CN113056969B - Self-adjusting bionic deep scarification device - Google Patents
Self-adjusting bionic deep scarification device Download PDFInfo
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- CN113056969B CN113056969B CN202110279210.9A CN202110279210A CN113056969B CN 113056969 B CN113056969 B CN 113056969B CN 202110279210 A CN202110279210 A CN 202110279210A CN 113056969 B CN113056969 B CN 113056969B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B35/00—Other machines for working soil not specially adapted for working soil on which crops are growing
- A01B35/02—Other machines for working soil not specially adapted for working soil on which crops are growing with non-rotating tools
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B35/00—Other machines for working soil not specially adapted for working soil on which crops are growing
- A01B35/20—Tools; Details
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/17—Mechanical parametric or variational design
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
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Abstract
A self-adjusting bionic subsoiling device comprises a bionic subsoiling unit, an air pump, a high-pressure air tank, a first air flow valve and a second air flow valve; the bionic deep scarification unit comprises a notch cutter disc, a mounting frame and an earthworm-imitating elastic module, the earthworm-imitating elastic module comprises an inner earthworm-imitating module, a middle earthworm-imitating module and an outer earthworm-imitating module, the interiors of the earthworm-imitating modules are mutually communicated and are communicated with the interior of a hollow cylindrical supporting rod on the mounting frame, and the inner earthworm-imitating module, the middle earthworm-imitating module and the outer earthworm-imitating module can simulate the contraction motion state of earthworms by charging and discharging air into and from the earthworm-imitating elastic module; the air pump passes through the gas-supply pipe to be connected with high-pressure gas pitcher, and the end and the mounting bracket intercommunication of aerifing of high-pressure gas pitcher are gaseous to hollow cylinder bracing piece internal input, and the gaseous flow of inlet end is controlled to first air flow valve, and second air flow valve is used for the gassing. When the deep scarification device loosens soil, the contraction motion state that the earthworm body wriggles to move forward in the soil is simulated, so that the scarification effect is improved.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery, and particularly relates to a self-adjusting bionic subsoiling device.
Background
The deep loosening is to adopt a deep loosening machine to disturb and loosen deep soil under the condition that the soil is not turned over. The deep scarification operation can break the plough bottom layer, improve the water storage and moisture preservation capability of soil, improve the water content of the soil, improve the soil condition, promote the growth of crop roots and improve the crop yield.
With the development of science and technology, the mechanization degree of the tillage machine is continuously improved, various subsoiling devices are in endless, but the subsoiling devices still have the problems of severe working environment, large difference of working conditions, poor tillage effect and the like. Therefore, the invention of the subsoiling device which has universality, can self-adjust and has excellent subsoiling effect is particularly important.
The earthworms as soil animals are suitable for the living environment with hard texture, and gradually form the functions of efficiently digging, loosening soil and the like through long-term evolution. When moving in soil, earthworms depend on the matching movement of the longitudinal muscle and the circular muscle of the body wall, and a large number of criss-cross pore canals can be formed in the soil in the moving process, so that the soil can be effectively loosened, the soil condition is improved, and the yield is increased. Therefore, the deep scarification device can be developed by combining the movement characteristics of the earthworms.
Disclosure of Invention
In view of the above technical problems and disadvantages, an object of the present invention is to provide a self-adjusting bionic subsoiling device, which simulates a contraction motion state of an earthworm body moving forward in soil during soil loosening, so as to improve the soil loosening effect and achieve the purpose of effectively loosening the soil.
