CN105519289A - Closed-chain five-link transplanting mechanism for flowers and plants and design method therefor - Google Patents

Abstract

The invention discloses a closed-chain five-link transplanting mechanism for flowers and plants and a design method therefor. A planetary gear train transplanting mechanism can realize flexibility restriction to trajectories; and parameters of a link mechanism with dual-snap-ring trajectories are difficult in design and adjustment. According to the mechanism disclosed by the invention, the bottom end of a first crank and the bottom end of a second crank are welded; the top end of the first crank is hinged to one end of a second link, and the top end of the second crank is hinged to the middle part of a third link; a forked swing link comprises a first swing link and a second swing link, of which bottom ends are hinged; the bottom end of the forked swing link is hinged to a rack; the other end of the second link is hinged to the top end of the first swing link; one end of a first link is hinged to the top end of the second swing link, and the other end of the first link is hinged to one end of the third link; and the other end of the third link is arranged freely. According to the design method disclosed by the invention, the length of each of rest links is determined reversely under the condition of a single-snap-ring trajectory mathematical model formed at the endpoint of the free end of the third link, coordinates of a hinged point of the forked swing link and the rack and known link length. According to the closed-chain five-link transplanting mechanism for the flowers and plants and the design method therefor, a single-snap-ring trajectory is achieved, and the mechanism is simple and easy to control.

Description

Closed chain five bar flowers transplanting mechanism and method for designing thereof

Technical field

The invention belongs to agricultural mechanical field, relate to flowers transplanting mechanism, be specifically related to a kind of closed chain five bar flowers transplanting mechanism and method for designing thereof.

Background technology

Flowers transplantation technique can reduce the growth cycle of crop, keeps the quality of crop unified, reaches the object of increasing both production and income, become planting measure main in the production of modern greenhouse pot flowers.Development automation pot flowers transplantation technique complies with the trend that pot flowers produces high growth rate, solves existing poor efficiency and advance me to cross the Important Action of agricultural modernization.Along with China's production of flowers and plants and installation agriculture technology development, possess the basis and condition of greatly developing automation pot flowers transplantation technique at present.

Existing single-degree-of-freedom intermittent gear planet circular system and continuous non-circular gear planetary gear system transplanting mechanism by gear ratio restriction achieved by the limited flexibility of track, large for utilizing a set of mechanism to realize the difficulty that seedling got by cave dish and operating mechanism of planting seedlings toward floral disc in designs; Although hybrid drive is owing to existing two degree of freedom, the flexibility of Trajectory Design is large, and the control system of machine not easily designs.The Trajectory Design of linkage is comparatively flexible, if by the optimization of mechanism parameter, utilize a set of multi-bar linkage to realize getting seedling from cave dish and implanting floral disc function then greatly to simplify frame for movement.In order to design the mechanism that can complete seedling action of planting seedlings, get, thus need to transplant on track in flowers to improve, two-ring fastener track linkage design and regulating parameter more difficult, often need the transmission mechanism of double freedom or complexity, but the direction (seedling picking mechanism changes counterclockwise movement into by clockwise movement) of seedling track and the new mechanism of profile design can be got by changing, also can complete flowers well and plant seedlings, get seedling action.

Summary of the invention

The object of the invention is for the deficiencies in the prior art, a kind of closed chain five bar flowers transplanting mechanism and method for designing thereof are provided, this closed chain five bar flowers transplanting mechanism adopts the mode of closed chain five bar, the characteristics of motion of rocking bar is controlled by changing mechanism parameter, and fork meets single within the flowers transplanting cycle to be swung, realize monocycle button track, thus realize getting seedling and action of planting seedlings, make mechanism path be more conducive to mechanism to realize, and flexibility is high, and the full-automatic transplantation of other crops such as melon and fruit, vegetables, flowers can be realized.First this method for designing builds closed chain five bar flowers transplanting mechanism, and the free end end points setting up third connecting rod forms the mathematical model of monocycle button track; Pass through the angular displacement that set up monocycle button track mathematical model reverse goes out fork-shaped fork, then it is long to go out the bar of second connecting rod by the angular displacement simultaneous inference of fork-shaped fork; Then verify closed chain five bar flowers transplanting mechanism and whether meet bar elongate member.

