Bionic digging shovel for traditional Chinese medicinal materials

Abstract

The invention provides a bionic digging shovel for traditional Chinese medicinal materials, and relates to the field of digging of the traditional Chinese medicinal materials, the bionic digging shovel comprises bionic knives (1), bionic shovel pieces (2), a bottom plate (3), side plates (4) and mounting parts (5), the side plates (4) are arranged on the two side faces of the bottom plate (3) respectively, the bionic shovel pieces (2) are uniformly arranged on the bottom plate (3) through the mounting parts (5), and the bionic knives (1) are arranged at the ends, away from the bottom plate, of the bionic shovel pieces (2); the bionic knife (1) is obtained through a shark dorsal fin model, and the bionic shovel piece (2) is obtained through the head and nose of a wild boar. The digging shovel can effectively reduce the digging resistance in the digging process and relieve the problems of soil adhesion and hilling, so that the digging time is saved, the working efficiency is improved, the control precision of a tool in the digging process is improved, and the rhizomes of traditional Chinese medicinal materials are prevented from being damaged.

Description

Technical Field

[0001] The invention relates to the technical field of Chinese medicinal material excavation, and in particular to a bionic excavation shovel for Chinese medicinal materials. Background Art

[0002] With the development of economy and the improvement of people's living standards, the market demand for Chinese medicinal materials and the medicines and health products prepared from them has increased year by year. In order to adapt to the growth characteristics of rhizome Chinese medicinal materials and ensure the efficacy of Chinese medicinal materials, the current Chinese medicinal materials field usually uses manual digging tools to harvest them in time, so as to maximize the use effect of Chinese medicinal materials and increase the yield of Chinese medicinal materials. However, the manual digging process is not only labor-intensive, low in harvesting efficiency, and high in production cost, but also difficult to accurately and effectively reach the root depth of Chinese medicinal materials, resulting in the root and stem parts of some Chinese medicinal materials being dug off, torn, and damaged, affecting the product, appearance and effect of Chinese medicinal materials, and then increasing the defective rate of Chinese medicinal materials and reducing the harvest rate of Chinese medicinal materials during the digging process. At the same time, since the existing excavation tools have great resistance to entering the soil and excavation during the excavation process, and have poor ability to break and crush the soil, soil adhesion and soil mulch are serious, which not only further increases the consumption of labor or energy, leads to prolonged harvesting time and increased harvesting costs, but also reduces the control over excavation strength and accuracy, further increases the risk of tools damaging the roots and rhizomes of Chinese medicinal materials during the excavation process, and further leads to an increase in the excavation defect rate. Summary of the invention

[0003] In view of the problems existing in the above-mentioned prior art, the purpose of the present invention is to provide a bionic digging shovel for Chinese medicinal materials, which can effectively reduce the digging resistance, alleviate the effects of soil adhesion and soil mulching problems during the digging process, thereby effectively saving digging time, improving the work efficiency of Chinese medicinal materials harvesting, improving the control accuracy of tools during the digging process, avoiding damage to the roots and rhizomes of Chinese medicinal materials during the digging process, and ensuring the harvest rate and economic value of Chinese medicinal materials.

[0004] The purpose of the present invention is achieved through the following technical solutions: A bionic digging shovel for Chinese medicinal materials, comprising a bionic knife, a bionic shovel blade, a bottom plate, a side plate and a mounting portion, wherein the side plates are respectively arranged on both sides of the bottom plate, and the bionic shovel blades are evenly arranged on the bottom plate through the mounting portion, and a bionic knife is arranged at one end of the bionic shovel blade away from the bottom plate; the specific steps of designing the digging shovel are as follows: Firstly, a 3D scan of the shark model was performed to obtain the complete point cloud data corresponding to the shark model, and the point cloud data was processed to obtain the shark dorsal fin model and its corresponding size. Then, through reverse engineering, the ridge line and element line of the bionic shovel blade were obtained according to the collected scattered coordinates of the wild boar head and nose and the reference size fitting curve of the digging shovel. After that, the simplified models and mechanical analysis diagrams of the bionic knife and bionic shovel blade were established respectively, and the three-sided wedge principle mechanical analysis was carried out on both. At the same time, the mechanical model of the bionic digging shovel was established. By analyzing the source of digging resistance, the digging resistance of the bionic digging shovel was reduced.

