WO2003086044A1

WO2003086044A1 - A rotary transplanter with many rows of movable plant claws

Info

Publication number: WO2003086044A1
Application number: PCT/CN2003/000265
Authority: WO
Inventors: Quanming Hong
Original assignee: Quanming Hong
Priority date: 2002-04-13
Filing date: 2003-04-14
Publication date: 2003-10-23
Also published as: CN1272997C; CN1652679A; CN1389091A; AU2003236125A1

Abstract

The invention relates to a rotary transplanter with many rows of movable plant claws, which comprises body fram, left and right guide plate, basic shaft, movable plant claw, rotary drive and flex case etc. The left and right guide plate are mounted on each ends of said basic shaft, more than one rotary drive are positioned on the basic shaft, lots of flex cases are positioned on each flex case at the same pace, each flex case zre connected with a movable claw assembly. Said movable plant claw have the figuration of double layers three joints four rods which can do four regular movements of intermission, rotary, flex, automatic and random adjusting height. The design theory and work function of transplant is improved by movement theory and design method, the transplant have the advantage of reliable operation, the plant claw can effectively simulate the movement of transplant rice seedling, and the depth of transplanting can be automatic and random adjusted.

Description

Rotary multi-row movable rice claw hand rice transplanter TECHNICAL FIELD

The invention relates to a rice transplanter in the field of agriculture, in particular to a rotary multi-row movable rice claw hand rice transplanter. Background technique

1. Traditional artificial rice transplanting technology

The technology is that people directly carry out rice transplanting operations. It has the advantages of good adaptability to fields, seedlings and terrain, low requirements for farming, low requirements for agronomy, strong adaptability to agronomy, reliable extraction, transplanting, and seedling, and does not hurt seedlings; but its disadvantages are The labor intensity is high, the productivity is low, the cost is high, the uniformity of transplanting rice is poor, the yield is lower than that of mechanical transplanting rice, and the comprehensive benefit is not high.

2. Existing rice transplanter technology

There are various rank insertion machines at home and abroad. In their working principles, there are rice claw hands that cannot simulate the actions of human hands when they are inserted into ranks, that is, to achieve a regular open and closed intermittent motion. The maximum number of rows of seedling claws is two. Therefore, compared with artificial transplanting, the following effects are produced in practice: The advantage is that it reduces the labor intensity of people, improves the productivity, the uniformity and yield of transplanting, and reduces the production cost; but it also produces the following problems that restrict its application . First, in order to obtain the special trajectory of the rice claw hand, the structure is relatively complicated, and the dynamic balance performance of the moving parts is poor; second, because the rice claw hand is a solid structure and the number of rows of the rice claw is small, so the rice transplanter and the power unit are The paddy field has a low moving speed during rice transplanting operations, and the reliability of hand picking, planting, and seeding of the seedlings is poor, and the power of the power unit cannot be fully exerted, or even cannot be exerted. Third, the requirements for the whole field are higher, and the whole The workload and difficulty of the field; Fourth, the adaptability to seedlings is poor, and the agronomic requirements of a few varieties of rice can not be met (such as the number of holes in hybrid rice); The fifth is the workload of large seedlings to sort the seedlings before the rank is inserted. After pulling out the seedlings, their roots need to be separated from each other manually. When the roots are too long (> 8cm), the roots need to be cut to produce damaged seedlings and prolong the greening period. The generated clamping force is very small. Sixth, there are defects such as hook seedlings, large trees, high injury rate, missed transplantation, and drifting when transplanting rice. Seventh, the depth of transplanting cannot be adjusted automatically and randomly, and additional staff is needed to assist.

3. Seedling Throwing Technology

The technology mainly uses artificial seedling trays and growth control agents to control the growth of rank seedlings and seedling roots at the stage of rearing rank, separates the seedlings from each other, and then transplants the seedlings in a timely manner. The main advantages of this technology are that it reduces the labor intensity of rice transplanting operations, improves labor productivity, appropriately reduces costs, and has an effect of increasing yield; but its main disadvantages are: First, the scope of application is narrow, and it is only applicable to early rice; Second, when it is operating There are large restrictions on the amount of water stored in the paddy field, which is not conducive to the use of base fertilizers such as organic fertilizers. Third, due to the impact of meteorological conditions, meteorological conditions without heavy rain and wind are required. Fourth, the one-time investment in the seedling raising stage is increased. And management workload; five is poor uniformity of transplanting rice. In short failed Solve seedling transplantation technology.

It can be seen that there are still many shortcomings in the existing rice transplanting technology, and further improvements are urgently needed.

In order to solve the existing problems of the existing rice transplanting technology, the relevant manufacturers have made every effort to find a solution, but for a long time no applicable design has been developed, and general products have no appropriate structure to solve the above problems. This is obviously a problem that relevant industry operators are anxious to solve.

In view of the shortcomings of the existing transplanting technology mentioned above, the present inventor is actively researching and innovating based on years of rich practical experience and professional knowledge in designing and manufacturing such products, with a view to creating a new type of rotary multi-row movable rice seedlings. The claw-handed rank insertion machine can improve the existing conventional rice transplanting technology structure on the market, making it more practical. After continuous research and design, and after repeated trials and samples and improvements, the invention with practical value was finally created. Summary of the Invention

The main object of the present invention is to overcome the shortcomings of the existing rice transplanting technology and provide a new structure of a rotary multi-row movable rice claw hand rice transplanter. The main technical problem to be solved is to improve the function of the rice transplanter. Improve the reliability of picking, transplanting, and planting of seedling claws, and the working speed of seedling claws, rice transplanters, and power devices, and give full play to mechanical advantages; better uniformity and uniformity of the depth of transplanting seedlings; and appropriately reduce the workload and Requirements; Improve the adaptability of rice transplanters to seedlings and meet agronomic requirements when transplanting multiple varieties of rice; Improve the design methods of rice transplanters to improve the performance of rice transplanters; Improve labor productivity and comprehensive economic benefits. Accelerate the level of mechanization and universalization of China ’s cutting ranks; create more technical conditions for the growth of grain production, and provide better technology for the further development of the rice transplanter industry, so that the industry can develop healthily and rapidly.

