遥控式油茶果分层采收机设计与试验

doi:10.3969/j.issn.1004-1524.20250415

浙江农业学报 ›› 2026, Vol. 38 ›› Issue (4): 798-808.DOI: 10.3969/j.issn.1004-1524.20250415

遥控式油茶果分层采收机设计与试验

刘祥龙(), 饶洪辉(), 刘木华, 王邦进, 袁斌

江西农业大学工学院, 江西省现代农业装备重点实验室, 江西南昌 330045

收稿日期:2025-05-29 出版日期:2026-04-25 发布日期:2026-05-08
作者简介:*饶洪辉,E-mail:rhh58@sohu.com
刘祥龙,研究方向为农业机械。E-mail:1010962430@qq.com
通讯作者: 饶洪辉
基金资助:
国家重点研发计划(2022YFD2202104);国家自然科学基金(52065207)

Design and experiment of remote-controlled layered harvester for Camellia oleifera fruit

LIU Xianglong(), RAO Honghui(), LIU Muhua, WANG Bangjin, YUAN Bin

Key Laboratory of Modern Agricultural Equipment of Jiangxi Province, School of Engineering, Jiangxi Agricultural University, Nanchang 330045, China

Received:2025-05-29 Published:2026-04-25 Online:2026-05-08
Contact: RAO Honghui

摘要/Abstract

摘要：

针对当前油茶果振动采摘易损伤树枝,且采摘机械操作较复杂等问题,本研究设计了一种遥控式油茶果分层采收机。为实现底盘的遥控操作,采用液压马达驱动方案,分析了胶辊组调节范围,设计了齿轮齿带式胶辊间距调节机构,建立了采摘头姿态调节系统,对气弹簧在采摘头姿态调节过程中的缓冲作用进行了分析。以油茶果采净率和花苞损伤率为指标,以胶辊间距、分层深度、分层厚度和胶辊转速为因素,进行四因素三水平正交试验,运用加权平均法,计算各组采摘参数的加权平均得分,得到最优参数组合为胶辊间距18 mm、分层深度700 mm、分层厚度260 mm、胶辊转速50 r·min^-1。在此工况下,油茶果采净率为95.20%,花苞损伤率为6.90%。结果表明,遥控式油茶果分层采收机能满足油茶果采摘技术要求,可为油茶果采收机的研制提供参考。

关键词: 油茶果, 遥控式, 分层采摘, 正交试验, 气弹簧

Abstract:

Aiming at the problems of damage to tree branches and complex mechanical operation in vibration harvesting machine for Camellia oleifera fruit (camellia fruit), a remote-controlled layered harvester for camellia fruit is designed in this paper. To achieve remote control operation of the chassis, a hydraulic motor drive scheme is adopted. The adjustment range of the rubber roller was analyzed, and gear toothed belt type rubber roller spacing adjustment mechanism was designed. A picking head posture adjustment system was established,and the buffering effect of the gas spring in the picking head posture adjustment process was analyzed. Using the harvest rate of camellia fruit and flower bud damage rate as indicators, a four factor three-level orthogonal experiment was conducted with rubber roller spacing, layer depth, layer thickness, and rubber roller speed as factors. The weighted average method was used to calculate the weighted average scores of each picking parameter group, and the optimal parameter combination was obtained when the rubber roller spacing was 18 mm, the layer depth was 700 mm, the layer thickness was 260 mm, and the rubber roller speed was 50 r·min^-1. Under this work condition, the harvest rate of camellia fruit was 95.20%, and the flower bud damage rate was 6.90%. The results indicate that the remote-controlled layered harvester meets the technical requirements for camellia fruit harvesting and can provide reference for the development of mechanical harvesting machines for camellia fruit.

Key words: Camellia oleifera fruit, remote-controlled, layered harvesting, orthogonal test, gas spring

中图分类号:

S225

刘祥龙, 饶洪辉, 刘木华, 王邦进, 袁斌. 遥控式油茶果分层采收机设计与试验[J]. 浙江农业学报, 2026, 38(4): 798-808.

LIU Xianglong, RAO Honghui, LIU Muhua, WANG Bangjin, YUAN Bin. Design and experiment of remote-controlled layered harvester for Camellia oleifera fruit[J]. Acta Agriculturae Zhejiangensis, 2026, 38(4): 798-808.

