A low-loss harvesting system and adaptive control method for a three-ridge six-row peanut combine harvester

Abstract

The application discloses a low-loss harvesting system and a self-adaptive control method of a three-row six-line peanut combine harvester, wherein the harvesting table of the system comprises a symmetrical double-trapezoidal digging shovel, a clamping conveying device and a vertical digging depth self-adaptive adjusting mechanism; the gathering device of the system adopts a three-row successive confluence path, cooperates with the clamping conveying device and a speed ratio control to prevent blockage; the control system of the system realizes real-time sensing of ground undulation through a profiling wheel posture sensor, derives the hydraulic cylinder extension and retraction amount according to a preset geometric mapping relationship between the profiling wheel posture and the hydraulic cylinder extension and retraction amount, drives the digging shovel to lift and realize equal-depth digging, and cooperatively controls the clamping conveying speed and the gathering speed under the large feeding amount working condition.The application realizes self-adaptive control of parameters in the whole process from digging to gathering, effectively solves the technical problem that the loss rate is difficult to control due to the fixed parameters and poor cooperativeness between links of the traditional combine harvester, and improves the adaptability and operation stability under different soil conditions and variable feeding amount working conditions.

Description

Technical Field

[0001] This invention relates to the field of agricultural harvesting machinery technology, specifically to a low-loss harvesting system for peanut combine harvesters suitable for a three-row, six-row planting pattern and its adaptive control method, which is particularly suitable for efficient and low-loss operation throughout the entire process from digging, clamping, conveying to collection under complex field conditions. Background Technology

[0002] Peanuts are an important oilseed and cash crop in my country, and the three-row, six-row wide-row planting pattern is widely used in large-scale production. Peanut combine harvesting operations involve multiple stages such as digging, clamping and conveying, and collection. The working parameters of each stage are coupled and jointly affect the final peanut pod loss rate.

[0003] Existing peanut combine harvesters suffer from the following prominent problems in practical applications: At the harvesting front, traditional digging shovels cannot adaptively adjust their penetration depth in real time when dealing with uneven fields, leading to missed harvests or damaged pods, increasing losses from the outset. The clamping force of the clamping and conveying devices is mostly fixed, making it difficult to meet the requirements of preventing detachment and vine damage under different feeding rates. Excessive instantaneous feeding at the multi-row confluence stage causes blockages, broken vines, and even machine shutdowns for cleaning, severely impacting operational efficiency.

[0004] The problems mentioned above are not isolated but interconnected: uneven excavation depth at the front end leads to fluctuations in subsequent feed rates, and congestion at the collection point causes fluctuations in subsequent feed flow rates, disrupting subsequent processes. Therefore, there is an urgent need for a low-loss harvesting system with a collaborative design across the entire process from excavation to collection, and with multi-parameter adaptive control capabilities. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the present invention aims to provide a low-loss harvesting system and adaptive control method for a three-row, six-valve peanut combine harvester, thereby solving the technical problem of fixed parameters in each stage and poor coordination between stages in existing technologies, which makes it difficult to control the loss rate under different working conditions.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A low-loss harvesting system for a three-row, six-row peanut combine harvester includes four primary systems: a harvesting platform, a collection device, a hydraulic drive system, and a control system. The harvesting platform is the core assembly of the front-end operation, including a digging and pulling device, a vertical digging depth adaptive adjustment mechanism, and a horizontal harvesting spacing adjustment mechanism; The excavation device is a three-stage actuation component, including a symmetrical double trapezoidal excavating shovel and a clamping and conveying device. The symmetrical double trapezoidal excavating shovel is fixed to the lower front of the main frame in a "V" shape. The clamping and conveying device is a single closed-loop conveying component, which is divided into a digging and extracting section and a collecting section according to the working position and function, and is respectively arranged in the working area of ​​the digging and extracting device and the collecting device. The collecting device is connected to the discharge end of the harvesting platform and adopts a three-row sequential merging path, so that the first row and the second row of vines merge first and then merge with the third row. The control system includes a contour wheel attitude sensor, a controller, and a host computer. The controller receives signals from the contour wheel attitude sensor and outputs control commands to the hydraulic drive system through a preset strategy to achieve coordinated adaptive control of digging depth and clamping and conveying speed.

[0007] Based on the above technical solution, the symmetrical double trapezoidal digging shovel has an entry angle of 24°, a total installation length of 340mm, and a total width of 520mm for both shovels. The shovel body is integrally stamped from Q355 steel plate with a thickness of 12~15mm. The shovel blade is made of wear-resistant alloy material and is quenched. The shovel surface adopts a combination of arc and straight line curved surface design to fit the peanut vine conveying trajectory.

