。A vacuum suction device was developed to separate aimed tomato fruit from cluster in robotic harvesting，which took a mini air pump and a vacuum ejector as vacuum generation. Control strategy to this device was designed based on relationship between air supply pressure and vacuum pressure, pull-off force of the suction cup, and suction responding time. Experiments indicated that average time of one task and air consumption of this device were 1.5s and 0.6L, respectively. Success rate pulling fruit to reach horizontal 35mm far distance was 92%. Power of the mini air pump could satisfy the need of fulfilling 360 fruits harvesting per hour.