CN104855023B - Sinusoidal motion swing type wide-narrow row spacing transplanting mechanism for pot seedlings - Google Patents
Sinusoidal motion swing type wide-narrow row spacing transplanting mechanism for pot seedlings Download PDFInfo
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- CN104855023B CN104855023B CN201510260376.0A CN201510260376A CN104855023B CN 104855023 B CN104855023 B CN 104855023B CN 201510260376 A CN201510260376 A CN 201510260376A CN 104855023 B CN104855023 B CN 104855023B
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Abstract
The invention discloses a sinusoidal motion swing type wide-narrow row spacing transplanting mechanism for pot seedlings. A seedling taking position is inaccurate and the seedling taking rate is low due to large lateral deviation of a seedling taking jaw of an existing wide-narrow row spacing transplanting mechanism for rice potted-seedlings during seedling taking; the seedling standing ratio is low due to influence of a lateral deviation angle of a planting arm during seedling pushing. A center shaft drives two planet wheel systems on two sides; an upper planting arm and a lower planting arm are arranged at the upper part and the lower part of a gearbox of each planet wheel system respectively; each of the upper planting arm and the lower planting arm of each gearbox comprises a planting arm casing as well as a main swing cam, an auxiliary swing cam, a seedling pushing cam, a swing shaft, a seedling pushing rod and a seedling taking jaw which are assembled in the planting arm casing; each planting arm casing comprises an upper planting arm casing body and a lower planting arm casing body; each swing shaft, the corresponding main swing cam and the corresponding auxiliary swing cam form a cam pair; each upper planting arm casing body can swing outwards or backwards relative to the corresponding lower planting arm casing body under drive of the corresponding swing shaft. Zero deviation in the seedling taking process and avoidance of a lateral deviation angle in the seedling pushing process can be realized.
Description
Technical field
The invention belongs to agricultural mechanical field, it is related to pot seedling wide-and narrow-row transplanting mechanism and in particular to a kind of sinusoidal motion is put
Dynamic formula pot seedling wide-and narrow-row transplanting mechanism.
Background technology
Wide-and narrow-row is transplanted and is referred to that the line space that accurate rice pot seedling is transplanted carries out one wide one narrow planting patterns, this planting patterns
Using the principles of increase yield of crop Edge advantages, by adjusting the line space of rice shoot, improve ventilation, light transmittance between plant, mitigate disease
Evil (rice blast), increases leaf area index, extends leaf longevity, accelerates dry-matter accumulation, thus reaching good quality and high output, abridged edition increases
The purpose of effect.
Accurate rice pot seedling wide-and narrow-row transplanting mechanism is to realize on transplanter from moulding seedling taking disk acupuncture point, implant Tanaka, make alms bowl
The part of shape rice shoot succeeding planting.Before this, have been realized in the gear-driven accurate rice pot seedling wide-and narrow-row of two grades of non-conical to move
Plant mechanism, its work relies on planet circular system to form space " 8 word " shape movement locus when rotating, but in actual job, by
Excessive in one section of laterally offset amount of seedling taking in seedling taking pawl, cause seedling taking position inaccurate, rice shoot position particularly in actual job
Irregularly, seedling taking rate is very low.And when pushing away seedling, due to the impact of planting arm lateral deflection angle, vertical seedling rate is not high.
Content of the invention
The purpose of the present invention is for the deficiencies in the prior art, provides a kind of achievable seedling taking process offset of zero and pushes away seedling
The sinusoidal motion swing type pot seedling wide-and narrow-row transplanting mechanism at process zero lateral deflection angle.
In order to achieve the above object, the technical solution used in the present invention is:
The present invention includes drive disk assembly, upper planting arm and lower planting arm；Described drive disk assembly includes transmission case, central shaft
And planet circular system；Described central shaft is bearing on transmission case by bearing；Central shaft stretch out two ends outside transmission case respectively with
The gear-box of one planet circular system is fixed；The gear-box upper and lower part of planet circular system is provided with planting arm and lower planting arm respectively.
Described planet circular system includes gear-box, centered cylinder spur gear, upper intermediate cylindrical spur gear, the non-knuckle-tooth in upper centre
Wheel, upper planet non-circular gear, lower intermediate cylindrical spur gear, lower middle non-circular gear, lower planet non-circular gear, upper jackshaft, under
Jackshaft, upper planet axle and lower planet axle；Described centered cylinder spur gear empty set on center shaft, and passes through jaw flange
Fix with transmission case；Described upper intermediate cylindrical spur gear and upper middle non-circular gear are all fixed with upper jackshaft, lower middle circle
Post spur gear and lower middle non-circular gear are all fixed with lower jackshaft；The both sides of centered cylinder spur gear respectively with upper intermediate cylindrical
Spur gear and the engagement of lower intermediate cylindrical spur gear；Described upper planet non-circular gear empty set on upper planet axle, lower planet not rounded
Gear empty set is on lower planet axle；Upper planet non-circular gear and the engagement of upper middle non-circular gear, lower planet non-circular gear with lower in
Between non-circular gear engagement.Described upper jackshaft and lower jackshaft are symmetricly set on central shaft both sides, and are all supported by bearing
In gear-box；Described upper planet axle and lower planet axial symmetry centrally disposed axle both sides, and be both secured in gear-box.
