Rapidly retractable clamping type seedling transplanting mechanism

Abstract

This rapid telescopic clamping seedling transplanting mechanism belongs to agricultural machinery. It features a planetary shaft symmetrically and rotatably mounted on a non-circular gear planetary system. A cam swing mechanism and a transplanting arm assembly are rotatably mounted on the planetary shaft, located inside and outside the planetary frame housing, respectively. The connecting frame is fixed to the outer ends of the planetary shaft at both ends. A toothed nesting cylinder mounted on the planetary shaft is fixedly connected to the swing gear and the telescopic drive cam of the seedling needle. Planetary gears mounted on the toothed nesting cylinder are fixedly connected to the cam swing mechanism housing and the transplanting arm housing. The telescopic drive rod and the clamping drive rod of the seedling needle are parallel and movably mounted on the transplanting arm housing. The telescopic drive rod and the driving seedling needle are hinged. A movable slide groove mounted on the driving seedling needle is hinged to the driving U-shaped clip fixed to the clamping drive rod. This mechanism can quickly extend, clamp, and retract the transplanting action, reducing the difficulty of optimized design, resulting in significant operational effects, stable operation, and high efficiency.

Description

Technical Field

[0001] This invention pertains to agricultural machinery and mainly relates to a rapid telescopic clamping transplanting mechanism for crop seedlings in nutrient pots. Background Technology

[0002] The pot-seedling transplanting technology for crops such as rice and vegetables has advantages such as climate compensation and advancing crop growth. Furthermore, the transplanting process rarely damages roots or seedlings, thus significantly improving crop yield and quality, ensuring that the crop's advantages are evident at every stage of growth. However, some current technologies use electrified automatic control to complete the trajectory movement and individual actions of the end effector, resulting in significant intermittent operation and susceptibility to occasional malfunctions, thus affecting the efficiency of assembly line operations. Mechanical high-speed transplanting mechanisms, on the other hand, operate continuously through mechanical transmission, ensuring not only operational stability and high efficiency but also low cost and good economic benefits. Because the automatic transplanting mechanism in mechanized pot-seedling transplanting requires specific and complex trajectory postures to achieve good transplanting results, it presents significant challenges to the optimization design of the transplanting mechanism. At the same time, most transplanting mechanisms consume considerable time during the seedling picking process, whether it's picking up the seedling stem or the nutrient pot. Therefore, many mechanisms need to be combined with intermittent seedling delivery mechanisms to pick up stationary seedlings, making it impossible to achieve continuous, efficient seedling picking operations, which greatly affects the transplanting success rate, transplanting quality, and efficiency. Summary of the Invention

[0003] The purpose of this invention is to address the problems existing in the prior art by designing and providing a seedling transplanting mechanism with a rapid extension and clamping mechanism for seedlings in nutrient pots. Through a special transmission configuration design, based on achieving a specific transplanting trajectory and posture, different components are driven to work together to complete the rapid extension, clamping, and retraction transplanting actions at key stages and positions. This achieves the goals of good kinematic and dynamic performance, stable and reliable operation, wide adaptability, good work quality, and high efficiency.

