201134532 六、發明說明： 【發明所屬之技術領域】 用關於一種能模擬人手動作的多指機械手，主要係利 用複數個驅動馬達分別帶動連動板 τ王要係利 體上的束緊帶，使得姆指部或手指部因 ^於該等連動板 而個別獨立地作出伸直動作，或使姆指ς或====帶 別獨立地作出f曲動作，令該μ機械二作出各 【先前技術】 按，機器人-詞，最早出現在西元192 克的《羅索姆的萬能機器人》中，原 克科⑽豕恰配 西=語言「中通用的「RobotJ。簡年日本科學家森」政=== =二3人，一種具有移動性、個體性、智能性、通用性、 ,、奴隸性等七個特徵的柔性機器」。除了代 執彳了反设無聊或危^作的機狀外，尚有部分業 出寵物、玩偶類機器人，不僅可作玩制途，甚至成為人ς 的寵物和_，如日本·γ公_的「Aib。」機器寵物正是二 個貫例。 目f ’在大錄_方_中’無論是·人歧機械手臂 一雜為Robot」，然而’如果要真正的清楚區分的話，非完全 人形的產業自動化機械還是應該以「機械手臂」或「機械 稱呼。所謂機械手，主要是藉由一電動機或驅動器（效應器）驅 201134532 動，使機械手辭指部分進行握合或錄物體㈣作， 嵌人式的電子計算機、或微控制器上運行的程 ^八’ b卜’機械手亦可奴為在接受人麵令後，執行對應於 才曰々之動作，以便使用者按照現場需求操縱該機械手。201134532 VI. Description of the invention: [Technical field to which the invention pertains] With a multi-finger manipulator capable of simulating human hand motion, the main purpose is to use a plurality of driving motors to respectively drive the interlocking plate τ king to tie the tightening band on the plucking body, so that The thumb or the finger is individually and independently made to perform the straightening action, or the thumb or the ==== band is independently made to perform the f-curve action, so that the μ machine 2 makes each [previously Technology] Press, robot-word, first appeared in the 192 grams of "Rossom's Universal Robot" in the Western Yuan, the original Keke (10) 豕 配 West = language "Chinese GM "RobotJ. Jane Japanese scientist Sen" politics = == = Two or three people, a flexible machine with seven characteristics of mobility, individuality, intelligence, versatility, and slavery. In addition to the implementation of the boring or dangerous machine, there are still some pets and dolls that can be used as a game, and even become a pet and _, such as Japan γ public _ "Aib." Machine pets are two examples.目 f 'In the big record _ Fang _ in the 'every person's mechanical arm is a mixture of Robot", but 'if you really want to distinguish clearly, the non-complete humanoid industrial automation machinery should still be "robot" or " Mechanical terminology. The so-called robot is mainly driven by a motor or driver (effector) 201134532, so that the robot can be used to hold or record objects (4), embedded in an electronic computer, or a microcontroller. The running procedure ^8'bb's manipulator can also perform the action corresponding to the talent after the recipient's face is ordered, so that the user can manipulate the manipulator according to the site requirements.
工業用之機械手（錢械手臂）在產#_翻已經5 其應用領域十分廣泛’包括電子、半導财汽車H 即豐田汽車公司⑽0TA)在曰本公開之機械手發财 利’其公開編號為特開2010 一36328號。在第i圖中 係由-升降臂1G、二手指部n及二爪部12所構成，复中^亥手 =由二指節部i難接而成，各該爪部12係分翻 疋在各料指部11的底端位置。當該機械手丨欲抓取—位於 ^物體Μ時，首先，該升降㈣向下降低高度，使該等爪部 2接近補7體Μ，由於該等爪部12本身具備可撓性，故♦ =接觸到該物體Μ，且該升降臂10繼續向下移動的情=1 專爪部12便向内靖曲（尾端向上料）。待該科指部= 接觸到該平面F時’該等爪部12便藉由雜向下彈伸而伸至今 物體Μ與該平面F的交界處附近。騎，該升降臂1()即向上二 ^該等手指部11及該等爪部12隨之向上移動，如此，即能°以該 機械手1搬移該物體Μ，以取代搬運物體所需之人力。 然而，上述機械手雖能滿足4生錢程的需求，卻僅能作 出間早触合及釋放動作’無法靈活展現人類手部财的動作。 目前亦有其他業者投人研發機械手領域，如日本松下電氣公司 f anasonic)所設計之機械手（日本專利特開⑽8_14_號》 韓國三星電子公司（SAMSUNG)所開發之機械手（日本專爾· 201134532 2010:42號)’以及曰本本田技研工業公司(_)之機械手 (日本專利特開薦―麵6號）等等。上述業者所設計之機械手， 大多可翻在玩偶機狀或玩具上，該等機械手雖能作出較多的 手部動作，但不個減_構造及驅動方式過於複雜，而導致 =種類過多，更因生產成本過高，而不.