Abstract: In mature period of Cerasus humilis，fruiting branches lodging rate reaches more than 80%，leading to mechanized harvesting difficulties.To solve problem of lodging branches，a new method of fruit harvesting was put forward，which mainly included comb brush part and motion mechanism.Comb brush part lodges leaned close to ground，lifted lodging branches，and fed them into clearance of comb.Width of tooth gap was between diameter of fruit and diameter of branch.Fruit rised with comb brush part and separated from branches at the same time.Mechanical mechanism that needed for harvesting process was designed，and dynamics simulation and finite element analysis of mechanism were carried out to check strength of mechanism.Test results showed that interstitial clearance was set to 10 mm，which could satisfy branch feeding and separation of fruit at the same time.Picking rate of field test prototype was 80.6%，picking rate of comb brush part was over 95%，breakage rate was less than 1%.Picking rate of collecting device was related to track of comb brush part.