For solving the problems of the technologies described above, technical scheme of the present invention is:

Closed chain five bar flowers transplanting mechanism of the present invention, comprises fork-shaped fork, first connecting rod, second connecting rod, fork-shaped crank and third connecting rod; Described fork-shaped crank comprises the first crank and the second crank that bottom welds together; The bottom of fork-shaped crank is articulated with frame, and is driven by motor; The top of described first crank and one end of second connecting rod hinged, the top of the second crank and the middle part of third connecting rod hinged; Described fork-shaped fork comprises the first hinged fork of bottom and the second fork; The bottom of fork-shaped fork is articulated with frame; The other end of described second connecting rod and the top of the first fork hinged; One end of described first connecting rod and the top of the second fork hinged, one end of the other end and third connecting rod is hinged; The other end of described third connecting rod freely arranges and forms monocycle button track.

Described monocycle button track is to close and with the plane smooth curve of monocycle button, comprise that order head and the tail successively connect enter alms bowl section, get seedling section, fortune seedling section, the section of planting seedlings and reply section; Described get seedling section starting point and end point be the starting point of monocycle button, its ending segment is be parallel to cave dish dish mouth lower wall and linearity is the straightway of 1mm/10mm; The starting point of the described section of planting seedlings is starting point of planting seedlings, and its initial segment is vertically setting and linearity is the straightway of 1mm/10mm; Described enters alms bowl section for getting the changeover portion of seedling section.

Closed chain five bar flowers transplanting mechanism method for designing of the present invention, specific as follows:

Step one, structure closed chain five bar flowers transplanting mechanism.

The bottom of fork-shaped crank is articulated with frame, and is driven by motor; Fork-shaped crank comprises the first crank and the second crank that bottom welds together; The top of the first crank and one end of second connecting rod hinged, the top of the second crank and the middle part of third connecting rod hinged; The bottom of fork-shaped fork is articulated with frame; Fork-shaped fork comprises the first hinged fork of bottom and the second fork; The other end of second connecting rod and the top of the first fork hinged; One end of first connecting rod and the top of the second fork hinged, one end of the other end and third connecting rod is hinged; The other end of third connecting rod is freely arranged.

The monocycle button track mathematical model that step 2, the free end end points setting up third connecting rod based on cubic nonratio-nal B-spline curve are formed.

Choose the data point of n data point as cubic nonratio-nal B-spline curve, uniquely can solve n+2 control vertex, wherein, n >=11; Choosing step-length is again that value interpolation in 0.005 ~ 0.02 generates match point coordinate, and then simulates monocycle button track; Displacement equation φ f (t) that the free end end points setting up third connecting rod is formed in coordinate system XOY, wherein, fork-shaped crank and frame pin joint are coordinate origin O; It is match point sequence number along getting seedling orbiting motion direction number consecutively that φ f (t) is respectively φ fx (t) and φ fy (t), t in the displacement of X and Y direction, and during t=1, the free end end points of third connecting rod is in initial position.

Step 3, pass through the angular displacement j1 that set up monocycle button track mathematical model reverse goes out the second fork, be specially: by the φ simulated in step 2 _fx(t), φ _fy(t), and set L ₃, x _a, y _avalue, try to achieve L by following formula ₁, L ₂, L ₄, L ₅, j ₁, j ₂, j ₃, j ₄.Constructed fuction is as follows:

