A bionic stubble cutting device with forward and reverse meshing tooth combination

Abstract

The application discloses a positive and reverse meshing tooth combined type bionic stubble device, which comprises a moving frame, a transmission shaft, a movable stubble cutter, a positive rolling type passive stubble cutter and a reverse rolling type active stubble cutter; a first side cutting blade and a fourth side cutting blade adopt a left mandible structure of a leaf-cutting ant, a second side cutting blade and a third side cutting blade adopt a right mandible structure of a leaf-cutting ant, the third side cutting blade of the positive rolling type passive stubble cutter and the fourth side cutting blade of the reverse rolling type active stubble cutter are rotationally engaged to realize first shearing operation, the second side cutting blade and the fourth side cutting blade are engaged to realize second shearing operation, and the first side cutting blade and the third side cutting blade are engaged to realize third shearing operation; the application realizes dynamic bionics of the leaf-cutting ant mandible cutting leaf movement form, has high stubble cutting rate, small cutting resistance, low energy consumption, high operation efficiency, long service life and suitability for root-soil complex farmland operation environment.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to a biomimetic stubble cutting device with a combination of forward and reverse meshing gear teeth. Background Technology

[0002] Sustainable agricultural development is the foundation of sustainable social and economic development. Conservation tillage is a crucial technology within sustainable agricultural development. To date, conservation tillage has been widely adopted worldwide, proving its significant economic, social, and ecological benefits. However, compared to traditional tillage methods, conservation tillage places more stringent requirements on stubble cutting components during operation. This is because conservation tillage creates a complex farmland environment dominated by the root-soil complex formed by crop straw and stubble roots. Under conservation tillage, the working environment for agricultural machinery has shifted from bare soil to farmland containing crop residues and straw. Therefore, existing stubble cutting components require innovative design to meet the operational needs of this root-soil complex environment.

[0003] Root-soil complexes are composite structures formed by plant roots and soil. In conservation tillage, these complexes are often herbaceous plant root-soil complexes formed by crop residue roots and soil. The plant roots in these complexes are interwoven and tightly integrated with the soil, stabilizing the plant and ensuring the roots can fully absorb and transport nutrients and water. Simultaneously, the plant roots act as reinforcing ribs in the soil, giving it a stable structure and high mechanical strength. This results in greater resistance during the cutting of root-soil complexes. Furthermore, the presence of plant roots can cause entanglement and blockage during cutting, further increasing the resistance and difficulty of cutting the complex, severely impacting the efficiency and quality of mechanized operations in root-soil complex environments.

[0004] Conservation tillage is one of the key practices being promoted and implemented. While it has achieved certain benefits in some areas, it still faces numerous challenges. The stubble-cutting components of the tillage machine still suffer from high cutting resistance and torque, as well as high energy consumption, necessitating the design of new stubble-cutting blades to meet operational requirements.

[0005] Existing stubble cutters on the market have poor cutting performance on crop straw and root-soil complexes, resulting in high operating resistance, insufficient stubble-breaking performance, poor damage to straw and root-soil complexes, and short service life. Therefore, there is an urgent need to explore and design a new type of stubble cutter.

[0006] Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide a biomimetic shaving device with a combination of forward and reverse meshing gear teeth, which aims to solve the problem of poor cutting effect of existing shaving tools.

[0008] The technical solution adopted by this invention to solve the technical problem is as follows:

[0009] A biomimetic shaving device with a combination of forward and reverse meshing gear teeth, comprising:

[0010] Mobile rack;

[0011] The drive shaft is rotatably connected to the movable frame;

[0012] A movable stubble cutter is mounted on the movable frame. The movable stubble cutter is provided with a first side cutting blade, a second side cutting blade, and a cross cutting blade. The first side cutting blade faces the moving direction of the movable frame, the second side cutting blade faces away from the moving direction of the movable frame, and the two ends of the cross cutting blade are respectively connected to the first side cutting blade and the second side cutting blade.

[0013] A forward-rolling passive stubble cutter is rotatably connected to the drive shaft; the forward-rolling passive stubble cutter is provided with a third side cutting edge, and when the third side cutting edge rotates to the corresponding position of the movable stubble cutter, the third side cutting edge is away from the moving direction of the movable frame;

[0014] A reverse-rolling active stubble cutter is connected to the drive shaft; the reverse-rolling active stubble cutter is provided with a fourth side cutting edge, and when the fourth side cutting edge rotates to the corresponding position of the movable stubble cutter, the fourth side cutting edge faces the moving direction of the movable frame;

[0015] The forward-rolling passive stubble cutter and the reverse-rolling active stubble cutter are located on both sides of the movable stubble cutter.

[0016] The first and fourth side cutting blades adopt a structure similar to the left mandible of a leafcutter ant, while the second and third side cutting blades adopt a structure similar to the right mandible of a leafcutter ant.

