田间除草机器人机械结构设计与分析

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中图分类号： S224.1+5 ；TP242.6 文献标识码：A 文章编号：2095-5553（2025）07-0021-08

Abstract：Toaddress the limitations of traditional herbicide sprayingandoutdated micro-cultivator weeding equipment，a field weeding robot was developed.The robot consisted of a mobile chasis，weeding mechanism，power system， motion control system，navigationand path plannng system，andan image recognition system.First，the mobilechassis was designedusing theoretical calculations and3D parametric modeling.The structure featured an adjustablewheel baseand longitudinal height，andagantry-typefour-wheel independentdrivechasiswithsteer-by-wirecontrol.Next，the weeding mechanismwas developed based on motion trajectory analysis.It combined an S-shaped inter-row weding bladeanda crescent-shaped inter-plant weeding blade.Thissystemincludedanelectric push-rod lifting deviceanda lateral slidingadjustment mechanismforpreciseoperation.Finally，fieldexperiments wereconducted toevaluate the robot’s performance. The results showed that at a travel speed of 0.3m/s ，with the crescent blade rotating at 1.3r/s and operating at a depth of 3cm ，theseedling injury rate remained below 5% ，while the weed removal rate exceeded 95% ，the robot achieved a working efficiency of no less than 0.2hm2/h in fields with a transport slope of up to 15∘ and a planting slope of no more than 5∘ . This study provides a valuable reference for the field management of low-growing cash crops.

Keywords：field weedingrobot；movingchassis；independent steering；crescent shovel；S-shaped interlineknife; low planting

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我国田园杂草种类多、分布广。（剩余12019字）