[0004] The objective of this invention is achieved as follows: A seedling transplanting mechanism with a rapid telescopic clamping mechanism for seedlings in nutrient pots includes a cam swing mechanism, a non-circular gear planetary gear system, a transplanting arm assembly, and a seedling needle assembly. Planetary shafts are symmetrically and rotatably inserted into the non-circular gear planetary gear system at positions 180° apart along the circumference. The cam swing mechanism and the transplanting arm assembly are rotatably mounted on the planetary shafts, located on the inner and outer sides of the planetary frame housing of the non-circular gear planetary gear system. Both ends of a connecting frame are fixed to the outer ends of the planetary shafts. Within the non-circular gear planetary gear system, a toothed nesting cylinder is rotatably mounted on the planetary shaft. The inner and outer ends of the toothed nesting cylinder are respectively connected to the outer ends of the cam swing mechanism mounted on the planetary shaft. The swing gear inside the transplanter arm assembly is fixedly connected to the seedling needle telescopic drive cam. The planetary gears of the non-circular gear planetary gear system are rotatably mounted on the toothed nesting cylinder. The inner and outer ends of the planetary gears are fixedly connected to the cam swing mechanism housing of the cam swing mechanism and the transplanter arm housing of the transplanter arm assembly, respectively. On the seedling needle assembly, the seedling needle telescopic drive rod and the seedling needle clamping drive rod are parallel and movably mounted on the transplanter arm housing of the transplanter arm assembly. The two hinge points of the seedling needle telescopic drive rod are respectively hinged to the left and right symmetrical drive seedling needles. The seedling needle clamping drive rod is fixedly connected to the drive U-shaped clip. The movable slide grooves are movably mounted on the drive seedling needles. The movable slide grooves are respectively hinged to the two hinge points of the drive U-shaped clip.

[0005] The beneficial effects of this invention are as follows: By specially configuring the double-arm non-circular gear planetary gear transplanting mechanism and proposing a cooperative operation mode for the rapid telescopic clamping seedling needle assembly driven by different mechanisms, the transplanting mechanism can quickly complete the extension, clamping, and retraction actions at key stages and positions. This not only enables high-speed continuous seedling picking operations in coordination with the continuous seedling delivery mechanism, but also greatly reduces the difficulty of optimizing the design of the non-circular planetary gear transplanting mechanism, ensuring that the entire mechanism has a good transplanting trajectory and posture, improving seedling clamping efficiency and success rate, outstanding performance and stable effect during operation, smooth operation of the mechanism, strong adaptability, and high transplanting efficiency. Attached Figure Description

[0006] Figure 1 This is a schematic diagram of a seedling transplanting mechanism using a rapid telescopic clamping mechanism for seedlings in nutrient pots.

[0007] Part number description in the image:

[0008] 1. Cam swing mechanism; 2. Planetary shaft; 3. Swing gear; 4. Cam swing mechanism housing; 5. Non-circular gear planetary gear train; 6. Planetary gear; 7. Planetary carrier housing; 8. Toothed nesting cylinder; 9. Transplanting arm assembly; 10. Seedling needle assembly; 11. Seedling needle telescopic drive cam; 12. Transplanting arm housing; 13. Connecting frame; 14. Seedling needle clamping drive rod; 15. Seedling needle telescopic drive rod; 16. Drive U-shaped clip; 17. Movable slide; 18. Drive seedling needle. Detailed Implementation

[0009] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the scope of protection of the present invention is not limited thereto.

[0010] A seedling transplanting mechanism with a rapid telescopic clamping mechanism for seedling needles includes a cam swing mechanism 1, a non-circular gear planetary gear system 5, a transplanting arm assembly 9, and a seedling needle assembly 10. Planetary shafts 2 are symmetrically and rotatably inserted into the non-circular gear planetary gear system 5 at positions 180° apart along the circumference. The cam swing mechanism 1 and the transplanting arm assembly 9 are rotatably mounted on the planetary shafts 2, located inside and outside the planetary carrier housing 7 of the non-circular gear planetary gear system 5, respectively. The two ends of a connecting frame 13 are fixed to the outer ends of the planetary shafts 2. A toothed nesting cylinder 8 is rotatably mounted on the planetary shafts 2 within the non-circular gear planetary gear system 5. The inner and outer ends of the toothed nesting cylinder 8 are respectively connected to a swing gear 3 mounted on the planetary shaft 2 and located within the cam swing mechanism 1, and to the transplanting arm assembly 9. The seedling needle telescopic drive cam 11 inside 9 is fixedly connected. The planetary gear 6 of the non-circular gear planetary gear system 5 is rotatably mounted on the toothed nesting cylinder 8. The inner and outer ends of the planetary gear 6 are fixedly connected to the cam swing mechanism housing 4 of the cam swing mechanism 1 and the transplanting arm housing 12 of the transplanting arm assembly 9, respectively. On the seedling needle assembly 10, the seedling needle telescopic drive rod 15 and the seedling needle clamping drive rod 14 are parallel and movably mounted on the transplanting arm housing 12 of the transplanting arm assembly 9, respectively. The two hinge points of the seedling needle telescopic drive rod 15 are respectively hinged to the left and right symmetrical drive seedling needles 18. The seedling needle clamping drive rod 14 is fixedly connected to the drive U-shaped card 16. The movable slide groove 17 is movably mounted on the drive seedling needles 18, respectively. The movable slide groove 17 is respectively hinged to the two hinge points of the drive U-shaped card 16.

