Mechanical dexterous hand finger and dexterous hand

Abstract

The invention discloses a mechanical dexterous hand finger and a dexterous hand, the mechanical dexterous hand comprises a mounting plate and a connecting disc, the mechanical dexterous hand further comprises dexterous hand devices, the number of the dexterous hand devices is shrinking devices, the four dexterous hand devices are oppositely arranged in pairs, and the four dexterous hand devices are matched with one another to achieve the effect of simulating human hand clamping and holding; the rotating devices are arranged on the two opposite dexterous hand devices, and the function of rotating the clamped object is achieved through the rotating devices; the retracting device is arranged on the dexterous hand device provided with the rotating device, and the position of the rotating device is adjusted through the retracting device so that the rotating device can be stored in the dexterous hand device; the rotating device and the retracting device are integrated in the fingertip block, the rotating wheel can stretch out and be hidden according to needs, the appearance of a human finger is kept, additional protruding is avoided, the enveloping grabbing space and safety of the dexterous hand in a non-rotating scene are guaranteed, the structure is compact, and maintenance is convenient and fast.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a mechanical dexterous hand finger and a dexterous hand. Background Art

[0002] In the fields of industrial automation and robotic services, dexterous hands are widely used as end-effectors for grasping, assembly, and manipulation tasks. Traditional rigid grippers struggle to adapt to objects of varying shapes and delicate surfaces. Humanoid multi-fingered dexterous hands, with their multi-jointed linkages and flexible fingertips, offer a wider range of grasping modes, making them a research hotspot.

[0003] Although existing dexterous hands have bending and grasping functions, they usually rely on additional external tools or whole-finger rotation in scenarios where objects need to be rotated, resulting in a bloated structure and complex control; the exposed rotating mechanism is prone to bumps and affects envelope grasping; at the same time, the rotating parts are easily damaged due to long-term exposure, and there is a lack of quick storage methods, which limits the dexterous hand's ability to operate continuously in a small space. To this end, a mechanical dexterous finger and a dexterous hand are proposed. Summary of the Invention

[0004] In order to solve the problems of traditional dexterous hands such as reliance on external tools in rotation operations, exposed and fragile rotation mechanisms, and redundant and bulky structures, the present invention provides a mechanical dexterous hand finger and a dexterous hand.

[0005] In order to achieve the above-mentioned purpose, the present invention specifically adopts the following technical solutions:

[0006] A mechanical dexterous hand finger and a dexterous hand, comprising a mounting plate and a connecting plate, the mechanical dexterous hand further comprising:

[0007] Dexterous hand device, the number of dexterous hand devices is contraction devices, and four dexterous hand devices are arranged opposite to each other in pairs, and the four dexterous hand devices cooperate with each other to achieve the effect of clamping and holding like a human hand;

[0008] A rotating device is provided on two opposing dexterous hand devices, and is used to rotate the clamped object;

[0009] The retracting device is arranged on the dexterous hand device equipped with the rotating device, and the position of the rotating device is adjusted by the retracting device to realize the function of storing the rotating device inside the dexterous hand device.

[0010] Preferably, the dexterous hand device comprises:

[0011] A fixing plate, the fixing plate is fixedly installed on the mounting plate;

[0012] a first fixing block, the first fixing block being fixedly mounted on the fixing plate;

[0013] A first connecting rod, one end of the first connecting rod is rotatably connected to the first fixed block, a second connecting rod is rotatably mounted on an end of the first connecting rod away from the first fixed block, a third connecting rod is rotatably mounted on an end of the second connecting rod away from the first connecting rod, and a fourth connecting rod is rotatably mounted on an end of the third connecting rod away from the second connecting rod;

[0014] The first motor is fixedly mounted on the mounting plate. A lead screw is fixedly mounted on the output shaft of the first motor. A slider is threadedly engaged on the lead screw. One end of the lead screw is away from the first motor and is rotatably connected to the fixed plate.