[0008] Based on the above technical solution, the vertical digging depth adaptive adjustment mechanism includes a contour wheel, an angle sensor, and a hydraulic cylinder. The contour wheel rolls close to the top of the ridge, and the angle sensor collects the posture change signal of the contour wheel in real time and transmits it to the controller. The controller derives the extension and retraction of the hydraulic cylinder according to the preset geometric mapping relationship between the posture of the contour wheel and the extension and retraction of the hydraulic cylinder, and drives the digging shovel to rise and fall to maintain a constant soil penetration depth, forming a closed-loop control loop of "signal acquisition - deviation calculation - execution adjustment - depth feedback".

[0009] Based on the above technical solution, the clamping and conveying device is equipped with a flexible clamping toothed plate, and the chain plate is the mounting base of the flexible clamping toothed plate. The clamping toothed plate has a high-point tooth-shaped arc-shaped curved structure with a tooth tip angle of 100°, a tooth height of 8~12mm, a tooth spacing of 15~20mm, a single chain plate length of 80~120mm, a width of 30~50mm, a thickness of 5~8mm, and an inner section width of 20~30mm. The edge of the toothed plate adopts a rounded transition treatment with a rounded corner radius of 2~3mm. The chain plate has an arc-shaped curved design, and the curvature conforms to the natural shape of peanut vines. The flexible clamping toothed plate is equipped with a movable support plate and a pressure spring, which can adaptively adjust the clamping space when the feeding amount increases. The feeding inlet adopts a combination of tension spring and flexible guide wheel.

[0010] Based on the above technical solution, the inclination angle range of the clamping and conveying device is 22°~35°, the tension force range is 100~200N, and the rotation speed range is 84 r·min. -1 ~126 r·min -1The clamping height is 150mm~200mm; the maximum opening angle of the clamping and conveying device is 100°~170°, and the maximum opening width is 450mm~500mm.

[0011] Based on the above technical solution, the convergence path of the three rows merging sequentially is as follows: the vines of the first and second rows first merge at the first convergence point to form a stable transport flow, and then gradually merge with the vines of the third row at the second convergence point; the outlet of the diversion channel is precisely connected to the inlet of the convergence mechanism. The convergence path of the three rows merging sequentially is achieved through a two-stage staggered arrangement of guide channels and guide baffles.

[0012] Based on the above technical solution, the hydraulic drive system provides hydraulic power and actuation drive for the whole machine, including a hydraulic pump, hydraulic motor, various hydraulic cylinders, proportional valves and supporting oil circuits, providing power output and actuation actions for clamping and conveying, digging depth adjustment and harvesting spacing adjustment. The hydraulic motor drives the clamping and conveying device, and each hydraulic motor independently controls the flow rate through a proportional valve. The clamping chain drive of the digging and pulling device and the collecting device adopts double cycloidal hydraulic motors in series, and a rotary encoder is used to measure the speed of the hydraulic motors to achieve precise matching and control of the speed of each clamping chain. The ratio of the speed of the clamping and conveying device in the collecting working section to the speed of the clamping and conveying device in the digging and pulling working section is 0.8~1.5, and the ratio of the conveying chain speed to the forward speed of the harvesting machine is 0.5~1.3.

[0013] Based on the above technical solution, the horizontal harvesting spacing adjustment mechanism is integrated between the three sets of excavating units and the self-propelled vehicle chassis. It includes a linear sliding bearing, a slide rail, and a hydraulic cylinder. The middle harvesting device is fixed horizontally relative to the self-propelled vehicle. The harvesting devices at both ends can be horizontally displaced relative to the middle harvesting device by pushing the slide rail within the linear sliding bearing through the hydraulic cylinder, thereby achieving stepless adjustment of the harvesting spacing. The displacement distance is collected by a linear displacement sensor and displayed on the operation interface. The total width of the harvesting platform can be adjusted from 2200mm to 2800mm.

[0014] Based on the above technical solutions, the whole machine adopts a wheeled self-propelled chassis, and the chassis adopts a herringbone tire design with front axle drive and rear axle steering, and the front wheels are larger than the rear wheels; the vehicle is powered by a diesel engine, a dual gear pump and a travel motor.

[0015] The present invention also provides an adaptive control method based on the system, comprising the following steps: S1. Real-time adaptive adjustment during operation: The contour wheel rolls along the ridge surface, and the contour wheel attitude sensor senses the surface undulation in real time. The controller calculates the digging depth compensation amount according to the preset geometric mapping relationship between the contour wheel attitude and the hydraulic cylinder extension amount, and drives the hydraulic cylinder to adjust the depth of the digging shovel into the soil to achieve equal depth digging. S2. Coordinated Control of High Feed Rate Working Condition: When the controller detects a high feed rate working condition through changes in hydraulic motor load or conveyor chain torque, it synchronously performs the following adjustment actions: increases the converging working section of the clamping conveyor and adjusts the proportional valve to keep the ratio of the chain speed of the converging working section to the digging working section within the range of 0.8 to 1.5, and keeps the ratio of the conveyor chain speed to the forward speed of the harvester within the range of 0.5 to 1.3. S3, Return to Normal: When the feed rate returns to the normal level, the control system will restore the rotation speed of the clamping conveyor to the basic preset value.

