CN207836154U - Closed chain slider-crank combines flowers transplanting mechanism - Google Patents
Closed chain slider-crank combines flowers transplanting mechanism Download PDFInfo
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- CN207836154U CN207836154U CN201820147654.0U CN201820147654U CN207836154U CN 207836154 U CN207836154 U CN 207836154U CN 201820147654 U CN201820147654 U CN 201820147654U CN 207836154 U CN207836154 U CN 207836154U
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- seedling
- crank
- shift fork
- cam
- bearing
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- 230000000694 effects Effects 0.000 claims abstract description 13
- 230000037431 insertion Effects 0.000 claims 1
- 238000003780 insertion Methods 0.000 claims 1
- 241000196324 Embryophyta Species 0.000 abstract description 5
- 210000002221 olecranon process Anatomy 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 238000005457 optimization Methods 0.000 description 4
- 238000002054 transplantation Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 235000012055 fruits and vegetables Nutrition 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000013178 mathematical model Methods 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 244000241257 Cucumis melo Species 0.000 description 1
- 235000015510 Cucumis melo subsp melo Nutrition 0.000 description 1
- 235000009852 Cucurbita pepo Nutrition 0.000 description 1
- 240000001980 Cucurbita pepo Species 0.000 description 1
- FJJCIZWZNKZHII-UHFFFAOYSA-N [4,6-bis(cyanoamino)-1,3,5-triazin-2-yl]cyanamide Chemical compound N#CNC1=NC(NC#N)=NC(NC#N)=N1 FJJCIZWZNKZHII-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000011295 pitch Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Landscapes
- Transplanting Machines (AREA)
Abstract
The utility model discloses closed chain slider-cranks to combine flowers transplanting mechanism.Existing seedling picking mechanism is of high cost, complex structural designs, or can only realize a kind of track.The double-screw shaft of the utility model constitutes revolute pair with activity pallet；Sliding block constitutes screw pair with double-screw shaft；Servo motor drives double-screw shaft；Constant speed motor drives crank, cam to be fixed with crank；One end of connecting rod is hinged with sliding block；The other end is hinged with seedling taking arm end cap；That end that housing bottom fixes cam with crank is hinged；The adjustable height of activity pallet.The utility model can realize figure of eight track or olecranon type track to meet the needs of seedling taking, plant seedlings, and mechanism is simple and flexible.
Description
Technical field
The utility model belongs to agricultural mechanical field, is related to flowers transplanting, and in particular to a kind of closed chain slider-crank combination
Flowers transplanter structure.
Background technology
Flowers transplantation technique can reduce the growth cycle of crops, keep the quality of crop unified, reach increasing both production and income
Purpose, development automation pot flowers transplantation technique be comply with pot flowers production high growth rate trend, alleviate simultaneously
Labor intensity improves agricultural machanization integral level, with the development of China's production of flowers and plants and installation agriculture technology, has had at present
For the basis and condition for greatly developing automation pot flowers transplantation technique.
Existing seedling picking mechanism is divided into manipulator, gear mechanism, multiple degrees of freedom linkage of electro-hydraulic gas integral etc. mostly.
But it has the following problems：
1) for the equipment of electro-hydraulic gas integral, structure is complex, and the degree of automation is quite high, so comparing in cost
Costly, but the existing national conditions in China are directed to, general plantation, which introduces equipment, many restrictive factors, such as the dimension of equipment
Not matching etc. for shield, the economic ability to take the burden of farmer and transplanting Auxiliary equipment makes the introduction of overseas equipment less existing
It is real.
2) existing single-degree-of-freedom intermittent gear mechanism and noncircular planetary gear system transplanting mechanism are by gear ratio and tooth
The track limited flexibility that the influence of wheel characteristic can be realized, one group of gear can only realize a kind of track, can only be for having
Of the same race or similar characteristic pot seedling crop implements transplanting operation.
3) Trajectory Design of multi-bar linkage is more flexible, if by the optimization of linkage parameter, realizes seedling taking and plants seedlings
Then the structure of mechanism greatly simplifies, but the constraint of existing multiple degrees of freedom multi-bar linkage bar elongate member is too many, and singular point is not easy to avoid,
Cause to solve difficulty, reaches double-crank condition and be not easy to realize, control difficulty is caused to add.
