花生全喂入切流式摘果作业机理及机构优化研究

Tangential flow picking technology is an important component and a development direction of full-feeding peanut high efficiency harvesting technologies. Aiming at the problems of high un-picked and breakage rate of pods at the picking process, this project intends to carry out the research on dynamic characteristics of picking and mechanism of operation quality, exploration the method of picking mechanism comprehensive optimization design. Taking the typical peanut varieties in the main peanut producing areas in China as the study objects, the mechanical properties of peanut lines will be studied, and the distribution model of peanut lines in pod picking mechanism is to be established. Based on the above basic research data, flexible model of peanut plants is to be established. The full parametric model and rigid-flexible coupling multi-body system simulation model for peanut plants and the picking device will be established based on finite element method. On the basis of innovative techniques such as high frequency dynamic detection and visual pod picking, pod picking test-bed will be constructed. Combining dynamic simulation with bench test analysis, the dynamic characteristics and interaction relationship between peanut line and picking mechanism will be studied, the internal relationship between operation quality and influencing factors will be explored, and the formation mechanism of picking operation quality will be revealed. Applying kinds of research methods including digital optimization, simulation optimization and experimental optimization methods, multi-objective simulation optimization design scheme for picking mechanism and mathematical model for predicting the quality of picking operation will be established. Comprehensive optimization design scheme of picking mechanism is obtained to provide solutions for improving picking quality. The research conclusions will provide theoretical guidance for improvement of peanut tangential flow picking technology and equipment development.

切流式摘果是花生全喂入高效收获技术的重要内容和发展方向之一。针对花生切流式摘果作业过程中存在的未摘净率高、损伤率大等问题，本项目拟开展摘果动力学特性和作业质量产生机理研究，探索摘果机构综合优化设计方法。以花生主产区典型品种为对象，研究花生株系机械力学特性，建立花生株系在摘果机构中的分布模型，构建花生株系柔性体模型；建立基于有限元法的摘果机构全参数化模型和多体动力学仿真模型；创新采用高频响动态检测和可视化摘果等技术手段，构建摘果试验台；动力学仿真和台架试验相结合，研究花生株系与摘果机构的动力学特征和相互作用关系，探明作业质量与影响因素的内在联系，揭示摘果作业质量形成机理；数字优化法、仿真优化法和试验优化法相结合，建立摘果机构多目标仿真优化设计方案和摘果作业质量预测数学模型，获取摘果机构综合优化设计方案，为提高摘果质量提供解决措施。研究结论为花生切流式摘果技术提升及装备研制提供理论指导。

切流式摘果是花生全喂入高效收获技术的重要内容和发展方向之一。针对花生切流式摘果作业过程中存在的未摘净率高、损伤率大等问题，本项目拟开展摘果动力学特性和作业质量产生机理研究，探索摘果机构综合优化设计方法。结合花生切流式摘果装置与花生株系的实际作用过程，选取主产区河南、山东6个典型花生品种，研究了收获期中花生植株各部位含水率随晾晒时间的变化、花生植株果秧比随晾晒时间的变化、花生荚果压缩和切压与晾晒时间的关系、果-柄和秧-柄节点粘结强度与含水率的关系。构建了花生摘果动力学特性试验台、花生摘果试验及机理研究试验台；开展了基于仿真和理论分析的花生切流摘果机理研究，构建了荚果及花生株系有限元模型和花生摘果机构刚柔耦合体动力学仿真平台，对摘果过程的动力学特征、花生株系受力情况进行了分析；开展了摘果装置摘出物仿真分析，获取了花生荚果总质量、总动能随时间的变化规律，探明了摘果摘出物的输送状态。开展单因素试验研究，测定了不同接触试样材料、接触线速度、接触侵入深度、含水率对荚果壳表面摩擦系数、损伤等的影响，并探明了影响规律，在此基础上，开展多因素正交试验，建立了摩擦系数和磨损量对接触线速度、含水率、侵入深度的二次多项式响应面回归模型，探明了交互作用对摩擦系数和磨损量影响规律，采用CT扫描技术对荚果碰撞摩擦损伤特征进行了研究。在上述理论分析与机理研究的基础上，开展单因素试验研究，测定了三因素对摘净率、夹带损失率和破损率等作业质量指标的影响，并探明了影响规律，系统开展了多因素、多指标摘果试验，获取了摘果装置参数的优化设计方案，建立了摘果作业质量的多影响因素数学模型，并对摘果装置参数进行了优化，通过田间试验验证了上述优化参数的合理性及可行性。以上述研究成果为基础，相继创制出四行、六行、八行花生捡拾联合收获机，并在河南农有王农业装备科技股份有限公司进行了转化，取得了显著的社会和经济效益。