An adaptive bean threshing device and control method based on shear thickening fluid

Abstract

The present invention discloses an adaptive bean threshing device and control method based on shear thickening liquid, which relates to the technical field of agricultural machinery. It comprises a frame, a feed port, a flexible roller, a concave screen, a visual sensor and a control system. The flexible roller is filled with a shear thickening liquid that responds to both shear rate and temperature, as well as a stirring and heating structure. The control system is electrically connected to the visual sensor, the high-speed motor of the stirring component and the heating component. Based on the received monitoring signal of the visual sensor and the pre-stored characteristic relationship data between the apparent viscosity of the shear thickening liquid and the shear rate and temperature, the stirring rate and heating temperature of the stirring and heating structure are coordinated and regulated to change the apparent viscosity of the shear thickening liquid, thereby dynamically adjusting the effective stiffness of the flexible roller to achieve adaptive control of the threshing force. The present invention can significantly improve the integrity of grains, broaden the adaptability of materials, and improve working efficiency through flexible threshing and intelligent regulation.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to an adaptive bean threshing device based on shear thickening fluid and a control method thereof. Background Art

[0002] As an important food and cash crop globally, the post-harvest threshing process has a decisive impact on the final product quality and economic benefits. Currently, the most widely used threshing technology for beans mainly relies on mechanical devices, which have exposed some inherent limitations in long-term use, specifically:

[0003] The conflict between material adaptability and operational precision: The core components of traditional threshing equipment (such as the threshing drum and concave plates) typically have fixed geometric parameters and rigid operating characteristics. However, the physical properties of legumes (such as pod toughness, kernel size, and binding strength due to variability among varieties, as well as the mechanical response of the same variety at different moisture contents and maturity levels) exhibit significant diversity and variability. This makes it difficult for fixed-parameter threshing equipment to universally and efficiently process all legume states. Increasing the impact force to achieve a high threshing rate often comes at the expense of kernel integrity; conversely, reducing the force to minimize breakage can result in incomplete threshing and a high level of impurities. This trade-off between "clean threshing" and "integrity" has become a bottleneck that traditional technologies struggle to overcome.

[0004] The prevalence and high incidence of mechanical damage to grains: The high-speed, high-intensity impact and friction between the rigid threshing elements and the bean plants are an unavoidable physical process in traditional threshing methods. This mode of action can easily lead to cracks, breakage, scratches on the seed coat, and even internal tissue damage in bean grains. For edible beans, this directly reduces their commercial grade and market value. For seed beans, mechanical damage can seriously affect their germination rate and vitality, thus affecting the next cycle of agricultural production. Although some studies have attempted to alleviate this problem by optimizing structural parameters, the damage problem based on the principle of rigid impact has always been difficult to fundamentally eliminate.

[0005] Room for Optimization in Energy Consumption Control and Operating Efficiency: Due to a lack of mechanisms to sense and respond to material characteristics and real-time threshing status, the power output and operating parameters of traditional threshing equipment are often set based on experience or roughly adjusted. This can lead to redundant power and high energy consumption when handling easy-to-thresh materials, or insufficient power and low efficiency when handling difficult-to-thresh materials. Overall energy efficiency and operating efficiency need to be improved.

[0006] Lack of intelligent and precise control capabilities: Modern agriculture places higher demands on intelligent and precise agricultural machinery. However, most existing bean threshing equipment remains at the mechanized stage, lacking effective online monitoring, intelligent analysis, and closed-loop feedback control capabilities. Operators rely primarily on experience for offline adjustments, making it difficult to optimize in real time based on dynamic changes in the threshing process. This limits the potential for threshing operations to achieve higher quality, higher efficiency, and lower losses.

[0007] As a smart material, shear thickening fluid (STF) exhibits a significant and reversible change in viscosity with shear rate, offering new possibilities for achieving flexible and adaptive mechanical effects. Incorporating the unique rheological behavior of STF into the bean threshing process, combined with advanced sensing technologies and control strategies, could fundamentally overcome the inherent shortcomings of traditional rigid threshing methods, providing an innovative approach to addressing the aforementioned challenges.

[0008] Therefore, the development of a bean threshing technology and equipment that can sense the characteristics of bean materials and the real-time threshing effect, and intelligently adjust the threshing force accordingly, in order to minimize grain damage while ensuring a high threshing rate and improve the overall operation efficiency, has important practical significance for promoting the technological progress and sustainable development of the bean industry. Summary of the Invention

[0009] The purpose of the present invention is to provide an adaptive bean threshing device and control method based on shear thickening fluid, which significantly improves grain integrity, broadens material adaptability, and improves operating efficiency through flexible threshing and intelligent regulation.

[0010] The present invention discloses an adaptive bean threshing device based on shear thickening fluid, comprising a frame, a threshing mechanism arranged inside the frame, a visual sensor arranged at a material outlet of the frame, a transmission mechanism driving the threshing mechanism, and a control system;

[0011] The threshing mechanism includes a concave screen arranged inside the frame and a flexible roller arranged above the concave screen. The interior of the flexible roller is filled with a shear thickening liquid and is provided with a stirring and heating structure for regulating the shear rate and temperature of the shear thickening liquid. The shear thickening liquid has a synergistic effect of a shear response mechanism and a temperature response mechanism.

[0012] The transmission mechanism includes a driving motor for driving the flexible roller to rotate and a high-speed motor for driving the stirring and heating structure to rotate;

[0013] The control system is electrically connected to the visual sensor, the high-speed motor and the stirring and heating structure, and receives the monitoring signal output by the visual sensor, wherein the monitoring signal includes information on the bean seed removal rate and / or breakage rate.

[0014] Preferably, the adaptive bean threshing device also includes an inclined flat-plate-shaped feed inlet fixedly arranged on the frame, a baffle plate fixed above the frame, and a material receiving box arranged below the discharge port of the frame, and a sealing strip is provided at the contact edge of the baffle plate and the frame.

[0015] Preferably, the concave screen is semi-cylindrical, and the screen surface is evenly provided with threshing holes arranged in a rectangular array; the frame is provided with a positioning hole, the positioning hole is provided at the upper end edge of the concave screen, and the flexible roller is rotatably supported and installed through the positioning hole;

[0016] The outer shell of the flexible roller is made of a poly(p-phenylene terephthalamide) non-woven fiber reinforced composite material. The outer surface of the flexible roller is treated with plasma grafting modification, and the wear loss is ≤18 mg / 1000 revolutions.

[0017] Preferably, the stirring and heating structure includes a connecting shaft, a heating rod and a stirring blade. The connecting shaft is arranged at the center of the flexible roller, the heating rod is fixed axially along the connecting shaft, the stirring blade is fixed on the connecting shaft, and at least one stirring blade is provided. The temperature control accuracy of the heating rod is ±1°C, and the adjustment temperature range is 25°C to 80°C.

[0018] Preferably, the drive motor is mounted on a motor frame provided on the side of the frame, the flexible roller is provided with a transmission wheel on one side of the drive motor, and the output shaft of the drive motor is linked to the transmission wheel via a transmission belt; the speed of the drive motor is steplessly adjusted within the range of 0-200 rpm by a frequency converter;

[0019] The connecting shaft extends out of the positioning hole from a side away from the driving motor and is connected to the output shaft of the high-speed motor. The rotation speed of the high-speed motor is 0-2000 rpm.

