Seedling-cutting peanut picker, working parameter optimization method thereof and fresh fruit picking method

Abstract

The invention relates to a seedling-cutting peanut picker and a working parameter optimization method thereof, and a fresh fruit picking method, the seedling-cutting peanut picker comprises a seedling-cutting device capable of cutting off part of seedlings of peanut plants and conveying the seedlings to a picking device; the fruit picking device is arranged at the downstream of the seedling cutting device, and the fruit picking device is used for receiving the peanut plants after part of the seedlings are cut off and separating the seedlings and fruits of the peanut plants; and the cleaning device is used for receiving impurities of the peanut pods, stalks and leaves conveyed by the picking device, performing primary separation of soil, seedlings and leaves on the peanut pods and the peanut leaves, and then performing secondary separation of the peanut pods and the soil on the peanut pods. According to the seedling-cutting peanut picker, part of seedlings of peanut plants are cut off before picking, so that shielding of the seedlings to pods is reduced, the efficiency of the seedling-cutting peanut picker is improved, the situation that picking is incomplete or fruits are damaged due to uneven plants is reduced, and the seedling-cutting peanut picker belongs to the technical field of peanut harvesting equipment.

Description

Technical Field

[0001] The invention relates to the technical field of peanut harvesting equipment, and in particular to a peanut picking machine by cutting rice vines and a working parameter optimization method thereof, and a fresh fruit picking method. Background Art

[0002] At present, the working modes of peanut picking machines on the market mainly include mechanical vibration, drum striking and air flow separation. According to the feeding method, it can be divided into semi-feeding and full-feeding. When a large number of seedlings are put into the semi-feeding fruit picking machine, if the seedlings are too thick, it is difficult for the drum to completely pick the fruits; the full-feeding fruit picking machine increases the difficulty of picking the fruits because the seedlings are wrapped with peanuts. In addition, my country's peanut planting areas are wide and there are many varieties. It is difficult for existing peanut picking machines to fully adapt to peanuts of different varieties and growth states. Especially in the southern region, peanut planting is mostly small-scale farming, with scattered plots and small areas, which puts higher requirements on the flexibility, volume and ease of operation of mechanical equipment. The climate in the south is rainy, humid and hot. During the peanut harvest season, rainfall is frequent, resulting in high humidity of fresh peanuts. The local drying cycle is usually short, so fresh fruits are directly processed, so the mechanized operation of peanuts in the south is mainly based on fresh fruit processing.

[0003] To sum up, the current difficulties in the mechanization of peanut picking in the southern region are as follows: First, in the face of a variety of peanut varieties, different growth conditions, and complex terrain conditions of small plots and hilly mountains in the southern region, how to improve the adaptability of the picking machine to different peanut varieties and its ability to operate in special terrain; second, how to improve the picking efficiency while ensuring the quality of the fruit; third, how to efficiently select the clean peanut pods from impurities such as moist seedlings and soil. Summary of the invention

[0004] In view of the technical problems existing in the prior art, the purpose of the present invention is to provide a peanut picking machine by cutting seedlings and a method for optimizing its working parameters, and a fresh fruit picking method, so as to solve the problems that the existing peanut picking machines have low picking efficiency and are unable to sort out peanut pods from impurities such as seedlings and soil.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] Peanut picking machine, including:

[0007] A seedling shearing device, which can shear off some seedlings of peanut plants and transport them to the fruit picking device;

[0008] A fruit picking device, which is arranged downstream of the seedling cutting device, and is used to receive the peanut plants after some seedlings have been cut off, and separate the fruit from the peanut plants;

[0009] The cleaning device is used to receive the peanut pods, stems and leaf impurities delivered by the fruit picking device, and to perform the first separation of soil, seedlings and leaves from the peanut pods and peanut leaves, and then to perform the second separation of peanut pods and soil from the peanut pods.

[0010] As a preferred embodiment, the seedling cutting device includes a conveying component, a seedling pressing component and a seedling cutting component;

[0011] The conveying assembly includes a conveyor belt frame, a conveyor belt, a conveyor roller and a driving motor. There are multiple conveyor rollers, each of which is rotatably connected to the conveyor belt frame. The multiple conveyor rollers are spaced apart on the conveyor belt frame. The conveyor belt is connected to the multiple conveyor rollers respectively. The driving motor is installed on the conveyor belt frame. The driving motor is connected to the conveyor roller at the end. The conveying direction of the conveyor belt is set toward the fruit picking device.

[0012] The seedling pressing assembly comprises a seedling pressing frame, a rubber belt, a large round wheel and a small round wheel. The seedling pressing frame is fixed on one side of the conveyor belt frame. The large round wheel and the small round wheel are both plural in number. The large round wheels and the small round wheels are all rotatably connected to the seedling pressing frame. The rubber belt is respectively wound around the large round wheels and the small round wheels to form an annular belt. The annular belt is located above or outside the conveyor belt. At least part of the annular belt is parallel to the conveyor belt.

[0013] The seedling cutting assembly comprises a motor movable frame, a first motor and a seedling cutting circular knife. The motor movable frame is slidably connected to the seedling pressing frame, the first motor is fixed on the motor movable frame, and the seedling cutting circular knife is fixedly connected to the output shaft of the first motor.

[0014] As a preferred embodiment, the fruit picking device includes a frame, an upper shell and a fruit picking main shaft, which is rotatably connected to the frame, and a plurality of discs are arranged on the fruit picking main shaft at intervals, and a plurality of fruit picking round rods are evenly arranged on the outer edges of the plurality of discs, and a plurality of fruit picking rod teeth are evenly arranged in the axial direction of each fruit picking round rod, and the fruit picking rod teeth on two adjacent fruit picking round rods are staggered, and a seedling rowing plate is arranged at the end of each fruit picking round rod; the upper shell surrounds the outside of the fruit picking main shaft, and the upper shell is provided with a feed inlet and a discharge port, the seedling shearing device corresponds to the feed inlet, the discharge port is used to discharge the picked peanut seedlings, and the seedling rowing plate is located on the side of the discharge port.

