A peanut fruit picking machine with shearing seedlings, a working parameter optimization method thereof and a fresh fruit picking method

Abstract

The present application relates to a peanut picking machine, a method for optimizing working parameters of the peanut picking machine and a method for picking fresh fruits, comprising: a seedling cutting device, the seedling cutting device is capable of cutting part of seedlings of peanut plants and conveying the part of seedlings to a fruit picking device; the fruit picking device is arranged downstream of the seedling cutting device, the fruit picking device is used for receiving the peanut plants after cutting part of the seedlings and separating the seedlings and fruits of the peanut plants; a cleaning device, the cleaning device is used for receiving peanut pods, stems and leaf impurities conveyed by the fruit picking device, and performing first separation of the peanut pods and peanut leaves from soil, seedlings and leaves, and second separation of the peanut pods from soil. The peanut picking machine cuts part of the seedlings of the peanut plants before picking the fruits, reduces the shielding of the pods by the seedlings, improves the efficiency of the peanut picking machine and reduces the incomplete picking or damage of the fruits caused by uneven plants. The present application belongs to the technical field of peanut harvesting equipment.

Description

Technical Field

[0001] This invention relates to the field of peanut harvesting equipment technology, specifically to a peanut pruning and pod-picking machine and its operating parameter optimization method, as well as a fresh pod-picking method. Background Technology

[0002] Currently, peanut harvesting machines on the market mainly operate through mechanical vibration, drum impact, and airflow separation. Based on the feeding method, they can be divided into semi-feeding and full-feeding types. Semi-feeding harvesters struggle to completely remove all peanuts when faced with a large influx of vines and peanuts, especially if the vines and peanuts are too thick. Full-feeding harvesters, on the other hand, face increased difficulty due to the vine leaves covering the peanuts. Furthermore, my country has a wide range of peanut-growing regions and varieties, making it difficult for existing peanut harvesting machines to fully adapt to different varieties and growth stages. This is particularly true in southern regions, where peanut farming is often small-scale, with scattered plots and small areas, placing higher demands on the flexibility, size, and ease of operation of machinery. The southern climate is rainy and hot, with frequent rainfall during the peanut harvest season, resulting in high moisture content in the fresh peanuts. Locally, the drying period is usually short, so the fresh peanuts are processed directly. Therefore, mechanized peanut harvesting in the south is primarily focused on fresh peanut processing.

[0003] In summary, the current challenges in mechanizing peanut harvesting in southern China are as follows: First, how to improve the adaptability of harvesters to different peanut varieties and their ability to operate in special terrains, given the diverse peanut varieties, different growth stages, and the complex terrain of small plots and hilly areas in southern China; second, how to improve harvesting efficiency while ensuring fruit quality; and third, how to efficiently remove cleaned peanut pods from moist seedlings and soil. Summary of the Invention

[0004] To address the technical problems existing in the prior art, the purpose of this invention is to provide a peanut pod harvester with vine cutting and a method for optimizing its working parameters, as well as a method for harvesting fresh pods, thereby solving the problem that existing peanut pod harvesters have low harvesting efficiency and are unable to remove peanut pods from seedlings and soil.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] Peanut vine trimming and harvesting machine, including:

[0007] The seedling cutting device can cut off part of the peanut plant seedlings and transport them to the fruit picking device;

[0008] The fruit-picking device is located downstream of the seedling-cutting device. The fruit-picking device is used to receive peanut plants after some seedlings have been cut off and to separate the peanut plants from the pods.

[0009] The cleaning device receives peanut pods, stems, and leaves from the harvesting device, and performs a first separation of soil, seedlings, and leaves from the peanut pods and leaves, followed by a second separation of peanut pods from soil.

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

[0011] The conveying assembly includes a conveyor belt frame, a conveyor belt, conveyor rollers, and a drive motor. There are multiple conveyor rollers, all of which are 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 drive motor is mounted on the conveyor belt frame and is connected to the conveyor rollers located at the ends. The conveying direction of the conveyor belt is set towards the fruit picking device.

[0012] The seedling pressing assembly includes a seedling pressing frame, a rubber belt, large wheels, and small wheels. The seedling pressing frame is fixed to one side of the conveyor belt frame. There are multiple large wheels and multiple small wheels, all of which are rotatably connected to the seedling pressing frame. The rubber belt is wrapped around the multiple large wheels and multiple small wheels to form a ring belt. The ring belt is located above or outside the conveyor belt, and at least part of the ring belt is parallel to the conveyor belt.

[0013] The seedling pruning assembly includes a motor movable frame, a first motor, and a seedling pruning blade. 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 pruning blade is fixedly connected to the output shaft of the first motor.