[0017] The aforementioned biomimetic shaving device with a combination of forward and reverse meshing gear teeth, wherein the left mandible structure of the leafcutter ant forms a biomimetic nine-tooth cutting edge, the shape of which is represented as follows:

[0018] ab segment: y = -4.50046e -9 *x 6 +8.63336e -7 *x 5 -9.91834e -5 *x 4+0.00733*x 3 -

[0019] 0.36653*x 2 +10.16762*x+261.38913, where: 0≤x≤202.12014;

[0020] segment bc: y = -3.1023e -7 *x 6 +2.43991e -5 *x 5 -0.00119e -5 *x 4 +0.03538*x 3 -

[0021] 0.63935*x 2 +7.6878*x+158.00003, where: 0≤x≤130.9725;

[0022] segment cd: y = -1.10324e -7 *x 6 +8.35285e -6 *x 5 -4.38114e -4 *x 4 +0.01526*x 3 -

[0023] 0.3347*x 2 +4.75008*x+151.71073, where: 0≤x≤111.70687;

[0024] segment de: y = -6.29168e -7 *x 6 +3.85041e -5 *x 5 -0.00141*x 4 +0.03002*x 3 -

[0025] 0.36975*x 2 +3.68804*x+144.20955, where: 0≤x≤108.83392;

[0026] ef segment: y = -1.29029e -6 *x 6 +7.05717e -5 *x 5 -0.0024*x 4 +0.05016*x 3-

[0027] 0.63074*x 2 +5.458*x+146.59779, where: 0≤x≤87.20233;

[0028] fg segment: y = -2.04379e -6 *x 6 +1.08126e -4 *x 5 -0.00345*x 4 +0.06551*x 3 -

[0029] 0.73233*x 2 +5.47619*x+151.74658, where: 0≤x≤81.19759;

[0030] gh segment: y=-1.86997e -7 *x 6 +1.142e -5 *x 5 -4.2905e -4 *x 4 +0.01017*x 3 -

[0031] 0.17266*x 2 +2.75232*x+159.4941, where: 0≤x≤111.23406;

[0032] Hi segment: y = -4.87922e -7 *x 6 +2.67158e -5 *x 5 -9.10547e -4 *x 4 +0.01917*x 3 -

[0033] 0.25765*x 2 +2.9667*x+166.00052, where: 0≤x≤86.04579;

[0034] Segment ij: y = -3.56372e -6 *x 6 +1.49994e -4 *x 5 -0.00392*x 4 +0.06351*x 3 -

[0035] 0.65832*x 2 +5.14572*x+180.8007, where: 0≤x≤53.0813;

[0036] The right mandible structure of the leafcutter ant mimics a biomimetic seven-toothed blade, the shape of which is represented as follows:

[0037] tm segment: y = 7.24354e -8 *x 6 -5.67402e -6 *x 5 +2.373e -4 *x 4 -0.00488*x 3 +

[0038] 0.0219*x 2 +1.16316*x+29.80963, where: 0≤x≤99.87709;

[0039] segment mn: y = -3.32536e -7 *x 6 +1.86173e -5 *x 5 -6.02588e -4 *x 4 +0.01058*x 3 -

[0040] 0.09234*x 2 +1.1197*x+20.32147, where: 0≤x≤103.08804;

[0041] no segment: y = -4.7649e -7 *x 6 +2.37222e -5 *x 5 -6.87493e -4 *x 4 +0.01124*x 3 -

[0042] 0.11186*x 2 +1.67476*x+25.72501, where: 0≤x≤94.63819;

[0043] op segment: y = -2.09836e -8 *x 6 +2.08392e -6 *x 5 -1.28623e -4 *x4 +0.00479*x 3 -

[0044] 0.09646*x 2 +1.73402*x+18.81605, where: 0≤x≤176.43263;

[0045] pq segment: y = 3.94614e -9 *x 6 -6.22106e -7 *x 5 +4.11696e -5 *x 4 -8.47966e -4 *x 3 -

[0046] 0.01905*x 2 +1.81779*x+48.024, where: 0≤x≤184.37548;

[0047] qr segment: y = 2.22628e -7 *x 6 -1.59409e -5 *x 5 +6.51882e -4 *x 4 -0.01391*x 3 +

[0048] 0.11275*x 2 +1.56876*x+111.74722, where: 0≤x≤124.88862;

[0049] rs segment: y = -3.73378e -8 *x 6 +4.47507e -6 *x 5 -3.06349e -4 *x 4 +0.01172*x 3 -

[0050] 0.24141*x 2 +4.07523*x+131.17541, where: 0≤x≤201.95114;

[0051] In this context, segments ab, bc, cd, de, ef, fg, gh, hi, ij, tm, mn, no, op, pq, qr, and rs represent each tooth, x represents the x-coordinate with the endpoint of each tooth as the origin, and y represents the y-coordinate.

[0052] The aforementioned biomimetic stubble cutting device with forward and reverse meshing gears includes a left mandible structure with two biomimetic nine-tooth blades and a right mandible structure with two biomimetic seven-tooth blades.

[0053] The aforementioned biomimetic shaving device with forward and reverse meshing gear teeth combination includes a movable shaving blade with a through hole, and a drive shaft located within the through hole.

[0054] The upper end of the movable shaving knife is connected to the movable frame, and the lower end of the movable shaving knife is provided with a first side cutting blade, a second side cutting blade, and a cross cutting blade.

[0055] The aforementioned biomimetic shaving device with a combination of forward and reverse meshing gear teeth, wherein the forward rolling passive shaving blade includes:

[0056] The first base is rotatably connected to the drive shaft;

[0057] The first cutter head is disposed on the first base;

[0058] A plurality of first blades are disposed on the first cutter head; the plurality of first blades are arranged around the drive shaft;

[0059] The third side cutting edge is disposed on the first blade.

