**4. Discussion**

The numerical analysis method provides an important research method for the research and development of the pick-up equipment of jujube branches. The method can effectively simulate the pick-up process of jujube branches and obtain the important factors. It is not difficult to find out that the core of the influence on the picking rate is the collision and winding of jujube branches. In addition to the above factors, the shape of the gear is also an important factor. Using the optimal total feeding number, the size of jujube branches and the rotation speed of the gear, the shape of the gear can be further simulated and tested, and its influence on the picking rate can be obtained. Figure 13 shows three gear shapes (the unit of size is mm), where gear 2 is the initial design gear and gear 1 and 3 are the modified shapes.

**Figure 13.** Gear Profile.

The collection situation of the jujube branch picking process could be obtained quickly using the numerical simulation method. Figure 14 shows the gear 3 collection of jujube branches. In the process of 12~20 s, when the interval of collecting jujube branches was relatively stable, the number of collected jujube branches was almost the same, with 21 jujube branches out of the total input of 24 being collected and the collection efficiency being 87.5%.

**Figure 14.** Collection of jujube branches on gear 3.

The relevant experimental research on the gear profile was carried out, and Table 5 shows the parameters involved in the experiment. The experimental results under the influence of a single factor of tooth profile are obtained by repeatedly testing different gears five times and by taking the average value of five data. The experimental data show that the picking rate is 83.3% when gear 3 is used, which is close to the numerical results.

**Table 5.** Experimental design on single-factor effect test of tooth profile.

