In order to improve picking efficiency of motordriven picking actuator of camellia fruit with rotate rubber roller, a hydraulicdriven camellia fruit picking machine was developed. The influencing factors of the interaction force between camellia fruit and rubber roller were analyzed, and the influence rules of different factors on the interaction force between camellia fruit and rubber roller were obtained by simulation. Based on the analysis result, the main working parameters of the picking device were confirmed. Taking the picking rate of camellia fruit and damage rate of camellia bud as experimental indexes, the distance between up and bottom rollers, speed of rotating frame and the diameter of rollers as experimental factors, the orthogonal indoor and outdoor tests were developed in Jiangxi Academy of Forestry and Jiangxi Agricultural University. Experimental results showed that the significant factors affecting the picking rate were represented as the distance between up and bottom rollers, the speed of rotating frame and the diameter of rubber roller. The significant factors affecting the damage rate of camellia bud were represented as the diameter of the rubber roller, the distance between up and bottom roller and the rotational speed of the rotating frame. With the optimal parameter combination, the distance between upper and lower rubber was 15mm, the rotating speed of rotating frame was 55r/min, and the diameter of robber was 30mm, which were verified experimentally with respect to comprehensive performance of the camellia fruit picking machine. Compared with motordriven picking actuator of camellia fruit with rotate rubber roller, the picking efficiency of hydraulicdriven camellia fruit picking machine was improved obviously, and its speed of rotating frame was increased by 83.33% and average picking efficiency was 210 per minute.