$\left\{\begin{array}{c}{L}_4+L_5=\max \left(\sqrt{{{\mathrm{\φ}}^2}_{fx}\left(t\right)+{{\mathrm{\φ}}^2}_{fy}\left(t\right)}\right)\\ L_5-L_4=\min \left(\sqrt{{{\mathrm{\φ}}^2}_{fx}\left(t\right)+{{\mathrm{\φ}}^2}_{fy}\left(t\right)}\right)\\ L_4\·\cos j_3+L_5\·\cos j_4={\mathrm{\φ}}_{fx}\left(t\right)\\ L_4\·\sin j_3+L_5\·\sin j_4={\mathrm{\φ}}_{fy}\left(t\right)\\ L_1+L_2=\max \left(\sqrt{{(L_4\·\cos j_3+L_3\·\cos j_4-x_a)}^2+{(L_4\·\sin j_3+L_3\·\sin j_4-y_a)}^2}\right)\\ L_2-L_1=\min \left(\sqrt{{(L_4\·\cos j_3+L_3\·\cos j_4-x_a)}^2+{(L_4\·\sin j_3+L_3\·\sin j_4-y_a)}^2}\right)\\ x_a+L_1\·\cos j_1+L_2\·\cos j_2=L_4\·\cos j_3+L_3\·\cos j_4\\ y_a+L_1\·\sin j_1+L_2\·\sin j_2=L_4\·\sin j_3+L_3\·\sin j_4\end{array}\right.---\left(1\right)$

In formula (1), L ₁the bar being the second fork is long, L ₂for the bar of first connecting rod is long, L ₃for the pin joint of first connecting rod and third connecting rod is to the distance of third connecting rod and the second crank pin joint, L ₄the bar being the second crank is long, L ₅for the pin joint of third connecting rod and the second crank is to the distance of third connecting rod free end end points, x _a, y _abe respectively abscissa and the ordinate of fork-shaped fork and frame pin joint, j ₁be the angular displacement of the second fork, j2 is the angular displacement of first connecting rod, j ₃be the angular displacement of the second crank, j ₄for the angular displacement of third connecting rod.

Step 4, angular displacement j by the second fork ₁simultaneous inference goes out the long L of bar of second connecting rod ₈, be specially: setting L ₇, L ₉value, try to achieve L by following formula ₈and j ₅.

$\left\{\begin{array}{c}{x}_a+L_7\·\cos j_1+L_8\·\cos j_5+L_9\·\cos j_4=0\\ y_a+L_7\·\sin j_1+L_8\·\sin j_5+L_9\·\sin j_4=0\end{array}\right.---\left(2\right)$

In formula (2), L ₇the bar being the first crank is long, L ₈for the bar of second connecting rod is long, L9 is that the bar of the first fork is long, and j5 is the angular displacement of second connecting rod.

Whether step 5, verification closed chain five bar flowers transplanting mechanism meet bar elongate member:

$\left\{\begin{array}{c}{L}_1+L_4+L_6\≤L_2+L_3\\ L_1+L_2+L_4\≤L_3+L_6\\ L_1+L_3+L_4\≤L_2+L_6\\ \min (L_6,L_7,L_8,L_9)=L_9\\ \max (L_6,L_7,L_8,L_9)=L_6\\ L_6+L_9\≤L_7+L_8\end{array}\right.---\left(3\right)$

In formula (3), L ₆for the bar of frame is long.

Beneficial effect of the present invention:

1, closed chain five bar flowers transplanting mechanism of the present invention realizes monocycle buckle-like track, not only can ensure that getting the seedling stage inserts with suitable attitude, can also ensure at vertical section track, flowers seedling directly vertically to be inserted in floral disc, the upright degree that plants seedlings is greatly improved, ensure flowers plant seedlings suitable angle, speed, the upright degree planted seedlings and meet better flowers transplant agriculture requirement.

2, by closed chain five bar flowers transplanting mechanism, this track meets the transplanting agriculture requirement that pot seedling transplanter is put down into alms bowl, directly lifted seedlings, surely plants seedlings; Adopt the mode of closed chain five bar, mechanism is simple, more be easy to control, make to get seedling more flexible with the action of planting seedlings, flexibility is high, improve the success rate of planting seedlings, for the transplanting machine generalization realizing other crops achieves breakthrough, thus realize the full-automatic transplantation of the crops such as flowers, melon and fruit, vegetables.

Accompanying drawing explanation

Fig. 1 is the mechanism principle figure of the present invention at initial position.

Fig. 2 is transplanting path figure of the present invention.