In order to achieve the purpose, the invention adopts the following technical scheme:
a self-adjusting bionic subsoiling device comprises a bionic subsoiling unit, an air pump, a high-pressure air tank, a first air flow valve and a second air flow valve; the bionic subsoiling unit comprises a notch cutter, a mounting frame and an earthworm-like elastic module, wherein the notch cutter and the mounting frame are mounted on the same rotating shaft;
the mounting rack comprises a hollow round bracket, a hollow cylindrical support rod and a hollow cylindrical connecting rod; the hollow circular support is fixedly connected with the transmission shaft, a plurality of supporting rod mounting holes are formed in the hollow circular support, and the hollow cylindrical supporting rods are fixedly mounted in the supporting rod mounting holes;
the earthworm-imitating elastic module comprises an inner earthworm-imitating module, a middle earthworm-imitating module and an outer earthworm-imitating module, wherein the inner earthworm-imitating module and the middle earthworm-imitating module are of structures with openings at two sides and hollow interiors, and the outer earthworm-imitating module is of a structure with an opening at one side and hollow interiors; the inner side of each inner wormcast-imitating module is vertically arranged on the hollow cylindrical supporting rod, the outer side of each inner wormcast-imitating module is connected with the middle wormcast-imitating modules through hollow cylindrical connecting rods, the two adjacent middle wormcast-imitating modules are connected through the hollow cylindrical connecting rods, the middle wormcast-imitating modules at the outermost sides are connected with the outer wormcast-imitating modules through the hollow cylindrical connecting rods, the interiors of the inner wormcast-imitating modules, the middle wormcast-imitating modules and the outer wormcast-imitating modules are mutually communicated and are communicated with the interior of the hollow cylindrical supporting rods, and the inner wormcast-imitating modules, the middle wormcast-imitating modules and the outer wormcast-imitating modules can simulate the contraction motion states of earthworms by charging and discharging air into the wormcast-imitating elastic modules;
the air pump is connected with the high-pressure air tank through an air conveying pipe, and air output by the air pump is stored in the high-pressure air tank;
the air charging end of the high-pressure air tank is communicated with the mounting frame through an air conveying pipe and is used for inputting air into the hollow cylindrical supporting rod, and a first air flow valve is arranged on the air conveying pipe at the air charging end and is used for controlling the flow of the air; the mouth that loses heart and the gas-supply pipe intercommunication of mounting bracket install second air flow valve on the gas-supply pipe of the end of losing heart, when imitating earthworm elastic module and need the gassing, open the second air flow valve can.
Preferably, the subsoiling device further comprises an air source distributor, the air source distributor is connected with the high-pressure air tank, a first air flow valve is arranged on an air conveying pipe connecting the high-pressure air tank and the air source distributor, and the flow of air input into the air source distributor from the high-pressure air tank is controlled through the first air flow valve; the air outlet joint of the air source distributor is communicated with the mounting rack through an air conveying pipe and used for inputting air into the hollow cylindrical supporting rod, and the air source distributor can simultaneously supply air to the mounting rack in the bionic subsoiling units during working.
Preferably, the subsoiling device further comprises a PLC control panel and a tension sensor; wherein, the PLC control panel passes through data transmission line and links to each other with force transducer, first air flow valve and second air flow valve, force transducer installs the part of linking at subsoiling device and drive mechanism for detect the resistance that subsoiling device receives, during the subsoiling in-process resistance that subsoiling device receives size of the measuring back of force transducer spreads into the PLC control panel into, the PLC control panel adjusts first air flow valve and second air flow valve's switching according to the resistance size that subsoiling device receives, adjusts the shrink of imitative earthworm elasticity module.
Preferably, the bionic subsoiling unit comprises 3-5 notch cutterheads and 2-4 mounting frames, the mounting frames and the notch cutterheads are installed in an interactive overlapping mode, and the mounting frames are arranged between every two adjacent notch cutterheads; the transmission shaft is hollow, a vent hole is processed at the position where the transmission shaft is connected with the mounting frame, and the interior of the hollow cylindrical support rod is communicated with the interior of the transmission shaft through the vent hole in the transmission shaft; the inflation end of the high-pressure gas tank is connected with one end of the transmission shaft through a gas pipe and is used for inputting gas into the transmission shaft, and the gas enters the earthworm-like elastic module through a vent hole in the transmission shaft and a hollow cylindrical support rod on the mounting frame; the other end of the transmission shaft is connected with a gas transmission pipe, and a second air flow valve is installed on the gas transmission pipe.
Preferably, the diameter of the outer ring of the hollow circular support is 380-720 mm, 6-12 hollow cylindrical support rods with the diameter of 8-15 mm are uniformly distributed on the hollow circular support at intervals, and each hollow cylindrical support rod is connected with 6-10 wormcast-imitating modules in series through a hollow cylindrical connecting rod.
