高辉松 方伟健 崔银轩 韩钊 薛金林

摘要 针对果园除草尤其是株间除草机械化作业难的问题，设计开发具有割幅可调功能的割草机对于提高果园除草机械化作业具有重要意义。基于果园除草机械化作业特点，确定了基于连杆机构的割幅可调割草机方案;建立了割草机调幅机构的理论模型，并对割草机调幅机构作业参数进行了设计和计算;在此基础上设计开发了割草机调幅机构的优化轨迹，并对机构相关参数进行了理论计算。根据理论计算结果，选择直线形轨道，并进行了仿真分析。仿真结果表明：直线形轨道的效率随着滑杆的移动从48.389%增至85.975%，能满足设计要求。在预定割幅范围的杂草均能被割除，且运动过程中载荷突变值较小，对材料强度要求较低。该调幅机构能够满足工作要求，可为产品开发提供理论依据。

关键词 自动避障;割草机;液压系统

中图分类号 S 224.1  文献标识码 A  文章编号 0517-6611（2021）14-0196-04

Abstract Aiming at the difficulty of weeding mechanization in orchard， especially in interplant weeding，it is of great significance to design and develop a mower with adjustable cutting width for improving the weeding mechanization in orchard.  In this paper， based on the characteristics of weeding mechanization in orchard， the scheme of adjustablewidth mower based on link mechanism was determined. The theoretical model of mowers amplitude modulation mechanism was established，and the operating parameters of mower amplitude modulation mechanism were designed and calculated.  On this basis， the optimal orbit of amplitude modulation mechanism of the mower was designed and developed， and the relevant parameters were theoretically calculated. According to the theoretical calculation results， the circular orbit was selected and simulated. Simulation results showed that the linear orbits efficiency changed from 48.389% to 85.975% with the movement of the slider， it could satisfy the designed requirements. All of the grass in the predetermined swath could all be cut. The mutation value of the load in the  moving process was lower，thus the strength demand of materials was lower. The amplitude modulation mechanism could satisfy the work demands and provide theoretical basis for the related products development.

Key words Automatic obstacle avoidance;Mower;Hydraulic system

基金項目 江苏省农业科技自主创新资金项目（CX（18）1007A02）。

作者简介 高辉松（1978—），男，山东临沂人，讲师，博士，从事农业机械化工程研究。

*通信作者，教授，博士，博士生导师，从事现代农业装备智能化研究。

收稿日期 2020-12-07

割草机在果园除草作业中起着至关重要的作用，能够有效提升果园除草作业的效率。但是，果树株间杂草依靠传统割草机无法有效清除，而割幅可调割草机能够在很大程度上解决果园株间除草机械化作业难的问题。割幅可调割草机调幅机构的设计及研发对于提高果园生产效率、降低生产成本具有重要意义。……