CN104823572B - A kind of hydraulic tracing control planting mechanism - Google Patents
A kind of hydraulic tracing control planting mechanism Download PDFInfo
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- CN104823572B CN104823572B CN201510237997.7A CN201510237997A CN104823572B CN 104823572 B CN104823572 B CN 104823572B CN 201510237997 A CN201510237997 A CN 201510237997A CN 104823572 B CN104823572 B CN 104823572B
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Abstract
The invention discloses a kind of hydraulic tracing control planting mechanism, including ground sensing mechanisms, hydraulic actuating mechanism and planting apparatus follower.It is to obtain ground height fluctuating situation by ground sensing mechanisms, feeds back to planting apparatus hydraulic lifting actuator, controls the lifting of the flexible drive planting apparatus follower of hydraulic cylinder, thus ensures that duckbilled is planted the consistent of relative altitude between parts with ground.Present configuration is simple, easy to spread, the planting apparatus follower at rear portion have employed a parallelogram connection-rod structure, bigger load, displacement enlargement amount can be born, and ensure that balance and the perpendicularity of planting apparatus during profiling, and then ensure that the uniformity of the depth of planting during transplanting, improve the quality planted, preferably meet the requirement to nonirrigated farmland field transplanting.
Description
Technical field
The invention belongs to the technical field of dry land transplanter, particularly relate to a kind of shifting with ground profiling ability
Cultivation machine planting mechanism.
Background technology
Culturing and transplanting seedlings is an important production link of the crop-plantings such as vegetable, carries out nonirrigated farmland and transplants and can be greatly improved
The survival rate of seedling, reduces secondary and reseeds.China started to develop dry land transplanter from late 1950s,
The experimentation being successively correlated with the vegetable such as Cotton Gossypii, Semen Maydis respectively, have developed various types of transplanting
Machine.And planting apparatus is the core component of transplanter in addition to seedling picking mechanism, it is by seedling picking mechanism or manually to carry
For rice shoot, then by seedling planting to ground, there is the upright advantage planting Seedling, the development of transplanter can be reflected
Process and progressive level.At present, the planting apparatus type domestic and international transplanter used has clamp type, flexible disk
Formula, suppending cup type and seedling guide tube type 4 kinds.
Planting apparatus, as a vitals of transplanter, mainly completes seedlings picking, plants the actions such as Seedling, and a shifting
The quality of cultivation machine planting quality is reflected directly in the effect that planting apparatus finally works, so must assure that and planting
Height is consistent with curve, is accomplished by here planting apparatus is carried out profiling.Patent CN104115600A discloses one
Kind of transplanter ground feeler mechanism, it is to utilize contour wheel sensing ground change, by a series of linkages with
Hydraulic system coordinates the purpose being finally reached chassis profiling.But chassis main frame is the heaviest, hydraulic system is born
Carry and require more harshness, the hydraulic cylinder that bearing capacity is bigger need to be selected, relatively costly, and also long-time the highest
Loaded work piece is easy to damage hydraulic system；Patent CN102487643A discloses the electricity of a kind of rice transplanter
Dynamic feeler mechanism, is respectively arranged with two feeler mechanisms, motor drives respectively, work alone about rice transplanter, it is ensured that
Chassis main frame and the depth of parallelism on ground, but the load that in this mechanism, motor is born from chassis is the biggest, needs choosing
Use relatively high power motor, and structure is complicated, causes relatively costly, and the work of long-time high capacity is the most very
Easily cause the damage of motor, so being difficult to promote.
At present, the profiling of major part transplanter is all that planting apparatus relies on chassis, reaches to plant by chassis profiling
The purpose that the degree of depth is consistent.But chassis profiling needs hydraulic cylinder to drive whole gantry motion, and hydraulic cylinder is subjected to
Load is the highest, is now accomplished by the hydraulic system selecting bearing capacity bigger, greatly adds cost；Due to
Chassis is the heaviest, and during forming movement, the inertia force suffered by hydraulic cylinder is big especially, long-time high capacity,
Successional work is likely to bring the damage of hydraulic cylinder, finally affects the efficiency planted, and chassis profiling
Structure is complicated mostly, operability is poor, it is difficult to realize large-scale popularization.