Invention content
The purpose of this utility model is the deficiency for existing transplanting mechanism technology, proposes a kind of closed chain slider-crank combination
Flowers transplanter structure, the closed chain slider-crank combine flowers transplanting mechanism by the way of sliding block, crank and connecting rod assembly, pass through
The characteristics of motion of crank and sliding block is controlled, realizes that the figure of eight or olecranon-like track carry out seedling taking and plant seedlings so that the track of mechanism is real
It is existing flexible and changeable, it is also applied for the full-automatic transplantation of the crops such as melon fruits and vegetables.
The utility model includes constant speed motor, crank, activity pallet, leading screw, double-screw shaft, sliding block, servo motor, connecting rod
With seedling taking arm；Three through holes that rack opens up are respectively and fixedly provided with leading screw axle sleeve；Three leading screw axle sleeves are respectively constituted with three leading screws
Screw pair；Every leading screw top passes through the corresponding through-hole of rack；It is fixed in the activity pallet that there are three first bearings
The top of seat, every leading screw is supported on by bearing in a corresponding first bearing seat；The double-screw shaft both ends pass through axis
It holds and is supported in two second bearing seats, second bearing seat is fixed in activity pallet；Servo motor drives double-screw shaft；It is described
Sliding block and double-screw shaft constitute screw pair；The output shaft of constant speed motor and one end of crank are fixed, and the other end of crank is fixed
There is cam；One end of connecting rod is hinged with sliding block；The pedestal of servo motor and constant speed motor is each attached in rack.
The seedling taking arm includes seedling needle, seedling pawl, pushing sprout pole, shift fork, shift fork limited block, spring, seedling needle mounting blocks, shell
With seedling taking arm end cap；Two pieces of seedling needle mounting blocks are fixed on shell head end, the tail end and two pieces of seedling needle mounting blocks difference of two seedling needles
Pass through pin-hinges；The seedling pawl both ends are nested with respectively on two seedling needles；The projecting shaft and pushing sprout pole being fixed on seedling pawl
Front end is connected through a screw thread fixation；The pushing sprout pole constitutes sliding pair, and the tail end of pushing sprout pole and shift fork limited block with shell
It is fixed；It is sleeved at the top of shift fork on shift fork limited block, and the flange side of the circular arc block at the top of shift fork and shift fork limited block both ends
It is secondary to constitute friction；The shift fork limited block tail end is fixed with spring loop bar；One end of spring is sleeved on spring loop bar, another
In the groove of the embedded seedling taking arm end cap in end；The seedling taking arm end cap is fixed on shell tail end, and hinged with the other end of connecting rod；
The shaft mounting hole opened up in the middle part of shift fork is hinged by shift fork shaft with shell；The bottom of shift fork constitutes cam pair with cam；Shell
The inoperative profile and axis pin of body bottom and cam are hinged, and cam and axis pin are hinged.
The leading screw bottom end is fixed with runner.
Two sprocket wheels are separately fixed on the output shaft of double-screw shaft end and servo motor, and two sprocket wheels pass through chain
Connection.
The bottom side of the shell is supported on by big bearing on the inoperative profile of cam, and the other side is small by one
Bearing is supported on axis pin one end；Bearing hole is offered at that end center of crank fixation cam, in being offered at the center of cam
Heart hole, centre bore are connected to and are coaxially disposed with bearing hole；The axis pin passes through centre bore and bearing hole, the bearing hole of cam logical
It crosses a small bearing and is supported on the axis pin other end；Big bearing and two small bearings are coaxially disposed.
The beneficial effects of the utility model：
1. the utility model can realize figure of eight track or olecranon type track to meet the needs of seedling taking, plant seedlings, mechanism letter
Single and flexible, the bar length of mechanism can remain unchanged, as long as the demand of work, energy can be realized in the characteristics of motion for changing motor
The transplanting work of gourd, fruit and vegetable or flowers is better met, flexible higher is cost-effective.
2. the utility model is due to converting a driving link bar of five bars to a sliding block, so the power of transmission is than five bars
Mechanism is big, compact-sized；The utility model rod piece is less, and the inertia force of mechanism reduces.
3. the constraints that the utility model does not have the model of multiple degrees of freedom multi-bar linkage so much, Grashof's criterion
Constraint is relaxed significantly, and singular point is not likely to produce, and optimization is easier, and optimization range is more wide in range, and mathematical model is easily established.
