As fruit picking must overcome the connection force between fruit stalk and fruit, the tensile force and torsion moment of tomato picking were measured by test for revealing the size and its change of tomato fruit picking force during tomato fruit picking practice.The test results show that the size of the ripe processing tomato picking force is related to the movement direction of the fruit in picking operation. When the fruit is moving in a direction, the picking force is smaller with the tilting angle of the stalk being greater, the force of tomato fruit picking has a linear correlation to tensile inclination angle, and energy consumption of picking fruit is the same at different fruit moving directions. For the fruits with short and high stiffness stalks, the turning angle of stalk is small and the fruit is easy to be picked.