阅读说明：本技术 一种模仿砂鱼蜥运动的驱动式摇摆减阻深松机 (Driving type swinging resistance-reducing subsoiler simulating motion of saury lizard ) 是由 赵亮亮 张智泓 赖庆辉 甘帅汇 左国标 龙佳宁 陈朝阳 张敬琨 于 2021-07-27 设计创作，主要内容包括：本发明涉及一种模仿砂鱼蜥运动的驱动式摇摆减阻深松机,属于农业机械领域；所述模仿砂鱼蜥运动的驱动式摇摆减阻深松机包括机架、摇摆机构、深松铲,所述机架上安装有连接深松铲的摇摆机构,经驱动后的摇摆机构带动深松铲做循环摆动动作,并通过摇摆进行破土切削作业；本发明借助摇摆机构实现深松铲摇摆破土切削过程,由摇摆机构作为振动源,将积累在铲柄上的土震动下来避免堆积在深松铲摇摆工作期间,能够将堆积在深松铲铲柄上的土偏移至两侧,减少了前进方向上的阻力,降低了能量损耗,减少入土阻力和前进方向上的总能耗,以及降低深松铲柄及零部件的强度要求,避免因强度不够造成的零件的损伤,延长了深松铲等部件的使用寿命,提升了整地效率。(The invention relates to a driving type swinging resistance-reducing subsoiler simulating the motion of a saury lizard, belonging to the field of agricultural machinery; the driven type swinging anti-drag subsoiler imitating the motion of the sandfish exendin comprises a rack, a swinging mechanism and a subsoiler, wherein the rack is provided with the swinging mechanism connected with the subsoiler, the driven swinging mechanism drives the subsoiler to do a circular swinging motion, and the subsoiler is subjected to ground breaking and cutting operation through swinging; according to the invention, the swinging soil breaking and cutting process of the subsoiler is realized by means of the swinging mechanism, the swinging mechanism is used as a vibration source, soil accumulated on the shovel handle is vibrated to avoid the condition that the subsoiler is rocked during the swinging work, the soil accumulated on the shovel handle can be deviated to two sides, the resistance in the advancing direction is reduced, the energy loss is reduced, the soil entering resistance and the total energy consumption in the advancing direction are reduced, the strength requirements of the subsoiler handle and parts are reduced, the damage of parts caused by insufficient strength is avoided, the service life of the parts such as the subsoiler is prolonged, and the land preparation efficiency is improved.)

1. The utility model provides a drive formula of imitative sha yu lizard motion is swayd drag reduction subsoiler which characterized in that: the driving type swinging resistance-reducing subsoiler imitating the motion of the sandfish exendin comprises a rack, a swinging mechanism and a subsoiler, wherein the rack is provided with the swinging mechanism connected with the subsoiler, the swinging mechanism after driving drives the subsoiler to do a circular swinging action, and the subsoiler is subjected to soil breaking and cutting operation through swinging.

2. The driven rolling drag reducing subsoiler of claim 1 simulating the motion of a saury saunders, wherein: the crank link mechanism is connected with a driving device, the driving device comprises a motor, a power output shaft, a control box and a signal receiver, the motor is connected with the power output shaft through a gear transmission mechanism, and the motor is connected with the control box through the signal receiver.

3. The driven rolling drag reducing subsoiler of claim 2, simulating the motion of a saury saunders, wherein: the frame is connected with a traction device through a tension sensor, and the tension sensor is connected with a control box.

4. A driven rocking drag reducing subsoiler simulating the motion of saury reeds according to claim 1 or 3, characterized in that: the swing mechanism comprises a crank connecting rod mechanism, a swing rod frame, a rotating shaft and a rotating fixing plate, the crank connecting rod mechanism is connected with a power output shaft, the crank connecting rod mechanism is further hinged to the swing rod frame installed on the rack, the rotating shaft is vertically installed on the rack through a bearing, the rotating shaft is fixedly provided with the rotating fixing plate and a driven rod, the driven rod is hinged to the swing rod frame, and the rotary fixing plate is provided with a subsoiler.

5. The driven rolling drag reducing subsoiler of claim 4 simulating the motion of a saury saunders, wherein: the rack is provided with a slide rod guide hole, and the swing rod frame is connected to the slide rod guide hole in a sliding mode.

