Camellia oleifera is one of the four largest woody oil species in the world, with more than 5 million hectares planted in China alone. Reducing bud damage and improving harvesting net rate and efficiency have become the key challenges to mechanized harvesting of Camellia oleifera fruits. This paper presents a novel comb-spiral impact harvesting device primarily composed of four parts, which are lifting mechanism, picking mechanism, rotating mechanism, and tracked chassis. The workspace of the four-degree-of-freedom lifting mechanism was simulated, and the harvesting reachable area was maximized using MATLAB R2021a software. The picking mechanism, which includes dozens of spirally arranged impact pillars, achieves high harvesting efficiency through impacting, brushing, and dragging, while maintaining a low bud shedding rate. The rotary mechanism provides effective harvesting actions, and the tracked chassis guarantees free movement of the equipment. Simulation experiments and field validation experiments indicate that optimal performance can be achieved when the brushing speed is set to 21.45 r/min, the picking finger speed is set to 341.27 r/min, and the picking device tilt angle is set to 1.0°. With these parameters, the harvesting quantity of Camellia oleifera fruits is 119.75 kg/h, fruit shedding rate 92.30%, and bud shedding rate as low as 9.16%. This new model for fruit shedding and the comb-spiral impact harvesting principle shows promise as a mechanized harvesting solution for nut-like fruits.
Yan et al. (Fri,) studied this question.