[0016] Compared with the prior art, the advantages of the present invention are as follows: 1. This invention constructs a low-loss harvesting system covering the entire process from digging, clamping, conveying, to collection. The various devices are designed collaboratively and their parameters are matched, achieving full-process control of the loss rate from digging at the source to collection. The symmetrical double trapezoidal digging shovel, combined with a specific entry angle, installation length, and width, enables synchronous and stable digging of three rows of six peanut plants, reducing localized feeding overload and collection blockage problems caused by uneven digging from the source.

[0017] 2. The adaptive control method of this invention achieves multi-level adaptive adjustment: closed-loop adaptive vertical digging depth ensures uniform seedling lifting depth, effectively avoiding missed digging and fruit damage caused by uneven soil penetration depth due to surface undulations; coordinated control of the collection and conveying speed ratio under high feed rate conditions enables the system to maintain stable conveying under different feed rate conditions. The multi-level adjustment works in tandem, with a stable digging depth at the front end providing a foundation for balanced subsequent feed rate, and the adaptive collection speed ratio absorbing unavoidable flow fluctuations at the front end, forming a complete closed loop.

[0018] 3. This invention effectively disperses the feeding load of multi-row merging by organically combining the sequential merging path, the flexible clamping chain structure, and the speed ratio control, avoiding excessive instantaneous flow caused by the simultaneous merging of three rows, greatly reducing the probability of blockage in the merging process, ensuring the continuity and stability of the whole machine operation, and significantly improving the operating efficiency and adaptability under complex field conditions. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the main structure of the harvesting platform; Figure 2 This is a schematic diagram of a 3D model of an excavator shovel. Figure 3 A model diagram of the clamping chain tooth plate; Figure 4 A schematic diagram of the feeding inlet and clamping model for the excavation clamping chain; Figure 5 A force analysis diagram of the peanut harvesting process; Figure 6 This is a schematic diagram illustrating the composition and working principle of the contour wheel; Figure 7 This is a schematic diagram of the control path and adjustment range; Figure 8 This is a schematic diagram of harvesting spacing adjustment; Figure 9 for Figure 8 Enlarged view of a portion of point A in the middle; Figure 10 This is a schematic diagram of a flexible clamping chain structure; Figure 11 for Figure 10 Enlarged view of a section at point B in the middle; Figure 12 for Figure 10 Enlarged view of a section at point C; Figure 13 This is a schematic diagram of the convergence path; Figure 14 This is the hydraulic schematic diagram of the entire machine.

[0020] In the above figures: 1. Contouring wheel; 2. Digging shovel; 3. Clamping and conveying device; 4. Hydraulic cylinder; 5. Suspension lug; 6. Digging and pulling device; 7. Collecting device; 8. Angle sensor; 9. Self-propelled vehicle; 10. Slide rail; 11. Sliding lug; 12. Harvesting device on the driver's side; 13. Intermediate harvesting device; 14. Harvesting device on the driver's side; 15. Pressure spring; 16. Movable support plate column; 17. Movable support plate; 18. Tension spring; 19. Feed inlet; 20. Tensioning wheel. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] The embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Example

[0023] like Figures 1-14 As shown in the figure, the low-loss harvesting system of the three-row, six-row peanut combine harvester provided in this embodiment includes, in order from front to back, a harvesting platform and a collection device 7, which are integrated on the main frame and are coordinated by a hydraulic drive system and a control system.

[0024] The main components are described below.

[0025] I. Harvesting Platform The harvesting platform is the core of the front-end digging operation, including three secondary mechanisms: the digging device 6, the vertical digging depth adaptive adjustment mechanism, and the horizontal harvesting spacing adjustment mechanism.

[0026] 1. Excavation and extraction device 6 The digging and pulling device 6 is the actuator that completes the digging, pulling and primary conveying of peanuts. It is equipped with a peanut support at the front end and mainly includes a digging shovel 2 and a clamping and conveying device 3.

[0027] The working principle of the digging and pulling device 6 is as follows: During operation, the harvester, driven by the walking assembly, moves forward at a constant speed along the peanut planting ridges. Simultaneously, the lifting device at the front end of the digging and pulling device 6 operates, precisely aligning with the six rows of peanuts to lift and straighten the fallen and scattered peanut vines, ensuring that the vines are neatly arranged, laying the foundation for subsequent digging operations. Subsequently, the digging shovel 2 penetrates into the soil layer, digging up the six rows of peanuts along with some soil from the three ridges. Through the pulling and holding device 3, the peanut plants are transported backward in an orderly manner.

