The invention discloses a portable fruit picking device. The upper end of a stand rod is provided with an upper pulley, the lower end of the stand rod is provided with a lower pulley, a rope is wound on the upper pulley and the lower pulley, the two sides of the stand rod are provided with a left guide rail and a right guide rail respectively, the inside of the left guide rail and the inside of the right guide rail are respectively provided with a sliding block, each sliding block is provided with four idler wheels, the idler wheels of the sliding blocks allow the sliding blocks to freely slide in the left guide rail and the right guide rail respectively, the upper end of each sliding block is provided with a pull rod, each pull rod is provided with a through hole, the sliding blocks in the guide rails on the two sides are respectively fixedly provided with a fixing ring, the lower sides of the two fixing rings are respectively provided with a bag, the portion, on the upper pulley, of the rope is tied to the inside of the through hole in the left sliding block, the portion, on the lower pulley, of the rope is tied to the inside of the through hole in the right sliding block, the upper end of the stand rod is provided with a fixed knife and a movable knife, the fixed knife is arranged over the center line of the left guide rail and the center line of the right guide rail, the movable knife can rotate by 90 degrees under drive of a steering engine, and the steering engine is controlled to rotate through a single chip microcomputer system. The portable fruit picking device can be suitable for being used for picking of various kinds of fruits, the fruits cannot be damaged, production efficiency can be improved, labor is saved and cost is reduced.