Planetary narrow-wide row transplanter mechanism with zero transverse offset space transplanting trajectory for seedling picking

Abstract

The present invention discloses a planetary wide-narrow row transplanter mechanism with a zero lateral offset spatial transplanting trajectory for seedling picking. The planetary system of this mechanism includes a transmission box, an incomplete non-circular sun gear, an upper incomplete non-circular gear, a lower incomplete non-circular gear, an upper intermediate helical gear, a lower intermediate helical gear, an upper planetary helical gear, a lower planetary helical gear, a transmission shaft, an upper intermediate shaft, a lower intermediate shaft, an upper planetary shaft, a lower planetary shaft, a locking arc convex arc, an upper locking arc concave arc, a lower locking arc concave arc, an intermediate buffer arc, an upper buffer arc, and a lower buffer arc. The present invention realizes the spatial transplanting trajectory through the spatial staggered axis distribution, and utilizes the intermittent characteristics of the incomplete non-circular gear. During the seedling picking stage of the transplanter mechanism, the locking arc engagement is used instead of the incomplete non-circular gear engagement, effectively realizing the planar motion trajectory of the seedling picking section of the transplanter mechanism, thereby solving the problem of the lateral offset in the seedling picking section, avoiding the occurrence of root damage problems, and being beneficial to improving the seedling picking success rate and seedling picking quality.

Description

Technical Field

[0001] The present invention belongs to the field of agricultural machinery, and relates to a narrow-wide row transplanting mechanism for regenerated rice mat seedlings, in particular to a planetary rice mat seedling narrow-wide row transplanting mechanism with a direct seedling-taking and laterally zero-offset spatial transplanting trajectory. Background Art

[0002] Regenerated rice is a type of rice variety that is cultivated by using the dormant buds surviving on the rice stubbles after harvest, enabling it to head and grow again to maturity. It has the advantages of a short growth period, being able to harvest twice from one sowing, saving seeds, water, pesticides, seedling fields, and increasing production and income. It is an important part of the rice planting system in China. Traditionally, the planting row spacing of regenerated rice is mainly 300 mm. When the regenerated rice tillers, the actual row spacing during mechanical harvesting is about 200 mm. When a crawler chassis self-propelled combine harvester passes through this row spacing, it is prone to rolling. Therefore, agricultural researchers have proposed to change the equal-row planting of regenerated rice to narrow-wide row planting, which not only solves the problem of the combine harvester rolling over the first-season rice stubbles of regenerated rice, but also effectively improves the environmental conditions such as ventilation and lighting between rice plants.

[0003] Currently, in order to complete the research on rice narrow-wide row machine transplanting technology and equipment in China without changing the traditional seedling raising production line and only changing the core working component (the transplanting mechanism), the research on the formation of spatial trajectories by planetary gear mechanisms has been gradually carried out. However, the current spatial narrow-wide row transplanting mechanism has a lateral offset and oblique seedling-taking situation in the seedling-taking section. Therefore, it is necessary to start from the spatial trajectory and design a spatial motion planetary gear train type rice mat seedling narrow-wide row transplanting mechanism with a laterally zero-offset during the seedling-taking process to address the problems of lateral offset and oblique seedling-taking in the seedling-taking section. Summary of the Invention

[0004] The object of the present invention is to address the deficiencies of the prior art and propose a planetary narrow-wide row transplanting mechanism with a laterally zero-offset spatial transplanting trajectory. The spatial transplanting trajectory is achieved through the spatial staggered axis distribution, and the laterally zero-offset of the seedling-taking section of the spatial transplanting trajectory is realized by utilizing the intermittent characteristics of the incomplete non-circular gears.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] The planetary wide-narrow row transplanter mechanism with a zero lateral offset space transplanting trajectory for the present invention includes a sprocket box, a driving sprocket, a driven sprocket, a sprocket shaft, a transmission shaft, a chain, a planetary system, an upper transplanting arm, and a lower transplanting arm; the driving sprocket is fixedly connected to the sprocket shaft and connected to the driven sprocket through the chain; the driven sprocket is fixedly connected to the transmission shaft; both the sprocket shaft and the transmission shaft are supported on the sprocket box through bearings; a planetary system is provided at both ends of the transmission shaft. The planetary system includes a transmission box, an incomplete non-circular sun gear, an upper incomplete non-circular gear, a lower incomplete non-circular gear, an upper intermediate helical gear, a lower intermediate helical gear, an upper planetary helical gear, a lower planetary helical gear, a transmission shaft, an upper intermediate shaft, a lower intermediate shaft, an upper planetary shaft, a lower planetary shaft, a locking arc convex arc, an upper locking arc concave arc, a lower locking arc concave arc, an intermediate buffer arc, an upper buffer arc, and a lower buffer arc; the transmission box is fixedly connected to the transmission shaft; the incomplete non-circular sun gear is fixedly connected to the sprocket box and sleeved on the transmission shaft; the upper intermediate shaft, the lower intermediate shaft, the upper planetary shaft, and the lower planetary shaft are all supported on the transmission box through bearings, the upper intermediate shaft and the lower intermediate shaft are both parallel to the transmission shaft, the upper planetary shaft and the lower planetary shaft are both at an angle with the transmission shaft, and the angles are equal; the upper incomplete non-circular gear is fixedly connected to the upper intermediate shaft; the upper intermediate helical gear fixedly connected to the upper intermediate shaft meshes with the upper planetary helical gear, and the upper planetary helical gear is fixedly connected to the upper planetary shaft; the lower incomplete non-circular gear is fixedly connected to the lower intermediate shaft; the lower intermediate helical gear fixedly connected to the lower intermediate shaft meshes with the lower planetary helical gear, and the lower planetary helical gear is fixedly connected to the lower planetary shaft; the locking arc convex arc and the intermediate buffer arc are both fixedly connected to the incomplete non-circular sun gear, the upper locking arc concave arc and the upper buffer arc are both fixedly connected to the upper intermediate shaft, and the lower locking arc concave arc and the lower buffer arc are both fixedly connected to the lower intermediate shaft; when the upper incomplete non-circular gear meshes with the incomplete non-circular sun gear, the locking arc convex arc frictionally drives with the lower locking arc concave arc and is in a separated state from the upper locking arc concave arc; when the lower incomplete non-circular gear meshes with the incomplete non-circular sun gear, the locking arc convex arc frictionally drives with the upper locking arc concave arc and is in a separated state from the lower locking arc concave arc; when the upper incomplete non-circular gear just enters into meshing with the incomplete non-circular sun gear, the intermediate buffer arc frictionally drives with the upper buffer arc and is in a separated state from the lower buffer arc; when the lower incomplete non-circular gear just enters into meshing with the incomplete non-circular sun gear, the intermediate buffer arc frictionally drives with the lower buffer arc and is in a separated state from the upper buffer arc. An upper transplanting arm is provided at the upper planetary shaft of each planetary system, and a lower transplanting arm is provided at the lower planetary shaft of each planetary system; the transplanting arm housing of the upper transplanting arm is fixedly connected to the upper planetary shaft, the transplanting arm housing of the lower transplanting arm is fixedly connected to the lower planetary shaft, and the cams of the upper transplanting arm and the lower transplanting arm are fixedly connected to both ends of the transmission box.When the head end point of the seedling needle on the upper transplanting arm is in the seedling-taking section of the spatial transplanting trajectory from the seedling-taking starting point to the seedling-taking ending point, the incomplete non-circular sun gear meshes with the lower incomplete non-circular gear and does not mesh with the upper incomplete non-circular gear; when the head end point of the seedling needle on the lower transplanting arm is in the seedling-taking section of the spatial transplanting trajectory from the seedling-taking starting point to the seedling-taking ending point, the incomplete non-circular sun gear meshes with the upper incomplete non-circular gear and does not mesh with the lower incomplete non-circular gear.

