日光温室吊蔓作物行间自动喷药机的设计与试验

Design and Experiment of Automatic Sprayer for High-wire Cultivation Plants in Solar Greenhouse

日光温室番茄、黄瓜等吊蔓栽培作物植株高密度大,现有的植保机械很难进入作物行间施药,雾滴沉积分布均匀性差,且日光温室空间狭小,自走式植保机械自动换行转弯难。为解决上述问题,设计了一种适用于我国日光温室的吊蔓作物行间自动喷药机,喷药机由底盘轨道车和伸缩喷药臂组成,底盘轨道车行驶在日光温室北侧通道铺设的轨道上,利用激光传感器识别到垄间标志物后,固定在喷药车上的伸缩喷药臂以剪叉机构带动竖直喷杆进入作物行间施药,作业完成后喷药臂收回到轨道车上,继续行驶至下一垄进行施药作业,该机具实现了温室无人自主施药作业,提高了雾滴分布均匀性,解决了自走式植保机械换行转弯问题,另外喷药臂快速拆卸后轨道车也可作为运输平台使用。另外,对轨道车、喷药臂等关键部件进行了详细设计计算,完成了基于CAN总线的控制系统设计,设计竖直喷杆雾滴收集装置,进行了喷药机的喷药量分布均匀性的室内试验研究,结果表明竖直方向上雾滴分布变异系数为17.5%,并对喷药机性能进行了田间试验研究,试验结果表明水平方向上的上中下3层雾滴分布变异系数分别为7%、12%,13%,不同作业行两侧作物的竖直方向上雾滴分布变异系数从2%~20.8%,该机具能够满足日光温室吊蔓作物植保作业要求。

The solar greenhouse,as the peculiar production facility in the northern of China during winter,is particularly important to farm’s economic income of northern area.High-wire cultivation plants,such as tomatoes and cucumbers,are the main produced vegetables in solar greenhouse.Due to the plant height and density,the droplet deposition uniformity of plant protection equipment is poor,and the self-propelled plant protection equipment is difficult to turn because the narrow space in solar greenhouse,thus an automatic sprayer for high-wire cultivated plants in solar greenhouse is designed in this paper.The sprayer consists of a chassis rail vehicle and a telescopic spray arm.The rail vehicle that assemble with the spray arm travels along the north passage in greenhouse,a DC geared motor with chain transmission was selected to drive the vehicle’s wheel.The scissors expansion and contraction mechanism was used in the telescopic spray arm to carry the vertical boom into the middle of two rows of plants,an electric hub motor was mounted in the forward wheel to drive the spray arm expands,a stepper motor with a winch was fixed to the spray arm and used to pull the boom back on the rail vehicle by a wire rope.Furthermore,the spray arm can be quickly disassembled and the rail vehicle can also be used as a transportation platform.The design details of the vehicle,scissors mechanism and spray system were given.The control system based on CAN bus was designed,two ultrasonic sensors were equipped in the rail vehicle to identify the starting and ending points and avoid obstacle,a reflector was mounted on the north wall to mark the spray row and a laser sensor in the rail vehicle was used to recognize it,two limit switches were install on the scissors mechanism to control the expand range.A droplet collection devices for vertical boom was designed, and the uniformity of spraying quantity was studied in laboratory. The results showed that the variation coefficient of spray quantity in the vertical direction was 17.5%. The field experiment was carried out in a solar greenhouse, 3 rows of plants was sprayed automatically, and the water sensitive paper was arranged in 3 layer from top to bottom, the variation coefficient of horizontal deposition was 7%, 12% and 13% respectively, and the variation coefficient of vertical deposition was 2%-20.8%, the results showed that the sprayer can meet the requirements of plant protection for high-wire plants in solar greenhouse.