“爬树式果树振动采收机设计”文献综述
摘 要：采收作业是林果生产中最为重要的部分。我国林地面积广阔，有大量高大乔木类林果树木，需要以更高的效率解决主干独立，生长高大的果树采摘问题。国外常用的振动采摘机构主要有大型振摇式采收机械和便携式采摘机械，大型振摇式采摘机械功率大，省时省力，但是振动位置偏下，体积较大，难以实现对高大乔木的果实采收；便携式振摇采收装置则功率小，需要以人力辅助，效率低。已有的爬树机器人仅有几款修枝机器人可以达到果实振动采摘的功率和高度，但是这一类爬树机器人无搭载机构，无法实现果实采收功能。基于高大乔木果树采摘的需要，对振动采收装置进行了研究，使用爬树式机器人搭载振动采摘机构，实现以不伤及树干的方式对果实进行振动采收，增大果实的采净率，减小所需要的功率。本文对爬树式果树振动采收机的的部分现状进行了总结，对这种装置的结构进行了设想和展望，并就国内外的生产现状进行了研究。
关键词：采收，爬树式，效率，高大乔木
Design of climbing vibration harvester for fruit trees
Abstract: Harvesting is the most important part of fruit production.China has a large area of forest land, and there are a large number of tall trees and fruit trees, so it is necessary to solve the problem of independent trunk and tall fruit tree picking with higher efficiency.The commonly used vibration picking mechanism in foreign countries mainly includes large vibration harvesting machinery and portable picking machinery, although the large-scale vibrating picking machine has high power, time-saving and labor-saving, but the vibration position is lower and the volume is larger, so it is difficult to achieve the fruit harvesting of tall trees; The portable vibrating and harvesting device has the advantages of low power, low efficiency and needs human assistance. Only a few of the existing climbing robots can achieve the power and height of fruit vibration picking, but this kind of climbing robot has no carrying mechanism and can not achieve the fruit harvesting function.Based on the needs of fruit tree harvesting, the vibration harvesting device is studied. The climbing robot is used to carry on the vibration harvesting mechanism to realize the vibration harvesting of fruit in the way of not damaging the trunk, increasing the net recovery of fruit and reducing the required power. On this paper, the current situation of climbing fruit tree vibration harvester is summarized, the structure of this device is envisaged and prospected, and the production status at home and abroad is studied.
Keywords: harvesting, tree climbing, efficiency, tall trees
1 研究背景、目的及意义
我国是一个水果生产大国，每年各类水果产量都保持在一亿吨以上，林果的种植面积与日俱增。2005年全国水果栽培面积为10035.2千公顷，比2004年9768.6千公顷增加2.73%。种植结构也慢慢趋于合理，梨、苹果、柑橘三大水果的种植比重明显降低，小杂果的种植比例有了大幅度的提升[1]。相应的，我国高大乔木类林果种植面积也有了大幅度的提升，一些高大乔木如银杏等种植面积相比往年增长了2.7%，栎树（橡树）等高大乔木在我国从南到北均有分布，尤其是在云南，种植面积更是达到了1.5亿㎡[2]。同时，仍有许多果树由于整枝技术发展较差，顶端优势旺盛，生长的较为高大。
对于这一类高大果树，由于其生长旺盛，主干生长比较明显独立，不宜使用传统大型林业采摘机械，容易伤及树干树枝，采集率不高；而采用小型林业采收机械往往动力不足，激振力不大，不能起到很好的采摘效果，因此目前采摘这类林果往往使用人工采摘或机械辅助采摘的方式，效率低，采净率差。
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