A screwing tool and a dexterous hand

Abstract

The application discloses a screwing tool, which comprises a dexterous hand connecting part connected with a dexterous hand, a screwing part connected with a rotating tool, the screwing part being rotatably connected with the dexterous hand connecting part, the screwing part being driven to rotate by fingers of the dexterous hand so as to drive the rotating tool to rotate in a first rotating direction or a second rotating direction, and a switching part, when the switching part is switched to a first position, the screwing part is connected with a first finger of the dexterous hand, the first finger of the dexterous hand drives the rotating tool to rotate in the first rotating direction through the screwing part, when the switching part is switched to a second position, the screwing part is connected with a second finger of the dexterous hand, the second finger of the dexterous hand drives the rotating tool to rotate in the second rotating direction through the screwing part. Compared with the prior art, the dexterous hand does not need to be detached from a mechanical arm, line connection and debugging are avoided, work efficiency is guaranteed, and research and development cost is remarkably reduced. The application further discloses a dexterous hand.

Description

Technical Field

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

[0002] When dexterous hands are used to grasp tools and perform tasks, their insufficient degrees of freedom and control precision make it difficult to perform tasks requiring fine adjustments and manipulations, such as tightening screws and nuts. Existing dexterous hands struggle to flexibly grasp rotating tools like screwdrivers and wrenches to tighten or loosen screws and nuts. Even when they can grasp these tools, they cannot provide sufficient torque during the tightening process, and this can damage the outer surface of the dexterous hand's fingers. Current solutions involve designing a dedicated robotic arm. When such operations are needed, the existing dexterous hand is detached from the wrist joint of the robotic arm, and the dedicated robotic arm is installed. This requires rewiring and debugging. While this solution addresses the problem of dexterous hands being unable to tighten or loosen screws and nuts due to insufficient degrees of freedom and control precision, it increases costs and makes the installation, disassembly, and debugging processes cumbersome, time-consuming, and inefficient.

[0003] Therefore, how to improve the overall work efficiency while dexterous hands complete the twisting work 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 screwing tool that can improve the overall work efficiency while allowing a dexterous hand to complete the screwing work;

[0005] Another object of the present invention is to provide a dexterous hand having the above-described screwing tool.

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

[0007] A screwing tool, comprising:

[0008] A dexterous hand connector for connecting to a dexterous hand;

[0009] A screwing part is used to connect to a rotating tooling, and the screwing part is rotatably connected to the dexterous hand connection part. The screwing part is driven to rotate by the fingers of the dexterous hand so that the rotating tooling rotates along a first rotation direction or a second rotation direction.

[0010] When the reversing part is switched to the first position, the screwing part is connected to the first finger of the dexterous hand, so that the first finger of the dexterous hand drives the rotating tool to rotate along the first rotation direction through the screwing part. When the reversing part is switched to the second position, the screwing part is connected to the second finger of the dexterous hand, so that the second finger of the dexterous hand drives the rotating tool to rotate along the second rotation direction through the screwing part.

[0011] Optionally, the above-mentioned turning tool further includes a tooling connection part, wherein the rotating tooling is connected to the turning part through the tooling connection part, and the tooling connection part is rotatably connected to the turning part;

[0012] When the reversing part is switched to the first position and the screwing part rotates along the first rotation direction, the screwing part drives the tooling connecting part through the reversing part so that the screwing part and the tooling connecting part rotate synchronously. When the screwing part rotates along the second rotation direction, the tooling connecting part disengages from the reversing part and the tooling connecting part is in a stationary state.

[0013] When the reversing part switches to the second position and the screwing part rotates along the second rotation direction, the screwing part drives the tooling connection part through the reversing part so that the screwing part and the tooling connection part rotate synchronously. When the screwing part rotates along the first rotation direction, the tooling connection part disengages from the reversing part and the tooling connection part is in a stationary state.

[0014] Optionally, in the above-mentioned turning tool, the tooling connection part includes a first rotating shaft and a ratchet. The first end of the first rotating shaft is rotatably connected to the turning part through a first bearing. The second end of the first rotating shaft is used to connect to the rotating tool. The ratchet is connected to the first rotating shaft. The ratchet is close to the first end of the first rotating shaft relative to the second end of the first rotating shaft, and the ratchet is provided with ratchet teeth for abutting against the reversing part.

