Cylindrical coordinate shearing type fruit picking end effector

A cylindrical coordinate shearing type fruit picking end effector, comprising:

• a rack, a fruit clamping mechanism, a rotary motion mechanism, a rotary angle detection mechanism, a linear motion mechanism, a shearing motion mechanism, and a linear distance detection mechanism;
• wherein
• the linear distance detection mechanism is arranged at a front end of the linear motion mechanism and is configured to detect a position between the shearing motion mechanism and a fruit stalk;
• the shearing motion mechanism is arranged at a rear end of the linear motion mechanism and is configured to shear the fruit stalk;
• the linear motion mechanism is arranged at a top end of the rotary motion mechanism and is configured to adjust the distance between the shearing motion mechanism and the fruit stalk;
• the rotary motion mechanism is arranged at a rear end of the rack and is configured to adjust an angle of the shearing motion mechanism;
• the rotary angle detection mechanism is arranged at a front end of the rotary motion mechanism and is configured to detect an angle of the fruit stalk;
• and
• the fruit clamping mechanism is arranged at a front end of the rack and is configured to clamp and fix a position of a fruit.