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

doi:10.3969/j.issn.1004-1524.20250415

Acta Agriculturae Zhejiangensis ›› 2026, Vol. 38 ›› Issue (4): 798-808.DOI: 10.3969/j.issn.1004-1524.20250415

• Biosystems Engineering • Previous Articles Next Articles

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

Abstract

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

CLC Number:

S225

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.

Figures/Tables 14

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.

Fig.2 Hydraulic system schematic diagram

Fig.3 Schematic diagram of chassis remote control system

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.

Fig.5 Three-dimensional diagram of the rotating disc

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

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

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

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

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

Fig.11 Photo of outdoor camellia fruit picking test

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

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

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

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