Thumb assembly and dexterous hand

Abstract

The thumb assembly comprises a far knuckle, a near knuckle and a swing rod, the swing rod rotates around a rotating axis O1 relative to a palm of the dexterous hand, and a rotating axis O4 of the near knuckle rotates relative to the swing rod; the swing rod is of a hollow structure with two open ends, a first pivot and a second pivot are arranged in the swing rod, and the central axis O3 of the second pivot and the central axis O2 of the first pivot are located on the same plane and perpendicular to each other. A first driving assembly is arranged in a palm of the dexterous hand, and the output end of the first driving assembly is pivoted to the second pivot to drive the second pivot to move front and back. A second driving assembly is arranged in an inner cavity of the swing rod and connected to the first pivot in a pivoted mode, the output end of the second driving assembly is connected to the near knuckle in a pivoted mode, and the rotating axis O5 and the rotating axis O4 are parallel and staggered. The occupied space of the oscillating rod in the length direction is reduced, and the connecting structure of the first driving assembly, the second driving assembly and the oscillating rod is simplified.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a thumb assembly and a dexterous hand. Background Art

[0002] As the end effector of a humanoid robot, a dexterous hand is used to enable the humanoid robot to perform some delicate and complex tasks by imitating the structure of a human hand. The dexterous hand mainly performs tasks through the finger assembly on it. The finger assembly and the palm of the dexterous hand have a rotatable degree of freedom. A general dexterous hand is usually provided with a thumb assembly, an index finger assembly, a middle finger assembly, a ring finger assembly and a little finger assembly. Each finger assembly generally includes a distal knuckle and a proximal knuckle pivotally connected to the distal knuckle. The connection between the proximal knuckle and the distal knuckle forms a joint structure that can rotate relative to the proximal knuckle. The distal knuckle is driven to rotate relative to the proximal knuckle by a driving unit so that the dexterous hand can perform the corresponding task. In existing dexterous hands, in order to have a higher degree of simulation, it is usually necessary to configure a side swing structure on the thumb assembly. The side swing structure of the existing thumb assembly is relatively complex as a whole and occupies a large space. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention aims to provide a thumb assembly and a dexterous hand to solve the problem that the thumb assembly in the prior art has a complex structure and occupies a large space.

[0004] The purpose of the present invention is achieved by the following technical solutions:

[0005] A thumb assembly is connected to the palm of the dexterous hand, characterized in that it includes a distal knuckle, a proximal knuckle, and a swing rod, wherein the distal knuckle is connected to the front end of the proximal knuckle, the rear end of the swing rod is pivoted to the palm of the dexterous hand so that the swing rod can rotate relative to the palm of the dexterous hand around a rotation axis O1, and the proximal knuckle is pivoted to the front end of the swing rod so that the proximal knuckle can rotate relative to the swing rod around a rotation axis O4;

[0006] The swing lever is a hollow structure with openings at both ends. A first pivot and a second pivot connected to the swing lever are arranged in the rear opening of the swing lever. The central axis O3 of the second pivot and the central axis O2 of the first pivot are in the same plane and perpendicular to each other. The second pivot is provided with an axial hole for the first pivot to pass through or the first pivot is provided with an axial hole for the second pivot to pass through, so that the second pivot can be pivotally matched with the first pivot. The central axis O3 is parallel to the rotation axis O1 and staggered with each other.

[0007] A first drive component is arranged inside the palm of the dexterous hand, and the output end of the first drive component is pivoted to the second pivot to drive the second pivot to move forward and backward; a second drive component is arranged in the inner cavity of the swing rod, and the second drive component is pivoted to the first pivot. The output end of the second drive component is pivoted to the proximal knuckle so that the proximal knuckle can rotate around the rotation axis O5 relative to the output end of the second drive component. The rotation axis O5 is parallel to the rotation axis O4 and staggered with each other, so that when the output end of the second drive component drives the proximal knuckle to move forward and backward, the proximal knuckle rotates around the rotation axis O4 relative to the swing rod.

