Dexterous hand thumb assembly and dexterous hand

Abstract

The invention relates to the technical field of dexterous hands, in particular to a dexterous hand thumb assembly and a dexterous hand. A dexterous hand thumb assembly comprises a first steering engine unit, a second steering engine unit, a root knuckle, a middle knuckle and a fingertip, and a first output shaft of the first steering engine unit is connected with the second steering engine unit and used for driving the second steering engine unit to rotate around the first output shaft; a second output shaft of the second steering engine unit is arranged in the direction perpendicular to the first output shaft and used for driving the root knuckle to rotate, the root knuckle is provided with a pushing chain device and drives the middle knuckle and the fingertip to conduct curling motion through the pushing chain device, and a reset spring is connected between the root knuckle and the fingertip. And the extension of the root knuckles, the middle knuckles and the fingertips is promoted through the reset springs. The invention provides a dexterous hand thumb assembly and a dexterous hand, which have three active degrees of freedom and simultaneously meet the characteristics of large swing range, high precision, good stability, small space and low cost.

Description

Technical Field

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

[0002] As the core component of a humanoid robot to perform operational tasks, the performance of the dexterous hand directly determines the robot's operational flexibility and environmental adaptability. From the perspective of human bionics, the thumb plays a key role in force output and fine manipulation because it has significantly higher degrees of freedom than the other four fingers. Its function accounts for nearly half of the overall function of the hand. As the core component of the dexterous hand, the movement flexibility and spatial layout of the thumb structure not only affect the overall performance of the hand, but also directly restrict the compact design of the entire hand. In the existing technology, the realization of the thumb function mainly relies on spatial four-bar linkage, ball screw, gear rack and other structures to convert linear motion into finger rotational motion. The above hand structures have problems such as small swing range, complex design, high cost, difficult control algorithm, and low precision. Summary of the Invention

[0003] Based on the above problems of the prior art, the present invention provides a dexterous hand thumb assembly and a dexterous hand, which have three active degrees of freedom and meet the characteristics of large swing range, high precision, good stability, small space and low cost.

[0004] In order to achieve the above object, the technical solution of the present invention is:

[0005] A dexterous thumb assembly includes a first servo unit, a second servo unit, a base knuckle, an intermediate knuckle, and a fingertip. The output shaft 1 of the first servo unit is connected to the second servo unit and is used to drive the second servo unit to rotate around the output shaft 1. The output shaft 2 of the second servo unit is arranged in a direction perpendicular to the output shaft 1 and is used to drive the base knuckle to rotate. The base knuckle is equipped with a push chain device, and the push chain device drives the intermediate knuckle and fingertip to perform a curling movement. A reset spring is connected between the base knuckle and the fingertip, and the reset spring promotes the extension of the base knuckle, the intermediate knuckle, and the fingertip.

[0006] Preferably, the first servo unit includes a first servo and a first servo fixing seat, the first servo is fixedly connected to one end of the first servo fixing seat, the output shaft of the first servo extends into the cavity inside the first servo fixing seat and is connected to a coupling, the end of the first servo fixing seat away from the first servo is closed and embedded with a rolling bearing, the outer ring of the rolling bearing is interference fit with the first servo fixing seat, the inner ring is interference fit with a connecting shaft one, and one end of the connecting shaft one is connected to the coupling.

[0007] Preferably, the second servo unit includes a second servo fixing seat and a second servo, one end of the second servo fixing seat is fixedly connected to the other end of the connecting shaft one through the connecting shaft two, the other end of the second servo fixing seat is rotatably connected to the bracket plate through the connecting shaft three, the second servo is fixedly installed inside the second servo fixing seat, and the connecting shaft two and the connecting shaft three are coaxially arranged.

[0008] Preferably, one side of the second servo fixing seat is open, the second output shaft passes through the opening and is fixedly connected to the driving gear, the top of the second servo fixing seat is provided with two oppositely arranged convex plates, the two convex plates are provided with axial holes oppositely, a fixed rotating shaft passes through the axial hole and is rotatably connected, one end of the fixed rotating shaft is connected to the driven gear, and the driving gear and the driven gear are meshed and connected.

