A non-circular gear planetary gear train rotary seedling taking mechanism

Abstract

The invention discloses a non-circular gear planetary gear system rotary seedling picking mechanism, which relates to the technical field of agricultural machinery. The main structure includes a box, a non-circular sun gear, a second intermediate gear, a first intermediate gear, a non-circular planetary gear, a concave locking arc, a convex locking arc and a seedling picking arm; the non-circular sun gear is fixedly arranged in the box; the non-circular planetary gear is rotatably arranged in the box; the second intermediate gear is meshed with the non-circular sun gear; the first intermediate gear is meshed with the non-circular planetary gear; a toothless section is arranged on the outer side of the non-circular sun gear, the convex locking arc is coaxially fixedly connected with the non-circular sun gear, and the convex locking arc corresponds to the toothless section; the concave locking arc is coaxially fixedly arranged with the second intermediate gear, and the concave locking arc matches the convex locking arc; the seedling picking arm is fixedly connected with the non-circular planetary gear. The power source drives the box to rotate, drives the non-circular sun gear, drives the non-circular planetary gear to drive the seedling picking arm to swing periodically at a non-uniform speed relative to the ground, and completes one seedling picking and one seedling throwing in one movement cycle.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, and in particular to a non-circular gear planetary gear train rotary seedling picking mechanism. Background Art

[0002] In recent years, the demand for vegetables in my country has gradually increased, and both vegetable production and consumption rank first in the world. With the rapid development of the vegetable industry, it has emerged as a new force in the spontaneous, adaptive and strategic adjustments of the planting industry structure, with growing planting areas and yields, sufficient supply, rich varieties and active market transactions. It has now surpassed grain to become the largest agricultural product, and the vegetable industry has gradually transformed from family planting to a pillar industry supporting the development of the agricultural and rural economy.

[0003] Vegetables can become the second largest crop after grain, the key lies in their seedling transplanting technology. The commonly used vegetable seedling transplanting is a vegetable planting method that takes out the vegetable seedlings germinated and cultivated in the greenhouse with nutrient matrix from the pot tray together with the pot soil and then transplants them to dry land. It is also the most important vegetable planting method at home and abroad. It has the advantages of high survival rate, effective yield increase, early maturity of crops and improved land utilization rate. But at the same time, vegetable production is a labor-intensive industry. Transplanting, as the primary key link in the vegetable production process, is labor-intensive and has low operating efficiency. In addition, the aging of the population has accelerated in recent years. The current overall mechanization level of vegetable production in my country is optimistically estimated to be about 34.6% to 38.5%. Vegetable transplanting equipment has become an urgent need for vegetable farmers. Mechanical transplanting using a transplanter is more efficient and practical than manual transplanting. It has the advantages of increasing crop yields, reducing the labor intensity of operators, and facilitating field management.

[0004] The seedling picking mechanism is the core working part of the automatic seedling transplanter, which realizes the functions of automatic seedling picking and seedling planting. The planetary gear train-slideway combined seedling picking mechanism of Yanmar Corporation of Japan has the problem of low seedling picking efficiency and difficulty in meeting the requirements of high-speed seedling picking; the pneumatic and electrically controlled seedling picking manipulators in Europe and the United States have the disadvantages of complex structure, cumbersome control, high cost and do not meet the agronomic requirements of my country. Therefore, in view of these problems, the development of an efficient, lightweight and simplified vegetable seedling picking mechanism is of great significance to promote the rapid development of the vegetable industry.

[0005] In the existing rotary seedling picking mechanism, the forward design has the disadvantages of randomness and blindness; the reverse design is aimed at pot seedling transplanting, and the ideal seedling picking trajectory is "eagle beak type", but the seedling picking arm is very likely to have a transmission ratio that is too large during the movement from the seedling casting point to the seedling picking point on the "eagle beak type" trajectory, resulting in the generation of deformed gear pitch curves; the gear train-slideway combined seedling picking mechanism has the disadvantages of low seedling picking efficiency, difficulty in meeting high-speed seedling picking requirements, and difficulty in maintenance; the connecting rod seedling picking mechanism has the problems of easy wear and low transplanting efficiency; the pneumatic and electrically controlled manipulator has the disadvantages of complex structure, cumbersome control, high cost and non-compliance with my country's agronomic requirements; the top rod seedling picking mechanism has the disadvantages of easily causing pot damage and seedling picking failure. Summary of the invention

[0006] In order to solve the above technical problems, the present invention provides a non-circular gear planetary gear train rotary seedling picking mechanism, which can meet the posture requirements of the seedling picking point, and the introduction of a concave and convex locking arc can solve the problem of sudden change in transmission ratio.

