林业工程学报2025，Vol.10Issue(3)：138-145,8.DOI:10.13360/j.issn.2096-1359.202403020
旋拧式油茶果采摘末端执行器的研制与试验
Development and experiment of screw end effector for picking camellia fruit
摘要
Abstract
To address the various challenges associated with existing camellia fruit picking devices,such as large volume,oversized flower buds,and branch damage during harvesting operations,this study proposed a novel variable-diameter and multi-fruit picking method specifically designed for the efficient operation of camellia fruit harvesting robots.This innovative approach was designed not only to meet the stringent requirements for precise fruit collection but also emphasized the importance of creating a lightweight and compact end effector that can be easily integrated into robotic systems.The proposed end effector operates using a geared motor that drives a rotating wheel mechanism.The design incorporated three elastic belts arranged in an equilateral triangular configuration,which effectively transmitted power from the drive wheel to six driven wheels organized in a regular hexagonal layout.Each belt wheel was mechanically linked to its corresponding fingers,allowing for synchronized rotation during operation.This intricate design resulted in an overall mass of 1.2 kg for the end effector,ensuring it remained manageable while still delivering robust performance.To evaluate its effectiveness,a comprehensive measurement test was conducted focusing on assessing both tensile force and torque required for separating camellia fruits from their branches without causing undue damage.The findings revealed that under optimal conditions,the maximum torque achieved was 0.066 N·m while the maximum tensile force recorded reached 25.4 N.These measurements provided critical data necessary for refining and optimizing the structural integrity of the end effector's design.Following these assessments,a physical prototype of this screw-type camellia fruit picking end effector was developed through iterative trial production processes aimed at fine-tuning functionality and reliability.Subsequent testing phases included rigorous indoor tests as well as practical orchard trials focused on real-world camellia fruit harvesting operations.During these evaluations,an average success rate derived from 60 simulated picking experiments conducted on a controlled laboratory platform was determined to be approximately 78.33%.Importantly,throughout these trials,bud damage rates were consistently maintained below 5%,indicating effective operational precision.Field tests carried out within actual orchard environments further validated these findings.It was indicated that an optimal motor speed setting of 222 r/min resulted in an average picking success rate approximately 70%.Notably,despite variations in the time spent visually locating each individual camellia fruit before initiating harvest—an important factor due to potential visibility challenges—the process utilizing this single-fruit end effector took approximately 3-5 s,while consistently maintaining flower bud damage rates at or below 5%.关键词
油茶果/柔性末端执行器/旋拧采摘/精确采摘Key words
camellia fruit/flexible end effector/screw picking/precision picking分类
信息技术与安全科学引用本文复制引用
甄乾广,王金鹏,周宏平,何萌,周磊..旋拧式油茶果采摘末端执行器的研制与试验[J].林业工程学报,2025,10(3):138-145,8.基金项目
国家林业和草原局应急科技项目(202202-3). （202202-3）