大量生產，十分不 理想。 因此’如何改善習知機械手的諸多問題’使玩偶機器人或玩 ”上的機械手⑨靈活地作ώ各種手部動作，並簡化機械手之構造 及驅動方式，即為本發明在此欲探討的—重要課題。 【發明内容】 有鑑於前揭諸多問題，發日狀經過長久努力研究與實驗，故 於開發設計出本發明之能模擬人手動作的多指機械手，期令多指 機械手較賴單之賴結構，作岭種不同的手勢，以 減少多指機械手的設計及製造成本。 ^明之—目的’係提供—種能模擬人手動作的多指機械 :括一底座、-手掌部、-姆指部、至少二手指部、至少三 束^、至少三驅動馬達及至少三連動板體，其+該底座之一底 側能與-機械手臂相連接，且該底座喊有該等鶴馬達，各該 驅動馬達之傳動軸上分職設有—上述連動板體，各該連動板= 之1 卜側面艇輕職座外，且罐__之轉_擺動；該 手掌部的底_與該底座__連接，且該手掌部之二相 邊緣分別彎折形成-第—連接部及—第二連接部；各該姆指部及 手指部係分別由複數個指節單元依序樞接形成，其中位於該姆指 201134532 部底端的該指節單元係與該第 ==單元係分別與該第二連接部相連接位 端的位^連接至各該姆指部或手指部頂端的該指節單元鄰:頂 連接，二另一端係分別與對應之該連動板體相Industrial manipulator (Qianzhi arm) in production #_翻已5 Its application field is very extensive 'including electronic, semi-conducting car H, Toyota Motor Corporation (10) 0TA) in the open manuscript of the robot to make a profit The number is Special Open 2010 No. 36628. In the figure i, it consists of a lifting arm 1G, a two-finger part n and a two-jaw part 12, and the middle part of the hand is made up of two knuckle parts i, and each of the claw parts 12 is turned over. At the bottom end position of each material finger portion 11. When the robot wants to grasp - when it is located in the object, first, the lifting (four) is lowered downward, so that the claws 2 are close to the body 7 , and since the claws 12 themselves have flexibility, ♦ = contact with the object Μ, and the lifting arm 10 continues to move downwards = the special claw portion 12 is inwardly curved (the tail end is upwardly fed). When the finger of the section = contact with the plane F, the claws 12 are stretched by the downward stretch to extend near the boundary between the object Μ and the plane F. Ride, the lifting arm 1 (), that is, the finger portion 11 and the claw portions 12 move upwards accordingly, so that the object can be moved by the robot 1 instead of the object to be transported. Manpower. However, although the above-mentioned manipulator can meet the needs of the four-year-old money course, it can only make early contact and release actions, which cannot flexibly show the movements of human hand money. At present, there are other operators who invest in the field of manipulators, such as the Japanese Matsushita Electric Co., Ltd. (Japanese Patent Special Open (10) 8_14_). The robot developed by Samsung Electronics (SAMSUNG) (Japan) · 201134532 2010: No. 42) 'and the manipulator of Sakamoto Honda Industrial Co., Ltd. (_) (Japanese Patent Special Recommendation No. 6), etc. Most of the robots designed by the above-mentioned operators can be turned over in the doll machine. Or toys, although these robots can make more hand movements, but the structure and driving methods are too complicated, resulting in too many types, but also because the production cost is too high, not mass production, very It is not ideal. Therefore, 'how to improve the problems of the conventional robots' makes the robots on the doll robot or play 9 flexibly perform various hand movements, and simplify the construction and driving method of the robot, that is, the present invention This is an important topic to be explored. [Invention] In