6. The driven rolling drag reducing subsoiler of claim 5 simulating the motion of a saury saunders, wherein: the crank link mechanism comprises a crank, a driving connecting rod and a sliding sleeve, wherein the two ends of the driving connecting rod are respectively hinged with the rack and the rocking bar frame, the sliding sleeve is sleeved on the driving connecting rod, one end of the crank is hinged with the sliding sleeve, and the other end of the crank is fixedly connected to the power output shaft.

7. A driven rocking drag reducing subsoiler simulating the motion of Saimir exendin according to claim 4 or 5, characterised in that: mounting holes are formed in the rotary fixing plate along different height positions, and the subsoiler is mounted in the mounting holes through bolt connection.

8. The driven rolling drag reducing subsoiler of claim 7 simulating the motion of a saury saunders, wherein: the frame is provided with a sleeve, a support rod for mounting the land wheel is connected in the sleeve in a sliding manner, jacks are uniformly arranged on the sleeve along the vertical position, and the support rod is fixed on the sleeve through a bolt.

Technical Field

The invention relates to a driving type swinging resistance-reducing subsoiler simulating the motion of a saury lizard, and belongs to the field of agricultural machinery.

Background

The deep scarification soil preparation is an effective measure for providing powerful conditions for the growth of crops and improving the basic production capacity of grains, and is also one of protective farming technologies, and the deep scarification technology breaks a plough bottom layer formed by soil deposition, can effectively improve the air tightness and the loosening degree of soil of a plough layer, establishes a good plough layer structure, can also maintain a microbial system, and can alleviate the inhibition on anaerobic microorganisms at the lower layer.

At present, a great deal of energy dissipation exists in the deep scarification process, and the adhesion and accumulation effects of soil on machines and tools cause the increase of advancing resistance and the increase of consumed fuel, so that a new technical scheme is urgently needed to be searched, the friction is reduced, the oil consumption is reduced, and the early cost is reduced. Fatigue failure often occurs in the deep scarification operation process, the farming efficiency is seriously affected if the fatigue failure is not found in time, and the farming season is delayed. Therefore, the research on energy conservation and drag reduction during cultivation is of great significance in theory and practice, so that a new technical scheme is urgently needed to be searched.

The resistance reducing method adopted by the subsoiler in the prior art mainly comprises the following steps: vibration drag reduction, electroosmosis drag reduction, magnetization drag reduction, bionic drag reduction and the like. Currently, vibration drag reduction has the most obvious effect in various drag reduction energy-saving measures, but the existing vibration drag reduction modes belong to forced vibration, soil is scattered through the forced vibration, although the working resistance is reduced, the power consumption of a tractor engine is increased by driving a vibration part, and labor is saved while no power is saved. Bionic drag reduction is also applied mostly, but the bionic drag reduction is started from soil contact parts mostly, and the benefit of the bionic drag reduction is improved, but the optimization of the overall performance of the subsoiler is not improved. At present, the subsoiler has large working resistance and overhigh working energy consumption, and the tillage and soil preparation range is relatively limited. Therefore, new technical measures and methods are urgently needed to be found, the farming resistance is reduced, the energy consumption is reduced, and the energy utilization is improved.

Disclosure of Invention

In order to overcome the problems in the prior art, the invention realizes the swinging soil-breaking and cutting process of the subsoiler by means of the swinging mechanism, greatly reduces the resistance to soil penetration by means of the sliding soil-breaking process, enlarges the subsoiling range by swinging in the whole subsoiling process, improves the soil preparation effect, simultaneously, uses the swinging mechanism as a vibration source to vibrate the soil accumulated on the shovel handle to avoid the soil accumulated on the shovel handle during the swinging work of the subsoiler, can deviate the soil accumulated on the shovel handle of the subsoiler to two sides, reduces the resistance in the advancing direction, reduces the energy loss, reduces the resistance to soil penetration and the total energy consumption in the advancing direction, reduces the strength requirements of the subsoiler handle and parts, avoids the damage of the parts caused by insufficient strength, prolongs the service life of the parts such as the subsoiler, and greatly improves the soil preparation efficiency.