The swing that described upper planting arm and lower planting arm all include planting arm housings and be assemblied in planting arm housings is convex
Wheel group, push away seedling cam, swinging axle, push away seedling cam swing arm axle, push away seedling cam swing arm, push rod, pushing sprout pole, push away seedling block, folder seedling block, take
Seedling pawl, spring base shift fork axle, spring base shift fork, spring base and spring；Described oscillating cam group includes swinging main cam and pendulum
Dynamic auxiliary cam；Described planting arm housings include planting arm upper shell and planting arm lower house；The planting arm lower casing of upper planting arm
Body is affixed with the upper flange plate one end being placed in upper planet axle, the dental inlay of the upper flange plate other end and upper planet non-circular gear end face
Dental inlay cooperation；The planting arm lower house of lower planting arm is affixed with the lower flange one end being placed in lower planet axle, lower flange
The dental inlay of the other end is coordinated with the dental inlay of lower planet non-circular gear end face；Described upper planet axle and lower planet shaft extension go out gear-box
All there is swing main cam outer one end, is swung auxiliary cam and push away seedling cam by spline connection；It is fixed in planting arm lower casing body
The seedling cam swing arm axle that pushes away be arranged in parallel with upper planet axle；Described one end pushing away seedling cam swing arm is constituted with pushing away seedling cam swing arm axle
Rotate secondary, middle part forms cam pair with pushing away seedling cam；The swinging axle vertical with upper planet axle is bearing under planting arm by bearing
In housing；Described swinging axle is provided with u-shaped bar, and the two-arm of u-shaped bar forms cam with swing main cam and swing auxiliary cam respectively
Secondary；Described push rod passes through the axial hole of swinging axle, and lower end and another end in contact pushing away seedling cam swing arm；Described planting arm
Upper shell is affixed with the upper end of swinging axle；Spring base is connected by spring with planting arm upper shell；The bottom of described spring base shift fork
It is hinged with planting arm upper shell that portion passes through spring base shift fork axle, the projection at middle part and the upper-end contact of push rod, and top is arranged on bullet
Between the convex disk at spring abutment two ends；Described pushing sprout pole and planting arm upper shell form sliding pair, and its afterbody is with spring base screw thread even
Connect；Pushing sprout pole is vertically arranged with spring base shift fork axle；Described seedling taking pawl includes afterbody and is fixed on external two of planting arm upper casing
Piece seedling taking intermediate plate；The folder seedling block top being fixed on pushing sprout pole head opens up clip slot, and two panels seedling taking intermediate plate is arranged in clip slot；Gu
The seedling block that pushes away being scheduled on pushing sprout pole head is arranged between two panels seedling taking intermediate plate.
Described swing main cam actuating travel section profile on point the opposing oscillatory main cam centre of gyration to footpath be:
S1=h [(θ/θ1)-sin(2πθ/θ1)/(2π)]+r0
Wherein, h be swing main cam far stop journey section to footpath；θ is that swinging axle edge swings main cam outline line relative to rise
The corner of Duan Qidian, and 0≤θ≤θ1；θ1For swinging the motion angle for actuating travel of main cam；r0For swinging the base radius of main cam.
Described swing main cam reverse-running section profile on point the opposing oscillatory main cam centre of gyration to footpath be:
S2=h { 1- [(θ-θ1-θ2)/θ3]+sin[2π(θ-θ1-θ2)/θ3]/(2π)}
Wherein, θ1+θ2≤θ≤θ1+θ2+θ3；θ2Stop journey angle, θ for swinging the remote of main cam3For swinging the backhaul fortune of main cam
Dynamic angle.
Described swinging axle is 0≤θ≤θ along swinging main cam outline line relative to the angle range of actuating travel section starting point1When, pendulum
Dynamic auxiliary cam is in reverse-running section, on its backhaul profile point the opposing oscillatory auxiliary cam centre of gyration to footpath be:
S1 '=h ' [1- (θ/θ3′)+sin(2πθ/θ3′)/(2π)]
Wherein, h ' be swing auxiliary cam far stop journey section to footpath, h '=h；θ3' for swinging the motion angle for return travel of auxiliary cam,
θ3'=θ1.
Described swinging axle is θ along swinging main cam outline line relative to the angle range of actuating travel section starting point1+θ2≤θ≤θ1+
θ2+θ3When, swing auxiliary cam be in actuating travel section, on its rise profile point the opposing oscillatory auxiliary cam centre of gyration to footpath be:
S2 '=h ' { [(θ-θ1-θ2)/θ1′]-sin[2π(θ-θ1-θ2)/θ1′]/(2π)}+r0′
Wherein, θ1' for swinging the motion angle for actuating travel of auxiliary cam, θ1'=θ3；r0' for swinging the base radius of auxiliary cam, r0′
=r0.
Described drive disk assembly also include the first drive bevel gear, the first driven wheel of differential, the second drive bevel gear, second
Driven wheel of differential, driving shaft and jack shaft；Described jack shaft and driving shaft are all bearing in transmission case by bearing
On；The first described drive bevel gear is fixed on driving shaft, and the first driven wheel of differential and the second drive bevel gear are both secured to pass
Dynamic jackshaft, the second driven wheel of differential is fixed on central shaft.
Described central shaft, upper jackshaft, lower jackshaft, upper planet axle are mutually parallel with lower planet axle.
Described centered cylinder spur gear, upper middle non-circular gear are from outside gear-box to inward side to arranging successively；In
Heart spur gear wheel, lower middle non-circular gear are from outside gear-box to inward side to arranging successively.
Described upper intermediate cylindrical spur gear is identical with the structure of lower intermediate cylindrical spur gear；Upper middle non-circular gear
Identical with the structure of lower middle non-circular gear；Upper planet non-circular gear is identical with the structure of lower planet non-circular gear,
Upper planting arm is identical with the structure of lower planting arm.
Described push away the first ascent stage that seedling cam includes being linked in sequence, middle stop journey section, the second ascent stage, far stop journey
Section, reverse-running section and nearly not journey section.