[0015] As a preferred embodiment, a concave plate screen is provided on the frame, and the concave plate screen is located below the fruit picking main shaft. The fruit picking main shaft, the disc, the fruit picking round rod and the fruit picking rod teeth constitute a fruit picking assembly, and a rotating pair is formed between the concave plate screen and the fruit picking assembly.

[0016] As a preferred embodiment, the upper shell has a guide plate installed axially and in a spiral line.

[0017] As a preferred embodiment, the cleaning device includes a first cleaning screen, a second cleaning screen and a cleaning screen transmission mechanism. The first cleaning screen is located below the fruit picking device, the second cleaning screen is located below the first cleaning screen, the first cleaning screen and the second cleaning screen are connected, and the cleaning screen transmission mechanism drives the second cleaning screen to move through a transmission member; the second cleaning screen is connected to the frame through a slide rail.

[0018] As a preferred embodiment, a seedling discharge port is provided at the end of the first cleaning screen, and a pod discharge port is provided at the end of the second cleaning screen.

[0019] As a preference, the screen installed on the first cleaning screen is a long strip screen, and the screen installed on the second cleaning screen is a square hole screen.

[0020] The fresh fruit picking method comprises the following steps:

[0021] S1: Cutting seedlings: At the beginning of the work, the peanut plants are arranged in a uniform direction, placed on the conveyor belt, and pressed by the seedling pressing rack; the peanut plants are sent to the seedling cutting circular knife by the conveyor belt, and the seedling cutting circular knife cuts off part of the seedlings of the peanut plants, removing the seedlings with leaves on the top of the peanut plants, while the other part of the peanut plants with pods enter the inside of the fruit picking device through the conveyor belt and the feeding port;

[0022] S2: Separation of pods and discharge of seedlings: Peanut plants enter the fruit picking device. Under the rotation of the fruit picking device, the peanut plants, the fruit picking rod teeth and the concave screen continuously hit and comb each other, thereby separating the peanut pods from the peanut seedlings. At the same time, the cleaned seedlings are transported to the discharge port and thrown out by the seedling discharge plate under the joint action of the fruit picking device, the concave screen and the guide plate arranged inside the upper shell.

[0023] S3: Preliminary separation: The separated peanut pods and other impurities pass through the concave screen and fall down to the first cleaning screen of the cleaning device. Driven by the transmission mechanism of the cleaning screen, the cleaning device continuously reciprocates to push the materials on the screen surface. The stems and leaves are isolated by the first cleaning screen and transported to the discharge port of the seedlings for discharge, thus completing the preliminary separation of peanut pods and other impurities.

[0024] S4: Secondary cleaning and separation: Peanut pods and soil pass through the first cleaning screen and continue to enter the second cleaning screen for fine separation. Soil and other larger impurities fall to the ground through the second cleaning screen, while peanut pods are guided to the pod discharge port through the second cleaning screen;

[0025] S5: Pod collection: The peanut pods cleaned by the cleaning device are sent to the pod discharge port and collected into bags, completing the pod picking operation.

[0026] The method for optimizing working parameters of a peanut picking machine by cutting seedlings comprises the following steps: A: obtaining working parameters and fruit picking performance indicators of the peanut picking machine in a fruit picking operation, wherein the working parameters include the rotation speed of a fruit picking main shaft, a seedling length and a feeding amount, and the fruit picking performance indicators include a picking clean rate and a breakage rate;

[0027] B: A multi-objective regression model is constructed based on the peanut picking machine's operating parameters. The independent variables of the multi-objective regression model include part or all of the peanut picking machine's operating parameters, and the dependent variables of the multi-objective regression model include the picking performance index.

[0028] C: Based on the operating parameters of the peanut picking machine as independent variables, a response surface analysis is conducted on the performance indicators of the peanut picking machine; based on the results of the response surface analysis, the significance data of each fruit picking performance indicator is determined; based on these significance data, the independent variables of the multi-objective regression model are determined;

[0029] D: Based on the multi-objective optimization method, combined with genetic algorithm or particle swarm optimization algorithm, the optimal working parameters of the peanut picking machine are determined.

[0030] In general, the present invention has the following advantages:

[0031] 1. The seedling cutting device in the present invention performs seedling cutting by cooperating with the seedling pressing frame, the conveyor belt and the seedling cutting circular knife, thereby achieving the precise cutting off of a part of the peanut seedlings, significantly improving the fruit-seedling ratio of the peanut plant, and allowing the peanut pods to be completely and clearly exposed. By reducing the shielding of the pods by the seedlings, the contact area and friction between the peanut pods and the fruit picking device are increased during the fruit picking process, thereby promoting the effective separation between the peanut pods and the seedlings. This fruit picking method not only improves the efficiency and thoroughness of fruit picking, but also unifies the length of the peanut plant during fruit picking operations under various peanut varieties and different growth conditions. Through the seedling cutting step, the height and shape of the peanut seedlings can be effectively controlled to make them more in line with the operating requirements of the fruit picking machine. This improvement improves the versatility and adaptability of the fruit picking machine, and reduces the situation of incomplete fruit picking or fruit damage caused by uneven plants.

[0032] 2. The fruit picking machine of the present invention has an exquisite and compact overall size, and its seedling cutting device adopts an external installation design. This external installation method effectively avoids the modification of the complex internal structure of the fruit picking machine, realizes optimization and integration from the spatial layout level, and ensures the stability and efficiency of the equipment operation. In small plots and hilly areas in the southern region, traditional large-scale agricultural equipment is difficult to fully exert its operating efficiency due to space limitations and complex terrain. However, this device, with its unique properties of detachability and easy transportation, can be flexibly deployed and efficiently operated in complex operating environments. It is highly adapted to the actual operating needs of the peanut industry in the southern region, significantly improves the flexibility and applicability of the operation process, and provides strong support for promoting the efficiency of agricultural production.

