A dedicated tool and dexterous hand

Abstract

The application discloses a special tool, which comprises a connecting part for connecting with a first finger of a dexterous hand, and an execution part connected with the connecting part, wherein the execution part comprises a pressing rod, a first execution rod and a second execution rod, and at least one of the first execution rod and the second execution rod is rotatably connected with the execution part, so that when a second finger of the dexterous hand exerts a force on the pressing rod, the pressing rod drives the rotatably connected one to move to the other, and the first execution rod and the second execution rod realize a clamping action. The special tool provided by the application is connected with the first finger of the dexterous hand, the second finger of the dexterous hand exerts a force on the pressing rod, and the pressing rod drives the rotatably connected one of the first execution rod and the second execution rod to move to the other, so that the first execution rod and the second execution rod realize the clamping action, compared with the prior art, the overall work efficiency is improved, and the research and development cost is reduced. The application further discloses a dexterous hand.

Description

A special tool and a dexterous hand Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a special tool and a dexterous hand. Background Technology

[0002] When dexterous hands are used to grasp tools and perform tasks requiring fine adjustments and precision, their limited degrees of freedom and control make it difficult to achieve these goals. For example, grasping scissors to cut ropes or tweezers or chopsticks to perform clamping actions is challenging for dexterous hands. Current solutions often involve designing a dedicated robotic arm. When these operations are needed, the existing dexterous hand is removed from the wrist joint of the robotic arm, and a dedicated robotic arm is installed. Rewiring is also required to achieve the desired results. However, this dedicated robotic arm solution not only increases costs but also makes installation, disassembly, and debugging cumbersome, resulting in overall low efficiency.

[0003] Therefore, how to improve work efficiency and reduce costs while achieving clamping operations with dexterous hands is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a special tool that improves work efficiency and reduces costs while enabling dexterous hands to perform clamping operations;

[0005] Another object of the present invention is to provide a dexterous hand having the above-mentioned special tools.

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

[0007] A special tool for enabling dexterous hands to perform gripping operations, comprising:

[0008] The connecting part is used to connect with the first finger of the dexterous hand.

[0009] An actuator is connected to the connecting part, and the actuator includes a pressing rod, a first actuator rod, and a second actuator rod, and at least one of the first actuator rod and the second actuator rod is rotatably connected to the actuator. When the second finger of the dexterous hand applies force to the pressing rod, the pressing rod drives the rotatably connected one to move to the other, so that the first actuator rod and the second actuator rod perform a clamping action.

[0010] Optionally, in the above-mentioned special tool, both the first and second actuators are rotatably connected to the actuator, and both the first and second actuators are connected to the pressing rod, so that the second finger and the third finger of the dexterous hand drive the first and second actuators to move towards each other through the pressing rod.

[0011] Optionally, in the above-mentioned special tool, the first end of the pressing rod is provided with a bevel gear disk, and the first end of the first actuator and the first end of the second actuator are both provided with a semi-conical gear ring. Through the meshing of the bevel gear disk and the semi-conical gear ring, the pressing rod pushes the first actuator and the second actuator to rotate within a preset angle range.

[0012] Optionally, in the above-mentioned special tool, the execution unit further includes a mounting block, the mounting block is provided with a first rotating shaft and a second rotating shaft, the first execution rod is provided with a first rotating disk, the second execution rod is provided with a second rotating disk, and the first execution rod and the first rotating disk are an integral structure or are detachably connected, and / or the second execution rod and the second rotating disk are an integral structure or are detachably connected;

[0013] The first actuator is rotatably connected to the first rotating shaft via the first rotating disk, and the second actuator is rotatably connected to the first rotating shaft via the second rotating disk, wherein the rotation center of the first rotating disk and the rotation center of the second rotating disk are both located on the axis of the first rotating shaft;

[0014] Both the first rotating disk and the second rotating disk are provided with the semi-conical toothed ring, and the semi-conical toothed ring of the first rotating disk and the semi-conical toothed ring of the second rotating disk are respectively located on both sides of the first rotating shaft;

[0015] The bevel gear disk has a second shaft mounting hole, so that the bevel gear disk can be rotatably connected to the second rotating shaft through the second shaft mounting hole.

