CN110832979B

CN110832979B - Control method of peanut picking harvester

Info

Publication number: CN110832979B
Application number: CN201911313605.5A
Authority: CN
Inventors: 李新成; 胥南; 王东伟; 官洪民
Original assignee: Qingdao Agricultural University
Current assignee: Qingdao Agricultural University
Priority date: 2019-12-19
Filing date: 2019-12-19
Publication date: 2021-06-29
Anticipated expiration: 2039-12-19
Also published as: CN110832979A

Abstract

The invention discloses a control method of a peanut picking harvester, which comprises the following steps: the fruit picking device comprises a walking vehicle, a picking device, a fruit picking device, a vibration screening device, a fruit collecting device and a stem and branch recovering device. The peanuts in the farmland are picked up by adopting a mode that the shifting rod and the blocking rod are matched with each other, the blocking rod can pull the peanut seedlings towards the direction of the mounting groove and is matched with the shifting rod to pull the peanuts out of the soil and push the peanuts together with the peanut seedlings into the mounting groove, and therefore, the shifting rod and the blocking rod are perpendicular to each other, and the phenomenon of blockage caused by the fact that the peanut seedlings are wound on the blocking rod can be reduced; meanwhile, in the fruit picking process, the separation rod on the rotary inner rotary drum is used for peeling off peanuts and peanut seedlings conveyed in the sorting drum, so that the peanuts separated from the peanut seedlings leak to a vibration screening device below through a floor control hole at the lower part of the sorting drum, and the rotation direction of the separation rod is perpendicular to the conveying direction of the peanuts and the peanut seedlings in the sorting drum, so that the peanut seedlings are favorably prevented from being wound on the inner rotary drum, the anti-blocking capacity is improved, and the peanut harvesting efficiency is improved.

Description

Control method of peanut picking harvester

Technical Field

The invention relates to the technical field of agricultural machinery, in particular to a peanut picking and harvesting machine and a control method thereof.

Background

The peanut is also known as peanut, is known as 'vegetable meat', has the oil content of up to 50 percent, good quality and fragrant smell. Besides being eaten, peanuts are also used in printing and dyeing and paper making industries. With the requirement of field planting of peanuts, a peanut picking harvester is generally adopted when the peanuts are harvested. The conventional peanut picking harvester can automatically complete operations of picking, cleaning, conveying and the like of peanuts. For example: chinese patent No. 201310225965.6 discloses a peanut picking machine which integrates picking, picking and cleaning. However, in the actual use process, the picking, picking and conveying operations are easy to block due to the seedlings and the fruits of the peanuts, so that the harvester needs to be stopped and maintained by operators, the harvesting efficiency is affected, and the labor intensity of the operators is increased. The invention aims to solve the technical problem of how to design a technology for high peanut harvesting efficiency.

Disclosure of Invention

The invention provides a peanut picking harvester and a control method thereof, which can reduce the blocking situation, improve the harvesting efficiency of the peanut picking harvester and reduce the labor intensity of workers.

In order to achieve the purpose, the invention adopts the following technical scheme:

the invention provides a peanut picking harvester, which comprises: the fruit picking device comprises a walking vehicle, a picking device, a fruit picking device, a vibration screening device, a fruit collecting device and a stem and branch recovering device;

the pickup device includes: the first auger assembly comprises a first auger and a mounting groove, the first auger is rotatably arranged in the mounting groove, a first discharge port is arranged on the mounting groove, and the first discharge port is connected with an inlet of the conveying channel; the picking assembly comprises a first rotating shaft and a second rotating shaft, a plurality of mounting discs are arranged on the first rotating shaft, a plurality of stop rods which are arranged in parallel with the first rotating shaft are arranged on the outer periphery of each mounting disc, a plurality of shift levers are arranged on the second rotating shaft side by side, the first rotating shaft is arranged above the second rotating shaft in parallel, and the conveying channel is arranged at the front part of the walking vehicle;

the fruit picking device comprises a sorting barrel and an inner rotary barrel, the sorting barrel is obliquely arranged on the walking vehicle, the inner rotary barrel can rotate in the sorting barrel, the barrel wall of the sorting barrel below is provided with a plurality of hollow holes, the lower end part of the inner rotary barrel is provided with a helical blade, the barrel wall of the inner rotary barrel is provided with a plurality of separating rods, and the lower port of the sorting barrel is connected with the outlet of the conveying channel;

