Disclosed is a picking
manipulator mechanical device. The device comprises a picking
robot tail-end executor, a fruit conveying mechanism, a mechanical executing device and a
control system; the mechanical executing device comprises a wheeled intelligent moving platform, a picking mechanical arm, an underactuated picking
manipulator and an electric sliding platform; the wheeled intelligent movingplatform comprises a
caterpillar-band
chassis, a
chassis surface, a control box, a
motor control cabinet, a fruit collecting box and a side-surface baffle, the
chassis surface is cooperatively arranged at the upper portion of the crawler belt chassis, and one end of the chassis surface is provided with the control box; the
motor control cabinet is fixed in the middle of the wheeled intelligent moving platform; the fruit collecting box is located between the picking mechanical arm and the
motor control cabinet. The working efficiency is improved, and the problems are solved that by manual picking, for fruits the growth positions of which exceed the height of a worker, a ladder is needed for operation, the efficiency is low, the operation is dangerous, and picking is more difficult; pickingof various kinds of fruits is facilitated, the device is safe, flexible and efficient, and the labor cost for harvesting the fruits is reduced.