中文摘要：

为了实现作物株间区域精确机械除草，设计了一种利用除草爪齿余摆运动原理的株问机械除草装置，研究了装置的除草和避苗工作原理，建立了相应数学模型并分析了除草爪齿余摆运动的参数对除草效果的影响，获得了合理的工作参数。在试验平台上进行了基于爪齿余摆运动的株间机械除草装置避苗试验研究，试验结果表明，基于爪齿余摆运动的株间机械除草装置除草爪齿避苗和除草切换控制快速可靠，室内试验的伤苗率小于8％；能够满足株距20cm及以上栽种的作物株间除草要求，可以保证每个株间区域均有除草爪齿进入实施除草；除草装置的前进速度不影响进入株间区域的除草爪齿数量，但前进速度的增加会导致伤苗率增大；进入株问区域的除草爪齿数量与作物栽种株距均匀性无关，仅与作物栽种的株距有关。该文为爪齿余摆株间除草装置精准控制提供依据。

英文摘要：

In order to achieve the intra-row precision mechanical weeding, an intra-row weed mechanical control device was designed based on the trochoid motion of the weeding claw tooth. The principles of weeding and crop plants avoiding were studied. And the corresponding mathematical model of the intra-row weed mechanical control device was established. The trochoid motion parameters for weed control were analyzed. The experiment of avoiding crop plants damage for the intra-row weed mechanical control device was tested on the experimental platform. Result showed that the time for switching from weeding state to crop plant avoiding state and for switching back was able to meet the switching requirement. Damaging crop plants in indoor tests was less than 8%.The intra-row weed mechanical control device was able to meet the intra-row weeding requirement for crops with a plant spacing of 20cm and larger, and ensure available weeding claw tooth for each intra-row area. The forward speed of weeding device did not affect the number of entering the intra-row region, but the increasing of forward speed would cause an increase injury rate of seedlings. The number of the claw tooth entering the intra-row area was not relevant with the uniformity of the crop plant spacing, but the crop plant spacing. This study provides a basis for precision control of intra-row mechanical weed control device.