Apple picking device capable of achieving multi-process cooperation

The utility model provides a multi-process collaborative apple picking device. The multi-process collaborative apple picking device comprises a mechanical arm skeleton, an end effector, a rotating oil cylinder, a picking chassis, a fruit box, a depth camera, a guide rail module and a driving module. The mechanical arm skeleton is connected with the picking chassis through a rotating oil cylinder; the guide rail module mainly comprises a micro winch, a guide rail and a sliding block; the depth camera and the rotating oil cylinder are installed on the picking chassis side by side and used for apple recognition and positioning. The apple box is mounted on a base of the mechanical arm skeleton and is mainly used for containing picked apples; the driving module mainly comprises a battery pack, an industrial personal computer, a small winch and a steering engine; the battery pack is mainly responsible for supplying power to electric driving devices such as the industrial personal computer, the winch, the steering e