The object of the present invention and the solution of its main technical problems are achieved by the following technical solutions. The rotary multi-row movable rice claw hand rice transplanter according to the present invention includes a frame, left and right track plates, a main shaft, a movable rice claw hand, a rotary drive, a retractor, and the like, wherein both ends of the main shaft are installed on the left On the right track disc, more than one slewing drive is installed on the main shaft, each of the slewing drives is provided with a plurality of telescoping devices, and each of the telescoping devices is connected with a live ¾ claw hand assembly. Hand claw assembly

The corresponding pieces at both ends of the sliding crossbar are installed in the tray grooves of the left and right track trays, and the movable seed claw hand assembly is evenly distributed on the left and right track trays according to the total number of predetermined rotary types. In the closed trajectory, the upper part of the rack is equipped with a rank basket rack, the left and right track discs, a rotary main shaft, a rotary drive and a retractor, a movable paw hand and a basket rack constitute a rice transplanter body; the rice transplanter; The main body of the machine is connected to the frames on both sides through corresponding hinge holes or waist-shaped grooves and two sets of three-point 6 equal cranks, and the crank hinge holes are provided on the left and right track plates so that a signal element is arranged on the left and right track plates. The frame can be rotated around a fixed axis, and the signal elements can be adjusted randomly and randomly within a certain range of height; the frame is connected to form an integral frame structure through an outer rod, and the outside of the frame can be connected Connected to the supporting ground wheel; an intermediate transmission mechanism for driving the rotating main shaft to rotate is disposed in a gap between the track plate and a corresponding side frame, and the intermediate transmission mechanism further includes a clutch and an operating device thereof .

The object of the present invention and its technical problems can be further achieved by adopting the following technical measures. .

In the aforementioned rotary multi-row movable rice claw hand rice transplanter, the movable rice claw hand has a structure of a double-layer, three-hinged, four-bar that has regular reciprocating intermittent, rotary, telescopic, and automatic height adjustment of four movements.

The aforementioned rotary multi-row movable rice claw hand rice transplanter, wherein the rotary drive is a disc structure, and the retractor structure is a deformable flat nine-rod, and the hinge axis of the rotary drive is spatially different from that of the rotary drive. The center line is arranged vertically.

The aforementioned rotary multi-row movable rice claw hand rice transplanter, wherein the left and right track disks are fixed cam disk structures, and the track disks are provided with clamping sections, seedling sections to be picked, and The three stages of the seedling section and the transition phase of the change, the different stages described constitute a closed closed trajectory line; the left and right track plates are also provided with bearing seat holes, seedling baskets, and cranks for the rotary spindle. Holes and threaded holes, bosses and lugs for automatic height random mechanism mounting.

The aforementioned rotary multi-row movable rice claw hand rice transplanter, wherein the left and right track plates are left and right fixed plate structures.

In the aforementioned rotary multi-row movable rice claw hand rice transplanter, a set of mechanical or hydraulic suspension traction devices matched with a power unit or a power unit can also be connected to the outside of the frame.

The above description is only an overview of the technical solution of the present invention. In order to understand the technical means of the present invention more clearly and can be implemented in accordance with the content of the description, the following describes in detail the preferred embodiments of the present invention and the accompanying drawings.

Specific embodiments of the present invention are given in detail by the following examples and their drawings. BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic structural diagram of a movable seedling claw hand of the present invention.

FIG. 2 is a schematic view in the direction of the arrow A in FIG. 1.

Fig. 3 is a schematic structural design diagram of the structure of a rotary drive, a retractor, and a connection method of the two.

FIG. 4 is a side view of FIG. 3.

Fig. 5 is a schematic structural diagram of a track disk of the present invention.

FIG. 6 is a comparison diagram of different stages in FIG. 4.

Fig. 7 is a schematic diagram of the counterclockwise rotation motion of the movable seedling claw hand, its telescopic motion, and regular reciprocating intermittent motion.

FIG. 8 is a schematic diagram of the movement of the movable seedling claw hand height automatically and randomly and the ground leveling movement. Fig. 9 is a front view of the general assembly drawing of a rotary six-row movable rice claw hand rice transplanter with an effective working width of 1 meter.

Fig. 10 is a sectional view taken along the line B-B in Fig. 9. · 1 …… Lower seedling claw hand 2 …… Upper seedling claw hand

3 ... ... the left and right ends of the hinged rod 4 ... hinge I

5 …… Upper and lower straight seedling hinges 6 …… Hinges II

7 …… Raw bar cross bar 8 ... ... Fastener

9 …… Transverse short axis assembly 10 …… Rolling sleeve

11 …… Long axis 12 …… Pressure spring

13 ... cotter pin or nut 14 ... adjusting nut

15 ...... connecting short shaft 16 ... slewing drive

17 …… Telescopic bottom joint 18 …… Telescopic short crank

19 ... telescopic long crank I 20 ... telescopic long crank II

21 ... ... Guide rod 22 ... Pressure spring

23 ... ... central hinge 24 ...... the remaining hinges

25 …… Central line of rotary center axis 26 …… Clamping section

27 …… Fixed lugs of seedling baskets 28 …… Pickup section

29 …… Fixed lugs of seedling baskets 30 …… Rotary spindle bearing

31 …… Hole for automatic height random adjustment mechanism 32 ...

33 ... Clamping the lower cutting section 34 ...

35 ... retractor

36 ... The cams of the track discs on both sides and the track of the disc groove center line

37 ... sprocket, rotary spindle 38 ...... swing drive

'39 ... Frame 40 ... Crank

41 …… The components in Figure 4 and the organic whole with the basket stand

42 ...... coupling between height adjustment signal element and organic whole

43 ... Signal element for height adjustment 44 ... ... Ground wheels on both sides

45 ... ... movable rice claw hand assembly 46 ... left and right track plate

47 …… Rack basket 48 …… Rack basket

49 ... transmission system 50 ... ... clutches and controls

51 …… Shield

52 …… Crank member of automatic height adjustment mechanism

53 …… Tie rod 54 …… Automatic height adjustment signal assembly 55 …… Rotary spindle support ⁷ | and tightening adjuster 56 ... Fastener β Rotary multi-row movable rice claw hand-inserted rank machine guarantees reduction When its seedlings are hand-separated Deflection angle

L effective working width of movable claw hand

N number of rice claw hands

T Hole spacing in each row of seedlings determined according to agronomic requirements

