In recent years, with the development of the silkworm industry, the scale of silkworm breeding is increasing, and the mechanized picking of mulberry leaves has become an inevitable trend of development. Based on the research of various existing picking machines, this paper proposes and designs a comb-brush mulberry leaf picking device. According to the morphological parameters of the tree, the spacing between planting rows and the picking requirements, the design parameters of the mulberry leaf picking device are determined. The three-dimensional modeling and design of mulberry leaf picking device are carried out by three-dimensional software, and the static analysis of key parts is carried out. The results show that the maximum stress of the drum and brush bar is 0.363 Mpa, and the maximum deformation is 0.0074 mm. The analysis results meet the requirements. The three-dimensional model is imported into the motion simulation software ADAMS. The analysis shows that the travel speed of the machine is 250 mm/s, the rotation speed of the drum is 130 r/min, and the effective picking range is about 850 mm. This design provides a certain reference for the development of mulberry leaf picking device.