触碰定位式玉米行间除草装置的设计与试验

doi:10.13229/j.cnki.jdxbgxb20200264

吉林大学学报(工学版) ›› 2021, Vol. 51 ›› Issue (4): 1518-1527.doi: 10.13229/j.cnki.jdxbgxb20200264

• 农业工程·仿生工程 • 上一篇

触碰定位式玉米行间除草装置的设计与试验

王刚¹(),刘慧力¹,贾洪雷²(),郭春江¹,丛永健¹,屈明浩¹

^1.吉林大学生物与农业工程学院，长春 130022
^2.吉林大学工程仿生教育部重点实验室，长春 130022

收稿日期:2020-04-22 出版日期:2021-07-01 发布日期:2021-07-14
通讯作者: 贾洪雷 E-mail:gw1988@jlu.edu.cn;jiahl@vip.163.com
作者简介:王刚（1988-），男，副教授，博士. 研究方向：智能除草机械设计.E-mail： gw1988@jlu.edu.cn
基金资助:
国家重点研发计划项目(2017YFD0700904);国家自然科学基金项目(31901408);吉林省科技发展计划项目(20180414074GH);中俄青年科学家交流计划——智能机械装备学术工作坊项目

Design and experiment of touching-positioning weeding device for inter-row maize （Zea Mays L.）

Gang WANG¹(),Hui-li LIU¹,Hong-lei JIA²(),Chun-jiang GUO¹,Yong-jian CONG¹,Ming-hao QU¹

^1.College of Biological and Agricultural Engineering，Jilin University，Changchun 130022，China
^2.Key Laboratory of Bionic Engineering，Ministry of Education，Jilin University，Changchun 130022，China

Received:2020-04-22 Online:2021-07-01 Published:2021-07-14
Contact: Hong-lei JIA E-mail:gw1988@jlu.edu.cn;jiahl@vip.163.com

摘要/Abstract

摘要：

为了达到玉米行间除草的目的，设计了能够定位玉米秧苗位置、并且躲避玉米秧苗的行间除草装置，其中包含采用65Mn碳素弹簧钢丝设计的梳齿式除草执行部件，采用行程开关设计的玉米秧苗定位部件，以及以伺服电机为主的驱动部件。2019年6月，国家农机具质检中心对该装置进行检测，检测结果表明其平均除草率为95.1%，平均伤苗率为1%。方差检验的结果显示，株距与梳齿入土深度均对除草率具有显著影响，同时株距对于伤苗率也具有显著影响。本文研究结果可以为旱田行间除草装置的设计提供有益参考。

关键词: 农业机械化工程, 秧苗定位, 避苗除草, 除草梳齿, 除草率, 伤苗率, 方差检验

Abstract:

In order to achieve the goal of maize inter-row weeding, this study designed the inter-row weeding device which can locate the position and avoid the injury of maize seedlings. This device includes the comb type weeding executing part designed with 65 manganese carbon spring steel wire, the maize seedling positioning part designed with travel switch and the driving part mainly based on servo motor. This inter-row weeding device was tested in June 2019 by the National Agricultural Machinery Quality Inspection Center. The test results show that the average weeding rate was 95.1%, and the average seedling injury rate was 1%. Variance test results show that the plant spacing and the stabbing depth have a significant impact on the weeding rate, and the plant spacing also has a significant impact on the seedling injury rate. The results of this study can provide useful reference for the design of inter-row weeding device in dry field.

Key words: agricultural mechanical engineering, seedling positioning, seedling avoidable weeding control, weeding comb, weeding rate, seedling injury rate, variance test

中图分类号:

S224.1

王刚,刘慧力,贾洪雷,郭春江,丛永健,屈明浩. 触碰定位式玉米行间除草装置的设计与试验[J]. 吉林大学学报(工学版), 2021, 51(4): 1518-1527.

Gang WANG,Hui-li LIU,Hong-lei JIA,Chun-jiang GUO,Yong-jian CONG,Ming-hao QU. Design and experiment of touching-positioning weeding device for inter-row maize （Zea Mays L.）[J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(4): 1518-1527.

