Picking end effector for reducing damage to plants and fruits

The invention discloses a picking end effector capable of reducing plant and fruit damage, which comprises a base and a motor base, and also comprises a dual-output motor and a clamping device, an output shaft at the lower end of the dual-output motor is provided with a large synchronous pulley, the clamping device comprises a lower clamping jaw and an upper clamping jaw, the right end of the lower clamping jaw is provided with a rotating device, and the upper clamping jaw is provided with a rotating shaft. The rotating device comprises a small synchronous belt wheel and a friction disc, a curved surface groove is formed in the upper side of the friction disc, micro-nano scale array bristles are arranged on the inner side of the curved surface groove, the upper clamping jaw is sequentially provided with a guide sliding groove, an L-shaped bending area, a supporting device and an arc-shaped baffle from left to right, the supporting device is located over the friction disc, and the arc-shaped baffle is located