The invention provides a cucumber flexible picking
manipulator end executor and a picking method and relates to the field of agricultural picking robots. The cucumber flexible picking
manipulator endexecutor is composed of a stepping motor, polished shafts, a lead screw, a mounting plate, a supporting plate, a nut slide block, an ejector plate, a visual sensor, a
cutting cylinder,
cutting fingers, a clamping cylinder, clamping fingers, springs, flexible clamping walls,
silica gel keys, a
laser sensor, a clamping arm rotating shaft and a rotary motor. The cucumber flexible picking manipulatorend executor is characterized in that the flexible clamping walls are installed on the two sides of the mounting plate through clamping wall rotary shafts, the
silica gel keys are connected with the flexible clamping walls through the springs, and the working processes of aligning at cucumbers, moving close to the cucumbers, clamping the upper sections of the cucumbers, flexibly clamping the middle lower sections of the cucumbers and
cutting off stems are completed. By adoption the picking manners that the flexible clamping walls clamp the middle sections and the lower sections of the cucumbers, the clamping fingers clamp the upper sections of the cucumbers, and the cutting fingers
cut off the stems, the technical problems that the cucumber picking efficiency is low and cucumbers are proneto being damaged during clamping and are liable to break off due to shaking are solved.