Bionic dexterous hand performance testing machine and testing method thereof

Abstract

The application discloses a bionic dexterous hand performance testing machine and a testing method thereof, and relates to the technical field of bionic dexterous hand performance testing, which comprises a testing machine body which is detachably arranged at a work station, a liquid storage cavity is arranged at the bottom of the testing machine body, a base for sealing the liquid storage cavity is detachably arranged at the liquid storage cavity, a piston cavity is arranged at the top of the testing machine body and is concave downward, a sealing disc for sealing the piston cavity is detachably arranged at the top of the piston cavity, a first detection assembly is arranged in the piston cavity, the first detection assembly comprises a piston disc which is slidingly arranged in the piston cavity, and an upward extending connecting rod is connected to the top of the piston disc. The testing machine has a small testing stroke, can quickly and accurately test the performance of a mechanical hand, can completely and accurately collect the maximum vertical gripping force of the finger joints of the bionic dexterous hand, and has stable and accurate testing values, and avoids errors caused by complicated transmission mechanisms.

Description

Technical Field

[0001] This invention relates to the field of bionic dexterous hand performance testing technology, and more specifically, to a bionic dexterous hand performance testing machine and its testing method. Background Technology

[0002] With the rapid development of robotics technology, bionic dexterous hands, due to their highly human-like structure and flexible maneuverability, are playing a crucial role in the intelligent manufacturing process of automobiles powered by new energy sources such as plug-in hybrid, pure electric, and fuel cell vehicles. These dexterous hands, through their high-precision force control and multi-dimensional tactile perception, are solving complex tasks that traditional robotic arms struggle with. Simultaneously, their applications are becoming increasingly widespread in the service industry, medical rehabilitation, and precision assembly. The performance of bionic dexterous hands largely depends on their key components, such as finger joints, transmission parts, and sensors. Among these, the reliability and grasping stability of core components like finger joints directly affect the overall functional performance of the dexterous hand; therefore, rigorous testing using specialized equipment is necessary to ensure the safety and reliability of the robotic hand when grasping heavy objects.

[0003] However, existing testing devices have significant shortcomings when simulating high-load or extreme grasping conditions. When the grasping force exceeds the maximum grasping force of the bionic hand, the grasped object often accidentally slips out of the bionic hand, making it impossible to collect relevant performance data (such as the maximum grasping force threshold, stress distribution changes, etc.) completely and accurately, resulting in poor test accuracy. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a biomimetic dexterity hand performance testing machine and its testing method.

[0005] The technical solution is as follows:

[0006] A bionic dexterous hand performance testing machine and its testing method include a testing machine body detachably disposed at a work station, a liquid storage chamber at the bottom of the testing machine body, a base for sealing the liquid storage chamber detachably installed at the liquid storage chamber, a downwardly recessed piston chamber at the top of the testing machine body, and a sealing plate for sealing the piston chamber detachably installed at the top of the piston chamber.

[0007] A first detection assembly is installed inside the piston chamber. The first detection assembly includes a piston disc that is slidably installed inside the piston chamber. A connecting rod that extends upward and passes through a sealing disc is connected to the top of the piston disc. One end of the connecting rod that passes through the sealing disc is connected to a connector for a mechanical bionic dexterous hand to grasp. A first pressure sensor is installed at the bottom of the sealing disc. A movable disc that contacts the first pressure sensor is slidably installed on the outer wall of the connecting rod. Multiple first springs are installed between the top of the piston disc and the movable disc. The piston chamber is connected to the liquid storage chamber, and a one-way valve is provided in the connecting part.

[0008] Furthermore, a through hole communicating with the liquid storage chamber is provided at the bottom wall of the piston chamber, and an extension tube extending into the liquid storage chamber is connected to the through hole. A one-way valve is detachably installed at the bottom end of the extension tube.

[0009] Furthermore, a groove is provided on the side wall of the test body, and a drainage channel communicating with the piston chamber is provided on one side of the inner wall of the groove. A drain assembly is installed in the groove.

[0010] Furthermore, the discharge assembly includes a one-way flow restrictor detachably disposed at the discharge channel and a drive member detachably disposed at the groove opening. A return cavity is formed between the one-way flow restrictor and the drive member. A return hole located in the return cavity is opened at the bottom of the inner wall of the groove. The drive member is used to drive the opening and closing of the one-way flow restrictor to discharge the liquid in the piston chamber.