Description of the drawings
Overall structure stereogram when Fig. 1 is the utility model seedling taking；
Fig. 2 is another structural perspective of the utility model；
Fig. 3 is the side view of the utility model；
Fig. 4 is the seedling taking arm stereogram of the utility model；
Fig. 5 is the seedling taking arm internal structure chart of the utility model；
Fig. 6-1 is crank and a side isometric view after cam assembly in the utility model；
Fig. 6-2 is crank and another side isometric view after cam assembly in the utility model；
Fig. 7 is the assembling stereogram of seedling pawl, pushing sprout pole, shift fork and shift fork limited block in the utility model；
Fig. 8 is the kinematic sketch of mechanism that the utility model forms figure of eight track；
Fig. 9 is the kinematic sketch of mechanism that the utility model forms olecranon-like track.
In figure：1, constant speed motor, 2, crank, 3, rack, 4, the activity pallet that can be lifted, 5, runner, 6, leading screw, 7, silk
Thick stick axle sleeve, 8, first bearing seat, 9, double-screw shaft, 10, sliding block, 11, sprocket wheel, 12, chain, 13, servo motor, 14, connecting rod,
15, seedling taking arm, 16, seedling needle, 17, seedling pawl, 18, pushing sprout pole, 19, shift fork, 20, shift fork limited block, 21, spring, 22, seedling taking arm end
Lid, 23, big bearing, 24, cam, 25, seedling needle mounting blocks, 26, shell, 27, shift fork shaft, 28, small bearing, 29, shaft installation
Hole, 30, second bearing seat.
Specific implementation mode
The utility model is described in detail in specific implementation mode below in conjunction with the accompanying drawings.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 6-1 and Fig. 6-2, closed chain slider-crank combines flowers transplanting mechanism, including constant speed
Motor 1, crank 2, activity pallet 4, leading screw 6, double-screw shaft 9, sliding block 10, servo motor 13, connecting rod 14 and seedling taking arm 15；Rack
3 three through holes opened up are respectively and fixedly provided with leading screw axle sleeve 7；Three leading screw axle sleeves 7 and three leading screws 6 respectively constitute screw pair；Often
6 top of root leading screw passes through 3 corresponding through-holes of rack, and bottom end is fixed with runner 5；It is fixed in activity pallet 4 that there are three first
The top of bearing block 8, every leading screw 6 is supported on by bearing in a corresponding first bearing seat；9 both ends of double-screw shaft pass through axis
It holds and is supported in two second bearing seats 30, second bearing seat 27 is fixed in activity pallet 4；Two sprocket wheels 11 are separately fixed at
On the output shaft of 9 end of double-screw shaft and servo motor 13, and two sprocket wheels 11 are connected by chain 12；Sliding block 10 and double helix
Axis 9 constitutes screw pair；The output shaft of constant speed motor 1 and one end of crank 2 are fixed, and the other end of crank 2 is fixed with cam 24；Even
One end of bar 14 is hinged with sliding block 10；The pedestal of servo motor 13 and constant speed motor 1 is each attached in rack.
As shown in Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 7, seedling taking arm 15 include seedling needle 16, seedling pawl 17, pushing sprout pole 18, shift fork 19,
Shift fork limited block 20, spring 21, seedling needle mounting blocks 25, shell 26 and seedling taking arm end cap 22；Two pieces of seedling needle mounting blocks 25 are fixed on
26 head end of shell, the tail end and two pieces of seedling needle mounting blocks 25 of two seedling needles 16 pass through pin-hinges respectively；Distinguish at 17 both ends of seedling pawl
It is nested on two seedling needles 16；The projecting shaft being fixed on seedling pawl 17 is connected through a screw thread fixation with 18 front end of pushing sprout pole；Push away seedling
Bar 18 constitutes sliding pair with shell 26, and the tail end of pushing sprout pole 18 is fixed with shift fork limited block 20；The top of shift fork 19, which is sleeved on, dials
It pitches on limited block 20, and the circular arc block at 19 top of shift fork and the flange side at 20 both ends of shift fork limited block constitute friction pair；It dials
Fork 20 tail end of limited block is fixed with spring loop bar；One end of spring 21 is sleeved on spring loop bar, and the other end is embedded in seedling taking arm end cap
In 22 groove (as shown in Figure 2)；Seedling taking arm end cap 22 is fixed on 26 tail end of shell, and hinged with the other end of connecting rod 14；It dials
The shaft mounting hole 29 that 19 middle part of fork opens up and shell 26 are hinged by shift fork shaft 27；The bottom of shift fork 19 is constituted with cam 24
Cam pair；26 bottom side of shell is supported on by big bearing 23 on the inoperative profile of cam, and the other side passes through a small axis
It holds 28 and is supported on axis pin one end；Bearing hole is offered at that end center of the fixation cam of crank 2, in being offered at the center of cam
Heart hole, centre bore are connected to and are coaxially disposed with bearing hole；Axis pin passes through centre bore and bearing hole, the bearing hole of cam to pass through one
Small bearing 28 is supported on the axis pin other end；Big bearing 23 and two small bearings 28 are coaxially disposed.