[0009] Preferably, the root knuckle includes a root knuckle shell and a push chain device, the push chain device includes a push chain device fixing seat, one end of the push chain device fixing seat is provided with a connecting shaft hole, and the other end is provided with a hinge seat, the connecting shaft hole is arranged between the two convex plates and interference fits with the fixed rotating shaft, the push chain device fixing seat is connected to the accommodating warehouse of the push chain device towards one end of the driven gear, the driving shaft of the accommodating warehouse vertically penetrates the push chain device fixing seat and enters the push chain device fixing seat, and a controller, a motor, and a reducer are arranged in sequence inside the push chain device fixing seat, the motor is connected to the end of the drive shaft through the reducer, the controller is configured to control the rotation of the motor, the push chain head output by the accommodating warehouse is connected to the push rod, the head of the push rod is connected to the push plate, and the root knuckle shell is fixedly connected to the top of the accommodating warehouse.

[0010] Preferably, the middle finger joint includes a connecting rod and an middle finger joint shell, the head of the hinge seat is hinged to the tail of the connecting rod through the first hinge axis, and the hinge seat where the rear side of the first hinge axis is located is provided with a second hinge axis, the second hinge axis is hinged to the connecting hole 1 at the lower rear part of the middle finger joint shell, and the upper part of the rear side of the middle finger joint shell is also provided with two relatively set connecting holes 2, and a fixed shaft is connected between the two connecting holes 2, and the fixed shaft is used in conjunction with the end of the push plate, and the head of the connecting rod is hinged to the rear end of the fingertip through the third hinge axis, and the two ends of the third hinge axis are respectively rotatably connected to the connecting holes on both sides of the head of the middle finger joint shell, and the first hinge axis, the second hinge axis, the third hinge axis and the fixed axis are parallel to each other and perpendicular to the fixed rotating axis respectively; in the initial state, the head of the middle finger joint shell is against the rear end of the fingertip.

[0011] Preferably, the front surface of the push plate is an arc-shaped surface or a plane structure, and the arc-shaped surface or the plane structure is movably connected to the fixed shaft.

[0012] Preferably, a return spring is connected between the second hinge shaft and the third hinge shaft. In the initial state, under the pulling force of the return spring, the middle knuckle and the fingertip are in an extended state.

[0013] A dexterous hand is provided, wherein the dexterous hand is equipped with a dexterous hand thumb assembly, wherein a mounting groove is provided at the base of the palm of the dexterous hand, a first servo unit and a second servo unit are sequentially mounted in the mounting groove, and the second servo unit is sequentially connected to the root knuckle, middle knuckle and fingertip located on the outside of the palm.

[0014] The dexterous hand thumb assembly and the dexterous hand of the present invention have the following beneficial effects:

[0015] (1) The present invention reduces the thickness of the palm of the dexterous hand through a horizontally arranged structural form, thereby greatly reducing the size of the dexterous hand.

[0016] (2) The present invention uses the motor rotation to directly control the degree of freedom of the servo, without the need for other forms of conversion. The control method is simpler, the thumb movement trajectory is relatively certain, and the algorithm is simpler.

[0017] (3) The second steering gear of the present invention is installed horizontally, which increases the swing amplitude of the thumb bending and can complete a swing of -17° to +45°, making the dexterous hand more agile.

[0018] (4) The first servo of the present invention is installed vertically, which reduces the size of the thumb structure of the dexterous hand.

[0019] (5) The second servo of the present invention increases the swing range of the thumb of the dexterous hand to the left and right through the structural design of the meshing transmission of the driving gear and the driven gear, and can achieve a swing of more than 80 degrees, greatly improving agility.

[0020] (6) The present invention realizes the bending of the carpometacarpal joint, the swing of the metacarpophalangeal joint and the bending of the proximal interphalangeal joint, three active degrees of freedom, making the thumb more flexible.

[0021] (7) The present invention movably connects the push plate connected to the push chain with the fixed shaft, thereby protecting the safety performance of the fingers when they are accidentally hit, preventing them from being damaged by the impact force, and ensuring that the fingers can return to their original position.

[0022] (8) The transmission part of the present invention adopts the form of gears and couplings for transmission, which greatly reduces the control difficulty while reducing energy loss.

[0023] (9) The present invention adopts a pushing device as a driver for the proximal end of the thumb. When the thumb is extended, it bends, and when it is retracted, it straightens, which cooperates well with the pushing chain.

[0024] (10) The present invention reduces the external dimensions of the driver and increases the thumb tip force by adopting a push chain device as the thumb drive.

