Modular dexterous hand with fingertip quick change

Abstract

The utility model provides a kind of dexterous hand of modularization fingertip quick replacement, including palm base body, the top of palm base body is fixedly installed with four finger modules at equal intervals, one finger module is fixedly installed in the side of palm base body;The finger module includes two mounting mechanisms and two joint mechanisms, two joint mechanisms are connected with each other by mounting mechanism, the mounting mechanism of two mounting mechanisms close to the side of palm base body is fixed with palm base body, the outer end of joint mechanism away from palm base body is fixedly installed with fingertip block, during the application of this technical solution, it is by being provided with installation strip, installation groove, limit card group and dismounting adjusting arm, so that the quick dismounting and replacement of each component of finger module can be realized during use, and then the effect of convenient maintenance is achieved, the problem that dexterous hand lacks modular design and is inconvenient to disassemble and replace when component is damaged in prior art is solved.

Description

Technical Field

[0001] This utility model relates to the field of dexterity technology, and in particular to a modular dexterity hand with quick fingertip replacement. Background Technology

[0002] There are many types of robots, including humanoid robots, industrial robots, and service robots. Among them, humanoid robots have a high degree of similarity to human movements, and their hand movements are relatively fine, enabling them to perform a variety of actions. This has led to the emergence of dexterous hands, which mimic the movements of human fingers. However, current dexterous hands have simple finger movements, can perform fewer actions, and have poor human-likeness.

[0003] Chinese patent CN214055308U discloses a dexterous hand, which includes a thumb structure and multiple four-finger structures. The thumb structure includes a first linear servo, a first transmission component connected to the first linear servo, a second linear servo, a second transmission component connected to the second linear servo, and a thumb shell. Both the first and second transmission components are connected to the thumb shell. The servo push rods of the first and second linear servos are set at an angle to each other. The four-finger structures include four-finger linear servos, a third transmission component connected to the four-finger linear servos, and four-finger shells driven by the third transmission component. The first linear servo is located between two adjacent four-finger linear servos, and the servo push rods of the first and four-finger linear servos face opposite directions. The dexterous hand provided by this utility model can realize the movement of the thumb shell in various directions through the cooperation of the first and second linear servos, making the thumb shell more similar to the movement of a human thumb.

[0004] However, the above-mentioned device has obvious shortcomings during application. Its overall structure adopts an articulated design and lacks modular design. When a joint or fingertip is damaged during use, it is inconvenient to quickly disassemble and replace it. In addition, during application, each joint can only rotate and bend longitudinally and cannot flexibly adjust lateral bending. Overall, it is inconvenient to disassemble, repair and maintain, and its dexterity is also insufficient. Therefore, it is necessary to improve the design of the existing technology. Utility Model Content

[0005] To address the aforementioned problems, this invention proposes a modular, quick-change fingertip dexterity hand, which more precisely solves the problems described above.

[0006] This utility model is achieved through the following technical solution:

[0007] This utility model proposes a modular fingertip quick-change dexterous hand, including a palm base, four finger modules are fixedly installed at equal intervals on the top of the palm base, and one finger module is fixedly installed on one side of the palm base.

[0008] The finger module includes two mounting mechanisms and two joint mechanisms. The two joint mechanisms are interconnected through the mounting mechanisms. The mounting mechanism closer to the palm base is fixed to the palm base, while the outer end of the joint mechanism away from the palm base is fixedly mounted with a fingertip block.

[0009] Furthermore, the mounting mechanism includes a mounting base and a mounting sleeve. The mounting base near the mounting mechanism on the palm base is fixedly mounted on the top and one side of the palm base. The mounting base away from the mounting mechanism on the palm base is fixedly connected to the outside of the joint mechanism near the palm base. The mounting sleeve is fixedly mounted on the side of the joint mechanism near the palm base. Mounting grooves are provided on both sides of the side of the mounting sleeve near the palm base. Mounting strips are fixedly connected to the side of the mounting base away from the palm base. The mounting strips are inserted into the inside of the mounting grooves. A limit card group is fixedly connected inside the mounting sleeve.

