope pulley 1-42 along the bending direction of the thumb near knuckle 1-5 from the position of the thumb third rope pulley 1-42 fixedly connected with or sleeved with the thumb near knuckle shaft 1-6, and is connected with the palm wire arranging device 6-3 after the direction of the thumb third rope pulley 1-44, the thumb fifth rope pulley 1-45, the thumb sixth rope pulley 1-46 and the thumb seventh rope pulley 1-47 is changed.

The two ends of the first rope 2-12 of the index finger are respectively connected with the first rope pulley 2-11 of the index finger and the third rope pulley 2-19 of the index finger, and the first rope pulley 2-12 of the index finger is connected with the third rope pulley 2-19 of the index finger from the first rope pulley 2-11 of the index finger in an inverted 8-shaped manner through the second rope pulley 2-16 of the index finger.

The two ends of the index finger second tendon rope 2-14 are respectively connected with an index finger fourth rope pulley 2-13 fixedly connected with or sleeved on the index finger first rope pulley shaft 2-15 and a palm wire arranging device 6-3, the index finger second tendon rope 2-14 is connected with the index finger near joint shaft 2-9 direction from the index finger fourth rope pulley 2-13 fixedly connected with or sleeved on the index finger first rope pulley shaft 2-15, bypasses an index finger fifth rope pulley 2-18 fixedly connected with or sleeved on the joint shaft 2-6 in the index finger in the same direction as the bending direction of the index finger, bypasses an index finger sixth rope pulley 2-20 and an index finger seventh rope pulley 2-23 in the same direction as the bending direction of the index finger, bypasses an index finger eighth rope pulley 2-27 fixedly connected with or sleeved on the index finger near joint shaft 2-9, and is connected with the palm wire arranging device 6-3 after the direction of the index finger ninth rope pulley 2-29, the index finger tenth rope pulley 2-32 and the index finger eleventh rope pulley 2-34 is changed.

The two ends of the index finger third tendon rope 2-22 are respectively connected with the index finger near knuckle 2-8 and the palm thread arranging device 6-3, the index finger third tendon rope 2-22 is connected with the palm thread arranging device 6-3 from the index finger near knuckle 2-8 to the index finger near knuckle axis 2-9, bypasses the index finger thirteenth rope pulley 2-28 in the same direction as the index finger bending direction through the index finger twelfth rope pulley 2-25, and is connected with the palm thread arranging device 6-3 after the direction of the index finger fourteenth rope pulley 2-31, the index finger fifteenth rope pulley 2-33 and the index finger sixteenth rope pulley 2-35 is changed.

The two ends of the first ring finger tendon rope 4-11 are respectively connected with the ring finger distal knuckle 4-1 and the palm wire arranging device 6-3, the ring finger first tendon rope 4-11 bypasses the ring finger second rope pulley 4-14 fixedly connected or sleeved with the ring finger distal joint shaft 4-3 in the same direction with the ring finger bending direction from the ring finger distal knuckle 4-1 through the ring finger first rope pulley 4-12, bypasses the ring finger fourth rope pulley 4-18 fixedly connected or sleeved with the ring finger middle joint shaft 4-6 in the same direction with the ring finger bending direction through the ring finger third rope pulley 4-16, bypasses the ring finger seventh rope pulley 4-24 fixedly connected or sleeved with the ring finger proximal joint shaft 4-9 in the same direction with the ring finger bending direction, and then changes the palm wire arranging device 4-35 with the palm wire after passing through the ring finger eighth rope pulley 4-26, the ring finger ninth rope pulley 4-33 and the ring finger tenth rope pulley 3.

The two ends of the second ring-shaped tendon rope 4-31 are connected with the palm wire arranging device 6-3, the middle of the second ring-shaped tendon rope is fixedly connected with the ring-shaped finger side swing knuckle 4-10, the second ring-shaped tendon rope 4-31 starts from one side of the palm wire arranging device 6-3, is guided by the seventeenth ring-shaped rope pulley 4-37, the fifteenth ring-shaped rope pulley 4-34 and the twelfth ring-shaped rope pulley 4-29, bypasses the ring-shaped finger side swing knuckle 4-10, and is then guided by the thirteenth ring-shaped finger rope pulley 4-30, the fourteenth ring-shaped finger rope pulley 4-32 and the sixteenth ring-shaped finger pulley 4-36 and then is connected with the palm wire arranging device 6-3.

The two ends of the first little finger rope 5-11 are respectively connected with the little finger distal knuckle 5-1 and the palm wire arranging device 6-3, the first little finger rope 5-11 is arranged at the position of the little finger distal knuckle 5-1, passes through the first little finger rope wheel 5-12, bypasses a second little finger rope wheel 5-14 fixedly connected or sleeved with the little finger distal knuckle shaft 5-3 in the same direction as the bending direction of the little finger, passes through the third little finger rope wheel 5-16, bypasses a fourth little finger rope wheel 5-18 fixedly connected or sleeved with the little finger middle knuckle shaft 5-6 in the same direction as the bending direction of the little finger, passes through the fifth little finger rope wheel 5-20 and the sixth little finger rope wheel 5-22, bypasses a seventh little finger rope wheel 5-24 fixedly connected or sleeved with the little finger proximal knuckle shaft 5-9 in the same direction as the bending direction of the little finger, and then passes through the eighth little finger rope wheel 5-26, the ninth little finger rope wheel 5-28, the tenth finger rope wheel 5-31 and the eleventh finger rope wheel 5-33 to change the direction and then is connected with the palm wire arranging device 6-3.