[0015] Preferably, the dexterous hand device further comprises:

[0016] a triangular plate, the triangular plate being rotatably connected to the first connecting rod;

[0017] The first pull rod, one end of the first pull rod is rotatably connected to the slider, and the other end is rotatably connected to the triangle plate. The second pull rod is rotatably installed on the end away from the triangle plate. The third pull rod is rotatably installed on the end away from the first pull rod. The third pull rod is rotatably connected to the fourth connecting rod at one end away from the first pull rod.

[0018] Preferably, a fingertip block is fixedly mounted on the second connecting rod, a fixing frame is fixedly mounted on the fourth connecting rod, and a fingertip block is fixedly mounted on the fixing frame.

[0019] Preferably, the rotating device comprises:

[0020] A rotating wheel is rotatably mounted in two opposing fingertip blocks;

[0021] A second motor is fixedly mounted on a side of the fingertip block away from the rotating wheel;

[0022] A vertical transmission gear set, one end of the vertical transmission gear set is rotatably connected to the rotating wheel, and the other end is rotatably and slidingly connected to the output shaft of the second motor.

[0023] Preferably, the vertical transmission gear set includes:

[0024] A first helical gear, the first helical gear being fixedly mounted on a rotating shaft on one side of the rotating wheel;

[0025] A first rotating shaft is installed on one side of the first helical gear, the first rotating shaft is perpendicular to the axis of the first helical gear, and second helical gears are fixedly installed at both ends of the first rotating shaft, and the second helical gear close to the first helical gear is meshed with the first helical gear;

[0026] A second rotating shaft is rotatably mounted below the first rotating shaft, with the axis of the second rotating shaft being perpendicular to the axis of the first rotating shaft. Third helical gears are rotatably mounted on both ends of the second rotating shaft, and the third helical gear on a side close to the second helical gear is meshed with the second helical gear;

[0027] a third rotating shaft, the third rotating shaft being rotatably mounted on one side of the second rotating shaft, the axis of the third rotating shaft being perpendicular to the axis of the second rotating shaft, a fourth helical gear being fixedly mounted on one end of the third rotating shaft, the fourth helical gear being meshed with the fourth helical gear on a side of the second rotating shaft away from the second helical gear;

[0028] A limit block, which is fixedly mounted on the third rotating shaft;

[0029] The shrink sleeve shaft is fixedly mounted on the output shaft of the second motor.

[0030] Preferably, one end of the third rotating shaft installation limit block is slidably installed in the shrink sleeve shaft, a limit groove is opened in the shrink sleeve shaft, and the limit block is slidably installed in the limit groove.

[0031] Preferably, the shrinking device comprises:

[0032] An electric push rod is fixedly mounted on the fingertip block, and the electric push rod and the second motor are located on the same side of the fingertip block;

[0033] A connecting shaft, the connecting shaft being rotatably mounted on an end of the runner away from the first helical gear;

[0034] A collar is sleeved on the connecting shaft and is rotatably connected to the connecting shaft;

[0035] A connecting rod, one end of the connecting rod is fixedly connected to the push rod on the electric push rod, and the other end of the connecting rod is fixedly connected to the collar.

[0036] The beneficial effects of the present invention are as follows:

[0037] (1) The present invention integrates the rotating device and the retracting device inside the fingertip block, so that the rotating wheel can be extended and hidden as needed, retaining the appearance of a human finger while avoiding additional protrusion, ensuring the enveloping grasping space and safety of the dexterous hand in non-rotating scenarios, with a compact structure and easy maintenance.

[0038] (2) A four-stage helical gear vertical transmission chain is used in conjunction with a shrinking sleeve shaft limiter to efficiently transmit the rotational torque in the narrow space at the fingertips. At the same time, the third rotating shaft can slide axially to achieve dual degrees of freedom of rotation and storage; the self-locking characteristics of the gear set reduce the power consumption of the second motor and improve endurance and stability.

