果园采摘机械的研究现状与发展趋势

doi:10.3969/j.issn.1004-1524.20240750

浙江农业学报 ›› 2026, Vol. 38 ›› Issue (1): 184-196.DOI: 10.3969/j.issn.1004-1524.20240750

• 综述 • 上一篇

果园采摘机械的研究现状与发展趋势

汤志永¹^,²^,³(), 何义川¹^,⁴^,^*(), 汤智辉²^,³, 张超⁵, 刘湛¹^,²^,³, 刘晓瑜¹^,²^,³

1.塔里木大学机械电气化工程学院,新疆阿拉尔 843300
2.南疆特色农林产物利用与装备兵团重点实验室,新疆阿拉尔 843300
3.新疆维吾尔自治区教育厅普通高等学校现代农业工程重点实验室,新疆阿拉尔 843300
4.华中农业大学工学院,湖北武汉 430070
5.新疆生产建设兵团农机技术推广总站,新疆乌鲁木齐 830002

收稿日期:2024-08-22 出版日期:2026-01-25 发布日期:2026-02-11
作者简介:*何义川,E-mail:hyc2003@163.com
汤志永,研究方向为林果机械。E-mail:1530129576@qq.com
通讯作者: 何义川
基金资助:
新疆生产建设兵团科技计划(2024BA005);新疆生产建设兵团科技计划(2021AA005);新疆维吾尔自治区地方标准制(修)订计划项目(XJ23-147);师市科技攻关计划项目(2023GG2201)

Research status and development trend of orchard picking machinery

TANG Zhiyong¹^,²^,³(), HE Yichuan¹^,⁴^,^*(), TANG Zhihui²^,³, ZHANG Chao⁵, LIU Zhan¹^,²^,³, LIU Xiaoyu¹^,²^,³

1. College of Mechanical and Electrical Engineering, Tarim University, Aral 843300, Xinjiang, China
2. Xinjiang Production and Construction Corps(XPCC)Key Laboratory of Utilization and Equipment of Special Agricultural and Forestry Products in Southern Xinjiang, Aral 843300, Xinjiang, China
3. Modern Agricultural Engineering Key Laboratory at Universities of Education Department of Xinjiang Uygur Autonomous Region, Aral 843300, Xinjiang, China
4. College of Engineering, Huazhong Agricultural University, Wuhan 430070, China
5. Center of Agricultural Machinery Extension of Xinjiang Production and Construction Corps, Urumqi 830002, China

Received:2024-08-22 Online:2026-01-25 Published:2026-02-11
Contact: HE Yichuan

摘要/Abstract

摘要：

随着农业现代化进程加快,传统人工采摘方式难以满足市场需求,发展机械化采摘技术成为我国果园农业现代化的必然趋势。果园采摘机械的研究与开发对提升采摘效率、降低采摘成本具有重要意义。文章系统论述了果园机械化采摘技术的意义,分析了果园采摘机械的分类与特性,综述了国内外半机械化辅助采摘设备与全机械化采摘机器人的发展历程、现状及特点。同时,结合我国主要果树种植模式、水果种类及种植面积等背景,指出了当前果园采摘机械面临的问题与制约因素,并对未来发展趋势进行了展望,以期为我国果园采摘机械的改进与发展提供参考。

关键词: 果园采摘机械, 采摘机器人, 机械化, 采摘效率

Abstract:

With the acceleration of agricultural modernization, traditional manual picking methods can no longer meet market demands. The development of mechanized picking has become an inevitable trend in the modernization of orchard agriculture in China. The research and development of orchard picking machinery are of great significance for improving picking efficiency and reducing picking costs. This paper systematically elaborated on the importance of mechanized orchard picking, analyzed the classification and characteristics of orchard picking machinery, and reviewed the development history, current status, and features of semi-mechanized assisted picking equipment and fully mechanized picking robots both domestically and internationally. At the same time, against the backdrop of China’s main fruit tree planting patterns, fruit varieties, and cultivation areas, it pointed out some challenges and constraints currently facing orchard picking machinery. Finally, the paper provided an outlook on future development trends, aiming to offer reference for the improvement and advancement of orchard picking machinery in China.

Key words: orchard picking machinery, picking robot, mechanization, picking efficiency

中图分类号:

S225.93

汤志永, 何义川, 汤智辉, 张超, 刘湛, 刘晓瑜. 果园采摘机械的研究现状与发展趋势[J]. 浙江农业学报, 2026, 38(1): 184-196.

TANG Zhiyong, HE Yichuan, TANG Zhihui, ZHANG Chao, LIU Zhan, LIU Xiaoyu. Research status and development trend of orchard picking machinery[J]. Acta Agriculturae Zhejiangensis, 2026, 38(1): 184-196.

