The invention discloses a track suspension type multifunctional orchard mechanical device. The device comprises a lifting mechanism, a U-shaped connecting base, a fixed shaft rotating mechanism, a movable roller skating mechanism, a picking mechanical arm, an irrigation mechanism, a movable portal frame, a water storage tank and a collecting tank. The device integrates irrigation, monitoring, picking and transportation, is high in mechanical automation degree, low in labor intensity of personnel and high in working efficiency, greatly reduces the planting cost of fruit trees, improves the yield of high-branch fruit trees, saves a large amount of labor force, improves the income of fruit farmers, and promotes the development of large-scale and mechanical production of orchard planting; and a simulation manipulator of a Cartesian coordinate type structure is matched with walking, lifting, rotating and sliding structures to perform picking operation, and movements in all directions are mutually independent, so that obstacle avoidance and timely adjustment of a picking track in a picking process are facilitated, the position precision is high, personnel operation is convenient, and the fruit picking success rate is increased.