Unmanned aerial vehicle seedling throwing device and unmanned aerial vehicle

Abstract

The embodiment of the invention provides an unmanned aerial vehicle seedling throwing device and an unmanned aerial vehicle, and relates to the field of agricultural automation equipment. The unmanned aerial vehicle seedling throwing device comprises a driving part, a cam and a rotary tool bit, the rotary tool bit comprises an ejection part and a seedling taking needle, the ejection part is in transmission connection with the driving part, the seedling taking needle is connected to the ejection part and used for clamping seedlings, and the driving part is used for driving the ejection part and the seedling taking needle to rotate relative to the cam; the cam comprises a protruding guide section, and the ejection piece firstly makes contact with the guide section so as to store elastic potential energy and release the elastic potential energy under the condition that the ejection piece is disengaged from the guide section so as to push out seedlings. In the seedling throwing operation process, the driving part is used for driving the rotary tool bit to rotate, the seedling taking needle is used for obtaining seedlings needing to be thrown out, the ejection part periodically makes contact with or gets away from the guide section through rotary motion, elastic potential energy is stored in the contact process, and the elastic potential energy is released and the seedlings are pushed out when the ejection part gets away from the guide section. Therefore, the seedling throwing operation can be efficiently and orderly carried out.

Description

Technical Field

[0001] The present invention relates to the field of agricultural automation equipment, and in particular to an unmanned aerial vehicle (UAV) seedling throwing device and an unmanned aerial vehicle (UAV). Background Art

[0002] For mechanized rice planting, rice transplanters are usually used on the market to perform automated planting operations. However, the soil in some farmlands is relatively soft, and rice transplanters can easily get stuck in the mud, making it difficult to carry out operations.

[0003] In the prior art, some drones can perform seedling transplanting tasks, but they are mainly used for transplanting seedlings in trays, and there is no suitable transplanting system for blanket seedlings, which are more popular in the market. Summary of the invention

[0004] The present invention provides a drone seedling throwing device and a drone, which can realize seedling throwing operation on seedlings, thereby improving the efficiency of seedling planting.

[0005] The embodiments of the present invention can be implemented as follows:

[0006] An embodiment of the present invention provides a drone seedling throwing device, which comprises:

[0007] Actuator, cam and rotary cutter head;

[0008] Among them, the rotating cutter head includes an ejection member and a seedling taking needle, the ejection member is transmission-connected with the driving member, the seedling taking needle is connected to the ejection member and is used to clamp the seedlings, and the driving member is used to drive the ejection member and the seedling taking needle to rotate relative to the cam; the cam includes a protruding guide section, and the ejection member is used to store elastic potential energy when in contact with the guide section, and release the elastic potential energy when separated from the guide section to push out the seedlings.

[0009] Optionally, the ejection member includes a main arm, a seedling pushing rod and a spring. The main arm is transmission-connected to the driving member, the seedling taking needle is connected to the main arm, the seedling pushing rod is rotationally connected to the main arm, and both ends of the spring are respectively connected to the main arm and the seedling pushing rod. The seedling pushing rod is used to compress the spring when it is in contact with the guide section, and the spring is used to release elastic potential energy and push the seedling pushing rod when the seedling pushing rod is separated from the guide section.

[0010] Optionally, the seedling pushing rod includes a first support rod, a second support rod, and a third support rod. The first support rod is rotatably connected to the main arm and is used to contact or disengage from the cam. Both ends of the second support rod are rotatably connected to the first support rod and the third support rod at the same time. The spring is connected to the first support rod or the third support rod, and the third support rod is used to push the seedlings out.

[0011] Optionally, the first support rod includes a connected rotating section and a contact section, both ends of the rotating section are respectively rotatably connected to the main arm and the second support rod, one end of the contact section is connected to the rotating section, and the other end of the contact section is used to contact or disengage from the guide section.

[0012] Optionally, the drone seedling throwing device also includes a fixing member, the cam is connected to the fixing member, and the driving member is used to penetrate the cam and to drive the main arm to rotate relative to the cam.

