CN111837534A - Differential non-circular gear system transplanting mechanism and method - Google Patents
Differential non-circular gear system transplanting mechanism and method Download PDFInfo
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- CN111837534A CN111837534A CN202010543749.6A CN202010543749A CN111837534A CN 111837534 A CN111837534 A CN 111837534A CN 202010543749 A CN202010543749 A CN 202010543749A CN 111837534 A CN111837534 A CN 111837534A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 48
- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 230000033001 locomotion Effects 0.000 claims description 6
- 230000006378 damage Effects 0.000 abstract description 4
- 241000209094 Oryza Species 0.000 description 12
- 235000007164 Oryza sativa Nutrition 0.000 description 12
- 235000009566 rice Nutrition 0.000 description 12
- 230000036544 posture Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 235000013311 vegetables Nutrition 0.000 description 4
- 238000009825 accumulation Methods 0.000 description 3
- 244000037666 field crops Species 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/003—Transplanting machines for aquatic plants; for planting underwater, e.g. rice
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/006—Other parts or details or planting machines
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H48/00—Differential gearings
- F16H48/06—Differential gearings with gears having orbital motion
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/17—Toothed wheels
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Transplanting Machines (AREA)
Abstract
The invention discloses a differential non-circular gear system transplanting mechanism and method, and belongs to the field of agricultural machinery. Comprises a driving system and a differential non-circular gear train; the power is input through the driving system, the driving system divides the power into two paths, and the two paths of power are output to the transplanting mechanism through the differential non-circular gear system; the differential non-circular gear train comprises a planet carrier, a non-circular sun gear and a non-circular planet gear; the non-circular sun gear is meshed with the non-circular planet gear, the non-circular planet gear is arranged on a planet shaft, and the planet shaft is hinged on the planet carrier; the two paths of power respectively drive the non-circular sun gear and the planet carrier. The double-arm transplanting mechanism can be configured as a double-arm transplanting mechanism, and a plurality of transplanting arms can be configured through optimized design, so that the double-arm transplanting mechanism is compact in structure and stable in transmission, the seedling damage rate is reduced, and the transplanting accuracy is improved.
Description
Technical Field
The invention belongs to the field of agricultural machinery, and particularly relates to a differential non-circular gear system transplanting mechanism and a differential non-circular gear system transplanting method.
Background
The transplanting of crops such as rice and the like is an important link in the planting process, and at present, rice transplanting machines mainly comprise rice transplanters, rice seedling throwers and pot seedling planting machines. The transplanter adopts blanket-shaped seedlings, the seedling reviving period is longer, and roots are damaged; the rice seedling throwing machine is easy to cause seedlings to fall down and has poor uprightness; the pot seedling planting has good uprightness and no seedling revival period.
The transplanting mechanism is a core working component of the transplanter and completes actions of seedling taking, conveying, planting and the like. The existing transplanting mechanism mostly adopts a single-degree-of-freedom K-H-V type non-circular gear planetary gear train, two stages of unequal-speed transmission ratios are mutually restricted, the mechanism is small in feasible scope of solution, the problem of backlash accumulation exists, and the formed transplanting track and posture are poor and the accuracy is poor.
Disclosure of Invention
In order to solve the problems, the invention provides a differential non-circular gear system, wherein a driving power piece of a transplanting mechanism of the differential non-circular gear system is a power shaft, and transplanting tracks and postures of transplanting arms can be completed through differential rotation of a non-circular sun gear and a planet carrier and unequal-speed transmission of a non-circular gear pair, so that the purpose of accurately realizing ideal transplanting tracks and postures is achieved.
A differential non-circular gear train comprises a driving system and a differential non-circular gear train; the power is input through the driving system, the driving system divides the power into two paths, and the two paths of power are output to the transplanting mechanism through the differential non-circular gear system; the differential non-circular gear train comprises a planet carrier, a non-circular sun gear and a non-circular planet gear; the non-circular sun gear is meshed with the non-circular planet gear, the non-circular planet gear is arranged on a planet shaft, and the planet shaft is hinged on the planet carrier; the two paths of power respectively drive the non-circular sun gear and the planet carrier.
Furthermore, the driving system comprises a power shaft, a power bevel gear I, a driven bevel gear I, a power bevel gear II, a driven bevel gear II and a sun shaft; the power shaft is provided with a power bevel gear I and a power bevel gear II, the power bevel gear I is meshed with the driven bevel gear I, and the power bevel gear II is meshed with the driven bevel gear II; the driven bevel gear II is arranged at one end of a sun shaft, and the other end of the sun shaft is fixedly connected with a planet carrier; and the driven bevel gear I is fixedly connected with the non-circular sun gear.
