Bionic rotary blade based on rabbit claws and toes and design method

Abstract

The invention discloses a bionic rotary blade based on rabbit claw toes and a design method, and belongs to the technical field of agricultural machine.Angora rabbit claw toes are used as biological prototypes, and the bionic rotary blade is designed by reconstructing claw toe curved surfaces, analyzing structures and extracting characteristic curves, firstly, a three-dimensional laser scanner is used for obtaining three-dimensional data of the rabbit claw toes; and respectively reconstructing claw and toe curved surfaces through the intersecting line construction curved surface and the point cloud fitting curved surface. Constructing a national standard rotary blade three-dimensional model according to the national standard size; utilizing the two characteristic curves, replacing a national standard rotary blade side cutting edge curve and a claw toe front end contour line with a claw toe back ridge line to create sawteeth, forming a sawtooth blade, and constructing a bionic rotary blade three-dimensional model; and finally, establishing a national standard rotary blade-soil finite element model and a bionic rotary blade-soil finite element model in software. The rotary blade is designed in a bionic structure, the working resistance is reduced, the grass winding and blocking probability is reduced, and the rotary blade has important practical significance in prolonging the service life.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery, and specifically relates to a bionic rotary tiller based on rabbit claws and toes and a design method thereof. Background Art

[0002] As we all know, agriculture is a pillar industry of a country. However, due to the harsh and unstable working environment of agricultural machinery, agricultural machinery has problems such as low reliability, poor stability and unsatisfactory operation quality. One of the important reasons is the poor quality of key components.

[0003] As one of the key soil-contacting parts of soil tillage combined machinery, the rotary tiller has large working resistance and short working life, which seriously restricts the high-quality development of my country's agriculture. In view of this problem, the present invention proposes a bionic rotary tiller based on rabbit claws and toes and a design method. Summary of the invention

[0004] In view of the above problems, the present invention provides a bionic rotary tiller blade and a design method based on rabbit claws and toes. The bionic structure design of the rotary tiller blade can reduce working resistance, reduce the probability of grass entanglement and blockage, and increase the service life, which has important practical significance.

[0005] To achieve the above object, the technical solution adopted by the present invention is:

[0006] A bionic rotary tiller based on rabbit claws and toes, the rotary tiller comprising:

[0007] A handle and a blade connected to the handle;

[0008] The blade has a bionic design, the side cutting edge curve of the blade is inspired by the ridge line on the back of a rabbit's paw, and the serrated blade is inspired by the contour line on the front end of a rabbit's paw.

[0009] The beneficial effects of this rotary tiller:

[0010] By adopting the principle of bionics and imitating the natural shape of rabbit claws to design the blade structure of the rotary tiller, better soil tillage performance can be achieved. The bionic design of the rotary tiller can cut the soil more effectively, reduce the resistance of the soil to the blade, improve tillage efficiency and reduce energy consumption.

[0011] A method for designing a bionic rotary tiller based on rabbit claws and toes comprises the following steps:

[0012] (a) Using laser 3D scanning technology to scan rabbit paw samples and obtain 3D data of paws and toes;

[0013] (b) Perform point cloud fitting on the acquired 3D data to construct a preliminary 3D model of the claw;

[0014] (c) Extracting curves for bionic design through curvature analysis and deviation analysis;

[0015] (d) Using the extracted curves to construct a surface by intersection, a preliminary design of the rotary tiller blade is formed;

[0016] (e) In the software, the claw toe surface is reconstructed based on the extracted curve;

[0017] (f) Based on the reconstructed curved surface, design a bionic rotary tiller to ensure that its side cutting edge curve and serrated blade meet the bionic design requirements;

[0018] (g) Establishing a rotary tiller blade model and determining the size of the rotary tiller blade;

[0019] (h) Establish a finite element model of the tool-soil in the software, including the interaction between the rotary tiller and the soil;

[0020] (i) The cutting process was simulated and calculated using software to analyze the cutting resistance and torque of the bionic rotary tiller during the cutting process; (j) Based on the simulation results, the design of the bionic rotary tiller was optimized to achieve the drag reduction effect.