[0008] According to the thumb assembly of the embodiment of the present invention, the thumb assembly is swung sideways by driving the swing rod through the first driving assembly, the output end of the first driving assembly is connected to the second pivot, the second driving assembly is connected to the first pivot, the central axis of the first pivot and the central axis of the second pivot are in the same plane, thereby reducing the space occupied in the length direction of the swing rod, simplifying the connection structure of the first driving assembly, the second driving assembly and the swing rod, making the overall structure of the thumb assembly more compact, and facilitating the miniaturized design of the thumb assembly.

[0009] In a preferred embodiment, the swing arm includes a top wall, a bottom wall opposite to the top wall, and two opposite side walls, and the two ends of the first pivot are respectively connected to the top wall and the bottom wall, and the two ends of the first pivot are respectively screwed with a fastening screw to fix the two ends of the first pivot to the top wall and the side wall. During assembly, the first pivot can be inserted from the preset hole on the top wall of the swing arm into the rear end opening of the swing arm, and the first pivot is directly passed through the second drive assembly during the insertion, so that the second drive assembly is pivotally connected to the first pivot, so that the installation of the first pivot, the swing arm and the second drive assembly can be facilitated.

[0010] In a preferred embodiment, one end of the second pivot is provided with an axle seat, and the other end is connected to one of the side walls, and an axle hole is provided on the axle seat for the first pivot to pass through. The axle seat is provided on the second pivot so that the portion of the second pivot where the axle hole is provided has a sufficiently large external dimension, so that the axle hole on the second pivot can be adapted to pass through the first pivot with a larger external diameter, ensuring that the strength of the first pivot can meet the requirements.

[0011] In a preferred embodiment, the shaft seat is clamped between the top wall and the second drive assembly, the first pivot is sleeved with a first support sleeve, and the first support sleeve is clamped between the shaft seat and the bottom wall; the second pivot is connected to the output end of the first drive assembly, the second pivot is sleeved with a second support sleeve, the second support sleeve is located between one of the side walls and the output end of the first drive assembly, and the second support sleeve and the output end of the first drive assembly are clamped between one of the side walls and the shaft seat. The first support sleeve and the shaft seat are used to support the shaft seat and the second drive assembly between the top wall and the bottom wall to prevent the second pivot and the second drive assembly from being displaced in the up and down directions, and the second support sleeve and the shaft seat are used to support the output end of the first drive assembly in the left and right directions to prevent the output end of the first drive assembly from being displaced in the left and right directions, so that the first drive assembly can stably drive the swing rod to swing, and the second drive assembly can stably drive the proximal knuckle to swing.

[0012] In a preferred embodiment, the first driving assembly includes a first motor, a first reducer, a first screw, a first nut and a first movable rod. The first movable rod is the output end of the first driving assembly and is fixed on the first nut. The body of the first motor is fixedly connected to the body of the first reducer. The output shaft of the first motor is connected to the input end of the first reducer. The first screw is connected to the output end of the first reducer. The first nut is sleeved on the first screw and cooperates with the first screw thread. The first movable rod is provided with a through hole for the second pivot to pass through. The first driving assembly adopts a screw transmission mechanism, which can enable the first movable rod to move back and forth accurately, and then accurately control the swing angle of the swing rod.

[0013] In a preferred embodiment, the second drive assembly includes a second motor, a second reducer, a second screw, a second nut and a second movable rod. The body of the second motor is fixedly connected to the body of the second reducer, the output shaft of the second motor is connected to the input end of the second reducer, the second screw is connected to the output end of the second reducer, the second nut is sleeved on the second screw and cooperates with the second screw thread, and the second movable rod is fixedly connected to the second nut; the second movable rod passes through the front end opening of the swing rod and is pivotally connected to the proximal knuckle so that the proximal knuckle rotates around the rotation axis O5 relative to the second movable rod. The second drive assembly adopts a screw transmission mechanism, which can enable the second movable rod to move back and forth accurately, and then accurately control the swing angle of the proximal knuckle.

