WO2014036825A1

WO2014036825A1 - Combined-type pot-grown rice seedling transplanting mechanism

Info

Publication number: WO2014036825A1
Application number: PCT/CN2013/073118
Authority: WO
Inventors: 赵匀; 陈建能; 武传宇; 孙良; 赵雄
Original assignee: 东北农业大学; 浙江理工大学
Priority date: 2012-09-05
Filing date: 2013-03-25
Publication date: 2014-03-13
Also published as: JP6074508B2; JP2015533481A

Abstract

Provided is a conjugated cam and planetary gear train combined-type pot-grown rice seedling transplanting mechanism. The mechanism comprises a uniform/non-uniform speed driving planetary gear train mechanism (1-1), a conjugated cam swinging mechanism (1-2) and a transplanting arm (1-3). Power drives, through a central shaft (1-4) of the planetary gear train mechanism (1-1), the planetary gear train mechanism (1-1) to rotate. The planetary gear train mechanism (1-1) provides power for the conjugated cam swinging mechanism (1-2) while pulling the transplanting arm (1-3) to move. The conjugated cam swinging mechanism enables a transplanting arm shell (1-15) to rotate relative to a planetary gear (1-8), so that movement of the transplanting arm (1-3) becomes a composition of pulling movement of the planetary gear train mechanism (1-1) and relative rotation, and a sharp point of a seedling clamping piece on the transplanting arm (1-3) forms a movement trajectory in a woodpecker manner. Further provided is a high-speed pot-grown seedling transplanting mechanism of a free second-order noncircular gear planetary system. As driven by the free second-order noncircular gear planetary system, a first seedling claw (2-8) and a second seedling claw (2-8') take two unequal amplitude swings in a cycle, forming a track in a shape of a Chinese character "卜", which has a beak on the right. The transplanting mechanism has the characteristics of strong adaptability, simple structure, low cost, small vibration and high efficiency.

Description

Combined rice seedling transplanting mechanism

Technical field

The invention belongs to a transplanting machine in agricultural machinery, and mainly relates to a combined seedling transplanting mechanism on a rice transplanter.

Background technique

Transplanting has the comprehensive effect of compensating for climate and making crops early. It can make full use of light and heat resources, and its economic and social benefits are very impressive. The transplanting of seedlings in paddy fields and dry land requires the development of a high-speed seedling transplanting mechanism.

The rotary gear mechanism of the planetary gear train has been applied to the rice transplanter. The rice transplanter is a planting machine for the carpet seedling. The needle does not need to enter the body of the seedling. The seedling is taken through the way of tearing the soil block. The needle track is smooth. Curve, and the seedling transplanting machine needs the needle to enter the seedling tray to hold the seedling, and can not destroy the disk and the root, so the track needs a sharp protrusion; from the needle into the body to completely leave the body, The direction of movement of the needle is parallel to the direction of the body, that is, the needle needs a section of motion that is close to a straight line. The planetary gears of the elliptical gear, eccentric and non-circular gears used in the existing planting machinery are not equal speed transmission mechanisms. Can not meet the above requirements, the special trajectory required by the seedling transplanter hinders the application of the existing rotary planetary gear train mechanism on the transplanter, that is, the existing rotary tiller mechanism cannot be used to overcome the shortcomings of the existing branching mechanism. .

Summary of the invention

The first object of the present invention is to provide a conjugate cam and planetary gear train combined rice seedling transplanting mechanism for the problems existing in the prior art mentioned above, which achieves good quality, strong applicability and simple structure of transplanting operation. Low manufacturing cost, reliable operation, low vibration and high efficiency.

The object of the present invention is achieved as follows: a conjugate cam and a planetary gear train combined rice seedling transplanting mechanism, which is composed of a uniform speed or non-uniform speed transmission planetary gear mechanism, a conjugate cam swinging mechanism and a transplanting arm assembly; The structure of the uniform or non-uniform transmission planetary gear train mechanism is: rotatably fitting a planet carrier body on a sun gear, the central shaft is rotatably inserted in a central hole of the sun gear, and one end of the central shaft The portion is fixed to the planet carrier body, and the intermediate gear and the planetary gear are rotatably mounted in the carrier body, and the intermediate gear meshes with the sun gear and the planetary gear respectively, and the inner side of the planetary shaft is inserted into the central hole of the planetary gear, and the end thereof The conjugate cam swinging mechanism is composed of a cam box, a conjugate cam, a swing lever, a partial gear and a gear, and the cam box is swingably fitted on the planetary shaft, and one of the cam boxes The side is inserted into the planet carrier and fixed to the planet carrier. The cam box is equipped with a conjugate cam, a pendulum rod, a partial gear and a gear. The conjugate cam is fixed on the planet. The gear is rotatably mounted on the planetary shaft, the two swing rods are integrated with the incomplete gear, and are swingably mounted in the cam box, the two swing rods are in contact with the conjugate cam, and the incomplete gear and The gear is meshed, and the outer end surface of the gear is provided with a dental implant; the transplanting arm is composed of a housing and a fork and a push-pull cam fitted in the housing, the housing is sleeved on the planetary shaft, and the housing is provided with the claw One end is inserted into the cam box to engage with the teeth on the outer end surface of the gear, and the push cam is fixed on the outer side of the planetary shaft and cooperates with the fork. Based on the above technical solution, the present invention may adopt the following further technical solutions: The sun gear, the intermediate gear and the planetary gear include a perfect circular gear or a non-circular gear. The selection of the sun gear, the intermediate gear and the planetary gear may further include an eccentric gear, an elliptical gear, an oval gear, a denatured gear, and an eccentric-displacement gear combination.

The two swinging rods are in contact with the conjugate cam through the roller, and the pusher cam and the shifting fork are matched by the rollers. The conjugate cam and the planetary gear train combined rice seedling transplanting mechanism of the present invention can also adopt the following technical scheme: the mechanism is the above-mentioned uniform or non-uniform speed transmission planetary gear train mechanism, the above-mentioned conjugate cam swinging mechanism, and shifting The planting arm is assembled; the planting arm adopts the following structure:

The shifting arm housing includes a cam, a roller, a fork, a sleeve and a push rod that are driven by power. One end of the push rod is installed in the sleeve, and the other end of the push rod extends from the transplant arm shell. In vitro, the roller and the fork are coaxially mounted at one end, the cam is in contact with the roller, and the fork is swung. The other end of the fork is fixedly connected to the rear end of the push rod by a fixed block, and the push rod is on the fork. The movement and the spring act to make a reciprocating linear motion with respect to the transplanting arm housing; the transplanting arm housing is set on the planetary shaft, and the housing is provided with a claw end inserted into the cam box and the outer end surface of the gear. In the contact fit, the cam is fixed on the outer side of the planet shaft; the head of the picking clip clip fixed on the inclined surface of the cone picking clip holder is respectively provided with barb or barb, and the end of the barb or barb is taken The seedling clips are oriented toward the small end of the cone-shaped clamping holder, and are symmetrically oriented toward the inner side. The large end of the cone-shaped seedling holder is oriented toward the graft arm housing and is fixed on the upper part of the graft arm housing and exposed to the graft arm. The front end of the push rod outside the housing is arranged in order from front to back The first U-shaped block and the second U-shaped block, the front ends of the two pieces of the seedling clips with barbs or barbs are located in the first U-shaped block, and the second U-shaped blocks are located in the two pieces of the seedling clips. Between the middle and rear ends of the clip.

