A special-purpose gripping tool and dexterous hand

Abstract

The utility model provides a special clamping tool, including clamping tool for making dexterous hand realize clamping operation, and clamping tool includes finger sleeve casing and clamping mechanism, and finger sleeve casing is used for connecting with the finger of dexterous hand, clamping mechanism is connected with finger sleeve casing, and clamping mechanism includes mounting plate, arc fixed clamping part, arc rotary clamping part and drive part, arc fixed clamping part is fixedly connected with mounting plate, arc rotary clamping part is rotatably connected with mounting plate, and drive part is transmission connection with arc rotary clamping part. The special clamping tool designed by the utility model is directly clamped on the original dexterous hand finger when using, then under the action of other fingers of dexterous hand, the operation of clamping can be carried out, need not to design a special dexterous hand alone, reduces the investment of hardware and software, reduces cost, and installation is convenient and simple, need not wiring debugging and other operations, saves time, is favorable to the popularization and application of dexterous hand.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and more specifically, to a special gripping tool and a dexterous hand. Background Technology

[0002] When dexterous hands are used to grasp tools and perform tasks, their insufficient degrees of freedom and control precision make it difficult to perform tasks requiring fine adjustments and operations, such as grasping tweezers or chopsticks. Existing dexterous hands struggle to flexibly grasp tweezers or chopsticks to perform the operation of clamping objects. The solution is often to design a separate dexterous hand. When this operation is needed, the original dexterous hand needs to be disassembled from the wrist joint of the robotic arm, and then a dedicated dexterous hand needs to be installed. Rewiring is also required. Although designing a dedicated dexterous hand can solve the problem of the dexterous hand's inability to grasp tweezers or chopsticks due to insufficient degrees of freedom and control precision, it will increase costs, and the installation and disassembly will be more troublesome and time-consuming. Furthermore, during the clamping process, the clamped object is prone to slipping due to uneven force.

[0003] Therefore, how to improve the overall work efficiency while dexterous hands complete the clamping work is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] To address the aforementioned problems, the purpose of this utility model is to provide a dedicated clamping tool that improves work efficiency and reduces costs while enabling dexterous hands to perform clamping tasks.

[0005] Another objective of this invention is to provide a dexterous hand with the aforementioned special clamping tool.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a special clamping tool, including a clamping tool for enabling a dexterous hand to perform clamping operations, the clamping tool including a finger sleeve housing and a clamping mechanism, the finger sleeve housing being used to connect with the fingers of the dexterous hand;

[0007] The clamping mechanism is connected to the finger sleeve housing. The clamping mechanism includes a mounting plate, an arc-shaped fixed clamping part, an arc-shaped rotating clamping part, and a driving part. The arc-shaped fixed clamping part is fixedly connected to the mounting plate, the arc-shaped rotating clamping part is rotatably connected to the mounting plate, and the driving part is drively connected to the arc-shaped rotating clamping part. When another finger of the dexterous hand applies force to the driving part, the driving part drives the arc-shaped rotating clamping part, which is rotatably connected to the mounting plate, to move towards the arc-shaped fixed clamping part, so that the clamping mechanism can perform the clamping action.

[0008] Furthermore, the mounting plate is provided with a first mounting hole, a second mounting hole, and a third mounting hole, respectively. The second mounting hole penetrates the mounting plate, and the axes of the second mounting hole and the third mounting hole are parallel.

[0009] The arc-shaped fixed clamping part and the arc-shaped rotating clamping part are located on the same side of the mounting plate. The arc-shaped fixed clamping part is fixedly connected to the end face of the mounting plate. The arc-shaped rotating clamping part is provided with a first rotating shaft. The arc-shaped rotating clamping part is rotatably connected to the second mounting hole through the first rotating shaft and the first rotating shaft passes through the second mounting hole.

[0010] Furthermore, a first gap is provided on the arc-shaped fixed clamping part, and a second gap is provided on the arc-shaped rotating clamping part. The arrangement of the first gap and the second gap allows the arc-shaped rotating clamping part to intersect with the arc-shaped fixed clamping part during rotation.