[0014] As a preferred embodiment, the picking device includes a frame, an upper shell, and a picking main shaft. The picking main shaft is rotatably connected to the frame. Multiple discs are spaced apart on the picking main shaft, and multiple picking rods are evenly arranged along the outer edge of the discs. Multiple picking rod teeth are evenly arranged along the axial direction of each picking rod, and the picking rod teeth on adjacent picking rods are staggered. A seedling discharge plate is provided at the end of each picking rod. The upper shell surrounds the outside of the picking main shaft and has an inlet and a outlet. The seedling cutting device corresponds to the inlet, and the outlet is used to discharge the picked peanut seedlings. The seedling discharge plate is located to the side of the outlet.

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

[0016] As a preferred embodiment, the upper housing has a guide vane installed along the axial direction and in a helical pattern.

[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, and the second cleaning screen is located below the first cleaning screen. The first and second cleaning screens are connected. The cleaning screen transmission mechanism drives the second cleaning screen to move through a transmission component. The second cleaning screen is connected to the frame through a slide rail.

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

[0019] As a preferred option, the first cleaning screen is equipped with a long strip screen, and the second cleaning screen is equipped with a square hole screen.

[0020] Fresh fruit picking methods include the following steps:

[0021] S1: Seedling Cutting: At the start of the work, peanut plants are arranged in a uniform direction, placed on a conveyor belt, and pressed down by a seedling pressing frame; the peanut plants are conveyed to the seedling cutting blade by the conveyor belt, the seedling cutting blade cuts off part of the peanut plant seedlings, removing the top leafy seedlings of the peanut plant, while the other part of the peanut plant with pods enters the pod-picking device through the feed inlet via the conveyor belt;

[0022] S2: Peanut pod separation and seedling discharge: Peanut plants enter the pod-picking device. Under the rotation of the pod-picking device, the peanut plants are constantly struck and brushed by the pod-picking rod teeth and concave sieve, 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 combined action of the pod-picking device, the concave sieve and the guide plate set inside the upper shell.

[0023] S3: Preliminary separation: After separation, the peanut pods and other impurities fall through the concave screen 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 material 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 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: After being cleaned by the cleaning device, the peanut pods are sent to the pod discharge port and collected into bags, completing the pod picking operation.

[0026] The method for optimizing the working parameters of a peanut hulling and hulling machine includes the following steps: A: Obtain the working parameters and hulling performance indicators of the peanut hulling machine during the hulling operation. The working parameters include the rotation speed of the hulling main shaft, the length of the hull left, and the feeding amount. The hulling performance indicators include the hulling rate and the breakage rate.

[0027] B: Construct a multi-objective regression model based on the peanut picking machine's picking operation parameters. The independent variables of the multi-objective regression model include some or all of the peanut picking machine's operation parameters, and the dependent variables of the multi-objective regression model include picking performance indicators.

[0028] C: Based on the operating parameters of the peanut harvester as independent variables, a response surface analysis was conducted on the peanut harvesting performance indicators; based on the results of the response surface analysis, the significance data of each harvesting performance indicator were determined; based on these significance data, the independent variables of the multi-objective regression model were determined.

[0029] D: Based on multi-objective optimization methods, combined with genetic algorithms or particle swarm optimization algorithms, the optimal operating parameters of the peanut harvester are determined.

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

[0031] 1. The seedling cutting device in this invention uses a combination of a seedling pressing frame, a conveyor belt, and a circular cutting blade to press and cut the seedlings, achieving precise removal of a portion of the peanut seedlings. This significantly improves the pod-to-vine ratio of the peanut plant, allowing the peanut pods to be fully and clearly exposed. By reducing the shading of the pods by the seedlings, the contact area and friction between the peanut pods and the picking device are increased during the picking process, thereby promoting effective separation between the peanut pods and the seedlings. This picking method not only improves the efficiency and thoroughness of picking but also standardizes the length of the peanut plant during picking operations, regardless of the peanut variety or growth stage. The seedling cutting step effectively controls the height and shape of the peanut seedlings, making them more suitable for the operation requirements of the picking machine. This improvement enhances the versatility and adaptability of the picking machine, reducing incomplete picking or fruit damage caused by uneven plant growth.

[0032] 2. The fruit-picking machine of this invention has a compact and elegant overall size, and its seedling-cutting device adopts an external installation design. This external installation method effectively avoids the need to modify the complex internal structure of the fruit-picking machine, achieving optimization and integration from a spatial layout perspective, and ensuring the stability and efficiency of equipment operation. In small plots and hilly areas in southern regions, traditional large-scale agricultural equipment is difficult to fully utilize its operational efficiency due to space limitations and terrain complexity. However, this device, with its unique attributes of being detachable and easily transportable, can be flexibly deployed and operate efficiently in complex working environments, highly adaptable to the actual operational needs of the peanut industry in southern regions, significantly improving the flexibility and applicability of the operation process, and providing strong support for promoting the high-efficiency process of agricultural production.