[0060] The aforementioned biomimetic stubble cutting device with forward and reverse meshing gear teeth, wherein the reverse rolling active stubble cutting blade includes:

[0061] The second base is connected to the drive shaft;

[0062] The second cutter head is disposed on the second base;

[0063] A plurality of second blades are disposed on the second cutter head, and the plurality of second blades are arranged around the drive shaft;

[0064] The fourth side cutting edge is disposed on the second blade.

[0065] The aforementioned biomimetic shaving device with a combination of forward and reverse meshing gear teeth, wherein the transmission shaft includes:

[0066] Stepped shaft; a keyway is provided on the stepped shaft, and a key structure is placed in the keyway;

[0067] The first bushing is fitted onto the step of the stepped shaft;

[0068] A bearing is sleeved on the stepped shaft, with the inner ring of the bearing abutting against the first bushing and the outer ring of the bearing connected to the first base.

[0069] The second bushing is fitted over the stepped shaft and abuts against the inner ring of the bearing;

[0070] The third bushing is fitted over the stepped shaft;

[0071] The second base is sleeved on the key structure on the stepped shaft, and the two sides of the base abut against the second bushing and the third bushing, respectively.

[0072] The aforementioned biomimetic shaving device with combined forward and reverse meshing gear teeth includes two bearings, with a spacer sleeve between the two bearings;

[0073] Both the first base and the second base adopt a convex disc structure.

[0074] The aforementioned biomimetic shaving device with forward and reverse meshing gear teeth combination, wherein the movable frame moves horizontally and rises and falls vertically;

[0075] The mobile frame is equipped with a drive unit for driving the reverse rolling active shaving blade to rotate.

[0076] A control method for a biomimetic shaving device with a combination of forward and reverse meshing gear teeth as described in any one of the above claims, comprising the following steps:

[0077] The mobile frame is lowered so that the movable stubble cutter is inserted into the soil;

[0078] The mobile frame is controlled to move and the reverse rolling active stubble cutter is controlled to rotate, so that the mobile stubble cutter, the forward rolling passive stubble cutter, and the reverse rolling active stubble cutter can cut the plants.

[0079] Beneficial effects: The forward-rolling passive stubble cutter, with its imitation leafcutter right mandible edge, and the reverse-rolling active stubble cutter, with its imitation leafcutter left mandible edge, rotate and mesh to perform the first cutting operation. The second side cutting edge, also imitating the leafcutter right mandible edge, meshes with the reverse-rolling active stubble cutter, performing the second cutting operation. The first side cutting edge, also imitating the leafcutter left mandible edge, meshes with the forward-rolling passive stubble cutter, performing the third cutting operation. This achieves dynamic biomimicry of the leafcutter's mandible movement in cutting leaves. This invention features high stubble cutting rate, low cutting resistance, low energy consumption, high operating efficiency, long service life, and is suitable for root-soil complex farmland environments. Attached Figure Description

[0080] Figure 1 This is an axonometric view of a biomimetic shaving device consisting of a combination of forward and reverse meshing gear teeth.

[0081] Figure 2 This is a front view structural diagram of a biomimetic shaving device with a combination of forward and reverse meshing gear teeth.

[0082] Figure 3 This is a front sectional view of a biomimetic shaving device consisting of a combination of forward and reverse meshing gear teeth.

[0083] Figure 4 This is a front view of the cutter head and blades of a reverse-rolling active shaving cutter.

[0084] Figure 5 This is an enlarged view of the cutting edge of the left mandible stubble cutter of the reverse rolling active stubble cutter, which mimics the stubble cutter of the leafcutter ant.

[0085] Figure 6 This is a front view of the cutter head and blade of a forward-rolling passive shaving cutter.

[0086] Figure 7 This is an enlarged view of the cutting edge of the right mandible of a leafcutter ant-like passive stubble cutter.

[0087] Figure 8 This is an isometric view of a movable shaving cutter.

[0088] Figure 9 This is a front view of the second end of the movable shaving blade.

[0089] Explanation of reference numerals in the attached figures:

[0090] 1. Stepped shaft; 2. Third bushing; 3. Second base; 4. Second cutter head; 5. Second blade; 6. Fixed seat; 7. First blade; 8. First cutter head; 9. Second bushing; 10. First base; 11. Bearing; 12. First bushing; 13. Inner ring spacer; 14. Outer ring spacer; 15. Bolt and nut; 16. Bolt and nut; 17. Movable stubble cutter; 18. Bolt and nut; 19. Bolt and nut; 20. Key structure; 21. Drive shaft; 22. Forward rolling passive stubble cutter; 23. Reverse rolling active stubble cutter. Detailed Implementation

[0091] To make the objectives, technical solutions, and advantages of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0092] Please also refer to Figures 1-9 The present invention provides some embodiments of a display method.

[0093] In recent years, bionics has been rapidly discovered in various industries. Existing research and its results have proven that bionics can be used in the design of agricultural machinery parts to improve their performance.

[0094] Leafcutter ants use their mandibles to dig in the soil and cut leaves. Their left and right mandibles possess optimized geometry and excellent mechanical properties. During leaf cutting, one mandible rotates to cut the leaf, while the other mandible pierces the leaf and moves to cut it further. This combination of rolling and moving cutting enables them to work efficiently. Leafcutter ants experience low cutting resistance and are highly efficient at cutting soil and leaves, exhibiting excellent cutting performance. The contours of their mandibles and their leaf-cutting movements serve as excellent natural biomimetic models. Therefore, the contour curves of the leafcutter ant's mandibles and their biting and moving motions during leaf cutting can be used in the design of stubble cutting devices to improve the operational quality of the devices and reduce resistance and energy consumption.

