Parallel dexterous hand for fossil sampling

Abstract

This invention discloses a parallel dexterous hand for fossil sampling, belonging to the field of robotic hands. The invention includes a palm portion and finger portions. The palm portion uses multiple gears to transmit power, allowing for symmetrical and relative distribution of the direct parts, facilitating the gripping of spherical and blocky objects. The finger portions include a base portion, knuckle portions, and fingertips. The base has meshing gears, controlling the relative movement of the levers through the gear ratios. The levers in the knuckle portions further control the opening and closing of the fingertips, enabling functions such as grasping and flipping objects. The knuckle portions have a helical transmission mechanism that can independently control the length of the levers. All motors in this invention are servo motors, enabling higher precision control. Traditional robotic hands have left a gap in the mining industry, especially in the field of fossil sampling. Modern wilderness fossil sampling is mostly done manually, which is labor-intensive and difficult. This invention addresses this need.

Description

Technical Field

[0001] This invention relates to the field of robotic arms, and more specifically to a parallel dexterous hand for fossil sampling. Background Technology

[0002] Robotic arms can replace heavy human labor to achieve mechanization and automation of production. They can operate in hazardous environments to protect personal safety, and are therefore widely used in machinery manufacturing, electronics, light industry and nuclear energy sectors, providing efficient and high-quality support in logistics links such as packaging and transfer. Current robotic arms suffer from limited application and poor environmental adaptability in the mining industry, especially in fossil sampling. Fossil sampling in modern wilderness areas is mostly done manually, which is not only complex and labor-intensive, but also involves a large workload, high difficulty, low efficiency, low safety, and high dependence on the environment. This indirectly limits research, medical, and archaeological fields. Fossils vary in shape and size, and are mostly found in complex wilderness environments unsuitable for manual sampling. Fossil sampling requires ensuring fossil integrity, but existing robotic arms can only grasp fossils within a fixed range, easily damaging them during sampling and failing to meet the demands for precise and complete fossil sampling. Furthermore, the diverse morphologies of wild fossils and the complex terrain of wilderness areas place extremely high demands on the adaptability and flexibility of robotic arms, which ordinary robotic arms cannot meet. Therefore, it is essential to develop a dexterous hand capable of precise grasping and high flexibility. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention proposes a parallel dexterous hand for fossil sampling. The overall design employs a parallel structure, featuring high motion precision, excellent dynamic performance, low inertia, and low cost. The palm portion utilizes multiple gears to transmit power, allowing for symmetrical and relative distribution of the finger joints, facilitating the gripping of spherical and blocky objects and enabling effective sampling of fossils of varying shapes. The base features meshing gears, controlling the relative movement of the linkages through the gear ratios. The linkages in the finger joints further control the opening and closing of the fingertips, facilitating functions such as grasping and flipping fossil samples. This precise sampling also allows researchers to further understand the structural characteristics of the fossils. The finger joints incorporate a helical transmission mechanism, enabling independent control of the linkage length, allowing the dexterous hand to effectively sample fossils of different sizes. Through this structure, this invention can efficiently and accurately sample fossils of varying sizes and shapes in complex environments while maximizing the preservation of fossil integrity.

[0004] The objective of this invention can be achieved through the following technical solutions:

[0005] A parallel dexterous hand for fossil sampling includes: a palm structure and finger structures; the finger structures are evenly distributed circumferentially on the palm structure; each finger structure includes a first link, a second link, a knuckle seat, a third link, a finger tip rod, and a base; the base is provided with the first link and the second link, which are rotatable in the same direction; the first link is provided with the knuckle seat, which moves linearly; the finger tip rod is rotatably connected to the knuckle seat; one end of the third link is rotatably connected to the second link, and the other end of the third link is rotatably connected to the finger tip rod.

[0006] In some embodiments, the first connecting rod is fixedly mounted with a motor support; two baffles are symmetrically fixedly mounted at both ends of the first connecting rod on the motor support; the baffles are slidably connected to a lead screw slider; a third motor is fixedly mounted inside the motor support; the third motor is fixedly mounted with a lead screw; the lead screw is connected to the lead screw slider; and the lead screw slider is fixedly connected to the knuckle seat.