[0011] Furthermore, the thickness of both the arc-shaped fixed clamping part and the arc-shaped rotating clamping part near the mounting plate is less than the thickness away from the mounting plate, forming an inclination angle α.

[0012] Furthermore, a transmission mechanism is provided between the drive unit and the arc-shaped rotating clamping unit. The transmission mechanism includes a drive gear, a second rotating shaft and a driven gear. The drive gear is fixedly mounted on the second rotating shaft. The axis of the second rotating shaft coincides with that of the drive gear. One end of the second rotating shaft is rotatably connected to the third mounting hole. The other end of the second rotating shaft is fixedly mounted with a drive unit located on the other side of the mounting plate.

[0013] The driven gear is fixedly connected to the part where the first rotating shaft on the arc-shaped rotating clamping part passes through the second mounting hole. The first rotating shaft coincides with the axis of the driven gear, and the driving gear meshes with the driven gear.

[0014] Furthermore, the ratio of the number of teeth of the driving gear to the number of teeth of the driven gear is greater than 1.

[0015] Furthermore, the drive unit includes a connecting part, a second connecting rod, and a drive ring. The second connecting rod is located between the connecting part and the drive ring. The connecting part is fixedly connected to the second rotating shaft. The drive ring is an elongated ring.

[0016] Furthermore, the inner wall of the finger sleeve housing is provided with multiple protrusions, and the inner wall of the finger sleeve housing matches the structure and size of the outer wall of the dexterous hand's fingers. The other end of the finger sleeve housing is provided with a first connecting rod, which is detachably connected to the first mounting hole on the mounting plate.

[0017] Furthermore, a clamping arm is detachably provided at the free end of the arc-shaped rotating clamping part away from the first rotating axis. The connecting end of the clamping arm is provided with a mounting groove and a threaded hole. The mounting groove is used to fit the clamping arm onto the arc-shaped rotating clamping part, and the threaded hole is used to fix the clamping arm with screws. A limit plate is provided at the contact part between the screw and the arc-shaped rotating clamping part to better fix the clamping arm. The other end of the clamping arm is flat. The ends of the arc-shaped fixed clamping part and the arc-shaped rotating clamping part are also provided with clamping arms.

[0018] A dexterous hand includes a special clamping tool, which is the special clamping tool described in any of the above claims, and the dexterous hand has a snap-fit ​​groove at the fingertip, the snap-fit ​​groove being located on the side wall of the finger, the snap-fit ​​groove being used to snap the clamping tool with a protrusion when it is installed on the dexterous hand.

[0019] In use, the clamping tool is mounted on the middle finger of the dexterous hand. Under the action of the other fingers of the dexterous hand, the drive ring of the drive unit is driven by the fingers of the dexterous hand. The drive unit will drive the second rotating shaft fixedly connected to it to rotate, thereby the drive gear will rotate and drive the driven gear meshing with it to rotate. The arc-shaped rotating clamping part will rotate under the drive of the driven gear, and then work together with the arc-shaped fixed clamping part to clamp the object. After the operation is completed, the fingers driven by the dexterous hand will return to their original position. During the process of the fingers returning to their original position, the drive ring of the drive unit will move together, thereby the clamping mechanism of the clamping tool will return to its original position.

[0020] Furthermore, the clamping arm can be installed as needed. With the clamping arm in place, objects in gaps can be clamped, increasing the applicability of the clamping tool and facilitating its promotion.

[0021] Meanwhile, the special clamping tool provided by this utility model can be directly installed onto the fingers of a dexterous hand. The entire installation and implementation process is simple and quick, avoiding tedious installation and debugging processes, significantly improving overall work efficiency, and facilitating the promotion and application of dexterous hands.

[0022] The beneficial effects of this application are:

[0023] 1. The special clamping tool designed in this utility model can be directly snapped onto the existing dexterous hand fingers when in use. Then, the clamping operation can be performed with the help of the other fingers of the dexterous hand. There is no need to design a special dexterous hand separately, which reduces the investment in hardware and software, lowers the cost, and is easy and simple to install without the need for wiring and debugging, saving time.

