玉米苗期行间除草二级对行装置设计与试验

Design and Testing of a Secondary Row-to-row Device for Weed Control in Corn Seedling Rows

摘要:

玉米苗期行间除草是保障作物健康生长的重要环节，其作业精度直接影响除草效果。为提高玉米苗期行间除草精度和效率，设计了一种二级机械对行装置，并对其结构组成与关键参数进行了优化。装置由一级导向机构和二级行距调整机构组成，其中一级导向机构通过液压缸驱动平行悬臂实现整机对行，二级行距调整机构通过伺服电缸和滑轮组调整除草单体位置以适应不同行距。理论分析确定一级导向机构液压缸最小推力需满足7536.37N，二级行距调整机构伺服电缸额定推力为1409N。分别开展了室内模拟试验与田间试验，对伺服电缸性能及装置在不同速度下对行误差特性进行评估。室内试验结果表明，伺服电缸效率为82.3%，响应时间为21ms，具有较好的控制精度。在杂草密度大于30株/m2的非标准种植玉米田中开展田间试验，设定3种作业速度0.5、1.0、1.5m/s。试验结果表明，当速度为0.5、1.0m/s时，一级机构对行平均误差分别为1.987、3.619cm，角度误差为2.510°和2.660°，性能稳定；当速度为1.5m/s时，偏移误差增至2.603cm，角度误差增至3.024°，且二级机构误差出现离群值。原因为，在高速作业时系统动态响应能力下降，可能受地表不平整和图像识别频率限制的影响。该装置在低速和中速条件下具备良好稳定性和作业精度，能够满足精细化除草需求。但在高速作业条件下需优化控制算法，以提升动态响应能力和整体稳定性。研究结果为玉米苗期行间除草装置设计与应用提供了技术支持。

Abstract:

Inter-row weeding during the maize seedling stage is essential for ensuring healthy crop growth. The precision of this process directly affects both weed control effectiveness and crop protection. To improve the efficiency and accuracy of inter-row weeding, a two-stage row guidance device was designed, with its structure and key parameters optimized. The device combined a primary guidance system and a secondary row-spacing adjustment mechanism. The primary guidance system used parallel cantilevers and double-acting hydraulic cylinders to achieve precise alignment, while the secondary adjustment mechanism employed a servo motor and sliding rail to adapt to different row spacings. Theoretical analysis determined that the hydraulic cylinder for the primary guidance system required a minimum thrust of 7536.37N, and the rated thrust for the servo cylinder in the secondary mechanism was 1409N, ensuring stable performance. Indoor tests verified that the servo motor’s efficiency was 82.3%, with a response time of 21ms, indicating good load adaptability and control precision. Field trials showed that at speeds of 0.5m/s and 1.0m/s, the device demonstrated high stability in both alignment and row-spacing adjustment. However, performance was decreased at 1.5m/s, suggesting the need for algorithm optimization at high speeds. The results showed that the device met the operational requirements for inter-row guidance in maize seedling weeding, providing valuable support for the development of weeding machinery.