[0020] Preferably, the shear thickening fluid comprises the following raw materials in weight percentage: 28-32% hydrophobically modified nano-silica, 6-8% rod-shaped alumina nanocrystals, 8-10% poly (N-isopropylacrylamide) and polyethylene glycol block copolymer, 3-5% fumarate-maleimide modified polymer, 6-8% crystalline polyethylene oxide-polypropylene oxide copolymer, 15-18% low molecular weight polypropylene glycol, 8-10% polytetramethylethylene oxide glycerol ether, 4-6% diisopropyl sebacate, 3-4% β-cyclodextrin derivatives, 1-2% columnar [5] aromatic hydrocarbons, 2-3% quaternary ammonium salt modified montmorillonite, 0.8-1.2% bifunctional silane coupling agent, 0.5-0.8% nonionic surfactant mixture, 0.3-0.5% photothermal conversion nanoparticles, and 0.2-0.3% antioxidant system.

[0021] Preferably, the preparation of the shear thickening fluid comprises the following steps:

[0022] S1: Pretreatment and functionalization.

[0023] S1a: Preparation of hydrophobically modified nanosilica. The nanosilica was dried in a vacuum environment at 120°C for 12 hours. Subsequently, the nanosilica was placed in a toluene solvent, a bifunctional silane coupling agent was added, and a surface modification reaction was carried out at 70°C for 24 hours. After the reaction, the hydrophobically modified nanosilica powder was obtained by filtration, washing, and vacuum drying again for use.

[0024] S1b: Preparation of the functionalized composite. The temperature-responsive core component (PNIPAM copolymer) was dissolved in a methanol / water mixture at 40°C. Rod-shaped alumina nanocrystals were then added and dispersed by sonication for 30 minutes to allow for thorough bonding. Finally, the mixture was freeze-dried to obtain a functionalized alumina and PNIPAM composite powder for use.

[0025] S2: Preparation of carrier liquid system.

[0026] S2a: Low molecular weight polypropylene glycol (PPG-425), poly(tetramethylethylene oxide) glycerol ether (PTMEG-1000), and diisopropyl sebacate were mixed and stirred at 50°C for 10 minutes.

[0027] S2b: Add the nonionic surfactant mixture and continue stirring until the entire system becomes clear and transparent.

[0028] S2c: Finally, add the antioxidant system and mix thoroughly under a nitrogen atmosphere to prepare a multifunctional carrier solution. This carrier solution is divided into two parts: one part is used in step S3, and the other part (the main part) is reserved for step S4.

[0029] S3: Integration and preliminary cross-linking of synergistic components.

[0030] S3a: Take a portion of the carrier liquid prepared in step S2 and place it in a reaction kettle.

[0031] S3b: Disperse the β-cyclodextrin derivative and pillar[5]arene in the above carrier liquid and stir at 45°C for 2 hours to form a pre-complex containing a synergistic enhancer.

[0032] S3c: Next, the fumarate-maleimide modified polymer was added, and the system was heated to 60°C for 1 hour to construct a preliminary thermoreversible cross-linked network.

[0033] S3d: After the system cools to room temperature, add crystalline polyethylene oxide-polypropylene oxide copolymer (PEO-PPO) and stir at low speed until it is evenly dispersed. This creates a "pre-composite slurry" containing the crosslinked network and synergistic components.

[0034] S4: Construction of multiphase dispersed systems.

[0035] S4a: In a four-shaft planetary mixer, the "pre-composite slurry" prepared in step S3 is mixed with the remaining carrier liquid body in step S2 at a volume ratio of 1: (4-9) to form a uniform liquid phase base.

[0036] S4b: The hydrophobically modified nano-silica prepared in step S1 is slowly added to the above liquid base in three batches, and each batch is mixed and stirred at high speed for 20 minutes after addition.

[0037] S4c: Subsequently, the functionalized alumina and PNIPAM composite prepared in step S1 was added at 35°C and high shear mixing was performed at 2000 rpm for 10 minutes.

[0038] S4d: After that, the quaternary ammonium salt-modified montmorillonite was added and high shear mixing was continued for 15 minutes.

[0039] S4e: Finally, the photothermal conversion nanoparticles were added under low-speed stirring at 500 rpm to ensure that they were evenly dispersed throughout the system to obtain a preliminary complete mixture.

[0040] S5: Structural optimization and stabilization treatment.

[0041] S5a: The preliminary mixture obtained in step S4 is subjected to three high-pressure homogenization treatments. The homogenization pressure is set to 1200 bar, and the material temperature is strictly controlled at 40±2°C during the treatment.

[0042] S5b: After homogenization, the mixture was transferred to a vacuum system and degassed at a vacuum degree of -0.09 MPa for 30 minutes to completely remove the bubbles introduced into the system during the stirring and homogenization process.

[0043] S5c: Aging the degassed shear thickening fluid under specific temperature cycling conditions (e.g., three cycles from 15°C to 60°C, each temperature point held for 30 minutes) to promote full adjustment and stabilization of its internal network structure.

[0044] S5d: The final product is packaged under nitrogen protection and stored in a sealed container for future use.

[0045] Preferably, a transport wheel is provided under the frame, and the transport wheel is connected to the frame by a connecting bolt; a comb blade for re-screening the material passing through the threshing hole is provided under the discharge port of the frame, and the blade working area of ​​the comb blade is provided with a comb-shaped structure, and the rotating shaft of the comb blade is linked to the drive motor through a transmission belt.

[0046] The present invention also provides a control method for an adaptive bean threshing device based on a shear thickening fluid. The control system, based on monitoring signals output by a visual sensor and pre-stored data on the characteristic relationship between the apparent viscosity of the shear thickening fluid and shear rate and temperature, coordinately regulates the stirring rate of the stirring component and the heating temperature of the heating component to change the apparent viscosity of the shear thickening fluid, thereby dynamically adjusting the effective stiffness of the flexible roller to achieve adaptive control of the threshing force.

[0047] The specific steps include:

[0048] (a) Using visual sensors to monitor the material discharged from the threshing channel in real time and collect image data;

[0049] (b) analyzing the image data to determine at least one performance indicator representing the threshing effect, the performance indicator comprising a current threshing rate and / or a current kernel breakage rate of the bean kernels; analyzing the image data comprising analyzing morphological parameters, spectral characteristics, and / or surface texture characteristics of the kernels;

[0050] (c) comparing at least one performance indicator with a predetermined target value or target range;

[0051] (d) Based on the comparison result of step (c) and in accordance with the dual response characteristics of the apparent viscosity of the shear thickening liquid to the stirring rate and temperature and its pre-stored three-dimensional characteristic relationship data, performing intelligent collaborative control, the intelligent collaborative control comprising: autonomously deciding and executing one or a combination of multiple control strategies from a preset set of control strategies that includes hierarchical judgment or multi-parameter combination logic for different working conditions and optimization objectives, based on the current state and dynamic trend between at least one performance indicator and the preset target value or target range, to collaboratively adjust the stirring rate of the stirring component and the heating temperature of the heating component, thereby adjusting the apparent viscosity of the shear thickening liquid, and then dynamically adjusting the effective stiffness of the flexible roller so that at least one performance indicator tends to the preset target value or target range.

[0052] Preferably, the control method further includes recording monitoring data, control instructions and threshing effect evaluation during the operation process, for subsequent optimization of the control model through a machine learning algorithm.

[0053] Therefore, the present invention adopts the above-mentioned adaptive bean threshing device and control method based on shear thickening fluid, which has the following beneficial effects:

[0054] (1) Significantly improves seed integrity and achieves high-quality flexible threshing: Through the core shear thickening fluid flexible roller and visual feedback closed-loop control system, the present invention can intelligently adjust the threshing force according to the real-time state of the bean material. This adaptive flexible contact replaces the traditional rigid impact, effectively controlling the seed breakage rate to an extremely low level while ensuring a high threshing rate, thereby significantly improving the commercial value and seed value of the beans.

