The invention discloses an apply picking manipulator, which comprises a tail executer, wherein the tail executer is connected with a hand wrist through a wrist joint turnover motor and a gear rack, the hand wrist is connected with a forearm through a wrist joint deflection shaft and a wrist joint deflection motor, the forearm is connected with a big arm through an elbow joint shaft and an elbow joint motor, the big arm is connected with a vertical column through a shoulder joint shaft, a shoulder joint end cover and a shoulder joint motor, and the vertical column is connected with a base through a boss, a waist joint large gear, a waist joint small gear and a waist joint motor; the vertical column is driven by the waist joint motor and the gear to rotate, the shoulder joint motor drives the big arm to rotate, the elbow joint motor drives the forearm to pitch up and down, the wrist joint deflection motor drives the hand wrist to deflect left and right, and the wrist joint turnover motor drives the tail executer to rotate; the tail executer utilizes the motor to drive the gear and the gear rack, a lever is driven to open and close a hand gripper, and a rubber cushion is adhered to the inner side of the hand gripper, so as to reduce the damage rate of the picked object.