CN102729255A - Finger structure of skillful hand of fruit picking robot - Google Patents

Abstract

The invention discloses a finger structure of a dexterous hand of a fruit picking robot and relates to the technical field of dexterous hands of agricultural robots. The structure mainly includes a motor drive device, a base frame, a first knuckle, a middle knuckle, an end knuckle, a belt transmission mechanism, a gear differential mechanism, a coupling link transmission mechanism, a cross shaft, and the like. The described motor driving device is fixed on the base frame (5), and the motor I (1) drives the belt transmission mechanism I (3), and then drives the gear differential mechanism (15) to realize the pitching motion of the finger; the motor II (2) Drive the gear differential mechanism (15), and then drive the belt transmission mechanism II (16), and then drive the coupling link transmission mechanism (17) to realize the bending movement of the finger; the motor III (7) drives the cross shaft (12) to realize the lateral movement of the finger. pendulum movement. The dexterous hand finger of the present invention has four joints and three degrees of freedom, has the advantages of light weight, flexible operation, simple structure and good maintainability, and can be applied to the dexterous hand of a fruit picking robot.

Description

A dexterous hand and finger structure of a fruit picking robot

technical field

The invention relates to a finger structure of a dexterous hand of a fruit picking robot, which belongs to the technical field of dexterous hands of agricultural robots.

Background technique

With the continuous development of robot technology, the application research of agricultural robot has also made great progress. The agricultural picking robot that is currently being widely studied is an important branch of agricultural robots, and the end effector is an important part of the picking robot to complete the picking operation. The design of the end effector is also considered to be one of the core technologies of agricultural robots. Relevant researches have been carried out in this field at home and abroad. In the article "Sensing and end-effector for a robotic tomato harvester" (Resource, 12(7): 13-14, 2005), Peter P.Ling and others in the United States described the design of four-fingered hands for picking tomatoes. Composed of fingers and attractors, the fingers are driven by tendon cables to bend, and at the same time, they are stretched by torsion springs; Japan Monta et al. developed a dexterous finger consisting of four 90° intervals and an attractor for tomato picking The end effector of the finger is made of composite materials and is driven inwardly by the tendon cable, which can grab tomatoes and twist off the fruit stem. However, the tendon cable used in this finger has limited rigidity and is only suitable for picking tomatoes. It has a single function and is versatile. Poor; Chinese Patent No. 200710020501.6 introduces an end effector for a spherical fruit-picking robot, which consists of an attraction disc and fingers. Although the structure is relatively novel, it is only suitable for relatively large spherical fruit picking, and its openness and versatility are not strong ; Chinese Patent No. CN201120343116.7 provides a kiwi fruit picking end effector, which uses two-finger grippers for operations, but the mechanical structure is large in size and poor in flexibility, which is not conducive to the picking operations in orchards.

At present, the versatility and flexibility of the end effector of the picking robot are the main problems restricting the future development and application of the picking robot. To break through this bottleneck, it is necessary to improve the versatility and flexibility of the end effector. The dexterous hand is the cross-integration of intelligent agricultural equipment technology and modern robotics, which reflects the development trend of agricultural equipment in the direction of refinement and intelligence. In view of this, it is necessary to carry out research on the dexterous hand fingers of fruit picking robots.

Contents of the invention

Aiming at the problems of single function, poor flexibility and low adaptability of fruit shape in the current end effector of fruit picking robot, the present invention provides a dexterous hand and finger structure of fruit picking robot, which has the advantages of light weight, flexible operation and good maintainability , The overall structure is simple and compact, easy to process and assemble, and can be applied to the dexterous hands of fruit picking robots.

