Development of 2BZJ-3/4 Precision Planter for Soybean Narrow-row flatdense Planting Method

Based on the study on cultivation models of soybean narrow-row-flat-dense planting under the conditions of different between-row spacing and inter-plant spacing by using the comparison field experiment, and technical studies of the contour following the seeder unit, the anti-block, the lateral and stratified the deep fertilizing, according to the design ideas of planting units integration and variable between-row spacing from 30 to 45 cm, the 2BZJ-3/4 precision planter matched with 18-32 hp tractors has been developed for the popularization of the narrow-row-flat-dense planting soybean technique by means of Virtual Prototyping （VP） technology.

Research and test of the measurement sensing device for the downforce of no-till planter row unit gauge wheels

To effectively obtain the downforce of the gauge wheels in real time,mechanical models of the interaction among the ground,gauge wheels,gauge wheel arms,and depth adjustment lever were constructed.A measuring method was proposed for monitoring the downforce through a two-dimensional radial sensing device,and a corresponding prototype was designed.Through simulation analysis of the sensing device with ANSYS,a 45°angle was determined to exist between the strain gauge axis and the sensing device axis,and the Wheatstone bridging circuit of R1+R3−R5−R7(R stands for resistance strain gauge,different figures represent the strain gauge number)and R2+R4−R6−R8 was adopted.According to performance and calibration tests for the sensing device,the maximum interaction effect between the X and Y axes was 2.52%,and the output signal was stable and consistent.The standard error of the slope of the fitting equation of the downforce calculation model is 0.008.According to the field test,the average downforce of the gauge wheels was 1148,1017,843,and 713 N,at different sowing speeds of 6,8,10,and 12 km/h,respectively.The coefficients of variation were 0.40,0.41,0.62,and 0.71,respectively.The results indicate that the downforce fluctuation of the gauge wheels became more severe with increasing planting speed.Both the strain simulation analysis and field test verified that the measurement method is accurate and reliable,the performance of the sensing device is stable,the measurement method and sensing device meet the application requirements and lay a foundation for the research of accurate and stable control of downforce of no-till planter.

Design of motor-driven precision seed-metering device with improved fuzzy PID controller for small peanut planters

Traditional passive ground wheel drive of peanut planters has displayed poor high-speed seeding performance and the slippage caused in case of sticky and wet soil.Given this,an integrated electric-driven precision seed metering device and controller were designed,which features the application of improved fuzzy PID algorithm.Based on a small peanut planter with one ridge width and duplicate rows,the servo motor drive is used to replace the traditional passive ground wheel.In addition,the satellite speed measurement is employed to complete the electric driving and controlling modification of the seed meter and precise seeding control.A working process mathematical model for the peanut metering device was established to conduct motor speed and field tests which aim at comparing performances between the conventional and the improved fuzzy PID controls.The motor speed trial shows that the average error of the actual speed of the improved fuzzy PID motor was±1 rad/min,and the coefficient of variation was less than 1%.Against the conventional one,it can better suppress overshoot and improve the response speed.The stable output speed can still be obtained even in case of step changes.Field tests show that when working at medium and low speeds,the qualified rate of plant spacing was greater than 98%,and the rate of missed sowing is<2%;while working at high speed,the qualified rate was greater than 94%,and the rate of missed sowing was less than 4%.The average plant spacing qualification rate of the seed device increased by 6.72%;compared with other electric-driven peanut seed meters,the plant spacing qualification rate increased by 4%during high-speed sowing.In summary,this study has provided an effective technical reference for high-speed precision planting of peanuts.

Design and experiment of the pneumatic pressure control device for no-till planter

