Manipulator structure for grabbing nearly-round nuts and application of manipulator

The invention discloses a manipulator structure for grabbing nearly-round nuts. The manipulator structure comprises a base station, a pair of first mechanical arms, two pairs of second mechanical arms, a lead screw motor and a plurality of circular trays, can grab nearly-round nuts, is suitable for accurately grabbing different shapes of nuts and is stable. The grabbed nuts can roll over round the long axis or the short axis of the structure to adjust the orientations of the nuts,the subsequent nut shell-breaking processing flow is facilitated, and a shell-breaking assembly can be aligned to the weak surface of the nut; the auxiliary manipulator, namely the first mechanical arms, is additionally arranged to stabilize the position of the nut during shell-breaking of the nut. The upper-end mechanical arm and the lower-end mechanical arm of the two second mechanical arms and the base station motor are directly driven by the motor without a plurality of transmission elements, so that the control is easy, the rota