Rocking soil-releasing anti-drag furrowing device based on monopterus albus motion bionic prototype

Abstract

The invention relates to a soil shaking and drag reduction furrowing device based on a monopterus albus motion bionic prototype. Comprising a plow frame, a furrow opening plow, a driving mechanism and a control system, the furrow opening plow is installed on the plow frame and used for conducting furrow opening operation after being dragged, and the driving mechanism is connected with the furrow opening plow and used for driving the furrow opening plow to shake to get rid of soil in the process that the furrow opening plow is subjected to resistance. The control system is used for detecting the resistance of soil in the advancing process of the plow frame and controlling the driving mechanism to act so as to drive the furrow opening plow to swing; according to the technical scheme, better soil crushing and throwing capacities are achieved, the stability of tilling depth can be guaranteed to a greater extent, the abrasion risk is reduced, the service life of the plough is prolonged, sticky and heavy soil attached to the plough surface can be thrown away, energy consumption is reduced, and the completeness of furrows is guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of agricultural production equipment, and in particular to a swinging soil-removing, drag-reducing, and furrow-opening device based on a bionic prototype of the movement of an eel. Background Art

[0002] The furrow opening device is widely used in farmland drainage, ditching and canal preparation, gardening operations, etc. Its specific function is to create a furrow for drainage on both sides of the seed bed during the tillage operation. The furrow can drain excess rainwater from the farmland in time, improve the mechanical and physical properties of the soil around the seed bed, meet the needs of crops for the growth environment, and avoid waterlogging.

[0003] The furrowing device will face a complex soil environment during operation. The furrowing depth is much deeper than the seed furrow of general crops, which belongs to the deep plowing layer. For land where the soil is compacted due to long-term shallow plowing, better soil crushing and throwing capabilities are needed to ensure the stability of the plowing depth. The soil in the deep plowing layer has a higher water content and is heavier, which is easier to adhere to the plow surface, increasing energy consumption during the plowing process. Since the deep plowing layer is less plowed, the probability of stones appearing is greater. When the furrowing device touches the stones during plowing, it will cause damage to the furrowing plow and reduce the service life of the furrowing plow. Summary of the invention

[0004] In order to solve or partially solve the problems existing in the related art, the present application provides a swinging soil-removing and drag-reducing furrowing device based on the bionic prototype of the eel movement. The present application and the present invention have a simple structure and strong applicability. When the plow frame is being towed, it can drive the furrowing plow to swing and remove soil after monitoring the soil resistance. In conjunction with the control system, it can control the information output of stable driving force according to the resistance size, so that the driving mechanism can move accurately and stably in real time, ensuring that the equipment has better soil crushing and throwing capabilities, and can ensure the stability of the tillage depth to a greater extent. The left and right swinging movement during the tillage process can not only avoid stones in the soil, reduce the risk of wear, and increase the service life of the plow, but also can get rid of the heavy soil attached to the plow surface, reduce energy consumption, and ensure the integrity of the furrow.

[0005] The first aspect of the present application provides a swing soil removal and drag reduction furrow opening device based on a bionic prototype of eel movement, comprising: plow frame, A furrowing plow, which is drivably mounted on the plow frame and is used for furrowing operations after the plow frame is towed; A driving mechanism, the driving mechanism is connected to the furrowing plow and is used to drive the furrowing plow to swing and remove soil when it encounters resistance; A control system is connected to the driving mechanism and is used for the plow frame to detect the resistance of the soil during its movement and control the action of the driving mechanism to swing-drive the furrowing plow.

[0006] Optionally, in some embodiments of the first aspect, the plow frame includes A traction frame, the traction frame is used to be connected to a traction power source; A bracket, the bracket is used to install a boat-shaped ditch stabilizer, the boat-shaped ditch stabilizer is used to cooperate with the furrow-opening plough to ensure steady movement after the furrow is dug during the movement of the plough frame; A connecting rod is used to install the driving mechanism. The connecting rod is correspondingly arranged on one side of the furrowing plough and cooperates with the driving mechanism to drive the furrowing plough.

