Quick-change wrist for dexterous hand

Abstract

The utility model discloses a kind of quick-change wrist for dexterous hand, including first adapter and second adapter, first sleeve is equipped on the first adapter, second sleeve is equipped on the second adapter, one of the first sleeve and the second sleeve is equipped with male head, the other of the first sleeve and the second sleeve is equipped with female head, the first sleeve is sleeved on the second sleeve, the male head is connected with the female head by plug-in connection.The quick-change wrist for dexterous hand of the utility model can realize quick disassembly and assembly, greatly improve the replacement efficiency of dexterous hand, adapt the scene demand of multi-task quick switching.The alignment process is simpler, reduces artificial dependence, improves the convenience and accuracy of operation.The plug-in connection mode of male head and female head provides more stable connection, reduces the failure and accident caused by unstable connection.The utility model makes that robot system can be more flexibly deployed in different scenes, adapts various operation needs.

Description

Technical Field

[0001] This utility model relates to the field of dexterity technology, specifically to a quick wrist changer for dexterity. Background Technology

[0002] With the increasing demand for dexterous hands in industrial automation, special operations, and medical rehabilitation, especially in scenarios requiring rapid multi-task switching, the quick assembly, disassembly, and replacement of dexterous hands are of paramount importance. As a key structure connecting the robot's end effector and the robotic arm, the quick-change wrist primarily provides functions such as rapid docking, reliable connection, and signal / pneumatic interface transmission. However, current quick-change wrist connection technologies, such as threaded connections and screw fixation, suffer from low replacement efficiency, alignment difficulties, and high reliance on manual intervention, making them unable to meet the demands of modern robotic systems for flexible deployment and efficient operation. Utility Model Content

[0003] This utility model aims to at least partially solve one of the technical problems in the related art.

[0004] Therefore, embodiments of this utility model propose a dexterous hand for quick wrist switching.

[0005] The quick-change wrist for the dexterous hand in this embodiment of the utility model includes a first adapter and a second adapter. The first adapter is provided with a first sleeve, and the second adapter is provided with a second sleeve. One of the first sleeve and the second sleeve is provided with a male head, and the other of the first sleeve and the second sleeve is provided with a female head. The first sleeve is sleeved on the second sleeve, and the male head and the female head are plugged into each other.

[0006] In some embodiments, the side wall of the first sleeve is provided with a mounting through hole, and a limiting member is provided in the mounting through hole. The limiting member is adjustable in radial position along the first sleeve. The outer wall surface of the second sleeve is provided with a limiting groove. The limiting member is used to cooperate in the limiting groove when the male head is inserted into the female head, so as to restrict the second sleeve from moving relative to the first sleeve in the axial direction.

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

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

[0009] In some embodiments, the dexterous hand quick-change wrist of this utility model includes a return spring, which is sleeved on the first sleeve and its two ends are respectively connected to the first sleeve and the adjusting sleeve.

[0010] In some embodiments, the outer wall surface of the first sleeve is provided with a flange, the inner wall surface of the adjusting sleeve is provided with an annular mounting groove, at least a portion of the flange is disposed in the annular mounting groove, one end of the return spring abuts against the flange, and the other end of the return spring abuts against the side wall of the annular mounting groove.

[0011] In some embodiments, the dexterous hand quick-change wrist of this utility model includes a limiting ring, which is sleeved on the first sleeve and located on the side of the flange away from the return spring. The limiting ring abuts against the flange along the axial direction of the first sleeve. The limiting ring has a connecting hole for a fastener to pass through, and the limiting ring is connected to the limiting sleeve through the fastener.

[0012] In some embodiments, the male connector includes a male connector seat and a pin. The male connector seat is connected to the second sleeve, and the pin is disposed on the male connector seat and extends along the axial direction of the second sleeve. The female connector includes a female connector seat, which is connected to the first sleeve. The female connector seat has a socket, and the pin is inserted into the socket.

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

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

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

[0016] Compared to traditional threaded connections and screw fixation, the quick-change wrist of this invention enables rapid assembly and disassembly of the dexterous hand, significantly improving its replacement efficiency and adapting to scenarios requiring rapid switching between multiple tasks. Optimized structural design simplifies the alignment process, reduces manual intervention, and improves operational convenience and accuracy. The male-to-female connector provides a more stable connection, reducing malfunctions and accidents caused by unstable connections. This invention allows for more flexible deployment of the robot system in different scenarios, adapting to various operational needs. Through fast and reliable connection, it improves the overall operational efficiency and performance of the robot system while reducing maintenance costs. Attached Figure Description

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

[0018] Figure 2 This is an exploded view of a dexterous hand with a quick wrist-changing mechanism according to an embodiment of the present invention.

