Quick-change wrist for dexterous hand

Abstract

The quick-change wrist for the dexterous hand comprises a first adapter and a second adapter, a first sleeve is arranged on the first adapter, a second sleeve is arranged on the second adapter, a male head is arranged in one of the first sleeve and the second sleeve, and a female head is arranged in the other of the first sleeve and the second sleeve. A male head is arranged in one of the first sleeve and the second sleeve, a female head is arranged in the other one of the first sleeve and the second sleeve, the first sleeve is arranged on the second sleeve in a sleeving manner, and the male head is connected with the female head in an inserted manner. According to the quick-change wrist for the dexterous hand, quick disassembly and assembly can be achieved, the change efficiency of the dexterous hand is greatly improved, and the scene requirement for quick switching of multiple tasks is met. The alignment process is simpler, manual dependence is reduced, and operation convenience and accuracy are improved. The plugging mode of the male head and the female head provides more stable connection, and faults and accidents caused by unstable connection are reduced. According to the invention, the robot system can be more flexibly deployed in different scenes to adapt to various operation requirements.

Description

Technical Field

[0001] The present invention relates to the technical field of dexterous hands, and in particular to a quick-change wrist for dexterous hands. Background Art

[0002] With the growing demand for the application of dexterous hands in industrial automation, special operations, and medical rehabilitation, the rapid disassembly, assembly, and replacement of dexterous hands is particularly important, especially in scenarios where multiple tasks require rapid switching. The quick-change wrist, as a key structure connecting the robot's end effector and the robotic arm, is mainly responsible for providing functions such as rapid docking, reliable connection, and signal / pneumatic and electrical interface transmission. However, in related technologies, the connection technologies of quick-change wrists, such as threaded connection and screw fixation, are unable to meet the needs of modern robotic systems for flexible deployment and efficient operation due to their low replacement efficiency, difficulty in alignment, and high dependence on manual labor. Summary of the Invention

[0003] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0004] To this end, an embodiment of the present invention provides a quick-change wrist for a dexterous hand.

[0005] The quick-change wrist for the dexterous hand of an embodiment of the present invention includes a first adapter and a second adapter, wherein the first adapter is provided with a first sleeve, and the second adapter is provided with a second sleeve, one of the first sleeve and the second sleeve is provided with a male head, and the other of the first sleeve and the second sleeve is provided with a female head, the first sleeve is sleeved on the second sleeve, and the male head is connected to the female head by plugging.

[0006] In some embodiments, a mounting through hole is provided on the side wall of the first sleeve, a limiting member is provided in the mounting through hole, and the radial position of the limiting member along the first sleeve is adjustable. A limiting groove is provided on the outer wall surface of the second sleeve, and the limiting member is used to fit into the limiting groove when the male head is plugged into the female head, so as to limit the movement of the second sleeve relative to the first sleeve in the axial direction of the first sleeve.

[0007] In some embodiments, the quick-change wrist for the dexterous hand of the embodiment of the present invention includes an adjusting sleeve, the adjusting sleeve is sleeved on the first sleeve and is adjustable between a first position and a second position along the axial direction of the first sleeve, the limiting member is a limiting ball, the inner wall surface of the adjusting sleeve is provided with a receiving groove for accommodating the limiting ball, the mounting through hole is a tapered hole and the cross-sectional area of ​​the tapered hole gradually decreases from the outside to the inside, and the diameter of the limiting ball is larger than the inner diameter of the small mouth of the tapered hole and smaller than the inner diameter of the large mouth of the tapered hole;

[0008] In which, when in the first position, the outer wall surface of the second sleeve can push the limiting ball outward so that at least part of the limiting ball is located in the accommodating groove; when in the second position, the inner wall surface of the adjusting sleeve pushes the limiting ball inward so that part of the limiting ball is located in the limiting groove.

[0009] In some embodiments, the quick-change wrist for the dexterous hand of an embodiment of the present invention includes a reset spring, which is sleeved on the first sleeve and has two ends connected to the first sleeve and the adjustment sleeve respectively.

[0010] In some embodiments, a flange is provided on the outer wall surface of the first sleeve, and an annular mounting groove is provided on the inner wall surface of the adjusting sleeve. At least a portion of the flange is provided in the annular mounting groove. One end of the return spring stops at the flange, and the other end of the return spring stops at the side wall of the annular mounting groove.

