Abstract: Due to the lack of pruning of camellia forestry planted in hilly areas, it is difficult for the picking head to enter the fruit branches from the front. Therefore, a picking device for camellia fruit with side sweep was designed. The working principle of camellia fruit picking equipment with side sweep was introduced. The interaction model between picking head with side sweep and camellia branches was established, and the stress analysis for fruit branches was conducted under different side sweeping angles and the extreme position by means of ANSYS Workbench. Simulation results showed that the normal stress and shear stress on the cross section of the camellia fruit branches increased with the increase side sweeping angle. Taking the picking rate of camellia fruit and damage rate of camellia bud as experimental indexes, the distance between up and bottom rubber roller, side sweeping angle and depth as experimental factors, the three‑factor three‑level quadratic rotation orthogonal combination test were developed by Box-Behnken experimental design method. With the optimal parameter combination, the side sweeping depth was 440 mm, the distance between up and bottom of rubber roller was 15 mm and the side sweep angle was 0°. Under this working condition, the picking rate of camellia fruit was 92.96%, and the damage rate of camellia bud was 6.36% by verification test.

Key words:  camellia fruit, picking device, gantry type, side sweeping, layered?picking

摘要： 丘陵山区油茶林未经修剪，机械采摘时采摘头不易从正前方进入油茶果枝，为此，设计一种侧边扫入式油茶果采摘装置。介绍侧边扫入式油茶果采摘装置的工作原理，建立侧边扫入采摘头与油茶果枝作用模型，仿真分析不同侧边扫入角度和极限位置情况下油茶果枝受采摘头作用的应力，结果表明，油茶枝条横截面上的正应力与切应力随着侧边扫入角度的增大而增大。以油茶果采摘率和花苞损伤率为指标，以侧边扫入深度、侧边扫入角度和上、下分层胶辊间隙为因素，采用Box-Behnken试验设计方法，进行三因素三水平二次旋转正交组合试验，得到最优参数组合为侧边扫入深度440 mm、胶辊间距15 mm和侧边扫入角度0°。在此工况下进行验证试验，得到油茶果采摘率为92.96%，花苞损伤率为6.36%。

关键词: 油茶果, 采摘装置, 龙门式, 侧边扫入, 分层采摘