Self-adaption under-actuation picking tail end executing device and method

The invention discloses a self-adaption under-actuation picking tail end executing device and method. A hand executing mechanism in the device comprises a palm and multiple fingers. The lower ends of the fingers are movably connected with the palm respectively. The fingers slide in the diameter direction of the palm. The upper ends of the fingers are provided with reversible V-shaped finger tips. Each V-shaped finger tip comprises a knuckle reversing button, a first movable knuckle and a second movable knuckle, wherein the first movable knuckle and the second movable knuckle are fixedly connected in an angle-adjustable mode, and the second movable knuckle is hinged to the knuckle reversing button which is connected with the upper end of the finger. According to the method, a winding reel in the palm drives the fingers to get close to a fruit or release the fruit through two steel wire ropes with opposite winding directions and drives the V-shaped finger tips, the fingers and the palm to rotate at the same tim