[0007] To achieve the above object, the present invention provides the following solutions:

[0008] The present invention provides a non-circular gear planetary gear system rotary seedling picking mechanism, comprising a housing, a non-circular sun gear, a second intermediate gear, a first intermediate gear, a non-circular planetary gear, a concave locking arc, a convex locking arc and a seedling picking arm; the non-circular sun gear is fixedly arranged in the housing; the non-circular planetary gear is rotatably arranged in the housing; the second intermediate gear is arranged in the housing and meshes with the non-circular sun gear; the first intermediate gear and the second intermediate gear are coaxially arranged and meshed with the non-circular planetary gear; a toothless section is arranged on the outer side of the non-circular sun gear, the convex locking arc is coaxially fixedly connected with the non-circular sun gear, and the convex locking arc corresponds to the toothless section; the concave locking arc is coaxially fixedly arranged with the second intermediate gear, and the concave locking arc matches the convex locking arc; one end of the seedling picking arm is fixedly connected with the non-circular planetary gear.

[0009] Optionally, a planetary shaft is arranged in the box, and one end of the seedling picking arm and the non-circular planetary gear are both arranged on the planetary shaft.

[0010] Optionally, a seedling picking point, an exit point, a seedling throwing point and a hole entry point are defined on the transplanting trajectory of the other end of the seedling picking arm; the seedling picking point is the position where the other end of the seedling picking arm picks the seedlings from the seedling pot; the exit point is the position where the other end of the seedling picking arm leaves the seedling pot; the seedling throwing point is the position where the other end of the seedling picking arm moves to above the duckbill for planting seedlings; the hole entry point is the separation point of the seedling throwing trajectory of the other end of the seedling picking arm moving from the exit point to the seedling throwing point and the seedling picking trajectory from the seedling throwing point to the exit point;

[0011] At the seedling picking point: the initial installation angle of the planet frame is 330.32°; at the seedling picking arm, the angle between the line from the center of the non-circular planetary wheel to the tip of the seedling needle and the horizontal ground is 338°;

[0012] At the pot-out point: the initial installation angle of the planet frame is 30.54°; at the seedling-picking arm, the angle between the line from the center of the non-circular planetary wheel to the tip of the seedling needle and the horizontal ground is 312.73°;

[0013] At the seedling drop point: the initial installation angle of the planet frame is 192.22°; at the seedling picking arm, the angle between the line from the center of the non-circular planetary wheel to the tip of the seedling needle and the horizontal ground is 307.35°;

[0014] The center distance between the non-circular sun wheel, the second intermediate wheel and the first intermediate wheel is 35 mm, and the center distance between the second intermediate wheel, the first intermediate wheel and the non-circular planetary wheel is 35 mm;

[0015] The axis center of the non-circular planetary wheel is 121 mm from the tip of the seedling needle of the seedling picking arm; the seedling throwing angle is 107°.

[0016] Compared with the prior art, the present invention has achieved the following technical effects:

[0017] The non-circular gear planetary gear train rotary seedling picking mechanism of the present invention mainly comprises a housing, a non-circular sun gear, a second intermediate gear, a first intermediate gear, a non-circular planetary gear, a concave locking arc, a convex locking arc and a seedling picking arm. The power source drives the housing to rotate, drives the non-circular sun gear to mesh with the second intermediate gear and the first intermediate gear, drives the non-circular planetary gear to drive the seedling picking arm to perform periodic non-uniform swing relative to the ground, and completes one seedling picking and one seedling throwing in one movement cycle. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 The internal structure of the non-circular gear planetary gear system rotary seedling picking mechanism of the present invention is shown in FIG. Figure 1 ;

[0020] Figure 2 The internal structure of the non-circular gear planetary gear system rotary seedling picking mechanism of the present invention is shown in FIG. Figure 2 ;

[0021] Figure 3 It is a structural schematic diagram of the non-circular gear planetary gear train rotary seedling taking mechanism of the present invention.