[0005] Based on further optimization of the above scheme, the specific method for performing three-dimensional scanning on the shark model is: first, positioning stickers for size positioning are evenly pasted around the dorsal fin of the shark model, then the shark model is placed in the three-dimensional scanning area, and finally, a three-dimensional laser scanner is used to rotate and scan the dorsal fin position of the shark model.

[0006] Based on the further optimization of the above scheme, the specific method of processing the point cloud data to obtain the shark dorsal fin model and its corresponding size is as follows: all the point cloud data obtained by scanning are imported into Geomagic studio software for post-processing, and the standard deviation around the point cloud data is first calculated. S : Assume that the set corresponding to the point cloud data is: ; but:

[0007] Where: X i Represents the first i Points, n Indicates the number of points around the point cloud data; Then, select "Free Surface Shape", and complete the noise reduction of the point cloud data through iteration and deviation limitation, and use the upper and lower deviations of compressed point cloud data to reduce noise, so as to better reflect the true shape of the model; then rotate the model for observation, select and delete the redundant point cloud data; then convert the point cloud data into mesh patch data; then, use the filling function to fill the concave holes of the mesh patch data, enlarge the model after filling, select the uneven problem features in the mesh patch, and remove the part; finally, use the smoothing function to remove the remaining irregular features, polish the local uneven surface, obtain a closed and smooth shark dorsal fin model, and measure the processed shark dorsal fin model to obtain the length, width and height of the shark dorsal fin.

[0008] Based on the further optimization of the above scheme, the specific method for obtaining the ridge line and the element line of the bionic shovel blade is: Firstly, a 3D laser scanner was used to scan the wild boar's nose to obtain the 3D point cloud data of the wild boar's nose. Geomagic studio software was used to process the point cloud data obtained by the 3D scanning to extract the scattered coordinates of the wild boar's nose. Then, the length and width of the shovel of common rhizome Chinese medicinal materials were used as the range threshold of the fitting curve, the ridge line of the bionic shovel was set as the central axis, and the arc surface along the element line was used as the main structure of the bionic shovel. The fitting equation of the ridge line and the element line of the bionic shovel was obtained:

[0009] Where: y 1 represents the ridge fitting equation of the bionic shovel blade, y 2 represents the linear fitting equation of the bionic shovel. x represents the independent variable, R 2 represents the fitted variance.

[0010] Based on the further optimization of the above scheme, the simplified models and mechanical analysis diagrams of the bionic knife and bionic shovel blade are established respectively, and the specific method of conducting three-sided wedge principle mechanical analysis on the two is as follows: Establish a simplified model of the bionic shovel A 1 B 1 C 1 E 1 -D 1 O 1 Simplified model of bionic knife A 2 B 2 C 2 E 2 -D 2 O 2, among which, A 1 C 1 E 1 is the bottom surface, B 1 is the vertex, B 1 O 1 Vertical E 1 C 1. O 1 D 1 Vertical A 1 C 1; A 2 C 2 E 2 is the bottom surface, B 2 is the vertex, B 2 O 2Vertical E 2 C 2. O 2 D 2Vertical A 2 C 2, but:

[0011]

[0012] Where: , They represent the soil cutting load angles of the bionic shovel blade and bionic knife respectively; , They represent the bevel angles of the shovel blade of the bionic shovel and the bionic knife respectively; , They represent the soil cutting wedge angles of the bionic shovel blade and bionic knife respectively; , They represent the soil entry angles of the bionic shovel blade and bionic knife respectively; L xx represents the length of the corresponding side; From the above, we know that the factor affecting the excavation resistance is the soil cutting load angle , blade bevel and Rutu Corner , namely the six factors of length, width and height of the bionic shovel and bionic knife.

