In response to the problem of complex structure, low collection efficiency and stability, as well as the tendency for negative pressure collection to cause adhesion to the wall and poor performance when rainwater adheres to the leaves in the end effector for high-quality tea picking, an end effector for integrated harvesting of high-quality tea was designed, featuring a simple overall structure, high efficiency, good stability, and excellent picking quality. Continuous picking and collection of tea leaves' tender shoots were achieved through diffuse reflection sensors for sensing, flexible synchronous belt clamping and combined with split type cutting tools. By analyzing the picking and collection process of the end effector, it was found that the factors affecting the success rate of transportation and the success rate of picking were the distance between the two synchronous belts and the lag time. Adopting the central composite design and response surface analysis method, and using the Design-Expert 13.0 software for experimental design and analysis, the influence of the distance between two synchronous belts and the lag time on the success rate of transportation and the success rate of picking was studied. And with the optimization objectives of maximizing the success rate of transportation and the success rate of picking, the optimal parameter combination was obtained: the distance between the two synchronous belts was 1.79 mm, and the lag time was 0.80 s. After conducting validation picking experiments on optimized parameters in tea gardens, the results showed that the end effector could efficiently and effectively complete the picking and collection work with high quality. The success rate of transportation and the success rate of picking were 96.7% and 86.3%, respectively. The relative error between the experimental and predicted values was less than 5%, and the optimized model results were reliable.