基于螳螂前足结构特征的仿生切茬刀片设计
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摘要
在中国北方地区，农民习惯把残留在地表的作物根茬挖掘出来并就地焚烧，这种根茬处理方式不但费时费力，而且严重污染环境。因此，研究设计一种简单高效的根茬切割工具不仅能够提高农业生产的作业效率也满足了保护生态环境方面的需求。本文基于对螳螂前足结构特征的研究，设计了几种仿生切茬刀片，并利用有限元建模方法和实际试验测量来分析其切茬性能。
长期以来，土壤耕作作为农业工程领域中的热点，一直备受专家学者的关注。实质上，任何一个耕种的操作过程都可以视为工件切削和粉碎土壤的过程，而耕作阻力的大小主要取决于耕作部件的形状、土壤质地与作业方式。在实际研究中，几乎所有用于田间作业的土壤切削工具的设计和改良都是依靠大量的田间试验经反复摸索得到的。解决合理化建模的问题即可减少甚至取代繁琐耗时、花费高昂的田间试验。而有限元分析方法在建模分析这一方面展现出了显著的优势，只要能够选择出一个合适的本构关系来描述土壤材料，并对某一耕作工具的形状和非线性接触关系建立计算机模型，就可以对该耕作部件的作业过程进行动态仿真模拟。本工作建立了一个计算机预测模型，通过有限元分析方法计算分析旋耕作业中常用的切土部件—L型直刀的工作阻力。将旋转速度和旋转方式对刀片工作阻力的影响作为对比分析的主要因素，考察三种不同旋转速度（220r/min，300r/min，388r/min）与两种旋转方式（逆转旋切、正转旋切）条件下，L刀的工作阻力情况。并在土槽试验室内构建了一套切削阻力测试装置以测量L刀的切土阻力。通过有限元模型预测与实际土槽测量的对比，得到了预测值与真实值近似的结论，进而证实了有限元仿真模型的可靠性与合理性。因此，本工作中的有限元模型可作为一个简单可靠的预测工具，在农业耕种模式及作业工具的设计研发中发挥一定作用。
螳螂是昆虫界最优秀的捕食者之一，它的前足胫节与腿节布满了极为锋利的锯齿状的刺，且能够准确迅猛地向猎物发起进攻，牢牢钳住猎物，这种锐利的齿状结构与排列方式对于实现切割刀具的减阻降耗的仿生设计具有重要意义。本工作中通过使用体视显微镜对螳螂前足的表面形态进行分析，提取了螳螂前足轮廓形状的相关几何参数，为切割刀片的仿生设计提供了参考信息。并且，提出了模糊相似的概念与相似度的判断和计算方法。同时，利用扫描电子显微镜对前足端爪、胫节、腿节表面及其体刺表面进行微观分析。除形态分析外，本工作中亦使用显微硬度仪和纳米力学测试系统分别测量以上部位的硬度和强度，探讨螳螂前足的力学性能。综合对螳螂胫节、腿节及端爪的形貌分析、显微硬度和纳米力学性能的测量，发现螳螂前足的似镰刀形状能很好的钳住猎物完成捕食动作，而紧密排列的鳞片形结构单元和棱条形结构单元，为其提供了卓越的机械性能，从而打造了一对强韧有力、迅猛锐利的捕食工具。
基于对螳螂前足的形态研究，本工作借鉴螳螂胫节和腿节上的齿刺形状与排列形式，并参考薯类等地下作物收获机械的工作方式，设计出几种仿生根茬切割刀具及试验配套机具。并利用有限元预测模型与田间试验测量的方式比较几种刀片的切土性能。结果表明切茬刀片的刃口形状对切土阻力有较大的影响，无仿生元素的参考刀片所产生的切削阻力与切土功耗均高于3种仿生齿形刀片的切土阻力和功耗。而刀片的前进速度对切土阻力、切土功耗影响不大。
In north China, people usually use handy soil-digging tools to remove soil fromstubbles and then burn them. This process is rather slow and not cost effective, and moreseriously, directly burning stubbles in the field pollutes the air. So it is both economicallyimportant and friendly environmental required to research, design and develop astubble-cutting tool. Base on the study of the foreleg of praying mantis, a series of bionicstubble-cutting blades were designed in this work. Finite element method and fieldmeasurement were used to examine the working performance of these bionic blades.