The two ends of the second little finger tendon rope 5-32 are connected with the palm wire arranging device 6-3, the middle is fixedly connected with the little finger side swing knuckle 5-10, the second little finger tendon rope 5-32 starts from one side of the palm wire arranging device 6-3, is guided by the twelfth little finger rope wheel 5-29, bypasses the little finger side swing knuckle 5-10, and is guided by the thirteenth little finger rope wheel 5-30 to be connected with the palm wire arranging device 6-3.

The tendon rope under-actuated humanoid multi-finger dexterous hand device provided by the invention comprises one or a combination of more than one of a torsion spring, a tension spring, a pressure spring leaf spring, a spring and an elastic rope, wherein the first return spring of the thumb 1-13, the second return spring of the thumb 1-21, the third return spring of the thumb 1-32, the first return spring of the index finger 2-10, the second return spring of the index finger 2-17, the third return spring of the index finger 2-24, the first return spring of the ring finger 4-15, the second return spring of the ring finger 4-19 and the third return spring of the ring finger 4-25.

The invention relates to a tendon rope underactuated humanoid multi-finger dexterous hand device, which comprises one or a combination of more than one of ropes, belts, chains and tendons, wherein the first tendon rope of a thumb 1-9, the second tendon rope of a thumb 1-17, the third tendon rope of a thumb 1-43, the first tendon rope of an index finger 2-12, the second tendon rope of an index finger 2-14, the third tendon rope of an index finger 2-22, the first tendon rope of a ring finger 4-11 and the second tendon rope of a ring finger 4-31.

In the embodiment, the thumb first return spring 1-13, the thumb second return spring 1-21, the thumb third return spring 1-32, the index finger first return spring 2-10, the index finger second return spring 2-17, the index finger third return spring 2-24, the ring finger first return spring 4-15, the ring finger second return spring 4-19 and the ring finger third return spring 4-25 all adopt torsion springs.

In the embodiment, the first tendon rope 1-9 of the thumb, the second tendon rope 1-17 of the thumb, the third tendon rope 1-43 of the thumb, the first tendon rope 2-12 of the index finger, the second tendon rope 2-14 of the index finger, the third tendon rope 2-22 of the index finger, the first tendon rope 4-11 of the ring finger and the second tendon rope 4-31 of the ring finger are all driven by ropes.

The working principle of the present embodiment is described below with reference to the drawings. The working principle of the thumb 1 is shown in fig. 4, 6, 17, 18, 19, 13, 20, 21, 22, 23 and 24, and is described as follows:

the external motor drives the thumb third tendon rope 1-43 to move, drives the thumb twenty-third rope pulley 1-42 fixedly connected with the thumb near joint shaft 1-6 to rotate, and further drives the thumb near joint shaft 1-6 to rotate, and the thumb 1 rotates around the thumb near joint shaft 1-6 along with the whole body, so that the repeated side swinging movement of the thumb 1 on the side face and the front face of the palm 6 is realized. When an object needs to be grasped, the thumb 1 is swung to the right opposite side of the palm 6, as shown in fig. 17, 18 and 19. When it is not necessary to grasp an object, the thumb 1 is swung to the side of the palm 6, as in the position shown in fig. 4.

The initial state of the thumb 1 is shown in fig. 4, resembling the straightened state of a human hand.

When the thumb 1 grabs an object, the motor drives the third tendon rope 1-43 of the thumb to move, drives the twenty-third rope pulley 1-42 of the thumb fixedly connected with the thumb near joint shaft 1-6 to rotate, further drives the thumb near joint shaft 1-6 to rotate, and the thumb 1 rotates along with the thumb near joint shaft 1-6 integrally, so that the thumb 1 swings to the right opposite side of the palm 6, as shown in fig. 17 and 18, the motor drives the second tendon rope 1-17 of the thumb, the thumb rope is enabled to pass through the palm wire arranging device 6-3, and then sequentially passes through the twenty-second rope pulley 1-40 of the thumb, the twenty-first rope pulley 1-39 of the thumb, the twenty-first rope pulley 1-38 of the thumb, the nineteenth rope pulley 1-34 of the thumb, the eighteenth rope pulley 1-31 of the thumb, the seventeenth rope pulley 1-28 of the thumb, the sixteenth rope pulley 1-24 of the thumb, the fifteenth rope pulley 1-22 of the thumb and the fourteenth rope pulley 1-19 of the thumb, overcomes the fact that the second reset spring 1-21 of the thumb drives the thumb to rotate around the middle joint shaft 1-4 of the thumb, and the thumb is enabled to rotate under the action of the first reset spring 1-13 of the thumb, and the second rope 1-9 of the thumb is enabled to rotate around the middle joint shaft 1-4 of the thumb under the action of the constraint of the first reset spring 1-13, and the thumb 1-3 of the thumb can run down in the condition that the thumb joint 1-3 is met under the condition that the thumb rotation is:

The middle thumb knuckle 1-3 touches an object to be grabbed, as shown in fig. 21, the motion is restricted and can not be performed, at this time, the far thumb knuckle 1-1 overcomes the deformation elasticity of the first thumb return spring 1-13 under the drive of the first thumb tendon rope 1-9, and continues to move around the far thumb joint shaft 1-2 until the far thumb knuckle 1-1 contacts the object to stop moving, then the first thumb tendon rope 1-9 and the second thumb tendon rope 1-17 continue to tighten, and the grabbing force on the far thumb knuckle 1-1 and the middle thumb knuckle 1-3 is gradually increased until the set grabbing condition is reached, at this time, the thumb grabbing work is finished, as shown in fig. 22.