[0010] Furthermore, the limiting card assembly includes a guide rail and a limiting hole. The guide rail is fixedly installed inside the mounting sleeve. Limiting springs are fixedly connected to both ends of the guide rail. A movable block is fixedly connected to the outer end of the limiting spring. A connecting arm is fixedly connected to the outer side of the movable block. A limiting plate is fixedly installed through the guide rail at the outer end of the connecting arm. A limiting pin is fixedly connected to the inner side of the limiting plate. The limiting hole is opened in the middle of both sides of the mounting strip. The end of the limiting pin passes through the mounting sleeve and is inserted into the limiting hole.

[0011] Furthermore, a disassembly and adjustment arm is fixedly installed on the side of the movable block away from the mounting base plate, and the disassembly and adjustment arm has an L-shaped configuration when viewed from above.

[0012] Furthermore, the top view shape of the internal cavity of the mounting groove and the top view shape of the mounting strip are both set to a convex shape, and the side shape of the movable block and the side shape of the internal cavity of the guide rail are also set to a convex shape.

[0013] Furthermore, the joint mechanism includes a transverse hinge seat, which is fixedly connected to the side of the mounting sleeve away from the palm base. A drive motor is fixedly connected to the bottom of the transverse hinge seat. A transverse rotating block is fixedly installed through the output end of the drive motor through the transverse hinge seat. A longitudinal adjustment group is fixedly connected to the outer side of the transverse rotating block.

[0014] Furthermore, the longitudinal adjustment assembly includes a longitudinal hinge frame, which is fixedly installed on the side of the transverse rotating block away from the palm base. A dual-axis motor is fixedly installed inside the longitudinal hinge frame, and the output end of the dual-axis motor passes through the longitudinal hinge frame to fix the longitudinal rotating frame. The longitudinal rotating frame is rotatably connected to the outside of the longitudinal hinge frame. The outer side of the longitudinal hinge frame near the palm base is fixedly connected to the mounting base located on the outside, and the outer side of the longitudinal hinge frame away from the palm base is fixedly connected to the inner side of the fingertip block.

[0015] The beneficial effects of this utility model are:

[0016] 1. During the application of this technical solution, by setting up an installation strip, an installation groove, a limit block consisting of a guide rail, a limit spring, a movable block, a connecting arm, a limit plate, a limit pin, and a limit hole, and a disassembly and assembly adjustment arm, it is possible to pull the disassembly and assembly adjustment arm during use to drive the movable block to stretch the limit spring, allowing the limit pin to disengage from the limit hole, thereby separating the installation strip from the installation groove and completing the component disassembly; during installation, the disassembly and assembly adjustment arm is released, the limit spring returns to its original position, and pushes the limit pin into the limit hole for fixation. The entire process does not require complicated tools, and can realize the quick disassembly, assembly, and replacement of each component of the finger module, thereby achieving the convenient maintenance effect of significantly shortening maintenance time and reducing maintenance difficulty. It solves the problems of the lack of modular design in the existing dexterous hand and the cumbersome and time-consuming disassembly and replacement steps when the component is damaged.

[0017] 2. During the application of this technical solution, a drive motor drives a horizontal rotating block to achieve horizontal rotation and bending, and a dual-axis motor drives a vertical rotating frame to achieve vertical rotation and bending. The two drive structures work together to allow the fingers to perform multi-directional movements in both the horizontal and vertical directions simultaneously during use, covering a wider range of motion and meeting the needs of complex operations. This significantly improves the flexibility of finger movements and enhances the human-like effect, solving the problems of existing technologies where dexterous hands can only perform single vertical rotation and bending, have a limited range of motion, and lack dexterity. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the front structure of this utility model;

[0019] Figure 2 This is a schematic diagram of the rear view structure of this utility model;

[0020] Figure 3 This is a schematic diagram of the finger module structure of this utility model;

[0021] Figure 4 This is a schematic diagram of the disassembled structure of the finger module of this utility model;

[0022] Figure 5 This is a schematic diagram of the installation mechanism of this utility model in its separated state.