[0039] (3) In the four-finger modular layout, only two fingers are equipped with rotating devices, and the other two fingers are dedicated to gripping. Through the division of labor and cooperation through control strategies, it can not only complete highly complex operations such as screwing bottle caps, but also avoid the redundancy of all fingers, reduce the overall weight and cost, and take into account both versatility and economy. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0041] Figure 2 It is a schematic diagram of the three-dimensional structure of the present invention;

[0042] Figure 3 is a schematic diagram of the three-dimensional structure of the dexterous hand device of the present invention;

[0043] Figure 4 It is a partial structural schematic diagram of the dexterous hand device of the present invention;

[0044] Figure 5 This is a schematic structural diagram of the first connecting rod and the second connecting rod of the present invention;

[0045] Figure 6 It is a structural schematic diagram of the fingertip block and the rotating wheel and other structures of the present invention;

[0046] Figure 7 It is a schematic structural diagram of the rotating device and the contracting device of the present invention;

[0047] Figure 8 It is a structural schematic diagram of the structures such as the limit block and the shrink sleeve shaft of the present invention.

[0048] Figure 1: Mounting plate; 2: Dexterous hand device; 3: Rotating device; 4: Contracting device; 5: Connecting plate; 200: First motor; 201: Screw rod; 202: Slider; 203: Fixing plate; 204: First fixing block; 205: First connecting rod; 206: Second connecting rod; 207: Third connecting rod; 208: Fourth connecting rod; 209: Fixing frame; 210: Finger tip block; 211: Inter-finger block; 212: Triangular plate; 213: First pull rod; 214: Second Pull rod; 215, third pull rod; 300, rotating wheel; 301, vertical transmission gear set; 302, first bevel gear; 303, second bevel gear; 304, first rotating shaft; 305, third bevel gear; 306, second rotating shaft; 307, fourth bevel gear; 308, third rotating shaft; 309, limit block; 310, shrink sleeve; 311, limit slot; 312, second motor; 400, connecting shaft; 401, collar; 402, connecting rod; 403, electric push rod. DETAILED DESCRIPTION

[0049] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0050] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0051] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings. In addition, the terms "first," "second," etc. are used only to distinguish the descriptions and are not to be understood as indicating or implying relative importance.

[0052] The electrical components mentioned in this article are all connected to an external main controller and 220V AC power, and the main controller can be a conventional known device that performs control such as a computer.

[0053] In the description of the embodiments of the present invention, it should be noted that the terms "inside", "outside", "upper", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0054] Example: Refer to Figures 1-8 A mechanical dexterous hand finger and a dexterous hand, including a mechanical dexterous hand finger and a dexterous hand, including a mounting plate 1 and a connecting plate 5, characterized in that the mechanical dexterous hand also includes:

[0055] Dexterous hand device 2, the number of dexterous hand devices 2 is 4 retraction devices, and the four dexterous hand devices 2 are arranged opposite to each other in pairs, and the four dexterous hand devices 2 cooperate with each other to achieve the effect of clamping and holding that imitates human hands;

[0056] A rotating device 3 is provided on two opposing dexterous hand devices 2, and the rotating device 3 is used to realize the function of rotating the clamped object;

[0057] The retracting device 4 is provided on the dexterous hand device 2 on which the rotating device 3 is installed. The position of the rotating device 3 is adjusted by the retracting device 4 to achieve the function of storing the rotating device 3 inside the dexterous hand device 2 .

