The present invention relates to an end effector for harvesting paprika, comprising: a blade portion contacting a stem of a harvest; A gripper for gripping the crop and for cutting the stem by rotating the harvested matter while grasping the harvested product when the blade part is in contact with the stem; And a control unit for controlling the driving of the blade unit and the grip unit, wherein the grip unit is extended in both directions from the center, thereby providing a harvesting space in which the harvested crop is located, and is perpendicular to the longitudinal direction of the harvested crop And a pair of pivotally mounted rotatably mounted rotatable pivotably connected rotatable rotatably mounted rotatable pivotable rotatable pivotably mounted rotatable pivotable rotatable pivotably rotatable rotatably mounted on both ends of the main body, A cylinder portion which is provided at a pair and is provided at each of the pressing portions and applies a driving force to the pressing portion so that the pressing portion is rotated; A first sensor unit for sensing that the harvested material is located in the harvesting space, A second sensor unit installed on the press section and sensing a force applied to the crop to be harvested, a first contact section provided at a length corresponding to the longitudinal direction of the harvest and installed at the center of the main body section, And a second contact portion provided on both ends of the pressing portion so as to be rotatable, wherein the control portion controls the first sensor portion to detect the position of the harvesting object in the harvesting space, 1 signal is received, the cylinder portion operates the cylinder portion to apply a driving force to the pressing portion, and when the pressing portion is rotated so that the pressing portion presses the crop, the pressing portion presses the crop, Wherein the control unit controls the pressing unit to press the second sensor unit, When receiving a second signal, which is a signal confirming completion of grasping the crop under pressure, moves the blade part to a cutting position of the stem, and when it is determined that the blade part is located at the cutting position, And the main body is rotated with the main body rotated in the direction perpendicular to the longitudinal direction of the crop to be cut so that the portion of the stem corresponding to the position is cut.According to the present invention, it is possible to cut the stem of the paprika by rotating the harvested grains while the blade portion is in contact with the stem portion of the paprika, whereby the harvested matter can be harvested easily.;
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