view of the many problems mentioned above, after a long period of hard work and experimentation, the development and design of the invention can be simulated manually. The multi-finger manipulators, the multi-finger manipulators are more dependent on the single structure, making different gestures to reduce the design and manufacturing cost of the multi-finger manipulator. Multi-finger mechanical action: including a base, a palm, a thumb, at least two fingers, at least three beams, at least three drive motors, and at least three interlocking plates, and the bottom side of the base can be - the mechanical arms are connected, and the base is shouted with the crane motors, and the drive shafts of the drive motors are respectively assigned with the above-mentioned interlocking plate body, and each of the interlocking plates = 1 and the side boat is lightly seated, and The bottom of the palm _ is connected to the base __, and the two-phase edges of the palm portion are respectively bent to form a first-connecting portion and a second connecting portion; each of the mites And the finger portions are respectively pivotally formed by a plurality of knuckle units, wherein the knuckle unit at the bottom end of the thumb is 201134532 and the position at which the second unit is connected to the second unit. ^The knuckle unit adjacent to the top of each of the thumb or finger is adjacent: top Then, the other end of the two lines are respectively connected with the movable plate member corresponding to the phase
各：：：===: :係呈該預定的_折狀’使對應之該姆指部及各該手指部保持在 考曲狀態，令該多指機械手維持握拳之初始動作。 … 為便貴審查委員能對本發明之目的'結構及其功效，做更 進-步之認識與瞭解，兹舉實施例配合圖式，詳細說明如下： 【實施方式】 本發明係-種能模擬人手動作的多指機械手，第2〜4圖所示 者’為本發明之第-較佳實施例，其中第2圖為本較佳實施例之 前視圖’第3圖為本較佳實施例之左側視圖，第4圖為本較佳實 施例之頂視圖，合先陳明。在本發明之第一較佳實施例中，請參 閱第2圖所示，該多指機械手2包括一底座2〇 ' 一手掌部μ、一 姆指部22、四手指部23、23a、五束緊帶24a、24b (如第3圖所 示），另’請參閱第3、4圖所示，該多指機械手2尚包括三驅‘ s] 201134532 馬達25a、25b、25c及三連動板體26a、26b、26c。需特別一提的 是，為避免圖式過於雜亂，特於第4圖中省略該姆指部22，以呈 現出#亥連動板體26c之特徵。該底座2〇之底側能與一機械手臂（圖 中未示）相連接，該等驅動馬達25a、25b、25c係設置在該底座 20内。在第4圖中，該連動板體26c樞設在該驅動馬達25〇之傳 動軸25C上，另’在第3圖中，各該連動板體26a、26b分別樞設 在各該驅動馬達25a、25b之傳動軸25A、25B上，且該等連動板 體-26a、26b、26c之外側面均延伸至該底座2〇外。在各該驅動馬 達25a、25b、25c接受電力而運作後，即可令各該傳動軸25Α、25β、 25C轉動，使對應之連動板體26a、26b、26c進行擺動。 在上述第-較佳實施例中，請參閱第3圖所示，該手掌部Μ 的底側與該底座2G的頂側相連接，且該手掌部μ的其中一邊緣 彎折形成-第-連接部210，該手掌部21鄰近該第_連接部21〇 之另-邊緣，亦料形成—第二連接部211 ’該第—連接部21〇 類似於人體之拇減㈣’為拇指連制手_第—侧節，另， 該第二連接部211即相當於人體其他手指之基關節。此外，請參 閱第2圖所示’該姆指部22係由三個指節單元刎、挪依序枢 接形成，其中位於底端之該指節單元22〇a與該第一連接部训相 連接。製造朗在依縣雛實_，生絲造衫指機械手2 時，可_螺絲鎖合或焊接等方式，連接該指節單元2施與該第 一連接部21G，凡本技術領域之人士，所能輕易聯想到之結合方 式，均應>1本發魏保護之技術 n面，对 =四個=單元咖a·依序插接形成，且位於該手ς二 ㈣之品即單兀230b係與該第二連接部211相連接，至於其他 201134532 手指部23與該第二連接部2j i 述。 的連接_則依此類推，故不再贅 冉者，在第一. ^〜 別土貝施财，請參m2、3W所示，各 緊f 24a、施是由可塑性材料製成，該可塑 ^ 或合成橡科塑化材料，亦可為銘合金或鋼等金屬=== t生材料可被封為-預定雜，當該可塑性材料受力時 伸展彎曲產生形變，待施力移除後’該可舰材料又能藉由雜， 回覆為原本的形狀。各該束緊帶24a、24b係形力―預定的彎折狀， 在本較佳實施例中，各該束緊帶24a、施在未受力的狀離下分 別呈U形，但並不以此為限，製造薇商亦可改變各該束緊帶施、 24b的初始形狀’以調整設定各該手指部23、撕與該姆指部找 =始姿勢。該束緊帶24b的一端連接至該姆指部22頂端的該指 節單元220鄰近頂端的位置，各該束緊帶24a 端分別連接至 各該手指部23、23a鄰近頂端的位置。此外，各該連動板體服、 26b、26c上分別開設有複數個第一固定孔27，各該束緊帶施、 24b之另-端係分別穿過該第-固定孔27，而與對應之連動板體 26a、26b、26c相連接（如以黏貼或打結方式固定）。