[0023] In the diagram: 1. Hand base; 2. Finger module; 21. Mounting mechanism; 211. Mounting base plate; 212. Mounting sleeve; 213. Mounting groove; 214. Mounting strip; 215. Limiting block; 2151. Guide rail; 2152. Limiting hole; 2153. Limiting spring; 2154. Movable block; 2155. Connecting arm; 2156. Limiting plate; 2157. Limiting pin; 2158. Disassembly and assembly adjustment arm; 22. Joint mechanism; 221. Lateral hinge seat; 222. Drive motor; 223. Lateral rotating block; 224. Longitudinal adjustment group; 2241. Longitudinal hinge frame; 2242. Dual-axis motor; 2243. Longitudinal rotating frame; 23. Fingertip block. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] Example 1

[0026] A modular, quick-change fingertip dexterous hand includes a palm base 1, four finger modules 2 are fixedly installed at equal intervals on the top of the palm base 1, and one finger module 2 is fixedly installed on one side of the palm base 1.

[0027] The finger module 2 includes two mounting mechanisms 21 and two joint mechanisms 22. The two joint mechanisms 22 are interconnected by the mounting mechanisms 21. The mounting mechanism 21 closer to the palm base 1 is fixed to the palm base 1, while the fingertip block 23 is fixedly mounted on the outer end of the joint mechanism 22 away from the palm base 1. During the application of this device, the palm base 1 provides stable support for the entire device. The four finger modules 2 arranged at equal intervals on the top cooperate with one finger module 2 on one side to complete various operation actions. The finger module 2 consists of two mounting mechanisms 21 and two joint mechanisms 22. The two joint mechanisms 22 are connected into a whole by the mounting mechanisms 21. The mounting mechanism 21 closer to the palm base 1 fixes the entire finger module 2 to the palm base 1, while the fingertip block 23 is fixed on the outer end of the joint mechanism 22 away from the palm base 1. The fingertip 23 directly contacts the object being operated on. During operation, the joint mechanism 22 can move flexibly, driving the fingertip 23 to perform actions such as grasping and pressing. The coordinated movement of the two joint mechanisms 22 allows the finger module 2 to complete more complex operations, improving the overall operational capability. The mounting mechanism 21 ensures the stability of the connection during the connection between the joint mechanism 22 and the palm base 1, preventing the finger module 2 from becoming loose during movement and ensuring the accuracy of the operation. This modular structure allows each finger module 2 to work independently. When a problem occurs with a finger module 2, it can be dealt with individually without affecting other modules, greatly improving the convenience of maintenance and reducing maintenance costs. At the same time, the coordinated cooperation of multiple finger modules 2 can adapt to objects of different shapes and sizes, expanding the applicability of the device.

[0028] Combination Figures 1-4As shown, the mounting mechanism 21 includes a mounting base 211 and a mounting sleeve 212. The mounting base 211, which is closer to the mounting mechanism 21 on the palm base 1, is fixedly mounted on the top and one side of the palm base 1. The mounting base 211, which is farther from the mounting mechanism 21 on the palm base 1, is fixedly connected to the outside of the joint mechanism 22, which is closer to the palm base 1. The mounting sleeve 212 is fixedly mounted on the side of the joint mechanism 22, which is closer to the palm base 1. Mounting grooves 213 are provided on both sides of the side of the mounting sleeve 212 closest to the palm base 1. Mounting strips 214 are fixedly connected to both sides of the side of the mounting base 211 furthest from the palm base 1. The mounting strips 214 are inserted into the interior of the mounting grooves 213. A limit locking assembly 215 is fixedly connected inside the mounting sleeve 212. The limit locking assembly 215 includes a guide rail 2151 and a limit hole 2152. The guide rail 2151 is fixedly mounted inside the mounting sleeve 212. Each end is fixedly connected to a limit spring 2153. The outer end of the limit spring 2153 is fixedly connected to a movable block 2154. The outer side of the movable block 2154 is fixedly connected to a connecting arm 2155. The outer end of the connecting arm 2155 passes through the guide rail 2151 and is fixedly installed with a limit plate 2156. The inner side of the limit plate 2156 is fixedly connected to a limit pin 2157. Limit holes 2152 are opened in the middle of both sides of the mounting strip 214. The end of the limit pin 2157 passes through the mounting sleeve 212 and is inserted into the interior of the limit hole 2152. A disassembly and assembly adjustment arm 2158 is fixedly installed on the side of the movable block 2154 away from the mounting base plate 211. The top view shape of the disassembly and assembly adjustment arm 2158 is L-shaped. The top view shape of the internal cavity of the mounting groove 213 and the top view shape of the mounting strip 214 are both set as convex. The side shape of the movable block 2154 and the side shape of the internal cavity of the guide rail 2151 are also set as convex.

