CN102792814A - High-speed pot seedling transplanting mechanism with free second-order non-circular gear and planet system - Google Patents
High-speed pot seedling transplanting mechanism with free second-order non-circular gear and planet system Download PDFInfo
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Abstract
Description
技术领域 technical field
本发明涉及一种农业机械中的移栽机械，具体地说是涉及一种自由二阶非圆齿轮行星系高速钵苗移栽机构。 The invention relates to a transplanting machine in agricultural machinery, in particular to a high-speed pot seedling transplanting mechanism of a free second-stage non-circular gear planetary system.
背景技术 Background technique
移栽具有对气候的补偿作用和使作物生育提早的综合效益，可以充分利用光热资源，其经济效益和社会效益均非常可观。水田、旱地的钵苗移栽作业需要开发高速钵苗移栽机构。 Transplanting has the comprehensive benefits of climate compensation and early crop growth, and can make full use of light and heat resources, and its economic and social benefits are very considerable. Potted seedling transplanting operations in paddy fields and dry land require the development of high-speed potted seedling transplanting mechanisms.
行星轮系旋转式传动机构在插秧机上已有应用，插秧机是针对毯状苗一种栽植机械，秧针无需进入钵体内，取苗通过撕裂土块的方式，秧针轨迹是一个光滑的曲线，而钵苗移栽机需要秧针进入钵苗盘内夹持秧苗，且不能破坏钵盘和伤根，故轨迹需要一个尖锐的凸起；从秧针进入钵体到完全离开钵体，秧针的运动方向和钵体的方向保持平行，即秧针需要一段接近于直线的运动轨迹，在现有的栽植机械上应用的椭圆齿轮、偏心非圆齿轮等行星系不等速传动机构均不能满足上述要求，钵苗移栽机要求的特殊轨迹阻碍了旋转式行星轮系机构在移栽机上的应用，即无法使用旋转式分秧机构来克服现有分秧机构的缺点。 The rotary transmission mechanism of the planetary gear system has been applied in the rice transplanter. The rice transplanter is a kind of planting machine for blanket seedlings. The needle does not need to enter the pot. The seedlings are taken out by tearing the soil block. The pot seedling transplanting machine needs the needles to enter the pot seedling tray to hold the seedlings, and can not damage the pot tray or damage the roots, so the trajectory needs a sharp protrusion; from the seedling needles entering the pot body to completely leaving the pot body, The movement direction of the seedling needles is kept parallel to the direction of the pot body, that is, the seedling needles need a movement track close to a straight line. The planetary system non-uniform speed transmission mechanisms such as elliptical gears and eccentric non-circular gears used in the existing planting machinery are all The above requirements cannot be met, and the special trajectory required by the pot seedling transplanting machine hinders the application of the rotary planetary gear train mechanism on the transplanting machine, that is, the rotary seedling separating mechanism cannot be used to overcome the shortcomings of the existing seedling separating mechanism.
发明内容 Contents of the invention
本发明的目的是提供一种自由二阶非圆齿轮行星系高速钵苗移栽机构，该机构利用特殊的自由的二阶传动比，能满足钵苗移栽机所需的“卜形”轨迹要求，并能适应移栽机在任何转速下的作业。 The object of the present invention is to provide a high-speed pot seedling transplanting mechanism of a free second-order non-circular gear planetary system, which can meet the "bu-shaped" trajectory required by the pot seedling transplanter by using a special free second-order transmission ratio Requirements, and can adapt to the operation of the transplanter at any speed.
