A rotary hole water injection transplanting mechanism

Abstract

The present invention discloses a rotary hole watering transplanting mechanism, which relates to the technical field of agricultural machinery, including a non-circular gear planetary gear system rotary seedling taking mechanism, a power mechanism, a connecting rod mechanism, a wire pulling mechanism, a duckbill type planter and a water spraying mechanism; the power mechanism is connected to the duckbill type planter through a connecting rod mechanism and a wire pulling mechanism, the connecting rod mechanism can drive the duckbill type planter to move up and down, and the wire pulling mechanism can control the opening and closing of the duckbill type planter; the non-circular gear planetary gear system rotary seedling taking mechanism is arranged above the duckbill type planter, the non-circular gear planetary gear system rotary seedling taking mechanism is used to take pot seedlings and put the taken pot seedlings into the duckbill type planter; the water spraying mechanism is used to spray water into the duckbill type planter. The present invention avoids the problems of many seedling leakage and low transplanting efficiency caused by artificial means, and the non-circular gear planetary gear system rotary seedling taking mechanism is combined with the water spraying mechanism to achieve the purpose of compact, reasonable and simple structure, and taking into account both hole watering and high transplanting efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, in particular to a rotary hole watering and transplanting mechanism. Background Art

[0002] Due to the harsh working environment of dryland crops, it is difficult to accurately place the seedlings in the hole and ensure a high uprightness during the transplanting process. Therefore, dryland transplanting equipment has always been a difficult problem in the field of agricultural equipment.

[0003] The existing transplanting mechanisms are divided into semi-automatic transplanting and fully automatic transplanting, semi-automatic transplanting machine (manual seedling placement, mechanical seedling planting); fully automatic transplanting machine (the entire process of placement and planting is mechanized).

[0004] In the prior art, the PF2R gear train-slideway combined seedling picking mechanism of Yanmar Corporation of Japan is composed of a planetary gear train mechanism, a slideway, and a seedling picking claw. The planetary frame is an active component, and the seedling picking claw forms a seedling picking track under the joint action of the planetary gear train mechanism and the slideway. However, the slideway seedling picking mechanism has the problem of low seedling picking efficiency and difficulty in meeting the requirements of high-speed seedling picking. Summary of the invention

[0005] The purpose of the present invention is to provide a rotary hole watering transplanting mechanism, which is suitable for fully automatic transplanting and avoids the problems of many missed seedlings and low transplanting efficiency caused by manual labor. The non-circular gear planetary gear system rotary seedling taking mechanism is combined with the water spraying mechanism to achieve the purpose of compact, reasonable and simple structure, taking into account both hole watering and high transplanting efficiency.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] The present invention provides a rotary hole-watering transplanting mechanism, comprising a non-circular gear planetary gear system rotary seedling taking mechanism, a power mechanism, a connecting rod mechanism, a pulling wire mechanism, a duckbill type planter and a water spraying mechanism; the power mechanism is connected to the duckbill type planter through the connecting rod mechanism and the pulling wire mechanism, the connecting rod mechanism can drive the duckbill type planter to move up and down, and the pulling wire mechanism can control the opening and closing of the duckbill type planter; the non-circular gear planetary gear system rotary seedling taking mechanism is arranged above the duckbill type planter, the non-circular gear planetary gear system rotary seedling taking mechanism is used to take pot seedlings and put the taken pot seedlings into the duckbill type planter; the water spraying mechanism is used to spray water into the duckbill type planter.

[0008] Preferably, the non-circular gear planetary gear system rotary seedling picking mechanism comprises a casing, a non-circular sun gear, a first intermediate gear, a second 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, the first intermediate gear, the second intermediate gear and the non-circular planetary gear are all arranged in the casing; the non-circular sun gear is fixedly connected to the casing; the non-circular planetary gear is rotatably connected to the casing; the first intermediate gear and the second intermediate gear are coaxially arranged; the first intermediate gear is meshed with the non-circular planetary gear; the second intermediate gear is meshed with the non-circular sun gear; a toothless section is arranged on the outer side of the non-circular sun gear, the convex locking arc is coaxially arranged with the non-circular sun gear, and the convex locking arc corresponds to the toothless section; the concave locking arc is coaxially 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.

