CN104823572A - Hydraulic contour-following planting mechanism - Google Patents

Abstract

The invention discloses a hydraulic profiling planting mechanism, which comprises a ground sensing mechanism, a hydraulic actuator and a planter follow-up mechanism. It obtains the ups and downs of the ground through the ground sensing mechanism, feeds back to the hydraulic lift actuator of the planter, and controls the expansion and contraction of the hydraulic cylinder to drive the lift of the follower mechanism of the planter, so as to ensure the consistency of the relative height between the duckbill planting parts and the ground. The invention has a simple structure and is easy to popularize. The follower mechanism of the planter at the rear adopts a parallelogram connecting rod structure, which can bear relatively large loads, amplify the displacement, and ensure the balance and verticality of the planter during the profiling process. , thereby ensuring the uniformity of planting depth during the transplanting process, improving the quality of planting, and better meeting the requirements for field transplanting in dry land.

Description

A hydraulic profiling planting mechanism

technical field

The invention belongs to the technical field of dryland transplanting machines, in particular to a transplanting machine planting mechanism with ground profiling capability.

Background technique

Seedling transplanting is an important production link in the cultivation of vegetables and other crops. Transplanting in dry land can greatly improve the survival rate of seedlings and reduce secondary replanting. my country began to develop dryland transplanting machines from the end of the 1950s, and successively carried out relevant experimental research on vegetables such as cotton and corn, and developed various types of transplanting machines. The planter is the core component of the transplanting machine except for the seedling-taking mechanism. It provides seedlings by the seedling-taking mechanism or manually, and then plants the seedlings in the ground. It has the advantage of upright planting and can reflect the transplanting machine Development process and level of progress. At present, there are four types of planters used on transplanting machines at home and abroad: clamp type, flexible disc type, hanging cup type and seedling guide tube type.

As an important part of the transplanting machine, the planter mainly completes the actions of seedling inoculation and planting, and the quality of a transplanter’s planting quality is directly reflected in the final work effect of the planter, so the height and curve of the planting must be guaranteed Consistent, here just need to carry out profiling to planter. Patent CN104115600A discloses a ground profiling mechanism for a transplanter, which uses profiling wheels to sense ground changes, and finally achieves the purpose of chassis profiling through a series of linkage mechanisms and hydraulic systems. However, the chassis frame is very heavy, and the load requirements for the hydraulic system are relatively strict. It is necessary to select a hydraulic cylinder with a large load-carrying capacity, which is expensive, and it is easy to damage the hydraulic system for a long time with continuous high-load work; patent CN102487643A discloses a rice paddy The electric profiling mechanism of the rice transplanter, there are two profiling mechanisms on the left and right sides of the rice transplanter, which are driven by the motors and work independently to ensure the parallelism between the chassis frame and the ground, but the motor in this mechanism bears a lot of load from the chassis Large, need to choose a larger power motor, and the structure is complex, resulting in high cost, and the long-term high-load work is easy to cause damage to the motor, so it is difficult to promote.

At present, the profiling of most transplanting machines is that the planter relies on the chassis, and the purpose of consistent planting depth is achieved through the profiling of the chassis. However, the chassis profiling requires the hydraulic cylinder to drive the whole frame to move, and the load that the hydraulic cylinder needs to bear is particularly high. At this time, it is necessary to choose a hydraulic system with a large bearing capacity, which greatly increases the cost; The inertial force on the hydraulic cylinder is particularly large during the movement process. Long-term high-load and continuous work may cause damage to the hydraulic cylinder, which will eventually affect the efficiency of planting. Moreover, most of the chassis profiling has complex structures and poor operability, making it difficult to To achieve large-scale promotion.

Contents of the invention

The purpose of the present invention is to provide a hydraulic profiling planting mechanism to realize the real-time perception of the ground situation through the ground sensing mechanism, transmit the signal to the hydraulic system, and automatically adjust the lifting of the planter follower mechanism through the hydraulic circuit to ensure that the planter The relative height of the duckbill planting part on the follow-up mechanism and the ground ensures the quality and effect of planting. The structure is simple, the response is quick, and the effect is remarkable.

