The invention discloses an agricultural robot picking device based on machine vision detection. The agricultural robot picking device based on machine vision detection comprises an assembly rail groove, a machine body is arranged on the assembly rail groove, a collecting pipe is inserted into an upper surface of the machine body, a fixed pipe is inserted into a side wall of the collecting pipe, a telescopic pipe is slidably inserted into one end, away from the collecting pipe, of the fixed pipe, an arc-shaped supporting plate is arranged at one end, away from the fixed pipe, of the telescopic pipe, a multi-axis mechanical arm is arranged on an upper surface of the machine body, and a shearing motor is rotationally arranged at an upper end of the multi-axis mechanical arm. A camera module is arranged on a shearing head, fruits can be picked more accurately, a situation that the fruits are damaged due to large impact is avoided through buffering and collecting of a single-opening elastic collecting net, meanwhile, possibility of impact damage is further reduced through cooperation of the collecting pipe, a buffer and a slope temporary storage drawer, such that the device is more intelligent in picking, does not need manual operation, is more reliable and safer, and increases picking efficiency and yield.