An end effector (22) for a fruit picking robot has a distal portion comprising tools for seizing and detaching a fruit (3) from its mother plant, a proximal portion comprising an interface for mounting the end effector (22) to a robot arm, and a storage bay (30) for picked fruit (3). The storage bay (30) is elongate in a longitudinal direction and has a discharge port (40) extending along the full length of the storage bay (30) in the longitudinal direction (24). A fruit support member (37) has a longitudinally extending edge (39) which delimits the discharge port (40).