[0009] Preferably, the seedling retrieval point, the exit point, the seedling placement point and the hole entry point are defined on the transplanting trajectory of the other end of the seedling retrieval arm; the seedling retrieval point is the position where the other end of the seedling retrieval arm takes the seedlings from the seedling pot; the exit point is the position where the other end of the seedling retrieval arm leaves the seedling pot; the seedling placement point is the position where the other end of the seedling retrieval arm moves to above the duckbill type planter; the hole entry point is the separation point of the seedling placement trajectory of the other end of the seedling retrieval arm moving from the exit point to the seedling placement point and the seedling retrieval trajectory from the seedling placement point to the exit point.

[0010] Preferably, 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 top of the seedling picking arm and the horizontal ground is 338°;

[0011] 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 top of the seedling-picking arm and the horizontal ground is 312.73°;

[0012] At the seedling casting 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 top of the seedling picking arm and the horizontal ground is 307.35°;

[0013] The center distance between the non-circular sun gear and the first intermediate gear and the second intermediate gear is 35 mm, and the center distance between the non-circular planetary gear and the first intermediate gear and the second intermediate gear is 35 mm;

[0014] The axis center of the non-circular planetary wheel is 121 mm from the top end of the seedling retrieval arm; the seedling delivery angle is 106°.

[0015] Preferably, the power mechanism includes a first power source, a first sprocket, a second sprocket, a third sprocket, a fourth sprocket, a fifth sprocket, a sixth sprocket and a seventh sprocket, the first power source is connected to the first sprocket in driving connection, the first sprocket is connected to the second sprocket through a chain transmission, the third sprocket is coaxially arranged with the second sprocket, the third sprocket is connected to the fourth sprocket through a chain transmission, the fourth sprocket is coaxially arranged with the fifth sprocket, the fifth sprocket, the sixth sprocket and the seventh sprocket are connected through a chain transmission, and the sixth sprocket is used to control the wire pulling mechanism, the connecting rod mechanism and the water spraying mechanism.

[0016] Preferably, the connecting rod mechanism includes a crank, a connecting rod and a rocker, one end of the crank is hinged to the sixth sprocket, the other end of the crank is hinged to one end of the connecting rod, the other end of the connecting rod is hinged to the middle part of the rocker, one end of the rocker is connected to the duckbill planter, and the other end of the rocker is hinged to the frame of the seventh sprocket.

[0017] Preferably, the wire pulling mechanism includes a wire pulling frame and a wire pulling cam, the wire pulling cam is coaxially arranged with the sixth sprocket, an arc-shaped protrusion is arranged on the inner side of the wire pulling frame, the arc-shaped protrusion is in point contact with the wire pulling cam, a wire pulling interface is arranged on the wire pulling frame, the wire pulling interface is provided with a wire, the other end of the wire pulling wire is connected to the wire pulling frame of the duckbill planter, and the opening and closing of the duckbill planter is controlled by the movement of the wire pulling wire.

[0018] Preferably, the water spraying mechanism includes a water supply device, a limit switch, a transmission mechanism, a water pipe and a water spray head. The triggering device of the limit switch is hinged to one end of the transmission mechanism through a connecting rod, and the other end of the transmission mechanism is hinged to the pull-wire cam. The limit switch is electrically connected to the water supply switch of the water supply device. The water supply device is connected to the water spray head through the water pipe, and the water spray head is located inside the planting duckbill of the duckbill planter.

[0019] Preferably, it also includes a soil covering mechanism, which includes an eighth sprocket, a ninth sprocket, a soil covering cam, a soil covering wheel driving rod and a soil covering wheel, the eighth sprocket is coaxially arranged with the seventh sprocket, the eighth sprocket is connected to the ninth sprocket through a chain transmission, the ninth sprocket is coaxially arranged with the soil covering cam, the middle part of the soil covering wheel driving rod is hinged to the frame, one end of the soil covering wheel driving rod is in contact with the soil covering cam, and the other end of the soil covering wheel driving rod is rotatably connected to the soil covering wheel.

