In recent years, the nutrition and health values of blueberry are comprehensively accepted by experts and scholars, which make the planting area increase year by year. But it is still in short supply in the international market. Blueberry picking machinery research and technology is mature in aboard, especially in the United States, blueberry picking machine has a big market. In China, the planting technology of blueberry has matured, the cultivation area expands gradually and has begun to be a big amount, but the harvesting technology for blueberry is still manual picking techniques, whose efficiency is low. When the maturity time of blueberry is very short, mechanization picking for blueberry is a potential trend. For the rapid development current situation of China’s blueberry industry in recent years, a highbush blueberry picking machine was researched and developed. The picking machine design requirements and working principle were analyzed, and the picking frequency and inertial force of blueberries branches were estimated. Based on the design requirements of picking machine design, the hinge four rod mechanism was designed by a given travel speedratio approach. And the double rocker mechanism was designed by using graphic method and the picking system of machine was applied. The experiment results show that the machine picking efficiency is 829g/min, which is 12.67 times higher than manual picking efficiency, the fruit damage rate is 8.3%, the picking rate is 96.9%, and the immature fruit abscission rate is 9.7%, which verified the quality and efficiency of the proposed blueberry picking machine.