A detachable fingered dexterous hand

Abstract

The utility model discloses a detachable finger's dexterous hand relates to dexterous hand technical field, including hand body, including palm, four first fingers, thumb, fixed block and fixed part, four first fingers all set up in the top of fixed block, the top of palm is concave, the fixed block is inserted in the top of palm, the first finger includes first fingertip and first branch arm, first fingertip is hinged with first branch arm, the top of fixed block is fixedly provided with four first hinging seat, first branch arm is hinged with first hinging seat, the thumb includes second fingertip and second branch arm, the utility model discloses set up the suction mechanism, make the negative pressure in the box through the negative pressure pump, when the finger clamps the object, can adsorb the object under the negative pressure effect, effectively prevent the object from falling, greatly promoted the stability and reliability of clamping.

Description

Technical Field

[0001] This utility model relates to the field of dexterity technology, and in particular to a dexterity hand with detachable fingers. Background Technology

[0002] A dexterous hand is a new type of end effector (i.e., a device that directly performs tasks) for robots. It is usually installed at the end of the robot's wrist to enable precise interaction with the environment. Its core feature is that it mimics the structure and function of the human hand, possessing high flexibility and precise manipulation capabilities.

[0003] However, in practical applications, there are still some unresolved problems. Here are some common problems with a dexterous hand with detachable fingers: When a traditional dexterous hand is used to grip and pick up cylindrical products (such as cups), it usually uses all five fingers. However, due to the smooth surface of the cup, the cup is easy to slip off the dexterous hand during the gripping process. Utility Model Content

[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the present invention.

[0005] In view of the problems existing in the above and / or existing dexterous hands with detachable fingers, this utility model is proposed.

[0006] Therefore, the problem to be solved by this utility model is how to solve the problem that when a dexterous hand is used to hold and pick up cylindrical products (such as cups), it usually uses the five fingers of the dexterous hand to pick them up. However, during the picking process, the cup is easy to slip from the dexterous hand because the surface of the cup is smooth.

[0007] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a dexterous hand with detachable fingers, comprising: a hand body including a palm, four first fingers, a thumb, a fixing block, and a fixing member; the four first fingers are all disposed on the top of the fixing block; the top of the palm is concave; the fixing block is inserted into the top of the palm; each first finger includes a first fingertip and a first arm; the first fingertip and the first arm are hinged together; four first hinge seats are fixedly disposed on the top of the fixing block; the first arm is hinged to the first hinge seats; the thumb includes a second fingertip and a second arm; the second fingertip and the second arm are hinged together; the second arm is hinged to the palm; and a suction mechanism, comprising a negative pressure pump and a housing; one side of the housing is fixedly connected to one side of the palm; the input port of the negative pressure pump is fixedly connected to and communicates with the bottom of the housing.

[0008] As a preferred embodiment of the dexterous hand with detachable fingers described in this utility model, the suction mechanism further includes four first tubes, four connectors, and a second tube. The interior of each of the first and second fingertips is provided with a receiving groove. Multiple suction holes are provided on the surfaces of each of the first and second fingertips, communicating with the receiving grooves. Rubber pads are fixedly provided on the surfaces of each of the first and second fingertips, with multiple holes on their surfaces communicating with the suction holes. A shielding component is provided within the receiving groove. One end of each of the four first tubes is fixedly connected to one side of each of the four first fingers and communicates with the receiving groove. One end of each of the second tubes is fixedly connected to one side of the second fingertips and communicates with the receiving groove. The other end of each of the second tubes is fixedly connected to one side of a housing and communicates with it. The other ends of each of the four first tubes are connected to the housing via four connectors.

[0009] As a preferred embodiment of the dexterous hand with detachable fingers described in this utility model, the connecting component includes a fixing head, a fixing ring, a locking component, and a connecting tube. The fixing head is fixedly sleeved on the first tube body, the fixing ring is fixedly sleeved on the fixing head, the bottom end of the connecting tube is fixedly connected to and communicates with the top of the box body, and the fixing ring and the connecting tube are connected by the locking component.

[0010] As a preferred embodiment of the dexterous hand with detachable fingers described in this utility model, the engaging component includes a ring, an arc-shaped retaining ring, and an arc-shaped retaining groove. The ring is fixedly sleeved on the surface of the connecting tube. The outer side of the arc-shaped retaining ring is fixedly connected to the inner wall of the fixed ring. The arc-shaped retaining groove is formed on the surface of the ring and is annular. The arc-shaped retaining ring engages with the arc-shaped retaining groove.