Technical scheme of the present invention is as follows:

The dexterous finger structure of a fruit picking robot consists of motor I, motor II, motor III, base frame, first phalanx, middle phalanx, terminal phalanx, front support, rear support, belt transmission mechanism I, gear Differential mechanism, belt drive mechanism II, coupled link drive mechanism, cross shaft, proximal knuckle joint shaft, distal knuckle joint shaft, first knuckle housing, middle knuckle housing, terminal knuckle housing, first knuckle housing Knuckle belly cover and middle knuckle belly cover; motor I and motor II are fixed on the base frame by fastening kits, motor III is fixed on the rear support by screws through the motor frame, the front support and the rear support Both are fixed on the base frame by screws, the rear side and the front side of the cross shaft are respectively rotatably sleeved between the rear support and the front support, and the output shaft of the motor III is connected to the rear side of the cross shaft through the second coupling. connect.

The gear differential mechanism is composed of a first driving bevel gear, a first intermediate bevel gear, a first driven bevel gear, a second driving bevel gear, a second intermediate bevel gear, a second driven bevel gear and a cross shaft, The axes of the first driving bevel gear, the first intermediate bevel gear, and the first driven bevel gear are perpendicular to each other, and the first intermediate bevel gear meshes with the first driving bevel gear and the first driven bevel gear at the same time. The bevel gear and the first driven bevel gear are respectively rotated and socketed on the rear side and the left side of the cross shaft; the axes of the second driving bevel gear, the second intermediate bevel gear and the second driven bevel gear are perpendicular to each other, and the second The two intermediate bevel gears mesh with the second driving bevel gear and the second driven bevel gear at the same time, and the second intermediate bevel gear and the second driven bevel gear are respectively rotated and socketed on the front side and the right side of the cross shaft; the first driven bevel gear The bevel gear and the left side plate of the first knuckle are fixedly connected and socketed with the left side of the cross shaft through the connecting sleeve, and the second driven bevel gear is fixedly connected and socketed with the second driving synchronous pulley of the belt transmission mechanism II On the right side of the cross axis; the axis lines of the first driving bevel gear and the second driving bevel gear coincide, and the first driving bevel gear is rotated and sleeved on the drive shaft of the second driving bevel gear, and the output shaft of the motor II passes through The first coupling is connected to the driving shaft of the second driving bevel gear; the first runner of the coupling link transmission mechanism is fixedly connected to the left side plate of the first knuckle and is rotatably sleeved on the shaft of the proximal knuckle joint One end of the connecting rod is rotatably connected to the pin shaft fixed on the first rotating wheel, and the second rotating wheel of the coupled link transmission mechanism is fixedly connected to the left side plate of the terminal knuckle and is rotatably sleeved on the shaft of the terminal knuckle joint , the other end of the connecting rod is rotatably connected with the pin fixed on the second running wheel.

The first driving synchronous pulley of described belt transmission mechanism 1 is fixed on the output shaft of motor 1, and the first driven synchronous pulley is fixedly connected with the extended end of the first driving bevel gear, and the first driving bevel gear The extended end passes through the sleeve and is rotatably socketed on the driving shaft of the second driving bevel gear; the second driving synchronous pulley of the belt transmission mechanism II is limited by the retaining ring and the right side plate of the first knuckle to move axially, The second driven synchronous pulley with transmission mechanism II is fixedly connected to the shaft of the proximal knuckle joint, the lower end of the connecting bracket of the middle knuckle is fixedly connected to the shaft of the proximal knuckle joint, and the connecting bracket of the middle knuckle is connected to the shaft of the proximal knuckle joint. The left side plate of the knuckle is fixedly connected with the right side plate of the middle knuckle, and the upper side end of the connecting bracket of the middle knuckle is fixedly connected with the joint shaft of the end knuckle; the belt transmission mechanism I is set in the base frame, and the belt transmission mechanism II is set in the first Inside the knuckles; the shell of the first knuckle and the pad cover of the first knuckle are connected with the right board of the first knuckle and the left board of the first knuckle by screws, and the shell of the middle knuckle and the belly cover of the middle knuckle The plate is fixedly connected with the middle phalanx right side plate and the middle phalanx left side plate by screws, and the end phalanx shell is fixedly connected with the end phalanx right side plate and the end phalanx left side plate by screws.