[0028] The second digging shovel is a symmetrical double trapezoidal digging shovel, which is the core digging component of the three-row, six-valve peanut combine harvester. (See attached image.) Figure 2 Designed specifically for large-scale multi-row harvesting, its core function is to smoothly and efficiently excavate and initially transport peanut plants, while solving the problems of uneven force distribution, severe soil clogging, and missed digging damaging seedlings associated with traditional single-digging shovels. This component adopts a symmetrical layout, with two shovels symmetrically fixed to the lower front sides of the harvester's main frame, forming a "V" shape. The shovel body is made of Q355 steel plate, stamped as a single piece with a thickness of 12-15mm, offering high strength and wear resistance, suitable for various peanut planting areas such as sandy loam and light loam. The shovel blades are made of wear-resistant alloy material and have undergone quenching treatment. The shovel surface features a combination of arc and straight-line curved surfaces, conforming to the peanut vine transport trajectory and reducing vine pulling damage during digging. The symmetrical double-digging shovels, powered by a self-propelled vehicle, ensure smooth digging with both shovels, maintaining synchronization across three rows, achieving simultaneous and uniform digging of six rows of peanut plants across three rows, reducing localized overload and clogging problems caused by uneven digging from the source.

[0029] The entry angle is the angle between the peanut combine harvester's shovel and the ground surface. As a core adjustment parameter for harvesting operations, its size directly determines the digging effect. Force analysis of the soil on the shovel surface during digging reveals that the soil must meet the following conditions to move smoothly backward: In the formula: T is the force (N) required for the soil to move backward; The angle of entry of the excavator shovel into the soil is (°); m is the mass of the soil on the shovel surface (kg). denoted as the soil friction angle on the shovel surface (°); g is the acceleration due to gravity (m / s²).

[0030] The angle of entry into the soil is a key factor affecting the travel resistance of a peanut combine harvester, exhibiting a tangent function relationship with a clear inflection point. Experimental studies show that when the angle of entry is small, the travel resistance increases slowly with increasing angle; an inflection point occurs when the angle approaches 25°, and beyond this angle, the travel resistance increases sharply. The angle of entry directly determines whether the digging shovel can penetrate deep into the peanut root system, sever the taproot, and completely excavate the pods. If the angle of entry is too large, the digging shovel penetrates too deeply, easily damaging the pods and increasing the breakage rate; if the angle of entry is too small, the digging shovel cannot reach the depth of the peanut taproot, making it difficult to effectively sever the taproot and increasing the loss rate. Considering all factors, the angle of entry for the peanut combine harvester's digging shovel in this embodiment is set at 24°.

[0031] The total installation length of the excavator shovel is divided into the part below the ridge surface and the connecting part above the ridge surface. The part below the ridge surface, S1, is obtained according to geometric relationships: S1 = k / sin Where k is the depth of the digging shovel into the soil. Based on the key dimensions of peanut plants, the average root length is 100mm. Adding a margin, a digging depth k of 120mm is chosen, resulting in a length of S1 of approximately 286mm. The length of the connecting part S2 can be calculated using the kinetic energy theorem. Substituting the final soil velocity of 0.5m / s and the penetration angle of 24° into the formula, S2 is taken as a minimum of 55mm. Therefore, the total installation length of the digging shovel S = S1 + S2 = 341mm, while in this embodiment, the actual installation length is 340mm.

[0032] The width of the digging shovel mainly depends on the distribution of peanut plants underground during ridge planting. The calculation formula is: B = a + b + c + d, where B is the width of the double digging shovel (mm), a is the average row spacing of peanuts (220~290mm), b is the average width of peanut distribution (20mm), c is the standard deviation of peanut distribution width (50mm), and d is the distance between shovels (60mm). Substituting these values, the minimum width of the double digging shovel is calculated to be 520mm.

[0033] The clamping and conveying device 3 is a core component of the peanut combine harvester, comprising a clamping chain, a tensioning device, and a drive mechanism. The clamping chain mainly consists of the chain body, clamping toothed plates, and chain links. This device is responsible for clamping and conveying the peanut plants. The chain is made of high-strength, wear-resistant steel, with tight connections between links and a corrosion-resistant and wear-resistant surface treatment. The operational stability of the clamping and conveying device directly affects the overall harvesting efficiency and quality. A superior clamping effect prevents missed harvesting caused by peanut plants slipping during conveying and, through its flexible clamping design, prevents damage to the vines and pods.