[0007] Optionally, in some embodiments of the first aspect, the driving mechanism includes an air compressor, the air compressor being mounted on the plow frame; An air storage tank, which is mounted on the plow frame and connected to the air compressor; An air spring is installed on the connecting rod and rests on the furrowing plow. The air spring is connected to the air tank through an air pipe.

[0008] Optionally, in some embodiments of the first aspect, the driving mechanism further includes A filter, the filter being connected to the air storage tank via an air pipe and being used for filtering dust and impurities in the compressed air; An electrical proportional valve is connected to the filter and the air spring and is used to output a stable air pressure according to control information, so that the air spring can perform real-time, accurate and stable movement.

[0009] Optionally, in some embodiments of the first aspect, the control system includes A sensor, the sensor being installed at the hinge of the traction frame and used for monitoring the tensile and compressive deformation of the traction frame after the traction generates resistance; A soil resistance information collector, the soil resistance information collector is used to receive and process the analog voltage signal output by the sensor; A swing controller is used to control the air spring to drive after receiving the electrical signal processed by the soil resistance information collector.

[0010] Optionally, in some embodiments of the first aspect, the soil resistance information collector includes a signal processing circuit. The signal processing circuit includes a microprocessor, a voltage stabilization circuit, a Bluetooth output module, a charge amplifier circuit, a voltage amplifier circuit, a peak holding circuit, and an external crystal oscillator. The charge amplifier circuit is used to strengthen the signal passing through the sensor and convert it into a voltage signal. The peak holding circuit is used to convert the peak voltage of the voltage signal into a DC voltage and output it to the microprocessor. The microprocessor controls the output of the Bluetooth output module signal.

[0011] Optionally, in some implementations of the first aspect, the signal processing circuit further includes The Hall interrupt circuit is used for external interrupt and is enabled when the pull or pressure of the sensor does not reach a threshold.

[0012] Optionally, in some embodiments of the first aspect, the voltage stabilizing circuit includes a ±15V voltage stabilizing circuit for matching the charge amplifier circuit, a 3.3V voltage stabilizing circuit for matching the Bluetooth transmitter module, and a 5V voltage stabilizing circuit for matching the microprocessor.

[0013] Optionally, in some embodiments of the first aspect, the swing controller includes The swing control circuit includes a microprocessor, a Bluetooth receiving module, a D / A conversion module, a voltage amplifier, an electric proportional valve interface module and an external crystal oscillator. The Bluetooth receiving module is used to receive the voltage signal of the signal processing circuit and compare it with the preset value of the microprocessor to form a control signal. The control signal is converted into an analog voltage signal by the D / A conversion circuit and then amplified by the voltage amplifier and transmitted to the electric proportional valve through the electric proportional valve interface module.

[0014] Optionally, in some embodiments of the first aspect, the swing control circuit further includes Input key module, reset key, liquid crystal display module, the preset value in the microprocessor can be set and modified through the key module and the reset key, and displayed on the liquid crystal display module.

[0015] The technical solution provided by this application may have the following beneficial effects: The present application provides a swinging soil-removing and drag-reducing furrowing device based on the bionic prototype of the eel movement. The present application and the present invention have a simple structure and strong applicability. When the plow frame is being towed, it can drive the furrowing plow to swing and remove soil after monitoring the soil resistance. In conjunction with the control system, it can control the information output of a stable driving force according to the resistance size, so that the driving mechanism can move accurately and stably in real time, ensuring that the equipment has better soil crushing and throwing capabilities, and can ensure the stability of the tillage depth to a greater extent. The left and right swinging movement during the tillage process can not only avoid stones in the soil, reduce the risk of wear, and increase the service life of the plow, but also can get rid of the heavy soil attached to the plow surface, reduce energy consumption, and ensure the integrity of the furrows. It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and other objects, features and advantages of the present application will become more apparent through a more detailed description of exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the control box structure of the present invention; Figure 3 It is a schematic diagram of the plow frame structure of the present invention; Figure 4 It is a schematic diagram of the structure of the furrowing plow of the present invention; Figure 5 It is a schematic diagram of the structure of the ship-shaped ditch stabilizer of the present invention; Figure 6 This is the circuit schematic diagram of the overall control system of the present invention; Figure 7 The signal processing circuit involved in the present invention; Figure 8 The swing control circuit involved in the present invention; Fig. 9 This is the bionic motion model of the yellow eel involved in the present invention.