[0024] 2. The clamping mechanism designed in this utility model uses an arc-shaped fixed clamping part and an arc-shaped rotating clamping part to clamp the object in a wrapping manner, which increases the force-bearing area of ​​the object and avoids the problem that the object is easy to slip in the traditional clamping method, thus causing the clamped object to fall off.

[0025] 3. The design of this utility model, in which the thickness of the arc-shaped fixed clamping part and the arc-shaped rotating clamping part near the mounting plate is smaller than the thickness far from the mounting plate, further increases the stability of the clamping tool.

[0026] 4. This utility model can determine whether a clamping arm needs to be installed according to the needs. Under the action of the clamping arm, objects in the gap can be clamped, which increases the applicability of the clamping tool and facilitates its promotion. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a three-dimensional structural diagram of the first embodiment of this application after the dexterous hand and the clamping tool are assembled;

[0029] Figure 2 This is a three-dimensional structural schematic diagram of the finger sleeve shell according to the first embodiment of this application;

[0030] Figure 3 This is a three-dimensional structural schematic diagram of the clamping mechanism in the first direction according to the first embodiment of this application;

[0031] Figure 4 This is a three-dimensional structural diagram of the clamping mechanism in the second direction according to the first embodiment of this application;

[0032] Figure 5 This is a three-dimensional structural diagram of the mounting plate and the arc-shaped fixing clamp in the first direction according to the first embodiment of this application;

[0033] Figure 6 This is a three-dimensional structural diagram of the mounting plate and the arc-shaped fixing clamp in the second direction according to the first embodiment of this application;

[0034] Figure 7 This is a three-dimensional structural schematic diagram of the arc-shaped rotating clamping part according to the first embodiment of this application;

[0035] Figure 8 This is a partial cross-sectional view of the arc-shaped rotating clamping part according to the first embodiment of this application;

[0036] Figure 9 This is a three-dimensional structural schematic diagram of the drive gear according to the first embodiment of this application;

[0037] Figure 10 This is a three-dimensional structural schematic diagram of the drive unit according to the first embodiment of this application;

[0038] Figure 11 This is a three-dimensional structural schematic diagram of the dexterous hand according to the first embodiment of this application;

[0039] Figure 12 This is a three-dimensional structural diagram of the clamping arm according to the second embodiment of this application;

[0040] Figure 13This is a three-dimensional structural diagram of the clamping mechanism with clamping arm according to the second embodiment of this application;

[0041] Figure 14 This is a three-dimensional structural diagram of the assembly of the dexterous hand and the clamping tool with clamping arm according to the second embodiment of this application;

[0042] Figure 15 This is a three-dimensional structural diagram of the clamping tool with a double-finger hole structure as the finger sleeve shell of this application;

[0043] Figure 16 This is a three-dimensional structural diagram of the clamping tool after assembly, which has a double-finger hole structure and a dexterous hand and finger sleeve housing according to this application.

[0044] Figure label:

[0045] Dexterous hand, 101, card slot,

[0046] Clamping tools

[0047] Finger sleeve housing, 2011, raised strip, 2012, first connecting rod,

[0048] Clamping mechanism, 2021, mounting plate, 20211, first mounting hole, 20212, second mounting hole, 20213, third mounting hole.

[0049] 2022, Arc-shaped fixing clamping part; 20221, First gap;

[0050] Arc-shaped rotating clamping part, 20231, second gap, 20232, first rotating shaft,

[0051] Driven gear, 20241; Second rotating shaft, 2025; Driven gear.

[0052] 2026, Drive unit; 20261, Connecting unit; 20262, Second connecting rod; 20263, Drive ring.

[0053] 2027, Clamping arm; 20271, Mounting slot; 20272, Threaded hole.

