To address the inefficient use of pruned grape branches and the high cost of orchard management, an integrated machine for collecting and crushing grape branches was developed, tailored to the distinctive viticulture methods in Xinjiang, China, and the physical properties of the branches. Based on a unified design scheme, the structural parameters of the collection mechanism and the suitable operating width were optimized through systematic theoretical analysis. The crushing unit was designed with attention to blade shape, quantity, and spatial distribution, while critical operational parameters—including blade dimensions, speed range, and key factors influencing crushing quality—were identified using kinetic analysis. A three-factor, three-level response surface experiment was designed via Design Expert software, incorporating crushing roller speed, pickup roller speed, and ground clearance of the pickup device as test variables. Pickup rate and acceptable fragment ratio were employed as evaluation indicators. Field tests showed that at a crushing roller speed of 2185 r/min, pickup roller speed of 105 r/min, and ground clearance of 10 mm, the pickup rate was 95.93% and the qualified fragmentation rate reached 97.19%, the machine met the operational requirements of achieving over 95% efficiency for both collection and crushing. This study provides a theoretical foundation and technical support for the mechanized treatment of pruned grape branches in Xinjiang.

A high damage rate of chili peppers and poor removal of bottom fruits are common problems for current mechanical harvesters. To address these limitations, we designed a self-propelled telescopic elastic-tooth pepper harvester that employs horizontally extending telescopic teeth to reduce the picking angle between the harvesting unit and the ground, thereby improving the net harvesting rate of peppers. The structure and contact mode of the teeth were analyzed, and the feasible range of spindle speed and the key factors affecting picking quality were preliminarily determined through kinematic and contact mechanics analysis. A three-factor, three-level Box–Behnken response surface experiment was conducted using forward speed, spindle speed and telescopic elastic-tooth angle as factors, and picking rate and damage rate as evaluation indices. A quadratic regression model was established and used to optimize the operating parameters with Design-Expert. The optimal combination was a forward speed of 58 m·min⁻¹, spindle speed of 201 r·min⁻¹ and telescopic elastic-tooth angle of 4°, under which the model predicted a picking rate of 94.0% and a damage rate of 4.5%. A field verification test at 60 m·min⁻¹ forward speed, 200 r·min⁻¹ spindle speed and 4° telescopic elastic-tooth angle yielded a picking rate of 90.2% and a damage rate of 6.6%, with relative errors below 5%. These results demonstrate that the proposed telescopic elastic-tooth picking unit can effectively improve pepper harvesting performance while maintaining a low fruit damage rate.

A high breakage rate of chili peppers and poor removal of bottom fruits are common problems for current mechanical harvesters. To address these limitations, we designed a self-propelled telescopic elastic-tooth pepper harvester that employs horizontally extending telescopic teeth to reduce the picking angle between the harvesting unit and the ground, thereby improving the net harvesting rate of peppers. The structure and contact mode of the teeth were analyzed, and the feasible range of spindle speed and the key factors affecting picking quality were preliminarily determined through kinematic and contact mechanics analysis. A three-factor, three-level Box–Behnken response surface experiment was conducted using operating speed, spindle speed and telescopic elastic-tooth angle as factors, and picking rate and damage rate as evaluation indices. A quadratic regression model was established and used to optimize the operating parameters with Design-Expert. The optimal combination was a forward speed of 58 m·min⁻¹, spindle speed of 201 r·min⁻¹ and telescopic elastic-tooth angle of 4°, under which the model predicted a picking rate of 94.0% and a breakage rate of 4.5%. A field verification test at 60 m·min⁻¹ forward speed, 200 r·min⁻¹ spindle speed and 4° telescopic elastic-tooth angle yielded a picking rate of 90.2% and a damage rate of 6.6%, with relative errors below 5%. These results demonstrate that the proposed telescopic elastic-tooth harvesting unit can effectively improve pepper harvesting performance while maintaining a low fruit damage rate.