In order to solve the above technical problems, the present invention directly performs profiling processing on the planter. Compared with the entire chassis frame, the follower mechanism of the planter uses a parallelogram structure, which is simple and light in structure, and can not only bear large loads, but also Played the role of displacement amplification. This not only reduces the load on the hydraulic cylinder, but also reduces the stroke of the hydraulic cylinder. It is not necessary to choose a hydraulic cylinder with a large bearing capacity and a large stroke, which can greatly save costs and achieve better planting effects. The specific technical scheme adopted is as follows:

A hydraulic profiling planting mechanism, characterized in that it comprises: a ground sensing mechanism (2), a hydraulic actuator and a planter follow-up mechanism (4); the ground sensing mechanism (2) and the planter follow-up mechanism (4) are installed on The middle part of the frame (31) is in a straight line front and rear, and the ground sensing mechanism and the planter follower mechanism are connected to the planter follower mechanism (4) through a hydraulic actuator and are rotatably installed at the tail of the frame (31);

The ground sensing mechanism (2) comprises a ground wheel (11), a ground wheel axle (12), a ground wheel frame (13), a ground wheel frame fixed plate (14), a tension spring (15), a fixed plate connecting Rod (16), spool connecting rod (17), spool (18) and servo valve (9); the ground wheel (11) is rotatably installed on the ground wheel axle (12), and the ground wheel axle The two ends of (12) are fixedly connected with ground wheel frame (13) by connecting rod, and ground wheel frame (13) is fixedly installed on the ground wheel frame fixed plate (14), and ground wheel wheel frame fixed plate (14) It is rotatably connected with the frame (31); one end of the tension spring (15) is fixedly connected with the rotating pair of the frame (31), and the other end is fixedly connected with the upper end of the ground wheel frame (13); the fixed plate connecting rod (16 ) is fixedly connected with the upper end of the ground wheel frame fixed plate (14), and the other end is rotatably connected with the lower end of the spool pull rod (17); the upper end of the spool pull rod (17) is rotatably connected with the spool (18), The spool (18) can be slidably installed in the valve body of the follow-up servo valve (9) along the positioning sleeve, and the follow-up servo valve (9) is fixedly installed on the frame (31);

The planter follow-up mechanism (4) comprises a chute (19), a slide block (20), a duckbill planting part (21), a duckbill planting part support (22), a planter fixing plate (23), a follower Mechanism lower support rod (24), follower mechanism pull rod (25), pull rod fixed plate (26), hydraulic cylinder connecting rod (27), follower mechanism upper support rod (28), planter installation connecting rod (29), On-off valve (6), on-off valve spool (30) and hydraulic cylinder (8); said on-off valve (6) is fixedly installed on the upper end of the chute (19), and the chute (19) is fixedly installed on the planting In the device fixing plate (23), the slide block (20) can be slidably installed in the chute (19) along the inner wall of the chute (19); In the middle part, the duckbill planting part (21) is fixedly installed on the duckbill planting part support (22); the planter fixed plate (23) is fixedly installed on the planter installation link (29), and the planter installation link (29 ) is rotatably connected with the lower end of the upper pole (28) of the follow-up mechanism through a swivel pair A, and the lower end is rotatably connected with the lower end of the lower pole (24) of the follow-up mechanism through a swivel pair B; the upper pole of the follow-up mechanism The upper end of (28) is rotatably installed on the frame (31) by the rotating pair E, the middle part of the follower mechanism lower support rod (24) is fixedly connected with the lower end of the follower mechanism pull rod (25), and the upper end is connected with the pull rod fixed plate (26) Fixedly connected, the lower end of the pull rod fixed plate (26) is rotatably connected with the frame (31) through the rotating pair C, and the upper end of the follower mechanism pull rod (25) is fixedly connected with the upper end of the pull rod fixed plate (26), and the pull rod is fixed The upper end of the plate (26) is rotatably connected with the upper end of the hydraulic cylinder connecting rod (27) through the rotating pair D, the lower end of the hydraulic cylinder (8) is rotatably connected with the frame (31), and the upper end is fixed with the lower end of the hydraulic cylinder connecting rod (27) connect;

The hydraulic actuator includes on-off valve (6), hydraulic oil pipe (7), hydraulic cylinder (8), follow-up servo valve (9) and hydraulic pump (10); follow-up servo valve (9), on-off valve (6) and the hydraulic cylinder (8) are connected sequentially through the hydraulic oil pipe (7); the follow-up servo valve (9) is a three-position four-way servo valve, the on-off valve (6) is a two-position four-way valve, and the hydraulic cylinder ( 8) is a double-acting hydraulic cylinder, the follow-up servo valve (9) is connected with the hydraulic pump (10) through the hydraulic oil pipe (7), and the hydraulic pump (10) is fixedly installed on the frame (31).

