Picking device

The utility model discloses a picking device which comprises a base frame, a mechanical arm and a mechanical paw capable of being opened or closed, one end of the mechanical arm is hinged to the base frame, the mechanical paw is connected to the other end of the mechanical arm, a vibration exciter is installed on the mechanical paw, and a second hydraulic cylinder capable of driving the mechanical arm to rotate is arranged between the base frame and the mechanical arm. The mechanical arm is provided with a first hydraulic cylinder capable of driving the mechanical arm to stretch out and draw back. The front-back position or the up-down position of the mechanical arm relative to a trunk is ingeniously controlled through the first hydraulic cylinder and the second hydraulic cylinder, the mechanical gripper is assisted to accurately clamp the trunk, the mechanical gripper drives the trunk to vibrate through exciting force generated by the vibration exciter, fruits are vibrated off, the mechanical gripper does no