[0055] (2) Broaden material adaptability and enhance operational versatility and efficiency: The adjustable stiffness of the flexible roller, combined with precise control of the rheological properties of the shear thickening fluid, enables the device to efficiently process legumes of different varieties, moisture contents, and maturity levels without requiring frequent downtime for complex mechanical parameter adjustments. This not only expands the operational range of a single device, but also reduces ineffective power consumption and repetitive operations due to precise parameter matching, thereby improving overall operational efficiency.

[0056] (3) Innovative dual-response STF technology provides the device with precise control accuracy and stable working conditions: The shear thickening fluid used in this invention is dual-responsive to shear rate and temperature. Its special formula design enables large-scale, high-precision, and reversible control of the effective stiffness of the flexible roller within a wide parameter space. This multi-dimensional and refined control method ensures that the device can maintain optimal working conditions and stable threshing performance under complex and changing field conditions.

[0057] (4) The present invention uses visual sensors to accurately perceive the threshing effect in real time. Combined with built-in image analysis and adaptive adjustment algorithms, it can make autonomous decisions and execute multimodal collaborative control strategies, optimizing threshing parameters in real time to cope with complex working conditions. At the same time, the system has data recording and analysis capabilities, laying a solid foundation for subsequent continuous iteration of control models through machine learning and other means, and improving the device's autonomous learning and intelligent evolution capabilities. This enables the device to not only operate efficiently, but also continuously "learn" and adapt, demonstrating a high level of intelligence. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 This is a schematic structural diagram of an adaptive bean threshing device based on shear thickening fluid according to an embodiment of the present invention;

[0059] Figure 2 This is a side schematic diagram of the structure of an adaptive bean threshing device based on shear thickening fluid according to an embodiment;

[0060] Figure 3 Schematic diagram of the rack structure of the embodiment;

[0061] Figure 4 This is a schematic diagram of the flexible roller and comb blade structure of the embodiment;

[0062] Figure 5 A schematic diagram of a stirring and heating structure according to an embodiment;

[0063] Figure 6 is a graph showing the relationship between the rotation speed and viscosity of the shear thickening fluid of the embodiment;

[0064] Figure 7 is the relationship between temperature and viscosity of shear thickening fluid;

[0065] Figure 8 This is a three-dimensional characterization diagram of the dual-responsive intelligent shear thickening fluid;

[0066] Figure 9 It is a process roadmap of the control method of the present invention;

[0067] Reference numerals:

[0068] 1. Feeding port; 2. High-speed motor; 3. Frame; 4. Transport wheel; 5. Material baffle; 6. Driving motor; 7. Material receiving box; 8. Visual sensor; 9. Transmission wheel; 10. Transmission belt; 11. Motor frame; 12. Concave screen; 13. Positioning hole; 14. Connecting bolt; 15. Threshing hole; 16. Flexible roller; 17. Stirring and heating structure; 18. Comb blades; 17-1. Heating rod; 17-2. Connecting shaft; 17-3. Stirring blades. DETAILED DESCRIPTION

[0069] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the following will refer to the accompanying drawings of the embodiments of the present invention. Figures 1 to 6 The technical solutions of the present invention are clearly and completely described. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0070] In the description of the present invention, it should be understood that the terms "center", "surroundings", "horizontal", "longitudinal", "length", "thickness", "angle", "up", "down", "left", "right", etc., which indicate directions or positions, are limited to simplifying the description of the present invention, rather than specific positions or directions. The above terms are not limitations of the present invention.

[0071] Example

[0072] like Figure 1 、 Figure 2The figure shows the external structure of the present invention, which consists of a feed port 1, a high-speed motor 2, a frame 3, a transport wheel 4, a material baffle 5, a drive motor 6, a material receiving box 7, a visual sensor 8, a transmission wheel 9, a transmission belt 10, and a motor frame 11. The device is in the shape of a box as a whole. The frame 3 serves as the main frame of the device and is made of high-strength steel. It is provided with a plurality of reinforcing ribs inside to ensure the structural stability of the equipment during long-term operation and to withstand the vibration and impact generated during threshing. The feed port 1 is fixedly provided on the upper part of the frame 3 and is in the shape of an inclined flat plate. Its inner wall is made of smooth stainless steel to reduce the resistance during material transportation, thereby facilitating the smooth entry of bean plants into the subsequent threshing area. The four corners of the bottom of the frame 3 are equipped with transport wheels 4 to facilitate the movement and on-site fixation of the device. A control panel is installed on the upper front side of the frame 3. The panel is used to realize remote monitoring and data transmission of the device. A material baffle 5 is mounted on the top of the frame 3. Made of transparent polycarbonate, it is secured to the frame 3 via a quick-release mechanism and features a sealing strip along its edge to prevent material splashing and dust intrusion during operation. A drive motor 6 is mounted on the side of the frame 3. Its speed can be continuously adjusted within a range of 0-200 rpm via a frequency converter to accommodate the threshing needs of different types of beans. The drive motor 6 is secured to a motor frame 11, which is constructed from 45-gauge steel and offers adequate load-bearing capacity and corrosion resistance. The output shaft of the drive motor 6 is connected to a drive pulley 9, which transmits power to the threshing mechanism via a drive belt 10. The drive belt 10 utilizes a synchronous toothed belt, which offers high transmission efficiency and low operating noise. A material collection bin 7 is located at the bottom of the device and collects the threshed beans. A visual sensor 8 monitors threshing performance. Its specific layout and function will be described in detail later in conjunction with the internal structure and workflow.

[0073] Reference Figure 3 、 Figure 4 and Figure 5 , showing the core working components inside the rack 3 of this device and their interrelationships. Figure 3 As shown, the internal structure of the frame 3 mainly includes a concave screen 12 (on which a number of threshing holes 15 are opened), a positioning hole 13, a connecting bolt 14, a flexible roller 16, a stirring and heating structure 17 (the specific structure of which is shown in FIG. Figure 5 As shown, it consists of a heating rod 17-1, a connecting shaft 17-2, a stirring blade 17-3, and a comb blade 18. Among them, the positioning hole 13 and related structures are used to support the rotation of the flexible roller 16 and ensure that the high-speed motor 2 is accurately aligned with the flexible roller 16 while driving the internal connecting shaft 17-2. The connecting bolt 14 is mainly used as a short shaft to fix the connection between the frame 3 and the transport wheel 4. The external shape of the flexible roller 16 and its relative position to the comb blade 18 can be referred to. Figure 4, which is the key executive component for realizing the adaptive threshing function of the present invention. The outer shell of the flexible roller 16 is made of poly (p-phenylene terephthalamide) (PPTA) non-woven fiber reinforced composite material, which is composited with epoxy resin matrix through a two-way alternating orthogonal lamination hot pressing process. The surface density of the single layer fiber is controlled at 208±5g / m 2 This composite material has excellent impact resistance, with an interlaminar shear strength of up to 85 MPa. Furthermore, the outer surface of the flexible roller 16 undergoes plasma grafting modification, resulting in an abrasion loss of no more than 18 mg / 1000 revolutions, ensuring its long-term structural integrity and wear resistance.

