An air bag type telescopic fruit picking and collecting device comprises an air bag picking mechanism, an automatic telescopic mechanism, a universal labor saving mechanism, a buffering and collectingmechanism and a control mechanism, wherein the air bag picking mechanism comprises a picking head support, a rotary centrifugal cutter structure, an air bag, an air pipe, an air pump and an air pumprack; the automatic telescopic mechanism comprises a telescopic rod I, a telescopic rod II, a telescopic rod III, a telescopic platform, a stepping motor, a lower belt pulley, a synchronous belt, a press plate, a slider, an upper belt pulley and an upper belt pulley platform, and the top end is fixed at the bottom of the picking head support after the upper end of the telescopic rod I penetrates through the air pump rack; the universal labor saving mechanism comprises a spring I, a universal footed glass, an interface part and a hoop, and the telescopic rod III is fixed on a bottom plate through the universal footed glass at the bottom; the buffering and collecting mechanism comprises a buffering mechanism and a collecting mechanism. The telescopic fruit picking and collecting device picksoff fruits easily by skillfully using the holding action of the air bag and combining the centrifugal force action of blade rotation and sends the fruits to a collecting box through a pipeline laid with a buffering material.