[0016] Optionally, in the above-mentioned special tool, the first rotating disk is provided with a first limiting surface and a second limiting surface. When the first rotating disk and the second rotating disk rotate relative to each other to a first preset angle, the first limiting surface is used to abut against one side of the semi-conical tooth ring on the second rotating disk. When the first rotating disk and the second rotating disk rotate relative to each other to a second preset angle, the second limiting surface is used to abut against the other side of the semi-conical tooth ring on the second rotating disk.

[0017] Optionally, in the above-mentioned special tool, the connecting part includes a finger sleeve and a first connecting rod. The finger sleeve has a finger hole for placing the finger of the dexterous hand, and the number of the finger hole is at least one, so that the finger sleeve is fitted onto the first finger of the dexterous hand through the finger hole. The finger sleeve is connected to the execution part through the first connecting rod.

[0018] Optionally, in the above-mentioned special tool, the connecting part is further provided with a collar for being fitted onto the fingers of the dexterous hand and a second connecting rod, and the collar is connected to the finger sleeve shell through the second connecting rod and extends along the extension direction of the fingers of the dexterous hand.

[0019] Optionally, in the above-mentioned special tool, a return spring is connected between the first connecting rod and the pressing rod.

[0020] Optionally, in the above-mentioned special tool, a pressing plate is provided at the second end of the pressing rod, and the fingers of the dexterous hand apply force to the pressing rod through the pressing plate.

[0021] The specialized tool provided by this invention is installed on the first finger of a dexterous hand via a connecting part. The second finger of the dexterous hand applies force to the pressing rod of the actuator, which in turn drives one of the first and second actuator rods to move to the other, thus enabling the first and second actuator rods to perform a clamping action. Compared with the prior art, the specialized tool provided by this invention avoids the redevelopment and design of the robotic hand, significantly reducing production costs. Furthermore, the specialized tool can be directly installed onto the finger of the dexterous hand, making the entire installation and implementation process simple and quick, avoiding cumbersome installation and debugging processes, and significantly improving overall work efficiency.

[0022] A dexterous hand includes a special tool, said special tool being the special tool described in any of the preceding claims.

[0023] The dexterous hand provided by this invention, having the aforementioned special tool, possesses all the technical effects of the aforementioned special tool, which will not be elaborated upon here. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 is a schematic diagram of the special tool disclosed in the embodiment of the present invention installed on a dexterous hand;

[0026] Figure 2 is a schematic diagram of the structure of a special tool installed in a dexterous hand according to another embodiment of the present invention;

[0027] Figure 3 is a schematic diagram of the structure of the special tool disclosed in an embodiment of the present invention;

[0028] Figure 4 is a schematic diagram of the structure of the mounting block disclosed in an embodiment of the present invention;

[0029] Figure 5 is a schematic diagram of the structure of the first actuator disclosed in an embodiment of the present invention;

[0030] Figure 6 is a schematic diagram of the structure of the second actuator disclosed in an embodiment of the present invention;

[0031] Figure 7 is a schematic diagram of the structure of the finger sleeve shell disclosed in an embodiment of the present invention;

[0032] Figure 8 is a schematic diagram of the structure of the finger sleeve shell disclosed in another embodiment of the present invention;

[0033] Figure 9 is a schematic diagram of the structure of the collar installed on the dexterous hand according to an embodiment of the present invention;

[0034] Figure 10 is a schematic diagram of the structure of a special tool disclosed in another embodiment of the present invention;

[0035] Figure 11 is a schematic diagram of the structure of the execution unit disclosed in an embodiment of the present invention;

[0036] Figure 12 is a schematic diagram of the slot structure of the dexterous hand disclosed in an embodiment of the present invention.

[0037] Wherein, 100 is the connecting part, 110 is the finger sleeve shell, 112 is the snap-fit ​​protrusion, 111 is the finger hole, 120 is the first connecting rod, 121 is the first connecting ring, 130 is the collar, and 140 is the second connecting rod.