[0011] Furthermore, the unidirectional flow restrictor has an installation cavity inside, and an outlet communicating with the installation cavity is opened on the side wall of the unidirectional flow restrictor near the drive component. A baffle is slidably installed inside the installation cavity, and a first compression spring is installed between the baffle and the inner wall of the installation cavity. The first compression spring is used to provide elastic force to keep the baffle pressed towards the outlet.

[0012] Furthermore, a drive rod is slidably installed inside the drive component. One end of the drive rod has a top that connects to the baffle, and the other end of the drive rod extends to the outside of the drive component and is provided with a handle. A fixed plate is provided on the outer wall of the end of the drive rod away from the baffle. A threaded part corresponding to the size of the fixed plate is provided on the side wall of the drive component. A limit sleeve is threadedly connected to the threaded part. The limit sleeve is located on the side of the drive component away from the drainage channel. The outer wall of the drive rod located between the fixed plate and the handle is slidably connected to the limit sleeve. A tension spring is provided between the limit sleeve and the handle.

[0013] Furthermore, the inner wall of the groove has an internal thread, the outer wall of the drive component has an external thread that mates with the internal thread, and an installation groove is provided on the outer wall of the drive component near the one-way flow restrictor, and a sealing ring is installed in the installation groove.

[0014] Furthermore, a second test assembly is installed at the connector. The second test assembly includes a grip on the outer wall of the connector. The outer wall of the grip has multiple grooves. A mounting plate is installed at the opening of the groove. Multiple vertical sliding holes are opened on the mounting plate. A contact rod is slidably installed in the sliding holes. Multiple second pressure sensors corresponding to the contact rod are installed on the inner wall of the groove. A second spring is installed between the second pressure sensor and the contact rod. The second spring is used to maintain the elastic force that provides the contact rod to press outward.

[0015] Furthermore, the top wall of the base has a protrusion that mates with the inner wall of the liquid storage chamber, and a liquid storage tank is provided on the top wall of the protrusion. The inner wall of the liquid storage tank has an inwardly inclined portion.

[0016] A testing method for a bionic dexterous hand performance testing machine includes the following steps:

[0017] S1. The top of the connector is clamped by a mechanical bionic dexterous hand;

[0018] S2. The mechanical bionic dexterous hand lifts the connecting piece upwards, and the upward movement of the connecting piece drives the piston plate to move upwards. The upward movement of the piston plate compresses the first spring, and the first spring, under pressure, compresses the movable plate upwards, thereby compressing the first pressure sensor. At the same time, the upward movement of the piston plate draws the liquid in the storage chamber into the piston chamber through the extension tube.

[0019] S3. Continue to lift the connector upwards. When the finger joints of the mechanical bionic dexterous hand are disengaged from the top of the connector, the liquid in the reservoir supports the bottom of the piston disc, allowing data such as the maximum gripping force to be obtained.

[0020] Based on the above, the beneficial effects of the bionic dexterity hand performance testing machine and its testing method of the present invention are as follows:

[0021] Through the coordinated arrangement of the piston disc, the first spring, and the first pressure sensor, during testing, the bionic hand lifts the connector upwards, causing the piston disc to move upwards and compress the first spring. The first spring then drives the movable disc to compress the first pressure sensor until the finger joints of the bionic hand disengage from the top of the connector. Combined with the one-way valve, when the finger joints of the bionic hand disengage from the top of the connector, the piston disc can draw liquid from the reservoir into the piston chamber to support the upward-moving piston disc. Since the liquid cannot be compressed, at this point... The pressure value generated by the first pressure sensor is the maximum vertical gripping force of the finger joints on this bionic dexterous hand. This testing machine requires a short test stroke, which can quickly and accurately test the performance of the robotic hand. It can also completely and accurately collect the maximum vertical gripping force of the finger joints on this bionic dexterous hand. The test values ​​are stable and accurate, avoiding the errors caused by measurement through complex transmission mechanisms. By testing the finger joints on the bionic dexterous hand, more accurate operating precision can be obtained in the manufacturing process of new energy vehicles such as plug-in hybrid, pure electric, and fuel cell vehicles.