The thumb far knuckle 1-1 touches an object to be grabbed, as shown in fig. 24, the thumb far knuckle 1-1 is limited and cannot move, at the moment, the first tendon rope 1-9 of the thumb is driven by a motor, the first rope pulley 1-10 of the thumb, the second rope pulley 1-12 of the thumb, the third rope pulley 1-14 of the thumb, the fourth rope pulley 1-16 of the thumb, the fifth rope pulley 1-20 of the thumb, the sixth rope pulley 1-23 of the thumb, the seventh rope pulley 1-25 of the thumb, the eighth rope pulley 1-27 of the thumb, the ninth rope pulley 1-30 of the thumb, the tenth rope pulley 1-33 of the thumb, the eleventh rope pulley 1-36 of the thumb, the twelfth rope pulley 1-37 of the thumb and the thirteenth rope pulley 1-41 of the thumb are overcome, the deformation elastic force of the first reset spring 1-13 of the thumb is overcome, the grabbing force on the thumb far knuckle 1-1 is gradually increased until the set grabbing condition is reached, and at the moment, the thumb grabbing work is ended.

When the object to be grabbed is released, the external motor connected with the thumb first tendon rope 1-9 is reversed, and under the action of the deformation force of the thumb first return spring 1-13, the thumb distal knuckle 1-1 is restored to the initial state that the thumb distal knuckle 1-1 is straightened; reversing an external motor connected with the thumb second tendon rope 1-17, and restoring the middle knuckle 1-3 of the thumb to an initial state of straightening the middle knuckle 1-3 of the thumb under the action of the deformation force of the thumb second reset spring 1-21; the external motor connected to the thumb third tendon rope 1-43 is reversed, and the thumb 1 is restored to the original state around the thumb proximal joint axis by the deforming force of the thumb third restoring spring 1-32, as shown in fig. 4.

The index finger 2 and the middle finger 3 have the same structure, size and working principle, and the working principle of the index finger 2 is as shown in fig. 4, 25, 26, 27, 28, 29, 30 and 31, and is described as follows:

the initial state of the index finger 2 is as shown in fig. 4, and similar to the straightened state of a human hand, when the index finger 2 grabs an object, there are the following two cases:

the index finger 2 moves with the third tendon rope 2-22, while the index finger 2 does not move with the second tendon rope 2-14. The external motor rotates to drive the third tendon rope 2-22 of the index finger, the deformation force of the third return spring 2-26 of the index finger is overcome through the sixteenth rope pulley 2-35 of the index finger, the fifteenth rope pulley 2-33 of the index finger, the fourteenth rope pulley 2-31 of the index finger, the thirteenth rope pulley 2-28 of the index finger and the twelfth rope pulley 2-25 of the index finger, the near knuckle 2-8 of the index finger is driven to rotate around the near joint shaft 2-9 of the index finger, the deformation force of the first return spring 2-10 of the index finger and the second return spring 2-17 of the index finger acts on the far knuckle 2-1 of the index finger, the middle knuckle 2-5 of the index finger and the near knuckle 2-8 of the index finger are just as a rigid body, so that the far knuckle 2-1 of the index finger and the middle knuckle 2-5 of the index finger can rotate around the near joint shaft 2-9 of the index finger together with the near knuckle 2-8 of the index finger, the movement process is stopped when the index finger near knuckle 2-8 contacts an object to be grabbed, as shown in figure 25, when the index finger near knuckle 2-8 is blocked by the object to be grabbed and cannot move, the index finger second tendon rope 2-14 passes through the index finger eleven rope pulley 2-34, the index finger ten rope pulley 2-32, the index finger nine rope pulley 2-29, the index finger eight rope pulley 2-27, the index finger seven rope pulley 2-23, the index finger six rope pulley 2-20, the index finger five rope pulley 2-18 and the index finger four rope pulley 2-13, overcomes the deformation force of the index finger second reset spring 2-17, drives the index finger middle knuckle 2-5 to rotate around the index finger middle joint shaft 2-6, and further passes through the index finger third rope pulley 2-19, the index finger second rope pulley 2-16 and the index finger first rope pulley 2-11, the elastic deformation force of the first return spring 2-10 of the index finger is overcome, the distal knuckle 2-1 of the index finger is driven to rotate around the distal knuckle 2-3 of the index finger, the process is stopped when the middle knuckle 2-5 of the index finger contacts an object to be grabbed, as shown in fig. 26, the third tendon rope 2-22 of the rear thumb and the second tendon rope 2-14 of the thumb continue to move under the drive of the external motor, the distal knuckle 2-1 of the index finger is driven to rotate around the distal knuckle 2-3 of the index finger until the distal knuckle 2-1 of the index finger contacts the object to be grabbed, as shown in fig. 27, the first tendon rope 2-12 of the index finger and the second tendon rope 2-14 of the index finger are gradually tightened, and the grabbing forces on the middle knuckle 2-5 of the index finger and the proximal knuckle 2-8 of the index finger are gradually increased.