[0058] In order to achieve the effect of clamping and grasping by imitating a human hand, the dexterous hand device 2 includes: a fixed plate 203, the fixed plate 203 is fixedly mounted on the mounting plate 1; a first fixed block 204, the first fixed block 204 is fixedly mounted on the fixed plate 203; a first connecting rod 205, one end of the first connecting rod 205 is rotatably connected to the first fixed block 204, the first connecting rod 205 is rotatably mounted with a second connecting rod 206 at one end away from the first fixed block 204, the second connecting rod 206 is rotatably mounted with a third connecting rod 207 at one end away from the first connecting rod 205, and the third connecting rod 207 is rotatably mounted with a fourth connecting rod 208 at one end away from the second connecting rod 206; a first motor 200, fixedly mounted on the mounting plate 1, a screw rod 201 is fixedly mounted on the output shaft of the first motor 200, a slider 202 is threadedly engaged on the screw rod 201, and the screw rod 201 is rotatably connected to the fixed plate 203 at one end away from the first motor 200. The dexterous hand device 2 also includes a set plate 212, which is rotatably connected to the first connecting rod 205; a first pull rod 213, which has one end rotatably connected to the slider 202 and the other end rotatably connected to the set plate 212. A second pull rod 214 is rotatably mounted on the end of the first pull rod 213 away from the set plate 212. A third pull rod 215 is rotatably mounted on the end of the second pull rod 214 away from the first pull rod 213. The end of the third pull rod 215 away from the first pull rod 213 is rotatably connected to the fourth connecting rod 208. A finger block 211 is fixedly mounted on the second connecting rod 206, a fixing frame 209 is fixedly mounted on the fourth connecting rod 208, and a fingertip block 210 is fixedly mounted on the fixing frame 209.

[0059] In order to achieve the function of rotating an object by imitating a human hand, the rotating device 3 includes: a rotating wheel 300, which is rotatably mounted in two opposing fingertip blocks 210; a second motor 312, which is fixedly mounted on a side of the fingertip block 210 away from the rotating wheel 300; and a vertical transmission gear set 301, which has one end rotatably connected to the rotating wheel 300 and the other end rotatably and slidably connected to the output shaft of the second motor 312. The vertical transmission gear set 301 includes: a first bevel gear 302, which is fixedly mounted on the rotating shaft on one side of the rotating wheel 300; a first rotating shaft 304, which is mounted on one side of the first bevel gear 302, and the first rotating shaft 304 is perpendicular to the axis of the first bevel gear 302, and second bevel gears 303 are fixedly mounted on both ends of the first rotating shaft 304, and the second bevel gear 303 near the side of the first bevel gear 302 is meshed with the first bevel gear 302; a second rotating shaft 306, which is rotatably mounted below the first rotating shaft 304, and the axis of the second rotating shaft 306 is perpendicular to the axis of the first rotating shaft 304, and the two ends of the second rotating shaft 306 are rotatably mounted The third helical gear 305 is gear-meshed with the second helical gear 303 on the side close to the second helical gear 303; a third rotating shaft 308 is rotatably mounted on the side of the second rotating shaft 306, with the axis of the third rotating shaft 308 being perpendicular to the axis of the second rotating shaft 306; a fourth helical gear 307 is fixedly mounted on one end of the third rotating shaft 308, and the fourth helical gear 307 is gear-meshed with the fourth helical gear 307 on the side of the second rotating shaft 306 away from the second helical gear 303; a limit block 309 is fixedly mounted on the third rotating shaft 308; and a shrinking sleeve 310 is fixedly mounted on the output shaft of the second motor 312. One end of the limit block 309 mounted on the third rotating shaft 308 is slidably mounted within the shrinking sleeve 310, and a limit slot 311 is defined in the shrinking sleeve 310, and the limit block 309 is slidably mounted within the limit slot 311. The contraction device 4 includes: an electric push rod 403, which is fixedly mounted on the fingertip block 210, and the electric push rod 403 and the second motor 312 are located on the same side of the fingertip block 210; a connecting shaft 400, which is rotatably mounted on the end of the rotating wheel 300 away from the first bevel gear 302; a collar 401, which is sleeved on the connecting shaft 400 and rotatably connected to the connecting shaft 400; a connecting rod 402, one end of the connecting rod 402 is fixedly connected to the push rod on the electric push rod 403, and the other end of the connecting rod 402 is fixedly connected to the collar 401.

[0060] The device is provided with four dexterous hand devices 2, wherein two opposite dexterous hand devices 2 are provided with rotating devices 3, and the device is mounted on the robotic arm via a connecting disk 5.