Embodiment

Below in conjunction with drawings and Examples, the invention will be further described.

As shown in Figure 1, closed chain five bar flowers transplanting mechanism, comprises fork-shaped fork 1, first connecting rod 2, second connecting rod 4, fork-shaped crank 5 and third connecting rod 6; Fork-shaped crank 5 comprises the first crank and the second crank that bottom welds together; The bottom of fork-shaped crank 5 is articulated with frame 3, and is driven by motor M 1; The top of the first crank and one end of second connecting rod 4 hinged, the top of the second crank and the middle part of third connecting rod 6 hinged; Fork-shaped fork 1 comprises the first hinged fork of bottom and the second fork; The bottom of fork-shaped fork 1 is articulated with frame 3; The other end of second connecting rod 4 and the top of the first fork hinged; One end of first connecting rod 2 and the top of the second fork hinged, one end of the other end and third connecting rod 6 is hinged; The other end of third connecting rod 6 is freely arranged.

Fork-shaped crank 5 promotes fork-shaped fork 1 through the effect of second connecting rod 4 and swings, fork-shaped fork 1 move across the free end end points F that first connecting rod 2 and third connecting rod 6 pass to third connecting rod 6, the free end end points F characteristics of motion of third connecting rod 6 controls by each bar bar is long.

The method for designing of this closed chain five bar flowers transplanting mechanism, specific as follows:

Step one, structure closed chain five bar flowers transplanting mechanism.

As shown in Figure 1, the bottom of fork-shaped crank 5 is articulated with frame 3, and is driven by motor M 1; Fork-shaped crank 5 comprises the first crank and the second crank that bottom welds together; The top of the first crank and one end of second connecting rod 4 hinged, the top of the second crank and the middle part of third connecting rod 6 hinged; The bottom of fork-shaped fork 1 is articulated with frame 3; Fork-shaped fork 1 comprises the first hinged fork of bottom and the second fork; The other end of second connecting rod 4 and the top of the first fork hinged; One end of first connecting rod 2 and the top of the second fork hinged, one end of the other end and third connecting rod 6 is hinged; The other end of third connecting rod 6 is freely arranged.

The monocycle button track mathematical model that step 2, the free end end points F setting up third connecting rod 6 based on cubic nonratio-nal B-spline curve are formed.

As shown in Figure 2, choose 11 data point q0, q1, q2, q3, q4, q5, q6, q7, q8, q9 and q10 as the data point of cubic nonratio-nal B-spline curve, wherein, q0 and q10 overlaps, uniquely can solve 13 control vertexs, choosing step-length is again that value interpolation in 0.005 ~ 0.02 generates match point coordinate, and then simulates monocycle button track.

11 data points are chosen as follows: q0 and q10 determines the peak of monocycle button track by flowers transplanting agriculture requirement, what q1 determined monocycle button track gets seedling starting point, q2 is the key point that track attitude before seedling is got in impact, what q3 determined monocycle button track gets seedling moment point, q4 determines the minimum point of monocycle button track, q5 determines the end point of planting seedlings of monocycle button track, and q6 determines the starting point of planting seedlings of monocycle button track, and q7, q8 and q9 are the auxiliary match points of monocycle button track; The displacement equation that the free end end points F simulating third connecting rod 6 is formed in coordinate system XOY is φ _f(t), wherein, fork-shaped crank 5 and frame pin joint are coordinate origin O; φ _ft () is respectively φ in the displacement of X and Y direction _fx(t) and φ _fyt (), t is the match point sequence number along getting seedling orbiting motion direction number consecutively, and during t=1, the free end end points F of third connecting rod 6 is in initial position as shown in Figure 1.

