The invention provides a co-rotating reciprocating traction device applied in a wood pick-up machine. A first steel wire winding and unwinding mechanism is arranged over a drive mechanism. A second steel wire winding and unwinding mechanism is arranged on the right side of a drive mechanism. The first steel wire winding and unwinding mechanism is kept parallel to the second steel wire winding and unwinding mechanism on the inclined lower portion. A tension sprocket is arranged between the first steel wire winding and unwinding mechanism and the second steel wire winding and unwinding mechanism. A universal pulley is fastened on the side face of the front end of a movable arm of the wood pick-up machine through a steel plate. The portion, on the reverse penetrating part of the universal pulley, of a steel wire is sleeved with a material hanging hook. A first transmission wheel and a second slave transmission wheel rotate in the same direction through a transmission chain. An upper steel wire winding drum connected with a first slave transmission wheel and a front steel wire winding drum connected with the second slave transmission wheel also rotate in the same direction. A master transmission wheel, the first slave transmission wheel and the second slave transmission wheel rotate in the same direction through the transmission chain. The co-rotating reciprocating traction device has the beneficial effects of being novel in structure, more stable in operation, more flexible in two-way switching and higher in work efficiency.