[0011] As a preferred embodiment of the dexterous hand with detachable fingers described in this utility model, the shielding component includes two guide rails, a shielding plate, and a second electric push rod. One side of each of the two guide rails is fixedly connected to one inner wall of the receiving groove. The two sides of the shielding plate are slidably connected to the inner walls of the two guide rails respectively. The fixed part of the second electric push rod is fixedly connected to the top inner wall of the receiving groove. The telescopic part of the second electric push rod is fixedly connected to one side of the shielding plate. The surface of the shielding plate is provided with multiple strip-shaped holes.

[0012] As a preferred embodiment of the dexterous hand with detachable fingers described in this utility model, the fixing component includes a groove, a partition, two insert plates, and two first electric push rods. The groove is formed inside the palm, the partition is fixed to the inner wall of the groove, and the bottom inner wall of the palm has an insertion port that communicates with the groove. The tops of the two insert plates are fixedly connected to the bottom of the fixing block. The insert plates are inserted into the groove through the insertion port, and the surface of the insert plates has insertion holes. The fixing parts of the two first electric push rods are fixed to the two sides of the partition, and the telescopic parts of the first electric push rods are inserted into the insertion holes.

[0013] As a preferred embodiment of the dexterous hand with detachable fingers described in this utility model, wherein: a plurality of first limiting rings are fixedly provided on the surface of the first finger, and the first tube is located inside the first limiting ring; a plurality of second limiting rings are fixedly provided on the surface of the thumb, and the second tube is located inside the second limiting ring.

[0014] As a preferred embodiment of the dexterous hand with detachable fingers described in this utility model, wherein: the surface of the fixing head is fixedly sleeved with a limiting sleeve for limiting the fixing ring.

[0015] As a preferred embodiment of the dexterous hand with detachable fingers described in this utility model, a concave fixing seat is fixedly provided at the bottom of the palm, a fixing mechanism is provided inside the fixing seat, and a flange is fixedly provided on the outer side of the bottom end of the fixing seat.

[0016] As a preferred embodiment of the dexterous hand with detachable fingers described in this utility model, the fixing mechanism includes a mounting post and four suction cups. The surface of the mounting post is provided with external threads, and the inner wall of the fixing seat is provided with internal threads. The mounting post is threadedly connected to the fixing seat, and the four suction cups are respectively fixed to the four bottom corners of the mounting post.

[0017] The beneficial effects of this utility model are as follows: by setting up a suction mechanism, a negative pressure is generated in the box by a negative pressure pump. Air enters the box through the suction hole on the fingertip surface, the hole in the rubber pad, the receiving groove, and the tube and is then extracted. When the finger is holding an object, the object can be adsorbed under the action of negative pressure, effectively preventing the object from slipping and greatly improving the stability and reliability of the gripping. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments 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.

[0019] Figure 1 This is a schematic diagram of the main structure of a dexterous hand with detachable fingers.

[0020] Figure 2 This is a side view of a dexterous hand with detachable fingers.

[0021] Figure 3 A schematic diagram of the palm structure of a dexterous hand with detachable fingers.

[0022] Figure 4 For a dexterous hand with detachable fingers Figure 1 Enlarged structural diagram of section A.

[0023] Figure 5 This is a cross-sectional structural diagram of a connector for a dexterous hand with detachable fingers.

[0024] Figure 6 A front view schematic diagram of the mounting structure of a dexterous hand with detachable fingers.

[0025] Figure 7 This is a partial structural diagram of a dexterous hand with detachable fingers.

[0026] Figure 8 A schematic diagram of the cross-sectional structure of the fingertip of a dexterous hand with detachable fingers.

[0027] Figure 9 A schematic diagram of the lateral cross-sectional structure of the fingertip of a dexterous hand with detachable fingers.

[0028] Figure 10 This is a schematic diagram of a shielding structure for a dexterous hand with detachable fingers.

[0029] Figure 11 An exploded view of a cover for a dexterous hand with detachable fingers.