[0014] In a preferred embodiment, a connecting ear is provided on the body of the second reducer, and a through hole is provided on the connecting ear. The first pivot is provided in the through hole to pivotally connect the body of the second reducer to the first pivot. The second reducer is provided with a connecting ear, and the first pivot is passed through the connecting ear while being connected, so that the second driving component and the swing arm can be quickly assembled.

[0015] In a preferred embodiment, the proximal phalanx is a hollow structure, and a third driving assembly is disposed inside the proximal phalanx, and the third driving assembly is used to drive the distal phalanx to rotate relative to the proximal phalanx around the rotation axis O6. An active joint is disposed between the proximal phalanx and the distal phalanx, and the distal phalanx is driven to rotate by the third driving assembly, thereby increasing the degree of freedom of the thumb assembly, so that the thumb assembly can cooperate with the dexterous hand to complete more delicate and complex tasks.

[0016] In a preferred embodiment, the third drive assembly includes a third motor, a third reducer, a third screw, a third nut and a third movable rod. The body of the third motor is fixedly connected to the body of the third reducer. The output shaft of the third motor is connected to the input end of the third reducer. The third screw is connected to the output end of the third reducer. The third nut is sleeved on the third screw and cooperates with the third screw thread. The third movable rod is fixedly connected to the third nut. The body of the third reducer is pivoted on the proximal knuckle. The third movable rod is pivoted with the distal knuckle so that the distal knuckle can rotate relative to the third movable rod around the rotation axis O7. The rotation axis O7 is parallel to the rotation axis O6 and staggered with each other. The third drive assembly adopts a screw transmission mechanism, which can enable the third movable rod to move back and forth accurately, and then accurately control the swing angle of the distal knuckle.

[0017] The dexterous hand includes the thumb assembly described above.

[0018] The drawings in the specification, which constitute a part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the present invention;

[0020] Figure 2 It is a schematic diagram of the assembly of the present invention;

[0021] Figure 3 A top view of the present invention;

[0022] Figure 4 for Figure 2 Schematic diagram of the structure of the swing rod.

[0023] In the figure: 10, distal knuckle; 20, proximal knuckle; 30, swing rod; 301, rear end opening; 302, top wall; 303, bottom wall; 304, side wall; 31, first pivot; 311, fastening screw; 312, first support sleeve; 32, second pivot; 321, shaft seat; 322, second support sleeve; 40, first drive assembly; 41, first motor; 42, first reducer; 43, first screw rod; 44, first nut; 45, first movable rod; 50, second drive assembly; 51, second motor; 52, second reducer; 521, connecting ear; 53, second screw rod; 54, second nut; 55, second movable rod; 60, third drive assembly; 61, third motor; 62, third reducer; 63, third screw rod; 64, third nut; 65, third movable rod. DETAILED DESCRIPTION

[0024] Below, in conjunction with the accompanying drawings and specific embodiments, the present invention is further described. It should be noted that, under the premise of no conflict, the various embodiments described below or the various technical features can be arbitrarily combined to form a new embodiment. Except for special instructions, the materials and equipment used in this embodiment can be purchased from the market. Examples of embodiments are shown in the accompanying drawings, in which the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and the limitations of the present application cannot be understood.

[0025] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In the description of the present application, "plurality" means two or more, unless otherwise precisely and specifically specified.