The invention has the advantages that:
1st, the present invention utilizes the spy that the movement locus of roller gear-non-circular gear planetary gear system is plane figure of eight track
Point, realizing lateral deflection angle during planting arm seedling taking is zero, i.e. straight seedling taking.
2nd, the present invention utilizes a set of swingable planting arm, and seedling taking pawl is all the time while rotating around planet axis to make planting arm
In swinging axle upper surface, institute is planar swung it is ensured that planting arm lateral deflection angle is zero with push rod for axle, improves vertical seedling rate,
And make to push away seedling point and move to left with respect to seedling taking point or move to right so that rice transplanting position forms the wide-and narrow-row distribution of agriculture requirement.
3rd, the present invention utilizes the swing of a pair of oscillating cam sub-control planting arm, by changing the outline line of oscillating cam,
So that planting arm is shown with sinusoidal acceleration characteristics of motion, backswing it is ensured that planting arm steadily swings, no impact.
4th, working stability of the present invention, mechanization degree is high, can preferably keep complete root system, do not hinder during seedling taking
Seedling, highly shortened turning green the cycle of rice shoot, is capable of the feature of wide-and narrow-row rice transplanting, obvious effect of increasing production, is conducive to pushing away
Wide application.
Brief description
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the a-a sectional view of Fig. 1；
Fig. 3 is the operation principle schematic diagram of the present invention；
Fig. 4 is the middle non-circular gear pitch curve schematic diagram of the present invention；
Fig. 5 is the middle non-circular gear tooth profile schematic diagram of the present invention；
Fig. 6 is the pitch curve schematic diagram of upper planet non-circular gear or lower planet non-circular gear in the present invention；
Fig. 7 is the flank profil schematic diagram of upper planet non-circular gear or lower planet non-circular gear in the present invention；
Fig. 8 is the assembling schematic diagram of upper planting arm and upper planet axle in the present invention；
Fig. 9 is the structure sectional view of upper planting arm in the present invention；
Figure 10 is the external structure schematic top plan view of upper planting arm in the present invention；
Figure 11 is the outline drawing pushing away seedling cam in the present invention；
Figure 12 is the outline drawing swinging main cam in the present invention；
Figure 13 is the outline drawing swinging auxiliary cam in the present invention；
Figure 14 is the transplanting track side view that in the present invention, seedling taking pawl cusp is formed；
Figure 15 is the transplanting track of seedling taking pawl cusp formation in the present invention along direction of advance view.
In figure: 1, central shaft, the 2, second driven wheel of differential, 3, jaw flange, 4, lower middle non-circular gear, 5, lower centre
Axle, 6, lower planet axle, 7, lower planet non-circular gear, 8, lower flange, 9, lower intermediate cylindrical spur gear, 10, centered cylinder straight-tooth
Wheel, 11, upper intermediate cylindrical spur gear, 12, upper middle non-circular gear, 13, upper jackshaft, 14, planting arm lower house, 15, swing
Cam set, 15-1, swings main cam, 15-2, swings auxiliary cam, 16, push away seedling cam, 17, swinging axle, 18, upper flange plate, 19,
Upper planet axle, 20, upper planet non-circular gear, 21, gear-box, the 22, first drive bevel gear, 23, driving shaft, 24, first is driven
Bevel gear, 25, intermediate propeller shaft, the 26, second drive bevel gear, 27, transmission case, 28, push away seedling cam swing arm axle, 29, to push away seedling convex
Wheel swing arm, 30, push rod, 31, pushing sprout pole, 32, push away seedling block, 33, folder seedling block, 34, seedling taking pawl, 35, planting arm upper shell, 36, bullet
Spring abutment shift fork axle, 37, spring base shift fork, 38, spring base, 39, spring, 40, upper planting arm, 41, lower planting arm.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment the invention will be further described.
As shown in Figure 1,2 and 3, sinusoidal motion swing type pot seedling wide-and narrow-row transplanting mechanism, including drive disk assembly, upper planting arm
40 and lower planting arm 41；Drive disk assembly includes transmission case 27, the first drive bevel gear 22, first driven wheel of differential the 24, second master
Dynamic bevel gear 26, the second driven wheel of differential 2, driving shaft 23, jack shaft 25, central shaft 1 and planet circular system；Central shaft 1, biography
Dynamic jackshaft 25 and driving shaft 23 are all bearing on transmission case 27 by bearing；First drive bevel gear 22 is fixed on driving shaft
23, the first driven wheel of differential 24 and the second drive bevel gear 26 are both secured to jack shaft 25, and the second driven wheel of differential 2 is fixing
In central shaft 1；Two completely identical in structure planet circular systems are symmetricly set on central shaft 1 two ends, and central shaft 1 stretches out transmission case 27
Outer two ends are fixing with the gear-box 21 of a planet circular system respectively；Gear-box 21 upper and lower part of planet circular system is provided with respectively
Planting arm 40 and lower planting arm 41.
Planet circular system includes gear-box 21, centered cylinder spur gear 10, upper intermediate cylindrical spur gear 11, the non-knuckle-tooth in upper centre
Wheel 12, upper planet non-circular gear 20, lower intermediate cylindrical spur gear 9, lower middle non-circular gear 4, lower planet non-circular gear 7, upper in
Countershaft 13, lower jackshaft 5, upper planet axle 19 and lower planet axle 6；Centered cylinder spur gear 10 empty set is on central shaft 1, and passes through
Jaw flange 3 is fixing with transmission case 27；Upper intermediate cylindrical spur gear 11 and upper middle non-circular gear 12 all with upper jackshaft 13
Fix, lower intermediate cylindrical spur gear 9 and lower middle non-circular gear 4 are all fixing with lower jackshaft 5；The two of centered cylinder spur gear 10
Side is engaged with upper intermediate cylindrical spur gear 11 and lower intermediate cylindrical spur gear 9 respectively；Upper planet non-circular gear 20 empty set is up
On star axle 19, lower planet non-circular gear 7 empty set is on lower planet axle 6；Upper planet non-circular gear 20 and upper middle non-circular gear 12
Engagement, lower planet non-circular gear 7 is engaged with lower middle non-circular gear 4.