Based on the above technical solutions, the present invention can adopt the following further technical solutions:

The two pieces of the seedling clips are arranged as non-straight-plate spring sheets which are folded into an inclined angle at the front and the back, so that the two pieces of the seedling clips are fixed on the cone-shaped seedling holder to form a front end. The ends of the ends are parallel to each other, and the rear end is arranged symmetrically at the same angle as the angle of the cone-shaped seedling holder.

The first U-shaped block and the second U-shaped block on the push rod are integral U-shaped blocks or two pieces welded on the left and right sides of the push rod; the inner side of the first U-shaped block Parallel to the front end of the two pieces of the pick-up clip, the two outer sides of the second U-shaped block are parallel or non-parallel to the inner tapered surface formed by the middle and rear ends of the two pieces of the pick-up clip.

The sun gear, the intermediate gear and the planetary gear include a round gear or a non-circular gear. The selection of the sun gear, the intermediate gear and the planetary gear may further include an eccentric gear, an elliptical gear, an oval gear, a denatured gear, and an eccentric-displacement gear combination. The beneficial effect of the conjugate cam and the planetary gear train combined rice seedling transplanting mechanism provided by the invention is that the conjugate convex oscillating wheel mechanism enables the transplant arm housing to drive the planetary gear train with constant speed or non-uniform speed. At the same time, the movement of the mechanism is relative to the rotation of the planetary wheel. The synthesis of the two movements causes the cusps of the clips on the shell of the transplanting arm to form a "woodpecker" shape trajectory, thereby realizing the seedling and planting action, and completing the transplanting of the rice seedlings. The trajectory of the seedling stage is slender as a bird's beak, and the shovel is taken into the shovel. The seedlings are accurate and do not hurt the seedlings. The trajectory of the planting stage is like a bird body. The seedlings can be directly implanted into the ground, and the seedlings are upright and planted. The planting depth is guaranteed, the planting effect is good, and the work is continuous. The mechanism has novel and reasonable structural design, simple structure, low manufacturing cost, reliable work, stable movement, low vibration, high work efficiency, good transplanting quality and strong applicability. specialty. A second object of the present invention is to provide a high-speed seedling transplanting mechanism for a free second-order non-circular gear planetary system, which utilizes a special free second-order transmission ratio to satisfy the requirements of the seedling transplanting machine. The shape "trajectory requirements, and can adapt to the operation of the transplanter at any speed. In order to achieve the above object, the technical solution adopted by the present invention is:

One end of the central shaft of the present invention is connected to the power unit, and the other end of the central shaft is fixed to the carrier. The free second-order central non-circular gear is fixed on the central shaft and fixed to the frame. The first free second-order intermediate non-circular The gear, the second free second-order intermediate non-circular gear is respectively coupled to the planet carrier by a first intermediate shaft and a second intermediate shaft coupled to the pin shaft, and the first free second-order planetary non-circular gear is coupled by the first spline thereof The planetary shaft is hingedly coupled to the planet carrier, and the second free second-order planetary non-circular gear is hingedly coupled to the planet carrier via a second planetary shaft coupled to the spline thereof, the first free second-order intermediate non-circular gear and the first free second-order planetary non- The circular gear, the second free second-order intermediate non-circular gear and the second free second-order planetary non-circular gear are respectively distributed on both sides of the central axis; the first free second-order intermediate non-circular gear, the second free second-order intermediate non-circular gear One of the parts is respectively coupled with the free second-order center non-circular gear pair, the first free second-order intermediate non-circular gear, and the second free second-order intermediate non-circular gear are respectively separated from the first free two And a first non-circular planetary gears consisting of second order non-circular planetary gear coupled to the sub; seedling taking a first jaw, the first jaw seedlings taken respectively to the first planetary shafts and second planetary shafts fixed.

Based on the above technical solutions, the present invention may also adopt the following further technical solutions:

The central non-circular gear, the intermediate non-circular gear, and the non-circular gear in the planetary non-circular gear may also include an eccentric gear, an elliptical gear, an oval gear, a denatured gear, and an eccentric-displacement gear combination.

The pitch curve parameters of the free second-order center non-circular gear, the first free second-order planetary non-circular gear, and the second free second-order planetary non-circular gear are completely identical; the first free second-order intermediate non-circular gear and The pitch curve parameters of the second free second-order intermediate non-circular gear are completely identical.

The planet carrier rotates once, and the first free second-order intermediate non-circular gear and the second free second-order intermediate non-circular gear also rotate around the planet carrier. The free second-order central non-circular gear and the first free second-order are used in the whole-week motion. The transmission ratio of the intermediate non-circular gear and the second free second-order intermediate non-circular gear is divided into two distinct fluctuation processes.

After the free second-order non-circular gear planetary system transmission, the first picking claw and the second picking claw are unequally oscillated in the second period, forming a "bump" trajectory, and a right tip forms a tip.

The picking claw is composed of a housing and a shifting fork and a pushing cam fitted in the housing, and the housing is respectively fixed to the first planetary shaft and the second planetary shaft, and the pushing cam is respectively sleeved On the first planetary shaft and the second planetary shaft, one end of the push cam protrudes from the outside of the housing and is fixed to the carrier, and a portion of the push cam in the housing contacts the roller.

