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The invention discloses a rotary comb-type tooth fructuous orange intelligently picking device. The rotary comb-type tooth fructuous orange intelligently picking device solves the problem fructuous orange picking in the prior art is low in efficiency and prone to damaging fruit. The rotary comb-type tooth fructuous orange intelligently picking device comprises a base, and the base is provided withan engaged gear rotating device which is provided with a pitching mechanical arm device; the pitching mechanical arm device is provided with a telescopic mechanical arm device; the front end of the telescopic mechanical arm device is provided with a separating and picking execution device, the separating and picking execution device comprises a first support shaft, a first connecting rack, a second support shaft and a second connecting rack which are sequentially connected end to end to form a rectangular area, wherein the first support shaft is fixed onto the telescopic mechanical arm device, and the second support shaft is provided with a rotary roller; the rotary roller is fixedly provided with bent comb-type teeth and a right-angled fruit retaining plate and rotates in a direction with the bent comb-type teeth at the front and the right-angled fruit retaining plate at the rear, the right-angled fruit retaining plate is provided with a guide groove, and a blade rack slides linearlyand reciprocatingly inside the guide groove and is fixedly provided with a plurality of blades.