农业机械学报2026，Vol.57Issue(16)：87-95,106,10.DOI:10.6041/j.issn.1000-1298.2026.16.008
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
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.关键词
油茶/树冠振动/末端执行器/结构设计Key words
Camellia oleifera/canopy vibration/end-effector/structure design分类
农业科技引用本文复制引用
赵恩龙,赵金辉,庄腾飞,吴海华,杜小强,刘立晶,苑严伟..基于树冠振动的油茶果采摘末端执行器设计与试验[J].农业机械学报,2026,57(16):87-95,106,10.基金项目
国家重点研发计划项目(2022YFD2202100) （2022YFD2202100）