Furthermore, a transplanting arm or a planting arm is also arranged on the planet shaft.
Furthermore, the power shaft and the sun shaft are both hinged on the rack.
Furthermore, the tooth number Z of the power bevel gear IMovable INumber of teeth Z of driven bevel gear IFrom IAnd the number N of transplanting arms should satisfy ZMovable I/ZFrom IN/(N-1); the number of teeth Z of the power bevel gear IIKinetic IIAnd number of teeth Z of driven bevel gear IIFrom IIEqual, i.e. ZKinetic II＝ZFrom II。
Furthermore, the number of the non-circular planet wheels is the same, and the number of teeth and the modulus of the non-circular planet wheels are the same.
Further, the number of teeth Z of the non-circular sun gearTaiwan (Chinese character of 'tai')Number of teeth Z of non-circular planetary gear Line ofAnd the number N of transplanting arms should satisfy ZTaiwan (Chinese character of 'tai')/ZLine of＝＝N-1。
In the method of the differential non-circular gear train, power is input through a driving system, the driving system divides the power into two paths, and the two paths of power are output to the transplanting mechanism through the differential non-circular gear train.
Further, power is input by a power shaft, the power shaft drives a power bevel gear I and a power bevel gear II to rotate, the power bevel gear I drives a driven bevel gear I to rotate, the power bevel gear II drives a driven bevel gear II to rotate, so that a non-circular sun gear and a sun shaft rotate, the non-circular sun gear and the sun shaft rotate at different rotating speeds due to the fact that the transmission ratio of the power bevel gear I to the driven bevel gear I is different from the transmission ratio of the power bevel gear II to the driven bevel gear II, so that differential rotation is formed, the sun shaft drives a planet carrier to rotate, the non-circular sun gear transmits power to a non-circular planet gear, the planet shaft is hinged to the planet carrier, one end of the planet shaft is provided with a transplanting arm or planting arm, the other end of the planet shaft is provided with the non-circular planet gear, so that the transplanting arm or the planting arm not only performs revolving, the two movements are combined into a transplanting track and a posture required by the transplanting arm or the planting arm.
Compared with the prior art, the invention has the beneficial effects that:
1. the differential non-circular gear system transplanting mechanism is a single-stage non-constant-speed transmission mechanism, has high design flexibility, and can realize more ideal transplanting track and posture. In addition, the differential non-circular gear system transplanting mechanism can realize low-speed seedling taking through configuring a plurality of transplanting arms or planting arms, reduce the seedling damage rate and improve the transplanting success rate. The differential non-circular gear train can be applied to a transplanting mechanism for designing blanket-shaped rice seedling transplanting, a transplanting mechanism for transplanting rice pot seedlings, a seedling taking mechanism and a seedling planting mechanism for dry field crops such as vegetables and the like.
2. Through the design of a driving system of the differential non-circular gear system transplanting mechanism, the non-circular sun gear and the planet carrier rotate at different rotating speeds through single power input through transmission of two pairs of bevel gears, the structure is simple, and the transmission is stable and efficient.
3. Through designing the differential non-circular gear system transplanting mechanism, through differential rotation of the non-circular sun gear and the planet carrier and unequal-speed transmission of the non-circular gear pair, more ideal transplanting track and posture can be accurately realized, mutual restriction and side clearance accumulation of multi-stage unequal-speed transmission ratios are avoided, the structure is simple, the cost is low, the seedling injury rate is reduced, and the transplanting success rate is improved.
4. Through the design of a driving system of the differential non-circular gear system, the non-circular sun gear and the planet carrier are driven to rotate in a differential mode through the uniform rotation of the power shaft, the structure is simple, and the transmission is stable and efficient.
5. The differential non-circular gear train transplanting mechanism adopts single-stage non-circular gear unequal transmission, avoids the problems of mutual restriction of two-stage non-circular gear unequal transmission ratios, side clearance accumulation and the like caused by the fact that a middle wheel of a K-H-V type planetary gear train mechanism is simultaneously meshed with a sun wheel and a planetary wheel, and can realize the design of free non-constant transmission ratios, thereby more accurately realizing ideal transplanting tracks and postures.
