Abstract: Based on dearth of labor and status quo of arbor tree fruit cultivating, a kind of portable arbor tree fruit harvesting device was invented． This device was a wearable-micromanipulator consist of four main parts: plucked knife-head, sectional scalable expansion link, rachet foldable supporter, and spiral gatherer． Knife head plucked by a crank-link mechanism, cutting bar of the fruit． This device was especially suitable for picking fruits growing in mountains and high place． This device was easily detachable and with high efficiency and very effective． Results showed that average single fruit picking time was 3.34 s, and qualified rate of harvested fruit was more than 97%, which met demand for picking．