Multifunctional fruit and vegetable picking robot with replaceable execution tail end

The utility model relates to a multifunctional fruit and vegetable picking robot with a replaceable execution tail end. The multifunctional fruit and vegetable picking robot comprises a self-propelled driving system, a picking device and a fruit collecting device, wherein the picking device and the fruit collecting device are installed on the self-propelled driving system. The picking device comprises an SCARA extending upwards in the vertical direction, an end effector and a fruit and vegetable recognition camera installed on the end effector, a road condition recognition camera located above the self-propelled driving system is installed on the front side face of the SCARA, and the fruit and vegetable recognition camera, the road condition recognition camera and the self-propelled driving system are all electrically connected with the controller; the fruit collecting device comprises two collecting frames located on the left side and the right side of the SCARA arm respectively, and openings in the tops of