Fruit picking robot three-fingered dexterous hand

The utility model discloses a fruit picking robot three-fingered dexterous hand, which relates to the technical filed of agricultural robot dexterous hands, and substantially comprises three modular fingers, a palm, a sensor module and a control module, wherein rubber gaskets are all arranged on finger pulps (7) of the modular fingers, three mounting slots (12) are uniformly distributed along the circumference of the palm (11), and base joint supports (5) of the modular fingers are fixedly arranged in the mounting slots through bolts. The sensor module comprises an ultrasonic sensor (14) and a pressure sensor (4), wherein the ultrasonic sensor (14) and the pressure sensor (4) respectively detect distance signals from a fruit to the center of the palm and pressure signals of the modular fingers contact with fruit. The control module achieves grasping of the fruit picking robot three-fingered dexterous hand by controlling a motor to positively and negatively rotate according to sensor signals, and then the palm rotates to twist off the fruit along with a wrist together, thereby achieving picking of the fruit. The fruit picking robot three-fingered dexterous hand has anthropomorphic fingers, is dexterous and portable and flexible to operate, can be suitable to pick various fruits, and is excellent in versatility and adaptability.