[0020] Compared with the prior art, the present invention has achieved the following technical effects:

[0021] The present invention is suitable for fully automatic transplanting, avoiding the problems of many missed seedlings and low transplanting efficiency caused by manual labor; the non-circular gear planetary gear system rotary seedling taking mechanism is combined with the water spraying mechanism, achieving the purpose of compact, reasonable and simple structure, taking into account both hole water injection and high transplanting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] 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.

[0023] Figure 1 It is a schematic diagram of the rotary hole water injection transplanting mechanism of the present invention;

[0024] Figure 2 It is a schematic diagram of the non-circular rotary seedling taking mechanism of the present invention;

[0025] Among them: 1-first power source, 2-first sprocket, 3-third sprocket, 4-second sprocket, 5-tensioning wheel, 6-fifth sprocket, 7-fourth sprocket, 8-sixth sprocket, 9-pull cable cam, 10-limit switch, 11-transmission mechanism, 12-pull cable fixing frame, 13-pull cable interface, 14-crank, 15-connecting rod, 16-water supply device, 17-seventh sprocket, 18-rocker, 19-eighth sprocket, 20-ninth sprocket, 21-covering cam , 22-soil-covering wheel driving rod, 23-soil-covering wheel, 24-duckbill planting device, 25-pull wire rack, 26-sprinkler head, 27-water pipe, 28-seedling taking arm, 29-non-circular planetary wheel, 30-second intermediate wheel, 31-first intermediate wheel, 32-concave locking arc, 33-convex locking arc, 34-non-circular sun wheel, 35-out of pot point, 36-seedling taking point, 37-transplanting track, 38-pot seedling, 39-seedling casting point, 40-entry point, 41-planetary axis. DETAILED DESCRIPTION

[0026] 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.

[0027] The purpose of the present invention is to provide a rotary hole watering transplanting mechanism, which is suitable for fully automatic transplanting and avoids the problems of many missed seedlings and low transplanting efficiency caused by manual labor. The non-circular gear planetary gear system rotary seedling taking mechanism is combined with the water spraying mechanism to achieve the purpose of compact, reasonable and simple structure, taking into account both hole watering and high transplanting efficiency.

[0028] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] like Figure 1 to Figure 2 As shown: This embodiment provides a rotary hole watering transplanting mechanism, including a non-circular gear planetary gear system rotary seedling taking mechanism, a power mechanism, a connecting rod mechanism, a wire pulling mechanism, a duckbill type planter 24 and a water spraying mechanism; the power mechanism is arranged on the frame, Figure 1 The multiple parallel oblique lines in the figure refer to the frame. The power mechanism is connected to the duckbill planter 24 through a connecting rod mechanism and a pulling wire mechanism. The connecting rod mechanism can drive the duckbill planter 24 to move up and down, and the pulling wire mechanism can control the opening and closing of the duckbill planter 24; the non-circular gear planetary gear system rotary seedling taking mechanism is arranged above the duckbill planter 24, and the non-circular gear planetary gear system rotary seedling taking mechanism is used to take the pot seedlings 38 and put the taken pot seedlings 38 into the duckbill planter 24; the water spraying mechanism is used to spray water into the duckbill planter 24.

[0030] Specifically, the non-circular gear planetary gear train rotary seedling picking mechanism of the present embodiment includes a housing, a non-circular sun gear 34, a first intermediate gear 31, a second intermediate gear 30, a non-circular planetary gear 29, a concave locking arc 32, a convex locking arc 33 and a seedling picking arm 28; the non-circular sun gear 34, the first intermediate gear 31, the second intermediate gear 30 and the non-circular planetary gear 29 are all arranged in the housing; the non-circular sun gear 34 is fixedly connected to the housing; the non-circular planetary gear 29 is rotatably connected to the housing; the first intermediate gear 31 and the second intermediate gear 30 are coaxially arranged; the first intermediate gear 31 is meshed with the non-circular planetary gear 29 ; The second intermediate wheel 30 is meshed with the non-circular sun wheel 34; a toothless section is arranged on the outer side of the non-circular sun wheel 34, the convex locking arc 33 is coaxial with the non-circular sun wheel 34 and is fixedly arranged, and the convex locking arc 33 corresponds to the toothless section; the concave locking arc 32 is arranged between the first intermediate wheel 31 and the second intermediate wheel 30, and is coaxial with the second intermediate wheel 30 and is fixedly arranged, and the concave locking arc 32 matches the convex locking arc 33; a planetary shaft 41 is arranged in the box body, one end of the seedling picking arm 28 and the non-circular planetary wheel 29 are both arranged on the planetary shaft 41, and the planetary shaft 41 is arranged on the planetary carrier.

