摆动式间苗机器人锄刀优化设计与试验

为提高条播作物的间苗作业效率,针对作物秧苗的初次间苗,设计了摆动式间苗锄刀。建立了间苗锄刀的运动学模型,并通过仿真间苗锄刀工作过程,模拟了间苗锄刀的运动轨迹。选取间苗锄刀的不同刀刃长度、刀刃与刀柄夹角、刀柄长度和刀柄顶端与作物行中心偏距优化参数进行正交试验,将覆盖率和入侵率作为间苗除净率和伤苗率的预测模型,得出最佳结构参数组合为:刀柄顶端与作物行中心偏距55 mm、刀刃长度75 mm、刀柄长度130 mm、刀刃与刀柄夹角65°。对优化后的间苗锄刀进行大田间苗试验,试验结果表明:平均除净率为89.4%,伤苗率为7.2%,满足间苗要求。

Optimal Design and Experiment of Thinning Hoe for Swing Motion Thinning Robot

As the scale of agricultural production gradually expands, agriculture is developing forward to mechanization and intelligent direction. At present the main ways of domestic thinning are artificial thinning and chemical control thinning. Artificial thinning has the disadvantages of low efficiency and high labor intensity. Chemical control thinning makes seedling emergence come out not evenly, and people have to fill the gaps manually. Mechanical thinning can improve the working efficiency and bring great economic benefits with even seedling. The swing motion thinning robot was designed for the first thinning of seedlings and the kinematics model was established for the optimal to simulate the moving path. Then the virtual orthogonal experiment was done by different optimal edge lengths, different angles between optimal edge and optimal handle, different optimal handle lengths and different distances between optimal handle and center of crop-row. The prediction model of weeding rate and wounded seedling rate were analyzed by taking the coverage rate and the inbreaking rate as evaluation indexes. Based on the calculation, the best parameters in combination were as follows: distance between optimal handle and center of crop-row of 55mm, optimal edge length of 75mm, optimal handle length of 130mm, angle between optimal edge and optimal handle of 65°.The experiment result verified that the simulation and orthogonal experiment were accurate and efficient with good operation effectiveness of the prototype, and the weeding rate reached 89.4%, yet the wounded seedling rate was only 7.2%.