Design And Experimental Study Of An Automatic Obstacle Avoidance Device Between Weeds In Orchards

Orchard weed is one of the important factors that affect the high quality and high yield fruit,orchard grass presently used machinery,cannot at the same time meet the requirements of weeds remove row and between plant area,general area between strain weeds need artificial secondary tillage in addition to,not only the cost is higher,and the intensity of labor work efficiency is low,serious influence and restrict the development of orchard planting,scientific actualizing the fruit quality control weeds effectively High yield,to ensure the healthy growth,this paper designs an orchard weeding automatic obstacle avoidance device between strains,rotating shaft and hydraulic system for the device structure is studied by using computer-aided software design and simulation analysis,at the same time the key institution has been optimized and improved,and completed the entity prototype test and field experiment,the concrete research content is as follows:(1)through field research on orchard planting mode and agronomic requirements of obstacle avoidance and weeding operation,the working principle of obstacle avoidance and weeding process between plants was analyzed,the structural design requirements were proposed,and the overall structural design scheme of the device was determined.(2)according to the orchard planting mode,the overall size of the multi-function weeder was determined,and the structure of the key components of the obstacle avoidance device was designed and the parameters were determined.According to the working environment of orchard,the adjusting mechanism of row width of orchard multi-function weeder was designed,and the working width of orchard multi-function weeder was determined to be 2260 ～ 3440 mm by calculation.Based on the planting pattern among orchard plants and the distribution of weeds around,the structure design of the automatic obstacle avoidance mechanism of the automatic obstacle avoidance device among orchard plants was carried out on the basis of the establishment of the mathematical model,and the motion characteristics of the automatic obstacle avoidance mechanism were simulated by ADAMS software.In order to avoid damaging the vines and reduce the rate of missed tillage between grape plants,the opening Angle of the obstacle avoidance controller of the device was set.(3)in order to meet the requirements of weeding between orchard plants,the obstacle avoidance device adopts the design idea of electromechanical liquid phase combination,and calculates the load of the actuator of the hydraulic control system according to the working conditions of the hydraulic system;The key parameters of the hydraulic cylinder of the hydraulic system are determined.At the same time calculation selection of the hydraulic system of the other components of the hydraulic system working principle and the obstacle avoidance process carried on the detailed elaboration,by hydraulic simulation software AMESim the obstacle avoidance system is the virtual model and simulation analysis,the results show that the hydraulic cylinder starting for contracting,in 0 ～ 0.32 s period between strains for obstacle avoidance process;The average flow rate of the hydraulic cylinder is 7.88 l /min;The average speed of hydraulic cylinder is 0.45m/s;Time needed for obstacle avoidance of 0.32 s hydraulic cylinder displacement in 0.32 s maximum,the maximal displacement of 0.15 m,0.32 ～ 0.66 times between strains for weed control process,the strain between the weed control in the process of hydraulic cylinder displacement curve is relatively smooth,no obvious fluctuation,avoids the base of the hydraulic cylinder piston and collision,illustrate the rationality of the hydraulic cylinder work schedule and the correctness of the hydraulic system of the virtual model.(4)the factors that have a great influence on the inter-plant leakage tillage rate were studied,including Obstacle avoidance controller opening Angle,the forward speed of the machine and the speed of the hydraulic cylinder,and the orthogonal test was designed.The orthogonal test showed that the forward speed of the machine had a significant effect on the tillage leakage rate;Hydraulic cylinder speed has a significant effect on inter-plant tillage leakage rate;The effect of weeding shovel tillage depth on inter-plant leakage rate was not significant.When the rotation Angle of obstacle avoidance rod is 12°,the speed of the machine is 300mm/s,and the speed of the hydraulic cylinder is,the inter-plant tillage leakage rate is 4.12%and the obstacle avoidance pass rate is 100%.