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 in the length direction of the swing rod is reduced, and the connecting structure of the first driving assembly, the second driving assembly and the swing rod is simplified.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, concretely relates to a thumb subassembly and dexterous hand. BACKGROUND

[0002] As the end execution mechanism of humanoid robot, dexterous hand is used for making humanoid robot execute some fine and complex tasks by imitating the structure of human hand. Dexterous hand mainly executes tasks through the finger subassembly thereon, the finger subassembly and the palm of dexterous hand have rotatable freedom, generally, dexterous hand usually is provided with thumb subassembly, index finger subassembly, middle finger subassembly, ring finger subassembly and little finger subassembly, each finger subassembly generally includes far phalanx and proximal phalanx that is pivoted with far phalanx, the joint structure that can relatively rotate is formed at the connection of proximal phalanx and far phalanx, far phalanx is rotated relative to proximal phalanx by driving unit, so that dexterous hand can execute corresponding task. In the existing dexterous hand, in order to have higher simulation degree, generally need to configure side swing structure on thumb subassembly, the side swing structure of existing thumb subassembly is relatively complex as a whole, and occupies larger space. SUMMARY

[0003] The utility model aims at least to solve one of the technical problems in the prior art, and for this purpose, the purpose of the utility model is to provide a thumb subassembly and dexterous hand to solve the problems of complex structure and large space occupation of thumb subassembly in the prior art.

[0004] The purpose of the utility model is realized by the following technical scheme:

[0005] The thumb subassembly is connected to the palm of dexterous hand, and characterized by comprising far phalanx, proximal phalanx and swing rod, the far phalanx is connected to the front end of proximal phalanx, the rear end of swing rod is pivoted on the palm of dexterous hand to make swing rod rotate relative to the palm of dexterous hand around rotation axis O1, and the proximal phalanx is pivoted to the front end of swing rod to make proximal phalanx rotate relative to swing rod around rotation axis O4.

[0006] The swing rod is a hollow structure with two open ends, the first pivot and the second pivot connected with the swing rod are arranged in the rear end opening of swing rod, the central axis O3 of second pivot and the central axis O2 of first pivot are in the same plane and perpendicular to each other, the shaft hole for first pivot is arranged on the second pivot or the shaft hole for second pivot is arranged on first pivot to make second pivot and first pivot pivotally cooperate, and the central axis O3 is parallel to rotation axis O1 and staggered with each other.

[0007] The palm inside the dexterous hand is internally provided with a first driving assembly, and an output end of the first driving assembly is pivotally connected to the second pivot to drive the second pivot to move forward and backward.

[0008] According to the thumb assembly, the first driving assembly drives the swing rod to realize side swing of the thumb assembly, the output end of the first driving assembly is connected with the second pivot, the second driving assembly is connected with the first pivot, the central axis of the first pivot and the central axis of the second pivot are in the same plane, the length direction space of the swing rod is reduced, the connection structure of the first driving assembly, the second driving assembly and the swing rod is simplified, the overall structure of the thumb assembly is more compact, and the miniaturized design of the thumb assembly is facilitated.

[0009] In the preferred embodiment, the swing rod comprises a top wall, a bottom wall opposite to the top wall, and two opposite side walls, two ends of the first pivot are respectively threaded through 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 on the top wall and the side wall. During assembly, the first pivot can be threaded into the rear end opening of the swing rod from the pre-set hole in the top wall of the swing rod, and the first pivot is directly threaded through the second driving assembly during threading, so that the second driving assembly is pivotally connected to the first pivot. In this way, the installation of the first pivot, the swing rod and the second driving assembly can be facilitated.

[0010] In the preferred embodiment, one end of the second pivot is provided with a shaft seat, the other end is threaded through one of the side walls, and a shaft hole is arranged on the shaft seat for the first pivot to pass through. The shaft seat is arranged on the second pivot, so that the part of the second pivot in which the shaft hole is arranged has a large enough external size. In this way, the shaft hole on the second pivot can be adapted to the first pivot with a larger external diameter to pass through, and the strength of the first pivot can meet the requirements.