[0038] 200 is the actuator, 210 is the pressing rod, 211 is the bevel gear disc, 212 is the pressing plate, 213 is the second connecting ring, 220 is the first actuator, 221 is the first rotating disc, 230 is the second actuator, 231 is the second rotating disc, 240 is the mounting block, 241 is the first rotating shaft, and 242 is the second rotating shaft;

[0039] 300 is a semi-conical tooth ring;

[0040] 400 is the return spring;

[0041] 500 is for dexterous hand, 510 is for card slot;

[0042] 10 is the first limiting surface;

[0043] 20 is the second limiting surface. Detailed Implementation

[0044] The core of this invention lies in providing a special tool that improves work efficiency and reduces costs while enabling dexterous hands to perform clamping operations.

[0045] Another core aspect of this invention is to provide a dexterous hand with the aforementioned special tools.

[0046] 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.

[0047] As shown in Figures 1 and 2, this embodiment of the invention discloses a special tool, including a connecting part 100 and an execution part 200. The connecting part 100 is used to mount onto the first finger of a dexterous hand 500, and the execution part 200 is connected to the connecting part 100. The execution part 200 is provided with a pressing rod 210, a first execution rod 220, and a second execution rod 230, at least one of the first execution rod 220 and the second execution rod 230 being rotatably mounted on the execution part 200. When a clamping action is required, the second finger of the dexterous hand 500 applies force to the pressing rod 210, which then drives one of the first execution rods 220 and the second execution rod 230 to move from one to the other. This allows the special tool provided in this embodiment to be mounted on the dexterous hand 500, enabling the dexterous hand 500 to flexibly perform cutting or clamping operations like scissors, tweezers, or chopsticks.

[0048] As shown in Figure 2, both the first actuator 220 and the second actuator 230 are rotatably mounted on the actuator 200. Each of the first actuator 220 and the second actuator 230 is connected to a pressing lever 210. Subsequently, the second finger and the third finger of the dexterous hand 500 can drive the first actuator 220 and the second actuator 230 to move towards each other through the corresponding pressing levers 210. The second finger and the third finger of the dexterous hand 500 are located on both sides of the first finger of the dexterous hand 500. The rotatable design of the first actuator 220 and the second actuator 230 can significantly improve the efficiency of the clamping action.

[0049] As shown in Figure 3, a bevel gear disk 211 is provided at the first end of the pressing rod 210, and a semi-conical gear ring 300 is provided at the first end of the first actuator 220 and the first end of the second actuator 230. The bevel gear disk 211 and the semi-conical gear ring 300 are bevels with a certain angle, and the teeth of the semi-conical gear ring 300 are distributed within a preset angle range. Therefore, the first actuator 220 and the second actuator 230 are connected by gear transmission through the engagement of the semi-conical gear ring 300 and the bevel gear disk 211. Then, the pressing rod 210 drives the first actuator 220 and the second actuator 230 to rotate within the preset angle range. When the first actuator 220 and the second actuator 230 rotate towards each other, a clamping action is performed; when the first actuator 220 and the second actuator 230 rotate in opposite directions, the clamping is released.

