Abstract: Aiming at the problem of low mechanization degree of fruit and vegetable picking and transportation, the control system of rail lifting picking truck was designed. The picking car was constituted of control system, hydraulic system, power system, lifting system, picking system and walking system. During the operation of lifting platform, there may be the problem of lifting platform rollover or the stress of the frame is too large. To ensure the safety of operation, the force analysis and size structure design of the lifting platform’s chassis and hinge frame were carried out. To verify the performance of the rail lifting picking truck, the walking test and lifting test were carried out. The test results show that the picking truck has good passability and could meet the precision requirement of lifting height for picking truck.