[0007] In some embodiments, the base is rotatably connected to a first connecting shaft, a second connecting shaft, and a seventh gear; the first connecting shaft is fixedly mounted with a first connecting rod and an eighth gear; the second connecting shaft is fixedly mounted with a second connecting rod and a sixth gear; both the sixth and eighth gears mesh with the seventh gear; the base is fixedly mounted with a second motor; the second motor is connected to either the first or second connecting shaft.

[0008] In some embodiments, the palm structure includes a first motor, a palm base, and a support shaft; the first motor is fixedly mounted on the palm base; the support shaft is rotatably connected to the palm base; the finger structure is fixedly mounted on the support shaft; the first motor and the support shaft are driven by gears.

[0009] In some embodiments, the palm base is rotatably connected to two of the support shafts; the support shafts are fixedly mounted with the finger structure; the palm base is fixedly mounted with one of the finger structures; one support shaft is fixedly mounted with a third gear, and the other support shaft is fixedly mounted with a fifth gear; the first motor is fixedly mounted with a fourth gear; the palm base is rotatably connected to a first gear and a second gear between the third gear, the fourth gear, and the fifth gear; the first gear and the second gear mesh with each other; the second gear meshes with the third gear; and the first gear meshes with the fourth gear and the fifth gear.

[0010] In some embodiments, the base is provided with a frame; the base is fixedly mounted with a support seat by screws; the first connecting shaft and the second connecting shaft are both rotatably connected to the frame and the support seat.

[0011] In some embodiments, the third motor is fixedly connected to the lead screw via a coupling.

[0012] In some embodiments, the support shaft and the palm seat are rotatably connected via rolling bearings.

[0013] The beneficial effects of this invention are:

[0014] The hand portion of this application utilizes multiple gears to transmit power, allowing for symmetrical and relative distribution of the direct portion, facilitating the gripping of spherical and blocky objects. The base features meshing gears, controlling the relative movement of the levers through the gear ratios. The levers in the knuckles further control the opening and closing of the fingertips, facilitating gripping and flipping of objects. The knuckles incorporate a helical transmission mechanism, enabling independent control of the lever length to meet complex gripping needs. The use of a servo motor enables higher precision control. These features make the invention more flexible, precise, easy to grip, require fewer drives, and highly adaptable. It can precisely grip fossils of various shapes in wilderness areas, minimizing damage and ensuring the integrity of the sampled fossils. Furthermore, this device can also precisely grip foreign objects in underground pipes and debris in disaster-stricken areas, thus helping to clear pipes and reduce casualties. Attached Figure Description

[0015] The invention will now be further described with reference to the accompanying drawings.

[0016] Figure 1 This is a three-dimensional structural diagram of the present application;

[0017] Figure 2 This is a schematic diagram of the bottom hand structure of this application;

[0018] Figure 3 This is a partial exploded structure diagram of this application;

[0019] Figure 4 This is a schematic diagram of the exploding structure of the knuckle in this application;

[0020] Figure 5 This is a schematic diagram illustrating the handling of irregular objects according to this application;

[0021] Figure 6 This is a schematic diagram of the large-area clamping mode of this application.

[0022] The components corresponding to each number in the diagram are as follows:

[0023] 1. Finger rod; 2. Screw drive mechanism; 3. Hand structure; 4. Base; 5. First motor; 6. First gear; 7. Second gear; 8. Third gear; 9. Fourth gear; 10. Fifth gear; 11. Second connecting rod; 12. Support seat; 13. Support shaft; 14. Frame; 15. Second connecting shaft; 16. Second motor; 17. Hand seat; 18. Sixth gear; 19. Seventh gear; 20. Eighth gear; 21. First connecting shaft; 22. Rolling bearing; 23. Third connecting rod; 24. Finger joint seat; 25. Lead screw slider; 26. Baffle; 27. Lead screw; 28. Coupling; 29. ​​Third motor; 30. Motor support; 32. First connecting rod. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] In the description of this invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inner", "around", etc., which indicate orientation or positional relationship, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this invention.