为了达到上述目的，本发明采用的技术方案是： In order to achieve the above object, the technical scheme adopted in the present invention is:
本发明的中心轴的一端与动力装置连接，中心轴的另一端与行星架固接，自由二阶中心非圆齿轮空套在中心轴上与机架固接，第一自由二阶中间非圆齿轮、第二自由二阶中间非圆齿轮分别通过与其销轴联接的第一中间轴、第二中间轴与行星架铰链联接，第一自由二阶行星非圆齿轮通过与其花键联接的第一行星轴与行星架铰链联接，第二自由二阶行星非圆齿轮通过与其花键联接的第二行星轴与行星架铰链联接，第一自由二阶中间非圆齿轮和第一自由二阶行星非圆齿轮、第二自由二阶中间非圆齿轮和第二自由二阶行星非圆齿轮分别分布在中心轴的两侧；第一自由二阶中间非圆齿轮、第二自由二阶中间非圆齿轮的一处分别与自由二阶中心非圆齿轮齿轮副联接，第一自由二阶中间非圆齿轮、第二自由二阶中间非圆齿轮的另一处分别与第一自由二阶行星非圆齿轮和第一自由二阶行星非圆齿轮齿轮副联接；第一取苗爪、第一取苗爪分别于第一行星轴和第二行星轴固接。 One end of the central shaft of the present invention is connected to the power device, the other end of the central shaft is fixedly connected to the planet carrier, the free second-stage center non-circular gear is fixedly connected to the frame on the central shaft, and the first free second-stage middle non-circular The gear and the second free second-stage intermediate non-circular gear are hinged to the planet carrier through the first intermediate shaft and the second intermediate shaft connected to the pin shaft, and the first free second-stage planetary non-circular gear is connected to the first free second-stage non-circular gear through the spline. The planetary shaft is hinged to the planetary carrier, the second free second-stage planetary non-circular gear is hinged to the planetary carrier through the second planetary shaft splined to it, the first free second-stage intermediate non-circular gear and the first free second-stage planetary non-circular gear The circular gear, the second free second-stage intermediate non-circular gear and the second free second-stage planetary non-circular gear are respectively distributed on both sides of the central shaft; the first free second-stage intermediate non-circular gear, the second free second-stage intermediate non-circular gear One of them is respectively connected with the free second-stage central non-circular gear pair, the other of the first free second-stage intermediate non-circular gear and the second free second-stage intermediate non-circular gear are respectively connected with the first free second-stage planetary non-circular gear It is connected with the first free second-stage planetary non-circular gear pair; the first seedling picking claw and the first seedling picking claw are fixedly connected to the first planetary shaft and the second planetary shaft respectively.
所述的自由二阶中心非圆齿轮、第一自由二阶行星非圆齿轮和第二自由二阶行星非圆齿轮三个齿轮的节曲线参数完全一致；第一自由二阶中间非圆齿轮和第二自由二阶中间非圆齿轮的节曲线参数完全一致。 The pitch curve parameters of the three gears of the free second-stage central non-circular gear, the first free second-stage planetary non-circular gear and the second free second-stage planetary non-circular gear are completely consistent; the first free second-stage intermediate non-circular gear and The pitch curve parameters of the second free second-order intermediate non-circular gear are exactly the same.
行星架转动一周，第一自由二阶中间非圆齿轮和第二自由二阶中间非圆齿轮相对行星架也做整周转动，整周运动中第一自由二阶中心非圆齿轮与第一和第二自由二阶中间非圆齿轮的传动比分为两个相异的波动过程。 When the planet carrier rotates once, the first free second-stage intermediate non-circular gear and the second free second-stage intermediate non-circular gear also make a complete rotation relative to the planet carrier. The transmission ratio of the second free second-order intermediate non-circular gear is divided into two different fluctuation processes.
经过所述的自由二阶非圆齿轮行星系传动，第一取苗爪、第二取苗爪周期中二次不等幅摆动，形成“卜形”轨迹，轨迹的右部形成一尖嘴。 Through the free second-order non-circular gear planetary system transmission, the first seedling claw and the second seedling claw swing twice in a period of unequal amplitude to form a "bu-shaped" trajectory, and a sharp beak is formed on the right part of the trajectory.
本发明具有的有益效果是： The beneficial effects that the present invention has are:
本发明在满足行星架转动一周，在满足自由二阶中间非圆齿轮相对行星架整周转动的条件下设计自由二阶中心非圆齿轮与自由二阶中间非圆齿轮的传动比规律，改变传动比两个波动过程的幅度和各个波动过程在运动周期所需时间所占的比例能够灵活控制取苗爪的二次摆动规律。 The present invention designs the transmission ratio law of the free second-order central non-circular gear and the free second-order intermediate non-circular gear under the condition that the planetary carrier rotates one cycle and the free second-order intermediate non-circular gear rotates relative to the planet carrier for a full circle, and changes the transmission By comparing the amplitudes of the two fluctuation processes and the proportions of the time required for each fluctuation process in the movement cycle, the law of the secondary swing of the seedling claw can be flexibly controlled.