[0015] Optionally, in the above-mentioned screwing tool, the reversing part includes a second rotating shaft and a pawl. The pawl is rotatably connected to the screwing part through the second rotating shaft. The pawl is provided with a first stop tooth and a second stop tooth, and a switching gap is provided between the first stop tooth and the second stop tooth.

[0016] When the reversing part is switched to the first position and the screwing part rotates along the first rotation direction, the end face of the first stop tooth abuts against the end face of the ratchet. When the screwing part rotates along the second rotation direction, the end face of the first stop tooth disengages from the end face of the ratchet.

[0017] When the reversing part switches to the second position and the screwing part rotates along the second rotation direction, the end face of the second stop tooth abuts against the end face of the ratchet. When the screwing part rotates along the first rotation direction, the end face of the second stop tooth disengages from the end face of the ratchet.

[0018] Optionally, in the above-mentioned screwing tool, the pawl further includes a first limiting surface and a second limiting surface, and the screwing part is provided with a blocking part;

[0019] When the reversing part switches to the first position, the blocking part cooperates with the first limiting surface to restrict relative rotation between the pawl and the screwing part along the first rotation direction;

[0020] When the reversing part switches to the second position, the blocking part cooperates with the second limiting surface to limit the relative rotation between the pawl and the screwing part along the second rotation direction.

[0021] Optionally, in the above-mentioned screwing tool, the blocking part includes a blocking ball and an elastic element. The screwing part has an elastic element mounting groove, and the elastic element is mounted on the screwing part through the elastic element mounting groove. The blocking ball abuts against one end of the elastic element. When the reversing part switches between the first position and the second position, the blocking ball is compressed into the elastic element mounting groove. When the reversing part switches to the first position, the blocking ball abuts against the first limiting surface by the elastic force of the elastic element. When the reversing part switches to the second position, the blocking ball abuts against the second limiting surface by the elastic force of the elastic element.

[0022] Optionally, in the above-mentioned screwing tool, the screwing part includes a mounting housing, which is a cavity structure with a receiving space. The ratchet and the pawl are both placed in the cavity of the mounting housing, and the mounting housing is provided with a mounting boss. The mounting boss has a mounting hole. The dexterous hand connecting part is provided with a third rotating shaft, which is rotatably connected to the mounting hole through a second bearing.

[0023] Optionally, in the above-mentioned screwing tool, the screwing part includes a finger connecting ring, the screwing part is sleeved on the fingers of the dexterous hand through the finger connecting ring, and the finger connecting ring is connected to the screwing part through a connecting rod, the connecting rod and the screwing part being detachably connected.

[0024] Optionally, in the above-mentioned screwing tool, the dexterous hand connecting part is provided with a finger sleeve shell, the finger sleeve shell has a space for accommodating the fingers of the dexterous hand, and the inner wall of the cavity of the finger sleeve shell is provided with a snap-fit ​​protrusion, and the fingers of the dexterous hand are provided with snap-fit ​​grooves that cooperate with the snap-fit ​​protrusion.

[0025] The screw-tightening tool provided by this invention is mounted on a dexterous hand via a connecting part. The fingers of the dexterous hand apply torque to the screw-tightening part, causing it to drive a rotating fixture to rotate. When the reversing part is switched to the first position, the screw-tightening part connects to the first finger of the dexterous hand, driving the rotating fixture to rotate in a first rotation direction. When the reversing part is switched to the second position, the screw-tightening part connects to the second finger of the dexterous hand, driving the rotating fixture to rotate in a second rotation direction. This allows the rotating fixture to rotate in different directions to meet different screw-tightening needs. For example, when the rotating fixture is a screwdriver, driving the screwdriver in the first rotation direction with the screw-tightening tool provided by this invention allows for tightening screws, while driving the screwdriver in the second rotation direction allows for screw removal. Compared with existing technologies, when a twisting operation is required, the twisting tool provided by this invention can be quickly installed onto the dexterous hand to complete the work without having to remove the dexterous hand from the robotic arm. This also avoids complicated preparations such as wiring and debugging, ensuring high work efficiency. Moreover, compared with developing a separate dedicated robotic arm, it significantly reduces R&D costs and time, and improves economic benefits.