[0007] Preferably, the structures of the upper incomplete non-circular gear and the lower incomplete non-circular gear are completely the same but their initial installation angles are different; the structures of the upper intermediate helical gear, the upper planetary helical gear, the lower intermediate helical gear, and the lower planetary helical gear are completely the same but their initial installation angles are different; the structures of the upper buffer arc and the lower buffer arc are completely the same but their initial installation angles are different; the structures of the upper locking arc concave arc and the lower locking arc concave arc are completely the same but their initial installation angles are different.

[0008] Preferably, the coordinates of the seedling-taking starting point and the seedling-taking ending point when the lateral zero offset is satisfied in the seedling-taking section of the spatial transplanting trajectory are solved as follows:

[0009] An absolute coordinate system Ax with the rotation center A of the incomplete non-circular sun gear as the coordinate origin is established 1 y 1 z 1 , and a relative coordinate system Ax 1 y 1 z 1 is established by rotating around the z 1 axis of the absolute coordinate system Ax by α - θ1 and with the rotation center of the transmission case as the coordinate origin 2 y 2 z 2 , and a relative coordinate system Bx 2 y 2 z 2 is established by translating along the x 2 axis of the relative coordinate system Ax by l AB and with the rotation center B of the upper incomplete non-circular gear as the coordinate origin 3 y 3 z 3 , and a relative coordinate system Cx 3 y 3 z 3 is established by translating along the z 3 axis of the relative coordinate system Bx by l BC and with the rotation center C of the upper intermediate helical gear as the coordinate origin 4 y 4 z 4 , and a relative coordinate system Cx 4 y 4 z 4 is established by rotating around the z 4A relative coordinate system Cx with the rotation center C of the upper intermediate helical gear as the coordinate origin and the axis rotated by β 5 y 5 z 5 , a relative coordinate system Cx is established along 5 y 5 z 5 of the x 5 axis is translated by l CD and a relative coordinate system Dx with the rotation center D of the upper planetary helical gear as the coordinate origin 6 y 6 z 6 , a relative coordinate system Dx is established by rotating around 6 y 6 z 6 of the x 6 axis by and a relative coordinate system Dx with the rotation center D of the upper planetary helical gear as the coordinate origin 7 y 7 z 7 , a relative coordinate system Dx is established by rotating around 7 y 7 z 7 of the z 7 axis by θ2 + γ and a relative coordinate system Dx with the rotation center D of the upper planetary helical gear as the coordinate origin 8 y 8 z 8 , a relative coordinate system Dx is established along 8 y 8 z 8 of the x 8 axis is translated by l EF , along the relative coordinate system Dx 8 y 8 z 8 of the y 8 axis is translated by -l FG , along the relative coordinate system Dx 8 y 8 z 8 of the z 8 axis is translated by l DE and a relative coordinate system Gx with the head end point G of the seedling needle of the transplanting arm as the coordinate origin 9 y 9 z 9 ; where, α is the initial installation angle of the transmission case, θ1 is the rotation angle of the transmission case relative to the initial installation angle α, l AB is the distance between point A and point B, l BC is the distance between point B and point C, β is the offset angle between the upper planetary helical gear and the upper intermediate helical gear, l CD is the distance between point C and point D, It is twice the helix angle of the upper planetary helical gear or the upper intermediate helical gear, θ2 is the rotation angle of the upper planetary helical gear relative to the transmission case, γ is the initial installation angle of the upper transplanting arm, point E is the connection point between the transplanting arm housing of the upper transplanting arm and the upper planetary shaft, the z7 axis coincides with the z8 axis and the direction is from point D to point E, point F is the center point of the friction pair formed by the fork of the upper transplanting arm and the clamping groove of the spring seat, l EF is the distance between point E and point F, l FG is the distance between point F and point G, l DE is the distance between point D and point E. Then there is:

[0010] Absolute coordinate system Ax 1 y 1 z 1 of the reference matrix

[0011]

[0012] Relative coordinate system Ax 2 y 2 z 2 Relative to the absolute coordinate system Ax 1 y 1 z 1 of the position transformation matrix

[0013]

[0014] Relative coordinate system Ax 2 y 2 z 2 and the relative coordinate system Bx 3 y 3 z 3 of the position transformation matrix is

[0015]

[0016] Relative coordinate system Bx 3 y 3 z 3 and the relative coordinate system Cx 4 y 4 z 4 of the position transformation matrix is

[0017]

[0018] Relative coordinate system Cx 4 y 4 z 4 and the relative coordinate system Cx 5 y 5 z 5 of the position transformation matrix is

[0019]

[0020] Relative coordinate system Cx 5 y 5 z 5 and the relative coordinate system Dx 6 y 6 z 6 The position transformation matrix is

[0021]

[0022] Relative coordinate system Dx 6 y 6 z 6 and the relative coordinate system Dx 7 y 7 z 7 The position transformation matrix is

[0023]

[0024] Relative coordinate system Dx 7 y 7 z 7 and the relative coordinate system Dx 8 y 8 z 8 The position transformation matrix is

[0025]

[0026] Relative coordinate system Dx 8 y 8 z 8 and the relative coordinate system Gx 9 y 9 z 9 The position transformation matrix is

[0027]

[0028] Then the coordinate transformation matrix of point G relative to the rotation center A of the incomplete non-circular sun gear is

[0029] P G = M1M2M3M4M5M6M7M8M9

[0030] When the rotation angles θ1 of the transmission case relative to the initial installation angle α are respectively θ11 and θ12, the rotation angles θ2 of the upper planetary helical gear relative to the transmission case are respectively selected as θ21 and θ22, and it is assumed that the needle head endpoints G of the upper transplanting arm are respectively located at the seedling-taking starting point and the seedling-taking ending point positions at this time. Then, substituting θ11 and θ21 into the coordinate transformation matrix P G for θ1 and θ2, the obtained coordinate transformation matrix P GThe elements in the first row and fourth column, second row and fourth column, and third row and fourth column of the 1 y 1 z 1 in the Ax of the absolute coordinate system are the x 1 , y 1 , z 1 coordinates of the starting point of seedling taking. Similarly, substituting θ12 and θ22 into the coordinate transformation matrix P G for θ1 and θ2, the obtained coordinate transformation matrix P G the elements in the first row and fourth column, second row and fourth column, and third row and fourth column of which are the x 1 y 1 z 1 coordinates of the ending point of seedling taking in the Ax of the absolute coordinate system 1 , y 1 , z 1 coordinates.

