Kiwi fruit picking end effector

The invention discloses a kiwi fruit picking end effector. The kiwi fruit picking end effector comprises a shearing mechanism, a clamping mechanism, a lifting mechanism and a sensor system. The sensor system comprises an infrared sensor, a pressure sensor and a Hall sensor. During working, the mechanical arm firstly sends the end effector to a suitable kiwi fruit picking area, when the end effector recognizes the position of a fruit through the infrared sensor, the mechanical arm stops moving, and the clamping mechanism clamps the fruit in a proper area within a preset clamping force range under the action of the lifting mechanism; and after the actions are completed, the mechanical arm is far away from the fruits, the lifting mechanism is reset, and picking of one single fruit is finished. According to the fruit picking device, lossless separation of fruit stems can be achieved through the shearing mechanism, the damage rate in the fruit picking process is reduced, the lifting mechanism adjusts the paws to c