[0029] In the technical solutions described in the embodiments of this application, during the application of this device, the mounting mechanism 21 connects and fixes the various components through the cooperation of the mounting base 211 and the mounting sleeve 212. During installation, the mounting strip 214 on the mounting base 211 is aligned with the mounting groove 213 of the mounting sleeve 212 and inserted. The U-shaped mounting strip 214 and the mounting groove 213 fit together, effectively preventing lateral displacement during the connection process and ensuring the accuracy of the installation position. At this time, the limiting spring 2153 in the guide rail 2151 inside the mounting sleeve 212 is in its natural state. Under the action of the spring, the movable block 2154 drives the limiting plate 2156 to move inward through the connecting arm 2155, so that the limiting pin 2157 on the limiting plate 2156 passes through the mounting sleeve 212 and is accurately inserted into the limiting hole 2152 in the middle of both sides of the mounting strip 214, forming a stable locking structure and preventing the mounting strip 214 from separating from the mounting sleeve 212 during use. The reliability of the entire connection is ensured. When it is necessary to disassemble or replace the component, the L-shaped disassembly and assembly adjustment arm 2158 is operated to pull the movable block 2154 outward. The movable block 2154 compresses the limit spring 2153 and drives the limit plate 2156 outward through the connecting arm 2155, so that the limit pin 2157 is pulled out from the limit hole 2152 and the locking state is released. At this time, the mounting strip 214 can be easily pulled out from the mounting groove 213 to complete the separation of the component. The U-shaped movable block 2154 cooperates with the internal cavity of the guide rail 2151 to provide stable guidance during the movement of the movable block 2154, preventing the movable block 2154 from deviating or jamming, and ensuring that the disassembly and assembly process is smooth and efficient. This structural design allows the installation and disassembly operations to be carried out without the need for complicated tools, which greatly improves the convenience of maintenance and replacement. At the same time, the multiple limit structures ensure the stability of the connection, so that the device can maintain a stable working state during long-term use.

[0030] Example 2

[0031] Combination Figures 1-3As shown, the joint mechanism 22 includes a transverse hinge seat 221, which is fixedly connected to the mounting sleeve 212 on the side away from the palm base 1. A drive motor 222 is fixedly connected to the bottom of the transverse hinge seat 221. A transverse rotating block 223 is fixedly mounted through the transverse hinge seat 221 at the output end of the drive motor 222. A longitudinal adjustment assembly 224 is fixedly connected to the outside of the transverse rotating block 223. The longitudinal adjustment assembly 224 includes a longitudinal hinge frame 2241, which is fixedly mounted on the side of the transverse rotating block 223 away from the palm base 1. A dual-axis motor 2242 is fixedly mounted inside the longitudinal hinge frame 2241. A longitudinal rotating frame 2243 is fixedly mounted through the longitudinal hinge frame 2241 at the output end of the dual-axis motor 2242. The longitudinal rotating frame 2243 is rotatably connected to the outside of the longitudinal hinge frame 2241. The outer side of the longitudinal hinge frame 2241 near the palm base 1 is fixedly connected to the mounting base 211 located on the outer side, and the outer side of the longitudinal hinge frame 2241 away from the palm base 1 is fixedly connected to the inner side of the fingertip block 23. The drive motor 222 and the dual-axis motor 2242 are both micro motors, and the power supply of the drive motor 222 and the dual-axis motor 2242 is either a pluggable wire or a conductive sheet that is attached to each other. The pluggable wire can be used with a socket and plug for power supply. The wire is hidden in the longitudinal hinge frame 2241, the transverse hinge seat 221 and the longitudinal rotating frame 2243. If the conductive sheet is attached to each other, it can be installed inside the mounting strip 214 and the mounting groove 213. The conductive sheet is electrically connected to the drive motor 222 and the dual-axis motor 2242 using conductive wire. The above power supply methods are all existing technologies, so they will not be described in detail here.