[0031] More preferably, |θ11 - θ12| is equal to the radian ε of the concave arc of the upper locking arc and the concave arc of the lower locking arc, and is also equal to the effective friction transmission radian of the convex arc of the locking arc.

[0032] The beneficial effects of the present invention are as follows:

[0033] Compared with the planar motion trajectory of the transplanter mechanism, the spatial transplanting trajectory of the transplanter mechanism can effectively achieve wide-narrow row transplanting without changing the traditional seedling raising process. However, there is a problem of lateral offset in the seedling taking section of the spatial trajectory realized by the existing wide-narrow row transplanter mechanism. The lateral offset in the seedling taking section will cause the transplanter mechanism to take seedlings obliquely, resulting in the problem of damaging seedlings. Without changing the structure of the seedling box, the present invention realizes the spatial transplanting trajectory through the spatial staggered axis distribution, utilizes the intermittent characteristics of the non-circular incomplete gear, and at the same time uses the cooperation of the buffer arc and the locking arc. In the seedling taking stage of the transplanter mechanism, the engagement of the locking arc is used instead of the engagement of the non-circular incomplete gear, effectively realizing the planar motion trajectory in the seedling taking section of the transplanter mechanism, thereby solving the problem of lateral offset in the seedling taking section and avoiding the occurrence of root damage problems, which is beneficial to improving the success rate and quality of seedling taking. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a schematic diagram of the spatial transplanting trajectory realized by the present invention and the lateral trajectory of the spatial transplanting trajectory;

[0035] Figure 2 is an analytical diagram of the present invention for solving the spatial transplanting trajectory using the D-H matrix;

[0036] Figure 3 is a transmission schematic diagram of the convex arc of the locking arc and the concave arc of the upper locking arc of the present invention;

[0037] Figure 4 is a total transmission ratio curve diagram of the present invention;

[0038] Figure 5 It is a schematic diagram of the installation relationship between the upper transplanting arm and the upper planetary shaft in the present invention;

[0039] Figure 6 It is a schematic diagram of the intermittent transmission between the incomplete non-circular sun gear and the upper incomplete non-circular gear, the convex arc of the locking arc and the concave arc of the upper locking arc, and the intermediate buffer arc and the upper buffer arc in the present invention;

[0040] Figure 7 It is a schematic diagram of the mechanism motion of the present invention;

[0041] Figure 8 It is a schematic diagram of the meshing transmission of each gear in the present invention;

[0042] Figure 9 It is a sectional view of the upper transplanting arm or the lower transplanting arm in the present invention;

[0043] In the figure: 1. Upper transplanting arm, 2. Transmission box, 3. Upper planetary helical gear, 4. Upper planetary shaft, 5. Upper intermediate helical gear, 6. Upper intermediate shaft, 7. Upper incomplete non-circular gear, 8. Incomplete non-circular sun gear, 9. Transmission shaft, 10. Lower intermediate helical gear, 11. Lower intermediate shaft, 12. Lower transplanting arm, 13. Lower incomplete non-circular gear, 14. Lower planetary shaft, 15. Lower planetary helical gear, 16. Sprocket box, 17. Driving sprocket, 18. Sprocket shaft, 19. Chain, 20. Driven sprocket, 21. Lower locking arc concave arc, 22. Locking arc convex arc, 23. Upper locking arc concave arc, 24. Lower buffer arc, 25. Intermediate buffer arc, 26. Upper buffer arc, 27. Spring, 28. Spring seat, 29. Pushing rod, 30. Seedling needle, 31. Fixed block, 32. Fork, 33. Transplanting arm housing, 34. Cam. Specific embodiments

[0044] The present invention will be further described below with reference to the accompanying drawings.