[0011] In the preferred embodiment, the shaft seat is clamped between the top wall and the second driving assembly, the first support sleeve is sleeved on the first pivot, 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 driving assembly, the second support sleeve is sleeved on the second pivot, and the second support sleeve is located between one of the side walls and the output end of the first driving assembly; the second support sleeve and the output end of the first driving assembly are clamped between one of the side walls and the shaft seat. The first support sleeve and the shaft seat support the shaft seat and the second driving assembly between the top wall and the bottom wall, preventing the second pivot and the second driving assembly from moving in the up-down direction; the second support sleeve and the shaft seat support the output end of the first driving assembly in the left-right direction, preventing the output end of the first driving assembly from moving in the left-right direction; thus, the first driving assembly can stably drive the swing rod to swing, and the second driving assembly can stably drive the proximal phalanx to swing.

[0012] In the preferred embodiment, the first driving assembly includes a first motor, a first speed reducer, a first lead 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 to the first nut. The body of the first motor is fixedly connected to the body of the first speed reducer. The output shaft of the first motor is connected to the input end of the first speed reducer. The first lead screw is connected to the output end of the first speed reducer. The first nut is sleeved on the first lead screw and threadedly engages the first lead screw. The first movable rod has a through hole through which the second pivot passes. The first driving assembly uses a lead screw transmission mechanism, which can accurately move the first movable rod forward and backward, thereby accurately controlling the swing angle of the swing rod.

[0013] In the preferred embodiment, the second driving assembly includes a second motor, a second speed reducer, a second lead screw, a second nut, and a second movable rod. The body of the second motor is fixedly connected to the body of the second speed reducer. The output shaft of the second motor is connected to the input end of the second speed reducer. The second lead screw is connected to the output end of the second speed reducer. The second nut is sleeved on the second lead screw and threadedly engages the second lead screw. The second movable rod is fixedly connected to the second nut. The second movable rod passes out of the front end opening of the swing rod and is pivotally connected to the proximal phalanx to enable the proximal phalanx to rotate relative to the second movable rod about the rotation axis O5. The second driving assembly uses a lead screw transmission mechanism, which can accurately move the second movable rod forward and backward, thereby accurately controlling the swing angle of the proximal phalanx.

[0014] In the preferred embodiment, the body of the second speed reducer is provided with a connecting lug, the connecting lug is provided with a through hole, and the first pivot is inserted into the through hole to pivotally connect the body of the second speed reducer to the first pivot. By providing a connecting lug on the second speed reducer, the first pivot can be inserted through the connecting lug to quickly assemble the second driving assembly and the swing rod.

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

[0016] In the preferred embodiment, the third driving assembly comprises a third motor, a third speed reducer, a third screw rod, a third nut, and a third movable rod. The body of the third motor is fixedly connected with the body of the third speed reducer, the output shaft of the third motor is connected with the input end of the third speed reducer, the third screw rod is connected with the output end of the third speed reducer, the third nut is sleeved on the third screw rod and threadedly matched with the third screw rod, and the third movable rod is fixedly connected with the third nut. The body of the third speed reducer is pivotally connected with the proximal phalanx, and the third movable rod is pivotally connected with the distal phalanx to enable the distal phalanx to rotate relative to the third movable rod about the rotation axis O7. The rotation axis O7 is parallel to the rotation axis O6 and is staggered with the rotation axis O6. The third driving assembly adopts a screw rod transmission mechanism, which can accurately move the third movable rod forward and backward, and in turn accurately control the swing angle of the distal phalanx.

[0017] The dexterous hand comprises the above-mentioned thumb assembly.

[0018] The drawings accompanying the specification of this application form a part thereof, serve to further provide a further understanding of the present application, and together with the description of the exemplary embodiments of the present application, serve to explain the present application, and do not constitute an improper limitation on the present application. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a structural schematic view of the present application;

[0020] Figure 2 is an assembly schematic view of the present application;

[0021] Figure 3 is a top view of the present application;

[0022] Figure 4 is Figure 2 is a structural schematic view of the swing rod.