Preferably, the notched cutter head is a circular cutter head, the diameter of the notched cutter head is 400-750 mm, the thickness of the notched cutter head is 6-10 mm, the cutting edge angle of the notched cutter head is 8-15 degrees, 6-8 arc notches are uniformly distributed on the notched cutter head at intervals, and a transmission shaft mounting hole with the diameter of 20-50 mm is formed in the center of the notched cutter head.
Preferably, the inner wormcast-imitating module, the middle wormcast-imitating module and the outer wormcast-imitating module are all cylindrical bodies with the length of 50-80 mm and the diameter of 10-20 mm, each wormcast-imitating module is divided into five parts, the middle part and two ends of each wormcast-imitating module are stainless steel material areas, and two sections of silica gel material areas are arranged between three sections of stainless steel materials, so that the wormcast-imitating module can bear the air pressure of 100-400 MPa.
Preferably, the inner wormcast imitating module, the middle wormcast imitating module and the outer wormcast imitating module are respectively internally provided with a bionic rebounding mechanism, and when the deep scarification device works, the bionic rebounding mechanisms can simulate the scarification state of the earthworms to perform cyclic reciprocating contraction motion.
Preferably, the surface curves of the inner wormcast-imitating module, the middle wormcast-imitating module and the outer wormcast-imitating module are obtained by fitting the body surface structures of the earthworms, and the formula is as follows:
f(x)＝p1*x9+p2*x8+p3*x7+p4*x6+p5*x5+p6*x4+p7*x3+p8*x2+p9*x+p10
p1＝-7.51e-15；p2＝2.463e-11；p3＝-3.597e-08；p4＝3.07e-05；p5＝-0.01687；
p6＝6.186；p7＝-1513；p8＝2.381e+05；p9＝-2.185e+07；p10＝8.909e+08 (1)
in the formula (1), f (x) represents a body curve of the wormcast module, x represents a length value of the wormcast module, and e represents the power x of 10.
As a further preferred aspect of the present invention, the bionic resilient mechanism comprises a support rod, a compression spring and a resilient chamber; the support rod is fixed in a cylindrical cavity at one end of the wormcast-imitating module, a compression spring is arranged in the rebound cavity, a ball is arranged at one end of the support rod and plugged into the rebound cavity and connected with the compression spring, and the diameter of the ball is larger than the inner diameter of the port of the rebound cavity, so that the support rod is not separated from the rebound cavity; the other end of the supporting rod is fixed with the other end of the wormcast-imitating module, and the wormcast-imitating module continuously reciprocates through the stretching and the compression of the compression spring in the continuous inflation and deflation process of the deep loosening device.
In a further preferred embodiment of the present invention, the diameter of the rebound chamber is 5 to 10mm, and the diameter of the ball at the end of the support rod is 5 to 10 mm.
The invention has the following advantages and positive effects: the self-adjusting bionic subsoiling device provided by the invention is simple in structure, reasonable in design and convenient to use; the device can receive soil resistance signal when the dark pine operation, and the reciprocating contraction relaxation state of circulation through the perception simulation earthworm to the dark loose soil resistance when burying carries out the self-regulation, reduces the soil resistance, improves the dark pine quality simultaneously, is applicable to dark pine soil preparation machine and carries out the operation under any environment.
