A double-groove wheel type three-finger double-joint fruit sorting flexible mechanical paw structure

Abstract

The utility model discloses a double -groove wheel type three -finger double -joint fruit sorting flexible mechanical hand claw structure relates to sorting manipulator technical field, including support base plate, transmission part, inner ring tendon, outer ring tendon, support base plate below is equipped with the clamping jaw holder and visual sensor, and the clamping jaw holder lower end rotatory mounting has long finger joint, and long finger joint lower end rotatory mounting has short finger joint, and long finger joint and short finger joint inboard are attached trapezoidal antiskid board, and trapezoidal antiskid board inboard is equipped with contact sensing, and long finger joint and short finger joint outside all are wrapped long finger flexible finger cover and short finger flexible finger cover, and the inside of flexible finger cover and fruit contact surface material adopt ceramic silicon rubber, and long finger joint, short finger joint between each other angle, and transmission part drives inner ring tendon, outer ring tendon and is tightened or is relaxed to draw mechanical hand claw and is gathered or is unfolded to the fruit of different shapes is grabbed or is released.

Description

Technical Field

[0001] This utility model relates to the field of sorting robot technology, specifically to a flexible robotic gripper structure for sorting fruits using a double-groove wheel type with three fingers and two joints. Background Technology

[0002] A robotic arm is an automated device that mimics certain movements of a human hand and arm to grasp, move objects, or manipulate tools according to a fixed program. Currently, robotic arms used in fruit sorting generally suffer from technical problems such as a single grasping configuration and insufficient adaptability to different objects. They struggle to efficiently and non-destructively sort various shapes of fruit, such as spherical, ellipsoidal, and oblong fruits, using a single, uniform grasping structure. Often, specialized grippers are required for different fruit shapes, leading to poor system flexibility and high equipment investment costs. Utility Model Content

[0003] The main objective of this invention is to provide a flexible robotic gripper structure for fruit sorting with a double-grooved wheel, three fingers, and two joints, in order to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, this utility model provides a flexible robotic gripper structure for fruit sorting with a double-grooved wheel, three fingers, and two joints, comprising: The transmission assembly includes a supporting base plate and transmission components spaced apart on the supporting base plate. The supporting base plate is provided with a first card holder, a second card holder, and a third card holder, and a vision sensor is provided on the supporting base plate. The first card holder is located on the central axis of the supporting base plate. The second card holder and the third card holder are respectively inclined to the central axis of the supporting base plate. The transmission components are respectively provided with an inner ring tendon rope and an outer ring tendon rope that penetrate the supporting base plate. The clamping assembly includes a long finger joint and a short finger joint movably connected to the long finger joint; the long finger joint is movably mounted on a first, second, and third retaining seat; a gap is left between the long finger joint and the short finger joint to form a clamping space; anti-slip components for the long finger and short finger are respectively provided on the opposite sidewalls of the long finger joint and the short finger joint; flexible finger sleeves for the long finger and the short finger are detachably provided on the outside of the long finger joint and the short finger joint; contact sensors are respectively provided on the anti-slip components for the long finger and the short finger; an inner and outer tendon cord are respectively connected to the long finger joint and the short finger joint; the contact sensor and the vision sensor are respectively connected to an external controller via communication; under the action of external force, the transmission component drives the inner tendon cord to tighten and the outer tendon cord to loosen, thereby driving the long finger joint and the short finger joint to move towards each other to grasp; or drives the inner tendon cord to loosen and the outer tendon cord to tighten, thereby driving the long finger joint and the short finger joint to move in opposite directions to release.

[0005] As a further improvement of this utility model, the support base plate is provided with an installation chamber shell, and the support base plate is provided with multiple sets of tendon rope holes; the tendon rope holes are located inside the installation chamber shell.

[0006] As a further improvement of this utility model, the second card holder and the third card holder are symmetrically located on both sides of the central axis of the supporting base plate, and the angle between the axis of the second card holder and the central axis of the supporting base plate is in the range of 15°-30°.