该分秧机构通过自由二阶非圆齿轮行星系作为不等速传动机构，取苗爪尖点轨迹成“卜形”，该轨迹满足钵苗移栽机移栽农艺要求；克服了多杆机构和间歇机构的缺点，具有结构简单，体积小，重量轻，振动小，制造成本低等优点；同时采用两个取苗爪的布置方案，行星架转动一次，移栽作业两次，工作效率高，能适应移栽机在任何转速下的水田和旱地移栽作业。 The seedling separating mechanism uses a free second-order non-circular gear planetary system as a non-constant speed transmission mechanism to take the trajectory of the tip of the seedling claw into a "bu-shape", which meets the agronomic requirements of the pot seedling transplanter; overcomes the multi-rod mechanism and The shortcomings of the intermittent mechanism have the advantages of simple structure, small size, light weight, small vibration, and low manufacturing cost; at the same time, it adopts the arrangement of two seedling claws, the planetary frame rotates once, and the transplanting operation is performed twice, and the work efficiency is high. It can adapt to the paddy field and dry land transplanting operations at any speed of the transplanter.
附图说明 Description of drawings
图1是本发明的结构原理示意图。 Fig. 1 is a schematic diagram of the structure principle of the present invention.
图2是周期中自由二阶中心非圆齿轮与第一自由二阶中间非圆齿轮的传动比曲线。 Fig. 2 is the transmission ratio curve of the free second-stage central non-circular gear and the first free second-stage intermediate non-circular gear in a cycle.
图3是自由二阶非圆齿轮行星系齿轮啮合图。 Figure 3 is the gear meshing diagram of the free second-order non-circular gear planetary system.
图4是周期中第一取苗爪摆角曲线。 Fig. 4 is the swing angle curve of the first seedling claw in the cycle.
图5为几种常见非圆齿轮单个周期传动比曲线。 Figure 5 shows the single cycle transmission ratio curves of several common non-circular gears.
图中：1、中心轴，2、行星架，3、自由二阶中心非圆齿轮，4、第一自由二阶中间非圆齿轮，4’、第二自由二阶中间非圆齿轮，5、第一中间轴，5’、第一中间轴，6、第一自由二阶行星非圆齿轮，6’、第二自由二阶行星非圆齿轮，7、第一行星轴，7’、第二行星轴，8，第一取苗爪，8’、第二取苗爪，9、“卜形”轨迹，10、单级卵形齿轮周期性传动比曲线，11、单级椭圆齿轮周期性传动比曲线，12、单级变形卵形齿轮周期性传动比曲线。 In the figure: 1. central shaft, 2. planet carrier, 3. free second-order central non-circular gear, 4. first free second-order intermediate non-circular gear, 4', second free second-order intermediate non-circular gear, 5. The first intermediate shaft, 5', the first intermediate shaft, 6, the first free second-stage planetary non-circular gear, 6', the second free second-stage planetary non-circular gear, 7, the first planetary shaft, 7', the second Planetary axis, 8, the first claw for picking seedlings, 8', the second claw for picking seedlings, 9, "Bu-shaped" trajectory, 10, the periodic transmission ratio curve of single-stage oval gear, 11, the periodic transmission of single-stage oval gear Ratio curve, 12. Periodic transmission ratio curve of single-stage deformed oval gear.
具体实施方式 Detailed ways
下面结合附图和实施例对本发明作进一步说明。 The present invention will be further described below in conjunction with drawings and embodiments.