Monocycle button track is to close and with the plane smooth curve of monocycle button, comprise that order head and the tail successively connect enter alms bowl section 2-1, get seedling section 2-2, fortune seedling section 2-3, the section of planting seedlings 2-4 and reply section 2-5; Get the starting point that the starting point of seedling section 2-2 and end point are monocycle button, its ending segment is be parallel to cave dish dish mouth lower wall and linearity is the straightway of 1mm/10mm, ensures to take out seedling along vertical native alms bowl direction; The starting point of the section of planting seedlings 2-4 is starting point of planting seedlings, and its initial segment is vertically setting and linearity is the straightway of 1mm/10mm, ensures that seedling and planting mechanism only exist relative velocity vertically, is beneficial to and vertically seedling is directly implanted floral disc; Entering alms bowl section 2-1 is the changeover portion getting seedling section 2-2; Visible, these flowers are transplanted track and can meet in flowers potted-seedling transplanting and get putting down into alms bowl, directly getting the requirement that Miao Jiwen plants seedlings of seedling.

In this closed chain five bar flowers transplanting mechanism, the free end of third connecting rod 6 installs planting mechanism can carry out planting operation, and transplants track and meet in flowers potted-seedling transplanting and get putting down into alms bowl, directly getting the requirement that Miao Jiwen plants seedlings of seedling.

Step 3, pass through the angular displacement j that set up monocycle button track mathematical model reverse goes out the second fork ₁, be specially: by the φ simulated in step 2 _fx(t), φ _fy(t), and set L ₃, x _a, y _avalue, try to achieve L by following formula ₁, L ₂, L ₄, L ₅, j ₁, j ₂, j ₃, j ₄.Constructed fuction is as follows:

$\left\{\begin{array}{c}{L}_4+L_5=\max \left(\sqrt{{{\mathrm{\φ}}^2}_{fx}\left(t\right)+{{\mathrm{\φ}}^2}_{fy}\left(t\right)}\right)\\ L_5-L_4=\min \left(\sqrt{{{\mathrm{\φ}}^2}_{fx}\left(t\right)+{{\mathrm{\φ}}^2}_{fy}\left(t\right)}\right)\\ L_4\·\cos j_3+L_5\·\cos j_4={\mathrm{\φ}}_{fx}\left(t\right)\\ L_4\·\sin j_3+L_5\·\sin j_4={\mathrm{\φ}}_{fy}\left(t\right)\\ L_1+L_2=\max \left(\sqrt{{(L_4\·\cos j_3+L_3\·\cos j_4-x_a)}^2+{(L_4\·\sin j_3+L_3\·\sin j_4-y_a)}^2}\right)\\ L_2-L_1=\min \left(\sqrt{{(L_4\·\cos j_3+L_3\·\cos j_4-x_a)}^2+{(L_4\·\sin j_3+L_3\·\sin j_4-y_a)}^2}\right)\\ x_a+L_1\·\cos j_1+L_2\·\cos j_2=L_4\·\cos j_3+L_3\·\cos j_4\\ y_a+L_1\·\sin j_1+L_2\·\sin j_2=L_4\·\sin j_3+L_3\·\sin j_4\end{array}\right.---\left(1\right)$

In formula (1), L ₁the bar being the second fork is long, L ₂for the bar of first connecting rod 2 is long, L ₃for the pin joint of first connecting rod 2 and third connecting rod 6 is to the distance of third connecting rod 6 and the second crank pin joint, L ₄the bar being the second crank is long, L ₅for the pin joint of third connecting rod 6 and the second crank is to the distance of third connecting rod 6 free end end points F, x _a, y _abe respectively abscissa and the ordinate of fork-shaped fork 1 and frame pin joint A, j ₁be the angular displacement of the second fork, j ₂for the angular displacement of first connecting rod 2, j ₃be the angular displacement of the second crank, j ₄for the angular displacement of third connecting rod 6.

Step 4, angular displacement j by the second fork ₁simultaneous inference goes out the long L of bar of second connecting rod 4 ₈, be specially: setting L ₇, L ₉value, try to achieve L by following formula ₈and j ₅.

$\left\{\begin{array}{c}{x}_a+L_7\·\cos j_1+L_8\·\cos j_5+L_9\·\cos j_4=0\\ y_a+L_7\·\sin j_1+L_8\·\sin j_5+L_9\·\sin j_4=0\end{array}\right.---\left(2\right)$

In formula (2), L ₇the bar being the first crank is long, L ₈for the bar of second connecting rod 4 is long, L ₉the bar being the first fork is long, j ₅for the angular displacement of second connecting rod 4.

