Abstract: Through the research of pneumatic picking manipulator system, the use of programmable logic controller（PLC） to design a picking manipulator pneumatic control system. The pneumatic system of picking manipulator is established by the combination of pneumatic drive, two-way actuating cylinder and double control solenoid valve. The controller of pneumatic system is designed based on PLC technology. The hardware design and selection of the controller are carried out, and the wiring diagram, control program and sequence function diagram of manual control and automatic control are designed. The system test data show that the average vibration frequency of the system is small in the operation process, which will not harm the operation of the control system, and the minimum picking success rate reaches 80%, indicating that the system has good working performance and stability, which provides reference for the popularization of intelligent high-performance agricultural picking device.