[0026] A dexterous hand includes a screwing tool, said screwing tool being a screwing tool as described in any of the preceding claims.

[0027] The dexterous hand provided by this invention, having the aforementioned turning tool, possesses all the technical effects of the aforementioned turning tool, which will not be elaborated upon here. Attached Figure Description

[0028] 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.

[0029] Figure 1 This is a schematic diagram of the installation structure of the screwing tool and the dexterous hand disclosed in an embodiment of the present invention;

[0030] Figure 2 This is a cross-sectional schematic diagram of the screwing tool disclosed in an embodiment of the present invention;

[0031] Figure 3 This is a cross-sectional schematic diagram of the ratchet disclosed in an embodiment of the present invention;

[0032] Figure 4 This is a schematic diagram of the installation structure of the ratchet and pawl disclosed in an embodiment of the present invention;

[0033] Figure 5 This is a schematic diagram of the pawl structure disclosed in an embodiment of the present invention;

[0034] Figure 6 This is a schematic diagram of the screwing tool disclosed in an embodiment of the present invention;

[0035] Figure 7 This is a schematic diagram of the structure of the dexterous hand disclosed in an embodiment of the present invention;

[0036] Figure 8 This is a schematic diagram of the installation structure of a screwing tool and a dexterous hand disclosed in another embodiment of the present invention.

[0037] Among them, 100 is the dexterous hand connecting part, 110 is the third rotating shaft, 120 is the finger sleeve shell, and 121 is the snap-fit ​​protrusion;

[0038] 200 is the screwing part, 210 is the blocking ball, 220 is the elastic element, 230 is the mounting housing, 231 is the protective cover, 240 is the mounting boss, 241 is the mounting hole, 250 is the finger connecting ring, and 260 is the connecting rod.

[0039] 300 is the reversing part, 310 is the second rotating shaft, 320 is the pawl, 321 is the first stop tooth, 322 is the second stop tooth, 323 is the first limiting surface, 324 is the second limiting surface, and 330 is the switching handle;

[0040] 400 is the tooling connection part, 410 is the first rotating shaft, 420 is the ratchet, and 421 is the ratchet tooth;

[0041] 10 represents a dexterous hand, and 11 represents a snap-fit ​​slot. Detailed Implementation

[0042] The purpose of this invention is to provide a screwing tool that can improve overall work efficiency while allowing dexterous hands to perform screwing tasks.

[0043] Another object of the present invention is to provide a dexterous hand having the above-described screwing tool.

[0044] 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.

[0045] like Figure 1 and Figure 2As shown, this embodiment of the invention discloses a screw-tightening tool, including a dexterous hand connecting part 100, a screw-tightening part 200, and a reversing part 300. The dexterous hand connecting part 100 is connected to a dexterous hand 10, and the screw-tightening part 200 is rotatably connected to the dexterous hand connecting part 100. The screw-tightening part 200 can be driven to rotate by the fingers of the dexterous hand 10. The screw-tightening part 200 is also connected to a rotating fixture, which in turn drives the rotating fixture to rotate, thus enabling the rotating fixture to tighten or loosen screws or nuts. Simultaneously, to meet the needs of tightening or loosening during rotation, the screw-tightening tool provided in this embodiment also includes a reversing part 300. When the reversing part 300 is switched to a first position, the screw-tightening part 200 is connected to the first finger of the dexterous hand 10. At this time, the first finger of the dexterous hand 10 drives the rotating fixture to rotate along a first rotation direction via the screw-tightening part 200. When the reversing part 300 switches to the second position, the screwing part 200 connects to the second finger of the dexterous hand 10. At this time, the second finger of the dexterous hand 10 drives the rotating tool to rotate in the second rotation direction through the screwing part 200, so that the rotating tool can rotate in different rotation directions. In a specific embodiment, the dexterous hand connecting part 100 is connected to the middle finger of the dexterous hand 10. When tightening is required, the screwing part 200 is connected to the index finger of the dexterous hand 10, and when loosening is required, the screwing part 200 is connected to the ring finger of the dexterous hand 10. The reversing part 300 needs to be reversed synchronously each time it is tightened or loosened. Alternatively, those skilled in the art can choose the matching relationship between the screwing tool provided in this embodiment and each finger of the dexterous hand 10 according to actual needs. These will not be listed one by one in this article.