[0013] Based on the further optimization of the above scheme, the mechanical model of the bionic excavating shovel is established simultaneously, and the specific method of reducing the excavation resistance of the bionic excavating shovel by analyzing the source of excavation resistance is as follows: During the excavation process, the root-soil complex will be compressed and stretched by the shovel surface. The part of the bionic excavation shovel in contact with the soil is divided into a soil compression zone and a soil stretching zone. The excavation resistance of the bionic excavation shovel is F for:

[0014] Where: G represents the weight of the root-soil complex above the digging shovel; The friction factor between soil and bionic excavation shovel represents soil adhesion; S It represents the contact area of ​​the bionic excavator shovel when it is working; f Indicates the chip force; The horizontal and vertical forces of the root-soil complex are decomposed separately:

[0015] Where: G n represents the normal load of the bionic excavator shovel; G t represents the lateral load of the bionic excavation shovel; represents the inclination angle of the front failure surface; Indicates the friction factor within the soil; but:

[0016] The digging resistance of the excavation shovel is and The partial derivative of is:

[0017] in, and The range is 0 to 90°; pass and The value of is taken to obtain the minimum digging resistance of the bionic excavator shovel.

[0018] Based on the further optimization of the above scheme, the bionic shovel blade has a shovel length of 350-390 mm, a shovel width of 40-80 mm, and a shovel blade angle of The angle of the bionic knife is 40-80°; the length of the bionic knife is 28-32mm, the width is 5-9mm, and the height is 23-27mm.

[0019] Based on further optimization of the above solution, the length of the bottom plate is 1200-1800 mm and the width is 80-120 mm.

[0020] The following are the technical effects of the solution of the present invention: When the tip of the bionic shovel blade of the present application enters the soil, the beveled shovel blade first separates and crushes the soil, and then the bionic curved surface structure of the bionic knife that imitates the shark's dorsal fin further crushes and disturbs the soil in front and makes the crushed soil move to the two sides of the bionic shovel respectively, thereby achieving the purpose of reducing resistance and reducing the phenomenon of soil accumulation, effectively improving the efficiency of Chinese medicinal materials harvesting and extending the service life of the entire excavator; at the same time, the present application imitates the bionic curved surface structure of the bionic shovel blade of the wild boar's head and nose, so that the shovel surface has a better soil desorption ability, effectively reduces the resistance caused by soil adhesion to the shovel blade, and further achieves the effect of reducing resistance and improving the work efficiency of the Chinese medicinal materials harvesting machinery and extending its service life; in addition, since the bionic excavation shovel has a better soil disturbance effect, it is more conducive to the separation between the roots and rhizomes and the soil in the process of turning out the roots and rhizomes of Chinese medicinal materials, and improves the root-soil separation effect, thereby greatly improving the work efficiency of the subsequent conveying device and the root-soil separation mechanism of the harvesting machinery and reducing its workload.

[0021] The bionic excavating shovel designed in the present application can be installed on various excavating machines to excavate Chinese medicinal materials and has a wide range of applications. At the same time, due to its low excavation resistance, the bionic excavating shovel can effectively control the excavation precision and accuracy, effectively avoid problems such as damage to the roots and rhizomes of Chinese medicinal materials caused by problems in excavation control in the soil, and improve the quality of the harvest. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of a bionic excavating shovel in an embodiment of the present invention.

[0023] Figure 2 It is a top view of the bionic excavating shovel in an embodiment of the present invention.

[0024] Figure 3 It is a side view of the bionic knife of the bionic excavating shovel in an embodiment of the present invention.

[0025] Figure 4 It is an axonometric view of the bionic shovel blade of the bionic excavating shovel in an embodiment of the present invention.