[0054] 2028, Limiting plate. Detailed Implementation

[0055] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0056] 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0057] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0058] Currently, for actions such as grasping tweezers or chopsticks to perform clamping, existing dexterous hands have difficulty flexibly grasping tweezers or chopsticks to complete the operation. The solution is often to design a separate dexterous hand. When this operation is needed, the original dexterous hand needs to be disassembled from the wrist joint of the robotic arm, and then a dedicated dexterous hand needs to be installed. Rewiring is also required. Although designing a dedicated dexterous hand can solve the problem that the dexterous hand is difficult to grasp tweezers or chopsticks to perform clamping due to insufficient degrees of freedom and control precision, it will increase costs, and the installation and disassembly are more troublesome and time-consuming. In addition, during the clamping process, the clamped object is prone to slipping due to uneven force.

[0059] Based on this, this application proposes a dedicated gripping tool and a dexterous hand. The dedicated gripping tool provided by this invention avoids the need for redevelopment and redesign of the dexterous hand, and eliminates the need for a motor; only the bending and extending movements of the dexterous hand's fingers are required to grip objects. The hardware structure is simple, and no separate software is needed to coordinate the movement, significantly reducing production costs. Furthermore, the dedicated gripping tool provided by this invention directly snaps onto the existing dexterous hand fingers during use, making installation convenient and simple, eliminating the need for wiring and debugging, saving time, and facilitating the promotion and application of dexterous hands.

[0060] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and embodiments. Example

[0061] See Figure 1 The diagram shows a three-dimensional structure of the dexterous hand and gripping tool after assembly. Figure 2 The diagram shows a three-dimensional structure of the finger sleeve shell. Figure 3 The diagram shows a three-dimensional structure of the clamping mechanism in the first direction. Figure 4 The diagram shows a three-dimensional structure of the clamping mechanism in the second direction. Figure 5 The diagram shows a three-dimensional structure of the mounting plate and the arc-shaped fixing clamp in the first direction. Figure 6 The diagram shows a three-dimensional structure of the mounting plate and the arc-shaped fixing clamp in the second direction. Figure 7 The diagram shows a three-dimensional structure of the arc-shaped rotating clamping part; the special clamping tool proposed in this embodiment includes a clamping tool 200, which enables the dexterous hand 100 to perform clamping operations. The clamping tool 200 includes a finger sleeve housing 201 and a clamping mechanism 202. The finger sleeve housing 201 is used to connect with the fingers of the dexterous hand 100.

[0062] The clamping mechanism 202 is connected to the finger sleeve housing 201. The clamping mechanism 202 includes a mounting plate 2021, an arc-shaped fixed clamping part 2022, an arc-shaped rotating clamping part 2023, and a driving part 2026. The mounting plate 2021 is provided with a first mounting hole 20211, a second mounting hole 20212, and a third mounting hole 20213. The second mounting hole 20212 penetrates the mounting plate 2021, and the axes of the second mounting hole 20212 and the third mounting hole 20213 are parallel.

[0063] The arc-shaped fixed clamping part 2022 and the arc-shaped rotating clamping part 2023 are located on the same side of the mounting plate 2021. The arc-shaped fixed clamping part 2022 is fixedly connected to the end face of the mounting plate 2021. The arc-shaped rotating clamping part 2023 is provided with a first rotating shaft 20232. The arc-shaped rotating clamping part 2023 is rotatably connected to the second mounting hole 20212 through the first rotating shaft 20232 and the first rotating shaft 20232 passes through the second mounting hole 20212.

[0064] The arc-shaped fixed clamping part 2022 has a first gap 20221, and the arc-shaped rotating clamping part 2023 has a second gap 20231. The arrangement of the first gap 20221 and the second gap 20231 allows the arc-shaped rotating clamping part 2023 to cross the arc-shaped fixed clamping part 2022 during rotation.

[0065] The clamping mechanism 202 clamps the object in a wrapping manner, increasing the force-bearing area and preventing the object from slipping and falling, a problem common with traditional clamping methods.

[0066] See Figure 8 A partial cross-sectional view of the arc-shaped rotating clamping part shown; Optionally, the thickness of the arc-shaped fixed clamping part 2022 and the arc-shaped rotating clamping part 2023 near the mounting plate 2021 is less than the thickness away from the mounting plate 2021, forming an inclination angle α. In this way, the object being clamped will have a tendency to move towards the mounting plate 2021 during the clamping process, increasing the stability of the clamping.

