仿生鼹鼠前肢自适应清秸装置设计与试验

Design and Experiment of Bionic Mole Forelimb Adaptive Stubble Removal Device

摘要:

采用免耕播种技术使得玉米秸秆厚而丰富，传统清秸机构的投掷力不足，作业深度不稳定，严重制约了播种质量。因此，设计了能够在全量秸秆覆盖地进行有效清秸作业的仿生鼹鼠前肢自适应清秸装置，清秸装置由仿生清秸机构和清秸自适应控制系统组成。通过理论分析和计算机仿真，研究了具有鼹鼠前肢运动形态和爪趾结构的仿生清秸机构作业机理，阐明了仿生清秸机构结构参数对清秸质量的影响。基于模糊控制算法设计了清秸自适应控制系统，增强了清秸装置作业深度的稳定性。通过EDEM模拟软件对仿生清秸机构的结构设计和参数进行优化，确定了仿生清秸机构的类型；通过Design-Expert软件建立了仿生清秸机构不同参数与评价指标之间的回归方程，并确定了最优参数组合：回转半径为150mm、仿生夹角为17.71°，此时，秸秆清秸率为92.30%，作业阻力为30.38N。通过田间试验对仿生鼹鼠前肢清秸机构和清秸自适应控制系统的作业性能进行了验证，并与普通平面清秸机构进行了对比试验，试验结果表明，仿生清秸机构的性能优于普通的平面清秸机构，清秸自适应控制系统可以有效地提高清秸机构的性能；全量秸秆覆盖地块作业时，仿生鼹鼠前肢自适应清秸装置的清秸率为90.9%，比普通清秸机构高21.3个百分点，作业后地面满足玉米免耕播种的农业要求。

Abstract:

Due to the adoption of no-till sowing technology, which results in thick and abundant corn stalks, traditional stalk cleaning mechanisms lack sufficient throwing force and exhibit unstable operating depths, severely constraining seeding quality. A bionic mole forelimb adaptive stubble removal device was designed, which can effectively remove stubble under full straw mulch. The stalk cleaning device consisted of a bionic stalk cleaning mechanism and an adaptive cleaning control system. The operational mechanism of the bionic stalk cleaning device, incorporating the movement morphology and law structure inspired by mole forelimbs, was investigated through theoretical analysis and computer simulation, aiming to elucidate the influence of structural parameters n the quality of cleaning. A fuzzy control algorithm was used to design the adaptive cleaning control system, enhancing the stability of the cleaning device’s operating depth. The structure design and parameters of bionic straw removal mechanism were optimized by EDEM simulation software, and the type of bionic straw removal mechanism was determined. The regression equation between different parameters of the bionic straw removal mechanism and the evaluation index was established by Design-Expert software, and the optimal parameter combination was determined: the rotation radius was 150mm, the bionic angle was 17.71°, the straw cleaning rate was 92.30%, and the working resistance was 30.38N. Field experiments were conducted to verify the operational performance of the bionic mole forelimb stalk cleaning mechanism and the adaptive cleaning control system, comparing them with a conventional flat stalk cleaning mechanism. The experimental results demonstrated that the performance of the bionic stalk cleaning mechanism exceeded that of the conventional flat stalk cleaning mechanism, and the adaptive cleaning control system effectively improved the performance of the cleaning mechanism. When operating in fields with full straw coverage, the clearance rate of the bionic mole forelimb-adaptive stalk cleaning device reached 90.9%, which was 21.3 percentage points higher than that of the conventional stalk cleaning mechanism, meeting the agricultural requirements for no-tillage corn seeding after operation.