Authors

Abstract

A flame intra-row weeding robot, based on the Delta mechanism, was designed to solve the problems of high labor intensity, low efficiency, easy-to-harm seedling and others. Simultaneously, the applicable robot kinematics model was established. Moreover, the method of exhaustion enabled us to obtain the full-scale robot workspace and analyze its smart workspace. When the nozzle diameter took different values, the numerical simulation on the propane combustion process in the burner was performed by the Fluent component transport model, analyzing the temperature distribution inside and out of the burner. The experimental results showed that the flame intra-row weeding robot was required to work on the condition that the radius of smart cylindrical space is Φ400 mm×359.8 mm — when the length of the driving arm is 300 mm, the length of the driven arm is 800 mm,the radius of the static platform is 150 mm and the radius of the movable platform is 50 mm — and the maximum temperature of propane flame reaches 1,830 K and the width of the high temperature zone reaches 27 mm — when the nozzle diameter is 1.6 mm.

Abstract in Chinese

针对蔬菜株间除草作业劳动强度大、效率低、易伤苗等问题，设计了一种基于Delta机构的株间火焰除草机器人，并建立了机器人运动学模型，利用穷举法得到了机器人全工作空间，并对其灵巧工作空间进行了分析；当喷嘴直径取不同值时，基于Fluent组分输运模型分别对燃烧器内丙烷燃烧过程进行了数值模拟，对燃烧器内部及出口温度分布进行了分析。结果表明，当主动臂长度为300 mm、从动臂长度为800 mm、静平台半径为150 mm、动平台半径为50 mm时，其灵巧工作空间为Φ400 mm×359.8 mm的圆柱形空间，当喷嘴直径为1.6 mm时，丙烷火焰最高温度达1830 K，燃烧器出口高温区宽度达27 mm，满足株间火焰除草的要求。