又，請參閱 第2、3圖所示，製造廠商亦可在該姆指部没及各該手指部23、 23a頂端的指節單元220、230a上，分別開設至少一第二固定孔 28，使各該束緊帶24a、24b之一端穿過該第二固定孔28，以固定 各該束緊帶24a、24b之一端。各該束緊帶24a、24b之内侧係抵 罪在對應之該姆指部22或手指部23、23a之該等指節單元220、 230a間樞接的部位29。 另，請參閱第5圖所示，在該等驅動馬達25a、25b未帶動滅 201134532 等=動板體、咖時，意即，對應於各該手指部23、撕之束 緊24a未被拉緊的狀悲下，各該束緊帶施便保持預定之彎折 狀OJ形）’使得各該手指部23、既保持在彎曲狀態。另，請象 閱第2、3圖所示，當該等驅動馬達心、㈣動該連動板體服、 26b向下轉動時’對應於各該手指部烈、孤之束緊帶恤即受到 -張力，而逐漸緊編，使各該指節單元·、2施間的失角張大， 々各斜m3、23a便能從彎曲狀態變換為伸直狀態。若 該驅動馬達25a、25b維持各該束緊帶他所受之張力，即能使各 5亥手指部23、23a保持在伸直狀態。 …藉由上述帛車交佳貫施例之技術特徵，由於各該姆指部22與 X等手m3 23a係分別藉由不同的驅動馬達25a、娜、脱 (第2〜4圖）’獨立地作出f曲或伸直動作，因此，該多指機械 手2能靈活地變換出各種不同的手勢。不僅如此，製造廠商尚可 將士述多指機械手2，朗在玩具或寵物、玩偶類機器人上，不僅 此簡化f卩省玩具及機器人的手部結構，降低料及製造成本，更 能大幅增加玩具及機器人的擬真性及趣味性。 在本發明之第二較佳實施例中，請參閱第6圖所示，該多指 機械手6之底座60、手掌部6卜姆指部62、手指部⑽及束緊帶 Μ之f術特徵，與上述第—較佳實施例所揭露者近似。不同的是， 該多指機械手6包括有四個連動板體66，其中—連動板體位於該 姆指部62之下方，未示於第6圖中（可參閱第3圖連動板體脱 之位置）’合先陳日月。各該連動板體66分別與_驅動馬達之傳動 軸相連接’且各5亥束緊帶64之-端係與該姆指部62 (該等手指部 63)相連接’各該束緊冑64之另一端係與對應之該連動板體恥 201134532 相連接，當該連動板體66被驅動馬達帶動，而向 也 指部62⑽手指部63)即因該束緊帶_緊而伸^另= 面’當錢動板體66向上轉回原位時，齡使該束緊帶 鬆弛狀態，令該姆指部62 (該等手指部⑻回復為彎曲狀能。^ =此’精由改變各該驅動馬達帶動該連動板體66㈣各 ^之力這，尚能使各該手指部63及該姆指部62維持不同㈣ 曲角度’不僅使該多指機械手6能更加$活地作出手勢，更 多指機械手6的動作更接近真人的手部動作。 h 按’以上所述，僅林發明之若干難實施例，惟本發明之 技術特徵並獨祕此，製造廠商村變更上述實 動馬達、連驗輯枝部驗量，妓增加婦單元的個Γ 以加長手指部的長度#，凡任何絲本技術躺之人士，在本發 月之技H域内，可ϋ思及的變化絲飾，魏涵蓋在以下本 發明的申請專利範圍中。 # 【圖式簡單說明】 第1圖係習知機械手之動作示意圖； 第2圖係本發明之第—較佳實施例之前視圖； ，3圖係本發明之第—較佳實關之左側視圖； 第4圖係本發明之第—較佳實施例之頂視圖； 第5圖係本發明之第—較佳實施例之另—左側視圖；及 第6圖係本發明之第二較佳實施例之示意圖。 【主要元件符號說明】 201134532Each of:::===: is in the predetermined _-folded state, so that the corresponding thumb portion and each of the finger portions are maintained in the test state, so that the multi-finger robot maintains the initial action of the fist. For the sake of the review, the review committee can make a more advanced understanding and understanding of the structure and its function of the present invention. The embodiments are combined with the drawings, and the details are as follows: [Embodiment] The present invention is capable of simulating A multi-finger manipulator for manual operation, and a second preferred embodiment of the present invention is shown in FIGS. 2 to 4, wherein FIG. 2 is a front view of the preferred embodiment. FIG. 3 is a preferred embodiment of the present invention. The left side view, Fig. 4 is a top view of the preferred embodiment, which is first and foremost. In the first preferred embodiment of the present invention, as shown in FIG. 2, the multi-finger robot 2 includes a base 2'', a palm portion μ, a thumb portion 22, and four finger portions 23, 23a. Five straps 24a, 24b (as shown in Figure 3), and 'Please refer to Figures 3 and 4, the multi-finger robot 2 also includes three-drive 's' 201134532 motors 25a, 25b, 25c and three The plates 26a, 26b, and 26c are interlocked. In particular, in order to avoid the pattern being too cluttered, the thumb portion 22 is omitted in Fig. 4 to show the characteristics of the #海连动板26c. The bottom side of the base 2 can be coupled to a robot arm (not shown) in which the drive motors 25a, 25b, 25c are disposed. In Fig. 4, the interlocking plate body 26c