[0022] In addition, after the piston disc draws the liquid from the storage chamber into the piston chamber to support the upward-moving piston disc, its gripping height can also be obtained.

[0023] By configuring the drainage assembly, after testing, the limiting sleeve is disengaged from the threaded portion on the side wall of the drive component by rotating it. Due to the high pressure inside the piston chamber, the liquid within the chamber squeezes the baffle and flows through the return cavity into the storage chamber for recovery. Simultaneously, the first spring releases pressure, driving the piston disc to reset and expelling all the liquid from the piston chamber. After the liquid is completely expelled, the first spring releases pressure, resealing the baffle at the outlet. Then, the limiting sleeve is re-threaded onto the threaded portion on the side wall of the drive component, re-axially limiting the drive rod and positioning the baffle at the outlet, preventing leakage when liquid is present in the piston chamber. No manual resetting is required, making the operation simple and quick.

[0024] By setting up a reflux hole, the liquid discharged from the piston chamber can be returned to the storage chamber for recycling.

[0025] By setting up the second testing component, the distribution of grasping force of each finger joint of the robotic arm can be obtained. For example, if the transmission efficiency of a certain finger joint is low, there is lag, or a certain sensor feedback is inaccurate, it will be directly reflected in the pressure data of its corresponding contact rod. The location of the problematic finger joint can be accurately determined, thereby optimizing the core components, finger joints, transmission components, and sensors in a targeted manner, thus improving testing efficiency. Attached Figure Description

[0026] Figure 1 This is a three-dimensional schematic diagram of the overall components of the present invention;

[0027] Figure 2 This is a three-dimensional cross-sectional view of the overall components of the present invention;

[0028] Figure 3 This is a three-dimensional cross-sectional view of the test body of the present invention;

[0029] Figure 4 This is a cross-sectional perspective view of the second test component of the present invention;

[0030] Figure 5 For the present invention Figure 4 Enlarged schematic diagram of component A in the middle;

[0031] Figure 6 This is a cross-sectional view of the unidirectional flow limiting component and a three-dimensional schematic diagram of the driving component of the present invention;

[0032] Figure 7 This is a three-dimensional cross-sectional view of the leakage component of the present invention.

[0033] The reference numerals in the accompanying drawings of this invention are as follows:

[0034] 100. Test body; 110. Liquid storage chamber; 120. Base; 130. Piston chamber; 140. Sealing plate; 150. Extension tube; 160. Groove; 170. Drainage channel;

[0035] First detection component; 210, piston disc; 220, connecting rod; 230, connector; 240, first pressure sensor; 250, movable disc; 260, first spring;

[0036] 310. Flow relief assembly; 311. One-way flow restrictor; 312. Mounting cavity; 313. Outlet; 314. Baffle; 315. First compression spring; 320. Driving component; 321. Driving rod; 322. Pull handle; 323. Top; 324. Fixing plate; 325. Limiting sleeve; 330. Return cavity; 340. Return hole;

[0037] Second test component; 410, grip; 420, slide; 430, mounting plate; 440, sliding hole; 450, contact rod; 460, second pressure sensor; 470, second spring. Detailed Implementation

[0038] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0039] The embodiments provided by the present invention will be described in detail below:

[0040] like Figures 1 to 7 As shown, a bionic dexterous hand performance testing machine includes a testing body 100 detachably disposed at a workstation. The bottom of the testing body 100 has a liquid storage chamber 110. A base 120 for sealing the liquid storage chamber 110 is detachably installed at the liquid storage chamber 110. The top of the base 120 has a protrusion that mates with the inner wall of the liquid storage chamber 110. A liquid storage groove is formed on the top of the protrusion. The inner wall of the liquid storage groove has an inwardly inclined portion. The outer wall of the protrusion is threaded to the inner wall of the liquid storage chamber 110. A downwardly recessed piston chamber 130 is formed on the top of the testing body 100. A sealing disc 140 for sealing the piston chamber 130 is detachably installed on the top of the piston chamber 130. The sealing disc 140 is threaded to the top of the piston chamber 130.