[0026] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, or it can be connected through an intermediary medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0027] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] Please refer to Figure 1-4As shown, a thumb assembly of the present invention is connected to the palm of a dexterous hand. The thumb assembly specifically includes a distal knuckle 10, a proximal knuckle 20, and a swing rod 30. The distal knuckle 10 is connected to the front end of the proximal knuckle 20. The front end of the swing rod 30 is pivoted to the rear end of the proximal knuckle 20 so that the proximal knuckle 20 can rotate relative to the swing rod 30 around a rotation axis O4. The rear end of the swing rod 30 is pivoted to the palm of the dexterous hand so that the swing rod 30 can rotate relative to the palm of the dexterous hand around a rotation axis O1. The rotation axis of the swing rod 30 and the proximal knuckle 20 is O4. The swing rod 30 is configured as a hollow structure, and openings are respectively provided at the front end and the rear end thereof. A support for the swing rod 30 is provided in the rear end opening 301 of the swing rod 30. 0 is connected to the first pivot 31 and the second pivot 32, the central axis of the first pivot 31 is O2, and the central axis of the second pivot 32 is O3, wherein the central axis O2 and the central axis O3 are in the same plane and perpendicular to each other, the first pivot 31 can be arranged in the up-down direction, and the second pivot 32 can be arranged in the left-right direction, so that the central axis O2 and the central axis O3 are kept in the same vertical plane and perpendicular to each other, in order to make the central axis O2 and the central axis O3 in the same vertical plane, the second pivot 32 and the first pivot 31 are pivotally matched, and an axial hole for the first pivot 31 to pass through is arranged on the second pivot 32, so that the central axis O2 and the central axis O3 can intersect. The central axis O3 is parallel to the rotation axis O1 and staggered with each other. A first drive assembly 40 is arranged inside the palm of the dexterous hand, and the output end of the first drive assembly 40 is pivoted on the second pivot 32. The second pivot 32 is driven to move in the front-to-back direction by the first drive assembly 40. Since the central axis O3 of the second pivot 32 is staggered with the rotation axis O1, when the second pivot 32 moves forward and backward, it can pull the position connected with the swing rod 30 to produce a front-to-back displacement, and then the swing rod 30 can swing around the rotation axis O1 relative to the palm of the dexterous hand. A second drive assembly 50 is arranged in the inner cavity of the swing rod 30. The second drive assembly 50 is pivoted on the first pivot 31, and the output end of the second drive assembly 50 is pivoted on the proximal phalanx 20, so that the proximal phalanx 20 can rotate around the rotation axis O5 relative to the output end of the second drive assembly 50. The rotation axis O5 is parallel to the rotation axis O4 and staggered with each other. When the output end of the second drive assembly 50 drives the proximal phalanx 20 to move in the front-to-back direction, the proximal phalanx 20 can rotate around the rotation axis O4 relative to the swing rod 30.

[0029] In the above structure of the present invention, the first driving component 40 drives the swing rod 30 to realize the side swing of the thumb component, the output end of the first driving component 40 is connected to the second pivot 32, the second driving component 50 is connected to the first pivot 31, and the central axis of the first pivot 31 and the central axis of the second pivot 32 are in the same plane, thereby reducing the space occupied in the length direction of the swing rod 30, simplifying the connection structure of the first driving component 40, the second driving component 50 and the swing rod 30, making the overall structure of the thumb component more compact, and facilitating the miniaturization design of the thumb component.

[0030] In other embodiments, in order to set the above-mentioned center axis O2 and center axis O3 to be in the same plane, an axial hole can be set on the first pivot 31, and the second pivot 32 can be connected to the axial hole set on the first pivot 31. In short, no matter which of the above-mentioned structures is adopted, the center axis O2 and center axis O3 are in the same plane and perpendicular to each other.

[0031] In a preferred embodiment, the swing lever 30 includes a top wall 302, a bottom wall 303 opposite to the top wall 302, and two opposite side walls 304. The first pivot 31 extends in the up-down direction, and the upper and lower ends of the first pivot 31 are respectively connected to the top wall 302 and the bottom wall 303. The two ends of the first pivot 31 are respectively screwed with a fastening screw 311. After being tightened, the two fastening screws 311 are respectively pressed on the outer sides of the top wall 302 and the bottom wall 303, thereby fixing the first pivot 31 on the swing lever 30. During assembly, the first pivot 31 can be inserted from the preset hole on the top wall 302 of the swing lever 30 into the rear end opening 301 of the swing lever 30. During the insertion, the first pivot 31 is directly passed through the second driving assembly 50, so that the second driving assembly 50 is pivotally connected to the first pivot 31. In this way, the installation of the first pivot 31, the swing lever 30 and the second driving assembly 50 can be facilitated.

