Fecha de publicación: 06/04/2016 Fuente: Wipo tomato The invention discloses a robot end effector for tomato bud picking. The robot end effector for tomato bud picking comprises a tomato lateral branch position detection device, a detection device telescopic mechanism, a fixing fame, a camera and a tomato lateral bud picking device. The position of the stem of a tomato is obtained through the camera, the tomato lateral branch position detection device moves upwards around the stem of the tomato to detect the position of the lateral branch of the tomato accurately, after the information of the lateral branch and the lateral bud is obtained, the detection device telescopic mechanism moves to enable the tomato lateral branch position detection device to retreat and control the tomato lateral bud picking device to reach the position of the corresponding lateral branch for lateral bud picking, then the tomato lateral bud picking device retreats, and the tomato lateral branch position detection device executes the next step of work according to the stem and lateral branch information obtained through the camera. By the adoption of the robot end effector for tomato bud picking, automation of tomato lateral bud picking can be achieved, the working speed is high, stability is high, and the automation degree is high.