图/表 14

图1

图2

图3

图4

图5

表1

表2

图6

表3

表4

正交试验设计与结果"

试验号		试验因素			试验指标
试验号		株距/cm	速度/（km·h^-1）	入土深度/cm	除草率/%	伤苗率/%
1		23	7	4	91.7	1.0
2		23	5	10	97.7	0.7
3		23	4	6	95.5	0.9
4		26	5	4	93.4	0.6
5		26	7	10	97.9	0.5
6		20	6	4	90.6	1.3
7		20	5	6	95.5	1.3
8		26	4	8	96.6	0.6
9		17	4	4	90.6	1.3
10		17	5	8	95.9	1.3
11		17	7	6	93.7	1.3
12		20	7	8	96.2	1.2
13		26	6	6	95.7	0.6
14		20	4	10	97.5	1.2
15		23	6	8	96.3	0.9
16		17	6	10	97.0	1.3
除草率	$y j 1 ˉ$	94.3	95.05	91.575	主次因素：梳齿入土深度>株距>速度最有组合为：梳齿入土深度：10 cm；株距：26 cm；速度：7 km/h
	$y j 2 ˉ$	94.95	95.625	95.1
	$y j 3 ˉ$	95.3	94.9	96.25
	$y j 4 ˉ$	95.9	94.875	97.525
	$R j$	1.6	0.75	5.95
伤苗率	$y j 1 ˉ$	1.3	1	1.05	主次因素：株距>梳齿入土深度>速度最有组合为：株距：26 cm；梳齿入土深度：10 cm；速度：7 km/h
	$y j 2 ˉ$	1.25	0.975	1.025
	$y j 3 ˉ$	0.875	1.025	1
	$y j 4 ˉ$	0.575	1	0.925
	$R j$	0.725	0.05	0.125

表4

图7

表5

图8

图9

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部件名称	参数信息
除草梳齿（Weeding comb）	直径为3 mm的65Mn碳素弹簧钢丝，跨度为44 cm，除草梳齿共23根，安装间距为2 cm，在距离梳齿尖端15 cm处制作1.5圈半径为3 cm的弹簧圈，梳齿尖端磨尖处理。
行程开关（Travel switch）	正泰电气股份有限公司，型号为YBLX?ME/8166，操作方式为万向式，动作行程为35°，触发力矩≥0.12 N·m。
伺服电机（Servo motor）	武汉保华智科数控设备有限公司，型号为110ST?M06020LB的旋转变压器式编码器的伺服电机，额定功率为1.2 kW，额定扭矩为6 N·m。
减速器（Gear box）	武汉保华智科数控设备有限公司，型号为VGF115?10，减速比为1∶8的行星齿轮减速器。
限深轮（Depth wheel）	华东橡胶有限公司，直径为15 cm、胎面为5 cm的铁芯聚氨酯万向轮。
联轴器（Coupling）	蓝鼎科技有限公司，7075航空铝材，表面氧化，双模片，外径为68 mm，长度为74 mm，内孔12 ~35 mm。
四连杆（Four link）	厚度为8 mm的A3钢板钣金成型。
框架（Frame）	厚度为5 mm的A3钢板钣金成型。
超声波速度传感器（Ultrasonic speed sensor）	上海KAISEEN 电子有限公司，型号为NJ1.5?8GM?N，工作电压为3~5.5 V，工作电流<8 mA，射程为600 cm，精度为±1 cm。
工控一体机（Integrated industrial control computer）	深圳博瑞高通科技有限公司，Intel处理器，2.41 GHz主频，8 GB内存，集成显卡，Windows10操作系统。

杂草种类	拉丁学名	根系长度/cm
稗草	Echinochloa crusgalli （L.） Beauv.	6.6
狗尾草	Setaria viridis （L.） Beauv.	7.9
马齿苋	Portulaca oleracea L.	5.3
马唐	Digitaria Sanguinalis （L.） Scop.	7.8
细柄黍	Panicum Psilopodium Trin	10.1
萹蓄	Polygonum aviculare L.	11.2
尼泊尔蓼	Polygonum napalerise Meisn	13.9
辣子草	Galinsoga Parviflora Cav.	12.1
刺苋	Amaranthus Spinosus L.	6.5
大马蓼	Polygonum Lapathifolium L.	7.3
藜	Chemopodiam album L.	9.5
狗牙根	Cynodon dactylon （L.） Pers.	12.7

试验指标	因素	平方和	自由度	均方差	F	p
除草率R2=0.980	截距	1.316	1	1.316	45257.481	0.000**
	株距	0.001	3	0.000	6.152	0.029*
	速度	0.000	3	0.000	1.688	0.268
	入土深度	0.008	3	0.003	89.986	0.000**
	残差	0.000	6	0.000
伤苗率R2=0.983	截距	0.000	1	0.000	699.840	0.000**
	株距	0.000	3	0.000	111.600	0.000**
	速度	0.000	3	0.000	0.400	0.758
	入土深度	0.000	3	0.000	2.800	0.131
	残差	0.000	6	0.000

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触碰定位式玉米行间除草装置的设计与试验

Design and experiment of touching-positioning weeding device for inter-row maize （Zea Mays L.）

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