An extension spring (15) is housed on the ground sensing mechanism (2), and the extension spring (15) is a cylindrical helical spring, and there is no gap in a normal state, only the pulling force reaches the initial tension of the extension spring (15) will be stretched.

The connecting line AE formed by the rotating pair A and the rotating pair E and the connecting line BC formed by the rotating pair B and the rotating pair C are equal in length and parallel, forming a parallelogram mechanism.

A plurality of planters can be installed in parallel on the planter fixing plate (23) in the planter follower mechanism (4), and multiple rows of transplanting can be realized simultaneously. In the present invention, a tension spring is installed on the ground sensing mechanism. When the ground is relatively flat and the height changes little, the tension spring will not be stretched due to the pre-tightening force, which will keep the whole mechanism in balance. state. Only ground wheel just can overcome the stretching force of extension spring to make the ground sensing mechanism run when the ground height changes greatly, and just can start profiling at this moment.

In the present invention, the hydraulic cylinder is rotatably connected to the frame, the connecting rod of the hydraulic cylinder is rotatably connected to the pull rod of the follower mechanism through the rotating pair D, and the hydraulic cylinder is fixedly connected to the connecting rod of the hydraulic cylinder, so that the rotation of the hydraulic cylinder and the cylinder The translational movement of the body can better meet the lifting requirements of the planter follower mechanism.

In the present invention, the on-off valve is fixedly installed above the chute of the planter. When and only when the duckbill planting part finishes planting and moves to the seedling receiving state, the slide block is against the valve core of the on-off valve, and the on-off valve will Open, the hydraulic circuit can be fully connected, so as to control the lifting of the hydraulic cylinder. Therefore, when designing, it is necessary to ensure that the distance L between the center of the ground wheel and the center of the duckbill planting parts is the distance of a plant distance required to be planted. In this way, the hydraulic cylinder movement of a plant distance is controlled to adjust once to form a periodic motion to ensure the stability of the planting process.

In the present invention, the follower mechanism of the planter adopts a parallelogram linkage mechanism, the connecting line AE formed by the rotating pair A and the rotating pair E and the connecting line BC formed by the rotating pair B and the rotating pair C are equal in length and parallel, In this way, the angular velocity and angular displacement of the upper and lower poles of the follower mechanism are the same, ensuring the translational movement of the planter installation connecting rod, thereby ensuring that the planter is always in a state perpendicular to the ground during the profiling process of the follower mechanism of the planter, and this mechanism can It bears a large load, reduces the burden on the hydraulic cylinder, and can amplify the displacement and reduce the stroke of the hydraulic cylinder; in addition, the upper end of the pull rod of the follow-up mechanism is fixedly connected with the upper end of the tie rod fixing plate, and the lower end of the pull rod of the follow-up mechanism is connected with the lower end of the follow-up mechanism. The middle part of the support rod is fixedly connected, and the upper part of the lower support rod of the follow-up mechanism is fixedly connected with the lower end of the tie rod fixing plate to form a triangular mechanism. The lower support rod of the follow-up mechanism of the planter not only supports the weight of the entire mechanism, but also is the part of the hydraulic cylinder that transmits power , the use of triangular structure makes the connecting rod structure more stable, and can better achieve the effect of load bearing and power transmission.

The advantages of the present invention are: the present invention adopts the mechanical structure to cooperate with the hydraulic system to perform profiling, so that the overall structure is simple, the cost is low, and the effect is obvious. The ground sensing mechanism senses the height change of the ground through the ground wheel, feeds the signal back to the hydraulic system to control the movement of the hydraulic cylinder, and drives the planter follower mechanism to move up and down, so as to achieve real-time profiling of the ground and ensure the contact between the duckbill planting parts and the ground. The relative height improves the success rate of planting. The present invention directly performs profiling processing on the planter, which is different from the profiling of the entire chassis frame. The follower mechanism of the planter uses a parallelogram structure, which is simple and light in structure, and can not only bear a large load, but also play a role in displacement amplification . This not only reduces the load on the hydraulic cylinder, but also reduces the stroke of the hydraulic cylinder. It is not necessary to choose a hydraulic cylinder with a large bearing capacity and a large stroke, which greatly saves costs and achieves better planting effects.

Description of drawings

Fig. 1 is a front view of the device of the present invention.

