The invention relates to a tooth-type corncob picking device with parallel longitudinal shift wheels and belongs to the technical field of agricultural machinery. The tooth-type corncob picking device is mounted on a corn harvester for picking corncobs. The tooth-type corncob picking device is composed of two corncob picking mechanisms symmetric to each other bilaterally. Each corncob picking mechanism comprises an input chain wheel, a shaft 1, a shaft 2, a corncob picking rod, a shaft 3, a shaft 4, a connecting rod, an eccentric longitudinal shift wheel 1, an eccentric longitudinal shift wheel 2, a ring wheel and an in-ring crank. During working, the harvester transmits power to the shafts 1 through the input chain wheels, the shafts 1 rotate to drive the eccentric longitudinal shift wheels 1 to rotate, so that the corncob picking rods can revolute and horizontally move parallelly to imitate a manual corncob picking way, and corncobs can be picked from top to bottom. The defects of complicated structure, heaviness, high power consumption, low work efficiency and the like of conventional roll-type corncob picking devices are overcome. The tooth-type corncob picking device provides a corncob picking mechanism imitating the manual corncob picking way and has the advantages of good imitation effect, low power consumption, simple structure and easy popularization and the like.