[0011] During operation, power is transmitted through the non-circular gear planetary gear train 5, which drives the planetary carrier housing 7 to rotate at a uniform speed. At the same time, the planetary gear 6 rotates at a non-uniform speed, thereby causing the transplanting arm housing 12 and the cam swing mechanism housing 4, which are fixed to the planetary gear 6, to rotate at a non-uniform speed relative to the planetary carrier housing 7. This forms the unique working trajectory and posture of the transplanting mechanism. The planetary shaft 2, which rotates at a uniform speed with the planetary carrier housing 7, drives the swing gear 3 to swing through the cam swing mechanism 1, and then transmits the power to the seedling needle extension and retraction drive cam 11 in the transplanting arm assembly 9 through the toothed nesting cylinder 8 fixed to it. On the other hand, the transplanting arm assembly 9 drives the seedling needle clamping drive cam fixed to it to rotate. Due to the different rotational motions of the two cams, the seedling needle extension and retraction drive rod 15 and the seedling needle clamping drive rod 14 on the transplanting arm housing 12 to perform different reciprocating linear motions through their respective transmission configurations. This causes the driving seedling needle 18 and the movable slide 17 hinged to the driving U-shaped card 16 to complete the relative cooperation motion at the same time, realizing the rapid extension, clamping and retraction of the transplanting mechanism at key stages and positions.

Claims

1. A seedling transplanting mechanism for rapidly telescopic clamping seedlings in nutrient pots, comprising a cam swing mechanism (1), a non-circular gear planetary gear system (5), a transplanting arm assembly (9), and a seedling needle assembly (10), wherein planetary shafts (2) are symmetrically and rotatably inserted into the non-circular gear planetary gear system (5) at positions 180° apart along the circumference, and the cam swing mechanism (1) and the transplanting arm assembly (9) are rotatably mounted on the planetary shafts (2) at the inner and outer sides of the planetary frame housing (7) of the non-circular gear planetary gear system (5), and the two ends of a connecting frame (13) are fixedly connected to the outer ends of the planetary shafts (2), and a toothed nesting cylinder (8) is rotatably fitted onto the planetary shafts (2) within the non-circular gear planetary gear system (5), characterized in that: The inner and outer ends of the toothed nesting cylinder (8) are respectively fixedly connected to the swing gear (3) mounted on the planetary shaft (2) and located in the cam swing mechanism (1) and the seedling needle telescopic drive cam (11) located in the transplanting arm assembly (9). The planetary gear (6) of the non-circular gear planetary gear train (5) is rotatably mounted on the toothed nesting cylinder (8). The inner and outer ends of the planetary gear (6) are respectively fixedly connected to the cam swing mechanism housing (4) of the cam swing mechanism (1) and the transplanting arm housing (12) of the transplanting arm assembly (9). On the transplanting arm assembly (9), the seedling needle telescopic drive rod (15) and the seedling needle clamping drive rod (14) are parallel and movable and respectively mounted on the transplanting arm housing (12). The two hinge points of the seedling needle telescopic drive rod (15) are respectively hinged to the left and right symmetrical drive seedling needles (18). The seedling needle clamping drive rod (14) is fixed to the drive U-shaped card (16). The movable slide groove (17) is movably mounted on the drive seedling needle (18). The movable slide groove (17) is respectively hinged to the two hinge points of the drive U-shaped card (16).

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