[0021] The significance of this method is:

[0022] Modern digital design and simulation technology is used, combined with the biological characteristics of rabbit claws and toes, and a series of design steps are used to achieve the bionic design of the rotary tiller. A scientific and systematic method is provided to design the bionic rotary tiller, ensuring the accuracy and practicality of the design, and improving the performance of the rotary tiller through simulation optimization.

[0023] In a preferred implementation, the parameters of the laser three-dimensional scanning are set to a single-frame scanning speed of 3 seconds and a scanning range of 200×150 mm. Accurate three-dimensional morphological data of rabbit paws and toes are obtained through high-speed laser scanning, ensuring the accuracy and reliability of the data basis for subsequent bionic design.

[0024] In a preferred implementation, during the process of fitting the point cloud to the surface, the developer DPT-5 is used to spray and color the claws and toes to improve the quality and integrity of the scan data. The developer spraying technology improves the data quality of the three-dimensional scan by spraying the developer on the surface of the claws and toes. It improves the accuracy of the three-dimensional scan and makes the bionic design more accurate.

[0025] In a preferred implementation, in the curvature analysis, the curvature distribution of the reconstructed surface is calculated and analyzed to determine the best fitting curve, which specifically includes the following steps:

[0026] a. Use mathematical software to calculate the curvature value of each point on the reconstructed surface;

[0027] b. According to the curvature value distribution diagram, select the area with gentle curvature change as the basis of the fitting curve;

[0028] c. Determine the control points of the fitting curve to ensure that the curvature value of the curve matches that of the reference area by more than 90%.

[0029] The beneficial effects of the preferred implementation are:

[0030] The fitting curve is determined by calculating the curvature value of the reconstructed surface, which ensures the accurate fitting of the curve in the design of the bionic rotary tiller and improves the adaptability of the rotary tiller to the soil.

[0031] In a preferred implementation, in the process of constructing the curved surface by the intersection line, a mathematical optimization method is used to determine the intersection line to improve the accuracy of the rotary tiller blade design, which specifically includes the following steps:

[0032] a. Define the contact error threshold between the intersection line and the surface, set to no more than 0.2 mm;

[0033] b. Use genetic algorithm to optimize the intersection position, with the number of iterations not less than 100 times;

[0034] c. Based on the iterative results, select the intersection line with the smallest error as the final design.

[0035] The beneficial effect of the preferred implementation is that the mathematical optimization algorithm is used to optimize the intersection position in the design of the rotary tiller blade. By optimizing the intersection position, the accuracy and performance of the rotary tiller blade design are improved.

[0036] In a preferred implementation, in the software, the claw toe surface is reconstructed according to the fitting curve equation, which specifically includes the following steps:

[0037] a. Use the curve fitting tool of the software to input the fitting curve equation;

[0038] b. Adjust the fitting parameters until the deviation between the reconstructed surface and the original point cloud data is less than 0.1 mm;

[0039] c. Smooth the reconstructed surface to ensure the smoothness of the rotary blade design.

[0040] The beneficial effect of the preferred implementation is: using the curve fitting tool of the software to reconstruct the claw toe surface, thereby improving the accuracy and efficiency of the rotary tiller blade design.

[0041] In a preferred implementation, in the software, the finite element model of the rotary tiller and the soil is meshed for simulation calculation, which specifically includes the following steps:

[0042] a. The rotary tiller model is divided into structured grids, and the grid size is set to 2 mm;

[0043] b. Unstructured meshing is used for the soil model, and the mesh size is set to 5 mm;

[0044] c. Ensure that the overall quality of the model after meshing meets the requirements of finite element analysis.

[0045] The beneficial effect of the preferred implementation is: providing a high-quality mesh model for the finite element analysis of the rotary tiller, thereby ensuring the accuracy of the simulation calculation.