[0067] Optionally, the clamping surfaces of both the arc-shaped fixed clamping part 2022 and the arc-shaped rotating clamping part 2023 are covered with anti-slip rubber, which can further increase the stability of clamping.

[0068] See Figure 10 The diagram shows a three-dimensional structure of the drive unit. The drive unit 2026 is located on the other side of the mounting plate 2021. The drive unit 2026 includes a connecting part 20261, a second connecting rod 20262, and a drive ring 20263. The second connecting rod 20262 is located between the connecting part 20261 and the drive ring 20263. The drive ring 20263 is a long strip-shaped ring. During the drive process, the relative position of the dexterous hand fingers and the drive ring 20263 will change. The long strip-shaped drive ring 20263 allows the dexterous hand fingers to still apply force to the drive ring when the relative position with the drive ring 20263 changes.

[0069] Figure 9The diagram shows a three-dimensional structure of the driving gear; a transmission mechanism is provided between the driving unit 2026 and the arc-shaped rotating clamping unit 2023. The transmission mechanism includes a driving gear 2024, a second rotating shaft 20241 and a driven gear 2025. The driving gear 2024 is fixedly mounted on the second rotating shaft 20241. The axis of the second rotating shaft 20241 coincides with that of the driving gear 2024. One end of the second rotating shaft 20241 is rotatably connected to the third mounting hole 20213, and the other end of the second rotating shaft 20241 is fixedly connected to the connecting part 20261 of the driving unit 2026.

[0070] The driven gear 2025 is fixedly connected to the part of the first rotating shaft 20232 on the arc-shaped rotating clamping part 2023 that passes through the second mounting hole 20212. The first rotating shaft 20232 coincides with the axis of the driven gear 2025, and the driving gear 2024 meshes with the driven gear 2025.

[0071] Optionally, the gear ratio of the driving gear 2024 to the driven gear 2025 is greater than 2. This allows the arc-shaped rotating clamping part 2023 to rotate significantly by a small rotation of the driving part 2026. This solves the problem that the rotation range of the arc-shaped rotating clamping part 2023 is limited because the rotation range of the driving part 2026 driven by the fingers of a dexterous hand is limited.

[0072] The inner wall of the finger sleeve housing 201 is provided with multiple protrusions 2011. The inner wall of the finger sleeve housing 201 matches the outer wall structure and size of the fingers of the dexterous hand 100. The other end of the finger sleeve housing 201 is provided with a first connecting rod 2012. The first connecting rod 2012 is detachably connected to the first mounting hole 20211 on the mounting plate 2021.

[0073] See Figure 15 The diagram shown is a three-dimensional structural schematic of a clamping tool with a double-finger hole structure. Figure 16 The diagram shows a three-dimensional structure of the assembled dexterous hand and the finger sleeve housing, which is a clamping tool with a double-finger hole structure. The finger sleeve housing 201 is designed as a finger sleeve with double-finger holes, and then the two fingers of the dexterous hand 100 are simultaneously sleeved in the finger sleeve housing 201. This design can avoid the problem of the finger sleeve housing 201, which is engaged with the fingers, rotating when the dexterous hand fingers drive the drive unit 2026 to complete the operation.

[0074] See Figure 11 The diagram shows a three-dimensional structure of a dexterous hand. A dexterous hand includes a special gripping tool, and the fingertips of the dexterous hand have a snap-fit ​​groove 101 located on the side wall of the finger. The snap-fit ​​groove 101 is used to snap with the protrusion 2011 when the special tool is installed on the dexterous hand 100. In this way, when the special gripping tool is used, it only needs to be snapped onto the finger of the dexterous hand 100, which is convenient and simple to install, without the need for wiring and debugging, saving time.