[0033] 3. On the same fruit picking round rod of the fruit picking device of the present invention, the adjacent rod teeth are distributed far apart, and the rod teeth of adjacent fruit picking round rods are staggered. This design can effectively improve the efficiency and thoroughness of fruit picking. Due to the large spacing between the rod teeth, excessive squeezing of the peanut fruit during the fruit picking process can be avoided, reducing fruit damage. At the same time, the staggered distribution of the rod teeth can better cooperate with the seedlings, avoid the seedlings getting stuck or hindering the fruit picking, ensure the smooth separation of the peanut fruit, and improve the picking rate.

[0034] 4. The peanut picking machine of the present invention realizes the effective separation of impurities such as peanut leaves and peanut pods during high-speed reciprocating motion by setting a first cleaning screen and a second cleaning screen. First, the peanut pods are preliminarily separated from the soil, seedlings and leaves by the first cleaning screen, and then the second cleaning screen further finely sorts to separate the peanut pods from the residual soil. In addition, the slide rail is installed obliquely under the frame, which not only provides the movement direction restriction and support function of the first cleaning screen and the second cleaning screen, but also effectively guides impurities and peanut pods to the discharge port, ensuring a smooth cleaning process and facilitating the collection and processing of impurities and peanut pods. This structural design greatly improves the operating efficiency, especially in the environment of fresh fruit picking, effectively cleaning the clean peanut pods from the moist seedlings, soil and other impurities, ensuring the quality of the fruit, and significantly improving the overall operating efficiency.

[0035] 5. The peanut picking machine of the present invention integrates multiple links such as feeding, picking, arranging, arranging and cleaning of peanut plants, realizing continuous and automated operation. This integrated operation greatly simplifies the operation process and reduces the transportation between equipment and manual intervention. Compared with the traditional shear flow peanut picking machine, the shearing vine axial flow peanut picking machine performs well in terms of feeding amount, picking rate, and convenience of movement, significantly improving the overall operation efficiency and economic benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a stereoscopic picture of a seedling-cutting peanut picking machine.

[0037] Figure 2 This is a view of the internal structure of a peanut picking machine.

[0038] Figure 3 It is the rear view of the peanut picking machine.

[0039] Figure 4 It is a side view of a peanut picking machine.

[0040] Figure 5 It is a structural schematic diagram of the seedling shearing device of the present invention.

[0041] Figure 6 It is a structural schematic diagram of the fruit picking device of the present invention.

[0042] Figure 7 It is a stereoscopic view of the concave plate screen of the present invention.

[0043] Figure 8 It is a schematic structural diagram of the first cleaning screen of the present invention.

[0044] Fig. 9 It is a schematic structural diagram of the second cleaning screen of the present invention.

[0045] Among them, 1 is a seedling pressing frame, 2 is a conveyor belt frame, 3 is a first motor, 4 is a motor movable frame, 5 is a large round wheel, 6 is a rubber belt, 7 is a seedling cutting circular knife, 8 is a seedling cutting device, 9 is an inlet baffle, 10 is an upper shell, 11 is a frame, 12 is a seedling collecting box, 13 is a first cleaning screen, 14 is a second cleaning screen, 15 is a frame baffle, 16 is a slide rail, 17 is a front baffle, 18 is a guide plate, 19 is a main shell, 20 is a rear baffle, 21 is a fruit picking device, 22 is a long screen, 23 is a square hole screen, 24 is a concave plate screen, 25 is a pulley, 26 is a cleaning screen transmission mechanism, 27 is a first Pulley, 28 is the second pulley, 29 is the fruit picking main shaft, 30 is a disc, 31 is the fruit picking round rod, 32 is the fruit picking rod teeth, 33 is the seedling rowing plate, 34 is the first bearing seat, 35 is the first connecting block, 36 is the second connecting block, 37 is a small round wheel, 38 is the conveyor belt, 39 is the support member, 40 is the pulley frame, 41 is the pulley shaft, 42 is the convex block, 43 is the connecting member, 44 is the second bearing seat, 45 is the transmission shaft, 46 is the third bearing seat, 47 is the fourth bearing seat, 48 is the first bevel gear, 49 is the second bevel gear, 50 is the pin shaft, 51 is the feeding port, and 52 is the discharging port. DETAILED DESCRIPTION

[0046] The present invention will be further described in detail below in conjunction with specific implementation methods.

[0047] Embodiment 1

[0048] like Figure 1-Figure 9 As shown, the peanut picking machine provided in this embodiment includes:

[0049] The seedling shearing device 8 can shear off some seedlings of the peanut plants and transport them to the fruit picking device 21;

[0050] The fruit picking device 21 is arranged downstream of the seedling cutting device 8, and is used to receive the peanut plants after some seedlings are cut off, and separate the fruit of the peanut plants;

[0051] The cleaning device is used to receive the peanut pods and peanut leaves delivered by the fruit picking device 21, and perform a first separation of soil, seedlings and leaves on the peanut pods and peanut leaves, and then perform a second separation of peanut pods and soil on the peanut pods.

[0052] The seedling cutting device 8 comprises a conveying component, a seedling pressing component and a seedling cutting component;

[0053] The conveying assembly includes a conveyor belt frame 2, a conveyor belt 38, a conveyor roller and a driving motor. There are multiple conveyor rollers, and the multiple conveyor rollers are rotatably connected to the conveyor belt frame 2. The multiple conveyor rollers are spaced apart on the conveyor belt frame 2. The conveyor belt 38 is connected to the multiple conveyor rollers respectively. The driving motor is installed on the conveyor belt frame 2. The driving motor is connected to the conveyor rollers at the end. The conveying direction of the conveyor belt 38 is set toward the fruit picking device 21.