[0023] In the figure: 10, distal phalange; 20, proximal phalange; 30, swing bar; 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 driving assembly; 41, first motor; 42, first speed reducer; 43, first screw rod; 44, first nut; 45, first movable rod; 50, second driving assembly; 51, second motor; 52, second speed reducer; 521, connecting lug; 53, second screw rod; 54, second nut; 55, second movable rod; 60, third driving assembly; 61, third motor; 62, third speed reducer; 63, third screw rod; 64, third nut; 65, third movable rod. DETAILED DESCRIPTION

[0024] The utility model will be further described below in combination with the drawings and specific embodiments, it is to be noted that, in the premise of not conflicting, the following described embodiments or between the technical features can be combined to form a new embodiment. Except for the special description, the materials and equipment adopted in the embodiment can be purchased from the market. The examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary, only for explaining the application, and cannot be understood as limiting the application.

[0025] In the description of the application, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore, it cannot be understood as a limitation of the application. In the description of the application, the meaning of "a plurality of" is two or more, unless otherwise specified and limited.

[0026] In the description of the application, it should be noted that, unless otherwise expressly specified and limited, the terms "connected", "communicated", "connected" should be understood broadly, for example, it can be fixedly connected, or connected through an intermediate medium, or the internal connection of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0027] The terms "first", "second", and the like, as used in the specification and in the claims of the application, and in the above Description of Embodiments, unless otherwise specified, are used for distinguishing between similar objects talking about the same object are used to distinguish between similar objects talking about the same object and do not necessarily have to follow an actual released sequence or chronology of events. Further, the terms "comprising", "having", "including", and "containing" and any variations thereof, are intended to cover a non-exclusive inclusion such that a process, method, system, product, or apparatus that comprises, has, includes, or contains a list of steps or elements can not necessarily be limited to those steps or elements but can include other not expressly listed steps or elements.

[0028] Reference will now be made to Figures 1-4The utility model discloses a thumb assembly, which is connected to the palm of a dexterous hand. The thumb assembly specifically comprises a distal phalanx 10, a proximal phalanx 20 and a swing rod 30. The distal phalanx 10 is connected to the front end of the proximal phalanx 20. The front end of the swing rod 30 is pivotally connected to the rear end of the proximal phalanx 20, so that the proximal phalanx 20 can rotate relative to the swing rod 30 about the rotation axis O4. The rear end of the swing rod 30 is pivotally connected to the palm of the dexterous hand, so that the swing rod 30 can rotate relative to the palm of the dexterous hand about the rotation axis O1. The rotation axis of the swing rod 30 and the proximal phalanx 20 is O4. The swing rod 30 is provided with a hollow structure, and an opening is arranged at the front end and the rear end of the swing rod 30. A first pivot 31 and a second pivot 32 connected to the swing rod 30 are arranged in the rear end opening 301 of the swing rod 30. The central axis of the first pivot 31 is O2, and the central axis of the second pivot 32 is O3. 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 keep 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 connected, and an axial hole is arranged on the second pivot 32 for the first pivot 31 to pass through, 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 offset from each other. A first driving assembly 40 is arranged inside the palm of the dexterous hand. The output end of the first driving assembly 40 is pivotally connected to the second pivot 32. The second pivot 32 is driven by the first driving assembly 40 to move in the front-rear direction. Since the central axis O3 of the second pivot 32 is offset from the rotation axis O1, when the second pivot 32 moves forward and backward, the position connected to the swing rod 30 can be displaced forward and backward, so that the swing rod 30 can swing relative to the palm of the dexterous hand about the rotation axis O1. A second driving assembly 50 is arranged in the inner cavity of the swing rod 30. The second driving assembly 50 is pivotally connected to the first pivot 31, and the output end of the second driving assembly 50 is pivotally connected to the proximal phalanx 20, so that the proximal phalanx 20 can rotate relative to the output end of the second driving assembly 50 about the rotation axis O5. The rotation axis O5 is parallel to the rotation axis O4 and offset from each other. When the output end of the second driving assembly 50 drives the proximal phalanx 20 to move in the front-rear direction, the proximal phalanx 20 can rotate relative to the swing rod 30 about the rotation axis O4.

