Design method for forming transplanting track by using five-rod driving mechanism with two degrees of freedom

Abstract

The invention discloses a design method for forming a transplanting track by using a five-rod driving mechanism with two degrees of freedom. The existing transplanting mechanism track is not suitable for transplanting flowers. According to the design method, the angular speed w1 of a first crank is set through a normal-speed motor, and a speed-adjustable motor is adjusted through a control circuit, so that the angular speed of a second crank is shown in the specification, wherein w1 is a constant value selected from 50r / min to 70r / min, and theta is a constant value selected from pi / 4 to pi / 2; the direction of the angular speed w2 meets the following change rule under the condition that the period T=2pi, namely that the direction of the angular speed w2 is kept consistent with the direction of the angular speed w1 when the time t is from 0 to T / 3 and is opposite to the direction of the angular speed w1 when the time t is from T / 3 to T, so that a double-buckle transplanting track is formed at the sharp point of the free end of a second connecting rod. The double-buckle transplanting track is achieved by using the five-rod driving mechanism with two degrees of freedom, so that not only can the transplanting tracks of flowers be achieved, but also the fully-automatic transplanting of various crops such as melons, fruits and vegetables can be realized.

Description

Technical field [0001] The invention belongs to the field of agricultural machinery, and relates to a design method of transplanting trajectory, in particular to a design method of a transplanting trajectory formed by a two-degree-of-freedom five-bar drive mechanism. Background technique [0002] Mechanized transplanting is generally completed in two steps: seedling collection and seedling planting. The transplanting machine is divided into semi-automatic and fully automatic according to different seedling extraction methods. The key sign is to see whether it adopts mechanized seedling extraction operation. [0003] At present, mechanical seedling collection methods for dryland transplanting generally include seedling claw-clamping type seedling collection and seedling-clamping type seedling collection. The new type planetary gear rotating seedling removal mechanism includes a hybrid high-order modified elliptical gear planetary system bowl seedling transplanting mechanism, a free...

AI Technical Summary

Problems solved by technology

[0004] The double crank mechanism and the planetary gear mechanism can only form a ring-shaped trajectory, and cannot realize a double-loop-shaped trajectory. It is difficult to ensure a better posture to enter the seedling planting work part and realize the full automation of the flower transplanting machine. In order to solve this problem, it is necessary to A ring-shaped track is also designed in the seedling planting mechanism to meet the requirements of the flower transplanting track

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