[0095] like Figures 1-3 As shown, the biomimetic shaving device of the present invention, which combines forward and reverse meshing gear teeth, includes:

[0096] Mobile rack;

[0097] Drive shaft 21 is rotatably connected to the movable frame;

[0098] A movable stubble cutter 17 is disposed on the movable frame; the movable stubble cutter 17 is provided with a first side cutting blade, a second side cutting blade and a cross cutting blade, the first side cutting blade faces the moving direction of the movable frame, the second side cutting blade faces away from the moving direction of the movable frame, and the two ends of the cross cutting blade are respectively connected to the first side cutting blade and the second side cutting blade.

[0099] A forward-rolling passive stubble cutter 22 is rotatably connected to the drive shaft 21; the forward-rolling passive stubble cutter 22 is provided with a third side cutting edge, and when the third side cutting edge rotates to the corresponding position of the movable stubble cutter 17, the third side cutting edge is away from the moving direction of the movable frame;

[0100] A reverse rolling active stubble cutter 23 is connected to the drive shaft 21; the reverse rolling active stubble cutter 23 is provided with a fourth side cutting edge, and when the fourth side cutting edge rotates to the corresponding position of the movable stubble cutter 17, the fourth side cutting edge faces the moving direction of the movable frame;

[0101] The forward-rolling passive stubble cutter 22 and the reverse-rolling active stubble cutter 23 are located on both sides of the movable stubble cutter 17, respectively.

[0102] The first and fourth side cutting blades adopt a structure similar to the left mandible of a leafcutter ant, while the second and third side cutting blades adopt a structure similar to the right mandible of a leafcutter ant.

[0103] Specifically, the biomimetic stubble cutting device of this application, which combines forward and reverse meshing gear teeth, includes: a movable frame, a reverse rolling active stubble cutter 23, a movable stubble cutter 17, a forward rolling passive stubble cutter 22, and a drive shaft 21. The reverse rolling active stubble cutter 23 and the forward rolling passive stubble cutter 22 are equidistant from each other about the central longitudinal axis of the AA (mounted frame), and the movable stubble cutter 17 is symmetrically arranged about the central longitudinal axis of the AA. A gap is formed between the reverse rolling active stubble cutter 23 and the movable stubble cutter 17, and a gap is formed between the forward rolling passive stubble cutter 22 and the movable stubble cutter 17.

[0104] This invention utilizes bionic principles and reverse engineering techniques. Taking the outer contour structure of the left and right mandibles of the leafcutter ant, which has typical cutting characteristics, as a bionic prototype, the invention analyzes and studies the biting mode of the mandibles during the leafcutter ant's cutting of leaves. This reveals the mechanism of its low power consumption, low resistance, and high-efficiency cutting characteristics. By adopting a bionic coupling design method and combining the movement mode of its mandibles when cutting leaves, a bionic shaving device with forward and reverse meshing gear teeth is designed.

[0105] During leafcutter ant leaf cutting, one mandible first pierces the leaf, while the other mandible rotates downwards, cutting the leaf. Throughout this process, the mandible piercing the leaf maintains its depth, then makes a transverse cut. One mandible uses a rolling cutting motion, while the other uses a moving cutting motion, cutting in opposite directions to create a shearing operation, resulting in highly efficient leaf cutting. Furthermore, through natural selection and biological evolution, the leafcutter ant's mandibles have developed a geometry that reduces cutting resistance. Therefore, a biomimetic coupling design method is employed, incorporating the morphology of the leafcutter ant's mandibles into the design of the cutting edge of a stubble cutting device. This improves the cutting ability of the cutting tool on root-soil complexes and straw. The leafcutter ant's leaf-cutting motion is then applied to the motion design of the stubble cutting device, achieving a combined rolling and moving cutting operation. This further enhances the cutting capacity of the stubble cutting device, reducing cutting resistance and energy consumption, and improving work quality.

[0106] The biomimetic stubble-cutting device with forward and reverse meshing gears operates through a combination of rolling and moving cutting. First, the moving stubble-cutting blade 17 penetrates the soil for cutting. As the moving frame moves horizontally, it drives the moving stubble-cutting blade 17 horizontally as well. Simultaneously, the forward rolling passive stubble-cutting blade 22 rotates away from the moving frame's direction of movement as it passes the moving stubble-cutting blade 17 (thus, the forward rolling passive stubble-cutting blade 22 and the moving stubble-cutting blade 17 move towards each other, cutting the plant). The reverse rolling active stubble-cutting blade 23 rotates actively, and as it passes the moving stubble-cutting blade 17, it rotates in the moving frame's direction of movement (thus, the reverse rolling active stubble-cutting blade 23 and the moving stubble-cutting blade 17 move towards each other, cutting the plant). Since the rotation direction of the reverse rolling active stubble-cutting blade 23 is opposite to that of the forward rolling passive stubble-cutting blade 22, the two mesh and shear each other, cutting the plant. Specifically, the second side cutting edge engages with the fourth side cutting edge for shearing operations, the first side cutting edge engages with the third side cutting edge for shearing operations, and the third side cutting edge engages with the fourth side cutting edge for shearing operations.