is pivotally mounted on the drive shaft 25C of the drive motor 25A, and in the third figure, each of the interlocking plate bodies 26a, 26b is pivotally mounted on each of the drive motors 25a. And the drive shafts 25A, 25B of the 25b, and the outer sides of the interlocking plates -26a, 26b, 26c extend to the outside of the base 2. After each of the drive motors 25a, 25b, and 25c receives electric power and operates, the drive shafts 25A, 25β, and 25C are rotated, and the corresponding interlocking plates 26a, 26b, and 26c are swung. In the above-described first preferred embodiment, as shown in FIG. 3, the bottom side of the palm portion is connected to the top side of the base 2G, and one of the edges of the palm portion μ is bent to form - The connecting portion 210 is adjacent to the other edge of the first connecting portion 21, and is also formed as a second connecting portion 211 'the first connecting portion 21 is similar to the human body minus (four)' for the thumb joint The hand_the first side portion, the second connecting portion 211 corresponds to the base joint of the other fingers of the human body. In addition, referring to FIG. 2, the thumb portion 22 is formed by three knuckle units 枢, and is sequentially pivotally connected, wherein the knuckle unit 22〇a at the bottom end and the first joint portion are trained. Connected. When the manufacturing lang is in the county, the raw woven fabric refers to the robot 2, and the knuckle unit 2 is connected to the first connecting portion 21G by means of screwing or welding, etc., and those skilled in the art, The combination method that can be easily associated with each other should be formed by the technique of the technology of the Wei protection, the pair of = four units of the unit a, followed by the insertion, and the product located in the second (four) of the handcuff The 230b is connected to the second connecting portion 211, and the other 201134532 finger portion 23 and the second connecting portion 2j are described. The connection _ is like this, so it is no longer the best, in the first. ^~ 别土贝施财, please refer to m2, 3W, each tight f 24a, the application is made of plastic material, the plastic ^ or synthetic rubber plasticized material, can also be metal such as alloy or steel === t raw material can be sealed as - predetermined miscellaneous, when the plastic material is subjected to force, stretch and bend to produce deformation, after the force is removed 'The ship's material can be recycled by the original shape. Each of the tightening straps 24a, 24b has a predetermined bending force. In the preferred embodiment, each of the tightening straps 24a is U-shaped under the unstressed condition, but is not To this end, the manufacturing of the Wei quotient can also change the initial shape of each of the tightening straps, 24b to adjust the setting of each of the finger portions 23, the tearing and the pointing of the thumb. One end of the tightening strap 24b is connected to the top end of the finger unit 22 at a position adjacent to the