如图1所示，中心轴1的一端与动力装置连接，中心轴1的另一端与行星架2固接，自由二阶中心非圆齿轮3空套在中心轴1上与机架固接，第一自由二阶中间非圆齿轮4、第二自由二阶中间非圆齿轮4’分别通过与其销轴联接的第一中间轴5、第二中间轴5’与行星架铰链联接，第一自由二阶行星非圆齿轮(6)通过与其花键联接的第一行星轴7与行星架铰链联接，第二自由二阶行星非圆齿轮6’通过与其花键联接的第二行星轴7’与行星架铰链联接，第一自由二阶中间非圆齿轮4和第一自由二阶行星非圆齿轮6、第二自由二阶中间非圆齿轮4’和第二自由二阶行星非圆齿轮6’分别分布在中心轴(1)的两侧；第一自由二阶中间非圆齿轮4、第二自由二阶中间非圆齿轮4’的一处分别与自由二阶中心非圆齿轮3齿轮副联接，第一自由二阶中间非圆齿轮4、第二自由二阶中间非圆齿轮4’的另一处分别与第一自由二阶行星非圆齿轮6和第一自由二阶行星非圆齿轮6’齿轮副联接；第一取苗爪8、第一取苗爪8’分别于第一行星轴7和第二行星轴7’固接。图1所示行星架2顺时针转动，通过自由二阶非圆齿轮行星系传动，上述两取苗爪形成“卜形”轨迹9，两取苗爪在“卜形”轨迹9上顺指针运动，在两取苗爪由“卜形”轨迹9上部进入“卜形”轨迹9右部的伸出尖嘴段有一段近似直线，保证取苗爪能垂直插入钵苗土钵。 As shown in Figure 1, one end of the central shaft 1 is connected to the power unit, the other end of the central shaft 1 is fixedly connected to the planet carrier 2, and the free second-order central non-circular gear 3 is sleeved on the central shaft 1 and fixed to the frame. The first free second-stage intermediate non-circular gear 4 and the second free second-stage intermediate non-circular gear 4' are respectively connected to the planet carrier hinge through the first intermediate shaft 5 and the second intermediate shaft 5' connected with the pin shaft, and the first free The second-stage planetary non-circular gear (6) is hinged to the planet carrier through the first planetary shaft 7 splined to it, and the second free second-stage planetary non-circular gear 6' is connected to the second planetary shaft 7' splined to it. Planetary carrier hinge connection, first free second-stage intermediate non-circular gear 4 and first free second-stage planetary non-circular gear 6, second free second-stage intermediate non-circular gear 4' and second free second-stage planetary non-circular gear 6' They are respectively distributed on both sides of the central axis (1); one part of the first free second-stage intermediate non-circular gear 4 and the second free second-stage intermediate non-circular gear 4' is respectively connected with the free second-stage central non-circular gear 3 gear pair , the other part of the first free second-stage intermediate non-circular gear 4 and the second free second-stage intermediate non-circular gear 4' are respectively connected with the first free second-stage planetary non-circular gear 6 and the first free second-stage planetary non-circular gear 6 'Gear pair connection; the first seedling picking claw 8 and the first seedling picking claw 8' are fixedly connected to the first planetary shaft 7 and the second planetary shaft 7' respectively. The planet carrier 2 shown in Fig. 1 rotates clockwise, and through the transmission of the planetary system of free second-order non-circular gears, the above-mentioned two seedling claws form a "bu-shape" trajectory 9, and the two seedling claws move along the pointer on the "bu-shape" trajectory 9. , There is a section of approximate straight line at two getting seedling claws that enter " bu shape " track 9 right parts by " bu shape " track 9 tops and stretching out the beak section, guarantee to get seedling claws and can vertically insert pot seedling earth bowl.
所述的自由二阶中心非圆齿轮3、第一自由二阶行星非圆齿轮6和第二自由二阶行星非圆齿轮6’三个齿轮的节曲线参数完全一致；第一自由二阶中间非圆齿轮4和第二自由二阶中间非圆齿轮4’的节曲线参数完全一致。 The pitch curve parameters of the three gears of the free second-stage central non-circular gear 3, the first free second-stage planetary non-circular gear 6 and the second free second-stage planetary non-circular gear 6' are completely consistent; the first free second-stage intermediate The pitch curve parameters of the non-circular gear 4 and the second free second-order intermediate non-circular gear 4' are exactly the same.
