Design And Research Of An Automatic Obstacle Avoidance Device For Weeding Between Plants In Orchards

Xinjiang is the largest production base of forest and fruit industry in China.In the process of forest and fruit industry production,orchard weeding is one of the most important links.The efficient removal of weeds in the orchard can not only reduce the intensity of artificial labor,but also avoid reducing production,which has significant social and economic benefits.Aiming at the current problems of orchard weeding in Xinjiang orchards,weeding can only be completed between rows of fruit trees,and weeding between trees in orchards requires manual replenishment.Based on a comprehensive analysis of the research status of orchard weeding machinery at home and abroad,an automatic obstacle avoidance and weeding device between orchard plants was designed by using two weeding monomers in combination with weeding and touching the lever to trigger automatic obstacle avoidance in the hydraulic system.Using the combination of theoretical calculation analysis,computer virtual simulation and experimental verification,starting from the principle of automatic obstacle avoidance and weeding devices between orchard plants,according to the agronomic requirements of Xinjiang orchard planting,the structural parameters of key components of automatic obstacle avoidance devices were determined.The movement states of two weeding monomers in the process of automatic obstacle avoidance are established,the kinematics model of the two states of the gas spring in the process of automatic obstacle avoidance and the kinematics model of the weeding blade during the movement are constructed,and the automatic obstacle avoidance device is designed Hydraulic system.The ADAMS software was used to simulate and analyze the kinematic characteristics of the weeding monomer,and the verification test of the automatic obstacle avoidance device was completed in combination with the test bench.The test results show that the structure can meet the requirements of weeding among fruit trees.The main research contents are as follows:1.According to the agronomic requirements for orchard plant-to-plant weeding,a weeding method of interrow cultivator and automatic obstacle avoidance and weeding device was designed to orchard plant-to-plant weeder.The automatic obstacle avoidance and weeding device between the orchard plants was designed by using two weeding monomers in cooperation with weeding and touching rods to trigger automatic obstacle avoidance in the hydraulic system.The motion of two weeding monomers in the process of automatic obstacle avoidance was described.The kinematics model of the two states of the gas spring in the process of automatic obstacle avoidance and the kinematics model of the weeding blade during the movement were constructed.2.According to the working principle of the automatic obstacle avoidance and weeding device between orchard plants,a pressure signal transmission mechanism was designed,and the structural parameters of each part were calculated and determined;according to the growth characteristics of weeds in the southern Xinjiang orchard,the structure of the cutter head and blade was designed.Parameters;According to the space arrangement of the whole frame of the weeder,a folding mechanism of an automatic obstacle avoidance device is designed.According to the working principle of the automatic obstacle avoidance device,the hydraulic system circuit is designed,and the parameters of the hydraulic cylinder of the folding mechanism are calculated.3.Establish a virtual model of the automatic obstacle avoidance device,use ADAMS software to simulate,and obtain the cutter disc trajectory,speed,and acceleration curve at the forward speed of v = 400 mm / s;use ANSYS software to perform static analysis on key supporting components Through mechanical analysis,the total deformation cloud diagram,stress cloud diagram,and strain cloud diagram of the main cantilever are obtained,which can provide reference for the further optimization and structural improvement of the main cantilever.The AMESim software was used to simulate and analyze the folding mechanism subsystem in the hydraulic system,and the speed curve and displacement curve of the hydraulic cylinder were obtained,which further verified various performance indicators of the hydraulic system.4.On the basis of the previous theoretical analysis,the verification test of the automatic obstacle avoidance device is carried out with the aid of a soil trough conveying experimental platform.At a speed of v = 400 mm / s,the test was conducted on six tree stems of different diameters.The test results show that the designed automatic obstacle avoidance and weeding device structure of the orchards meets the design goals and can avoid the trees.