The invention discloses a self-propelled self-balancing picking robot. The robot comprises a robot main body (8); the robot is characterized in that a mechanical arm assembly (5) is arranged on the top of the robot main body (8), a mechanical grabber assembly (6) is arranged at an execution end of the robot arm assembly (5), a bolt-on hanging basket (7) is arranged at the front end of the robot main body (8), four walking components with three degrees of freedom are arranged on the lower portion of the robot main body (8), each walking component comprises a waist joint (4), a hip joint (3), aknee joint (2) and a foot (1), the waist joints (4) drive the hip joints (3), hip motors (35) on the hip joints (3) drive upper limbs (30), and the knee joints (2) drive lower limbs (20). The walkingcomponents of the robot can change the angle and elongation of the legs through the change of the rotation angle of the motor, and the robot can conduct stable fruit picking operation in the regions such as complex mountains and hills.