[0025] (11) The present invention uses a structural design in which the push plate is movably connected to the fixed shaft and a reset spring is added. Under the premise of ensuring positioning accuracy, the present invention releases the degree of freedom in one direction and ensures the impact resistance of the thumb.

[0026] (12) The present invention designs the thumb portion of the dexterous hand into a component form, which facilitates the assembly and subsequent maintenance of the dexterous hand as a whole. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 : Assembly drawing of the dexterous hand of the present invention.

[0028] Figure 2 : Structural diagram of the thumb assembly of the present invention.

[0029] Figure 3 : Exploded view of the thumb assembly of the present invention.

[0030] Figure 4 : Push chain device structure diagram of the present invention.

[0031] Figure 5 : Structural diagram of the first steering gear fixing seat of the present invention.

[0032] Figure 6 : Structural diagram of the second steering gear fixing seat of the present invention.

[0033] Figure 7 : Structural diagram of the fixed rotating shaft of the present invention.

[0034] Figure 8 : The structural diagram of the hinged seat one of the present invention.

[0035] Figure 9 : The structural diagram of the root knuckle shell of the present invention.

[0036] Figure 10 : The structural diagram of the connecting rod of the present invention.

[0037] Figure 11 : The structural diagram of the middle finger joint shell of the present invention.

[0038] Markings in the figure: 1. First servo; 2. Coupling; 3. First servo mounting bracket; 4. Second servo; 5. Push chain assembly; 6. Push rod; 7. Connecting rod; 8. Finger tip; 9. Fixed shaft; 10. Return spring; 11. Middle knuckle housing; 12. Root knuckle housing; 13. Bracket plate; 14. Connecting shaft three; 15. Bearing support sleeve; 16. Driven gear; 17. Fixed shaft; 18. Gear fixing screw; 19. Driving gear. 20. Fixed bearing; 21. Second servo fixing seat; 22. Second connecting shaft; 23. Rolling bearing; 24. Mounting slot; 25. Palm; 26. Connecting shaft hole; 27. Articulated seat 1; 28. First articulated shaft; 29. Second articulated shaft; 30. Second connecting hole; 31. Push plate; 32. Push chain guide plate; 33. Push chain; 34. Push chain device fixing seat; 35. Reducer; 36. Motor; 37. Controller; 38. Third articulated shaft. DETAILED DESCRIPTION

[0039] The following describes in detail the implementation methods of the present invention in a step-by-step manner. This description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

[0040] In the description of the present invention, it should be noted that the terms "up", "down", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings. They are only for describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, and a specific orientation structure and operation. Therefore, they cannot be understood as limiting the present invention.

[0041] Example 1

[0042] The present invention provides a dexterous hand thumb assembly, such as Figure 1 As shown, it includes a first steering unit, a second steering unit, a base knuckle, a middle knuckle, and a fingertip 8. The output shaft 1 of the first steering unit is connected to the second steering unit and is used to drive the second steering unit to rotate around the output shaft 1, thereby realizing the thumb-to-palm action; this is the active degree of freedom 1;

[0043] The second output shaft of the second servo unit is arranged in a direction perpendicular to the first output shaft and is used to drive the base knuckle to rotate and drive the thumb to achieve the deflection of the base knuckle; this is the second active degree of freedom;

[0044] The root knuckle is equipped with a push chain device 5, and the push chain device 5 drives the middle knuckle and fingertip to curl, which is the third active degree of freedom; the root knuckle and fingertip are connected with a return spring 10, and the return spring 10 promotes the extension of the root knuckle, middle knuckle and fingertip 8, which is one driven degree of freedom.

[0045] As described above, the thumb assembly of the present invention has three active degrees of freedom and one passive degree of freedom, wherein a push chain device of a suitable size can be selected according to the size of the dexterous hand design.

[0046] Example 2

[0047] Based on Example 1, this embodiment discloses:

[0048] like Figure 2 、 3 As shown, the first steering gear unit includes a first steering gear 1 and a first steering gear fixing base 3. The first steering gear 1 is fixedly connected to one end of the first steering gear fixing base 3. The output shaft of the first steering gear 1 extends into the cavity inside the first steering gear fixing base 3 and is connected to the coupling 2. The end of the first steering gear fixing base 3 away from the first steering gear 1 is closed and embedded with a rolling bearing 23. The outer ring of the rolling bearing 23 is interference fit with the first steering gear fixing base 3, and the inner ring is interference fit with a connecting shaft 1 (a commonly used structure, not marked in the figure). One end of the connecting shaft 1 is connected to the coupling 2.

