Design method of transplanting trajectory formed by two-degree-of-freedom five-bar drive mechanism

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 a transplanting trajectory, in particular to a design method for forming a transplanting trajectory by a two-degree-of-freedom five-bar driving mechanism. Background technique [0002] Mechanized transplanting is generally divided into two steps: taking seedlings and planting seedlings. According to different seedling picking methods, transplanters are divided into semi-automatic and fully automatic. The key sign is to see whether it uses mechanized seedling picking operations. [0003] At present, the dry land transplanting mechanical type of seedling picking generally has two ways of getting seedling claws to clamp the soil and clamping the seedlings. The new planetary gear system rotary seedling picking mechanism includes a hybrid high-order modified elliptical gear planetary system seedling transplanting machine, a free second-order non-circular gear pl...

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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