[0061] During use, the dexterous hand device 2 is capable of bending. By placing an object to be gripped between the four dexterous hand devices 2 and controlling the bending of the dexterous hand devices 2, the dexterous hand devices 2 gradually conform to the object, mimicking the effect of a human hand grip. By controlling the bending of only the two opposing dexterous hand devices 2 at the bottom, while keeping the two upper dexterous hand devices 2 extended, and using the robotic arm to drive the device, the object is positioned between the fingertip blocks 210 of the two extended dexterous hand devices 2. By bending the two dexterous hand devices 2, a pinching effect mimicking a human hand is achieved. When it is necessary to rotate the bottle cap or realize a similar function, similar to the above method, the clamped object is placed between the four dexterous hand devices 2, the dexterous hand device 2 without the rotating device 3 is used to hold the column bottle body, and the dexterous hand device 2 with the rotating device 3 is used to clamp the column bottle cap. By starting the rotating device 3, the rotating wheel 300 on the rotating device 3 will clamp the bottle cap and drive the bottle cap to rotate through friction, so as to achieve the effect of imitating the human hand using the index finger and thumb to rotate the bottle cap.

[0062] The retraction device 4 can drive the rotating device 3 to move within the fingertip block 210. When the rotating device 3 is not used to rotate the object, the retraction device 4 is used to retract the rotating device 3 into the fingertip block 210 for storage without affecting the gripping effect. When the rotating device 3 needs to be used, the wheel 300 on the rotating device 3 is pushed out of the fingertip block 210 through the retraction device 4.

[0063] The bending principle of the dexterous hand device 2 is as follows: when the dexterous hand device 2 needs to be bent, the first motor 200 is started. After the first motor 200 is started, it drives the screw rod 201 to rotate. When the screw rod 201 rotates, it engages with the slider 202 threadedly. The slider 202 is limited by the mounting plate 1. The slider 202 cannot rotate and thus slides along the screw rod 201 when the screw rod 201 rotates. When bending is required, the output rotation direction of the first motor 200 is controlled to move the slider 202 from the fixed plate 203 to the side of the first motor 200. When the slider 202 moves, the slider 202 pulls the second motor 312 through the first pull rod 213. The second motor 312 simultaneously connects with the second connecting rod 206, the first connecting rod 205 and the second pull rod 21 4 connection, when the first pull rod 213 pulls the second motor 312, the second motor 312 uses the first connecting rod 205 as the rotation point, and one end of the second motor 312 is pulled toward the first motor 200 by the first pull rod 213, and the end of the second motor 312 connected to the second pull rod 214 will be pushed toward the fingertip block 210. When the second pull rod 214 moves toward the fingertip block 210, it pushes the third pull rod 215. The third pull rod 215 is limited by the third connecting rod 207. The third connecting rod 207 and the second connecting rod 206 will then bend. As the slider 202 continues to move, the first connecting rod 205 is further driven to bend, so that the fingertip block 210 and the inter-finger block 211 are used to clamp the object to achieve the effect of holding and clamping.

[0064] The working principle of the retraction device 4 is as follows: when the rotating device 3 needs to be stored, the electric push rod 403 drives the push rod to retract into the electric push rod 403. As the push rod retracts, the push rod drives the connecting rod 402 to move. When the push rod retracts, it drives the connecting rod 402 to move along the push rod axis, thereby driving the rotating device 3 as a whole to move into the fingertip block 210 through the connecting rod 402. When the rotating device 3 moves, the various helical gears of the vertical transmission gear set 301 are connected together by the connecting shaft. Therefore, when the rotating device 3 moves, the entire vertical transmission gear set 301 will move as a whole. When the rotating wheel 300 and the vertical transmission gear set 301 move toward the side of the electric push rod 403, the third rotating shaft 308 will slide in the retraction sleeve shaft 310. When the retraction device 4 pushes out the rotating device 3, it only needs to push out the push rod through the electric push rod 403.