In order to overcome the problems in the background art and solve the problems, the invention is realized by the following technical scheme:

the driving type swinging resistance-reducing subsoiler imitating the motion of the sandfish exendin comprises a rack, a swinging mechanism and a subsoiler, wherein the rack is provided with the swinging mechanism connected with the subsoiler, the swinging mechanism after driving drives the subsoiler to do a circular swinging action, and the subsoiler is subjected to soil breaking and cutting operation through swinging.

Preferably, the crank link mechanism is connected with a driving device, the driving device comprises a motor, a power output shaft, a control box and a signal receiver, the motor is connected with the power output shaft through a gear transmission mechanism, and the motor is connected with the control box through the signal receiver.

Preferably, the frame is connected with the traction device through a tension sensor, and the tension sensor is connected with the control box.

Preferably, the wabbler mechanism includes crank link mechanism, rocking beam frame, rotation axis, rotation fixed plate, crank link mechanism is connected with power output shaft, and crank link mechanism still articulates there is the rocking beam frame of installing in the frame, and the rotation axis passes through the bearing and vertically installs in the frame, and fixed mounting has rotation fixed plate and driven lever on the rotation axis, and the driven lever is articulated mutually with rocking beam frame, installs the subsoiler on the rotation fixed plate.

Preferably, the rack is provided with a slide rod guide hole, and the swing rod frame is slidably connected to the slide rod guide hole.

Preferably, the crank link mechanism comprises a crank, a driving connecting rod and a sliding sleeve, wherein two ends of the driving connecting rod are respectively hinged with the rack and the rocking rod frame, the sliding sleeve is sleeved on the driving connecting rod, one end of the crank is hinged with the sliding sleeve, and the other end of the crank is fixedly connected to the power output shaft.

Preferably, the rotary fixing plate is provided with mounting holes along different height positions, and the subsoiler is mounted at the mounting holes through bolt connection.

Preferably, the rack is provided with a sleeve, a support rod for mounting the land wheel is connected in the sleeve in a sliding manner, jacks are uniformly arranged on the sleeve along the vertical position, and the support rod is fixed on the sleeve through a bolt.

The invention has the beneficial effects that:

the invention realizes the swinging soil-breaking cutting process of the subsoiler by means of the swinging mechanism, greatly reduces the resistance to soil penetration by means of the sliding soil-breaking process, enlarges the subsoiling range through swinging in the whole subsoiling process, improves the soil-working effect, simultaneously, uses the swinging mechanism as a vibration source to vibrate the soil accumulated on the shovel handle to avoid the soil accumulated on the subsoiler during the swinging work period, can shift the soil accumulated on the shovel handle to two sides, reduces the resistance in the advancing direction, reduces the energy loss, the resistance to soil penetration and the total energy consumption in the advancing direction, reduces the strength requirements of the subsoiler handle and parts, avoids the damage of parts caused by insufficient strength, prolongs the service life of the parts such as the subsoiler, and greatly improves the soil-working efficiency.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the frame structure of the present invention;

FIG. 3 is a schematic view of the motor and power take-off shaft of the present invention;

FIG. 4 is a schematic view of a rocking mechanism of the present invention;

FIG. 5 is a schematic view of the relationship between the rocking beam frame and other transmission devices of the present invention;

FIG. 6 is a schematic structural diagram of a control system according to the present invention;

FIG. 7 is a schematic diagram of the spatial position of the slider-crank rocking mechanism according to the present invention;

FIG. 8 is a diagram of the motion analysis of the leader slider mechanism of the present invention;

FIG. 9 is a diagram showing the motion law of the subsoiler of the present invention;

FIG. 10 is a flow chart of a control system of the present invention;

FIG. 11 is a drawing illustrating the matching relationship between the pulling force and the rotating speed according to the present invention.

The reference numbers in the figures are: 1-frame, 2-land wheel, 3-motor, 4-power output shaft, 5-driving connecting rod, 6-swinging rod frame, 7-fixed pin, 8-subsoiling shovel handle, 9-subsoiling shovel tip, 10-swinging mechanism, 11-rolling bearing, 13-sliding sleeve, 14-pin shaft, 15-control box, 16-signal line, 17-tension sensor, 18-traction device, 1.1-traction hole, 1.2-sliding rod guide hole, 1.3-rolling bearing fixed hole, 1.4-fixed shaft, 3.1-signal receiver, 3.2-motor power output device, 4.1-bevel gear, 4.2-crank, 6.1-waist hole, 10.1-fixed bottom plate, 10.2-rotating shaft, 10.3-shaft frame, 10.4-rotating fixed plate, 10.5-bearing, 10.6-driven rod.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings to facilitate understanding of the skilled person.