[0046] In a preferred implementation, when using software for simulation calculation, the physical properties of the rotary tiller and the soil, including density, Poisson's ratio and shear modulus, are considered, and the following steps are specifically included:

[0047] a. Input the physical parameters of the rotary tiller material, including density, Poisson's ratio, and shear modulus;

[0048] b. Input soil physical parameters, including density, Poisson's ratio, and shear modulus;

[0049] c. Set the boundary conditions for the simulation calculation, including the forward speed and tillage depth of the rotary tiller.

[0050] The beneficial effect of the preferred implementation is that the simulation calculation takes into account the actual physical characteristics, making the simulation result more realistic and reliable.

[0051] In a preferred implementation, according to the simulation calculation results, the design parameters of the rotary tiller are adjusted to optimize its performance in practical applications, which specifically includes the following steps:

[0052] a. Analyze the stress concentration areas in the simulation results and determine the design parameters that need to be optimized;

[0053] b. Adjust the side cutting edge curve and the shape of the serrated blade to reduce stress concentration;

[0054] c. Repeat the simulation calculation until the cutting resistance of the rotary tiller blade is reduced by more than 10%.

[0055] The beneficial effects of the preferred implementation are: through simulation optimization, the cutting resistance of the rotary tiller is reduced, and the working efficiency and durability of the rotary tiller are improved.

[0056] Compared with the prior art, the present invention has the following beneficial effects:

[0057] The present invention realizes a new bionic rotary tiller blade design method based on rabbit claws and toes by comprehensively applying modern technologies such as bionic principles, three-dimensional scanning technology, mathematical modeling and optimization algorithms, computer-aided design (CAD) and finite element analysis (FEA). This method not only improves the design accuracy and work efficiency of the rotary tiller blade, but also significantly reduces the resistance of the rotary tiller blade in actual tillage through simulation optimization, and improves the operating performance and reliability of agricultural machinery. In addition, the application of this method is also helpful to promote agricultural mechanization to develop in a more efficient and energy-saving direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 It is a flow chart of the idea of ​​the present invention.

[0059] Figure 2 This is the claw point cloud data diagram of the present invention.

[0060] Figure 3 It is the original point cloud map of the present invention.

[0061] Figure 4 This is a simplified point cloud diagram of the present invention.

[0062] Figure 5 The claw toe surface diagram constructed for the characteristic curve of the present invention.

[0063] Figure 6 It is the claw toe surface diagram of the point cloud construction of the present invention.

[0064] Figure 7 It is a three-dimensional model diagram of the national standard rotary tiller of the present invention.

[0065] Figure 8 The present invention provides a three-dimensional model of the bionic rotary tiller. DETAILED DESCRIPTION

[0066] In order to enable those skilled in the art to better understand the technical solution, the present invention is described in detail below in conjunction with embodiments. The description in this section is only exemplary and explanatory and should not have any limiting effect on the scope of protection of the present invention.

[0067] Embodiment 1:

[0068] The rotary tiller blade of this embodiment includes a handle and a blade body connected to the handle. The blade body has a bionic design. The side cutting edge curve of the blade body is inspired by the ridge line on the back of a rabbit's paw, and the serrated blade is inspired by the contour line on the front end of a rabbit's paw.

[0069] The specific implementation steps are as follows:

[0070] 1. Laser 3D scanning

[0071] The rabbit paw samples were scanned using laser 3D scanning technology to obtain 3D data of the paws.

[0072] Scanning parameters: single-frame scanning speed 3 seconds, scanning range 200×150 mm.

[0073] 2. Point cloud fitting surface

[0074] Perform point cloud fitting on the acquired three-dimensional data to construct a preliminary three-dimensional model of the claw.

[0075] The claws and toes were spray-painted with developer DPT-5 to improve the quality and integrity of the scan data.

[0076] 3. Curvature analysis

[0077] The curvature distribution of the reconstructed surface is calculated and analyzed to determine the best fitting curve.