The second tendon rope 2-14 of the index finger moves, and the third tendon rope 2-22 of the index finger does not move. An external motor rotates to drive the second tendon rope 2-14 of the index finger, the first rope pulley 2-34 of the index finger, the ten rope pulley 2-32 of the index finger, the nine rope pulley 2-29 of the index finger, the eight rope pulley 2-27 of the index finger, the seven rope pulley 2-23 of the index finger, the six rope pulley 2-20 of the index finger, the five rope pulley 2-18 of the index finger and the four rope pulley 2-13 of the index finger overcome the deformation force of the second return spring 2-17 of the index finger to drive the middle knuckle 2-5 of the index finger to rotate around the middle knuckle 2-6 of the index finger, and further the elastic deformation force of the first return spring 2-10 of the index finger is overcome to drive the middle knuckle 2-1 of the index finger to rotate around the far knuckle 2-3 of the index finger as shown in figure 28, the process is stopped when the knuckle 2-5 in the index finger contacts an object to be grabbed, as shown in fig. 29 and 30, then the index finger third tendon rope 2-22 continues to move, the index finger third tendon rope 2-22 gradually tightens the index finger second tendon rope 2-14 and the index finger third tendon rope 2-22 until the index finger distal knuckle 2-1 contacts the object to be grabbed, as shown in fig. 31, and gradually enlarges the index finger distal knuckle 2-1 by the index finger sixteenth rope 2-35, the index finger fifteenth rope 2-33, the index finger fourteenth rope 2-31, the index finger thirteenth rope 2-28 and the index finger twelfth rope 2-25, overcoming the deformation force of the index finger third reset spring 2-26, driving the index finger proximal knuckle 2-8 to rotate around the index finger proximal knuckle 2-9, gripping forces on the middle knuckle 2-5 of the index finger and the proximal knuckle 2-8 of the index finger.

The side swing knuckle of the ring finger 4 and the little finger 5 has the following two conditions when the object is strongly grabbed:

when the appearance of the hand is similar to a cylindrical object, the lateral swing knuckle of the ring finger 4 and the little finger 5 does not work, and the movement modes of the ring finger 4 and the little finger 5 are similar to those of the index finger 2 and the middle finger 3, as shown in fig. 32, 33 and 34. When the appearance of the hand grip is similar to that of a spherical object, two cases are classified according to the fact that the spherical object is positioned on the side of the palm close to the thumb and the side far from the thumb:

when the appearance of the hand is similar to that of a spherical object by strong grabbing, when the ball-like object is positioned on one side of the palm close to the thumb, as shown in fig. 35, one end of the second ring finger tendon rope 4-31 is contracted, and the other end is released to drive the ring finger side swing knuckle 4-10 to rotate, after a certain angle is reached, the rest ring finger joints are driven by the first ring finger tendon 4-11 to move like the index finger 2 until the object is wrapped and stopped, and meanwhile, one end of the second ring finger tendon rope 5-32 is contracted, and the other end is released to drive the ring finger side swing knuckle 5-10 to rotate, and after a certain angle is reached, the rest ring finger joints are driven by the first ring finger tendon 4-11 to move like the ring finger 4 until the object is wrapped and stopped. Such as fig. 35, 36, and 37.

When the appearance of the hand is similar to that of a spherical object by strong grabbing, and the ball-like object is positioned on one side of the palm far away from the thumb, as shown in fig. 38, the second tendon rope 4-31 of the ring finger is kept in the original state, the rest of the knuckles of the ring finger are driven by the first tendon rope 4-11 of the ring finger to move similar to the index finger 2 until the ring finger contacts with the object to stop moving, meanwhile, one end of the second tendon rope 5-32 of the ring finger is contracted, and the other end is released to drive the side swing knuckle 5-10 of the ring finger to rotate, and after a certain angle is reached, the rest of the ring finger is driven by the first tendon rope 5-11 of the ring finger to move similar to the ring finger 4 until the object is wrapped and stopped moving. As in fig. 38, 39, 40.

The examples described above represent only embodiments of the invention and are not to be understood as limiting the scope of the patent of the invention, it being pointed out that several variants and modifications may be made by those skilled in the art without departing from the concept of the invention, which fall within the scope of protection of the invention.

Claims

1. The tendon rope underactuated humanoid multi-finger smart hand device comprises a thumb (1), an index finger (2), a middle finger (3), a ring finger (4), a little finger (5) and a palm (6), wherein the relative positions of the index finger (2), the middle finger (3), the ring finger (4), the little finger (5), the thumb (1) and the palm (6) imitate the relative positions of the fingers and the palm of a human hand; the method is characterized in that: the middle finger (3) is fixedly connected with the palm skeleton (6-1) in the same structure and size as the index finger (2), and the connection mode is consistent with the index finger (2); the structure and the size of the little finger (5) are the same as those of the ring finger (4), the little finger (5) is fixedly connected with the palm skeleton (6-1), and the connection mode is consistent with that of the ring finger (4);

The palm (6) comprises a palm skeleton (6-1), a palm cover plate (6-2) and a palm thread manager (6-3) connected with the palm skeleton (6-1);

