农机化研究2026，Vol.48Issue(2)：39-48,10.DOI:10.13427/j.issn.1003-188X.2026.02.005
双避障葡萄株间除草机的设计与仿真分析
Design and Simulation Analysis of Grape Intra-Row Weeding Machine with Dual Obstacle Avoidance System
摘要
Abstract
Due to the low temperature at night in winter in Ningxia,a wine grape planting mode of burying vines in winter and digging vines in spring had been formed.The grape plants showed a"厂(Chinese characters)-shaped"growth trend.Traditional inter-row weeding machines faced challenges such as low weeding coverage and high plant damage rates when carrying out weeding operations.Therefore,an inter-row grape weeding machine with dual-avoidance cooperative control system was designed.The efficient weeding and obstacle avoidance for"厂(Chinese characters)-shaped"inclined grape plants was achieved through the coordinated operation of the primary swing-arm rotary avoidance system and the secondary hydraulic lateral obstacle avoidance mechanism system.Among them,the primary obstacle avoidance system detected the position of plants through a touch rod.The weeding unit was then moved into the row in a swinging manner through the primary hydraulic actuator.The secondary obstacle avoidance system detected the position of plants through a touch pad.The weeding unit was moved horizontally into the row through the secondary hydraulic actuator when secondary obstacle avoidance system triggered.The range of design parameters were determined by theoretical analyzing in the process of avoidance.A parametric model of weeding machine was developed in Adams,and orthogonal experiments were conducted with the weeding coverage and efficiency as indicators.The optimal parameter configuration was determined as follows:the distance between the touch rod fixed axis and the swing arm fixed axis was 381 mm,and the operating speed was 2.59 km/h.Field tests demonstrated that the weeding coverage rate was 93.7%and the plant damage rate was 1.07%under the optimal parameters,satisfying the requirements for inner-row weeding in the Ningxia regions.This study could provide the technical support and theoretical foundations for the development of automated orchard management equipment.关键词
葡萄株间除草机/双避障系统/ADAMS仿真/响应面分析Key words
grage inner-row seeding machine/dual obstacle avoidance system/ADAMS simulation/response surface analysis分类
农业科技引用本文复制引用
胡阳,程梦袁,曲爱丽,马伏龙,王昱潭,杨术明,高垚垚,刘超群,刘海望..双避障葡萄株间除草机的设计与仿真分析[J].农机化研究,2026,48(2):39-48,10.基金项目
宁夏回族自治区重点研发计划项目(2022BBF02042) （2022BBF02042）
国家自然科学基金项目(32260431) （32260431）
