为深入开展半喂入式花生摘果装置作业机理、结构参数和作业参数优化等研究,设计了自动喂秧平台、控制系统、参数调节系统和保鲜库,选配高速摄像系统,并与已有试验台进行技术集成,研制成半喂入式花生摘果试验台。该试验台具备关键参数调节和采集、作业过程图像获取和植株保鲜等功能,主要包括机架、自动喂秧平台、夹持输送装置、摘果装置、控制系统、传感器、变频电机和高速摄影系统等。试验台的主要技术指标为:摘果辊长度500,800,1 000 mm,摘果辊直径160,200,240 mm,摘果辊后端中心与夹持输送链的距离100~150 mm,摘果辊的转速200~1 000 r/min,夹持输送链的速度0.5~2.5 m/s。在试验台上,对前期尚未涉及的供给株数、链辊夹角等因素、摘果辊功耗等进行了试验研究,开展了摘果过程高速摄影试验研究。结果表明:供给株数对未摘净率和破碎率影响较大;链辊夹角对未摘净损失影响较大,对破碎率影响较小;摘果功耗随着供给株数的增大呈递增规律;高速摄像系统能够揭示摘果叶片与花生果系的作用过程、果秧分离行为和内在机理。该半喂入式花生摘果试验台可为进一步深入开展摘果作业机理研究提供参考。 In order to further study the operation mechanism, structural parameters and optimization of work parameters of semi-feed type peanut picking device, the automatic feeding platform, control system, parameter adjustment system and fresh-keeping library are designed. The high speed camera system is selected. Taiwan for technology integration, developed into a semi-fed peanut pick fruit test bed. The test bed has the functions of adjusting and collecting key parameters, acquiring images of work processes and preserving fresh plants, and mainly includes the machine frame, automatic feeding platform, clamping and conveying device, picking device, control system, sensor, inverter motor and high-speed photography system . The main technical indexes of the test stand are as follows: picking roller length 500,800,1000 mm, picking roller diameter 160,200,240 mm, the distance between the rear end of the picking roller and the clamping conveyor chain 100 ~ 150 mm, picking roller speed 200 ~ 1 000 r / min, clamping conveyor chain speed 0.5 ~ 2.5 m / s. On the test stand, experiments were carried out on factors such as the number of supplies, the angle of the chain roller, the power consumption of the picker roller, etc., which were not involved in the earlier stage, and the high-speed photography experiment on the picking process was carried out. The results showed that the number of supplied plants had a great influence on the un-net rate and the rate of broken rate. The angle between the chain rollers had a significant effect on the net rate of un-net loss and had little effect on the rate of broken rate. The power consumption of picking fruits showed an increasing rule with the number of feeding plants increasing ; High-speed camera system can reveal the process of picking fruit leaves and peanut fruit, seedling separation behavior and internal mechanism. The semi-fed Peanut Picking Test Stand can provide reference for further study on the mechanism of picking fruit.