Working principle of the present invention: the output shaft of motor I (1) transmits power to the first active synchronous pulley (3-1) of belt transmission mechanism I (3), and the first active synchronous pulley (3-1) passes through The first synchronous belt (3-3) transmits power to the first driven synchronous pulley (3-2) of the belt transmission mechanism I (3), and the first driven synchronous pulley (3-2) transmits power to The first driving bevel gear (25), the power is transmitted to the connecting sleeve (34) via the first intermediate bevel gear (26) and the first driven bevel gear (27), and the connecting sleeve (34) drives the first fixedly connected bevel gear with it. The knuckle left side plate (36) rotates an angle α around the cross shaft (12) to realize the pitching motion of the finger; the output shaft of the motor III (7) is connected with the cross shaft (12) through the second shaft coupling (33), directly Drive the cross shaft (12) to realize the sideways movement of the finger; the output shaft of the motor II (2) is connected with the drive shaft of the second driving bevel gear (28) through the first coupling (32), and the power is passed through the second driving bevel Gear (28), the second intermediate bevel gear (29), the second driven bevel gear (30) are transmitted to the second driving synchronous pulley (31) of the belt transmission mechanism II (16), and then the second synchronous belt ( 41) Drive the second driven synchronous pulley (43) to rotate, and the second driven synchronous pulley (43) drives the proximal knuckle joint shaft (13) to rotate, thereby driving the middle knuckle (20) around the proximal knuckle The joint shaft (13) carries out rotary motion, the first runner (44) of the coupling link transmission mechanism (17) is fixedly connected with the first knuckle left side plate (36), and the second wheel (44) of the coupling linkage transmission mechanism (17) The runner (46) is fixedly connected with the left side plate (40) of the terminal phalanx, and when the middle phalanx (20) rotates an angle of β around the proximal knuckle axis (13), the coupling link transmission mechanism (17) will drive The terminal knuckles (21) rotate the same angle around the terminal knuckle joint axis (14), thereby realizing the bending motion of the fingers.

Compared with the prior art, the present invention has the following advantages:

1) The dexterous hands and fingers of the fruit picking robot are directly driven by a deceleration motor without installing a deceleration device, which minimizes the size of the knuckles. The motor drive devices are all set on the base frame, thereby reducing the weight of each knuckle;

2) The belt transmission mechanism of the present invention adopts a toothed synchronous belt transmission, which has a simple structure and does not require a pre-tensioning device. It has the characteristics of stable transmission, accuracy, and convenient maintenance, and reduces the complexity of the finger structure and maintenance costs;

3) The device has four joints and three degrees of freedom. The overall structure is simple and compact, easy to process and assemble, and has the characteristics of light weight, flexible operation, and good maintainability. It can be further applied to the dexterous hand of fruit picking robots.

Description of drawings

Fig. 1 is the whole three-dimensional structure schematic diagram of the dexterous hand and finger structure of the fruit picking robot of the present invention;

Fig. 2 is the three-dimensional view of the transmission structure of the dexterous hand finger joints of the fruit picking robot of the present invention (remove the first knuckle belly cover plate (22), the middle knuckle finger belly cover plate (23));

Fig. 3 is the front view of the dexterous hand finger joint transmission structure of the fruit picking robot of the present invention (the first knuckle shell (9), the middle knuckle shell (10), the end knuckle shell (11) and the base frame (5) are removed) ;

Fig. 4 is the left view of the dexterous hand finger joint transmission structure of the fruit picking robot of the present invention;

Fig. 5 is a three-dimensional structural schematic diagram of the dexterous hand finger driving device and the gear differential mechanism of the fruit picking robot of the present invention;

Fig. 6 is an exploded schematic diagram of a three-dimensional structure of a gear differential mechanism of the present invention;

Fig. 7 is a perspective view of the bending structure of the fingers of the dexterous hand of the fruit picking robot of the present invention;

