Non-circular gear train pot seedling picking and planting integrated mechanism

Abstract

The invention provides a non-circular gear train pot seedling picking and planting integrated mechanism which comprises a rack, a crank rocker mechanism, a planetary arm assembly and a clamping head, a non-circular gear A and a non-circular gear a which are meshed with each other are arranged on the rack, a non-circular gear B, a non-circular gear b, a circular gear A and a circular gear a are arranged on a connecting rod, and the planetary arm assembly further comprises a non-circular gear C and a transmission assembly. The non-circular gear A drives the crank to rotate at a non-uniform speed, the speed of the planet arm is controlled by the relative angular speed of the crank and the connecting rod, and the rotating speed of the clamping head is controlled by the angular speed of the planet arm relative to the connecting rod, so that the clamping head can move according to set requirements, a transverse zero-speed moving track is realized at a seedling planting point, a uniform-speed linear track is realized, and the insertion speed is low.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery design optimization technology, specifically to a non-circular gear system integrated seedling picking and planting mechanism. Background Technology

[0002] The design of transplanting mechanisms has evolved from separate to integrated designs. Early traditional transplanters generally used separate mechanisms, meaning the seedling picking mechanism and the seedling planting mechanism were physically and functionally independent. This design inevitably resulted in a complex overall structure, large space occupation, long transmission chains, and high control precision requirements. Furthermore, during high-speed transplanting, it was prone to causing blockages, overturning, and collision damage to the seedlings in the pots, resulting in poor reliability and adaptability to different agronomic conditions.

[0003] To address the aforementioned problems, an integrated seedling-harvesting and planting mechanism has emerged. This mechanism performs the entire seedling-harvesting and planting process continuously and smoothly through a single mechanism, significantly improving structural compactness and ease of control, and has become a current research hotspot. Research in this field mainly focuses on non-circular planetary gear trains, linkage mechanisms, and their combined structures, achieving a series of advancements, but also revealing many common shortcomings: For example, the fixed-track sliding rail linkage mechanism proposed by Li Wenhao et al. and the hybrid drive five-bar parallel mechanism proposed by Zhao et al. can both achieve a good "eagle beak" seedling picking static trajectory, but they are obviously insufficient in terms of the accuracy of the seedling planting trajectory, making it difficult to meet the agronomic requirements of "vertical implantation" and "zero-speed seedling placement".

[0004] Yang Yuchao's non-circular gear planetary gear train mechanism based on Lagrange curves, and Sun Liang et al.'s non-circular gear-connecting rod combination mechanism, have shown excellent performance in optimizing seedling picking trajectory, but they also face the challenge of optimizing seedling planting trajectory and have the problem of excessively high seedling picking speed.

[0005] Although the elliptical-non-circular gear planetary gear system mechanism used by Zhou Meifang et al. can complete the picking action simultaneously, it has the problems of a short effective trajectory segment and limited working space, which limits its working efficiency. Summary of the Invention

[0006] The purpose of this invention is to provide a non-circular gear-driven integrated seedling harvesting and planting mechanism to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: A non-circular gear-type integrated seedling picking and planting mechanism includes: a frame, a crank-rocker mechanism, a planetary arm assembly, and a clamping head. One end of the crank of the crank-rocker mechanism is hinged to the frame, and the other end is hinged to a connecting rod. One end of the rocker arm of the crank-rocker mechanism is hinged to the frame, and the other end is hinged to a connecting rod. The planetary arm of the planetary arm assembly is rotatably connected to the connecting rod, and the clamping head is rotatably connected to the end of the planetary arm. The frame is equipped with non-circular gear A and non-circular gear a that mesh with each other. Non-circular gear a rotates coaxially with the crank and is fixedly connected to the crank. Non-circular gear A serves as the driving wheel and is the power source for the entire mechanism.

[0008] Furthermore, the connecting rod is provided with a non-circular gear B, a non-circular gear b, a circular gear A, and a circular gear a. The non-circular gear B meshes with the non-circular gear b, the circular gear A meshes with the circular gear a, and the non-circular gear b and the circular gear A are coaxial and fixedly connected. The non-circular gear B, the non-circular gear b, and the circular gear a are arranged in a straight line on the connecting rod. On the connecting rod, the rotation axis of the crank, the rotation axis of the rocker arm, and the rotation axis of the circular gear a are parallel to each other and not coplanar. The rotation axis of the crank is collinear with the rotation axis of the non-circular gear B, and the crank is fixedly connected to the non-circular gear B.

[0009] Furthermore, the planetary arm assembly also includes a non-circular gear C and a transmission assembly. The transmission assembly includes a non-circular gear c, a non-circular gear D, and a non-circular gear d. The non-circular gears C, D, and d are rotatably mounted on the planetary arm. The non-circular gears C and D mesh with each other, and the non-circular gears D and d mesh with each other. The non-circular gears C and D are coaxial and fixedly connected. The non-circular gears C, C, and d are arranged in a straight line.