行星架2转动一周，第一自由二阶中间非圆齿轮4和第二自由二阶中间非圆齿轮4’相对行星架2也做整周转动，整周运动中第一自由二阶中心非圆齿轮3与第一和第二自由二阶中间非圆齿轮4、4’的传动比分为两个相异的波动过程。，其周期中传动比曲线如图2所示，传动比周期中二次波动，存在两个波动的幅值和谷值，两次波动过程占总周期时间的比例、波动幅值和谷值可根据轨迹要求灵活设计。自由二阶中心非圆齿轮3、第一自由二阶行星非圆齿轮6和第二自由二阶行星非圆齿轮6’三个齿轮的节曲线参数完全一致；第一自由二阶中间非圆齿轮4和第二自由二阶中间非圆齿轮4’的节曲线参数完全一致，所述机构的齿轮啮合图如图3所示，图3中的非圆齿轮齿廓由图2中的传动比规律决定，轮系的节曲线均为自由二阶节曲线。 The planet carrier 2 rotates once, and the first free second-stage intermediate non-circular gear 4 and the second free second-stage intermediate non-circular gear 4' also make a complete rotation relative to the planet carrier 2, and the first free second-stage center non-circular The transmission ratio between the gear 3 and the first and second free second-stage intermediate non-circular gears 4, 4' is divided into two different fluctuation processes. , the transmission ratio curve in its cycle is shown in Fig. 2. There are two fluctuation amplitudes and valleys in the transmission ratio cycle. The ratio of the two fluctuations to the total cycle time, the fluctuation amplitude and the valley can be Flexible design according to track requirements. The pitch curve parameters of the three free second-stage central non-circular gears 3, the first free second-stage planetary non-circular gear 6 and the second free second-stage planetary non-circular gear 6' are exactly the same; the first free second-stage intermediate non-circular gear 4 is completely consistent with the pitch curve parameters of the second free second-order intermediate non-circular gear 4', the gear meshing diagram of the mechanism is shown in Figure 3, the non-circular gear tooth profile in Figure 3 is determined by the transmission ratio law in Figure 2 It is determined that the pitch curves of the gear train are all free second-order pitch curves.
在行星架2转动一个周期中，第一取苗爪8与水平方向夹角变化曲线如图4所示，从图4可见，第一取苗爪8夹角先变大，到达第一个幅值之后减小至第一个谷值，之后再增大至另一幅值，然后再减小至第二谷值，第一取苗爪8在一个周期中经历二次不等幅摆动。 During one cycle of the rotation of the planetary carrier 2, the first angle change curve between the first seedling claw 8 and the horizontal direction is shown in Fig. Afterwards, the value decreases to the first valley value, then increases to another amplitude value, and then decreases to the second valley value. The first seedling claw 8 experiences two swings with different amplitudes in one cycle.
图5所示为椭圆齿轮、变形卵形齿轮和卵形齿轮的周期性传动比规律，椭圆齿轮一个周期传动比函数波动一次，变形卵形齿轮和卵形齿轮周期内传动比波动两次，但两个波动的幅值和谷值一致，限制了周期中非匀速传动比比规律，图2所示的自由二阶非圆齿轮传动的周期性传动比规律比图5所示几种传动更灵活，输出特性更利于形成钵苗移栽轨迹。 Figure 5 shows the periodic transmission ratio law of the oval gear, the deformed oval gear and the oval gear. The transmission ratio function of the oval gear fluctuates once in one period, and the transmission ratio fluctuates twice in the period of the deformed oval gear and the oval gear, but The amplitude of the two fluctuations is consistent with the valley value, which limits the non-uniform transmission ratio law in the cycle. The periodic transmission ratio law of the free second-order non-circular gear transmission shown in Figure 2 is more flexible than that of several transmissions shown in Figure 5. The output characteristics are more conducive to the formation of pot seedling transplanting trajectory.