[0013] Optionally, the ejection member further comprises a guide block, which is connected to the main arm and sleeved on the seedling pushing connecting rod.

[0014] Optionally, the ejection member further includes a blocking piece, which is connected to the seedling pushing connecting rod.

[0015] Optionally, the ejection member further comprises a traction block, which is sleeved on the seedling pushing connecting rod and slidably cooperates with the seedling taking needle.

[0016] Optionally, the seedling needle is provided with a slide groove, the traction block includes a locking part and a sliding part connected to each other, the locking part is sleeved on the seedling pushing connecting rod, the sliding part is slidably matched with the slide groove, and the extension length of the sliding part is greater than the extension length of the locking part.

[0017] Optionally, the main arm includes a detachably connected shell and a cover body, the shell is transmission-connected to the driving member, the seedling pushing connecting rod is rotationally connected to the shell, the seedling taking needle is connected to the shell, and one end of the spring away from the seedling pushing connecting rod is connected to the cover body.

[0018] Optionally, the number of the rotating cutter heads is at least two groups, and the at least two groups of rotating cutter heads are arranged in a ring shape, and the ring centers of at least two types of rotating cutter heads coincide with the center of the cam.

[0019] Optionally, the movement tracks of the seedling taking needle and the ejection member are circular.

[0020] Optionally, the cam further comprises a disengagement section connected end to end with the guide section, the guide section is in contact and cooperation with the ejection member, and a gap exists between the disengagement section and the ejection member.

[0021] Optionally, the guide segment is arc-shaped, the disengagement segment is straight-line-shaped, and the disengagement segment extends along the radial direction of the cam.

[0022] Optionally, the seedling needle is provided with a seedling retaining groove.

[0023] Optionally, the seedling taking needle includes a bottom plate and two side plates connected to each other, the seedling clamping groove is arranged through the bottom plate, a sliding groove is formed between the bottom plate and the two side plates, and the sliding groove is slidably matched with the ejection member.

[0024] An embodiment of the present invention further provides a drone, comprising:

[0025] The fuselage, the seedling delivery device and the seedling throwing device of the above-mentioned drone;

[0026] Among them, the seedling delivery device and the drone seedling throwing device are both arranged on the fuselage, and the seedling needle is used to obtain the seedlings from the seedling delivery device.

[0027] The beneficial effects of the drone rice seedling throwing device and the drone according to the embodiments of the present invention include, for example:

[0028] The unmanned aerial vehicle seedling throwing device includes a driving member, a cam and a rotating cutter head; wherein the rotating cutter head includes an ejection member and a seedling picking needle, the ejection member is connected to the driving member in a transmission manner, the seedling picking needle is connected to the ejection member and is used to clamp the seedling, and the driving member is used to drive the ejection member and the seedling picking needle to rotate relative to the cam; the cam includes a protruding guide section, the ejection member first contacts the guide section to store elastic potential energy, and releases the elastic potential energy when it is separated from the guide section to push out the seedling. During the seedling throwing operation, the driving member is used to drive the rotating cutter head to rotate, the seedling picking needle is used to obtain the seedling to be thrown, and the ejection member periodically contacts or moves away from the guide section through a rotating motion, stores elastic potential energy during the contact process, and releases the elastic potential energy and pushes out the seedling when it is away, so as to carry out the seedling throwing operation efficiently and orderly.

[0029] The UAV includes a fuselage, a seedling delivery device and the above-mentioned UAV seedling throwing device; wherein the seedling delivery device and the UAV seedling throwing device are both arranged on the fuselage, and the seedling needle is used to obtain the seedlings from the seedling delivery device. The fuselage is used to carry the various devices and perform flight movement, the seedling delivery device is used to transport the seedlings, and the UAV seedling throwing device is used to receive the seedlings and throw them out. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 The structure of the drone provided in the embodiment of the present invention is shown in FIG. Figure 1 ;

[0032] Figure 2 The structure of the drone provided in the embodiment of the present invention is shown in FIG. Figure 2 ;

[0033] Figure 3 A schematic diagram of a first perspective of a drone rice seedling throwing device provided in an embodiment of the present invention;

[0034] Figure 4 A schematic diagram of a second viewing angle of a drone rice seedling throwing device provided in an embodiment of the present invention;

[0035] Figure 5 A schematic diagram of a third perspective of a drone rice seedling throwing device provided in an embodiment of the present invention;

[0036] Figure 6 A schematic diagram of a fourth viewing angle of the drone rice seedling throwing device provided in an embodiment of the present invention;

[0037] Figure 7 for Figure 6 Schematic cross-sectional view at AA in the middle.