Upper jackshaft 13 and lower jackshaft 5 are symmetricly set on central shaft 1 both sides, and are all bearing in gear-box 21 by bearing
Interior；Upper planet axle 19 and lower planet axle 6 are symmetricly set on central shaft 1 both sides, and are both secured in gear-box 21.Central shaft 1, on
Jackshaft 13, lower jackshaft 5, upper planet axle 19 are mutually parallel with lower planet axle 6.
Centered cylinder spur gear 10, upper middle non-circular gear 12 are from outside gear-box to inward side to arranging successively；Center
Spur gear wheel 10, lower middle non-circular gear 4 are from outside gear-box to inward side to arranging successively.
As shown in Fig. 1,2,3,8,9,10,11,12 and 13, upper planting arm 40 and lower planting arm 41 all include planting arm housings
And be assemblied in planting arm housings oscillating cam group 15, push away seedling cam 16, swinging axle 17, push away seedling cam swing arm axle 28, push away seedling
Cam swing arm 29, push rod 30, pushing sprout pole 31, push away seedling block 32, folder seedling block 33, seedling taking pawl 34, spring base shift fork axle 36, spring base are dialled
Fork 37, spring base 38 and spring 39；Oscillating cam group 15 includes swinging main cam 15-1 and swings auxiliary cam 15-2；Planting arm shell
Body includes planting arm upper shell 35 and planting arm lower house 14；The planting arm lower house 14 of upper planting arm 40 be placed in upper planet
Upper flange plate 18 one end of axle 19 is affixed, and the dental inlay of the dental inlay of upper flange plate 18 other end and upper planet non-circular gear 20 end face is joined
Close；The planting arm lower house 14 of lower planting arm 41 is affixed with lower flange 8 one end being placed in lower planet axle 6, and lower flange 8 is another
The dental inlay of one end is coordinated with the dental inlay of lower planet non-circular gear 7 end face；Upper planet axle 19 and lower planet axle 6 stretch out outside gear-box 21
One end all have swing main cam 15-1, swing auxiliary cam 15-2 and push away seedling cam 16 by spline connection；It is fixed on planting arm
The seedling cam swing arm axle 28 that pushes away in lower house 14 is be arranged in parallel with upper planet axle 19；Push away one end of seedling cam swing arm 29 with to push away seedling convex
Wheel arm shaft 28 constitutes rotation pair, and middle part forms cam pair with pushing away seedling cam 16；The swinging axle 17 vertical with upper planet axle 19 leads to
Cross bearing to be bearing in planting arm lower house 14；Swinging axle 17 is provided with u-shaped bar, the two-arm of u-shaped bar respectively with swing main cam 15-
1 and swing auxiliary cam 15-2 forms cam pair；Push rod 30 pass through swinging axle 17 axial hole, and lower end with push away seedling cam swing arm 29
Another end in contact；Planting arm upper shell 35 is affixed with the upper end of swinging axle 17, and swinging axle 17 drives planting arm upper shell 35 to put
Dynamic；Spring base 38 is connected by spring 39 with planting arm upper shell 35；Spring base shift fork axle is passed through in the bottom of spring base shift fork 37
36 is hinged with planting arm upper shell 35, the upper-end contact of the projection at middle part and push rod 30, and top is arranged on spring base 38 two ends
Between convex disk；Pushing sprout pole 31 forms sliding pair with planting arm upper shell 35, and its afterbody is threadeded with spring base 38；Pushing sprout pole 31
It is vertically arranged with spring base shift fork axle 36；Seedling taking pawl 34 includes afterbody and is fixed on the two panels seedling-taking clamp outside planting arm upper shell 35
Piece；Folder seedling block 33 top being fixed on pushing sprout pole 31 head opens up clip slot, and two panels seedling taking intermediate plate is arranged in clip slot；It is fixed on
The seedling block 32 that pushes away of pushing sprout pole 31 head is arranged between two panels seedling taking intermediate plate.
As shown in figure 3, the initial settling angle β (pivot of centered cylinder spur gear 10 of gear-box 21 relative level
O, the pivot o of upper middle non-circular gear 121Line and the angle of horizontal plane, i.e. oo1With reference axis x-axis positive direction angle) be
30 °, offset angle γ (the upper planet non-circular gear 20 pivot o of upper planet non-circular gear 202, upper middle non-circular gear 12 revolves
Turn center o1Line and upper middle non-circular gear 12 pivot o1, centered cylinder spur gear 10 pivot o line between
Angle, i.e. oo1With o1o2Folded acute angle) it is 65 °, the initial corner α (rotation of upper planet non-circular gear 20 of upper planting arm 40
Center o2Vertical line and upper planet non-circular gear 20 pivot o to pushing sprout pole 31 axis2, in upper middle non-circular gear 12 rotation
Heart o1Line between angle) be 10 °；The seedling taking pawl cusp q of upper planting arm 40 to upper planet non-circular gear 20 pivot o2
Apart from s be 200mm；Offset angle (the lower planet non-circular gear 7 pivot o of lower planet non-circular gear 72', lower middle not rounded
Gear 4 pivot o1' line and lower middle non-circular gear 4 pivot o1', centered cylinder spur gear 10 pivot o
Angle between line, i.e. oo1' and o1′o2' folded acute angle) also it is 65 °；The initial corner of lower planting arm 41 is also 10 °, lower cultivation
The seedling taking pawl cusp q ' planting arm 41 arrives lower planet non-circular gear 7 pivot o2' distance be 200mm.
