Design and Experiment of Orchard Obstacle Avoidance Weeding Cultivator

doi:10.13304/j.nykjdb.2024.0052

Abstract

Abstract:

An orchard obstacle avoidance inter-row weeding cultivator was designed to address the problem of difficult weed removal between the tree trunks in the orchard， which mainly included inter-row weeding mechanism， intra-row weeding mechanism， hydraulic obstacle avoidance components， and could achieve inter-row and intra-row cultivating and weeding operations. The obstacle avoidance of the intra-row weeding mechanism was achieved by the linkage of the touch spring obstacle avoidance rod and the hydraulic cylinder-driven four-bar linkage mechanism. Using EDEM software， three-factor three-level orthogonal simulation experiments and operational parameter optimization were conducted with weeding wheel rotation speed， soil tillage depth and forward speed as indicators. The optimal parameter combination was found as follows： the weeding wheel rotation speed of 500 r·min^-1， the soil tillage depth of 80 mm， and the forward speed of 1.2 m·s^-1. Field experiments of the prototype were conducted， with a weed avoidance rate of 100%， a missed tillage rate of 3.44%， no damage， an average tillage depth of 80.9 mm， a tillage depth stability coefficient of 97.8%， and a productivity ranging from 0.86 to 1.38 hm²·h^-1. Above results could provide reference for the design of obstacle avoidance and weeding machines in orchards.

Key words: orchard machinery, cultivation, intra-row weeding, discrete element

摘要：

针对果园树干间杂草难去除的问题设计了一种果园中耕避障除草机，包括行间除草机构、株间除草机构、液压避障组件等，可实现行间和株间的中耕除草作业，通过触式弹簧避障杆联动液压缸驱动四连杆机构，实现株间除草机构的避障。利用EDEM软件以除草轮的转速、入土深度、行进速度为指标进行3因素3水平正交仿真试验和作业参数优化，最佳参数组合为：除草轮转速500 r·min^-1、入土深度80 mm、前进速度1.2 m·s^-1。样机田间试验表明，其除草作业的避障通过率100%，漏耕率3.44%，损伤率0%，平均耕深为80.9 mm，耕深稳定性系数为97.8%，生产率为0.86~1.38 hm²·h^-1。研究结果可为果园中耕避障除草机设计提供参考。

关键词: 果园机械, 中耕, 株间除草, 离散元

CLC Number:

S224.1

Xiaobo XI, Jieyuan DING, Wendi ZHANG, Yangjie SHI, Yifu JIN, Ruihong ZHANG. Design and Experiment of Orchard Obstacle Avoidance Weeding Cultivator[J]. Journal of Agricultural Science and Technology, 2025, 27(7): 101-110.

奚小波, 丁杰源, 张文帝, 史扬杰, 金亦富, 张瑞宏. 一种果园中耕避障除草机的设计与试验[J]. 中国农业科技导报, 2025, 27(7): 101-110.

Figures/Tables 18

References 24

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项目 Item	参数 Parameter	数值 Value
土壤颗粒 Soil particle	泊松比Poisson ratio	0.3
	剪切模量Shear modulus/Pa	6×10⁷
	密度Density /（kg·m^-3）	1 596
	颗粒半径Particle radius/mm	10
	恢复系数Coefficient of restitution	0.5
	静摩擦系数Coefficient of static friction	0.5
	动摩擦系数Coefficient of kinetic friction	0.1
除草轮 Weeding wheel	泊松比Poisson ratio	0.31
	剪切模量Shear modulus/Pa	2×10⁸
	密度Density/（kg·m^-3）	7 850
	恢复系数Coefficient of restitution	0.35
	静摩擦系数Coefficient of static friction	0.29
	动摩擦系数Coefficient of kinetic friction	0.1

项目 Item	参数 Parameter	数值 Value
土壤颗粒 Soil particle	泊松比Poisson ratio	0.3
	剪切模量Shear modulus/Pa	6×10⁷
	密度Density /（kg·m^-3）	1 596
	颗粒半径Particle radius/mm	10
	恢复系数Coefficient of restitution	0.5
	静摩擦系数Coefficient of static friction	0.5
	动摩擦系数Coefficient of kinetic friction	0.1
除草轮 Weeding wheel	泊松比Poisson ratio	0.31
	剪切模量Shear modulus/Pa	2×10⁸
	密度Density/（kg·m^-3）	7 850
	恢复系数Coefficient of restitution	0.35
	静摩擦系数Coefficient of static friction	0.29
	动摩擦系数Coefficient of kinetic friction	0.1

序号 Serial number	因素水平Factor level			土壤扰动表面积 Soil disturbance surface area/m²
序号 Serial number	A：入土深度 Tillage depth/mm	B：转速 Rotation speed/（r·min^-1）	C：行进速度 Forward speed/（m·s^-1）	土壤扰动表面积 Soil disturbance surface area/m²
1	20	150	1.2	0.917 2
2	20	360	1.4	1.782 8
3	20	500	1.6	2.095 4
4	50	150	1.4	0.933 2
5	50	360	1.6	1.613 8
6	50	500	1.2	3.033 4
7	80	150	1.6	1.230 4
8	80	360	1.2	2.709 7
9	80	500	1.4	3.144 0
K₁	4.795 4	3.080 8	6.660 3
K₂	5.580 4	6.106 3	5.860 0
K₃	7.084 1	8.272 8	4.939 6
k₁	1.598 5	1.026 9	2.220 1
k₂	1.860 1	2.035 4	1.953 3
k₃	2.361 4	2.757 6	1.646 5
极差R	0.762 9	1.730 7	0.573 6
影响程度 Influence degree	B>A>C
最优组合 Optimal composition	A₃B₃C₁

序号 Serial number	因素水平Factor level			土壤扰动表面积 Soil disturbance surface area/m²
序号 Serial number	A：入土深度 Tillage depth/mm	B：转速 Rotation speed/（r·min^-1）	C：行进速度 Forward speed/（m·s^-1）	土壤扰动表面积 Soil disturbance surface area/m²
1	20	150	1.2	0.917 2
2	20	360	1.4	1.782 8
3	20	500	1.6	2.095 4
4	50	150	1.4	0.933 2
5	50	360	1.6	1.613 8
6	50	500	1.2	3.033 4
7	80	150	1.6	1.230 4
8	80	360	1.2	2.709 7
9	80	500	1.4	3.144 0
K₁	4.795 4	3.080 8	6.660 3
K₂	5.580 4	6.106 3	5.860 0
K₃	7.084 1	8.272 8	4.939 6
k₁	1.598 5	1.026 9	2.220 1
k₂	1.860 1	2.035 4	1.953 3
k₃	2.361 4	2.757 6	1.646 5
极差R	0.762 9	1.730 7	0.573 6
影响程度 Influence degree	B>A>C
最优组合 Optimal composition	A₃B₃C₁

试验序号 Test number	果园总面积 Total orchard area/m²	去除树干后的土地面积 Land area without tree trunks/m²	实际耕作面积 Actual tillage area/m²	漏耕率 Missed tillage rate/%
1	30	24	23.25	3.23
2	30	23	22.10	4.07
3	30	25	24.40	2.46
4	30	26	24.95	4.21
5	30	24	23.25	3.23