[0032] In the above-described embodiments of this application, during the application of this device, its joint mechanism 22 is connected to the mounting sleeve 212 via the transverse hinge seat 221, providing basic support for the movement of the entire joint. When a transverse movement is required, the drive motor 222 at the bottom of the transverse hinge seat 221 starts, and its output end drives the transverse rotating block 223 to rotate, thereby causing the longitudinal adjustment group 224 connected to the outside of the transverse rotating block 223 to rotate laterally, realizing the transverse bending movement of the finger. The drive motor 222 is a micro motor, which is small in size and will not affect the flexible rotation of the joint, ensuring the precise control of the transverse movement. In terms of the longitudinal movement, the dual-axis motor 2242 inside the longitudinal hinge frame 2241 of the longitudinal adjustment group 224 works, and its output end drives the longitudinal rotating frame 2243 to rotate outside the longitudinal hinge frame 2241, thereby realizing the longitudinal bending movement of the finger. The dual-axis motor 2242 is also a micro motor, which can provide stable power output and ensure the longitudinal movement. The smoothness of the movement is achieved by rotating the longitudinal rotating frame 2243, which can drive the connected components or fingertip blocks 23 to complete the corresponding longitudinal movements, meeting the needs of different operating scenarios. When powered, the drive motor 222 and the dual-axis motor 2242 can be powered by pluggable wires with sockets and plugs. The wires are hidden inside the longitudinal hinge frame 2241, the transverse hinge seat 221, the longitudinal rotating frame 2243, and the transverse rotating block 223 to avoid the wires being exposed and affecting joint movement or causing damage. Alternatively, the conductive plates installed inside the mounting strip 214 and the mounting groove 213 can be used to supply power by contacting each other. The conductive plates are electrically connected to the motor through conductive wires. Both power supply methods can provide stable power without interfering with the normal movement of the joint, ensuring that the entire joint mechanism 22 has continuous and stable power during operation, improving the reliability and practicality of the device. Through the coordinated action of transverse and longitudinal movements, the joint mechanism 22 can achieve flexible movement in multiple directions, greatly improving the operating range and precision of the dexterous hand.

[0033] The working principle and advantages of this utility model are as follows: When using this device, first assemble and fix the finger module 2, then insert the mounting strip 214 on the mounting base 211 of the mounting mechanism 21 into the mounting groove 213 of the mounting sleeve 212. The limiting holes 2152 on both sides of the mounting strip 214 correspond to the limiting pins 2157 in the mounting sleeve 212. At this time, pull the disassembly and assembly adjustment arm 2158 outward, which will move the movable block 2154 and stretch the limiting spring 215. 3. After the mounting strip 214 is fully inserted into the mounting groove 213, release the disassembly and assembly adjustment arm 2158. The stretched limit spring 2153 returns to its original position, pushing the movable block 2154 to move. The movable block 2154 drives the limit plate 2156 to move through the connecting arm 2155, causing the limit pin 2157 to insert into the limit hole 2152. This completes the fixing of the mounting mechanism 21 to the joint mechanism 22 or the palm base 1. The U-shaped mounting groove 213 cooperates with the mounting strip 214, and the U-shaped... The movable block 2154 cooperates with the guide rail 2151 to ensure a stable connection. This modular design makes the assembly of each component more convenient and lays the foundation for subsequent disassembly and maintenance. The palm base 1 serves as the foundation of the entire dexterous hand, providing stable installation support for each finger module 2 and ensuring the stability of the overall structure. Next, the lateral and longitudinal movements of the fingers are adjusted. When the movement is executed, the drive motor 222 in the joint mechanism 22 starts, and the output end drives the lateral rotating block 223 to rotate, realizing the lateral rotation and bending of the fingers. At the same time, the dual-axis motor 2242 of the longitudinal adjustment group 224 works, and the output end drives the longitudinal rotating frame 2243 to rotate outside the longitudinal hinge frame 2241, completing the longitudinal rotation and bending of the fingers. Through the synergistic action of the drive motor 222 and the dual-axis motor 2242, this device can realize flexible movement of the fingers in multiple directions, solving the problem that the existing devices can only perform longitudinal rotation and bending and lack dexterity, greatly improving the diversity and human-likeness of the movements.

