Abstract: In order to solve the problem of low efficiency in fruit picking, a pipeline conveying device was designed to assist the picking of apples in the upper layers of fruit trees, so as to provide a reference for the design of high efficiency and low loss picking of apples and light and simplified picking operations.The impact force test rig was established to analyze the impact force of Fuji apples with fruit diameter of 75, 80 and 85 mm falling from a height of 3 m along the pipeline to the fruit box. The Desk-Expert8.05 software was used to conduct a response surface test using the lining thickness, landing Angle and type of collision cushion as test factors, and the impact force of the apples falling to the fruit box as an indicator.Analyze the test data.The results showed that :（1）With the increase of the lining thickness of the conveying pipe, the impact force of the apples falling into the fruit box decreased gradually.（2）With the increase of the angle of landing, the impact force of the apple when it falls into the fruit box gradually increases.（3）The impact cushioning effect of silicone rubber cushion on impact force is relatively good.When the lining thickness is 20 mm, the landing angle is 56°, and the type of anti-collision cushion is silicone rubber, the impact force between the three fruit diameter apples and the contact surface of the fruit box is the least, and the impact force is 10.00～12.70 N.