the thumb comprises a first thumb tendon rope (1-9), a second thumb tendon rope (1-17), a third thumb tendon rope (1-43), a far thumb knuckle (1-1), a middle thumb knuckle (1-3), a near thumb knuckle (1-5), a far thumb joint shaft (1-2), a middle thumb joint shaft (1-4), a near thumb joint shaft (1-6), a first thumb rope pulley (1-10), a second thumb rope pulley (1-12), a third thumb rope pulley (1-14), a fourth thumb rope pulley (1-16), a fifth thumb rope pulley (1-20), a sixth thumb rope pulley (1-23), a seventh thumb rope pulley (1-25), an eighth thumb rope pulley (1-27), a ninth thumb rope pulley (1-30), a tenth thumb rope pulley (1-33), an eleventh thumb rope pulley (1-36), a twelfth rope pulley (1-37), a thirteenth rope pulley (1-41), a fourteenth rope pulley (1-19), a fifteenth rope pulley (1-22), a sixteenth thumb rope pulley (1-24), a seventeenth thumb rope pulley (1-34) and a nineteenth thumb rope pulley (1-34) A thumb twenty-first rope wheel (1-38), a thumb twenty-first rope wheel (1-39), a thumb twenty-second rope wheel (1-40), a thumb twenty-third rope wheel (1-42), a thumb twenty-fourth rope wheel (1-44), a thumb twenty-fifth rope wheel (1-45), a thumb first rope wheel shaft (1-11), a thumb second rope wheel shaft (1-15), a thumb third rope wheel shaft (1-18), a thumb fourth rope wheel shaft (1-26), a thumb fifth rope wheel shaft (1-29), a thumb sixth rope wheel shaft (1-35), a thumb first return spring (1-13), a thumb second return spring (1-21), a thumb third return spring (1-32), a thumb far knuckle cover plate (1-7) and a thumb middle knuckle cover plate (1-8);

The thumb far knuckle cover plate (1-7) is clamped on the surface of the thumb far knuckle (1-1), and the thumb middle knuckle cover plate (1-8) is clamped on the surface of the thumb middle knuckle (1-3); the thumb near knuckle (1-5) is rotationally connected with the palm skeleton (6-1) through a thumb near knuckle shaft (1-6), the thumb middle knuckle (1-3) is rotationally connected with the thumb near knuckle (1-5) through a thumb middle knuckle shaft (1-4), the thumb far knuckle (1-1) is rotationally connected with the thumb middle knuckle (1-3) through a thumb far knuckle shaft (1-2), the thumb first rope wheel shaft (1-11) is rotationally connected with the thumb far knuckle (1-1), the thumb second rope wheel shaft (1-15) and the thumb third rope wheel shaft (1-18) are rotationally connected with the thumb middle knuckle (1-3), the thumb fourth rope wheel shaft (1-26) is rotationally connected with the palm skeleton (6-1), and the thumb fifth rope wheel shaft (1-29) is rotationally connected with the palm skeleton (6-1), the thumb first rope wheel shaft (1-11), the second rope wheel shaft (1-15), the third rope wheel shaft (1-18) and the thumb wheel shaft (1-5) are parallel to each other;

the thumb first rope wheel (1-10) is fixedly connected or sleeved on a thumb first rope wheel shaft (1-11), the thumb second rope wheel (1-12) is fixedly connected or sleeved on a thumb far joint shaft (1-2), the thumb third rope wheel (1-14) is fixedly connected or sleeved on a thumb second rope wheel shaft (1-15), the thumb fourth rope wheel (1-16), the fourteenth rope wheel (1-19) are fixedly connected or sleeved on a thumb third rope wheel shaft (1-18), the thumb fifth rope wheel (1-20), the thumb fifteenth rope wheel (1-22) are fixedly connected or sleeved on a joint shaft (1-4) in the thumb, the thumb sixth rope wheel (1-23), the thumb sixteenth rope wheel (1-24) are fixedly connected or sleeved on a thumb near joint, the thumb seventh rope wheel (1-25) is fixedly connected or sleeved on a thumb fourth rope wheel shaft (1-26), and the thumb eighth rope wheel (1-27), the thumb seventeenth rope wheel (1-28) is fixedly connected or sleeved on a fifth rope wheel shaft (1-29);

The thumb ninth rope wheel (1-30), the thumb eighteenth rope wheel (1-31) and the thumb twenty-third rope wheel (1-42) are fixedly connected or sleeved on a thumb near joint shaft (1-6), the thumb tenth rope wheel (1-33), the thumb nineteenth rope wheel (1-34) and the thumb twenty-fourth rope wheel (1-44) are fixedly connected or sleeved on a thumb sixth rope wheel shaft (1-35), and the thumb eleventh rope wheel (1-36), the thumb twelfth rope wheel (1-37), the thumb thirteenth rope wheel (1-41), the thumb twentieth rope wheel (1-38), the thumb twenty-first rope wheel (1-39), the thumb twenty-second rope wheel (1-40), the thumb twenty-fifth rope wheel (1-45), the thumb twenty-sixth rope wheel (1-46) and the thumb twenty-seventh rope wheel (1-47) are fixedly connected or sleeved on a palm skeleton (6-1);

the thumb first reset spring (1-13) is fixedly connected or sleeved on the thumb far joint shaft (1-2), two ends of the reset spring are respectively connected with the thumb far knuckle (1-1) and the thumb middle knuckle (1-3), the thumb second reset spring (1-21) is fixedly connected or sleeved on the thumb middle joint shaft (1-4), two ends of the reset spring are respectively connected with the thumb middle knuckle (1-3) and the thumb near knuckle (1-5), the thumb third reset spring (1-32) is fixedly connected or sleeved on the thumb near joint shaft (1-6), and two ends of the reset spring are respectively connected with the thumb near knuckle (1-5) and the palm skeleton (6-1);

