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This invention discloses a pneumatic clamping peach tree high-altitude fruit picking device, including an extension rod. The upper end of the extension rod is equipped with a clamping mechanism for gripping and picking peaches. The clamping mechanism includes a fixed plate, supports, a fixing ring, a cylinder, fixing blocks, a connecting rod, grippers, a movable frame, a moving rod, and a transmission rod. A fixed plate is fixedly mounted on the upper end of the extension rod. Several supports are evenly fixed around the upper surface of the fixed plate. A fixing ring is fixedly mounted on the upper end of each support. A cylinder is fixedly mounted in the center of the upper part of the fixed plate. Several fixing blocks are evenly fixed around the upper perimeter of the fixing ring. This invention can be used for peach fruit picking; it also allows for continuous picking. After each picking, the peach can be released directly, and it will first enter a collection net bag, then slide down to ground height via a connecting hose. This greatly improves picking efficiency and facilitates widespread use.