The casing for taking the seedling claw includes a cam, a roller, a fork, a sleeve and a push rod which are driven by power; one end of the push rod is installed in the sleeve, and the other end of the push rod is extended to take the claw Outside the housing, the roller is mounted coaxially with one end of the fork, the cam is in contact with the roller, and the fork is swung. The other end of the fork is fixedly connected to the rear end of the push rod by a fixed block, and the push rod is on the fork. The push and the spring act to make a round-trip linear motion with respect to the take-up claw housing; Fixing with the first planetary shaft and the second planetary shaft, the pushing cams are respectively sleeved on the first planetary shaft and the second planetary shaft, and one end of the pushing cam extends out of the housing and is fixed to the planet carrier, pushing The part of the cam in the housing is in contact with the roller; the head of the picking clip which is fixed on the inclined surface of the cone picking clip is respectively provided with a barb or a barb, and the end of the barb or barb is taken The clips are oriented toward the small end of the cone-shaped clamping holder, and are symmetrically oriented toward the inner side. The large end of the cone-shaped seedling holder is oriented toward the seedling claw housing, and is fixed on the upper part of the seedling claw housing, and is exposed. The front end of the push rod outside the seedling claw shell is provided with a first U-shaped block and a second U-shaped block from front to back, and the front ends of the two pieces of the pick-up clips with barbs or barbs are located at the first U Within the block, the second U-shaped block is located between the middle and rear ends of the two pieces of the seedling clips.

The free second-order non-circular gear planetary system high-speed seedling transplanting mechanism provided by the invention has the following beneficial effects: The invention satisfies the condition that the free-rotating second-order intermediate non-circular gear rotates relative to the entire circumference of the planet carrier in one rotation of the carrier. The transmission ratio law of the second-order central non-circular gear and the free second-order intermediate non-circular gear is designed. The amplitude of the two fluctuation processes of the transmission ratio and the proportion of the time required for each fluctuation process in the motion cycle can be flexibly controlled. The second swing of the claws.

The transplanting mechanism adopts the free second-order non-circular gear planetary system as the non-equal speed transmission mechanism, and takes the cusp of the claw tip point into a "bump shape", which traverses the agronomic requirements of the transplanting machine of the seedling transplanter; overcomes the multi-rod mechanism and The shortcomings of the intermittent mechanism have the advantages of simple structure, small volume, light weight, low vibration, low manufacturing cost, etc. At the same time, two arrangement schemes of taking the seedling claws are adopted, the planetary carrier rotates once, the transplanting operation is twice, and the work efficiency is high. It can adapt to the paddy field and dry land transplanting operation of the transplanter at any rotation speed.

DRAWINGS

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic view showing the structure of a rice seedling transplanting mechanism of a conjugate cam and a planetary gear train according to an embodiment of the present invention. Figure la is a schematic view showing the side structure of a transplant arm in the first embodiment of the present invention.

Fig. 2 is a trajectory diagram of a "woodpecker" shape formed when a conjugate cam and a planetary gear train combined rice seedling transplanting mechanism are operated in the first embodiment of the present invention.

In the figure: 1-1, uniform or non-uniform transmission planetary gear train mechanism, 1-2, conjugate cam swing mechanism, 1-3, transfer arm, 1-4, central shaft, 1-5, sun gear, 1 -6, intermediate gear, 1-7, planet carrier, 1-8, planetary gear, 1-9, planetary shaft, 1-10, cam box, 1-11, conjugate cam, 1-12, pendulum, 1-13, incomplete gear, 1-14, gear, 1-15, housing, 1-16, fork, 1-17, push cam;

Fig. 3 is a schematic view showing the structural principle of a high-speed seedling transplanting mechanism of a free second-order non-circular gear planetary system according to a second embodiment of the present invention.

Fig. 3a is a schematic view showing the front structure of the embodiment 2 in which only one transplanting arm is disposed. 4 is a meshing diagram of a second-order non-circular gear planetary gear of Embodiment 2.

Fig. 5 is a schematic view showing the transmission ratio curve of the free second-order center non-circular gear and the first free second-order intermediate non-circular gear in the cycle of the embodiment 2.

Figure 6 is a plot of the first picking pawl angle in the cycle of Example 2.

Figure 7 is a single cycle gear ratio curve of several common non-circular gears of Embodiment 2.

In the figure: 2-1, central axis, 2-2, planet carrier, 2-3, free second-order center non-circular gear, 2-4, first free second-order intermediate non-circular gear, 2-4', second Free second-order intermediate non-circular gear, 2-5, first intermediate shaft, 2-5', first intermediate shaft, 2-6, first free second-order planetary non-circular gear, 2-6', second free two Stepped planetary non-circular gears, 2-7, first planetary shaft, 2-7', second planetary shaft, 2-8, first picking claws, 2-8', second picking claws, 2-9, "Bu" trajectory, 2-10, single-stage oval gear periodic transmission ratio curve, 2-11, single-stage elliptical gear periodic transmission ratio curve, 2-12, single-stage deformation oval gear periodic transmission ratio curve .

Fig. 8 is a cross-sectional view showing the structure of the seedling claw of the embodiment 3 of the present invention.

Figure 9 is a top view of the clip holder of Figure 8.

Figure 10 is a three-dimensional view of a barbed-shaped pick-up clip of the embodiment 3 of the present invention.

Figure 11 is a three-dimensional partial enlarged view of the barbed-shaped pick-up clip of the embodiment 3 of the present invention.

Figure 12 is a three-dimensional view of a barbed-shaped pick-up clip of the embodiment 3 of the present invention.

Fig. 13 is a three-dimensional partial enlarged view of the barbed-shaped pick-up clip of the embodiment 3 of the present invention.

Fig. 14 is a view showing the state in which the barbed-shaped pick-up clips of the embodiment of the present invention start to enter the tray.

Fig. 15 is a view showing the state in which the barbed-shaped pick-up clips of the embodiment of the present invention are taken out of the clamped seedlings.

Fig. 16 is a view showing the state in which the barbed-shaped seedling clips of the embodiment of the present invention release the seedlings.

Fig. 17 is a view showing the state in which the barbed-shaped pick-up clips of the embodiment of the present invention start to enter the tray.

Fig. 18 is a view showing the state of the present invention in the case of the barbed-shaped pick-up clips taken out of the clamped seedlings.

Fig. 19 is a view showing the state of the present invention in the case of the barbed-shaped pick-up clips when the seedlings are released.

Figure 20 is a schematic view showing the outline of the push cam of the embodiment 3 of the present invention.

In the picture: 1, take the clip folder, 2, push the mast, 3, the cone picking clip holder, 4, plant arm shell, 5, bushing, 6, spring, 7, fixed block, 8, planting Arm cover, 9, fork, 10, roller, 11, cam. A, barb, B, first U-shaped block, C, second U-shaped block, D, barb, E, first clamping into the boring section, F, second clamping and clamping section, G, push the paragraph.

detailed description

The embodiments of the present invention are further described below in conjunction with the accompanying drawings.

Embodiment 1 Referring to Figures 1 and 2.

