Camellia oleifera industry has developed rapidly in China, and the planting scale has increased year by year. Aiming at the problems of low efficiency of manual harvesting, high labor cost, short ripening period of Camellia oleifera fruit and synchronization of flowers and fruits, a crawler-type high clearance Camellia oleifera fruit vibrating harvester which can realize continuous vibration fruit dropping and collection was designed. A straddle frame was used to walk along the planting line of Camellia oleifera, and the crank rocker mechanism was used to drive the finger row rods of multi row array to strike both sides of the tree crown at the same time according to a certain motion track. The fallen fruits were collected through the collection plate and transported to the fruit box. According to the hitting track, the crank rocker mechanism of the hitting device of the harvester was designed, and the motion track of the finger frame was verified by ADAMS software. Through the finite element modal analysis of the hitting device frame and harvester frame with ANSYS software, the first six-order natural frequencies were obtained to determine that there would be no resonance. In order to receive the fallen Camellia oleifera fruit, a collection plate with staggered height distribution was designed, which can not only receive the fallen fruit, but also avoid the trunk smoothly, so as to complete the vibration fruit falling and collection operation of the whole machine in motion. Finally, the prototype of vibration harvester was processed and assembled, and the whole machine test of Camellia oleifera forest land was carried out under the condition of hitting the hydraulic motor speed of 360r/min. The test results showed that the average recovery rate of Camellia oleifera fruit was 87.56%, the average drop rate of flower bud was 25.86%, which fitted the requirements of Camellia oleifera fruit recovery.