[0030] In the diagram: 1. Hand body; 11. Palm; 12. First finger; 121. First fingertip; 122. First arm; 13. Thumb; 131. Second arm; 132. Second fingertip; 133. Second tube; 2. Suction mechanism; 21. Housing; 22. Negative pressure pump; 23. First tube; 231. First limiting ring; 3. Fixing base; 31. Flange; 32. Fixing mechanism; 321. Suction cup; 322. Mounting column; 4. Fixing block; 41 5. First hinge seat; 6. Fixing component; 7. Partition plate; 8. Groove; 9. First electric push rod; 10. Insert plate; 11. Connecting component; 12. Fixing head; 13. Fixing ring; 14. Limiting sleeve; 15. Connecting pipe; 16. Clamping component; 17. Circular ring; 18. Arc-shaped retaining ring; 19. Arc-shaped retaining groove; 20. Rubber pad; 21. Receiving groove; 22. Covering component; 23. Guide rail; 24. Baffle plate; 25. Second electric push rod; 26. Strip hole. Detailed Implementation

[0031] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0032] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0033] Secondly, the term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that excludes other embodiments.

[0034] Example 1, referring to Figures 1 to 11 This is the first embodiment of the present invention. This embodiment provides a dexterous hand with detachable fingers, including a hand body 1, including a palm 11, four first fingers 12, a thumb 13, a fixing block 4, and a fixing member 5. The four first fingers 12 are all disposed on the top of the fixing block 4. The top of the palm 11 is concave. The fixing block 4 is inserted into the top of the palm 11. The first finger 12 includes a first fingertip 121 and a first arm 122. The first fingertip 121 and the first arm 122 are hinged together. The top of the fixing block 4 is fixedly provided with four first hinge seats 41. The first arm 122 is hinged to the first hinge seats 41. The thumb 13 includes a second fingertip 132 and a second arm 131. The second fingertip 132 and the second arm 131 are hinged together. The second arm 131 is hinged to the palm 11.

[0035] The suction mechanism 2 includes a negative pressure pump 22 and a housing 21. One side of the housing 21 is fixedly connected to one side of the palm 11, and the inlet of the negative pressure pump 22 is fixedly connected to and communicates with the bottom of the housing 21.

[0036] By setting up the suction mechanism 2, the negative pressure pump 22 generates negative pressure inside the box 21. When the finger grips the object, the object can be adsorbed under the action of negative pressure, effectively preventing the object from slipping and greatly improving the stability and reliability of the gripping.

[0037] Specifically, the suction mechanism 2 also includes four first tubes 23, four connectors 6, and a second tube 133. The interior of the first fingertip 121 and the second fingertip 132 is provided with a receiving groove 81. The surface of the first fingertip 121 and the second fingertip 132 is provided with multiple suction holes, which are connected to the receiving groove 81. The surface of the first fingertip 121 and the second fingertip 132 is fixedly provided with a rubber pad 8. The surface of the rubber pad 8 is provided with multiple holes, which are connected to the suction holes. A shielding member 82 is provided in the receiving groove 81. One end of each of the four first tubes 23 is fixedly connected to one side of each of the four first fingers 12 and is connected to the receiving groove 81. One end of the second tube 133 is fixedly connected to one side of the second fingertip 132 and is connected to the receiving groove 81. The other end of the second tube 133 is fixedly connected to one side of the box 21 and is connected to it. The other ends of the four first tubes 23 are connected to the box 21 through the four connectors 6.

[0038] When the negative pressure pump 22 is started, it creates negative pressure inside the housing 21. Since the first tube 23 and the second tube 133 are connected to the receiving groove 81 of the first fingertip 121 and the second fingertip 132 and the housing 21 respectively, under the action of negative pressure, air will enter the receiving groove 81 through the suction holes on the surface of the first fingertip 121 and the second fingertip 132, through the holes of the rubber pad 8, and then enter the housing 21 through the first tube 23 and the second tube 133, and finally be drawn out by the negative pressure pump 22. When the fingers hold an object, the object can be adsorbed under the action of negative pressure.

[0039] Specifically, the connector 6 includes a fixing head 61, a fixing ring 62, a locking member 7, and a connecting pipe 64. The fixing head 61 is fixedly sleeved on the first pipe body 23, the fixing ring 62 is fixedly sleeved on the fixing head 61, the bottom end of the connecting pipe 64 is fixedly connected to and communicates with the top of the box body 21, and the fixing ring 62 and the connecting pipe 64 are connected by the locking member 7.

[0040] Specifically, the engaging component 7 includes a ring 71, an arc-shaped retaining ring 72, and an arc-shaped retaining groove 73. The ring 71 is fixedly sleeved on the surface of the connecting pipe 64. The outer side of the arc-shaped retaining ring 72 is fixedly connected to the inner wall of the fixing ring 62. The arc-shaped retaining groove 73 is formed on the surface of the ring 71 and is annular. The arc-shaped retaining ring 72 engages with the arc-shaped retaining groove 73.