the vibration screening device comprises a vibration platform and a vibration mechanism, the vibration platform is arranged on the walking vehicle, an eccentric wheel of the vibration mechanism is arranged on the vibration platform, and the vibration platform is positioned below the sorting barrel;

the fruit collecting device comprises a second auger assembly, a first air duct, a first fan and a fruit collecting box, wherein the second auger assembly comprises a second auger and a collecting tank, the second auger is rotatably arranged in the collecting tank, the collecting tank is positioned below the vibration platform, a second discharge port is formed in the collecting tank, the first air duct is longitudinally arranged, a lower air port of the first air duct is connected with an air outlet of the first fan, a feeding port is further formed in the lower portion of the first air duct and connected with the second discharge port, an upper air port of the first air duct is positioned in the fruit collecting box, and the fruit collecting box is arranged on the travelling vehicle and positioned above the sorting barrel;

the stem and branch recovery device comprises a crushing assembly, a second air channel, a second fan and a recovery box, wherein the crushing assembly comprises a crushing trough, a power shaft and a plurality of crushing knives, the power shaft is rotatably arranged in the crushing trough, and the crushing knives are arranged side by side and arranged on the power shaft; the side wall of the crushing trough is provided with a mounting opening, the second air channel is vertically arranged, the lower end part of the second air channel extends into the crushing trough, an avoiding notch used for avoiding the crushing knife is arranged on the side wall of the second air channel, the avoiding notch forms a lower air opening of the second air channel, the second fan is located in the second air channel and located on the upper part of the second air channel, and an upper air opening of the second air channel is connected with the recovery box.

Furthermore, one end of the shifting lever forms a torsion spring structure and is sleeved on the second rotating shaft, and the other end of the shifting lever is perpendicular to the second rotating shaft and extends outwards.

Furthermore, two chain assemblies and a plurality of clamping plates are arranged in the conveying channel, each chain assembly comprises a front chain wheel, a rear chain wheel and a chain, the chains are wound on the front chain wheels and the rear chain wheels, the two front chain wheels are connected through front synchronizing shafts, the two rear chain wheels are connected through rear synchronizing shafts, the front synchronizing shafts and the rear synchronizing shafts are rotatably arranged in the conveying channel, and the clamping plates are connected between the two chains.

Further, a plurality of protruding clamping teeth are formed on the edge of the clamping plate.

Furthermore, a plurality of screening holes are formed in the vibration platform, an inclined guide plate is arranged below the vibration platform, and the lower edge of the inclined guide plate is located above the collecting tank.

Furthermore, the vibration screening device further comprises an air blowing assembly, wherein the air blowing assembly comprises a cross-flow fan and an air duct volute, the cross-flow fan is located in the air duct volute, and the air duct volute is arranged below the vibration platform and is provided with an air blowing opening used for blowing air towards the lower surface of the vibration platform.

Further, a third packing auger assembly is arranged at the bottom of the crushing trough and comprises a third packing auger and a recycling trough, the third packing auger is rotatably arranged in the recycling trough, and a third discharge hole is formed in one end part of the recycling trough; the front side wall of the second air duct extends into the crushing trough, and the rear side wall of the second air duct extends into the recovery trough; the vibratory screening device further comprises a conveying assembly, the conveying assembly comprises a conveying belt and a discharging plate, the conveying belt is obliquely arranged, the lower end portion of the conveying belt is located below the third discharging port, the upper end portion of the conveying belt is located above the discharging plate, and the discharging plate is obliquely arranged towards the lower portion of the vibrating platform to extend.

Furthermore, a first sensor for detecting the rotating speed and the torque of the first rotating shaft is arranged in the picking device, and a second sensor for detecting the rotating speed and the torque of the inner rotating drum is arranged in the fruit picking device.

The invention also provides a control method of the peanut picking harvester, which comprises the following steps:

judging whether the picking device is blocked or not according to the torque and the rotating speed of the picking device detected by the first sensor so as to adjust the running speed of the peanut picking harvester;

and measuring the feeding amount of the peanut picking device according to the torque of the peanut picking device detected by the second sensor so as to adjust the running speed of the peanut picking harvester.

