摆动型水田株间除草装置设计与试验

doi:10.3969/j.issn.1004-1524.2022.08.21

浙江农业学报 ›› 2022, Vol. 34 ›› Issue (8): 1772-1783.DOI: 10.3969/j.issn.1004-1524.2022.08.21

摆动型水田株间除草装置设计与试验

田亮¹(), 曹成茂¹^,²^,^*(), 秦宽¹^,², 葛俊¹^,², 方梁菲¹

1.安徽农业大学工学院,安徽合肥 230036
2.农业农村部南方农业装备科学观测实验站,安徽合肥 230036

收稿日期:2021-12-16 出版日期:2022-08-25 发布日期:2022-08-26
通讯作者: 曹成茂
作者简介:*曹成茂,E-mail: caochengmao@sina.com
田亮(1993—),男,安徽枞阳人,博士研究生,主要从事农业机械设计理论与方法研究。E-mail: 528394233@qq.com
基金资助:
国家自然科学基金(52105239);安徽省科技重大专项(17030701046);安徽省自然科学基金(1808085QE171);安徽省自然科学基金(2008085QE270)

Design and experiment of swing intra-row weeding device for paddy field

TIAN Liang¹(), CAO Chengmao¹^,²^,^*(), QIN Kuan¹^,², GE Jun¹^,², FANG Liangfei¹

1. School of Engineering, Anhui Agricultural University, Hefei 230036, China
2. Scientific Observing and Experimental Station of Agricultural Equipment for the Southern China, Ministry of Agriculture and Rural Affairs, Hefei 230036, China

Received:2021-12-16 Online:2022-08-25 Published:2022-08-26
Contact: CAO Chengmao

摘要/Abstract

摘要：

针对水田株间除草装置伤苗率高、除草率低等问题,设计一种摆动型水田株间除草装置。阐述该装置的整体结构与工作原理,对其关键部件——偏心轮机构和除草弹齿进行理论分析与结构设计,结合弹齿往复开合运动与水稻种植农艺,分析除草弹齿运动过程与避苗系统工作机理。运用ADAMS软件,以机具前进速度和偏心轮转速为试验因素、覆盖率和入侵率为评价指标,采用2因素5水平二次回归正交旋转组合试验方法进行虚拟仿真试验。仿真结果表明:机具前进速度与偏心轮转速对覆盖率和入侵率有极显著(P<0.01)影响,机具前进速度为除草装置工作性能的主要影响因素,当机具前进速度为266.12 mm·s^-1、偏心轮转速为3.97 r·s^-1时,除草装置作业性能最优,覆盖率为85.70%,入侵率为5.62%。田间试验结果表明:当机具前进速度为270 mm·s^-1、偏心轮转速为4 r·s^-1时,除草装置的除草率为82.5%,伤苗率为5.1%,与仿真试验结果大体一致,所设计的除草装置能够满足水田株间除草农艺要求。

关键词: 水田, 摆动型, 避苗, 株间除草

Abstract:

Aiming at the problems of high seedling damage rate and low weeding rate of intra-row weeding device in paddy field, a swing intra-row weeding device for paddy field was designed. The overall structure and working principle of weeding device were illustrated and analyzed. Theoretical analysis and structural design of eccentric mechanism and weeding spring tine were carried out. Combined with the reciprocating opening and closing movement of spring tine and rice planting agronomy, the movement process of weeding spring tine and the working mechanism of seedling avoidance system were analyzed. Based on ADAMS software, by taking the machine driving speed and eccentric rotational speed as test factors, coverage rate and intrusion rate as evaluation indexes, the virtual simulation test was carried out via two factor five level quadratic regression orthogonal rotation combination method. The simulation results revealed that the machine driving speed and eccentric rotation speed had significant (P<0.01) impact on the coverage rate and intrusion rate, and the machine driving speed was the main factor affecting the working performance of the weeding device. When the machine driving speed was 266.12 mm·s^-1 and the eccentric rotational speed was 3.97 r·s^-1, the coverage rate was 85.70% and the intrusion rate was 5.62% in simulation. The field test results revealed that when the machine driving speed was 270 mm·s^-1 and the eccentric rotational speed was 4 r·s^-1, the weeding rate of the weeding device was 82.5% and the injury rate was 5.1%, which was roughly consistent with the simulation results. Thus, the designed weeding device could meet the requirement of weeding agronomy in paddy field.