top end, and each of the tightening straps 24a is connected to a position adjacent to the top end of each of the finger portions 23, 23a. In addition, a plurality of first fixing holes 27 are respectively formed in each of the interlocking plate body clothes 26b and 26c, and the other end portions of the tightening band applying portions 24b respectively pass through the first fixing holes 27, and correspondingly The interlocking plates 26a, 26b, 26c are connected (for example, by sticking or knotting). Moreover, as shown in the second and third figures, the manufacturer may also open at least one second fixing hole 28 on the knuckle units 220 and 230a at the top end of each of the finger portions 23 and 23a. One end of each of the tightening straps 24a, 24b is passed through the second fixing hole 28 to fix one end of each of the tightening straps 24a, 24b. The inner side of each of the tightening straps 24a, 24b is a portion 29 that is pivotally connected between the knuckle units 220, 230a of the thumb portion 22 or the finger portions 23, 23a. In addition, as shown in FIG. 5, when the drive motors 25a and 25b are not driven to extinguish the 201134532 or the like, the movable plate 25a, 25b, etc., means that the finger portions 23 and the tearing bundles 24a are not pulled. In a tight manner, each of the tightening straps maintains a predetermined bent OJ shape" such that each of the finger portions 23 remains in a bent state. In addition, as shown in Figures 2 and 3, when the drive motor cores, (4) move the interlocking plate body suits, and 26b rotate downwards, 'corresponding to each of the finger portions, the bundled shirt is subjected to - The tension is gradually tightened so that the angle of loss between the knuckle units and the two knuckles is increased, and the slanting m3, 23a can be changed from the curved state to the straightened state. If the drive motors 25a, 25b maintain the tension applied to each of the tightening belts, the fingers 5, 23a can be held in a straightened state. ...with the technical features of the above-mentioned brakes, the respective fingers and the other hand m3 23a are independently driven by different drive motors 25a, Na, and (2nd to 4th). The f-curve or the straightening action is made, so that the multi-finger robot 2 can flexibly change various gestures. Not only that, manufacturers can still refer to the robot 2, on toys or pets, dolls, not only simplify the hand structure of toys and robots, reduce material and manufacturing costs, but also greatly increase toys. And the immersiveness and fun of the robot. In the second preferred embodiment of the present invention, as shown in FIG. 6, the base 60 of the multi-finger robot 6, the palm portion 6 of the palm finger portion 62, the finger portion (10), and the tightening strap are used. The features are similar to those disclosed in the above-described preferred embodiment. The difference is that the multi-finger robot 6 includes four interlocking plates 66, wherein the interlocking plate body is located below the