As shown in Fig. 4,5,6 and 7, the pitch curve radius r1=20.199mm of centered cylinder spur gear 10；Upper intermediate cylindrical
The pitch curve radius r2=20.199mm of spur gear 11；The pitch curve of upper middle non-circular gear is formed by nurbs curve matching, intends
Close the 13 data point radiuses chosen and be followed successively by r1=22.64mm, r2=26.8mm, r3=25.2mm, r4=17.36mm, r5
=12mm, r6=10.8mm, r7=12mm, r8=16.8mm, r9=25.2mm, r,0=28.8mm, r11=24.4mm, r12=
21.6mm and r13=22.64mm, wherein, first data point is overlapped with the 13rd data point；Upper middle non-circular gear 12 He
Centre-to-centre spacing a=43.49mm of upper planet non-circular gear 20 engagement；Upper intermediate cylindrical spur gear 11 and lower intermediate cylindrical spur gear 9
Structure identical；Upper middle non-circular gear 12 is identical with the structure of lower middle non-circular gear 4；Upper planet non-circular gear
20 is identical with the structure of lower planet non-circular gear 7, and upper planting arm 40 is identical with the structure of lower planting arm 41.
As shown in figure 11, a section is to push away the first ascent stage of seedling cam 16；B section is that journey section is stopped in the centre pushing away seedling cam；C section
For pushing away the second ascent stage of seedling cam, i.e. seedling taking section；D section is to push away the remote of seedling cam to stop journey section；E section is to push away the backhaul of seedling cam
Section, that is, push away seedling section；F section is to push away the near of seedling cam to stop journey section.
As shown in figure 12, hi section is to swing the actuating travel section of main cam 15-1, and the point opposing oscillatory master of hi section cam profile is convex
Wheel 15-1 centre of gyration t to footpath is:
S1=h [(θ/θ1)-sin(2πθ/θ1)/(2π)]+r0
Wherein, h be swing main cam 15-1 far stop journey section ij to footpath；θ is that swinging axle 17 is taken turns along swinging main cam 15-1
Profile is relative to the corner of actuating travel section starting point h, and 0≤θ≤θ1；θ1For swinging the motion angle for actuating travel of main cam 15-1；r0For swinging master
The base radius of cam 15-1.
Jk section is to swing the reverse-running section of main cam 15-1, in the point opposing oscillatory main cam 15-1 revolution of jk section cam profile
Heart t to footpath is:
S2=h { 1- [(θ-θ1-θ2)/θ3]+sin[2π(θ-θ1-θ2)/θ3]/(2π)}
Wherein, θ1+θ2≤θ≤θ1+θ2+θ3；θ2Stop journey angle, θ for swinging the remote of main cam 15-13For swinging main cam 15-1
Motion angle for return travel.
As shown in figure 13, when swinging axle 17 along swinging main cam 15-1 outline line relative to the angle range of actuating travel section starting point is
0≤θ≤θ1When, swing auxiliary cam 15-2 and be in reverse-running section h ' i ', the point opposing oscillatory auxiliary cam 15-2 of h ' i ' section cam profile
Centre of gyration t ' to footpath is:
S1 '=h ' [1- (θ/θ3′)+sin(2πθ/θ3′)/(2π)]
Wherein, h ' be swing auxiliary cam 15-2 far stop journey section k ' h ' to footpath, h '=h；θ3' for swinging auxiliary cam 15-2's
Motion angle for return travel, θ3'=θ1.
When swinging axle is θ along swinging main cam 15-1 outline line relative to the angle range of actuating travel section starting point1+θ2≤θ≤θ1+
θ2+θ3When, swing auxiliary cam 15-2 and be in actuating travel section j ' k ', the point opposing oscillatory auxiliary cam 15-2 revolution of j ' k ' section cam profile
Center t ' to footpath is:
S2 '=h ' { [(θ-θ1-θ2)/θ1′]-sin[2π(θ-θ1-θ2)/θ1′]/(2π)}+r0′
Wherein, θ1' for swinging the motion angle for actuating travel of auxiliary cam 15-2, θ1'=θ3；r0' for swinging the basic circle of auxiliary cam 15-2
Radius, r0'=r0.
Kh section is to swing the near of main cam 15-1 to stop journey section, and i ' j ' section is to swing the near of auxiliary cam 15-2 to stop journey section.Swing
The motion angle for actuating travel θ of main cam 15-11=77.84 °, far angle of repose θ2=29.19 °, motion angle for return travel θ3=48.65 °, closely stop
Angle till θ4=204.33 °；Swing the motion angle for actuating travel θ of auxiliary cam 15-21'=48.65 °, far angle of repose θ2'=204.33 °, return
Cheng Yundong angle θ3'=77.84 °, near angle of repose θ4'=29.19 °.
As shown in FIG. 14 and 15, in the transplanting track that seedling taking pawl cusp is formed, the corresponding planting arm of lm section show section；Mn section
Correspond to planting arm pushes away seedling section；The backswing section of the corresponding planting arm of np section；The idle stroke of the corresponding planting arm of pl section and seedling taking section.
