The invention provides an
airbag type citrus picking
manipulator end executor and a picking method thereof and relates to the field of agricultural harvesting robots. The
airbag type citrus picking
manipulator end executor is formed by an
airbag barrel, airbag inlets, a blade docking part, a first rotary cylinder, airbags, a second rotary cylinder, a
cutting blade, a mechanical arm fittings and abellows receiving box and is characterized in that the airbag
barrel is connected with the mechanical arm fittings, the blade docking part is mounted on the shaft of the first rotary cylinder, the second rotary cylinder is mounted on a cross plate of the side wall of the airbag
barrel, the
cutting blade is mounted on the shaft of the second rotary cylinder, and the
bellows receiving box is connected to the lower end of the airbag barrel. The airbags are adopted to clamp citruses, fruit stems are
cut through the double blade, the working process is completed by aligning to fruit, approaching tothe airbags for clamping, allowing the blade docking part to contact the fruit stems and the
cutting blade to
cut off the fruit stems, the technical problem that the fruit stems are too long and easyto damage in clamping during citrus picking is solved, and automatic citrus picking is realized.