[0031] In this embodiment, a seedling picking point 36, a pot exit point 35, a seedling throwing point 39 and a hole entry point 40 are defined on the transplanting trajectory 37 of the other end of the seedling picking arm 28; the seedling picking point 36 is the position where the other end of the seedling picking arm 28 picks the seedlings from the seedling pot; the pot exit point 35 is the position where the other end of the seedling picking arm 28 leaves the seedling pot; the seedling throwing point 39 is the position where the other end of the seedling picking arm 28 moves to above the duckbill type planter 24; the hole entry point 40 is the separation point of the seedling throwing trajectory where the other end of the seedling picking arm 28 moves from the pot exit point 35 to the seedling throwing point 39 and the seedling picking trajectory where the other end of the seedling picking arm 28 moves from the pot exit point 35 to the seedling throwing point 39

[0032] According to the requirements for seedling retrieval, this embodiment determines the coordinates and attitude angles of three precise posture points (seedling retrieval point 36, pot exit point 35, seedling throwing point 39) and one fuzzy posture point (hole entry point 40), establishes a plane model of a two-bar open-chain mechanism, and solves the rod length and rotation center; introduces a concave locking arc 32 and a convex locking arc 33 to replace the gear transmission of the rod from the previous posture point of the fuzzy posture point to the fuzzy posture point, screens reasonable solutions, optimizes data values, and uses non-uniform 5th-order B-spline curve interpolation to fit the 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 two-stage transmission ratios, and solves the non-circular gear pitch curve.

[0033] The finite separation four-position problem in the design of this mechanism involves

[0034] C i x0+E i y0+F i =0(i=2,3,4) (1-1)

[0035]

[0036] 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 are the ideas and methods for trajectory design. Academically, such problems are classified as "point-order" position problems, and the trajectories obtained using different mathematical models are also different. Based on the conclusions of kinematic analysis, optimization design software was developed. By adjusting the above parameters, a non-inferior solution group that meets the requirements of transplanting agronomy was obtained, and then the size range of the corresponding structural parameters was obtained. Through other mathematical models, such as using Bezier curves and Pascal curves to interpolate and fit the gear transmission ratio, the trajectory can be adjusted positively.

[0037] In this embodiment, at the seedling picking point 36, the initial installation angle of the planetary frame is 330.32°; at the seedling picking arm 28, the angle between the line from the center of the non-circular planetary wheel 29 to the top of the seedling picking arm 28 and the horizontal ground is 338°;

[0038] At the pot-out point 35, the initial installation angle of the planet carrier is 30.54°; at the seedling-picking arm 28, the angle between the line from the center of the non-circular planetary wheel 29 to the top of the seedling-picking arm 28 and the horizontal ground is 312.73°;

[0039] At the seedling placement point 39, the initial installation angle of the planetary frame is 192.22°; at the seedling picking arm 28, the angle between the line from the center of the non-circular planetary wheel 29 to the top of the seedling picking arm 28 and the horizontal ground is 307.35°;

[0040] The center distance l1 between the non-circular sun gear 34 and the second intermediate gear 30 and the first intermediate gear 31 is 35 mm, and the center distance l2 between the non-circular planetary gear 29 and the second intermediate gear 30 and the first intermediate gear 31 is 35 mm;

[0041] The distance l3 between the axis center of the non-circular planetary gear 29 and the top of the seedling arm 28 is 121 mm; the seedling angle θ1 is 106°.

[0042] When the non-circular gear planetary gear system rotary seedling picking mechanism of this embodiment is working, the first power source 1 drives the box to rotate, driving the non-circular sun gear 34 to engage with the second intermediate gear 30 for transmission, and then drives the first intermediate gear 31 to rotate, driving the non-circular planetary gear 29 to drive the seedling picking arm 28 to make periodic non-uniform swings relative to the ground, and completes one seedling picking and one seedling throwing in one motion cycle.