The operation principle of this sinusoidal motion swing type pot seedling wide-and narrow-row transplanting mechanism is:
As shown in figure 1, power by the first drive bevel gear 22 in transmission case 27 through driving shaft 23, the first driven wheel of differential
24th, jack shaft 25, the second drive bevel gear 26 and the second driven wheel of differential 2 pass to central shaft 1, and central shaft 1 drives two ends
Gear-box 21 rotate；Gear-box 21 drives planet circular system, upper planting arm 40 and lower planting arm 41 to rotate around central shaft 1.Gear
In case 21, centered cylinder spur gear 10 is engaged with upper intermediate cylindrical straight-tooth wheel gear 11, lower intermediate cylindrical spur gear 9 respectively, on
Middle non-circular gear 12 is engaged with upper planet non-circular gear 20, and upper planet non-circular gear 20 drives upper planting arm 40 around upper planet axle
19 rotations；Lower middle non-circular gear 4 is engaged with lower planet non-circular gear 7, lower planet non-circular gear 7 drive lower planting arm 41 around under
Planet axis 6 rotate.
As shown in Fig. 2,9,10 and 11, planting arm 40 makes to push away seedling cam swing arm 29 convex around pushing away seedling around the rotation pushing away seedling cam 16
Wheel arm shaft periodic oscillations about 28.Push away seedling cam swing arm 29 through pushing away first ascent stage of seedling cam 16 before a seedling taking
A lifts, simultaneously by push rod 30 jack-up, push rod 30 push the spring seat shift fork 37, and spring base shift fork 37 push the spring seat 38 simultaneously compresses
Spring 39, makes pushing sprout pole 31 drive folder seedling block 33 and push away seedling block 32 and bounce back, now folder seedling block 33 is to seedling taking pawl 34 no active force；Push away
Seedling cam swing arm 29 turn over push away seedling cam 16 centre stop journey section b when, seedling taking pawl 34 does not have action；When seedling taking pawl 34 cusp is close
During seedling taking point, push away seedling cam swing arm 29 and continue to lift through second ascent stage c pushing away seedling cam 16, push rod 30 is lifted to highest
Point, in the presence of spring base shift fork 37, pushing sprout pole 31 indentation housing inner terminal, now folder seedling block 33 extruding seedling taking pawl 34, on
Planting arm 40 completes seedling taking action, and now swinging axle 17 goes to the not journey section of oscillating cam group 15, and planting arm is not shown, due to row
The upper planet axle 19 of star wheel series and lower planet axle 6 movement locus are planar obit simulation, so ensureing laterally inclined during planting arm seedling taking
Corner is zero；Push away seedling cam swing arm 29 and turn over and push away when far stopping journey section d of seedling cam 16, the retaining clip seedling action of upper planting arm 40；This
When oscillating cam group 15 effect under, swinging axle 17 drive planting arm upper shell 35 show laterally；Push away 29 turns of seedling cam swing arm
When crossing the reverse-running section e pushing away seedling cam 16, push away seedling cam swing arm 29 and fall after rise rapidly, pushing sprout pole 31 under the promotion of spring 39 restoring force
Rapid release, now presss from both sides seedling block 33 and unclamps seedling taking pawl 34, seedling taking pawl 34 relies on its own resilient to open, and pushes away seedling block 32 simultaneously and acts on
On rice shoot soil alms bowl, native alms bowl is pushed in soil, completes seedling pushing action；Push away seedling cam swing arm 29 and turn over the nearly not journey section pushing away seedling cam 16
During f, seedling taking pawl 34 does not have action；Now under oscillating cam group 15 effect, swinging axle 17 drives planting arm upper shell 35 inside
Side backswing.
As shown in Fig. 2,8,9,12,13,14 and 15, upper planting arm 40 around oscillating cam group 15 rotation make swinging axle 17 with
Push rod 30 is that axle rotates, and g and g ' swinging axle 17 when being respectively upper planting arm 40 seedling taking is convex with swing main cam 15-1, swinging pair
Wheel 15-2 contact point；When after seedling taking, upper planting arm 40 goes to l point, swinging axle 17 goes to the h, h ' point of oscillating cam group 15,
In the presence of oscillating cam group 15, planting arm upper shell 35 starts to show with push rod 30 for axially external；Upper planting arm 40 goes to
During m point, swinging axle 17 goes to the i, i ' point of oscillating cam group 15, and planting arm upper shell 35 has been put to outermost end；Transplanting track
Lm section the hi of oscillating cam group 15, h ' i ' section outline line are designed to sinusoidal motion rule, so that the motion of swinging axle 17 is no rushed
Hit, improve planting arm robust motion；When upper planting arm 40 turns over mn section, swinging axle 17 goes to the not journey of oscillating cam group 15
Section ij, i ' j ', planting arm upper shell 35 no longer swings, and now goes up planting arm 40 and prepares to push away seedling, because planting arm upper shell 35 begins
Planar swung for axle with push rod 30 in the upper surface of swinging axle 17 institute eventually, so its lateral deflection angle is zero, can significantly carry
Gao Limiao leads；Upper planting arm 40 goes to when pushing away seedling point n point, and swinging axle 17 goes to the j, j ' point of oscillating cam group 15, upper planting arm
40 carry out seedling pushing action in the presence of pushing away seedling cam 16；After upper planting arm 40 completes seedling pushing action, planting arm upper shell 35 is opened
Beginning backswing, terminates to p point, and now swinging axle 17 goes to the k, k ' point of oscillating cam group 15；By the jk of oscillating cam group 15, j ' k '
Section outline line is designed to sinusoidal motion rule, so that the motion of swinging axle 17 is no impacted, improves planting arm robust motion；Work as pendulum
Moving axis 17 turns over when stopping journey section kh, k ' h ' of oscillating cam group 15, and planting arm upper shell 35 does not swing, and now goes up 40 turns of planting arm
Cross planar obit simulation section pl, complete once straight seedling taking action under pushing away seedling cam 16 effect.The movement locus of lower planting arm 41 with
Upper planting arm 40 is consistent, and so, upper planting arm 40 and lower planting arm 41 1 aspect circle with gear-box 21, simultaneously with
Planet circular system opposed gear case 21 and do non-uniform rotation, on the other hand in the presence of oscillating cam group 15, make periodic oscillations,
These three move compound under, planting arm is realized seedling taking process offset of zero and is pushed away the motion at seedling process zero lateral deflection angle.