[0022] Explanation of the reference numerals in the accompanying drawings: 1. seedling retrieval arm; 2. non-circular planetary gear; 3. second intermediate gear; 4. first intermediate gear; 5. concave locking arc; 6. non-circular sun gear; 7. convex locking arc; 8. box body; 9. transplanting track; 10. transplanting arm housing; 11. planetary shaft; 12. seedling retrieval point; 13. pot exit point; 14. pot seedling; 15. seedling casting point; 16. seedling planting duckbill; 17. hole entry point. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] According to the requirements for seedling picking, the present invention determines the coordinates and attitude angles of three precise posture points (a seedling picking point 12, a seedling exit point 13, and a seedling throwing point 15) and a fuzzy posture point (a hole entry point 17), establishes a two-bar open-chain mechanism plane model, and solves the rod length and the rotation center; introduces a concave-convex locking arc to replace the gear transmission of the rod from the previous posture point of the fuzzy posture point to the fuzzy posture point, selects a reasonable solution, optimizes the data value, and uses a non-uniform 5th-order B-spline curve interpolation to fit an ideal trajectory; calculates the total transmission ratio according to the trajectory, reduces the two-degree-of-freedom connecting rod to a single degree of freedom, allocates a two-stage transmission ratio, and solves the non-circular gear pitch curve.

[0025] The finite separation four-position problem in the design of this mechanism involves

[0026] C i x0+E i y0+F i =0(i=2,3,4) (1-1)

[0027]

[0028] Formula (1-2) is about x c1 and c1 The cubic equation is the equation of the Burmester point curve. Any point on the curve can be used as a moving hinge point, and the corresponding fixed hinge point can be obtained by formula (1-1). It should be noted that the above ideas and methods for trajectory design are not one of the claims. Academically, such problems are classified as rigid body guidance of the mechanism. The trajectories obtained by using different mathematical models are also different. Please pay attention. Through the conclusions of kinematic analysis, the optimization design software is developed. By adjusting the posture points and attitude angles, a non-inferior solution group that meets the requirements of transplanting agronomy is obtained, and then the corresponding mechanism parameters are obtained.

[0029] like Figures 1 to 3 As shown, the present embodiment provides a non-circular gear planetary gear system rotary seedling picking mechanism, comprising a box body 8, a non-circular sun gear 6, a second intermediate gear 3, a first intermediate gear 4, a non-circular planetary gear 2, a concave locking arc 5, a convex locking arc 7 and a seedling picking arm 1; the non-circular sun gear 6 is fixedly arranged in the box body 8; the non-circular planetary gear 2 is rotatably arranged in the box body 8; the second intermediate gear 3 is arranged in the box body 8 and meshes with the non-circular sun gear 6; the first intermediate gear 4 is coaxially arranged with the second intermediate gear 3 and meshes with the non-circular planetary gear 2; a toothless section is arranged on the outer side of the non-circular sun gear 6, the convex locking arc 7 is coaxially fixedly connected with the non-circular sun gear 6, and the convex locking arc 7 corresponds to the toothless section; the concave locking arc 5 is coaxially fixedly arranged with the second intermediate gear 3, and the concave locking arc 5 matches the convex locking arc 7; one end of the seedling picking arm 1 is fixedly connected with the non-circular planetary gear 2.

[0030] In this specific embodiment, a planetary shaft 11 is arranged in the box body 8, and one end of the seedling picking arm 1 and the non-circular planetary wheel 2 are both arranged on the planetary shaft 11.

[0031] The transplanting track 9 at the other end of the seedling picking arm 1 defines a seedling picking point 12, a pot-out point 13, a seedling throwing point 15 and a hole-entering point 17; the seedling picking point 12 is the position where the other end of the seedling picking arm 1 picks the seedling from the seedling pot; the pot-out point 13 is the position where the other end of the seedling picking arm 1 leaves the seedling pot; the seedling throwing point 15 is the position where the other end of the seedling picking arm 1 moves to above the seedling planting duckbill 16; the hole-entering point 17 is the separation point of the seedling throwing track where the other end of the seedling picking arm 1 moves from the pot-out point 13 to the seedling throwing point 15 and the seedling picking track where the other end of the seedling picking arm 1 moves from the pot-out point 13 to the seedling throwing point 15;

[0032] At the seedling picking point 12: the initial installation angle of the planetary frame is 330.32°; at the seedling picking arm 1, the angle between the line from the center of the non-circular planetary wheel 2 to the tip of the seedling needle and the horizontal ground is 338°;