[0054] The seedling pressing assembly includes a seedling pressing frame 1, a rubber belt 6, a large round wheel 5 and a small round wheel 37. The seedling pressing frame 1 is fixed to one side of the conveyor belt frame 2. The large round wheel 5 and the small round wheel 37 are both multiple in number. The multiple large round wheels 5 and the multiple small round wheels 37 are all rotatably connected to the seedling pressing frame 1. The rubber belt 6 is respectively connected to the multiple large round wheels 5 and the multiple small round wheels 37 to form an annular belt. The annular belt is located above or outside the conveyor belt 38, and at least part of the annular belt is parallel to the conveyor belt 38.

[0055] The seedling cutting assembly includes a motor movable frame 4, a first motor 3 and a seedling cutting circular knife 7. The motor movable frame 4 is slidably connected to the seedling pressing frame 1, the first motor 3 is fixed on the motor movable frame 4, and the seedling cutting circular knife 7 is fixedly connected to the output shaft of the first motor 3. Specifically, the seedling cutting device 8 is located outside the fruit picking device 21, and is mainly used to cut the peanut seedlings to ensure that the pods are fully exposed. Among them, the large round wheel 5 and the small round wheel 37 are installed on the seedling pressing frame 1 through an axis and a bearing seat. For example, the number of the large round wheel 5 and the number of the small round wheel 37 are both two, the two large round wheels 5 are located in the same horizontal plane, the two small round wheels 37 are located in the same horizontal plane, the height of the large round wheel 5 on the seedling pressing frame 1 is higher than the small round wheel 37, the interval between the two large round wheels 5 is larger than the interval between the two small round wheels 37, the rubber belt 6 is wrapped around the two large round wheels 5 and the two small round wheels 37 to form a trapezoidal ring belt, and the rubber belt 6 is in a tensioned state. By setting the rubber belt 6 above the conveyor belt 38, the peanut plants transported on the conveyor belt 38 are pressed down, so that the peanut plants will not fall off the conveyor belt 38 when being cut by the seedling cutting circular knife 7. The seedling cutting circular knife 7 is powered by the first motor 3, and the first motor 3 is mounted on the motor movable frame 4 by bolt connection. The motor movable frame 4 can move a certain distance on the seedling pressing frame 1 to adjust the cutting length (for example, sliding can be achieved through a slide rail structure, and can be locked by abutting against the motor movable frame 4 through a locking bolt).

[0056] The fruit picking device 21 includes a frame 1, an upper shell 10 and a fruit picking spindle 29, the fruit picking spindle 29 is rotatably connected to the frame, a plurality of discs 30 are arranged at intervals on the fruit picking spindle 29, a plurality of fruit picking round rods 31 are evenly arranged on the outer edges of the plurality of discs 30, a plurality of fruit picking rod teeth 32 are evenly arranged in the axial direction of each fruit picking round rod 31, the fruit picking rod teeth 32 on two adjacent fruit picking round rods 31 are staggered, and a seedling rowing plate 33 is arranged at the end of each fruit picking round rod 31; the upper shell 10 surrounds the outer side of the fruit picking spindle 29, the upper shell 10 is provided with a feed inlet 51 and a discharge port 52, the seedling shearing device 8 corresponds to the feed inlet, the discharge port is used to discharge the peanut seedlings that have been picked, and the seedling rowing plate 33 is located above the discharge port. Specifically, a first bearing seat 34 is arranged on both sides of the frame, a bearing is arranged on the first bearing seat 34, the first bearing seat 34 is installed on the frame by bolt connection, and a diesel engine frame is welded on the frame. The seedling-discharging plate 33 is located at the end of the fruit-picking round rod 31, corresponding to the discharge port, and exerts a throwing force on the clean peanut seedlings. A diesel engine is installed on the diesel engine frame, and the diesel engine provides power to the fruit-picking device 21 and the cleaning device. Exemplarily, the diesel engine is driven by a belt and a pulley, the output shaft of the diesel engine is connected to the second pulley 28, the first pulley 27 and the fruit-picking main shaft 29 are connected by an interference fit, and the first pulley 27 and the second pulley 28 are connected by a belt. A mounting screw is welded on the diesel engine mounting plate on the frame, and the diesel engine mounting position can be adjusted up and down to facilitate tensioning and aligning the pulleys.

[0057] The upper shell 10 is composed of a front baffle 17, a main shell 19 and a rear baffle 20. A notch is provided on one side of the upper shell 10. Four feed inlet baffles 9 are connected around the notch to form a feed inlet.

[0058] The frame is provided with a concave plate screen, which is located below the fruit picking main shaft 29. The fruit picking main shaft 29, the disc 30, the fruit picking round rod 31 and the fruit picking rod teeth 32 form a fruit picking assembly, and a rotating pair is formed between the concave plate screen and the fruit picking assembly. Specifically, the concave plate screen is fixed to the frame by bolts to ensure stability and adjustability. The concave plate screen is provided with a plurality of holes, and the number and size of the holes are determined according to the design standards to meet the requirements of fruit picking; the side of the concave plate screen is installed with a seedling collection box 12 by bolt connection, which is used to collect peanut seedlings after the fruit picking operation is completed, and then they are knocked away by the seedling rowing plate 33 and thrown out of the fruit picking machine.

[0059] The upper housing 10 has a guide plate 18 installed along the axial direction and in a spiral line. The guide plate 18 is an arc-shaped structure, which plays a role in guiding the peanut seedlings to move toward the seedling discharge port to prevent congestion and entanglement.

[0060] A frame baffle 15 is provided on the frame, and the upper shell 10 and the frame baffle 15 are respectively connected to the frame to form the entire shell.

[0061] The cleaning device includes a first cleaning screen 13, a second cleaning screen 14 and a cleaning screen transmission mechanism 26. The first cleaning screen 13 is located below the fruit picking device 21, and the second cleaning screen 14 is located below the first cleaning screen 13. The first cleaning screen 13 and the second cleaning screen 14 are connected. The cleaning screen transmission mechanism 26 drives the second cleaning screen 14 to move through a transmission member; the second cleaning screen 14 is connected to the frame through a slide rail 16.