[0033] 3. In the peanut picking device of this invention, the adjacent teeth on the same picking rod are spaced far apart, and the teeth of adjacent picking rods are staggered. This design effectively improves the efficiency and thoroughness of picking. Due to the larger spacing between the teeth, excessive squeezing of the peanuts during picking is avoided, reducing damage to the peanuts. At the same time, the staggered teeth better cooperate with the seedlings, preventing the seedlings from getting stuck or obstructing the picking process, ensuring smooth separation of the peanuts and improving the picking rate.

[0034] 4. The peanut harvesting machine of the present invention effectively separates impurities such as peanut leaves and pods through a first and second cleaning screen in high-speed reciprocating motion. First, the peanut pods are initially separated from soil, seedlings, and leaves by the first cleaning screen. Then, the second cleaning screen further refines the separation, separating the peanut pods from residual soil. Furthermore, the slide rail is inclined and installed below the frame, providing not only restriction and support for the movement direction of the first and second cleaning screens, but also effectively guiding impurities and peanut pods towards the discharge port, ensuring a smooth cleaning process and facilitating the collection and processing of impurities and peanut pods. This structural design greatly improves operational efficiency, especially in fresh-harvesting environments, effectively removing cleaned peanut pods from moist seedlings, soil, and other impurities, ensuring fruit quality, and significantly improving overall operational efficiency.

[0035] 5. The peanut harvester of this invention integrates multiple processes such as peanut plant feeding, harvesting, pod removal, vine removal, and cleaning into one unit, achieving continuous and automated operation. This integrated operation greatly simplifies the work process and reduces the need for equipment transfer and manual intervention. Compared with traditional sliding-flow peanut harvesters, the slitting-type axial-flow peanut harvester excels in terms of feeding capacity, harvesting rate, and ease of movement, significantly improving overall work efficiency and economic benefits. Attached Figure Description

[0036] Figure 1 This is a 3D image of a peanut harvesting machine that cuts off seedlings.

[0037] Figure 2 This is an internal structural view of a peanut harvester.

[0038] Figure 3 This is a rear view of a peanut harvester.

[0039] Figure 4 This is a side view of a peanut harvester.

[0040] Figure 5 This is a schematic diagram of the seedling cutting device of the present invention.

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

[0042] Figure 7 This is a perspective view of the concave plate sieve of the present invention.

[0043] Figure 8 This is a schematic diagram of the structure of the first cleaning sieve of the present invention.

[0044] Figure 9 This is a schematic diagram of the structure of the second cleaning sieve of the present invention.

[0045] Among them, 1 is the seedling pressing frame, 2 is the conveyor belt frame, 3 is the first motor, 4 is the motor movable frame, 5 is the large circular wheel, 6 is the rubber belt, 7 is the seedling cutting circular blade, 8 is the seedling cutting device, 9 is the feed inlet baffle, 10 is the upper shell, 11 is the frame, 12 is the seedling collection box, 13 is the first cleaning screen, 14 is the second cleaning screen, 15 is the frame baffle, 16 is the slide rail, 17 is the front baffle, 18 is the guide plate, 19 is the main shell, 20 is the rear baffle, 21 is the fruit picking device, 22 is the long strip screen, 23 is the square hole screen, 24 is the concave plate screen, 25 is the pulley, 26 is the cleaning screen transmission mechanism, and 27 is the first Belt pulley, 28 is the second belt pulley, 29 is the main fruit-picking shaft, 30 is the disc, 31 is the fruit-picking rod, 32 is the fruit-picking rod tooth, 33 is the seedling-distributing plate, 34 is the first bearing seat, 35 is the first connecting block, 36 is the second connecting block, 37 is the small wheel, 38 is the conveyor belt, 39 is the support component, 40 is the pulley frame, 41 is the pulley shaft, 42 is the protrusion, 43 is the connecting component, 44 is the second bearing seat, 45 is the drive 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, 51 is the feed inlet, and 52 is the discharge outlet. Detailed Implementation

[0046] The present invention will now be described in further detail with reference to specific embodiments.

[0047] Example 1

[0048] like Figures 1-9 As shown, the peanut harvester provided in this embodiment includes:

[0049] The seedling cutting device 8 can cut off part of the peanut plant seedlings and transport them to the fruit picking device 21.

[0050] The fruit-picking device 21 is located downstream of the seedling-cutting device 8. The fruit-picking device 21 is used to receive peanut plants after some seedlings have been cut off and to separate the peanut plants from the pods.