[0034] When it is necessary to replace the fingertip block 23 or repair the joint mechanism 22, the disassembly and assembly adjustment arm 2158 is pulled outward, which moves the movable block 2154 and stretches the limit spring 2153, so that the limit pin 2157 is removed from the limit hole 2152. Then the mounting strip 214 can be pulled out from the mounting groove 213, realizing the separation of the components of the finger module 2. After the replacement is completed, the assembly steps are followed to install and fix it. This design solves the problem that existing dexterous hands lack modular design and that it is inconvenient to quickly disassemble and replace damaged components. It significantly improves maintenance efficiency. When powered, the drive motor 222 and the dual-axis motor 2242 can be powered by plug-in wires hidden inside in conjunction with sockets and plugs, or by conductive sheets installed in the mounting strip 214 and mounting groove 213 sticking together to provide power. This ensures the compactness of the structure and further enhances the practicality of the device.

[0035] The transverse hinge 221 has a length of 30-50mm, a width of 20-30mm, and a height of 25-40mm; the drive motor 222 has a power of 5-15W and a speed of 300-600r / min, model 28BYJ-48; the transverse rotating block 223 has a diameter of 25-40mm and a thickness of 10-20mm; the longitudinal hinge frame 2241 has a length of 40-60mm, a width of 25-35mm, and a height of 30-50mm; the dual-axis motor 2242 has a power of 8-20W and a speed of 400-800r / min, model 35BYJ46; the longitudinal rotating frame 2243 has a length of 35-55mm, a width of 20-30mm, and a height of... The thickness is 25-40mm; the diameter of the pluggable wire is 0.3-0.5mm; the socket and plug model is PH2.0 series; the thickness of the conductive sheet is 0.2-0.5mm, the area is 10-20mm², and the diameter of the conductive wire is 0.1-0.2mm; this technical solution uses an STM32F103 series controller, which is installed in the internal cavity of the palm base 1. The electronic components are connected and powered as follows: the drive motor 222 and the dual-axis motor 2242 are connected to the socket and plug through pluggable wires, or to the conductive sheet and conductive wire, and finally connected to a 5-12V DC power supply. The controller is connected to the drive motor 222 and the dual-axis motor 2242 through wires to realize the transmission of control signals.

[0036] The scope of protection of this application does not involve improvements to the electronic components of the device or equipment. Therefore, the working principles of each electronic component are not described in detail here. The electronic components in this application are all conventional electronic components used in the prior art. They are all conventional technical means in the prior art, and the application of the prior art is very mature. Therefore, they will not be elaborated here.

[0037] Of course, there may be other implementations of this utility model. Based on this implementation, other implementations obtained by those skilled in the art without any creative effort are all within the scope of protection of this utility model.