Fig. 2 is a front view of the ground sensing mechanism of the device of the present invention.

Fig. 3 is a front view of the planter follower of the device of the present invention.

Fig. 4 is a schematic diagram of the movement of the ground sensing mechanism of the device of the present invention.

Fig. 5 is a schematic diagram of the movement of the planter follower of the device of the present invention.

Fig. 6 is a hydraulic principle diagram of the control profiling mechanism of the device of the present invention.

In the figure: 1-front wheel, 2-ground sensing mechanism, 3-rear wheel, 4-planter follow-up mechanism, 5-planter, 6-on-off valve, 7-hydraulic oil pipe, 8-hydraulic cylinder, 9- Follow-up servo valve, 10-hydraulic pump, 11-ground wheel, 12-ground wheel axle, 13-ground wheel frame, 14-ground wheel frame fixed plate, 15-tension spring, 16-fixed plate connecting rod, 17-spool connecting rod, 18-spool, 19-chute, 20-slider, 21-duckbill planting part, 22-duckbill planting part bracket, 23-planter fixing plate, 24-following mechanism Support rod, 25-following mechanism pull rod, 26-tie rod fixing plate, 27-hydraulic cylinder connecting rod, 28-following mechanism upper connecting rod, 29-planter installation connecting rod, 30-on-off valve spool, 31- Frame, 32-component I, 33-component II, 34-component III, 35-component IV, 36-component V, 37-component VI, 38-component VII, 39-component VIII, 40-component IX, 41- Build X, 42 - Build XI.

Detailed ways

The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figure 1: a hydraulic profiling planting mechanism is composed of a ground sensing mechanism 2, a hydraulic actuator, a planter follower mechanism 4, a front wheel 1, a rear wheel 3 and a frame 31. The front wheel 1 and the rear wheel 3 are rotatably installed on the frame 31 through the connecting rod, and the front wheel 1 is turned, and the rear wheel 3 is driven; the ground sensing mechanism 2 is fixedly installed on the frame 31 to sense changes in the ground; The follower mechanism 4 of the planter is rotatably installed on the frame 31 to adjust the relative height between the planter and the ground; the hydraulic actuator connects the ground sensing mechanism 2 and the follower mechanism 4 of the planter together to form a hydraulic pressure of the transplanter. Copy planting mechanism.

As shown in Figure 2: the ground sensing mechanism 2 is composed of a ground wheel 11, a ground wheel axle 12, a ground wheel frame 13, a ground wheel frame fixed plate 14, a tension spring 15, a fixed plate connecting rod 16, and a spool connecting rod 17 , spool 18 and follow-up servo valve 9 components. When the machine is working on a relatively flat ground, the ground wheel 11 will theoretically have a slight displacement, but due to the existence of the tension spring 15, the ground wheel 11 cannot drive the fixed plate connecting rod 16 to rotate, and each mechanism is in a normal balance state. No profiling is carried out; when the ground wheel 11 walks on the raised ground, the ground wheel 11 can overcome the pre-tightening force of the tension spring 15 and move upwards, and now the fixed plate connecting rod 16 can drive the spool connecting rod 17 to rotate downwards, Thereby driving the spool 18 to move downward, so that the upper position of the follow-up servo valve 9 is connected to the system. When the through-section valve 6 is opened, the hydraulic cylinder 8 will drive the upper and lower poles of the planter follow-up mechanism 4 to rotate clockwise. Drive the planter 5 to move upwards, so as to ensure the relative height of the duckbill planting parts 21 and the ground; The plate connecting rod 16 will drive the spool connecting rod 17 to rotate upward, thereby driving the spool 18 to move upward, so that the lower position of the follow-up servo valve 9 is connected to the system. When the through-section valve 6 is opened, the hydraulic cylinder 8 will drive the planting The upper and lower poles of the follower mechanism 4 rotate counterclockwise to drive the planter 5 to move downward, thereby ensuring the relative height of the duckbill planting parts 21 and the ground.

In addition, a tension spring 15 is installed on the ground sensing mechanism 2. When the ground is relatively flat and the height changes little, the tension spring 15 will not be stretched under the action of the pre-tightening force, which will keep the whole mechanism in balance. state. Only ground wheel 11 just can overcome the pretightening force of extension spring 15 to rise or fall to make ground sensing mechanism 2 work when ground height changes greatly, and just can start profiling this moment.