[0050] As shown in Figures 4, 5, and 6, the actuator 200 also includes a mounting block 240. The mounting block 240 is provided with a first rotating shaft 241 and a second rotating shaft 242, and the axes of the first rotating shaft 241 and the second rotating shaft 242 are perpendicular to each other. The bevel gear plate 211 of the pressing rod 210 has a second shaft mounting hole. Through the clearance fit between the second shaft mounting hole and the second rotating shaft 242, the pressing rod 210 is rotatably connected to the mounting block 240. The first actuator 220 is provided with a first rotating disk 221, and the second actuator 230 is provided with a second rotating disk 231. Both the first rotating disk 221 and the second rotating disk 231 have first rotating shaft mounting holes. The first rotating shaft mounting holes are clearance fitted with the first rotating shaft 241, so that the first actuator 220 and the second actuator 230 are respectively sleeved on the first rotating shaft 241 of the mounting block 240 through the first rotating disk 221 and the second rotating disk 231, thereby realizing the rotation of the first actuator 220 and the second actuator 230. Furthermore, the rotation centers of the first rotating disk 221 and the second rotating disk 231 are both located on the axis of the first rotating shaft 241, ensuring good stability and consistency during the rotation of the first actuator 220 and the second actuator 230. Both the first rotating disk 221 and the second rotating disk 231 are equipped with semi-conical toothed rings 300 that mate with the bevel toothed disk 211. The semi-conical toothed rings 300 on the first rotating disk 221 and the second rotating disk 231 are respectively distributed on both sides of the first rotating shaft 241, enabling the first actuator 220 and the second actuator 230 to rotate in opposite directions and in opposite directions. In one specific embodiment, the first actuator 220 and the first rotating disk 221, the second actuator 230 and the second rotating disk 231 are detachably connected, so that the first actuator 220 and the second actuator 230 can be replaced with scissors, chopsticks or tweezers, etc., according to actual needs, thereby improving the applicability and versatility of the special tool provided in this embodiment. Alternatively, the first actuator 220 and the first rotating disk 221, the second actuator 230 and the second rotating disk 231 can all be set as an integral structure, and those skilled in the art can design it according to actual needs.

[0051] As shown in Figure 5, the first rotating disk 221 is provided with a first limiting surface 10 and a second limiting surface 20. When the first rotating disk 221 and the second rotating disk 231 rotate relative to each other to a first preset angle, the first limiting surface 10 abuts against one side of the semi-conical tooth ring 300 on the second rotating disk 231. When the first rotating disk 221 and the second rotating disk 231 rotate relative to each other to a second preset angle, the second limiting surface 20 abuts against the other side of the semi-conical tooth ring 300 on the second rotating disk 231. Through the cooperation of the first limiting surface 10 and the second limiting surface 20 with the two sides of the semi-conical tooth ring 300, the first actuator 220 and the second actuator 230 rotate within the preset angle range. At the same time, it avoids the problem of the bevel tooth disk 211 disengaging from the semi-conical tooth ring 300 due to excessive rotation along the semi-conical tooth ring 300.

[0052] As shown in Figures 7 and 12, the connecting part 100 includes a finger sleeve shell 110 and a first connecting rod 120. The finger sleeve shell 110 has a finger hole 111, and the finger sleeve shell 110 is fitted onto the first finger of the dexterous hand 500 through the finger hole 111, realizing a simple and quick connection between the special tool provided in this embodiment and the dexterous hand 500. In addition, in order to further improve the tightness of the finger sleeve shell 110 and the finger of the dexterous hand 500, a slot 510 is provided on the finger of the dexterous hand 500 that mates with the finger hole 111, and a snap-fit ​​protrusion 112 that mates with the slot 510 is provided on the inner wall of the cavity of the finger hole 111. When the finger of the dexterous hand 500 is inserted into the finger hole 111, the snap-fit ​​protrusion 112 snaps into the slot 510. The finger sleeve 110 is connected to the mounting block 240 of the actuator 200 via a connecting rod 120. The connecting rod 120 and the mounting block 240 are connected by a threaded connection to facilitate the assembly and disassembly of the connecting rod 120 and the mounting block 240. Furthermore, as shown in Figures 1 and 10, when the first actuator 220 rotates and the second actuator 230 is fixed, and when the operation is completed by driving the first actuator 220 with only one finger, to prevent the finger used for driving and the finger locked in the finger sleeve 110 from rotating simultaneously, the finger sleeve 110 can have multiple finger holes 111, so that each finger hole 111 can correspond to one finger. In a specific embodiment, the finger sleeve 110 provided in this embodiment is a cavity structure with two finger holes 111, and then two fingers of the dexterous hand 500 are simultaneously fitted into the finger sleeve 110, thereby avoiding the problem of uneven force distribution during single-finger driving causing the finger sleeve 110 locked in by the finger to rotate.