[0026] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0027] A parallel dexterous hand for fossil sampling includes: a palm structure 3 and finger structures; the palm structure 3 has finger structures evenly distributed around its circumference; the finger structures include a first link 31, a second link 11, a knuckle seat 24, a third link 23, a finger rod 1, and a base 4; the base 4 is provided with a first link 31 and a second link 11 that can rotate in the same direction; the first link 31 is provided with a knuckle seat 24 that can move linearly; the finger rod 1 is rotatably connected to the knuckle seat 24; one end of the third link 23 is rotatably connected to the second link 11, and the other end of the third link 23 is rotatably connected to the finger rod 1.

[0028] In use, the first link 31 and the second link 11 can be rotated outwards from the base 4 to open; when the first link 31 and the second link 11 are rotated inwards from the base 4, they return to their original positions and retract; by adjusting the position of the knuckle seat 24, the length of the knuckle formed by the first link 31 and the knuckle seat 24 can be changed, allowing the fingertip 1 to grasp objects of different sizes; when grasping an object, the palm structure 3 is mounted on a drive mechanism to control its movement and lifting; first, the orientation of the fingertip 1 is adjusted according to the shape of the object, with the fingertip 1 serving as a support point to grasp or support the object; then, the position of the knuckle seat 24 is adjusted to fit the size of the object.

[0029] When grasping, the first link 31 and the second link 11 are controlled to rotate inward toward the base 4 to open up; then the object is placed between the finger rods 1, and then the first link 31 and the second link 11 are reset, the finger rods 1 grasp the bottom of the object, and the first link 31 restricts the circumferential side of the object, thereby completing the grasping of the object.

[0030] Fixed connections in this application refer to connections where parts or components do not move relative to each other after installation. Common examples include using screws, splines, or wedges to fix components together. This type of connection allows for disassembly during maintenance without damaging the parts. Other methods include welding, riveting, and tenon joints. These methods require forging, sawing, or oxy-acetylene cutting for disassembly during maintenance or replacement, so the parts are generally not reusable. Rotating connections in this application refer to connections where parts or components rotate relative to a fixed component after installation. Common forms include mounting bearings on the fixed component, with the part mounted on the inner or outer ring of the bearing, allowing rotational movement via the bearing. Sliding connections in this application refer to connections where parts or components can move on a fixed component after installation.

[0031] The unidirectional rotation in this application can be achieved through gear structures, belt drive structures, or chain drive structures. Gear drive refers to a device that transmits motion and power through gear pairs; it is the most widely used mechanical transmission method in modern equipment. It offers relatively accurate transmission, high efficiency, compact structure, reliable operation, and long service life. Belt drive is a mechanical transmission that uses a flexible belt tensioned on pulleys to transmit motion or power. Depending on the transmission principle, there are friction belt drives that rely on the friction between the belt and pulleys, and synchronous belt drives that rely on the meshing of teeth on the belt and pulleys. Chain drive is a transmission method that uses a chain to transmit the motion and power of a driving sprocket with a special tooth profile to a driven sprocket with a special tooth profile.

[0032] In this application, the linearly moving component can be implemented using a linear drive mechanism, such as a hydraulic telescopic rod, an electric telescopic rod, or a pneumatic telescopic rod. Of course, it can also be replaced by other structures that can change the position of the connecting end, such as the chain lifting mechanism used in forklifts, the scissor telescopic mechanism used in scissor lifts, and the screw lifting mechanism in screw conveyors.

[0033] In some embodiments, a motor support 30 is fixedly mounted on the first connecting rod 31; two baffles are symmetrically fixedly mounted on both ends of the motor support 30 on the first connecting rod 31; a lead screw slider 25 is slidably connected to the baffles; a third motor 29 is fixedly mounted inside the motor support 30; a lead screw 27 is fixedly mounted on the third motor 29; the lead screw 27 is connected to the lead screw slider 25; and the lead screw slider 25 is fixedly connected to the finger joint seat 24.

[0034] The third motor 29 drives the lead screw 27 to rotate, while the lead screw slider 25 is restricted by the baffle to move but not rotate. Therefore, the lead screw slider 25 will drive the finger seat 24 to move linearly along the axis of the lead screw 27.