Combined conjugate cam and planetary gear train rice seedling transplanting mechanism, which is assembled by uniform or non-uniform speed transmission planetary gear mechanism 1-1, conjugate cam swing mechanism 1-2 and transfer arm 1-3 The structure of the uniform or non-uniform transmission planetary gear train 1 is: rotatably mounted on the sun gear 1-5 with the carrier body 1-7, the central shaft 1-4 rotatably mated in the sun In the center hole of the gear 1-5, one end portion of the central shaft 1-4 is fixed to the carrier body 1-7, and the carrier body 1-7 The intermediate gear 1-6 and the planetary gear 1-8 are rotatably fitted, and the intermediate gear 1-6 meshes with the sun gear 1-5 and the planetary gear 1-8, respectively, and the inner side of the planetary shaft 1-9 is inserted into the planet In the center hole of the gear 1-8, the end portion thereof is fixed to the carrier body 1-7; the conjugate cam swinging mechanism 1-2 is composed of the cam box 1-10, the conjugate cam 1-11, the swing rod 1-12, and The complete gear 1-13 and the gear 1-14 are formed, the cam box 1-10 is swingably fitted on the planetary shaft 1-9, and one side of the cam box 1-10 is inserted in the carrier body 1-7 The inner portion is fixedly coupled to the planetary gears 1-8, and the conjugate cams 1-11, the swing rods 1-12, the incomplete gears 1-13, and the gears 1-14 are disposed in the cam box 1-10, wherein the conjugate cams 1-11 Mounted on the planet shafts 1-9, the gears 1-14 are rotatably fitted on the planet shafts 1-9, and the two swing rods 1-12 are integrated with the incomplete gears 1-13 and are swingably mounted on the cams. In the box 1-10, the two swinging rods 1-12 are in contact with the conjugate cam 1-11, the incomplete gears 1-13 are meshed with the gears 1-14, and the outer end faces of the gears 1-14 are provided with teeth; The transplanting arm 1-3 is composed of a housing 1-15 and a shift fork 1-16 and a push cam 1 - fitted in the housing 1-15 17 is configured, the housing 1-15 is set on the planet shaft 1-9, and the housing 1-15 is provided with a claw end inserted into the cam box 1-10 and the teeth on the outer end surface of the gear 1-14. With the contact fit, the push cams 1-17 are fixed to the outer side of the planet shafts 1-9 and cooperate with the shift forks 1-16.

The sun gear 1-5, the intermediate gear 1-6, and the planetary gears 1-8 include a perfect circular gear or a non-circular gear. The selection of the sun gear, the intermediate gear and the planetary gear may further include an eccentric gear, an elliptical gear, an oval gear, a variable gear, and an eccentric-displacement gear combination.

The two swinging rods are in contact with the conjugate cam through the roller, and the pusher cam and the shifting fork are matched by the rollers. Operation process: The sun gear 1-5 is fixed, the power is transmitted through the central axis 1-4, and the planetary frame body 1-7 is rotated, and the sun gear 1-5 is rotated relative to the carrier body 1-7, the planet carrier body 1 The intermediate gear 1-6 meshing with the sun gear 1-5 on the -7 rotates relative to the carrier body 1-7, and the intermediate gear 1-6 drives the planetary gear 1-8 on the star frame body 1-7 relative to the carrier body 1 - 7 rotation, while the planet carrier 1-7 pulls the planetary gears 1-8 to rotate about the central axis 1-4, the absolute motion of the planetary gears 1-8 is the planetary frame 1-7 traction motion and the planetary gears 1-8 relative to the planet carrier Synthesis of the rotation of the body 1-7; the cam box 1-10 fixed to the planetary gears 1-8 is provided with the swing rod 1-12, and cooperates with the conjugate cam 1-11 fixed on the planetary shaft 1-9, The yoke cam 1-11 rotates relative to the cam box 1-10, so that the swing lever 1-12 swings relative to the cam box 1-10 according to a certain motion law, and the incomplete gear 1-13 swings integrally with the swing lever 1-12, and drives The gears 1-14 meshing therewith rotate relative to the cam gear 1-10, and the gears 1-14 are thereby rotated relative to the planetary gears 1-8; the housings 1-15 and the gears 1-14 are connected by teeth Therefore, as the gears 1-14 rotate relative to the planetary gears 1-8, the absolute movement of the housings 1-15 is the absolute motion of the planetary gears 1-8 and the rotational synthesis of the planetary gears 1-8, which is formed when the present invention is completed. The woodpecker's shape motion track; the push cam 1-17 is fixed on the planet shaft 1-9, the fork 1-16 is matched with the push cam 1-17, and the push cam 1-17 is driven around the housing 1-15 Rotating, driving the push rod to control the clamping and pushing action of the clamping jaw.

When used in a high-speed transplanter, that is, a ride-on transplanter, the uniform or non-uniform drive planetary gear train mechanism 1-1 and the conjugate cam swing mechanism 1-2 of the present invention are vertically arranged symmetrically, and a transplanting is installed on each of the upper and lower sides. Arm 1-3; When used in a walking transplanter, the uniform or non-uniform speed planetary gear train 1-1 and the conjugate cam swing mechanism (1-2) of the present invention are provided with only one side, and only one side is installed. Transplant the arm. Embodiment 2, with reference to Figures 3-7. In the free second-order non-circular gear planetary system high-speed seedling transplanting mechanism of the present invention, one end of the central shaft 2-1 is connected with the power unit, and the other end of the central shaft 2-1 is fixed to the carrier 2-2, and the second order is free. The central non-circular gear 2-3 empty sleeve is fixed to the frame on the central axis 2-1, and the first free second-order intermediate non-circular gear 2-4 and the second free second-order intermediate non-circular gear 2-4' respectively pass The first intermediate shaft 2-5 and the second intermediate shaft 2-5' coupled to the pin are hingedly coupled to the carrier, and the first free second-order planetary non-circular gear 2-6 is coupled to the first planetary shaft 2 coupled thereto -7 is hingedly coupled to the planet carrier, and the second free second-order planetary non-circular gear 2-6' is hinge-coupled to the planet carrier via a second planet shaft 2-7' coupled to its spline, the first free second-order intermediate non-circular gear 2-4 and the first free second-order planetary non-circular gear 2-6, the second free second-order intermediate non-circular gear 2-4' and the second free second-order planetary non-circular gear 2-6' are respectively distributed on the central axis 2 Both sides of the -1; a free second-order intermediate non-circular gear 2-4, a second free second-order intermediate non-circular gear 2-4', and a free second-order central non-circular gear 2-3 teeth The secondary coupling, the first free second-order intermediate non-circular gear 2-4, the second free second-order intermediate non-circular gear 2-4', and the first free second-order planetary non-circular gear 2-6 and the second Free second-order planetary non-circular gear 2-6' gear pair coupling; first picking claw 2-8, second picking claw 2-8' with first planetary shaft 2-7 and second planetary shaft 2-7, respectively 'Fixed. The planet carrier 2-2 shown in Fig. 3 rotates clockwise, and is driven by a free second-order non-circular gear planetary system. The two picking claws form a "bump" trajectory 2-9, and the two take the claws in the "bump" trajectory 2 -9 on the pointer movement, in the two take the claws from the "Bu shape" track 2-9 into the "Bu shape" track 2-9 right part of the protruding tip section has an approximate straight line, to ensure that the claws can be vertical Insert the seedlings.