Whether step 5, verification closed chain five bar flowers transplanting mechanism meet bar elongate member:

$\left\{\begin{array}{c}{L}_1+L_4+L_6\≤L_2+L_3\\ L_1+L_2+L_4\≤L_3+L_6\\ L_1+L_3+L_4\≤L_2+L_6\\ \min (L_6,L_7,L_8,L_9)=L_9\\ \max (L_6,L_7,L_8,L_9)=L_6\\ L_6+L_9\≤L_7+L_8\end{array}\right.---\left(3\right)$

In formula (3), L ₆for the bar of frame 3 is long.

Claims (2)

1. closed chain five bar flowers transplanting mechanism, is characterized in that: comprise fork-shaped fork, first connecting rod, second connecting rod, fork-shaped crank and third connecting rod; Described fork-shaped crank comprises the first crank and the second crank that bottom welds together; The bottom of fork-shaped crank is articulated with frame, and is driven by motor; The top of described first crank and one end of second connecting rod hinged, the top of the second crank and the middle part of third connecting rod hinged; Described fork-shaped fork comprises the first hinged fork of bottom and the second fork; The bottom of fork-shaped fork is articulated with frame; The other end of described second connecting rod and the top of the first fork hinged; One end of described first connecting rod and the top of the second fork hinged, one end of the other end and third connecting rod is hinged; The other end of described third connecting rod freely arranges and forms monocycle button track;

Described monocycle button track is to close and with the plane smooth curve of monocycle button, comprise that order head and the tail successively connect enter alms bowl section, get seedling section, fortune seedling section, the section of planting seedlings and reply section; Described get seedling section starting point and end point be the starting point of monocycle button, its ending segment is be parallel to cave dish dish mouth lower wall and linearity is the straightway of 1mm/10mm; The starting point of the described section of planting seedlings is starting point of planting seedlings, and its initial segment is vertically setting and linearity is the straightway of 1mm/10mm; Described enters alms bowl section for getting the changeover portion of seedling section.

2. the method for designing of closed chain five bar flowers transplanting mechanism, is characterized in that: the concrete steps of the method are as follows:

Step one, structure closed chain five bar flowers transplanting mechanism;

The bottom of fork-shaped crank is articulated with frame, and is driven by motor; Fork-shaped crank comprises the first crank and the second crank that bottom welds together; The top of the first crank and one end of second connecting rod hinged, the top of the second crank and the middle part of third connecting rod hinged; The bottom of fork-shaped fork is articulated with frame; Fork-shaped fork comprises the first hinged fork of bottom and the second fork; The other end of second connecting rod and the top of the first fork hinged; One end of first connecting rod and the top of the second fork hinged, one end of the other end and third connecting rod is hinged; The other end of third connecting rod is freely arranged;

The monocycle button track mathematical model that step 2, the free end end points setting up third connecting rod based on cubic nonratio-nal B-spline curve are formed;

Choose the data point of n data point as cubic nonratio-nal B-spline curve, uniquely can solve n+2 control vertex, wherein, n>=11; Choosing step-length is again that value interpolation in 0.005 ~ 0.02 generates match point coordinate, and then simulates monocycle button track; The displacement equation φ that the free end end points setting up third connecting rod is formed in coordinate system XOY _f(t), wherein, fork-shaped crank and frame pin joint are coordinate origin O; φ _ft () is respectively φ in the displacement of X and Y direction _fx(t) and φ _fy(t), t is the match point sequence number along getting seedling orbiting motion direction number consecutively, and during t=1, the free end end points of third connecting rod is in initial position;

Step 3, pass through the angular displacement j that set up monocycle button track mathematical model reverse goes out the second fork ₁, be specially: by the φ simulated in step 2 _fx(t), φ _fy(t), and set L ₃, x _a, y _avalue, try to achieve L by following formula ₁, L ₂, L ₄, L ₅, j ₁, j ₂, j ₃, j ₄; Constructed fuction is as follows:

