End effector module

An end effector module, comprising:

• a palm base;
• a plurality of robotic fingers, extended from a same side of the palm base, and each robotic finger being formed by sequentially and pivotally coupling a start joint shaft, a first middle joint shaft, a second middle joint shaft and an end joint shaft with each other, wherein;
• the start joint shaft has a first driving mechanism for driving the first middle joint shaft to turn pivotally about a start joint axis and an axis line substantially normal to said start joint axis for bending with respect to the start joint shaft, as well as driving the first middle joint shaft to turn the second middle joint shaft and the end joint shaft altogether,
• the first middle joint shaft has a second driving mechanism for driving the second middle joint shaft to turn pivotally for bending with respect to the first middle joint shaft about an axis line substantially normal to a central axis line of said first middle joint shaft;
• the second middle joint shaft has a third driving mechanism for driving the end joint shaft to turn pivotally for bending with respect to the second middle joint shaft about an axis line substantially normal a central axis line of said middle joint shaft;
• the end joint shaft has a suction device installed thereon, said suction device including a sucker and an air duct and the air duct blows and sucks air so that the sucker produces a suction to the clamped object;
• thereby, each robotic finger is able to adjust the position of the suction device of the end joint shaft through the rotation of the robotic finger and the pivotal turning of each joint shaft for bending with respect to each other, so as to move the suction device to the normal direction of a selected suction point of a surface of a clamped object and approach along the normal direction to suck the object.