[0062] Specifically, the cleaning screen transmission mechanism 26 is a crank slider transmission mechanism, including a first bevel gear 48, a bevel gear transmission shaft 45, a second bevel gear 49, a protrusion 42, a transmission shaft 45, a connecting piece 43, a pin 50 and a first connecting block 35. A fourth bearing seat 47 is installed on the frame. The first bevel gear 48 and the second pulley are respectively connected to the two ends of the bevel gear transmission shaft 45. The bevel gear transmission shaft 45 is rotatably connected to the fourth bearing seat 47. The second bevel gear 49 and the protrusion 42 are respectively connected to the two ends of the transmission shaft 45. The second bevel gear 49 is meshed with the first bevel gear 48. The transmission shaft 45 is installed on the frame through the third bearing seat 46 and the second bearing seat 44. One end of the connecting piece 43 is hinged to the protrusion 42, and the other end of the connecting piece 43 is hinged to the first connecting block 35 through the pin 50. The first connecting block 35 is connected to the second cleaning screen 14.

[0063] The first cleaning screen 13 and the second cleaning screen 14 are bolted together through the second connecting block 36, the long screen 22 is bolted and installed on the first cleaning screen 13, the square hole screen 23 with clear single hole specifications is bolted and installed on the second cleaning screen 14, the seedling discharge port provided on the first cleaning screen 13 is used to collect seedlings and leaves, and the pod discharge port provided on the second cleaning screen 14 is used to collect pods. A support 39 is provided below the second cleaning screen 14, a pulley frame 40 is welded to the support 39, a pulley shaft 41 passes through the pulley frame 40 and is connected to the pulley 25, the slide rail 16 is tilted and welded on the frame, and the pulley 25 is installed inside the slide rail 16.

[0064] A seedling discharge port is disposed at the end of the first cleaning screen 13 , and a pod discharge port is disposed at the end of the second cleaning screen 14 .

[0065] The screen installed on the first cleaning screen 13 is a long screen 22 , and the screen installed on the second cleaning screen 14 is a square hole screen 23 .

[0066] During the fruit picking operation, the cleaning screen transmission mechanism 26 transmits power through the second pulley 28 to drive the transmission shaft 45 to rotate. The protrusion 42 on the transmission shaft 45 is connected to the connecting member 43, and drives the connecting member 43 as the transmission shaft 45 rotates synchronously. The connecting member 43 is hinged with the first connecting member 43 on the second cleaning screen 14 to achieve synchronous reciprocating motion of the two layers of cleaning screens for cleaning. To ensure the accuracy of the motion trajectory of the cleaning screen, the pulley 25 is installed inside the slide rail 16, which provides the function of limiting and supporting the motion direction, while ensuring the vibration stability and operation reliability of the cleaning screen.

[0067] The frame is provided with a plurality of adjustment holes for adjusting the gap between the concave plate screen 24 and the fruit picking assembly, which can be connected to the corresponding adjustment holes by bolts.

[0068] Embodiment 2

[0069] The fresh fruit picking method provided in this embodiment comprises the following steps:

[0070] S1: Cutting seedlings: At the beginning of the work, the peanut plants are arranged in a uniform direction, placed on the conveyor belt 38, and the peanut plants are pressed by the seedling pressing frame 1; the peanut plants are sent to the seedling cutting circular knife 7 by the conveyor belt 38, and the seedling cutting circular knife 7 cuts off part of the seedlings of the peanut plants, removes the seedlings with leaves on the top of the peanut plants, and the other part of the peanut plants with pods enter the inside of the fruit picking device 21 through the conveyor belt 38 from the feeding port;

[0071] S2: Separation of pods and discharge of seedlings: The peanut plants enter the fruit picking device 21. Under the rotation of the fruit picking device 21, the peanut plants, the fruit picking rod teeth 32 and the concave screen 24 are continuously struck and combed, so that the peanut pods and the peanut seedlings are separated; at the same time, the cleaned seedlings are transported to the discharge port and thrown out by the seedling discharge plate 33 under the joint action of the fruit picking device 21, the concave screen 24 and the guide plate 18 arranged inside the upper shell 10;

[0072] S3: Preliminary separation: The separated peanut pods and other impurities (such as soil, leaves, etc.) pass through the concave screen 24 and fall down to the first cleaning screen 13 of the cleaning device. Under the driving action of the cleaning screen transmission mechanism 26, the cleaning device continuously reciprocates to push the materials on the screen surface. The stems and leaves are isolated by the first cleaning screen 13 and transported to the seedling discharge port for discharge, completing the preliminary separation of peanut pods and other impurities;

[0073] S4: Secondary cleaning and separation: Peanut pods and soil pass through the first cleaning screen 13 and continue to enter the second cleaning screen 14 for fine separation. The soil and other larger impurities fall to the ground through the second cleaning screen 14, while the peanut pods are guided to the pod discharge port through the second cleaning screen 14;

[0074] S5: Pod collection: The peanut pods cleaned by the cleaning device are sent to the pod discharge port and collected into bags, completing the pod picking operation.

[0075] The method of this embodiment can be applied to dry peanut plants and fresh peanut plants.

[0076] In this embodiment, "Yueyouhong No. 1" peanut plants were placed in a peanut picking machine for testing. Compared with traditional equipment, the precise seedling shearing design increases the fruit-seedling ratio of fresh-harvested peanut plants from 0.49 to 1.15, significantly improving the exposure of the pods, thereby improving the thoroughness and integrity of fruit picking; and under the working conditions of the fruit picking spindle 29 rotating speed of 400r / min, the seedling length of 140mm, and the feed rate of 0.5kg / s, the picking rate can reach 95.62%, and the breakage rate is less than 2.5%. Therefore, the peanut picking machine and fruit picking method provided in this embodiment can effectively improve the operating efficiency, and also significantly improve the integrity of fruit picking and the quality of the fruit, providing a reliable guarantee for the mechanized harvesting of fresh and wet peanuts.

[0077] The parts not mentioned in this embodiment are the same as those in the first embodiment.