An adequate and uniform press wheel pressure is crucial for the homogeneous development of a crop,as it affects actual seeding depth and germination rate.The problems of uneven compaction of seed furrow and consistency of seeding depth can be caused by the pressure fluctuation of the coil-spring pressure control device(CPCD)when the no-till planter is working on the unplowed ground.In this study,a pneumatic pressure control device(PPCD)was designed for the no-till planter,the key structural parameters of air spring for press wheel pressure(PWP)stability were determined by theoretical analysis and parameter calculation.Using the gas-structure coupling finite element simulation method(FESM),the piston radius,piston angle,and cord angle of the air spring are selected as the test factors,and the vertical stiffness was used as the test index to carry out the quadratic rotation orthogonal combination test to establish the regression model of test index and factor.The bench test of the PPCD was carried out under the optimal parameter combination,piston radius of 27.2 mm,piston angle of 11.7°,and cord angle of 30.0°.The vertical stiffness verification test showed that the simulation test was consistent with the bench test result,the vertical stiffness simulation error was 7.1%,and the internal air pressure simulation error was 3.0%;The control response test showed that the average response time of the air spring inflating and deflating was 0.80 s,the maximum overshoot was 4.33%during inflation,and no pressure overshoot during deflation;Under the condition of-40-40 mm surface relief height,the PPCD could effectively reduce the pressure fluctuation compared with the CPCD,and the average reduction of the pressure fluctuation was about 25.1%.

小区播种机锥体投种器分种均匀性的试验研究

为了提高小区播种机锥体分种器分种均匀性和自动化水平,解决传统小区播种机作业时分种不均匀、人工投种作业强度大、投种器水平度难以持续稳定调节等问题,设计了一种基于现有手动调节水平的自动调平投种装置。首先,为确保投种器分种均匀性与作业的稳定性,对投种器的结构进行设计;然后,对种子的落种过程进行理论分析,确定了关键部件结构;最后,利用SPSS25.0软件设计三因素三水平试验,分析了影响投种器分种均匀性的主要因素,结果表明:各因素对投种器分种均匀性影响程度的主次顺序为锥体角度、导种管直径、漏斗口直径。最优参数条件下分种时,投种器分种均匀性较好,能够满足小区播种机投种器分种作业的需求。研究结果可为小区播种机分种均匀性问题的深入研究提供参考。

甘蔗健康种苗双芽段槽带式种植机排种性能优化研究

甘蔗健康种苗种植技术是提高单产水平和品质、降低生产成本的有效措施之一,而目前国内甘蔗种植装备不成熟,直接限制了这一技术的推广和应用。为此,以有序排列的甘蔗健康种苗双芽段蔗种为研究对象,对团队研发的2CZD-2A型半自动双芽甘蔗种植机排种性能进行优化,设计了高频电磁振动自动喂入器与仿形排种同步驱动器。利用Solid Edge ST5三维软件建模进行仿真分析,建立试验台进行多因素正交组合试验,采集数据并利用SPSS进行处理建立回归方程,运用Design Expert绘制响应曲面,分析因素之间交互作用,利用MatLab进行参数优化,最终进行田间试验验证。研究结果表明:同步驱动机构增加了排种均匀度,当带轮转速为10r/s、振动幅度为18.5mm、行进速度为0.65m/s时,排种均匀度达到94.18%,与优化结果偏差小于5%,满足设计要求;高频振动与动力源振动无干涉,验证了振动器梳理方案的可行性,可为全自动种植机的研发提供参考。

基于模糊控制技术的播种机自动定位导航系统研究

介绍了播种机自动定位导航系统总体设计,并基于播种机位置和观测角度,建立了定位导航和路径预测的数学模型。采用模糊控制技术,结合播种机和观测角度,设计了自适应模糊控制策略,可以实现播种机转向的精准控制。试验结果表明:系统相比传统PID控制方法,偏差小太多,说明本文方法能够获得较高的播种机定位导航精度,证明了系统的有效性和可行性。

甘蔗横向种植机补种装置辊耙结构仿真分析

针对甘蔗横向种植机在种植过程中出现的漏播问题进行了研究,设计了一套补种装置。通过ADAMS软件对装置中的补种辊耙进行顺逆时针等两种运动形式的虚拟仿真分析,分别得出齿式、整叶式与窝轮式等3种辊耙结构所受的力和扭矩等因素。仿真结果表明:在相同条件下,补种辊耙的逆时针转动方式更优于顺时针转动方式;窝轮式补种装置进行逆时针运动时,其力约为10N,力矩约为2N·m。由于窝轮式补种装置的力、力矩小于齿式补种装置与整叶式补种装置,因此其结构最优,补种性能最好。研究结果可为后续甘蔗横向种植机精准种植的研究与开发提供了一定的理论依据。

Study on multi-size seed-metering device for vertical plate soybean precision planter

