The invention discloses an orange picking robot. The orange picking robot comprises a mechanical executing system and a control system and is characterized in that the mechanical executing system comprises an elongated vehicle, a five-freedom-degree picking mechanical arm and an end executor; a picking position regulating rail is arranged on the upper surface of the vehicle along the length direction of the vehicle; the rotating base of the five-freedom-degree picking mechanical arm is slidably mounted on the picking position regulating rail, the end executor comprises two parallel clamp plates, the two clamp plates can move towards each other to perform clamping, the clamping face of each clamp plate is provided with a sponge clamping layer, a strip-shaped elastic piece arched towards theclamping direction is arranged in each sponge clamping layer, the middle protruding part of each elastic piece is located in the middle of the corresponding sponge clamping layer, and the middle protruding part of each elastic piece bends inwardly to form a recessed part for clamping an orange. The orange picking robot is large in picking area, capable of avoiding orange damage during picking andcapable of automatically grading the picked oranges according to the weights of the oranges.