[0026] Figure 5 Schematic diagram of the mechanical analysis structure of the bionic shovel blade and bionic knife of the bionic excavating shovel in the embodiment of the present invention; wherein, Figure 5 (a) is a three-dimensional image of the bionic shovel blade. Figure 5 (b) is a simplified model of the bionic shovel blade. Figure 5 (c) is a schematic diagram of the forces acting on the simplified model of the bionic shovel. Figure 5 (d) is a three-dimensional image of the bionic knife. Figure 5 (e) is a simplified model of the bionic knife. Figure 5 (f) Schematic diagram of the forces acting on the simplified model of the bionic knife.

[0027] Figure 6 It is a schematic diagram of the mechanical model of the bionic excavation shovel surface and root-soil complex in an embodiment of the present invention.

[0028] Among them, 1. Bionic knife; 2. Bionic shovel blade; 3. Bottom plate; 4. Side plate; 5. Installation part. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0030] Embodiment 1: A bionic digging shovel for Chinese medicinal materials comprises a bionic knife 1, a bionic shovel blade 2, a bottom plate 3, a side plate 4 and a mounting portion 5. The side surfaces of the bottom plate 3 are respectively provided with the side plates 4 (used to connect the bottom plate 3 with a harvesting machine body or other machine bodies), and the bionic shovel blades 2 are evenly arranged on the bottom plate 3 through the mounting portion 5 (the distance between adjacent bionic shovel blades 2 is set according to actual conditions, and the number of bionic shovel blades 2 on the same bottom plate 3 is set according to actual conditions, such as Figure 1 , Figure 2As shown, in this embodiment, five bionic shovel blades 2 are arranged on the same bottom plate 3), and a bionic knife 1 is arranged at one end of the bionic shovel blade 2 away from the bottom plate 3; the specific steps of designing the excavating shovel are: First, a 3D scan of the shark model was performed: First, evenly stick positioning stickers for size positioning around the dorsal fin of the shark model, then place the shark model in the 3D scanning area, and finally use a 3D laser scanner to rotate and scan the dorsal fin position of the shark model to obtain complete point cloud data corresponding to the shark model.

[0031] The point cloud data was processed to obtain the shark dorsal fin model and its corresponding dimensions. Specifically, all the point cloud data obtained by scanning were imported into Geomagic studio software for post-processing. First, the standard deviation around the point cloud data was calculated. S : Assume that the set corresponding to the point cloud data is: ; but:

[0032] Where: X i Represents the first i Points, n Indicates the number of points around the point cloud data; Then, select "Free Surface Shape", and complete the noise reduction of the point cloud data by iteration and deviation limit (in this embodiment, the iteration is set to 3 and the deviation limit is set to 0.2mm), and use the upper and lower deviations of the compressed point cloud data to reduce noise, so as to better reflect the true shape of the model; then rotate the model for observation, select and delete the redundant point cloud data; then convert the point cloud data into mesh patch data; then, fill the concave holes of the mesh patch data through the filling function, enlarge the model after filling, select the uneven problem features in the mesh patch, and remove the part; finally, use the smoothing function to remove the remaining irregular features, polish the local uneven surface, obtain a closed and smooth shark dorsal fin model, and measure the processed shark dorsal fin model to obtain the length, width, and height of the shark dorsal fin (such as Figure 3 As shown, in this embodiment, the length of the shark dorsal fin is l , width is d , height is h ).

[0033] Then, through reverse engineering, according to the collected wild boar head nose scattered coordinates and the reference size of the digging shovel fitting curve, the ridge line and element line of the bionic shovel blade 2 are obtained, specifically: First, a 3D laser scanner was used to scan the wild boar's nose to obtain the 3D point cloud data of the wild boar's nose. The point cloud data obtained by the 3D scan was processed using Geomagic studio software to extract the scattered coordinates of the wild boar's nose (specifically: according to the default settings of the software, the unit was set to mm; through the "Reduce Noise" command, "Free Surface Shape" was selected, the iteration was set to 3, and the deviation limit was set to 0.2 mm. The upper and lower deviations of the compressed point cloud data were used to reduce noise and complete the noise reduction of the point cloud data to better reflect the true shape of the model; then the model was rotated for observation, and the redundant point cloud data was selected and deleted; then the point cloud data was converted into mesh patch data; then, the concave holes of the mesh patch data were filled by the filling function, and the model was enlarged after filling, and the uneven problem features in the mesh patch were selected and removed; finally, the smoothing function was used to remove the remaining irregular features, and the local uneven surface was polished to obtain a closed and smooth wild boar's nose model. According to the processed wild boar's nose model, the effective ridges and element line scattered coordinates were selected and exported); Then, the shovel length and width range of common rhizome Chinese medicinal materials were used as the range threshold of the fitting curve, and the Figure 4 As shown: the ridge line of the bionic shovel blade 2 is set as the central axis, and the arc surface along the element line is taken as the main structure of the bionic shovel blade 2, and the fitting equation of the ridge line and the element line of the bionic shovel blade 2 is obtained:

[0034] Where: y 1 represents the ridge fitting equation of the bionic shovel blade, y 2 represents the linear fitting equation of the bionic shovel. x represents the independent variable, R 2 represents the fitted variance.

[0035] Afterwards, simplified models and mechanical analysis diagrams of the bionic knife 1 and the bionic shovel blade 2 were established respectively, and the three-sided wedge principle mechanical analysis was performed on both. The specific method is as follows: Establish a simplified model of the bionic shovel blade 2 A 1 B 1 C 1 E 1 -D 1 O 1 and 1 simplified model of bionic knife A 2 B 2 C 2 E 2 -D 2 O 2 (such as Figure 5 shown), where A 1 C 1 E 1 is the bottom surface,B 1 is the vertex, B 1 O 1 Vertical E 1 C 1. O 1 D 1 Vertical A 1 C 1; A 2 C 2 E 2 is the bottom surface, B 2 is the vertex, B 2 O 2Vertical E 2 C 2. O 2 D 2Vertical A 2 C 2, but:

[0036]

[0037] Where: , They represent the soil cutting load angles of the bionic shovel blade 2 and the bionic knife 1 respectively; , Respectively represent the blade bevel angles of the bionic shovel blade 2 and the bionic knife 1; , Respectively represent the soil cutting wedge angles of the bionic shovel blade 2 and the bionic knife 1; , They respectively represent the soil penetration angles of the bionic shovel blade 2 and the bionic knife 1; L xx represents the length of the corresponding side; From the above, we know that the factor affecting the excavation resistance is the soil cutting load angle , blade bevel and Rutu Corner , namely the six factors of length, width and height of the bionic shovel blade 2 and the bionic knife 1.

[0038] At the same time, the mechanical model of the bionic excavator shovel is established, and the excavation resistance of the bionic excavator shovel is reduced by analyzing the source of excavation resistance. Specifically: Reference Figure 6 As shown in the figure, during the excavation process, the root-soil complex will be compressed and stretched by the shovel surface. The part of the bionic excavation shovel in contact with the soil is divided into the soil compression zone and the soil stretching zone. The excavation resistance of the bionic excavation shovel is F for:

[0039] Where:G represents the weight of the root-soil complex above the digging shovel; The friction factor between soil and bionic excavation shovel represents soil adhesion; S It represents the contact area of ​​the bionic excavator shovel when it is working; f Indicates the chip force; The horizontal and vertical forces of the root-soil complex are decomposed separately:

[0040] Where: G n represents the normal load of the bionic excavator shovel; G t represents the lateral load of the bionic excavation shovel; represents the inclination angle of the front failure surface; Indicates the friction factor within the soil; but:

[0041] The digging resistance of the excavation shovel is and The partial derivative of is:

[0042] in, and The range is 0 to 90°; pass and The value of is obtained, and the minimum digging resistance of the bionic excavator is obtained. The fitting results show that: , When the angle is 45°, the digging resistance of the bionic excavator shovel reaches the minimum.

