CN111837534A - Differential non-circular gear system transplanting mechanism and method - Google Patents

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

Differential non-circular gear train transplanting mechanism and method

technical field

The invention belongs to the field of agricultural machinery, and in particular relates to a differential non-circular gear train transplanting mechanism and method.

Background technique

The transplanting of rice and other crops is an important part in the planting process. At present, rice transplanting machines mainly include rice transplanters, rice throwing machines and pot seedling planting machines. The rice transplanter uses blanket seedlings, which has a long slow seedling period and damages the roots; the rice throwing machine is easy to make the seedlings lodging and the erection is not good; while the pot seedlings are planted with good erection and no slow seedling period.

The transplanting mechanism is the core working part of the transplanter, which completes the actions of picking seedlings, conveying and planting. Most of the existing transplanting mechanisms use a single degree of freedom K-H-V type non-circular gear planetary gear train. The two-stage unequal speed transmission ratios mutually restrict each other. The feasible solution domain of the mechanism is small, and there is a problem of backlash accumulation. The resulting transplanting trajectory and attitude Poor and poor accuracy.

SUMMARY OF THE INVENTION

In view of the above problems, the present invention provides a differential non-circular gear train. The prime mover of the differential non-circular gear train transplanting mechanism is a power shaft. The differential rotation of the non-circular sun gear and the planet carrier and the non-circular gear The unequal speed transmission of the vice can make the transplanting arm complete the transplanting trajectory and posture, so as to achieve the purpose of accurately realizing the ideal transplanting trajectory and posture.

A differential non-circular gear train, comprising a drive system and a differential non-circular gear train; power is input through the drive system, the drive system divides the power into two paths, and the two paths of power are output to a transplanting mechanism through the differential non-circular gear train ; The differential non-circular gear train includes a planet carrier, a non-circular sun gear and a non-circular planetary gear; the non-circular sun gear meshes with the non-circular planetary gear, the non-circular planetary gear is mounted on the planetary shaft, and the planetary shaft is hinged on the On the planet carrier; the two paths of power drive the non-circular sun gear and the planet carrier respectively.

Further, the drive system includes 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 mounted with a power bevel gear I and a power bevel gear. Gear II, the power bevel gear I meshes with the driven bevel gear I, and the power bevel gear II meshes with the driven bevel gear II; wherein the driven bevel gear II is installed at one end of the sun shaft, and the other end of the sun shaft is fixedly connected There is a planet carrier; the driven bevel gear I is fixedly connected with the non-circular sun gear.

Further, a transplanting arm or a planting arm is also installed on the planetary shaft.

Further, both the power shaft and the sun shaft are hinged on the frame.

Further, the number of teeth Z of the power bevel gear _I , the number of teeth Z _{of the} driven bevel gear _I , and the number of transplanting arms N should satisfy the following: The number of teeth Z of the power bevel gear _II and the number of teeth of the driven bevel gear II are equal to Z _{from II} , that is, Z from _II = Z _{from II} .

Further, there are several non-circular planetary gears, and the number of teeth and modules of the several non-circular planetary gears are the same.

Further, the number of teeth Z of the non-circular _sun gear, the number of teeth of the non-circular planetary gears Z _rows and the number N of the transplanting arms should satisfy Z _too /Z _rows ==N-1.

In the method of 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 train.

Further, the power is input by the power shaft, the power shaft drives the power bevel gear I and the power bevel gear II to rotate, the power bevel gear I drives the driven bevel gear I to rotate, and the power bevel gear II drives the driven bevel gear II to rotate, so that the The circular sun gear and the sun shaft rotate, because the transmission ratio of the power bevel gear I and the driven bevel gear I is different from the transmission ratio of the power bevel gear II and the driven bevel gear II, so that the non-circular sun gear and the sun shaft rotate at different speeds The sun shaft drives the planet carrier to rotate, the non-circular sun gear transmits the power to the non-circular planet gear, the planet shaft is hinged on the planet carrier, one end of the planet shaft is installed with a transplanting arm or a planting arm, and the other end It is installed on the non-circular planetary wheel, so that the transplanting arm or the transplanting arm not only rotates with the planetary shaft, but also rotates with the planetary wheel relative to the non-circular sun gear. The two movements synthesize the transplanting arm or the transplanting arm required by the planting arm trajectory and attitude.

Compared with the prior art, the beneficial effects of the present invention are:

1. The differential non-circular gear train transplanting mechanism is a single-stage unequal speed transmission mechanism, which has a large design flexibility and can achieve a more ideal transplanting trajectory and attitude. In addition, the differential non-circular gear train transplanting mechanism can realize low-speed seedling picking by configuring multiple transplanting arms or planting arms, reducing the seedling damage rate and improving the transplanting success rate. The differential non-circular gear train can be used to design the planting mechanism for rice blanket seedling transplanting, the transplanting mechanism for rice pot seedling transplanting, the seedling picking mechanism and seedling planting mechanism for vegetables and other dry crops.