Soil tillage has always been a research focus in agricultural engineering. As any tillageoperation is a process of cutting and breaking soil, tillage force mainly depends upon theblade shape, soil property, and operating conditions. Actually, almost allthe soil cutting toolsused in farming have been developed by field experiments and by trial and error. Accuratemodeling of soil material and soil-implement interaction is the basic key to this optimizationand may reduce the need for numerous expensive field tests. Finite element method (FEM)shows some advantages in this aspect, since any implement structure and non-linearbehavior of tillage interaction can be modeled if a proper constitutive law is chosen. In thiswork, a3D dynamic simulation model using FEM of the soil-cutting blade was establishedto predict the working effect of soil-cutting tool-blade L and to compare and analyze theeffects of different rotational speeds（220r/min，300r/min，388r/min） and rotational forms（up-cut rotation and down-cut rotation）. In order to measure the cutting force of blade L，a specialized test device was designed in an soil bin laboratory. A relatively good generalcorrelation was obtained between the finite element simulation and the experimental results.Hence, it is proven that the finite element model in this work is a general and useful tool and it would play an important role in the design and development of tillage forms and tools.
As an excellent predator in insect world, the praying mantis has a pair of powerful tools,two sharp and strong forelegs, and the femur and tibia are both armed with a double row ofstrong spines along their posterior borders. They can be flexed on each other so that anyobject is firmly grasped between these spines. The shape and arrangement of these sharpspines are valuable to the bionic design of energy-saving and drag-reduction cutting tools. Inthis work, detailed investigations which can supply reference information to the bionicdesign of cutting tools based on the morphologies of the forelegs in the prayingmantis(Mantis religiosa Linnaeus) were carried out by microscopy. Moreover, a conceptionof Fuzzy Similarity was introduced, and an effective mathematical method was put forwardto identify the extent of morphology similarity between two creatures and quantitativelyanalyze the similitude degree. Besides, scanning electron microscopy was used to obtaininformation of the surface microstructure of the tibia, femur and the spines. The mechanicalproperties of these parts were investigated by nanoindenter and Vickers hardness testerrespectively. From these analysis results, it can be found that shape of the foreleg of prayingmantis highly serves the prey action，and the dense, well-aligned squamous cell and arrisfibers offer excellent mechanical properties to this powerful capture tool—tibia and femur.
According to the morphologial analysis of praying mantis’s forelegs, the shape andarrangement of the spines in femur and tibia were imitated in this work. The cuttingequipments of subterranean crops (such as potatoes) harvest machines were taken as areference.The bionic design of cutting blades was conducted. Finite element model and fieldtests were conducted to analyze and compare the working performance of the bionic cuttingblades in this work. The results show that cutting edge shape has a great influence on thesoil-cutting force. The reference blade without bionic design element has more cutting forceand cutting work than the blades by bionic design. The working velocity of cutting bladeshas little influence on the cutting force and cutting work.
长期以来，土壤耕作作为农业工程领域中的热点，一直备受专家学者的关注。实质上，任何一个耕种的操作过程都可以视为工件切削和粉碎土壤的过程，而耕作阻力的大小主要取决于耕作部件的形状、土壤质地与作业方式。在实际研究中，几乎所有用于田间作业的土壤切削工具的设计和改良都是依靠大量的田间试验经反复摸索得到的。解决合理化建模的问题即可减少甚至取代繁琐耗时、花费高昂的田间试验。而有限元分析方法在建模分析这一方面展现出了显著的优势，只要能够选择出一个合适的本构关系来描述土壤材料，并对某一耕作工具的形状和非线性接触关系建立计算机模型，就可以对该耕作部件的作业过程进行动态仿真模拟。本工作建立了一个计算机预测模型，通过有限元分析方法计算分析旋耕作业中常用的切土部件—L型直刀的工作阻力。将旋转速度和旋转方式对刀片工作阻力的影响作为对比分析的主要因素，考察三种不同旋转速度（220r/min，300r/min，388r/min）与两种旋转方式（逆转旋切、正转旋切）条件下，L刀的工作阻力情况。并在土槽试验室内构建了一套切削阻力测试装置以测量L刀的切土阻力。通过有限元模型预测与实际土槽测量的对比，得到了预测值与真实值近似的结论，进而证实了有限元仿真模型的可靠性与合理性。因此，本工作中的有限元模型可作为一个简单可靠的预测工具，在农业耕种模式及作业工具的设计研发中发挥一定作用。
螳螂是昆虫界最优秀的捕食者之一，它的前足胫节与腿节布满了极为锋利的锯齿状的刺，且能够准确迅猛地向猎物发起进攻，牢牢钳住猎物，这种锐利的齿状结构与排列方式对于实现切割刀具的减阻降耗的仿生设计具有重要意义。本工作中通过使用体视显微镜对螳螂前足的表面形态进行分析，提取了螳螂前足轮廓形状的相关几何参数，为切割刀片的仿生设计提供了参考信息。并且，提出了模糊相似的概念与相似度的判断和计算方法。同时，利用扫描电子显微镜对前足端爪、胫节、腿节表面及其体刺表面进行微观分析。除形态分析外，本工作中亦使用显微硬度仪和纳米力学测试系统分别测量以上部位的硬度和强度，探讨螳螂前足的力学性能。综合对螳螂胫节、腿节及端爪的形貌分析、显微硬度和纳米力学性能的测量，发现螳螂前足的似镰刀形状能很好的钳住猎物完成捕食动作，而紧密排列的鳞片形结构单元和棱条形结构单元，为其提供了卓越的机械性能，从而打造了一对强韧有力、迅猛锐利的捕食工具。