[0034] In terms of structural design, the chain plate serves as the mounting base for the clamping toothed plate, requiring a balance between clamping stability and plant protection. Each chain plate is designed to be 80-120mm long, 30-50mm wide, and 5-8mm thick, with the inner width of each section controlled at 20-30mm. This design accommodates peanut vines of varying thicknesses while ensuring the chain plate's structural strength. In terms of shape, the clamping toothed plate fixed to the chain plate employs a high-pointed tooth structure, with a tooth height of 8-12mm, a tooth spacing of 15-20mm, a tooth tip angle φ of 100°, and rounded chamfers on the pointed teeth. The chain plate as a whole has an arc-shaped curved design, the curvature conforming to the natural shape of the peanut vine, creating a snug fit during clamping. All edges of the chain plate are rounded with a radius of 2-3mm. (See also...) Figure 3 .

[0035] The digging and harvesting device is designed primarily to suit peanut planting patterns. During operation, it prevents any peanut plants from being missed and effectively reduces harvesting losses. (See also...) Figure 4 When peanut plants are harvested, they are subjected to an upward pulling force and a backward transmission force from the clamping and conveying device. To prevent the peanut plants from tearing or shearing during clamping, the maximum opening angle α of the clamping and conveying device is set to 100°~170°, and the maximum opening width L is set to 450mm~500mm. Clamping stability is significantly affected by the height of the peanut's center of gravity, which is typically located at the top third of the root. The clamping height is set between 150mm and 200mm above the soil. Based on geometric relationships, the inclination angle β of the clamping and conveying device can be calculated to be between 22° and 35°.

[0036] During the clamping and conveying process, to prevent the peanut plants from being pulled or cut, the operating speed of the peanut digging and clamping system and the forward speed of the harvester need to be matched, satisfying vb = Va / cosβ, where Va is the machine's forward speed (m·s). -1 ), where vb is the linear velocity (m·s) of the excavation clamping and conveying device. -1 β represents the tilt angle of the clamping conveyor. Substituting the harvester's operating speed of 0.5 m / s and the range of values ​​for the clamping chain tilt angle, the calculated range of the linear velocity vb of the clamping conveyor is 0.41 m / s. -1 ~0.62 m·s -1 According to vb = πDn / 60, where n is the rotational speed (r·min) of the drive wheel of the clamping and conveying device. -1 D represents the diameter of the drive wheel of the clamping and conveying device, which is approximately 0.09 m. The calculated rotational speed range of the wheel is 84 r / min. -1 ~126 r·min -1 .

[0037] During the digging process, the peanut plants are subjected to the digging force of the excavator and the upward pulling force of the clamping and conveying device. Simultaneously, because the peanut roots are not yet completely separated from the soil, some resistance is also generated. For a force analysis of the peanut plants entering the clamping and conveying device, see [link to relevant documentation]. Figure 5 To ensure proper digging and pulling during harvesting without breakage, the following conditions must be met: F2COSγ + F1COSθ = G, F3 = F1COS(θ+γ) + GCOSγ, where F1 is the supporting force (N) exerted by the digging shovel on the peanut plant, G is the weight (N) of the peanut plant, θ is the angle between the digging shovel and the X-axis, F2 is the pulling force (N) of the clamping and conveying device, F3 is the resultant force (N) exerted by the soil on the peanut plant, and γ is the angle between the pulling force and the Y-axis. Simultaneously, it must be ensured that the peanut plant does not fall off while being clamped, satisfying μF > mg, where μ is the static friction coefficient between the peanut plant and the clamping and conveying device, and F is the clamping force (N) exerted by the clamping chain on the peanut plant. Taking into account factors such as soil moisture, viscosity, and degree of soil fragmentation, after calculating the total weight of the attached soil and the clamping force, the tension range of the clamping and conveying device is 100~200N. This can both ensure that the peanut vines are clamped and do not fall off, and prevent the vines from being broken under large feeding volumes.

[0038] 2. Vertical excavation depth adaptive adjustment mechanism To reduce digging losses and breakage, the harvesting platform employs a vertical adaptive adjustment scheme to achieve uniform seedling lifting. This uniform lifting is achieved through a closed-loop depth control system: "attitude acquisition - geometric mapping - execution adjustment - depth feedback," ensuring the digging shovel maintains a stable and consistent depth throughout the operation. The working principle and control path are shown in Figures 6 and 7, respectively. The contouring wheel consists of an angle sensor 8 and a spoked contouring wheel 1. During operation, the contouring wheel 1 rolls close to the ridge top surface, moving from initial position a to position b. Due to the height change Δh of the ridge surface, the mounting frame adjusts its angle accordingly. Based on geometric relationships, the ridge height change... Where L is the length of the pendulum rod (mm). The initial angle between the pendulum and the horizontal line. To change the angle between the swing arm and the horizontal line, R is the radius (mm) of the contour wheel.