The closed chain slider-crank combines the operation principle of flowers transplanting mechanism：
As shown in Figure 8 and Figure 9, the rotational speed that constant speed motor 1 is kept constant drives crank 2 to rotate；Servo motor speed change
Rotation drives double-screw shaft 9 to rotate, and double-screw shaft band movable slider 10 is moved forward and backward, and connecting rod 14 is driven to move；Crank 2 and connecting rod 14
Linkage makes the 16 cusp E of seedling needle of seedling taking arm 15 realize figure of eight track shown in Fig. 8 or olecranon-like track shown in Fig. 9.And
15 seedling taking of seedling taking arm and the process planted seedlings are as follows：Crank handle turns cam 24 rotates, when shift fork 19 is in the rise stage of cam 24
When, shift fork 19 is rotated around shift fork shaft 27, and 19 top of shift fork drives shift fork limited block 20 to retreat, after driving pushing sprout pole 18
It moves back, retrogressing drive and the seedling pawl 17 of pushing sprout pole 18 are retracted, and the head end closure of two seedling needles 16 grips seedling；When shift fork 19 is in
When the backhaul stage of cam 24, the pressure of spring 21 shift fork limited block 20 toward being pushed forward, forward to pushing sprout pole 18 and seedling pawl 17
It pushes away, the head end opening of two seedling needles 16 pushs out seedling, completes transplanting operation.
In the utility model, crank 2 is used as main power, because the quality of seedling taking arm is larger, the at the uniform velocity operating of crank 2
Conducive to the stabilization of mechanism, and servo motor mainly coordinates constant speed motor, motion compensation is carried out to it, to meet the seedling of seedling taking arm
The movement locus of 16 cusp E of needle.
In the utility model, advised in the rotating angle movement of crank 2, the parameter of connecting rod 14 and seedling taking arm 15 and constant speed motor 1
In the case that rule is constant, " 8 " font trajectory or olecranon-like track, by the defeated of 9 central axis of double-screw shaft and constant speed motor 1
The height difference H of shaft central axis and the rotating angle movement rule of servo motor determine, and height difference H is rotated by runner 5
Leading screw 6 is to be lifted or decline activity pallet 4 to realize adjusting.Figure of eight track is the seedling for the big stem thickness of leaf, directly
It connects and rolls alms bowl gripping and may damage the leaf of seedling, grip, put forward so taking from seedling stem；And it is thin for the small stem of leaf
Seedling, stem's gripping is easy pinch off seedling, and olecranon-like track, which can meet, is directly inserted into seedling claw in seed plate by gripping alms bowl
Seedling is gripped out by soil.As shown in figure 8, figure of eight track is in the upper right side of track, there are one latch closures, and this track is applied to
Seedling clamping type transplanting mechanism, guarantee smoothly go out pot seedling from pot seedling disk folder, and track slickness is good, is steadily driven conducive to mechanism.Such as Fig. 9
Shown, right endpoint of the olecranon type track in track has one section of sharp mouth, can guarantee that it will not be with pot seedling disk when entering alms bowl in this way
Interference is generated, bowl is inserted directly into and takes out pot seedling, has one section of vertical distance in the stage of planting seedlings, when guarantee is planted seedlings and flowerpot
Vertically, pot seedling is implanted into flowerpot vertically.
The utility model realizes the function of a tractor serves several purposes, saves cost.And it is simple and compact for structure, without mostly freely
The so much constraints of the model of multi-bar linkage is spent, the constraint of Grashof's criterion is relaxed significantly, and singular point is not likely to produce, excellent
Change is easier, and optimization range is more wide in range, and mathematical model is easily established.Mode simple possible.
