The invention relates to a warehouse picking robot carrying clamping manipulators and a use method of the warehouse picking robot. The warehouse picking robot comprises a moving chassis, a rotating body, mechanical arms and the manipulators; the rotating body is arranged at the upper part of the moving chassis, the mechanical arms capable of rising, falling, stretching and retracting are located on the rotating body, and the manipulators capable of simulating human hand motions for goods disassembly are arranged on the corresponding mechanical arms. Box goods arranged tightly and stacked in order can be disassembled and handled by means of simulation of the human hand motions, so that the picking efficiency is effectively improved; the robot can be widely applied to a vertical high-rack warehouse, and simulates the human hand actions to disassemble the goods stacked densely in trays and having no gap between packaging boxes into single pieces.