[0032] An axle seat 321 is provided at one end of the second pivot 32, and the other end of the second pivot 32 is connected to one of the side walls 304, and an axle hole is provided on the axle seat 321. When the first pivot 31 is connected to the swing lever 30 from top to bottom, the first pivot 31 passes through the axle hole on the axle seat 321, and thus the second pivot 32 is connected to the swing lever 30. The axle seat 321 is provided on the second pivot 32, so that the portion of the second pivot 32 where the axle hole is provided has a sufficiently large outer dimension, so that the axle hole on the second pivot 32 can fit the first pivot 31 with a larger outer diameter, and ensure that the strength of the first pivot 31 can meet the requirements.

[0033] The shaft seat 321 is clamped between the top wall 302 and the second drive assembly 50, and a first support sleeve 312 is sleeved on the first pivot 31, and the first support sleeve 312 is clamped between the shaft seat 321 and the bottom wall 303 bracket; the second pivot 32 is connected to the output end of the first drive assembly 40, and a second support sleeve 322 is sleeved on the second pivot 32, and the second support sleeve 322 is located between one of the side walls 304 and the output end of the first drive assembly 40, and the second support sleeve 322 and the output end of the first drive assembly 40 are clamped between one of the side walls 304 and the shaft seat 321. The first support sleeve 312 and the shaft seat 321 are used to support the shaft seat 321 and the second drive assembly 50 between the top wall 302 and the bottom wall 303 to prevent the second pivot shaft 32 and the second drive assembly 50 from being displaced in the up and down directions. The second support sleeve 322 and the shaft seat 321 are used to support the output end of the first drive assembly 40 in the left and right directions to prevent the output end of the first drive assembly 40 from being displaced in the left and right directions. In this way, the first drive assembly 40 can stably drive the swing rod 30 to swing, and the second drive assembly 50 can stably drive the proximal knuckle 20 to swing.

[0034] The first driving assembly 40 includes a first motor 41, a first reducer 42, a first screw rod 43, a first nut 44 and a first movable rod 45. The first movable rod 45 is the output end of the first driving assembly 40 and is fixed on the first nut 44. The body of the first motor 41 is fixedly connected to the body of the first reducer 42. The output shaft of the first motor 41 is connected to the input end of the first reducer 42. The first screw rod 43 is connected to the output end of the first reducer 42. The first nut 44 is sleeved on the first screw rod 43 and is threadedly matched with the first screw rod 43. The first movable rod 45 is provided with a through hole for the second pivot 32 to pass through. The first driving assembly 40 adopts a screw transmission mechanism, which can enable the first movable rod 45 to move back and forth accurately, and then accurately control the swing angle of the swing rod 30.

[0035] The second driving assembly 50 includes a second motor 51, a second reducer 52, a second screw rod 53, a second nut 54 and a second movable rod 55. The body of the second motor 51 is fixedly connected to the body of the second reducer 52, the output shaft of the second motor 51 is connected to the input end of the second reducer 52, the second screw rod 53 is connected to the output end of the second reducer 52, the second nut 54 is sleeved on the second screw rod 53 and threadedly cooperates with the second screw rod 53, and the second movable rod 55 is fixedly connected to the second nut 54; the second movable rod 55 extends forward and passes through the front end opening of the swing rod 30 and is pivotally connected to the proximal knuckle 20, so that the proximal knuckle 20 can rotate around the rotation axis O5 relative to the second movable rod 55. When the second motor 51 is started, the second movable rod 55 can be moved forward and backward. Since the rotation axis O5 is parallel to the rotation axis O4 and staggered with each other, when the second movable rod 55 moves forward and backward, the proximal knuckle 20 can be driven to rotate around the rotation axis O4 relative to the swing rod 30. The second driving assembly 50 adopts a screw transmission mechanism, which can enable the second movable rod 55 to move back and forth accurately, and then accurately control the swing angle of the proximal knuckle 20.