As shown in fig. 1-11, the driven type swinging drag reduction subsoiler imitating the motion of the exendin of the sandfish comprises a frame 1, a swinging mechanism 10 and a subsoiler, wherein the frame 1 is provided with the swinging mechanism 10 connected with the subsoiler, and the driven swinging mechanism 10 drives the subsoiler to do a circular swinging motion and perform a soil breaking and cutting operation through swinging. The frame 1 is provided with a traction hole 1.1, and the deep loosening machine can advance by being connected with a tractor.

The crank 4.2 connecting rod mechanism is connected with a driving device, the driving device comprises a motor 3, a power output shaft 4, a control box 15 and a signal receiver 3.1, the motor 3 is connected with the power output shaft 4 through a gear transmission mechanism, and the motor 3 is connected with the control box 15 through the signal receiver 3.1. The motor 3 is arranged at the top end of the frame 1, and a signal receiver 3.1 on the motor 3 is connected with the control box 15, so that the power rotating speed matched with the traction of the tractor is obtained, and the power is provided for the swing mechanism 10. In this embodiment, the output shaft of the motor 3 is connected with the vertically installed power output shaft 4 through the bevel gear transmission mechanism 4.1, the frame 1 is provided with a rolling bearing 10.5 fixing hole 1.3, a rolling bearing 10.512 for bearing the power output shaft 4 is installed in the rolling bearing 10.5 fixing hole 1.3, the rolling bearing 10.5 fixing hole 1.3 fixes the rolling bearing 10.512, and the position of the power output shaft 4 is ensured to be fixed; the main power shaft fixing hole is mainly used for fixing the main power shaft. The fixing pin 7 is fixed at the front end of the frame 1; a subsoiler shovel handle 8 is fixed behind the swinging mechanism 10 and is positioned at the rear end of the frame 1; the subsoiler shovel tip 9 is fixed at the lower end of the subsoiler shovel handle 8, the rolling bearing 10.512 is positioned in the middle of the front end of the frame 1, the traction hole 1.1 is connected with the tractor suspension mechanism

The frame 1 is connected with a traction device 18 through a tension sensor 17, and the tension sensor 17 is connected with a control box 15. The control box 15 is arranged at the upper end of the frame 1 and is provided with a signal wire 16 which is connected with the motor 3 and the tension sensor 17. The tension sensor 17 is connected with the traction hole 1.1 at the top end of the frame 1 and is connected with the traction device 18 (generally a tractor) to realize tension signal transmission, the tension sensor 17 detects the traction force change of the tractor in the tillage process and transmits the tension signal to the control box 15, the control box 15 converts the transmitted tension signal into a control signal which can be received by the motor 3 and transmits the control signal to the motor 3, the motor 3 is matched with the rotating speed of the motor 3 under synchronous traction force after obtaining the control signal to realize the synchronous swinging frequency of the whole machine, and finally synchronous swinging deep scarification operation is realized.