[0029] The above structure of the utility model, through first drive assembly 40 drive swing lever 30 realizes thumb subassembly side swing, with second pivot 32 connection of first drive assembly 40 output end, second drive assembly 50 is connected with first pivot 31, and the central axis of first pivot 31 and the central axis of second pivot 32 are in the same plane, thereby reduce the length direction space of swing lever 30 occupancy, simplify the connection structure of first drive assembly 40, second drive assembly 50 and swing lever 30, make the overall structure of thumb subassembly more compact, and be favorable to the miniaturization design of thumb subassembly.

[0030] In other embodiments, in order to set the above-mentioned central axis O2 and central axis O3 in the same plane, an axle hole can also be provided on the first pivot 31, and the second pivot 32 is inserted into the axle hole provided on the first pivot 31. In short, as long as the central axis O2 and the central axis O3 are in the same plane and perpendicular to each other, any of the above structures can be used.

[0031] In the 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 inserted into 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, and the two fastening screws 311 are respectively pressed on the outside of the top wall 302 and the bottom wall 303 after being tightened, thereby fixing the first pivot 31 on the swing lever 30. During assembly, the first pivot 31 can be inserted into the rear end opening 301 of the swing lever 30 from the pre-provided hole in the top wall 302 of the swing lever 30. During insertion, the first pivot 31 is directly inserted through the second drive assembly 50, so that the second drive assembly 50 is pivoted on the first pivot 31. In this way, the installation of the first pivot 31, the swing lever 30 and the second drive assembly 50 can be facilitated.

[0032] An axle seat 321 is provided on one end of the second pivot 32, and the other end of the second pivot 32 is inserted into one of the side walls 304. An axle hole is provided on the axle seat 321. When the first pivot 31 is inserted into the swing lever 30 from top to bottom, the first pivot 31 is inserted into the axle hole on the axle seat 321. In this way, 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 part of the second pivot 32 in which the axle hole is provided has a sufficiently large external size. In this way, the axle hole on the second pivot 32 can be adapted to the first pivot 31 with a larger external diameter to pass through, ensuring 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 driving assembly 50, a first supporting sleeve 312 is sleeved on the first pivot 31, the first supporting sleeve 312 is clamped between the shaft seat 321 and the bracket of the bottom wall 303; the second pivot 32 is penetrated on the output end of the first driving assembly 40, a second supporting sleeve 322 is sleeved on the second pivot 32, the second supporting sleeve 322 is located between one of the side walls 304 and the output end of the first driving assembly 40, the second supporting sleeve 322 and the output end of the first driving assembly 40 are clamped between one of the side walls 304 and the shaft seat 321; the shaft seat 321 and the second driving assembly 50 are supported between the top wall 302 and the bottom wall 303 by the first supporting sleeve 312 and the shaft seat 321, so as to prevent the second pivot 32 and the second driving assembly 50 from being displaced in the up-down direction, the output end of the first driving assembly 40 is supported in the left-right direction by the second supporting sleeve 322 and the shaft seat 321, so as to prevent the output end of the first driving assembly 40 from being displaced in the left-right direction, so that the first driving assembly 40 can stably drive the swing rod 30 to swing, and the second driving assembly 50 can stably drive the proximal phalange 20 to swing.

[0034] The first driving assembly 40 comprises a first motor 41, a first speed reducer 42, a first lead screw 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 with the body of the first speed reducer 42, the output shaft of the first motor 41 is connected with the input end of the first speed reducer 42, the first lead screw 43 is connected with the output end of the first speed reducer 42, the first nut 44 is sleeved on the first lead screw 43 and threadedly cooperates with the first lead screw 43; the first movable rod 45 is provided with a through hole for the second pivot 32 to penetrate. The first driving assembly 40 adopts a lead screw transmission mechanism, which can accurately move the first movable rod 45 forward and backward, and then accurately control the swing angle of the swing rod 30.

