Abstract: In order to solve the problems of low working efficiency, high labor intensity caused by few specialized harvesting machines and high damage rate in the process of collecting citrus fruits, a new type of automatic collecting and loading machine suitable for modern standard short-cut. Dense-planting orchard was designed by using rotating uniform separator and box-dropping packing technology.results showed that the machine was mainly composed of two-side conveyor, rotating and even separator, box-loading and lifting device, box-changing device and caterpillar mobile picking platform. Through up-down follow and orientation design, the up-down and left-right swing adjustment of the conveyor can be achieved to meet the requirements of different positions for fruit setting and ensure continuous collection. Rotating even separator was used to drive wide-skinned citrus to roll and drop fruits one by one with equal probability of holes to achieve even packing. Kinematic analysis of the lifting device was carried out by Adams software, with the fruit box lifting accurately, to prevent dropping or squeezing damage. when the speed of the two-side conveyor was 0.15 m/s, the speed of the rotating uniform separator was 20 r/min, the height of the buffer track was 10 cm from the fruit surface, and the number of the distribution holes of the separating disc was 6, the average packing height of the wide-skinned citrus auto-collecting and the damage rate was 6.1%, and the packing efficiency was 48 /min. Continuous collection, even packing and automatic box changing of fruits were achieved.

Key words: citrus, collect, packing, even distribution, change box