[0107] After the movable stubble cutter 17 is inserted into the soil, it cuts the soil as the frame moves forward. The forward-rolling passive stubble cutter 22 rotates as the frame moves forward. Inserted into the soil, the forward-rolling passive stubble cutter 22 rotates in the direction of the movable stubble cutter 17 due to soil resistance. The frame drive outputs power and transmits it to the reverse-rolling active stubble cutter 23 via the transmission shaft 21, causing the reverse-rolling active stubble cutter 23 to rotate. The rotation direction of the reverse-rolling active stubble cutter 23 is opposite to that of the forward-rolling passive stubble cutter 22. The imitation leafcutter right mandible edge of the forward-rolling passive stubble cutter 22 and the imitation leafcutter left mandible edge of the reverse-rolling active stubble cutter 23 engage in rotation to achieve the first cutting operation. The mobile stubble cutter 17 features a three-blade structure. The transverse cutting blade xy penetrates the soil and moves through it as the frame advances, performing a cutting operation. The second side cutting blade wy mimics the right mandible of a leafcutter ant. As the reverse-rolling active stubble cutter 23 rotates, the two blades mesh to perform a second cutting operation. The first side cutting blade zx mimics the left mandible of a leafcutter ant. As the forward-rolling passive stubble cutter 22 rotates, the two blades mesh to perform a third cutting operation. Through the superposition of these three meshing cutting actions, compared to existing stubble cutters on the market, the designed biomimetic stubble cutter prevents plant (e.g., crop stalks and root stubble) from slipping during operation, thereby reducing energy consumption and improving work efficiency. Furthermore, the designed biomimetic stubble cutter's blade edge has a multi-toothed structure resembling the mandibles of a leafcutter ant, further enhancing cutting performance and improving work quality.

[0108] Compared to existing stubble cutters on the market, this invention combines rolling and moving cutting, using a meshing shearing method to complete farmland operations. Compared to the traditional stubble cutter's cutting operation, the designed biomimetic stubble cutter has excellent stubble breaking performance, low cutting resistance, higher cutting efficiency, and less energy consumption during operation. It can effectively destroy the root-soil complex, resulting in superior work quality.

[0109] In one implementation of the embodiments of this application, such as Figures 4-5 As shown, the biomimetic leafcutter ant mandible structure forms a biomimetic nine-toothed blade, the shape of which is represented as follows:

[0110] ab segment: y = -4.50046e -9 *x 6 +8.63336e -7 *x 5 -9.91834e -5 *x 4 +0.00733*x 3 -

[0111] 0.36653*x 2 +10.16762*x+261.38913, where: 0≤x≤202.12014;

[0112] segment bc: y = -3.1023e -7 *x 6 +2.43991e -5 *x 5 -0.00119e -5 *x 4 +0.03538*x 3 -

[0113] 0.63935*x 2 +7.6878*x+158.00003, where: 0≤x≤130.9725;

[0114] segment cd: y = -1.10324e -7 *x 6 +8.35285e -6 *x 5 -4.38114e -4 *x 4 +0.01526*x 3 -

[0115] 0.3347*x 2 +4.75008*x+151.71073, where: 0≤x≤111.70687;

[0116] segment de: y = -6.29168e -7 *x 6 +3.85041e -5 *x 5 -0.00141*x 4 +0.03002*x 3 -

[0117] 0.36975*x 2 +3.68804*x+144.20955, where: 0≤x≤108.83392;

[0118] ef segment: y = -1.29029e -6 *x 6 +7.05717e -5 *x 5 -0.0024*x 4 +0.05016*x 3 -

[0119] 0.63074*x 2 +5.458*x+146.59779, where: 0≤x≤87.20233;

[0120] fg segment: y = -2.04379e -6 *x 6 +1.08126e -4 *x 5 -0.00345*x 4 +0.06551*x 3 -

[0121] 0.73233*x 2 +5.47619*x+151.74658, where: 0≤x≤81.19759;

[0122] gh segment: y=-1.86997e -7 *x 6 +1.142e -5 *x 5 -4.2905e -4 *x 4 +0.01017*x 3 -

[0123] 0.17266*x 2 +2.75232*x+159.4941, where: 0≤x≤111.23406;

[0124] Hi segment: y = -4.87922e -7 *x6 +2.67158e -5 *x 5 -9.10547e -4 *x 4 +0.01917*x 3 -

[0125] 0.25765*x 2 +2.9667*x+166.00052, where: 0≤x≤86.04579;

[0126] Segment ij: y = -3.56372e -6 *x 6 +1.49994e -4 *x 5 -0.00392*x 4 +0.06351*x 3 -

[0127] 0.65832*x 2 +5.14572*x+180.8007, where: 0≤x≤53.0813;

[0128] In this context, segments ab, bc, cd, de, ef, fg, gh, hi, and ij represent individual teeth, x represents the x-coordinate with the endpoint of each tooth as the origin, and y represents the y-coordinate.

