Abstract: China is a large country for growing small fruits. Small fruits are ellipsoidal in shape, such as winter jujube, longan, kumquat, bayberry, plum, cherry tomatoes, etc., which are very popular among consumers. In order to solve the problems of low efficiency, high risk factor and single function of harvesting equipment in the process of small fruit harvesting, a small fruit multifunctional harvesting device is designed according to the shape and structure of small fruits, which integrates picking, branch and leaf separation and grading. Small fruit picking is realized by using combtooth picking claws imitating human hands; Vshaped arrangement of rubber counterrollers achieves the purpose of separating branches and leaves; layered arrangement of round belts realizes fruit grading. Through the device test and response surface analysis, the distance between the combtooth picking claws should be 16 mm, the speed of the Vshaped branch and leaf separation pair of rollers should be 100 r/min, and the speed of the grading belt should be 100 r/min. The residual rate is only 2%, which is better than manual picking, the grading accuracy reaches 95%, and the fruit breakage rate is 02%. The device integrates multiple functions, has a simple structure with high efficiency, ensures personal safety, improves the mechanization of small fruit harvesting, and lays a foundation for the development of agricultural machinery in our country.

Key words: small fruit, harvesting, combtooth picking claws, branch and leaf separation on rollers, grading, response surface

摘要： 我国是小型水果种植大国，小型水果外形类椭球状，如冬枣、桂圆、金桔、杨梅、李子、圣女果等，深受广大消费者喜爱。为解决小型水果采收过程中效率低、危险系数大、采收机具功能单一的问题，根据小型水果外形结构，设计出集采摘、枝叶分离、分级于一体的小型水果多功能采收装置。应用仿人手的梳齿采摘爪实现小型水果采摘；V形布置的橡胶对辊达到枝叶分离目的；分层布置的圆皮带实现果实分级。通过装置试验和响应面分析，确定梳齿采摘爪间距为16 mm，V形枝叶分离对辊转速为100 r/min，分级皮带转速为100 r/min，在此工作参数下，装置采摘效率高，枝叶残留率仅为2%，优于人工采摘，分级精度达到95%，果实破损率为0.2%。本装置集多功能于一体，结构简单，效率高，保障人身安全，提高小型水果采收机械化程度，为我国农业机械发展奠定基础。

关键词: 小型水果, 采收, 梳齿采摘爪, 枝叶分离对辊, 分级, 响应面