6. The differential non-circular gear system can be provided with a plurality of transplanting arms through optimized design, so that the speed of the transplanting arms at the seedling taking time is reduced, the seedling injury rate is reduced, and the seedling taking success rate is improved.
7. The differential non-circular gear train can be designed into a transplanting mechanism for transplanting rice pot seedlings as required, the transplanting arm is changed into a transplanting mechanism, the transplanting arm can be optimally designed into a transplanting mechanism for transplanting blanket-shaped seedlings, the transplanting arm is changed into a seedling taking mechanism, the seedling taking arm can be optimally designed into dry field crops such as vegetables, and the transplanting arm is changed into a seedling planting mechanism, the planting device can be optimally designed into dry field crops such as vegetables.
Drawings
FIG. 1 is a schematic view of the general construction of a differential non-circular gear train to which the present invention relates;
FIG. 2 is a schematic diagram of a dual-arm transplanting mechanism according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a three-arm transplanting mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a four-arm transplanting mechanism according to an embodiment of the present invention;
FIG. 5 is a structural view of a three-armed rice pot seedling transplanting mechanism according to an embodiment of the present invention;
fig. 6 is a schematic view of a three-arm seedling planting mechanism according to an embodiment of the present invention.
The reference numbers are as follows:
1-power shaft, 2-power bevel gear I, 3-power bevel gear II, 4-driven bevel gear II, 5-driven bevel gear I, 6-non-circular sun gear, 7-non-circular planet gear I, 8-planet shaft I, 9-transplanting arm I, 10-sun shaft, 11-planet carrier, 12-planet shaft II, 13-non-circular planet gear II, 14-transplanting arm II, 15-transplanting arm III, 16-non-circular planet gear III, 17-transplanting arm IV, 18-non-circular planet gear IV, 19-planting device I, 20-planting device II and 21-planting device III.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
A differential non-circular gear train transplanting mechanism comprises a driving system and a differential non-circular gear train; the driving system comprises a power shaft 1, a power bevel gear I2, a driven bevel gear I5, a power bevel gear II 3, a driven bevel gear II 4 and a sun shaft 10, wherein the power shaft 1 is hinged on a rack, the power bevel gear I2 and the power bevel gear II 3 are coaxially and fixedly connected on the power shaft 1, the sun shaft 10 is hinged on the rack, the driven bevel gear I5 is rotatably sleeved on the sun shaft 10, the driven bevel gear II 4 is fixedly connected on the sun shaft 10, the power bevel gear I2 is meshed with the driven bevel gear I5, the power bevel gear II 3 is meshed with the driven bevel gear II 4, the differential non-circular gear train comprises a non-circular sun gear 7, a planet carrier 11, a non-circular planet gear I7, a non-circular planet gear II 13, a transplanting arm I9, a transplanting arm II 14, a planet shaft I8 and a planet shaft II 12, the non-circular sun gear 6 is fixed on the driven, the planet carrier 11 is fixedly connected with the sun shaft 10, the planet shaft I8 and the planet shaft II 12 are respectively hinged on the planet carrier 11, two ends of the planet shaft I8 are respectively fixedly connected with the transplanting arm I9 and the non-circular planet wheel I7, and two ends of the planet shaft II 12 are respectively fixedly connected with the transplanting arm II 14 and the non-circular planet wheel II 13.
The differential non-circular gear differential planetary gear train can also be designed into a transplanting mechanism, a seedling taking mechanism, a seedling planting mechanism and the like through parameter optimization, the execution part is designed into a transplanting mechanism with a transplanting arm capable of being used for transplanting rice blanket-shaped seedlings, the execution part is designed into a transplanting mechanism with a transplanting arm capable of being used for transplanting rice pot seedlings, the execution part is designed into a seedling taking arm capable of being used as a seedling taking mechanism, and the execution part is designed into a planting device capable of being used as a seedling planting mechanism for economic crops such as vegetables and the like.
Wherein, the tooth number Z of the power bevel gear I2Movable INumber of teeth Z of driven bevel gear I5From IAnd the number N of transplanting arms should satisfy ZMovable I/ZFrom IN/(N-1); number of teeth Z of power bevel gear II 3Kinetic IIAnd number of teeth Z of driven bevel gear II 4From IIEqual, i.e. ZKinetic II＝ZFrom II。
Number of teeth Z of non-circular planet wheel I7Line IAnd number of teeth Z of non-circular planet wheel II 13Line IIAnd the irregular tooth profiles of the non-circular planet wheels I7 and II 13 are completely consistent.