As shown in Figure 3: the planter follow-up mechanism 4 is made up of chute 19, slide block 20, duckbill planting part 21, duckbill planting part support 22, planter fixing plate 23, follow-up mechanism lower pole 24, follow-up Mechanism pull rod 25, pull rod fixed plate 26, hydraulic cylinder connecting rod 27, follower mechanism upper pole 28, planter installation connecting rod 29, on-off valve 6, on-off valve spool 30 and hydraulic cylinder 8 are formed. The on-off valve 6 is fixedly installed on the top of the chute 19. If and only when the duckbill planting part 21 finishes planting and moves to the seedling receiving state, and the slide block 20 is against the on-off valve spool 30, the on-off valve 6 will Only when the hydraulic circuit is opened, can the hydraulic circuit be fully connected, thereby controlling the lifting of the hydraulic cylinder 8. Therefore, during design, it is necessary to ensure that the distance L between the center of the ground wheel 11 and the center of the duckbill planting part 21 is the distance of a required planting distance, so that the hydraulic cylinder 8 of a planting distance is controlled to move and adjusted once to form a periodic motion to ensure the stability of the planting process. property; multiple planters can be installed in parallel on the planter fixing plate 23 in the planter follow-up mechanism 4, and can realize multi-row transplanting at the same time.

As shown in Figure 4: In order to facilitate the analysis of the motion principle, the ground sensing mechanism is simplified as a motion diagram. In the figure, component I32 represents the ground wheel 11, component II33 represents the fixed plate connecting rod 16, component III34 represents the valve core connecting rod 17, and component Ⅳ35 represents the follow-up servo valve spool 18,31 represents the frame. When the ground is raised, component I32 will rise and drive component II33 to rotate clockwise around the rotating pair of frame 31, the rotation of component II33 will pull component III34 to rotate downward, and the rotation of component III34 will drive component IV35 to move downward; Conversely, when the ground is sunken, member I32 will descend and drive member II33 to rotate counterclockwise around the rotating pair of frame 31, the rotation of member II33 will pull member III34 to rotate upward, and the rotation of member III34 will drive member IV35 to move upward.

As shown in Figure 5: in order to facilitate the analysis of the movement principle, the follower mechanism of the planter is simplified into a simple movement diagram. In the figure, component V36 represents the hydraulic cylinder connecting rod 27, component VI37 represents the tie rod fixing plate 26, and component VII38 represents the pull rod of the follower mechanism 25. Component VIII39 represents the lower support rod 24 of the follower mechanism, component IX40 represents the planter 5, component X41 represents the planter installation connecting rod 29, component XI42 represents the upper link 28 of the follower mechanism, 31 represents the frame, and 8 represents the hydraulic cylinder . When the ground is raised, the hydraulic system will control the cylinder body of hydraulic cylinder 8 to retract, thereby driving the component V36 fixedly connected to it to move to the right. At this time, component V36 will drive the components VI37, VII38 and component The triangular structure formed by VIII39 rotates clockwise around the frame 31, and at the same time, component XI42 rotates clockwise around the frame 31, so that component X41 moves obliquely upwards driven by component VIII39 and component XI42, and component X41 is always Keep vertical to the ground, so that component IX40 will also move with component X41 and always keep vertical to the ground; on the contrary, when the ground is sunken, the hydraulic system will control the hydraulic cylinder 8 to stretch out, thereby driving the fixedly connected Component V36 moves to the left. At this time, component V36 will drive the triangular structure formed by component VI37, component VII38 and component VIII39 that is rotatably connected with it to rotate counterclockwise around the frame 31. At the same time, component XI42 will follow it around the frame. 31 rotate counterclockwise, so that component X41 moves obliquely downward under the drive of component VIII39 and component XI42, and component X41 remains vertical to the ground all the time, so component IX40 also moves with component X41 and remains vertical to the ground all the time; During the profiling process, the hydraulic cylinder 8 will rotate around the frame 31 according to the movement of the mechanism, so as to better cooperate with the movement of the follower mechanism of the planter.