[0129] Specifically, the biomimetic nine-toothed cutting edge is formed by the left mandible structure of the leafcutter ant. The biomimetic nine-toothed cutting edge has nine teeth connected in sequence. The shape of each tooth is not exactly the same. A polynomial is used to fit the shape of each tooth and represent it. During the fitting, a coordinate system is established with the endpoint of each tooth (the point where two adjacent teeth are connected) as the origin. The length direction of the side cutting edge is the coordinate axis x, and the direction perpendicular to the length of the side cutting edge (that is, the width direction of the side cutting edge) is the coordinate axis y.

[0130] In one implementation of the embodiments of this application, such as Figures 6-7 As shown, the biomimetic leafcutter ant right mandible structure forms a biomimetic seven-toothed blade, the shape of which is represented as follows:

[0131] tm segment: y = 7.24354e -8 *x 6 -5.67402e -6 *x 5 +2.373e -4 *x 4 -0.00488*x 3 +

[0132] 0.0219*x 2+1.16316*x+29.80963, where: 0≤x≤99.87709;

[0133] segment mn: y = -3.32536e -7 *x 6 +1.86173e -5 *x 5 -6.02588e -4 *x 4 +0.01058*x 3 -

[0134] 0.09234*x 2 +1.1197*x+20.32147, where: 0≤x≤103.08804;

[0135] no segment: y = -4.7649e -7 *x 6 +2.37222e -5 *x 5 -6.87493e -4 *x 4 +0.01124*x 3 -

[0136] 0.11186*x 2 +1.67476*x+25.72501, where: 0≤x≤94.63819;

[0137] op segment: y = -2.09836e -8 *x 6 +2.08392e -6 *x 5 -1.28623e -4 *x 4 +0.00479*x 3 -

[0138] 0.09646*x 2 +1.73402*x+18.81605, where: 0≤x≤176.43263;

[0139] pq segment: y = 3.94614e -9 *x 6 -6.22106e -7 *x 5 +4.11696e -5 *x 4 -8.47966e -4 *x 3 -

[0140] 0.01905*x 2 +1.81779*x+48.024, where: 0≤x≤184.37548;

[0141] qr segment: y = 2.22628e -7 *x 6 -1.59409e -5 *x 5 +6.51882e -4 *x 4 -0.01391*x 3 +

[0142] 0.11275*x 2 +1.56876*x+111.74722, where: 0≤x≤124.88862;

[0143] rs segment: y = -3.73378e -8 *x 6 +4.47507e -6 *x 5 -3.06349e -4 *x 4 +0.01172*x 3 -

[0144] 0.24141*x 2 +4.07523*x+131.17541, where: 0≤x≤201.95114;

[0145] In this context, tm, mn, no, op, pq, qr, and rs represent each tooth, x represents the x-coordinate with the endpoint of each tooth as the origin, and y represents the y-coordinate.

[0146] Specifically, the biomimetic seven-tooth cutting edge is formed by the right mandible structure of the leafcutter ant. The biomimetic seven-tooth cutting edge has seven teeth connected in sequence. The shape of each tooth is not exactly the same. A polynomial is used to fit the shape of each tooth and represent it. During the fitting, a coordinate system is established with the endpoint of each tooth (the point where two adjacent teeth are connected) as the origin. The length direction of the side cutting edge is the coordinate axis x, and the direction perpendicular to the length of the side cutting edge (that is, the width direction of the side cutting edge) is the coordinate axis y.

[0147] In one implementation of the embodiments of this application, such as Figures 4-7 As shown, the left mandible structure of the leafcutter ant has two biomimetic nine-toothed blades, and the right mandible structure of the leafcutter ant has two biomimetic seven-toothed blades.

[0148] Specifically, each lateral cutting edge of the leafcutter ant's left mandible structure has two identical cutting edge curves, aj and jk. aj and jk are obtained by arraying the outer contour curves of the leafcutter ant's right mandible twice, exhibiting a biomimetic nine-tooth structure (segments ab, bc, cd, de, ef, fg, gh, hi, and ij). Similarly, each lateral cutting edge of the leafcutter ant's right mandible structure has two identical cutting edge curves, ts and su. ts and su are obtained by arraying the outer contour curves of the leafcutter ant's left mandible twice, exhibiting a biomimetic seven-tooth structure (segments tm, mn, no, op, pq, qr, and rs).

[0149] In one implementation of the embodiments of this application, such as Figure 2 , Figure 3 as well as Figure 8 As shown, the movable shaving blade 17 is provided with a through hole, and the drive shaft 21 is located inside the through hole.

[0150] Specifically, the movable shaving blade 17 is provided with a through hole through which the drive shaft 21 passes.

[0151] In one implementation of the embodiments of this application, such as Figure 3 and Figure 8 As shown, the upper end of the movable shaving knife 17 is connected to the movable frame, and the lower end of the movable shaving knife 17 is provided with the first side cutting blade, the second side cutting blade and the cross cutting blade.

[0152] Specifically, the upper end of the movable stubble cutter 17 is connected to the movable frame, and the upper end of the movable stubble cutter 17 is connected to the movable frame via a fixed base 6. The lower end of the movable stubble cutter 17 is provided with a first side cutting blade, a second side cutting blade, and a cross cutting blade. The cross cutting blade cuts downward into the soil, while the first and second side cutting blades cut the plant.