[0019] Figure 3 This is an exploded view of a dexterous hand with a quick wrist-changing mechanism according to an embodiment of the present invention.

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

[0021] Figure label:

[0022] 100. Dexterous Hand Quick-Change Wrist; 1. First Adapter; 2. Second Adapter; 3. First Sleeve; 301. Mounting Through Hole; 302. Flange; 4. Second Sleeve; 401. Limiting Groove; 402. Wire Through Hole; 5. Male Connector; 501. Male Connector Seat; 5011. Positioning Protrusion; 502. Pin; 6. Female Connector; 601. Female Connector Seat; 6011. Insertion Hole; 6012. Positioning Groove; 7. Limiting Component; 8. Adjusting Sleeve; 801. Receiving Groove; 802. Annular Mounting Groove; 9. Return Spring; 10. Limiting Ring; 11. Fastener. Detailed Implementation

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

[0024] like Figures 1 to 4As shown, the dexterous hand quick-change wrist 100 of this utility model embodiment includes a first adapter 1 and a second adapter 2. The first adapter 1 is provided with a first sleeve 3, and the second adapter 2 is provided with a second sleeve 4. One of the first sleeve 3 and the second sleeve 4 is provided with a male head 5, and the other of the first sleeve 3 and the second sleeve 4 is provided with a female head 6. The first sleeve 3 is sleeved on the second sleeve 4, and the male head 5 and the female head 6 are inserted and connected.

[0025] In use, the quick-change wrist 100 for the dexterous hand in this embodiment of the invention, for example, uses a first adapter 1 for fixed connection with a robotic arm or industrial robotic arm, and a second adapter 2 for connection with the dexterous hand. When the dexterous hand needs to be changed, the first sleeve 3 is fitted onto the second sleeve 4, allowing the male head 5 and the female head 6 to be inserted and connected, thereby achieving quick docking.

[0026] Because the first sleeve 3 and the second sleeve 4 have high alignment accuracy, the difficulty of alignment and the need for manual intervention are reduced. The insertion of the male connector 5 and the female connector 6 makes the connection more secure and reliable. When the male connector 5 and the female connector 6 are inserted, the interface automatically connects, ensuring stable signal transmission and power supply.

[0027] Compared to traditional threaded connections and screw fixation, the quick-change wrist 100 for the dexterous hand in this embodiment allows for rapid assembly and disassembly, significantly improving the efficiency of dexterous hand replacement and adapting to scenarios requiring rapid switching between multiple tasks. Optimized structural design simplifies the alignment process, reduces manual intervention, and improves operational convenience and accuracy. The plug-in connection between the male connector 5 and the female connector 6 provides a more stable connection, reducing malfunctions and accidents caused by unstable connections. This invention allows the robot system to be deployed more flexibly in different scenarios, adapting to various operational needs. Through fast and reliable connection, the overall operational efficiency and performance of the robot system are improved, while maintenance costs are reduced.

[0028] In some embodiments, such as Figure 2 and Figure 3 As shown, the side wall of the first sleeve 3 is provided with a mounting through hole 301, and a limiting member 7 is provided in the mounting through hole 301. The limiting member 7 is adjustable in radial position along the first sleeve 3, and the outer wall surface of the second sleeve 4 is provided with a limiting groove 401. The limiting member 7 is used to cooperate in the limiting groove 401 when the male head 5 is inserted into the female head 6, so as to restrict the second sleeve 4 from moving relative to the first sleeve 3 in the axial direction.

[0029] Specifically, such as Figure 1 and Figure 4As shown, when the second sleeve 4 is inserted into or pulled out of the first sleeve 3, the limiting member 7 is moved radially away from the second sleeve 4 along the first sleeve 3, so that the second sleeve 4 can be inserted into or pulled out of the first sleeve 3, avoiding interference between the limiting member 7 and the second sleeve 4. When the second sleeve 4 is inserted into the first sleeve 3 and the male head 5 and female head 6 are engaged, the limiting member 7 is moved radially towards the second sleeve 4 along the first sleeve 3, so that part of the limiting member 7 is placed in the limiting groove 401, restricting the movement of the second sleeve 4 in the axial direction of the first sleeve 3, ensuring the reliability of the connection between the first sleeve 3 and the second sleeve 4, preventing the risk of detachment due to relative displacement caused by vibration or other reasons during operation, and improving the reliability of use.