[0018] Reference numerals: 1-control box, 2-plough frame, 21-upper suspension connector, 22-lower suspension connector, 23-suspension rod, 24-first horizontal beam, 25-first longitudinal beam, 26-second horizontal beam, 27-first oblique beam, 28-third horizontal beam, 29-first connecting beam, 210-second connecting beam, 211-fourth horizontal beam, 212-second longitudinal beam, 213-second oblique beam, 214-third connecting beam, 215-fixing rod, 216-fourth connecting beam, 217-connecting rod, 3-furrow plow, 4-ship-type ditch stabilizer, 5-air spring, 6-axle pin sensor, 7-soil resistance information collector, 8-swing controller, 9-junction box, 10-working power supply, 11-air compressor, 12-air storage tank, 13-filter, 14-electric proportional valve, 15-driving mechanism, 16-signal processing circuit, 17-swing control circuit. DETAILED DESCRIPTION

[0019] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0020] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0021] In the description of the present application, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0022] Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0023] At present, the furrowing depth is much deeper than the seed furrow of general crops, which belongs to the deep tillage layer. For land where the soil is compacted due to long-term shallow tillage, better soil crushing and throwing capabilities are needed to ensure the stability of tillage depth. The soil in the deep tillage layer has a higher water content and is heavier, which is easier to adhere to the plow surface, increasing energy consumption during tillage.

[0024] In response to the above problems, the present application provides a swinging soil-removing and drag-reducing furrowing device based on the bionic prototype of the eel movement. The present application and the present invention have a simple structure and strong applicability. When the plow frame is being towed, it can drive the furrowing plow to swing and remove soil after monitoring the soil resistance. In conjunction with the control system, it can control the information output of a stable driving force according to the resistance size, so that the driving mechanism can move accurately and stably in real time, ensuring that the equipment has better soil crushing and throwing capabilities, and can ensure the stability of the tillage depth to a greater extent. The left and right swinging movement during the tillage process can not only avoid stones in the soil, reduce the risk of wear, and increase the service life of the plow, but also get rid of the heavy soil attached to the plow surface, reduce energy consumption, and ensure the integrity of the furrows.

[0025] The technical solution of the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0026] See also Figure 1-9 In a first aspect, the present application provides a swinging soil-removing, drag-reducing, furrowing device based on a bionic prototype of the eel movement, comprising a plow frame 2, a furrowing plow 3, a driving mechanism 15, and a control system.

[0027] In this embodiment, the furrowing plow 3 is drivably mounted on the plow frame 2 (in this embodiment, as shown in FIG. Figure 1 As shown, the plow frame 2 is hingedly mounted on the plow frame 2, and the plow frame 2 is towed to perform furrowing operations. Generally, a tractor can be used as a traction power source. The driving mechanism 15 is connected to the furrowing plow 3, and is used to drive the furrowing plow 3 to swing and remove soil when it is subjected to resistance; the control system is connected to the driving mechanism 15, and is used to detect the resistance of the soil during the movement of the plow frame 2, and control the driving mechanism 15 to drive the furrowing plow 3 to swing.

[0028] In some embodiments of the first aspect, the plow frame 2 includes a traction frame, a bracket, and a connecting rod. The traction frame is used to connect to a traction power source. As mentioned above, the traction power source can be a tractor, and the traction frame can be connected to the tractor for traction. In this embodiment, the plow frame 2 is connected to the three-point suspension device of the tractor. The bracket is used to install a boat-shaped ditch stabilizer 4, which is used to cooperate with the furrow plow 3 to ensure stable forward movement after the furrow is dug during the movement of the plow frame 2; the connecting rod is used to install a driving mechanism 15, which is correspondingly arranged on one side of the furrow plow 3 and cooperates with the driving mechanism 15 to drive the furrow plow 3.

