Finger structure of fruit picking robot dexterous hand

The utility model discloses a finger structure of a fruit picking robot dexterous hand, and relates to the technical field of dexterous agricultural robot hands. The finger structure mainly comprises a motor drive device, a bed frame, a first dactylus, a middle dactylus, a tail end dactylus, belt transmission mechanisms, a gear differential mechanism, a coupling connecting rod driving mechanism, and a cross shaft, wherein the motor drive device is fixedly installed on the bed frame (5), a motor I (1) drives the belt transmission mechanism I (3) so as to drive the gear differential mechanism (15) to realize pitching motion of a finger, a motor II (2) drives the gear differential mechanism (15) so as to drive the belt driving mechanism II (16) and then drive the coupling connecting rod driving mechanism (17) to realize curving motion of the finger, and a motor III (7) drives the cross shaft (12) to realize side swaying motion of the finger. According to the finger structure disclosed by the utility model, each dexterous hand finger has four joints and three degrees of freedom, has the advantages of being light in weight, flexible in operation, simple in structure and good in maintainability and capable of being applied to the fruit picking robot dexterous hand.