[0078] Embodiment 3

[0079] The working parameter optimization method of the peanut picking machine provided in this embodiment includes the following steps:

[0080] A: Obtaining the operating parameters and fruit picking performance indicators of the peanut picking machine in the fruit picking operation, the operating parameters include the rotation speed of the fruit picking main shaft 29, the length of the seedlings left, and the feeding amount, and the fruit picking performance indicators include the picking rate and the breakage rate;

[0081] B: A multi-objective regression model is constructed based on the peanut picking machine's operating parameters. The independent variables of the multi-objective regression model include part or all of the peanut picking machine's operating parameters, and the dependent variables of the multi-objective regression model include the picking performance index.

[0082] C: Based on the operating parameters of the peanut picking machine as independent variables, a response surface analysis is conducted on the performance indicators of the peanut picking machine; based on the results of the response surface analysis, the significance data of each fruit picking performance indicator is determined; based on these significance data, the independent variables of the multi-objective regression model are determined;

[0083] D: Based on the multi-objective optimization method, combined with genetic algorithm or particle swarm optimization algorithm, the optimal working parameters of the peanut picking machine are determined.

[0084] In this embodiment, the operating parameters of the peanut picking machine are the key factors affecting the picking performance, and the picking performance index is used to describe the quality of the picking performance of the fruit picking machine. The rotation speed of the fruit picking spindle 29 and the rotation speed of the disc 30 are the rotation angular velocity of the fruit picking device 21. This parameter directly affects the picking rate and the breakage rate. A high rotation speed can improve the picking rate, but it will cause fruit breakage. A low rotation speed helps to reduce the breakage rate, but it may cause a decrease in the picking rate. The seedling length is the vertical distance from the cutting point of the peanut plant to the part of the peanut pod closest to the ground. It refers to the length of the stem with the pod part remaining after the top part of the peanut plant is removed by the seedling cutting device 8 during the peanut picking operation. The feed amount is the mass of the peanut plant entering the fruit picking device 21 for the fruit picking operation per unit time; the size of the feed amount directly affects the performance of the fruit picking machine and the overall harvesting efficiency. The picking rate is the percentage of the mass of clean pods picked during the picking operation to the total mass of pods, and the breakage rate is the percentage of the mass of broken peanut pods during the picking operation to the total mass of pods. These two indicators are usually mutually restrictive. While improving the picking rate, the breakage rate may increase.

[0085] For example, the clean-up rate and the damage rate can be calculated as follows:

[0086]

[0087] Among them, P1 is the picking rate, unit %; W is the total mass of peanut pods, unit g; W1 is the mass of unpicked peanut pods, unit g; P2 is the breakage rate, unit %; W2 is the mass of broken peanut pods, unit g.

[0088] Exemplarily, the parameters can be set to a rotation speed of 400 r / min for the fruit picking spindle 29, a seedling length of 140 mm, and a feed rate of 0.5 kg / s.

[0089] The operating parameters of the peanut picking machine can be real data or simulation data, which is not limited in this embodiment. A multi-objective regression model is constructed based on the peanut picking operating parameters of the peanut picking machine, and the independent variables of the multi-objective regression model include part or all of the operating parameters of the peanut picking machine, and the dependent variables of the multi-objective regression model include the fruit picking performance index.

[0090] In this embodiment, the multi-objective regression model is a mathematical model used to describe the relationship between the operating parameters of the peanut picking machine and multiple fruit picking performance indicators (clean picking rate and damage rate). The model can consider multiple operating objectives at the same time and reveal the impact of various parameters on these objectives, providing a basis for optimizing the performance of the fruit picking machine.

[0091] In this embodiment, the multi-objective regression model is a mathematical model used to describe the relationship between the operating parameters of the peanut picking machine and multiple fruit picking performance indicators (clean picking rate and damage rate). The model can consider multiple operating objectives at the same time and reveal the impact of various parameters on these objectives, providing a basis for optimizing the performance of the fruit picking machine.

[0092] The operating parameters of the peanut picking machine can be real data or simulation data, which is not limited in this embodiment. By fitting the relationship between the operating parameters and the fruit picking performance index based on real experimental data or simulation data, the regression equation corresponding to each operating parameter is obtained. Based on these regression equations, a multi-objective regression model is constructed to systematically describe the comprehensive impact of the operating parameters of the peanut picking machine on multiple operating results. Among them, the regression equation is a multivariate quadratic equation.

[0093] Exemplarily, the multi-objective regression model can be expressed as:

[0094] Z1=B1+a 11 X1+a 12 X2+a 13 X3+a 14 X1X2+a 15 X1X3+a 16 X2X3+a 17 X1 2 +a 18 X2 2 +a 19 X3 2 ,

[0095] Z2=B2+a 21 X1+a 22 X2+a 23 X3+a 24 X1X2+a 25 X1X3+a 26 X2X3+a 27 X1 2 +a 28 X2 2 +a 29 X3 2 ,

[0096] Among them, Z i is the i-th index of the fruit picking machine performance index, X j is the jth parameter in the fruit picking machine operation parameters, B i is the constant term in the regression equation corresponding to the i-th index in the performance index of the fruit picking machine, a ik is the coefficient of the kth non-constant term in the regression equation corresponding to the i-th indicator in the performance index of the fruit picker, where i = 1, 2; j = 1, 2, 3; k∈[1, 9].

[0097] For example, Z1 is the picking rate, Z2 is the damage rate, X1 is the rotation speed of the fruit picking spindle 29, X2 is the seedling length, and X3 is the feeding amount.

[0098] It should be noted that, in any of the peanut picking performance indicators, if the effect of a certain parameter of the peanut picking machine operating parameters on the indicator is negligible, the relevant data item can be eliminated from the regression equation corresponding to the indicator, so that the independent variables of the multi-objective regression model only include part or all of the operating parameters of the peanut picking machine. In some embodiments, a simplified multi-objective regression model is constructed by a response surface analysis method.

[0099] In this embodiment, the target variable is a variable used to describe the performance of the peanut picking machine in response surface analysis.