The thumb far knuckle cover plate (1-7) is clamped on the surface of the thumb far knuckle (1-1), and the thumb middle knuckle cover plate (1-8) is clamped on the surface of the thumb middle knuckle (1-3);

the two ends of the thumb first tendon rope (1-9) are respectively connected with the thumb distal knuckle (1-1) and the palm wire arranging device (6-3) through rope wheel guiding, the thumb first tendon rope (1-9) passes through the thumb first rope wheel (1-10) from the thumb distal knuckle (1-1) to the thumb proximal joint shaft (1-6), passes through the thumb second rope wheel (1-12) fixedly connected or sleeved with the thumb distal joint shaft (1-2) in the same direction as the bending direction of the thumb, passes through the thumb third rope wheel (1-14) and the thumb fourth rope wheel (1-16), passes through the thumb fifth rope wheel (1-20) fixedly connected or sleeved with the thumb middle joint shaft (1-4) in the same direction as the bending direction of the thumb, passes through the thumb sixth rope wheel (1-23), passes through the thumb seventh rope wheel (1-25) and the thumb eighth rope wheel (1-27) which are perpendicular to the thumb sixth rope wheel (1-23), passes through the thumb seventh rope wheel (1-30) which is positioned on the proximal joint shaft (1-6) in the opposite direction as the bending direction of the thumb proximal knuckle (1-5), passes through the thumb rope wheel (1-30) and passes through the thumb fourth rope wheel (1-37) and the thumb fourth rope wheel (1-37) which is positioned on the thumb shaft (1-6) of the thumb, the thirteenth rope wheel (1-41) of thumb is connected with the palm thread managing device (6-3) after changing the direction;

The two ends of the thumb second tendon rope (1-17) are respectively connected with the middle knuckle (1-3) of the thumb and the palm line managing device (6-3), the thumb second tendon rope (1-17) passes through the fourteenth rope wheel (1-19) of the thumb from the middle knuckle (1-3) of the thumb to the direction of the near joint shaft (1-6) of the thumb, bypasses the fifteenth rope wheel (1-22) of the thumb fixedly connected with or sleeved with the middle joint shaft (1-4) in the same direction as the bending direction of the thumb, is guided by the sixteenth rope wheel (1-24) of the thumb, and then bypasses the eighteenth rope wheel (1-31) of the thumb fixedly connected with or sleeved with the near joint shaft (1-6) of the thumb in the opposite direction of the bending direction of the near knuckle (1-5) of the thumb, and is connected with the palm line managing device (6-3) of the thumb after the nineteenth rope wheel (1-34), the twenty rope wheels (1-38) of the thumb, the twenty first rope wheel (1-39) and the second rope wheel (1-40) of the thumb are guided by the seventeenth rope wheel (1-24) of the thumb;

the two ends of the thumb third tendon rope (1-43) are respectively connected with a thumb twenty-third rope pulley (1-42) and a palm wire arranging device (6-3), the thumb third tendon rope (1-43) bypasses the thumb twenty-third rope pulley (1-42) from the thumb twenty-third rope pulley (1-42) fixedly connected with or sleeved with a thumb near joint shaft (1-6) in the bending direction with a thumb near knuckle (1-5), and is connected with the palm wire arranging device (6-3) after the direction of the thumb twenty-third rope pulley is changed through a thumb twenty-fourth rope pulley (1-44), a thumb twenty-fifth rope pulley (1-45), a thumb twenty-sixth rope pulley (1-46) and a thumb twenty-seventh rope pulley (1-47);

The index finger comprises a first tendon rope (2-12), an index finger second tendon rope (2-14), an index finger third tendon rope (2-22), an index finger distal knuckle (2-1), an index finger middle knuckle (2-5), an index finger proximal knuckle (2-8), an index finger distal joint shaft (2-3), an index finger middle joint shaft (2-6), an index finger proximal joint shaft (2-9), an index finger first rope pulley (2-11), an index finger second rope pulley (2-16), an index finger third rope pulley (2-19), an index finger fourth rope pulley (2-13), an index finger fifth rope pulley (2-18) an index-sixth rope pulley (2-20), an index-seventh rope pulley (2-23), an index-eighth rope pulley (2-27), an index-ninth rope pulley (2-29), an index-tenth rope pulley (2-32), an index-eleventh rope pulley (2-34), an index-twelfth rope pulley (2-25), an index-thirteenth rope pulley (2-28), an index-fourteenth rope pulley (2-31), an index-fifteenth rope pulley (2-33), an index-sixteenth rope pulley (2-35), an index-first rope pulley (2-15), an index-second rope pulley (2-21), an index-third rope pulley (2-24), the first and second index finger reset springs (2-10, 2-17) and 2-26 respectively comprise an index finger fourth rope wheel shaft (2-30), an index finger first reset spring (2-10), an index finger second reset spring and an index finger third reset spring;

the index finger proximal knuckle (2-8) is rotationally connected with the palm skeleton (6-1) through an index finger proximal knuckle shaft (2-9), the index finger middle knuckle (2-5) is rotationally connected with the index finger proximal knuckle (2-8) through an index finger middle knuckle shaft (2-6), the index finger distal knuckle (2-1) is rotationally connected with the index finger middle knuckle (2-5) through an index finger distal knuckle shaft (2-3), the index finger first rope wheel shaft (2-15) is rotationally connected with the index finger middle knuckle (2-5), the index finger second rope wheel shaft (2-21) and the index finger third rope wheel shaft (2-24) are rotationally connected with the index finger proximal knuckle (2-8), and the index finger fourth rope wheel shaft (2-30) is rotationally connected with the palm skeleton (6-1);