Aiming to solve the problem of small range of the appropriately sowing seeds existing in a vertical disc seed-metering device,the planter plate series with four sizes were developed according to the variety and size distribution of all soybeans in China.The structure and working principle of the vertical disc soybean seed-metering device were detailed,and the influence of the diameter of soybean on the working performance of the seed-metering device was analyzed through the software EDEM virtual simulation,so as to achieve the goal of covering the soybean seeds with all sizes by the minimum planter plate series as well as to obtain the most appropriate operating speed of each planter plate by optimization.For the planter plates with the hole diameter of 7,9,12,16 mm,the appropriate size ranges of sowing seeds are 4.5-6.0,6.0-8.0,8.0-10.5,10.5-13.0 mm,respectively,and the appropriate operating speeds are 9,8,7,6 km/h,respectively.The results show that this planter plate series can meet the requirements of seeding with all sizes of soybeans at the range of the most appropriate operating speed.The study method can provide a reference for design and optimization of precision planters.

Design of depth-control planting unit with single-side gauge wheel for no-till maize precision planter

No-till planters are very popular for maize seeding in fields covered with residue in annual wheat-maize double cropping system in North China Plain.However,there is no suitable depth control mechanism for existing no-till maize planters,and as a result,it is hard to obtain consistent planting depth,uniform emergence,and good passing ability at the same time.For the above reasons,a proper planting unit with a new type of depth-control mechanism was developed in this study.The mechanism consists of a single-side gauge wheel,a parallel four-bar linkage,a pair of double-disc opener,a V-shape press wheel and a depth regulator,which can adjust the planting depth from 30 mm to 90 mm to satisfy the agronomic requirement under different field conditions.Based on analysis and calculation,the width of gauge wheel was set to 50 mm while the length of parallel four-bar linkage was set to 350 mm.Field experiment was conducted and the results indicated that the newly designed planting unit with single-side gauge wheel performed well with regard to planting depth uniformity and anti-blocking ability.The planting depth uniformity and seed spacing quality were 95.45%and 91.90%,respectively,when the average height of stubble was 22.5 cm and residue amount was 0.64 kg/m^(2)in the field.It can satisfy the requirement of no-till maize planting on the cropland with residue and stubble in North China Plain.

基于数学建模方法的精量播种机设计分析

基于数学建模原理,对气吸式谷物精量播种机关键功能装置进行分析,以解决播种机作业过程中存在的问题,并设计了一种谷物精量播种机。田间试验数据表明:精量播种机作业测试株距合格率均值为87.67%,空穴率均值为4.89%,株距变异系数均值为23.89%,各项指标可以满足谷物精量播种相关农艺要求。

多重扰动清种式大蒜单粒取种排种器设计与试验

针对勺链式大蒜播种机取种过程中常出现的漏种、重种问题,设计了一种多重扰动清种式大蒜单粒取种排种器。取种勺在充种阶段获取多粒蒜种,经多重扰动清种,最终取种勺内仅余1粒蒜种。本文以金乡蒜种为研究对象,阐述了排种器的工作原理,确定了排种器的各项参数和多重扰动装置的最佳安装位置。通过DEM-MBD耦合仿真试验,分析了倾斜角、取种勺线速度对充种成功率的影响,以及凹槽形状对单粒取种率的影响。运用Box-Behnken中心组合试验方法,以第2弧形突出部分坡度、倾斜角、取种勺线速度为试验因素,以单粒取种率和漏种率作为评价指标,开展了三因素三水平正交试验。利用Design-Expert 8.0.6数据分析软件,分析了各因素对单粒取种率与漏种率的影响,对试验因素进行优化,确定了多重扰动装置最佳结构参数。设计试验台对仿真结果进行验证,倾斜角、取种勺线速度分别为15°、0.07 m/s的条件下,通过调节多重扰动装置与取种勺凹槽顶端距离适配不同级别蒜种,当Ⅰ级、Ⅱ级、Ⅲ级蒜种距离分别为0、6.1、12.1 mm时,单粒取种成功率分别为92.2%、97.2%、95.6%,具有良好的取种性能。