[0039] See Figure 7Based on the geometric relationship of the contour wheel installation position, the change in digging depth Δh is converted into the extension and retraction of the hydraulic cylinder. After simplification, the change in the length of the hydraulic cylinder can be calculated. The programmable logic controller (PLC) then controls the extension and retraction of the hydraulic cylinder by controlling the electro-hydraulic proportional valve. The electro-hydraulic proportional control system has a fast response and good stability, effectively reducing the loss rate caused by the adjustment feedback time of the digging depth. Based on the digging depth adjustment range of approximately 0~200mm, the angle adjustment range is calculated to be approximately 12° using CAD software. The entire process forms a closed-loop control of signal acquisition, deviation calculation, execution adjustment, and depth feedback, ensuring that the digging shovel remains stable within the target depth range, thus achieving uniform depth, smooth operation, and low-loss seedling removal.

[0040] 3. Horizontal harvesting spacing adjustment mechanism The horizontal harvesting spacing adjustment mechanism is integrated between the three sets of excavator units on the harvesting platform and the self-propelled vehicle chassis. See [link / reference needed]. Figure 8 , 9 It includes a self-propelled vehicle 9, a slide rail 10, a sliding lug 11, a hydraulic cylinder 4, a harvesting device on the opposite side of the driver 12, a middle harvesting device 13, and a harvesting device on the driver's side 14. During harvesting, the middle harvesting device is fixed horizontally relative to the self-propelled vehicle, and the forward direction is corrected by the Beidou navigation system. The distance between the harvesting devices at both ends and the middle harvesting device can be adjusted in real time. The hydraulic cylinder pushes the slide rail to move horizontally, and the displacement distance is collected by a linear displacement sensor and displayed on the operation interface. This structure can rotate around the X-axis and move along the X-axis at the same time, ensuring vertical adaptive adjustment while also being able to adjust the harvesting spacing normally. According to the peanut planting mode, the total width of the harvesting platform can be adjusted from 2200mm to 2800mm.

[0041] II. Collection Device Excessive feed rate in peanut combine harvesters can easily lead to blockages in the collection process, causing multiple problems related to harvest quality, operational efficiency, and machine reliability. When blockages occur, peanut vines are squeezed, entangled, and trapped in the collection channel, causing pods to fall off and resulting in missed harvests, as well as pod damage due to compression and impact. Since excessive feed rate is unavoidable in three-row, six-row peanut combine harvesters, a blockage-prevention collection device needs to be designed.

[0042] Both the excavation section (excavation section clamping chain) and the collection section (collection section clamping chain) of the clamping and conveying device adopt flexible mechanical structures, with adaptive clamping force provided by the pressure spring 15 located on the movable support plate column 16 and the movable support plate 17. See also Figures 10-12When the feed rate is too high, the clamping force will push the clamping chain outward, compressing the pressure spring 15. This ensures that the peanut plants do not fall off while releasing the supporting force of the vines at the point of high feed rate, avoiding mechanical damage and blockage. A combination of a tension spring 18 and a flexible guide wheel is used at the feed inlet. When the feed rate is too high, the vines compress the flexible feed inlet 19, opening it inward to ensure that the peanut vines can smoothly enter the harvester. At the same time, the tension wheel 20 provides tension to the clamping chain to clamp the peanut plants, preventing loss.

[0043] Three-row peanut combine harvesters typically use a single post-harvest system shared by all three rows, requiring the design of a reasonable harvesting scheme. (See also...) Figure 13 , Figure 13 In the scheme shown in (a), when the peanuts from the three rows converge at point A simultaneously, it can easily lead to instantaneous overload of the feed and localized blockage. This embodiment adopts a sequential merging method as follows: Figure 13 (b) This mode is achieved through a two-stage staggered flow guide channel and an arc-shaped flow guide baffle: the first-stage flow guide channel corresponds to the outlet of the conveying device at the digging and pulling section of two adjacent rows, guiding the vines of the two rows to complete the initial merging at the first confluence point B, forming a single stable conveying flow; the second-stage flow guide channel receives the vines after the initial merging and gradually intersects with the conveying path of the third row at the second confluence point A, ultimately achieving the sequential merging of the three rows. This scheme can effectively avoid the feeding overload problem of simultaneous merging of multiple rows, gradually disperse the feeding load, and significantly reduce the probability of blockage in the confluence link; achieve orderly transition of vines, reduce vine crossing and squeezing; reduce mechanical impact, and avoid instantaneous impact loads. The outlet of the diversion channel is precisely connected to the inlet of the confluence mechanism to ensure that the vines can be orderly merged into the conveying link after diversion.

