A kind of multi-type fruit picking device with functions of fine adjustment and quick change was developed. The picking lever is driven by the large stroke lifting platform, and precise positioning is carried out by the fine-tuning device. The hydraulic transmission device is used to make the manipulator grasp the fruit and cut the fruit handle. The hydraulic device is used to drive the picking lever to rotate，and puts the picked fruit into the fruit concentration plate. The whole picking device was calculated and verified by the mechanical design principle. The researches show that hydraulic cylinder load of the lifting part is 1 000 N, the inertial load is 6 N, and the working load is 1 000 N，and the estimated total load of the hydraulic cylinder is 1 100~1 300 N.The efficiency of picking fruit of the device is about 40 pieces per minutes, which is twice as much as the number of fruit picking by manual, and has a higher safety factor. With the interaction of mechanical transmission, electrical control and single-chip drive module, the picking device is more stable and reliable, and has the potential of practical application.