Summary of the invention
It is an object of the invention to provide a kind of hydraulic tracing control planting mechanism, real to realize by ground sensing mechanisms
Time perceiving ground situation, signal is passed to hydraulic system, is automatically adjusted planting apparatus by hydraulic circuit servo-actuated
The lifting of mechanism, ensures that duckbilled in planting apparatus follower is planted the parts relative altitude with ground, thus protects
The effect of quality that card is planted, simple in construction, be swift in response, effect notable.
In order to solve above technical problem, the present invention directly carries out profiling process to planting apparatus, compares whole chassis
For frame, planting apparatus follower employs parallelogram sturcutre, simple in construction, light, is possible not only to
Bear bigger load, and serve the effect of displacement equations.The most not only alleviate the load that hydraulic cylinder is born
Lotus, also reduces the stroke of hydraulic cylinder, it is not necessary to select the hydraulic cylinder that bearing capacity is relatively big and stroke is bigger, significantly
While providing cost savings, also can reach more preferable Planting effect, the concrete technical scheme of employing is as follows:
A kind of hydraulic tracing control planting mechanism, it is characterised in that including: ground sensing mechanisms (2), hydraulic pressure perform machine
Structure and planting apparatus follower (4)；Ground sensing mechanisms (2) and planting apparatus follower (4) are arranged on frame (31)
Middle part and front and back in straight line, ground sensing mechanisms and planting apparatus follower are connected by hydraulic actuating mechanism
Planting apparatus follower (4) is installed in rotation on the afterbody of frame (31)；
Described ground sensing mechanisms (2) includes that land wheel (11), land wheel wheel shaft (12), land wheel wheel carrier (13), land wheel are taken turns
Frame fixed plate (14), stretching spring (15), fixed plate connecting rod (16), valve core link rod (17), spool (18) and servo-actuated
Servo valve (9)；Described land wheel (11) is installed in rotation on land wheel wheel shaft (12), the two ends of land wheel wheel shaft (12)
Being connected by connecting rod and land wheel wheel carrier (13) are fixing, land wheel wheel carrier (13) is fixedly mounted on land wheel wheel carrier fixed plate (14)
On, land wheel wheel carrier fixed plate (14) is rotatably connected with frame (31)；One end of stretching spring (15) and frame (31)
Revolute pair is fixing to be connected, and the other end is fixing with the upper end of land wheel wheel carrier (13) to be connected；Under fixed plate connecting rod (16)
Holding be connected fixing with land wheel wheel carrier fixed plate (14) upper end, the other end rotatably connects with the lower end of valve core rod (17)
Connect；The upper end of valve core rod (17) is rotatably connected with spool (18), and spool (18) can be installed slidably along positioning sleeve
In the valve body of follow-up type servovalve (9), follow-up type servovalve (9) is fixedly mounted in frame (31)；
Described planting apparatus follower (4) includes that chute (19), slide block (20), duckbilled are planted parts (21), duckbilled
Part stent of planting (22), planting apparatus fixed plate (23), follower lower fulcrum bar (24), follower pull bar (25),
Pull bar fixed plate (26), hydraulic cylinder connecting rod (27), follower upper rack posts (28), planting apparatus installing connecting rods (29),
On-off valve (6), on-off valve spool (30) and hydraulic cylinder (8)；Described on-off valve (6) is fixedly mounted on the upper of chute (19)
End, chute (19) is fixedly mounted in planting apparatus fixed plate (23), and slide block (20) can along chute (19) inwall slidably
It is arranged in chute (19)；Duckbilled part stent (22) of planting is installed in rotation on the middle part of slide block (20), duckbilled
Parts (21) of planting are fixedly mounted on duckbilled and plant in part stent (22)；Planting apparatus fixed plate (23) is fixedly mounted on
On planting apparatus installing connecting rods (29), the upper end of planting apparatus installing connecting rods (29) and the lower end of follower upper rack posts (28)
Be rotatably connected by revolute pair A, lower end can be turned by revolute pair B with the lower end of follower lower fulcrum bar (24)
It is dynamically connected；The upper end of follower upper rack posts (28) is arranged in frame (31) by revolute pair E is rotating,
The lower end of the middle part of follower lower fulcrum bar (24) and follower pull bar (25) is fixing to be connected, upper end is consolidated with pull bar
Determining the fixing connection of plate (26), the lower end of pull bar fixed plate (26) is rotatably connected by revolute pair C with frame (31),
The upper end of follower pull bar (25) and pull bar fixed plate (26) upper end are fixing to be connected, pull bar fixed plate (26) upper end and
Hydraulic cylinder connecting rod (27) upper end is rotatably connected by revolute pair D, and the lower end of hydraulic cylinder (8) and frame (31) can
Be rotationally connected, upper end is fixed with hydraulic cylinder connecting rod (27) lower end and is connected；
Described hydraulic actuating mechanism includes on-off valve (6), hydraulic oil pipe (7), hydraulic cylinder (8), follow-up type servovalve (9)
With hydraulic pump (10)；Follow-up type servovalve (9), on-off valve (6) and hydraulic cylinder (8) are in turn switched on by hydraulic oil pipe (7)；
Follow-up type servovalve (9) is 3-position 4-way servo valve, and on-off valve (6) is two-position four-way valve, and hydraulic cylinder (8) is double acting
Hydraulic cylinder, follow-up type servovalve (9) is fixedly mounted by hydraulic oil pipe (7) connection, hydraulic pump (10) with hydraulic pump (10)
In frame (31).