[0007] As a further improvement of this utility model, the transmission component includes a transmission motor mounted on a support base plate and a double-grooved wheel connected to the output end of the transmission motor; the double-grooved wheel is provided with an outer groove and an inner groove respectively, and the bottom end of the double-grooved wheel is provided with two sets of tendon rope holes that cooperate with the outer groove and the inner groove.

[0008] As a further improvement of this utility model, one end of the long finger joint is provided with a first rotating sleeve, and the other end is provided with a clamp. A first card seat, a second card seat, and a third card seat are respectively provided with a first rotating shaft; the first rotating sleeve is rotatably connected to the first rotating shaft; a second rotating shaft is provided inside the clamp; the end of the short finger joint is provided with a second rotating sleeve; the second rotating sleeve is rotatably connected to the second rotating shaft.

[0009] As a further improvement of this utility model, one end of the inner ring tendon cord is fixedly connected to the outer groove, and the other end passes through the tendon cord hole and is wrapped around the first rotating sleeve along the axial direction of the long finger joint and connected to the short finger joint; there is an angle between the portion of the inner ring tendon cord located on the axial side of the long finger joint and the portion located on the short finger joint; one end of the outer ring tendon cord is fixedly connected to the inner groove, and the other end passes through the tendon cord hole and is wrapped around the first rotating sleeve along the axial direction of the long finger joint and is connected to the short finger joint after passing around the second rotating sleeve.

[0010] As a further improvement of this utility model, the long finger anti-slip component includes a long finger anti-slip plate disposed on the side of the long finger joint facing the axis of the supporting base plate; the short finger anti-slip component includes a short finger anti-slip plate disposed on the side of the short finger joint facing the axis of the supporting base plate.

[0011] The beneficial effects of this utility model are reflected in: The inner and outer tendon cords can be precisely controlled to extend and retract synchronously by rotating the transmission components, thereby precisely controlling the coordinated opening and closing of the long and short finger joints to grip or release fruit. The first clamp is located on the central axis of the support base plate, while the second and third clamps are respectively inclined to the central axis of the support base plate, so that the synchronous movement of the three fingers forms an adaptive envelope grip. This not only fully conforms to the complex curved surfaces of various irregularly shaped fruits to achieve flexible gripping, but also simplifies the structure and transmission system, reducing manufacturing costs and control complexity. The synchronous extension and retraction of the inner and outer tendon cords ensures that the drive signals applied to the long and short finger joints are completely synchronized in time and space, avoiding jamming or internal stress caused by asynchronous transmission.