Key words: paddy field, swing type, avoiding seedlings, intra-row weeding

中图分类号:

S224.15

田亮, 曹成茂, 秦宽, 葛俊, 方梁菲. 摆动型水田株间除草装置设计与试验[J]. 浙江农业学报, 2022, 34(8): 1772-1783.

TIAN Liang, CAO Chengmao, QIN Kuan, GE Jun, FANG Liangfei. Design and experiment of swing intra-row weeding device for paddy field[J]. Acta Agriculturae Zhejiangensis, 2022, 34(8): 1772-1783.

图/表 11

图1 摆动型水田株间除草装置结构图 1,机架;2,连杆;3,偏心轮;4,主轴;5,传感器安装架;6,激光传感器;7,推杆;8,连接块;9,摆动杆;10,底板;11,除草杆;12,除草弹齿。

Fig.1 Schematic diagram of swing intra-row weeding device for paddy field 1, Frame; 2, Connecting rod; 3, Eccentric; 4, Main shaft; 5, Sensor mounting frame; 6, Laser sensor; 7, Push rod; 8, Connecting block; 9, Swinging rod; 10, Bottom plate; 11, Weeding rod; 12, Weeding spring tine.

图2 除草装置运动轨迹示意图 1,除草弹齿运动轨迹;2,作物保护区域;L,水稻种植株距,mm;ABCD,避苗阶段弹齿运动轨迹;A1B1C1D1,下一个除草周期避苗阶段弹齿运动轨迹;L0,作物保护区域范围,mm;L1,推程运动阶段机具行驶距离,mm;L2,远程休止阶段机具行驶距离,mm;L3,回程运动阶段机具行驶距离,mm;L4,近程休止阶段机具行驶距离,mm;v0,机具前进速度,mm·s-1。

Fig.2 Schematic diagram of movement trajectory of weeding device 1, Trajectory of weeding spring tine; 2, Crop protection area; L, Intra-row space of rice, mm; ABCD, Trajectory of spring tine in avoidance stage; A1B1C1D1, Trajectory of spring tine in avoidance stage of the next weeding period; L0, Range of crop protection area, mm; L1, Device driving distance in push stage, mm; L2, Device driving distance in remote standstill stage, mm; L3, Device driving distance in return stage, mm; L4, Device driving distance in proximity standstill stage, mm; v0, Device driving speed, mm·s-1.

图3 偏心轮机构结构示意图 1,两除草杆之间距离,mm;2,摆动杆;3,推杆;4,连杆;5,偏心轮;l,摆动杆长度,mm;h,弹齿盘闭合时摆动杆纵向长度,mm;s,弹齿盘闭合时摆动杆横向长度,mm;e,偏心轮偏置距离,mm;l0,连杆长度,mm。实线部分,初始状态时偏心轮机构位置;虚线部分,远程休止状态时偏心轮机构位置。

Fig.3 Structure diagram of eccentric mechanism 1, Distance between weeding rods, mm; 2, Swinging rod; 3, Push rod; 4, Connecting rod; 5, Eccentric; l, Length of swinging rod, mm; h, Vertical length of swinging rod when weeding spring tine disc is closed, mm; s, Horizontal length of swinging rod when weeding spring tine disc is closed, mm; e, Offset radius of eccentric, mm; l0, Length of connecting rod, mm. Solid line parts, Position of eccentric mechanism in initial state; Broken line parts, Position of eccentric mechanism in remote standstill stage.

图4 传感器安装位置示意图 1,作物保护区域;2,除草弹齿;3,水稻秧苗;4,激光传感器;L5,除草弹齿和激光传感器安装距离,mm。

Fig.4 Schematic diagram of laser sensor installation position 1, Crop protection area; 2, Weeding spring tine; 3, Rice seedling; 4, Laser sensor; L5, Mounting distance between weeding spring tine and laser sensor, mm.

