面向草坪维护机器人的打孔扭矩参数试验  

Parameter Test of Drilling Torque for Lawn Maintenance Robot

作　　者：孟宇鑫 李文彬[1] 徐道春[1] 白效鹏 张天雨 MENG Yuxin;LI Wenbin;XU Daochun;BAI Xiaopeng;ZHANG Tianyu(Key Laboratory of Forestry Equipment and Automation,State Forestry and Grassland Administration(Beijing Forestry University),Beijing 100083,China)

机构地区：[1]林业装备与自动化国家林业和草原局重点实验室(北京林业大学),北京100083

出　　处：《森林工程》2025年第2期330-338,共9页Forest Engineering

基　　金：国家重点研发计划课题(2018YFD0700601);北京林业大学优秀研究生导师团队资助项目(YJSYDSTD2022009)。

摘　　要：为探究麻花钻头的打孔参数(孔径、孔深)、土壤含水率以及土壤硬度对打孔峰值扭矩的影响规律,利用自制的打孔扭矩试验台进行单因素和多因素试验。试验结果表明,峰值打孔扭矩与土壤含水率呈线性减小关系,与土壤硬度、打孔深度以及打孔直径呈线性增长关系。对回归模型进行优化分析,在给定因素水平范围内得到最小峰值扭矩打孔参数组合为土壤含水率28%、打孔直径10 mm、打孔深度6 cm,峰值扭矩为0.3 N·m;最大峰值扭矩打孔参数组合为土壤含水率20%、打孔直径14 mm、打孔深度10 cm,峰值扭矩为0.8 N·m。峰值打孔扭矩的预测值与实际值偏差小于4%,打孔参数结果可靠。研究结果为后续草坪维护机器人的打孔钻头动力选型提供理论依据。In order to investigate the effect of drilling parameters(hole diameter,hole depth),soil moisture content and soil hardness on the peak torque of the twist drill,single-factor and multi-factor tests were carried out by using the self-made drilling torque test bench.The test results showed that the peak drilling torque decreased linearly with soil moisture content,and increased linearly with soil hardness,drilling depth and drilling diameter.The optimal analysis of the regression model showed that withing the given factor level range,the minimum peak torque drilling parameter combination was 28%of soil moisture content,10 mm of drilling diameter,6 cm of drilling depth,and 0.3 N·m of peak torque.The maximum peak torque drilling parameter combination was 20%of soil moisture content,14 mm of drilling diameter,10 cm of drilling depth,and 0.8 N·m of peak torque.The deviation between the predicted value and the actual value of the peak drilling torque was less than 4%,and the drilling parameter results were reliable.The research results provide a theoretical basis for the dynamic selection of drill bit for lawn maintenance robots.

关 键 词：草坪维护机器人 草坪打孔 装置设计 试验设计 峰值扭矩 影响因素 方差分析 参数优化 

分 类 号：S776.2[农业科学—森林工程] S776.4[农业科学—林学]