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In order to settle the security issue in the process of artificial pine cone picking, a hitting pine cone picking robot was designed, which mainly included motor drive module, control module, vision module, clamping module and picking module. The system performed the pine cone identification and location through the vision module, transmitted the result back to the control module, and then controlled the motor drive module to cooperate with the clamping module and the picking module to complete the pine cone picking. Based on the kinematics model, the diameter of the working space of mechanical arm was calculated by Matlab software to be 4.5m. A collision dynamics model based on Lagrange equation and pulse principle was used to solve the torque required to maintain the original law of motion during the collision. The optimized mechanical safety factor was at least 1.5771 and the total deformation was 4.1484mm by the ANSYS Workbench software. Simulation results showed that the structure can satisfy the design requirements in terms of kinematics, dynamics and statics. The pine cone picking test was 〖JP3〗performed in the laboratory environment, and the size of the constructed prototype was 1000mm×1200mm×1100mm. The experimental results verified the rationality and practicability of the structure design of the robot, and its design and analysis provided guidance and theoretical basis for the development of the pine cone picking robot in the future.