本发明的工作原理如下： The working principle of the present invention is as follows:
动力经由中心轴1传给与中心轴1固接行星架2，带动行星架2顺时针转动。自由二阶中心非圆齿轮3空套在中心轴1上与机架固接，第一自由二阶中间非圆齿轮4、第二自由二阶中间非圆齿轮4’分别通过与其销轴联接的第一中间轴5、第二中间轴5’与行星架铰链联接，第一自由二阶行星非圆齿轮6、第二自由二阶行星非圆齿轮6’分别通过与其花键联接的第一行星轴7、第二行星轴7’与行星架铰链联接，上述两自由二阶中间非圆齿轮和两自由二阶行星非圆齿轮分布在中心轴1的两侧；第一自由二阶中间非圆齿轮4、第二自由二阶中间非圆齿轮4’一处与自由二阶中心非圆齿轮3齿轮副联接，第一自由二阶中间非圆齿轮4、第二自由二阶中间非圆齿轮4’的另一处分别与第一自由二阶行星非圆齿轮6、第一自由二阶行星非圆齿轮6’齿轮副联接；第一取苗爪8、第一取苗爪8’分别于第一行星轴7、第二行星轴7’固接。 The power is transmitted through the central shaft 1 and fixedly connected to the planetary carrier 2 with the central shaft 1, driving the planetary carrier 2 to rotate clockwise. The free second-stage central non-circular gear 3 is empty sleeved on the central shaft 1 and fixedly connected to the frame, the first free second-stage intermediate non-circular gear 4 and the second free second-stage intermediate non-circular gear 4' are respectively connected to the pin shafts The first intermediate shaft 5 and the second intermediate shaft 5' are hingedly connected to the planetary carrier, and the first free second-stage planetary non-circular gear 6 and the second free second-stage planetary non-circular gear 6' are respectively connected to the first planet through splines. The shaft 7 and the second planetary shaft 7' are hingedly connected with the planet carrier, and the above-mentioned two free second-stage intermediate non-circular gears and two free second-stage planetary non-circular gears are distributed on both sides of the central axis 1; the first free second-stage intermediate non-circular Gear 4, the second free second-stage intermediate non-circular gear 4' is connected with the free second-stage central non-circular gear 3 gear pair, the first free second-stage intermediate non-circular gear 4, the second free second-stage intermediate non-circular gear 4 The other part of ' is respectively connected with the first free second-stage planetary non-circular gear 6 and the first free second-stage planetary non-circular gear 6' gear pair; the first seedling claw 8 and the first seedling claw 8' are respectively connected to the A planetary shaft 7 and a second planetary shaft 7' are fixedly connected.
经过所述的自由二阶中心非圆齿轮行星系传动，第一取苗爪8、第一取苗爪8’周期中二次不等幅摆动，形成“卜形”轨迹，轨迹的右部形成一尖嘴，满足钵苗移栽作业要求。 Through the described free second-stage center non-circular gear planetary system transmission, the first seedling claw 8 and the first seedling claw 8' cycle swing twice with unequal amplitude to form a "bu-shaped" trajectory, and the right part of the trajectory forms a A pointed mouth, which meets the requirements of transplanting seedlings in pots.
上述具体实施方式用来解释说明本发明，而不是对本发明进行限制，在本发明的精神和权利要求的保护范围内，对本发明作出的任何修改和改变，都落入本发明的保护范围。 The above specific embodiments are used to explain the present invention, rather than to limit the present invention. Within the spirit of the present invention and the protection scope of the claims, any modification and change made to the present invention will fall into the protection scope of the present invention.
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| CN201210325098.9A CN102792814B (en) | 2012-09-05 | 2012-09-05 | High-speed pot seedling transplanting mechanism with free second-order non-circular gear and planet system |
| JP2015530268A JP6074508B2 (en) | 2012-09-05 | 2013-03-25 | Transplanting mechanism for combined rice bot seedlings |
| PCT/CN2013/073118 WO2014036825A1 (en) | 2012-09-05 | 2013-03-25 | Combined-type pot-grown rice seedling transplanting mechanism |
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| WO2014036825A1 (en) * | 2012-09-05 | 2014-03-13 | 东北农业大学 | Combined-type pot-grown rice seedling transplanting mechanism |
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| CN107654585B (en) * | 2017-08-30 | 2019-07-16 | 浙江理工大学 | Design method of non-circular gear planetary gear train based on kinematics mapping |
| CN107882944A (en) * | 2017-10-30 | 2018-04-06 | 黄丽贤 | A kind of bielliptic(al) gear pair gearbox designs |
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| CN114402760A (en) * | 2022-01-17 | 2022-04-29 | 江苏大学 | A three-arm differential non-circular gear train transplanting mechanism |
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