[0100] Specifically, by inputting actual test data or simulation data into the response surface analysis application, each parameter in the fruit picking machine operation parameters is set as the target variable, and it is used as the experimental factor of the response surface analysis. At the same time, an appropriate factor variation range is set for multiple experimental factors. By performing response surface analysis on the target variable and the experimental factor, the result of the response surface analysis is obtained, and the result includes the initial regression equation corresponding to each target variable and the significant effect data of each experimental factor on each target variable. For any target variable, if the significant effect data of a certain experimental factor on the target variable does not reach the preset significant threshold, it can be considered that the effect of the experimental factor on the target variable can be ignored. At this time, by eliminating the data item of the factor in the target regression equation, the optimized regression equation corresponding to the target variable is obtained. Among them, the preset significant data threshold refers to the standard value used to determine whether the effect of the experimental factor on the target variable is significant. For example, the common significant data is the P value, and the preset significant threshold is usually 0.05. When the P value is less than 0.05, it is considered that the experimental factor has a significant effect on the target variable, otherwise the effect of the factor is ignored. Finally, based on the optimized regression equation corresponding to multiple target variables, a multi-objective regression model is constructed. In this model, the significance data corresponding to the independent variables in each regression equation meet the preset significance threshold.

[0101] The technical solution of this embodiment determines the independent variables of the multi-objective regression model based on the response surface analysis results between the operating parameters of the fruit picking machine and the target variables, and uses the significance data of each parameter in the operating parameters of the fruit picking machine. Through these independent variables, a simplified multi-objective regression model can be constructed, thereby effectively reducing the complexity of the model and improving the efficiency of subsequent determination of the operating parameters of the peanut fruit picking machine.

[0102] In certain embodiments, first, the regression equation corresponding to each target variable in the response surface analysis result is subjected to variance analysis to determine the significance index of the constant term, the first term, the second term and the square term in the regression equation. The significance index is used to characterize the degree of influence of each data item on the target variable. In the target regression equation, if the rotation speed of the fruit picking spindle 29, the length of the seedlings left and the feeding amount operation parameters are involved, the variance analysis can be performed by a three-factor three-level orthogonal test or a three-factor three-level test designed by the Design-Expert software. The selected three factors include the rotation speed of the fruit picking spindle 29, the length of the seedlings left and the feeding amount, and the three levels are set to low, medium and high levels according to the influence of these parameters on the performance of the fruit picking machine, as shown in Table 1, the low level is marked as -1, the medium level is marked as 0, and the high level is marked as 1. In the present embodiment, the variance analysis is performed by the Design-Expert13 software.

[0103] Table 1

[0104]

[0105] When the significance index of a data item in a target regression equation does not reach the preset significance threshold, it can be considered that the influence of the data item on the target variable can be ignored. Therefore, by eliminating the data item, the target regression equation is updated to obtain the updated regression equation corresponding to each target variable. Based on these updated regression equations, a multi-objective regression model can be constructed. The significance index can be a P value or an F value, and the preset significance threshold is used to determine whether to ignore the influence of a data item. For example, if the significance index is a P value, the preset threshold is usually 0.05.

[0106] Exemplarily, the multi-objective regression model is:

[0107] Z1=a 11 X1+a 12 X2+a 13 X3+a 15 X1X3+a 16 X2X3+a 19 X3 2 ,

[0108] Z2=B2+a 21 X1+a 22 X2+a 23 X3+a 26 X2X3+a 27 X1 2 +a 28 X2 2 +a 29 X3 2 ,

[0109] By simplifying the target regression equation based on variance analysis, this embodiment can effectively reduce the complexity of the multi-target regression model, thereby improving the efficiency of determining the operating parameters of the peanut picking machine.

[0110] In order to determine the optimal working parameters of the peanut picking machine, a multi-objective optimization method is used to solve the problem, combining genetic algorithm, particle swarm optimization algorithm or other advanced optimization algorithms. The optimization goal is usually to ensure a high picking rate while minimizing the breakage rate.

[0111] In this embodiment, the following constraints need to be met during the optimization process:

[0112] 1. Operation parameter range constraints:

[0113] X1∈[350,450],

[0114] X2∈[120,180],

[0115] X3∈[0.3,0.7],

[0116] 2. Fruit picking performance index constraints:

[0117] Z1=f(X1,X2,X3)→max,

[0118] Z2=f(X1,X2,X3)→min,

[0119] In addition, referring to the peanut picking machine harvesting standards in 2006-NYT 1042 "Agricultural Industry Standard of the People's Republic of China Peanut Picking Machine Operation Quality", the following should also be present:

[0120] Z1≥95%,

[0121] Z2≤5%,

[0122] The various operating parameters and constraint parameters of the multi-objective regression model in this embodiment can be further adjusted according to the specific peanut varieties and climatic conditions to achieve the best fruit picking effect. The optimal operating parameters obtained by the optimization algorithm can effectively improve the overall performance of the fruit picking machine and meet the needs of peanut picking operations in southern China.

[0123] The parts not mentioned in this embodiment are the same as those in the first embodiment.

[0124] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A peanut picking machine with cutting vines, characterized in that: include: A seedling shearing device, which can shear off some seedlings of peanut plants and transport them to the fruit picking device; A fruit picking device, which is arranged downstream of the seedling cutting device, and is used to receive the peanut plants after some seedlings have been cut off, and separate the fruit from the peanut plants; The cleaning device is used to receive the peanut pods, stems and leaf impurities delivered by the fruit picking device, and to perform the first separation of soil, seedlings and leaves from the peanut pods and peanut leaves, and then to perform the second separation of peanut pods and soil from the peanut pods.

