Four-degree-of-freedom hand rotation device for hand controller of heterogeneous robot

The invention discloses a four-degree-of-freedom hand rotation device for a hand controller of a heterogeneous robot. The hand rotation device comprises a first rotation piece, a second rotation piece, a third rotation piece, a fourth rotation assembly, a first support, a second support, a third support, a first belt wheel and a second belt wheel. A rotary shaft of the first rotation piece penetrates through the first support and is fixedly connected with the first belt wheel. The second support is connected with the second belt wheel through a rotary shaft, and the rotary shaft penetrates through the first support. The first belt wheel and the second belt wheel are located on the same side of the first support and connected through a belt. The two ends of the second rotation piece penetrate through the two opposite sides of the second support. The second rotation piece is connected to the second support and sleeved with a shaft sleeve. The shaft sleeve is fixedly connected to the second rotation piece. The third rotation piece is connected to a shaft sleeve. The third support is fixedly connected with the third rotation piece. The fourth rotation assembly is connected to the third support. By the adoption of the device, the measurement precision of the hand controller can be improved.