基于树冠振动的油茶果采摘末端执行器设计与试验

Design and Experiment of Tree-crown-vibration-based End-effector for Camellia oleifera Fruit Picking

摘要:

针对传统机械化采摘油茶果导致花苞与枝条损伤问题，本文设计了一种树冠振动式末端执行器。通过运动学分析，设计了有效长度可调的曲柄结构，并对振动杆分布间距及动力学特性进行研究，明确了影响振动杆变形量的关键因素。基于枝-果系统受力分析，确定了果实脱落条件。以振动杆间距、振动频率、振动幅值和作用时间为试验因素，以果实脱落率、花苞脱落率和枝条损伤率为指标进行田间试验。结果表明，最优参数组合为：振动杆间距124.48 mm、振动频率9.18 Hz、振动幅值47.15 mm、作用时间7.42 s，此时果实脱落率达91.32%，花苞脱落率与枝条损伤率分别为17%和9.39%。此外，不同材质振动杆试验结果表明，在最佳参数下PVC材质采摘效果最优。研究结果为降低油茶机械化采收损伤提供了有效的技术方案与参数依据。

Abstract:

Aiming to address the severe damage to flower buds and branches caused by traditional mechanized Camellia oleifera fruit harvesting, a tree canopy vibration-type end-effector was designed. Through kinematic analysis, a variable-length crank structure was designed, and the distribution spacing and dynamic characteristics of the vibration rod were studied, clarifying the key factors affecting its deformation. Based on the force analysis of the branch-fruit system, the conditions for fruit detachment were determined. With the vibration rod spacing, vibration frequency, excitation amplitude, and application time as the experimental factors, and the fruit detachment rate, flower bud detachment rate, and branch damage rate as the indicators, field experiments were conducted. The results showed that the optimal parameter combination was: vibration rod spacing of 124.48 mm, frequency of 9.18 Hz, amplitude of 47.15 mm, and time of 7.42 s. At this time, the fruit detachment rate reached 91.32%, while the flower bud detachment rate and branch damage rate were only 17% and 9.39%, respectively. Moreover, the experiments comparing different material vibration rods showed that the PVC material had the best harvesting effect under the optimal parameters. The research result can provide an effective technical solution and parameter basis for reducing the damage caused by mechanized Camellia oleifera harvesting.This holds important reference value for promoting the transformation and upgrading Camellia oleifera. industry towords high efficiency, low damage, and intelligence, and also provides useful reference for the optimal design of vibration havesting equipment for similar tree fruits.