[0153] In one implementation of the embodiments of this application, such as Figure 2 and Figure 3 As shown, the forward rolling passive stubble cutter 22 includes:

[0154] The first base 10 is rotatably connected to the drive shaft 21;

[0155] The first cutter head 8 is disposed on the first base 10;

[0156] A plurality of first blades 7 are disposed on the first cutter head 8; the plurality of first blades 7 are arranged around the drive shaft 21;

[0157] The third side cutting edge is disposed on the first blade 7.

[0158] Specifically, the forward rolling passive shaving cutter 22 includes: a first base 10, a first cutter disc 8, and a first blade 7. The first base 10 and the first cutter disc 8 are connected by bolts and nuts 19, and the first cutter disc 8 and the first blade 7 are connected by bolts and nuts 18. The first base 10 has a convex disc structure, and the first cutter disc 8 has a flat disc structure.

[0159] In one implementation of the embodiments of this application, such as Figure 2 and Figure 3 As shown, the reverse rolling active stubble cutter 23 includes:

[0160] The second base 3 is connected to the drive shaft 21;

[0161] The second cutter head 4 is disposed on the second base 3;

[0162] A plurality of second blades 5 are disposed on the second cutter head 4, and the plurality of second blades 5 are arranged around the drive shaft 21;

[0163] The fourth side cutting edge is disposed on the second blade 5.

[0164] Specifically, the reverse rolling active shaving knife 23 includes: a second base 3, a second cutter disc 4, and second blades 5. The second base 3 is a convex disc structure, which is fixed to the second cutter disc 4 by bolts and nuts 15. The second cutter disc 4 is a flat disc structure, which is fixed to six second blades 5 by bolts and nuts 16.

[0165] In one implementation of the embodiments of this application, such as Figure 2 and Figure 3 As shown, the drive shaft 21 includes:

[0166] Stepped shaft 1; a keyway is provided on the stepped shaft 1, and a key structure 20 is placed in the keyway;

[0167] The first bushing 12 is fitted onto the step of the stepped shaft 1;

[0168] Bearing 11 is sleeved on the stepped shaft 1, the inner ring of bearing 11 abuts against the first bushing 12, and the outer ring of bearing 11 is connected to the first base 10.

[0169] The second bushing 9 is sleeved on the outside of the stepped shaft 1 and abuts against the inner ring of the bearing 11;

[0170] The third bushing 2 is sleeved on the outside of the stepped shaft 1;

[0171] The second base 3 is sleeved on the key structure 20 on the stepped shaft 1, and the two sides of the base abut against the second bushing 9 and the third bushing 2 respectively.

[0172] Specifically, the reverse rolling active stubble cutter 23 is laterally limited by the third bushing 2 and the second bushing 9, while the forward rolling passive stubble cutter 22 is laterally limited by the second bushing 9 and the first bushing 12. The movable stubble cutter 17 is fixed to the frame by the fixed base 6 and U-bolts to achieve lateral and longitudinal limitations. The reverse rolling active stubble cutter 23 is connected to the stepped shaft 1 through a keyway and key structure 20. The power output of the drive component is transmitted to the stepped shaft 1, thereby driving the reverse rolling active stubble cutter 23 to rotate. The through hole of the movable stubble cutter 17 is welded to the outer ring of the second bushing 9, such as... Figure 9 As shown, the movable shaving knife 17 has a three-blade structure. The transverse cutting blade xy is an arc blade structure. The zx segment of the first side cutting blade is completely consistent with the ka segment of the fourth side cutting blade. The zx segment of the first side cutting blade engages with the tu segment of the third side cutting blade for shearing. The wy segment of the second side cutting blade is completely consistent with the tu segment of the third side cutting blade. The wy segment of the second side cutting blade engages with the ka segment of the fourth side cutting blade for shearing. In addition, the tu segment of the third side cutting blade engages with the ka segment of the fourth side cutting blade for shearing.

[0173] In one implementation of the embodiments of this application, such as Figure 3 As shown, there are two bearings 11, and a spacer sleeve is provided between the two bearings 11.

[0174] Specifically, there are two spacers: the inner spacer 13 is located between the two inner rings, and the outer spacer 14 is located between the two outer rings.

[0175] In one implementation of this application, the mobile frame moves horizontally and moves vertically.

[0176] Specifically, the mobile frame has the function of moving horizontally, and the mobile frame can also be raised and lowered to allow the mobile stubble cutter 17 to be inserted into the soil.

[0177] In one implementation of this application, a driving component is provided on the mobile frame to drive the reverse rolling active shaving blade 23 to rotate.

[0178] Specifically, the drive unit drives the transmission shaft 21 to rotate, which in turn drives the reverse rolling active shaving blade 23 to rotate.

[0179] Based on any of the above embodiments of the biomimetic shaving device with combined forward and reverse meshing gear teeth, the present invention also provides a control method for the biomimetic shaving device with combined forward and reverse meshing gear teeth, comprising the following steps:

[0180] S100, Control the mobile frame to descend so that the mobile stubble cutter is inserted into the soil.

[0181] S200: Control the movement of the mobile frame and control the rotation of the reverse rolling active stubble cutter, so that the mobile stubble cutter, the forward rolling passive stubble cutter, and the reverse rolling active stubble cutter can cut the plant.