[0011] In some embodiments, the quick-change wrist for the dexterous hand of an embodiment of the present invention includes a limit ring, which is sleeved on the first sleeve and is arranged on the side of the flange away from the reset spring. The limit ring stops at the flange along the axial direction of the first sleeve, and the limit ring has a connecting hole for a fastener to pass through. The limit ring is connected to the limit sleeve through the fastener.

[0012] In some embodiments, the male connector includes a male connector seat and a pin, the male connector seat is connected to the second sleeve, the pin is provided on the male connector seat and extends along the axial direction of the second sleeve, and the female connector includes a female connector seat, the female connector seat is connected to the first sleeve, a socket is provided on the female connector seat, and the pin is plugged into and fitted with the socket.

[0013] In some embodiments, the number of the pins and the number of the sockets are both multiple and they correspond one to one.

[0014] In some embodiments, the male seat is provided with a positioning protrusion, and the female seat is provided with a positioning groove, and the positioning protrusion and the positioning groove are positioned and matched in the axial direction of the first sleeve.

[0015] In some embodiments, a wire hole is provided on the side wall of the second sleeve.

[0016] Compared with traditional threaded connections, screw fixations and other methods, the quick-change wrist of the dexterous hand in the embodiment of the present invention can achieve rapid disassembly and assembly, greatly improving the replacement efficiency of the dexterous hand and adapting to the scenario requirements of rapid switching of multiple tasks. Due to the optimization of the structural design, the alignment process is simpler, reducing manual dependence, and improving the convenience and accuracy of operation. The plug-in connection method of the male and female heads provides a more stable connection, reducing failures and accidents caused by unstable connections. The present invention allows the robot system to be more flexibly deployed in different scenarios to adapt to various operational requirements. Through fast and reliable connections, the operating efficiency and performance of the entire robot system are improved, and maintenance costs are reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 2. It is a cross-sectional view of a quick-change wrist for a dexterous hand according to an embodiment of the present invention.

[0018] Figure 2 2 is an exploded schematic diagram of a quick-change wrist for a dexterous hand according to an embodiment of the present invention.

[0019] Figure 3 2 is an exploded schematic diagram of a quick-change wrist for a dexterous hand according to an embodiment of the present invention.

[0020] Figure 4 2. It is a cross-sectional view of a quick-change wrist for a dexterous hand according to an embodiment of the present invention.

[0021] Reference numerals:

[0022] 100. Quick-change wrist for dexterous hands; 1. First adapter; 2. Second adapter; 3. First sleeve; 301. Mounting through hole; 302. Flange; 4. Second sleeve; 401. Limiting groove; 402. Wire hole; 5. Male connector; 501. Male connector seat; 5011. Positioning protrusion; 502. Pin; 6. Female connector; 601. Female connector seat; 6011. Socket; 6012. Positioning groove; 7. Limiting piece; 8. Adjusting sleeve; 801. Accommodating groove; 802. Annular mounting groove; 9. Return spring; 10. Limiting ring; 11. Fastener. DETAILED DESCRIPTION

[0023] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0024] like Figures 1 to 4As shown, the quick-change wrist 100 for a dexterous hand according to an embodiment of the present invention includes a first adapter 1 and a second adapter 2. The first adapter 1 is provided with a first sleeve 3, and the second adapter 2 is provided with a second sleeve 4. One of the first sleeve 3 and the second sleeve 4 is provided with a male head 5, and the other of the first sleeve 3 and the second sleeve 4 is provided with a female head 6. The first sleeve 3 is sleeved on the second sleeve 4, and the male head 5 is connected to the female head 6 by plugging.

[0025] When the quick-change wrist 100 for a dexterous hand according to an embodiment of the present invention is in use, for example, the first adapter 1 is used to securely connect to a humanoid robot or industrial robot, while the second adapter 2 is used to connect to the dexterous hand. When the dexterous hand needs to be replaced, the first sleeve 3 is inserted into the second sleeve 4, allowing the male connector 5 to plug into the female connector 6, thereby achieving quick docking.

[0026] Due to the high alignment accuracy between the first sleeve 3 and the second sleeve 4, the alignment difficulty and the need for manual intervention are reduced. The plugging of the male head 5 and the female head 6 makes the connection more firm and reliable. When the male head 5 and the female head 6 are plugged in, the interfaces automatically dock to ensure stable signal transmission and energy supply.