Above-mentioned specific embodiment is used for illustrating the present invention, rather than limits the invention, the present invention's
In spirit and scope of the claims, any modifications and changes that the present invention is made, both fall within the protection model of the present invention
Enclose.
Claims (6)
1. sinusoidal motion swing type pot seedling wide-and narrow-row transplanting mechanism, including drive disk assembly, upper planting arm and lower planting arm, described
Drive disk assembly includes transmission case, central shaft and planet circular system；Described central shaft is bearing on transmission case by bearing；Central shaft
Stretch out the two ends outside transmission case to fix with the gear-box of a planet circular system respectively；The gear-box upper and lower part of planet circular system is respectively
Be provided with planting arm and lower planting arm it is characterised in that:
Described planet circular system include gear-box, centered cylinder spur gear, upper intermediate cylindrical spur gear, upper middle non-circular gear,
Upper planet non-circular gear, lower intermediate cylindrical spur gear, lower middle non-circular gear, lower planet non-circular gear, upper jackshaft, lower centre
Axle, upper planet axle and lower planet axle；Described centered cylinder spur gear empty set on center shaft, and passes through jaw flange and biography
Dynamic case is fixed；Described upper intermediate cylindrical spur gear and upper middle non-circular gear are all fixed with upper jackshaft, and lower intermediate cylindrical is straight
Gear and lower middle non-circular gear are all fixed with lower jackshaft；The both sides of centered cylinder spur gear respectively with upper intermediate cylindrical straight-tooth
Wheel and the engagement of lower intermediate cylindrical spur gear；Described upper planet non-circular gear empty set on upper planet axle, lower planet non-circular gear
Empty set is on lower planet axle；Upper planet non-circular gear and upper middle non-circular gear engagement, lower planet non-circular gear and lower centre are non-
Knucle-gear engages；Described upper jackshaft and lower jackshaft are symmetricly set on central shaft both sides, and are all bearing in tooth by bearing
In roller box；Described upper planet axle and lower planet axial symmetry centrally disposed axle both sides, and be both secured in gear-box；
Described upper planting arm and lower planting arm all include planting arm housings and be assemblied in oscillating cam group in planting arm housings,
Push away seedling cam, swinging axle, push away seedling cam swing arm axle, push away seedling cam swing arm, push rod, pushing sprout pole, push away seedling block, folder seedling block, seedling taking pawl,
Spring base shift fork axle, spring base shift fork, spring base and spring；Described oscillating cam group includes swinging main cam and swinging pair is convex
Wheel；Described planting arm housings include planting arm upper shell and planting arm lower house；The planting arm lower house of upper planting arm and sky
The upper flange plate one end being placed on upper planet axle is affixed, the dental inlay of the dental inlay of the upper flange plate other end and upper planet non-circular gear end face
Cooperation；The planting arm lower house of lower planting arm is affixed with the lower flange one end being placed in lower planet axle, the lower flange other end
Dental inlay and lower planet non-circular gear end face dental inlay cooperation；Described upper planet axle and lower planet shaft extension go out outside gear-box one
All there is swing main cam at end, is swung auxiliary cam and push away seedling cam by spline connection；It is fixed on and push away seedling in planting arm lower casing body
Cam swing arm axle is be arranged in parallel with upper planet axle；Described one end pushing away seedling cam swing arm constitutes rotation with pushing away seedling cam swing arm axle
Pair, middle part forms cam pair with pushing away seedling cam；The swinging axle vertical with upper planet axle is bearing in planting arm lower house by bearing
Interior；Described swinging axle is provided with u-shaped bar, and the two-arm of u-shaped bar forms cam pair with swing main cam and swing auxiliary cam respectively；Institute
The push rod stated passes through the axial hole of swinging axle, and lower end and another end in contact pushing away seedling cam swing arm；Described planting arm upper casing
Body is affixed with the upper end of swinging axle；Spring base is connected by spring with planting arm upper shell；The bottom of described spring base shift fork leads to
Cross spring base shift fork axle hinged with planting arm upper shell, the projection at middle part and the upper-end contact of push rod, top is arranged on spring base
Between the convex disk at two ends；Described pushing sprout pole forms sliding pair with planting arm upper shell, and its afterbody is threadeded with spring base；Push away
Seedling bar is vertically arranged with spring base shift fork axle；Described seedling taking pawl includes afterbody and is fixed on the external two panels seedling taking of planting arm upper casing
Intermediate plate；The folder seedling block top being fixed on pushing sprout pole head opens up clip slot, and two panels seedling taking intermediate plate is arranged in clip slot；It is fixed on and push away
The seedling block that pushes away of seedling club head is arranged between two panels seedling taking intermediate plate；
Described swing main cam actuating travel section profile on point the opposing oscillatory main cam centre of gyration to footpath be:
S1=(h-r0)[(θ/θ1)-sin(2πθ/θ1)/(2π)]+r0
Wherein, h be swing main cam far stop journey section to footpath；θ is that swinging axle rises along swinging main cam outline line relative to actuating travel section
The corner of point, and 0≤θ≤θ1；θ1For swinging the motion angle for actuating travel of main cam；r0For swinging the base radius of main cam；
Described swing main cam reverse-running section profile on point the opposing oscillatory main cam centre of gyration to footpath be:
S2=(h-r0){1-[(θ-θ1-θ2)/θ3]+sin[2π(θ-θ1-θ2)/θ3]/(2π)}+r0
Wherein, θ1+θ2≤θ≤θ1+θ2+θ3；θ2Stop journey angle, θ for swinging the remote of main cam3For swinging the motion angle for return travel of main cam；
Described swinging axle is 0≤θ≤θ along swinging main cam outline line relative to the angle range of actuating travel section starting point1When, swinging pair
Cam is in reverse-running section, on its reverse-running section profile point the opposing oscillatory auxiliary cam centre of gyration to footpath be:
S1 '=(h '-r0′)[1-(θ/θ3′)+sin(2πθ/θ3′)/(2π)]+r0′
Wherein, h ' be swing auxiliary cam far stop journey section to footpath, h '=h；θ3' for swinging the motion angle for return travel of auxiliary cam, θ3'=
θ1；r0' for swinging the base radius of auxiliary cam, r0'=r0；
Described swinging axle is θ along swinging main cam outline line relative to the angle range of actuating travel section starting point1+θ2≤θ≤θ1+θ2+θ3
When, swing auxiliary cam be in actuating travel section, on its actuating travel section profile point the opposing oscillatory auxiliary cam centre of gyration to footpath be:
S2 '=(h '-r0′){[(θ-θ1-θ2)/θ1′]-sin[2π(θ-θ1-θ2)/θ1′]/(2π)}+r0′
Wherein, θ1' for swinging the motion angle for actuating travel of auxiliary cam, θ1'=θ3.