Equipped with stretching spring (15) on described ground sensing mechanisms (2), described stretching spring (15) is cylinder
Shape spiral spring, normal condition is very close to each other, just meeting when only pulling force reaches to stretch spring (15) initial tension
It is stretched.
The line that described revolute pair A and the line AE of revolute pair E composition and revolute pair B are constituted with revolute pair C
BC is isometric and parallel, constitutes parallel-crank mechanism.
In described planting apparatus follower (4) in planting apparatus fixed plate (23) can the multiple planting apparatus of parallel installation, energy
Realize multirow to transplant simultaneously.In the present invention, ground sensing mechanisms is mounted with a stretching spring, when ground phase
To more flat, when height changes little, stretching spring, due to the effect of pretightning force, will not be stretched, so can make
Whole mechanism keeps poised state.When only ground height changes greatly, land wheel just can overcome the stretching of stretching spring
Power makes ground sensing mechanisms operating, now could start profiling.
In the present invention, hydraulic cylinder is rotatably connected with frame, and hydraulic cylinder connecting rod and follower pull bar are by turning
Dynamic secondary D is rotatably connected, and hydraulic cylinder is fixing with hydraulic cylinder connecting rod to be connected, and so can realize hydraulic cylinder simultaneously
Rotate and the translation of cylinder body, better meet the lifting requirement of planting apparatus follower.
In the present invention, on-off valve is fixedly mounted on the top of planting apparatus chute, and and if only if, and duckbilled plants that parts are planted
Planting end, when moving to seedlings picking state, slide block props up on-off valve spool, and on-off valve just can be opened, hydraulic circuit
Could be fully switched on, thus control the lifting of hydraulic cylinder.So need to ensure during design that the center of land wheel plants with duckbilled
Plant the distance of the spacing in the rows planted needed for distance L of part centre is, so control a spacing in the rows hydraulic cylinder fortune
Dynamic regulation once, forms periodic movement, it is ensured that the stability of process of planting.
In the present invention, planting apparatus follower have employed a parallelogram linkage, described revolute pair A
The line AE and revolute pair B that constitute with revolute pair E are isometric and parallel with the line BC that revolute pair C is constituted,
The so angular velocity of upper and lower two poles of follower, angular displacement is identical, it is ensured that planting apparatus installing connecting rods translation, from
And ensure that planting apparatus remains state perpendicular to the ground during planting apparatus follower profiling, and this
Mechanism can bear bigger load, alleviate hydraulic cylinder burden, and can play displacement enlargement, reduce hydraulic cylinder
The effect of stroke；It is connected it addition, follower pull bar upper end is fixing with pull bar fixed plate upper end, follower
Pull bar lower end is fixing with in the middle part of follower lower fulcrum bar to be connected, under follower lower fulcrum bar top and pull bar fixed plate
End is fixing to be connected, and triangle mechanism, owing to the lower fulcrum bar of planting apparatus follower not only support whole machine
The weight of structure, is also the part of hydraulic cylinder transmission power, uses three-legged structure to make bar linkage structure more stable, energy
Preferably reach load-bearing, the effect of transmission power.