[0041] A first detection assembly is installed inside the piston chamber 130. The first detection assembly includes a piston disc 210 slidably installed inside the piston chamber 130. A connecting rod 220 extending upward and passing through a sealing disc 140 is connected to the top of the piston disc 210. One end of the connecting rod 220 passing through the sealing disc 140 is connected to a connector 230 for grasping by a mechanical bionic dexterous hand. A first pressure sensor 240 is installed at the bottom of the sealing disc 140. A movable disc 250 that contacts the first pressure sensor 240 is slidably installed on the outer wall of the connecting rod 220. A plurality of first springs 260 are installed between the top of the piston disc 210 and the movable disc 250. The first springs 260 are used to provide elastic force to keep the piston disc 210 pressed downward.

[0042] A through hole communicating with the liquid storage chamber 110 is provided at the bottom wall of the piston chamber 130. An extension tube 150 extending into the liquid storage chamber 110 is connected to the through hole. A one-way valve is detachably installed at the bottom end of the extension tube 150.

[0043] It should be noted that, through the coordinated arrangement of the piston disc 210, the first spring 260, and the first pressure sensor 240, during testing, the bionic hand lifts the connector 230 upwards, causing the piston disc 210 to move upwards and compress the first spring 260. The first spring 260 drives the movable disc 250 to compress the first pressure sensor 240 until the finger joints of the bionic hand are disengaged from the top of the connector 230. With the help of the one-way valve, as the finger joints of the bionic hand lift the connector 230 upwards, the piston disc 210 can draw the liquid in the reservoir 110 into the piston chamber 130, while simultaneously supporting the upward-moving piston disc 210. Due to the difficulty in compressing the liquid and the one-way valve, the pressure value generated by the first pressure sensor 240 at this time is the maximum vertical gripping force of the finger joints of this bionic hand. This testing machine requires a short test stroke, enabling it to quickly and accurately test the performance of the robotic arm. It can also completely and accurately collect the maximum vertical gripping force of the finger joints on this bionic dexterous hand, providing stable and accurate test values ​​and avoiding errors caused by measurements through complex transmission mechanisms.

[0044] In addition, after the piston disk 210 draws the liquid in the storage chamber 110 into the piston chamber 130 to support the upward-moving piston disk 210, it can also obtain the gripping height.

[0045] Specifically, when testing the gripping force of the vertical clamping connector 230, a mechanical bionic dexterous hand clamps the top of the connector 230 and lifts it upward. The upward movement of the connector 230 causes the piston disc 210 to move upward, and the piston disc 210 moves upward to compress the first spring 260. The first spring 260 is compressed and pushes the movable disc 250 upward, thereby compressing the first pressure sensor 240. At the same time, the piston disc 210 moves upward and draws the liquid in the reservoir 110 into the piston chamber 130 through the extension tube 150. The greater the upward movement of the piston disc 210, the greater the reverse thrust generated by its compression of the first spring 260, making it more difficult to lift. Eventually, the finger joints of the mechanical bionic dexterous hand will become detached from the top of the connector 230. Due to the one-way valve, the liquid drawn into the piston chamber 130 will not flow back into the reservoir 110, thus providing support for the bottom of the piston disc 210 and preventing the piston disc 210 from falling back after the connector 230 is detached from the dexterous hand, which would cause a change in the value of the first pressure sensor 240. At this time, the pressure generated by the movable disc 250 pressing the first pressure sensor 240 is the upward supporting force on the connector 230 (i.e., piston disc 210). Therefore, when the connector 230 (i.e. piston disc 210) is raised to the height at which the finger joints of the bionic dexterous hand loosen, the value recorded by the first pressure sensor 240 is the maximum vertical gripping force of the finger joints of the bionic dexterous hand.

[0046] When it is necessary to test the gripping force of the lateral gripping connector 230, it is only necessary to use the mechanical bionic dexterous hand to grip and lift the connector 230 upwards. This can meet different testing needs, improve the applicability and practicality of the device, achieve high-precision and dynamic acquisition of gripping force, and greatly improve the accuracy of data by combining the stable support provided by fluid support.

[0047] like Figures 2 to 4 As shown, a groove 160 is provided on the side wall of the test body 100, and a drain channel 170 communicating with the piston chamber 130 is provided on one side of the inner wall of the groove 160. A drain assembly is installed in the groove 160.

