Picking device

The invention relates to a picking device. The picking device comprises a picking rod, a multi-freedom-degree steering mechanism and a gripping mechanism, the picking rod and the gripping mechanism are connected by the multi-freedom-degree steering mechanism, the multi-freedom-degree steering mechanism comprises a plurality of first steering engines and connecting pieces, and the adjacent first steering engines are connected by the connecting pieces. Through the gripping mechanism and the multi-freedom-degree steering mechanism, fruit growers can control the gripping mechanism to approach fruits from the best position, hold the fruits, and twist the fruits through corresponding buttons, thereby easily picking up the fruits and greatly reducing the labor intensity of the fruit growers. 本公开涉及种采摘装置。包括采摘杆、多自由度转向机构和抓取机构，所述采摘杆和抓取机构通过多自由度转向机构相连接，所述多自由度转向机构包括多个第舵机和连接件，相邻第舵机之间通过连接件相连接。本公开通过抓取机构和多自由转向机构，果农可以通过相应按钮控制抓取机构从最佳位置接近水果、握持水果，并扭转水果，从而轻易将水果摘下，大大降低了果农的劳动强度。