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

[0052] The seedling cutting device 8 includes 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, conveyor rollers, and a drive motor. There are multiple conveyor rollers, all of which 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 drive motor is mounted on the conveyor belt frame 2 and is connected to the conveyor rollers located at the ends. The conveying direction of the conveyor belt 38 is set towards the fruit picking device 21.

[0054] The seedling pressing assembly includes a seedling pressing frame 1, a rubber belt 6, large wheels 5, and small wheels 37. The seedling pressing frame 1 is fixed to one side of the conveyor belt frame 2. There are multiple large wheels 5 and multiple small wheels 37. The multiple large wheels 5 and multiple small wheels 37 are rotatably connected to the seedling pressing frame 1. The rubber belt 6 is wrapped around the multiple large wheels 5 and multiple small 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 blade 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 blade 7 is fixedly connected to the output shaft of the first motor 3. Specifically, the seedling cutting device 8 is located outside the pod-picking device 21 and is mainly used to cut off peanut seedlings to ensure that the pods are fully exposed. The large wheel 5 and the small wheel 37 are mounted on the seedling pressing frame 1 via shafts and bearing seats. For example, there are two large wheels 5 and two small wheels 37. The two large wheels 5 are located on the same horizontal plane, and the two small wheels 37 are located on the same horizontal plane. The height of the large wheels 5 on the seedling pressing frame 1 is higher than that of the small wheels 37. The interval between the two large wheels 5 is greater than the interval between the two small wheels 37. The rubber belt 6 is wrapped around the two large wheels 5 and the two small wheels 37 to form a trapezoidal ring belt. The rubber belt 6 is in a taut state. By setting the rubber belt 6 above the conveyor belt 38, the peanut plants conveyed on the conveyor belt 38 are pressed down, so that the peanut plants will not fall off the conveyor belt 38 when they are cut by the seedling cutting round blade 7. The cutting blade 7 is powered by the first motor 3. The first motor 3 is bolted to the motor movable frame 4. The motor movable frame 4 can move a certain distance on the pressing frame 1 to adjust the cutting length (for example, by sliding through a slide rail structure, and can be locked by locking bolts against the motor movable frame 4).

[0056] The peanut harvesting device 21 includes a frame 1, an upper housing 10, and a harvesting main shaft 29. The harvesting main shaft 29 is rotatably connected to the frame. Multiple discs 30 are spaced apart on the harvesting main shaft 29. Multiple harvesting rods 31 are evenly arranged along the outer edge of each disc 30. Multiple harvesting rod teeth 32 are evenly arranged axially on each harvesting rod 31. The harvesting rod teeth 32 on adjacent harvesting rods 31 are staggered. A seedling discharge plate 33 is provided at the end of each harvesting rod 31. The upper housing 10 surrounds the outside of the harvesting main shaft 29. The upper housing 10 has an inlet 51 and a outlet 52. A seedling trimming device 8 corresponds to the inlet. The outlet is used to discharge the harvested peanut seedlings. The seedling discharge plate 33 is located above the outlet. Specifically, first bearing seats 34 are provided on both sides of the frame. Bearings are installed on the first bearing seats 34. The first bearing seats 34 are bolted to the frame. A diesel engine frame is welded to the frame. The stalk discharge plate 33 is located at the end of the picking rod 31, corresponding to the discharge port, and provides a throwing force for the cleaned peanut stalks. A diesel engine is mounted on the diesel engine frame, providing power to the picking device 21 and the cleaning device. For example, the diesel engine is driven by a belt and pulleys; the output shaft of the diesel engine is connected to the second pulley 28; the first pulley 27 and the 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. Mounting screws are welded to the diesel engine mounting plate on the frame, allowing for vertical adjustment of the diesel engine's mounting position, facilitating tensioning and alignment of 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, and four inlet baffles 9 are connected around the notch to form an inlet.

[0058] A concave screen is installed on the frame, located below the picking main shaft 29. The picking main shaft 29, disc 30, picking rod 31, and picking rod teeth 32 constitute the picking assembly, and a rotating pair is formed between the concave screen and the picking assembly. Specifically, the concave screen is fixed to the frame with bolts to ensure stability and adjustability. The concave screen has multiple holes, the number and size of which are determined according to design standards to meet the picking requirements. A seedling collection box 12 is bolted to the side of the concave screen to collect peanut seedlings after the picking operation, which are then ejected from the picking machine by the seedling discharge plate 33.

[0059] The upper shell 10 has a guide plate 18 installed along the axial direction and in a spiral pattern. The guide plate 18 has an arc-shaped structure, which guides the peanut seedlings to move towards the discharge port and prevents them from being blocked or tangled.

