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In view of the problems such as high miss rate, high damage rate, high impurity content, low working efficiency, insufficient walking power, poor trafficability and inconvenient collection of the current Hangzhou white chrysanthemum harvesting machinery, a comb belt self-propelled harvester was developed based on the planting mode and picking requirements of Hangzhou white chrysanthemum. The harvester was mainly composed of harvesting components, brush components, lifting devices, walking devices, collection devices, and hydraulic systems. It utilized the comb action of multiple rows of comb teeth to achieve continuous harvesting of Hangzhou white chrysanthemum. The operating speed and working height of the harvesting components can be adjusted through the hydraulic system. Through theoretical calculations, the structural parameters of key components such as conveyor belts and comb teeth were determined. A prototype experiment was built with the driving speed of the harvester, the working speed of the picking components, and the minimum distance between the comb and brush as experimental factors. The picking rate, damage rate, and impurity content of Hangzhou white chrysanthemum were used as the experimental indicators. A three factors and three levels orthogonal experiment was conducted to obtain the optimal parameter combination of the harvester. The experimental results showed that when the driving speed was 0.1m/s, the working speed of the picking components was 60r/min, the minimum distance between the comb and brush was 60mm, the picking effect was the best, with picking rate of 83.1%, damage rate of 15.8%, and impurity content rate of 17.9%. This comb belt self-propelled harvester had stable operation, which met the agronomic requirements of Hangzhou white chrysanthemum picking.