替代农药无人喷雾车的喷筒运动仿真及分析  

Simulation and Analysis of Spray Barrel Motion of Unmanned Spraying Vehicle Instead of Pesticide

作　　者：曹爱能 吴春笃[1] 张波 陈振 贾卫东[1] 李伟 Cao Aineng;Wu Chundu;Zhang Bo;Chen Zhen;Jia Weidong;Li Wei(School of Agricultural Engineering,Jiangsu University,Zhenjiang 212013,China;Jiangsu Gaochuang Electromechanical Manufacturing Co.Ltd.,Zhenjiang 212013,China)

机构地区：[1]江苏大学农业工程学院,江苏镇江212013 [2]江苏高创机电制造有限公司,江苏镇江212013

出　　处：《农机化研究》2023年第8期10-17,共8页Journal of Agricultural Mechanization Research

基　　金：江苏省农业自主创新项目(CX(19)2042);镇江市重点研发项目(GY2020030)。

摘　　要：针对田垄作物及藤架作物的结构特征和生长情况,以及传统喷雾方式易造成药液喷洒浪费、碾压作物枝叶、作业面单一等问题,采用二自由度喷筒装置的替代农药无人喷雾车进行喷施,以满足高工效下的替代药液喷洒均匀。通过确定喷施对象,设计喷雾系统中喷筒转向机构,采用D-H法建立各连杆的坐标系,并对其进行正运动学分析;最后,运用Inventor和MATLAB对喷筒转向机构中各关节和喷嘴的运动轨迹进行仿真分析。结果表明:在轨迹合成过程中,喷嘴的运动轨迹最大工作位移为643.614mm,最小工作位移为456.756mm,高度差为186.858mm;喷嘴的运动轨迹最大工作速度为1.134m/s,能够与小车的前进速度1.2m/s相吻合;周向运动过程中,喷嘴处的位移偏差量为101.68636mm,俯仰运动过程中喷嘴处的位移偏差量为295.842mm;喷筒转向机构在空间工作过程中,高度范围约124mm,喷施的位移量均满足作物的喷施要求,表明推导的运动学方程正确。In view of the structural characteristics and growth of ridge crops and rattan crops,as well as the problems that the traditional spraying method is easy to cause waste of liquid medicine spraying,crushing the branches and leaves of crops,single working surface,etc.,a two-degree-of-freedom spraying barrel device is used to spray the substitute pesticide unmanned spraying vehicle,which meets the requirement of uniform spraying of the substitute liquid medicine under high work efficiency.The steering mechanism of spray cylinder in spray system is designed by determining the spraying object,and the coordinate system of each connecting rod is established by D-H method,and its forward kinematics analysis is carried out Finally,Inventor and MATLAB are used to simulate and analyze the motion trajectory of each joint and nozzle in the steering mechanism of spray cylinder.The results show that during trajectory synthesis,the maximum working displacement and minimum working displacement of nozzle trajectory are 643.614mm,456.756mm and height difference is 186.858mm,and the maximum working speed of nozzle trajectory is 1.134m/s,which can be consistent with the forward speed of trolley 1.2 m/s.The displacement deviation at the nozzle during the circumferential movement is 101.68636mm;The displacement deviation at the nozzle during pitching motion is 295.842mm;In the process of working in space,the height range of the spray cylinder steering mechanism is about 124mm,and the displacement of spraying meets the spraying requirements of crops,which also verifies that the derived kinematic equation is correct.

关 键 词：无人喷雾车 喷筒转向机构 运动学分析 运动仿真 

分 类 号：S499[农业科学—植物保护]