Design and experiment of double planet carrier planetary gear flower transplanting mechanism  

作　　者：Xiong Zhao Hongwei Liao Xingxiao Ma Li Dai Gaohong Yu Jianneng Chen 

机构地区：[1]Faculty of Mechanical Engineering and Automation,Zhejiang Sci-Tech University,Hangzhou 310018,China [2]Key Laboratory of Zhejiang Transplanting Equipment Technology,Hangzhou 310018,China

出　　处：《International Journal of Agricultural and Biological Engineering》2021年第2期55-61,共7页国际农业与生物工程学报（英文）

基　　金：This work was financially supported by the National Key Research and Development Program of China(Grant No.2017YFD0700800);the National Natural Science Foundation of China(Grant No.32071909,No.51775512);Basic public welfare research projects of Zhejiang Province(Grant No.LGN19E050002,No.LGN20E050006);Fundamental Research Funds of Zhejiang Sci-Tech University(Grant No.2020Q013).

摘　　要：At present,there is a lack of miniaturized and highly reliable plug seedling transplanting mechanism in flowerpots planting operation,in order to meet the needs of large displacement and high vertical uprightness for flower transplanting,the paper combined the transmission characteristics of the non-circular gear planetary gear train with the swing flexibility of the cam gear and proposed a double planet carrier planetary gear transplanting mechanism.The linkage of the mechanism performs variable speed rotation relative to the first planet carrier,the linkage serves as the second planet carrier,and the transplanting arm performs variable speed swing relative to the linkage.A mathematical model of a single planetary carrier mechanism was first established using the method of open linkage group solution domain synthesis,then established the kinematic equations of the second planet carrier and the transplanting arm.The two parts are combined to form the mathematical solution model of the proposed mechanism.The initial trajectory was planned according to the trajectory requirements of seedlings planting operation,the non-circular gear pitch curve in the first planet carrier was obtained and the length of the first planet carrier is 120 mm.Then using the key points’angular deviation between the initial trajectory and the improved trajectory to obtain the cam parameters which driving the transplant arm,consequently determined the length of the second planet carrier is 69.25 mm and the length of the transplant arm is 112.4 mm.Finally,the prototype of the mechanism was manufactured,and the test verified the correctness of the design method of the double planet carrier planetary gear flower potting transplanting mechanism.The transplanting success rate of this mechanism reached 94.43%,and the plug seedlings planted in flowerpots had high uprightness.This research can provide a reference for the automatic development of research on flower transplanting machines.

关 键 词：flower transplanting double planet carrier planetary gear mechanism NON-CIRCULAR plug seedling 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]