[0046] like Figure 1 and Figure 2 As shown, the screwing tool provided in this embodiment also includes a tooling connection part 400. The rotating tool is installed on the screwing part 200 through the tooling connection part 400, and the tooling connection part 400 and the screwing part 200 are also rotatably connected. When the reversing part 300 is switched to the first position, and the screwing part 200 rotates along the first rotation direction, the tooling connection part 400 is connected to the screwing part 200 as a whole through the reversing part 300, so that the screwing part 200 applies a rotational torque to the tooling connection part 400 through the reversing part 300. The tooling connection part 400 and the screwing part 200 rotate synchronously, and then the rotating tool installed on the tooling connection part 400 can rotate along the first rotation direction. At this time, if the screwing part 200 rotates in the opposite direction along the second rotation direction, the tooling connection part 400 will disengage from the reversing part 300. That is, when the screwing part 200 is along the second rotation direction, the tooling connection part 400 can remain stationary relative to the screwing part 200 and will not rotate. This allows the first finger of the dexterous hand 10 to repeatedly flick the screwing part 200 between the first rotation direction and the second rotation direction, so that the tooling connection part 400 always drives the rotating tooling along the first rotation direction.

[0047] When the reversing part 300 switches to the second position, if the turning part 200 rotates in the second rotation direction, the tooling connection part 400 is connected to the turning part 200 through the reversing part 300, so that the turning part 200 applies a rotational torque to the tooling connection part 400 through the reversing part 300. The tooling connection part 400 will then rotate synchronously with the turning part 200, so that the rotating tool mounted on the tooling connection part 400 rotates in the second rotation direction. When the turning part 200 rotates in the first rotation direction, the tooling connection part 400 disengages from the reversing part 300. At this time, the turning part 200 can continue to rotate in the first rotation direction, while the tooling connection part 400 is stationary and does not rotate in the first rotation direction. Similarly, by using the second finger of the dexterous hand 10 to repeatedly move the screwing part 200 between the first rotation direction and the second rotation direction, the tooling connection part 400 always drives the rotating tooling along the second rotation direction, ensuring that the rotating tooling always rotates only along the second rotation direction.

[0048] like Figure 2 and Figure 3 As shown, the tooling connection part 400 includes a first rotating shaft 410 and a ratchet 420. The first end of the first rotating shaft 410 is rotatably connected to the screwing part 200 through a first bearing, while the second end of the first rotating shaft 410 is used to connect with the rotating tooling. The ratchet 420 is fixed on the first rotating shaft 410 and is provided with ratchet teeth 421. Each ratchet tooth 421 is evenly distributed on the ratchet 420 with the center of the ratchet 420 as the center. The ratchet 420 abuts against the reversing part 300 through the ratchet teeth 421. At the same time, the position of the ratchet 420 is closer to the first end of the first rotating shaft 410 than the second end of the first rotating shaft 410, so that the ratchet 420 and the rotating tooling located on the first rotating shaft 410 have a clearance to avoid interference between the ratchet 420 and the rotating tooling.

[0049] like Figure 4 and Figure 5As shown, the reversing part 300 includes a second rotating shaft 310 and a pawl 320. The first end of the second rotating shaft 310 is mounted to the screwing part 200 via a third bearing, so that the pawl 320 is rotatably mounted in the screwing part 200 via the second rotating shaft 310. The pawl 320 is provided with a first stop tooth 321 and a second stop tooth 322. After the pawl 320 of the reversing part 300 changes to a first position via the second rotating shaft 310, when the screwing part 200 rotates in the first rotation direction, the end face of the first stop tooth 321 abuts against the end face of the ratchet tooth 421, so that the pawl 320 restricts the ratchet 420. Through the cooperation of the pawl 320 and the ratchet 420, the screwing part 200 drives the tooling connection part 400 to rotate in the first rotation direction. When the screwing part 200 rotates in the second rotation direction, the end face of the first stop tooth 321 disengages from the end face of the ratchet 421, thereby releasing the ratchet pawl 320 from restricting the ratchet 420 in the second rotation direction, so that the screwing part 200 can remain stationary relative to the tooling connection part 400 when rotating in the second rotation direction.