[0027] Compared with traditional threaded connections, screw fixations and other methods, the quick-change wrist 100 for the dexterous hand of the embodiment of the present invention can achieve rapid disassembly and assembly, greatly improving the replacement efficiency of the dexterous hand and adapting to the scenario requirements of rapid switching of multiple tasks. Due to the optimization of the structural design, the alignment process is simpler, reducing manual dependence, and improving the convenience and accuracy of operation. The plug-in connection method of the male head 5 and the female head 6 provides a more stable connection, reducing failures and accidents caused by unstable connection. The present invention allows the robot system to be more flexibly deployed in different scenarios to adapt to various operational requirements. Through fast and reliable connection, the operating efficiency and performance of the entire robot system are improved, and maintenance costs are reduced.

[0028] In some embodiments, as Figure 2 and Figure 3 As shown, the side wall of the first sleeve 3 is provided with a mounting hole 301, within which is located a stopper 7 whose radial position along the first sleeve 3 is adjustable. The outer wall of the second sleeve 4 is provided with a stopper groove 401. The stopper 7 is configured to engage with the stopper groove 401 when the male connector 5 is plugged into the female connector 6, thereby limiting the axial movement of the second sleeve 4 relative to the first sleeve 3.

[0029] Specifically, if Figure 1 and Figure 4As shown, when the second sleeve 4 is inserted into the first sleeve 3 or pulled out from the first sleeve 3, the limiting member 7 is moved in the radial direction of the first sleeve 3 in a direction away from the second sleeve 4, so that the second sleeve 4 is inserted into the first sleeve 3 or pulled out from the first sleeve 3, avoiding interference between the limiting member 7 and the second sleeve 7. After the second sleeve 4 is inserted into the first sleeve 3 and the male head 5 and the female head 6 are plugged into each other, the limiting member 7 is moved in the radial direction of the first sleeve 3 in a direction close to the second sleeve 4, so that part of the limiting member 7 is placed in the limiting groove 401, limiting the movement of the second sleeve 4 in the axial direction of the first sleeve 3, ensuring the connection reliability between the first sleeve 3 and the second sleeve 4, preventing the relative displacement of the dexterous hand due to vibration and other reasons during operation, and the risk of falling off, thereby improving the reliability of use.

[0030] Furthermore, because the position of the stopper 7 can be adjusted, the quick-change wrist can adapt to interfaces of varying specifications and sizes, increasing the system's compatibility and flexibility. When the dexterous hand needs to be replaced, installation can be completed quickly, ensuring stability and safety. This more stable and precise connection reduces failures caused by connection problems, thereby reducing system maintenance costs and downtime.

[0031] In some embodiments, as Figures 1 to 4 As shown, the quick-change wrist 100 for a dexterous hand according to an embodiment of the present invention includes an adjustment sleeve 8, which is mounted on the first sleeve 3 and is adjustable along the axial direction of the first sleeve 3 between a first position and a second position. The stopper 7 is a stopper ball, and the inner wall of the adjustment sleeve 8 is provided with a receiving groove 801 for accommodating the stopper ball. The mounting through hole 301 is a tapered hole with a cross-sectional area that gradually decreases from the outside to the inside. The diameter of the stopper ball is larger than the inner diameter of the small opening of the tapered hole and smaller than the inner diameter of the large opening of the tapered hole.

[0032] In the first position, the outer wall of the second sleeve 4 can push the limiting ball outward so that at least part of the limiting ball is located in the receiving groove 801. In the second position, the inner wall of the adjusting sleeve 8 pushes the limiting ball inward so that part of the limiting ball is located in the limiting groove 401.

[0033] Specifically, if Figure 3 As shown, the adjustment sleeve 8 is in the first position, and the receiving groove 801 corresponds to the mounting through hole 301. At this time, the second sleeve 4 can be inserted into the first sleeve 3. When the operator inserts the second sleeve 4 into the first sleeve 3, the outer wall of the second sleeve 4 can push the limiting ball outward, so that at least a portion of the limiting ball is located in the receiving groove 801, avoiding interference between the limiting ball and the second sleeve 4.

[0034] After the second sleeve 4 is connected to the first sleeve 3, the adjusting sleeve 8 is moved to the second position. Figure 1As shown in Figure 4, when the adjusting sleeve 8 is adjusted from the first position to the second position, the limiting ball slides out of the accommodating groove 801 and is partially placed in the limiting groove 401 under the action of the inner wall of the adjusting sleeve 8, limiting the second sleeve 4, thereby completing the final locking and fixation.

