To address the challenges of low efficiency and high damage rates in dryland safflower harvesting, a roller-brush type harvesting device was developed. The design was developed following a detailed analysis of the spatial distribution and mechanical characteristics of safflower plants. The pose adjustment process begins with helical grooves clamping and contacting the plant stem. The propulsion action of the helix then forces the stem to undergo a predetermined deflection displacement. The optimal picking pose occurs when the plant's longitudinal axis is perpendicular to the rotational axis of the picking roller brush. In this position, the picking roller brush shears the filaments at the necking zone through gentle contact with the fruit balls. This mechanism transforms the traditional pull-off separation into a low-damage shear-separation mode. The Box-Behnken test was designed to find the optimal combination of parameters for picking: picking roller brush speed of 282.5 r/min, roller brush spacing of 3.7 mm, and brush bristle diameter of 0.1 mm. Verification tests showed the picking, damage and fruit injury rates were 92.4%, 7.1% and 1.2%, respectively, with standard deviations of 5.42%, 0.51%, and 0.08%. The harvesting efficiency reached 0.053 hm2/h, 8.48 to 12.01 times higher than manual harvesting.