[0035] In some embodiments, the base 4 is rotatably connected to a first connecting shaft 21, a second connecting shaft 15, and a seventh gear 19; the first connecting shaft 21 is fixedly mounted with a first connecting rod 31 and an eighth gear 20; the second connecting shaft 15 is fixedly mounted with a second connecting rod 11 and a sixth gear 18; both the sixth gear 18 and the eighth gear 20 mesh with the seventh gear 19; the base 4 is fixedly mounted with a second motor 16; the second motor 16 is connected to either the first connecting shaft 21 or the second connecting shaft 15; when the second motor 16 drives the first connecting shaft 21 or the second connecting shaft 15 to rotate, it will drive the eighth gear 20 or the sixth gear 18 to rotate. Since both the eighth gear 20 and the sixth gear 18 mesh with the seventh gear 19, the eighth gear 20 and the sixth gear 18 rotate in the same direction, thereby driving the first connecting shaft 21 and the second connecting shaft 15 to rotate in the same direction, realizing the rotation of the first connecting rod 31 and the second connecting rod 11 in the same direction.

[0036] In some embodiments, the palm structure 3 includes a first motor 5, a palm base 17, and a support shaft 13; the first motor 5 is fixedly mounted on the palm base 17; the support shaft 13 is rotatably connected to the palm base 17; a finger structure is fixedly mounted on the support shaft 13; the first motor 5 and the support shaft 13 are driven by gears; the first motor 5 drives the support shaft 13 to rotate through the gear structure, thereby driving the finger structure to rotate.

[0037] In some embodiments, the palm base 17 is rotatably connected to two support shafts 13; finger structures are fixedly mounted on the support shafts 13; one finger structure is fixedly mounted on the palm base 17; a third gear 8 is fixedly mounted on one support shaft 13, and a fifth gear 10 is fixedly mounted on the other support shaft 13; a fourth gear 9 is fixedly mounted on the first motor 5; a first gear 6 and a second gear 7 are rotatably connected between the third gear 8, the fourth gear 9, and the fifth gear 10; the first gear 6 and the second gear 7 mesh with each other; the second gear 7 meshes with the third gear 8; the first gear 6 meshes with the fourth gear 9 and the fifth gear 10; the first motor 5 drives the fourth gear 9 to drive the first gear 6 to drive the first gear, and the first gear 6 drives the fifth gear 10 and the second gear 7 to drive the third gear 8 to rotate; thereby driving the two finger structures to rotate. Since the finger structures are arranged in a circle, when three finger structures are provided, the angle of two finger structures can be adjusted.

[0038] In some embodiments, the base 4 is provided with a frame 14; the base 4 is fixedly mounted with a support 12 by screws; the first connecting shaft 21 and the second connecting shaft 15 are rotatably connected to the frame 14 and the support 12, which facilitates the installation and replacement of the connecting shafts.

[0039] In some embodiments, the third motor 29 and the lead screw 27 are fixedly connected by a coupling 28, which is used to control the rotation of the lead screw 27 and to provide protection.

[0040] In some embodiments, the support shaft 13 and the palm seat 17 are rotatably connected by a rolling bearing 22. The bearing's function is to support the rotating mechanical body, reduce its coefficient of friction during movement, and ensure its rotational accuracy.

[0041] Example:

[0042] Please see Figure 1 The robotic hand includes a palm structure and a finger structure fixed to the palm. The finger structure includes a base, a knuckle, and a finger rod. The finger is fixed to the palm base by a threaded connection.

[0043] Please see Figure 2 The hand base 17 includes a hand structure 3, first (second, third, fourth, fifth) gears 6 (7, 8, 9, 10), and a first motor 5. The hand structure 3 is in the shape of a circular tray, with several protrusions in the concave part and a circular hole at the bottom for connecting and fixing the finger part. The hand structure 3 contains five gears, which mesh with each other. The first motor 5 is fixed on the top of the hand structure 3 and is connected to the fourth gear 9.

[0044] More specifically, when the first motor 5 rotates clockwise, it drives the fourth gear 9 to rotate clockwise. The fourth gear 9 drives the first gear 6 to rotate counterclockwise. The first gear 6 drives the second gear 7 to rotate clockwise, and also drives the fifth gear 10 to rotate clockwise. The second gear 7 drives the third gear 8 to rotate counterclockwise. At the same time, the third gear 8 and the fifth gear 10 drive the finger part to rotate, completing the grasping and picking-up actions. When the first motor 5 rotates counterclockwise, it can return to its original position.