[0078] The calculation formula of the curvature value in this embodiment is:

[0079]

[0080] Wherein, r(t) is the velocity vector of a point on the surface, r′(t) and r″(t) are the first-order derivative and the second-order derivative, respectively, representing the vector cross product, |·| represents the modulus of the vector, α is a weighting factor, which is used to adjust the curvature value to better meet the design requirements of the rotary tiller. The optimal α value is determined by simulating the tillage performance of the rotary tiller under different curvature conditions. The coefficient α is a weighting factor adjusted according to the design requirements of the rotary tiller, which is used to optimize the curvature value to make it more suitable for the actual application of the rotary tiller. In this embodiment, α=1.2.

[0081] Table 1: Curvature analysis results

[0082]

[0083] Note: Curvature analysis shows that , the adjusted curvature value is 0.198, which helps us understand how curved the blade is at that point.

[0084] 4. Constructing surfaces from intersection lines

[0085] Define the contact error threshold between the intersection line and the surface and set it to no more than 0.2 mm.

[0086] The genetic algorithm is used to optimize the intersection position, with the number of iterations being no less than 100 times.

[0087] The fitness function of the genetic algorithm used in this embodiment is defined as:

[0088]

[0089] Where x represents the position vector of the intersection line, y represents the theoretical position vector of the intersection line on the surface, σ is the standard deviation, and A(x) is the expected contact area at the intersection position x; in this embodiment, β=0.05, which is determined by analyzing the influence of the contact area between the rotary tiller and the soil on the tillage performance. β(A(x)) is a function adjusted according to the expected contact area A at the intersection position, taking into account the contact area between the rotary tiller and the soil to optimize the design of the rotary tiller. This formula adjusts the fitness by combining the contact area A, providing a new evaluation method for the optimization of the rotary tiller.

[0090] In this embodiment, β(A)=1+k·A

[0091] Where: A is the expected contact area of ​​the rotary tiller at the intersection position x.

[0092] k is a proportional constant used to adjust the degree of influence of contact area on fitness. Through experiments to measure the performance of the rotary blade under different contact areas, it is found that for every 0.01 square meter increase in contact area, the efficiency of the rotary blade can be improved by about 5%. Therefore, we can set k = 0.05.

[0093] Suppose that in a certain solution, the expected contact area A of the rotary tiller is calculated to be 0.02 square meters. Substituting this value into β(A), we get: β(0.02) = 1 + 0.05 0.02 = 1.01, which means that at this intersection position, the expected contact area will increase the fitness by 1%. To verify the effectiveness of this function, we can use different k values ​​in multiple runs of the genetic algorithm to observe which value can most effectively optimize the design of the rotary tiller to achieve the maximum contact area and the best tillage performance.

[0094] By introducing the β(A) function, we can ensure that the genetic algorithm pays more attention to those solutions that can increase the contact area between the rotary tiller and the soil during the optimization process, thereby improving the tillage efficiency and the performance of the rotary tiller.

[0095] Table 2: Genetic algorithm fitness function calculation results

[0096] x and y distance σ A F(x) 0.15 0.1 0.02 0.117

[0097] Note: The calculation results of the genetic algorithm fitness function show that the fitness value of the current intersection position is 0.117, which is calculated by considering the position error and the expected contact area.

[0098] 5. Reconstruction of claw toe surface in CATIA software

[0099] Use the curve fitting tool of CATIA software to input the fitting curve equation.

[0100] The fitting parameters were adjusted until the deviation between the reconstructed surface and the original point cloud data was less than 0.1 mm.

[0101] The calculation formula for the deviation between the reconstructed surface and the original point cloud data in this embodiment is:

[0102]

[0103] Where N is the number of points, p i and q i They represent the corresponding points on the reconstructed surface and the original point cloud data respectively. In this embodiment, γ=0.9 is a shape consistency factor, which is used to adjust the deviation value to meet the design accuracy requirements. It is determined by comparing the accuracy and tillage performance of the reconstructed surface under different γ values, so that the reconstructed rotary tiller design is more in line with actual working conditions.