[0045] As Figure 7As shown in the figure, a planetary narrow-wide row transplanter mechanism with a zero lateral offset space for seedling taking and transplanting includes a sprocket box 16, a driving sprocket 17, a driven sprocket 20, a sprocket shaft 18, a transmission shaft 9, a chain 19, a planetary system, an upper transplanting arm 1 and a lower transplanting arm 12; the driving sprocket 17 is fixedly connected to the sprocket shaft 18 and is connected to the driven sprocket 20 through the chain 19; the driven sprocket 20 is fixedly connected to the transmission shaft 9; both the sprocket shaft 18 and the transmission shaft 9 are supported on the sprocket box 16 through bearings; both ends of the transmission shaft 9 are provided with a planetary system. The planetary system includes a transmission box 2, an incomplete non-circular sun gear 8, an upper incomplete non-circular gear 7, a lower incomplete non-circular gear 13, an upper intermediate helical gear 5, a lower intermediate helical gear 10, an upper planetary helical gear 3, a lower planetary helical gear 15, a transmission shaft 9, an upper intermediate shaft 6, a lower intermediate shaft 11, an upper planetary shaft 4, a lower planetary shaft 14, a locking arc convex arc 22, an upper locking arc concave arc 23, a lower locking arc concave arc 21, an intermediate buffer arc 25, an upper buffer arc 26 and a lower buffer arc 24; the transmission box 2 is fixedly connected to the transmission shaft 9; the incomplete non-circular sun gear 8 is fixedly connected to the sprocket box 16 and is sleeved on the transmission shaft 9; the upper intermediate shaft 6, the lower intermediate shaft 11, the upper planetary shaft 4 and the lower planetary shaft 14 are all supported on the transmission box 2 through bearings, the upper intermediate shaft 6 and the lower intermediate shaft 11 are both parallel to the transmission shaft 9, the upper planetary shaft 4 and the lower planetary shaft 14 are both at an angle to the transmission shaft 9, and the angles are equal; the upper incomplete non-circular gear 7 is fixedly connected to the upper intermediate shaft 6; the upper intermediate helical gear 5 fixedly connected to the upper intermediate shaft 6 meshes with the upper planetary helical gear 3, and the upper planetary helical gear 3 is fixedly connected to the upper planetary shaft 4; the lower incomplete non-circular gear 13 is fixedly connected to the lower intermediate shaft 11; the lower intermediate helical gear 10 fixedly connected to the lower intermediate shaft 11 meshes with the lower planetary helical gear 15, and the lower planetary helical gear 15 is fixedly connected to the lower planetary shaft 14; as Figure 8 shown, the locking arc convex arc 22 and the intermediate buffer arc 25 are both fixedly connected to the incomplete non-circular sun gear 8, the upper locking arc concave arc 23 and the upper buffer arc 26 are both fixedly connected to the upper intermediate shaft 6, and the lower locking arc concave arc 21 and the lower buffer arc 24 are both fixedly connected to the lower intermediate shaft 11; as Figure 6 shown, when the upper incomplete non-circular gear 7 is in meshing with the incomplete non-circular sun gear 8, the locking arc convex arc 22 is in frictional transmission with the lower locking arc concave arc 21 and is in a separated state from the upper locking arc concave arc 23; when the lower incomplete non-circular gear 13 is in meshing with the incomplete non-circular sun gear 8, the locking arc convex arc 22 is in frictional transmission with the upper locking arc concave arc 23 and is in a separated state from the lower locking arc concave arc 21; when the upper incomplete non-circular gear 7 just enters into meshing with the incomplete non-circular sun gear 8, the intermediate buffer arc 25 is in frictional transmission with the upper buffer arc 26 and is in a separated state from the lower buffer arc 24; when the lower incomplete non-circular gear 13 just enters into meshing with the incomplete non-circular sun gear 8, the intermediate buffer arc 25 is in frictional transmission with the lower buffer arc 24 and is in a separated state from the upper buffer arc 26. As Figure 7 and Figure 9As shown in the figure, an upper transplanting arm 1 is provided at the upper planetary shaft 4 of each planetary system, and a lower transplanting arm 12 is provided at the lower planetary shaft 14 of each planetary system; the transplanting arm housing 33 of the upper transplanting arm 1 is fixedly connected to the upper planetary shaft 4, and the transplanting arm housing 33 of the lower transplanting arm 12 is fixedly connected to the lower planetary shaft 14. The cams 34 of the upper transplanting arm 1 and the lower transplanting arm 12 are fixedly connected to both ends of the transmission box 2.

[0046] As Figure 8 shown, the structures of the upper incomplete non-circular gear 7 and the lower incomplete non-circular gear 13 are exactly the same but the initial installation angles are different. The structures of the upper intermediate helical gear 5, the upper planetary helical gear 3, the lower intermediate helical gear 10, and the lower planetary helical gear 15 are exactly the same but the initial installation angles are different. The structures of the upper buffer arc 26 and the lower buffer arc 24 are exactly the same but the initial installation angles are different. The structures of the upper locking arc concave arc 23 and the lower locking arc concave arc 21 are exactly the same but the initial installation angles are different.

[0047] Among them, the structures of the upper transplanting arm 1 and the lower transplanting arm 12 are exactly the same and both adopt the existing technology. As Figure 9 shown, it includes a transplanting arm housing 33, seedling needles 30, a seedling pushing rod 29, a cam 34, a spring 27, a spring seat 28, and a fork 32; the seedling pushing rod 29 and the transplanting arm housing 33 form a sliding pair, and the spring seat 28 fixed to the rear of the seedling pushing rod 29 is connected to the transplanting arm housing 33 through the spring 27; the middle part of the fork 32 is hinged to the transplanting arm housing 33, one end forms a cam pair with the cam 34, and the other end forms a friction pair with the clamping groove of the spring seat 28; the two seedling needles 30 are arranged at intervals, and the rear parts are fixedly connected to the front of the transplanting arm housing 33 and fixedly connected to the transplanting arm housing 33 through a fixing block 31. The fixing block 31 plays a role in strengthening the seedling needles 30; the seedling pushing block integrally formed at the front of the seedling pushing rod 29 is provided with two clamping grooves, and the front parts of the two seedling needles 30 respectively form sliding pairs with the two clamping grooves. When the transplanting arm housing 33 rotates to make the return stroke section of the cam 34 contact the fork 32, the spring 27 drives the seedling pushing rod 29 to move forward, and the front parts of the two seedling needles 30 are clamped to pick up the seedlings; when the pushing stroke section of the cam 34 contacts the fork 32, the fork 32 drives the seedling pushing rod 29 to move backward, and the front parts of the two seedling needles 30 are opened to release the seedlings.

[0048] As Figure 1 、 Figure 2 、 Figure 3 、 Figure 5 and Figure 6As shown in the figure, the spatial transplanting trajectory of the planetary wide-narrow row transplanter mechanism is achieved through a spatial intersecting axis (both the upper planetary axis 4 and the lower planetary axis 14 form an angle with the transmission shaft 9), the upper intermediate helical gear 5 fixedly connected to the upper intermediate shaft 6 meshing with the upper planetary helical gear 3 fixedly connected to the upper planetary axis 4, and the lower intermediate helical gear 10 fixedly connected to the lower intermediate shaft 11 meshing with the lower planetary helical gear 15 fixedly connected to the lower planetary axis 14. In the spatial transplanting trajectory, the seedling-taking section is defined as the section from the seedling-taking starting point P1 to the seedling-taking ending point P2. To avoid the lateral (Z-direction) offset of the spatial transplanting trajectory in the seedling-taking section, it is necessary to avoid the meshing of the upper intermediate helical gear 5 with the upper planetary helical gear 3 or the lower intermediate helical gear 10 with the lower planetary helical gear 15 in the seedling-taking section. Therefore, the following further limitations are made: When the tip point G of the seedling needle of the upper transplanting arm 1 is in the seedling-taking section from the seedling-taking starting point P1 to the seedling-taking ending point P2 of the spatial transplanting trajectory, the incomplete non-circular sun gear 8 meshes with the lower incomplete non-circular gear 13 and does not mesh with the upper incomplete non-circular gear 7. The transmission between the locking arc convex arc 22 and the upper locking arc concave arc 23 is used to ensure the accuracy when the incomplete non-circular sun gear 8 meshes with the upper incomplete non-circular gear 7 again. At this time, the upper intermediate helical gear 5 and the upper planetary helical gear 3 are relatively stationary; When the tip point G of the seedling needle of the lower transplanting arm 12 is in the seedling-taking section from the seedling-taking starting point P1 to the seedling-taking ending point P2 of the spatial transplanting trajectory, the incomplete non-circular sun gear 8 meshes with the upper incomplete non-circular gear 7 and does not mesh with the lower incomplete non-circular gear 13. The transmission between the locking arc convex arc 22 and the lower locking arc concave arc 21 is used to ensure the accuracy when the incomplete non-circular sun gear 8 meshes with the lower incomplete non-circular gear 13 again. At this time, the lower intermediate helical gear 10 and the lower planetary helical gear 15 are relatively stationary.