[0050] When the pawl 320 of the reversing part 300 rotates to the second position through the switching gap between the first stop tooth 321 and the second stop tooth 322, and during the rotation of the turning part 20 in the second rotation direction, the end face of the second stop tooth 322 abuts against the end face of the ratchet 421, thereby restricting the ratchet 420. The cooperation between the pawl 320 and the ratchet 420 causes the turning part 200 to drive the tooling connection part 400 to rotate in the second rotation direction. When the turning part 200 rotates in the first rotation direction, the end face of the second stop tooth 322 disengages from the end face of the ratchet 421, releasing the restriction of the ratchet 320 on the ratchet 420. This allows the tooling connection part 400 to remain stationary and not rotate during the rotation of the turning part 200 in the first rotation direction.

[0051] like Figure 5As shown, the pawl 320 also includes a first limiting surface 323 and a second limiting surface 324, and the screwing part 200 is provided with a blocking part. When the reversing part 300 is switched to the first position, the blocking part cooperates with the first limiting surface 323. When the fingers of the dexterous hand 10 drive the screwing part 200 to rotate in the first rotation direction, the cooperation between the blocking part and the first limiting surface 323 causes the pawl 320 and the screwing part 200 to rotate together in the first rotation direction. Then, through the cooperation of the first stop tooth 321 and the ratchet tooth 421, the torque of the pawl 320 is transmitted to the ratchet 420, so that the ratchet 420 and the rotating tool located at the second end of the first rotating shaft 410 rotate in the first rotation direction. When the reversing part 300 switches to the second position, the blocking part cooperates with the second limiting surface 324. When the fingers of the dexterous hand 10 drive the turning part 200 to rotate in the second rotation direction, the blocking part cooperates with the first limiting surface 323, causing the pawl 320 and the turning part 200 to rotate together in the second rotation direction. At the same time, through the cooperation of the second stop tooth 322 and the ratchet 421, the torque of the pawl 320 is transmitted to the ratchet 420, so that the ratchet 420 and the rotating tool located at the second end of the first rotating shaft 410 rotate in the second rotation direction.

[0052] like Figure 2 As shown, the blocking part includes a blocking ball 210 and an elastic element 220. The screwing part 200 has an elastic element mounting groove. The elastic element 220 is installed in the elastic element mounting groove. One end of the elastic element 220 abuts against the bottom of the elastic element mounting groove, and the other end of the elastic element 220 abuts against the blocking ball 210. Meanwhile, in order to apply force to the reversing part 300, a switching handle 330 is also provided. The switching handle 330 is installed on the second rotating shaft 310. The switching handle 330 applies rotational torque to the second rotating shaft 310. During the switching process of the reversing part 300 from the first position to the second position, the protrusions on the first limiting surface 323 and the second limiting surface 324 press the blocking ball 210 into the elastic element mounting groove. When the switching is completed, such as when the reversing part 300 is switched to the first position, the blocking ball 210 abuts against the first limiting surface 323 by the elastic force of the elastic element 220. The pawl 320 and the screwing part 200 rotate relative to each other, and the torque is transmitted to the pawl 320. The pawl 320 then transmits the torque to the ratchet 420, so that the ratchet 420 and the screwing part 200 rotate together in the first rotation direction. When the reversing part 300 switches to the second position, the blocking ball 210 abuts against the second limiting surface 324 through the elastic force of the elastic element 220, thereby restricting the relative rotation between the pawl 320 and the turning part 200, and then transmitting the torque to the pawl 320. The pawl 320 then transmits the torque to the ratchet 420, causing the ratchet 420 and the turning part 200 to rotate together in the second rotation direction.

[0053] like Figure 4As shown, the screwing part 200 includes a mounting housing 230 and a protective cover 231. The mounting housing 230 is a cavity structure with a receiving space. The ratchet 420 and the pawl 320 are both installed in the cavity of the mounting housing 230, and the protective cover 231 encloses the ratchet 420 and the pawl 320 in the inner cavity of the mounting housing 230, protecting the ratchet 420 and the pawl 320 and preventing foreign objects from entering the inner cavity and interfering with the operation of the ratchet 420 and the pawl 320. In addition, the mounting housing 230 is provided with a mounting boss 240, and the mounting boss 240 has a mounting hole 241. The dexterous hand connecting part 100 is provided with a third rotating shaft 110, which is installed in the mounting hole 241 through a second bearing, realizing a rotatable connection between the screwing part 200 and the dexterous hand connecting part 100.