The invention have the advantage that the present invention is by using frame for movement to coordinate hydraulic system to carry out profiling so that whole
Body simple in construction, low cost, effect are obvious.Ground sensing mechanisms is changed by the height of land wheel perceiving ground,
Signal feeding back to HYDRAULIC CONTROL SYSTEM hydraulic cylinder, drives planting apparatus follower to move up and down, it is right to accomplish
The real-time profiling on ground, it is ensured that duckbilled is planted the relative altitude on parts and ground, improves success rate of planting.
The present invention directly carries out profiling process to planting apparatus, distinguishes with whole chassis main frame profiling, planting apparatus follower
Structure employs parallelogram sturcutre, simple in construction, light, is possible not only to bear bigger load, and plays
The effect of displacement equations.The most not only alleviate the load that hydraulic cylinder is born, also reduce the row of hydraulic cylinder
Journey, it is not necessary to select the hydraulic cylinder that bearing capacity is relatively big and stroke is bigger, while being greatly saved cost, also can
Reach more preferable Planting effect.
Accompanying drawing explanation
Fig. 1 is the front view of apparatus of the present invention.
Fig. 2 is the front view of apparatus of the present invention ground sensing mechanisms.
Fig. 3 is the front view of apparatus of the present invention planting apparatus hunting gear.
Fig. 4 is the kinematic sketch of apparatus of the present invention ground sensing mechanisms.
Fig. 5 is the kinematic sketch of apparatus of the present invention planting apparatus hunting gear.
Fig. 6 is the hydraulic schematic diagram that apparatus of the present invention control feeler mechanism.
In figure: 1-front-wheel, 2-ground sensing mechanisms, 3-trailing wheel, 4-planting apparatus follower, 5-planting apparatus,
6-on-off valve, 7-hydraulic oil pipe, 8-hydraulic cylinder, 9-follow-up type servovalve, 10-hydraulic pump, 11-land wheel, 12-
Land wheel wheel shaft, 13-land wheel wheel carrier, 14-land wheel wheel carrier fixed plate, 15-stretching spring, 16-fixed plate connecting rod,
Plant parts, 22-duckbilled of 17-valve core link rod, 18-spool, 19-chute, 20-slide block, 21-duckbilled is planted portion
Part support, 23-planting apparatus fixed plate, 24-follower lower fulcrum bar, 25-follower pull bar, 26-pull bar are solid
Determine connecting rod, 29-planting apparatus installing connecting rods, 30-on-off valve in plate, 27-hydraulic cylinder connecting rod, 28-follower
Spool, 31-frame, 32-component I, 33-component II, 34-component II I, 35-component IV, 36-component V,
37-component VI, 38-component VII, 39-component VIII, 40-component IX, 41-member X, 42-member X I.
Detailed description of the invention
Below in conjunction with the accompanying drawings and specific embodiment, technical scheme is further described.
As shown in Figure 1: a kind of hydraulic tracing control planting mechanism, by ground sensing mechanisms 2, hydraulic actuating mechanism,
Planting apparatus follower 4, front-wheel 1, trailing wheel 3 and frame 31 form.Front-wheel 1 and trailing wheel 3 pass through connecting rod
Part is rotating to be arranged in frame 31, and front-wheel 1 turns to, and trailing wheel 3 drives；Ground sensing mechanisms 2 is solid
Dingan County is contained in frame 31, the change of perceiving ground；Planting apparatus follower 4 is rotating is arranged on frame
On 31, regulation planting apparatus and ground relative altitude；Hydraulic actuating mechanism is by ground sensing mechanisms 2 and planting apparatus
Follower 4 is fixed together, and forms a kind of transplanter hydraulic tracing control planting mechanism.