[0043] In this embodiment, the power mechanism includes a first power source 1, a first sprocket 2, a second sprocket 4, a third sprocket 3, a fourth sprocket 7, a fifth sprocket 6, a sixth sprocket 8 and a seventh sprocket 17. The first power source 1 is fixedly arranged on the frame. The first power source 1 can be a driving motor, an engine, etc. The first power source 1 is connected to the first sprocket 2 by transmission, the first sprocket 2 is connected to the second sprocket 4 by chain transmission, the third sprocket 3 is coaxial with the second sprocket 4 and fixedly arranged, the third sprocket 3 is connected to the fourth sprocket 7 by chain transmission, and a tensioning wheel 5 is arranged on the outer side of the chain for connecting the third sprocket 3 and the fourth sprocket 7 by transmission, and the tensioning wheel 5 is used to tension the chain, the fourth sprocket 7 is coaxial with the fifth sprocket 6 and fixedly arranged, the fifth sprocket 6, the sixth sprocket 8 and the seventh sprocket 17 are connected by chain transmission, and the sixth sprocket 8 is used to control the wire pulling mechanism, the connecting rod mechanism and the water spraying mechanism. The power delivered by the first power source 1 can synchronously control the synchronous rotation of multiple sprockets, so that the whole device works in coordination.

[0044] In this embodiment, the connecting rod mechanism includes a crank 14, a connecting rod 15 and a rocker 18, one end of the crank 14 is hinged to the end surface of the sixth sprocket 8, the other end of the crank 14 is hinged to one end of the connecting rod 15, the other end of the connecting rod 15 is hinged to the middle of the rocker 18, one end of the rocker 18 is connected to the duckbill planter 24, and the other end of the rocker 18 is hinged to the frame near the seventh sprocket 17. When the sixth sprocket 8 rotates, it can drive the crank 14 to swing up and down, and then drive the rocker 18 to swing up and down around the hinge point with the frame through the connecting rod 15, so that the duckbill planter 24 at the other end of the rocker 18 moves up and down.

[0045] In this embodiment, the wire pulling mechanism includes a wire pulling frame 12 and a wire pulling cam 9. The wire pulling cam 9 is coaxial with the sixth sprocket 8 and fixedly arranged. An arc-shaped protrusion is arranged on the inner side of the wire pulling frame 12, and the arc-shaped protrusion is in point contact with the wire pulling cam 9. A wire pulling interface 13 is arranged on the wire pulling frame 12, and the wire pulling interface 13 is provided with a wire. The other end of the wire is connected with the wire pulling frame 25 of the duckbill planter 24 after passing through the wire pulling steering device located on the frame. After the wire is tightened by the wire pulling frame 25, the planting duckbill of the duckbill planter 24 can be controlled to open. When the wire pulling cam 9 rotates, it is always in contact with the arc-shaped protrusion point. Since the wire pulling cam 9 is an irregular elliptical shape, it drives the wire pulling frame 12 to swing left and right, and then pulls the wire to move left and right at the wire pulling steering device. The other end of the wire tightens or relaxes the wire pulling frame 25 to realize the opening and closing of the planting duckbill of the duckbill planter 24.

[0046] In this embodiment, the water spraying mechanism is a mechanically triggered limited water spraying device, which includes a water supply device 16, a limit switch 10, a transmission mechanism 11, a water pipe 27 and a water spray head 26. The limit switch 10 adopts a YBLX-ME8104 limit switch. The trigger device of the limit switch 10 is hinged to one end of the transmission mechanism 11 through a connecting rod, and the other end of the transmission mechanism 11 is hinged to the end surface of the pull-wire cam 9. The limit switch 10 is electrically connected to the water supply switch of the water supply device 16 arranged on the frame. The water supply device 16 is connected to the water spray head 26 through a water pipe 27. The water spray head 26 is located inside the planting duckbill of the duckbill type planter 24. When the pull-wire cam 9 rotates, it drives the transmission mechanism 11 to move left and right, and then drives the trigger device through the connecting rod to connect or disconnect the limit switch 10, and intermittently sends a water spraying signal to the water supply device 16.