Description of the drawings:
FIG. 1 is a schematic view of the installation of the subsoiler of the present invention;
FIG. 2 is a schematic view of the installation frame and the simulated earthworm elastic module group;
FIG. 3 is a schematic plan view of the mounting frame and the earthworm-like elastic module group according to the present invention;
FIG. 4 is a schematic view of an exemplary wormcast module according to the present invention;
FIG. 5 is a schematic view of a biomimetic recoil mechanism of the present invention.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it should be noted that the terms "in", "under", and the like indicate the orientation or positional relationship: the particular arrangements or components shown in the drawings, or the orientations or positional relationships conventionally used in the manufacture of the applications, are for convenience only and to simplify the description, and are not intended to indicate or imply that the referenced devices or components must be in a particular orientation, constructed and operated in a particular orientation, and are not to be construed as limiting the application. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; they may be mechanically coupled, directly coupled, indirectly coupled through intervening media, or may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Referring to fig. 1 to 5, the self-adjusting bionic subsoiling device provided by the invention comprises a bionic subsoiling unit 1, an air pump 2, a high-pressure air tank 3, a first air flow valve 4, a second air flow valve 5, an air source distributor 6, a PLC control board and a tension sensor; the bionic subsoiling unit 1 comprises 4 notch cutterheads 11, 2 mounting frames 12 and 8 earthworm-imitating elastic modules 13; the utility model discloses a novel cutter head, including a notch cutterhead, a mounting frame, a transmission shaft 14, an air vent, a circular cutterhead, a diameter 600mm, a thickness 10mm, a notch cutterhead edge angle 10 degrees, 8 arc notches are uniformly distributed (at equal intervals) on the notch cutterhead, a transmission shaft mounting hole with a diameter of 30mm is arranged at the center of the notch cutterhead, the notch cutterhead 11 and the mounting frame 12 are mounted on the same rotating shaft 14, the mounting frame 12 and the notch cutterhead 13 are enabled to rotate at the same direction and the same speed, the transmission shaft 14 is a hollow transmission shaft inside, and the air vent is processed at the position where the transmission shaft 14 and the mounting frame 12 are connected;
the mounting rack 12 and the notch cutterheads 11 are installed in an interactive overlapping mode, and the mounting rack 12 is arranged between every two adjacent notch cutterheads 11; the mounting rack 12 comprises a hollow circular bracket 121, a hollow cylindrical support rod 122 and a hollow cylindrical connecting rod 123; the diameter of the outer ring of the hollow circular support 121 is 580mm, the center of the outer ring is a circular transmission shaft mounting hole with the diameter of 30mm, the hollow circular support 121 is fixedly connected with the transmission shaft 14, 8 support rod mounting holes which are arranged at equal intervals are processed on the hollow circular support, 8 hollow cylindrical support rods 122 with the diameter of 10mm are fixedly mounted in the support rod mounting holes, and the interiors of the hollow cylindrical support rods 122 are communicated with the interiors of the transmission shafts 14 through vent holes in the transmission shafts 14;
the earthworm-imitating elastic module 13 comprises an inner earthworm-imitating module 131, an intermediate earthworm-imitating module 132 and an outer earthworm-imitating module 133, wherein the inner earthworm-imitating module 131 and the intermediate earthworm-imitating module 132 are of structures with two open sides and hollow interiors, and the outer earthworm-imitating module 133 is of a structure with one open side and hollow interiors; the inner side of the inner wormcast imitation module 131 is vertically arranged on the hollow cylindrical supporting rod 122, the outer side of the inner wormcast imitation module 131 is connected with the middle wormcast imitation modules 132 through the hollow cylindrical connecting rod 123, two adjacent middle wormcast imitation modules 132 are connected through the hollow cylindrical connecting rod 123, the middle wormcast imitation module 132 on the outermost side is connected with the outer wormcast imitation module 133 through the hollow cylindrical connecting rod 123, and the interiors of the inner wormcast imitation module, the middle wormcast imitation modules and the outer wormcast imitation modules are communicated with each other and the interior of the hollow cylindrical supporting rod;
the bionic rebounding mechanisms 8 are arranged in the inner wormcast imitating module 131, the middle wormcast imitating module 132 and the outer wormcast imitating module 133, and each bionic rebounding mechanism 8 comprises a supporting rod 81, a compression spring 82 and a rebounding cavity 83; the rebounding cavity 83 is fixed in a cylindrical cavity at one end of the wormcast-imitating module, a compression spring 82 is arranged in the rebounding cavity 83, a round ball is arranged at one end of the supporting rod 81, the round ball is plugged into the rebounding cavity and connected with the compression spring 82, the diameter of the round ball is larger than the inner diameter of a port of the rebounding cavity (the diameter of the port of the rebounding cavity is 8mm, and the diameter of the round ball at the end of the supporting rod is 10mm), so that the supporting rod 81 is not separated from the rebounding cavity 83; the other end of the supporting rod 81 is fixed with the other end of the wormcast-imitating module, and the wormcast-imitating module is inflated and deflated to enable the inner wormcast-imitating module, the middle wormcast-imitating module and the outer wormcast-imitating module to simulate the soil loosening state of earthworms to perform reciprocating contraction movement;