[0010] Furthermore, the rotation axis of the planetary arm on the connecting rod, the rotation axis of the spur gear a, and the rotation axis of the non-spur gear C are collinear, and the planetary arm is fixedly connected to the spur gear a, while the non-spur gear C is fixedly connected to the connecting rod.

[0011] Furthermore, the rotation axis of the clamping head on the planetary arm is collinear with the axis of the non-circular gear d, and the clamping head is fixedly connected to the non-circular gear d.

[0012] Furthermore, there are two clamping heads and two transmission components, which are symmetrically arranged on the planetary arm with the non-circular gear C as the center.

[0013] Compared with the prior art, the beneficial effects of the present invention are: This invention utilizes non-circular gear transmission from the crank, along with non-circular and circular gears arranged on the connecting rod. Starting with the non-uniform rotation of the crank, transmission proceeds through the connecting rod and planetary arms. The transmission speed is adjusted by the angle between the crank and connecting rod, and the angle between the planetary arms and connecting rod. Further speed adjustment via a series of non-circular gears on the planetary arms allows the gripper head to move according to predetermined requirements, achieving a "zero-speed lateral" trajectory at the planting point. This ensures stable and vertical implantation of the seedlings into the soil, effectively improving their uprightness. During the seedling removal stage, a uniform "straight-line" static trajectory is achieved with a low insertion speed, minimizing damage to the stems, leaves, roots, and seedling trays of the vegetable seedlings. The gripper head's position and posture angle errors are small, ensuring the accuracy of seedling removal and planting actions. Attached Figure Description

[0014] Figure 1 This is a three-dimensional schematic diagram of the entire invention; Figure 2 This is a simplified diagram illustrating the operation of another embodiment of the present invention; Figure 3 This is a pose comparison diagram of another embodiment of the present invention; Figure 4 This is a speed diagram of another embodiment of the present invention.

[0015] In the diagram: 1. Frame, 11. Non-circular gear A, 12. Non-circular gear a, 2. Crank-rocker mechanism, 21. Crank, 22. Rocker, 23. Connecting rod, 231. Non-circular gear B, 232. Non-circular gear b, 233. Circular gear A, 234. Circular gear a, 3. Planetary arm assembly, 31. Planetary arm, 32. Non-circular gear C, 33. Transmission assembly, 331. Non-circular gear c, 332. Non-circular gear D, 333. Non-circular gear d, 4. Clamping head. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] Example: Please see Figures 1 to 4 This invention provides a technical solution for an integrated mechanism for seedling harvesting and planting using a non-circular gear system.

[0018] As a preferred embodiment, such as Figure 1 As shown: It includes: a frame 1, a crank-rocker mechanism 2, a planetary arm assembly 3, and a clamping head 4. The crank 21 of the crank-rocker mechanism 2 is hinged at one end to the frame 1 and at the other end to the connecting rod 23. The rocker arm 22 of the crank-rocker mechanism 2 is hinged at one end to the frame 1 and at the other end to the connecting rod 23. The planetary arm 31 of the planetary arm assembly 3 is rotatably connected to the connecting rod 23. The clamping head 4 is rotatably connected to the end of the planetary arm 31. The frame 1 serves as the carrier of the entire mechanism. The connecting rod 23 of the crank-rocker mechanism 2 moves under the drive of the rotation of the crank 21. The connecting rod 23 drives the planetary arm assembly 3 to move. The clamping head 4 moves along a specified path after the planetary arm assembly 3 at the end of the planetary arm assembly 3. The frame 1 is equipped with non-circular gears A11 and a12 that mesh with each other. Non-circular gear a12 rotates coaxially with crank 21 and is fixedly connected to crank 21. Non-circular gear A11 serves as the driving wheel and is the power source for the entire mechanism. When non-circular gear A11 rotates and meshes with non-circular gear a12, the rotational speed of non-circular gear a12 is not constant. This drives crank 21 of crank-rocker mechanism 2 to rotate at a non-uniform speed. The specific rotational speed is controlled by the specific parameters of non-circular gears A11 and a12.

[0019] As a preferred embodiment, the power source for the non-circular gear A11 can be, but is not limited to, an electric motor, and also includes other components such as a hydraulic pump that can provide rotational power. This is a common technical feature in the art and will not be described in detail here.