图5 株间区域除草示意图 1,作物保护区域;2,除草弹齿覆盖区域与作物保护区重叠部分;3,除草弹齿覆盖区域;4,除草弹齿未覆盖区域。

Fig.5 Schematic diagram of weeding in intra-row area 1, Crop protection area; 2, Overlapping part of weeding spring tine coverage area and crop protection area; 3, Coverage area of weeding spring tine; 4, Uncovered area of weeding spring tine.

图6 弹齿运动轨迹示意图 a,仿真示意图;b,弹齿轨迹示意图。1,左侧弹齿运动轨迹;2,右侧弹齿运动轨迹。

Fig.6 Schematic diagram of weeding spring tine movement trajectory a, Schematic diagram of simulation; b, Schematic diagram of trajectory of weeding spring tine. 1, Trajectory of left weeding spring tine; 2, Trajectory of right weeding spring tine.

表1 试验因素水平编码

Table 1 Coding table of experimental factors and levels

水平编码 Level code	X₁:机具前进速度 Machine driving speed/ (mm·s^-1)	X₂:偏心轮转速 Eccentric rotation speed/ (r·s^-1)
1.414	400.00	6.00
1	370.71	5.56
0	300.00	4.50
-1	229.29	3.44
-1.414	200.00	3.00

表2 试验方案与结果

Table 2 Experimental design and results

序号 No.	试验因素水平编码 Level code of experiment factors		评价结果 Evaluation result
序号 No.	X₁	X₂	Y₁/%	Y₂/%
1	1	1	85.84	5.89
2	1	-1	88.59	8.63
3	-1	1	81.59	3.40
4	-1	-1	85.51	5.51
5	1.414	0	87.96	8.30
6	-1.414	0	82.30	3.67
7	0	1.414	83.18	4.53
8	0	-1.414	88.16	7.90
9	0	0	85.83	5.79
10	0	0	85.74	5.68
11	0	0	85.55	5.53
12	0	0	85.68	5.64
13	0	0	85.73	5.67
14	0	0	86.32	6.15
15	0	0	86.06	5.97
16	0	0	85.38	5.34

图7 响应曲面分析图 X1,机具前进速度;X2,偏心轮转速;Y1,覆盖率;Y2,入侵率。

Fig.7 Analysis of response surface X1, Machine driving speed; X2, Eccentric rotation speed; Y1, Coverage rate; Y2, Intrusion rate.

图8 除草装置田间试验照片 a,除草前田块;b,除草后田块。

Fig.8 Photos of field experiment of weeding device a, Paddy field before weeding; b, Paddy field after weeding.

表3 田间试验结果

Table 3 Field experiment results %

试验号 Test No.	除草率 Weeding rate	伤苗率 Injury rate
1	82.3	5.5
2	82.8	4.6
3	81.6	5.2
4	83.4	5.7
5	82.4	4.5
平均值Average	82.5	5.1