[0060] The frame is provided with a frame baffle 15, and the upper housing 10 and the frame baffle 15 are respectively connected to the frame to form the entire housing.

[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 component. 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 connector 43, a pin 50, and a first connecting block 35. A fourth bearing seat 47 is mounted on the frame. The first bevel gear 48 and the second pulley are respectively connected to both 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 both ends of the transmission shaft 45. The second bevel gear 49 and the first bevel gear 48 mesh. The transmission shaft 45 is mounted on the frame through a third bearing seat 46 and a second bearing seat 44. One end of the connector 43 is hinged to the protrusion 42, and the other end of the connector 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 by the second connecting block 36. A long strip screen 22 is bolted onto the first cleaning screen 13, and a square-hole screen 23 with clearly defined single holes is bolted onto the second cleaning screen 14. The seedling outlet of the first cleaning screen 13 is used to collect seedlings and leaves, while the pod outlet of the second cleaning screen 14 is used to collect pods. A support member 39 is located below the second cleaning screen 14, and a pulley frame 40 is welded to the support member 39. A pulley shaft 41 passes through the pulley frame 40 and connects to the pulley 25. A slide rail 16 is welded obliquely to the frame, and the pulley 25 is installed inside the slide rail 16.

[0064] The first cleaning screen 13 has a seedling discharge port at its end, and the second cleaning screen 14 has a pod discharge port at its end.

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

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

[0067] The frame has multiple adjustment holes for adjusting the gap between the concave sieve 24 and the fruit picking component. The components can be connected to the corresponding adjustment holes by bolts.

[0068] Example 2

[0069] The fresh fruit harvesting method provided in this embodiment includes the following steps:

[0070] S1: Cutting seedlings: At the start of the work, the peanut plants are arranged in a uniform direction and placed on the conveyor belt 38, and the peanut plants are pressed tightly by the seedling pressing frame 1; the peanut plants are sent to the seedling cutting round blade 7 by the conveyor belt 38, the seedling cutting round blade 7 cuts off part of the peanut plants, removes the top leafy seedlings of the peanut plants, and the other part of the peanut plants with pods enter the fruit picking device 21 through the feed inlet via the conveyor belt 38;

[0071] S2: Peanut pod separation and seedling discharge: Peanut plants enter the pod-picking device 21. Under the rotation of the pod-picking device 21, the peanut plants continuously strike and comb against the pod-picking rod teeth 32 and the concave sieve 24, 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 33 under the combined action of the pod-picking device 21, the concave sieve 24 and the guide plate 18 set 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 material on the screen surface. The stems and leaves are isolated by the first cleaning screen 13 and transported to the seedling outlet for discharge, thus 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 the second cleaning screen 14 for fine separation. Soil and other larger impurities fall to the ground through the second cleaning screen 14, while peanut pods are guided to the pod discharge port through the second cleaning screen 14.

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

[0075] The method in this embodiment can be applied to both dried peanut plants and fresh, wet peanut plants.

[0076] In this embodiment, peanut plants of the "Yueyouhong No. 1" variety were placed inside a peanut harvesting machine for testing. Compared to traditional equipment, the precise stalk-cutting design increased the pod-to-stalk ratio of freshly harvested peanut plants from 0.49 to 1.15, significantly improving pod exposure and thus enhancing the thoroughness and integrity of harvesting. Furthermore, under operating conditions of a harvesting spindle speed of 400 r / min, a stalk length of 140 mm, and a feed rate of 0.5 kg / s, the harvesting efficiency reached 95.62%, with a breakage rate of less than 2.5%. Therefore, the peanut harvesting machine and harvesting method provided in this embodiment effectively improve operational efficiency and significantly enhance the integrity and quality of harvested peanuts, providing a reliable guarantee for the mechanized harvesting of fresh, wet peanuts.

[0077] The parts not mentioned in this embodiment are the same as in Embodiment 1.

[0078] Example 3

[0079] The method for optimizing the working parameters of the peanut harvester provided in this embodiment includes the following steps:

[0080] A: Obtain the operating parameters and performance indicators of the peanut harvester during the harvesting operation. The operating parameters include the rotation speed of the harvesting main shaft 29, the length of the vine left, and the feed amount. The harvesting performance indicators include the harvesting rate and the breakage rate.

[0081] B: Construct a multi-objective regression model based on the peanut picking machine's picking operation parameters. The independent variables of the multi-objective regression model include some or all of the peanut picking machine's operation parameters, and the dependent variables of the multi-objective regression model include picking performance indicators.