Number of teeth Z of non-circular sun gear 6Taiwan (Chinese character of 'tai')Number of teeth Z of non-circular planet wheel I7Line INumber of teeth Z of non-circular planet wheel II 13Line IIAnd the number N of transplanting arms should satisfy ZTaiwan (Chinese character of 'tai')/ZLine I＝ZTaiwan (Chinese character of 'tai')/ZLine II＝N-1。
For example, referring to fig. 2, it can be seen that the transplanting arm I9 and the transplanting arm II 14 are driven to work by meshing the non-circular sun wheel 6 with the non-circular planet wheel I7 and the non-circular planet wheel II 13.
With reference to fig. 3, the transplanting arm i 9, the transplanting arm ii 14 and the transplanting arm iii 15 are driven to work by the engagement of the non-circular sun wheel 6 with the non-circular planet wheel i 7, the non-circular planet wheel ii 13 and the non-circular planet wheel iii 16.
With reference to fig. 4, the transplanting arm i 9, the transplanting arm ii 14, the transplanting arm iii 15 and the transplanting arm iv 17 are driven to work by the engagement of the non-circular sun wheel 6 with the non-circular planetary wheel i 7, the non-circular planetary wheel ii 13, the non-circular planetary wheel iii 16 and the non-circular planetary wheel iv 18.
With reference to fig. 5, a schematic three-dimensional structure diagram of a three-arm rice pot seedling transplanting mechanism is shown, and the specific connection relationship is similar to the structure of the specific embodiment and is not repeated.
With reference to fig. 6, fig. 6 is a view showing that the transplanting arm i 9, the transplanting arm ii 14 and the transplanting arm iii 15 are replaced by a planting arm i 19, a planting arm ii 20 and a planting arm iii 21 on the basis of fig. 3.
The working process of the invention is as follows: power is input by a power shaft 1, the power shaft 1 drives a power bevel gear I2 and a power bevel gear II 3 fixedly connected with the power shaft to rotate at a constant speed, the power bevel gear I2 and a driven bevel gear I5 are meshed to rotate, the power bevel gear II 3 and the driven bevel gear II 4 are meshed to rotate, the driven bevel gear I5 is fixedly connected with a non-circular sun gear 6 through a tooth insert, the driven bevel gear II 4 is fixedly connected with a sun shaft 10, the driven bevel gear I5 and the driven bevel gear II 4 respectively drive the non-circular sun gear 6 and the sun shaft 10 to rotate in a differential speed and the same direction, the sun shaft 10 is fixedly connected with a planet carrier 11, the planet carrier 11 rotates along with the sun shaft 10 to drive a planet shaft I8 and a planet shaft II 12 hinged on the planet carrier 11 to perform a revolving motion, two ends of the planet shaft I8 are respectively fixedly connected with a non-circular planet wheel I7 and a transplanting arm I9, the non-circular planet wheel I7 and the non-circular planet wheel II 13 are respectively meshed with the non-circular sun wheel 6 to rotate, on one hand, the transplanting arm I9 and the transplanting arm II 14 respectively rotate along with the planet shaft I8 and the planet shaft II 12 in a circulating mode, on the other hand, the transplanting arm I9 and the transplanting arm II 14 respectively rotate along with the non-circular planet wheel I7 and the non-circular planet wheel II 13 in a meshed mode relative to the non-circular sun wheel 6, and the transplanting track and the transplanting posture required by the transplanting arm are synthesized through the two motions. For the three-arm and four-arm differential transplanting mechanism, the transplanting arm III 15 and the transplanting arm IV 17 do circular motion along with the non-circular planetary wheel III 16 and the non-circular planetary wheel IV 18 on the one hand, and do not engage with the non-circular sun wheel 6 at the same speed to rotate on the other hand, and a plurality of transplanting arms periodically realize the same track and posture.
In addition, when the transplanting arm I9, the transplanting arm II 14 and the transplanting arm III 15 are replaced by the planting arm I19, the planting arm II 20 and the planting arm III 21, the transmission condition is also the same, and different unequal-speed transmission ratios of the non-circular gears are only needed to be optimally designed.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.
Claims (10)
1. A differential non-circular gear train is characterized by comprising a driving system and the differential non-circular gear train; the power is input through the driving system, the driving system divides the power into two paths, and the two paths of power are output to the transplanting mechanism through the differential non-circular gear system; the differential non-circular gear train comprises a planet carrier (11), a non-circular sun gear (6) and a non-circular planet gear; the non-circular sun gear (6) is meshed with a non-circular planet gear, the non-circular planet gear is arranged on a planet shaft, and the planet shaft is hinged on a planet carrier (11); the two paths of power respectively drive the non-circular sun gear (6) and the planet carrier (11).