[0074] The interior of the flexible roller 16 is filled with a shear thickening liquid of a specific formula, and a stirring and heating structure 17 is installed at the core. The detailed structure of the stirring and heating structure 17 is as follows: Figure 5 As shown, it primarily consists of a centrally located connecting shaft 17-2, a heating rod 17-1 arranged axially along the connecting shaft 17-2, and several stirring blades 17-3 fixed to the connecting shaft 17-2. Specifically, the connecting shaft 17-2 is connected to a high-speed motor 2, which can provide a precise rotational speed within a range of 0 to 2000 rpm. The heating rod 17-1 contains a nickel-chromium resistance wire with a rated power of 800W and an operating voltage of 220V. Its temperature control accuracy is ±1°C, and it can be adjusted within a temperature range of 25°C to 80°C. This allows precise control of the shear thickening liquid within the flexible roller 16, thereby modifying its rheological properties. The power supply for the heating rod 17-1 is connected via a slip ring mechanism to ensure stable power supply during the rotation of the flexible roller 16 and the internal connecting shaft 17-2. One end of the connecting shaft 17-2 is coaxially fixedly connected to the high-speed motor 2 through a positioning hole 13, thereby generating rotational power. The stirring blade 17-3 rotates together with the connecting shaft 17-2. Its specific structural design is intended to effectively stir the shear thickening liquid, form a desired flow pattern inside the roller body, and effectively control the apparent viscosity of the shear thickening liquid through the coordinated regulation of shear action and temperature.

[0075] The concave screen 12 is positioned below the flexible roller 16 and has an overall semi-cylindrical shape. Its concave curved surface mates with the outer cylindrical surface of the flexible roller 16, defining a threshing channel with a specific threshing gap. The concave screen 12 is stamped from 1.5 mm thick 304 stainless steel sheet, and its working surface is electropolished to enhance wear resistance and anti-stick properties. Threshing holes 15 are evenly distributed in a rectangular array across the screen surface of the concave screen 12, separating and allowing the detached legumes to pass through.

[0076] The comb-tooth blades 18 are located below the concave screen 12 and are used to further screen the material passing through the threshing holes 15. The working area of ​​the comb-tooth blades 18 is provided with a comb-tooth structure, and the spacing between each comb tooth is designed to be slightly larger than the average size of the target bean grains. This structure can effectively intercept and separate larger pods, broken stems and other debris, while allowing qualified bean grains to pass through and fall into the receiving box 7 below. In addition, as a possible structural expansion solution, a vibrating screening device or an air separation screening device can be added below the receiving box 7 of this device to further improve the screening accuracy of the threshing material. However, in view of the fact that the technical solution of the present invention mainly focuses on the structure and function realization of the threshing device itself, such subsequent fine screening units will not be further elaborated here.

[0077] Regarding power transmission, drive motor 6 is connected to drive wheel 9 via a belt drive, thereby driving the overall rotation of flexible roller 16 and, simultaneously (or through appropriate transmission distribution), driving comb blades 18. As previously mentioned, high-speed motor 2 is coaxially fixed to connecting shaft 17-2 within stirring and heating structure 17. Therefore, the stirring function of internal stirring and heating structure 17 is independently driven by high-speed motor 2, while the rotation of flexible roller 16 and the driving of comb blades 18 are provided by drive motor 6.

[0078] In order to realize the adaptive control of threshing process, this device Figure 1 The inside of the receiving box 7 shown in the figure or a suitable position near it is provided with Figure 1 The visual sensor 8 shown is used to monitor the quality of the threshed material in real time, such as the integrity and cleanliness of bean kernels. The visual sensor 8 can utilize multispectral imaging technology, for example, to comprehensively assess the threshing effect by analyzing morphological parameters in the collected image data, such as the roundness of the kernels, with a value less than 0.85 indicating damage; spectral characteristics, such as the decrease in reflectivity at a wavelength of 650 nm, with a decrease greater than 15% indicating seed coat rupture; and surface texture characteristics, such as the variance calculated using local binary patterns (LBPs), with a variance greater than 120 indicating surface defects. These monitoring results serve as feedback signals for the control system to adjust the speed of the drive motor 6 (thus adjusting the speed of the flexible roller 16), the speed of the high-speed motor 2 (thus adjusting the speed of the stirring blade 17-3), and the operating temperature of the heating rod 17-1. In this way, the apparent viscosity of the shear thickening liquid inside the flexible roller 16 can be actively changed, thereby optimizing the threshing force in real time, in order to achieve the dual purpose of improving the threshing rate and ensuring the integrity of the grains. Figure 1 The control panel shown is used for manual intervention adjustment of relevant operating parameters.

[0079] The shear thickening fluid filled in the flexible roller 16 is a fluid material with dual intelligent properties of shear force response and temperature response. The preferred formula composition and preparation process of the shear thickening fluid are detailed as follows:

[0080] (a) Formula composition:

[0081] The shear thickening fluid of the present invention is mainly composed of the following functional components, and the content range of each component in weight percentage is preferably as follows:

[0082] (1) The core shear-responsive basic system, which gives the liquid the main shear thickening effect, includes: nano-silica (average particle size 75±10nm) with surface hydrophobic modification using vinyltriethoxysilane or hexadecyltrimethoxysilane, with a content of 28-32%; and rod-shaped aluminum oxide nanocrystals (aspect ratio 10-15), with a content of 6-8%.

[0083] (2) Temperature-responsive core components to achieve temperature sensitivity, mainly low critical solution temperature (LCST) polymers, such as PNIPAM-b-PEG diblock copolymers or PEG-b-PNIPAM-b-PEG triblock copolymers, with a content of 8-10%.

[0084] (3) Thermoreversible cross-linking system, which gives the system thermoreversibility and structural stability. The system consists of a fumarate-maleimide modified polymer (Diels-Alder reaction pair, content 3-5%) with polytetramethylene oxide (PTMG) as the skeleton and a crystalline polyethylene oxide-polypropylene oxide copolymer (PEO-PPO, such as BASF's Pluronic® F127 or F68, content 6-8%).

[0085] (4) A multifunctional carrier liquid system that provides suitable fluidity and environmental compatibility. Its components are: low molecular weight polypropylene glycol (PPG-425), content of 15-18%; poly (tetramethylethylene oxide) glycerol ether (PTMEG-1000), content of 8-10%; and diisopropyl sebacate as a low temperature fluidity enhancer, content of 4-6%.

[0086] (5) Synergistic enhancers, which further optimize and enhance the response characteristics and stability of the material, include: β-cyclodextrin derivatives (e.g., hydroxypropyl-β-cyclodextrin, methyl-β-cyclodextrin) that can form supramolecular inclusions, with a content of 3-4%; pillar[5]arene with temperature-sensitive host-guest recognition ability, with a content of 1-2%; and quaternary ammonium salt-modified montmorillonite that helps form a layered structure, with a content of 2-3%.

[0087] (6) Performance adjustment additives to improve overall performance, including: bifunctional silane coupling agents (such as KH-570 (γ-methacryloxypropyl trimethoxysilane) or KH-560 (γ-glycidoxypropyl trimethoxysilane)), content 0.8-1.2%; non-ionic surfactant mixture, content 0.5-0.8% ((for example, a combination of Span 80 (sorbitan monooleate) and Tween 80 (polyoxyethylene sorbitan monooleate))); photothermal conversion nanoparticles ((for example, gold nanorods, copper sulfide nanoparticles or reduced graphene oxide)) (for near-infrared absorption), content 0.3-0.5%; and antioxidant systems (for example, a combination system of primary antioxidant 1010 and auxiliary antioxidant 168), content 0.2-0.3%.

[0088] (b) Preparation process:

[0089] S1: Pretreatment and functionalization.

[0090] S1a: Preparation of hydrophobically modified nanosilica. The nanosilica was dried in a vacuum environment at 120°C for 12 hours. Subsequently, the nanosilica was placed in a toluene solvent, a bifunctional silane coupling agent was added, and a surface modification reaction was carried out at 70°C for 24 hours. After the reaction, the hydrophobically modified nanosilica powder was obtained by filtration, washing, and vacuum drying again for use.