[0082] C: Based on the operating parameters of the peanut harvester as independent variables, a response surface analysis was conducted on the peanut harvesting performance indicators; based on the results of the response surface analysis, the significance data of each harvesting performance indicator were determined; based on these significance data, the independent variables of the multi-objective regression model were determined.

[0083] D: Based on multi-objective optimization methods, combined with genetic algorithms or particle swarm optimization algorithms, the optimal operating parameters of the peanut harvester are determined.

[0084] In this embodiment, the operating parameters of the peanut harvester are key factors affecting its harvesting performance, and the harvesting performance indicators are used to describe the quality of the harvester's harvesting performance. The rotational speed of the harvesting spindle 29 and the rotational speed of the disc 30 are the rotational angular velocities of the harvesting device 21. These parameters directly affect the harvesting rate and the breakage rate. Higher rotational speeds can increase the harvesting rate but may lead to fruit breakage, while lower rotational speeds help reduce the breakage rate but may lead to a lower harvesting rate. The stalk length is the vertical distance from the peanut plant's cutting point to the peanut pod closest to the ground. It refers to the length of the stalk with pods remaining after the top part of the peanut plant has been removed by the pruning device 8 during the peanut harvesting operation. The feed rate is the mass of peanut plants entering the harvesting device 21 for harvesting per unit time; the amount of feed directly affects the performance of the harvester and the overall harvesting efficiency. The removal rate is the percentage of pods removed during the harvesting process out of the total pod weight, while the breakage rate is the percentage of broken peanut pods during the harvesting process out of the total pod weight. These two indicators are usually mutually restrictive; increasing the removal rate may lead to an increase in the breakage rate.

[0085] For example, the removal rate and breakage rate can be calculated using the following formula:

[0086]

[0087] Wherein, P1 is the picking rate (%); W is the total weight of peanut pods (g); W1 is the weight of unpicked peanut pods (g); P2 is the damage rate (%); and W2 is the weight of broken peanut pods (g).

[0088] For example, the parameters can be set to a fruit-picking spindle speed of 400 r / min, a vine length of 140 mm, and a feeding rate of 0.5 kg / s.

[0089] The operating parameters of the peanut harvester can be real data or simulation data; this embodiment does not impose any restrictions on this. A multi-objective regression model is constructed based on the peanut harvester's harvesting operating parameters. The independent variables of the multi-objective regression model include some or all of the peanut harvester's operating parameters, and the dependent variable of the multi-objective regression model includes harvesting performance indicators.

[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 harvester and multiple harvesting performance indicators (harvesting rate and breakage rate). This model can simultaneously consider multiple operating objectives and reveal the impact of each parameter on these objectives, providing a basis for optimizing the performance of the peanut harvester.

[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 harvester and multiple harvesting performance indicators (harvesting rate and breakage rate). This model can simultaneously consider multiple operating objectives and reveal the impact of each parameter on these objectives, providing a basis for optimizing the performance of the peanut harvester.

[0092] The operating parameters of the peanut harvester can be real data or simulation data; this embodiment does not impose any restrictions. By fitting the relationship between the operating parameters and harvesting performance indicators based on real experimental data or simulation data, a 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 peanut harvester's operating parameters on multiple operating results. The regression equations are multivariate quadratic equations.

[0093] For example, a multi-objective regression model can be represented 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 X is the i-th performance indicator in the fruit picking machine. j B is the j-th parameter in the fruit picking machine's operating parameters. i Let a be the constant term in the regression equation corresponding to the i-th performance index of the fruit picking machine. ik Let be the coefficient of the k-th non-constant term in the regression equation corresponding to the i-th performance index of the fruit picker, where i = 1, 2; j = 1, 2, 3; k ∈ [1, 9].

[0097] For example, Z1 is the fruit picking rate, Z2 is the damage rate, X1 is the rotation speed of the fruit picking main shaft at 29, X2 is the sapling length, and X3 is the feed amount.

[0098] It should be noted that, for any performance index of a peanut harvester, if the influence of a certain parameter of the peanut harvester's operating parameters on that index is negligible, then the relevant data item can be removed from the regression equation corresponding to that index. This allows the independent variables of the multi-objective regression model to include only some or all of the harvester's operating parameters. In some embodiments, a simplified multi-objective regression model is constructed using response surface methodology.

[0099] In this embodiment, the target variable is the variable used in response surface methodology to describe the performance of the peanut harvester.

