The invention discloses a picking robot and a picking method for kiwi fruits. The picking robot for the kiwi fruits comprises a machinery execution system and a control system, and is characterized in that the machinery execution system comprises a car body, a telescopic slide platform, a five freedom degree picking robot arm and a two finger type end actuator, and the control system comprises an industrial personal computer, a motion control card, a data acquisition card, an image acquisition card, a servo motor driver, a binocular video camera, an infrared sensor, a pressure sensor, an electric control cabinet and a control circuit. The picking robot and the picking method for the kiwi fruits use a building block design philosophy to integrate the two finger type end actuator, the five freedom degree picking robot arm, the telescopic slide platform and a sensor system together and integrate image acquisition and feature extraction of fruits and barriers, intelligent mobility of the telescopic slide platform, counterguard and fruit positioning of the five freedom degree picking robot arm and grab motions of the two finger type end actuator together, and therefore achieve mechanization and automation of picking of the kiwi fruits, improve labor productivity, reduce production cost, and guarantee harvest quality of the kiwi fruits.