谷子穴播机勺链式导种装置设计与试验

针对谷子播种时在导种管内弹跳严重,导致谷子落地后成穴性差的问题,设计了一种谷子穴播机勺链式导种装置。其工作原理为通过约束种子运移轨迹提高其落地后成穴性,对关键零部件进行了设计,对纳种与投种过程进行了运动分析,确定了影响导种性能的重要因素。为获得最佳参数组合,分别以圆形勺、方形勺、方形平嘴勺3种种勺型式和ABS、橡胶、亚克力3种材料为因素进行单因素试验,试验结果表明方形平嘴勺和橡胶材料效果最佳。在此基础上,以纳种角度、纳种高度和链轮转速为纳种试验因素,以纳种合格率为评价指标;以投种高度、投种角度和链轮转速为投种试验因素,以穴径合格率、穴粒数合格率及穴距变异系数为投种评价指标,通过EDEM离散元仿真软件分别进行纳种过程与投种过程的三因素五水平二次正交旋转组合仿真试验。纳种过程最佳参数组合为:纳种角度45.95°、纳种高度74.05 mm、链轮转速1.76 r/s;投种过程最佳参数组合为:投种角度53.51°、投种高度25.96 mm、链轮转速1.98 r/s。为进一步验证导种装置性能,在最佳参数组合下进行台架验证试验与对比试验,验证试验中纳种合格率为95.53%、穴径合格率为93.29%、穴粒数合格率为94.73%、穴距变异系数为7.46%,台架验证试验结果与仿真试验结果基本一致,相对差值均小于5%;对比试验结果表明,安装勺链式导种装置的播种效果明显优于安装导种管的播种效果,穴径合格率、穴粒数合格率、穴距变异系数最大可提高2.75、3.43、3.25个百分点。

高速精量播种机阿基米德螺线型弧面双齿盘覆土装置设计与试验

针对现有重型精量播种机在高速作业时存在覆土装置影响播种均匀性、种沟内种子被“架空”等问题,基于阿基米德螺线切刃曲线与挤压式覆土原理相结合的思路,设计了一种阿基米德螺线型弧面双齿盘覆土装置,实现了覆土厚度适宜且均匀一致,降低覆土作业对播种均匀性影响的目的。本研究对覆土装置的结构参数、覆土量进行分析,确定了影响覆土效果的主要参数取值范围;利用EDEM离散元仿真技术建立了覆土装置-种子-土壤间的离散元模型,对关键参数进行仿真优化,确定弧面双齿盘的最优参数组合;通过田间试验对该装置的作业性能进行了验证。研究结果表明:影响弧面双齿盘作业性能的主要结构参数为阿基米德螺线型弧面双齿盘的中心间距、安装倾角、入土深度。当弧面双齿盘的中心间距为142.6mm、安装倾角为20°、入土深度为55mm时,该装置通过性能良好,覆土厚度均匀一致,平均厚度为47mm,合格粒距标准差、变异系数与空白对照组分别相差0.22mm、1.81个百分点,对播种均匀性影响小,满足精量播种的农艺要求。

新型旋耕开沟施肥播种机的设计与研究

针对播种施肥难的问题,结合垄作区作物种植的农艺要求,设计了一款新型旋耕开沟施肥播种机。机具适用于小麦、大豆和玉米垄上栽培技术,可实现精确深施肥、精密播种、开沟、覆土和镇压等作业,为小麦、大豆和玉米的规模化、机械化作业提供了一定的技术支撑。试验结果表明:设计的新型旋耕开沟施肥播种机对降低漏播、提高播种深度和植株距离的合格率具有重要意义,大大提高了作业质量和效率。

甘蔗横向种植机施肥机构设计与试验

针对甘蔗横向种植机施肥机构易出现堵塞的问题,结合农艺要求,设计一种端面反向螺旋施肥机构。为降低螺旋轴扭矩和提高肥料质量流速,通过理论分析选取螺旋轴叶片螺距、叶片厚度、叶片直径和螺旋轴轴径为变量,螺旋轴扭矩和肥料质量流速为目标,基于EDEM软件进行正交仿真试验得到各个因素与目标之间的回归方程,并求解得到最优参数组合:螺旋轴叶片螺距、叶片厚度、叶片直径和轴径分别为67 mm、2.5 mm、76 mm和32 mm。对最优参数组合模型进行仿真验证,结果表明螺旋轴扭矩和肥料质量流速的均值分别为6.3 N·m和0.055 kg/s,与回归方程求解结果基本一致。对端面反向螺旋设计进行仿真试验,确定反向螺距为33.5 mm时,可有效避免肥料堵塞在料槽端部。田间试验结果表明:螺旋轴扭矩和肥料质量流速的均值分别为4.3 N·m和0.0615 kg/s,该施肥机构满足农艺要求,负载扭矩较低,可有效减少肥料堵塞情况,为螺旋施肥机构开发提供参考。