基于对螳螂前足的形态研究，本工作借鉴螳螂胫节和腿节上的齿刺形状与排列形式，并参考薯类等地下作物收获机械的工作方式，设计出几种仿生根茬切割刀具及试验配套机具。并利用有限元预测模型与田间试验测量的方式比较几种刀片的切土性能。结果表明切茬刀片的刃口形状对切土阻力有较大的影响，无仿生元素的参考刀片所产生的切削阻力与切土功耗均高于3种仿生齿形刀片的切土阻力和功耗。而刀片的前进速度对切土阻力、切土功耗影响不大。
In north China, people usually use handy soil-digging tools to remove soil fromstubbles and then burn them. This process is rather slow and not cost effective, and moreseriously, directly burning stubbles in the field pollutes the air. So it is both economicallyimportant and friendly environmental required to research, design and develop astubble-cutting tool. Base on the study of the foreleg of praying mantis, a series of bionicstubble-cutting blades were designed in this work. Finite element method and fieldmeasurement were used to examine the working performance of these bionic blades.
Soil tillage has always been a research focus in agricultural engineering. As any tillageoperation is a process of cutting and breaking soil, tillage force mainly depends upon theblade shape, soil property, and operating conditions. Actually, almost allthe soil cutting toolsused in farming have been developed by field experiments and by trial and error. Accuratemodeling of soil material and soil-implement interaction is the basic key to this optimizationand may reduce the need for numerous expensive field tests. Finite element method (FEM)shows some advantages in this aspect, since any implement structure and non-linearbehavior of tillage interaction can be modeled if a proper constitutive law is chosen. In thiswork, a3D dynamic simulation model using FEM of the soil-cutting blade was establishedto predict the working effect of soil-cutting tool-blade L and to compare and analyze theeffects of different rotational speeds（220r/min，300r/min，388r/min） and rotational forms（up-cut rotation and down-cut rotation）. In order to measure the cutting force of blade L，a specialized test device was designed in an soil bin laboratory. A relatively good generalcorrelation was obtained between the finite element simulation and the experimental results.Hence, it is proven that the finite element model in this work is a general and useful tool and it would play an important role in the design and development of tillage forms and tools.
As an excellent predator in insect world, the praying mantis has a pair of powerful tools,two sharp and strong forelegs, and the femur and tibia are both armed with a double row ofstrong spines along their posterior borders. They can be flexed on each other so that anyobject is firmly grasped between these spines. The shape and arrangement of these sharpspines are valuable to the bionic design of energy-saving and drag-reduction cutting tools. Inthis work, detailed investigations which can supply reference information to the bionicdesign of cutting tools based on the morphologies of the forelegs in the prayingmantis(Mantis religiosa Linnaeus) were carried out by microscopy. Moreover, a conceptionof Fuzzy Similarity was introduced, and an effective mathematical method was put forwardto identify the extent of morphology similarity between two creatures and quantitativelyanalyze the similitude degree. Besides, scanning electron microscopy was used to obtaininformation of the surface microstructure of the tibia, femur and the spines. The mechanicalproperties of these parts were investigated by nanoindenter and Vickers hardness testerrespectively. From these analysis results, it can be found that shape of the foreleg of prayingmantis highly serves the prey action，and the dense, well-aligned squamous cell and arrisfibers offer excellent mechanical properties to this powerful capture tool—tibia and femur.
According to the morphologial analysis of praying mantis’s forelegs, the shape andarrangement of the spines in femur and tibia were imitated in this work. The cuttingequipments of subterranean crops (such as potatoes) harvest machines were taken as areference.The bionic design of cutting blades was conducted. Finite element model and fieldtests were conducted to analyze and compare the working performance of the bionic cuttingblades in this work. The results show that cutting edge shape has a great influence on thesoil-cutting force. The reference blade without bionic design element has more cutting forceand cutting work than the blades by bionic design. The working velocity of cutting bladeshas little influence on the cutting force and cutting work.
引文
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