the air pump 2 is connected with the high-pressure air tank 3 through an air conveying pipe 7, and air output by the air pump 2 is stored in the high-pressure air tank 3;
the high-pressure gas tank 3 is connected with the gas source distributor 6 through a gas pipe 7, a first air flow valve 4 is arranged on the gas pipe 7 connecting the high-pressure gas tank 3 with the gas source distributor 6, and the flow of gas input into the gas source distributor from the high-pressure gas tank 3 is controlled through the first air flow valve 4;
the air outlet joint of the air source distributor 6 is connected with one end of the transmission shaft 14 through an air pipe 7 and is used for inputting air into the transmission shaft, and the air enters the earthworm-like elastic module 13 through an air hole in the transmission shaft and a hollow cylindrical support rod 122 in the mounting frame; the other end of the transmission shaft 14 is connected with an air pipe 7, a second air flow valve 5 is installed on the air pipe, and when the earthworm-like elastic module needs to deflate, the second air flow valve is opened; the air source distributor 6 can simultaneously supply air to the plurality of bionic subsoiling units 1 during operation so as to ensure the uniform and stable air supply;
the PLC control panel passes through data transmission line and links to each other with force sensor, first air flow valve and second air flow valve, force sensor installs the interlinkage part at subsoiling device and drive mechanism (tractor) for detect the resistance that subsoiling device receives, the resistance size that subsoiling in-process subsoiling device receives spreads into the PLC control panel after force sensor measures into, the PLC control panel adjusts the switching of first air flow valve 4 and second air flow valve 5 (advance, the air flow valve that loses heart) according to the resistance size that subsoiling device receives, adjust the shrink of imitative earthworm elasticity module, thereby control the loose effect of subsoiling device to soil.
Furthermore, the inner wormcast-imitating module, the middle wormcast-imitating module and the outer wormcast-imitating module are all cylindrical with the length of 50mm and the diameter of 15mm, each wormcast-imitating module is divided into five parts, the middle part and the two ends of each wormcast-imitating module are stainless steel material areas, two sections of silica gel material areas are arranged between the three sections of stainless steel materials and can bear 400MPa of air pressure, and when the inside of the wormcast-imitating module is inflated, the two sections of silica gel material areas are extended, so that the wormcast-imitating module can realize the extending action;
the surface curves of the inner wormcast-imitating module, the middle wormcast-imitating module and the outer wormcast-imitating module are obtained after fitting the body surface structure of the earthworms, and the formula is as follows:
f(x)＝p1*x9+p2*x8+p3*x7+p4*x6+p5*x5+p6*x4+p7*x3+p8*x2+p9*x+p10
p1＝-7.51e-15；p2＝2.463e-11；p3＝-3.597e-08；p4＝3.07e-05；p5＝-0.01687；
p6＝6.186；p7＝-1513；p8＝2.381e+05；p9＝-2.185e+07；p10＝8.909e+08 (1)
in the formula (1), f (x) represents a body curve of the wormcast module, x represents a length value of the wormcast module, and e represents the power x of 10.
The working principle of the deep loosening device of the invention is as follows: air enters the compressed air tank 3 through the air pump 2, the air pressure in the compressed air tank 3 is far higher than the atmospheric pressure, when the deep loosening device starts to work, the first air flow valve 4 is opened, the air enters the hollow cylindrical supporting rod 122 of the mounting frame 12 along the air conveying pipe 7, and then the air enters the inner wormcast imitating module 131, the middle wormcast imitating module 132 and the outer wormcast imitating module 133 along the hollow cylindrical supporting rod 122; when gas enters the wormcast module, the wormcast module is inflated and expanded, and the two sections of the silica gel shells in the middle of the wormcast module are stretched under the stress to enable the wormcast module to extend (stretching action of the wormcast module); along with constantly aerifing, the bracing piece 81 atress is greater than compression spring, bracing piece 81 begins to slide outwards (the bracing piece bottom is the ball shape, be greater than resilience chamber entry, so the bracing piece can not slide out the resilience chamber), after atmospheric pressure reachs a certain degree, first air flow valve 4 (entry air supply valve) is closed, second air flow valve 5 (export air supply valve) is opened, begin the gassing, along with constantly gassing, the bracing piece receives the pulling force to reduce, slowly pull back original department by compression spring, realize the shrink action.