The swing mechanism 10 comprises a crank 4.2 connecting rod mechanism, a swing rod frame 6, a rotating shaft 10.2 and a rotary fixing plate 10.4, the crank 4.2 connecting rod mechanism is connected with a power output shaft 4, the crank 4.2 connecting rod mechanism is also hinged with the swing rod frame 6 installed on the frame 1, the rotating shaft 10.2 is vertically installed on the frame 1 through a bearing 10.5, the rotary fixing plate 10.4 and a driven rod 10.6 are fixedly installed on the rotating shaft 10.2, the driven rod 10.6 is hinged with the swing rod frame 6, and a deep loosening shovel is installed on the rotary fixing plate 10.4. In this embodiment, a fixed bottom plate 10.1 is mounted on the frame 1, and the rotating shaft 10.2 is vertically mounted on the fixed bottom plate 10.1 through a bearing 10.5. The fixed base plate 10.1 is fixed at the rear end of the rack 1, a window is formed in the fixed base plate 10.1, the driven rod 10.6 can conveniently extend out to be hinged with the swing rod frame 6, the rotating shaft 10.2 and the waist hole 6.1 of the swing rod frame 6 form a hinged structure after being fixed through the pin shaft 14, and the gap of the waist hole 6.1 can adapt to the position change of the pin shaft 14 in the swing process to realize swing motion. The shaft support 10.3 is fixed on the rotating shaft 10.2 and realizes coaxial rotation with the rotating shaft 10.2. The rotary fixing plate 10.4 is provided with mounting holes along different height positions, the sub-soiling shovel is mounted at the mounting hole position through bolt connection, the sub-soiling depth is adjusted through connection with the mounting holes at different height positions, and accordingly the swing range of the sub-soiling shovel is increased along with the swing size of the rotary fixing plate 10.4. The swing rod frame 6 plays a bearing role in the invention, transmits the power brought by the driving connecting rod 5 to the rotating shaft 10.2 on the swing mechanism 10, and continuously transmits the swing motion law to the rotating fixing plate 10.4, and finally realizes the left-right swing of the subsoiler within a controllable range. The waist hole 6.1 in front of the swing rod frame 6 is connected with the driving connecting rod 5 to maintain the left-right reciprocating motion. Four kidney holes 6.1 at the rear of the swing rod frame 6 are respectively connected with four rotating shafts 10.2, and the four kidney holes 6.1 in the spatial position correspond to the rotating shafts 10.2 one by one, so that the synchronization of the swing process of the four swing mechanisms 10 is ensured. In addition, a fixed base plate 10.1 is fixed to the rear of the frame 1, and a rotary shaft 10.2 as a main moving part is connected to the rocking beam frame 6 to perform a rocking motion. The two bearings 10.5 are spatially symmetrical to fix the rotating shaft 10.2 to move up and down at the upper and lower ends of the rotating shaft 10.2, but the left and right rotation is not limited. The spatial position of the rotary shaft 10.2 is limited by the fixed connection to the fixed base plate 10.1. The shaft support 10.3 is fixed on the rotating shaft 10.2 in an up-and-down symmetrical mode to guarantee synchronous movement, and is connected with the rotating fixing plate 10.4 to execute swinging movement to the subsoiler so as to realize swinging movement subsoiling.

The rack 1 is provided with a slide bar guide hole 1.2, the swing rod frame 6 is connected to the position of the slide bar guide hole 1.2 in a sliding mode, the slide bar guide hole 1.2 is transversely arranged, the swing rod frame 6 can transversely move left and right along the slide bar guide hole 1.2, and the slide bar guide hole 1.2 limits the swing rod frame 6 to only reciprocate left and right.

The crank 4.2 connecting rod mechanism comprises a crank 4.2, a driving connecting rod 5 and a sliding sleeve 13, wherein the two ends of the driving connecting rod 5 are hinged with the rack 1 and the rocking bar frame 6 respectively, the sliding sleeve 13 is sleeved on the driving connecting rod 5, one end of the crank 4.2 is hinged with the sliding sleeve 13, and the other end of the crank is fixedly connected to the power output shaft 4. The driving connecting rod 5 is used as a main power transmission device and mainly plays a role of a stabilizing mechanism, the middle part of the driving connecting rod 5 is matched with the sliding sleeve 13 to transmit power transmitted by the power output shaft 4, the connecting position of the rocking bar frame 6 and the driving connecting rod 5 is also provided with a kidney hole 6.1, a hinge structure is formed after the rocking bar frame and the driving connecting rod 5 are fixed through a pin shaft 14, and the mechanism is prevented from being blocked. The swing rod frame 6 is used as a transmission device, reciprocating swing motion is realized by power provided by the driving connecting rod 5, the swing rod frame is further hinged with a driven rod 10.6 on the rotating shaft 10.2, the transmitted power is transmitted to the rotating shaft 10.2, and finally the reciprocating swing motion of the subsoiler is realized. The crank 4.2 ensures that the sliding sleeve 13 pulls the driving connecting rod 5 to do reciprocating swing motion when the power output shaft 4 does reciprocating circular motion, thereby realizing regular motion. The sliding sleeve 13 is arranged in the middle of the subsoiler frame 1 and connected with the crank 4.2 on the power output shaft 4 to guide the driving connecting rod 5 to swing within a controllable range, and the left-right swinging range is increased along with the increase of the length of the crank 4.2. The fixing pin 7 is arranged on the frame 1 at the front end of the fixing hole 1.3 of the rolling bearing 10.5 of the frame 1 and used for fixing the rolling bearing 10.512, so that the phenomenon that the gravity causes the rolling bearing to fall down to cause the stability of the mechanism to fall down is avoided.