The label of each part in the figure: 1. Motor I, 2. Motor II, 3. Belt transmission mechanism I, 4. Motor frame, 5. Base frame, 6. Front support, 7. Motor III, 8. Rear support, 9 .First knuckle shell, 10. Middle knuckle shell, 11. End knuckle shell, 12. Cross shaft, 13. Proximal knuckle joint shaft, 14. End knuckle joint shaft, 15. Gear differential mechanism, 16. Belt transmission mechanism II, 17. Coupling link transmission mechanism, 18. Sleeve, 19. First knuckle, 20. Middle knuckle, 21. End knuckle, 22. First knuckle belly cover, 23. Middle knuckle belly cover plate, 24. Retaining ring, 25. The first driving bevel gear, 26. The first intermediate bevel gear, 27. The first driven bevel gear, 28. The second driving bevel gear, 29. The second intermediate bevel gear, 30. the second driven bevel gear, 31. the second driving synchronous pulley, 32. the first coupling, 33. the second coupling, 34. the connecting sleeve, 35. the first finger Knuckle right panel, 36. First knuckle left panel, 37. Middle knuckle right panel, 38. Middle knuckle left panel, 39. Terminal knuckle right panel, 40. Terminal knuckle left panel , 41. Second synchronous belt, 42. Connecting bracket, 43. Second driven synchronous pulley, 44. First runner, 45. Connecting rod, 46. Second runner, 47. Pin shaft, 48. Shaft Set, 1-1. Fastening kit I, 2-1. Fastening kit II, 3-1. First driving synchronous pulley, 3-2. First driven synchronous pulley, 3-3. First synchronous Belt, 3-4. Baffle.

Detailed ways

The present invention relates to a dexterous hand and finger structure of a fruit picking robot, which will be further described in detail in conjunction with the accompanying drawings and specific embodiments below:

Specific embodiment one: as shown in Fig. 1, Fig. 2, Fig. 4, Fig. 5 and Fig. 7, the dexterous hand finger structure of the fruit picking robot described in this embodiment consists of motor I (1), motor II (2), motor III(7), base frame (5), first phalanx (19), middle phalanx (20), end phalanx (21), belt transmission mechanism I (3), front support (6), rear support ( 8), gear differential mechanism (15), belt transmission mechanism II (16), coupling link transmission mechanism (17), cross shaft (12), proximal knuckle joint shaft (13), terminal knuckle joint shaft ( 14), the first knuckle shell (9), the middle knuckle shell (10), the end knuckle shell (11), the first knuckle pad cover (22) and the middle knuckle pad cover (23) Composition; motor I (1) and motor II (2) are fixed side by side in the mounting hole of the base frame (5), and are respectively fixed by fastening kit I (1-1) and fastening kit II (2-1) , the motor III (7) is fixed on the rear support (8) by screws through the motor frame (4), and the front support (6) and the rear support (8) are all fixed on the base frame (5) by screws; The rear side and the front side of the cross shaft (12) are respectively rotated and socketed between the rear support (8) and the front support (6), and the output shaft of the motor III (7) is connected to the cross shaft through the second shaft coupling (33). The rear side of (12) is connected to realize the sideways movement of fingers, and the swing angle is ±20°; the first driven bevel gear (27) of the gear differential mechanism (15) is connected to the first driven bevel gear through the connecting sleeve (34) One knuckle left side plate (36) is fixedly connected by screws and rotated and socketed on the left side of the cross shaft (12), so as to realize the pitching motion of the finger, and the pitching angle α is between 0°～90°; the second driven cone The gear (30) is fixedly connected with the second driving synchronous pulley (31) of the belt transmission mechanism II (16) and rotates and is sleeved on the right side of the cross shaft (12); the first rotation of the coupling link transmission mechanism (17) Wheel (44) is fixedly connected with first phalanx left side plate (36) by screw and is rotatably sleeved on the proximal knuckle shaft (13), and one end of connecting rod (45) is fixed on the first runner ( The pin shaft (47) on the 44) is connected in rotation, and the second runner (46) of the coupling link transmission mechanism (17) is fixedly connected with the left side plate (40) of the terminal knuckle by screws and is rotatably sleeved on the terminal knuckle. On the joint shaft (14), the other end of the connecting rod (45) is rotationally connected with the pin shaft (47) fixed on the second runner (46), and such a structure realizes that the middle phalanx (20) and the terminal phalanx ( 21) Coupling movement with an angle of 1:1 in the same direction.

