Joint traction type human-simulated robot hand

The utility model discloses a joint traction type human-simulated robot hand which comprises a palm framework and five fingers. The thumb in the five fingers is an integral bent thumb fixed on the palm skeleton; each of the rest four fingers comprises a front knuckle, a middle knuckle and a rear knuckle, which are connected with one other through shafts; the rear knuckles of the rest four fingers are connected onto a rear knuckle shaft at the front end of the palm framework; a driving motor is mounted on the palm framework; the driving motor can drive a winding shaft for transmission through worm gears; four winding wheels are arranged on the winding shaft; a traction wire is wound on each winding wheel; the traction heads of the four traction wires respectively extend to the knuckles through the inner sides of the four finger and are fixed on the front knuckles of the four fingers. In the utility model, single motor is adopted to provide power and the worm gears are adopted for transmission, and the joints of the knuckles of the hand are driven to turn by coaxially winding the traction wires, so as to complete the sequential opening and closing actions similar to that achieved the real hand.