The pitch curve parameters of the free second-order center non-circular gear 2-3, the first free second-order planetary non-circular gear 2-6, and the second free second-order planetary non-circular gear 2-6' are completely identical; The pitch curve parameters of the first free second-order intermediate non-circular gear 2-4 and the second free second-order intermediate non-circular gear 2-4' are completely identical.

The carrier 2-2 rotates once, and the first free second-order intermediate non-circular gear 2-4 and the second free second-order intermediate non-circular gear 2-4' also rotate around the carrier 2-2 for the whole week. The transmission ratio of the free second-order center non-circular gear 2-3 and the first and second free second-order intermediate non-circular gears 2-4, 2-4' is divided into two different fluctuation processes, and the cycle ratio curve is as follows. As shown in Fig. 5, there are two fluctuations in the gear ratio cycle, and there are two fluctuation amplitudes and valleys. The ratio of the two fluctuation processes to the total cycle time, the fluctuation amplitude and the valley value can be flexibly designed according to the trajectory requirements. The free second-order center non-circular gear 2-3, the first free second-order planetary non-circular gear 2-6 and the second free second-order planetary non-circular gear 2-6' three gears have the same curve curve parameters; the first freedom The pitch curve parameters of the second-order intermediate non-circular gear 2-4 and the second free second-order intermediate non-circular gear 2-4' are completely identical, and the gear meshing diagram of the mechanism is shown in FIG. 3, and the non-circular gear in FIG. The tooth profile is determined by the gear ratio law in Figure 5, and the pitch curve of the gear train is a free second-order pitch curve.

During the rotation of the carrier 2-2, the angle between the first picking claws 2-8 and the horizontal direction is as shown in Fig. 6. As can be seen from Fig. 6, the angle of the first picking claws 2-8 becomes larger first. , after reaching the first amplitude, decreasing to the first valley value, then increasing to another value, and then decreasing to the second valley value, the first seedling claw 8 undergoing two times in one cycle Unequal swing.

Figure 7 shows the periodic transmission ratio of the elliptical gear, the deformed oval gear and the oval gear. The elliptical gear fluctuates once in a cycle gear ratio function, and the gear ratio of the deformed oval gear and the oval gear fluctuates twice, but The amplitude and valley of the two fluctuations are consistent, which limits the non-uniform transmission ratio law in the cycle. The periodic transmission ratio law of the free second-order non-circular gear transmission shown in Fig. 5 is more flexible than the transmissions shown in Fig. 7. The output characteristics are more conducive to the formation of seedling transplanting trajectories.

The seeding claws in this embodiment, that is, the transplanting arms in the first embodiment, are only referred to differently. In this embodiment, the seedling claw is taken The embodiment of the transplanting arm of Embodiment 1 can be used, except that the housings 1-15 are respectively fixed to the first planetary shaft 2-7 and the second planetary shaft 2-7'. The cams 1-17 are respectively sleeved on the first planetary shaft 2-7 and the second planetary shaft 2-7', and one end of the push cam 1-17 extends outside the housing 1-15 and the carrier 2-2 is fixed. Then, the portion of the push cam 1-17 in the housing 1-15 is in contact with the roller.

The working principle of the invention is as follows:

The power is transmitted to the center shaft 2-1 via the center shaft 2-1, and the carrier 2-2 is fixed, and the carrier 2-2 is driven to rotate clockwise. The free second-order center non-circular gear 2-3 is sleeved on the central shaft 2-1 and fixed to the frame, the first free second-order intermediate non-circular gear 2-4, and the second free second-order intermediate non-circular gear 2-4 'The first intermediate shaft 2-5 and the second intermediate shaft 2-5' coupled to the pin are respectively hingedly coupled to the carrier, the first free second-order planetary non-circular gear 2-6, and the second free second-order planetary non- The circular gears 2-6' are hingedly coupled to the planet carrier via a first planet shaft 2-7 and a second planet shaft 2-7' coupled to the spline thereof, the two free second-order intermediate non-circular gears and two free second-order planets The non-circular gears are distributed on both sides of the central axis 2-1; the first free second-order intermediate non-circular gear 2-4, the second free second-order intermediate non-circular gear 2-4'- and the free second-order central non-circular gear 3 gear pair coupling, the first free second-order intermediate non-circular gear 2-4, the second free second-order intermediate non-circular gear 2-4', and the first free second-order planetary non-circular gear 2-6, respectively The first free second-order planetary non-circular gear 2-6' gear pair is coupled; the first picking claw 2-8, the first picking claw 2-8' are respectively on the first planetary shaft 2-7, The second planet shaft 2-7' is fixed.

After the free second-order center non-circular gear planetary system transmission, the first picking claw 2-8, the first picking claw 2-8' period in the second unequal amplitude swing, forming a "b-shaped" trajectory, trajectory The right part of the body forms a pointed mouth to meet the requirements of seedling transplanting operations.

When the high-speed seedling transplanting mechanism of the free second-order non-circular gear planetary system of the present invention is used for a high-speed transplanting machine, that is, a riding transplanter, the planetary gear train mechanism is arranged symmetrically up and down, and one of the upper and lower sides is installed with a seedling claw; In the case of a walking transplanter, the transmission planetary gear train of the present invention is provided with only one side, and only one picking claw is installed. Embodiment 3, refer to Figures 3-20.

On the basis of Embodiment 2, this embodiment also provides another embodiment for taking the seedling claws.