[0041] Insert the fixing ring 62 at one end of the first tube 23 into the ring 71 of the connecting tube 64. With appropriate force, the arc-shaped retaining ring 72 will engage with the arc-shaped retaining groove 73 opened on the surface of the ring 71. After engagement, the fixing head 61 and the connecting tube 64 come into contact and align. The diameter of the ring 71 is slightly smaller than the inner diameter of the fixing head 61 so that the arc-shaped retaining ring 72 can be inserted into the arc-shaped retaining groove 73.

[0042] Specifically, the shielding component 82 includes two guide rails 821, a shielding plate 822, and a second electric push rod 823. One side of each of the two guide rails 821 is fixedly connected to one inner wall of the receiving groove 81. The two sides of the shielding plate 822 are slidably connected to the inner walls of the two guide rails 821, respectively. The fixed part of the second electric push rod 823 is fixedly connected to the top inner wall of the receiving groove 81, and the telescopic part of the second electric push rod 823 is fixedly connected to one side of the shielding plate 822. The surface of the shielding plate 822 is provided with multiple strip holes 824.

[0043] Start the second electric push rod 823 and control its extension and retraction. The extension and retraction part of the second electric push rod 823 drives the baffle plate 822 to slide within the two guide rails 821. The part of the baffle plate 822 without the strip hole 824 blocks the suction hole to prevent foreign objects from entering when not in use.

[0044] Specifically, the fixing component 5 includes a groove 52, a partition 51, two insert plates 54, and two first electric push rods 53. The groove 52 is opened inside the palm 11. The partition 51 is fixed to the inner wall of the groove 52. An insertion port is opened on the bottom inner wall of the palm 11 and communicates with the groove 52. The tops of the two insert plates 54 are fixedly connected to the bottom of the fixing block 4. The insert plates 54 are inserted into the groove 52 through the insertion port. The surface of the insert plate 54 is provided with insertion holes. The fixing parts of the two first electric push rods 53 are fixed to the two sides of the partition 51 respectively. The telescopic parts of the first electric push rods 53 are inserted into the insertion holes.

[0045] Insert the fixing block 4 into the palm 11 and insert the insert plate 54 into the insertion port. The insert plate 54 is inserted into the groove 52 through the insertion port. When the fixing block 4 is inserted into place, the insertion hole of the insert plate 54 is aligned with the telescopic part of the first electric push rod 53. Start the first electric push rod 53. The telescopic part of the first electric push rod 53 extends and retracts. The telescopic part is inserted into the insertion hole of the insert plate 54 to fix the fixing block 4.

[0046] The first electric push rod 53, the second electric push rod 823, and the negative pressure pump 22 are existing technologies. The working principle of this part is also existing technology, which can be clearly understood by those skilled in the art, and will not be described in detail here.

[0047] Example 2, refer to Figures 1 to 11 This is the second embodiment of the present invention, which is based on the previous embodiment.

[0048] Specifically, a plurality of first limiting rings 231 are fixedly provided on the surface of the first finger 12, and the first tube 23 is located inside the first limiting rings 231. A plurality of second limiting rings are fixedly provided on the surface of the thumb 13, and the second tube 133 is located inside the second limiting rings.

[0049] The first limiting ring 231 can limit the first tube 23, and the second limiting ring can limit the second tube 133, preventing the tube from swinging arbitrarily.

[0050] Specifically, the surface of the fixing head 61 is fixedly fitted with a limiting sleeve 63 for limiting the fixing ring 62.

[0051] The position of the fixing ring 62 can be limited by the limiting sleeve 63 so that the arc-shaped groove 73 and the arc-shaped retaining ring 72 can engage.

[0052] Specifically, a concave fixing seat 3 is fixedly installed at the bottom of the palm 11, a fixing mechanism 32 is installed inside the fixing seat 3, and a flange 31 is fixedly installed on the outer side of the bottom end of the fixing seat 3.

[0053] The flange 31 on the mounting base 3 facilitates connection with external products.

[0054] Specifically, the fixing mechanism 32 includes a mounting post 322 and four suction cups 321. The surface of the mounting post 322 is provided with external threads, and the inner wall of the fixing seat 3 is provided with internal threads. The mounting post 322 is threadedly connected to the fixing seat 3, and the four suction cups 321 are respectively fixed to the four bottom corners of the mounting post 322.

