The utility model discloses a multidirectional picking mechanism which comprises a six-axis carrying mechanical arm, an installation frame is fixed on the six-axis carrying mechanical arm, a fixing ring is fixed at the lower end of the installation frame and connected with a net bag, a cross rod is further fixed on the installation frame, a first hydraulic rod is installed on the cross rod, and a second hydraulic rod is installed on the first hydraulic rod. And a mounting ring is fixed to the outer side of the first hydraulic rod, a clamping jaw is connected to the mounting ring, a mounting rod is further fixed to the upper side of the mounting frame, a fixed cutter is fixed to the mounting rod, and one end of a second hydraulic rod is further rotationally connected to the mounting rod. According to the multi-direction picking mechanism, the six-axis carrying mechanical arm is adopted to conduct multi-direction adjustment on the picking mechanism so as to meet the actual picking requirement, the clamping and fixing mechanism and the shearing mechanism are matched, the automatic picking requirement of palm fruits can be met, and compared with traditional manual picking, the safety is higher, the efficiency is greatly improved, and the cost is effectively reduced; the method is suitable for wide popularization.