图/表 7

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水果种类 Fruit type	种植面积/(10³ hm²) Planting area/(10³ hm²)	产量/10⁴ t Yield/10⁴ t
香蕉Banana	326.85	1 177.68
苹果Apple	1 955.77	4 757.18
柑橘Citrus	2 995.81	6 003.89
梨Pear	914.97	1 926.53
葡萄Grape	705.11	1 537.79

水果种类 Fruit type	种植面积/(10³ hm²) Planting area/(10³ hm²)	产量/10⁴ t Yield/10⁴ t
香蕉Banana	326.85	1 177.68
苹果Apple	1 955.77	4 757.18
柑橘Citrus	2 995.81	6 003.89
梨Pear	914.97	1 926.53
葡萄Grape	705.11	1 537.79

采摘方式 Picking methods	优点 Advantage	缺点 Shortcoming
振摇式 Shake	适合果皮果肉较硬的水果种类 Suitable for fruit types with hard peel and flesh	会降低采摘品质,不适宜鲜水果 Will reduce picking quality, not suitable for fresh fruit
撞击式 Percussive	适用于果皮果肉较硬或树干较大的果树 Suitable for fruit trees with hard rinds and flesh or with large stems	采摘造成损伤率过高,对果树损伤较大 Harvesting causes excessive damage rates and greater damage to fruit trees
切割式 Cut	对果树枝条损伤率较低,操作方便省时省力 Low damage rate to fruit tree branches, easy to operate and save time and labour	采摘作业效率低,具有一定危险性 Picking operations are inefficient and hazardous
采摘作业平台 Picking platform	自动化程度较高,研制成本低,作业效率高 High degree of automation, low development costs and high operational efficiency	创新性较低,人机结合性较差,作业环境有局限性 Less innovative, less human-machine integration, limited operating environment

采摘方式 Picking methods	优点 Advantage	缺点 Shortcoming
振摇式 Shake	适合果皮果肉较硬的水果种类 Suitable for fruit types with hard peel and flesh	会降低采摘品质,不适宜鲜水果 Will reduce picking quality, not suitable for fresh fruit
撞击式 Percussive	适用于果皮果肉较硬或树干较大的果树 Suitable for fruit trees with hard rinds and flesh or with large stems	采摘造成损伤率过高,对果树损伤较大 Harvesting causes excessive damage rates and greater damage to fruit trees
切割式 Cut	对果树枝条损伤率较低,操作方便省时省力 Low damage rate to fruit tree branches, easy to operate and save time and labour	采摘作业效率低,具有一定危险性 Picking operations are inefficient and hazardous
采摘作业平台 Picking platform	自动化程度较高,研制成本低,作业效率高 High degree of automation, low development costs and high operational efficiency	创新性较低,人机结合性较差,作业环境有局限性 Less innovative, less human-machine integration, limited operating environment

区别 Distinction	农业机器人 Agricultural robots	工业机器人 Industrial robots
工作场景 Working environment	工作场景多变,具有随机性,受环境因素影响较大 Work scenarios are variable, random and influenced by environmental factors	工作场景单一,不受环境影响 Single working scenario, independent of the environment
工作量大小 Size of workload	作业目标不固定,需不断判断并计算路线、作业动作等 The target of the operation is not fixed, and constant judgement and calculation of the route and operation actions are required	作业动作单一,重复程度高 Single action and high repetition of work
构造设计 Tectonic design	构造设计复杂,需要较高的灵活度 The structural design is complex and requires a high degree of flexibility	只做简单运动,固定不变 Simple movements only, fixed

果园采摘机械的研究现状与发展趋势

Research status and development trend of orchard picking machinery

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不同成熟期 Different maturation periods	果梗切断力Fruit stalk cutting force
不同成熟期 Different maturation periods	番茄Tomato	柑橘Citrus	茄子Eggplant	鲜梨Fresh pear	黄瓜Cucumber	猕猴桃Kiwifruit	苹果Apple
青果期Green fruit period	21.89	17.73	28.05	12.31	17.70	10.33	11.62
绿熟期Green ripening period	22.40	19.60	29.82	12.73	18.32	10.73	12.03
初熟期First maturity period	22.99	25.32	30.07	13.69	18.67	11.02	12.37
半熟期Semi-ripe period	23.71	32.77	34.29	13.90	20.07	11.66	12.79

运动形式 Athletic forms	坐标构成 Coordinate composition	工作空间 Workspace	所占空间 Space occupied	控制难度 Control the difficulty	典型代表 Typical representatives
SCARA型 SCARA type	3R和1P 3R and 1P	半圆柱体 Half cylinder	较小 Smaller	难 Difficult	SCARA装配机器人 SCARA assembly robot
关节坐标型 Joint coordinates type	3R	球缺形 The ball is out of shape	最小 Least	较难 Harder	MOTOMAN机器人 MOTOMAN robot
直角坐标型 Cartesian coordinates type	3P	矩形六面体 Rectangular hexahedron	最大 Most	容易 Easy	龙门机器人 Gantry robot
球坐标型 Spherical coordinates type	1P和2R 1P and 2R	空心开口截锥体 Hollow open truncated cone	较小 Smaller	难 Difficult	Unimate机器人 Unimate robot
圆柱坐标型 Cylindrical coordinate type	2P和1R 2P and 1R	开口空心圆柱体 Open hollow cylinder	较大 Larger	较容易 Easier	Versatran机器人 Versatran robot

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