[0182] Specifically, by controlling the lowering of the mobile frame and inserting the movable stubble cutter into the soil, the plants in the soil can be stubbled. Controlling the movement of the mobile frame causes relative movement between the movable stubble cutter and the forward-rolling passive stubble cutter, thus performing stubble cutting; controlling the rotation of the reverse-rolling active stubble cutter causes relative movement between the reverse-rolling active stubble cutter and the movable stubble cutter, thus performing stubble cutting. Controlling the movement of the mobile frame and the rotation of the reverse-rolling active stubble cutter causes relative movement between the reverse-rolling active stubble cutter and the forward-rolling passive stubble cutter, thus performing stubble cutting.

[0183] It should be understood that the application of the present invention is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A biomimetic shaving device with a combination of forward and reverse meshing gear teeth, characterized in that, include: Mobile rack; The drive shaft is rotatably connected to the movable frame; A movable shaving blade is mounted on the movable frame; The movable shaving knife is provided with a first side cutting blade, a second side cutting blade and a cross cutting blade. The first side cutting blade faces the moving direction of the movable frame, the second side cutting blade is away from the moving direction of the movable frame, and the two ends of the cross cutting blade are respectively connected to the first side cutting blade and the second side cutting blade. A forward-rolling passive shaving blade is rotatably connected to the drive shaft; the forward-rolling passive shaving blade... The movable stubble cutter is provided with a third side cutting edge. When the third side cutting edge rotates to the corresponding position of the movable stubble cutter, the third side cutting edge is away from the moving direction of the movable frame. A reverse-rolling active stubble cutter is connected to the drive shaft; the reverse-rolling active stubble cutter is provided with a fourth side cutting edge, and when the fourth side cutting edge rotates to the corresponding position of the movable stubble cutter, the fourth side cutting edge faces the moving direction of the movable frame; The forward-rolling passive stubble cutter and the reverse-rolling active stubble cutter are located on both sides of the movable stubble cutter. The first and fourth side cutting blades adopt a structure similar to the left mandible of a leafcutter ant, while the second and third side cutting blades adopt a structure similar to the right mandible of a leafcutter ant. The mobile frame moves horizontally and moves up and down. The mobile frame is equipped with a drive unit for driving the reverse rolling active shaving blade to rotate.

2. The biomimetic shaving device with forward and reverse meshing gear teeth combination according to claim 1, characterized in that... It lies in, The biomimetic leafcutter ant mandible structure forms a biomimetic nine-toothed blade, the shape of which is represented as follows: The right mandible structure of the leafcutter ant mimics a biomimetic seven-toothed blade, the shape of which is represented as follows: In this context, segments ab, bc, cd, de, ef, fg, gh, hi, ij, tm, mn, no, op, pq, qr, and rs represent each tooth, x represents the x-coordinate with the endpoint of each tooth as the origin, and y represents the y-coordinate.

3. The biomimetic shaving device with forward and reverse meshing gear teeth combination according to claim 2, characterized in that, The left mandible structure of the leafcutter ant has two biomimetic nine-toothed blades, and the right mandible structure of the leafcutter ant has two biomimetic seven-toothed blades.

4. The biomimetic shaving device with forward and reverse meshing gear teeth combination according to claim 2, characterized in that, The movable shaving knife is provided with a through hole, and the drive shaft is located inside the through hole; The upper end of the movable shaving knife is connected to the movable frame, and the lower end of the movable shaving knife is provided with a first side cutting blade, a second side cutting blade, and a cross cutting blade.

5. The biomimetic shaving device with forward and reverse meshing gear teeth combination according to claim 4, characterized in that... It lies in, The forward rolling passive stubble cutter includes: a first base, rotatably connected to the drive shaft; and a first cutter disc, disposed on the first base. A plurality of first blades are disposed on the first cutter head; the plurality of first blades are arranged around the drive shaft; The third side cutting edge is disposed on the first blade.

6. The biomimetic shaving device with forward and reverse meshing gear teeth combination according to claim 5, characterized in that, The reverse rolling active stubble cutter includes: A second base is connected to the drive shaft; a second cutter head is disposed on the second base; A plurality of second blades are disposed on the second cutter head, and the plurality of second blades are arranged around the drive shaft; wherein, the fourth side cutting edge is disposed on the second blades.

7. The biomimetic shaving device with forward and reverse meshing gear teeth combination according to claim 6, characterized in that, The drive shaft includes: Stepped shaft; a keyway is provided on the stepped shaft, and a key structure is placed in the keyway; The first bushing is fitted onto the step of the stepped shaft; A bearing is sleeved on the stepped shaft, with the inner ring of the bearing abutting against the first shaft sleeve and the outer ring of the bearing connected to the first base. The second bushing is fitted over the stepped shaft and abuts against the inner ring of the bearing; the third bushing is fitted over the stepped shaft. The second base is sleeved on the key structure on the stepped shaft, and the two sides of the base abut against the second bushing and the third bushing, respectively.

8. The biomimetic shaving device with forward and reverse meshing gear teeth combination according to claim 7, characterized in that, There are two bearings, and a spacer sleeve is provided between the two bearings; Both the first base and the second base adopt a convex disc structure.

9. A control method for a biomimetic shaving device with a combination of forward and reverse meshing gear teeth as described in any one of claims 1-8, characterized in that, Including the following steps: The mobile frame is lowered so that the movable stubble cutter is inserted into the soil; The mobile frame is controlled to move and the reverse rolling active stubble cutter is controlled to rotate, so that the mobile stubble cutter, the forward rolling passive stubble cutter, and the reverse rolling active stubble cutter can cut the plants.

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