Abstract：In view of the lack of non-destructive picking device with high forest fruit at present, the traditional artificial pat, fruit shear Picking method were low efficiency, the labor intensity was large, the fruit body was easy to damage, and the risk coefficient of climbing picking was high, a kind of high forest fruit assisted artificial automatic torsion and extraction device was designed. The theoretical analysis and key component design of the plant's forest fruit clamping mechanism and power transmission mechanism were carried out, and the control system of the automatic torsion picking device was developed based on the single-chip microcomputer technology. In order to test the automatic torsion and extraction function of high forest fruit and the range of theoretical torsional fruit diameter, the fruit forest picking test of 2 kinds of fruit of apple and pear was carried out. The results showed that the picking success rate of apples and pears was 88% and 82% respectively, the range of fruit picking was 6.3-8.3 cm, and the average time of single fruit picking was 6.7 s. The device torsion removal mechanism and control system could automatically coordinate the operation to meet the requirements of high forest fruit safety nondestructive harvesting.
2019, Vol. 32 