[0035] Because the mounting through-hole 301 is a tapered hole with a gradually decreasing cross-sectional area from the outside to the inside, the diameter of the retaining ball is larger than the inner diameter of the small opening of the tapered hole and smaller than the inner diameter of the large opening of the tapered hole. When the retaining ball moves within the mounting through-hole 301, it is prevented from rolling through the small opening of the tapered hole into the second sleeve 4 and falling out. At the same time, the retaining ball is allowed to roll through the large opening of the mounting through-hole 301 into the receiving groove 801 of the adjustment sleeve 8.

[0036] Therefore, the present invention adjusts the position of the limiting ball by adjusting the position of the adjusting sleeve 8, and controls the fixation between the first sleeve 3 and the second sleeve 4 by the movement of the limiting ball, thereby simplifying the operation process of the quick-change wrist. The user can quickly switch between the two positions to achieve rapid disassembly and replacement, making the process of replacing the dexterous hand more convenient and quick, improving the replacement efficiency, and reducing the time and cost required for maintenance.

[0037] In some embodiments, the quick-change wrist 100 for the dexterous hand of the embodiment of the present invention includes a return spring 9 , which is sleeved on the first sleeve 3 and has two ends connected to the first sleeve 3 and the adjustment sleeve 8 respectively.

[0038] For example, Figure 4 As shown, return spring 9 is in a compressed state. During assembly and disassembly of the quick-change wrist, return spring 9 provides an automatic return force. When adjustment sleeve 8 moves from the second position to the first position, return spring 9 pushes adjustment sleeve 8 back to its initial position, ready for the next docking operation. In the first position, return spring 9 maintains a certain preload, helping to maintain the position of the stop ball within the stop groove 401, ensuring a stable and reliable connection.

[0039] The reset spring 9 eliminates the need for manual adjustment of the quick-change wrist to its initial state during assembly and disassembly, reducing the number of operating steps and improving operational convenience. The automatic reset function reduces the time required to replace the dexterous hand and improves operational efficiency, especially in application scenarios where frequent replacement of the end effector is required. The reset spring 9 ensures the consistency and accuracy of each docking operation, reducing docking failures or unstable connections due to improper human operation. Because the reset spring 9 can automatically maintain the connection state, maintenance and replacement costs caused by connection problems are reduced. The automatic reset function provides a smoother and more intuitive user experience, reduces the user's operating difficulty, and improves user satisfaction.

[0040] In some embodiments, a flange 302 is provided on the outer wall surface of the first sleeve 3, and an annular mounting groove 802 is provided on the inner wall surface of the adjusting sleeve 8. At least a portion of the flange 302 is provided in the annular mounting groove 802. One end of the return spring 9 stops at the flange 302, and the other end of the return spring 9 stops at the side wall of the annular mounting groove 802.

[0041] like Figure 4 As shown, one end of the return spring 9 abuts against the flange 302, and the other end abuts against the side wall of the annular mounting groove 802. When the adjusting sleeve 8 moves, the return spring 9 will compress or stretch according to the position of the adjusting sleeve 8, thereby providing a corresponding return force. The cooperation between the flange 302 and the return spring 9 ensures that when switching between the first position and the second position, the return spring 9 can provide sufficient holding force to maintain the position of the adjusting sleeve 8, and can also be quickly reset when needed. By providing a flange 302 on the outer wall surface of the first sleeve 3 and an annular mounting groove 802 on the inner wall surface of the adjusting sleeve 8, the installation of the return spring 9 is simple and convenient, and the user can quickly disassemble and replace without complicated adjustments, thereby improving assembly efficiency.

[0042] In some embodiments, as Figure 4 As shown, the quick-change wrist 100 for a dexterous hand according to an embodiment of the present invention includes a retaining ring 10. The retaining ring 10 is sleeved on the first sleeve 3 and is located on the side of the flange 302 facing away from the return spring 9. The retaining ring 10 abuts against the flange 302 along the axial direction of the first sleeve 3. The retaining ring 10 has a connection hole for a fastener 11 to pass through. The retaining ring 10 is connected to the retaining sleeve via the fastener 11.