2. sinusoidal motion swing type pot seedling wide-and narrow-row transplanting mechanism according to claim 1 it is characterised in that: described biography
Dynamic component also includes the first drive bevel gear, the first driven wheel of differential, the second drive bevel gear, the second driven wheel of differential, actively
Axle and jack shaft；Described jack shaft and driving shaft are all bearing on transmission case by bearing；Described first is main
Dynamic bevel gear is fixed on driving shaft, and the first driven wheel of differential and the second drive bevel gear are both secured to jack shaft, second from
Dynamic bevel gear is fixed on central shaft.
3. sinusoidal motion swing type pot seedling wide-and narrow-row transplanting mechanism according to claim 1 it is characterised in that: in described
Heart axle, upper jackshaft, lower jackshaft, upper planet axle are mutually parallel with lower planet axle.
4. sinusoidal motion swing type pot seedling wide-and narrow-row transplanting mechanism according to claim 1 it is characterised in that: in described
Heart spur gear wheel, upper middle non-circular gear are from outside gear-box to inward side to arranging successively；Centered cylinder spur gear, lower in
Between non-circular gear from outside gear-box to inward side to arranging successively.
5. sinusoidal motion swing type pot seedling wide-and narrow-row transplanting mechanism according to claim 1 it is characterised in that: described is upper
Intermediate cylindrical spur gear is identical with the structure of lower intermediate cylindrical spur gear；Upper middle non-circular gear and lower middle non-circular gear
Structure identical；Upper planet non-circular gear is identical with the structure of lower planet non-circular gear, upper planting arm with plant
The structure of arm is identical.
6. sinusoidal motion swing type pot seedling wide-and narrow-row transplanting mechanism according to claim 1 it is characterised in that: described pushes away
The first ascent stage that seedling cam includes being linked in sequence, middle stop journey section, the second ascent stage, far stop journey section, reverse-running section and closely stop journey
Section.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106576536A (en) * | 2016-11-26 | 2017-04-26 | 浙江农林大学 | Coaxial double-pole catapulting eccentric gear/non-circular gear planetary-system seedling throwing mechanism |
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| CN108738876B (en) * | 2018-05-11 | 2020-08-11 | 道真自治县玄阳药业有限公司 | Luosheng device of growing seedlings |
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| JPH01179610A (en) * | 1988-01-08 | 1989-07-17 | Kubota Ltd | Working machine |
| CN202232119U (en) * | 2011-09-14 | 2012-05-30 | 浙江理工大学 | Tray seedling picking mechanism with noncircular gear and incomplete noncircular gear planetary gear train |
| CN202873313U (en) * | 2012-09-17 | 2013-04-17 | 浙江理工大学 | Eccentric circular-noncircular gear planetary gear train rice pot seedling transplanting mechanism |
| CN203233668U (en) * | 2013-04-25 | 2013-10-16 | 浙江理工大学 | Constant-diameter cam type forced seedling-pushing device for walking type rice transplanter |
| CN203597064U (en) * | 2013-11-27 | 2014-05-21 | 浙江理工大学 | Second-order Fourier pitch curve non-circular gear pot seedling transplantation seedling-clamp type seedling fetching mechanism |
| CN203840744U (en) * | 2014-03-19 | 2014-09-24 | 浙江理工大学 | Vegetable seedling taking mechanism of elliptic-partial noncircular and circular gear planetary system |
| CN104584744B (en) * | 2015-01-06 | 2016-09-07 | 浙江理工大学 | Helical gear non-conical gear alternating axis planet circular system pot seedling wide-and narrow-row transplanting mechanism |
| CN204721846U (en) * | 2015-05-20 | 2015-10-28 | 浙江理工大学 | A kind of sinusoidal motion swing type pot seedling wide-and narrow-row transplanting mechanism |
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| CN106576536A (en) * | 2016-11-26 | 2017-04-26 | 浙江农林大学 | Coaxial double-pole catapulting eccentric gear/non-circular gear planetary-system seedling throwing mechanism |
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