The frame 1 is provided with a sleeve, a support rod for mounting the land wheel 2 is connected in the sleeve in a sliding manner, jacks are uniformly arranged on the sleeve along the vertical position, and the support rod is fixed on the sleeve through a bolt. Subsoiler ground wheel 2 sets up inside the front end of frame 1, and the function of main realization is, supports whole frame 1 steady walking, prevents to lead to the resistance too big because of road conditions problem, and subsoiler skew predetermined route scheduling problem.

The invention provides a driving type swinging resistance-reducing subsoiler simulating the motion of a saury lizard, a schematic diagram of the spatial position of a crank-slider swinging mechanism is shown in fig. 7, the invention provides a design process of the crank-slider swinging mechanism for the reasonability of design, the design corresponding dimension is limited to the design, and the design calculation method and the process are as follows:

the invention is designed to have a crank slider swing mechanism, and a is the crank length; b is the center distance, which is set to 305mm by the design, and c is the length of the space position of the guide rod and the slide block; d is the length of the guide rod, and the design sets the length of the guide rod to be 550 mm; e is the length of the rotating shaft, and the design is 110 mm; theta₁For the full angle of swing, the angle is set to be 30 degrees and theta₂For the limit position swing angle, the invention sets the limit position swing angle to be 15 degrees, wherein 1 is a structure simplification device of one of four (the swing rod frame 6 and the rotating shaft 10.2 are connected to the diagram), and (1) and (2) are space triangles, so the design requirements required by the design are as follows:

in order to realize a spatial position of the limit pivot angle of 15 °, the condition b is currently known as 305mm, and according to the limit position relationship between the guide rod and the slide block, the formula of pythagorean theorem is used:

a²+b²＝c²

where b is known, then a is 81.72 mm. Wherein the maximum position of c is 386.72 mm.

According to the law of similar triangles, the hypotenuse of one right triangle is proportional to the hypotenuse of the other right triangle, so that the two triangles are similar triangles.

From d 550mm and e 110mm, a right-angled triangle is constructed in spatial position for both rods, since d ande are proportional to each other, so that two similar right-angled triangles (1) and (2) can be formed, so that the swing angle theta₂And theta₃The sizes are correspondingly equal. Along with the swinging of the crank-slider mechanism, the similar right-angled triangle is still established, and the swinging angle theta₂And theta₃The sizes are equal, and synchronous operation is realized. The motion analysis diagram of the leader slider mechanism is shown in fig. 8.

Analyzing the motion of the guide rod mechanism:

the crank length a of the guide rod mechanism is 81.72mm, the center distance b is 305mm, and other parameters needing to be known are the rotation angle phi₁Constant angular velocity ω₁(ii) a The angular displacement phi of the guide rod can be obtained according to the above knowledge₂Angular velocity omega₂And angular acceleration epsilon. The motion analysis is only to provide a theoretical guidance according to the corresponding rotation angle phi of the input₁Constant angular velocity ω₁The position analysis, the speed analysis and the acceleration analysis of the mechanism can be calculated, and a rotation angle phi is provided for the mechanism₁And constant angular velocity ω₁The following motion analysis, all requirements are applicable only to the specific case of the present invention, the following is the corresponding analytical formula:

1. analysis according to position:

a+b＝s

(1)

acosφ₁＝scosφ₂

b+asinφ₁＝ssinφ₂

two types of phase place are obtained

2. Velocity analysis

Taking the derivative of the formula (1) to obtain

(2)

Both sides are respectively multiplied byTo obtain

Taking the real parts to be equal to obtain

ν₀＝-aω₁sin(φ₁-φ₂)