[0043] Taking the digging resistance of bionic excavating shovels with different parameters as the experimental index, combined with the performance requirements of the Chinese herbal medicine harvester and the actual working conditions, the length, width, height of the bionic knife 1 and the width, length, and blade angle (i.e., height) of the excavating shovel were selected into five rounds of evaluation. The horizontal orthogonal table was selected as L 25 (5 6 ), a six-factor five-level orthogonal test was conducted on the bionic excavation shovel, wherein the shovel length of the bionic shovel blade 2 is 350-390 mm, the shovel width is 40-80 mm, and the shovel blade angle is The bionic knife 1 has a length of 28 to 32 mm, a width of 5 to 9 mm, and a height of 23 to 27 mm. The best combination of parameters is obtained to obtain a bionic excavating shovel.

[0044] In addition, the bottom plate 3 is set accordingly according to the length, width and number of the bionic shovel blades 2 , and its length is 1200-1800 mm (preferably 1500 mm) and its width is 80-120 mm (preferably 100 mm).

[0045] Embodiment 2: As another preferred embodiment of the present invention, based on the solution of Example 1, the mounting portion 5 is installed by countersunk screws, and two symmetrically distributed countersunk holes (such as Figure 2 or Figure 4 As shown in the figure, the distance between the two countersunk holes is 28 to 30 mm (preferably 29 mm), the distance between the mounting ends of the countersunk holes is 29 to 31 mm (preferably 30 mm), and the distance between the countersunk holes and the corresponding side edges of the bionic shovel blade 2 is 12 to 14 mm (preferably 13 mm). The bionic shovel blade 2 is fixed by means of countersunk screws penetrating the countersunk holes and the corresponding mounting holes of the base plate 3.

[0046] At the same time, the bionic knife 1 and the bionic shovel blade 2 are fixedly connected by welding.

Claims

1. A Chinese medicinal material bionic digging shovel, characterized by: It includes a bionic knife, a bionic shovel blade, a bottom plate, a side plate and a mounting portion. The side plates are respectively arranged on both sides of the bottom plate, and the bionic shovel blades are evenly arranged on the bottom plate through the mounting portion. The bionic knife is arranged at one end of the bionic shovel blade away from the bottom plate. The specific steps of designing the excavating shovel are as follows: Firstly, a 3D scan of the shark model was performed to obtain the complete point cloud data corresponding to the shark model, and the point cloud data was processed to obtain the shark dorsal fin model and its corresponding size. Then, through reverse engineering, the ridge line and element line of the bionic shovel blade were obtained according to the collected scattered coordinates of the wild boar head and nose and the reference size fitting curve of the digging shovel. After that, the simplified models and mechanical analysis diagrams of the bionic knife and bionic shovel blade were established respectively, and the three-sided wedge principle mechanical analysis was carried out on both. At the same time, the mechanical model of the bionic digging shovel was established. By analyzing the source of digging resistance, the digging resistance of the bionic digging shovel was reduced.

2. A Chinese medicinal material bionic digging shovel according to claim 1, characterized in that: The specific method for performing three-dimensional scanning on the shark model is: first, evenly sticking positioning stickers for size positioning around the dorsal fin of the shark model, then placing the shark model in the three-dimensional scanning area, and finally using a three-dimensional laser scanner to rotate and scan the dorsal fin position of the shark model.

3. A Chinese medicinal material bionic digging shovel according to claim 1 or 2, characterized in that: The specific method of processing the point cloud data to obtain the shark dorsal fin model and its corresponding size is as follows: all the point cloud data obtained by scanning are imported into Geomagic studio software for post-processing, firstly, the standard deviation around the point cloud data is calculated. S : Assume that the set corresponding to the point cloud data is: ; but: Where: X i Represents the first i Points, n Indicates the number of points around the point cloud data; Then, select "Free Surface Shape" and complete the noise reduction of the point cloud data by iteration and deviation limit, using the upper and lower deviations of the compressed point cloud data to better reflect the true shape of the model; Then rotate the model to observe, select and delete the redundant point cloud data; then convert the point cloud data into mesh patch data; Then, the concave holes in the mesh patch data are filled through the filling function. After filling, the model is enlarged, the uneven problematic features in the mesh patch are selected, and the part is removed. Finally, the smoothing function is used to remove the remaining irregular features, and the local uneven surface is polished to obtain a closed and smooth shark dorsal fin model. The processed shark dorsal fin model is measured to obtain the length, width, and height dimensions of the shark dorsal fin.