2. By designing the drive system of the differential non-circular gear train transplanting mechanism, through the transmission of two pairs of bevel gears, the non-circular sun gear and the planet carrier can be rotated at different speeds by a single power input. The structure is simple and the transmission is stable and efficient.

3. By designing the differential non-circular gear train transplanting mechanism, through the differential rotation of the non-circular sun gear and the planet carrier and the unequal speed transmission of the non-circular gear pair, a more ideal transplanting trajectory and attitude can be accurately realized. It avoids the mutual restriction of multi-stage unequal speed transmission ratios and the accumulation of side gaps, the structure is simple, the cost is low, the seedling injury rate is reduced, and the transplanting success rate is improved.

4. By designing the drive system of the differential non-circular gear train, the uniform rotation of the power shaft drives the differential rotation of the non-circular sun gear and the planet carrier. 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 speed transmission, which avoids the intermediate wheel of the K-H-V type planetary gear train mechanism meshing with the sun gear and the planetary gear at the same time, resulting in unequal two-stage non-circular gears The problems of mutual restriction of speed transmission ratio and accumulation of backlash can realize the design of free and unequal speed transmission ratio, so as to realize the ideal transplanting trajectory and attitude more accurately.

6. The differential non-circular gear train can be configured with multiple transplanting arms through optimal design, which can reduce the speed of the transplanting arm at the time of picking seedlings, reduce the rate of damaged seedlings, and improve the success rate of picking seedlings.

7. The differential non-circular gear system can be designed as a transplanting mechanism for rice pot seedling transplanting according to needs. Changing the transplanting arm to a planting arm can be optimally designed as a transplanting mechanism for blanket seedling transplanting. Changing the planting arm to the seedling arm can be optimally designed as a seedling picking mechanism for vegetables and other dry field crops, and changing the transplanting arm to a planter can optimize the design as a seedling planting mechanism for vegetables and other dry field crops.

Description of drawings

1 is a schematic diagram of the overall structure of a differential non-circular gear train involved in the present invention;

2 is a schematic diagram of a dual-arm transplanting mechanism involved in an embodiment of the present invention;

3 is a schematic diagram of a three-arm transplanting mechanism involved in an embodiment of the present invention;

4 is a schematic diagram of a four-arm transplanting mechanism involved in an embodiment of the present invention;

5 is a structural diagram of a three-arm rice pot seedling transplanting mechanism involved in an embodiment of the present invention;

6 is a schematic diagram of a three-arm seedling planting mechanism involved in 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 planetary gear I, 8-Planet shaft I, 9-Transplanting arm I, 10-Sun shaft, 11-Planet carrier, 12-Planet shaft II, 13-Non-circular planetary wheel II, 14-Transplanting arm II, 15-Transplanting arm III, 16-non-circular planetary wheel III, 17-transplanting arm IV, 18-non-circular planetary wheel IV, 19-planter I, 20-planter II, 21-planter III.

Detailed ways

The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.

A differential non-circular gear train transplanting mechanism, comprising 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 II3, and a driven bevel gear II4 is composed of the sun shaft 10, the power shaft 1 is hinged on the frame, the power bevel gear I2 and the power bevel gear II3 are coaxially fixed on the power shaft 1, the sun shaft 10 is hinged on the frame, driven The bevel gear I5 is rotatably sleeved on the sun shaft 10, the driven bevel gear II4 is fixed on the sun shaft 10, the power bevel gear I2 meshes with the driven bevel gear I5, the power bevel gear II3 meshes with the driven bevel gear II4, The differential non-circular gear train includes a non-circular sun gear 7, a planet carrier 11, a non-circular planetary gear I7, a non-circular planetary gear II13, a transplanting arm I9, a transplanting arm II14, a planetary shaft I8 and a planetary shaft II12. The circular sun gear 6 is fixed on the driven bevel gear I5 by the teeth, the planet carrier 11 is fixed with the sun shaft 10, the planetary shaft I8 and the planetary shaft II12 are hinged on the planetary carrier 11 respectively, and the two ends of the planetary shaft I8 are respectively fixed. The transplanting arm I9 and the non-circular planetary wheel I7, and the two ends of the planetary shaft II12 are respectively fixed to the transplanting arm II14 and the non-circular planetary wheel II13.