As shown in FIG. 8 and FIG. 9, the housing 4 and the planting arm cover 8 for taking the seedling claws include a cam 11 that is rotated by power, a roller 10, a fork 9, a sleeve 5, and a push rod 2; One end of the mast 2 is installed in the sleeve 5, and the other end of the push rod 2 is extended outside the picking claw housing 4, and the roller 10 is sleeved on the pin shaft at one end of the shifting fork 9, the cam 11 and the roller 10 In contact with each other, the shift fork 9 is swung, and the other end of the shift fork 9 is movably connected to the rear end of the push rod 2 through the fixing block 7, and the push rod 2 is lifted by the push of the fork 9 and the spring 6 The claw housing 4 performs a round-trip linear motion; the head of the seedling clip clip 1 fixed to the inclined surface of the cone-shaped seedling holder 3 is respectively provided with a barb A or a barb D (Fig. 10, Fig. 11, Fig. 12, Figure 13), the bark clips 1 with barbs A or barbed D-ends are all oriented toward the small end of the cone-shaped seedling holder 3, and are symmetrically oriented toward the inner side, and the large end of the cone-shaped seedling holder 3 is tapered. Facing the seedling claw housing 4, and fixing it to the upper part of the seedling claw housing 4, exposed at the front end of the pusher bar 2 outside the seedling claw housing 4, the first U-shaped block B and the first are disposed from front to back. Two U-shaped block C, with barb A or barb D Take two tablets seedlings clip 1 are located in the front end of a first U-shaped block B, the second U-shaped block C are located between the two rear seedling taking a piece of clip. The housing 4 and the planting arm cover 8 are respectively fixed to the first planetary shaft 2-7 and the second planetary shaft 2-7', and the pushing cams 11 are respectively sleeved on the first planetary shaft 2-7. And the second planet axis 2-7', one end of the push cam 11 protrudes from the housing 4 and the outside of the planting arm cover 8 and is fixed to the carrier 2-2, and the portion of the push cam 11 in the housing 4 and the planting arm cover 8 is rolled. Sub 10 contact;

The two pieces of the seedling clips 1 are arranged as non-straight plate spring sheets which are folded into an inclined angle at the front and the back, so that the two pieces of the seedling clips 1 are fixed on the cone-shaped seedling holder 3 to form The front end is parallel to each other, and the rear end is symmetrically inclined with the same angle as the cone-shaped seedling holder 3.

The first U-shaped block B and the second U-shaped block C on the push rod 2 are integral U-shaped blocks or two pieces welded on the left and right sides of the push rod 2; the first U-shaped The inner side faces of the block B are parallel to the front ends of the two pieces of the pick-up clips 1, and the outer side faces of the second U-shaped blocks C are parallel to the inner tapered faces formed by the middle and rear ends of the two pieces of the pick-up clips (1) or Not parallel.

The working principle of taking the seedling claw of this embodiment is as follows:

As shown in FIGS. 8 and 9, the power driving cam 11 rotates, and the fork 9 is swung by the roller 10 attached to one end of the shift fork 9, and the other end of the shift fork 9 is fixed to the rear of the push rod 2 by the fixing block 7. At the end, the push rod 2 is reciprocated under the action of the shifting fork 9 and the spring 6.

As shown in Fig. 14, Fig. 17, and Fig. 20, the contour of the cam 11 is moved to the first clamping into the segment E, and the push bar is moved backward by the action of the cam 11 and the spring 6, and the first of the push rods 2 is pushed. A U-shaped block B gradually acts from the outside of the two pick-up clips, so that the two pick-up clips are gradually clamped, and the clips are taken into the tray; the cam 11 continues to rotate until the second clamp is taken.秧 Clamping section F, and pushing the fork to drive the push rod to continue backward movement, relying on the first U-shaped block B to force the auxiliary picking clip to clamp the soil or stalk, as shown in Figure 15 and Figure 18 When the position is shown, the picking clip has been completed to take the seedling action and completely clamp the soil or stalk to prevent the seedling from coming out; the cam 11 continues to rotate to the pusher section G, and the seedling is sent to the soil hole When the position is shown in Figures 16 and 19, the push rod is moved forward by the fork, and the second U-shaped block C fixed to the push rod is forced from the inside of the two pick-up clips. Open to both sides, the seedlings are loosened, pushed out and dropped into the soil, and the whole transplanting process.

The seedling claw provided by the invention can be used to take the barbs and barbs of the head of the clip holder and the first U-shaped block and the second U-shaped block on the push rod, forcibly assisting the elastic picking clip folder clip Close seedlings or soil mites, and take out the seedlings more reliably. The invention solves the problems that the existing transplanting claws are easy to produce the clamping spring and the elastic drop of the picking clips causes the reliability of the picking of the seedlings to decrease. The seed picking claw provided by the invention is suitable for picking up the soil and picking up the file. When the soil is picked up, the elastic pick-up clip has a barb at the top of the clip; when the picking stalk is taken, the top of the clip is wrapped with a cushioning material.

The seeding claws in this embodiment, i.e., the transplanting arms in the first embodiment, are only referred to differently. The embodiment in which the seedling claw is taken in the present embodiment can be applied to the transplanting arm of the embodiment 1, except that the casing 4 and the planting arm cover 8 and the gears 1-14 in the cam box 1-10 pass through the outer end surface. The pinch cam 11 is fixed to the planet shaft (1-9), and the portion of the push cam 11 in the casing 4 and the planting arm cover 8 is in contact with the roller 10.

Claims

claims

1. A conjugate cam and planetary gear train combined rice seedling transplanting mechanism, which is characterized in that the mechanism consists of a uniform or non-uniform speed transmission planetary gear train mechanism (1-1) and a conjugate cam swing mechanism (1-2 ) and the transplanting arm (1-3) are assembled; The structure of the uniform or non-uniform speed transmission planetary gear train mechanism (1-1) is: a planet carrier is rotatably equipped on the sun gear (1-5) The body (1-7), the central shaft (1-4) is rotatably inserted into the central hole of the sun gear (1-5), and one end of the central shaft (1-4) is connected to the planet carrier body (1 -7) is fixedly connected, and the intermediate gear (1-6) and the planet gear (1-8) are rotatably installed in the planet carrier body (1-7). The intermediate gear (1-6) is respectively connected with the sun gear (1 -5) meshes with the planet gear (1-8), the inner part of the planet shaft (1-9) is inserted into the center hole of the planet gear (1-8), and its end is fixed with the planet carrier body (1-7) connection; the conjugate cam swing mechanism (1-2) consists of a cam box (1-10), a conjugate cam (1-11), a swing rod (1-12), an incomplete gear (1-13) and a gear (1 -14) composition, the cam box (1-10) is swingably mounted on the planet shaft (1-9), and one side of the cam box (1-10) is inserted into the planet carrier body (1-7) ) is fixedly connected to the planet carrier body (1-8), and the cam box (1-10) is equipped with a conjugate cam (1-11), a swing rod (1-12), an incomplete gear (1-13) and Gear (1-14), in which the conjugate cam (1-11) is fixedly mounted on the planetary shaft (1-9), and the gear (1-14) is rotatably mounted on the planetary shaft (1-9). Two The swing rod (1-12) is integrated with the incomplete gear (1-13) and is swingably installed in the cam box (1-10). The two swing rods (1-12) are connected to the conjugate cam (1-12). 1-11) contact fit, the incomplete gear (1-13) meshes with the gear (1-14), and a tooth insert is provided on the outer end surface of the gear (1-14); the transplanting arm (1-3) is formed by the housing ( 1-15) and a shift fork (1-16) and a seedling pushing cam (1-17) installed in the housing (1-15). The housing (1-15) is sleeved on the planetary shaft ( 1-9), one end of the housing (1-15) equipped with a tooth insert is inserted into the cam box (1-10) and contacts and cooperates with the tooth insert on the outer end surface of the gear (1-14), pushing the seedling cam (1 -17) is fixed on the outer part of the planetary shaft (1-9) and matches with the shift fork (1-16).