[0047] In this embodiment, a soil covering mechanism is also included, which includes an eighth sprocket 19, a ninth sprocket 20, a soil covering cam 21, a driving rod 22 of a soil covering wheel 23, and a soil covering wheel 23. The eighth sprocket 19 is coaxial with the seventh sprocket 17 and fixedly arranged. The eighth sprocket 19 is connected to the ninth sprocket 20 through a chain transmission. The ninth sprocket 20 is coaxial with the soil covering cam 21 and fixedly arranged. The middle part of the driving rod 22 of the soil covering wheel 23 is hinged to the frame. One end of the driving rod 22 of the soil covering wheel 23 is in point contact with the soil covering cam 21, and the other end of the driving rod 22 of the soil covering wheel 23 is rotatably connected to the soil covering wheel 23. When the irregular elliptical soil covering cam 21 rotates, it drives one end of the driving rod 22 of the soil covering wheel 23 to move up and down, thereby driving the soil covering wheel 23 at the other end of the driving rod 22 of the soil covering wheel 23 to swing up and down to perform soil covering operation.

[0048] When the present invention is working, the first power source 1 drives the sixth sprocket 8 through the first sprocket 2, the second sprocket 4, the third sprocket 3, the fourth sprocket 7 and the fifth sprocket 6, thereby driving the wire pulling cam 9 to rotate. When the wire pulling cam 9 is in the process state, the wire pulling fixed frame 12 swings, and the sixth sprocket 8 drives the crank 14 to drive the duckbill type planter 24 to move up and down through the connecting rod 15 and the rocker 18. The wire pulling fixed frame 12 also swings left and right synchronously, thereby driving the wire to move. The wire pulling frame 25 connected to the wire is tightened or loosened by the wire. When the wire pulling frame 25 is tightened, it drives the wire pulling frame 25 to open, and at the same time, the non-circular gear planetary gear The rotary seedling taking mechanism puts the seedlings into the duckbill planting device 24. When the duckbill planting device 24 is buried in the soil, the transmission mechanism 11 triggers the limit switch 10 in the process. The water supply device 16 connected to the limit switch 10 receives the command, provides water pressure, and sprays from the water spray head 26 that passes into the duckbill planting device 24 to realize the water spraying function when the seedlings are planted. The water spraying mechanism sprays water on the duckbill planting device 24 to clean the soil and then plant it in the soil. At the same time, the soil covering cam 21 connected to the ninth sprocket 20 is also in the process state, pushing the driving rod 22 of the soil covering wheel 23 to swing and drive the soil covering wheel 23 to complete the soil covering function. The purpose of completing the hole water injection and soil covering at the same time in one transplanting movement cycle is achieved.

[0049] Compared with the semi-automatic transplanting mechanism, the rotary hole watering transplanting mechanism of this embodiment avoids the problems of many missed seedlings and low transplanting efficiency caused by manual labor, and solves the problem that clay soil easily causes poor planting effect. This embodiment combines the non-circular gear planetary gear system rotary seedling taking mechanism with the water spraying mechanism to achieve the purpose of compact, reasonable and simple structure, taking into account both hole watering and high transplanting efficiency.