2. A differential non-circular gear train according to claim 1, characterized in that the drive system comprises a power shaft (1), a power bevel gear i (2), a driven bevel gear i (5), a power bevel gear ii (3), a driven bevel gear ii (4) and a sun shaft (10); a power bevel gear I (2) and a power bevel gear II (3) are mounted on the power shaft (1), the power bevel gear I (2) is meshed with a driven bevel gear I (5), and the power bevel gear II (3) is meshed with a driven bevel gear II (4); the driven bevel gear II (4) is installed at one end of the sun shaft (10), and the other end of the sun shaft (10) is fixedly connected with the planet carrier (11); and the driven bevel gear I (5) is fixedly connected with the non-circular sun gear (6).
3. The differential non-circular gear train of claim 1, wherein a transplanting arm or planting arm is further mounted on the planet axle.
4. A differential non-circular gear train according to claim 2, characterized in that both the power shaft (1) and the sun shaft (10) are articulated on the machine frame.
5. A differential non-circular gear train according to claim 2, characterized in that the number of teeth Z of the power bevel gear I (2)Movable INumber of teeth Z of driven bevel gear I (5)From IAnd the number N of transplanting arms should satisfy ZMovable I/ZFrom IN/(N-1); the tooth number Z of the power bevel gear II (3)Kinetic IIAnd number of teeth Z of driven bevel gear II (4)From IIEqual, i.e. ZKinetic II＝ZFrom II。
6. A differential non-circular gear train as claimed in claim 1 wherein there are a plurality of said non-circular planets and the number and module of the plurality of said non-circular planets are the same.
7. A differential non-circular gear train according to claim 6, characterized in that the number of teeth Z of the non-circular sun gear (6)Taiwan (Chinese character of 'tai')Number of teeth Z of non-circular planetary gearLine ofAnd the number N of transplanting arms should satisfy ZTaiwan (Chinese character of 'tai')/ZLine of＝＝N-1。
8. Use of a differential non-circular gear train as claimed in any one of claims 1 to 7 in a transplanting mechanism.
9. The method of a differential non-circular gear train of any one of claims 1 to 7, wherein power is input through a drive system, the drive system splits the power into two paths, and the two paths of power are output to the transplanting mechanism through the differential non-circular gear train.
10. A method of differentiating a non-circular gear train according to claim 9 comprising the steps of: power is input by a power shaft (1), the power shaft (1) drives a power bevel gear I (2) and a power bevel gear II (3) to rotate, the power bevel gear I (2) drives a driven bevel gear I (5) to rotate, the power bevel gear II (3) drives a driven bevel gear II (4) to rotate, so that a non-circular sun gear (6) and a sun shaft (10) rotate, because the transmission ratio of the power bevel gear I (2) to the driven bevel gear I (5) is different from the transmission ratio of the power bevel gear II (3) to the driven bevel gear II (4), the non-circular sun gear (6) and the sun shaft (10) rotate at different rotating speeds, so that differential rotation is formed, the sun shaft (10) drives a planet carrier (11) to rotate, the non-circular sun gear (6) drives a non-circular planet gear to self-transmit, the planet shaft drives the non-circular planet gear, and the planet shaft is hinged on the planet carrier (11), one end of the planet shaft is provided with a transplanting arm or a planting arm, and the other end of the planet shaft is arranged on the non-circular planet wheel, so that the transplanting arm or the planting arm does revolving motion along with the planet shaft and rotates relative to the non-circular sun wheel (6) along with the planet wheel, and the transplanting track and the posture required by the transplanting arm or the planting arm are synthesized by the two motions.
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| CN202010543749.6A CN111837534B (en) | 2020-06-15 | 2020-06-15 | Differential non-circular gear train transplanting mechanism and method |
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| CN202010543749.6A CN111837534B (en) | 2020-06-15 | 2020-06-15 | Differential non-circular gear train transplanting mechanism and method |
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Cited By (1)
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| CN114467431A (en) * | 2022-01-17 | 2022-05-13 | 江苏大学 | Single-arm rice pot seedling transplanting mechanism |
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| CN114467431A (en) * | 2022-01-17 | 2022-05-13 | 江苏大学 | Single-arm rice pot seedling transplanting mechanism |
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