参考文献 32

[1]	齐龙, 赵柳霖, 马旭, 等. 3GY-1920型宽幅水田中耕除草机的设计与试验[J]. 农业工程学报, 2017, 33(8): 47-55.
	QI L, ZHAO L L, MA X, et al. Design and test of 3GY-1920 wide-swath type weeding-cultivating machine for paddy[J]. Transactions of the Chinese Society of Agricultural Engineering, 2017, 33(8): 47-55. (in Chinese with English abstract)
[2]	贾洪雷, 李森森, 王刚, 等. 中耕期玉米田间避苗除草装置设计与试验[J]. 农业工程学报, 2018, 34(7): 15-22.
	JIA H L, LI S S, WANG G, et al. Design and experiment of seedling avoidable weeding control device for intertillage maize(Zea mays L.)[J]. Transactions of the Chinese Society of Agricultural Engineering, 2018, 34(7): 15-22. (in Chinese with English abstract)
[3]	陈子文, 张春龙, 李南, 等. 智能高效株间锄草机器人研究进展与分析[J]. 农业工程学报, 2015, 31(5): 1-8.
	CHEN Z W, ZHANG C L, LI N, et al. Study review and analysis of high performance intra-row weeding robot[J]. Transactions of the Chinese Society of Agricultural Engineering, 2015, 31(5): 1-8. (in Chinese with English abstract)
[4]	PÉREZ-RUÍZ M, SLAUGHTER D C, FATHALLAH F A, et al. Co-robotic intra-row weed control system[J]. Biosystems Engineering, 2014, 126: 45-55. DOI URL
[5]	GOBOR Z, LAMMERS P S, MARTINOV M. Development of a mechatronic intra-row weeding system with rotational hoeing tools: theoretical approach and simulation[J]. Computers and Electronics in Agriculture, 2013, 98: 166-174. DOI URL
[6]	TILLETT N D, HAGUE T, GRUNDY A C, et al. Mechanical within-row weed control for transplanted crops using computer vision[J]. Biosystems Engineering, 2008, 99(2): 171-178. DOI URL
[7]	O’DOGHERTY M J, GODWIN R J, DEDOUSIS A P, et al. A mathematical model of the kinematics of a rotating disc for inter-and intra-row hoeing[J]. Biosystems Engineering, 2007, 96(2): 169-179. DOI URL
[8]	周福君, 王文明, 李小利, 等. 凸轮摇杆式摆动型玉米株间除草装置设计与试验[J]. 农业机械学报, 2018, 49(1): 77-85.
	ZHOU F J, WANG W M, LI X L, et al. Design and experiment of cam rocker swing intra-row weeding device for maize[J]. Transactions of the Chinese Society for Agricultural Machinery, 2018, 49(1): 77-85. (in Chinese with English abstract)
[9]	王文明. 垄作玉米机械除草装置设计与试验研究[D]. 哈尔滨: 东北农业大学, 2019.
	WANG W M. Design and experimental study on mechanical weeding device of the ripple maize[D]. Harbin: Northeast Agricultural University, 2019. (in Chinese with English abstract)
[10]	王奇, 周文琪, 唐汉, 等. 弧齿往复式稻田株间自动避苗除草装置设计与试验[J]. 农业机械学报, 2021, 52(6): 53-61.
	WANG Q, ZHOU W Q, TANG H, et al. Design and experiment of arc-tooth reciprocating motion type seedling avoided weeding control device for intertillage paddy[J]. Transactions of the Chinese Society for Agricultural Machinery, 2021, 52(6): 53-61. (in Chinese with English abstract)
[11]	陈子文, 李南, 孙哲, 等. 行星刷式株间锄草机械手优化与试验[J]. 农业机械学报, 2015, 46(9): 94-99.
	CHEN Z W, LI N, SUN Z, et al. Optimization and experiment of intra-row brush weeding manipulator based on planetary gear train[J]. Transactions of the Chinese Society for Agricultural Machinery, 2015, 46(9): 94-99. (in Chinese with English abstract)
[12]	陈子文, 李南, 李涛, 等. 基于里程信息融合的株间锄草刀定位数据优化方法[J]. 农业工程学报, 2015, 31(21): 198-204.
	CHEN Z W, LI N, LI T, et al. Optimization method of intra-row weeding hoe positioning data based on odometry information fusion[J]. Transactions of the Chinese Society of Agricultural Engineering, 2015, 31(21): 198-204. (in Chinese with English abstract)