As shown in Figure 2: ground sensing mechanisms 2 is by land wheel 11, land wheel wheel shaft 12, land wheel wheel carrier 13, land wheel
Wheel carrier fixed plate 14, stretching spring 15, fixed plate connecting rod 16, valve core link rod 17, spool 18 and servo-actuated watch
Take valve 9 to form.Machine is when more flat ground handling, and land wheel 11 can produce a little displacement in theory, but
Owing to stretching the existence of spring 15, land wheel 11 can not drive fixed plate connecting rod 16 to rotate, and each mechanism is just in
Often poised state, does not the most carry out profiling；When land wheel 11 goes on the ground of projection, land wheel 11 can overcome and draws
The pretightning force stretching spring 15 moves upward, and now fixed plate connecting rod 16 can drive valve core link rod 17 to rotate down,
Thus band movable valve plug 18 moves downward, the upper access system of such follow-up type servovalve 9, on 6 dozens, logical section valve
In the case of opening, hydraulic cylinder 8 can drive the upper lower fulcrum bar of planting apparatus follower 4 to rotate clockwise, and drives and plants
Plant device 5 to move upward, thus ensure that duckbilled is planted parts 21 relative altitude with ground；When land wheel 11 is gone down
During the ground caved in, land wheel 11 can overcome the pretightning force of stretching spring 15 to move downward, now fixed plate connecting rod
16 can drive valve core link rod 17 to be rotated up, thus band movable valve plug 18 moves upward, such follow-up type servovalve 9
The next access system, in the case of logical section valve 6 is opened, hydraulic cylinder 8 can drive planting apparatus follower 4
Upper lower fulcrum bar rotate counterclockwise, drive planting apparatus 5 to move downward, thus ensure duckbilled plant parts 21 with
The relative altitude on ground.
It addition, this ground sensing mechanisms 2 stretching spring 15 installed above, when ground is relatively flat, high
When low change is little, stretching spring 15 will not be stretched under pretightning force effect, and whole mechanism so can be made to protect
Hold poised state.When only ground height changes greatly, land wheel 11 just can overcome in the pretightning force of stretching spring 15
Rising or declining makes ground sensing mechanisms 2 work, and now could start profiling.
As shown in Figure 3: planting apparatus follower 4 is planted parts 21, duck by chute 19, slide block 20, duckbilled
Mouth plant part stent 22, planting apparatus fixed plate 23, follower lower fulcrum bar 24, follower pull bar 25,
Pull bar fixed plate 26, hydraulic cylinder connecting rod 27, follower upper rack posts 28, planting apparatus installing connecting rods 29, logical
Disconnected valve 6, on-off valve spool 30 and hydraulic cylinder 8 form.On-off valve 6 is fixedly mounted on the top of chute 19,
Duckbilled plants parts 21 plant end that and if only if, moves to seedlings picking state, and slide block 20 props up on-off valve spool
When 30, on-off valve 6 just can be opened, and hydraulic circuit could be fully switched on, thus controls the lifting of hydraulic cylinder 8.
So planting needed for need to ensureing to plant the center of land wheel 11 and duckbilled during design distance L at parts 21 center being
The distance of one spacing in the rows, so controls spacing in the rows hydraulic cylinder 8 motor adjustment once, forms periodic movement, protects
Demonstrate,prove the stability of process of planting；Described planting apparatus follower 4 can parallel be installed in planting apparatus fixed plate 23
Multiple planting apparatuses, can realize multirow simultaneously and transplant.
As shown in Figure 4: for ease of motion principle analysis, ground sensing mechanisms is reduced to kinematic sketch, in figure
Component I 32 represents land wheel 11, component II 33 represents fixed plate connecting rod 16, component III 34 represents valve core link rod
17, component IV 35 represents follow-up type servovalve spool 18,31 and represents frame.The component I 32 when ground projection
Can rise and drive component II 33 around frame 31 revolute pair rotationally clockwise, the rotation of component II 33
Component III 34 can be pulled to rotate down, and the rotation of component III 34 can drive again component IV 35 to move downward；Otherwise,
When the ground caved in, component I 32 can decline and drive component II 33 around frame 31 revolute pair counterclockwise
Rotating, the rotation of component II 33 can pull component III 34 to be rotated up, and the rotation of component III 34 can drive again structure
Part IV 35 moves upward.
