A tree climbing type carya cathayensis picking robot comprises a tree climbing mechanism, a mechanical arm and a tail-end execution device. The mechanism arm is installed on the tree climbing mechanism, and the tail-end execution device is installed on the upper end of the mechanism arm. The mechanical arm comprises a rotary mechanism. The rotary mechanism comprises a rotary motor, a rotary motorframe, a support plate and a bearing plate. The bearing plate is fixed at the upper side of the support plate through four support columns, and the rotary motor is fixed on the rotary motor frame, the rotary motor frame is fixed on the support plate. The output shaft of the rotary motor is connected with a connection shaft, and the connection shaft passes through the bearing plate. A horizontal bearing and a horizontal bracket are fixed on the bearing plate; and the connection shaft, the horizontal bearing and the horizontal bracket are fixedly connected. The horizontal bracket is connected with a classis, a left row and a right row of vertical bearings are fixed on the classis; a left main arm is connected with the vertical bearings through a basic shaft, and a right support arm is connected with the vertical bearings through two cut-off semi-shafts; and the main arm is connected with the support arm through pins. The invention has good operability, low cost and good safety.