[0030] Furthermore, because the position of the limiting component 7 is adjustable, the quick-change wrist can adapt to interfaces of different specifications and sizes, increasing the system's compatibility and flexibility. When a dexterous hand needs to be replaced, installation can be completed quickly, ensuring its stability and safety. The more stable and precise connection reduces malfunctions caused by connection problems, thereby lowering system maintenance costs and downtime.

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

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

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

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

[0035] Because the mounting through hole 301 is a tapered hole with a cross-sectional area that gradually decreases from the outside to the inside, the diameter of the limiting ball is larger than the inner diameter of the small opening of the tapered hole but smaller than the inner diameter of the large opening of the tapered hole. When the limiting ball moves within the mounting through hole 301, it can prevent the limiting ball from rolling down through the small opening of the tapered hole into the second sleeve 4 and falling off, while also allowing the limiting ball to roll down through the large opening of the mounting through hole 301 into the receiving groove 801 of the adjusting sleeve 8.

[0036] Therefore, this utility model adjusts the position of the limiting ball by adjusting the position of the adjusting sleeve 8, and controls the fixation between the first sleeve 3 and the second sleeve 4 by moving the limiting ball. This simplifies the quick wrist replacement operation process, allowing users to quickly switch between the two positions, enabling rapid disassembly and replacement. This makes the process of replacing the dexterous hand more convenient and faster, improves replacement efficiency, and reduces the time and cost required for maintenance.

[0037] In some embodiments, the dexterous hand quick-change wrist 100 of this utility model includes a return spring 9, which is sleeved on the first sleeve 3 and its two ends are respectively connected to the first sleeve 3 and the adjusting sleeve 8.

[0038] For example, such as Figure 4 As shown, the return spring 9 is in a compressed state. During the quick-change wrist assembly and disassembly process, the return spring 9 provides an automatic reset force. When the adjusting sleeve 8 moves from the second position to the first position, the return spring 9 pushes the adjusting sleeve 8 back to the initial position, preparing for the next docking operation. In the first position, the return spring 9 maintains a certain preload, which helps to maintain the position of the limiting ball within the limiting groove 401, ensuring the stability and reliability of the connection.

[0039] The return spring 9 eliminates the need for manual adjustment to the initial position during quick-change wrist assembly and disassembly, reducing operational steps and improving ease of use. The automatic reset function reduces the time required for changing dexterous hands, improving work efficiency, especially in applications requiring frequent end effector changes. The return spring 9 ensures consistency and accuracy in every docking operation, reducing docking failures or unstable connections due to improper human operation. Because the return spring 9 automatically maintains the connection state, maintenance and replacement costs due to connection problems are reduced. The automatic reset function provides a smoother and more intuitive user experience, reducing operational difficulty and increasing user satisfaction.

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

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

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

[0043] A limiting ring 10 is fitted onto the first sleeve 3, located on the side of the flange 302 opposite to the return spring 9. The limiting ring 10 abuts against the flange 302 along the axial direction of the first sleeve 3, providing an additional support point for the flange 302. The limiting ring 10 has a connecting hole for the fastener 11 to pass through, allowing the limiting ring 10 to be connected to the adjusting sleeve 8 via the fastener 11, so that the limiting ring 10 and the return spring 9 limit the adjusting sleeve 8 in the circumferential direction of the first sleeve 3, allowing the adjusting sleeve 8 to move stably along the axial direction of the first sleeve 3 and adjust its position.

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

[0045] When the male connector 5 is connected to the female connector 6, the pin 502 is inserted into the socket 6011, which enables rapid transmission of signals and energy, ensuring the continuity of signals and energy while quickly replacing the end effector.

[0046] The combination of pin 502 and socket 6011 enables rapid signal and energy transmission without additional connection steps, improving operational efficiency. Pin 502 and socket 6011 provide a reliable connection point, reducing signal interruptions or energy loss due to connection problems. The combination of pin 502 and socket 6011 simplifies quick wrist changes, allowing users to rapidly assemble and disassemble, reducing operation time. The reliability and stability of the connection reduce maintenance and replacement costs due to connection issues. By rapidly transmitting signals and energy, the performance and response speed of the entire robot system are improved.

