Clamping and shearing integrated litchi picking end effector and litchi picking robot

The invention relates to a clamping and shearing integrated litchi picking end effector which comprises a picking blade, a driving component, a clamping component, a tool rest and a tail end machine body. The left blade and the right blade are rotationally connected with the front end of the tail end machine body through a knife rest; the driving part drives the left blade and the right blade to do scissor type opening and closing movement; the rigid clip is fixed on the right blade, the flexible clip is fixed on the left blade, the flexible clip comprises a pressing plate, a flexible clip frame and a spring, the flexible clip frame is fixedly connected with the left blade, the rear end of the pressing plate is rotatably connected with the left blade, and the spring for pushing the pressing plate towards the inner side is arranged between the pressing plate and the flexible clip frame; the inner sides of the rigid clamp and the pressing plate are straight edges, sawteeth are arranged on the straight edges, an