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For the existing portable walnut side branch vibration fruit picking device required fruit picking excitation force and side branch physical characteristics of the coupling relationship between the problem is not clear, the side branch excitation coupling walnut fruit picking method was put forward, in the theoretical analysis of the picking load excitation force frequency and walnut side branch inherent frequency was the same so as to form the excitation coupling-based on the theoretical analysis of the excitation picking parameters and the side branch of the theoretical model of the physical characteristics of the coupling between the excitation picking parameters and the side branch excitation, the excitation acceleration and coupling excitation force under the coupling conditions were analyzed through simulation analysis of the side branch excitation, the side branch excitation coupling walnut fruit picking device was designed, the fruit picking performance of the side branch excitation coupling walnut fruit picking device was analyzed, and the fruit picking performance of the side branch excitation coupling walnut fruit picking device was experimentally verified. The results showed that the closer the frequency of the fruit picking excitation loading force was to the intrinsic frequency of the lateral branch, the easier it was to form an excitation coupling between the lateral branch and the excitation loading force. For the diameter of walnut lateral branches and the distance of the excitation loading position from the main branch stem were 30 mm and 1 313 mm, 40 mm and 1 552 mm, 50 mm and 1 686 mm, and the rated power of the fruit picking device was 300 W. When the amplitude of the excitation loading force was 15 N and the intrinsic frequency of the lateral branches were 8.80 Hz, 8.40 Hz and 8.90 Hz, respectively, the simulated values of lateral branch vibration acceleration reached 69.2 m/s2, 56.1 m/s2 and 72.9 m/s2, respectively, and the experimental values were 66.4 m/s2, 56.3 m/s2 and 74.2 m/s2, which were consistent with each other. When the fruit hanging mass of single lateral branch walnut was 2.0 kg, the fruit picking efficiency reached 60.0 kg/h. The walnut fruit picking net rate was closely related to the maturity.