[0050] 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 rotary hole watering transplanting mechanism, characterized in that: It comprises a non-circular gear planetary gear system rotary seedling taking mechanism, a power mechanism, a connecting rod mechanism, a pulling wire mechanism, a duckbill type planter and a water spraying mechanism; the power mechanism is connected to the duckbill type planter through the connecting rod mechanism and the pulling wire mechanism, the connecting rod mechanism can drive the duckbill type planter to move up and down, and the pulling wire mechanism can control the opening and closing of the duckbill type planter; the non-circular gear planetary gear system rotary seedling taking mechanism is arranged above the duckbill type planter, the non-circular gear planetary gear system rotary seedling taking mechanism is used to take pot seedlings and put the taken pot seedlings into the duckbill type planter; the water spraying mechanism is used to spray water into the duckbill type planter; The non-circular gear planetary gear system rotary seedling picking mechanism comprises a box, a non-circular sun gear, a first intermediate gear, a second 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, the first intermediate gear, the second intermediate gear and the non-circular planetary gear are all arranged in the box; the non-circular sun gear is fixedly connected to the box; the non-circular planetary gear is rotatably connected to the box; the first intermediate gear and the second intermediate gear are coaxially arranged; the first intermediate gear is meshed with the non-circular planetary gear; the second intermediate gear is meshed with the non-circular sun gear; a toothless section is arranged on the outer side of the non-circular sun gear, the convex locking arc is coaxially arranged with the non-circular sun gear, and the convex locking arc corresponds to the toothless section; The concave locking arc is coaxially arranged with the second intermediate wheel, 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 type planter; 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 top of the seedling picking arm 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 top of the seedling-picking arm and the horizontal ground is 312.73°; At the seedling casting 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 top of the seedling picking arm and the horizontal ground is 307.35°; The center distance between the non-circular sun gear and the first intermediate gear and the second intermediate gear is 35 mm, and the center distance between the non-circular planetary gear and the first intermediate gear and the second intermediate gear is 35 mm; The axis center of the non-circular planetary wheel is 121 mm from the top end of the seedling picking arm; the seedling throwing angle is 106°.

2. The rotary hole watering transplanting mechanism according to claim 1 is characterized in that: The power mechanism includes a first power source, a first sprocket, a second sprocket, a third sprocket, a fourth sprocket, a fifth sprocket, a sixth sprocket and a seventh sprocket. The first power source is connected to the first sprocket by transmission, the first sprocket is connected to the second sprocket by chain transmission, the third sprocket is coaxially arranged with the second sprocket, the third sprocket is connected to the fourth sprocket by chain transmission, the fourth sprocket is coaxially arranged with the fifth sprocket, the fifth sprocket, the sixth sprocket and the seventh sprocket are connected by chain transmission, and the sixth sprocket is used to control the wire pulling mechanism, the connecting rod mechanism and the water spraying mechanism.

3. The rotary hole watering transplanting mechanism according to claim 2 is characterized in that: The connecting rod mechanism includes a crank, a connecting rod and a rocker, one end of the crank is hinged to the sixth sprocket, the other end of the crank is hinged to one end of the connecting rod, the other end of the connecting rod is hinged to the middle part of the rocker, one end of the rocker is connected to the duckbill planter, and the other end of the rocker is hinged to the frame of the seventh sprocket.

4. The rotary hole watering transplanting mechanism according to claim 2 is characterized in that: The wire pulling mechanism includes a wire pulling frame and a wire pulling cam. The wire pulling cam is coaxially arranged with the sixth sprocket. An arc-shaped protrusion is arranged on the inner side of the wire pulling frame. The arc-shaped protrusion is in point contact with the wire pulling cam. A wire pulling interface is arranged on the wire pulling frame. The wire pulling interface is provided with a wire. The other end of the wire pulling wire is connected to the wire pulling frame of the duckbill planter. The opening and closing of the duckbill planter is controlled by the movement of the wire pulling wire.

5. The rotary hole watering transplanting mechanism according to claim 4 is characterized in that: The water spraying mechanism includes a water supply device, a limit switch, a transmission mechanism, a water pipe and a water spraying head. The triggering device of the limit switch is hinged to one end of the transmission mechanism through a connecting rod, and the other end of the transmission mechanism is hinged to the pull-wire cam. The limit switch is electrically connected to the water supply switch of the water supply device. The water supply device is connected to the water spraying head through the water pipe, and the water spraying head is located inside the planting duckbill of the duckbill planter.

6. The rotary hole watering transplanting mechanism according to claim 2 is characterized in that: It also includes a soil covering mechanism, which includes an eighth sprocket, a ninth sprocket, a soil covering cam, a soil covering wheel driving rod and a soil covering wheel, the eighth sprocket is coaxially arranged with the seventh sprocket, the eighth sprocket is connected to the ninth sprocket through a chain transmission, the ninth sprocket is coaxially arranged with the soil covering cam, the middle part of the soil covering wheel driving rod is hinged to the frame, one end of the soil covering wheel driving rod is in contact with the soil covering cam, and the other end of the soil covering wheel driving rod is rotatably connected to the soil covering wheel.

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