Among them, the differential non-circular gear unequal speed planetary gear train can also be designed as an inserting mechanism, a transplanting mechanism, a seedling picking mechanism and a seedling planting mechanism through parameter optimization. Insertion mechanism, the execution part is designed as a transplanting arm, which can be used as a transplanting mechanism for rice pot seedling transplanting; institutions, etc.

Among them, the number of teeth Z of the power bevel gear I2, the number of teeth of the driven bevel gear I5, Z _{from I ,} and the number of transplanting arms N should satisfy Z _{-driven I} /Z _{from I} =N/(N-1); the power bevel gear II3 The number of teeth Z is equal to the number of teeth Z of the driven bevel gear _II4 , that is, Z is equal _{to Z from II .}

The number of teeth Z _{row I} of the non-circular planetary gear I7 and the number of teeth Z _{row II} of the non-circular planetary gear II13 are equal, and the irregular tooth profiles of the non-circular planetary gear I7 and the non-circular planetary gear II13 are exactly the same.

The number of teeth Z _too of the non-circular sun gear 6, the number of teeth of the non-circular planetary gear I7 of the Z _{row I} , the number of teeth of the non-circular planetary gear II 13 of the Z _{row II} and the number of transplanting arms N should satisfy Z _too /Z _{row I} = Z _too /Z _{Row II} = N-1.

It can be seen in conjunction with the accompanying drawings of the present invention, such as in conjunction with accompanying drawing 2, it can be seen that the non-circular sun gear 6 meshes with the non-circular planetary gear I7 and the non-circular planetary gear II13, thereby driving the transplanting arm I9 and the transplanting arm II14. Work.

3, the non-circular sun gear 6 meshes with the non-circular planetary gear I7, the non-circular planetary gear II13 and the non-circular planetary gear III16, thereby driving the transplanting arm I9, the transplanting arm II14 and the transplanting arm III15 to work.

4, the non-circular sun gear 6 meshes with the non-circular planetary gear I7, the non-circular planetary gear II13, the non-circular planetary gear III16 and the non-circular planetary gear IV18, thereby driving the transplanting arm I9, the transplanting arm II14, the transplanting arm II14, the Planting arm III15 and transplanting arm IV17 work.

With reference to FIG. 5 , it is a three-dimensional structure schematic diagram of a three-arm rice pot seedling transplanting mechanism, and the specific connection relationship is similar to the structure of the specific embodiment, and will not be repeated.

Referring to Fig. 6, Fig. 6 is based on Fig. 3, replacing the transplanting arm I9, the transplanting arm II14 and the transplanting arm III15 with the transplanting arm I19, the transplanting arm II20 and the transplanting arm III21.

The working process of the present invention is as follows: the power is input by the power shaft 1, the power shaft 1 drives the power bevel gear I2 and the power bevel gear II3 fixed on it to rotate at a constant speed, the power bevel gear I2 and the driven bevel gear I5 mesh and rotate, and the power bevel gear I2 and the driven bevel gear I5 mesh and rotate. Gear II3 and the driven bevel gear II4 mesh and rotate, the driven bevel gear I5 is fixed with the non-circular sun gear 6 through the tooth claw, the driven bevel gear II4 is fixed with the sun shaft 10, the driven bevel gear I5 and the driven bevel gear II4 respectively drives the non-circular sun gear 6 and the sun shaft 10 to rotate in the same direction at different speeds, the sun shaft 10 is fixed to the planet carrier 11, the planet carrier 11 rotates with the sun shaft 10, and drives the planet shaft I8 hinged on the planet carrier 11 The two ends of the planetary shaft I8 are respectively fixed to the non-circular planetary gear I7 and the transplanting arm I9, and the two ends of the planetary shaft II12 are respectively fixed to the non-circular planetary gear II13 and the transplanting arm II14. The planetary gear I7 and the non-circular planetary gear II13 mesh and rotate with the non-circular sun gear 6 respectively. On the one hand, the transplanting arm I9 and the transplanting arm II14 make epicyclic motions with the planetary shaft I8 and the planetary shaft II12 respectively, and on the other hand, the transplanting arm I9 And the transplanting arm II14 meshes and rotates with the non-circular planetary gear I7 and the non-circular planetary gear II13 relative to the non-circular sun gear 6 respectively, and the two movements synthesize the transplanting trajectory and posture required by the transplanting arm. For the three-arm and four-arm differential transplanting mechanisms, on the one hand, the transplanting arm III15 and the transplanting arm IV17 move in a circular motion with the non-circular planetary gear III16 and the non-circular planetary gear IV18, and on the other hand, the non-circular sun gear 6 has an unequal speed. Meshing and rotating, multiple transplanting arms periodically achieve the same trajectory and attitude.