Radius of the base circle of the cam disc groove centerline of the R 1 track disc

hi, h2 ... are the centerlines of the cam disc grooves of the orbital disc, which enable the movable rank claw hand to rise or fall vertically in the longitudinal direction relative to the upper and lower vertices of the base circle radius R1 when the seedling is taken out and inserted. Height value

α 1 The angle between the movable claw hand and the centerline of rotation from the point where the seedling is clamped to the point where the seedling is inserted

α 2 The angle between the line between the seedling point and the centerline of rotation and the horizontal parallel line of the center of rotation

3 Straight forward angle of planting ''

11 is the amount of axial travel t2 of the short axis of the movable seedling claws from the seedling to be clamped to the seedling after clamping. The amount of axial travel of the short axis of the movable seedling claw from the seeding section to the seeding section

D1 diameter

II, III ... Number of intermediate drive rows

R2 Radius of the turning base circle at the top of the movable claw hand

α is the counterclockwise deflection angle between the movable rice claw hand and the retractor

, ㊀ ... respectively indicate that the sliding bar of the rank claw row can move in a direction perpendicular to the inward and outward directions of the paper, 0, 01 ... ... the hinge fulcrum

The specific implementation, structure, features, and effects of the rotary multi-row movable rice claw hand rice transplanter according to the present invention are described in detail below with reference to the accompanying drawings and preferred embodiments.

Please refer to FIG. 1 and FIG. 2. FIG. 1 and FIG. 2 show the movable rank claw hand of the rotary multi-row movable rice claw hand planting machine of the present invention.

The movable claw hand is to simulate the movement of a human finger when transplanting a rice seedling. When the human finger is transplanting rice, one of them mainly cooperates with one hand, and the thumb, index finger, and middle finger of the other hand are commanded by the human brain according to the movement position of the arm. The seedlings are clamped, divided and placed in a certain space. Regular reciprocating intermittent opening and closing movements; therefore, the opening and closing movements of the movable rice claw hand structure is a key condition; the other condition is to ensure that the movable rice claw hand is in the process of picking, planting, and replanting to restore In the cycle of separating seedlings, transplanting and seedlings, a regular reciprocating intermittent opening or closing motion is performed. The specific idea is as follows: First, the movable claw hand is composed of two seed claw hands, one of the claw hands is equivalent to a person's thumb, and the other seed claw hand is equivalent to a person's middle finger and index finger. Active seedling claw hand. The structure of the movable claw hand adopts a "scissor-type" hinge structure, and the hinge rod replaces the human finger The rear joint of the claw hand replaces the front joint of a human finger, and the two adopt a detachable fixed hinge. In this way, as long as the "scissor-type" hinge structure handle is relatively rotated, the opening or closing movement of the rank claw hand can be realized; in order to achieve a single row of multiple movable rice claw hand structures that can move at the same time, connect the rice claws of the movable rice claw hand The row rod can be composed of two axially movable rice claw row rods, and because of the "scissor-type" hinge structure, the movement track of the handheld rod is a circular arc with a fixed radius. Affected, the two hinged rods of the movable rice claw hand and the two rice claw row rods should be hinged respectively, and the two hinged fulcrum points maintain a proper distance; so when the two rice claw row rods move in the corresponding axial linear movement, the two rice claws The hand can achieve the corresponding closing or opening movement. The movable rice claw hand has a regular reciprocating intermittent motion during the rice transplanting operation, which is an open or closed movement. Because the rice claw hand completes the rank insertion operation, there is a certain regular trajectory in the space of the rice transplanter. In this way, as long as the rice claw hand transplanting operation instructions: so as to achieve a regular intermittent opening or closing movement of movable claw hand ^ strip; cattle. In order to simplify the structure of the movable claw hand, after repeated research, it was determined that the closing movement of the movable claw hand relies on the fixed setting of the axial dimensions of the two ends of the two claw row rods in the space of the running trajectory line, and the compression movement of the transitional section that changes in stages. Realization; and the most simple method of its opening movement is to rely on the energy stored in the compression spring and the two ends of the seedling claw rows of rods in the running track set in the axial dimension of the change in cooperation.

In addition, the upper and lower rank claw hands of the movable claw hand can be divided into the front part for taking seedlings and the rear part for holding the seedlings. To the stroke and the movable claw hand, the rank claw hand takes the seedling clamping stroke, and at the same time, the impact of manufacturing and assembly accuracy on the movement can be appropriately reduced. When the movable seed claw hand clamps the rank, there is also a downward movement of the seedling.

As shown in Figure 1, the effective working width of the movable seedling claw hand is L = NT, where N is the number of seedling claw hand intervals, and T is the hole spacing in each row of the rank seedlings determined according to agronomic requirements. The end-seeding hinge rods shown in Figure 1 are used at the two ends of the movable seed claw hand to ensure that the length of the sliding claw of the seed claw is basically consistent with the effective working width of the movable seed claw hand. The structure of the traverse short-axis assembly 9 and the rolling sleeve 10 in FIG. 1 is a structural form designed for a rotary multi-row movable rice claw hand rice transplanter. If necessary, it can be selected or adjusted accordingly. Due to the structural size, in order to achieve relatively consistent openings and changes in the upper and lower seedling claw hands when waiting for rank, clamping, and insertion of the seedling section, the position of the hinge I is connected to the left and right end of the hinged rod. The positions in the top and bottom straight stalks should be different. When designing the compression spring, the sum of the minimum working thrust should be about 1.5 times greater than the sum of the resistance to planting and the friction. The upper and lower seedling claws are made of 65Mn steel wire, and have sufficient rigidity and length to ensure that the seedling hinge does not enter the soil during work to reduce the cross-sectional area and reduce the working resistance. Soil support seedlings.

Referring to the structure of FIG. 1, when a movable seedling claw hand moves in a certain space, its spatial motion trajectory is divided into a seedling segment to be taken out, a clamping segment, a seedling release segment and its transition connection segments, and each segment is given Corresponding dimensions and changes in transition section connection. When the movable claw hand shown in Figure 1 runs to In the corresponding transition section, under the action of the compression spring 12 and the traverse stub shaft assembly 9, the long shaft 11, the split pin or nut 13, and the coupling stub shaft 15, the rice claw row sliding bar 7 starts at the three transition sections. Moving one by one will correspondingly move a certain distance, so that the left and right seedling hinges, and the vertical straight seedling hinges fixedly connected to the sliding claws of the seedling row can be moved correspondingly by the same distance. Through the action of hinges I and II, The lower seedling claw hand 1 and the upper seedling claw hand 2 are brought to a regular reciprocating intermittent motion; while the axial dimension does not change in the three sections, the movable seedling claw hand does not move. Therefore, it achieves the movement necessary for simulating human finger planting.