Claims (4)
1. closed chain slider-crank combine flowers transplanting mechanism, including constant speed motor, crank, activity pallet, leading screw, double-screw shaft,
Sliding block, servo motor, connecting rod and seedling taking arm, it is characterised in that：Three through holes that rack opens up are respectively and fixedly provided with leading screw axle sleeve；Three
A leading screw axle sleeve and three leading screws respectively constitute screw pair；Every leading screw top passes through the corresponding through-hole of rack；Described
Fixed there are three first bearing seat in activity pallet, the top of every leading screw is supported on a corresponding first bearing seat by bearing
On；The double-screw shaft both ends are supported on by bearing in two second bearing seats, and second bearing seat is fixed on activity pallet
On；Servo motor drives double-screw shaft；The sliding block constitutes screw pair with double-screw shaft；The output shaft and crank of constant speed motor
One end fix, the other end of crank is fixed with cam；One end of connecting rod is hinged with sliding block；The bottom of servo motor and constant speed motor
Seat is each attached in rack；
The seedling taking arm includes seedling needle, seedling pawl, pushing sprout pole, shift fork, shift fork limited block, spring, seedling needle mounting blocks, shell and takes
Seedling arm end cap；Two pieces of seedling needle mounting blocks are fixed on shell head end, and the tail end of two seedling needles passes through respectively with two pieces of seedling needle mounting blocks
Pin-hinges；The seedling pawl both ends are nested with respectively on two seedling needles；The projecting shaft being fixed on seedling pawl and pushing sprout pole front end
It is connected through a screw thread fixation；The pushing sprout pole constitutes sliding pair with shell, and the tail end of pushing sprout pole is fixed with shift fork limited block；
It is sleeved at the top of shift fork on shift fork limited block, and the circular arc block at the top of shift fork and the flange side at shift fork limited block both ends are constituted
Friction is secondary；The shift fork limited block tail end is fixed with spring loop bar；One end of spring is sleeved on spring loop bar, other end insertion
In the groove of seedling taking arm end cap；The seedling taking arm end cap is fixed on shell tail end, and hinged with the other end of connecting rod；In shift fork
The shaft mounting hole that portion opens up is hinged by shift fork shaft with shell；The bottom of shift fork constitutes cam pair with cam；Housing bottom
It is hinged with the inoperative profile and axis pin of cam, and cam and axis pin are hinged.
2. closed chain slider-crank according to claim 1 combines flowers transplanting mechanism, it is characterised in that：The leading screw bottom
End is fixed with runner.
3. closed chain slider-crank according to claim 1 combines flowers transplanting mechanism, it is characterised in that：Two sprocket wheel difference
It is fixed on the output shaft of double-screw shaft end and servo motor, and two sprocket wheels are connected by chain.
4. closed chain slider-crank according to claim 1 combines flowers transplanting mechanism, it is characterised in that：The bottom of the shell
Portion side is supported on by big bearing on the inoperative profile of cam, and the other side is supported on axis pin one end by a small bearing；
Bearing hole is offered at that end center of crank fixation cam, centre bore, centre bore and bearing hole are offered at the center of cam
Connection and coaxial arrangement；The axis pin passes through centre bore and bearing hole, the bearing hole of cam to be supported on by a small bearing
The axis pin other end；Big bearing and two small bearings are coaxially disposed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820147654.0U CN207836154U (en) | 2018-01-29 | 2018-01-29 | Closed chain slider-crank combines flowers transplanting mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820147654.0U CN207836154U (en) | 2018-01-29 | 2018-01-29 | Closed chain slider-crank combines flowers transplanting mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207836154U true CN207836154U (en) | 2018-09-11 |
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ID=63413281
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820147654.0U Expired - Fee Related CN207836154U (en) | 2018-01-29 | 2018-01-29 | Closed chain slider-crank combines flowers transplanting mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN207836154U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111448880A (en) * | 2020-04-03 | 2020-07-28 | 康庶文 | Sugarcane planting equipment |
-
2018
- 2018-01-29 CN CN201820147654.0U patent/CN207836154U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111448880A (en) * | 2020-04-03 | 2020-07-28 | 康庶文 | Sugarcane planting equipment |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180911 |