Claims (10)
1. A self-adjusting bionic subsoiling device is characterized by comprising a bionic subsoiling unit, an air pump, a high-pressure air tank, a first air flow valve and a second air flow valve; the bionic subsoiling unit comprises a notch cutter, a mounting frame and an earthworm-like elastic module, wherein the notch cutter and the mounting frame are mounted on the same rotating shaft; the mounting rack comprises a hollow round bracket, a hollow cylindrical support rod and a hollow cylindrical connecting rod; the hollow circular support is fixedly connected with the transmission shaft, a plurality of supporting rod mounting holes are formed in the hollow circular support, and the hollow cylindrical supporting rods are fixedly mounted in the supporting rod mounting holes;
the earthworm-imitating elastic module comprises an inner earthworm-imitating module, a middle earthworm-imitating module and an outer earthworm-imitating module, wherein the inner earthworm-imitating module and the middle earthworm-imitating module are of structures with openings at two sides and hollow interiors, and the outer earthworm-imitating module is of a structure with an opening at one side and hollow interiors; the inner side of each inner wormcast-imitating module is vertically arranged on the hollow cylindrical supporting rod, the outer side of each inner wormcast-imitating module is connected with the middle wormcast-imitating modules through hollow cylindrical connecting rods, the two adjacent middle wormcast-imitating modules are connected through the hollow cylindrical connecting rods, the middle wormcast-imitating modules at the outermost sides are connected with the outer wormcast-imitating modules through the hollow cylindrical connecting rods, the interiors of the inner wormcast-imitating modules, the middle wormcast-imitating modules and the outer wormcast-imitating modules are mutually communicated and are communicated with the interior of the hollow cylindrical supporting rods, and the inner wormcast-imitating modules, the middle wormcast-imitating modules and the outer wormcast-imitating modules can simulate the contraction motion states of earthworms by charging and discharging air into the wormcast-imitating elastic modules;
the air pump is connected with the high-pressure air tank through an air conveying pipe, and air output by the air pump is stored in the high-pressure air tank;
the air charging end of the high-pressure air tank is communicated with the mounting frame through an air conveying pipe and is used for inputting air into the hollow cylindrical supporting rod, and a first air flow valve is arranged on the air conveying pipe at the air charging end and is used for controlling the flow of the air; the mouth that loses heart and the gas-supply pipe intercommunication of mounting bracket install second air flow valve on the gas-supply pipe of the end of losing heart, when imitating earthworm elastic module and need the gassing, open the second air flow valve can.
2. The self-adjusting bionic subsoiling device of claim 1, further comprising an air source distributor, wherein the air source distributor is connected with the high-pressure air tank, a first air flow valve is arranged on an air pipe connecting the high-pressure air tank and the air source distributor, and the flow of air input into the air source distributor from the high-pressure air tank is controlled by the first air flow valve; the air outlet joint of the air source distributor is communicated with the mounting rack through an air conveying pipe and used for inputting air into the hollow cylindrical supporting rod, and the air source distributor simultaneously supplies air to the mounting rack in the bionic subsoiling units during working.
3. The self-adjusting bionic subsoiling device of claim 1, further comprising a PLC control board, a tension sensor; wherein, the PLC control panel passes through data transmission line and links to each other with force transducer, first air flow valve and second air flow valve, force transducer installs the part of linking at subsoiling device and drive mechanism for detect the resistance that subsoiling device receives, during the subsoiling in-process resistance that subsoiling device receives size of the measuring back of force transducer spreads into the PLC control panel into, the PLC control panel adjusts first air flow valve and second air flow valve's switching according to the resistance size that subsoiling device receives, adjusts the shrink of imitative earthworm elasticity module.