[0075] In use, the clamping tool 200 is fixedly mounted on the middle finger of the dexterous hand. Under the action of the other fingers of the dexterous hand, when the drive ring 20263 of the drive unit 2026 is driven by the fingers of the dexterous hand 100, the drive unit 2026 will drive the second rotating shaft 20241 fixedly connected to it to rotate, thereby the drive gear 2024 will rotate and drive the driven gear 2025 meshing with it to rotate. The arc-shaped rotating clamping part 2023 will rotate under the drive of the driven gear 2025, and then work together with the arc-shaped fixed clamping part 2022 to clamp the object. After the operation is completed, the fingers driven by the dexterous hand will return to their original position. During the process of the fingers returning to their original position, the drive ring 20263 of the drive unit 2026 will move together, thereby the clamping mechanism 202 of the clamping tool 200 will return to its original position. Example

[0076] See Figure 12 The diagram shows a three-dimensional structure of the clamping arm. Figure 13 The diagram shows a three-dimensional structure of the clamping mechanism. Figure 14 The diagram shows a three-dimensional structure of the dexterous hand and clamping tool after assembly. A clamping arm 2027 is detachably provided at the free end of the arc-shaped rotating clamping part 2023 away from the first rotating shaft 20232. The connecting end of the clamping arm 2027 has a mounting groove 20271 and a threaded hole 20272. The mounting groove 20271 is used to fit the clamping arm 2027 onto the arc-shaped fixed clamping part 2022 and the arc-shaped rotating clamping part 2023. The threaded hole 20272 is used to fix the clamping arm 2027 with screws. A limit plate 2028 is provided at the contact point between the screw and the arc-shaped rotating clamping part 2023 for better fixing of the clamping arm 2027. The other end of the clamping arm 2027 is flat. Clamping arms 2027 are also provided at the corresponding ends of the arc-shaped fixed clamping part 2022 and the arc-shaped rotating clamping part 2023.

[0077] This allows for selection of whether to install the clamping arm 2027 based on the state of the object being clamped. With the action of the clamping arm 2027, objects within gaps can be clamped, increasing the applicability of the clamping tool.

[0078] In summary, the embodiments of this application propose a dedicated clamping tool and a dexterous hand. The dedicated clamping tool can perform clamping operations without the need to design a separate dedicated dexterous hand, reducing hardware and software investment, lowering costs, and making installation convenient and simple, without the need for wiring and debugging, saving time and facilitating the promotion and application of the dexterous hand.

[0079] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A special clamping tool, characterized in that: It includes a clamping tool (200) for enabling a dexterous hand (100) to perform a clamping operation. The clamping tool (200) includes a finger sleeve housing (201) and a clamping mechanism (202). The finger sleeve housing (201) is used to connect to the fingers of the dexterous hand (100). The clamping mechanism (202) is connected to the finger sleeve housing (201). The clamping mechanism (202) includes a mounting plate (2021), an arc-shaped fixed clamping part (2022), an arc-shaped rotating clamping part (2023), and a driving part (2026). The arc-shaped fixed clamping part (2022) is fixedly connected to the mounting plate (2021), the arc-shaped rotating clamping part (2023) is rotatably connected to the mounting plate (2021), and the driving part (2026) is drively connected to the arc-shaped rotating clamping part (2023). When another finger of the dexterous hand (100) applies force to the driving part (2026), the driving part (2026) drives the arc-shaped rotating clamping part (2023) rotatably connected to the mounting plate (2021) to move towards the arc-shaped fixed clamping part (2022), so that the clamping mechanism (202) realizes the clamping action.

2. The special clamping tool according to claim 1, characterized in that: The mounting plate (2021) is provided with a first mounting hole (20211), a second mounting hole (20212), and a third mounting hole (20213). The second mounting hole (20212) penetrates the mounting plate (2021), and the axes of the second mounting hole (20212) and the third mounting hole (20213) are parallel. The arc-shaped fixed clamping part (2022) and the arc-shaped rotating clamping part (2023) are located on the same side of the mounting plate (2021). The arc-shaped fixed clamping part (2022) is fixedly connected to the end face of the mounting plate (2021). The arc-shaped rotating clamping part (2023) is provided with a first rotating shaft (20232). The arc-shaped rotating clamping part (2023) is rotatably connected to the second mounting hole (20212) through the first rotating shaft (20232) and the first rotating shaft (20232) passes through the second mounting hole (20212).