[0033] At the potting point 13: the initial installation angle of the planetary frame is 30.54°; at the seedling picking arm 1, the angle between the line from the center of the non-circular planetary wheel 2 to the tip of the seedling needle and the horizontal ground is 312.73°;

[0034] At the seedling placement point 15: the initial installation angle of the planetary frame is 192.22°; at the seedling picking arm 1, the angle between the line from the center of the non-circular planetary wheel 2 to the tip of the seedling needle and the horizontal ground is 307.35°;

[0035] The center distance between the non-circular sun gear 6 and the second intermediate gear 3 and the first intermediate gear 4 is 35 mm, and the center distance between the second intermediate gear 3 and the first intermediate gear 4 and the non-circular planetary gear 2 is 35 mm;

[0036] The axis center of the non-circular planetary wheel 2 is 121 mm from the tip of the seedling needle of the seedling arm 1; the seedling throwing angle is 107°.

[0037] During the working process, the power source drives the box 8 to rotate, driving the non-circular sun gear 6 to engage with the second intermediate gear 3 and the first intermediate gear 4 for transmission, driving the non-circular planetary gear 2 to drive the seedling retrieval arm 1 to make periodic non-uniform swings relative to the ground, and completing one seedling retrieval and one seedling casting in one movement cycle.

[0038] Through other mathematical models, such as using Bezier curves and Pascal curve interpolation to fit the gear ratio, the trajectory can be adjusted positively.

[0039] It should be noted that it is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any figure mark in the claims should not be regarded as limiting the claims involved.

[0040] The present specification uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A non-circular gear planetary gear train rotary seedling taking mechanism, characterized in that: It comprises a housing, a non-circular sun gear, a second intermediate gear, a first intermediate gear, a non-circular planetary gear, a concave locking arc, a convex locking arc and a seedling removal arm; the non-circular sun gear is fixedly arranged in the housing; the non-circular planetary gear is rotatably arranged in the housing; the second intermediate gear is arranged in the housing and meshes with the non-circular sun gear; the first intermediate gear and the second intermediate gear are coaxially arranged and meshed with the non-circular planetary gear; a toothless section is arranged on the outer side of the non-circular sun gear, the convex locking arc is coaxially fixedly connected with the non-circular sun gear, and the convex locking arc corresponds to the toothless section; the concave locking arc is coaxially fixedly arranged with the second intermediate gear, and the concave locking arc matches the convex locking arc; One end of the seedling picking arm is fixedly connected to the non-circular planetary gear; The seedling picking point, the seedling exit point, the seedling throwing point and the seedling entry point are defined on the transplanting trajectory of the other end of the seedling picking arm; the seedling picking point is the position where the other end of the seedling picking arm picks the seedlings from the seedling pot; the seedling exit point is the position where the other end of the seedling picking arm leaves the seedling pot; the seedling throwing point is the position where the other end of the seedling picking arm moves to the top of the duckbill for planting seedlings; the seedling entry point is the separation point of the seedling throwing trajectory of the other end of the seedling picking arm moving from the seedling exit point to the seedling throwing point and the seedling picking trajectory from the seedling throwing point to the seedling exit point; At the seedling picking point: the initial installation angle of the planet frame is 330.32°; at the seedling picking arm, the angle between the line from the center of the non-circular planetary wheel to the tip of the seedling needle and the horizontal ground is 338°; At the pot-out point: the initial installation angle of the planet frame is 30.54°; at the seedling-picking arm, the angle between the line from the center of the non-circular planetary wheel to the tip of the seedling needle and the horizontal ground is 312.73°; At the seedling drop point: the initial installation angle of the planet frame is 192.22°; at the seedling picking arm, the angle between the line from the center of the non-circular planetary wheel to the tip of the seedling needle and the horizontal ground is 307.35°; The center distance between the non-circular sun wheel, the second intermediate wheel and the first intermediate wheel is 35 mm, and the center distance between the second intermediate wheel, the first intermediate wheel and the non-circular planetary wheel is 35 mm; The axis center of the non-circular planetary wheel is 121 mm from the tip of the seedling needle of the seedling picking arm; the seedling throwing angle is 107°.

2. The non-circular gear planetary gear train rotary seedling taking mechanism according to claim 1, characterized in that: A planetary shaft is arranged in the box body, and one end of the seedling picking arm and the non-circular planetary gear are both arranged on the planetary shaft.

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