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Aiming at the problem of high leakage rate and large damage rate in mechanized picking of camellia fruit, a shaking-branch picker for camellia fruit was designed. According to the working principle of shaking-branch picking, the structural design of the key component crank connecting rod slider was completed. According to the working principle of the picking machine, the pressure when the picking head clamped the camellia branch was calculated and analyzed, and the vibration process of the camellia branch and fruit was analyzed and the equation was established. The results showed that the maximum pressure during clamping camellia branch was 2826N, and the radial force generated by the vibration on the branches was about 57.5N, and the normal force was about 78.2N. Clamping and vibration would not cause damage to the branches, verifying the feasibility of the shaking branch picking method. In order to ensure the safety of the picking machine, the statics analysis of the beam frame showed that its bending deformation was 0.0005mm, which was far less than the maximum allowable bending deflection, verified the safety and feasibility of the picking machine. According to the factors affecting the shedding of camellia fruit, a four-factor three-level orthogonal experiment was designed, and the combination of operating parameters with the highest net extraction rate was obtained. The picking time of the picking device was 10s, the output frequency of the motor was 35Hz, the amplitude of the picking head was 5cm, and the clamping position of the picking claw (the distance between the blessing center of the camellia branches and the canopy of the camellia tree) was between 10cm and 20cm. At this time, the net harvest rate of camellia fruit was 95.2%, and the flower bud damage rate was 17.2%. In addition, a field experiment was carried out on the shaking-branch camellia fruit picking machine, and the damage to the branches basically met the picking requirements.