Claims

1. A modular, quick-change fingertip dexterous hand, characterized in that, Includes a palm base (1), on which four finger modules (2) are fixedly installed at equal intervals on the top of the palm base (1), and on one side of the palm base (1) a finger module (2) is fixedly installed. The finger module (2) includes two mounting mechanisms (21) and two joint mechanisms (22). The two joint mechanisms (22) are connected to each other through the mounting mechanisms (21). The mounting mechanism (21) closer to the palm base (1) is fixed to the palm base (1), and the fingertip block (23) is fixedly installed on the outer end of the joint mechanism (22) away from the palm base (1).

2. The modular fingertip quick change dexterous hand of claim 1, wherein, The mounting mechanism (21) includes a mounting base (211) and a mounting sleeve (212). The mounting base (211) near the mounting mechanism (21) on the palm base (1) is fixedly mounted on the top and one side of the palm base (1). The mounting base (211) away from the mounting mechanism (21) on the palm base (1) is fixedly connected to the outside of the joint mechanism (22) near the palm base (1). The mounting sleeve (212) is fixedly mounted on the side of the joint mechanism (22) near the palm base (1). The mounting sleeve (212) has mounting grooves (213) on both sides of the side of the mounting sleeve (212) near the palm base (1). The mounting base (211) away from the palm base (1) has mounting strips (214) fixedly connected to the side of the mounting base (211). The mounting strips (214) are inserted into the inside of the mounting grooves (213). The mounting sleeve (212) has a limit card group (215) fixedly connected inside.

3. The modular, fingertip-quick-change dexterous hand of claim 2, wherein, The limiting card group (215) includes a guide rail (2151) and a limiting hole (2152). The guide rail (2151) is fixedly installed inside the mounting sleeve (212). Limiting springs (2153) are fixedly connected to both ends of the guide rail (2151). A movable block (2154) is fixedly connected to the outer end of the limiting spring (2153). A connecting arm (2155) is fixedly connected to the outer side of the movable block (2154). A limiting plate (2156) is fixedly installed through the guide rail (2151) at the outer end of the connecting arm (2155). A limiting pin (2157) is fixedly connected to the inner side of the limiting plate (2156). The limiting hole (2152) is opened in the middle of both sides of the mounting strip (214). The end of the limiting pin (2157) is inserted into the limiting hole (2152) through the mounting sleeve (212).

4. The modular, fingertip-quick-change dexterous hand of claim 3, wherein, The movable block (2154) is fixedly mounted with a disassembly and assembly adjustment arm (2158) on the side away from the mounting base plate (211). The disassembly and assembly adjustment arm (2158) has an L-shaped top view.

5. The modular, fingertip-quick-change dexterous hand of claim 4, wherein, The top view shape of the internal cavity of the mounting groove (213) and the top view shape of the mounting strip (214) are both set to a convex shape. The side shape of the movable block (2154) and the side shape of the internal cavity of the guide rail (2151) are also set to a convex shape.

6. The modular, fingertip-quick-change dexterous hand of claim 1, wherein, The joint mechanism (22) includes a transverse hinge seat (221), which is fixedly connected to the side of the mounting sleeve (212) away from the palm base (1). A drive motor (222) is fixedly connected to the bottom of the transverse hinge seat (221). A transverse rotating block (223) is fixedly installed through the transverse hinge seat (221) at the output end of the drive motor (222). A longitudinal adjustment group (224) is fixedly connected to the outside of the transverse rotating block (223).

7. The modular, fingertip-quick-change dexterous hand of claim 6, wherein, The longitudinal adjustment assembly (224) includes a longitudinal hinge frame (2241), which is fixedly installed on the side of the transverse rotating block (223) away from the palm base (1). A dual-axis motor (2242) is fixedly installed inside the longitudinal hinge frame (2241). The output end of the dual-axis motor (2242) passes through the longitudinal hinge frame (2241) and is fixedly installed with a longitudinal rotating frame (2243). The longitudinal rotating frame (2243) is rotatably connected to the outside of the longitudinal hinge frame (2241). The outer side of the longitudinal hinge frame (2241) near the palm base (1) is fixedly connected to the mounting base plate (211) located on the outside. The outer side of the longitudinal hinge frame (2241) away from the palm base (1) is fixedly connected to the inner side of the fingertip block (23).

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