[0091] S1b: Preparation of the functionalized composite. The temperature-responsive core component (PNIPAM copolymer) was dissolved in a methanol / water mixture at 40°C. Rod-shaped alumina nanocrystals were then added and dispersed by sonication for 30 minutes to allow for thorough bonding. Finally, the mixture was freeze-dried to obtain a functionalized alumina and PNIPAM composite powder for use.

[0092] S2: Preparation of carrier liquid system.

[0093] S2a: Low molecular weight polypropylene glycol (PPG-425), poly(tetramethylethylene oxide) glycerol ether (PTMEG-1000), and diisopropyl sebacate were mixed and stirred at 50°C for 10 minutes.

[0094] S2b: Add the nonionic surfactant mixture and continue stirring until the entire system becomes clear and transparent.

[0095] S2c: Finally, add the antioxidant system and mix thoroughly under a nitrogen atmosphere to prepare a multifunctional carrier solution. This carrier solution is divided into two parts: one part is used in step S3, and the other part (the main part) is reserved for step S4.

[0096] S3: Integration and preliminary cross-linking of synergistic components.

[0097] S3a: Take a portion of the carrier liquid prepared in step S2 and place it in a reaction kettle.

[0098] S3b: Disperse the β-cyclodextrin derivative and pillar[5]arene in the above carrier liquid and stir at 45°C for 2 hours to form a pre-complex containing a synergistic enhancer.

[0099] S3c: Next, the fumarate-maleimide modified polymer was added, and the system was heated to 60°C for 1 hour to construct a preliminary thermoreversible cross-linked network.

[0100] S3d: After the system cools to room temperature, add crystalline polyethylene oxide-polypropylene oxide copolymer (PEO-PPO) and stir at low speed until it is evenly dispersed. This creates a "pre-composite slurry" containing the crosslinked network and synergistic components.

[0101] S4: Construction of multiphase dispersed systems.

[0102] S4a: In a four-shaft planetary mixer, the "pre-composite slurry" prepared in step S3 is mixed with the remaining carrier liquid body in step S2 to form a uniform liquid phase base.

[0103] S4b: The hydrophobically modified nano-silica prepared in step S1 is slowly added to the above liquid base in three batches, and each batch is mixed and stirred at high speed for 20 minutes after addition.

[0104] S4c: Subsequently, the functionalized alumina and PNIPAM composite prepared in step S1 was added at 35°C and high shear mixing was performed at 2000 rpm for 10 minutes.

[0105] S4d: After that, the quaternary ammonium salt-modified montmorillonite was added and high shear mixing was continued for 15 minutes.

[0106] S4e: Finally, the photothermal conversion nanoparticles were added under low-speed stirring at 500 rpm to ensure that they were evenly dispersed throughout the system to obtain a preliminary complete mixture.

[0107] S5: Structural optimization and stabilization treatment.

[0108] S5a: The preliminary mixture obtained in step S4 is subjected to three high-pressure homogenization treatments. The homogenization pressure is set to 1200 bar, and the material temperature is strictly controlled at 40±2°C during the treatment.

[0109] S5b: After homogenization, the mixture was transferred to a vacuum system and degassed at a vacuum degree of -0.09 MPa for 30 minutes to completely remove the bubbles introduced into the system during the stirring and homogenization process.

[0110] S5c: Aging the degassed shear thickening fluid under specific temperature cycling conditions (e.g., three cycles from 15°C to 60°C, each temperature point held for 30 minutes) to promote full adjustment and stabilization of its internal network structure.

[0111] S5d: The final product is packaged under nitrogen protection and stored in a sealed container for future use.

[0112] The shear thickening fluid designed in this formula is based on the synergistic effect of shear response mechanism and temperature response mechanism.

[0113] (1) Shear response mechanism: Under static or low shear rate conditions, hydrophobically modified nanoparticles (silica and alumina) form a weakly interacting physical network structure in the carrier liquid. At this time, the liquid exhibits a low viscosity and the network structure can undergo reversible deformation. When the applied shear rate exceeds the critical value (for example, shear rate>500s -1 ), the nanoparticles are forced to rearrange and quickly form a dynamic, highly ordered particle cluster structure. These particle clusters are cooperatively entangled with the polymer chains, resulting in a sharp increase in the flow resistance of the system, thereby producing a significant viscosity increase effect, namely shear thickening.

[0114] (2) Temperature response mechanism: In the low temperature region (<20°C), the crystalline polyethylene oxide-polypropylene oxide copolymer (PEO-PPO) in the formula may form a crystalline region, increasing the initial stiffness and viscosity of the system; in the medium temperature region (20-40°C), the components of the system work together to make the shear thickening fluid in the best flow and response state; when the temperature rises to the critical temperature region (40-45°C), low critical solution temperature (LCST) polymers such as poly (N-isopropylacrylamide) (PNIPAM) and polyethylene glycol are embedded in the crystalline region. The segmented copolymer begins to undergo a phase transition, with the PNIPAM segments shifting from a hydrophilic, stretched state to a hydrophobic, collapsed state, triggering polymer chain contraction and aggregation. At higher temperatures (>50°C), the fumarate-maleimide pairs in the thermoreversible crosslinking system may dissociate via a reverse Diels-Alder reaction, reducing the density of the chemical crosslinking network. Simultaneously, inclusion complexes between synergistic enhancers such as β-cyclodextrin and guest molecules may also dissociate. These factors, combined, further modulate the rheological properties of the liquid, typically manifesting as a decrease in viscosity. At specific elevated temperatures (e.g., in the thermal activation region of 65-80°C), the strong hydrophobic aggregation effect of PNIPAM may dominate the system's behavior, leading to an anomalous increase in viscosity.

[0115] (3) Synergistic effect: When the temperature and shear rate change simultaneously, the system exhibits complex synergistic response characteristics. For example, under low temperature and high shear conditions, the highest viscosity and stiffness response can be obtained; while under high temperature and low shear conditions, the lowest viscosity state is exhibited. More importantly, by precisely controlling the temperature, the initial shear rate threshold and thickening multiple of the shear thickening behavior can be effectively adjusted. This formula innovatively integrates the principles of supramolecular chemistry, polymer physics and colloid science, and can maintain stable working performance over a wide temperature range (e.g., 5°C to 80°C) while maintaining a highly sensitive response to changes in shear force. The temperature response characteristic not only gives the material an additional control dimension, but also optimizes its shear thickening performance, making the shear thickening fluid have better adaptability and controllability under complex and changing actual working conditions.

[0116] The shear thickening liquid filled in the flexible roller 16 has rheological properties that are sensitive to temperature and shear rate. The specific viscosity change law is as follows: Figure 6 and Figure 7 shown. Figure 6 The apparent viscosity is at room temperature (25°C). η The nonlinear relationship with the change of the rotation speed of the stirring blade 17-3 can be observed from the figure as follows:

[0117] (1) Static region (0-180 rpm): The apparent viscosity remains relatively stable and changes slowly within the range of 15-25 Pa·s, showing near-Newtonian fluid characteristics.

[0118] (2) Transition region (180-250 rpm): The apparent viscosity begins to rise significantly, reaching about 80 Pa·s at 250 rpm.

[0119] (3) Rapid response zone (250-450 rpm): It is characterized by a steep S-shaped curve and the apparent viscosity increases sharply.

[0120] (4) High thickening zone (450-700 rpm): The viscosity reaches 1000-1800 Pa·s and the growth rate begins to slow down.

[0121] (5) Saturation platform (700-900 rpm): The viscosity tends to stabilize at about 1800-2000 Pa·s, reaching about 100 times the initial value.

[0122] This curve characteristic is jointly determined by the multiple thickening mechanisms in the formula. In particular, the shear-responsive base system in the shear thickening fluid formula of the present invention provides the main shear thickening effect, while the complex polymer network structure formed by the temperature-responsive core component, thermoreversible cross-linking system and synergistic enhancer in the formula acts synergistically in the high shear region, contributing to the strengthening effect.