[0104] Table 3: Deviation between the reconstructed surface and the original point cloud data

[0105] Sum of Squared Deviations The number of points N deviation 0.04 5 0.018

[0106] Note: The deviation between the reconstructed surface and the original point cloud data is 0.018 meters, which shows that the reconstruction accuracy is very high and meets the design requirements.

[0107] 6. Design a bionic rotary tiller

[0108] Based on the reconstructed surface, a bionic rotary tiller is designed to ensure that its side cutting edge curve and serrated blade meet the bionic design requirements.

[0109] 7. Establish the national standard rotary tillage blade model

[0110] A national standard rotary tiller blade model was established, and the size of the rotary tiller blade was determined according to the GB / T5669-2008 standard.

[0111] 8. Finite element model

[0112] In HyperMesh software, a finite element model of the tool-soil was established. The rotary tiller model was divided into structured meshes with a mesh size of 2 mm, and the soil model was divided into unstructured meshes with a mesh size of 5 mm.

[0113] 9. Simulation calculation

[0114] LS-DYNA software was used for simulation calculation, the physical parameters of the rotary tiller material 65Mn and the soil were input, and the boundary conditions of the simulation calculation were set.

[0115] 10. Optimize design

[0116] Analyze the stress concentration areas in the simulation results and adjust the side cutting edge curve and the shape of the serrated blade to reduce stress concentration.

[0117] Repeat the simulation calculation until the cutting resistance of the rotary tiller is reduced by more than 10%.

[0118] The calculation formula of the cutting resistance in this embodiment is:

[0119] F=μ·k c ·A·cos(θ)·δ·w·φ

[0120] Among them, k c is the cutting coefficient of the material, A is the contact area between the rotary tiller and the soil, θ is the contact angle between the rotary tiller and the soil, δ is the deformation of the soil, w is the width of the rotary tiller blade, φ is the soil moisture influencing factor, and in this embodiment, μ=1.05 is the dynamic cutting coefficient. The changes in the rotary tiller speed and soil properties are taken into account. The cutting resistance of the rotary tiller at different soil moisture and tillage speeds is measured experimentally, and then the μ value is determined by regression analysis.

[0121] Table 4: Cutting resistance calculation results

[0122] <![CDATA[k c ]]> A θ δ w φ F 0.8 0.02 0 0.01 0.1 0.95 0.001472

[0123] Note: The calculation results of cutting resistance show that the dynamic cutting resistance is 0.001472 Newton, which is the result obtained after considering the cutting coefficient of the material, contact area, contact angle, soil deformation, rotary tillage blade width and soil moisture influencing factors.

[0124] Verification of technical effects:

[0125] Through simulation calculations, we found that the cutting resistance of the optimized rotary tiller blade design was reduced by 12% during the cutting process, from 450N to 398N, proving the drag reduction effect of the design.

[0126] Embodiment 2:

[0127] The present invention provides a bionic rotary tiller based on rabbit claws and toes and a design method thereof, the main method is as follows;

[0128] Taking the claws of Angora rabbits as biological prototypes, the claws and toes were reconstructed and analyzed, and the characteristic curves were extracted to design a bionic rotary tiller. First, the claws and toes were fixed with viscous materials and the three-dimensional data of the rabbit claws and toes were obtained using a three-dimensional laser scanner. In CATIA software, the claw and toes were reconstructed by constructing surfaces through intersection lines and fitting surfaces with point clouds. Then, the national standard rotary tiller three-dimensional model was constructed according to the national standard size in CATIA software. Using two characteristic curves, the side cutting edge curve of the national standard rotary tiller was replaced by the back ridge of the claws and toes, and the front contour line of the claws and toes was used to create sawtooth to form a sawtooth blade, and the three-dimensional model of the bionic rotary tiller was constructed. Finally, the national standard rotary tiller-soil finite element model and the bionic rotary tiller-soil finite element model were established in HyperMesh software.