[0100] Specifically, by inputting actual experimental data or simulation data into the response surface methodology (RSM) application, each parameter in the fruit-picking machine's operating parameters is set as the target variable and used as the experimental factors in the RSM. Simultaneously, appropriate ranges of variation are set for multiple experimental factors. RSM results are obtained by performing RSM on the target variables and experimental factors. These results include the initial regression equation for each target variable and the significance data of each experimental factor on each target variable. For any target variable, if the significance data of a certain experimental factor on that target variable does not reach the preset significance threshold, the influence of that experimental factor on the target variable can be considered negligible. In this case, by removing the data item of that factor from the target regression equation, the optimized regression equation corresponding to that target variable is obtained. The preset significance threshold refers to the standard value used to determine whether the influence of an experimental factor on the target variable is significant. For example, a common significance threshold is the P-value, and the preset significance threshold is usually 0.05. When the P-value is less than 0.05, the experimental factor is considered to have a significant influence on the target variable; otherwise, the influence of the factor is ignored. Finally, a multi-objective regression model is constructed based on the optimized regression equations corresponding to multiple target variables. In this model, the significance data corresponding to the independent variables in each regression equation all meet the preset significance threshold.

[0101] The technical solution in this embodiment determines the independent variables of a multi-objective regression model by using the significance data of each parameter in the peanut harvester's operating parameters based on the response surface analysis results between the harvester's operating parameters and the target variable. These independent variables allow for the construction of a simplified multi-objective regression model, effectively reducing model complexity and improving the efficiency of subsequent determination of peanut harvester operating parameters.

[0102] In some embodiments, an analysis of variance (ANOVA) is first performed on the regression equations corresponding to each target variable in the response surface methodology to determine the significance indices of the constant, linear, quadratic, and square terms in the regression equations. The significance indices characterize the degree of influence of each data item on the target variable. If the target regression equation involves operating parameters such as the rotational speed of the fruit-picking spindle 29, the seedling length, and the feeding rate, the ANOVA can be performed using a three-factor, three-level orthogonal experiment or a three-factor, three-level experiment designed with Design-Expert software. The selected three factors include the rotational speed of the fruit-picking spindle 29, the seedling length, and the feeding rate. The three levels are set as low, medium, and high based on 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 as 0, and the high level as 1. In this embodiment, the ANOVA is performed using Design-Expert 13 software.

[0103] Table 1

[0104]

[0105] When the significance index of a data item in a target regression equation fails to reach a preset significance threshold, the impact of that data item on the target variable can be considered negligible. Therefore, by removing that data item and updating the target regression equation, an updated regression equation corresponding to each target variable can be obtained. Based on these updated regression equations, a multi-objective regression model can be constructed. The significance index can be either a p-value or an F-value, and the preset significance threshold is used to determine whether to ignore the impact of a data item. For example, if the significance index is a p-value, the preset threshold is usually 0.05.

[0106] For example, a multi-objective regression model is as follows:

[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 analysis of variance, this embodiment can effectively reduce the complexity of the multi-objective regression model, thereby improving the efficiency of determining the operating parameters of the peanut harvester.

[0110] To determine the optimal operating parameters of a peanut harvester, a multi-objective optimization method is used, combining genetic algorithms, particle swarm optimization, or other advanced optimization algorithms. The optimization objective is typically to minimize the breakage rate while ensuring a high harvesting 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 constraints:

[0117] Z1 = f(X1, X2, X3) → max,

[0118] Z2=f(X1,X2,X3)→min,

[0119] In addition, referring to the peanut harvesting standards in the 2006-NYT 1042 "Operating Quality of Peanut Harvesters" agricultural industry standard of the People's Republic of China, the following should also be considered:

[0120] Z1≥95%,

[0121] Z2≤5%,

[0122] In this embodiment, the various operational and constraint parameters of the multi-objective regression model can be further adjusted according to specific peanut varieties and climatic conditions to achieve the best harvesting effect. The optimal operational parameters obtained through the optimization algorithm can effectively improve the overall performance of the harvester and meet the needs of peanut harvesting operations in southern regions.

[0123] The parts not mentioned in this embodiment are the same as in Embodiment 1.

