Tomato picking end effector with adsorption system

The invention provides a tomato picking end effector with an adsorption system. The tomato picking end effector comprises a driving mechanism, a picking mechanism, the adsorption system and a shell. An air cylinder in the adsorption system is connected with a fixed seat in the shell, and the linear motion of the air cylinder drives a suction cup to move forwards and backwards, so that the process that the suction cup sucks tomatoes out of a fruit bundle and separates the tomatoes is realized; the driving mechanism is installed in the shell, linear motion of a lead screw nut is controlled through a stepping motor, a paw of the picking mechanism is made to rotate, and tomato fruits are clamped. The shell comprises a sleeve, a fixing base and a flange plate, the bottom of the sleeve is connected with the flange plate, the flange plate is fixed to a motor at the tail end of the mechanical arm, and rotation of the shell can be achieved. According to the tomato picking device, the picking mode that fruits are first