Abstract: Aiming at the problems of low picking efficiency and easy damage to fruit of kiwifruit equipment, the conceptual design of kiwifruit picking machine was guided by TRIZ（Theory of Inventive Problem Solving）. The operation process of kiwifruit picking machine was determined by demand analysis. Based on the analysis of systematic function, the functional defects of the screw endeffector for kiwifruit picking were identified, a set of TRIZ tools including causal analysis and substancefield analysis were applied to seek innovative solutions, a new kiwifruit picking machine was innovatively designed, which could automatically locate fruit tree, identify fruit, cut fruit stem and collect fruit. ADAMS was applied for gait simulation of endeffector picking action, and MATLAB was applied for dynamic simulation of operating space and picking trajectory of the picker. The results showed that the spatial range of the picking trajectory of kiwifruit picker was about 1.4 m in the X direction, 1.8 m in the Y direction and 2.3 m in the Z direction. The picking speed was 8 seconds per kiwifruit, and the endeffector picking process was smooth and consistent, which could meet the expected design requirements. The application of  TRIZ theory in the product conceptual design stage is conducive to producing highquality, multilevel conceptual solutions and improving product design efficiency.

Key words: kiwifruit, pickers, cutoff, endeffector, TRIZ theory

摘要： 针对猕猴桃采摘效率低、易损伤果实等问题，应用TRIZ理论指导猕猴桃采摘机的设计。通过需求分析，确定猕猴桃采摘机的作业流程。基于系统功能分析识别旋拧式猕猴桃采摘末端执行器的功能缺陷，应用因果分析、物场分析等TRIZ工具对采摘末端执行器求解创新方案，创新设计出一种自动定位果树—识别果实—剪断果梗—收集果实的猕猴桃采摘机。应用ADAMS对末端执行器采摘动作进行步态仿真、应用MATLAB对采摘机作业空间和采摘轨迹进行动态仿真，结果表明：猕猴桃采摘机采摘轨迹空间范围为X方向行程约1.4m、Y方向行程约1.8m和Z方向行程约2.3m；采摘速度为8 s/个，末端执行器采摘过程作业动作平稳连贯，满足预期设计要求。在产品概念设计阶段应用TRIZ理论，有利于产生高质量、多层级的概念解，提高产品设计效率。

关键词: 猕猴桃, 采摘机, 剪断式, 末端执行器, TRIZ理论