Further, when the first sensor detects that the torque of the pickup device is smaller than a first rated maximum torque value and the rotating speed of the pickup device is larger than a rated minimum rotating speed value, the pickup device is judged to be in a normal state;

when the first sensor detects that the torque of the pickup device is larger than a first rated maximum torque value and/or the rotating speed of the pickup device is smaller than a rated minimum rotating speed value, judging that the pickup device is in a blocking state; or when the first sensor detects that the torque change rate of the pickup device is greater than the first torque change rate value and/or the rotating speed of the pickup device is less than the minimum rotating speed change rate value, judging that the pickup device is in a blocking state; wherein the first torque rate of change value is greater than 0 and the minimum rotational speed rate of change value is less than 0; when the picking device is in a blocking state, the driving speed of the peanut picking harvester is reduced;

and when the second sensor detects that the torque of the peanut picking device is larger than the second rated maximum torque value, the running speed of the peanut picking harvester is reduced.

Compared with the prior art, the technical scheme of the invention has the following technical effects: the peanuts in the farmland are picked up by adopting a mode that the shifting rod and the blocking rod are matched with each other, the blocking rod can pull the peanut seedlings towards the direction of the mounting groove and is matched with the shifting rod to pull the peanuts out of the soil and push the peanuts together with the peanut seedlings into the mounting groove, and therefore, the shifting rod and the blocking rod are perpendicular to each other, and the phenomenon of blockage caused by the fact that the peanut seedlings are wound on the blocking rod can be reduced; meanwhile, in the fruit picking process, the separation rod on the rotary inner rotary drum is used for peeling off peanuts and peanut seedlings conveyed in the sorting drum, so that the peanuts separated from the peanut seedlings leak to a vibration screening device below through a floor control hole at the lower part of the sorting drum, and the rotation direction of the separation rod is perpendicular to the conveying direction of the peanuts and the peanut seedlings in the sorting drum, so that the peanut seedlings are favorably prevented from being wound on the inner rotary drum, the anti-blocking capacity is improved, and the peanut harvesting efficiency is improved.

Drawings

FIG. 1 is a schematic view of a peanut picking harvester according to the present invention;

FIG. 2 is a second schematic view of the peanut picking and harvesting machine of the present invention;

FIG. 3 is a schematic view of a pick-up device of the peanut picking harvester of the present invention;

FIG. 4 is a schematic view of a portion of a conveying path of the peanut picking harvester of the present invention;

FIG. 5 is a schematic structural view of a peanut picking device of the peanut picking harvester of the present invention;

FIG. 6 is a schematic view of a part of the peanut picking harvester of the present invention;

FIG. 7 is a schematic view of a portion of the peanut picking harvester of the present invention;

FIG. 8 is a cross-sectional view of a vibratory screening apparatus of the peanut picker of the present invention;

fig. 9 is a partial cross-sectional view of the stem and branch recovery device of the peanut picking harvester of the present invention.

Detailed Description

As shown in fig. 1-9, the peanut picking harvester of the invention comprises a walking vehicle 1, a picking device 2, a fruit picking device 3, a vibrating screening device 4 and a fruit collecting device 5;

the pickup device 2 includes: the device comprises a conveying channel 21, a first auger assembly 22 and a picking assembly 23, wherein the first auger assembly 22 comprises a first auger 221 and a mounting groove 222, the first auger 221 is rotatably arranged in the mounting groove 222, a first discharge hole (not marked) is formed in the mounting groove, and the first discharge hole is connected with an inlet of the conveying channel 21; the picking assembly 23 comprises a first rotating shaft 231 and a second rotating shaft 232, a plurality of mounting discs (not marked) are arranged on the first rotating shaft 231, a plurality of stop rods 233 which are arranged in parallel with the first rotating shaft 231 are arranged on the outer circumference of each mounting disc, a plurality of shift levers 234 are arranged on the second rotating shaft 232 in parallel, the first rotating shaft 231 is arranged above the second rotating shaft 232 in parallel, and the conveying channel 21 is arranged at the front part of the walking vehicle 1;

the fruit picking device 3 comprises a sorting barrel 31 and an inner rotating barrel 32, the sorting barrel 31 is obliquely arranged on the walking vehicle 1, the inner rotating barrel 32 can rotate in the sorting barrel 31, the barrel wall of the sorting barrel 31 positioned below is provided with a plurality of hollow holes 311, the lower end part of the inner rotating barrel 32 is provided with a helical blade 321, the barrel wall of the inner rotating barrel 32 is provided with a plurality of separating rods 322, and the lower port of the sorting barrel 31 is connected with the outlet of the conveying channel 21;