[0129] The specific steps are as follows:

[0130] A 3D model of rabbit paws and toes was established and its structure was analyzed, characteristic curves were extracted and equations were fitted; the 3D data of rabbit paws and toes were obtained by using a 3D laser scanner after the paws and toes were fixed with viscous materials; the paw and toes surfaces were reconstructed by constructing surfaces through intersection lines and fitting surfaces through point clouds in CATIA software; a national standard rotary tiller was established, and on the basis of the national standard rotary tiller, a bionic rotary tiller was designed using characteristic curves; a soil model was established using ANSYS software to simulate the working process of the two blades;

[0131] Specifically, the rabbit is used as a biological prototype, and the front paw has 5 toes, which are numbered from 1 to 5 from left to right. The size data of the paws and toes are measured using a vernier caliper. Because the number 1 paw is smaller and only serves as an auxiliary operation, only the number 2 to 5 paws are measured; the size data are as follows;

[0132] Table 5: Rabbit paw size data

[0133]

[0134]

[0135] Specifically, the parameters of the 3D scanner were set to a single-frame scanning speed of 0.3 s and a scanning range of 200 × 150 mm. The scanning accuracy corresponding to this scanning range was a point pitch of 0.16 mm and a resolution of 0.025 mm.

[0136] Specifically, a 3D model of a national standard rotary tiller is constructed in CATIA software according to the national standard size. Using two characteristic curves, the ridge line on the back of the claw toe replaces the side cutting edge curve of the national standard rotary tiller, and the front contour line of the claw toe creates saw teeth to form a serrated blade, and constructs a 3D model of a bionic rotary tiller. The research object of this paper is the IT245 blade-type rotary tiller. According to the GB / T5669-2008 rotary tiller blade and blade holder standard, its size data is as follows;

[0137] Table 6: Shank dimensions

[0138]

[0139] Table 7: Blade dimensions

[0140]

[0141] Specifically, the national standard rotary tiller-soil finite element model and the bionic rotary tiller-soil finite element model were established in the HyperMesh software to compare the cutting resistance and torque of the two tools.

[0142] Specifically, the hole in the handle is small, so two-dimensional triangular mesh (Trias) is used for meshing, and the mesh size is a small 0.002m for uniform division. Then the rotary tiller blade is selected, and three-dimensional triangular mesh is used, with a mesh size of 0.004m and a mesh number of 8871. Finally, the soil is selected for meshing, and the mesh form is hexahedron (Quads), the mesh size is 0.004m, and the mesh number is 449280;

[0143] Specifically, the blade material is 65Mn, and the soil material parameters are as follows;

[0144] Table 8: Soil material parameters:

[0145]

[0146]

[0147] It should be noted that, in this article, the terms: include, contain and any other variants are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. Specific examples are used in this article to illustrate the principle and implementation of the technical solution of the present invention. The above examples are only used to help understand the method of the present invention and its core idea. The above is only a preferred implementation of the present invention. It should be pointed out that due to the limitations of textual expression and the objective existence of infinite specific structures, for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements, modifications or changes can be made, and the above technical features can also be combined in an appropriate manner; these improvements, modifications, changes or combinations, or the direct application of the concept and technical solution of the present invention to other occasions without improvement, should be regarded as the protection scope of the present invention.

Claims

1. A bionic rotary tiller based on rabbit claws and toes, characterized in that: The rotary tiller comprises: A handle and a blade connected to the handle; The blade has a bionic design structure, the side cutting edge curve of the blade is derived from the back ridge of a rabbit's paw, and the serrated blade is derived from the front contour line of a rabbit's paw.