[0055] When the hand body 1 is placed on the table for display, take the mounting post 322 and rotate it with the fixing base 3 to make it threadedly connected. The hand body 1 can be fixed to the table by suction cup 321.

[0056] When it is necessary to install the four first fingers 12 on the palm 11, insert the fixing block 4 into the palm 11 and insert the insert plate 54 into the insertion port. The insert plate 54 is inserted into the groove 52 through the insertion port. When the fixing block 4 is inserted in place, the insertion hole of the insert plate 54 will be aligned with the telescopic part of the first electric push rod 53. Start the first electric push rod 53, and the telescopic part of the first electric push rod 53 will extend and retract. The telescopic part is inserted into the insertion hole of the insert plate 54 to fix the fixing block 4. Then, insert the fixing ring 62 at one end of the first tube 23 into the ring 71 of the connecting tube 64. With appropriate force, the arc-shaped retaining ring 72 will engage with the arc-shaped retaining groove 73 opened on the surface of the ring 71 (interference fit). After engagement, the fixing head 61 and the connecting tube 64 come into contact and dock (a sealing ring is fixedly set at the bottom of the fixing head 61), and the assembly is completed. The fixing ring 62, the arc-shaped retaining ring 72 and the ring 71 are made of plastic. Of course, the specific material can be selected according to actual needs.

[0057] When the hand body 1 is placed on the table for display, take the mounting post 322 and rotate it with the fixing base 3 to make it threadedly connected. The hand body 1 can be fixed to the table by suction cup 321. When the hand body 1 is installed on a product, remove the mounting post 322 and install it by flange 31.

[0058] Motors are installed at the hinges of the first finger 12, the thumb 13, the first finger 12 and the first hinge seat 41, and the thumb 13 and the palm 11. These motors drive the finger movement. When the corresponding motors are started, the first finger 12 and the thumb 13 can move to grip the product.

[0059] When the negative pressure pump 22 is started, it creates negative pressure inside the housing 21. Since the first tube 23 and the second tube 133 are connected to the receiving grooves 81 of the first fingertip 121 and the second fingertip 132, respectively, and the housing 21, under the action of negative pressure, air will enter the receiving groove 81 through the suction holes on the surface of the first fingertip 121 and the second fingertip 132, through the holes of the rubber pad 8, and then enter the housing 21 through the first tube 23 and the second tube 133, and finally be drawn out by the negative pressure pump 22. When the fingers hold an object, the object can be adsorbed under the action of negative pressure. The first tube 23 and the second tube 133 are flexible hoses, which will not affect the bending of the first finger 12 and the thumb 13.

[0060] When the dexterous hand is not in use, the second electric push rod 823 can be activated to control its extension and retraction. The extension and retraction of the second electric push rod 823 causes the baffle plate 822 to slide within the two guide rails 821. The part of the baffle plate 822 without the strip hole 824 blocks the suction hole. At the same time, the degree of overlap between the strip hole 824 on the surface of the baffle plate 822 and the suction hole can be changed by controlling the extension and retraction of the second electric push rod 823, which can also change the ventilation area of ​​the suction hole.

[0061] It should be noted that the first electric actuator 53, the second electric actuator 823, and the negative pressure pump 22 require an external controller and an external power supply for operation.

[0062] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A dexterous hand with detachable fingers, characterized in that: include, The hand body (1) includes a palm (11), four first fingers (12), a thumb (13), a fixing block (4), and a fixing member (5). The four first fingers (12) are all located on the top of the fixing block (4). The top of the palm (11) is concave. The fixing block (4) is inserted into the top of the palm (11). The first fingers (12) include a first fingertip (121) and a first arm (122). The first fingertip (121) and the first arm (122) are hinged together. The top of the fixing block (4) is fixedly provided with four first hinge seats (41). The first arm (122) is hinged to the first hinge seats (41). The thumb (13) includes a second fingertip (132) and a second arm (131). The second fingertip (132) and the second arm (131) are hinged together. The second arm (131) is hinged to the palm (11). The suction mechanism (2) includes a negative pressure pump (22) and a housing (21). One side of the housing (21) is fixedly connected to one side of the palm (11), and the inlet of the negative pressure pump (22) is fixedly connected to and communicates with the bottom of the housing (21).