the vibration screening device 4 comprises a vibration platform 41 and a vibration mechanism 42, wherein the vibration platform 41 is arranged on the walking vehicle 1, an eccentric wheel of the vibration mechanism 42 is arranged on the vibration platform 41, and the vibration platform 41 is positioned below the sorting cylinder 31;

the fruit collecting device 5 comprises a second auger assembly 51, a first air duct 52, a first fan 53 and a fruit collecting box 54, the second auger assembly 51 comprises a second auger 511 and a collecting tank 512, the second auger 511 is rotatably arranged in the collecting tank 512, the collecting tank 512 is positioned below the vibration platform 41, a second discharging port (not marked) is arranged on the collecting tank 512, the first air duct 52 is longitudinally arranged, a lower air port of the first air duct 52 is connected with an air outlet of the first fan 53, a feeding port (not marked) is also arranged at the lower part of the first air duct 52, the feeding port is connected with the second discharging port, an upper air port of the first air duct 52 is positioned in the fruit collecting box 54, and the fruit collecting box 54 is arranged on the traveling vehicle 1 and positioned above the sorting barrel 31.

Specifically, in actual use, the traveling vehicle 1 (for example, an agricultural vehicle such as an agricultural vehicle) travels on the planting ground. The picking device 2 positioned at the front end of the walking vehicle 1 picks up peanut seedlings on the planting ground so as to pick up peanuts buried underground together. The picked peanuts and peanut seedlings are conveyed to a peanut picking device 3, the peanut and the peanut seedlings are separated by the peanut picking device 3, and the separated peanuts fall onto a vibrating screening device 4. The vibratory screening device 4 will further screen the peanuts, and the screened peanuts will be conveyed by pneumatic conveying to the fruit collection box 54 for collection. The specific process is described in the following with reference to the attached drawings.

Under the picking operation, the first rotating shaft 231 and the second rotating shaft 232 are driven by the motor to synchronously and reversely rotate, on one hand, the peanut seedlings are pulled by the blocking rods 233 to bend towards the direction of the mounting groove 222, on the other hand, the bent peanut seedlings are pulled out from the ground by matching with the shifting rods 234, therefore, the peanuts can be communicated with the peanut seedlings and pushed into the mounting groove 222, and the peanuts and the peanut seedlings enter the conveying channel 21 to be conveyed by utilizing the first auger 221. The conveying channel 21 is provided with two chain assemblies 24 and a plurality of clamping plates 25, each chain assembly 24 comprises a front chain wheel (not marked), a rear chain wheel (not marked) and a chain (not marked), the chains are wound on the front chain wheel and the rear chain wheel, the two front chain wheels are connected through a front synchronizing shaft (not marked), the two rear chain wheels are connected through a rear synchronizing shaft (not marked), the front synchronizing shaft and the rear synchronizing shaft are rotatably installed in the conveying channel 21, and the clamping plates 25 are connected between the two chains. Specifically, the peanuts and peanut seedlings entering the conveying channel 21 are driven by the circularly moving clamping plates to move towards the peanut picking device 3, the clamping plates 25 can be clamped on the peanuts or the peanut seedlings to drive the peanuts or the peanut seedlings to move, and in the moving process, the problem that the peanut seedlings are wound on related parts can be avoided, so that the use reliability is improved. And the edge of the chucking plate 25 is formed with a plurality of projected chucking teeth to improve the conveying ability. Preferably, one end of the shift lever 234 forms a torsion spring structure and is sleeved on the second rotating shaft 232, and the other end of the shift lever 234 extends outwards perpendicular to the second rotating shaft 232. Specifically, a torsion spring structure is formed at one end of the shifting lever 234 and is mounted on the first rotating shaft 231, so that when the shifting lever 234 is used for shifting peanut seedlings, the torsion spring structure of the shifting lever 234 can meet the rotation requirement of the shifting lever 234 when the individual peanut seedlings are not easy to be pulled out, and the anti-blocking capability can be improved, so that the use reliability can be improved.