2. The peanut picking machine according to claim 1, characterized in that: The seedling cutting device comprises a conveying component, a seedling pressing component and a seedling cutting component; The conveying assembly includes a conveyor belt frame, a conveyor belt, a conveyor roller and a driving motor. There are multiple conveyor rollers, each of which is rotatably connected to the conveyor belt frame. The multiple conveyor rollers are spaced apart on the conveyor belt frame. The conveyor belt is connected to the multiple conveyor rollers respectively. The driving motor is installed on the conveyor belt frame. The driving motor is connected to the conveyor roller at the end. The conveying direction of the conveyor belt is set toward the fruit picking device. The seedling pressing assembly comprises a seedling pressing frame, a rubber belt, a large round wheel and a small round wheel. The seedling pressing frame is fixed on one side of the conveyor belt frame. The large round wheel and the small round wheel are both plural in number. The large round wheels and the small round wheels are all rotatably connected to the seedling pressing frame. The rubber belt is respectively wound around the large round wheels and the small round wheels to form an annular belt. The annular belt is located above or outside the conveyor belt. At least part of the annular belt is parallel to the conveyor belt. The seedling cutting assembly comprises a motor movable frame, a first motor and a seedling cutting circular knife. The motor movable frame is slidably connected to the seedling pressing frame, the first motor is fixed on the motor movable frame, and the seedling cutting circular knife is fixedly connected to the output shaft of the first motor.

3. The peanut picking machine according to claim 1, characterized in that: The fruit picking device includes a frame, an upper shell and a fruit picking main shaft, which is rotatably connected to the frame. A plurality of discs are arranged at intervals on the fruit picking main shaft, and a plurality of fruit picking round rods are evenly arranged on the outer edges of the plurality of discs. A plurality of fruit picking rod teeth are evenly arranged in the axial direction of each fruit picking round rod, and the fruit picking rod teeth on two adjacent fruit picking round rods are staggered, and a seedling rowing plate is arranged at the end of each fruit picking round rod; the upper shell surrounds the outer side of the fruit picking main shaft, and the upper shell is provided with a feeding port and a discharging port, the seedling shearing device corresponds to the feeding port, the discharging port is used to discharge the picked peanut seedlings, and the seedling rowing plate is located on the side of the discharging port.

4. The peanut picking machine according to claim 3, characterized in that: A concave plate screen is arranged on the frame and is located below the fruit picking main shaft. The fruit picking main shaft, the disc, the fruit picking round rod and the fruit picking rod teeth form a fruit picking assembly, and a rotating pair is formed between the concave plate screen and the fruit picking assembly.

5. The peanut picking machine according to claim 3, characterized in that: The upper shell body is provided with a guide plate which is installed along the axial direction and in a spiral line.

6. The peanut picking machine according to claim 3, characterized in that: The cleaning device includes a first cleaning screen, a second cleaning screen and a cleaning screen transmission mechanism. The first cleaning screen is located below the fruit picking device, the second cleaning screen is located below the first cleaning screen, the first cleaning screen and the second cleaning screen are connected, and the cleaning screen transmission mechanism drives the second cleaning screen to move through a transmission member; the second cleaning screen is connected to the frame through a slide rail.

7. The peanut picking machine according to claim 6, characterized in that: A seedling discharge port is arranged at the end of the first cleaning screen, and a pod discharge port is arranged at the end of the second cleaning screen.

8. The peanut picking machine according to claim 6, characterized in that: The screen installed on the first cleaning screen is a long strip screen, and the screen installed on the second cleaning screen is a square hole screen.

9. A fresh fruit picking method, characterized in that: The following steps are involved: S1: Cutting seedlings: At the beginning of the work, the peanut plants are arranged in a uniform direction, placed on the conveyor belt, and pressed by the seedling pressing rack; the peanut plants are sent to the seedling cutting circular knife by the conveyor belt, and the seedling cutting circular knife cuts off part of the seedlings of the peanut plants, removing the seedlings with leaves on the top of the peanut plants, while the other part of the peanut plants with pods enter the inside of the fruit picking device through the conveyor belt and the feeding port; S2: Separation of pods and discharge of seedlings: Peanut plants enter the fruit picking device. Under the rotation of the fruit picking device, the peanut plants, the fruit picking rod teeth and the concave screen continuously hit and comb each other, thereby separating the peanut pods from the peanut seedlings. At the same time, the cleaned seedlings are transported to the discharge port and thrown out by the seedling discharge plate under the joint action of the fruit picking device, the concave screen and the guide plate arranged inside the upper shell. S3: Preliminary separation: The separated peanut pods and other impurities pass through the concave screen and fall down to the first cleaning screen of the cleaning device. Driven by the transmission mechanism of the cleaning screen, the cleaning device continuously reciprocates to push the materials on the screen surface. The stems and leaves are isolated by the first cleaning screen and transported to the discharge port of the seedlings for discharge, thus completing the preliminary separation of peanut pods and other impurities. S4: Secondary cleaning and separation: Peanut pods and soil pass through the first cleaning screen and continue to enter the second cleaning screen for fine separation. Soil and other larger impurities fall to the ground through the second cleaning screen, while peanut pods are guided to the pod discharge port through the second cleaning screen; S5: Pod collection: The peanut pods cleaned by the cleaning device are sent to the pod discharge port and collected into bags, completing the pod picking operation.

10. A method for optimizing working parameters of a seedling-cutting peanut picking machine, characterized in that: The following steps are involved: A: Obtain the operating parameters and performance indicators of the peanut picking machine during the picking operation. The operating parameters include the rotation speed of the picking spindle, the length of the seedlings left, and the feeding amount. The performance indicators include the picking rate and the damage rate. B: A multi-objective regression model is constructed based on the peanut picking machine's operating parameters. The independent variables of the multi-objective regression model include part or all of the peanut picking machine's operating parameters, and the dependent variables of the multi-objective regression model include the picking performance index. C: Based on the operating parameters of the peanut picking machine as independent variables, a response surface analysis is conducted on the performance indicators of the peanut picking machine; based on the results of the response surface analysis, the significance data of each fruit picking performance indicator is determined; based on these significance data, the independent variables of the multi-objective regression model are determined; D: Based on the multi-objective optimization method, combined with genetic algorithm or particle swarm optimization algorithm, the optimal working parameters of the peanut picking machine are determined.

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