[0029] In this embodiment, the plow frame 2 is composed of an upper hanging connector 21, a lower hanging connector 22, a hanging rod 23, a first horizontal beam 24, a first longitudinal beam 25, a second horizontal beam 26, a first oblique beam 27, a third horizontal beam 28, a first connecting beam 29, a second connecting beam 210, a fourth horizontal beam 211, a second longitudinal beam 212, a second oblique beam 213, a third connecting beam 214, a fixing rod 215, a fourth connecting beam 216, and a connecting rod 217; the first horizontal beam 24, the second horizontal beam 26, the first oblique beam 27, the third horizontal beam 28, the first connecting beam 29, the second connecting beam 210, the fourth horizontal beam 211, the second longitudinal beam 212, the second oblique beam 213, the third connecting beam 214, the fixing rod 215, the fourth connecting beam 216, and the connecting rod 217. The flat beam 26, the third horizontal beam 28, and the fourth horizontal beam 211 are parallel and placed in sequence, 30 cm apart; the first longitudinal beam 25 and the second longitudinal beam 212 are welded to the two ends of the second horizontal beam 26, and connected to the first horizontal beam 24 and the third horizontal beam (28); the first oblique beam 27 and the second oblique beam 213 are welded to the two ends of the first horizontal beam 24 and the third horizontal beam 28, to increase the structural stability. Since it does not need to bear heavy objects and reduces the overall weight of the plow frame 2, a plate structure is adopted.The first connecting beam 29 and the third connecting beam 214 are welded between the second horizontal beam 26 and the third horizontal beam 28, presenting an "eye" shape. Through holes are drilled at the center of the beam bodies of the first connecting beam 29 and the third connecting beam 214. Along the direction of the connecting beam, the same through holes are drilled in the beam bodies of the second horizontal beam 26 and the third horizontal beam 28. The diameters of the six through holes are 16.5 mm. There are the same through holes at the corresponding positions of the control box 1 body. The control box 1 is located on the second horizontal beam 26, the third horizontal beam 28, the first connecting beam 29, and the third connecting beam 214. Bolts with a diameter of 16 mm pass through the through holes to fasten the control box 1 to the plow frame 2. There is no requirement for precise positioning, and the connection condition meets the requirements. The second connecting beam 210 and the fourth connecting beam 216 are welded between the third horizontal beam 28 and the fourth horizontal beam 211 in the same form. The fourth horizontal beam 211 is used to connect the boat-shaped ditch stabilizer 4. Considering the interference problem between the boat-shaped ditch stabilizer 4 and the ridging plow 3, the distance between each horizontal beam is 30 cm, which fully meets the requirements. Four suspension rods 23 are welded at the intersection of the center lines of the first horizontal beam 24, the third horizontal beam 28, the first longitudinal beam 25, and the second longitudinal beam 212, converging in an oblique pyramid shape above the first horizontal beam 24 at the upper suspension connector 21. Two lower suspension connectors 22 are respectively welded in front of the first horizontal beam 24, symmetrically distributed on both sides, ensuring the correct dimensions for connecting to the three-point suspension device of the tractor. The fixed rod 215 is welded on both sides of the center below the third horizontal beam 28. The connecting rod 217 is perpendicularly welded to the fixed rod 215 on the lower right of the third horizontal beam 28, 16 cm away from the center of the third horizontal beam 28. The fixed rod 215 is provided with a through hole, corresponding to the through hole 31 on the plow column of the ridging plow 3. The distance between the top of the plow column of the ridging plow 3 and the third horizontal beam 28 directly above is 18 mm, which is sufficient to allow the ridging plow to swing 180 degrees without interference. Both ends of the air spring 5 have threaded holes for fixing, and an additional through hole for air injection is provided at the center of the head end. The tail end of the air spring 5 is bolted to the through hole 32 on the plow column of the ridging plow 3, and the head end is also bolted to the connecting rod 217. The three through holes of the connecting rod 217 correspond to the three holes of the air spring 5. The middle large hole is used to pass the air pipe. The boat-shaped ditch stabilizer 4 is connected to the fourth horizontal beam 211 through the positioning ribs and the connecting plate. The height of the boat-shaped ditch stabilizer 4 can be adjusted by tightening or loosening the nuts meshed with the positioning ribs. Since it is located directly behind the ridging plow 3 and has extremely low contact resistance with the soil, the existing structure fully meets the requirements.