[0048] The discharge assembly includes a one-way flow restrictor 310 detachably disposed at the discharge channel 170 and a drive member 320 detachably disposed at the opening of the groove 160. A return cavity 330 is formed between the one-way flow restrictor 310 and the drive member 320. A return hole 340 located in the return cavity 330 is opened at the bottom of the inner wall of the groove 160. The drive member 320 is used to drive the opening and closing of the one-way flow restrictor 310 to discharge the liquid in the piston chamber 130.

[0049] like Figure 6As shown, the one-way flow restrictor 310 is threadedly connected to the opening of the drain channel 170. The one-way flow restrictor 310 has an installation cavity 311 inside. The side wall of the one-way flow restrictor 310 away from the drive component 320 has an outlet 312 that communicates with the installation cavity 311. A baffle 313 is slidably installed in the installation cavity 311. A first compression spring 314 is installed between the baffle 313 and the inner wall of the installation cavity 311. The first compression spring 314 is used to provide elastic force to keep the baffle 313 pressed towards the outlet 312.

[0050] A drive rod 321 is slidably installed inside the drive component 320. One end of the drive rod 321 has a top 323 that is threadedly connected to the baffle 313. The other end of the drive rod 321 extends to the outside of the drive component 320 and is provided with a handle 322. A fixing plate 324 is provided on the outer wall of the end of the drive rod 321 away from the baffle 313. A threaded part corresponding to the size of the fixing plate 324 is provided on the side wall of the drive component 320. A limiting sleeve 325 is threadedly connected to the threaded part. The limiting sleeve 325 is located on the side of the drive component 320 away from the drain channel 170. The outer wall of the drive rod 321 located between the fixing plate 324 and the handle 322 is slidably connected to the limiting sleeve 325. A tension spring is provided between the limiting sleeve 325 and the handle 322. The limiting sleeve 325 is used to axially limit the drive rod 321. The diameter of the top 323 is smaller than the diameter of the outlet 312.

[0051] It should be noted that by setting the one-way flow restrictor 310, a one-way seal can be formed on the drain channel 170, so that when the piston disc 210 moves upward, the liquid in the storage chamber 110 is drawn into the piston chamber 130.

[0052] Specifically, after the test is completed, the limiting sleeve 325 is disengaged from the threaded portion on the side wall of the driving component 320 by rotating the limiting sleeve 325. Since the piston chamber 130 is under high pressure, the liquid in the piston chamber 130 will squeeze the baffle 313 from the return cavity 330 into the storage chamber 110 for recovery. Simultaneously, the first spring 260 releases pressure, driving the piston disc 210 to reset, thus discharging all the liquid in the piston chamber 130. After all the liquid in the piston chamber 130 is discharged, the first compression spring 314 releases pressure, re-sealing the baffle 313 against the outlet 312. Then, the limiting sleeve 325 is re-threaded onto the threaded portion on the side wall of the driving component 320, re-axially limiting the driving rod 321, thus again limiting the baffle 313 at the outlet 312, preventing leakage when liquid in the piston chamber 130 squeezes the baffle 313. No manual resetting is required, making the operation simple and quick.

[0053] In addition, the reflux hole 340 allows the liquid discharged from the piston chamber 130 to flow back into the storage chamber 110 for recycling.

[0054] It should be noted that, for ease of structural illustration in the accompanying drawings, the drainage channel 170 is depicted as relatively wide. This could potentially lead to inaccurate data, as liquid may enter the drainage channel 170 during testing, and air may become trapped within the channel after testing, particularly in the liquid used to support the piston disc 210. However, this issue does not exist in the actual manufacturing design. The drainage channel 170 is designed to be much narrower and shorter than depicted in the accompanying drawings, making any air trapped during testing negligible and unaffected by the results.

[0055] like Figures 2 to 4 As shown, the inner wall of the groove 160 has an internal thread, and the outer wall of the drive component 320 has an external thread that mates with the internal thread. An installation groove is provided on the outer wall of the drive component 320 near the one-way flow restrictor 310. A sealing ring is installed in the installation groove, which improves the sealing performance of the groove 160.