Specific embodiment two: as shown in Fig. 2, Fig. 3, Fig. 4 and Fig. 7, the second driving synchronous pulley (31) of the belt transmission mechanism II (16) described in the present embodiment consists of retaining ring (24) and The right side plate (35) of the first phalanx limits its axial movement, the second driven synchronous pulley (43) of the belt transmission mechanism II (16) is fixedly connected with the proximal knuckle shaft (13), and the middle finger The lower side end of the connecting bracket (42) of the joint (20) is fixedly connected with the proximal knuckle shaft (13) and its axial movement is limited by a stop washer, and the connecting bracket (42) of the middle knuckle (20) is connected with the middle The knuckle left side plate (38) is fixedly connected with the middle knuckle right side board (37), and the upper side end of the connecting bracket (42) of the middle knuckle (20) is fixedly connected with the terminal knuckle joint shaft (14) and is fixedly connected by a stopper. The moving washer limits its axial movement; the first wheel (44) of the coupling link transmission mechanism (17) is fixedly connected with the first knuckle left side plate (36) by screws and is rotatably sleeved on the proximal finger. On the knuckle joint shaft (13), the second runner (46) is fixedly connected with the end knuckle left side plate (40) by screws and rotates and is sleeved on the knuckle joint shaft (14) at the end end, when the belt transmission mechanism II ( 16) The second driven synchronous pulley (43) drives the proximal knuckle joint shaft (13) to rotate by an angle of β, thereby driving the middle knuckle (20) to rotate by an angle of β, and is driven by the coupling link transmission mechanism (17) The terminal phalanx (21) rotates by an angle of β, and the angle of β is between 0° and 90°, so as to complete the bending motion of the finger. Other components and connections are the same as those in the first embodiment.

Specific embodiment three: as shown in Figure 5 and Figure 6, the gear differential mechanism (15) described in this embodiment consists of a first driving bevel gear (25), a first intermediate bevel gear (26), a first driven Bevel gear (27), the second driving bevel gear (28), the second intermediate bevel gear (29), the second driven bevel gear (30) and cross shaft (12), the first driving bevel gear ( 25), the first intermediate bevel gear (26) and the first driven bevel gear (27) have the same modulus, and the axis lines are vertical in pairs, wherein the first driving bevel gear (25) and the first driven bevel gear ( 27) Exactly the same, the first intermediate bevel gear (26) meshes with the first driving bevel gear (25) and the first driven bevel gear (27) at the same time, the first intermediate bevel gear (26) and the first driven bevel gear (27) respectively rotate and socket on the rear side and the left side of the cross shaft (12); the second driving bevel gear (28), the second intermediate bevel gear (29) and the second driven bevel gear (30) The modulus is the same, and the axis lines are vertical in pairs, wherein the second driving bevel gear (28) and the second driven bevel gear (30) are identical, and the second intermediate bevel gear (29) is simultaneously connected with the second driving bevel gear ( 28) meshes with the second driven bevel gear (30), and the second intermediate bevel gear (29) and the second driven bevel gear (30) are respectively rotated and socketed on the front side and the right side of the cross shaft (12). The axis lines of a driving bevel gear (25) and the second driving bevel gear (28) coincide, and the first driving bevel gear (25) is rotatably socketed on the drive shaft of the second driving bevel gear (28), and the second driving bevel gear (28) is The driving shaft of the driving bevel gear (28) is connected with the output shaft of the motor II (2) through the first coupling (32). Other components and connections are the same as those in the first embodiment.