[0012] It can better conform to the natural contours of irregular fruits such as spheres, elongated shapes, and ellipsoids. The long finger joints and short finger joints are respectively equipped with flexible finger sleeves for long fingers and flexible finger sleeves for short fingers. The inner side of the flexible finger sleeve forms a flexible "wrap-like" grip with the fruit contact surface. This multi-point and multi-angle contact effectively disperses the gripping force and greatly reduces the skin damage caused by stress concentration due to point contact or line contact. It is suitable for high-quality sorting of fragile fruits. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of a double-groove wheel type three-finger double-joint flexible robotic gripper for fruit sorting according to the present invention. Figure 2 This is a schematic diagram of the internal structure of a double-groove wheel-type three-finger double-joint flexible robotic gripper for fruit sorting according to this utility model. Figure 3 This is a schematic diagram of the inner ring tendon rope connection structure of a double-groove wheel type three-finger double-joint fruit sorting flexible robotic gripper structure of this utility model; Figure 4 This is a schematic diagram of the outer ring tendon rope connection structure of a double-groove wheel type three-finger double-joint fruit sorting flexible robotic gripper structure of this utility model; Figure 5 This is a schematic diagram of the transmission component arrangement structure of a double-groove wheel type three-finger double-joint flexible manipulator for fruit sorting according to the present invention. Figure 6 This utility model relates to a flexible robotic gripper structure for fruit sorting with a double-grooved wheel type and three fingers and two joints. Figure 2 Enlarged structural diagram at point A; Figure 7 This is a schematic diagram of the structure of the double-groove wheel type three-finger double-joint flexible robotic gripper for fruit sorting of this utility model when in use; Figure 8 This is a schematic diagram of the connection structure of the double-groove wheel type three-finger double-joint flexible robotic gripper for fruit sorting according to this utility model. Figure 9 This is a schematic diagram of the structure of the double-groove wheel type three-finger double-joint flexible robotic gripper for fruit sorting of this utility model when in use; Explanation of reference numerals in the attached figures: 1. Support base plate; 2. Transmission components; 201. Transmission motor; 202. Double grooved wheel; 203. Outer groove; 204. Inner groove; 3. First clamping seat; 4. Second clamping seat; 5. Third clamping seat; 6. Vision sensor; 7. Inner ring tendon rope; 8. Outer ring tendon rope; 9. Long finger joint; 10. Short finger joint; 11. Clamping space; 12. Long finger anti-slip component; 1201. Long finger anti-slip plate; 13. Short finger anti-slip component; 1301. Short finger anti-slip plate; 14. Long finger flexible finger sleeve; 15. Short finger flexible finger sleeve; 16. Connector 17. Touch sensor; 18. Mounting chamber housing; 19. Tendon cord hole; 20. Base; 21. First rotating sleeve; 22. Clip; 23. First rotating shaft; 24. Second rotating shaft; 25. First rotating hole; 26. Second rotating hole; 27. First guide roller; 28. Inner ring guide groove; 29. ​​Outer ring guide groove; 30. Second guide roller; 31. First pulley; 32. Second pulley; 33. Third pulley; 34. Fixed shaft; 35. Release guide groove; 36. Anti-slip teeth; 37. Snap-fit ​​groove; 38. Snap-fit ​​plate. Detailed Implementation

[0014] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the described embodiments are merely some, not all, of the embodiments of this utility model. Unless otherwise specified, the embodiments and features described in this application can be combined with each other. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0015] In one embodiment, see Figure 1 , 2 This utility model discloses a flexible robotic gripper structure for fruit sorting with a double-groove wheel type, three fingers, and double joints, including a transmission component and a clamping component.

[0016] The transmission assembly includes a supporting base plate 1 and transmission components 2 spaced apart on the supporting base plate 1. The supporting base plate 1 has a first locking seat 3, a second locking seat 4, and a third locking seat 5 spaced apart. A vision sensor 6 is also provided on the supporting base plate 1. The first locking seat 3 is located on the central axis of the supporting base plate 1, while the second locking seat 4 and the third locking seat 5 are respectively inclined to the central axis of the supporting base plate 1. The transmission components 2 are respectively provided with an inner ring tendon rope 7 and an outer ring tendon rope 8 that pass through the supporting base plate 1. The clamping assembly includes a long finger joint 9 and a short finger joint 10 movably connected to the long finger joint 9. The long finger joint 9 is movably mounted on the first locking seat 3, the second locking seat 4, and the third locking seat 5. A gap is left between the long finger joint 9 and the short finger joint 10 to form a clamping space 11. On the opposite sidewalls of joint 10, there are anti-slip components 12 for long fingers and anti-slip components 13 for short fingers. The long finger joint 9 and the short finger joint 10 are respectively provided with flexible finger sleeves 14 for long fingers and 15 for short fingers. Contact sensors 16 are provided on the anti-slip components 12 and 13 for short fingers. The inner ring tendon rope 7 and the outer ring tendon rope 8 are respectively connected to the long finger joint 9 and the short finger joint 10. The contact sensor 16 and the vision sensor 6 are respectively connected to the external controller through communication. Under the action of external force, the transmission component 2 drives the inner ring tendon rope 7 to tighten and the outer ring tendon rope 8 to relax, thereby driving the long finger joint 9 and the short finger joint 10 to move towards each other to grasp, or drives the inner ring tendon rope 7 to relax and the outer ring tendon rope 8 to tighten, thereby driving the long finger joint 9 and the short finger joint 10 to move in opposite directions to release.