[0045] Please see Figure 3 The base includes: frame 14, support shaft 13, sixth (seventh, eighth) finger gears 18 (19, 20), support seat 12, second motor 16, rolling bearing 22. The frame 14 is fixed to the top of the mechanical hand 3 through the support shaft 13 and the rolling bearing 22. The gear support seat 12 is fixed to the top of the frame 14 by screws. The frame 14 has two perforated bosses. The second motor 16 is fixed to one side of the inner boss by screws. The other side of the boss is fixed to the first connecting rod 32 and the eighth gear 20 in sequence through the first connecting shaft 21. The outer boss is connected to the second connecting rod 11 and the sixth gear 18 in sequence through the second connecting shaft 15. The seventh gear 19 is fixed to the frame 14 and meshes with the eighth (sixth) gear 20 (18) respectively. More specifically, when the second motor 16 rotates counterclockwise, it drives the eighth gear 20 to rotate counterclockwise. The eighth gear 20 drives the seventh gear 19 to rotate clockwise. The seventh gear 19 then drives the sixth gear 18 to rotate counterclockwise. As a result, the eighth gear 20 drives the first connecting rod 32 to rotate into the palm structure 3. At the same time, the sixth gear 18 drives the second connecting rod 11 to rotate into the machine, thereby realizing the retraction of the robotic hand. When the second motor 16 rotates clockwise, the extension of the robotic hand can be completed.

[0046] Please see Figure 3The four-finger joint includes: a first connecting rod 32, a second connecting rod 11, a motor support 30, baffles (first baffle 26 and second baffle 31), a coupling 28, a lead screw slider 25, a lead screw 27, a second connecting shaft 15, a third motor 29, and a finger joint seat 24. The second connecting rod 11 is fixed by the second connecting shaft 15 to the middle of the outer boss of the frame 14 and the first finger gear 18. The first connecting rod 32 is fixed by the middle of the inner boss of the frame 14 and the third finger gear 20. One end of the motor support 30 is fixed to the first connecting rod 32, and the other end is fixed with the third motor 29. The third motor 29 is connected to the lead screw 27 through the coupling 28, which controls the rotation of the lead screw 27 and provides protection. The third motor 29 can be a miniature reducer. The first baffle 26 and the second baffle 31 are fixed to the two sides of the motor support 30 by screws. The lead screw slider 25 is fixed to the top of the coupling 28 and the inside of the first baffle 26 and the second baffle 31 through the lead screw 27. At the same time, the guide block on the lead screw slider 25 contacts the sliding groove inside the first baffle 26 and the second baffle 31. The top of the lead screw slider 25 is fixedly connected to the finger joint seat 24. More specifically, when the third motor 29 is running, it drives the lead screw 27 to rotate, and the lead screw 27 drives the lead screw slider 25 to rotate. The guide block on the lead screw slider 25 contacts the groove inside the first baffle 26, preventing the lead screw slider 25 from rotating. As a result, the lead screw slider 25 moves up and down, driving the knuckles to move up and down, thereby realizing the extension and shortening of the fingers, which is convenient to adapt to items of different sizes, lengths and shapes.

[0047] Please see Figure 3 The fingertip portion includes a finger rod 1 and a third connecting rod 23. The finger rod 1 is fixed to the knuckle seat 24 via a second connecting shaft with a head clamp. One end of the third connecting rod 23 is fixed to the side where the finger rod 1 connects to the knuckle seat 24, and the other end is fixed to the top of the second connecting rod 11. More specifically, when the second motor 16 drives the first connecting rod 32 and the second connecting rod 11 to rotate, when the first connecting rod 32 and the second connecting rod 11 rotate outward, the second connecting rod 11, connected to the third connecting rod 23, lifts the fingertip. When rotating inward, the fingertip can be lowered, thus completing the lifting and lowering action of the finger, making the finger more flexible and adaptable.

[0048] Based on the above practical examples, this invention can be used in conjunction with an intelligent detection vehicle and a robotic arm. Its main function is to detect and accurately sample vegetation of different landforms and fossils of different shapes in wilderness areas with complex terrain. The precise gripping can protect the sample to the greatest extent while sampling, saving manpower and completing the sampling work more efficiently. It has a strong adaptability to complex geographical environments and ultimately realizes the modernization and intelligence of the entire sampling process.

[0049] Furthermore, this invention can also be used in other situations requiring complex clamping.

