The invention discloses a picker for torsionally grabbing apples and a picking method of the picker. The picker comprises a rocker slider mechanism (1), a linear transmission mechanism (2), a torsionmechanism (3), a sorting mechanism (4) and a processing module (5). A loop (7) fixed onto the outer wall of an inner cylinder (6) is actuated by the linear transmission mechanism (2) to reciprocate along the outer wall of the inner cylinder (6), an upper finger (8) and a lower finger (11) are synchronously opened and closed to grab the apples, one end of each of a pair of transmission lines (19) is connected with the loop (7), the other ends of the transmission lines (19) wind pulley blocks (15), penetrate pulley yokes (14) and then wind reels (18), the reels (18) are driven by a motor (17) torotate, so that the transmission lines (19) winding the pulley blocks (15) actuate the loop (7) to reciprocate, the inner cylinder (6) is driven by a large gear (24) to rotate and torsionally separate the apples, and a rotating disk (27) turns over towards a collection unit in a preset direction based on weight data.