2. The conjugate cam and planetary gear train combined rice seedling transplanting mechanism according to claim 1, characterized in that the sun gear (1-5), intermediate gear (1-6) and planetary gear ( 1-8) Including spur gears or non-circular gears.

3. A conjugate cam and planetary gear train combined rice seedling transplanting mechanism as claimed in claim 3, characterized in that the two swing bars (1-12) pass through rollers and the conjugate cam (1 -11) Contact fit, the seedling pushing cam (1-17) and the shifting fork (1-16) match through rollers.

4. A conjugate cam and planetary gear train combined rice seedling transplanting mechanism, characterized in that the mechanism consists of a uniform or non-uniform speed transmission planetary gear train mechanism (1-1) and a conjugate cam swing mechanism (1-2 ) and the transplanting arm (1-3) are assembled; The structure of the uniform or non-uniform speed transmission planetary gear train mechanism (1-1) is: a planet carrier is rotatably equipped on the sun gear (1-5) The body (1-7), the central shaft (1-4) is rotatably inserted into the central hole of the sun gear (1-5), and one end of the central shaft (1-4) is connected to the planet carrier body (1 -7) is fixedly connected, and the intermediate gear (1-6) and the planet gear (1-8) are rotatably installed in the planet carrier body (1-7). The intermediate gear (1-6) is respectively connected with the sun gear (1 -5) meshes with the planet gear (1-8), the inner part of the planet shaft (1-9) is inserted into the center hole of the planet gear (1-8), and its end is fixed with the planet carrier body (1-7) connection; the conjugate cam swing mechanism (1-2) consists of a cam box (1-10), a conjugate cam (1-11), a swing rod (1-12), an incomplete gear (1-13) and a gear (1 -14) composition, the cam box (1-10) is swingably mounted on the planet shaft (1-9), and one side of the cam box (1-10) is inserted into the planet carrier body (1-7) ) is fixedly connected to the planet carrier body (1-8), and the cam box (1-10) is equipped with a conjugate cam (1-11), a swing rod (1-12), an incomplete gear (1-13) and Gear (1-14), in which the conjugate cam (1-11) is fixedly mounted on the planetary shaft (1-9), and the gear (1-14) is rotatably mounted on the planetary shaft (1-9). Two

1 The swing rod (1-12) is integrated with the incomplete gear (1-13) and is swingably installed in the cam box (1-10). The two swing rods (1-12) are connected to the conjugate cam (1-12). 1-11) Contact fit, the incomplete gear (1-13) meshes with the gear (1-14), and a tooth insert is provided on the outer end surface of the gear (1-14);

The transplanting arm housing (1-15) includes a cam (11), a roller (10), a shift fork (9), a bushing (5) and a seedling pushing rod (2) that are driven to rotate by power; One end of the rod (2) is installed in the shaft sleeve (5), the other end of the seedling pushing rod (2) extends out of the transplanting arm housing (1-15), and one end of the roller (10) and the shifting fork (9) Coaxially installed, the cam (11) is in contact with the roller (10), pushing the shift fork (9) to swing. The other end of the shift fork (9) is movably connected and fixed on the seedling pushing rod (2) through the fixed block (7). At the rear end, the seedling pushing rod (2) makes a reciprocating linear motion relative to the transplanting arm housing (1-15) under the push of the shift fork (9) and the action of the spring (6); the housing (1-15) 15) Set on the planetary shaft (1-9), one end of the housing (1-15) equipped with a tooth insert is inserted into the cam box (1-10) and contacts the tooth insert on the outer end surface of the gear (1-14) In cooperation, the cam (11) is fixedly mounted on the outer part of the planetary shaft (1-9);

The heads of the seedling clamp clips (1) fixed on the inclined surface of the conical seedling clamp base (3) are respectively provided with barbs (A) or barbs (D). There are barbs (A) or barbs (D). ), both ends of the seedling collection clip (1) are facing the small end of the tapered seedling collection clamp base (3) and symmetrically facing inward, and the large end of the tapered seedling collection clip base (3) is facing the transplanting arm housing (1 -15), and is fixed on the upper part of the transplanting arm housing (1-15). The front end of the seedling pushing rod (2) exposed outside the transplanting arm housing (1-15) is provided with the first U-shaped stem in sequence from front to back. Block (B) and the second U-shaped block (C), the front ends of the two seedling removal clips (1) with barbs (A) or barbs (D) are located on the first U-shaped block (B) Inside, the second U-shaped block (C) is located between the middle and rear ends of the two seedling removal clips (1).

5. A conjugate cam and planetary gear train combined rice pot seedling transplanting mechanism according to claim 4, characterized in that the two seedling removal clips (1) are arranged in front and rear. The non-straight plate spring sheet is folded into an oblique angle, so that the two pieces of seedling picking clips (1) are fixed on the tapered seedling picking clamp base (3) to form the front end, that is, the seedling picking ends are parallel to each other, and the rear end is in the shape of The cone-shaped seedling clamp seats (3) are arranged symmetrically and tilted at the same angle.

6. A conjugate cam and planetary gear train combined rice seedling transplanting mechanism according to claim 4, characterized in that: the first U-shaped block (B) on the seedling pushing rod (2) The U-shaped block that is integrated with the second U-shaped block (C) or is composed of two blocks welded to the left and right sides of the seedling pusher (2); the two inner sides of the first U-shaped block (B) and the two pieces The front end of the seedling clamping piece (1) is parallel, and the two outer surfaces of the second U-shaped block (C) are parallel or not parallel to the inner conical surface formed by the middle and rear ends of the two seedling clamping pieces (1).

7. A conjugate cam and planetary gear train combined rice seedling transplanting mechanism according to claim 4, characterized in that: the sun gear (1-5), the intermediate gear (1-6) and Planetary gears (1-8) include spur gears or non-circular gears.

