The invention discloses a cart type semiautomatic pineapple picking machine, which comprises a cart, a picking device, a conveying device and a storage device. The picking device comprises a picking support, a sine mechanism, a picking clamping plate, a picking push plate and a first direct-current motor. A reciprocating rod of the sine mechanism is mounted on the picking support through a slidingpair, the picking support is mounted on a frame of the cart through a lifting device, the sine mechanism is driven by the first direct-current motor, and the picking push plate is mounted on the reciprocating rod. The conveying device is a belt conveying mechanism, two ends of the belt conveying mechanism are connected with a slide groove and a storage device respectively, and the height of the V-shaped clamping plate is adjusted through the lifting device to adapt to heights of stalks of to-be-picked pineapples; the picking push plate is driven to move inwards through the sine mechanism to push the pineapples to the bottom of the belt conveying mechanism. The cart type semiautomatic pineapple picking machine is high in practicality, reasonable in structural design and stable in operation, and pineapple picking efficiency is remarkably improved.