[0065] The working principle of the rotating device 3 is as follows: when the rotating wheel 300 needs to rotate, the second motor 312 drives the shrinking sleeve 310 to rotate through the output shaft, and the shrinking sleeve 310 is slidably engaged with the limit block 309, so that when the shrinking sleeve 310 rotates, it will drive the third rotating shaft 308 to rotate through the limit block 309. When the third rotating shaft 308 rotates, it drives the third bevel gear 305 and the second rotating shaft 306 to rotate through the fourth bevel gear 307. When the second rotating shaft 306 rotates, it drives the second bevel gear 303 and the first rotating shaft 304 to rotate. The rotation of the first rotating shaft 304 drives the first bevel gear 302 to rotate. The first bevel gear 302 is connected to the central axis of the rotating wheel 300. When the first bevel gear 302 rotates, it drives the rotating wheel 300 to rotate. In order to clamp the object and rotate, the two rotating wheels 300 need to have the same rotation direction. Since the two rotating devices 3 are arranged relative to each other, when the second motors 312 on the two dexterous hand devices 2 are working, the rotation directions of the two second motors 312 need to be opposite.

[0066] Working principle: This device is provided with four dexterous hand devices 2, wherein two opposite dexterous hand devices 2 are provided with rotating devices 3, and this device is mounted on the robotic arm via a connecting disk 5.

[0067] During use, the dexterous hand device 2 is capable of bending. By placing an object to be gripped between the four dexterous hand devices 2 and controlling the bending of the dexterous hand devices 2, the dexterous hand devices 2 gradually conform to the object, mimicking the effect of a human hand grip. By controlling the bending of only the two opposing dexterous hand devices 2 at the bottom, while keeping the two upper dexterous hand devices 2 extended, and using the robotic arm to drive the device, the object is positioned between the fingertip blocks 210 of the two extended dexterous hand devices 2. By bending the two dexterous hand devices 2, a pinching effect mimicking a human hand is achieved. When it is necessary to rotate the bottle cap or realize a similar function, similar to the above method, the clamped object is placed between the four dexterous hand devices 2, the dexterous hand device 2 without the rotating device 3 is used to hold the column bottle body, and the dexterous hand device 2 with the rotating device 3 is used to clamp the column bottle cap. By starting the rotating device 3, the rotating wheel 300 on the rotating device 3 will clamp the bottle cap and drive the bottle cap to rotate through friction, so as to achieve the effect of imitating the human hand using the index finger and thumb to rotate the bottle cap.

[0068] The retraction device 4 can drive the rotating device 3 to move within the fingertip block 210. When the rotating device 3 is not used to rotate the object, the retraction device 4 is used to retract the rotating device 3 into the fingertip block 210 for storage without affecting the gripping effect. When the rotating device 3 needs to be used, the wheel 300 on the rotating device 3 is pushed out of the fingertip block 210 through the retraction device 4.

[0069] The bending principle of the dexterous hand device 2 is as follows: when the dexterous hand device 2 needs to be bent, the first motor 200 is started. After the first motor 200 is started, it drives the screw rod 201 to rotate. When the screw rod 201 rotates, it engages with the slider 202 threadedly. The slider 202 is limited by the mounting plate 1. The slider 202 cannot rotate and thus slides along the screw rod 201 when the screw rod 201 rotates. When bending is required, the output rotation direction of the first motor 200 is controlled to move the slider 202 from the fixed plate 203 to the side of the first motor 200. When the slider 202 moves, the slider 202 pulls the second motor 312 through the first pull rod 213. The second motor 312 simultaneously connects with the second connecting rod 206, the first connecting rod 205 and the second pull rod 21 4 connection, when the first pull rod 213 pulls the second motor 312, the second motor 312 uses the first connecting rod 205 as the rotation point, and one end of the second motor 312 is pulled toward the first motor 200 by the first pull rod 213, and the end of the second motor 312 connected to the second pull rod 214 will be pushed toward the fingertip block 210. When the second pull rod 214 moves toward the fingertip block 210, it pushes the third pull rod 215. The third pull rod 215 is limited by the third connecting rod 207. The third connecting rod 207 and the second connecting rod 206 will then bend. As the slider 202 continues to move, the first connecting rod 205 is further driven to bend, so that the fingertip block 210 and the inter-finger block 211 are used to clamp the object to achieve the effect of holding and clamping.