[0036] The body of the second reducer 52 is provided with a connecting ear 521, and a through hole is provided on the connecting ear 521. The first pivot 31 is provided in the through hole, and the body of the second reducer 52 is pivoted on the first pivot 31, that is, the second drive assembly 50 is pivoted on the first pivot 31; when the second drive assembly 50 drives the proximal knuckle 20 to swing, the second drive assembly 50 itself has a smaller swing amplitude relative to the swing rod 30. The second reducer 52 is provided with a connecting ear 521, and while connecting the first pivot 31, the first pivot 31 is passed through the connecting ear 521, so that the second drive assembly 50 and the swing rod 30 can be quickly assembled.

[0037] The proximal knuckle 20 is a hollow structure, and a third driving assembly 60 is disposed inside the proximal knuckle 20. The third driving assembly 60 is used to drive the distal knuckle 10 to rotate relative to the proximal knuckle 20 around the rotation axis O6. An active joint is disposed between the proximal knuckle 20 and the distal knuckle 10, and the distal knuckle 10 is driven to rotate by the third driving assembly 60, thereby increasing the degree of freedom of the thumb assembly, so that the thumb assembly can cooperate with the dexterous hand to complete more delicate and complex tasks.

[0038] The third driving assembly 60 includes a third motor 61, a third reducer 62, a third screw rod 63, a third nut 64 and a third movable rod 65. The body of the third motor 61 is fixedly connected to the body of the third reducer 62. The output shaft of the third motor 61 is connected to the input end of the third reducer 62. The third screw rod 63 is connected to the output end of the third reducer 62. The third nut 64 is sleeved on the third screw rod 63 and threadedly cooperates with the third screw rod 63. The third movable rod 65 is fixedly connected to the third nut 64. The body of the third reducer 62 is pivotally connected to the proximal knuckle 20. The third movable rod 65 extends forward and passes through the proximal knuckle 20 and is pivotally connected to the distal knuckle 10, so that the distal knuckle 10 can rotate around the rotation axis O7 relative to the third movable rod 65. The rotation axis O7 is parallel to the rotation axis O6 and staggered with each other. When the third motor 61 drives the third movable rod 65 to move forward and backward, the third movable rod 65 can drive the distal knuckle 10 to rotate around the rotation axis O6. The third driving assembly 60 adopts a screw transmission mechanism, which can enable the third movable rod 65 to move back and forth accurately, and then accurately control the swing angle of the distal phalanx 10.

[0039] The dexterous hand of the present invention includes the above-mentioned thumb assembly. The other structures of the dexterous hand are the same as those in the prior art and will not be described in detail here.

[0040] Although only certain components and embodiments of the present application have been illustrated and described, many modifications and changes may be conceived by those skilled in the art without actually departing from the scope and spirit of the claims, such as changes in the size, dimensions, structure, shape and proportion of the various elements, mounting arrangements, material usage, color, orientation, etc.

[0041] The above implementation modes are only preferred implementation modes of the embodiments of the present invention and cannot be used to limit the protection scope of the embodiments of the present invention. Any non-substantial changes and replacements made by technicians in this field on the basis of the embodiments of the present invention shall fall within the scope of protection required by the embodiments of the present invention.

Claims

1. A thumb assembly connected to the palm of a dexterous hand, characterized in that: The invention comprises a distal knuckle, a proximal knuckle and a swinging rod, wherein the distal knuckle is connected to the front end of the proximal knuckle, the rear end of the swinging rod is pivotally connected to the palm of the dexterous hand so that the swinging rod can rotate relative to the palm of the dexterous hand around a rotation axis O1, and the proximal knuckle is pivotally connected to the front end of the swinging rod so that the proximal knuckle can rotate relative to the swinging rod around a rotation axis O4; The swing lever is a hollow structure with openings at both ends. A first pivot and a second pivot connected to the swing lever are arranged in the rear opening of the swing lever. The central axis O3 of the second pivot and the central axis O2 of the first pivot are in the same plane and perpendicular to each other. The second pivot is provided with an axial hole for the first pivot to pass through or the first pivot is provided with an axial hole for the second pivot to pass through, so that the second pivot can be pivotally matched with the first pivot. The central axis O3 is parallel to the rotation axis O1 and staggered with each other. A first drive component is arranged inside the palm of the dexterous hand, and the output end of the first drive component is pivoted to the second pivot to drive the second pivot to move forward and backward; a second drive component is arranged in the inner cavity of the swing rod, and the second drive component is pivoted to the first pivot. The output end of the second drive component is pivoted to the proximal knuckle so that the proximal knuckle can rotate around the rotation axis O5 relative to the output end of the second drive component. The rotation axis O5 is parallel to the rotation axis O4 and staggered with each other, so that when the output end of the second drive component drives the proximal knuckle to move forward and backward, the proximal knuckle rotates around the rotation axis O4 relative to the swing rod.