4. The self-adjusting bionic subsoiling device according to claim 1 or 3, wherein the bionic subsoiling unit comprises 3-5 notched cutterheads and 2-4 mounting frames, the mounting frames and the notched cutterheads are installed in an interactive and overlapped mode, and the mounting frames are arranged between two adjacent notched cutterheads; the transmission shaft is hollow, a vent hole is processed at the position where the transmission shaft is connected with the mounting frame, and the interior of the hollow cylindrical support rod is communicated with the interior of the transmission shaft through the vent hole in the transmission shaft; the inflation end of the high-pressure gas tank is connected with one end of the transmission shaft through a gas pipe and is used for inputting gas into the transmission shaft, and the gas enters the earthworm-like elastic module through a vent hole in the transmission shaft and a hollow cylindrical support rod on the mounting frame; the other end of the transmission shaft is connected with a gas transmission pipe, and a second air flow valve is installed on the gas transmission pipe.
5. The self-adjusting bionic deep scarification device as claimed in any one of claims 1 to 3, wherein the diameter of the outer ring of the hollow circular support is 380-720 mm, 6-12 hollow cylindrical support rods with the diameter of 8-15 mm are uniformly distributed on the hollow circular support at intervals, and each hollow cylindrical support rod is connected with 6-10 wormcast-imitating modules in series through a hollow cylindrical connecting rod.
6. The self-adjusting bionic deep scarification device according to any one of claims 1 to 3, wherein the notched cutter head is a circular cutter head, the diameter is 400-750 mm, the thickness is 6-10 mm, the cutting edge angle of the notched cutter head is 8-15 degrees, 6-8 arc notches are uniformly distributed on the notched cutter head at intervals, and a transmission shaft mounting hole with the diameter of 20-50 mm is formed in the center position of the notched cutter head.
7. The self-adjusting bionic deep scarification device as claimed in any one of claims 1 to 3, wherein the inner wormcast module, the middle wormcast module and the outer wormcast module are all cylindrical with a length of 50-80 mm and a diameter of 10-20 mm, each wormcast module is divided into five parts, the middle part and the two ends are stainless steel regions, and two sections of silica gel material regions are arranged between the three sections of stainless steel materials, so that the self-adjusting bionic deep scarification device can bear the air pressure of 100-400 MPa.
8. The self-adjusting bionic deep-loosening device as claimed in any one of claims 1 to 3, wherein bionic resilience mechanisms are arranged in the inner wormcast module, the middle wormcast module and the outer wormcast module, and can simulate the soil loosening state of earthworms to perform a reciprocating contraction motion when the deep-loosening device works.
9. The self-adjusting bionic deep scarification device of any one of claims 1 to 3, wherein the surface curves of the inner wormcast module, the middle wormcast module and the outer wormcast module are obtained by fitting the body surface structures of the earthworms, and the formula is as follows:
f(x)＝p1*x9+p2*x8+p3*x7+p4*x6+p5*x5+p6*x4+p7*x3+p8*x2+p9*x+p10
p1＝-7.51e-15；p2＝2.463e-11；p3＝-3.597e-08；p4＝3.07e-05；p5＝-0.01687；
p6＝6.186；p7＝-1513；p8＝2.381e+05；p9＝-2.185e+07；p10＝8.909e+08 (1)
in the formula (1), f (x) represents a body curve of the wormcast module, x represents a length value of the wormcast module, and e represents the power x of 10.
10. The self-adjusting bionic subsoiling device of claim 8, wherein said bionic resilient mechanism comprises a support rod, a compression spring and a resilient chamber; the wormcast-imitating module comprises a wormcast-imitating module, a support rod, a rebound cavity, a compression spring, a ball, a support rod and a spring, wherein the rebound cavity is fixed in a cylindrical cavity at one end of the wormcast-imitating module; the other end of the supporting rod is fixed with the other end of the wormcast-imitating module, and the wormcast-imitating module continuously reciprocates through the stretching and the compression of the compression spring in the continuous inflation and deflation process of the deep loosening device.
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| CN105766094B (en) * | 2016-05-05 | 2018-01-16 | 吉林大学 | Dynamic bionic subsoiling device with clod-crusher |
| CN106114668B (en) * | 2016-08-04 | 2018-07-17 | 上海应用技术学院 | Pneumatic type software kinematic robot based on earthworm motion principle |
| CN106612764B (en) * | 2017-01-04 | 2018-07-13 | 吉林大学 | A kind of dynamic bionic loosens the soil plough |
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| CN211557889U (en) * | 2019-12-20 | 2020-09-25 | 内蒙古农业大学职业技术学院 | Pulse type vibration subsoiler |
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