[0070] The working principle of the retraction device 4 is as follows: when the rotating device 3 needs to be stored, the electric push rod 403 drives the push rod to retract into the electric push rod 403. As the push rod retracts, the push rod drives the connecting rod 402 to move. When the push rod retracts, it drives the connecting rod 402 to move along the push rod axis, thereby driving the rotating device 3 as a whole to move into the fingertip block 210 through the connecting rod 402. When the rotating device 3 moves, the various helical gears of the vertical transmission gear set 301 are connected together by the connecting shaft. Therefore, when the rotating device 3 moves, the entire vertical transmission gear set 301 will move as a whole. When the rotating wheel 300 and the vertical transmission gear set 301 move toward the side of the electric push rod 403, the third rotating shaft 308 will slide in the retraction sleeve shaft 310. When the retraction device 4 pushes out the rotating device 3, it only needs to push out the push rod through the electric push rod 403.

[0071] The working principle of the rotating device 3 is as follows: when the rotating wheel 300 needs to rotate, the second motor 312 drives the shrinking sleeve 310 to rotate through the output shaft, and the shrinking sleeve 310 is slidably engaged with the limit block 309, so that when the shrinking sleeve 310 rotates, it will drive the third rotating shaft 308 to rotate through the limit block 309. When the third rotating shaft 308 rotates, it drives the third bevel gear 305 and the second rotating shaft 306 to rotate through the fourth bevel gear 307. When the second rotating shaft 306 rotates, it drives the second bevel gear 303 and the first rotating shaft 304 to rotate. The rotation of the first rotating shaft 304 drives the first bevel gear 302 to rotate. The first bevel gear 302 is connected to the central axis of the rotating wheel 300. When the first bevel gear 302 rotates, it drives the rotating wheel 300 to rotate. In order to clamp the object and rotate, the two rotating wheels 300 need to have the same rotation direction. Since the two rotating devices 3 are arranged relative to each other, when the second motors 312 on the two dexterous hand devices 2 are working, the rotation directions of the two second motors 312 need to be opposite.

[0072] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions merely illustrate the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A mechanical dexterous hand finger and a dexterous hand, comprising a mounting plate (1) and a connecting plate (5), characterized in that: The dexterous mechanical hand further comprises: A dexterous hand device (2), the number of the dexterous hand devices (2) is the contraction devices (4), the four dexterous hand devices (2) are arranged opposite to each other in pairs, and the four dexterous hand devices (2) cooperate with each other to achieve the effect of imitating the gripping and holding of a human hand; A rotating device (3) is provided on two opposing dexterous hand devices (2), and the rotating device (3) is used to realize the function of rotating the clamped object; The retraction device (4) is arranged on the dexterous hand device (2) on which the rotating device (3) is installed, and the position of the rotating device (3) is adjusted by the retraction device (4) to achieve the function of storing the rotating device (3) inside the dexterous hand device (2).

2. The mechanical dexterous hand finger and the dexterous hand according to claim 1, characterized in that: The dexterous hand device (2) comprises: A fixing plate (203), the fixing plate (203) is fixedly mounted on the mounting plate (1); A first fixing block (204), the first fixing block (204) is fixedly mounted on the fixing plate (203); A first connecting rod (205), one end of the first connecting rod (205) is rotatably connected to the first fixed block (204), a second connecting rod (206) is rotatably mounted on one end of the first connecting rod (205) away from the first fixed block (204), a third connecting rod (207) is rotatably mounted on one end of the second connecting rod (206) away from the first connecting rod (205), and a fourth connecting rod (208) is rotatably mounted on one end of the third connecting rod (207) away from the second connecting rod (206); The first motor (200) is fixedly mounted on the mounting plate (1); a screw rod (201) is fixedly mounted on the output shaft of the first motor (200); a slider (202) is threadedly engaged on the screw rod (201); and one end of the screw rod (201) away from the first motor (200) is rotatably connected to the fixing plate (203).