thumb portion 62, which is not shown in FIG. 6 (refer to FIG. 3 for the interlocking plate body Position) 'Hey first Chen Riyue. Each of the interlocking plates 66 is respectively connected to the drive shaft of the _ drive motor and the end of each of the 5 sets of the straps 64 is connected to the thumb portion 62 (the finger portions 63). The other end of the 64 is connected to the corresponding linkage plate body shame 201134532, when the linkage plate body 66 is driven by the drive motor, and the finger portion 63 of the finger portion 62 (10) is stretched by the tension band _ = face 'When the money plate 66 is turned back up, the age makes the band loose, causing the thumb 62 (the finger (8) to return to a curved shape. ^ = this 'fine' change Each of the driving motors drives the force of the interlocking plate body 66 (four), so that the finger portions 63 and the finger portions 62 can maintain different (four) curved angles 'not only making the multi-finger robot 6 more lively. Gestures, more means that the movement of the robot 6 is closer to the hand movement of the real person. h According to the above, only a few difficult examples of the invention of the invention, but the technical features of the invention are unique, the manufacturer village changes the above Real motor, continuous inspection, branch inspection, increase the length of the woman unit to lengthen the length of the finger #, any The person who is lying in the technology, in the technical H domain of this month, can change the silk decoration, Wei is covered in the following patent application scope of the present invention. # [Simple description of the drawing] Figure 1 is a conventional mechanical machine BRIEF DESCRIPTION OF THE DRAWINGS FIG. 2 is a front view of a preferred embodiment of the present invention; FIG. 3 is a left side view of the first preferred embodiment of the present invention; and FIG. 4 is a first preferred embodiment of the present invention. Figure 5 is a top view of the first preferred embodiment of the present invention; and Figure 6 is a schematic view of a second preferred embodiment of the present invention. [Description of Main Components] 201134532
多指機械手 ··… …… 2、6 底座 …·· ……20、60 手掌部 …·· …… 2卜61 第一連接部 ··… …… 210 第二連接部 ··… …… 211 姆指部 …·· ……22、62 指節單元 ··… ……220、220a ,、230a、230b 手指部 …·· ……23、23a、63 束緊帶 …·· ……24a、24b、64 驅動馬達 ··… .......25a、25b、25c 傳動軸 ..... ……25A、25B、25C 連動板體 ··… ……26a、26b、26c、66 第一固定孔 ··… …… 27 第二固定孔 ··… …… 28 指節單元間樞接的部位 ··… …… 29Multi-finger manipulator··... ...... 2,6 pedestal...··......20,60 Palms...·· 2 Bu 61 First connection part·......... 210 Second connection part··... ...... 211 姆指部...··......22,62 knuckle unit··... ......220, 220a, 230a, 230b Fingers...··......23,23a,63 Tightening belt...··...24a, 24b, 64 drive motor··.........25a, 25b, 25c drive shaft...........25A, 25B, 25C interlocking plate...·...26a, 26b, 26c, 66 A fixing hole··... ...... 27 Second fixing hole··... ...... 28 Between the knuckle units pivoted...·... 29
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