[0123] Figure 7 This is a graph showing the relationship between temperature and viscosity of a shear thickening fluid, showing the apparent viscosity of the shear thickening fluid of the present invention as a function of the temperature controlled by the heating rod 17-1, at a fixed stirring speed of 350 rpm. The following characteristic regions can be observed in the graph:

[0124] (1) Low temperature zone (5-15°C): The viscosity is relatively high (600-800 Pa·s) but unstable, and the curve shows slight fluctuations. This phenomenon is related to the crystallization behavior of specific components in the formula of the present invention, such as crystalline polyethylene oxide-polypropylene oxide copolymer (PEO-PPO), at low temperatures and the reduction in the overall fluidity of the multifunctional carrier liquid system.

[0125] (2) Optimal working range (15-40°C): The viscosity remains in a stable high value range of 450-550 Pa·s, showing an ideal shear thickening effect. In this region, the components work synergistically, and the system is in a relatively optimal flow and response state.

[0126] (3) Transition zone (40-55°C): The viscosity begins to decrease linearly with increasing temperature, decreasing by about 10-15 Pa·s for every 1°C increase. This is mainly attributed to the phase transition of the temperature-responsive core components such as poly (N-isopropylacrylamide) (PNIPAM) and polyethylene glycol block copolymer, and the weakening of some cross-linked structures in the thermoreversible cross-linking system with increasing temperature.

[0127] (4) High temperature zone (55-65°C): The viscosity decreases at an accelerated rate, dropping to about 150 Pa·s at 65°C. At this stage, the hydrophobic transition of the PNIPAM copolymer is more significant. At the same time, the thermoreversible cross-linking system, such as the fumarate-maleimide modified polymer, may undergo a reverse Diels-Alder reaction, leading to decoupling. The inclusion complex of the synergistic enhancer, such as the β-cyclodextrin derivative, may also dissociate, which together contributes to the reduction of the system viscosity.

[0128] (5) Thermal activation zone (65-80°C): The viscosity curve reverses and increases again with increasing temperature, reaching about 300 Pa·s at 80°C. This unique phenomenon is mainly attributed to the significant hydrophobic aggregation effect of the temperature-responsive core components in the formulation of the present invention, especially the poly (N-isopropylacrylamide) (PNIPAM) and polyethylene glycol block copolymer, which occurs far above its lower critical solution temperature (LCST). This effect may dominate the viscosity change of the system at high temperatures, forming a stronger aggregate structure, and may be related to the specific interaction of other synergistic enhancers in the formulation at high temperatures, resulting in the rebound of apparent viscosity. The multifunctional carrier liquid system, including low molecular weight polypropylene glycol (PPG-425), poly (tetramethylethylene oxide) glycerol ether (PTMEG-1000) and diisopropyl sebacate, ensures basic fluidity and stability over the entire temperature range.

[0129] Figure 8 This is a three-dimensional characterization of the dual-responsive intelligent shear thickening fluid of the present invention. The grayscale display shows the complex dependence of the material's apparent viscosity (Pa·s) on temperature (°C) and stirring speed (rpm). The X-axis represents temperature, ranging from 5-80°C; the Y-axis represents stirring speed, ranging from 0-900 rpm; and the Z-axis represents apparent viscosity, in Pa·s. The light and dark variations in the surface further enhance the visualization of viscosity differences, with brighter areas corresponding to higher viscosity values ​​and darker areas to lower viscosity values. The three-dimensional surface morphology clearly demonstrates the synergistic effect of the material's dual response mechanisms.

[0130] The highest peak forms at the rear left of the surface (the low-temperature, high-speed region), with an apparent viscosity reaching approximately 2000 Pa·s. In contrast, a valley appears at the front right (the high-temperature, low-speed region), where the viscosity drops to approximately 100-150 Pa·s. Particularly noteworthy is that the surface's z-axis variation does not simply follow the x- or y-axis changes monotonically, but rather exhibits a complex coupled response. From the shear rate perspective, when sliced ​​along a fixed temperature (e.g., 25°C), the surface exhibits a typical S-shaped response curve, with a distinct inflection point at approximately 200-250 rpm, indicating a shear thickening transition from a low-viscosity regime to a high-viscosity regime. From the temperature perspective, when sliced ​​along a fixed speed (e.g., 350 rpm), the surface initially decreases with increasing temperature, reaches a minimum at approximately 65°C, and then begins to rise again, exhibiting a "U-shaped" temperature response. This three-dimensional plot clearly demonstrates the synergistic effect of the two response mechanisms: temperature changes significantly influence the critical point of shear thickening. Specifically, as the temperature increases from 15°C to 65°C, the starting speed of shear thickening decreases from about 250rpm to about 180rpm. This phenomenon confirms the modulation effect of the temperature-responsive components in the formulation of the present invention (mainly including temperature-responsive core components such as poly N-isopropylacrylamide (PNIPAM) and polyethylene glycol block copolymers, thermally reversible crosslinking systems such as fumarate-maleimide modified polymers and crystalline polyethylene oxide-polypropylene oxide copolymers, and synergistic enhancers such as β-cyclodextrin derivatives and columnar [5] aromatic hydrocarbons) on the shear-responsive components (mainly including hydrophobically modified nano-silica and rod-shaped aluminum oxide nanocrystals in the shear-responsive basic system). A "saddle point" region can be observed in the middle of the surface (about 40-50°C, 300-400rpm), indicating that the material is most sensitive to environmental changes within this parameter range. Small changes in temperature or shear rate can trigger significant viscosity adjustments, thereby enabling the material of the present invention to achieve precise dual-responsive regulation. The overall morphology of the surface fully demonstrates the performance characteristics of the dual-responsive intelligent shear thickening fluid described in the present invention in the entire parameter space, and intuitively proves the complex regulation mechanism of the two external factors of temperature and shear rate on the rheological behavior of the material.

[0131] like Figure 9 The figure shows the overall working process of the adaptive bean threshing device of the present invention and describes in detail the specific functions of the adaptive bean threshing device of the present invention. The system is based on the real-time monitoring of the threshing effect feedback, based on the unique rheological properties of the shear thickening fluid that are sensitive to both temperature and stirring speed (such as Figure 6 、 Figure 7 and Figure 8The three-dimensional characteristic map shown in the figure automatically and collaboratively optimizes the operating parameters of the shear thickening fluid in the stirring and heating structure 17—namely, the rotation speed of the stirring blade 17-3 and the set temperature of the heating rod 17-1. Through this collaborative optimization, the apparent viscosity of the shear thickening fluid within the flexible roller 16 is precisely controlled, thereby changing the effective stiffness and operating characteristics of the flexible roller 16 in real time. This effectively adapts to the threshing needs of different types and states of beans, and achieves an optimal balance between threshing efficiency and kernel integrity.

[0132] The operation of the adaptive adjustment mechanism begins with the continuous, real-time, and precise monitoring of the material discharged from the threshing channel after the threshing operation by the visual sensor 8 installed inside the material receiving box 7 or at an appropriate location. The multispectral imaging data collected by the visual sensor 8 is processed by the image processing and analysis algorithm built into the control system to accurately analyze the (1) morphological parameters of individual grains. For example, in this example, the circularity of the grain is calculated. If it is lower than a preset threshold value such as 0.85, it is determined that there is a risk of damage or damage has occurred. (2) spectral characteristics. For example, in this example, the reflectivity at a specific wavelength such as 650nm is monitored. If the decrease exceeds a preset threshold value such as 15%, it indicates that the seed coat may be damaged. (3) surface texture characteristics. For example, in this example, the texture variance is calculated by the local binary pattern (LBP) algorithm. If the variance is greater than a preset threshold value such as 120, it is determined that there are defects on the surface or that there is an unthreshed pod attached. Based on the analysis of these microscopic features, the control system can calculate and quantify key macroscopic threshing performance indicators, namely the actual threshing rate and the actual grain breakage rate, in real time and track their dynamic change trends.