[0030] In some embodiments of the first aspect, the driving mechanism 15 includes an air compressor 11, an air storage tank 12, and an air spring 5. The air compressor 11 is installed on the plow frame 2, the air storage tank 12 is installed on the plow frame 2 and is connected to the air compressor 11. The air spring 5 is installed on the connecting rod and abuts against the ridging plow 3. The air spring 5 is connected to the air storage tank 12 through an air pipe. The expansion and contraction of the air spring 5 are achieved through the air compressor 11 and the air storage tank 12.

[0031] In other embodiments, the driving mechanism further includes a filter 13 and an electric proportional valve 14. The filter 13 is connected to the gas tank 12 through an air pipe to filter dust and impurities in the compressed air; the electric proportional valve 14 is connected to the filter 13 and the air spring 5 to output a stable air pressure according to the control information, so that the air spring 5 can move accurately and stably in real time. The air compressor 11 is located in the left front of the gas tank 12 to avoid the gas outlet of the gas tank 12. The air compressor 11 pipeline is connected to the low-pressure air source at the IN end of the gas tank 12 through an air pipe to deliver gas to the gas tank 12; the gas outlet of the gas tank 12 is connected to the filter 13 in the lower control box 1 through an air pipe, and the filter 13 can filter out dust and impurities in the gas to increase the service life of the gas element; the filtered gas is transmitted to the electric proportional valve 14 by the filter 13, and the electric proportional valve 14 outputs gas to control the air spring 5 to expand and contract through the control signal of the swing control circuit 17, driving the furrow plow 3 to swing left and right to complete the movement.

[0032] In some embodiments of the first aspect, the control system is integrated using a control box 1, and the control system includes a sensor, a soil resistance information collector 7, and a swing controller 8. The sensor is installed at the hinge of the traction frame and is used to monitor the tensile and compressive deformation of the traction frame after traction generates resistance; the soil resistance information collector 7 is used to receive the analog voltage signal output by the sensor for processing; the swing controller 8 is used to control the air spring 5 to drive after receiving the electrical signal processed by the soil resistance information collector 7.

[0033] In this embodiment, the control box 1 is a sheet metal box of 46cm×36cm×46cm (length×width×height). The gas tank 12 is located on the top of the control box 1 and is symmetrically distributed on the top center line. The control box 1 consists of a soil resistance information collector 7, a swing controller 8, a junction box 9, and a working power supply 10. The working power supply 10 is located at the left rear of the control box 1 to supply power to the soil resistance information collector 7 and the swing controller 8 directly above. The junction box 9 is located to the right of the soil resistance information collector 7 and the swing controller 8 and is connected to the wall of the control box 1 by bolts, wherein the soil resistance information collector 7, the swing controller 8, the junction box 9, the working power supply 10, the filter 13, and the electric proportional valve 14 do not interfere with each other.

[0034] Specifically, the upper suspension connector and the lower suspension connector of the plow frame 2 are connected to the three-point suspension device of the tractor, and the connecting pin is replaced by three axle pin type sensors 6. Since the wire pin of the soil resistance information collector 7 can only be connected to one axle pin type sensor 6, a junction box 9 is required between the axle pin type sensor 6 and the soil resistance information collector 7 so that the resistance signals measured by the three axle pin type sensors 6 can be transmitted to the soil resistance information collector 7; the axle pin type sensor 6 contacts the soil during operation and is subjected to tensile and compressive deformation and outputs an analog voltage signal, which is transmitted to the signal processing circuit 16 in the soil resistance information collector 7 and converted into a voltage signal by the signal processing circuit 16.