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

[0048] The presence of multiple pins 502 and sockets 6011 allows the quick-change wrist to transmit multiple signal or energy channels simultaneously, making it suitable for applications requiring multi-channel data transmission and power supply. The one-to-one correspondence between multiple pins 502 and sockets 6011 provides more connection points, enhancing connection stability and reducing system failures caused by a single connection point failure. The multi-channel configuration improves the reliability of signal and energy transmission; even if some channels fail, others can still function normally, ensuring system continuity and stability. The multi-channel configuration allows the quick-change wrist to adapt to more complex application requirements, such as multi-sensor data transmission and multi-axis control signal transmission. Using a multi-channel quick-change wrist simplifies the overall system setup, reduces the number of external connection cables, and makes the system cleaner and easier to maintain. The multi-channel configuration improves system performance, enabling the robot system to respond to external commands more quickly and increasing operational efficiency. The multi-channel configuration enhances the versatility and adaptability of the quick-change wrist, accommodating different specifications and types of signal and energy interfaces.

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

[0050] like Figure 2 and Figure 3As shown, when the male connector 5 mates with the female connector 6, the positioning protrusion 5011 and the positioning groove 6012 engage axially on the first sleeve 3, improving the efficiency and accuracy of the mating process, reducing operation time, and increasing work efficiency. The positioning protrusion 5011 and the positioning groove 6012 enhance the stability of the connection and reduce connection failures caused by inaccurate alignment. The positioning protrusion 5011 and the positioning groove 6012 also simplify the mating process, reduce operational difficulty, and make quick-change wrists easier to use. By ensuring precise alignment between the male connector 5 and the female connector 6, the reliability of the entire system is improved, and system failures caused by connection problems are reduced.

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

[0052] The cable guide hole 402 allows for flexible arrangement of wires and cables during connection, adapting to different connection needs and environments. Through the cable guide hole 402, wires and cables can be internally arranged, reducing the number of external connection wires and making the entire system neater and easier to maintain. Internally arranged wires and cables reduce the risk of exposed external connection wires, improving system security.

[0053] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", 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.

[0054] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0055] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0056] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0057] In this utility model, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0058] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A dexterous hand with a quick wrist-changing function, characterized in that, It includes a first adapter (1) and a second adapter (2). The first adapter (1) is provided with a first sleeve (3), and the second adapter (2) is provided with a second sleeve (4). One of the first sleeve (3) and the second sleeve (4) is provided with a male head (5), and the other of the first sleeve (3) and the second sleeve (4) is provided with a female head (6). The first sleeve (3) is sleeved on the second sleeve (4), and the male head (5) and the female head (6) are inserted and connected.

2. The dexterous hand with quick wrist switching according to claim 1, characterized in that, The first sleeve (3) has a mounting through hole (301) on its side wall. A limiting member (7) is provided in the mounting through hole (301). The limiting member (7) is adjustable in the radial position of the first sleeve (3). The second sleeve (4) has a limiting groove (401) on its outer wall surface. The limiting member (7) is used to cooperate in the limiting groove (401) when the male head (5) is inserted into the female head (6) to restrict the second sleeve (4) from moving relative to the first sleeve (3) in the axial direction.

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

4. The dexterous hand with quick wrist switching according to claim 3, characterized in that, Includes a return spring (9), which is sleeved on the first sleeve (3) and its two ends are respectively connected to the first sleeve (3) and the adjusting sleeve (8).

5. The dexterous hand with quick wrist switching according to claim 4, characterized in that, The outer wall of the first sleeve (3) is provided with a flange (302), and the inner wall of the adjusting sleeve (8) is provided with an annular mounting groove (802). At least part of the flange (302) is located in the annular mounting groove (802). One end of the return spring (9) abuts against the flange (302), and the other end of the return spring (9) abuts against the side wall of the annular mounting groove (802).

6. The dexterous hand with quick wrist switching according to claim 5, characterized in that, Includes a limiting ring (10), which is sleeved on the first sleeve (3) and located on the side of the flange (302) away from the return spring (9). The limiting ring (10) abuts against the flange (302) along the axial direction of the first sleeve (3). The limiting ring (10) has a connecting hole for a fastener (11) to pass through. The limiting ring (10) is connected to the adjusting sleeve (8) through the fastener (11).

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

8. The dexterous hand with quick wrist switching according to claim 7, characterized in that, The number of each of the pins (502) and the sockets (6011) is multiple and they correspond one-to-one.

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

10. The dexterous hand with quick wrist switching according to claim 7, characterized in that, The second sleeve (4) has a wire hole (402) on its side wall.

Images