[0017] Further, see Figure 1 The support base plate 1 is provided with an installation chamber shell 17, and the support base plate 1 is provided with multiple sets of tendon rope holes 18, which are located inside the installation chamber shell 17.

[0018] Preferably, the mounting compartment shell 17 is a hollow rectangular body, and the bottom of the mounting compartment shell 17 is open and connected to the support base plate 1 by bolts.

[0019] Further, see Figure 2 , 5 The second card holder 4 and the third card holder 5 are symmetrically located on both sides of the central axis of the support base plate 1, and the angle between the axis of the second card holder 4 and the third card holder 5 and the central axis of the support base plate 1 is in the range of 15°-30°.

[0020] Preferably, the first card holder 3, the second card holder 4, and the third card holder 5 are all U-shaped structures. The angle between the axis of the second card holder 4 and the third card holder 5 and the central axis of the supporting base plate 1 is preferably 20°. The long finger joints 9 and short finger joints 10 connected to the second card holder 4 and the third card holder 5 facilitate the hand claws to form an angle with each other while being on the same side, so that they can grasp both spherical (ellipsoidal) fruits and long strip fruits.

[0021] Further, see Figure 2 ,3 4. The transmission component 2 includes a transmission motor 201 mounted on the support base plate 1 and a double groove wheel 202 connected to the output end of the transmission motor 201. The double groove wheel 202 is provided with an outer groove 203 and an inner groove 204 respectively. The bottom end of the double groove wheel 202 is provided with two sets of tendon rope holes 18 that cooperate with the outer groove 203 and the inner groove 204.

[0022] Preferably, a base 19 is provided on the support base plate 1, and the drive motor 201 is mounted on the base 19 by bolts.

[0023] Preferably, the double grooved wheel 202 is located between the two sets of tendon cord holes 18.

[0024] Further, see Figure 2 , 3 4. One end of the long finger joint 9 is provided with a first rotating sleeve 20 and the other end is provided with a clip 21. The first card seat 3, the second card seat 4 and the third card seat 5 are respectively provided with a first rotating shaft 22. The first rotating sleeve 20 is rotatably connected to the first rotating shaft 22. The clip 21 is provided with a second rotating shaft 23. The end of the short finger joint 10 is provided with a second rotating sleeve 24. The second rotating sleeve 24 is rotatably connected to the second rotating shaft 23.

[0025] Preferably, the first card holder 3, the second card holder 4, and the third card holder 5 are each provided with a first rotating hole 25, the sleeve 21 has a "U" shaped structure, the sleeve 21 is provided with a second rotating hole 26, the first rotating shaft 22 and the second rotating shaft 23 can be screws with threads only at the ends, the screws rotate through the first rotating hole 25 and the second rotating hole 26 respectively and are connected by nuts, thereby facilitating the installation and removal of the long finger joint 9 and the short finger joint 10.

[0026] Further, see Figure 2 , 3 4. One end of the inner ring tendon cord 7 is fixedly connected to the outer groove 203, and the other end passes through the tendon cord hole 18 and is wrapped around the first rotating sleeve 20 along the axial direction of the long finger joint 9 and connected to the short finger joint 10. There is an angle between the part of the inner ring tendon cord 7 located on the axial side of the long finger joint 9 and the part located on the short finger joint 10. One end of the outer ring tendon cord 8 is fixedly connected to the inner groove 204, and the other end passes through the tendon cord hole 18 and is wrapped around the first rotating sleeve 20 along the axial direction of the long finger joint 9 and passes around the second rotating sleeve 24 and is connected to the short finger joint 10.