[0044] III. Hydraulic Drive System The entire machine is hydraulically driven, with proportional valves controlling the hydraulic oil flow. The speed ratio setting follows the principle of "chain speed in the converging section > chain speed in the digging and pulling section > speed of the lifting device," with specific parameters: the ratio of the converging section's clamping and conveying chain speed to the digging and pulling section's chain speed is controlled between 0.8 and 1.5, and the ratio of the conveying chain speed to the harvesting machine's speed is controlled between 0.5 and 1.3. A reasonable speed ratio setting avoids vine accumulation caused by an excessively slow converging section chain speed or vine pulling damage caused by an excessively fast one. It ensures that the conveying chain speed and the converging clamping speed are coordinated, guaranteeing rapid transport of the merged vines without stagnation or blockage, while also adapting to the merging rhythm of three rows. The speed ratio can be flexibly adjusted by combining observation of blockage conditions with torque detection in the digging and pulling section to dynamically optimize the chain speed.

[0045] IV. Control System The control system is based on a programmable logic controller (PLC). The input terminals are connected to detection elements such as angle sensors, torque sensors, rotary encoders, and linear displacement sensors. The output terminals are connected to the control units of various electro-hydraulic proportional valves and hydraulic motors. The host computer is located in the driver's cab and is used for parameter setting and status display.

[0046] The core of this embodiment lies in the adaptive control method for the entire system, and the specific steps are as follows: During operation, the vertical adaptive adjustment continues to run: the contour wheel 1 senses the undulation of the ground, and the controller calculates and drives the hydraulic cylinder 4 in real time to adjust the depth of the digging shovel 2 into the soil, ensuring uniform digging depth and guaranteeing the uniformity of the feed from the source.

[0047] When the harvester experiences a sudden increase in feed rate due to increased plant density or changes in travel speed, the control system detects this condition by monitoring changes in the hydraulic motor load or clamping chain torque. It then triggers a high-feed rate coordinated control program: increasing the speed of the hydraulic motor 9 that collects the clamping chain, and adjusting the proportional valve to maintain the chain speed ratio between the collecting section and the digging section within the range of 0.8 to 1.5, and the ratio of the conveyor chain speed to the harvester's forward speed within the range of 0.5 to 1.3. Through this coordinated speed ratio control, a large volume of seedlings is quickly passed through the collecting channel, preventing stagnation and blockage, while also preventing damage from pulling on the seedlings.

[0048] Once the feed rate returns to normal, the control system will restore the rotational speed of each clamping chain to the basic preset value.

[0049] The machine adopts a wheeled self-propelled chassis design, with front axle drive and rear axle steering, and a herringbone tire design with larger front wheels and smaller rear wheels. The vehicle is powered by a diesel engine, a dual gear pump, and a drive motor. (See also...) Figure 14 In the hydraulic circuit, hydraulic motors 1-3 on the left side drive the clamping and conveying devices on the three excavating units, hydraulic motor 4 drives the hydraulic motors of each clamping chain in the collecting device, and the rest are reserved hydraulic circuits for the subsequent processing and lifting systems. Hydraulic cylinders 1-3 are hydraulic cylinders for adjusting the digging depth of the excavating units, hydraulic cylinders 6-7 are hydraulic cylinders for adjusting the row spacing, and the rest are reserved hydraulic circuits for the subsequent processing and lifting systems. The clamping chains of the excavating and collecting devices are driven by double cycloidal hydraulic motors connected in series. The hydraulic oil flow is controlled by a proportional valve to control the speed, and a rotary encoder is used to measure the speed of the hydraulic motors to achieve precise matching and control of the speed of each clamping chain at each stage.

[0050] It should be noted that, in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element described by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0051] The embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A low-loss harvesting system for a three-row, six-row peanut combine harvester, characterized in that, Includes a harvesting platform, a collection device, a hydraulic drive system, and a control system; The harvesting platform includes a digging device and a vertical digging depth adaptive adjustment mechanism; The excavation device includes a symmetrical double trapezoidal excavating shovel and a clamping and conveying device. The symmetrical double trapezoidal excavating shovel is fixed to the lower front of the main frame in a "V" shape. The collecting device is connected to the discharge end of the harvesting platform and adopts a three-row sequential merging path, so that the first row and the second row of vines merge first and then merge with the third row. The control system includes a contour wheel attitude sensor, a controller, and a host computer. The controller receives signals from the contour wheel attitude sensor and outputs control commands to the hydraulic drive system through a preset strategy to achieve coordinated adaptive control of digging depth and clamping and conveying speed.

