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In order to improve the picking fruit quality of blueberry machine, a blueberry picking machine was designed based on grooved cam transmission. The key components of the prototype were designed, including the calculation and selection of drive components, distribution of reduction ratio of drive system, and the calculation of cam motion curve. The cam profile curve was derived by the inversion method, and the end execution device of the picking system was designed by using the angle dividing line method. A picking machine model was established in ADAMS. The simulation environment was set up to analyze the dynamics of the picker. The influence of the cam design parameters, the length of each member and the speed of driving element on the picking drive was studied. The blueberry picking test was conducted in the plantation. The extraction efficiency of the slot cam picking machine was 4.6kg/min, the unripe fruit shedding rate was 3.2%, the mature fruit recovery rate was 83%, and the fruit damage rate was 3.1%. The comparison analysis showed that the quality of the groove cam picker was superior to the traction picker, and the picking efficiency was 13 times of that of manual picking.