[0049] In the design of traditional wide-narrow row transplanter mechanisms, during the process of the seedling needle taking seedlings, there will be a situation of oblique seedling taking, that is, the seedling needle offsets along the Z direction, and the seedling-taking effect is not good. To avoid the occurrence of oblique seedling taking, it is necessary to design that no oblique seedling taking occurs in the entire seedling-taking section from the seedling-taking starting point P1 to the seedling-taking ending point P2 in the spatial transplanting trajectory, so as to achieve the straight seedling-taking effect of the wide-narrow row transplanter mechanism. From the transmission ratio curve, it can be seen that when there is no lateral offset in the seedling-taking section of the spatial transplanting trajectory, it is necessary to ensure that the transmission ratio between the incomplete non-circular sun gear 8 and the upper incomplete non-circular gear 7 or the lower incomplete non-circular gear 13 is infinite, that is, the incomplete non-circular sun gear 8 does not mesh with the upper incomplete non-circular gear 7 or the lower incomplete non-circular gear 13, and the transmission box (rod one l 1 ) and the rod two (upper transplanting arm or lower transplanting arm) l 2 do not have relative movement. At this time, the transmission box and the upper transplanting arm or the lower transplanting arm both revolve around the rotation center A of the incomplete non-circular sun gear, and the total transmission ratio of the entire planetary wide-narrow row transplanter mechanism is also infinite, as Figure 4 shown.

[0050] As Figure 1 , Figure 2 andFigure 3 As shown in the figure, when using the D-H matrix to solve the spatial transplanting trajectory, the coordinates of the starting point P1 and the ending point P2 of the seedling-taking section with zero lateral offset are obtained (the starting point P1, the ending point P2 of the seedling-taking, and the seedling-pushing point P3 are three key points of the spatial transplanting trajectory). Specifically as follows:

[0051] An absolute coordinate system Ax with the rotation center A of the incomplete non-circular sun gear as the coordinate origin is established 1 y 1 z 1 , and a relative coordinate system Ax that rotates around the z-axis of the absolute coordinate system Ax by α - θ1 and has the rotation center of the transmission box (which is also the rotation center A of the incomplete non-circular sun gear) as the coordinate origin 1 y 1 z 1 is established. Then, a relative coordinate system Bx that is translated along the x-axis of the relative coordinate system Ax by l and has the rotation center B of the above incomplete non-circular gear as the coordinate origin 1 is established. Next, a relative coordinate system Cx that is translated along the z-axis of the relative coordinate system Bx by l and has the rotation center C of the above intermediate helical gear as the coordinate origin 2 y 2 z 2 is established. Then, a relative coordinate system Cx that rotates around the z-axis of the relative coordinate system Cx by β and has the rotation center C of the above intermediate helical gear as the coordinate origin 2 y 2 z 2 is established. Next, a relative coordinate system Dx that is translated along the x-axis of the relative coordinate system Cx by l and has the rotation center D of the above planetary helical gear as the coordinate origin 2 is established. Then, a relative coordinate system Dx that rotates around the z-axis of the relative coordinate system Dx by γ and has the rotation center D of the above planetary helical gear as the coordinate origin AB is established. Next, a relative coordinate system Ex that is translated along the x-axis of the relative coordinate system Dx by l and has the rotation center E of the above output gear as the coordinate origin 3 y 3 z 3 is established. Next, a relative coordinate system Ex that rotates around the z-axis of the relative coordinate system Ex by δ and has the rotation center E of the above output gear as the coordinate origin 3 y 3 z 3 is established. Next, a relative coordinate system Fx that is translated along the x-axis of the relative coordinate system Ex by l and has the rotation center F of the above output shaft as the coordinate origin 3 is established. Next, a relative coordinate system Fx that rotates around the z-axis of the relative coordinate system Fx by ε and has the rotation center F of the above output shaft as the coordinate origin BC is established. Next, a relative coordinate system Gx that is translated along the x-axis of the relative coordinate system Fx by l and has the rotation center G of the above push rod as the coordinate origin 4 y 4 z 4 is established. Next, a relative coordinate system Gx that rotates around the z-axis of the relative coordinate system Gx by ζ and has the rotation center G of the above push rod as the coordinate origin 4 y 4 z 4 is established. Next, a relative coordinate system Hx that is translated along the x-axis of the relative coordinate system Gx by l and has the rotation center H of the above seedling-taking head as the coordinate origin 4 is established. Next, a relative coordinate system Hx that rotates around the z-axis of the relative coordinate system Hx by η and has the rotation center H of the above seedling-taking head as the coordinate origin 5 y 5 z 5 is established. Next, a relative coordinate system Ix that is translated along the x-axis of the relative coordinate system Hx by l and has the rotation center I of the above seedling-pushing point as the coordinate origin 5 y 5 z 5 is established. Next, a relative coordinate system Ix that rotates around the z-axis of the relative coordinate system Ix by θ2 and has the rotation center I of the above seedling-pushing point as the coordinate origin 5 is established. Next, a relative coordinate system Jx that is translated along the x-axis of the relative coordinate system Ix by l and has the rotation center J of the above seedling-taking end point as the coordinate origin CD is established. Next, a relative coordinate system Jx that rotates around the z-axis of the relative coordinate system Jx by φ and has the rotation center J of the above seedling-taking end point as the coordinate origin 6 y 6 z 6 is established. Next, a relative coordinate system Kx that rotates around the z-axis of the relative coordinate system Kx by ψ and has the rotation center K of the above push rod as the coordinate origin 6 y 6 z 6of x 6 axis rotation and the relative coordinate system Dx with the rotation center D of the above planetary helical gear as the coordinate origin 7 y 7 z 7 , establish a rotation about the relative coordinate system Dx 7 y 7 z 7 of z 7 axis by θ2 + γ and the relative coordinate system Dx with the rotation center D of the above planetary helical gear as the coordinate origin 8 y 8 z 8 , establish a translation along the relative coordinate system Dx 8 y 8 z 8 of x 8 axis by l EF 、along the relative coordinate system Dx 8 y 8 z 8 of y 8 axis by -l FG 、along the relative coordinate system Dx 8 y 8 z 8 of z 8 axis by l DE and the relative coordinate system Gx with the end point G of the seedling needle of the above transplanting arm as the coordinate origin 9 y 9 z 9 ; where, α is the initial installation angle of the transmission case, θ1 is the rotation angle of the transmission case relative to the initial installation angle α (counterclockwise rotation is specified as positive), l AB is the distance between point A and point B, l BC is the distance between point B and point C, β is the offset angle between the upper planetary helical gear and the upper intermediate helical gear, that is, the angle between the line connecting point A and point B and the line connecting point C and point D, l CD is the distance between point C and point D, is twice the helix angle of the upper planetary helical gear or the upper intermediate helical gear, θ2 is the rotation angle of the upper planetary helical gear relative to the transmission case, γ is the initial installation angle of the upper transplanting arm, point E is the connection point between the transplanting arm housing of the upper transplanting arm 1 and the upper planetary shaft 4, the z7 axis coincides with the z8 axis and the direction is from point D to point E, point F is the center point of the friction pair formed by the slot between the fork 32 and the spring seat 28 of the upper transplanting arm 1, l EF is the distance between point E and point F, l FG is the distance between point F and point G, l DE is the distance between point D and point E. Then there is:

[0052] Absolute coordinate system Ax 1 y 1 z1 Reference matrix

[0053]

[0054] Relative coordinate system Ax 2 y 2 z 2 Relative to the absolute coordinate system Ax 1 y 1 z 1 Position transformation matrix

[0055]

[0056] Relative coordinate system Ax 2 y 2 z 2 And the relative coordinate system Bx 3 y 3 z 3 The position transformation matrix is

[0057]

[0058] Relative coordinate system Bx 3 y 3 z 3 And the relative coordinate system Cx 4 y 4 z 4 The position transformation matrix is

[0059]

[0060] Relative coordinate system Cx 4 y 4 z 4 And the relative coordinate system Cx 5 y 5 z 5 The position transformation matrix is

[0061]

[0062] Relative coordinate system Cx 5 y 5 z 5 And the relative coordinate system Dx 6 y 6 z 6 The position transformation matrix is

[0063]

[0064] Relative coordinate system Dx 6 y 6 z 6 And the relative coordinate system Dx 7 y7 z 7 The position transformation matrix of

[0065]

[0066] relative coordinate system Dx 7 y 7 z 7 and relative coordinate system Dx 8 y 8 z 8 is

[0067]

[0068] relative coordinate system Dx 8 y 8 z 8 and relative coordinate system Gx 9 y 9 z 9 is

[0069]

[0070] Then the coordinate transformation matrix of point G relative to the rotation center A of the incomplete non-circular sun gear is

[0071] P G = M1M2M3M4M5M6M7M8M9

[0072] When the rotation angles θ1 of the transmission case relative to the initial installation angle α are respectively θ11 and θ12, the rotation angles θ2 of the upper planetary helical gear relative to the transmission case are respectively selected as θ21 and θ22, and it is assumed that the needle head endpoints G of the upper transplanting arm are respectively located at the seedling-taking starting point P1 and the seedling-taking ending point P2 positions at this time. Then, substituting θ11 and θ21 into the coordinate transformation matrix P G (where all other parameters in P G except θ1 and θ2 are given known quantities) for θ1 and θ2, the obtained coordinate transformation matrix P G The elements in the first row and fourth column, the second row and fourth column, and the third row and fourth column are respectively the x 1 y 1 z 1 coordinates of the seedling-taking starting point P1 in the absolute coordinate system Ax 1 、y 1 、z 1 coordinates. Similarly, substituting θ12 and θ22 into the coordinate transformation matrix P G for θ1 and θ2, the obtained coordinate transformation matrix P G The elements in the first row and fourth column, the second row and fourth column, and the third row and fourth column are respectively the x, y, and z coordinates of the seedling-taking ending point P2 in the absolute coordinate system Ax1 y 1 z 1 x in 1 , y 1 , z 1 coordinates, and |θ11 - θ12| is equal to the radian ε of the concave arc 23 of the upper locking arc and the concave arc 21 of the lower locking arc ( Figure 3 and Figure 6 the effective friction drive radian of the convex arc 22 of the middle locking arc is also ε), and the angle of revolution of the corresponding transmission box around the rotation center of the incomplete non-circular sun gear during the movement of the end point G of the seedling needle head of the upper transplanting arm or the lower transplanting arm from the starting point P1 of seedling picking to the ending point P2 of seedling picking is also ε.

[0073] The working principle of the present invention is as follows:

[0074] As Figure 8As shown in the figure, power is input from the sprocket shaft 18, and is transmitted to the transmission case 2 through the driving sprocket 17, the chain 19, the driven sprocket 20 and the transmission shaft 9. The rotation of the transmission case 2 drives the upper incomplete non-circular gear 7, the lower incomplete non-circular gear 13, the upper intermediate helical gear 5, the lower intermediate helical gear 10, the upper planetary helical gear 3 and the lower planetary helical gear 15 to revolve around the incomplete non-circular sun gear 8; when the upper incomplete non-circular gear 7 is engaged with the incomplete non-circular sun gear 8, the convex arc 22 of the locking arc is in frictional transmission with the concave arc 21 of the lower locking arc, and is in a separated state from the concave arc 23 of the upper locking arc. The upper planetary helical gear 3 is in meshing transmission with the upper intermediate helical gear 5, and the upper planetary shaft 4 drives the transplanting arm housing 33 of the upper transplanting arm 1; when the lower incomplete non-circular gear 13 is engaged with the incomplete non-circular sun gear 8, the convex arc 22 of the locking arc is in frictional transmission with the concave arc 23 of the upper locking arc, and is in a separated state from the concave arc 21 of the lower locking arc. The lower planetary helical gear 15 is in meshing transmission with the lower intermediate helical gear 10, and the lower planetary shaft 14 drives the transplanting arm housing 33 of the lower transplanting arm 12. When the head end point G of the seedling needle of the upper transplanting arm 1 is in the seedling-taking section from the seedling-taking starting point P1 to the seedling-taking ending point P2 of the spatial transplanting trajectory, the incomplete non-circular sun gear 8 is engaged with the lower incomplete non-circular gear 13 and not engaged with the upper incomplete non-circular gear 7. The transmission between the convex arc 22 of the locking arc and the concave arc 23 of the upper locking arc is used to ensure the accuracy when the incomplete non-circular sun gear 8 is engaged with the upper incomplete non-circular gear 7 again. At this time, the upper intermediate helical gear 5 and the upper planetary helical gear 3 are relatively stationary. When the head end point G of the seedling needle of the lower transplanting arm 12 is in the seedling-taking section from the seedling-taking starting point P1 to the seedling-taking ending point P2 of the spatial transplanting trajectory, the incomplete non-circular sun gear 8 is engaged with the upper incomplete non-circular gear 7 and not engaged with the lower incomplete non-circular gear 13. The transmission between the convex arc 22 of the locking arc and the concave arc 21 of the lower locking arc is used to ensure the accuracy when the incomplete non-circular sun gear 8 is engaged with the lower incomplete non-circular gear 13 again. At this time, the lower intermediate helical gear 10 and the lower planetary helical gear 15 are relatively stationary. At this time, the return stroke section of the cam 34 of the upper transplanting arm 1 or the lower transplanting arm 12 contacts the fork 32, and the spring 27 drives the pusher rod 29 to move forward, and the fronts of the two seedling needles 30 are clamped to take the seedlings; when the head end point G of the seedling needle is at the seedling-pushing point (point P3) of the spatial transplanting trajectory, the pushing stroke section of the cam 34 contacts the fork 32, and the fork 32 drives the pusher rod 29 to move backward, and the fronts of the two seedling needles 30 are opened to release the seedlings and complete the seedling-pushing work.