[0035] In some embodiments of the first aspect, the soil resistance information collector 7 includes a signal processing circuit 16. The signal processing circuit 16 includes a microprocessor, a voltage stabilizing circuit, a Bluetooth output module, a charge amplifier circuit, a voltage amplifier circuit, a peak holding circuit, and an external crystal oscillator. The charge amplifier circuit is used to strengthen the signal of the sensor and convert it into a voltage signal, and the peak holding circuit is used to convert the peak voltage of the voltage signal into a DC voltage and output it to the microprocessor, and the microprocessor controls the output of the Bluetooth output module signal.

[0036] In other embodiments, the signal processing circuit 16 further includes a Hall interrupt circuit, which is used for external interrupt and is enabled when the sensor pull or pressure does not reach a threshold.

[0037] Specifically, when the signal processing circuit 16 receives the charge generated by the sensor, it first passes through the charge amplifier circuit to strengthen the signal and convert it into a voltage signal, so that it can be captured by the data acquisition card during the test phase to determine whether the sensor performance meets the use conditions; then the voltage signal is amplified by the voltage amplifier circuit, and the subsequent peak holding circuit converts the peak voltage of the voltage signal into a DC voltage and outputs it to the microprocessor. The microprocessor is selected because it has an A / D conversion function, so no additional A / D conversion circuit is required; the microprocessor controls the Bluetooth output module to output the signal. The Hall interrupt circuit is used for external interrupts and is enabled when the pull and pressure of the pin-type sensor 66 does not reach the threshold. Since the external power supply is 12 V, in addition to the operational amplifier in the charge amplifier, the voltage amplifier and the Hall sensor in the voltage amplifier circuit require 12 V, the peak holder requires ±15 V voltage, the Bluetooth transmitter module requires 3.3 V voltage, and the microprocessor requires 5 V voltage, so 3.3 V regulated output, ±15 V regulated output, and 5 V regulated output are required to provide the voltage required by each component.

[0038] In some embodiments of the first aspect, the swing controller 8 includes a swing control circuit 17, which includes a microprocessor, a Bluetooth receiving module, a D / A conversion module, a voltage amplifier, an electrical proportional valve 14 interface module and an external crystal oscillator. The Bluetooth receiving module is used to receive the voltage signal of the signal processing circuit 16, and compare it with a preset value of the microprocessor to form a control signal. The control signal is converted into an analog voltage signal by the D / A conversion circuit and then amplified by the voltage amplifier, and transmitted to the electrical proportional valve 14 through the electrical proportional valve 14 interface module.

[0039] Specifically, after the Bluetooth receiving module of the swing control circuit 17 receives the voltage signal from the signal processing circuit 16, it is compared with the yellow eel bionic motion curve equation y=84.34cos(0.01x)+53.88sin(0.001x)+311.7 (where r2=0.9687) (such as Fig. 9 The control signal is converted into an analog voltage signal by a D / A conversion circuit, amplified by a voltage linear amplifier, and transmitted to the electrical proportional valve 14 through the electrical proportional valve 14 interface module.

[0040] Optionally, in some embodiments of the first aspect, the swing control circuit 17 also includes an input button module, a reset button, and a liquid crystal display module. The preset value in the microprocessor can be set and modified through the button module and the reset button, and displayed on the liquid crystal display module.

[0041] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A swing soil removal, drag reduction and furrow opening device based on the bionic prototype of the eel movement, characterized by: include plow frame, A furrowing plow, which is drivably mounted on the plow frame and is used for furrowing operations after the plow frame is towed; A driving mechanism, the driving mechanism is connected to the furrowing plow and is used to drive the furrowing plow to swing and remove soil when it encounters resistance; A control system is connected to the driving mechanism and is used for the plow frame to detect the resistance of the soil during its movement and control the action of the driving mechanism to swing-drive the furrowing plow.