[0133] The integrated control system of the present invention integrates an adaptive adjustment algorithm, which presets the target range of the desired removal rate (97%-99% in this example) and the upper limit of the acceptable kernel breakage rate (less than 2% in this example). At the same time, the algorithm is internally integrated or can be checked in real time. Figure 8 The three-dimensional characteristic map of the apparent viscosity, temperature, and stirring speed of a shear thickening fluid is shown. This map forms a "knowledge base" for the control system to make multimodal coordinated adjustment decisions, enabling it to understand how the apparent viscosity of the shear thickening fluid changes under different temperature and speed combinations, as well as the sensitivity and nonlinear characteristics of this change.

[0134] The control system uses the real-time de-cleaning rate and grain damage rate fed back by the visual sensor 8 and refers to Figure 8 The three-dimensional characteristic map of the shear thickening fluid is implemented by one or more of the following coordinated adjustment modes:

[0135] (a) When the threshing rate needs to be improved and the current grain breakage rate is within an acceptable range, the adjustment strategy aims to increase the effective rigidity of the flexible roller 16 and increase the threshing force. At this time, the control system can adopt:

[0136] Mode A (main speed regulation, auxiliary temperature optimization): Prioritize the high-speed motor 2 to increase the speed of the stirring blade 17-3 to allow the shear thickening liquid to enter Figure 6 and Figure 8 The higher shear thickening region is shown. At the same time, the control system can refer to Figure 8 , and coordinately instructs the heating rod 17-1 to adjust the temperature to a range that can maximize the viscosity at this speed or make the response more sensitive.

[0137] Mode B (primary temperature regulation, auxiliary speed optimization): If the current working point is Figure 8 In the area where the temperature has a significant effect on the viscosity, the control system can preferentially instruct the heating rod 17-1 to moderately reduce the temperature of the shear thickening fluid. At the same time, the stirring speed is coordinated to adjust to an optimized point that can achieve a higher viscosity at this new temperature.

[0138] Mode C (double parameter collaborative enhancement): The control system is based on Figure 8 The gradient information is used to increase the stirring speed and decrease the temperature at the same time, and the adjustment is made along the path that can reach the target higher viscosity fastest or most effectively, such as Figure 8 The "peak" area in the center left rear moves. When executing these modes to improve the clean-up rate, the kernel breakage rate is continuously monitored during the adjustment process to ensure that it does not exceed the preset upper limit. The magnitude and rate of adjustment are based on the deviation between the desired clean-up rate and the current clean-up rate and the change trend.

[0139] (b) When the kernel breakage rate needs to be reduced, that is, when the current kernel breakage rate is high, the adjustment strategy switches to reducing the effective rigidity of the flexible roller 16 to make the threshing action softer. Regardless of the current threshing rate, once the kernel breakage rate exceeds the limit, this adjustment logic takes precedence. At this time, the following measures can be taken:

[0140] Mode D (main speed regulation, auxiliary temperature optimization): Prioritize the high-speed motor 2 to reduce the speed of the stirring blade 17-3, so that the shear thickening fluid exits the high viscosity state. At the same time, the control system can refer to Figure 8 , and coordinately instructs the heating rod 17-1 to adjust the temperature to a range that can minimize the viscosity at this speed or respond more sensitively.

[0141] Mode E (primary temperature regulation, auxiliary speed optimization): If the current working point is Figure 8 In the region where the viscosity can be significantly reduced by increasing the temperature, the control system may preferentially instruct the heating rod 17-1 to moderately increase the temperature of the shear thickening fluid. Simultaneously, the stirring speed is adjusted to an optimal point that achieves a lower viscosity at this new temperature.

[0142] Mode F (two-parameter coordinated weakening): The control system is based on Figure 8The gradient information is used to simultaneously instruct the stirring speed to decrease and the temperature to increase, and to adjust along the path that can achieve the target lower viscosity fastest or most effectively, such as Figure 8 The "valley" area in the center right front moves. The magnitude and rate of adjustment will be based on the deviation between the actual damage rate and the acceptable upper limit and the trend of change.

[0143] When dealing with conflicting conditions where both the seed removal rate and the breakage rate do not meet the standards, the control system will prioritize the implementation of adjustment strategies to reduce the kernel breakage rate, such as using one or a combination of modes D, E, or F. After the kernel breakage rate falls back to an acceptable range, under the premise of closely monitoring the kernel breakage rate, small and gradual attempts will be made to improve the seed removal rate, such as cautiously applying modes A, B, or C, giving priority to slightly increasing the speed, or slightly reducing the temperature in areas with less impact on the breakage rate, striving to achieve the desired effect. Figure 8 The system then searches for an optimal temperature and speed synergy that balances both threshing efficiency and breakage rate on the characteristic spectrum. If, after multiple iterations, the ideal balance remains unattainable, the system maintains a suboptimal state, prioritizing kernel integrity. The system can also prompt the operator to request manual intervention or adjust the threshing batch.

[0144] (c) When the threshing state is judged to be good, that is, the current threshing rate and grain breakage rate are both within the ideal target range, the control system aims to maintain the optimal threshing state. At this time, the following measures can be taken:

[0145] Mode G (stable hold): The control system maintains the current rotation speed of the stirring blade 17 - 3 and the set temperature parameters of the heating rod 17 - 1 unchanged.

[0146] Mode H (exploratory fine-tuning): The system periodically makes small parameter perturbations within a preset range around the current temperature and speed operating points, observing the responses in the threshing efficiency and breakage rate. If a more optimal operating point is found, the system parameters are shifted to that point. This helps to account for gradual changes in the bean material's moisture content, maturity, and other characteristics during the threshing process.

[0147] Through the aforementioned real-time feedback from the visual sensor 8, intelligent decision-making by the central control system, and precise, multi-modal coordinated adjustment of the stirring speed and heating temperature, the apparent viscosity of the shear thickening fluid within the flexible roller 16 is dynamically optimized. This directly results in real-time changes in the mechanical properties of the flexible roller 16, enabling the threshing device to proactively and precisely adapt to various bean varieties, materials with varying moisture contents and maturity levels, and other changing operating conditions. This closed-loop feedback adjustment mechanism continues throughout the entire threshing process until the operation is completed.

[0148] Furthermore, the intelligent control system boasts robust operational data logging capabilities, enabling detailed storage of key parameters during operation, including but not limited to: raw visual sensor data, calculated threshing and breakage rate sequences, the temperature and speed control command sequences implemented by the control system, the response times of various parameters, and the final threshing performance evaluation. This extensive data provides a solid foundation for iterative training and optimization of the control model using offline or online machine learning algorithms (such as reinforcement learning and imitation learning). By continuously learning from historical experience, the control system continuously improves its adaptability to diverse and even unknown operating conditions, its predictive accuracy, and its decision-making capabilities, enabling the device to continuously evolve in terms of intelligence.