Claims

1. A planetary wide-narrow row transplanter mechanism with a zero transverse offset space transplanting trajectory for seedling picking, comprising a sprocket box, a driving sprocket, a driven sprocket, a sprocket shaft, a transmission shaft, a chain, a planetary system, an upper transplanting arm and a lower transplanting arm; the driving sprocket is fixedly connected to the sprocket shaft and connected to the driven sprocket through the chain; the driven sprocket is fixedly connected to the transmission shaft; both the sprocket shaft and the transmission shaft are supported on the sprocket box through bearings; a planetary system is provided at both ends of the transmission shaft; It is characterized in that: The planetary system includes a transmission box, an incomplete non-circular sun gear, an upper incomplete non-circular gear, a lower incomplete non-circular gear, an upper intermediate helical gear, a lower intermediate helical gear, an upper planetary helical gear, a lower planetary helical gear, a transmission shaft, an upper intermediate shaft, a lower intermediate shaft, an upper planetary shaft, a lower planetary shaft, a locking arc convex arc, an upper locking arc concave arc, a lower locking arc concave arc, an intermediate buffer arc, an upper buffer arc and a lower buffer arc; the transmission box is fixedly connected to the transmission shaft; the incomplete non-circular sun gear is fixedly connected to the sprocket box and sleeved on the transmission shaft; the upper intermediate shaft, the lower intermediate shaft, the upper planetary shaft and the lower planetary shaft are all supported on the transmission box through bearings, the upper intermediate shaft and the lower intermediate shaft are both parallel to the transmission shaft, the upper planetary shaft and the lower planetary shaft are both at an angle to the transmission shaft, and the angles are equal; the upper incomplete non-circular gear is fixedly connected to the upper intermediate shaft; the upper intermediate helical gear fixedly connected to the upper intermediate shaft meshes with the upper planetary helical gear, and the upper planetary helical gear is fixedly connected to the upper planetary shaft; the lower incomplete non-circular gear is fixedly connected to the lower intermediate shaft; the lower intermediate helical gear fixedly connected to the lower intermediate shaft meshes with the lower planetary helical gear, and the lower planetary helical gear is fixedly connected to the lower planetary shaft; the locking arc convex arc and the intermediate buffer arc are both fixedly connected to the incomplete non-circular sun gear, the upper locking arc concave arc and the upper buffer arc are both fixedly connected to the upper intermediate shaft, and the lower locking arc concave arc and the lower buffer arc are both fixedly connected to the lower intermediate shaft; when the upper incomplete non-circular gear meshes with the incomplete non-circular sun gear, the locking arc convex arc frictionally drives with the lower locking arc concave arc and is in a separated state from the upper locking arc concave arc; When the lower incomplete non-circular gear meshes with the incomplete non-circular sun gear, the locking arc convex arc frictionally drives with the upper locking arc concave arc and is in a separated state from the lower locking arc concave arc; When the upper incomplete non-circular gear and the incomplete non-circular sun gear just enter into meshing, the middle buffer arc and the upper buffer arc are in frictional drive, and are in a separated state from the lower buffer arc; when the lower incomplete non-circular gear and the incomplete non-circular sun gear just enter into meshing, the middle buffer arc and the lower buffer arc are in frictional drive, and are in a separated state from the upper buffer arc; an upper transplanting arm is provided at the upper planetary shaft of each planetary system, and a lower transplanting arm is provided at the lower planetary shaft of each planetary system; the transplanting arm housing of the upper transplanting arm is fixedly connected to the upper planetary shaft, the transplanting arm housing of the lower transplanting arm is fixedly connected to the lower planetary shaft, and the cams of the upper transplanting arm and the lower transplanting arm are fixedly connected to both ends of the transmission case; when the head end point of the seedling needle of the upper transplanting arm is in the seedling-taking section from the starting point to the ending point of the spatial transplanting trajectory, the incomplete non-circular sun gear meshes with the lower incomplete non-circular gear and does not mesh with the upper incomplete non-circular gear; when the head end point of the seedling needle of the lower transplanting arm is in the seedling-taking section from the starting point to the ending point of the spatial transplanting trajectory, the incomplete non-circular sun gear meshes with the upper incomplete non-circular gear and does not mesh with the lower incomplete non-circular gear.

2. The planetary system wide-narrow row transplanter mechanism with a laterally zero-offset spatial transplanting trajectory according to claim 1, characterized in that: the upper incomplete non-circular gear and the lower incomplete non-circular gear have the same structure but different initial installation angles, the upper intermediate helical gear, the upper planetary helical gear, the lower intermediate helical gear, and the lower planetary helical gear have the same structure but different initial installation angles, the upper buffer arc and the lower buffer arc have the same structure but different initial installation angles, and the concave arc of the upper locking arc and the concave arc of the lower locking arc have the same structure but different initial installation angles.