[13]	李南, 陈子文, 朱成兵, 等. 电驱锄草机器人系统设计与试验[J]. 农业机械学报, 2016, 47(5): 15-20.
	LI N, CHEN Z W, ZHU C B, et al. System design and experiment of electric driven weeding robot[J]. Transactions of the Chinese Society for Agricultural Machinery, 2016, 47(5): 15-20. (in Chinese with English abstract)
[14]	齐龙, 梁仲维, 马旭, 等. 耙压式除草轮与水田土壤作用的流固耦合仿真分析及验证[J]. 农业工程学报, 2015, 31(5): 29-37.
	QI L, LIANG Z W, MA X, et al. Validation and analysis of fluid-structure interaction between rotary harrow weeding roll and paddy soil[J]. Transactions of the Chinese Society of Agricultural Engineering, 2015, 31(5): 29-37. (in Chinese with English abstract)
[15]	齐龙, 梁仲维, 蒋郁, 等. 轻型水田除草机的设计及试验[J]. 吉林大学学报(工学版), 2016, 46(3): 1004-1012.
	QI L, LIANG Z W, JIANG Y, et al. Design and field test of lightweight paddy weeder[J]. Journal of Jilin University (Engineering and Technology Edition), 2016, 46(3): 1004-1012. (in Chinese with English abstract)
[16]	王金武, 白海超, 孙小博, 等. 水田喷雾机喷雾装置设计与动态分析[J]. 农业机械学报, 2019, 50(3): 69-79.
	WANG J W, BAI H C, SUN X B, et al. Design and dynamic analysis of spray device for paddy field sprayer[J]. Transactions of the Chinese Society for Agricultural Machinery, 2019, 50(3): 69-79. (in Chinese with English abstract)
[17]	李泽华, 马旭, 李秀昊, 等. 水稻栽植机械化技术研究进展[J]. 农业机械学报, 2018, 49(5): 1-20.
	LI Z H, MA X, LI X H, et al. Research progress of rice transplanting mechanization[J]. Transactions of the Chinese Society for Agricultural Machinery, 2018, 49(5): 1-20. (in Chinese with English abstract)
[18]	赵玉信, 杨惠敏. 作物格局、土壤耕作和水肥管理对农田杂草发生的影响及其调控机制[J]. 草业学报, 2015, 24(8): 199-210.
	ZHAO Y X, YANG H M. Effects of crop pattern, tillage practice and water and fertilizer management on weeds and their control mechanisms[J]. Acta Prataculturae Sinica, 2015, 24(8): 199-210. (in Chinese with English abstract)
[19]	王金武, 闫东伟, 王奇, 等. 射流式水田株间除草装置设计与试验[J]. 农业机械学报, 2021, 52(11): 78-85.
	WANG J W, YAN D W, WANG Q, et al. Design and experiment of jet-type paddy field weeding device between plants[J]. Transactions of the Chinese Society for Agricultural Machinery, 2021, 52(11): 78-85. (in Chinese with English abstract)
[20]	TIAN L, CAO C M, QIN K, et al. Design and test of post-seat weeding machine for paddy[J]. International Journal of Agricultural and Biological Engineering, 2021, 14(3): 97-105.
[21]	陈学深, 黄柱健, 马旭, 等. 水稻机械除草避苗控制系统设计与试验[J]. 吉林大学学报(工学版), 2021, 51(1): 386-396.
	CHEN X S, HUANG Z J, MA X, et al. Design and test of control system for rice mechanical weeding and seedling-avoiding control[J]. Journal of Jilin University (Engineering and Technology Edition), 2021, 51(1): 386-396. (in Chinese with English abstract)
[22]	马锃宏, 李南, 王汉斌, 等. 温室株间电驱锄草机控制系统设计与试验[J]. 农业机械学报, 2015, 46(1): 89-93.
	MA Z H, LI N, WANG H B, et al. Control system for electric drive intra-row weeding[J]. Transactions of the Chinese Society for Agricultural Machinery, 2015, 46(1): 89-93. (in Chinese with English abstract)
[23]	胡炼, 罗锡文, 张智刚, 等. 株间除草装置横向偏移量识别与作物行跟踪控制[J]. 农业工程学报, 2013, 29(14): 8-14.
	HU L, LUO X W, ZHANG Z G, et al. Side-shift offset identification and control of crop row tracking for intra-row mechanical weeding[J]. Transactions of the Chinese Society of Agricultural Engineering, 2013, 29(14): 8-14. (in Chinese with English abstract)
[24]	于畅畅, 徐丽明, 王庆杰, 等. 篱架式栽培葡萄双边作业株间自动避障除草机设计与试验[J]. 农业工程学报, 2019, 35(5): 1-9.