[0049] like Figure 2 、 3 As shown, the second servo unit includes a second servo fixing seat 21 and a second servo 4. One end of the second servo fixing seat 21 is fixedly connected to the other end of the connecting shaft 1 through the second connecting shaft 22. The other end of the second servo fixing seat 21 is rotatably connected to the bracket plate 13 (for connecting and fixing with the dexterous hand palm shell) through the third connecting shaft 14. The second servo 4 is fixedly installed inside the second servo fixing seat 21. The second connecting shaft 22 and the third connecting shaft 14 are coaxially arranged.

[0050] like Figure 1 As shown, when the first steering unit and the second steering unit are installed in the installation groove at the base of the palm of the dexterous hand, the second steering unit can rotate driven by the first steering unit.

[0051] Example 3

[0052] Based on Example 2, this embodiment discloses:

[0053] like Figure 2 、 3As shown, one side of the second servo fixing base 21 is open, and the output shaft 2 passes through the opening and is fixedly connected to the driving gear 19. The top of the second servo fixing base 21 is provided with two oppositely arranged convex plates, and the two convex plates are provided with shaft holes oppositely. The shaft hole passes through and is rotatably connected to a fixed shaft 17, and one end of the fixed shaft 17 is connected to the driven gear 16. The driving gear 19 and the driven gear 16 are meshed and connected.

[0054] like Figure 2 、 3 As shown, the root knuckle includes a root knuckle shell 12 and a push chain device 5, as shown in FIG. Figure 4 As shown, the push chain device 5 includes a push chain device fixing seat 34, one end of the push chain device fixing seat 34 is provided with a connecting shaft hole 26, and the other end is provided with a hinge seat 27, the connecting shaft hole 26 is provided between the two convex plates and is interference fit with the fixed rotating shaft 17, and then, driven by the second servo, the driving gear and the driven gear are engaged, driving the push chain device fixing seat 34 to rotate, that is, driving the root knuckle to rotate; the push chain device fixing seat 34 is connected to the end facing the driven gear 16 with a accommodating chamber of the push chain device (for accommodating the push chain; it is composed of a push chain guide plate 32 with a chain guide rail inside), and the driving shaft of the accommodating chamber vertically penetrates the push chain device fixing seat 34 and enters the push chain Inside the device fixing seat 34, a controller 37, a motor 36, and a reduction gear 35 are arranged in sequence inside the push chain device fixing seat 34. The motor 36 is connected to the end of the drive shaft through the reduction gear 35. When the motor 36 rotates, it drives the drive shaft to rotate, and the drive shaft drives the sprocket on it to engage and push the chain in the accommodating bin to move, and then at the output end of the guide rail in the accommodating bin, the push chain can withstand not only tension but also tension due to the special shape of the chain plate; the controller 37 is configured to control the rotation of the motor 36, and the head of the push chain output from the accommodating bin is connected to the push rod 6, and the head of the push rod 6 is connected to the push plate 31, and the root knuckle shell 12 is fixedly connected to the top of the accommodating bin.

[0055] In this embodiment, the push chain is a prior art, and reference may be made to documents CN118977973A, CN220131061U, CN222098719U, CN222098719U, etc. The present invention installs the push chain on the push chain device fixing seat 34 so that it constitutes the root knuckle.

[0056] Example 4

[0057] Based on Example 3, this embodiment discloses:

[0058] like Figure 2-4As shown, the middle finger joint includes a connecting rod 7 and an middle finger joint shell 11, the head of the hinge seat 27 is hinged to the tail of the connecting rod 7 through a first hinge shaft 28, and a second hinge shaft 29 is provided on the hinge seat 27 where the rear side of the first hinge shaft 28 is located. The second hinge shaft 29 is hinged to the connecting hole 1 at the lower rear part of the middle finger joint shell 11, and the upper part of the rear side of the middle finger joint shell 11 is also provided with two relatively arranged connecting holes 2 30, and a fixed shaft 9 is connected between the two connecting holes 2 30, and the fixed shaft 9 is used in conjunction with the end of the push plate 31, and the head of the connecting rod 7 is hinged to the rear end of the fingertip through a third hinge shaft 38, and the two ends of the third hinge shaft 38 are respectively rotatably connected to the connecting holes 3 on both sides of the head of the middle finger joint shell 11, and the first hinge shaft 28, the second hinge shaft 29, the third hinge shaft 38, and the fixed shaft 9 are parallel to each other and perpendicular to the fixed rotating shaft 17 respectively; in the initial state, the head of the middle finger joint shell 11 is against the rear end of the fingertip 8.