[0054] like Figure 6 As shown, the screwing part 200 is provided with a finger connecting ring 250 and a connecting rod 260. The finger connecting ring 250 is fixed to the mounting housing 230 of the screwing part 200 via the connecting rod 260. In use, the finger connecting ring 250 is fitted onto the fingers of the dexterous hand 10, allowing the dexterous hand 10 to apply rotational torque to the screwing part 200. Furthermore, the connecting rod 260 and the mounting housing 230 are detachably connected. Therefore, during operation, to adapt to different work requirements, such as when a larger rotational torque is needed, a longer connecting rod 260 can be replaced, or the installation angle between the connecting rod 260 and the mounting housing 230 can be adjusted to increase the torque exerted by the dexterous hand 10 on the mounting housing 230. Figure 8 As shown, the dexterous hand connector 100 is connected to the middle finger of the dexterous hand 10, while the finger connecting ring 250 is fitted onto the little finger at the distal end of the dexterous hand 10 to enhance torque. Alternatively, the connecting rod 260 has multiple interlocking sections, and by extending or retracting the sections, the overall length of the connecting rod 260 can be adjusted to improve its flexibility and adaptability.

[0055] like Figure 2 and Figure 7 As shown, the dexterous hand connecting part 100 is provided with a finger sleeve shell 120. The fingers of the dexterous hand 10 are inserted into the inner cavity of the finger sleeve shell 120 to achieve the connection between the dexterous hand connecting part 100 and the dexterous hand 10. Furthermore, a snap-fit ​​protrusion 121 is provided on the inner wall of the cavity of the finger sleeve shell 120, and a snap-fit ​​groove 11 is provided on the fingers of the dexterous hand 10. When the fingers of the dexterous hand 10 are inserted into the inner cavity of the finger sleeve shell 120, the snap-fit ​​protrusion 121 is engaged with the snap-fit ​​groove 11, thereby improving the reliability of the connection between the dexterous hand connecting part 100 and the finger sleeve shell 120.

[0056] This invention also discloses a dexterous hand, including a screwing tool. Since this dexterous hand possesses the aforementioned screwing tool, it combines all the technical effects of the screwing tool described above, and 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 screwing tool, characterized in that, include: A dexterous hand connector (100) is used to connect with the dexterous hand (10); A screwing part (200) is used to connect to a rotating tooling, and the screwing part (200) is rotatably connected to the dexterous hand connecting part (100). The screwing part (200) receives the driving torque of the fingers of the dexterous hand (10). The screwing part (200) is driven to rotate by the fingers of the dexterous hand (10) so that the rotating tooling rotates along a first rotation direction or a second rotation direction. When the reversing part (300) is switched to the first position, the screwing part (200) is connected to the first finger of the dexterous hand (10) so that the first finger of the dexterous hand (10) drives the rotating tool to rotate in the first rotation direction through the screwing part (200); when the reversing part (300) is switched to the second position, the screwing part (200) is connected to the second finger of the dexterous hand (10) so that the second finger of the dexterous hand (10) drives the rotating tool to rotate in the second rotation direction through the screwing part (200). It also includes a tooling connection part (400), the rotating tooling is connected to the screwing part (200) through the tooling connection part (400), and the tooling connection part (400) is rotatably connected to the screwing part (200). When the reversing part (300) switches to the first position and the screwing part (200) rotates along the first rotation direction, the screwing part (200) drives the tooling connection part (400) through the reversing part (300) so that the screwing part (200) and the tooling connection part (400) rotate synchronously. When the screwing part (200) rotates along the second rotation direction, the tooling connection part (400) disengages from the reversing part (300) and the tooling connection part (400) is in a stationary state. When the reversing part (300) switches to the second position and the screwing part (200) rotates along the second rotation direction, the screwing part (200) drives the tooling connection part (400) through the reversing part (300) so that the screwing part (200) and the tooling connection part (400) rotate synchronously. When the screwing part (200) rotates along the first rotation direction, the tooling connection part (400) disengages from the reversing part (300) and the tooling connection part (400) is in a stationary state. The dexterous hand connecting part (100) is provided with a finger sleeve shell (120), the finger sleeve shell (120) has a space for accommodating the fingers of the dexterous hand (10), and a snap-fit ​​protrusion (121) is provided on the inner wall of the cavity of the finger sleeve shell (120), and the fingers of the dexterous hand (10) are provided with snap-fit ​​grooves (11) that cooperate with the snap-fit ​​protrusion (121).

