DESIGN AND EXPERIMENT OF MULTICHANNEL CAMELLIA-FRUIT-PICKING DEVICE

Li, Qingsong; Kang, Lichun; Rao, Honghui; Liu, Muhua

doi:10.1590/1809-4430-Eng.Agric.v43n3e20220038/2023

Qingsong Li

College of Engineering, Jiangxi Agricultural University/Nanchang, China.

Lichun Kang

College of Engineering, Jiangxi Agricultural University/Nanchang, China.

Honghui Rao ^**Corresponding author. College of Engineering, Jiangxi Agricultural University/Nanchang, China. Email: rhh58@sohu.com |ORCID ID: https://orcid.org/0000-0003-2627-9559

College of Engineering, Jiangxi Agricultural University/Nanchang, China.

https://orcid.org/0000-0003-2627-9559

Muhua Liu

College of Engineering, Jiangxi Agricultural University/Nanchang, China.

*Corresponding author. College of Engineering, Jiangxi Agricultural University/Nanchang, China. Email: rhh58@sohu.com |ORCID ID: https://orcid.org/0000-0003-2627-9559

Area Editor: Teresa Cristina Tarlé Pissarra

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FIGURE 1
Diagram of machine structure: (1) layered picking mechanism, (2) angle adjustment mechanism, (3) active rod, (4) frame, (5) beam frame, (6) chassis, (7) hinge, (8) fixed frame, (9) guide, (10) hydraulic cylinder, (11) control box, (12) fuel tank, and (13) hydraulic motor.

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FIGURE 2
Forces on camellia fruit.

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FIGURE 3
Geometric model of the layered picking mechanism.

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FIGURE 4
Geometric model of angle-adjusting mechanism.

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FIGURE 5
Adjustment mechanism of structure spacing.

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FIGURE 6
Schematic diagram of hydraulic system.

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FIGURE 7
Interaction diagram of rubber rollers and fruit branches.

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FIGURE 8
Serial port screen displaying a physical image of the control terminal.

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FIGURE 9
Circuit diagram of the control system.

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FIGURE 10
Field test of the multichannel camellia-fruit-picking device.

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FIGURE 11
Head of the multichannel camellia-fruit-picking device under test.

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FIGURE 12
Effect of speed and distance of rubber rollers on picking rate of camellia fruit.

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FIGURE 13
Effect of distance and diameter of rubber rollers on picking rate of camellia fruit.

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FIGURE 14
Effect of speed and distance of rubber rollers on damage of flower buds.

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TABLE 1
Main parameters of layered clamping mechanism.

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TABLE 2
Main parameters of angle-adjusting mechanism.

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TABLE 3
Coding table of factor levels.

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TABLE 4
Test scheme and results.

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TABLE 5
Variance analysis of camellia-fruit-picking rate.

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TABLE 6
Variance analysis of flower bud damage rates.

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TABLE 7
Test verification results.

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Parameter	Value
Layered shelf length l₁₀, mm	450
Length of rod l₉, mm	200
Layered connecting rod length l₁, mm	140
Length of T-plate l₂, mm	100
Push rod stroke	50
Initial installation distance of the push rod l₇, mm	50

Parameter	Value
Rocker length L₄, mm	200
Initial putter length L₂, mm	210
Push rod stroke L₃, mm	150

Level	Factors
Level	Roller speed, mm/s	Roller distance, mm	Roller diameter, mm
1	100	18	27
0	130	21	30
−1	160	24	33

Test no.	Roller speed X₁, mm/s	Roller distance X₂, mm	Roller diameter X₃, mm	Picking rate of camellia fruit Y₁, %	Damage rate of flower buds Y₂, %
1	−1	−1	0	91.65	3.98
2	1	−1	0	97.51	6.97
3	−1	1	0	88.65	3.27
4	1	1	0	96.49	5.02
5	−1	0	−1	89.33	3.28
6	1	0	−1	97.02	5.58
7	−1	0	1	90.69	4.37
8	1	0	1	97.69	6.28
9	0	−1	−1	95.34	4.19
10	0	1	−1	93.54	3.31
11	0	−1	1	97.43	4.86
12	0	1	1	94.02	3.75
13	0	0	0	96.82	3.42
14	0	0	0	96.18	3.36
15	0	0	0	96.32	3.91
16	0	0	0	96.53	3.65
17	0	0	0	96.66	3.58

Model items	Mean square	F value	P value	Significance
Model	15.73	183.64	<0.0001	**
X ₁	100.75	1176.08	<0.0001	**
X ₂	10.65	124.31	<0.0001	**
X ₃	2.65	30.88	0.0009	**
X ₁ X ₂	0.98	11.44	0.0117	*
X ₁ X ₃	0.12	1.39	0.2770
X ₂ X ₃	0.65	7.56	0.0285	*
X ₁ ²	19.71	230.06	<0.0001	**
X ₂ ²	2.45	28.65	0.0011	**
X ₃ ²	1.81	21.15	0.0025	**
Lack of fit	0.11	0.32	0.3040

Model items	Mean square	F value	P value	Significance
Model	2.16	44.88	<0.0001	**
X ₁	10.01	208.14	<0.0001	**
X ₂	2.70	56.18	0.0001	**
X ₃	1.05	21.85	0.0023	**
X ₁ X ₂	0.38	7.99	0.0255	*
X ₁ X ₃	0.038	0.79	0.4035
X ₂ X ₃	0.013	0.27	0.6162
X ₁ ²	4.54	94.30	<0.0001	**
X ₂ ²	0.15	3.09	0.1220
X ₃ ²	0.27	5.71	0.0481	*
Lack of fit	0.050	1.06	0.4594

Test no.	Factors			Y₁, %	Y₂, %
Test no.	X₁, mm/s	X₂, mm	X₃, mm	Y₁, %	Y₂, %
1	130	21	30	94.12	3.45
2				91.89	4.35
3				96.55	3.23
4				95.83	5.56
5				100	3.03

\begin{matrix} T & = l_{2} + \frac{2 l_{10} l_{1} \sin α - l_{10} l_{2}}{l_{9}} \\ = l_{2} + \frac{2 l_{10} l_{1} \sin (π - β_{1} - β_{2}) - l_{10} l_{2}}{l_{9}} \end{matrix}

[1] *Corresponding author. College of Engineering, Jiangxi Agricultural University/Nanchang, China. Email: rhh58@sohu.com |ORCID ID: https://orcid.org/0000-0003-2627-9559

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DESIGN AND EXPERIMENT OF MULTICHANNEL CAMELLIA-FRUIT-PICKING DEVICE

ABSTRACT