Class round fruit and vegetable picking end, methods, and robot

The present invention discloses a class of round fruit and vegetable picking end, methods, and robot, the end effector includes a case, the clamping mechanism and cutting mechanism, the electromagnet and cabinets with a motor; the clamping motion mechanism includes an elastic component, fixed block, mechanical fingers left paw, right paw and a mechanical finger control left foot mechanical fingers and right paw mechanical fingers slide open angle constraint disc, the mechanical fingers and left foot mechanical Youzhao slide your finger across the disk constraints, and are connected by pins and the fixed block, both sides of the fixing blocks are provided so that the left foot mechanical fingers and mechanical finger right paw activities notch; one end of the elastic component of motion through electromagnetic iron center, fixed to the other end through the block and fixedly connected with the sliding constraint disc, the cutting mechanism is connected with the motor. Simple end structure of the present invention is easy to use, has a fruit and vegetable picking versatility, but also reflects the purpose of lightweight mechanization development.