果园割草机器人甩刀设计与分析  

Design and analyses of swinging blade for orchard mowing robot

作　　者：鲍秀兰[1] 严煜 毛金城[2] 田富洋[3] 孟亮[1] BAO Xiulan;YAN Yu;MAO Jincheng;TIAN Fuyang;MENG Liang(College of Engineering/Ministry of Agriculture and Rural Affairs Key Laboratory of Agricultural Equipment in Mid-Lower Yangtze River,Huazhong Agricultural University,Wuhan 430070,China;School of Mechanical and Electrical Engineering,Wuhan Institute of Technology,Wuhan 430205,China;College of Mechanical and Electronic Engineering,Shandong Agricultural University,Tai’an 271018,China)

机构地区：[1]华中农业大学工学院/农业农村部长江中下游农业装备重点实验室,武汉430070 [2]武汉工程大学机电工程学院,武汉430205 [3]山东农业大学机械与电子工程学院,泰安271018

出　　处：《华中农业大学学报》2020年第6期136-143,共8页Journal of Huazhong Agricultural University

基　　金：中央高校基本科研业务费专项(2662109PY063);国家自然科学基金项目(51605181);现代农业(柑橘)产业技术体系建设专项(CARS26)。

摘　　要：果园割草机器人的除草性能与草的物理特性以及甩刀的设计参数紧密相关,结合柑橘果园杂草种类情况及其物理特性,基于Y型甩刀式割草机构设计一种果园割草机器人。运用D-H法建立甩刀切割单个茎秆的运动学模型,模型分析表明,在不出现缠草的条件下,甩刀轴转速1500 r/min时在最优切割位内对单根杂草茎秆的碰撞力为74.25 N。刀片的切割轨迹分析表明,设计的Y型甩刀刀片切向速度与前进速度的比值λ>1时,割草机器人能有效地进行割草作业。割草机器人实地割草试验结果表明,刀片座间距43 mm、刀轴转速1500 r/min、前进速度1.0 m/s时,重割率最小。Fruit output of China ranks first in the world.The fruit industry,as a labor-intensive industry,has a great demand for labor force.However,the shortage of labor force,high intensity of manual labor and low efficiency in the current market have become one of the important problems hindering the industrialization development of orchards.Therefore,realizing the mechanization of orchard production is a necessary means to liberate labor force and improve production efficiency.At the same time,due to the vigorous implementation of raw grass mowing technology in orchard soil management in China,orchard raw grass can regulate the moisture content in the soil,and weeds covered on the soil surface after mowing can be used as fertilizer for fruit tree.However,irregular mowing will have a lot of adverse effects on fruit trees and affect normal orchard management.Cutting weeds in orchard is an important task of orchard management.The level of agricultural mechanization in underdeveloped hilly areas has caused a lot of labor consumption on orchard management.At the same time,traditional chemical weeding greatly polluted orchard.Therefore,the mechanical stubble weeding in orchard plays an important role in protecting orchard soil.The realization of efficient mechanical weeding has become an urgent goal to be achieved in the process of orchard mechanization.Most orchards in China are located in hilly and mountainous areas with complex planting terrain conditions and imperfect road planning.Currently,weeding machines used in hilly orchards are generally flat orchards and field weeding machines.The artificial knap-type and hand-pushed weeding machines of flat orchards are time-consuming and laborious.Field weeding machines are driven by tractors,with high cost and large overall size,which are difficult to meet the requirements of mechanization of hilly orchards.Therefore,it is of great practical significance to study the mowing machine in hilly orchards to promote the development of fruit industry.Raw grass mowing is a modern orch

关 键 词：果园机械 割草机器人 Y型甩刀 杂草刈割 重割率 机械留茬式除草 防缠草 

分 类 号：S224.9[农业科学—农业机械化工程]