[0027] Preferably, the first card holder 3, the second card holder 4, and the third card holder 5 are each provided with a first guide roller 27, the first rotating sleeve 20 is provided with an inner ring guide groove 28 and an outer ring guide groove 29, the long finger joint 9 is provided with a second guide roller 30 near the first rotating sleeve 20, the long finger joint 9 is provided with a first pulley 31 and a second pulley 32 at intervals, the line connecting the first pulley 31 and the second pulley 32 is parallel to the axis of the long finger joint 9, and the short finger joint 10 is provided with a... The third pulley 33 has a fixed shaft 34 on the short finger joint 10, and the second rotating sleeve 24 has a relaxation guide groove 35. One end of the inner ring tendon rope 7 passes through the tendon rope hole 18 and then through the first guide roller 27 and is located in the inner ring guide groove 28. It is connected to the first pulley 31 and the second pulley 32 in sequence. After the inner ring tendon rope 7 passes through the second pulley 32, it does not contact the second rotating sleeve 24, but passes along the side of the second rotating sleeve 24 near the center of the entire device and goes around the third pulley 33 to connect with the fixed shaft 34.

[0028] Preferably, one end of the outer ring tendon rope 8 passes through the tendon rope hole 18 and then through the second guide roller 30, and is located in the outer ring guide groove 29. It is connected to the first pulley 31 and the second pulley 32 in sequence. After passing through the second pulley 32, the outer ring tendon rope 8 is connected to the relaxation guide groove 35 on the second rotating sleeve 24. After passing out of the relaxation guide groove 35, it passes around the third pulley 33 and is connected to the fixed shaft 34.

[0029] It should be noted that the first pulley 31, the second pulley 32, the third pulley 33, and the fixed shaft 34 are respectively located on both sides of the long finger joint 9 and the short finger joint 10, and the inner ring tendon rope 7 and the outer ring tendon rope 8 are respectively located on both sides of the long finger joint 9 and the short finger joint 10, and do not interfere with each other during the winding process.

[0030] In the above configuration, the drive motor 201 is an existing structure. After the drive motor 201 is powered on, it rotates forward, causing the double-grooved wheel 202 to rotate and drive the inner ring tendon rope 7 to wrap around the outer groove 203. When the inner ring tendon rope 7 tightens, it drives the long finger joint 9 and the short finger joint 10 to move towards the axis of the support base plate 1. During the process of the long finger joint 9 and the short finger joint 10 closing, the outer ring tendon rope 8 is under tension and relaxes under the synchronous rotation of the double-grooved wheel 202, thus realizing the grasping operation of the long finger joint 9 and the short finger joint 10. Conversely, when the drive motor 201 reverses, the outer ring tendon rope 8 tightens and the inner ring tendon rope 7 relaxes, thus realizing the release of the long finger joint 9 and the short finger joint 10.

[0031] Further, see Figure 2 , 3 4, 6, The long finger anti-slip component 12 includes a long finger anti-slip plate 1201 disposed on the side of the long finger joint 9 facing the axis of the supporting base plate 1, and the short finger anti-slip component 13 includes a short finger anti-slip plate 1301 disposed on the side of the short finger joint 10 facing the axis of the supporting base plate 1.

[0032] Preferably, the long finger anti-slip plate 1201 and the short finger anti-slip plate 1301 are respectively provided with trapezoidal anti-slip teeth 36, the long finger joint 9 and the short finger joint 10 are respectively provided with locking grooves 37, and the long finger anti-slip plate 1201 and the short finger anti-slip plate 1301 are respectively provided with locking plates 38 that cooperate with the locking grooves 37.

[0033] In this embodiment, the contact sensor 16, the vision sensor 6, and the external controller are all existing structures. Grooves can be opened on the long finger anti-slip plate 1201 and the short finger anti-slip plate 1301 for the contact sensor 16 to be installed. The vision sensor 6 is installed on the bottom end of the support base plate 1 by bolts.