3. The special clamping tool according to claim 1, characterized in that: The arc-shaped fixed clamping part (2022) has a first gap (20221) and the arc-shaped rotating clamping part (2023) has a second gap (20231). The arrangement of the first gap (20221) and the second gap (20231) allows the arc-shaped rotating clamping part (2023) to cross the arc-shaped fixed clamping part (2022) during rotation.

4. The special clamping tool according to claim 3, characterized in that: The thickness of the arc-shaped fixed clamping part (2022) and the arc-shaped rotating clamping part (2023) near the mounting plate (2021) is less than the thickness away from the mounting plate (2021), forming an inclination angle α.

5. The special clamping tool according to claim 1, characterized in that: A transmission mechanism is provided between the drive unit (2026) and the arc-shaped rotating clamping unit (2023). The transmission mechanism includes a drive gear (2024), a second rotating shaft (20241), and a driven gear (2025). The drive gear (2024) is fixedly mounted on the second rotating shaft (20241). The axis of the second rotating shaft (20241) coincides with that of the drive gear (2024). One end of the second rotating shaft (20241) is rotatably connected to the third mounting hole (20213). The drive unit (2026) is fixedly mounted on the other end of the second rotating shaft (20241). The drive unit (2026) is located on the other side of the mounting plate (2021). The driven gear (2025) is fixedly connected to the part of the first rotating shaft (20232) on the arc-shaped rotating clamping part (2023) that passes through the second mounting hole (20212). The first rotating shaft (20232) and the axis of the driven gear (2025) coincide, and the driving gear (2024) meshes with the driven gear (2025).

6. The special clamping tool according to claim 5, characterized in that: The ratio of the number of teeth of the driving gear (2024) to the number of teeth of the driven gear (2025) is greater than 2.

7. The special clamping tool according to claim 1, characterized in that: The drive unit (2026) includes a connecting part (20261), a second connecting rod (20262), and a drive ring (20263). The second connecting rod (20262) is located between the connecting part (20261) and the drive ring (20263). The connecting part (20261) is fixedly connected to the second rotating shaft (20241). The drive ring (20263) is a long strip-shaped ring.

8. The special clamping tool according to claim 1, characterized in that: The inner wall of the finger sleeve housing (201) is provided with multiple protrusions (2011). The inner wall of the finger sleeve housing (201) matches the outer wall structure and size of the fingers of the dexterous hand (100). The other end of the finger sleeve housing (201) is provided with a first connecting rod (2012). The first connecting rod (2012) is detachably connected to the first mounting hole (20211) on the mounting plate (2021).

9. The special clamping tool according to claim 2, characterized in that: The free end of the arc-shaped rotating clamping part (2023) away from the first rotating shaft (20232) is detachably provided with a clamping arm (2027). The connecting end of the clamping arm (2027) is provided with a mounting groove (20271) and a threaded hole (20272). The mounting groove (20271) is used to fit the clamping arm (2027) onto the arc-shaped rotating clamping part (2023). The threaded hole (20272) is used to fix the clamping arm (2027) with screws. A limit plate (2028) is provided at the contact part between the screw and the arc-shaped rotating clamping part (2023) for better fixing of the clamping arm (2027). The other end of the clamping arm (2027) is flat. The ends of the arc-shaped fixed clamping part (2022) and the arc-shaped rotating clamping part (2023) are also provided with clamping arms (2027).

10. A dexterous hand, characterized in that: Includes a special clamping tool, the special clamping tool being the special clamping tool as described in any one of claims 1-9, and the fingertip of the dexterous hand is provided with a snap-fit ​​groove (101), the snap-fit ​​groove (101) being located on the side wall of the finger, the snap-fit ​​groove (101) being used to snap-fit ​​the clamping tool (200) with the protrusion (2011) when the dexterous hand (100) is installed on the dexterous hand (100).

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