Specific embodiment four: as shown in Fig. 2, Fig. 4 and Fig. 5, the first driving synchronous pulley (3-1) of the belt transmission mechanism 1 (3) described in the present embodiment is fixed on the motor 1 (1) On the output shaft of the first driven synchronous pulley (3-2) is fixedly connected with the extension end of the first driving bevel gear (25), and the extension end of the first driving bevel gear (25) passes through the sleeve ( 18) The rotation is socketed on the drive shaft of the second driving bevel gear (28), and the synchronous belts of the belt transmission mechanism I (3) and the belt transmission mechanism II (16) all adopt toothed synchronous belts. Such a belt transmission method has The transmission is stable, accurate, high in efficiency, convenient in maintenance, and has a wide range of speed ratios. Other compositions and connections are the same as those in Embodiment 1 or Embodiment 2.

Specific embodiment five: as shown in Fig. 1, Fig. 2 and Fig. 7, the described first knuckle housing (9) and the first knuckle pad cover (22) and the first knuckle right side plate (35 ) and the first phalanx left side plate (36) are fixedly connected by screws, the middle phalanx shell (10) and the middle phalanx belly cover (23) and the middle phalanx right side plate (37) and the middle phalanx left side The side plates (38) are fixedly connected by screws, the end knuckle shell (11) is fixedly connected with the end knuckle right side plate (39) and the end knuckle left side plate (40), and the first knuckle shell (9) 1. The middle phalanx shell (10) and the end phalanx shell (11) are provided with a limit plane at the contact position of each phalanx, such a structure can make the first phalanx shell (9) and the middle phalanx shell (10) mutually Limiting, the middle phalanx shell (10) and the end phalanx shell (11) limit each other. Other components and connections are the same as those in the first embodiment.

Motor I, motor II, and motor III in the above embodiments all adopt geared motors, without the need to install a deceleration device, which minimizes the volume of the knuckles.

In the above embodiment, the base frame, the connecting bracket and the left and right side plates of each knuckle are all made of aluminum alloy, and the bevel gear and each joint shaft are made of stainless steel, which not only ensures the strength required by the finger structure but also reduces the weight of the finger .

The structure and working principle of the present invention are described above with specific embodiments. The present invention is not limited to the above embodiments. According to the above description, any modifications, replacements and improvements made within the spirit and principles of the present invention, etc. , should be included within the protection scope of the present invention.

Claims (6)

