中文摘要：

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。

英文摘要：

A semi-feeding test-bed was developed to study the working mechanism of the semi-feeding device for peanut-pod picking, and optimize its structure and working parameters. The test bed was mainly composed of a frame, an automatic feeding platform, a clamping-carrying device, a peanut pod picking device, a control system, sensors, a converter motor and a high-speed photography system, with many functions, such as key parameters adjustment and collection, process image acquisition, and plant fresh keeping. The main technical indexes of the test-bed were as follows： the pod-picking roller length was 500, 800, 1 000 mm,the roller diameter was 160, 200, 240 mm, the distance between the center of the back end of the roller and the clamping-carrying chain was 100-150 mm, the peanut pod picking device rotation rate was 200-1 000 r/min, the clamping-carrying chain velocity was 0.5-2.5 m/s. Based on the previous design, this paper mainly focused on the design and analysis of the pod-picking device,the automatic feeding platform, the control system, the clamping-carrying device and the fresh-keeping storage house and so on.Experiments on the plant-feeding number, the included angle between the chain and roll（hereinafter refers to briefly as the included angle）, the power consumption, and the high-speed photography of pod picking were carried out by the semi-feeding test-bed, which had not been done previously. The results show that the plant-feeding number has a great effect on both the breakage rate and unpicked rate, while the included angle has a great effect on the unpicked rate, but a little effect on the breakage rate. When the picking roller are fully filled with plants at the smooth working stage, the larger the plant-feeding number is, the higher power consumption is. The high-speed photography experiment reveals the influence between the pod-picking blade and the peanut pods, the separation between pod and vine, and the internal mechanism. Overall, the test-bed can provide effective technical means for the fu