The first rope wheel (2-11) of the index finger is fixedly connected or sleeved on the far joint shaft (2-3) of the thumb, the index finger second rope wheel (2-16) and the index finger fourth rope wheel (2-13) are fixedly connected or sleeved on the index finger first rope wheel shaft (2-15), the index finger third rope wheel (2-19) and the index finger fifth rope wheel (2-18) are fixedly connected or sleeved on the joint shaft (2-6) in the index finger, the index finger sixth rope wheel (2-20) is fixedly connected or sleeved on the index finger second rope wheel shaft (2-21), the index finger seventh rope wheel (2-23) and the index finger twelfth rope wheel (2-25) are fixedly connected or sleeved on the index finger third rope wheel shaft (2-24), the index finger eighth rope wheel (2-27) and the index finger thirteenth rope wheel (2-28) are fixedly connected or sleeved on the index finger near joint shaft (2-9), the forefinger ninth rope wheel (2-29) and the forefinger fourteenth rope wheel (2-31) are fixedly connected or sleeved on the forefinger fourth rope wheel shaft (2-30), the forefinger tenth rope pulley (2-32), the forefinger eleventh rope pulley (2-34), the forefinger fifteenth rope pulley (2-33) and the forefinger sixteenth rope pulley (2-35) are fixedly connected or sleeved on the palm skeleton (6-1);

the first return spring (2-10) of the index finger is fixedly connected or sleeved on the far joint shaft (2-3) of the index finger, two ends of the return spring are respectively connected with the far joint (2-1) of the index finger and the middle joint (2-5) of the index finger, the second return spring (2-17) of the index finger is fixedly connected or sleeved on the middle joint shaft (2-6) of the index finger, two ends of the return spring are respectively connected with the middle joint (2-5) of the index finger and the near joint (2-8) of the index finger, the third return spring (2-26) of the index finger is fixedly connected or sleeved on the near joint shaft (2-9) of the index finger, and two ends of the return spring are respectively connected with the near joint (2-8) of the index finger and the palm skeleton (6-1);

The two ends of the first rope (2-12) of the index finger are respectively connected with the first rope pulley (2-11) of the index finger and the third rope pulley (2-19) of the index finger, and the first rope (2-12) of the index finger is connected with the third rope pulley (2-19) of the index finger from the first rope pulley (2-11) of the index finger in an inverted splayed form through the second rope pulley (2-16) of the index finger;

the two ends of the index finger second tendon rope (2-14) are respectively connected with an index finger fourth rope wheel (2-13) fixedly connected with or sleeved on the index finger first rope wheel shaft (2-15) and a palm thread arranging device (6-3), the index finger second tendon rope (2-14) is connected with the index finger near joint shaft (2-9) from the index finger fourth rope wheel (2-13) fixedly connected with or sleeved on the index finger first rope wheel shaft (2-15) in the same direction as the bending direction of the index finger, bypasses an index finger fifth rope wheel (2-18) fixedly connected with or sleeved on the joint shaft (2-6) in the index finger, bypasses an index finger sixth rope wheel (2-20) and an index finger seventh rope wheel (2-23) in the same direction as the bending direction of the index finger eighth rope wheel (2-27) fixedly connected with or sleeved on the index finger near joint shaft (2-9), and is connected with the palm thread arranging device (6-3) after the direction of the index finger ninth rope wheel (2-32) and the index finger eleventh rope wheel (2-34) is changed;

the two ends of the index finger third tendon rope (2-22) are respectively connected with an index finger near knuckle (2-8) and a palm thread arranging device (6-3), the index finger third tendon rope (2-22) is connected with the palm thread arranging device (6-3) from the index finger near knuckle (2-8) to the index finger near joint shaft (2-9), bypasses the index finger thirteenth rope wheel (2-28) in the same direction with the index finger bending direction through the index finger twelfth rope wheel (2-25), and then is connected with the palm thread arranging device (2-3) after the direction of the index finger fourteenth rope wheel (2-31), the index finger fifteenth rope wheel (2-33) and the index finger sixteenth rope wheel (2-35) is changed;

The ring finger comprises a ring finger first tendon rope (4-11), a ring finger second tendon rope (4-31), a ring finger fourth rope pulley (4-18), a ring finger distal knuckle (4-1), a ring finger middle knuckle (4-5), a ring finger proximal knuckle (4-8), a ring finger side swing knuckle (4-10), a ring finger distal joint shaft (4-3), a ring finger middle joint shaft (4-6), a ring finger proximal joint shaft (4-9), a ring finger first rope pulley (4-12), a ring finger second rope pulley (4-14), a ring finger third rope pulley (4-16), a ring finger fifth rope pulley (4-20), a ring finger sixth rope pulley (4-22), a ring finger seventh rope pulley (4-24), a ring finger eighth rope pulley (4-26), a ring finger ninth rope pulley (4-28), a ring finger tenth rope pulley (4-33), a ring finger eleventh rope pulley (4-35), a ring finger second rope pulley (4-29), a ring finger rope pulley (4-36), a ring finger rope pulley (4-37) and a ring finger rope pulley (4-37-36), the device comprises a ring-finger second rope wheel shaft (4-17), a ring-finger third rope wheel shaft (4-21), a ring-finger fourth rope wheel shaft (4-23), a ring-finger fifth rope wheel shaft (4-27), a ring-finger first reset spring (4-15), a ring-finger second reset spring (4-19) and a ring-finger third reset spring (4-25);