Under the fruit picking operation, peanuts and peanut seedlings are conveyed from the picking device 2 to enter the inlet of the sorting cylinder 31, the motor drives the inner rotating cylinder 32 to rotate, and the input peanuts and peanut seedlings are pushed upwards by the helical blades 321 at the lower end of the inner rotating cylinder 32. Meanwhile, the separating rod 322 on the inner rotary drum 32 peels off the conveyed peanuts and peanut seedlings, so that the peanuts are separated from the peanut seedlings. Preferably, in order to more efficiently convey the peanut seedlings moving upward for final output to the outside of the sorting drum 31, the separating rod 322 is inclined toward the lower end portion of the sorting drum 31 such that the separating rod 322 forms an acute angle with the axis of the inner rotary drum 32, so that the peanut seedlings will continue to move upward by the separating rod 322 during the peanut peeling process by the separating rod 322 and finally output to the outside of the sorting drum 31.

During the vibration screening process, the peanuts falling from the sorting cylinder 31 are collected on the vibration platform 41, wherein the driving mode of the vibration mechanism 42 for driving the vibration platform 41 to vibrate for screening can refer to the driving mode of the conventional vibration screening machine, and usually adopts the form of an eccentric wheel, which is not limited or described herein. The peanuts on the vibration platform 41 are screened under the action of vibration, and finally, the screened peanuts are conveyed to the fruit collection device 5. Preferably, in order to effectively remove the broken peanut seedlings on the vibration table, a plurality of screening holes 411 are arranged on the vibration platform 41, an inclined guide plate 43 is arranged below the vibration platform 41, and the lower edge of the inclined guide plate 43 is positioned above the collecting groove 512. The screening holes 411 can meet the requirements of screening peanuts, and meanwhile peanut seedlings can be filtered and reserved on the vibration platform 41. Furthermore, the vibratory screening apparatus 4 further includes an air blowing assembly 44, wherein the air blowing assembly 44 includes a cross-flow fan 441 and an air duct volute 442, the cross-flow fan 441 is located in the air duct volute 442, and the air duct volute 442 is disposed below the vibration platform 41 and is provided with an air blowing opening for blowing air towards the lower surface of the vibration platform 41. Specifically, in the process of screening peanuts through the vibrating platform 41, the cross-flow fan 441 generates air flow and blows air upwards from the lower part of the vibrating platform 41, so that peanut seedlings on the vibrating platform 41 are blown away, and excessive peanut seedlings are prevented from blocking the screening holes 411.

Furthermore, the peanut seedlings output from the sorting cylinder 31 can be directly discharged to a planting area, and preferably, the peanut seedlings can also be recycled, for this purpose, the peanut picking harvester further comprises a stem recovery device 6, the stem recovery device 6 comprises a crushing assembly 61, a second air duct 62, a second fan 63 and a recovery box 64, the crushing assembly 61 comprises a crushing trough 611, a power shaft 612 and a plurality of crushing knives 613, the power shaft 612 is rotatably mounted in the crushing trough 611, and the crushing knives 613 are arranged side by side and arranged on the power shaft 612; the side wall of the crushing trough 611 is provided with a mounting opening (not marked), the second air duct 62 is vertically arranged, the lower end of the second air duct 62 extends into the crushing trough 611, the side wall of the second air duct 62 is provided with an avoiding notch (not marked) for avoiding the crushing knife 613, the avoiding notch forms a lower air opening of the second air duct 62, the second fan 63 is positioned in the second air duct 62 and positioned at the upper part of the second air duct 62, and an upper air opening of the second air duct 62 is connected with the recycling box 64. Specifically, the peanut seedlings output from the sorting cylinder 31 fall into the crushing trough 611, and the motor drives the power shaft 612 to rotate so as to drive the crushing knife 613 to cut the peanut seedlings into smaller sizes. And under the action of the second fan 63, the peanut seedlings in the crushing trough 611 are sucked into the second air channel 62 and conveyed into the recovery box 64, so that the recovery is realized.

