多路况果园管道喷雾在线混药移动平台设计与试验  

Design and Experiment of Mobile Platform for Online Mixing Pesticides of Pipeline Spray in Orchard with Multiple Traffic Conditions

作　　者：高任 姚航 高鹏 宋淑然 孙道宗 李震 Gao Ren;Yao Hang;Gao Peng;Song Shuran;Sun Daozong;Li Zhen(College of Electronic Engineering,South China Agricultural University,Guangzhou 510642,China;Guangzhou Xiaopeng Automobile Technology Co.Ltd.,Guangzhou 510640,China;Guangdong Provincial Agricultural Information Monitoring Engineering Technology Research Center,Guangzhou 510642,China;Division of Citrus Machinery,China Agriculture Research System,Guangzhou 510642,China)

机构地区：[1]华南农业大学电子工程学院,广州510642 [2]广州小鹏汽车科技有限公司,广州510640 [3]广东省农情信息监测工程技术研究中心,广州510642 [4]国家柑橘产业技术体系机械化研究室,广州510642

出　　处：《农机化研究》2025年第6期58-64,共7页Journal of Agricultural Mechanization Research

基　　金：国家自然科学基金项目(31671591);广东省现代农业产业技术体系创新团队建设专项基金项目(2022KJ108,2023KJ108);广州市科技计划项目(202002030245);财政部和农业农村部:国家现代农业产业技术体系建设专项(CARS-26)。

摘　　要：针对山区梯台及丘陵果园在病虫害防治过程中作业路况复杂,以及大型植保机械作业时进地难、转场难等问题,利用田间管道进行喷雾解决上述问题。为满足管道喷雾中在线混药的作业要求,设计了具备连续攀爬台阶能力的多路况果园管道喷雾在线混药移动平台。其三星轮组行走机构可实现平台的爬梯功能,大轮组行走机构可应用在丘陵缓坡果园环境中,三星轮组行走机构与大轮组行走机构具有互换性。研制了样机并进行了攀爬台阶振动加速度性能测试,结果表明:攀爬台阶时在调速开度区间60%~80%范围内,移动平台的频率计权振动加速度值在2.45~3.87 m/s2范围内,均低于频率计权振动加速度限值,此开度区间下攀爬速度与作业人员操作安全性综合性能最优。In view of the problems of complex road conditions in the process of disease and insect pest control in mountain terraces and hilly orchards,and the difficulty of entering the ground and transferring the field in the operation of large plant protection machinery,spraying with field pipes is a technical means to solve the above problems.In order to meet the operational requirements of online mixing pesticides of pipeline spray,a mobile platform for online mixing pesticides of pipeline spray in multi-road orchard was designed with the ability of continuous climbing steps.The three-star wheel group walking mechanism can realize the climbing function of the platform.The big wheel group walking mechanism can be used in hilly and gentle slope orchard environment.The three-star wheel group walking mechanism and the big wheel group walking mechanism had interchangeability.The prototype was developed and the vibration acceleration performance of climbing steps was tested.The results showed that the adjustable speed when climbing the steps was in the range of 60%~80%,the vibration acceleration value of the frequency meter weight of the moving platform was in the range of 2.45~3.87 m/s 2,which was lower than the limit value of the frequency meter weight vibration acceleration.Under this opening range,the comprehensive performance of climbing speed and operating safety was the best.

关 键 词：梯台果园 管道喷雾 三线混药 移动平台 多路况 

分 类 号：S275.5[农业科学—农业水土工程]