3. The mechanical dexterous hand finger and the dexterous hand according to claim 2, characterized in that: The dexterous hand device (2) further comprises: A triangular plate (212), the triangular plate (212) is rotatably connected to the first connecting rod (205); A first pull rod (213), one end of the first pull rod (213) is rotatably connected to the slider (202), and the other end is rotatably connected to the triangular plate (212); a second pull rod (214) is rotatably installed on one end of the first pull rod (213) away from the triangular plate (212); a third pull rod (215) is rotatably installed on one end of the second pull rod (214) away from the first pull rod (213); and an end of the third pull rod (215) away from the first pull rod (213) is rotatably connected to the fourth connecting rod (208).

4. The mechanical dexterous hand finger and the dexterous hand according to claim 3, characterized in that: The second connecting rod (206) is fixedly mounted with a fingertip block (211), the fourth connecting rod (208) is fixedly mounted with a fixing frame (209), and the fixing frame (209) is fixedly mounted with a fingertip block (210).

5. The mechanical dexterous hand finger and the dexterous hand according to claim 1, characterized in that: The rotating device (3) comprises: A rotating wheel (300), the rotating wheel (300) is rotatably mounted in two opposing fingertip blocks (210); a second motor (312), the second motor (312) being fixedly mounted on a side of the fingertip block (210) away from the rotating wheel (300); A vertical transmission gear set (301) has one end rotatably connected to the rotating wheel (300) and the other end rotatably and slidingly connected to the output shaft of the second motor (312).

6. The mechanical dexterous hand finger and the dexterous hand according to claim 5, characterized in that: The vertical transmission gear set (301) comprises: A first bevel gear (302), the first bevel gear (302) is fixedly mounted on a rotating shaft on one side of the rotating wheel (300); A first rotating shaft (304), the first rotating shaft (304) is installed on one side of the first bevel gear (302), the first rotating shaft (304) is perpendicular to the axis of the first bevel gear (302), and second bevel gears (303) are fixedly installed on both ends of the first rotating shaft (304), and the second bevel gear (303) close to the side of the first bevel gear (302) is meshed with the first bevel gear (302); A second rotating shaft (306), the second rotating shaft (306) is rotatably mounted below the first rotating shaft (304), the axis of the second rotating shaft (306) is perpendicular to the axis of the first rotating shaft (304), and third helical gears (305) are rotatably mounted on both ends of the second rotating shaft (306), and the third helical gear (305) on the side close to the second helical gear (303) is meshed with the second helical gear (303); A third rotating shaft (308), the third rotating shaft (308) is rotatably mounted on one side of the second rotating shaft (306), the axis of the third rotating shaft (308) is perpendicular to the axis of the second rotating shaft (306), a fourth helical gear (307) is fixedly mounted on one end of the third rotating shaft (308), and the fourth helical gear (307) is meshed with the fourth helical gear (307) on the side of the second rotating shaft (306) away from the second helical gear (303); A limit block (309), the limit block (309) is fixedly mounted on the third rotating shaft (308); The shrink sleeve shaft (310) is fixedly mounted on the output shaft of the second motor (312).

7. The mechanical dexterous hand finger and the dexterous hand according to claim 6, characterized in that: One end of the third rotating shaft (308) is installed with a limiting block (309) which is slidably installed in the shrinking sleeve (310). A limiting groove (311) is provided in the shrinking sleeve (310), and the limiting block (309) is slidably installed in the limiting groove (311).

8. The mechanical dexterous hand finger and the dexterous hand according to claim 7, characterized in that: The shrinking device (4) comprises: An electric push rod (403), the electric push rod (403) is fixedly mounted on the fingertip block (210), and the electric push rod (403) and the second motor (312) are located on the same side of the fingertip block (210); A connecting shaft (400) is rotatably mounted on an end of the rotating wheel (300) away from the first bevel gear (302); A collar (401), the collar (401) is sleeved on the connecting shaft (400), and the collar (401) is rotatably connected to the connecting shaft (400); A connecting rod (402) is fixedly connected at one end to a push rod on an electric push rod (403), and at the other end to a collar (401).

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