[0053] As shown in Figure 8, the fingers of the dexterous hand 500 generally include the proximal phalanx, middle phalanx, and distal phalanx. The proximal phalanx is connected to the palm of the dexterous hand, while the finger sleeve 110 is fitted on the distal phalanx. When the pressing rod 210 of the actuator 200 is driven by the index and ring fingers, since most types of dexterous hands 500 have a passive protection mechanism, that is, when the fingers are subjected to a force bending towards the palm, the fingers will rotate around the joints, and the finger joints that the finger sleeve 110 engages with will also bend. This causes the fingers used to drive the pressing rod 210 and the fingers used to engage with the finger sleeve 110 to bend together, so that the pressing rod 210 cannot rotate on the mounting block 240. Therefore, to solve this problem, as shown in Figure 7, a collar 130 and a second connecting rod 140 are provided in the connecting part 100. The collar 130 is connected to the finger sleeve shell 110 through the second connecting rod 140. The length of the second connecting rod 140 is longer than the sum of the lengths of the middle and distal phalanges, but less than the length of the entire finger. The collar 130 of the second connecting rod 140 is sleeved on the proximal phalange, thereby linking and fixing the bent proximal and middle phalanges together. This ensures that the proximal and middle phalanges of the finger wearing the finger sleeve shell 110 and the palm cannot be bent. This prevents the finger driving the pressing rod 210 from bending together with the finger wearing the finger sleeve shell 110 during use, ensuring that the clamping operation of the first actuator 220 and the second actuator 230 can be completed normally.

[0054] As shown in Figures 1, 2, 7, and 11, a return spring 400 is connected between the first connecting rod 120 and the pressing rod 210. During the clamping action of the first actuator 220 and the second actuator 230 driven by the dexterous hand 500 applying a total pressing force to the pressing rod 210, the return spring 400 undergoes elastic deformation and possesses elastic potential energy. When the dexterous hand 500 removes its pressure on the pressing rod 210, under the action of the elastic potential energy of the return spring 400, the pressing rod 210, under the force of the return spring 400, drives the first actuator 220 and the second actuator 230 back to their original state, preparing for the next clamping operation. This ensures that the special tool provided in this embodiment has good continuity and smoothness during use, further improving work efficiency. In one specific embodiment, a first connecting ring 121 is provided on the second connecting rod 120, and a second connecting ring 213 is provided on the pressing rod 210. The two ends of the reset spring 400 are respectively connected to the first connecting ring 121 and the second connecting ring 213 to realize the installation and fixation of the reset spring 400.

[0055] As shown in Figure 11, a pressing plate 212 is provided at the second end of the pressing rod 210. The fingers of the dexterous hand 500 can apply force to the pressing rod 210 through the pressing plate 212. The pressing rod 210 increases the contact area with the fingers, thereby improving the reliability of the dexterous hand 500 in operating the special tool provided in this embodiment.

[0056] This invention also discloses a dexterous hand, including a special tool. Since this dexterous hand possesses the aforementioned special tool, it combines all the technical effects of that tool, which will not be elaborated upon further here.

[0057] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0058] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," "a," and / or "the" are not specifically singular and may include the plural. Generally, the terms "comprising" and "including" only indicate the inclusion of expressly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements. An element defined by the phrase "comprising an..." does not exclude the presence of other identical elements in the process, method, product, or apparatus that includes the element.

[0059] In the description of the embodiments of this application, unless otherwise stated, " / " means "or", for example, A / B can mean A or B; "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more.

[0060] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0061] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the core ideas of the present invention. It should be noted that those skilled in the art can make several improvements and modifications to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. A special tool, characterized in that, The device is designed to enable a dexterous hand (500) to perform a gripping operation, comprising: a connecting part (100) for connecting to a first finger of the dexterous hand (500); and an actuating part (200) connected to the connecting part (100), wherein the actuating part (200) includes a pressing rod (210), a first actuating rod (220), and a second actuating rod (230), and at least one of the first actuating rod (220) and the second actuating rod (230) is rotatably connected to the actuating part (200), wherein when the second finger of the dexterous hand (500) applies force to the pressing rod (210), the pressing rod is engaged to achieve a gripping operation. The pressure rod (210) drives one of the rotatably connected rods to move to the other, so that the first actuator (220) and the second actuator (230) can perform a clamping action; the first end of the pressure rod (210) is provided with a bevel gear disc (211), and the first end of the first actuator (220) and the first end of the second actuator (230) are both provided with a semi-conical gear ring (300). Through the meshing of the bevel gear disc (211) and the semi-conical gear ring (300), the pressure rod (210) pushes the first actuator (220) and the second actuator (230) to rotate within a preset angle range.