[0059] When the push chain is output, the push rod 6 drives the push plate 31 to move forward, and then the push plate 31 pushes the fixed shaft 9, driving the middle knuckle to rotate around the second hinge shaft 29, and the head of the middle knuckle shell 11 pushes the rear end of the fingertip, causing the fingertip to rotate around the third hinge shaft 38, thereby realizing the thumb curling action.

[0060] Example 5

[0061] Based on Example 4, this embodiment discloses:

[0062] like Figure 2 As shown, the front surface of the push plate 31 is an arc-shaped surface (which can better cooperate with the fixed shaft 9) or a flat structure. The arc-shaped surface or flat structure is movably connected to the fixed shaft 9. When the thumb is subjected to external force, the thumb can curl with the external force and break away from the push plate, thereby avoiding damage to the thumb joint.

[0063] Example 6

[0064] Based on Example 5, this embodiment discloses:

[0065] like Figure 3 As shown, a return spring 10 is connected between the second hinge axis 29 and the third hinge axis 38. In the initial state, the middle phalanx and fingertip 8 are in an extended state under the tension of the return spring 10. When the thumb is curled and needs to be extended, the return spring can achieve the extension action. It is understood that this function can also be achieved by using a self-resetting structure using a torsion spring or other elastic mechanism.

[0066] Example 7

[0067] Based on the above embodiments, this embodiment discloses:

[0068] A dexterous hand, such as Figure 1As shown, the dexterous hand is equipped with a dexterous hand thumb assembly, wherein a mounting groove 24 is provided at the base of the palm of the dexterous hand, and a first servo unit and a second servo unit are sequentially mounted in the mounting groove 24, and the second servo unit is sequentially connected to the root knuckle, middle knuckle and fingertip located on the outside of the palm 25.

[0069] Working principle of the present invention:

[0070] (1) There are three motors in the thumb assembly, namely the first servo, the second servo and the push chain drive motor. The first servo controls the flexion and extension of the thumb carpometacarpal joint, the second servo controls the yaw movement of the base knuckle, and the push chain drive motor controls the flexion of the middle knuckle and fingertips.

[0071] (2) The steering power of the thumb assembly is provided by the servo. Through the reasonable layout design of the servo, the layout is horizontal. By controlling the rotation angle and speed of the servo, a large range of deflection and bending of the thumb can be directly achieved.

[0072] (2) The first servo fixing seat of the thumb assembly is fixed to the palm, and the second servo fixing seat rotates around the output shaft of the first servo and is connected to the output shaft of the first servo through a coupling.

[0073] (3) The output shaft 2 of the second servo is engaged with the driven gear through the driving gear to transmit power.

[0074] (4) The thumb bending power part is directly driven by the push chain device, and the push chain drives the push rod and the push plate to directly push and realize the bending of the middle knuckle and fingertip.

[0075] (5) The push plate is movably connected to the fulcrum fixed shaft and always tends to return to its original position under the reset spring.

[0076] (6) The thumb tip is coupled and driven by a connecting rod, and the finger tip is bent under the push of the middle knuckle shell.

[0077] (7) The reset spring ensures positioning accuracy, thereby improving the thumb's ability to resist impact and increasing the safety factor.

Claims

1. A dexterous hand thumb assembly, characterized by: The present invention comprises a first servo unit, a second servo unit, a root knuckle, an intermediate knuckle and a fingertip. The output shaft 1 of the first servo unit is connected to the second servo unit and is used to drive the second servo unit to rotate around the output shaft 1. The output shaft 2 of the second servo unit is arranged in a direction perpendicular to the output shaft 1 and is used to drive the root knuckle to rotate. The root knuckle is equipped with a push chain device, and the push chain device drives the intermediate knuckle and the fingertip to perform a curling movement. A reset spring is connected between the root knuckle and the fingertip, and the reset spring promotes the extension of the root knuckle, the intermediate knuckle and the fingertip.