[0034] In this embodiment, when the vision sensor 6 identifies spherical (ellipsoidal) fruits and elongated fruits, the vision sensor 6 performs image processing and feature calculation to provide feedback. The robotic gripper performs the action of grasping the middle part of the spherical (ellipsoidal) fruits and elongated fruits. The long finger joints 9 and short finger joints 10 are pulled inward and tightened by the inner ring tendon rope 7 and the outer ring tendon rope 8. Both the long finger joints 9 and short finger joints 10 are closely fitted with the fruits being held, and the force direction of the finger joints on the fruits is directed towards the center of mass of the fruits, thereby ensuring the stable gripping of the spherical (ellipsoidal) fruits and elongated fruits by the gripper.

[0035] In use, three gripper seats are installed below the support base plate 1. When the three independently controlled drive motors 201 are driven, they drive the double grooved wheel 202 to rotate. Tendon ropes are wound on the double grooved wheel 202. The inner ring tendon rope 7 and the outer ring tendon rope 8 pull the long finger joint 9 and the short finger joint 10 through the tendon rope through hole. After the vision sensor 6 below the support base plate 1 identifies the fruit type and shape, the drive motor 201 rotates forward, driving the double grooved wheel 202 to rotate, which tightens the inner ring tendon rope 7 and relaxes the outer ring tendon rope 8, thereby pulling the long finger joint 9 and the short finger joint 10 to grasp inward. The long finger joint 9 and the short finger joint 10 are respectively installed with a long finger trapezoidal anti-slip plate and a short finger trapezoidal anti-slip plate. Contact sensors 16 are installed on the inner side of each of them. When the finger grasps inward, the contact sensors on the long finger joint 9 and the short finger joint 10 are activated. When all 16 sensors are in contact with the fruit, the corresponding drive motors 201 stop rotating, ensuring that each finger participates in gripping the fruit. Conversely, when the robotic arm reaches the designated position, the drive motors 201 reverse, and the long finger joints 9 and short finger joints 10 unfold outward to release the fruit. The angle design of the first card holder 3, the second card holder 4, and the third card holder 5 enables multi-point and multi-angle contact to disperse the force on the fruit when gripping irregularly shaped fruits such as spherical, elongated, and ellipsoidal fruits, increasing the variety of fruits that the robotic arm can grip. The long finger flexible sleeves 14 and short finger flexible sleeves 15, respectively, are set on the outside of the long finger joints 9 and short finger joints 10. The contact surface material with the fruit is made of safe and environmentally friendly ceramicized silicone rubber, which effectively buffers the gripping force, greatly reduces the risk of fruit skin damage, and improves sorting quality.

[0036] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A flexible robotic gripper structure for fruit sorting with a double-grooved wheel type and three fingers and two joints, characterized in that, include: The transmission assembly includes a supporting base plate (1) and transmission components (2) spaced apart on the supporting base plate (1); the supporting base plate (1) is provided with a first card seat (3), a second card seat (4) and a third card seat (5) spaced apart, and a vision sensor (6) is provided on the supporting base plate (1); the first card seat (3) is located on the central axis of the supporting base plate (1); the second card seat (4) and the third card seat (5) are respectively inclined to the central axis of the supporting base plate (1); the transmission components (2) are respectively provided with an inner ring tendon rope (7) and an outer ring tendon rope (8) that pass through the supporting base plate (1); The clamping assembly includes a long finger joint (9) and a short finger joint (10) movably connected to the long finger joint (9); the long finger joint (9) is movably mounted on the first card seat (3), the second card seat (4), and the third card seat (5); a gap is left between the long finger joint (9) and the short finger joint (10) to form a clamping space (11); a long finger anti-slip component (12) and a short finger anti-slip component (13) are respectively provided on the opposite side walls of the long finger joint (9) and the short finger joint (10); a long finger flexible finger sleeve (14) and a short finger flexible finger sleeve (15) are detachably provided on the outside of the long finger joint (9) and the short finger joint (10); the long finger anti-slip component (12) and the short finger anti-slip component (13) are respectively provided on the outside of the long finger joint (9) and the short finger joint (10); the long finger anti-slip component (14) and the short finger anti-slip component (15) are respectively provided on the outside of the long finger joint (9) and the short finger flexible finger sleeve (15); the long finger anti-slip component (14) and the short finger anti-slip component (15) are respectively provided on the outside of the short finger joint (9) and the short finger anti-slip component (15) are respectively provided on the outside of the short finger joint (14). 2) The short finger anti-slip component (13) is provided with contact sensors (16); the inner ring tendon rope (7) and the outer ring tendon rope (8) are respectively connected to the long finger joint (9) and the short finger joint (10); the contact sensor (16) and the vision sensor (6) are respectively connected to the external controller through communication; the transmission component (2) drives the inner ring tendon rope (7) to tighten and the outer ring tendon rope (8) to relax under the action of external force, thereby driving the long finger joint (9) and the short finger joint (10) to move towards each other to grasp; or drives the inner ring tendon rope (7) to relax and the outer ring tendon rope (8) to tighten, thereby driving the long finger joint (9) and the short finger joint (10) to move in opposite directions to release.

