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苗間鋤草機(jī)器人鋤草刀優(yōu)化設(shè)計(jì)
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“十二五”國家科技支撐計(jì)劃資助項(xiàng)目（2011BAD20B07）、國家自然科學(xué)基金資助項(xiàng)目（31071320、31101079）、高等學(xué)校博士學(xué)科點(diǎn)專項(xiàng)科研基金資助項(xiàng)目（20090008110007）和中國農(nóng)業(yè)大學(xué)研究生科研創(chuàng)新專項(xiàng)資助項(xiàng)目


Optimal Design of Rotating Disc for Intra-row Weeding Robot
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    摘要:

    建立了苗間鋤草機(jī)器人鋤草刀的運(yùn)動學(xué)模型，并通過仿真鋤草刀工作過程設(shè)計(jì)了鋤草刀的運(yùn)動軌跡。選取鋤草刀的不同參數(shù)和水平進(jìn)行正交試驗(yàn)，將覆蓋率和入侵率代替除草率和傷苗率作為評價指標(biāo)，分析了鋤草刀直徑、豁口夾角、刀刃切除距離、鋤草刀圓心與作物秧苗行線的偏距等因素對苗間除草效果的影響，優(yōu)化出最佳結(jié)構(gòu)參數(shù)組合為：鋤草刀直徑175 mm、豁口夾角140°、鋤草刀圓心與作物秧苗行線的偏距45 mm、刀刃切除距離10 mm。驗(yàn)證試驗(yàn)結(jié)果表明，模擬仿真及正交試驗(yàn)優(yōu)化結(jié)果準(zhǔn)確有效，樣機(jī)作業(yè)效果良好，平均除草率為88.5%，傷苗率僅為1.6%。

    Abstract:

    The kinematics model was established for the rotating disc of intra-row weeding robot, and the trajectory of the rotating disc was designed by simulating its working process. Then the virtual orthogonal experiment was made in different factors and different levels. In order to optimize the best operational parameters in combination, the effects of weeding performances of the rotating disc in diverse parameters were analyzed by taking the coverage rate and the inbreaking rate as evaluation indexes. The experiment results verified that the simulation and orthogonal experiment were accurate and efficient with a good operation effectiveness of the prototype, and the weeding rate reached to 88.5%, yet the wounded seedling rate was only 1.6%. 

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黃小龍,劉衛(wèi)東,張春龍,張妍,李偉.苗間鋤草機(jī)器人鋤草刀優(yōu)化設(shè)計(jì)[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2012,43(6):42-46. Huang Xiaolong, Liu Weidong, Zhang Chunlong, Zhang Yan, Li Wei. Optimal Design of Rotating Disc for Intra-row Weeding Robot[J]. Transactions of the Chinese Society for Agricultural Machinery,2012,43(6):42-46.

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  • 在線發(fā)布日期: 2012-06-19
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