[0056] It should be noted that, through the above arrangement, the drive component 320 is detachably located in the groove 160, which facilitates the maintenance and replacement of the drive component 320 and the unidirectional flow limiting component 310.

[0057] like Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, a second test assembly is installed at the connector 230. The second test assembly includes a grip 410 located on the outer wall of the connector 230. The outer wall of the grip 410 has multiple grooves 420. A mounting plate 430 is installed at the opening of the grooves 420. Multiple vertical sliding holes 440 are provided on the mounting plate 430. A contact rod 450 is slidably installed in the sliding holes 440. Multiple second pressure sensors 460 corresponding to the contact rod 450 are installed on the inner wall of the grooves 420. A second spring 470 is installed between the second pressure sensors 460 and the contact rod 450. The second spring 470 is used to maintain the elastic force that provides the contact rod 450 to press outward.

[0058] It should be noted that by setting up the second testing component, the distribution of grasping force of each finger joint of the robotic arm can be obtained. For example, if the transmission efficiency of a certain finger joint is low, there is lag, or a certain sensor feedback is inaccurate, it will be directly reflected in the pressure data of its corresponding contact rod 450. The location of the problematic finger joint can be accurately determined, thereby optimizing the core components, finger joints, transmission components, and sensors in a targeted manner, and improving testing efficiency.

[0059] A testing method for a bionic dexterous hand performance testing machine includes the following steps:

[0060] S1. The top of the connector 230 is clamped by a mechanical bionic dexterous hand;

[0061] S2. The mechanical bionic dexterous hand lifts the connector 230 upward. The upward movement of the connector 230 causes the piston disc 210 to move upward. The upward movement of the piston disc 210 compresses the first spring 260. The first spring 260 is compressed and compresses the movable disc 250 upward, thereby compressing the first pressure sensor 240. At the same time, the upward movement of the piston disc 210 draws the liquid in the storage chamber 110 into the piston chamber 130 through the extension tube 150.

[0062] S3. Continue to lift the connector 230 upwards. When the finger joints of the mechanical bionic dexterous hand are disengaged from the top of the connector 230, the liquid in the reservoir 110 supports the bottom of the piston disc 210, and data such as the maximum gripping force can be obtained.

[0063] This method is simple to operate and can reliably obtain the required gripping force data, overcoming the problems in traditional testing where the maximum gripping force data is lost or inaccurate due to "unexpected instantaneous detachment" and the failure process data cannot be accurately collected.

[0064] It is readily understood that those skilled in the art can combine, split, or reorganize the embodiments provided in this application to obtain other embodiments, all of which do not exceed the protection scope of this application.

[0065] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the embodiments shown are only part of the embodiments of the present invention. The actual structure is not limited thereto. Therefore, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the present invention, they should all fall within the protection scope of the present invention.

Claims

1. A biomimetic dexterous hand performance testing machine, characterized in that, The test body (100) is detachably located at the work station. The bottom of the test body (100) has a liquid storage chamber (110). A base (120) for sealing the liquid storage chamber (110) is detachably installed at the liquid storage chamber (110). A downwardly recessed piston chamber (130) is opened at the top of the test body (100). A sealing plate (140) for sealing the piston chamber (130) is detachably installed at the top of the piston chamber (130). A first detection assembly is installed inside the piston chamber (130). The first detection assembly includes a piston disc (210) slidably installed inside the piston chamber (130). A connecting rod (220) extending upward and passing through a sealing disc (140) is connected to the top of the piston disc (210). One end of the connecting rod (220) passing through the sealing disc (140) is connected to a connector (230) for grasping by a mechanical bionic dexterous hand. A first pressure sensor (240) is installed at the bottom of the sealing disc (140). A movable disc (250) that contacts the first pressure sensor (240) is slidably installed on the outer wall of the connecting rod (220). Multiple first springs (260) are installed between the top of the piston disc (210) and the movable disc (250). The piston chamber (130) is connected to the liquid storage chamber (110). A through hole communicating with the liquid storage chamber (110) is provided at the bottom wall of the piston chamber (130). An extension tube (150) extending into the liquid storage chamber (110) is connected to the through hole. A one-way valve is detachably installed at the bottom end of the extension tube (150). The test body (100) has a groove (160) on its side wall, and a drain channel (170) communicating with the piston chamber (130) is provided on one side of the inner wall of the groove (160). A drain assembly is installed in the groove (160).