2. The flexible robotic gripper structure for fruit sorting with double grooved wheels and three fingers with double joints as described in claim 1, characterized in that: The support base plate (1) is provided with an installation cabin shell (17), and the support base plate (1) is provided with multiple sets of tendon rope holes (18); the tendon rope holes (18) are located inside the installation cabin shell (17).

3. The flexible robotic gripper structure for fruit sorting with double grooved wheels and three fingers with double joints as described in claim 2, characterized in that: The second card holder (4) and the third card holder (5) are symmetrically located on both sides of the central axis of the supporting base plate (1), and the angle between the axis of the second card holder (4) and the central axis of the supporting base plate (1) is 15°-30°.

4. The flexible robotic gripper structure for fruit sorting with double grooved wheels and three fingers with double joints as described in claim 3, characterized in that: The transmission component (2) includes a transmission motor (201) mounted on a support base plate (1) and a double groove wheel (202) connected to the output end of the transmission motor (201); the double groove wheel (202) is provided with an outer groove (203) and an inner groove (204) respectively, and the bottom end of the double groove wheel (202) is provided with two sets of tendon rope holes (18) that cooperate with the outer groove (203) and the inner groove (204).

5. The flexible robotic gripper structure for fruit sorting with double grooved wheels and three fingers with double joints as described in claim 4, characterized in that: One end of the long finger joint (9) is provided with a first rotating sleeve (20), and the other end is provided with a clip (21). The first card seat (3), the second card seat (4), and the third card seat (5) are respectively provided with a first rotating shaft (22); the first rotating sleeve (20) is rotatably connected to the first rotating shaft (22); the clip (21) is provided with a second rotating shaft (23); the end of the short finger joint (10) is provided with a second rotating sleeve (24); the second rotating sleeve (24) is rotatably connected to the second rotating shaft (23).

6. The flexible robotic gripper structure for fruit sorting with double-grooved wheels and three fingers with double joints as described in claim 5, characterized in that: One end of the inner ring tendon cord (7) is fixedly connected to the outer groove (203), and the other end passes through the tendon cord hole (18) and is wrapped around the first rotating sleeve (20) along the axial direction of the long finger joint (9) and connected to the short finger joint (10); there is an angle between the part of the inner ring tendon cord (7) located on the axial side of the long finger joint (9) and the part located on the short finger joint (10); one end of the outer ring tendon cord (8) is fixedly connected to the inner groove (204), and the other end passes through the tendon cord hole (18) and is wrapped around the first rotating sleeve (20) along the axial direction of the long finger joint (9) and passes around the second rotating sleeve (24) and is connected to the short finger joint (10).

7. The flexible robotic gripper structure for fruit sorting with double grooved wheels and three fingers with double joints as described in claim 6, characterized in that: The long finger anti-slip component (12) includes a long finger anti-slip plate (1201) disposed on the side of the long finger joint (9) facing the axis of the supporting base plate (1); the short finger anti-slip component (13) includes a short finger anti-slip plate (1301) disposed on the side of the short finger joint (10) facing the axis of the supporting base plate (1).

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