[0020] In a preferred embodiment, the connecting rod 23 is provided with a non-circular gear B231, a non-circular gear b232, a circular gear A233, and a circular gear a234. Non-circular gear B231 meshes with non-circular gear b232, driving b232 to rotate. Circular gear A233 meshes with circular gear a234, driving a234 to rotate. Non-circular gear b232 and circular gear A233 are coaxial and fixedly connected, with b232 driving A233 to rotate at the same speed at any given time. The non-circular gears B231, b232, and a234... a234 is arranged in a straight line on the connecting rod 23, forming a power transmission path. On the connecting rod 23, the rotation axis of the crank 21, the rotation axis of the rocker arm 22, and the rotation axis of the spur gear a234 are parallel to each other and not coplanar. The spur gear a234 is not on the line connecting the rotation axis of the crank 21 and the rotation axis of the rocker arm 22. The rotation axis of the crank 21 is collinear with the rotation axis of the non-spur gear B231, and the crank 21 and the non-spur gear B231 are fixedly connected. The power source for the rotation of the non-spur gear B231 comes from the relative rotation of the crank 21 and the connecting rod 23, and its specific rotation speed also comes from the relative rotation of the crank 21 and the connecting rod 23.

[0021] In a preferred embodiment, the planetary arm assembly 3 further includes a non-circular gear C32 and a transmission assembly 33. The transmission assembly 33 includes a non-circular gear C331, a non-circular gear D332, and a non-circular gear d333. The non-circular gears C32, C331, D332, and d333 are rotatably mounted on the planetary arm 31. The non-circular gears C32 and C331 mesh with each other. As the planetary arm 31 and C32 rotate relative to each other, the non-circular gear C32 drives the non-circular gear C331 to rotate. The rotational speed of the non-circular gear C331 is affected by the parameters of the non-circular gears, the planetary arm 31, and the non-circular gears C331. The relative speed of gear C32 is controlled by non-circular gears D332 and d333 meshing with each other. Non-circular gear D332 drives non-circular gear d333 to rotate, and their relative speed is controlled by the parameters of the non-circular gears. Non-circular gears c331 and D332 are coaxial and fixedly connected. The rotational speeds of non-circular gears c331 and D332 are the same at any time. Non-circular gears C32, c331, and d333 are arranged in a straight line to form a power transmission path, transmitting the power of non-circular gear C32 to non-circular gear d333, causing non-circular gear d333 to rotate at a specified speed.

[0022] In a preferred embodiment, the rotation axis of the planetary arm 31 on the connecting rod 23, the rotation axis of the spur gear a234, and the rotation axis of the non-spur gear C32 are collinear, forming a power transmission path between the planetary arm 31 and the non-spur gear C32. The planetary arm 31 is fixedly connected to the spur gear a234, and the non-spur gear C32 is fixedly connected to the connecting rod 23. The planetary arm 31 rotates synchronously with the spur gear a234. The angular velocity difference between the non-spur gear C32 and the planetary arm 31 originates from the angular velocity difference between the spur gear a234 and the connecting rod 23. The non-spur gear C32 represents the sun gear of the planetary arm assembly 3, and the non-spur gear C331 serves as the planet gear of the planetary arm assembly 3, forming relative motion and power transmission.

[0023] In a preferred embodiment, the rotation axis of the clamping head 4 on the planetary arm 31 is collinear with the axis of the non-circular gear d333, and the clamping head 4 is fixedly connected to the non-circular gear d333. The rotation of the non-circular gear C32 is transmitted to the clamping head 4, and the planetary arm 31 rotates with the non-circular gear d333. Its rotation speed is the same as that of the non-circular gear d333, thereby realizing the dual motion of displacement and rotation, ensuring the position and speed control during seedling picking and planting.

[0024] In a preferred embodiment, there are two clamping heads 4 and two transmission components 33. The two clamping heads 4 and two transmission components 33 are symmetrically arranged on the planetary arm 31 with the non-circular gear C32 as the center. The symmetrical arrangement completes two operations in one operation, which improves the operating efficiency.

[0025] The working principle of this invention: Non-circular gear A11 drives non-circular gear a12 and crank 21 to rotate, resulting in speed adjustment. Crank 21 drives connecting rod 23 to move, and simultaneously, relative rotation occurs between crank 21 and connecting rod 23. The speed and power of this relative rotation are transmitted to planetary arm 31 through non-circular gear B231, non-circular gear b232, circular gear A233, and circular gear a234, causing planetary arm 31 to generate an angular velocity relative to connecting rod 23. Since planetary arm 31 is hinged to connecting rod 23, it moves in space following connecting rod 23. The spherical gear C32 is fixedly connected to the connecting rod 23, so the planetary arm 31 and the non-spherical gear C32 generate the same angular velocity. The non-spherical gear C331, as the planetary gear of the planetary arm assembly 3, transmits the relative motion to the clamping head 4 through the non-spherical gears D332 and D333. This allows the clamping head 4 to not only move in space with the planetary arm 31, but also rotate relative to the planetary arm 31. This allows the position, speed and angle of the clamping head 4 in space to be controlled simultaneously, completing the actions of picking up and planting seedlings, and controlling the angle and speed of picking up and planting seedlings.