1. a fruit picking robot dexterous hand finger structure, it comprises motor I (1), motor II (2), motor III (7), base frame (5), first phalanx (19), middle phalanx ( 20), terminal knuckles (21), belt transmission mechanism I (3), front support (6), rear support (8), gear differential mechanism (15), belt transmission mechanism II (16), coupling link transmission Mechanism (17), cross shaft (12), proximal knuckle joint shaft (13), end knuckle joint shaft (14), first knuckle shell (9), middle knuckle shell (10), end knuckle The shell (11), the first knuckle belly cover (22) and the middle knuckle finger belly cover (23); it is characterized in that: the motor I (1) and the motor II (2) are fixed on the base On the frame (5), the motor III (7) is fixed on the rear support (8) through the motor frame (4), and the front support (6) and the rear support (8) are all fixed on the base frame (5). The rear side and front side of the cross shaft (12) are respectively rotated and socketed between the rear support (8) and the front support (6), and the output shaft of the motor III (7) is connected to the cross shaft through the second shaft coupling (33) The rear side of the shaft (12) is connected; the axis lines of the first driving bevel gear (25) and the second driving bevel gear (28) of the described gear differential mechanism (15) coincide, and the first driving bevel gear ( 25) Rotate and socket on the driving shaft of the second driving bevel gear (28), the output shaft of the motor II (2) is connected with the driving shaft of the second driving bevel gear (28) through the first coupling (32), The first driven bevel gear (27) is fixedly connected with the first phalanx left side plate (36) through the connecting sleeve (34) and rotates and is sleeved on the left side of the cross shaft (12); the belt transmission mechanism II ( 16) The second driving synchronous pulley (31) is fixedly connected with the second driven bevel gear (30) of the gear differential mechanism (15) and is rotatably sleeved on the right side of the cross shaft (12); the coupling The first running wheel (44) of the connecting rod transmission mechanism (17) is fixedly connected with the first knuckle left side plate (36) and is rotatably sleeved on the proximal knuckle shaft (13), and the connecting rod (45) One end is rotatably connected with the pin shaft (47) fixed on the first runner (44), and the second runner (46) of the coupling link transmission mechanism (17) is fixedly connected with the left side plate (40) of the terminal knuckle. The rotation is sleeved on the terminal knuckle joint shaft (14), and the other end of the connecting rod (45) is connected in rotation with a pin shaft (47) fixed on the second runner (46). 2. The dexterous finger structure of the fruit picking robot according to claim 1, characterized in that the gear differential mechanism (15) consists of the first driving bevel gear (25), the first intermediate bevel gear (26), the first A driven bevel gear (27), a second driving bevel gear (28), a second intermediate bevel gear (29), a second driven bevel gear (30) and a cross shaft (12), the first driving The bevel gear (25), the first intermediate bevel gear (26) and the first driven bevel gear (27) have the same modulus, and the axis lines are vertical in pairs, wherein the first driving bevel gear (25) and the first driven bevel gear The bevel gear (27) is identical, and the first intermediate bevel gear (26) meshes with the first driving bevel gear (25) and the first driven bevel gear (27) simultaneously, and the first intermediate bevel gear (26) and the first slave bevel gear The moving bevel gear (27) is respectively rotated and socketed on the rear side and the left side of the cross shaft (12); the second driving bevel gear (28), the second intermediate bevel gear (29) and the second driven bevel gear (30) The modulus is the same, and the axis lines are vertical in pairs, wherein the second driving bevel gear (28) and the second driven bevel gear (30) are identical, and the second intermediate bevel gear (29) is simultaneously connected with the second driving bevel gear (30). The bevel gear (28) meshes with the second driven bevel gear (30), and the second intermediate bevel gear (29) and the second driven bevel gear (30) are respectively rotated and socketed on the front side and the right side of the cross shaft (12). side. 3. The dexterous hand and finger structure of the fruit picking robot according to claim 1 is characterized in that the first active synchronous pulley (3-1) of the described belt transmission mechanism 1 (3) is fixed on the motor 1 (1) On the output shaft of the first driven synchronous pulley (3-2) is fixedly connected with the extension end of the first driving bevel gear (25), and the extension end of the first driving bevel gear (25) passes through the sleeve ( 18) Rotate and sleeve on the drive shaft of the second driving bevel gear (28). 4. The dexterous hand finger structure of the fruit picking robot according to claim 1, characterized in that the second active synchronous pulley (31) of the belt transmission mechanism II (16) consists of a retaining ring (24) and a first finger. The joint right side plate (35) limits its axial movement, the second driven synchronous pulley (43) of the belt transmission mechanism II (16) is fixedly connected with the proximal knuckle shaft (13), and the middle knuckle (20 ) of the connecting bracket (42) lower side end is fixedly connected with the proximal knuckle shaft (13), and the connecting bracket (42) of the middle knuckle (20) is connected with the left side plate of the middle knuckle (38) and the right side of the middle knuckle. The side plates (37) are fixedly connected, and the upper end of the connecting bracket (42) of the middle knuckle (20) is fixedly connected with the terminal knuckle joint shaft (14). 5. according to claim 3 or 4 described fruit picking robot dexterous hand finger structure, it is characterized in that the first synchronous belt (3-3) of described belt transmission mechanism I (3) and belt transmission mechanism II (16) The second synchronous belt (41) is a toothed synchronous belt, and the belt transmission mechanism I (3) is arranged in the base frame (5), and the belt transmission mechanism II (16) is arranged in the first phalanx (19). 6. The dexterous hand finger structure of the fruit picking robot according to claim 1, characterized in that the first knuckle shell (9) and the first knuckle pad cover (22) are connected to the right side of the first knuckle. Plate (35) is fixedly connected with first phalanx left side plate (36), middle phalanx housing (10) and middle phalanx belly cover plate (23) and middle phalanx right side plate (37) and middle phalanx The left side plate (38) is fixedly connected, and the terminal phalanx shell (11) is fixedly connected with the terminal phalanx right side plate (39) and the terminal phalanx left side plate (40).

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