The invention discloses a fruit picking robot which comprises a grabbing part, an arm part, a fruit stem shearing part, a visual system, a lifting part, a rotating part and a movable base, wherein thegrabbing part is connected with the arm part, the arm part is connected with the lifting part, the visual system is located above the grabbing part and is connected with the arm part, the fruit stemshearing part is connected with the arm part, the lifting part is connected with the rotating part, and the rotating part is connected with the movable base; the fruit picking robot is exquisite in structure, the flexibility degree is high, the working space is large, and an s-shaped pressure sensor, a flat plate pressure sensor and a tension spring are utilized, so that the closed-loop real-timecontrol of a finger connecting rod mechanism I by a controller can be realized, a target object is flexibly grabbed, and mechanical damage caused by picking is reduced; the lifting part and the rotating part increase the picking freedom degree, fruit stems are retained while the target is picked by the shearing part, and fruits can be stored more easily.