日光温室薄膜全自动清洗机研制与试验

针对日光温室薄膜人工清洗劳动强度大、自动化清洗设备缺乏的现状，该研究设计了一种日光温室薄膜全自动清洗机。为减小整机质量并降低成本，采用双蜗轮蜗杆电机分别驱动清洗主机的毛刷与爬升轴；设计地面移位换行装置，用以承载清洗主机沿温室长度方向移动；为实现自动换行清洗，设计棚顶移位换行装置，调整棚顶吊绳安装高度，避免吊绳在换行作业时与棚面产生干涉而影响换行质量或损伤薄膜。基于多传感器融合与数据校验技术，保证清洗主机、棚顶与地面移位装置间的协作实时性、一致性及可靠性。为验证设计方案的合理性与可行性，以参照日光温室跨度、脊高、肩高参数10:1制作模型温室，按外形尺寸5:1加工清洗样机，并进行对齐、倾斜偏移及清洗效果验证试验。结果表明，清洗主机升降时的水平偏移量在±3°以内，左右偏移量在±7 mm以内（换行操作时各偏移量无累积）；地面与棚顶移位换行装置的单次换行误差与多次换行累计误差均在1 mm左右；毛刷材料选型与关键参数设计合理，可对薄膜表面灰尘进行有效清洗，洗净率为95.4%，清洗效果明显该清洗机在丰富国内日光温室清洗装备类型的同时，有效解决了团队前期研发清洗机质量大易伤膜、自动化水平低等问题，为温室大棚薄膜相关清洗设备的设计研发提供了参考。

Development and test of fully automatic film-cleaning machine for Chinese greenhouses

Chinese greenhouses have been widely used with planting areas exceeding 810,000 hm² in northern China, due to heat preservation, low investment, and energy saving. The plastic film of greenhouses cannot be washed by less rain in the northern region for an extended period. The accumulation of more dust can also reduce the light conditions in the shed, leading to adverse effects on the growth and development of crops. Consequently, it is very necessary for regular shed cleaning. In this study, a fully automatic cleaning machine of greenhouse film was proposed for the labor-saving and high efficiency. The machine included a cleaning host, floor and roof lateral shifting devices, as well as a control system. The cleaning host consisted of a bracket, brush, support wheel, climbing motor, brush motor, and water spray pipe. The roof lateral shifting device comprised a hanging rail, stainless steel pulley assembly, hanger, roof lateral shifting motor, polyurethane wheel, and control system. The ground lateral shifting device was composed of a flip frame, bearing bracket, rear axle assembly, water tank, and control system. A 433 MHz wireless module was selected to communicate between the floor and roof lateral shifting device conveyor over a distance of up to 200 m. A double worm gear motor was used to drive the brush and climbing shaft of the cleaning host, in order to reduce the weight of the entire machine for cost saving. A ground lateral shifting device was designed to carry the cleaning host along the length of the greenhouse. The roof lateral shifting device was designed for automatic line wrapping cleaning. The installation height of the roof lifting rope was determined to avoid interference during the lateral shifting operation, even damage to the film. Multi-sensor fusion and data verification were utilized for the real-time, consistency, and reliability of cooperation between the cleaning host, roof and ground lateral shifting device. A model greenhouse was then made to verify the rationality and feasibility of the design. The prototype parameters of span, ridge height, and shoulder height were used at the scaling ratio of 10:1. The prototype was then processed and cleaned, according to the external dimensions at 5:1. Alignment, tilt deviation, and cleaning tests were conducted to verify the performance. The results showed that the horizontal offset during the lifting and lowering of the cleaning host was within ±3°, the left and right offset was within ±7 mm, and there was no offset during the lateral shifting. There was approximately 1 mm in the single and cumulative lateral shifting errors of the floor and roof lateral shifting devices. The average light intensities were 107,232.38, 77,866.77, and 112,377.26 lx with/without the cleaning shed and the cleaning reference, respectively. The relative transmittance of the film increased from 69.3% to 95.4% after cleaning, indicating the well-designed brush material and key parameters of the machine. A remarkable cleaning performance was achieved on the surface of the film. The cleaning machine with the large weight in the early stage can also be updated for the high automation level, less film damage and cleaning blind zone. The findings can provide a strong reference for the design and development of film-cleaning equipment in the greenhouse.