Tomato picking robot with flexible tail end clamping device and picking method

The invention relates to the technical field of tomato picking, in particular to a tomato picking robot with a flexible tail end clamping device and a picking method. An annular conveying mechanism is arranged between a manipulator and a moving mechanism of the tomato picking robot with the flexible tail end clamping device. And an end effector is arranged at the output end of the manipulator. The end effector comprises flexible arms, and the multiple flexible arms are circularly arranged along the axis of the driving air cylinder to form a clamping space used for clamping tomato fruits. When the piston rod of the driving air cylinder is located at the first position, the flexible arms are bent towards the inner side of the clamping space, and the tomato fruits are enveloped and clamped by the multiple flexible arms. When the piston rod of the driving air cylinder is located at the second position, the flexible arm is bent towards the outer side of the clamping space, and then the tomato fruits are released.