2. The low-loss harvesting system for a three-row, six-row peanut combine harvester as described in claim 1, characterized in that, The symmetrical double trapezoidal digging shovel has an entry angle of 24°, a total installation length of 340mm, and a total width of 520mm for both shovels. The shovel body is made of Q355 steel plate by integral stamping, with a thickness of 12~15mm. The shovel blade is made of wear-resistant alloy material and has been quenched.

3. The low-loss harvesting system for a three-row, six-row peanut combine harvester as described in claim 1, characterized in that, The vertical digging depth adaptive adjustment mechanism includes a contour wheel, an angle sensor, and a hydraulic cylinder. The contour wheel rolls close to the top of the ridge. The angle sensor collects the posture change signal of the contour wheel in real time and transmits it to the controller. The controller derives the extension and retraction of the hydraulic cylinder based on the preset geometric mapping relationship between the posture of the contour wheel and the extension and retraction of the hydraulic cylinder, and drives the digging shovel to rise and fall to maintain a constant digging depth.

4. The low-loss harvesting system for a three-row, six-row peanut combine harvester as described in claim 1, characterized in that, The clamping and conveying device is equipped with a flexible clamping toothed plate. The clamping toothed plate has a high-pointed, arc-shaped curved structure with a tooth tip angle of 100°, a tooth height of 8~12mm, a tooth spacing of 15~20mm, and the edge of the toothed plate is treated with a rounded transition with a radius of 2~3mm. The clamping toothed plate is equipped with a movable support plate and a pressure spring, which can adaptively adjust the clamping space when the feed amount increases.

5. The low-loss harvesting system for a three-row, six-row peanut combine harvester as described in claim 1, characterized in that, The clamping and conveying device has an inclination angle range of 22° to 35°, a tension force range of 100 to 200 N, and a rotational speed range of 84 r·min. -1 ~126 r·min -1 The maximum opening angle of the clamping and conveying device is 100°~170°, and the maximum opening width is 450mm~500mm.

6. The low-loss harvesting system for a three-row, six-ridge peanut combine harvester as described in claim 1, characterized in that, The convergence path of the three rows is as follows: the vines of the first row and the second row first converge at the first convergence point to form a stable transport flow, and then gradually converge with the vines of the third row at the second convergence point. The exit of the diversion channel is precisely connected to the entrance of the collection agency.

7. The low-loss harvesting system for a three-row, six-row peanut combine harvester as described in claim 1, characterized in that, The hydraulic drive system includes a hydraulic motor that drives the clamping and conveying device, a hydraulic cylinder for adjusting the digging depth and harvesting distance, and each hydraulic motor independently controls the flow rate through a proportional valve; the ratio of the speed of the clamping and conveying device in the converging working section to the speed of the clamping and conveying device in the digging and pulling working section is 0.8~1.5, and the ratio of the conveyor chain speed to the forward speed of the harvesting machine is 0.5~1.

3.

8. The low-loss harvesting system for a three-row, six-row peanut combine harvester as described in claim 1, characterized in that, The harvesting platform also includes a horizontal harvesting spacing adjustment mechanism, which is integrated between the three sets of excavators and the self-propelled vehicle chassis. It includes linear sliding bearings, slide rails and hydraulic cylinders. The harvesting devices at both ends can move horizontally relative to the middle harvesting device to achieve stepless adjustment of the harvesting spacing. The total width of the harvesting platform can be adjusted from 2200mm to 2800mm.

9. The low-loss harvesting system for a three-row, six-ridge peanut combine harvester as described in claim 1, characterized in that, The machine adopts a wheeled self-propelled chassis with a front axle drive and rear axle steering design, featuring herringbone tires with larger front wheels and smaller rear wheels. The vehicle is powered by a diesel engine, a dual gear pump, and a travel motor.

10. An adaptive control method based on the system according to any one of claims 1 to 9, characterized in that, Includes the following steps: S1. Real-time adaptive adjustment during operation: The contour wheel rolls along the ridge surface, and the contour wheel attitude sensor senses the surface undulation in real time. The controller calculates the excavation depth compensation based on the preset geometric mapping model of the contour wheel attitude and the extension and retraction of the hydraulic cylinder, and drives the hydraulic cylinder to adjust the depth of the excavator into the soil to achieve equal depth excavation. S2. Coordinated Control of High Feed Rate Working Condition: When the controller detects a high feed rate working condition through changes in hydraulic motor load or conveyor chain torque, it synchronously performs the following adjustment actions: increases the speed of the hydraulic motor in the gathering section of the clamping conveyor and adjusts the proportional valve to keep the ratio of the chain speed of the gathering section to the digging section within the range of 0.8 to 1.5, and keeps the ratio of the conveyor chain speed to the forward speed of the harvester within the range of 0.5 to 1.

3. S3, Return to Normal: When the feed rate returns to the normal level, the control system will restore the rotation speed of the clamping conveyor to the basic preset value.

Images