2. A dexterous hand with detachable fingers as described in claim 1, characterized in that: The suction mechanism (2) further includes four first tubes (23), four connectors (6), and a second tube (133). The first fingertip (121) and the second fingertip (132) each have an internal receiving groove (81). The surfaces of the first fingertip (121) and the second fingertip (132) each have multiple suction holes connected to the receiving grooves (81). Rubber pads (8) are fixedly installed on the surfaces of the first fingertip (121) and the second fingertip (132). The surface of the rubber pads (8) has multiple holes that connect to the suction... The holes are connected, and a shield (82) is provided in the receiving groove (81). One end of each of the four first tubes (23) is fixedly connected to one side of each of the four first fingers (12) and connected to the receiving groove (81). One end of the second tube (133) is fixedly connected to one side of the second fingertip (132) and connected to the receiving groove (81). The other end of the second tube (133) is fixedly connected to one side of the box (21) and connected to it. The other ends of the four first tubes (23) are connected to the box (21) through four connectors (6).

3. A dexterous hand with detachable fingers as described in claim 2, characterized in that: The connector (6) includes a fixing head (61), a fixing ring (62), a snap-fit ​​component (7), and a connecting pipe (64). The fixing head (61) is fixedly sleeved on the first pipe body (23), the fixing ring (62) is fixedly sleeved on the fixing head (61), the bottom end of the connecting pipe (64) is fixedly connected to and communicates with the top of the box body (21), and the fixing ring (62) and the connecting pipe (64) are connected by the snap-fit ​​component (7).

4. A dexterous hand with detachable fingers as described in claim 3, characterized in that: The engaging component (7) includes a ring (71), an arc-shaped retaining ring (72), and an arc-shaped retaining groove (73). The ring (71) is fixedly sleeved on the surface of the connecting pipe (64). The outer side of the arc-shaped retaining ring (72) is fixedly connected to the inner wall of the fixing ring (62). The arc-shaped retaining groove (73) is opened on the surface of the ring (71). The arc-shaped retaining groove (73) is annular. The arc-shaped retaining ring (72) engages with the arc-shaped retaining groove (73).

5. A dexterous hand with detachable fingers as described in claim 4, characterized in that: The shielding component (82) includes two guide rails (821), a shielding plate (822), and a second electric push rod (823). One side of each of the two guide rails (821) is fixedly connected to one side of the inner wall of the receiving groove (81). The two sides of the shielding plate (822) are slidably connected to the inner walls of the two guide rails (821), respectively. The fixed part of the second electric push rod (823) is fixedly connected to the top inner wall of the receiving groove (81), and the telescopic part of the second electric push rod (823) is fixedly connected to one side of the shielding plate (822). The surface of the shielding plate (822) is provided with multiple strip holes (824).

6. A dexterous hand with detachable fingers as described in claim 2, characterized in that: The fixing component (5) includes a groove (52), a partition (51), two insert plates (54), and two first electric push rods (53). The groove (52) is opened inside the palm (11). The partition (51) is fixed to the inner wall of the groove (52). The bottom inner wall of the palm (11) has an insertion port that communicates with the groove (52). The tops of the two insert plates (54) are fixedly connected to the bottom of the fixing block (4). The insert plates (54) are inserted into the groove (52) through the insertion port. The surface of the insert plates (54) has insertion holes. The fixed parts of the two first electric push rods (53) are fixed to the two sides of the partition (51), and the telescopic parts of the first electric push rods (53) are inserted into the insertion holes.

7. A dexterous hand with detachable fingers as described in claim 2, characterized in that: The surface of the first finger (12) is fixedly provided with a plurality of first limiting rings (231), and the first tube (23) is located inside the first limiting rings (231). The surface of the thumb (13) is fixedly provided with a plurality of second limiting rings, and the second tube (133) is located inside the second limiting rings.

8. A dexterous hand with detachable fingers as described in claim 3, characterized in that: The surface of the fixing head (61) is fixedly fitted with a limiting sleeve (63) for limiting the fixing ring (62).

9. A dexterous hand with detachable fingers as described in claim 8, characterized in that: The bottom of the palm (11) is fixedly provided with a concave fixed seat (3), a fixing mechanism (32) is provided inside the fixed seat (3), and a flange (31) is fixedly provided on the outer side of the bottom end of the fixed seat (3).

10. A dexterous hand with detachable fingers as described in claim 9, characterized in that: The fixing mechanism (32) includes a mounting post (322) and four suction cups (321). The surface of the mounting post (322) is provided with external threads, and the inner wall of the fixing seat (3) is provided with internal threads. The mounting post (322) is threadedly connected to the fixing seat (3), and the four suction cups (321) are respectively fixed at the bottom four corners of the mounting post (322).

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