| China's Apple cultivation area,production and consumption accounted for more than 40% of the world's total.With the increasing of Apple planting area,the development of scale and the trend of aging population in China,the contradiction between the increase of weeding area of orchard and the shortage of direct participation in agricultural labor force is becoming more and more prominent.At present,the development of Apple planting to dwarf anvil planting mode in China,th e cultivation technology of orchard ground grass is gradually popularized,but it is still dominated by Qing tillage mode.At home and abroad,the existing large structure high-power weeding machinery is not applicable,artificial weeding mode is low efficiency.Based on the above situation,it is of great significance to design a new type of orchard weeding robot to meet the weeding requirements of different cultivation modes in orchard,and to promote the large-scale development of orchard and improve the comprehensive management level.According to the technical requirements of horticulture,a robot scheme with two functions of mowing and root cutting and weeding was proposed.Complete the overall structural design of the weeding robot,establish a three-dimensional model of the robot components in Pro/E and complete the overall assembly,mainly including the three-wheel structure robot body,the cutting height adjustment mechanism,the steering mechanism,the cutter angle adjustment mechanism and Weeding agency.In order to make the robot better adapt to the uneven terrain of the orchard,an independent suspension structure is added to the connection between the two front wheels and the frame,and the damping spring is designed at the connection between the rear wheel and the frame.This paper designs the weeding cutter plate of the disc structure and three kinds of weeding blades with different edge lines,analyzes the motion law of the robot operation process,and uses ADAMS software to simulate the operation path of the virtual prototype,and verifies the correctness of the theoretical analysis.The correspondence between the degree of operation trajectory density and the forward speed of the robot and the speed of the knife hovering is obtained.The influence of the performance of three kinds of terrain crossing and the obstacles of different parameters on the running stability of the robot is simulated,and the results show that the suspension mechanism has obvious effect on maintaining the stability of the robot.Modal analysis of the weeding cutter plate shows that the robot does not cause resonance due to external excitation during the working process.The nonlinear explicit dynamics analysis software LS_DYNA was used to simulate the soil cutting process of three different edge-line cutters.The arc shape was obtained by analyzing the cutting process,tool stress variation,tool power consumption and resistance.Weeding knives have the lowest average power consumption and cutting resistance.Through the simulation analysis of the plane arc knife and the solid curved arc knife,the average power consumption and resistance of the three-dimensional arc knife are 27.5% and 51.9% higher than the plane arc knife respectively.Under the premise of meeting the weeding requirements,the plane ar c knife The structure is the best choice for design.Using Arduino development platform,through the control system hardware and software program design,the development of the core Arduino main control board,motor drive module,ultrasonic obstacle avoidance module and radio communication module of the weeding robot control system was developed to make the robot obstacle detection and alarm.Remote control of walking,steering and other functions has been achieved.The simulation model of the control system motor is established in MATLAB/Simulink and the simulation is completed to verify the correctness of the system model. |
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