图/表 14

图1 遥控式油茶果分层采收装置结构简图 1,收集机构;2,液压系统;3,液压泵;4,控制箱;5,底盘;6,蓄电池;7,柴油机;8,往复机构;9,升降平台;10,俯仰机构;11,采摘头;12,分层机构。

Fig.1 Structural diagram of remote-controlled layered picking device for camellia fruit 1, Collection mechanism; 2, Hydraulic system; 3, Hydraulic pump; 4, Control box; 5, Chasais; 6, Storage battery; 7, Diesel engine; 8, Reciprocating mechanism; 9, Lifting platform; 10, Pitching mechanism; 11, Picking head; 12, Layering mechanism.

图2 液压系统原理图

Fig.2 Hydraulic system schematic diagram

图3 底盘遥控系统示意图

Fig.3 Schematic diagram of chassis remote control system

图4 间距调节机构结构图 1,胶辊轴承;2,齿带连接板;3,固定槽;4,封装壳体;5,调节把手;6,调节刻度座;7,带座轴承;8,小齿轮;9,转动轴。

Fig.4 Structural diagram of spacing adjustment mechanism 1, Bearings used for installing rubber rollers; 2, Connecting plate with toothed belt; 3, Fixed slot; 4, Package case; 5, Adjustment handle; 6, Scale holder ofr adjustment; 7, Pillow block bearing; 8, Pinion; 9, Rotating shaft.

图5 旋转盘三维图

Fig.5 Three-dimensional diagram of the rotating disc

图6 采摘头质心及坐标位置

Fig.6 Center of mass and coordinate position of the picking head

图7 采摘头工作时仰起状态(上)和初始状态(下)示意图

Fig.7 Operating schematic diagram of picking head in the raised state (top) and initial state (bottom)

图8 俯仰机构仰起状态(上)和初始状态(下)的几何模型

Fig.8 Geometric model of pitching mechanism in the raised state (top) and initial state (bottom)

图9 无气弹簧缓冲的俯仰机构仰起状态(上)和初始状态(下)几何模型

Fig.9 Geometric model of the pitching mechanism without pneumatic spring in the raised state(top) and initial state(bottom)

图10 俯仰机构角加速度(ω)随仰角(θ)变化规律

Fig.10 The variation law of augular acceleration of the pitching mechanism (ω) with elevation angle (θ)

图11 户外油茶果采摘试验照片

Fig.11 Photo of outdoor camellia fruit picking test

表1 试验因素编码

Table 1 Test factors and coding

水平 Level	各因素的设定值Setting value of factors
水平 Level	(A)胶辊间距/mm Rubber roller specing/mm	(B)分层深度/mm Layer depth/mm	(C)分层厚度/mm Layer thickness/ mm	(D)胶辊转速/ (r·min^-1) Rubber roller speed/(r· min^-1)
1	15	500	260	40
2	18	600	310	50
3	21	700	360	60

表2 试验方案与结果

Table 2 Test design and results

试验号 Test No.	各因素的水平 Levels of factors				油茶果采净率/% Harvest rate of camellia fruit/%	花苞损伤率/% Flower bud damage rate/%	加权得分/% Weighted score/%
试验号 Test No.	A	B	C	D	油茶果采净率/% Harvest rate of camellia fruit/%	花苞损伤率/% Flower bud damage rate/%	加权得分/% Weighted score/%
1	1	1	1	1	92.12	9.80	91.16
2	1	2	2	2	96.88	12.63	92.13
3	1	3	3	3	91.36	11.03	90.17
4	2	1	2	3	95.29	15.79	89.75
5	2	2	3	1	90.40	4.16	93.12
6	2	3	1	2	95.20	6.90	94.15
7	3	1	3	2	88.80	7.50	90.65
8	3	2	1	3	86.40	9.70	88.35
9	3	3	2	1	78.20	6.25	85.98

表3 极差分析结果

Table 3 Range analysis results Unit: %

因素 Factor	油茶果采净率Harvest rate of camellia fruitt				花苞损伤率Flower bud damage rate
因素 Factor	k₁	k₁	k₁	R	k₁	k₁	k₁	R
A	93.45	93.63	84.47	9.16	11.15	8.95	7.82	3.33
B	92.07	91.23	88.25	3.82	11.03	8.83	8.06	2.97
C	91.24	90.12	90.19	1.12	8.80	11.56	7.56	4.00
D	86.91	93.63	91.02	6.72	6.74	9.01	12.17	5.43

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遥控式油茶果分层采收机设计与试验

Design and experiment of remote-controlled layered harvester for Camellia oleifera fruit

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