The invention discloses a kiwi fruit picking device, and relates to the technical field of kiwi fruits. The kiwi fruit picking device comprises a fixing plate, a supporting column is fixedly installedat the top of the fixing plate, a first sliding groove plate is fixedly installed at the top of the supporting column, a lifting mechanism is arranged at the top of the first sliding groove plate, and a second sliding groove plate is arranged at the top of the lifting mechanism. According to the kiwi fruit picking device, through cooperative use of a first sliding block, a moving block, an electric push rod, a first moving rod, a second moving rod, a fixed block and a guide rail, the lifting mechanism is moved to a proper clamping height; through cooperative use of a second sliding block, a moving plate, a clamping plate, a first motor and a threaded shaft, the kiwi fruits are clamped; the lifting mechanism and a clamping mechanism are controlled through a controller and a detection camera, the kiwi fruits are picked, automation is achieved, manual picking is not needed, the labor cost is reduced, and the labor intensity of personnel is reduced.