As shown in Figure 5: for ease of motion principle analysis, planting apparatus follower is reduced to kinematic sketch, figure
Middle component V36 represents hydraulic cylinder connecting rod 27, component VI37 represents pull bar fixed plate 26, component VII38
Represent follower pull bar 25, component VIII39 represents follower lower fulcrum bar 24, component IX40 represents cultivation
Plant device 5, member X 41 represents planting apparatus installing connecting rods 29, member X I42 represents connecting rod 28 in follower,
31 represent frame, 8 represent hydraulic cylinder.When ground projection, hydraulic system can control hydraulic cylinder 8 cylinder body indentation,
Thus drive the component V36 of connection fixed thereto to move right, now component V36 will drive the company of rotation therewith
The triangular structure that component VI37, component VII38 and the component VIII39 connect is constituted is suitable around frame 31
Hour hands rotate, and meanwhile, member X I42 rotates clockwise around frame 31 therewith, and such member X 41 is at component
The drive declivity of VIII39 and member X I42 moves upward, and member X 41 keeps plumbness with ground all the time,
So component IX40 moves as well as member X 41 and keeps plumbness with ground all the time；Otherwise, when
When the ground caved in, hydraulic system can control hydraulic cylinder 8 cylinder body and stretch out, thus drives the component of connection fixed thereto
V36 is to left movement, and now component V36 will drive rotationally connected component VI37, component VII38
The triangular structure constituted with component VIII39 rotates counterclockwise around frame 31, meanwhile, and member X I42
Rotating counterclockwise around frame 31 therewith, such member X 41 is in component VIII39 and the drive of member X I42
Declivity moves downward, and member X 41 all the time with ground keep plumbness, such component IX40 as well as
Member X 41 is moved and keeps plumbness with ground all the time；During profiling, hydraulic cylinder 8 can be along with machine
Structure motion does corresponding rotation around frame 31, preferably coordinates the motion of planting apparatus follower.
As shown in Figure 6: ground sensing mechanisms 2 is rotationally connected with the spool 18 of follow-up type servovalve 9, servo-actuated watch
Take valve 9, on-off valve 6 and hydraulic cylinder 8 to be fixedly connected sequentially by hydraulic oil pipe 7, described follow-up type servovalve
9 is 3-position 4-way servo valve, and on-off valve 6 is two-position four-way valve, and hydraulic cylinder 8 is double acting hydraulic cylinder, hydraulic pressure
Cylinder 8 is rotating to be arranged in frame 31.Ground sensing mechanisms 2 real-time perception ground changes, and is passed by signal
Passing follow-up type servovalve 9 in hydraulic actuating mechanism, the flow direction being regulated hydraulic oil by follow-up type servovalve 9 is come
Control the flexible of hydraulic cylinder 8, thus control the lifting of planting apparatus follower 4, it is ensured that duckbilled is planted parts
21 with the relative altitude on ground.
Illustrating with a planting apparatus 5, the specific works process of the present invention is as follows:
Machine is when more flat ground handling, and land wheel 11 can produce a little displacement in theory, but due to stretching
The existence of spring 15, now land wheel 11 can not overcome the pretightning force of stretching spring 15 to drive fixed plate connecting rod 16
Rotating, each mechanism, all in normal equilibrium state, does not carry out profiling；
When land wheel 11 goes on the ground of projection, land wheel 11 can overcome the pretightning force of stretching spring 15 upwards to transport
Dynamic, now fixed plate connecting rod 16 can drive valve core link rod 17 to rotate down, thus band movable valve plug 18 is transported downwards
Dynamic, the upper access system of such follow-up type servovalve 9, in the case of logical section valve 6 is opened, hydraulic system meeting
Control hydraulic cylinder 8 cylinder body indentation, thus drive the hydraulic cylinder connecting rod 27 of connection fixed thereto to move right,
Now hydraulic cylinder connecting rod 27 will drive rotationally connected pull bar fixed plate 26, follower pull bar 25
The triangular structure constituted with follower lower fulcrum bar 24 rotates clockwise around frame 31, meanwhile, servo-actuated
In mechanism, connecting rod 28 also can rotate clockwise around frame 31 therewith, such planting apparatus installing connecting rods 29 with
Translation obliquely under the drive of connecting rod 28 on motivation structure lower fulcrum bar 24 and follower, and planting apparatus installing connecting rods
29 keep plumbness with ground all the time, and such planting apparatus 5 is as well as planting apparatus installing connecting rods 29 translation also
And keep plumbness with ground all the time, reach the purpose of profiling；
In like manner, when land wheel 11 walks the ground of lower recess, land wheel 11 can overcome the pretightning force of stretching spring 15
Moving downward, now fixed plate connecting rod 16 can drive valve core link rod 17 to be rotated up, thus band movable valve plug 18
Move upward, the next access system of such follow-up type servovalve 9, in the case of logical section valve 6 is opened, hydraulic pressure
System can control hydraulic cylinder 8 cylinder body and stretch out, thus drives the hydraulic cylinder connecting rod 27 of connection fixed thereto to the left
Motion, now hydraulic cylinder connecting rod 27 will drive rotationally connected pull bar fixed plate 26, follower
The triangular structure that pull bar 25 and follower lower fulcrum bar 24 are constituted rotates counterclockwise around frame 31, with
Time, in follower, connecting rod 28 also can rotate counterclockwise around frame 31 therewith, such planting apparatus installing connecting rods
29 translations obliquely under the drive of connecting rod 28 on follower lower fulcrum bar 24 and follower, and planting apparatus
Installing connecting rods 29 keeps plumbness with ground all the time, and such planting apparatus 5 is as well as planting apparatus installing connecting rods
29 translations and all the time with ground keep plumbness, reach the purpose of profiling.