In order to improve the peanut collecting efficiency, peanuts can still remain on peanut seedlings output from the sorting cylinder 31, a third packing auger assembly 65 is further arranged at the bottom of the crushing trough 611, the third packing auger assembly 65 comprises a third packing auger 651 and a recycling trough 652, the third packing auger 651 is rotatably arranged in the recycling trough 652, and a third discharge hole (not shown) is formed in one end of the recycling trough 652; the front side wall of the second air duct 62 extends into the pulverization groove 611, and the rear side wall of the second air duct 62 extends into the recovery groove 652. Because the weight of the peanuts is heavier than that of the peanut seedlings, in the process of crushing the peanut seedlings, when the peanuts separated from the peanut seedlings are conveyed upwards through the second air duct 62, the suction force is smaller than the gravity of the peanuts, so that the peanuts finally fall into the recovery tank 652, and the third packing auger 651 drives the peanuts in the recovery tank 652 to be output. Meanwhile, the vibratory screening device 4 further comprises a conveying assembly 45, the conveying assembly 45 comprises a conveying belt 451 and a blanking plate 452, the conveying belt 451 is obliquely arranged, the lower end part of the conveying belt 451 is located below the third discharging port, the upper end part of the conveying belt 451 is located above the blanking plate 452, and the blanking plate 452 extends towards the lower vibratory platform 41 in an oblique manner. Specifically, the peanuts discharged from the recovery tank 652 are conveyed upward by the conveyor belt 451 and finally fall onto the vibration platform 41 via the blanking plate 452, so that the maximum harvesting of the peanuts is achieved.

Based on the above technical solution, optionally, in order to further prevent the jam through the control program, a first sensor (not labeled) for detecting the rotation speed and the torque of the first rotating shaft 231 is arranged in the picking device 2, and a second sensor (not labeled) for detecting the rotation speed and the torque of the inner rotating shaft 32 is arranged in the picking device 3. Specifically, whether the picking device and the fruit picking device are blocked in a mode or not is judged through the rotating speed and the torsion value detected by the first sensor and the second sensor. The specific control method comprises the following steps:

as shown in fig. 9, the present invention further provides a control method for the peanut picking harvester, including:

s101, judging whether the pickup device is blocked or not according to the torque and the rotating speed of the pickup device detected by the first sensor so as to adjust the running speed of the peanut pickup harvester;

and S102, measuring and calculating the feeding amount of the peanut picking device according to the torque of the peanut picking device detected by the second sensor so as to adjust the running speed of the peanut picking harvester.

Specifically, in the working process of the peanut picking harvester, the picking device picks peanuts, and the picking device picks peanuts. And in order to reduce the occurrence of the blockage caused by peanut seedlings, the traveling speed of the peanut picking harvester is controlled by detecting the states of the picking device and the peanut picking device through the first sensor and the second sensor, and then the picking speed and the picking speed are adjusted. Under the prerequisite of guaranteeing high-efficient pick-up and picking operation, the emergence of the effectual reduction jam condition to reduce the manual work and handle the jam, reduce down time, and then improve results efficiency and reduce workman's intensity of labour.

Further, the adaptive control process for the pickup device specifically includes: and when the first sensor detects that the torque of the pickup device is smaller than a first rated maximum torque value and the rotating speed of the pickup device is larger than a rated minimum rotating speed value, judging that the pickup device is in a normal state. Specifically, when the torque and the rotating speed of the picking device detected by the first sensor do not reach the maximum values, the picking device is judged to be in a normal state, and at the moment, the running speed of the peanut picking harvester does not need to be adjusted.

And when the first sensor detects that the torque of the pickup device is larger than a first rated maximum torque value and/or the rotating speed of the pickup device is smaller than a rated minimum rotating speed value, judging that the pickup device is in a blocking state. Or when the first sensor detects that the torque change rate of the pickup device is greater than the first torque change rate value and/or the rotating speed of the pickup device is less than the minimum rotating speed change rate value, judging that the pickup device is in a blocking state; wherein the first torque rate of change value is greater than 0 and the minimum rotational speed rate of change value is less than 0. Specifically, judging that the picking device is in the condition of jam state, then need reduce the speed of traveling of harvester is picked to the peanut, through reduce the speed of traveling alright effectual reduction picking device pick the fruit quantity, and then reduce or avoid causing serious jam because of picking the volume too big. Meanwhile, under the condition that the picking device is judged to be in a blocking state, the picking device is controlled to rotate reversely, and the blocked fruit seedlings can be rotated and pushed out again by adopting a reverse rotation mode, so that the blocked fruit seedlings can be automatically processed.

Still further, the adaptive control process for the pickup device specifically includes: and when the second sensor detects that the torque of the peanut picking device is larger than the second rated maximum torque value, the running speed of the peanut picking harvester is reduced. Specifically, when the second sensor detects that the torque of the peanut picking device does not reach the maximum value, the peanut picking device is judged to be in a normal state, and at the moment, the running speed of the peanut picking harvester does not need to be adjusted. And when the second sensor detects that the torque of the peanut picking device is larger than the second rated maximum torque value, the driving speed of the peanut picking harvester needs to be reduced so as to reduce or avoid the jam of the peanut picking device caused by the overlarge peanut picking speed.

