果园垄面生草避障刈割机构运动学设计与试验  

Dynamics Analysis and Experiment of Obstacle Avoidance Cutting Mechanism for Ridge Grass in Orchard

作　　者：要志国 杨欣[1] 姜尊豪 王鹏飞[1] Yao Zhiguo;Yang Xin;Jiang Zunhao;Wang Pengfei(College of mechanical and electrical engineering,Hebei Agricultural University,Baoding 071000,China)

机构地区：[1]河北农业大学机电工程学院,河北保定071000

出　　处：《农机化研究》2024年第8期27-32,41,共7页Journal of Agricultural Mechanization Research

基　　金：国家现代农业产业技术体系建设专项(CARS-27);河北省现代农业产业技术体系水果创新团队项目(HBCT2018100205)。

摘　　要：针对起垄栽培果园垄面生草刈割困难的问题,设计一种垄面生草避障刈割机构。通过运动学仿真分析,以压力角和加速度为主要优化指标,对各连杆长度进行了优化,确定了气动液压杆的选型,并对避障刈割机构以及关键运动节点的运动参数进行了分析。结果表明:避障刈割机构避障时轨迹为外圆弧,整个过程中最大角速度为22.5°/s,最大加速度为45°/s^(2),在x轴的最大避障位移为550mm,在-y轴最大避障位移为-250mm。田间试验结果表明:作业割茬高度平均值为63.36mm,平均割茬稳定系数为90.30%(大于90%),平均漏割率为2.18%(小于3%),果树避障通过率为100%,满足垄面株间避障割草的园艺要求。In order to solve the problem of difficult cutting of ridge grass in ridging cultivation orchard,a cutting mechanism for avoiding obstacles of ridge grass was designed.Through kinematic simulation analysis,the length of each connecting rod is optimized with pressure angle and acceleration as the main optimization indexes,and the selection of pneumatic hydraulic rod is determined;the motion parameters of obstacle avoidance cutting mechanism and key motion nodes are analyzed.It is concluded that the trajectory of obstacle avoidance cutting mechanism is an outer arc,the maximum angular velocity is 22.5°/s,the maximum acceleration is 45°/s^(2),the maximum obstacle avoidance displacement in xaxis is 550mm,and the maximum obstacle avoidance displacement in-y-axis is-250mm.The field test results showed that the average height of cutting stubble was 63.36 mm,the average stability coefficient of cutting stubble was 90.30%,greater than 90%,the average miss cutting rate was 2.18%,less than 3%,and the obstacle avoidance passing rate of fruit trees was 100%,which met the gardening requirements of obstacle avoidance mowing between plants on the ridge.

关 键 词：果园 垄面 避障割草 运动学分析 

分 类 号：S224.15[农业科学—农业机械化工程]