2. The thumb assembly according to claim 1, wherein: The swing rod includes a top wall, a bottom wall opposite to the top wall, and two opposite side walls. The two ends of the first pivot are respectively connected to the top wall and the bottom wall, and the two ends of the first pivot are respectively screwed with a fastening screw to fix the two ends of the first pivot to the top wall and the side wall respectively.

3. The thumb assembly according to claim 2, characterized in that: One end of the second pivot is provided with an axle seat, and the other end is connected to one of the side walls. An axle hole is provided on the axle seat for the first pivot to pass through.

4. The thumb assembly according to claim 3, wherein: The shaft seat is clamped between the top wall and the second drive component, the first pivot is sleeved with a first support sleeve, and the first support sleeve is clamped between the shaft seat and the bottom wall; the second pivot is connected to the output end of the first drive component, the second pivot is sleeved with a second support sleeve, the second support sleeve is located between one of the side walls and the output end of the first drive component, and the second support sleeve and the output end of the first drive component are clamped between one of the side walls and the shaft seat.

5. The thumb assembly according to claim 4, wherein: The first driving assembly includes a first motor, a first reducer, a first screw rod, a first nut and a first movable rod. The first movable rod is the output end of the first driving assembly and is fixed on the first nut. The body of the first motor is fixedly connected to the body of the first reducer. The output shaft of the first motor is connected to the input end of the first reducer. The first screw rod is connected to the output end of the first reducer. The first nut is sleeved on the first screw rod and cooperates with the first screw rod thread. The first movable rod is provided with a through hole for the second pivot to pass through.

6. The thumb assembly according to claim 5, characterized in that: The second driving assembly includes a second motor, a second reducer, a second screw rod, a second nut and a second movable rod. The body of the second motor is fixedly connected to the body of the second reducer, the output shaft of the second motor is connected to the input end of the second reducer, the second screw rod is connected to the output end of the second reducer, the second nut is sleeved on the second screw rod and cooperates with the second screw rod thread, and the second movable rod is fixedly connected to the second nut; the second movable rod passes through the front end opening of the swing rod and is pivotally connected to the proximal knuckle so that the proximal knuckle can rotate around the rotation axis O5 relative to the second movable rod.

7. The thumb assembly according to claim 6, wherein: A connecting ear is arranged on the body of the second reducer, a through hole is arranged on the connecting ear, and the first pivot is arranged in the through hole to pivotally connect the body of the second reducer to the first pivot.

8. The thumb assembly according to claim 1, wherein: The proximal phalanx is a hollow structure, and a third driving assembly is disposed inside the proximal phalanx. The third driving assembly is used to drive the distal phalanx to rotate relative to the proximal phalanx around the rotation axis O6.

9. The thumb assembly according to claim 8, wherein: The third driving assembly includes a third motor, a third reducer, a third screw rod, a third nut and a third movable rod. The body of the third motor is fixedly connected to the body of the third reducer, the output shaft of the third motor is connected to the input end of the third reducer, the third screw rod is connected to the output end of the third reducer, the third nut is sleeved on the third screw rod and cooperates with the third screw rod thread, the third movable rod is fixedly connected to the third nut, the body of the third reducer is pivoted on the proximal knuckle, the third movable rod is pivoted to the distal knuckle so that the distal knuckle can rotate around the rotation axis O7 relative to the third movable rod, and the rotation axis O7 is parallel to the rotation axis O6 and staggered with each other.

10. A dexterous hand, characterized in that The present invention comprises the thumb assembly according to any one of claims 1 to 9.

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