制种玉米去雄无人机旋切装置设计与试验

针对制种玉米母本植株由地面去雄机械去雄后存在遗漏雄穗及机械化补漏去雄装备缺乏等问题，提出了一种适配四旋翼无人机的旋切装置。基于去雄无人机作业特点与稳定性影响因素，分析了刀具切割雄穗时的受力及其对无人机反扭力矩的影响，并轻量化设计了旋切装置总体结构，确定了旋切装置的旋切范围为44~150mm，可展范围为541~1318mm，总质量为4.03kg。通过旋切部件切割建模与仿真，选取了竖直进给切割的旋切方式，并由台架试验得到了旋切装置切割反扭力矩最小时的最优参数组合。在上述基础上将旋切装置与无人机集成开展田间试验。研究表明，当旋切转速3954r/min、竖直进给速度5.9mm/s、刀具刃角32°时，旋切装置单位切割力为10.54MPa，能完全切除雄穗，去雄无人机田间叶片损伤率为14.58%，高度波动率为1.88%，满足制种玉米去雄要求。

Design and Experiment of Rotary-cutting Device for Corn Seed Production Detasseling UAV

A rotary-cutting device suitable for a four-rotor UAV was proposed to address the problems of missing tassels after ground detasseling machine and lacking of mechanized filling and detasseling equipment of female tassel detasseling for corn seed production. Based on the operation characteristics and stability influencing factors of the detasseling UAV, the force of the cutting tool when cutting the tassel and its influence on the anti-torsional torque of the UAV were analyzed, and the overall structure of the rotary-cutting device was designed. The rotary-cutting range of the rotary-cutting device was 44~150mm, the folding range was 541~1318mm, and the total mass was 4.03kg. Through the cutting modeling and simulation of the rotary-cutting part, the rotary-cutting method of the vertical feed cutting was selected, and the optimal parameter combination when the cutting anti-torsion torque of the rotary-cutting device was the smallest was obtained by the bench experiment. On the basis of the above, a field experiment was carried out by integrating the rotary-cutting device with the UAV. The results showed that the unit cutting force was 10.54MPa when the rotary-cutting speed of the rotary-cutting device was 3954r/min,the vertical feed speed was 5.9mm/s, and the cutting tool edge angle was 32°, and the rotary-cutting device could remove the tassel comprehensively. The damage rate of leaves for detasseling UAV in the field was 14.58%, and the fluctuation rate of height was 1.88%, which could meet the requirements of detasseling for corn seed production.