Vertical formula apple picking manipulator

The utility model relates to a machinery, concretely relates to vertical formula apple picking manipulator are plucked to the apple. It is constituteed by cutting fork lifting device, end effector andflexible transfer drum. End effector installs and is cutting fork lifting device's upside, and flexible transfer drum connects in end effector opening side, is provided with in the end effector and detects sensing device and cutting device. The apple harvesting work that this manipulator can realize not having under the apple tree sturdy branch to shelter from, this manipulator reduces artificalsimple repetition nature work, and plucking fruit flow and manual work, to pluck the fruit similar, and the success rate is higher. 本实用新型涉及种苹果采摘机械，具体涉及种竖直式苹果采摘机械手。它由剪叉升降装置、末端执行器和柔性传送筒组成。末端执行器安装在剪叉升降装置的上侧，柔性传送筒连接在末端执行器开口侧面，末端执行器内设置有检测传感装置和切断装置。该机械手可以实现苹果树下没有粗壮枝干遮挡的苹果采摘工作，该机械手降低人工简单重复性劳动工作，且摘果流程与人工摘果类似，成功率更高。