Please refer to FIG. 3 and FIG. 4. FIG. 3 is a schematic structural design diagram of the structure of the slewing drive, the retractor, and the connection method of the two. FIG. 4 is a side view of FIG. 3. In the figure, the lower joint 17, the telescoping short crank 18, the telescoping long crank 1 19, the telescoping long crank 11 20, the guide rod, the compression spring 2 ² , the center hinge 23, and the remaining hinges 24 constitute a telescoping device. → in the figure indicates the direction of the telescopic movement.

It can be seen from FIG. 3 that when the hinge holes in the two empty spaces of the telescoping long crank II 20 are hinged with the related parts connected to the two rice claw sliding crossbars in the movable rice claw hands through the hinge shaft, the plane degree of freedom theory is used. It can be known that the plane degree of freedom of the retractor is 1. The movable claw hand can only be used for telescopic movement. With the connection method shown in the figure, after connecting the retractor and the rotary drive, several retractors can be arranged in the smaller radius rotary drive (as long as the structural size of the part allows).

Please refer to FIG. 5 and FIG. 6. FIG. 5 is a schematic structural diagram of a track disk according to the present invention. FIG. 6 is a comparison diagram of different stages in FIG. 5. In the figure, the rise angle of the groove depth in each section of transition should not be greater than 20 degrees; and the change in the groove depth from the starting point of the seedling to the seeding section after the insertion should be a sudden change. Only a small circle is required according to the manufacturing process of the piece. Corner transition is sufficient.

As shown in Figure 6, it is a schematic diagram of the comparison of the clamping section 26, the rank to be taken 28, and the seedling section 32. In the figure, tl is the clamping of the short axis of the movable rank claw hand from the seedling to the seedling to be clamped. Amount of axial travel; t2 is the amount of axial travel of the short axis of the movable seedling claws from the clamped seedling to the seeding section; t3 is the amount of the horizontal movement of the short axis of the movable claws from the seedling section to the seeding section. Amount of axial stroke.

Please refer to FIG. 7. FIG. 7 is a schematic diagram of a counterclockwise rotation motion of a movable seedling claw hand, a telescopic motion, and a regular reciprocating intermittent motion. In the figure, D1 is its diameter; II and III are the number of intermediate transmission rows; R2 is the radius of the turning base circle at the top of the movable rice claw hand; α is the counterclockwise deflection angle between the movable rice claw hand and the retractor; hl, h2, α 1. α 2, α 3. Schematic diagram of the structure of the same track disk. The meanings of the symbols in Figure 3; X and Θ respectively indicate that the sliding bar of the rank claw row can move the paper perpendicularly inward and outward.

As shown in FIG. 7, the principle of the counterclockwise rotation, expansion and contraction and regular reciprocating intermittent motion of the movable claw hand is: when the sprocket rotates counterclockwise, the coaxial rotary drive also rotates counterclockwise together. , Figure 3 and Figure 5 related to the structure and the combination of the relationship, so that under the restrictions of the two sides of the track plate tray groove and the bottom of the groove, so that the movable seedling claw hand in a counterclockwise rotation movement also according to the predetermined requirements Make telescopic and regular reciprocating intermittent movements, and make the above three movements coordinately run according to the predetermined combination requirements. Please refer to FIG. 8. FIG. 8 is a schematic diagram of the movement of the automatic seedling claw hand height adjustment movement and the ground leveling movement.

The mechanism shown in FIG. 8 can be reduced to a modified flat four-crank four-bar mechanism. Since there are many components of the connecting rod in the modified four-crank four-bar mechanism, it is willing to do the following technically: All the parts and parts that make the counterclockwise rotation motion, telescopic motion, and regular reciprocating intermittent motion of the movable seed claw hand obtain the corresponding transmission parts and the seedling basket of the movable seed claw counterclockwise rotation motion

(Including movable rice baskets), height adjustment signal components and joints, structurally constituted by the two sides of the track plate, the rotation center shaft and its support, rice baskets and fasteners to form an organic whole-and so on The connecting rod of the crank four-bar mechanism; the second is to connect with the crank in the modified equal-crank four-bar mechanism through the fixed track discs on both sides in the above organic whole, and the radius of the crank should be equal to the rotation of the movable seed claw hand. The center distance value of the transmission mode of the main shaft movement is theoretically kept equal. The third is to enhance the overall rigidity and stability. The equal crank four-bar mechanism connected to the fixed track discs on both sides should use the same set of three-point three-level three-levels.抦 radius of the crank; the fourth is a signal component that automatically and randomly adjusts the height of the movable claw hand, and the related parts and fasteners of the height automatic random adjustment are connected with the track discs on both sides, and the signal elements are roller assemblies one by one Extend the appropriate distance 'value 4 to keep in contact with the paddy field ground.

According to the "Theoretical Mechanics", "Tractor Theory" and other related principles, the mechanism of movement of the mechanism shown in Figure 8 is known: Because the paddy field ground due to the relationship of cultivation before transplanting, the bearing pressure of its shallow surface soil is ^ & at a certain level The value within the range is relatively small, and when the effective contact area of the height adjustment signal element 43 and the ground changes slightly, the effective contact area changes relatively, so that the support provided by the ground to the signal element The change of the force is relatively large. Due to the relationship between the force and the moment balance, the translation of the organic whole of the component in Fig. 8 and the organic whole 41 composed of the rice basket can be realized, and the height of the movable rank claw hand is also It automatically rises or descends randomly and at the same time, the handle 40 rotates, because the sprocket, the rotating main shaft 37 and its associated transmission related parts maintain a fixed center distance. In this way, the height of the movable seedling claw hand is automatically and randomly adjusted, and the movable seedling claw hand is rotated counterclockwise, telescopically, and regularly reciprocating intermittent motion is not affected.