As shown in Figure 6: the ground sensing mechanism 2 is rotationally connected with the spool 18 of the follow-up servo valve 9, and the follow-up servo valve 9, the on-off valve 6 and the hydraulic cylinder 8 are fixedly connected in turn through the hydraulic oil pipe 7, and the follow-up The servo valve 9 is a three-position four-way servo valve, the on-off valve 6 is a two-position four-way valve, the hydraulic cylinder 8 is a double-acting hydraulic cylinder, and the hydraulic cylinder 8 is rotatably installed on the frame 31 . The ground sensing mechanism 2 senses the ground changes in real time, and transmits the signal to the servo valve 9 in the hydraulic actuator, and adjusts the flow direction of the hydraulic oil through the servo valve 9 to control the expansion and contraction of the hydraulic cylinder 8, thereby controlling the planter servo mechanism 4 to ensure the relative height of the duckbill planting parts 21 and the ground.

Shown with a planter 5, the concrete work process of the present invention is as follows:

When the machine is working on a relatively flat ground, the ground wheel 11 will theoretically have a slight displacement, but due to the existence of the tension spring 15, the ground wheel 11 cannot overcome the pre-tightening force of the tension spring 15 to drive the fixed plate connecting rod 16 Rotation, each mechanism is in a normal balance state, no profiling;

When the ground wheel 11 walks on the raised ground, the ground wheel 11 will overcome the pre-tightening force of the tension spring 15 and move upwards. At this time, the fixed plate connecting rod 16 will drive the spool connecting rod 17 to rotate downward, thereby driving the spool 18 Move downward, so that the upper position of the follow-up servo valve 9 is connected to the system. When the through-section valve 6 is opened, the hydraulic system will control the hydraulic cylinder 8 to retract, thereby driving the hydraulic cylinder connecting rod 27 fixedly connected to it. Move to the right, and now the hydraulic cylinder connecting rod 27 will drive the triangle structure formed by the pull rod fixed plate 26, the follower mechanism pull rod 25 and the follower mechanism lower support rod 24 to rotate clockwise around the frame 31. At the same time, the upper link 28 of the follow-up mechanism will also rotate clockwise around the frame 31, so that the planter installation link 29 is driven by the lower support rod 24 of the follow-up mechanism and the upper link 28 of the follow-up mechanism. Translate upwards, and the planter installation link 29 remains vertical to the ground all the time, so the planter 5 will also move along with the planter installation link 29 and remain vertical to the ground all the time, so as to achieve the purpose of profiling;

In the same way, when the ground wheel 11 walks down the sunken ground, the ground wheel 11 will overcome the pre-tightening force of the tension spring 15 and move downwards. At this time, the fixed plate connecting rod 16 will drive the valve core connecting rod 17 to rotate upwards, thereby driving the valve. The core 18 moves upward, so that the lower part of the servo valve 9 is connected to the system. When the through-section valve 6 is opened, the hydraulic system will control the cylinder body of the hydraulic cylinder 8 to extend, thereby driving the connecting rod of the hydraulic cylinder fixedly connected to it. 27 moves to the left, and now the hydraulic cylinder connecting rod 27 will drive the triangular structure formed by the pull rod fixed plate 26, the follower mechanism pull rod 25 and the follower mechanism lower support rod 24 to rotate around the frame 31 counterclockwise. Rotate, at the same time, the upper link 28 of the follower mechanism will also rotate counterclockwise around the frame 31, so that the planter installation link 29 is driven by the lower support rod 24 of the follower mechanism and the upper link 28 of the follower mechanism. Move obliquely downwards, and the planter installation link 29 remains vertical to the ground all the time, so the planter 5 will also move along with the planter installation link 29 and remain vertical to the ground all the time, so as to achieve the purpose of profiling.

Of course, the present invention can also have other various embodiments. Two or more planters can be installed in parallel on the planter fixing plate 23 in the planter follow-up mechanism 4, and two or more rows can be moved at the same time. Planting, without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and deformations according to the present invention, but these corresponding changes and deformations should all belong to the attached scope of the present invention. The scope of the claims.

Claims (4)

1. a hydraulic tracing control planting mechanism, is characterized in that comprising: ground sensing mechanisms (2), hydraulic actuating mechanism and planting apparatus follower (4); Ground sensing mechanisms (2) and planting apparatus follower (4) are arranged on frame (31) middle part and front and back are straight line, and ground sensing mechanisms is connected by hydraulic actuating mechanism the afterbody that planting apparatus follower (4) is installed in rotation on frame (31) with planting apparatus follower;