8. A free second-order non-circular gear planetary system high-speed seedling transplanting mechanism, one end of the central shaft (2-1) is connected to the power device, and the other end of the central shaft (2-1) is connected to the planet carrier (2-2) ) is fixedly connected, and is characterized by: The free second-order central non-circular gear (2-3) is sleeved on the central shaft (2-1) and fixedly connected to the frame, and the first free second-order intermediate non-circular gear (2-4 ) and the second free second-order intermediate non-circular gear (2-4') are respectively connected to the planet carrier hinge through the first intermediate shaft 2-(5) and the second intermediate shaft (2-5') connected to its pin shaft, The first free second-order planetary non-circular gear (2-6) is hingedly connected to the planet carrier through the first planetary shaft (2-7) splined to it, and the second free second-order planetary non-circular gear (2-6') The first free second-order intermediate non-circular gear (2-4) and the first free second-order planetary non-circular gear (2-6 ), the second free second-order intermediate non-circular gear (2-4') and the second free second-order planetary non-circular gear (2-6') are respectively distributed on both sides of the central axis (2-1);

2 One free second-order intermediate non-circular gear (2-4) and one part of the second free second-order intermediate non-circular gear (2-4') are respectively connected with the gear pair of the free second-order central non-circular gear (2-3). The first free second-order intermediate non-circular gear (2-4) and the other part of the second free second-order intermediate non-circular gear (2-4') are respectively connected with the first free second-order planetary non-circular gear (2-6) It is connected with the gear pair of the first free second-order planetary non-circular gear (2-6'); the first seedling claw (2-8) and the first seedling claw (2-8') are respectively connected with the first planetary shaft (2 -7) and the second planetary shaft (2-7') are fixedly connected.

9. A free second-order non-circular gear planetary system high-speed seedling transplanting mechanism according to claim 8, characterized in that: the free second-order center non-circular gear (2-3), the first free second-order center non-circular gear The pitch curve parameters of the three gears of the first-order planetary non-circular gear (2-6) and the second free second-order planetary non-circular gear (2-6') are exactly the same; the first free second-order intermediate non-circular gear (2-4) It is completely consistent with the pitch curve parameters of the second free second-order intermediate non-circular gear (2-4').

10. A free second-order non-circular gear planetary system high-speed seedling transplanting mechanism according to claim 8, characterized in that: the planet carrier (2-2) rotates once, and the first free second-order intermediate non-circular gear ( 2-4) and the second free second-order intermediate non-circular gear (2-4') also rotate in a full circle relative to the planet carrier (2-2), and the free second-order central non-circular gear (2-3) moves in a full circle The transmission ratio with the first free second-order intermediate non-circular gear (2-4) and the second free second-order intermediate non-circular gear (4') is divided into two different wave processes.

11. A free second-order non-circular gear planetary system high-speed seedling transplanting mechanism according to claim 8, characterized in that: driven by the free second-order non-circular gear planetary system high-speed seedling transplanting mechanism, The first seedling-taking claw (2-8) and the second seedling-taking claw (2-8') swing twice with unequal amplitudes in the cycle, forming a "bu-shaped" trajectory (2-9), with the right part of the trajectory forming a sharp point. Mouth.

12. A free second-order non-circular gear planetary system high-speed seedling transplanting mechanism according to claim 8, characterized in that the seedling picking claws (2-8, 2-8') are composed of a shell and a The body is composed of a shifting fork and a seedling-pushing cam. The housing is fixedly connected to the first planetary shaft (2-7) and the second planetary shaft (2-7') respectively. The seedling-pushing cams are respectively slid into the On the first planetary shaft (2-7) and the second planetary shaft (2-7'), one end of the seedling pushing cam extends out of the housing and is fixedly connected to the planet carrier (2-2), and the part of the seedling pushing cam inside the housing Contact with the roller mounted on one end of the shift fork.

13. A free second-order non-circular gear planetary system high-speed seedling transplanting mechanism according to claim 8, characterized in that the housing (4) of the seedling claw includes a cam (11) driven to rotate by power. ), roller (10), shift fork (9), bushing (5) and seedling pushing rod (2); one end of the seedling pushing rod (2) is installed in the bushing (5), and the seedling pushing rod (2) The other end extends out of the seedling claw housing (4), the roller (10) and one end of the shift fork (9) are coaxially installed, the cam (11) contacts the roller (10), and pushes the shift fork (9) Swing, the other end of the shift fork (9) is movably connected and fixed on the rear end of the seedling pusher rod (2) through the fixed block (7). The seedling pusher rod (2) is pushed by the shift fork (9) and the force of the spring (6). Under the action of the action, it makes a reciprocating linear motion relative to the seedling claw housing (4); the housing (4) is fixedly connected to the first planetary shaft (2-7) and the second planetary shaft (2-7') respectively. The described seedling-pushing cam (11) is slidably sleeved on the first planetary shaft (2-7) and the second planetary shaft (2-7') respectively, and one end of the seedling-pushing cam (11) extends out of the housing (4) The outside is fixedly connected to the planet carrier (2-2), and the part of the seedling pushing cam (11) inside the housing (4) is in contact with the roller (10);

The heads of the seedling clamp clips (1) fixed on the inclined surface of the conical seedling clamp base (3) are respectively provided with barbs (A) or barbs (D). There are barbs (A) or barbs (D). ), the seedling collection clamp pieces (1) at both ends are facing the small end of the conical seedling collection clamp base (3) and symmetrically facing the inside, and the big end of the tapered seedling collection clip base (3) is facing the seedling collection claw housing ( 4), and is fixed on the upper part of the seedling claw housing (4), the front end of the seedling pushing rod (2) exposed outside the seedling claw housing (4), and the first U-shaped block (B) is arranged sequentially from front to back ) and the second U-shaped block (C) with

The front ends of the two seedling collection clips (1) of barb (A) or barb (D) are located in the first U-shaped block (B), and the second U-shaped block (C) is located in the two seedling collection clips. between the middle and rear ends of the clamping piece (1).

14. A free second-order non-circular gear planetary system high-speed seedling transplanting mechanism according to claim 13, characterized in that the two seedling removal clips (1) are arranged in two sections: front and rear. The non-straight plate spring sheet is folded into an oblique angle, so that the two pieces of seedling picking clips (1) are fixed on the tapered seedling picking clamp seat (3) to form the front end, that is, the seedling picking ends are parallel to each other, and the rear end is in the shape of the cone. The seedling clamp seats (3) are arranged symmetrically and tilted at the same angle.

15. A free second-order non-circular gear planetary system high-speed seedling transplanting mechanism according to claim 13, characterized in that: the first U-shaped block (B) on the seedling pushing rod (2) and The second U-shaped block (C) is an integral U-shaped block or consists of two blocks welded to the left and right sides of the seedling pusher (2); the two inner sides of the first U-shaped block (B) and two pieces for picking out seedlings The front end of the clamping piece (1) is parallel, and the two outer surfaces of the second U-shaped block (C) are parallel or not parallel to the inner conical surface formed by the middle and rear ends of the two seedling-taking clamping pieces (1).

4