The ring finger side swing knuckle (4-10) is rotationally connected with the palm skeleton (6-1), the ring finger near knuckle (4-8) is rotationally connected with the ring finger side swing knuckle (4-10) through a ring finger near knuckle shaft (4-9), the ring finger middle knuckle (4-5) is rotationally connected with the ring finger near knuckle (4-8) through a ring finger middle knuckle shaft (4-6), the ring finger far knuckle (4-1) is rotationally connected with the ring finger middle knuckle (4-5) through a ring finger far knuckle shaft (4-3), the ring finger first rope wheel shaft (4-13) is rotationally connected with the ring finger far knuckle (4-1), the ring finger second rope wheel shaft (4-17) is rotationally connected with the ring finger middle knuckle (4-5), the ring finger third rope wheel shaft (4-21) and the ring finger fourth rope wheel shaft (4-23) are rotationally connected with the ring finger near knuckle (4-8), and the ring finger first rope wheel shaft (4-13) is rotationally connected with the ring finger far knuckle (4-5);

the third ring pulley (4-16) is fixedly connected or sleeved on the second ring pulley shaft (4-17), the fourth ring pulley (4-23) is fixedly connected or sleeved on the middle ring pulley shaft (4-6), the fifth ring pulley (4-20) is fixedly connected or sleeved on the third ring pulley shaft (4-21), the sixth ring pulley (4-22) is fixedly connected or sleeved on the fourth ring pulley shaft (4-23), the seventh ring pulley (4-24) is fixedly connected or sleeved on the third ring pulley shaft (4-9), the eighth ring pulley (4-26) or the fifth ring pulley (4-23), the fifth ring pulley (4-33), the eighth ring pulley (4-33), the tenth ring pulley (4-35), the tenth ring pulley (4-33) and the tenth ring pulley (35) are fixedly connected or the fifth ring pulley (4-33) and the eighth ring pulley (4-35 The ring finger sixteenth rope wheel (4-36) and the ring finger seventeenth rope wheel (4-37) are fixedly connected or sleeved on the palm skeleton (6-1);

The ring finger first reset spring (4-15) is fixedly connected or sleeved on the ring finger far joint shaft (4-3), two ends of the reset spring are respectively connected with the ring finger far joint (4-1) and the ring finger middle joint (4-5), the ring finger second reset spring (4-19) is fixedly connected or sleeved on the ring finger middle joint shaft (4-6), two ends of the reset spring are respectively connected with the ring finger middle joint (4-5) and the ring finger near joint (4-8), the ring finger third reset spring (4-25) is fixedly connected or sleeved on the ring finger near joint shaft (4-9), and two ends of the reset spring are respectively connected with the ring finger near joint (4-8) and the ring finger side swing joint (4-10);

the two ends of the first ring finger tendon rope (4-11) are respectively connected with a ring finger distal knuckle (4-1) and a palm wire arranging device (6-3), the first ring finger tendon rope (4-11) bypasses a ring finger second rope pulley (4-14) fixedly connected or sleeved with a ring finger distal joint shaft (4-3) in the same direction as the ring finger bending direction from the ring finger distal knuckle (4-1) through the first ring finger rope pulley (4-12), bypasses a ring finger fourth rope pulley (4-18) fixedly connected or sleeved with a ring finger middle joint shaft (4-6) in the same direction as the ring finger bending direction through the third ring pulley (4-16), bypasses a ring finger seventh rope pulley (4-24) fixedly connected or sleeved with a ring finger proximal joint shaft (4-9) in the same direction as the ring finger bending direction through the fifth rope pulley (4-20) and the ring finger sixth rope pulley (4-22), and then bypasses a ring finger seventh rope pulley (4-24) fixedly connected or sleeved with the ring finger proximal joint shaft (4-9) in the same direction as the ring finger bending direction through the eighth rope pulley (4-26), and the palm wire arranging device (35) is changed to the palm wire arranging device (4-35);

The two ends of the second ring-finger tendon rope (4-31) are connected with the palm thread arranging device (6-3), the middle of the second ring-finger tendon rope is fixedly connected with the ring-finger side swing knuckle (4-10), the second ring-finger tendon rope (4-31) starts from one side of the palm thread arranging device (6-3), is guided by the seventeenth ring-finger rope pulley (4-37), the fifteenth ring-finger rope pulley (4-34) and the twelfth ring-finger rope pulley (4-29), bypasses the ring-finger side swing knuckle (4-10), and is guided by the thirteenth ring-finger rope pulley (4-30), the fourteenth ring-finger rope pulley (4-32) and the sixteenth ring-finger rope pulley (4-36) and then is connected with the palm thread arranging device (6-3).

2. The tendon rope underactuated humanoid multi-finger dexterous hand device according to claim 1, wherein the thumb first reset spring (1-13), the thumb second reset spring (1-21), the thumb third reset spring (1-32), the index finger first reset spring (2-10), the index finger second reset spring (2-17), the index finger third reset spring 2-24, the ring finger first reset spring (4-15), the ring finger second reset spring (4-19) and the ring finger third reset spring (4-25) adopt one or a combination of a plurality of torsion springs, tension springs, pressure spring springs, leaf springs, clocksprings and elastic ropes.

3. The tendon rope underactuated humanoid multi-finger dexterous hand device according to claim 1, wherein the thumb first tendon rope (1-9), the thumb second tendon rope (1-17), the thumb third tendon rope (1-43), the index finger first tendon rope (2-12), the index finger second tendon rope (2-14), the index finger third tendon rope (2-22), the ring finger first tendon rope (4-11) and the ring finger second tendon rope (4-31) are one or a combination of several ropes, belts, chains and tendons.