2. The special tool according to claim 1, characterized in that, The first actuator (220) and the second actuator (230) are both rotatably connected to the actuator (200), and the first actuator (220) and the second actuator (230) are both connected to the pressing rod (210), so that the second finger of the dexterous hand (500) and the third finger of the dexterous hand (500) drive the first actuator (220) and the second actuator (230) to move towards each other through the pressing rod (210).

3. The special tool according to claim 1, characterized in that, The actuator (200) further includes a mounting block (240), which is provided with a first rotating shaft (241) and a second rotating shaft (242). The first actuator (220) is provided with a first rotating disk (221), and the second actuator (230) is provided with a second rotating disk (231). The first actuator (220) and the first rotating disk (221) are integral structures or detachably connected, and / or the second actuator (230) and the second rotating disk (231) are integral structures or detachably connected. The first actuator (220) is rotatably connected to the first rotating shaft (241) via the first rotating disk (221), and the second actuator (230) is rotatably connected to the second rotating shaft (241) via the second rotating disk (242). The rotating disk (231) is rotatably connected to the first rotating shaft (241), and the rotation center of the first rotating disk (221) and the rotation center of the second rotating disk (231) are both located on the axis of the first rotating shaft (241); the first rotating disk (221) and the second rotating disk (231) are both provided with the semi-conical tooth ring (300), and the semi-conical tooth ring (300) of the first rotating disk (221) and the semi-conical tooth ring (300) of the second rotating disk (231) are respectively located on both sides of the first rotating shaft (241); the bevel tooth disk (211) is provided with a second shaft mounting hole so that the bevel tooth disk (211) is rotatably connected to the second rotating shaft (242) through the second shaft mounting hole.

4. The special tool according to claim 3, characterized in that, The first rotating disk (221) is provided with a first limiting surface (10) and a second limiting surface (20). When the first rotating disk (221) and the second rotating disk (231) rotate relative to each other to a first preset angle, the first limiting surface (10) is used to abut against one side of the semi-conical tooth ring (300) on the second rotating disk (231). When the first rotating disk (221) and the second rotating disk (231) rotate relative to each other to a second preset angle, the second limiting surface (20) is used to abut against the other side of the semi-conical tooth ring (300) on the second rotating disk (231).

5. The special tool according to claim 1, characterized in that, The connecting part (100) includes a finger sleeve (110) and a first connecting rod (120). The finger sleeve (110) has a finger hole (111) for placing the finger of the dexterous hand (500), and the number of the finger hole (111) is at least one, so that the finger sleeve (110) is fitted onto the first finger of the dexterous hand (500) through the finger hole (111). The finger sleeve (110) is connected to the execution part (200) through the first connecting rod (120).

6. The special tool according to claim 5, characterized in that, The connecting part (100) is also provided with a collar (130) for wearing on the fingers of the dexterous hand (500) and a second connecting rod (140), and the collar (130) is connected to the finger sleeve shell (110) through the second connecting rod (140) and extends along the finger extension direction of the dexterous hand (500).

7. The special tool according to claim 5, characterized in that, A return spring (400) is connected between the first connecting rod (120) and the pressing rod (210).

8. The special tool according to claim 1, characterized in that, The second end of the pressing rod (210) is provided with a pressing plate (212), and the fingers of the dexterous hand (500) apply force to the pressing rod (210) through the pressing plate (212).

9. A dexterous hand, characterized in that, Includes a special tool, wherein the special tool is the special tool as described in any one of claims 1-8.

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