2. The bionic dexterity hand performance testing machine according to claim 1, characterized in that, The discharge assembly includes a one-way flow restrictor (310) detachably disposed at the discharge channel (170) and a drive member (320) detachably disposed at the opening of the groove (160). A return cavity (330) is formed between the one-way flow restrictor (310) and the drive member (320). A return hole (340) is provided at the bottom of the inner wall of the groove (160) and located in the return cavity (330). The drive member (320) is used to drive the opening and closing of the one-way flow restrictor (310) to discharge the liquid in the piston chamber (130).

3. The bionic dexterity hand performance testing machine according to claim 2, characterized in that, The unidirectional flow restrictor (310) has an installation cavity (311) inside. The unidirectional flow restrictor (310) has an outlet (312) connected to the installation cavity (311) on the side wall away from the drive component (320). A baffle (313) is slidably installed in the installation cavity (311). A first compression spring (314) is installed between the baffle (313) and the inner wall of the installation cavity (311). The first compression spring (314) is used to provide elastic force to keep the baffle (313) pressed towards the outlet (312).

4. The bionic dexterity hand performance testing machine according to claim 3, characterized in that, A drive rod (321) is slidably installed inside the drive member (320). One end of the drive rod (321) has a top (323) that is connected to the baffle (313). The other end of the drive rod (321) extends to the outside of the drive member (320) and is provided with a handle (322). A fixed plate (324) is provided on the outer wall of the end of the drive rod (321) away from the baffle (313). A threaded part corresponding to the size of the fixed plate (324) is provided on the side wall of the drive member (320). A limit sleeve (325) is threadedly connected to the threaded part. The limit sleeve (325) is located on the side of the drive member (320) away from the drain channel (170). The outer wall of the drive rod (321) between the fixed plate (324) and the handle (322) is slidably connected to the limit sleeve (325). A tension spring is provided between the limit sleeve (325) and the handle (322).

5. The bionic dexterity hand performance testing machine according to claim 4, characterized in that, The inner wall of the groove (160) has an internal thread, and the outer wall of the drive (320) has an external thread that mates with the internal thread. An installation groove is provided on the outer wall of the drive (320) near the one-way flow restrictor (310), and a sealing ring is installed in the installation groove.

6. The bionic dexterity hand performance testing machine according to claim 1, characterized in that, A second test assembly is installed at the connector (230). The second test assembly includes a grip (410) located on the outer wall of the connector (230). The outer wall of the grip (410) has multiple grooves (420). An installation plate (430) is installed at the opening of the groove (420). Multiple vertical sliding holes (440) are provided on the installation plate (430). A contact rod (450) is slidably installed in the sliding hole (440). Multiple second pressure sensors (460) corresponding to the contact rod (450) are installed on the inner wall of the groove (420). A second spring (470) is installed between the second pressure sensor (460) and the contact rod (450). The second spring (470) is used to maintain the elastic force that provides the contact rod (450) to press outward.

7. The bionic dexterity hand performance testing machine according to claim 1, characterized in that, The top wall of the base (120) has a protrusion that matches the inner wall of the liquid storage chamber (110). A liquid storage tank is provided on the top wall of the protrusion, and the inner wall of the liquid storage tank has an inwardly inclined part.

8. A testing method for a bionic dexterity hand performance testing machine according to any one of claims 1-7, characterized in that, Includes the following steps: S1. The top of the connector (230) is clamped by a mechanical bionic dexterous hand; S2. The mechanical bionic dexterous hand lifts the connector (230) upward. The connector (230) moves upward, causing the piston disc (210) to move upward. The piston disc (210) moves upward and squeezes the first spring (260). The first spring (260) is compressed and squeezes the movable disc (250) upward, thereby squeezing the first pressure sensor (240). At the same time, the piston disc (210) moves upward and draws the liquid in the storage chamber (110) into the piston chamber (130) through the extension tube (150). S3. Continue to lift the connector (230) upwards. When the finger joints of the mechanical bionic dexterous hand are disengaged from the top of the connector (230), the liquid in the reservoir (110) supports the bottom of the piston disc (210) to obtain the maximum vertical gripping force data.

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