Described ground sensing mechanisms (2) comprises land wheel (11), land wheel wheel shaft (12), land wheel wheel carrier (13), land wheel wheel carrier fixed head (14), extension spring (15), fixed head connecting rod (16), valve core link rod (17), spool (18) and follow-up type servovalve (9); Described land wheel (11) is installed in rotation on land wheel wheel shaft (12), the two ends of land wheel wheel shaft (12) are fixedly connected with land wheel wheel carrier (13) by connecting rod, land wheel wheel carrier (13) is fixedly mounted on land wheel wheel carrier fixed head (14), and land wheel wheel carrier fixed head (14) and frame (31) are rotatably connected; One end of extension spring (15) is fixedly connected with frame (31) revolute pair, and the other end is fixedly connected with the upper end of land wheel wheel carrier (13); The lower end of fixed head connecting rod (16) is fixedly connected with land wheel wheel carrier fixed head (14) upper end, and the lower end of the other end and valve core rod (17) is rotatably connected; Upper end and the spool (18) of valve core rod (17) are rotatably connected, spool (18) can be slidably mounted in the valve body of follow-up type servovalve (9) along positioning sleeve, and follow-up type servovalve (9) is fixedly mounted in frame (31);

Described planting apparatus follower (4) comprises chute (19), slide block (20), duckbilled is planted parts (21), duckbilled is planted part stent (22), planting apparatus fixed head (23), follower lower fulcrum bar (24), follower pull bar (25), pull bar fixed head (26), hydraulic cylinder connecting rod (27), follower upper rack posts (28), planting apparatus installing connecting rods (29), on-off valve (6), on-off valve spool (30) and hydraulic cylinder (8), described on-off valve (6) is fixedly mounted on the upper end of chute (19), chute (19) is fixedly mounted in planting apparatus fixed head (23), and slide block (20) can be slidably mounted in chute (19) along chute (19) inwall, duckbilled part stent (22) of planting is installed in rotation on the middle part of slide block (20), and duckbilled parts (21) of planting are fixedly mounted on duckbilled and plant in part stent (22), planting apparatus fixed head (23) is fixedly mounted on planting apparatus installing connecting rods (29), the upper end of planting apparatus installing connecting rods (29) and the lower end of follower upper rack posts (28) is rotatably connected by revolute pair A, the lower end of lower end and follower lower fulcrum bar (24) is rotatably connected by revolute pair B, the upper end of follower upper rack posts (28) is arranged in frame (31) by revolute pair E is rotating, the middle part of follower lower fulcrum bar (24) is fixedly connected with the lower end of follower pull bar (25), upper end is fixedly connected with pull bar fixed head (26), lower end and the frame (31) of pull bar fixed head (26) are rotatably connected by revolute pair C, the upper end of follower pull bar (25) is fixedly connected with pull bar fixed head (26) upper end, pull bar fixed head (26) upper end and hydraulic cylinder connecting rod (27) upper end are rotatably connected by revolute pair D, lower end and the frame (31) of hydraulic cylinder (8) are rotatably connected, upper end is fixedly connected with hydraulic cylinder connecting rod (27) lower end,

Described hydraulic actuating mechanism comprises on-off valve (6), hydraulic oil pipe (7), hydraulic cylinder (8), follow-up type servovalve (9) and hydraulic pump (10); Follow-up type servovalve (9), on-off valve (6) and hydraulic cylinder (8) are connected successively by hydraulic oil pipe (7); Follow-up type servovalve (9) is 3-position 4-way servo valve, on-off valve (6) is two-position four-way valve, hydraulic cylinder (8) is double acting hydraulic cylinder, follow-up type servovalve (9) and hydraulic pump (10) are connected by hydraulic oil pipe (7), and hydraulic pump (10) is fixedly mounted in frame (31).

2. a kind of hydraulic tracing control planting mechanism according to claim 1, it is characterized in that: described ground sensing mechanisms (2) is equipped with an extension spring (15), described extension spring (15) is cylindrical helical shape spring, normal condition is very close to each other, just can be stretched when only having pulling force to reach extension spring (15) initial tension.

3. a kind of hydraulic tracing control planting mechanism according to claim 1, is characterized in that: described revolute pair A is isometric and parallel with the line BC that revolute pair C is formed with revolute pair B with the line AE that revolute pair E is formed, and forms parallel-crank mechanism.

4. a kind of hydraulic tracing control planting mechanism according to claim 1, is characterized in that: planting apparatus fixed head (23) is upper in described planting apparatus follower (4) can the multiple planting apparatus of parallel installation, can realize multirow transplanting simultaneously.