In order to solve the problem of high altitude picking difficulty, improve the picking efficiency and reduce the cost of picking, according to the test results of the separation of pecan fruit and tree branches, a portable pecan artificial high-altitude pat-picking device was designed. The key parts of the picking machine were mainly introduced, the establishment and calculation of the mathematical model were carried out for the mining mechanism, ADAMS was used to simulate for mining mechanism, the mechanism and working parameters of the mining mechanism were determined, which provided the basis for the design of picking machine, and the prototypes were made. Pecan picking experiment was carried out, the results indicated that the net rate of fruit picking had a significant effect at P=0.05, the net rate of fruit picking was increased gradually with the frequency of slapping, when slapping frequency peaked at 13.33Hz, the net rate of fruit picking was 90.3%, which had less bud damage, but the faster the flapping frequency was, the more obvious the damage was to the bud, therefore, the average net rate would reach 85.1%~90.3% when flapping frequency was recommended to be 10~13.33Hz, and no destructive damage to bud.