大蒜直立种植机非对称式栽植器设计与试验

针对大蒜直立种植机直立度偏低、作业效率低问题,设计了一种适用于连续式大蒜种植机非对称结构的栽植器,以抵消在栽植过程中栽植器的水平分速度不断变化对蒜种直立状态的影响。分析了栽植器和土壤对蒜种作用过程,建立了种穴底部轮廓曲线方程和大蒜直立种植装置EDEM-ADAMS仿真系统。首先根据栽植器在不同工作阶段的作用提出了上下锥角不同的两段式栽植器结构并确定了上部锥角为20°。再通过对种穴形状的对称性、种穴底部形状以及种植蒜种直立度影响的单因素仿真试验,确定了栽植器打开方式为单侧向前打开、打开时刻为栽植器运动到最低点,打开旋转中心位于栽植器下部顶点的上方110 mm、后侧15 mm。通过栽植器打开后对蒜种作用过程的模拟仿真分析,确定了栽植器的非对称结构及其相应参数。最后以蒜种直立度为指标,进行了工作参数和栽植器下部锥角的四因素三水平正交仿真试验,确定了最佳组合参数为:速比1.12、打开开度29.69 mm、打开时间0.51 s、栽植器下部锥角40.90°,此时种植蒜种直立度为72.84°。搭建了大蒜种植装置试验台对通过仿真分析设计的栽植器进行了试验验证,结果直立度为68.66°,表明建立的仿真系统正确、仿真试验结果实用可靠。

甘蔗种植机供种与播种系统联调试验研究

为实现甘蔗种植机的供种系统与播种系统的联调工作,设计了一种倒三角状的集蔗箱并优化其参数,使蔗种从供种系统到播种系统过程中不乱序、不卡蔗、不堵塞。通过对蔗种在集蔗箱中的运动分析和EDEM运动仿真,探究了蔗种的运动机理和影响蔗种落种有序的因素。通过单因素试验和正交试验,研究了落种高度、导蔗板倾斜角和集蔗量对蔗种有序率和充种率的影响,结果表明:落种高度和集蔗量对落种有序率有着极显著影响,导蔗板倾角对落种有序率有着显著影响;对蔗种充种率,落种高度有着极显著影响,集蔗量影响显著,导蔗板倾斜角影响不显著。综合考虑后,最佳因素组合为:落种高度为200mm,导蔗板倾斜角为45°,集蔗量为25根。

数学偏微分控制下的精量播种机系统优化分析

为进一步提升我国精量播种机的综合作业效率,提出以数学偏微分方程控制理念为切入点的方法,针对其作业系统展开性能优化研究。通过科学搭建用于实现精准播种的数学偏微分控制模型,以排种、播种、状态监测为主程序设计软件控制架构,以系统主控装置、导种部件、开沟装置为主优化硬件执行结构,形成完整合理的偏微分控制精量播种机。试验结果表明:数学偏微分方程控制下的精量播种机各项评定参数得到显著提升,播种精度与系统稳定度分别提高了7.95%和6.90%,种子破损率可控制在0.50%以下,整机作业效率提升至94.73%,作业效果良好。研究结果将数学控制模型思维与系统设计思维相结合,具有较好的推广应用前景。

四行蔬菜精量种植播种机的研发及应用

针对蔬菜大棚、丘陵和山区等地块蔬菜种植方法主要以人工为主,生产效率低、劳动强度大、无法满足社会发展需求的问题,自行研发设计了一种适合上述区域作业的四行蔬菜精量种植播种机。对播种机的整体结构进行了设计,并阐述了其工作原理及关键技术。该播种机结构先进,自动化程度高,操作简单,运输方便,大大减轻了劳动强度,提高了劳动效率,填补了蔬菜大棚、丘陵和山地等地块播种机械的空白。