2. The dexterous hand thumb assembly according to claim 1, characterized in that: The first steering gear unit includes a first steering gear and a first steering gear fixing seat. The first steering gear is fixedly connected to one end of the first steering gear fixing seat. The output shaft of the first steering gear extends into the cavity inside the first steering gear fixing seat and is connected to a coupling. The end of the first steering gear fixing seat away from the first steering gear is closed and embedded with a rolling bearing. The outer ring of the rolling bearing is interference fit with the first steering gear fixing seat, and the inner ring is interference fit with a connecting shaft 1. One end of the connecting shaft 1 is connected to the coupling.

3. The dexterous hand thumb assembly according to claim 2, characterized in that: The second servo unit includes a second servo fixing seat and a second servo, one end of the second servo fixing seat is fixedly connected to the other end of the connecting shaft one through the connecting shaft two, and the other end of the second servo fixing seat is rotatably connected to the bracket plate through the connecting shaft three. The second servo is fixedly installed inside the second servo fixing seat, and the connecting shaft two and the connecting shaft three are coaxially arranged.

4. The dexterous hand thumb assembly according to claim 3, characterized in that: One side of the second servo fixing seat is open, and the second output shaft passes through the opening and is fixedly connected to the driving gear. The top of the second servo fixing seat is provided with two oppositely arranged convex plates, and the two convex plates are provided with shaft holes opposite to each other. A fixed rotating shaft passes through the shaft hole and is rotatably connected. One end of the fixed rotating shaft is connected to the driven gear, and the driving gear and the driven gear are meshed and connected.

5. The dexterous hand thumb assembly according to claim 4, characterized in that: The root knuckle includes a root knuckle shell and a push chain device, the push chain device includes a push chain device fixing seat, one end of the push chain device fixing seat is provided with a connecting shaft hole, and the other end is provided with a hinge seat, the connecting shaft hole is arranged between the two convex plates and interference fits with the fixed rotating shaft, the push chain device fixing seat is connected to the accommodating warehouse of the push chain device toward one end of the driven gear, the driving shaft of the accommodating warehouse vertically penetrates the push chain device fixing seat and enters the push chain device fixing seat, and a controller, a motor, and a reducer are arranged in sequence inside the push chain device fixing seat, the motor is connected to the end of the drive shaft through the reducer, the controller is configured to control the rotation of the motor, the push chain head output by the accommodating warehouse is connected to the push rod, the head of the push rod is connected to the push plate, and the root knuckle shell is fixedly connected to the top of the accommodating warehouse.

6. The dexterous hand thumb assembly according to claim 5, characterized in that: The middle finger joint includes a connecting rod and an middle finger joint shell. The head of the hinge seat is hinged to the tail of the connecting rod through the first hinge axis. The hinge seat where the rear side of the first hinge axis is located is provided with a second hinge axis. The second hinge axis is hinged to the connecting hole 1 at the lower rear part of the middle finger joint shell. The upper part of the rear side of the middle finger joint shell is also provided with two relatively set connecting holes 2. A fixed shaft is connected between the two connecting holes 2. The fixed shaft is used in conjunction with the end of the push plate. The head of the connecting rod is hinged to the rear end of the fingertip through the third hinge axis. The two ends of the third hinge axis are respectively rotatably connected to the connecting holes on both sides of the head of the middle finger joint shell. The first hinge axis, the second hinge axis, the third hinge axis and the fixed axis are parallel to each other and perpendicular to the fixed rotating axis respectively; in the initial state, the head of the middle finger joint shell is against the rear end of the fingertip.

7. The dexterous hand thumb assembly according to claim 6, characterized in that: The front surface of the push plate is an arc-shaped surface or a plane structure, and the arc-shaped surface or the plane structure is movably connected to the fixed shaft.

8. The dexterous hand thumb assembly according to claim 7, characterized in that: A return spring is connected between the second hinge shaft and the third hinge shaft. In the initial state, under the pulling force of the return spring, the middle knuckle and the fingertip are in an extended state.

9. A dexterous hand, characterized by: The dexterous hand is equipped with the dexterous hand thumb assembly as described in claim 8, wherein an installation groove is opened at the base of the palm of the dexterous hand, and the first servo unit and the second servo unit are installed in the installation groove in sequence, and the second servo unit is connected in sequence to the root knuckle, middle knuckle and fingertip located on the outside of the palm.

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