$\left\{\begin{array}{c}{L}_4+L_5=\max \left(\sqrt{{{\mathrm{\φ}}^2}_{fx}\left(t\right)+{{\mathrm{\φ}}^2}_{fy}\left(t\right)}\right)\\ L_5-L_4=\min \left(\sqrt{{{\mathrm{\φ}}^2}_{fx}\left(t\right)+{{\mathrm{\φ}}^2}_{fy}\left(t\right)}\right)\\ L_4\·{\mathrm{cosj}}_3+L_5\·{\mathrm{cosj}}_4={\mathrm{\φ}}_{fx}\left(t\right)\\ L_4\·{\mathrm{sinj}}_3+L_5\·{\mathrm{sinj}}_4={\mathrm{\φ}}_{fy}\left(t\right)\\ L_1+L_2=\max \left(\sqrt{{(L_4\·{\mathrm{cosj}}_3+L_3\·{\mathrm{cosj}}_4-x_a)}^2+{(L_4\·{\mathrm{sinj}}_3+L_3\·{\mathrm{sinj}}_4-y_a)}^2}\right)\\ L_2-L_1=\min \left(\sqrt{{(L_4\·{\mathrm{cosj}}_3+L_3\·{\mathrm{cosj}}_4-x_a)}^2+{(L_4\·{\mathrm{sinj}}_3+L_3\·{\mathrm{sinj}}_4-y_a)}^2}\right)\\ x_a+L_1\·{\mathrm{cosj}}_1+L_2\·{\mathrm{cosj}}_2=L_4\·{\mathrm{cosj}}_3+L_3\·{\mathrm{cosj}}_4\\ y_a+L_1\·{\mathrm{sinj}}_1+L_2\·{\mathrm{sinj}}_2=L_4\·{\mathrm{sinj}}_3+L_3\·{\mathrm{sinj}}_4\end{array}\right.---\left(1\right)$

In formula (1), L ₁the bar being the second fork is long, L ₂for the bar of first connecting rod is long, L ₃for the pin joint of first connecting rod and third connecting rod is to the distance of third connecting rod and the second crank pin joint, L ₄the bar being the second crank is long, L ₅for the pin joint of third connecting rod and the second crank is to the distance of third connecting rod free end end points, x _a, y _abe respectively abscissa and the ordinate of fork-shaped fork and frame pin joint, j ₁be the angular displacement of the second fork, j ₂for the angular displacement of first connecting rod, j ₃be the angular displacement of the second crank, j ₄for the angular displacement of third connecting rod;

Step 4, angular displacement j by the second fork ₁simultaneous inference goes out the long L of bar of second connecting rod ₈, be specially: setting L ₇, L ₉value, try to achieve L by following formula ₈and j ₅;

$\left\{\begin{array}{c}{x}_a+L_7\·{\mathrm{cosj}}_1+L_8\·{\mathrm{cosj}}_5+L_9\·{\mathrm{cosj}}_4=0\\ y_a+L_7\·{\mathrm{sinj}}_1+L_8\·{\mathrm{sinj}}_5+L_9\·{\mathrm{sinj}}_4=0\end{array}\right.---\left(2\right)$

In formula (2), L ₇the bar being the first crank is long, L ₈for the bar of second connecting rod is long, L ₉the bar being the first fork is long, j ₅for the angular displacement of second connecting rod;

Whether step 5, verification closed chain five bar flowers transplanting mechanism meet bar elongate member:

$\left\{\begin{array}{c}{L}_1+L_4+L_6\≤L_2+L_3\\ L_1+L_2+L_4\≤L_3+L_6\\ L_1+L_3+L_4\≤L_2+L_6\\ \min (L_6,L_7,L_8,L_9)=L_9\\ \max (L_6,L_7,L_8,L_9)=L_6\\ L_6+L_9\≤L_7+L_8\end{array}\right.---\left(3\right)$

In formula (3), L ₆for the bar of frame is long.