4. A Chinese medicinal material bionic digging shovel according to claim 1 or 3, characterized in that: The specific method for obtaining the ridge line and the element line of the bionic shovel blade is: Firstly, a 3D laser scanner was used to scan the wild boar's nose to obtain the 3D point cloud data of the wild boar's nose. Geomagic studio software was used to process the point cloud data obtained by the 3D scanning to extract the scattered coordinates of the wild boar's nose. Then, the length and width of the shovel of common rhizome Chinese medicinal materials were used as the range threshold of the fitting curve, the ridge line of the bionic shovel was set as the central axis, and the arc surface along the element line was used as the main structure of the bionic shovel. The fitting equation of the ridge line and the element line of the bionic shovel was obtained: Where: y 1 means y 1 represents the ridge fitting equation of the bionic shovel blade, y 2 represents the linear fitting equation of the bionic shovel. x represents the independent variable, R 2 represents the fitted variance.

5. The Chinese medicinal material bionic digging shovel according to claim 4, characterized in that: The simplified models and mechanical analysis diagrams of the bionic knife and bionic shovel are established respectively, and the specific method of performing three-sided wedge principle mechanical analysis on the two is as follows: Establish a simplified model of the bionic shovel A 1 B 1 C 1 E 1 -D 1 O 1 Simplified model of bionic knife A 2 B 2 C 2 E 2 -D 2 O 2, among which, A 1 C 1 E 1 is the bottom surface, B 1 is the vertex, B 1 O 1 Vertical E 1 C 1. O 1 D 1 Vertical A 1 C 1; A 2 C 2 E 2 is the bottom surface, B 2 is the vertex, B 2 O 2Vertical E 2 C 2. O 2 D 2Vertical A 2 C 2, but: Where: , They represent the soil cutting load angles of the bionic shovel blade and bionic knife respectively; , They represent the bevel angles of the shovel blade of the bionic shovel and the bionic knife respectively; , They represent the soil cutting wedge angles of the bionic shovel blade and bionic knife respectively; , They represent the soil entry angles of the bionic shovel blade and bionic knife respectively; L xx represents the length of the corresponding side; From the above, we know that the factor affecting the excavation resistance is the soil cutting load angle , blade bevel and Rutu Corner , namely the six factors of length, width and height of the bionic shovel and bionic knife.

6. The Chinese medicinal material bionic digging shovel according to claim 5, characterized in that: The specific method of simultaneously establishing the mechanical model of the bionic excavating shovel and reducing the excavating resistance of the bionic excavating shovel by analyzing the source of the excavating resistance is as follows: During the excavation process, the root-soil complex will be compressed and stretched by the shovel surface. The part of the bionic excavation shovel in contact with the soil is divided into a soil compression zone and a soil stretching zone. The excavation resistance of the bionic excavation shovel is F for: Where: G represents the weight of the root-soil complex above the digging shovel; The friction factor between soil and bionic excavation shovel represents soil adhesion; S It represents the contact area of ​​the bionic excavator shovel when it is working; f Indicates the chip force; The horizontal and vertical forces of the root-soil complex are decomposed separately: Where: G n represents the normal load of the bionic excavator shovel; G t represents the lateral load of the bionic excavation shovel; represents the inclination angle of the front failure surface; Indicates the friction factor within the soil; but: The digging resistance of the excavation shovel is and The partial derivative of is: in, and The range is 0~90°; pass and The value of is taken to obtain the minimum digging resistance of the bionic excavator shovel.

7. The Chinese medicinal material bionic digging shovel according to claim 6, characterized in that: The bionic shovel blade has a shovel length of 350-390 mm, a shovel width of 40-80 mm, and a shovel blade angle of The angle of the bionic knife is 40-80°; the length of the bionic knife is 28-32mm, the width is 5-9mm, and the height is 23-27mm.

Images