[0043] The retaining ring 10 is mounted on the first sleeve 3, on the side of the flange 302 facing away from the return spring 9. The retaining ring 10 abuts against the flange 302 along the axial direction of the first sleeve 3, providing an additional support point for the flange 302. The retaining ring 10 is provided with a connection hole for a fastener 11 to pass through. The connection hole allows the retaining ring 10 to be connected to the adjustment sleeve 8 via the fastener 11. The retaining ring 10 and the return spring 9 limit the adjustment sleeve 8 in the circumferential direction of the first sleeve 3, allowing the adjustment sleeve 8 to move stably along the axial direction of the first sleeve 3 and adjust its position.

[0044] In some embodiments, as Figure 2 and Figure 3 As shown, the male connector 5 includes a male connector base 501 and a pin 502. The male connector base 501 is connected to the second sleeve 4. The pin 502 is provided on the male connector base 501 and extends along the axial direction of the second sleeve 4. The female connector 6 includes a female connector base 601, which is connected to the first sleeve 3. The female connector base 601 is provided with a socket 6011, and the pin 502 is plugged into the socket 6011.

[0045] When the male connector 5 is docked with the female connector 6, the pin 502 is inserted into the socket 6011, thereby realizing rapid transmission of signals and energy, and ensuring continuity of signals and energy while rapidly replacing the end effector.

[0046] The combination of pin 502 and socket 6011 enables rapid signal and energy transmission without requiring additional connection steps, improving operational efficiency. Pin 502 and socket 6011 provide a reliable connection point, reducing signal interruption or energy loss due to connection issues. The combination of pin 502 and socket 6011 simplifies the operation of the quick-change wrist, allowing users to quickly dock and disassemble, reducing operation time. The reliability and stability of the connection reduces maintenance and replacement costs caused by connection issues. By rapidly transmitting signals and energy, the performance and responsiveness of the entire robotic system are improved.

[0047] In some embodiments, the number of the pins 502 and the number of the sockets 6011 are both multiple and in one-to-one correspondence.

[0048] Due to the presence of multiple pins 502 and sockets 6011, the quick-change wrist can simultaneously transmit multiple signal or energy channels, making it suitable for applications requiring multi-channel data transmission and power supply. The one-to-one correspondence between the multiple pins 502 and sockets 6011 provides more connection points, enhancing connection stability and reducing system failures caused by failure of a single connection point. The multi-channel configuration improves the reliability of signal and energy transmission. Even if some channels fail, other channels can still function normally, ensuring system continuity and stability. The multi-channel configuration enables the quick-change wrist to adapt to more complex application requirements, such as multi-sensor data transmission and multi-axis control signal transmission. By using a multi-channel quick-change wrist, the overall system setup can be simplified, the number of external connection cables can be reduced, and the system can be more neat and easy to maintain. The multi-channel configuration improves system performance, enabling the robot system to respond to external commands more quickly and improving operational efficiency. The multi-channel configuration increases the versatility and adaptability of the quick-change wrist, allowing it to accommodate signal and energy interfaces of different specifications and types.

[0049] In some embodiments, a positioning protrusion 5011 is provided on the male seat 501 , and a positioning groove 6012 is provided on the female seat 601 . The positioning protrusion 5011 and the positioning groove 6012 are positioned and matched in the axial direction of the first sleeve 3 .

[0050] like Figure 2 and Figure 3As shown, when the male connector 5 and the female connector 6 are docked, the positioning protrusion 5011 and the positioning groove 6012 cooperate axially with each other in the first sleeve 3, improving the efficiency and accuracy of the docking, reducing operation time, and improving work efficiency. The provision of the positioning protrusion 5011 and the positioning groove 6012 enhances the stability of the connection and reduces connection failures caused by inaccurate alignment. The provision of the positioning protrusion 5011 and the positioning groove 6012 also simplifies the docking process, reduces operational difficulty, and makes the quick-change wrist easier to use. By ensuring precise alignment between the male connector 5 and the female connector 6, the reliability of the entire system is improved, and system failures caused by connection problems are reduced.

[0051] In some embodiments, as Figure 2 and Figure 4 As shown, a wire hole 402 is provided on the side wall of the second sleeve 4 .

[0052] The provision of wire holes 402 allows for flexible placement of wires and cables during connection, adapting to varying connection requirements and environments. Through wire holes 402, wires and cables can be routed internally, reducing the number of external connections and making the entire system neater and easier to maintain. Internally routing wires and cables reduces the risk of external connections being exposed, improving system safety.