[0124] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A peanut vine shearing and pod-picking machine, characterized in that, include: The seedling cutting device can cut off part of the peanut plant seedlings and transport them to the fruit picking device; The fruit-picking device is located downstream of the seedling-cutting device. The fruit-picking device is used to receive peanut plants after some seedlings have been cut off and to separate the peanut plants from the pods. The cleaning device is used to receive peanut pods, stems and leaves conveyed by the picking device, and to perform the first separation of soil, seedlings and leaves from peanut pods and leaves, and then to perform the second separation of peanut pods and soil from peanut pods. The seedling cutting device includes a conveying component, a seedling pressing component, and a seedling cutting component; The conveying assembly includes a conveyor belt frame, a conveyor belt, conveyor rollers, and a drive motor. There are multiple conveyor rollers, all of which are 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 drive motor is mounted on the conveyor belt frame and is connected to the conveyor rollers located at the ends. The conveying direction of the conveyor belt is set towards the fruit picking device. The seedling pressing assembly includes a seedling pressing frame, a rubber belt, large wheels, and small wheels. The seedling pressing frame is fixed to one side of the conveyor belt frame. There are multiple large wheels and multiple small wheels, all of which are rotatably connected to the seedling pressing frame. The rubber belt is wrapped around the multiple large wheels and multiple small wheels to form a ring belt. The ring belt is located above or outside the conveyor belt, and at least part of the ring belt is parallel to the conveyor belt. The seedling pruning assembly includes a motor movable frame, a first motor, and a seedling pruning round blade. 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 pruning round blade is fixedly connected to the output shaft of the first motor. The fruit-picking device includes a frame, an upper shell, and a fruit-picking main shaft. The fruit-picking main shaft is rotatably connected to the frame. Multiple discs are spaced apart on the fruit-picking main shaft. Multiple fruit-picking rods are evenly arranged along the outer edge of the discs. Multiple fruit-picking rod teeth are evenly arranged along the axial direction of each fruit-picking rod. The fruit-picking rod teeth on adjacent fruit-picking rods are staggered. A seedling-discharging plate is provided at the end of each fruit-picking rod. The upper shell surrounds the outside of the fruit-picking main shaft. The upper shell has an inlet and a outlet. The seedling-cutting device corresponds to the inlet. The outlet is used to discharge the picked peanut seedlings. The seedling-discharging plate is located to the side of the outlet. A concave screen is installed on the frame, located below the fruit-picking main shaft. The fruit-picking main shaft, disc, fruit-picking rod, and fruit-picking rod teeth constitute the fruit-picking assembly. A rotating pair is formed between the concave screen and the fruit-picking assembly. The upper housing has a guide vane installed along the axial direction and in a helical pattern; 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, and the second cleaning screen is located below the first cleaning screen. The first and second cleaning screens are connected. The cleaning screen transmission mechanism drives the second cleaning screen to move through a transmission component. The second cleaning screen is connected to the frame through a slide rail.

2. The peanut vine-cutting and fruit-picking machine according to claim 1, characterized in that: The first cleaning screen has a seedling outlet at its end, and the second cleaning screen has a pod outlet at its end.

3. The peanut harvesting machine according to claim 1, characterized in that: The first cleaning screen is equipped with a long strip screen, and the second cleaning screen is equipped with a square hole screen.

4. A method for harvesting fresh fruit, characterized in that, The fresh fruit harvesting method using the peanut harvesting machine according to any one of claims 1-3 includes the following steps: S1: Seedling Cutting: At the start of the work, peanut plants are arranged in a uniform direction, placed on a conveyor belt, and pressed down by a seedling pressing frame; the peanut plants are conveyed to the seedling cutting blade by the conveyor belt, the seedling cutting blade cuts off part of the peanut plant seedlings, removing the top leafy seedlings of the peanut plant, while the other part of the peanut plant with pods enters the pod-picking device through the feed inlet via the conveyor belt; S2: Peanut pod separation and seedling discharge: Peanut plants enter the pod-picking device. Under the rotation of the pod-picking device, the peanut plants are constantly struck and brushed by the pod-picking rod teeth and concave sieve, 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 combined action of the pod-picking device, the concave sieve and the guide plate set inside the upper shell. S3: Preliminary separation: After separation, the peanut pods and other impurities fall through the concave screen 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 material 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 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: After being cleaned by the cleaning device, the peanut pods are sent to the pod discharge port and collected into bags, completing the pod picking operation.

5. A method for optimizing the working parameters of a peanut pruning and harvesting machine, characterized in that: The working parameter optimization method using the peanut harvester described in any one of claims 1-3 includes the following steps: A: Obtain the operating parameters and performance indicators of the peanut harvester during the harvesting operation. The operating parameters include the rotation speed of the harvesting spindle, the length of the vine left, and the feed rate. The performance indicators include the harvesting rate and the breakage rate. B: Construct a multi-objective regression model based on the peanut picking machine's picking operation parameters. The independent variables of the multi-objective regression model include some or all of the peanut picking machine's operation parameters, and the dependent variables of the multi-objective regression model include picking performance indicators. C: Based on the operating parameters of the peanut harvester as independent variables, a response surface analysis was conducted on the peanut harvesting performance indicators; based on the results of the response surface analysis, the significance data of each harvesting performance indicator were determined; based on these significance data, the independent variables of the multi-objective regression model were determined. D: Based on multi-objective optimization methods, combined with genetic algorithms or particle swarm optimization algorithms, the optimal operating parameters of the peanut harvester are determined.

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