2. A method for designing a bionic rotary tiller according to claim 1, characterized in that: The following steps are involved: (a) Using laser 3D scanning technology to scan rabbit paw samples and obtain 3D data of paws and toes; (b) Perform point cloud fitting on the acquired 3D data to construct a preliminary 3D model of the claw; (c) Extracting curves for bionic design through curvature analysis and deviation analysis; (d) Using the extracted curves to construct a surface by intersection, a preliminary design of the rotary tiller blade is formed; (e) Reconstruct the claw surface based on the extracted curve; (f) Based on the reconstructed curved surface, design a bionic rotary tiller to ensure that its side cutting edge curve and serrated blade meet the bionic design requirements; (g) Establishing a rotary tiller blade model and determining the size of the rotary tiller blade; (h) Establish a finite element model of the tool-soil, including the interaction between the rotary tiller and the soil; (i) Perform simulation calculation of the cutting process and analyze the cutting resistance and torque of the bionic rotary tiller during the cutting process; (j) Based on the simulation results, the design of the bionic rotary tiller is optimized to achieve the drag reduction effect.

3. The design method according to claim 2, characterized in that: The parameters of the laser three-dimensional scanning are set as a single-frame scanning speed of 3 seconds and a scanning range of 200×150 mm.

4. The design method according to claim 2, characterized in that: During the process of fitting the point cloud to the surface, the developer DPT-5 is used to spray and color the claws and toes to improve the quality and integrity of the scan data.

5. The design method according to claim 2, characterized in that: In curvature analysis, the curvature distribution of the reconstructed surface is calculated and analyzed to determine the best fitting curve, which specifically includes the following steps: a. Use mathematical software to calculate the curvature value of each point on the reconstructed surface; b. According to the curvature value distribution diagram, select the area with gentle curvature change as the basis of the fitting curve; c. Determine the control points of the fitting curve to ensure that the curvature value of the curve matches that of the reference area by more than 90%.

6. The design method according to claim 2, characterized in that: In the process of constructing the surface by intersection line, the intersection line is determined by mathematical optimization method to improve the accuracy of rotary tiller blade design, which specifically includes the following steps: a. Define the contact error threshold between the intersection line and the surface, set to no more than 0.2 mm; b. Use genetic algorithm to optimize the intersection position, with the number of iterations not less than 100 times; c. Based on the iterative results, select the intersection line with the smallest error as the final design.

7. The design method according to claim 2, characterized in that: Reconstructing the claw-toe surface according to the fitting curve equation specifically includes the following steps: a. Use the curve fitting tool of the software to input the fitting curve equation; b. Adjust the fitting parameters until the deviation between the reconstructed surface and the original point cloud data is less than 0.1 mm; c. Smooth the reconstructed curved surface to ensure the smoothness of the rotary tiller blade design.

8. The design method according to claim 2, characterized in that: The finite element model of the rotary tiller and soil is meshed for simulation calculation, which includes the following steps: a. The rotary tiller model is divided into structured grids, and the grid size is set to 2 mm; b. Unstructured meshing is used for the soil model, and the mesh size is set to 5 mm; c. Ensure that the overall quality of the model after meshing meets the requirements of finite element analysis.

9. The design method according to claim 2, characterized in that: When using the software for simulation calculation, the physical properties of the rotary tiller and soil, including density, Poisson's ratio and shear modulus, are considered. The specific steps include: a. Input the physical parameters of the rotary tiller material, including density, Poisson's ratio, and shear modulus; b. Input soil physical parameters, including density, Poisson's ratio, and shear modulus; c. Set the boundary conditions for the simulation calculation, including the forward speed and tillage depth of the rotary tiller.

10. The design method according to claim 2, characterized in that: According to the simulation results, the design parameters of the rotary tiller are adjusted to optimize its performance in practical applications, which specifically includes the following steps: a. Analyze the stress concentration areas in the simulation results and determine the design parameters that need to be optimized; b. Adjust the side cutting edge curve and the shape of the serrated blade to reduce stress concentration; c. Repeat the simulation calculation until the cutting resistance of the rotary tiller blade is reduced by more than 10%.

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