2. The swing soil removal, drag reduction and furrow opening device based on the bionic prototype of the yellow eel movement according to claim 1 is characterized by: The plow frame comprises A traction frame, the traction frame is used to be connected to a traction power source; A bracket, the bracket is used to install a boat-shaped ditch stabilizer, the boat-shaped ditch stabilizer is used to cooperate with the furrow-opening plough to ensure steady movement after the furrow is dug when the plow frame is moving; A connecting rod is used to install the driving mechanism. The connecting rod is correspondingly arranged on one side of the furrowing plough and cooperates with the driving mechanism to drive the furrowing plough.

3. The swing soil removal, drag reduction and furrow opening device based on the bionic prototype of the yellow eel movement according to claim 2 is characterized by: The driving mechanism comprises an air compressor, the air compressor being mounted on the plow frame; An air storage tank, which is mounted on the plow frame and connected to the air compressor; An air spring is installed on the connecting rod and rests on the furrowing plow. The air spring is connected to the air tank through an air pipe.

4. The swing soil removal, drag reduction and furrow opening device based on the bionic prototype of the yellow eel movement according to claim 3 is characterized by: The driving mechanism also includes A filter, the filter being connected to the air storage tank via an air pipe and being used for filtering dust and impurities in the compressed air; An electrical proportional valve is connected to the filter and the air spring and is used to output a stable air pressure according to control information, so that the air spring can perform real-time, accurate and stable movement.

5. The swing soil removal, drag reduction and furrow opening device based on the bionic prototype of the yellow eel movement according to claim 4 is characterized by: The control system includes A sensor, the sensor being installed at the hinge of the traction frame and used for monitoring the tensile and compressive deformation of the traction frame after the traction generates resistance; A soil resistance information collector, the soil resistance information collector is used to receive and process the analog voltage signal output by the sensor; A swing controller is used to control the air spring to drive after receiving the electrical signal processed by the soil resistance information collector.

6. The swing soil removal, drag reduction and furrow opening device based on the bionic prototype of the yellow eel movement according to claim 5 is characterized by: The soil resistance information collector includes a signal processing circuit, The signal processing circuit includes a microprocessor, a voltage stabilization circuit, a Bluetooth output module, a charge amplifier circuit, a voltage amplifier circuit, a peak holding circuit, and an external crystal oscillator. The charge amplifier circuit is used to strengthen the signal passing through the sensor and convert it into a voltage signal. The peak holding circuit is used to convert the peak voltage of the voltage signal into a DC voltage and output it to the microprocessor. The microprocessor controls the output of the Bluetooth output module signal.

7. The swing soil removal, drag reduction and furrow opening device based on the bionic prototype of the yellow eel movement according to claim 6 is characterized by: The signal processing circuit also includes The Hall interrupt circuit is used for external interrupt and is enabled when the pull or pressure of the sensor does not reach a threshold.

8. The swing soil removal, drag reduction and furrow opening device based on the bionic prototype of the yellow eel movement according to claim 7 is characterized by: The voltage stabilizing circuit includes a ±15V voltage stabilizing circuit for matching the charge amplifier circuit, a 3.3V voltage stabilizing circuit for matching the Bluetooth transmitter module, and a 5V voltage stabilizing circuit for matching the microprocessor.

9. The swing soil removal, drag reduction and furrow opening device based on the bionic prototype of the yellow eel movement according to claim 8 is characterized by: The swing controller includes The swing control circuit includes a microprocessor, a Bluetooth receiving module, a D / A conversion module, a voltage amplifier, an electric proportional valve interface module and an external crystal oscillator. The Bluetooth receiving module is used to receive the voltage signal of the signal processing circuit and compare it with the preset value of the microprocessor to form a control signal. The control signal is converted into an analog voltage signal by the D / A conversion circuit and then amplified by the voltage amplifier and transmitted to the electric proportional valve through the electric proportional valve interface module.

10. The swing soil removal, drag reduction and furrow opening device based on the bionic prototype of the yellow eel movement according to claim 9 is characterized in that: The sway control circuit also includes Input key module, reset key, liquid crystal display module, the preset value in the microprocessor can be set and modified through the key module and the reset key, and displayed on the liquid crystal display module.

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