In view of the low efficiency of manual picking of chrysanthemum and the lack of mechanization, a pneumatic flipping comb-type chrysanthemum picking device was designed based on the idea of reciprocating motion of picking parts. The picking device was mainly composed of picking part, tooth cleaning part, pneumatic throwing device, screw lifting mechanism, walking device and collecting device, etc. The flowers were picked by the combing action of the comb teeth, and the collecting work was completed by the tooth cleaning part and pneumatic throwing device, and the working height of the picking part can be adjusted by the screw lifting mechanism. Based on the analysis of the growth characteristics and picking requirements of chrysanthemums, a pneumatic flipping comb-type chrysanthemum picking device was designed. The working principle of the picking device was analyzed, the force analysis and theoretical calculation were passed and the structure and working parameters of each component were determined. A prototype picking machine was built, and a ternary quadratic regression combination test was conducted with crank speed, comb spacing and machine driving speed as the test factors, and the picking rate, breakage rate and impurity rate as the test indexes, a mathematical model between the factors and indexes was established, and the optimal combination of parameters was determined. The best picking effect was achieved when the crank speed was 47.94 r/min, the comb spacing was 8mm and the machine driving speed was 0.17 m/s. At this time, the picking rate was 92%, the breakage rate was 1.83%, and the impurity rate was 10%. This pneumatic flipping comb-type chrysanthemum picking device had stable operation and good passability, which met the agronomic requirements of chrysanthemum picking.