| 行星刷式株间锄草机械手优化与试验 |
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| 引用本文： | 陈子文,李 南,孙 哲,李 涛,张春龙,李 伟.行星刷式株间锄草机械手优化与试验[J].农业机械学报,2015,46(9):94-99. |
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| 作者姓名： | 陈子文 李 南 孙 哲 李 涛 张春龙 李 伟 |
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| 作者单位： | 中国农业大学,中国农业大学,中国农业大学,中国农业大学,中国农业大学,中国农业大学 |
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| 基金项目： | 国家高技术研究发展计划（863计划）资助项目（2012AA041507、2013AA102406）、中央高校基本科研业务费专项资金资助项目（2013XI004）和北京高等学校青年英才计划资助项目（31056101） |
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| 摘 要： | 针对根系较发达作物和易板结土壤工况下的株间锄草,设计了行星刷式株间锄草机械手。研究了锄草机械手避苗锄草的工作原理,建立了运动学模型,研究了刷盘上点的运动轨迹和速度曲线随行星轮系传动比变化的规律。将覆盖率、入侵率及保护区范围作为锄草效果的评价指标,通过设计锄草机械手的结构参数,对锄草刷盘运动轨迹进行仿真,分析刀杆偏心距、锄草刷盘直径及装置相对作物行横向偏移对覆盖率和入侵率的影响。仿真结果表明刀杆偏心距80 mm、横向偏移20 mm以及锄草刷盘直径60~180 mm为最优参数,可获得直径30~140 mm的保护区及80%以上的株间覆盖率。对优化后的机械手进行大田锄草试验,选用传动比为3的行星轮系,平均锄草率可达89.3%,平均伤苗率为3.5%,满足锄草要求。
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| 关 键 词： | 机械锄草 株间锄草 机械手 行星轮系 优化 |
| 收稿时间： | 2015/1/12 0:00:00 |
Optimization and Experiment of Intra-row Brush Weeding Manipulator Based on Planetary Gear Train |
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| Chen Ziwen,Li Nan,Sun Zhe,Li Tao,Zhang Chunlong and Li Wei.Optimization and Experiment of Intra-row Brush Weeding Manipulator Based on Planetary Gear Train[J].Transactions of the Chinese Society of Agricultural Machinery,2015,46(9):94-99. |
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| Authors: | Chen Ziwen Li Nan Sun Zhe Li Tao Zhang Chunlong and Li Wei |
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| Institution: | China Agricultural University,China Agricultural University,China Agricultural University,China Agricultural University,China Agricultural University and China Agricultural University |
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| Abstract: | An intra row brush weeding manipulator was designed for the crops with developed root system and compact soil condition. The manipulator is a part of intelligent weeding machine. Brush weeding with brush placed on a vertical rotating axis which is mounted on eccentric shank for avoiding crops is a new method for intra row weeding. The principles of weeding and crop plants avoiding were studied. The mathematical model of device was established for kinematic analysis. In order to optimize the best structure parameter, the effect of three parameters (eccentricity of brush, diameter of brush, lateral offset) on crop row and trajectory of brush weeding device was analyzed based on Matlab. The results showed that 80mm eccentricity of brush and 20mm lateral offset which could acquire more than 80% coverage area of manipulator in the row were optimal parameters. Field trials showed that an average of 89.3% weeds could be removed and 3.5% crops were damaged when the transmission ratio of planetary gear was 3. Therefore, the intra row weeding manipulator was able to meet the intra row weeding requirements. |
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| Keywords: | Mechanical weeding Intra row weeding Manipulator Planetary gear Optimization |
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