In addition, because the signal element is in constant contact with the ground and has a certain depression depth when the whole machine is moving, the signal element will roll clockwise around its fixed axis of rotation due to the resistance of the ground soil, pushing and suppressing The soil in front of it also achieves the leveling movement to the ground.

Referring to FIG. 8, a moving method can be obtained. As long as the whole machine is mechanically or hydraulically suspended through the two sides of the frame, the whole machine can be moved.

Please refer to FIG. 9 and FIG. 10. FIG. 9 is a front view of the general assembly drawing of a rotary six-row movable rice claw hand rice transplanter with an effective working width of 1 meter, and FIG. 10 is a B-B section of FIG. 9. Illustration.

As shown in FIG. 9 and FIG. 10, the rotary multi-row movable rice claw hand rice transplanter proposed by the present invention includes a frame, left and right track plates, a main shaft, a movable rice claw hand, a rotary driver, a retractor, and the like. A main shaft is installed on the middle and left orbit disks, and a rotary drive is installed in the center of the main shaft. Left and right orbit disks are installed on both ends of the main shaft. The retractor and the rotary drive are connected together. The rice claw hand is a double-layer, three-hinged, four-bar structure with regular reciprocating intermittent, slewing, telescopic, and height adjustments.

As the design idea of the rotary multi-row movable rice-claw hand rice transplanter of the present invention, firstly, multiple rows of movable rice-claw hands are arranged in the rice-transplanter. Obviously, the moving speed of the transplanter can be effectively reduced while improving the walking speed speed. Therefore, in order to achieve this, the motion trajectory of the active rank claw hand needs to be a closed closed trajectory.

1.Setting the main movement number of the whole machine

In the rotary multi-row movable rice claw hand rice transplanter, in order to complete the task of rice transplanting, the design purpose is achieved. The main movement number of the whole machine is set as follows: the movement of the whole machine; the counterclockwise rotation of the movable seedling claw hand and its telescopic and regular reciprocating intermittent motion during the rotation; the height of the movable seedling claw hand is automatically adjusted randomly; Land preparation movements that reduce the leveling requirements for land preparation; a total of seven main movements. 'It: The four complex movements of the movable claw hand are the core movements.

2. Conception of the seven main movements of the whole machine

Because the paddy soil is soft, the adhesion is small, and the slip rate is large. In order to prevent the power plant or power unit from slipping or slipping when it is operating in the paddy field, it will affect the motion and working performance of the rice transplanter. Therefore, it is recommended to separate the motion of the power unit or power unit from the motion of the rice transplanter—that is, the rice transplanter is pulled by the power unit or power unit to complete the above seven movements.

(1) The idea of counter-clockwise rotation of the active rank claw hand

First, the moving direction of the whole machine is the working direction of the rice transplanter. In order to adapt the rice transplanter to the status quo of paddy field paddy in different terrains, reduce unnecessary blank space during rank insertion, and eliminate the impact of the whole machine movement on the transplanted seedlings, the movable seedling claws are turned counterclockwise. The rear of the machine is transplanted with rice.

The concept of counterclockwise rotation of the movable claw hand is specific:

It is a fixed track disc cam type. The movable seedling claw hand is equivalent to a roller rotating counterclockwise in a disk groove around a fixed rotation axis. Due to the relationship between the movable seedling claw hand structure and its regular reciprocating intermittent motion, it is necessary to Two left and right track discs which are arranged on opposite sides are used, and the movable seedling claw hand assembly and the rotary shaft are relatively fixedly connected with each other at the same time. The counterclockwise rotation direction can be realized according to the steering and intermediate transmission method of the source and the transmission principle in Mechanical Design.

(2) Conception of telescopic movement when counter-clockwise rotation of multi-row movable rice claw hands

The main function of the movable claw hand in the whole machine is to automatically take points, clamp, insert, and release seedlings at fixed points. In order to meet the requirements of this main function, when the movable seedling claw hand performs a counterclockwise rotary motion, it also needs to meet the radii of rotation during the cycle work of taking points, clamping, inserting, planting, and restoring the rank to be taken. Change-that is, the active rank claw hand needs to make a telescopic movement. When the rice transplanter is working, the amount of telescopic movement of the general movable rice claw hand is large. In order to compensate for the change of its turning radius, the turning movement is guaranteed. Smoothly run according to the predetermined trajectory, while making its telescopic movement flexible, effective, reliable, low resistance, etc. After repeated considerations, demonstrations, etc., the way of multi-row movable rice claw hand telescopic movement is conceived as: a flat plane of two variants, etc. Two sets of diagonal trapezoids and a pair of isosceles trapezoids and a set of isosceles trapezoids two diagonals are added with a hinge fulcrum, and a hinge rod and a movable seedling claw are added after the hinge pin is modified. The joints of the hand and the lower joint are equivalent to a flat nine-pole retractor. The lower joint is a fixed rod, which is used to connect the two waist hinge rods and the fixed guide rod. There is a set of diagonal hinge rods with a central hinge fulcrum at one end connected to the two waist hinge rods, and the other end connected to another pair of diagonal lines. One end of the hinge rod is connected, and the other end of the other set of diagonal hinge rods is hinged with two sliding crossbars in the hands of the movable seedling claw in an appropriate form. Because the retractor connected to the movable rice claw hand assembly is a flat type, several can be arranged on one turning surface, so that the movable rice claw hand assembly can also be arranged several.

(3) Concept of regular reciprocating intermittent motion in counterclockwise rotation of the movable rank claw hand and telescopic movement

Due to the aforementioned structure of the movable seed claw hand and the concept of counterclockwise rotation and telescopic movement, in order to ensure that the seed claw hand of the movable seed claw hand is clamped after the seedling is taken, the seedling is inserted after the insertion, and the seedling is restored to the seed During this cycle, the state makes regular reciprocating intermittent motions, and can effectively coordinate with the turning and telescopic movements of the movable claw hand. The idea is:

The groove depth of the fixed track plate is divided into three corresponding depths and changes in the connection transition section. In this way, when the movable claw hand runs to each transition section, the claw hand can make a regular reciprocating motion, and it can be kept stationary during each section. (Note: In order to ensure that the axial tops of the movable claw hands and the lateral axis of the short-stem assembly are not in contact with the ground and the bottom of the track tray during the process of replanting the seedlings to restore the state to be removed, The groove depth of the track plate after seeding can be appropriately increased, and the stroke of the seeding section can be enlarged as much as possible. At the same time, the related pieces can be used to control the stroke of the short-axis component in the movable seed claw, so that the axial top end does not match Clearance is reserved for the bottom of the tank.