Certainly, the present invention also can have other various embodiments, and in described planting apparatus follower 4, planting apparatus is fixed
On plate 23 can two planting apparatuses the most multiple of parallel installation, can realize simultaneously two row even more multirow transplant,
In the case of without departing substantially from present invention spirit and essence thereof, those of ordinary skill in the art work as can be according to the present invention
Make various corresponding change and deformation, but these change accordingly and deformation all should belong to the power appended by the present invention
The protection domain that profit requires.
Claims (4)
1. a hydraulic tracing control planting mechanism, it is characterised in that including: ground sensing mechanisms (2), hydraulic actuating mechanism and planting apparatus follower (4)；Ground sensing mechanisms (2) and planting apparatus follower (4) are arranged on frame (31) middle part and front and back in straight line, ground sensing mechanisms (2) and planting apparatus follower (4) are connected by hydraulic actuating mechanism, the rotating afterbody being arranged on frame (31) of planting apparatus follower (4)；
Described ground sensing mechanisms (2) includes land wheel (11), land wheel wheel shaft (12), land wheel wheel carrier (13), land wheel wheel carrier fixed plate (14), stretching spring (15), fixed plate connecting rod (16), valve core link rod (17), spool (18) and follow-up type servovalve (9)；Described land wheel (11) is installed in rotation on land wheel wheel shaft (12), the two ends of land wheel wheel shaft (12) are connected by connecting rod and land wheel wheel carrier (13) are fixing, land wheel wheel carrier (13) is fixedly mounted on land wheel wheel carrier fixed plate (14), and land wheel wheel carrier fixed plate (14) is rotatably connected with frame (31)；One end of stretching spring (15) is fixing with frame (31) revolute pair to be connected, and the other end is fixing with the upper end of land wheel wheel carrier (13) to be connected；The lower end of fixed plate connecting rod (16) is fixing with land wheel wheel carrier fixed plate (14) upper end to be connected, and the other end is rotatably connected with the lower end of valve core rod (17)；The upper end of valve core rod (17) is rotatably connected with spool (18), spool (18) can be slidably mounted in the valve body of follow-up type servovalve (9) along positioning sleeve, and follow-up type servovalve (9) is fixedly mounted in frame (31)；
Described planting apparatus follower (4) includes chute (19), slide block (20), duckbilled is planted parts (21), duckbilled is planted part stent (22), planting apparatus fixed plate (23), follower lower fulcrum bar (24), follower pull bar (25), pull bar fixed plate (26), hydraulic cylinder connecting rod (27), follower upper rack posts (28), planting apparatus installing connecting rods (29), on-off valve (6), on-off valve spool (30) and hydraulic cylinder (8)；Described on-off valve (6) is fixedly mounted on the upper end of chute (19), chute (19) is fixedly mounted in planting apparatus fixed plate (23), in slide block (20) can be slidably mounted on chute (19) along chute (19) inwall；Duckbilled part stent (22) of planting is installed in rotation on the middle part of slide block (20), and duckbilled parts (21) of planting are fixedly mounted on duckbilled and plant in part stent (22)；Planting apparatus fixed plate (23) is fixedly mounted on planting apparatus installing connecting rods (29), and the upper end of planting apparatus installing connecting rods (29) and the lower end of follower upper rack posts (28) are rotatably connected by revolute pair A, lower end is rotatably connected by revolute pair B with the lower end of follower lower fulcrum bar (24)；The upper end of follower upper rack posts (28) is arranged in frame (31) by revolute pair E is rotating, the middle part of follower lower fulcrum bar (24) is fixing with the lower end of follower pull bar (25) to be connected, upper end is fixing with pull bar fixed plate (26) to be connected, the lower end of pull bar fixed plate (26) is rotatably connected by revolute pair C with frame (31), the upper end of follower pull bar (25) is fixing with pull bar fixed plate (26) upper end to be connected, pull bar fixed plate (26) upper end is rotatably connected by revolute pair D with hydraulic cylinder connecting rod (27) upper end, the lower end of hydraulic cylinder (8) is rotatably connected with frame (31), upper end is fixing with hydraulic cylinder connecting rod (27) lower end to be connected；
Described hydraulic actuating mechanism includes on-off valve (6), hydraulic oil pipe (7), hydraulic cylinder (8), follow-up type servovalve (9) and hydraulic pump (10)；Follow-up type servovalve (9), on-off valve (6) and hydraulic cylinder (8) are in turn switched on by hydraulic oil pipe (7)；Follow-up type servovalve (9) is 3-position 4-way servo valve, on-off valve (6) is two-position four-way valve, hydraulic cylinder (8) is double acting hydraulic cylinder, follow-up type servovalve (9) is connected by hydraulic oil pipe (7) with hydraulic pump (10), and hydraulic pump (10) is fixedly mounted in frame (31)；
Wherein, the on-off valve (6) in described planting apparatus follower (4) and hydraulic actuating mechanism and hydraulic cylinder (8) are same parts.