[0149] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only a specific implementation method of the present invention and does not limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An adaptive bean threshing device based on shear thickening fluid, characterized in that: It includes a frame, a threshing mechanism arranged inside the frame, a visual sensor arranged at the discharge port of the frame, a transmission mechanism driving the threshing mechanism, and a control system; The threshing mechanism includes a concave screen arranged inside the frame and a flexible roller arranged above the concave screen. The interior of the flexible roller is filled with a shear thickening liquid and is provided with a stirring and heating structure for regulating the shear rate and temperature of the shear thickening liquid. The shear thickening liquid has a synergistic effect of a shear response mechanism and a temperature response mechanism. The transmission mechanism includes a driving motor for driving the flexible roller to rotate and a high-speed motor for driving the stirring and heating structure to rotate; The control system is electrically connected to the visual sensor, the high-speed motor and the stirring and heating structure, and receives the monitoring signal output by the visual sensor, wherein the monitoring signal includes information on the bean seed removal rate and / or breakage rate.

2. The adaptive bean threshing device based on shear thickening fluid according to claim 1, characterized in that: The adaptive bean threshing device also includes an inclined flat-plate-shaped feed port fixedly arranged on the frame, a baffle plate fixed above the frame, and a material receiving box arranged below the discharge port of the frame. A sealing strip is provided at the contact edge between the baffle plate and the frame.

3. The adaptive bean threshing device based on shear thickening fluid according to claim 1, characterized in that: The concave screen is semi-cylindrical, and the screen surface is evenly provided with threshing holes arranged in a rectangular array; the frame is provided with a positioning hole, the positioning hole is set at the upper end edge of the concave screen, and the flexible roller is rotatably supported and installed through the positioning hole; The outer shell of the flexible roller is made of a poly(p-phenylene terephthalamide) non-woven fiber reinforced composite material. The outer surface of the flexible roller is treated with plasma grafting modification, and the wear loss is ≤18 mg / 1000 revolutions.

4. The adaptive bean threshing device based on shear thickening fluid according to claim 1, characterized in that: The stirring and heating structure includes a connecting shaft, a heating rod and a stirring blade. The connecting shaft is arranged at the center inside the flexible roller. The heating rod is fixed axially along the connecting shaft. The stirring blade is fixed on the connecting shaft. At least one stirring blade is provided. The temperature control accuracy of the heating rod is ±1°C, and the temperature adjustment range is 25°C to 80°C.

5. The adaptive bean threshing device based on shear thickening fluid according to claim 4, characterized in that: The drive motor is mounted on a motor frame provided on the side of the frame, and a transmission wheel is provided on one side of the drive motor. The output shaft of the drive motor is linked to the transmission wheel via a transmission belt; the speed of the drive motor is steplessly adjusted within the range of 0-200 rpm by a frequency converter; The connecting shaft extends out of the positioning hole from a side away from the driving motor and is connected to the output shaft of the high-speed motor. The speed of the high-speed motor is 0-2000 rpm.

6. The adaptive bean threshing device based on shear thickening fluid according to claim 1, characterized in that: The shear thickening fluid comprises the following raw materials in weight percentage: 28-32% hydrophobically modified nano-silica, 6-8% rod-shaped alumina nanocrystals, 8-10% poly (N-isopropylacrylamide) and polyethylene glycol block copolymer, 3-5% fumarate-maleimide modified polymer, 6-8% crystalline polyethylene oxide-polypropylene oxide copolymer, 15-18% low molecular weight polypropylene glycol with a molecular weight of 400-500, 8-10% polytetramethylethylene oxide glycerol ether, 4-6% diisopropyl sebacate, 3-4% β-cyclodextrin derivatives, 1-2% columnar [5] aromatic hydrocarbons, 2-3% quaternary ammonium salt modified montmorillonite, 0.8-1.2% bifunctional silane coupling agent, 0.5-0.8% nonionic surfactant mixture, 0.3-0.5% photothermal conversion nanoparticles, and 0.2-0.3% antioxidant system.

7. The adaptive bean threshing device based on shear thickening fluid according to claim 6, characterized in that: The preparation of the shear thickening fluid comprises the following steps: S1: Pretreatment and functionalization After the nano-silica is dried, a bifunctional silane coupling agent is used to perform surface hydrophobic modification to obtain hydrophobically modified nano-silica; The functionalized composite was obtained by mixing a block copolymer of poly (N-isopropylacrylamide) and polyethylene glycol with rod-shaped aluminum oxide nanocrystals and performing functionalization treatment. S2: Preparation of carrier liquid system Low molecular weight polypropylene glycol, polytetramethylethylene glycol oxyglycerol ether and diisopropyl sebacate are mixed and stirred at 50° C., and a nonionic surfactant mixture and an antioxidant system are added to prepare a multifunctional carrier liquid; S3: Integration and preliminary cross-linking of synergistic components: β-cyclodextrin derivatives and pillar[5]arene are dispersed in a portion of the multifunctional carrier liquid, fumarate-maleimide modified polymer is added to react, and after cooling, crystalline polyethylene oxide-polypropylene oxide copolymer is added to obtain a pre-composite slurry; S4: Construction of a multiphase dispersion system: The multifunctional carrier liquid prepared in step S2 is mixed with the pre-composite slurry prepared in step S3 at a volume ratio of 1:(4-9) to form a uniform liquid phase base, and the hydrophobically modified nano-silica prepared in step S1 is added to the liquid phase base in batches; then, the functionalized composite prepared in step S1 is added and high shear mixed, and quaternary ammonium salt-modified montmorillonite and photothermal conversion nanoparticles are added to obtain a mixture; S5: Structural optimization and stabilization treatment: The mixture obtained in step S4 is subjected to high-pressure homogenization treatment, vacuum degassing treatment and aging treatment.

8. The adaptive bean threshing device based on shear thickening fluid according to claim 1, characterized in that: A transport wheel is provided below the frame, and the transport wheel is connected to the frame by a connecting bolt; a comb blade for re-screening the material passing through the threshing hole is provided below the discharge port of the frame, and the working area of ​​the comb blade is provided with a comb-shaped structure, and the rotating shaft of the comb blade is linked to the drive motor through a transmission belt.

9. A control method for the adaptive bean threshing device based on shear thickening fluid according to any one of claims 1 to 8, characterized in that: Based on the monitoring signals output by the visual sensor and pre-stored data on the characteristic relationship between the apparent viscosity of the shear thickening fluid and the shear rate and temperature, the control system coordinately controls the stirring rate of the stirring component and the heating temperature of the heating component to change the apparent viscosity of the shear thickening fluid. This in turn dynamically adjusts the effective stiffness of the flexible roller to achieve adaptive control of the threshing force. The specific steps include: (a) Using visual sensors to monitor the material discharged from the threshing channel in real time and collect image data; (b) analyzing the image data to determine at least one performance indicator representing the threshing effect, the performance indicator comprising a current threshing rate and / or a current kernel breakage rate of the bean kernels; analyzing the image data comprising analyzing morphological parameters, spectral characteristics, and / or surface texture characteristics of the kernels; (c) comparing at least one performance indicator with a predetermined target value or target range; (d) Based on the comparison result of step (c) and in accordance with the dual response characteristics of the apparent viscosity of the shear thickening liquid to the stirring rate and temperature and its pre-stored three-dimensional characteristic relationship data, performing intelligent collaborative control, the intelligent collaborative control comprising: autonomously deciding and executing one or a combination of multiple control strategies from a preset set of control strategies that includes hierarchical judgment or multi-parameter combination logic for different working conditions and optimization objectives, based on the current state and dynamic trend between at least one performance indicator and the preset target value or target range, to collaboratively adjust the stirring rate of the stirring component and the heating temperature of the heating component, thereby adjusting the apparent viscosity of the shear thickening liquid, and then dynamically adjusting the effective stiffness of the flexible roller so that at least one performance indicator tends to the preset target value or target range.

10. The control method of the adaptive bean threshing device based on shear thickening fluid according to claim 9, characterized in that: The control method also includes recording monitoring data, control instructions and threshing effect evaluation during the operation process for subsequent optimization of the control model through a machine learning algorithm.

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