Abstract: Fruit picking is one of labor-intensive and costly operations in agricultural production．With intensified global population aging, agricultural labor shortage has become increasingly prominent problem, Automated picking technology development has become an inevitable trend to promote orchard production modernization and ensure fruit industry sustainable development．As core executive component of picking robots, end-effectors' performance directly determines picking success rate, operational efficiency, and fruit quality．Based on patent data, fruit picking end-effector technology development has been traced, with emphasis on its research progress in fields of grabbing and separating mechanisms, sensing and intelligent control．These findings would have provided a valuable reference for subsequent technical breakthroughs and industrial applications in this field．