[0050] This invention, in conjunction with a robotic arm and an intelligent vehicle, can easily penetrate deep into pipes to clean and unclog them, removing accumulated blockages and debris, achieving precise and efficient cleaning within a limited space.

[0051] In earthquake relief and disaster recovery, in complex environments (earthquakes, landslides, etc.), it can pick up debris with different characteristics, improve rescue efficiency, and minimize casualties.

[0052] refer to Figure 5 The dexterous hand described in the above practical example is highly effective at gripping irregular objects such as fossils, pipe blockages, and gravel. The gripping range can be further adjusted through the screw transmission mechanism to achieve more precise gripping, thereby minimizing sample damage and personnel injury.

[0053] The foregoing has shown and described the basic principles, main features, advantages, and broad practical significance of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A parallel dexterous hand for fossil sampling, characterized in that, include: A palm structure (3) and a finger structure; the palm structure (3) is circumferentially distributed with the finger structures; the finger structure includes a first link (31), a second link (11), a knuckle seat (24), a third link (23), a finger rod (1), and a base (4); the base (4) is provided with the first link (31) and the second link (11) which can rotate in the same direction; the first link (31) is provided with the knuckle seat (24) which can move linearly; the finger rod (1) is rotatably connected to the knuckle seat (24); one end of the third link (23) is rotatably connected to the second link (11), and the other end of the third link (23) is rotatably connected to the finger rod (1); The first connecting rod (31) is fixedly mounted with a motor support (30); two baffles are symmetrically fixedly mounted on both ends of the first connecting rod (31) at the motor support (30); the baffles are slidably connected to a lead screw slider (25); a third motor (29) is fixedly mounted inside the motor support (30); a lead screw (27) is fixedly mounted on the third motor (29); the lead screw (27) is connected to the lead screw slider (25); the lead screw slider (25) is fixedly connected to the knuckle seat (24); The base (4) is rotatably connected to a first connecting shaft (21), a second connecting shaft (15), and a seventh gear (19); the first connecting shaft (21) is fixedly mounted with a first connecting rod (31) and an eighth gear (20); the second connecting shaft (15) is fixedly mounted with a second connecting rod (11) and a sixth gear (18); both the sixth gear (18) and the eighth gear (20) mesh with the seventh gear (19); the base (4) is fixedly mounted with a second motor (16); the second motor (16) is connected to either the first connecting shaft (21) or the second connecting shaft (15).

2. The parallel dexterous hand for fossil sampling according to claim 1, characterized in that, The palm structure (3) includes a first motor (5), a palm base (17), and a support shaft (13); the first motor (5) is fixedly mounted on the palm base (17); the support shaft (13) is rotatably connected to the palm base (17); the finger structure is fixedly mounted on the support shaft (13); the first motor (5) and the support shaft (13) are driven by gears.

3. The parallel dexterous hand for fossil sampling according to claim 2, characterized in that, The palm base (17) is rotatably connected to two of the support shafts (13); the support shafts (13) are fixedly mounted with the finger structure; the palm base (17) is fixedly mounted with one of the finger structures; one of the support shafts (13) is fixedly mounted with a third gear (8), and the other support shaft (13) is fixedly mounted with a fifth gear (10); the first motor (5) is fixedly mounted with a fourth gear (9); the palm base (17) is rotatably connected to a first gear (6) and a second gear (7) between the third gear (8), the fourth gear (9), and the fifth gear (10); the first gear (6) and the second gear (7) mesh with each other; the second gear (7) meshes with the third gear (8); the first gear (6) meshes with the fourth gear (9) and the fifth gear (10).

4. The parallel dexterous hand for fossil sampling according to claim 1, characterized in that, The base (4) is provided with a frame (14); the base (4) is fixedly mounted with a support seat (12) by screws; the first connecting shaft (21) and the second connecting shaft (15) are rotatably connected to the frame (14) and the support seat (12).

5. The parallel dexterous hand for fossil sampling according to claim 1, characterized in that, The third motor (29) and the lead screw (27) are fixedly connected by a coupling (28).

6. The parallel dexterous hand for fossil sampling according to claim 2, characterized in that, The support shaft (13) and the palm seat (17) are rotatably connected by a rolling bearing (22).

Images