(4) The concept of automatic random adjustment of the height of the movable claw hand and the movement of land preparation

Because the subsidence depth of paddy fields in different regions, the same region, and the same field changes, and sometimes the amount of change is relatively large, in order to ensure the wide application of the rice transplanter and the relative uniformity of the transplanting depth; therefore, the The height can be adjusted automatically and randomly, which is a movement required when the movable claw hand works. In order to ensure the realization of its movement, the concept of the automatic random adjustment of the height of the movable claw hand is: a modified equal-crank four-bar mechanism, and the aforementioned multi-row movable seed claw hand is rotated counterclockwise, telescopically, and regularly reciprocated intermittently All the components of the movement are regarded as a whole as a connecting rod in a four-bar mechanism of equal crank; at the same time, a signal element with an automatically and randomly adjusted height is connected to the above connecting rod and brought into contact with the paddy field. Relations-The superficial support reaction force remains basically unchanged. When the depression depth of the paddy field in the paddy field changes due to the power unit or the mechanism supporting the connecting rod, the supporting reaction force of the paddy field surface to the signal element will also change accordingly, so that the crank in the four-equipment crank mechanism will rotate, and the connecting rod acts Corresponding translation.

(5) Conception of land preparation movement In the realization of the concept of automatic random adjustment of the height of the movable rice claw hand, the signal element one roller assembly is always in contact with the paddy field and has a certain depression depth when working. Because of the cultivation relationship, the surface soil of the paddy field is soft when the seedlings are transplanted. Therefore, the phenomenon of mud swelling will occur. In order to make up for the above-mentioned defects, the working resistance of the signal element is reduced, the depth of the transplanted seedlings is relatively uniform, and the position of the seedlings after the insertion is reliable-that is, the seedlings are not drifted. Therefore, the concept of land preparation movement is:

The roller structure of the signal assembly that automatically and randomly adjusts the height of the movable claw hand adopts a roller body that can rotate around a fixed axis. In this way, the roller body contacts the ground and has a certain depression depth under a certain pressure. Under the action of the ground soil, when the whole machine is moved, rolling suppression of the paddy field surface can be achieved, thereby achieving the movement required to level the paddy field surface, and at the same time reducing the working resistance of the signal element.

(6), the idea of the seedling feeding movement

Due to the above-mentioned concept, the structure of the seedling basket includes a seedling basket and a movable seed claw hand, a retractor, a fixed track plate on both sides, a rotating main shaft, and various components of the height and random adjustment movement, etc., to form an organic whole. . Therefore, the movable rank claw hand is a fixed-point seedling relative to the seedling basket, and because the movable claw hand needs to go through a certain distance from the seedling to the seedling

In order to improve the adaptability of the rice transplanter to the paddy field and terrain, to narrow the blank space for transplanting, make full use of the seedlings in the movable paw hands In the clamped state one by one will not fall off automatically

The rank seedlings are horizontally placed on top, with the roots facing backwards. Using the gravity of the seedlings and the external force to compact the seedlings, when the lower seedlings are taken out, the upper seedlings will fall and be replenished; in order to ensure that the fall supplement is timely and effective With a certain position, the bottom of the seedling basket is supplemented with several guide chute to achieve the purpose of automatic seedling feeding.

(7) Concept of whole machine movement (or movable claw hand movement)

The movement of the whole machine can be moved by mechanical suspension or hydraulic suspension traction. However, due to the small adhesion of the paddy soil and the large slip rate, it is recommended to use the whole machine to cut the supporting ground wheel under the action of gravity. Under the action of the soil, the ground wheel rolls to realize the movement of the whole machine. At the same time, because the supporting ground wheel is relatively close to the planting end, the height of the movable seedling claw is adjusted automatically when the subsidence depth of the local wheel changes. -,

A must-have exercise at work. However, the movable rice claw hand does not always need to be in a moving state during the work and transportation of the rice transplanter. Therefore, in order to facilitate the use and transportation, it is necessary to move the movable rice claw hand in the middle of its source or its counterclockwise rotation. A clutch is added to the drive chain.

Referring to FIG. 9, another moving method can be obtained. Due to the gravity of the whole machine, the supporting ground wheel is cut into the soil. The whole machine is pulled or pushed by external force, and the ground wheel can roll clockwise or counterclockwise due to the action of the ground soil. The whole machine can also be moved. The movement principle of the rotary multi-row movable rice claw hand rice transplanter is:

Comprehensive principle of regular reciprocating intermittent motion of movable claw hands, principle of movement of movable claw hands counterclockwise rotation, telescoping and regular reciprocating intermittent motion, live. Automatic height adjustment of movable seed claw hands and ground leveling movement And the principle of the seedling movement:

When the whole machine is working, under the action of external force, the moving source end of the whole machine and the intermediate transmission device drive the rotary spindle in the track disk to rotate counterclockwise, and the rotary drive connected to the rotary spindle also rotates counterclockwise together. The retractor moves the movable claw hand and the rotary drive to rotate counterclockwise in the track. According to the change of the position of the movable claw hand in the track plate, the retractor performs the telescopic movement and the movable seedling. The claw hand can realize its regular reciprocating intermittent motion—opening or closing according to the depth of the track disc groove and the transition section. When the depth of the local wheel subsidence changes, the movement of the hand automatically adjusts the movement according to the height of the active claw hand In principle, the movable rank claw hand will perform corresponding translation along with the organic whole. At the same time, the height adjustment signal component will level the ground, and the seedling movement will be affected by the gravity of the seedling and the pressure and the effect of the guide chute. Make a fall

Several issues in design.

In order to facilitate the application of the design of the rotary multi-row movable rice claw hand rice transplanter, the following points are made for reference during design.

1.The height of the apex below the orbital plate above the paddy field surface

Because the paddy field has a certain depth of water during the rice transplanting operation, in order to ensure that it does not directly contact the water, it is recommended that the height of the bottom of the track plate from the paddy field is about 80.