[0035] The second driving assembly 50 comprises a second motor 51, a second speed 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 with the body of the second speed reducer 52, the output shaft of the second motor 51 is connected to the input end of the second speed reducer 52, the second screw rod 53 is connected to the output end of the second speed reducer 52, the second nut 54 is sleeved on the second screw rod 53 and threadedly matched with the second screw rod 53, and the second movable rod 55 is fixedly connected with the second nut 54. The second movable rod 55 extends forward from the front end opening of the swing rod 30 and is pivotally connected to the proximal phalanx 20, so that the proximal phalanx 20 can rotate relative to the second movable rod 55 about the rotation axis O5. The second motor 51 can drive the second movable rod 55 to move 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 phalanx 20 can be driven to rotate relative to the swing rod 30 about the rotation axis O4. The second driving assembly 50 adopts a screw rod transmission mechanism, which can accurately move the second movable rod 55 forward and backward, and then accurately control the swing angle of the proximal phalanx 20.

[0036] A connecting lug 521 is arranged on the body of the second speed reducer 52, a through hole is arranged on the connecting lug 521, and the first pivot 31 is arranged in the through hole, so that the body of the second speed reducer 52 is pivotally connected to the first pivot 31, that is, the second driving assembly 50 is pivotally connected to the first pivot 31. When the second driving assembly 50 drives the proximal phalanx 20 to swing, the second driving assembly 50 has a small swing amplitude relative to the swing rod 30. The connecting lug 521 is arranged on the second speed reducer 52, the first pivot 31 is arranged through the connecting lug 521 when the first pivot 31 is connected, and the assembly of the second driving assembly 50 and the swing rod 30 can be quickly realized.

[0037] The proximal phalanx 20 is a hollow structure, and a third driving assembly 60 is arranged in the proximal phalanx 20. The third driving assembly 60 is used for driving the distal phalanx 10 to rotate relative to the proximal phalanx 20 about the rotation axis O6. An active joint is arranged between the proximal phalanx 20 and the distal phalanx 10. The third driving assembly 60 drives the distal phalanx 10 to rotate, increases the degree of freedom of the thumb assembly, and enables the thumb assembly to cooperate with the dexterous hand to complete more delicate and complex tasks.

[0038] The third driving assembly 60 comprises a third motor 61, a third speed 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 with the body of the third speed reducer 62, the output shaft of the third motor 61 is connected to the input end of the third speed reducer 62, the third screw rod 63 is connected to the output end of the third speed reducer 62, the third nut 64 is sleeved on the third screw rod 63 and is in threaded cooperation with the third screw rod 63, the third movable rod 65 is fixedly connected to the third nut 64, the body of the third speed reducer 62 is pivotally connected to the proximal phalanx 20, the third movable rod 65 extends forward and penetrates through the proximal phalanx 20 and is pivotally connected to the distal phalanx 10, so that the distal phalanx 10 can rotate relative to the third movable rod 65 about the rotation axis O7, the rotation axis O7 is parallel to the rotation axis O6 and is staggered with the rotation axis O6, 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 phalanx 10 to rotate about the rotation axis O6. The third driving assembly 60 adopts a screw rod transmission mechanism, can accurately move the third movable rod 65 forward and backward, and then accurately control the swing angle of the distal phalanx 10.

[0039] The dexterous hand of the utility model comprises the thumb assembly, other structures of the dexterous hand are same with prior art, and detailed description is not made here.

[0040] Although only some parts and embodiments of the present application have been illustrated and described, many modifications and changes can be conceived by those skilled in the art without departing from the scope and spirit of the claims, for example: changes in size, dimension, structure, shape and proportion, mounting arrangement, material use, color, orientation, etc.

[0041] The above-mentioned embodiments are only preferred embodiment modes of the utility model embodiments, and cannot be used to limit the range of protection of the utility model embodiments, and any non-essential changes and replacements made by those skilled in the art on the basis of the utility model embodiments all belong to the range of protection claimed by the utility model embodiments.

