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

Abstract

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

CLC Number:

S224.1

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.

Figures/Tables 14

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Table 1

Table 2

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Table 3

Table 4

Orthogonal experimental design and corresponding results"

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

Table 4

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Table 5

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

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