[0026] The present invention provides another specific embodiment: As a preferred embodiment, the differential data points for non-circular gear transmission are set as shown in Table 1 below: Table 1. Data points for differential values ​​in non-circular gear transmissions. As a preferred embodiment, the kinematic diagram of the present invention is shown in the accompanying drawings. Figure 2 As shown, the static trajectory represents the movement trajectory of the clamping head 4 when the frame 1 of the mechanism of the present invention does not move, and the dynamic trajectory represents the movement trajectory of the clamping head 4 when the frame 1 of the mechanism of the present invention moves with the equipment. It can be found that the dynamic trajectory in the movement of the present invention is beneficial to the accuracy and stability of seedling planting.

[0027] In a preferred embodiment, the actual pose achieved by the gripping head 4 in this invention is compared with the designed required pose, for example... Figure 3 As shown, it can be seen that the actual posture achieved by the clamping head 4 of the present invention basically conforms to the designed posture.

[0028] In a preferred embodiment, the moving speed of the clamping head 4 in each direction in this invention is as follows: Figure 4 As shown, it can be seen that the clamping head 4 in this invention has a low speed during the seedling picking and planting stages, thus achieving protection during seedling picking and precision during seedling planting.

[0029] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A non-circular gear-driven integrated seedling transplanting mechanism, comprising: The frame (1), crank-rocker mechanism (2), planetary arm assembly (3) and clamping head (4) are provided. The crank (21) of the crank-rocker mechanism (2) is hinged at one end to the frame (1) and at the other end to the connecting rod (23). The rocker (22) of the crank-rocker mechanism (2) is hinged at one end to the frame (1) and at the other end to the connecting rod (23). The planetary arm (31) of the planetary arm assembly (3) is rotatably connected to the connecting rod (23). The clamping head (4) is rotatably connected to the end of the planetary arm (31). The feature is that: the frame (1) is provided with a non-circular gear A (11) and a non-circular gear a (12) that mesh with each other, wherein the non-circular gear a (12) rotates coaxially with the crank (21) and the non-circular gear a (12) is fixedly connected to the crank (21).

2. The non-circular gear-type integrated seedling transplanting mechanism according to claim 1, characterized in that: The connecting rod (23) is provided with a non-circular gear B (231), a non-circular gear b (232), a circular gear A (233), and a circular gear a (234). The non-circular gear B (231) meshes with the non-circular gear b (232), and the circular gear A (233) meshes with the circular gear a (234). The non-circular gear b (232) and the circular gear A (233) are coaxial and fixedly connected. The non-circular gear B (231), non-circular gear b (232), and circular gear a (234) are provided with a non-circular gear B (231), a non-circular gear b (232), a circular gear A (233), and a circular gear a (234). The spur gears b (232) and a (234) are arranged in a straight line on the connecting rod (23). On the connecting rod (23), the rotation axis of the crank (21), the rotation axis of the rocker arm (22), and the rotation axis of the spur gear a (234) are parallel to each other and not coplanar. The rotation axis of the crank (21) is collinear with the rotation axis of the non-spur gear B (231), and the crank (21) is fixedly connected to the non-spur gear B (231).

3. The non-circular gear-type integrated seedling transplanting mechanism according to claim 2, characterized in that: The planetary arm assembly (3) further includes a non-circular gear C (32) and a transmission assembly (33). The transmission assembly (33) includes a non-circular gear c (331), a non-circular gear D (332), and a non-circular gear d (333). The non-circular gears C (32), D (332), and d (333) are rotatably mounted on the planetary arm (31). The non-circular gears C (32) and D (331) mesh with each other, and the non-circular gears D (332) and d (333) mesh with each other. The non-circular gears C (331) and D (332) are coaxial and fixedly connected. The non-circular gears C (32), D (331), and d (333) are arranged in a straight line.

4. The non-circular gear-type integrated seedling transplanting mechanism according to claim 3, characterized in that: The rotation axis of the planetary arm (31) on the connecting rod (23), the rotation axis of the spur gear a (234) and the rotation axis of the non-spur gear C (32) are collinear, and the planetary arm (31) is fixedly connected to the spur gear a (234), and the non-spur gear C (32) is fixedly connected to the connecting rod (23).

5. The non-circular gear-type integrated seedling transplanting mechanism according to claim 4, characterized in that: The rotation axis of the clamping head (4) on the planetary arm (31) is collinear with the axis of the non-circular gear d (333), and the clamping head (4) is fixedly connected to the non-circular gear d (333).

6. The non-circular gear-driven seedling transplanting and holding mechanism according to claim 4, characterized in that: The number of clamping heads (4) and transmission components (33) are both two, and the two clamping heads (4) and transmission components (33) are symmetrically arranged on the planetary arm (31) with the non-circular gear C (32) as the center.

Images