A kind of hydraulic tracing control planting mechanism the most according to claim 1, it is characterized in that: equipped with stretching spring (15) on described ground sensing mechanisms (2), described stretching spring (15) is cylindrical helical shape spring, normal condition is very close to each other, and only pulling force reaches just can be stretched when stretching spring (15) initial tension.
A kind of hydraulic tracing control planting mechanism the most according to claim 1, it is characterised in that: described revolute pair A is isometric and parallel with the line BC that revolute pair C is constituted with the line AE that revolute pair E is constituted and revolute pair B, constitutes parallel-crank mechanism.
A kind of hydraulic tracing control planting mechanism the most according to claim 1, it is characterised in that: in described planting apparatus follower (4) planting apparatus fixed plate (23) in can the multiple planting apparatus of parallel installation, multirow transplanting can be realized simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510237997.7A CN104823572B (en) | 2015-05-11 | 2015-05-11 | A kind of hydraulic tracing control planting mechanism |
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| CN106068837B (en) * | 2016-08-16 | 2018-05-18 | 东北农业大学 | A kind of rice seedling transplanter |
| CN106973599B (en) * | 2017-01-18 | 2019-06-28 | 江苏大学 | A kind of planting mechanism transverse direction and longitudinal direction copying device and control method |
| CN106538124A (en) * | 2017-01-20 | 2017-03-29 | 四川省农业机械研究设计院 | High self adaptation seedling makes nest planting machine on ridge |
| CN107197646B (en) * | 2017-07-12 | 2024-01-26 | 河南科技大学 | Electro-hydraulic profiling planting depth automatic regulating and controlling device |
| CN107646263A (en) * | 2017-10-31 | 2018-02-02 | 江苏大学 | A kind of transplanting locomotive frame for automatically adjusting the depth of planting and angle |
| CN108064477A (en) * | 2017-12-09 | 2018-05-25 | 无锡松田豹机械科技有限公司 | Rotary cultivator operator link |
| CN108450103B (en) * | 2018-04-28 | 2019-08-27 | 江苏大学 | A kind of transplanter seedling separation real-time copying device of planting mechanism |
| CN108834512B (en) * | 2018-08-16 | 2021-10-22 | 许昌职业技术学院 | Transplanting depth automatic regulating device of transplanter |
| CN110249733A (en) * | 2019-06-13 | 2019-09-20 | 农业农村部南京农业机械化研究所 | Full-automatic transplantation combine transplants unit Hoist Control Unit |
| CN111066400B (en) * | 2019-12-20 | 2021-08-24 | 盐城可理斯机械制造有限公司 | Rotary cultivator three-point mounted frame |
| CN114223327B (en) * | 2021-11-19 | 2023-06-16 | 吉林省农业机械研究院 | Paddy field weeding device with intelligent automatic compensation profiling mechanism |
| CN114158326B (en) * | 2021-12-13 | 2022-09-06 | 山东省农业机械技术推广站 | Corn seeding row number adjusting device and using method thereof |
| CN115053672A (en) * | 2022-06-15 | 2022-09-16 | 中国热带农业科学院农业机械研究所 | Vegetable transplanting machine and control method thereof |
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