3. The planetary system wide-narrow row transplanter mechanism with a laterally zero-offset spatial transplanting trajectory according to claim 1, characterized in that: To solve the coordinates of the starting point and the ending point of the seedling-taking section of the spatial transplanting trajectory when the lateral zero offset is satisfied, specifically as follows: Establish an absolute coordinate system Ax with the rotation center A of the incomplete non-circular sun gear as the coordinate origin 1 y 1 z 1 , and establish a relative coordinate system Ax that rotates around the z-axis of the absolute coordinate system Ax by α - θ1 and has the rotation center of the transmission box as the coordinate origin 1 y 1 z 1 axis by α - θ1 and has the rotation center of the transmission box as the coordinate origin 1 axis by α - θ1 and has the rotation center of the transmission box as the coordinate origin 2 y 2 z 2 , and establish a relative coordinate system Bx that translates along the x-axis of the relative coordinate system Ax by l and has the rotation center B of the above incomplete non-circular gear as the coordinate origin 2 y 2 z 2 axis by l and has the rotation center B of the above incomplete non-circular gear as the coordinate origin 2 axis by l and has the rotation center B of the above incomplete non-circular gear as the coordinate origin AB axis by l and has the rotation center B of the above incomplete non-circular gear as the coordinate origin 3 y 3 z 3 , and establish a relative coordinate system Cx that translates along the z-axis of the relative coordinate system Bx by l and has the rotation center C of the above intermediate helical gear as the coordinate origin 3 y 3 z 3 axis by l and has the rotation center C of the above intermediate helical gear as the coordinate origin 3 axis by l and has the rotation center C of the above intermediate helical gear as the coordinate origin BC axis by l and has the rotation center C of the above intermediate helical gear as the coordinate origin 4 y 4 z 4 , and establish a relative coordinate system Cx that rotates around the z-axis of the relative coordinate system Cx by β and has the rotation center C of the above intermediate helical gear as the coordinate origin 4 y 4 z 4 axis by β and has the rotation center C of the above intermediate helical gear as the coordinate origin 4 axis by β and has the rotation center C of the above intermediate helical gear as the coordinate origin 5 y 5 z 5 , and establish a relative coordinate system Dx that translates along the x-axis of the relative coordinate system Cx by l and has the rotation center D of the above planetary helical gear as the coordinate origin 5 y 5 z 5 axis by l and has the rotation center D of the above planetary helical gear as the coordinate origin 5 axis by l and has the rotation center D of the above planetary helical gear as the coordinate origin CD axis by l and has the rotation center D of the above planetary helical gear as the coordinate origin 6 y 6 z 6 , and establish a relative coordinate system Dx that rotates around the x-axis of the relative coordinate system Dx by 6 y 6 z 6 axis by 6 and has the rotation center D of the above planetary helical gear as the coordinate origin and has the rotation center D of the above planetary helical gear as the coordinate origin 7 y 7 z 7 , and establish a relative coordinate system Dx that rotates around the x-axis of the relative coordinate system Dx by 7 y 7 z 7 of z 7 axis rotates by θ2 + γ, and a relative coordinate system Dx with the rotation center D of the above planetary helical gear as the coordinate origin 8 y 8 z 8 , establish a translation of l along the x-axis of the relative coordinate system Dx 8 y 8 z 8 of x 8 , a translation of -l along the y-axis of the relative coordinate system Dx EF , a translation of l along the z-axis of the relative coordinate system Dx 8 y 8 z 8 of y 8 , and a relative coordinate system Gx with the head end point G of the seedling needle of the above transplanting arm as the coordinate origin FG , a translation of -l along the y-axis of the relative coordinate system Dx 8 y 8 z 8 of z 8 , a translation of l along the z-axis of the relative coordinate system Dx DE , and a relative coordinate system Gx with the head end point G of the seedling needle of the above transplanting arm as the coordinate origin 9 y 9 z 9 ; where α is the initial installation angle of the transmission case, θ1 is the rotation angle of the transmission case relative to the initial installation angle α, l AB is the distance between point A and point B, l BC is the distance between point B and point C, β is the offset angle between the upper planetary helical gear and the upper intermediate helical gear, l CD is the distance between point C and point D, is twice the helix angle of the upper planetary helical gear or the upper intermediate helical gear, θ2 is the rotation angle of the upper planetary helical gear relative to the transmission case, γ is the initial installation angle of the upper transplanting arm, point E is the connection point between the transplanting arm housing of the upper transplanting arm and the upper planetary shaft, the z7 axis coincides with the z8 axis and the direction is from point D to point E, point F is the center point of the friction pair formed by the fork of the upper transplanting arm and the clamping groove of the spring seat, l EF is the distance between point E and point F, l FG is the distance between point F and point G, l DE is the distance between point D and point E; then there is: Absolute coordinate system Ax 1 y 1 z 1 reference matrix Relative coordinate system Ax 2 y 2 z 2 Relative to the absolute coordinate system Ax 1 y 1 z 1 Position transformation matrix Relative coordinate system Ax 2 y 2 z 2 and the relative coordinate system Bx 3 y 3 z 3 The position transformation matrix is Relative coordinate system Bx 3 y 3 z 3 and the relative coordinate system Cx 4 y 4 z 4 The position transformation matrix is Relative coordinate system Cx 4 y 4 z 4 The position transformation matrix with respect to the relative coordinate system Cx 5 y 5 z 5 is Relative coordinate system Cx 5 y 5 z 5 and the relative coordinate system Dx 6 y 6 z 6 The position transformation matrix is Relative coordinate system Dx 6 y 6 z 6 The position transformation matrix for the relative coordinate system Dx 7 y 7 z 7 is Relative coordinate system Dx 7 y 7 z 7 The position transformation matrix for the relative coordinate system Dx 8 y 8 z 8 is Relative coordinate system Dx 8 y 8 z 8 The position transformation matrix with respect to the relative coordinate system Gx 9 y 9 z 9 is Then the coordinate transformation matrix of point G relative to the rotation center A of the incomplete non-circular sun gear is P G = M1M2M3M4M5M6M7M8M9 When the rotation angles θ1 of the selected transmission case relative to the initial installation angle α take values of θ11 and θ12 respectively, the rotation angles θ2 of the upper planetary helical gear relative to the transmission case are respectively selected as θ21 and θ22. Assuming that the head end point G of the seedling needle of the upper transplanting arm is located at the starting point and the ending point of seedling taking respectively at this time, then substitute θ11 and θ21 into the coordinate transformation matrix P G for θ1 and θ2. The elements in the fourth column of the first row, the fourth column of the second row, and the fourth column of the third row in the obtained coordinate transformation matrix P G are the x 1 coordinates in the absolute coordinate system Ax 1 y 1 z 1 of the starting point of seedling taking. Similarly, substitute θ12 and θ22 into the coordinate transformation matrix P 1 for θ1 and θ2. The elements in the fourth column of the first row, the fourth column of the second row, and the fourth column of the third row in the obtained coordinate transformation matrix P 1 G are the xcoordinates in the absolute coordinate system Ax G of the ending point of seedling taking. The elements in the fourth column of the first row, the fourth column of the second row, and the fourth column of the third row in the obtained coordinate transformation matrix P 1 y 1 z 1 are the x 1 coordinates in the absolute coordinate system Ax 1 y 1 z 4. The planetary system wide-narrow row transplanter mechanism with a laterally zero-offset spatial transplanting trajectory according to claim 3, characterized in that: |θ11 - θ12| is equal to the radian of the concave arc of the upper locking arc and the concave arc of the lower locking arc, and is also equal to the effective frictional drive radian of the convex arc of the locking arc.

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