Claims

1. A thumb assembly for attachment to a palm of a dexterous hand, the thumb assembly comprising: The distal phalanx is connected to the front end of the proximal phalanx, and the rear end of the swing rod is pivotally connected to the palm of the dexterous hand to enable the swing rod to rotate relative to the palm of the dexterous hand about the rotation axis O1, and the proximal phalanx is pivotally connected to the front end of the swing rod to enable the proximal phalanx to rotate relative to the swing rod about the rotation axis O4; The swing rod is a hollow structure with open ends, and the rear end of the swing rod is provided with a first pivot and a second pivot connected to the swing rod, and 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 is pivotally connected to the first pivot; the central axis O3 is parallel to the rotation axis O1 and offset from each other. The palm of the dexterous hand is internally provided with a first driving assembly, and the output end of the first driving assembly is pivotally connected to the second pivot to drive the second pivot to move forward and backward; the inner cavity of the swing rod is provided with a second driving assembly, and the second driving assembly is pivotally connected to the first pivot, and the output end of the second driving assembly is pivotally connected to the proximal phalanx to enable the proximal phalanx to rotate relative to the output end of the second driving assembly about the rotation axis O5, and the rotation axis O5 is parallel to the rotation axis O4 and offset from each other, so that when the output end of the second driving assembly drives the proximal phalanx to move forward and backward, the proximal phalanx rotates relative to the swing rod about the rotation axis O4.

2. The thumb assembly of 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 threaded through the top wall and the bottom wall, and a fastening screw is respectively screwed on the two ends of the first pivot to fix the two ends of the first pivot on the top wall and the side wall.

3. The thumb assembly of claim 2, wherein, One end of the second pivot is provided with a shaft seat, and the other end is threaded through one of the side walls, and an axial hole is provided on the shaft seat for the first pivot to pass through.

4. The thumb assembly of claim 3, wherein, The shaft seat is clamped between the top wall and the second driving assembly, a first supporting sleeve is sleeved on the first pivot, and the first supporting sleeve is clamped between the shaft seat and the bottom wall; the second pivot is threaded through the output end of the first driving assembly, a second supporting sleeve is sleeved on the second pivot, and the second supporting sleeve is located between one of the side walls and the output end of the first driving assembly, and the second supporting sleeve and the output end of the first driving assembly are clamped between one of the side walls and the shaft seat.

5. The thumb assembly of claim 4, wherein, The first driving assembly includes a first motor, a first speed reducer, a first lead 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 with the body of the first speed reducer, the output shaft of the first motor is connected to the input end of the first speed reducer, the first lead screw is connected to the output end of the first speed reducer, and the first nut is sleeved on the first lead screw and threadedly matched with the first lead screw; the first movable rod is provided with a through hole for the second pivot to pass through.

6. The thumb assembly of claim 5, wherein, The second driving assembly comprises a second motor, a second speed reducer, a second screw rod, a second nut and a second movable rod. The body of the second motor is fixedly connected with the body of the second speed reducer. The output shaft of the second motor is connected with the input end of the second speed reducer. The second screw rod is connected with the output end of the second speed reducer. The second nut is sleeved on the second screw rod and threadedly matched with the second screw rod. The second movable rod is fixedly connected with the second nut.

7. The thumb assembly of claim 6, wherein, The body of the second speed reducer is provided with a connecting lug. The connecting lug is provided with a penetrating hole. The first pivot is penetratingly arranged in the penetrating hole to pivotally connect the body of the second speed reducer with the first pivot.

8. The thumb assembly of claim 1, wherein, The proximal phalanx is a hollow structure. The third driving assembly is arranged in 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 of claim 8, wherein, The third driving assembly comprises a third motor, a third speed reducer, a third screw rod, a third nut and a third movable rod. The body of the third motor is fixedly connected with the body of the third speed reducer. The output shaft of the third motor is connected with the input end of the third speed reducer. The third screw rod is connected with the output end of the third speed reducer. The third nut is sleeved on the third screw rod and threadedly matched with the third screw rod. The third movable rod is fixedly connected with the third nut. The body of the third speed reducer is pivotally connected with the proximal phalanx. The third movable rod is pivotally connected with the distal phalanx to enable the distal phalanx to rotate relative to the third movable rod around the rotation axis O7. The rotation axis O7 is parallel with the rotation axis O6 and is staggered with the rotation axis O6.

10. Dexterous hand characterized in that, The thumb assembly comprises the thumb assembly of any one of claims 1-9.

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