2.The setting value of the counterclockwise deflection angle α of the movable seed claw hand and the retractor

The purpose of setting the angle is: firstly, to increase the effective height value of the movable claw hand when transplanting rice, so as to reduce the length value of the movable claw hand, etc .; The center of gravity of the seedlings is reduced by an appropriate amount and the amount of change in the rise of the left and right orbital disks when the active rank claws are taken by hand is reduced. The amount of change in the rise and fall of the left and right orbital disks is basically the same. Therefore, the value of α is recommended to be: CC -15 degrees.

3. Effective working width of movable claw hand-determination of L value

L = (Ν-1) X T

In the above formula:

L——effective working width;

N——the combined number of upper and lower seedling claw hands;

T——hole spacing between seedlings in each row.

.According to the requirements of rice planting distance in agronomy, its parameter value changes to the preferred number series value, so the L value should also be the preferred number series value. At the same time, when the L value is determined, it is necessary to ensure that the N value is an integer value when the plant distance is adjusted. can. 4. Determination of the parameter values of Rl, hl, h2 and the value of R2 'in Figure 7.

(1) Parameter value of R1

Because of the relationship between the structure of the rotary drive and the retractor, the strength of its components, the connection method, and the number of rows of movable rice claw hands, certain parameter values are required. To facilitate structural design, when the number of rows of movable rice claw hands is 6, The recommended value is: not less than 1 ² 0 let. Of course, its value can be increased or decreased, but the number of rows of movable paw hands should be changed accordingly.

(2), Determination of R2 'parameter value

Due to the different position of the movable claw hand when it rotates in the track plate, its effective length size changes. In order to eliminate or reduce the influence of the change in the effective length dimension on the determination of the values of hl and h2, the following parameters are specially formulated to represent the value of W:

R ₂ , —— is the distance between the apex of the upper and lower seed claw hand and the center point of the base of the revolving claw hand when the movable seed claw hand is in the state of waiting for seedlings, which is equivalent to that when it is running at the turning base circle of the track plate. -

(3) Determination of hl and h2 parameter values

hl = R2 '-[R1 + (R2'-R1) χ sin (α 1-α 2-α)-1] + 厶 ... ... (1)

h2 = R2 '-[R1 + (R2'-Rl- 1- 1/2 xbx sinP) χ cos (90 °-2- α)-30] (2)

In the above two formulas:

hi——The height value of the track groove center line vertically rising at the end of the clamped seedling relative to the upper end of the base circle radius R1; 'h2——The track groove center line at the seeding point relative to the base circle radius The vertical height of the lower end;

R 1 ——the radius of the base circle of the centerline of the groove of the track disk;

R2 '——the parameter value of the specified movable claw hand;

α1 and α2 are the meanings of ccl and α2 with the same symbols in Figure 3;

α ——The counterclockwise deflection angle between the movable seedling claw hand assembly and the retractor, α = 15 degrees.

L —— is the length equivalent to the length of the human hand composed of the upper and lower claw hands, generally 30tnm is sufficient;

Δ ——is the gap value, the recommended value is: 10-2 Omm;

β = 120 degrees; b = 20, the width of the opening for the seedlings

30—One is the depth of the upper and lower rank claws when the rice is transplanted, and the unit is indica.

5.Relationship between the line spacing and the diameter of the ground wheel, the number of slewing drives, the number of rows of movable paw hands on each slewing drive, the intermediate transmission ratio i, etc.

3 rows = π X 00 X (1— δ) / (i X Nl X N2)

In the above formula:

The row spacing is the required value between each row when rice varieties are transplanted, and it is determined according to agronomic requirements; π—circumferential ratio; DO—ground wheel diameter; δ—slip ratio of the ground wheel in the paddy field, the value of which is 10-20%; N1—the movable seed claw hand assembly arranged on each rotary drive Ν2——the number of rotary drives; i——intermediate transmission ratio, which is mainly the chain transmission ratio between the ground wheel on one side and the rotation axis.

From the above, we can know that the line spacing can be adjusted by transforming the values of Nl, N2, i, and DO, and the value of i is the most convenient.

Note: The following explanations of points 6 and 7 are only applicable to the condition that the supporting ground wheel is used to move the whole machine and the rice is transplanted from the rear.

6, the determination of α 3

Due to the relationship between the structure of the whole machine and the principle of movement, the angular velocity of the counterclockwise rotation of the movable claw hand and the angular velocity of the clockwise rotation of the ground wheel are in a fixed ratio relationship, and the size of the components in the meantime is basically unchanged or small, which can be ignored. Therefore, the value of α 3 can be determined by the following formula:

a 3 = arcs in (DO Z2 χ Z4) / {2 [(Rl + h2) / s in a 2 + (R2 '-Rl)]) x Zl x Z3 + (a l-90 °)

In the above formula:

a 3——The forward tilt angle of the transplanted rice to ensure the straightness of the transplanted rice; Z1-Z4 are the number of teeth of the related parts in the intermediate transmission chain; the meanings of the other symbols are the same as the corresponding symbols mentioned above.

7. Variation of ground wheel diameter (D0), type and height adjustment mechanism

Because the rice transplanter works in the cultivated paddy field, and the ploughing depth is generally in the range of 100-200 mm, the soil in this size range is soft; therefore, to ensure that the transmission parts that rotate coaxially with the ground wheel shaft do not work. When contacting the paddy field ground, the ground wheel is also considered as the source driving end of the movable claw hand. In order to ensure that it contacts the lower soil of the paddy field, it provides more reliable soil adhesion conditions for the three movements of the movable claw hand. The recommended values are: DO is not less than 720mm, and a spoke-type wheel is used. It is advisable to arrange several tooth pieces with a height of about 70mm on the outer ring of Φ 600 surface. At the same time, because the subsidence depth of paddy fields such as lakes and hills varies greatly under the same conditions, it is recommended that the allowable variation range of subsidence depth of the ground wheel is:

150-300mm——the change range of the height adjustment mechanism is: 150 hidden. The technical innovation of the rotary multi-row movable rice claw hand rice transplanter of the present invention configured as described above has many merits for those skilled in the industry today, and it does have technical advancement. Industrial applicability

Compared with the prior art, the present invention has obvious advantages and beneficial effects. It can be known from the above technical solutions that the present invention includes a frame, left and right track disks, a main shaft, movable paw hands, a rotary drive, and a retractor, etc., wherein the left and right track disks are equipped with a main shaft, and the center of the main shaft is equipped with a rotary drive. The two ends of the main shaft are installed with left and right track disks, and the retractor and The swivel drives are connected together, the movable seedling claw hands are connected to the swivel driver, and the movable seedling claw hands are four movements with regular reciprocating intervals, rotation, telescoping, and height automatic random adjustment. Double-layer three-hinged four-bar structure. According to the embodiments of the present invention, the following practical effects can be produced:

1. The present invention further improves the design of the rice transplanter movement, and provides technical conditions for the further improvement of existing rice transplanters and the design, manufacture and application of various practical new-type rice transplanters.

