The invention discloses a multidirectional fruit picking and collecting integrated device. The device comprises a base, a crawler mechanism, a picking mechanism and a collection mechanism, wherein a rack is arranged on the rack, the picking mechanism is arranged on the rack, a lifting driving mechanism drives the picking mechanism to rise and fall, the picking mechanism comprises a mounting plateand two picking arms arranged on the mounting plate symmetrically laterally, each picking arm comprises a supporting rod, a first stretching arm, a second stretching arm, a rotating picker, a low-siteair cylinder and a high-site air cylinder, the supporting rods are rotationally arranged on the mounting plate, and each rotating picker is arranged at the top end of the corresponding second stretching arm; and the collection mechanism comprises a top end collection net, a sideway collection net and a collection frame. Compared with the prior art, the multidirectional fruit picking and collecting integrated device has the advantages that fruits of multiple heights, multiple angles and different positions can be picked up, high-angle rotation can be carried out on the two picking arms, a picking working area is greatly expanded, and a collection device is integrated with a picking device.