	YU C C, XU L M, WANG Q J, et al. Design and experiment of bilateral operation intra-row auto obstacle avoidance weeder for trellis cultivated grape[J]. Transactions of the Chinese Society of Agricultural Engineering, 2019, 35(5): 1-9. (in Chinese with English abstract)
[25]	胡炼, 罗锡文, 张智刚, 等. 基于余摆运动的株间机械除草爪齿避苗控制算法[J]. 农业工程学报, 2012, 28(23): 12-18.
	HU L, LUO X W, ZHANG Z G, et al. Control algorithm for intra-row weeding claw device based on trochoidal motion[J]. Transactions of the Chinese Society of Agricultural Engineering, 2012, 28(23): 12-18. (in Chinese with English abstract)
[26]	陶桂香, 王金武, 周文琪, 等. 水田株间除草机械除草机理研究与关键部件设计[J]. 农业机械学报, 2015, 46(11): 57-63.
	TAO G X, WANG J W, ZHOU W Q, et al. Herbicidal mechanism and key components design for paddy weeding device[J]. Transactions of the Chinese Society for Agricultural Machinery, 2015, 46(11): 57-63. (in Chinese with English abstract)
[27]	马旭, 齐龙, 梁柏, 等. 水稻田间机械除草装备与技术研究现状及发展趋势[J]. 农业工程学报, 2011, 27(6): 162-168.
	MA X, QI L, LIANG B, et al. Present status and prospects of mechanical weeding equipment and technology in paddy field[J]. Transactions of the Chinese Society of Agricultural Engineering, 2011, 27(6): 162-168. (in Chinese with English abstract)
[28]	王金峰, 王金武, 闫东伟, 等. 3SCJ-2型水田行间除草机设计与试验[J]. 农业机械学报, 2017, 48(6): 71-78.
	WANG J F, WANG J W, YAN D W, et al. Design and experiment of 3SCJ-2 type row weeding machine for paddy field[J]. Transactions of the Chinese Society for Agricultural Machinery, 2017, 48(6): 71-78. (in Chinese with English abstract)
[29]	黄小龙, 刘卫东, 张春龙, 等. 苗间锄草机器人锄草刀优化设计[J]. 农业机械学报, 2012, 43(6): 42-46.
	HUANG X L, LIU W D, ZHANG C L, et al. Optimal design of rotating disc for intra-row weeding robot[J]. Transactions of the Chinese Society for Agricultural Machinery, 2012, 43(6): 42-46. (in Chinese with English abstract)
[30]	孙哲, 张春龙, 马瑶瑶, 等. 摆动式间苗机器人锄刀优化设计与试验[J]. 农业机械学报, 2017, 48(9): 70-75.
	SUN Z, ZHANG C L, MA Y Y, et al. Optimal design and experiment of thinning hoe for swing motion thinning robot[J]. Transactions of the Chinese Society for Agricultural Machinery, 2017, 48(9): 70-75. (in Chinese with English abstract)
[31]	朱德泉, 李兰兰, 文世昌, 等. 滑片型孔轮式水稻精量排种器排种性能数值模拟与试验[J]. 农业工程学报, 2018, 34(21): 17-26.
	ZHU D Q, LI L L, WEN S C, et al. Numerical simulation and experiment on seeding performance of slide hole-wheel precision seed-metering device for rice[J]. Transactions of the Chinese Society of Agricultural Engineering, 2018, 34(21): 17-26. (in Chinese with English abstract)
[32]	王金武, 李超, 李鑫, 等. 铺膜插秧后水田3SCJ-1型除草机设计与试验[J]. 农业机械学报, 2018, 49(4): 102-109.
	WANG J W, LI C, LI X, et al. Design and experiment of 3SCJ-1 type weeding machine for paddy field applied to film mulching and transplanting[J]. Transactions of the Chinese Society for Agricultural Machinery, 2018, 49(4): 102-109. (in Chinese with English abstract)

摆动型水田株间除草装置设计与试验

Design and experiment of swing intra-row weeding device for paddy field

RichHTML

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

图/表 11

参考文献 32

相关文章 3

编辑推荐

Metrics

本文评价

[1]	满海燕, 黄运湘, 盛浩, 余展, 周清, 袁红, 张杨珠. 湘东两类母质发育水田土壤的发生特性及其系统分类[J]. 浙江农业学报, 2018, 30(7): 1194-1201.
[2]	翟力欣;姬长英*;丁启朔;Irshad Ali. 水田土壤蠕变的粘弹性计算[J]. , 2010, 22(4): 0-514.
[3]	华水金;杨宇虹;赵正雄;张晓海;王学德. 施氮量对水田与旱地烤烟不同叶位干物分配及产量的影响[J]. , 2008, 20(2): 0-143.