An airbag type telescopic fruit picking and collecting device, comprising an airbag picking mechanism, an automatic telescopic mechanism, a universal labor-saving mechanism, a buffer collecting mechanism and a control mechanism, wherein the airbag picking mechanism comprises a picking head support, a rotating centrifugal knife structure, an airbag, a trachea , air pump and air pump frame, automatic telescopic mechanism includes telescopic rod one, telescopic rod two, telescopic rod three, telescopic platform, stepper motor, lower pulley, synchronous belt, pressure plate, slider, upper pulley and upper pulley platform, The upper end of the telescopic rod 1 passes through the air pump frame and the top is fixed on the bottom of the picking head bracket. The universal labor-saving mechanism includes a spring 1, a universal foot cup, interface parts and a clamp, and the telescopic rod 3 is fixed on the bottom plate through the bottom universal foot cup. , the buffer collection mechanism includes a buffer mechanism and a collection mechanism. The invention skillfully utilizes the holding function of the air bag, combined with the centrifugal force of the blade rotation, and easily picks off the fruit, and sends the fruit to the collection box through a pipeline covered with buffer materials.