Taking the imaginary parts to be equal to obtain

3. And (3) acceleration analysis:

both sides are respectively multiplied byTo obtain

Taking the real parts to be equal to obtain

Taking the imaginary parts to be equal to obtain

Therefore, it is

Now special conditions are given: angle of rotation phi₁0 deg. and constant angular velocity omega₁3rad/s, so the position is determined by the above position equation: tan phi₂4.883, then phi₂78.427 degrees, and calculating the length s of the guide rod position to 352.09 mm; according to the velocity analysis formula, the following can be obtained: v is₀＝122.58，ω₂0.603 rad/s; analysis according to the acceleration formula can obtain epsilon 0.624m/s 2. Calculating the parameters, and ensuring the angular acceleration omega of the crank-slider mechanism at the corresponding speed of the tractor to ensure the reasonability of the design at the running speed of the tractor₂The acceleration epsilon and the spatial position relation under the corresponding condition provide theoretical support for the stability of the mechanism.

The following diagram is a schematic diagram of stress analysis of the subsoiler and a swing rule of the subsoiler, the best ground breaking mode and the optimal resistance reduction condition are realized by changing a swing angle, the front soil resistance and the resistance formed by soil accumulation are avoided, and a theoretical guidance function is provided for the subsoiler through stress analysis. The subsoiler movement profile is shown in fig. 9.

The tractor pull provides a speed, the force of which is not affected by the force field from other parts. By means of the size of the swing angle, normal force F is formed on two sides of the subsoiler_NAnd a lateral force F_L(perpendicular and parallel to the cell, respectively), as:

F_N＝2lr(C_Ssinβ₀+C_Fsinψ) (3)

F_L＝2lrC_Fcosψ (4)

tanβ₀＝cotγsinψ (5)

wherein, V_xFor forward velocity, θ is the angle between the cell and the overall forward direction, ψ is the angle of the motion vector of the cell, l and r are the length and radius of the cell (assuming a cylindrical shape), and C is a constant_S、C_FAnd γ characterizes the response of the material to resistance.

In order to realize the synchronous operation matching degree of the tractor and the subsoiler, the control system is added, a tension value is transmitted to the control box through the tension sensor connected with the tractor traction device, the control box distributes the rotating speed of the motor through tension, the transmission of the whole machine and the swing amplitude of the subsoiler are realized, the synchronous integration is realized, and the use damage of the subsoiler during operation is reduced. The control system flow chart is shown in fig. 10.

The invention provides a matching relation between the tension of a control system and the rotating speed of a motor, which is only limited to the use of the control system, and the specific process is regulated and controlled according to the requirements of related workers. The invention makes the control signal to present linear trend by frequency modulation for the control box, the simulation setting relationship is that a pulling force corresponds to a motor rotating speed, the whole presents a linear increasing trend that the motor rotating speed is increased along with the increase of the pulling force, the linear increasing relationship is shown in figure 11:

the invention combines the research on bionics, applies the bionic to the research on agricultural machinery, in particular to the research on subsoilers, combines the motion of the Exendicular muscle on the subsoiler, and realizes the swinging of the swinging mechanism by means of the crank-slider mechanism, thereby realizing the swinging soil breaking and cutting process. The resistance to penetration is greatly reduced by means of the sliding cutting type soil breaking process. The whole subsoiling process enlarges the subsoiling range through swinging, and the soil preparation effect is improved. Under the same working condition, the traditional subsoiling cultivation mode agricultural machine needs to bear more resistance and faces the problem that soil adhesion is adhered to a subsoiler, so that not only is a large amount of energy consumption increased, but also the possibility of damage to the agricultural machine in the subsoiling process is greatly increased. According to the invention, soil accumulated on the subsoiler handle is deviated to two sides by means of left-right swinging and tractor driving, so that the resistance in the advancing direction is reduced, the energy loss is reduced, the loss of parts of the subsoiler is reduced, and the service life of the parts of the subsoiler is prolonged. The invention realizes the function of regulating and controlling the rotating speed of the motor by means of the control system and depending on the change of the traction force of the tractor, thereby changing the swing frequency and changing along with the traction of the tractor, thereby saving the power consumption.

Finally, it is noted that the above-mentioned preferred embodiments illustrate rather than limit the invention, and that, although the invention has been described in detail with reference to the above-mentioned preferred embodiments, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the scope of the invention as defined by the appended claims.