2. The present invention further overcomes that the rank claw hand in the previous various rice transplanters cannot imitate the action of a human finger when transplanting rice seedlings--that is, making regular timing, fixed point opening and closing motions. In this way, a series of defects caused by the solid structure of the rice claw hand and the manual planting and throwing of seedlings in the existing rice transplanters can be overcome and improved, and the advantages can be taken into consideration or further improved in the same fashion.

3. In the present invention, several rows of movable rice claw hands can be arranged in a rice transplanter, so that the speed of the whole machine or the power unit and the power unit in the paddy field can be increased, and the speed of the movable rice claw hands can be increased. When the moving speed of the whole machine or the power unit and the power unit is increased, the speed increase of the movable paw hand can be greatly reduced. Therefore, to improve the productivity of rice transplanters,

^ The planting depth of the movable rice claw hand of the various types of rice transplanters in the present invention can be adjusted automatically and randomly, and the planting depth can be adjusted according to the agronomic requirements of the rice variety, that is, the signal element is adjusted in its rack accordingly. Fixed position.

5. Various utility model rice transplanters designed according to the method of the present invention and various existing rice transplanters that have been modified can adapt to the agronomic requirements when transplanting various rice varieties, thereby expanding the scope of rice transplanters and improving Yield of rice.

In short, the present invention can overcome and improve the shortcomings of the original rice transplanter, artificial rice transplanting and seedling throwing, perfect the function of the rice transplanter, improve the reliability of hand picking, transplanting, and seedling release of the rice claw, and the power of the rice claw hand, rice transplanter, and power. The working speed of the device gives full play to the mechanical advantages; achieves a uniform and consistent depth of transplanting depth; reduces the workload and requirements of the whole field appropriately; improves the adaptability of the transplanter to the seedlings and meets the agronomic requirements when transplanting multiple varieties of rice; Machine design method to improve the working performance of rice transplanters; improve labor productivity and comprehensive economic benefits. Accelerate the level of mechanization and popularization of rice transplantation in our country; Create more technical conditions for the growth of good food production, and provide better technology for the further development of the rice transplanter industry, so that the industry can develop healthily and rapidly, so it will produce Good economic and social benefits.

In summary, the special structure of the rotary multi-row movable rank claw hand rice transplanter of the present invention has the above-mentioned many advantages and practical values, and no similar structural design has been published or used in similar products. There are great improvements in structure or function, great progress in technology, and easy-to-use and practical effects, and indeed have enhanced functions, which is more suitable for practical use. Sincerely a novel, Progressive, practical new design.

The above description is only the preferred embodiments of the present invention, and does not make the present invention in any form. Restrictions, any person skilled in the art may use the technical content disclosed above to apply

Modifications still fall within the scope of the technical solution of the present invention.

Claims

Claim

1. A rotary multi-row movable rice claw hand rice transplanter, comprising a frame, left and right track disks, a main shaft movable rank claw hand, a rotary drive, and a retractor, etc., characterized in that: both ends of the main shaft are installed at On the left and right track disks, more than one slewing drive is installed on the main shaft. Each of the slewing drives is provided with a plurality of telescoping devices. Each of the telescoping devices is connected with a movable claw hand assembly. Corresponding pieces of the two ends of the sliding crossbar of each movable rice claw hand assembly are installed in the pan grooves of the left and right track plates, and the movable rice claw hand assemblies are evenly distributed in the In the predetermined rotary closed trajectory of the left and right track plates, the upper part of the rack is installed with a rice basket rack, the left and right track plates, a rotary spindle, a rotary drive and a retractor, a movable rice claw hand and a rice basket The frame constitutes the rice transplanter body; the rice transplanter body is connected to the two sides of the rack through the corresponding hinge holes or waist grooves and two sets of three-point 6 equal cranks, and the crank hinge holes are on the left and right sides. Track disk There is provided a signal element which can be rotated about a fixed axis in its frame, and the signal element can be adjusted randomly and randomly within a certain range of height; the frame is connected to form an integral frame structure through an outer rod, and the machine The outer side of the frame can be connected with a supporting ground wheel; an intermediate transmission mechanism that drives the rotary spindle to rotate is disposed in a gap between the track plate and a corresponding side frame; the intermediate transmission mechanism further includes a clutch and Its controls.

2. The rotary multi-row movable rice claw hand rice transplanter according to claim 1, characterized in that the movable rice claw hand has four movements with regular reciprocating interval, rotation, telescoping and height automatic random adjustment. Double-layer three-hinged four-bar structure.

3. The rotary multi-row movable rice claw hand rice transplanter according to claim 1, wherein the rotary drive is a disc structure, and the retractor structure is a deformable flat nine-rod, At the same time, its hinge axis is arranged vertically in space with the center line of the rotary drive.

4. The rotary multi-row movable rice claw hand rice transplanter according to claim 1, wherein the left and right track plates have a fixed cam plate structure, and the track plates are provided with different groove depths. The clamping stage, the seedling stage to be taken out, the seedling stage, and the changing transition stage. The different stages form a rotary closed trajectory line; the left and right track plates are also provided with bearing seats for installing a rotary spindle. Holes, rank baskets, crank reams and thread height holes, bosses and lugs for automatic height adjustment mechanism installation.

5. The rotary multi-row movable seedling claw hand-inserted rank machine according to claim 4, wherein the left and right track plates are left and right fixed plate structures.

6. The rotary multi-row movable rice claw hand rice transplanter according to claim 1, characterized in that a set of mechanical or hydraulic suspension traction devices matched with a power unit or a power unit can be connected to the outside of the frame. .