According to the current situation of China's agricultural picking, large scale, complex terrain and labor shortage. This design is an all-terrain intelligent agricultural picking robot. The picking robot has the functions of walking, avoiding obstacles and picking. In this paper, the design of robot structure and hardware circuit control is carried out. The basic structure of the design is divided into upper box and lower box. The upper box is a replaceable functional device and the default is a cargo hold and picking robot arm. The lower box is composed of a new all-terrain track motion mechanism and camera module, obstacle avoidance module, power module, transmission module and core control module. The upper box is fixed by a detachable bolt group on the balance table of the lower box, and the mechanical arm is installed in the cargo hold through bolt connection. The end of the mechanical arm is loaded with a pressure sensor, and the new all-terrain track motion mechanism and the drive and sensing control system equipped with the lower box can realize the picking and handling of the operation object. Aiming at the climbing stability, the dynamic modeling was carried out and the maximum climbing height of the robot was obtained based on theoretical calculation and simulation. Through the finite element analysis of the main parts of this design, it is found that the strength meets the requirements of material properties and the calculation is reasonable and reliable. The design has the advantages of stable structure, easy implementation and operation, low cost, strong expansibility and practicability, and easy promotion and application. It can be used with harvesting machinery, spraying equipment, etc., and can also be put into rescue and disaster relief, scientific research and exploration, logistics and transportation and other fields.