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Inspired by the tactile sensation of human hand nerves, an untethered intelligent soft gripper was proposed to adaptively and effectively pick fruits. This soft gripper applied a self-circulation air pump to supply air pressure and integrated a sensor system in which flexible membrane tactile sensors were embedded in the soft gripper fingers, resulting in adaptive grasping of multi-size and multi-type globose fruits. The working principle of the self-circulation air pump was investigated and the structure of the air pump was optimized. In addition, the model was built to predict the output air pressure of the self-circulation air pump and then conduct experiments to demonstrate the performance of the air pump. The adaptive soft gripper was then prototyped and a model was built to analyze the soft gripper grasping force. Static experiments were performed to obtain the flexural deformations and mechanical properties of the soft adaptive gripper under actuation. A control system and grasping rules were developed to perform adaptive grasping, an experimental platform in the laboratory was built to simulate conditions in an orchard, and a series of experiments were conducted to demonstrate the efficacy of adaptive grasping and the capability of picking and sorting globose fruits. The results showed that the soft intelligent gripper was capable of picking globose fruits efficiently with the help of tactile feedback and control systems, and the size range of fruit for picking was 48.5~97mm, the maximum mass can reach 350g, the average time for picking was 15s and the success rate of picking was 97.46%.