Preferably, in order to obtain proper picking speed and improve picking efficiency, the corresponding driving speed of the peanut picking and harvesting machine is required according to the change rate of the torque. Under the condition that the torque of the peanut picking device detected by the second sensor is smaller than the second rated maximum torque value, if the torque of the peanut picking device detected by the second sensor is increased by a change rate larger than the second torque change rate value, the running speed of the peanut picking harvester is reduced; wherein the second torque rate of change value is greater than 0. Under the condition that the torque of the peanut picking device detected by the second sensor is smaller than the second rated maximum torque value, if the change rate of the torque reduction of the peanut picking device detected by the second sensor is smaller than the third torque change rate value, the running speed of the peanut picking harvester is increased; wherein the third torque rate value is less than 0.

The working states of the pickup devices and the pickup devices are detected by the corresponding sensors, the running speed of the peanut picking harvester is adjusted according to the working states, the picking amount and the picking amount are adjusted, on the premise that high-efficiency peanut harvesting is guaranteed, the running speed of the peanut picking harvester in stable matching is guaranteed, the blockage of equipment caused by overlarge peanut seedling picking amount is reduced, the blockage is reduced, the harvesting efficiency of the peanut picking harvester is improved, and the labor intensity of workers is reduced.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A peanut pickup harvester, characterized by comprising: the fruit picking device comprises a walking vehicle, a picking device, a fruit picking device, a vibration screening device, a fruit collecting device and a stem and branch recovering device;

2. The peanut pickup harvester of claim 1, wherein one end of said deflector rod is formed as a torsion spring structure and is fitted over said second shaft, and the other end of said deflector rod extends outwardly perpendicular to said second shaft.

3. The peanut pickup harvester of claim 1, wherein said conveyor path has two chain assemblies and a plurality of clamping plates, said chain assemblies including a front sprocket, a rear sprocket and a chain, said chain being wound around said front sprocket and said rear sprocket, wherein said two front sprockets are connected by a front synchronizing shaft, said two rear sprockets are connected by a rear synchronizing shaft, said front synchronizing shaft and said rear synchronizing shaft being rotatably mounted in said conveyor path, said clamping plates being connected between said two chains.

4. The peanut pickup harvester of claim 3 wherein the edge of said catch plate defines a plurality of raised catches.

5. The peanut pickup harvester of claim 1 wherein said vibratory platform has a plurality of screening holes disposed therein, and wherein an inclined guide plate is disposed below said vibratory platform and has a lower edge positioned above said collection trough.

6. The peanut pickup harvester of claim 5, wherein the vibratory screening apparatus further comprises an air blower assembly including a cross flow fan and an air duct volute, the cross flow fan being located in the air duct volute, the air duct volute being disposed below the vibratory platform and being provided with an air blower opening for blowing air toward the lower surface of the vibratory platform.

7. The peanut picking harvester according to claim 1, wherein a third auger assembly is further arranged at the bottom of the crushing trough and comprises a third auger and a recycling trough, the third auger is rotatably arranged in the recycling trough, and a third discharge port is formed in one end of the recycling trough; the front side wall of the second air duct extends into the crushing trough, and the rear side wall of the second air duct extends into the recovery trough; the vibratory screening device further comprises a conveying assembly, the conveying assembly comprises a conveying belt and a discharging plate, the conveying belt is obliquely arranged, the lower end portion of the conveying belt is located below the third discharging port, the upper end portion of the conveying belt is located above the discharging plate, and the discharging plate is obliquely arranged towards the lower portion of the vibrating platform to extend.

8. The peanut picking harvester of claim 1, wherein a first sensor is disposed in the picking device for detecting the rotation speed and torque of the first rotating shaft, and a second sensor is disposed in the picking device for detecting the rotation speed and torque of the inner rotating drum.

9. A method of controlling a peanut picking harvester as claimed in any one of claims 1 to 8, comprising:

10. The control method of a peanut picking harvester as claimed in claim 9, wherein the picking device is determined to be in a normal state when the first sensor detects that the torque of the picking device is less than a first rated maximum torque value and the rotation speed of the picking device is greater than a rated minimum rotation speed value;

and when the second sensor detects that the torque of the pickup device is greater than a second rated maximum torque value, the driving speed of the peanut pickup harvester is reduced.