Small spherical fruit flexible grabbing and sucking type picking end effector and picking method thereof

The invention discloses a small spherical fruit flexible grabbing and sucking type picking end effector which comprises flexible fingers, finger joints, a base and a bionic throat pipe. The bottoms of the flexible fingers are fixed to connecting blocks through T-shaped grooves and then fixed to finger joint upper connecting rods through screws and nuts; finger joint lower connecting rods and sliding table air cylinders are fixed and then fixed onto the base through screws; flexible corrugated pipes designed by the invention are mounted on the finger joints; the bionic throat pipe designed by the invention is mounted below the base; and the self-adaptive enveloping type grabbing type picking and swallowing type transportation of the flexible finger pairs are realized through the inflation and deflation of the corrugated pipes, the linear motion of the sliding table air cylinders and the inflation and deflation of the bionic throat pipe. The small spherical fruit flexible grabbing and sucking type picking end e