2. The screwdriver according to claim 1, characterized in that, The tooling connection part (400) includes a first rotating shaft (410) and a ratchet (420). The first end of the first rotating shaft (410) is rotatably connected to the screwing part (200) through a first bearing. The second end of the first rotating shaft (410) is used to connect to the rotating tooling. The ratchet (420) is connected to the first rotating shaft (410). The ratchet (420) is close to the first end of the first rotating shaft (410) relative to the second end of the first rotating shaft (410). The ratchet (420) is provided with ratchet teeth (421) for abutting against the reversing part (300).

3. The screwing tool according to claim 2, characterized in that, The reversing part (300) includes a second rotating shaft (310) and a pawl (320). The pawl (320) is rotatably connected to the screwing part (200) through the second rotating shaft (310). The pawl (320) is provided with a first stop tooth (321) and a second stop tooth (322), and a switching gap is provided between the first stop tooth (321) and the second stop tooth (322). When the reversing part (300) switches to the first position and the screwing part (200) rotates along the first rotation direction, the end face of the first stop tooth (321) abuts against the end face of the ratchet tooth (421), and when the screwing part (200) rotates along the second rotation direction, the end face of the first stop tooth (321) disengages from the end face of the ratchet tooth (421). When the reversing part (300) switches to the second position and the screwing part (200) rotates in the second rotation direction, the end face of the second stop tooth (322) abuts against the end face of the ratchet tooth (421). When the screwing part (200) rotates in the first rotation direction, the end face of the second stop tooth (322) disengages from the end face of the ratchet tooth (421).

4. The screwing tool according to claim 3, characterized in that, The pawl (320) further includes a first limiting surface (323) and a second limiting surface (324), and the screwing part (200) is provided with a blocking part; When the reversing part (300) switches to the first position, the blocking part cooperates with the first limiting surface (323) to restrict relative rotation between the pawl (320) and the screwing part (200) along the first rotation direction; When the reversing part (300) switches to the second position, the blocking part cooperates with the second limiting surface (324) to restrict relative rotation between the pawl (320) and the screwing part (200) along the second rotation direction.

5. The screwing tool according to claim 4, characterized in that, The blocking part includes a blocking ball (210) and an elastic element (220). The screwing part (200) has an elastic element mounting groove. The elastic element (220) is mounted on the screwing part (200) through the elastic element mounting groove, and the blocking ball (210) abuts against one end of the elastic element (220). When the reversing part (300) switches between the first position and the second position, the blocking ball (210) is compressed into the elastic element mounting groove. When the reversing part (300) switches to the first position, the blocking ball (210) abuts against the first limiting surface (323) by the elastic force of the elastic element (220). When the reversing part (300) switches to the second position, the blocking ball (210) abuts against the second limiting surface (324) by the elastic force of the elastic element (220).

6. The screwing tool according to claim 3, characterized in that, The screwing part (200) includes a mounting housing (230), which is a cavity structure with a receiving space. The ratchet (420) and the pawl (320) are both placed in the cavity of the mounting housing (230). The mounting housing (230) is provided with a mounting boss (240), and the mounting boss (240) has a mounting hole (241). The dexterous hand connecting part (100) is provided with a third rotating shaft (110), which is rotatably connected to the mounting hole (241) through a second bearing.

7. The screwdriver according to claim 1, characterized in that, The screwing part (200) includes a finger connecting ring (250). The screwing part (200) is sleeved on the fingers of the dexterous hand (10) through the finger connecting ring (250). The finger connecting ring (250) is connected to the screwing part (200) through a connecting rod (260). The connecting rod (260) and the screwing part (200) are detachably connected.

8. A dexterous hand, characterized in that, Includes a screwing tool, wherein the screwing tool is the screwing tool as described in any one of claims 1-7.

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