[0053] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0054] Furthermore, 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 the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0055] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0056] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0057] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0058] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A quick-change wrist for a dexterous hand, characterized in that: The invention comprises a first adapter seat (1) and a second adapter seat (2), wherein the first adapter seat (1) is provided with a first sleeve (3), the second adapter seat (2) is provided with a second sleeve (4), one of the first sleeve (3) and the second sleeve (4) is provided with a male head (5), the other of the first sleeve (3) and the second sleeve (4) is provided with a female head (6), the first sleeve (3) is sleeved on the second sleeve (4), and the male head (5) is connected to the female head (6) by plugging.

2. The quick-change wrist for dexterous hands according to claim 1, characterized in that: The side wall of the first sleeve (3) is provided with a mounting hole (301), and a limiting member (7) is provided in the mounting hole (301). The radial position of the limiting member (7) is adjustable along the first sleeve (3). The outer wall surface of the second sleeve (4) is provided with a limiting groove (401). The limiting member (7) is used to fit into the limiting groove (401) when the male head (5) is plugged into the female head (6) to limit the movement of the second sleeve (4) relative to the first sleeve (3) in the axial direction of the first sleeve (3).

3. The quick-change wrist for dexterous hands according to claim 2, characterized in that: The invention comprises an adjusting sleeve (8), wherein the adjusting sleeve (8) is sleeved on the first sleeve (3) and is adjustable between a first position and a second position along the axial direction of the first sleeve (3); the limiting member (7) is a limiting ball; the inner wall surface of the adjusting sleeve (8) is provided with a receiving groove (801) for receiving the limiting ball; the mounting through hole (301) is a tapered hole and the cross-sectional area of ​​the tapered hole gradually decreases from the outside to the inside; the diameter of the limiting ball is larger than the inner diameter of the small opening of the tapered hole and smaller than the inner diameter of the large opening of the tapered hole; Wherein, when in the first position, the outer wall surface of the second sleeve (4) can push the limiting ball outward so that at least a portion of the limiting ball is located in the accommodating groove (801); when in the second position, the inner wall surface of the adjusting sleeve (8) pushes the limiting ball inward so that a portion of the limiting ball is located in the limiting groove (401).

4. The quick-change wrist for dexterous hands according to claim 3, characterized in that: It comprises a reset spring (9), which is sleeved on the first sleeve (3) and has two ends connected to the first sleeve (3) and the adjustment sleeve (8) respectively.

5. The quick-change wrist for dexterous hands according to claim 4, characterized in that: A flange (302) is provided on the outer wall surface of the first sleeve (3), and an annular mounting groove (802) is provided on the inner wall surface of the adjustment sleeve (8). At least a portion of the flange (302) is arranged in the annular mounting groove (802). One end of the reset spring (9) abuts against the flange (302), and the other end of the reset spring (9) abuts against the side wall of the annular mounting groove (802).

6. The quick-change wrist for the dexterous hand according to claim 5, characterized in that: The invention comprises a limiting ring (10), wherein the limiting ring (10) is sleeved on the first sleeve (3) and is arranged on the side of the flange (302) away from the return spring (9), and the limiting ring (10) abuts against the flange (302) along the axial direction of the first sleeve (3). The limiting ring (10) has a connecting hole for a fastener (11) to pass through, and the limiting ring (10) is connected to the limiting sleeve through the fastener (11).

7. The quick-change wrist for a dexterous hand according to any one of claims 1 to 6, characterized in that: The male connector (5) includes a male connector seat (501) and a plug pin (502), wherein the male connector seat (501) is connected to the second sleeve (4), and the plug pin (502) is provided on the male connector seat (501) and extends along the axial direction of the second sleeve (4). The female connector (6) includes a female connector seat (601), wherein the female connector seat (601) is connected to the first sleeve (3), and a socket (6011) is provided on the female connector seat (601), and the plug pin (502) is plugged into and matched with the socket (6011).

8. The quick-change wrist for the dexterous hand according to claim 7, characterized in that: The number of the pins (502) and the number of the sockets (6011) are both multiple and matched one to one.

9. The quick-change wrist for the dexterous hand according to claim 7, characterized in that: The male seat (501) is provided with a positioning protrusion (5011), and the female seat (601) is provided with a positioning groove (6012). The positioning protrusion (5011) and the positioning groove (6012) are positioned and matched in the axial direction of the first sleeve (3).

10. The quick-change wrist for the dexterous hand according to claim 7, characterized in that: A wire hole (402) is provided on the side wall of the second sleeve (4).

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