In addition, when the transplanting arm I9, the transplanting arm II14 and the transplanting arm III15 are replaced with the transplanting arm I19, the transplanting arm II20 and the transplanting arm III21, the transmission situation is also the same. It is only necessary to optimize the design of different non-circular gears for unequal speed transmission. Compare.

The embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above-mentioned embodiments, and any obvious improvement, replacement or All modifications belong to the protection scope of the present invention.

Claims (10)

1. a differential non-circular gear train, is characterized in that, comprises drive system and differential non-circular gear train; Power is input through the drive system, and the drive system divides the power into two roads, and the two-way power is passed through the differential non-circular gear. The differential non-circular gear train includes a planet carrier (11), a non-circular sun gear (6) and a non-circular planetary gear; the non-circular sun gear (6) meshes with the non-circular planetary gear , the non-circular planetary gear is installed on the planetary shaft, and the planetary shaft is hinged on the planetary carrier (11); the two paths of power drive the non-circular sun gear (6) and the planetary carrier (11) respectively. 2. The differential non-circular gear train according to claim 1, wherein the drive system comprises a power shaft (1), a power bevel gear I (2), a driven bevel gear I (5), a power bevel gear I (5), and a power bevel gear I (5). Gear II (3), driven bevel gear II (4) and sun shaft (10); the power shaft (1) is provided with a power bevel gear I (2) and a power bevel gear II (3), a power bevel gear I(2) meshes with the driven bevel gear I(5), and the power bevel gear II(3) meshes with the driven bevel gear II(4); wherein the driven bevel gear II(4) is installed on the sun shaft ( One end of 10), the other end of the sun shaft (10) is fixedly connected with a planet carrier (11); the driven bevel gear I (5) is fixedly connected with the non-circular sun gear (6). 3 . The differential non-circular gear train according to claim 1 , wherein a transplanting arm or a transplanting arm is also installed on the planetary shaft. 4 . 4 . The differential non-circular gear train according to claim 2 , wherein the power shaft ( 1 ) and the sun shaft ( 10 ) are both hinged on the frame. 5 . 5. The differential non-circular gear train according to claim 2, characterized in that the number of teeth Z of the power bevel gear I (2) and the number of teeth Z of _{the driven bevel gear I} (5) are shifted _{from I} and I. The number N of planting arms should satisfy Z _{-movement I} /Z- _{slave I} =N/(N-1); the number of teeth of the power bevel gear II (3) Z _{-movement II} and the driven bevel gear II (4) Z- _{slave II} Equal, that is, Z _{moves II} = Z moves _II . 6 . The differential non-circular gear train according to claim 1 , wherein there are several non-circular planetary gears, and the number of teeth and modules of the several non-circular planetary gears are the same. 7 . 7. The differential non-circular gear train according to claim 6 is characterized in that the number of teeth Z of the non-circular sun gear (6), the number of teeth Z _rows of _the non-circular planetary gears and the number N of transplanting arms should satisfy Z _too /Z _lines ==N-1. 8. The differential non-circular gear train as claimed in any one of claims 1 to 7 is used in a transplanting mechanism. 9. The method for a differential non-circular gear train according to any one of claims 1-7, wherein the power is input through a drive system, the drive system divides the power into two paths, and the two paths of power are passed through the differential non-circular gear train. The gear train is output to the transplanting mechanism. 10. The method for a differential non-circular gear train according to claim 9, characterized in that it comprises the following steps: the power is input by the power shaft (1), and the power shaft (1) drives the power bevel gear I (2) and the power The bevel gear II (3) rotates, the power bevel gear I (2) drives the driven bevel gear I (5) to rotate, and the power bevel gear II (3) drives the driven bevel gear II (4) to rotate, thereby making the non-circular sun gear (6) and the sun shaft (10) rotate, because the transmission ratio of the power bevel gear I (2) and the driven bevel gear I (5) and the power bevel gear II (3) drive the transmission of the driven bevel gear II (4) The ratio is different, so that the non-circular sun gear (6) and the sun shaft (10) rotate at different speeds, thus forming differential rotation, the sun shaft (10) drives the planet carrier (11) to rotate, and the non-circular sun gear (6) drives The non-circular planetary wheel autobiography, the planetary shaft drives the non-circular planetary wheel to revolve, the planetary shaft is hinged on the planet carrier (11), one end of the planetary shaft is installed with a transplanting arm or a planting arm, and the other end is installed on the non-circular planetary gear, so that the The transplanting arm or the transplanting arm not only performs epicyclic motion with the planetary shaft, but also rotates relative to the non-circular sun gear (6) with the planetary wheel, and the two movements synthesize the transplanting track and posture required by the transplanting arm or the transplanting arm.

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