[0038] Icons: 100-UAV seedling throwing device; 110-driving member; 120-cam; 121-guide section; 122-detachment section; 130-rotating cutter head; 140-ejection member; 141-main arm; 1411-housing; 1412-cover; 142-seedling pushing rod; 1421-first support rod; 1421a-rotation section; 1421b-contact section; 1421c-rotation fulcrum; 1421d-holding end; 1422-second support rod ; 1423-the third support rod; 143-spring; 144-guide block; 145-blocking piece; 146-traction block; 1461-locking part; 1462-sliding part; 150-seedling needle; 1501-connecting end; 1502-throwing end; 151-bottom plate; 1511-seedling slot; 152-side plate; 153-slide; 160-fixing part; 200-fuselage body; 300-seedling delivery device; 400-seedlings; 1000-UAV. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0040] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0042] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0043] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0044] The terms "comprises," "comprising," or any other variation thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0045] Unless otherwise clearly specified and limited, the terms "disposed", "connected" and the like should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0047] As described in the background technology, for mechanized rice planting, rice transplanters are usually used in the market for automated planting operations, but the soil in some farmlands is relatively soft, and rice transplanters are easily stuck in the mud and difficult to operate. In the prior art, some drones can perform seedling throwing tasks, but they are mainly used for seedlings in trays, and there is no suitable seedling throwing system for blanket seedlings, which are more popular in the market.

[0048] Please refer to Figure 1-Figure 7 The drone rice seedling throwing device 100 and the drone 1000 provided in the embodiments of the present invention can solve the above problems, which will be described in detail below.

[0049] refer to Figure 1 and Figure 2The UAV 1000 includes a fuselage 200, a seedling delivery device 300 and a UAV seedling throwing device 100; wherein the seedling delivery device 300 and the UAV seedling throwing device 100 are both arranged on the fuselage 200, and the seedling needle 150 is used to obtain the seedlings 400 from the seedling delivery device 300. The fuselage 200 is used to carry each device and perform flight movement, the seedling delivery device 300 is used to transport the seedlings 400, and the UAV seedling throwing device 100 is used to receive the seedlings 400 and throw the seedlings 400.

[0050] refer to Figure 1 In order to prevent the fuselage 200 from affecting the seedling throwing path during flight, the seedling delivery device 300 and the drone seedling throwing device 100 are both arranged on the lower side of the fuselage 200 to ensure that the seedling throwing path will not be affected by the rotor or fixed wing on the fuselage 200.

[0051] refer to Figure 2 In the case where the fuselage 200 structure has sufficient space for transplanting seedlings, the seedling delivery device 300 and the drone transplanting device 100 can also be arranged on the upper side of the fuselage 200.

[0052] It is worth noting that the drone 1000 is a rotor structure, specifically a quad-rotor structure, and of course, it can also be a single-rotor structure, a dual-rotor structure, a six-rotor structure, an eight-rotor structure, etc. The drone 1000 can automatically operate according to a preset path, flight speed, attitude, etc., or the drone 1000 can be manually controlled by an operator.

[0053] refer to Figure 3 and Figure 4 The unmanned aerial vehicle seedling throwing device 100 includes a driving member 110, a cam 120 and a rotating cutter head 130; wherein the rotating cutter head 130 includes an ejection member 140 and a seedling taking needle 150, the ejection member 140 is transmission-connected to the driving member 110, the seedling taking needle 150 is connected to the ejection member 140 and is used to clamp the seedling 400, the driving member 110 is used to drive the ejection member 140 and the seedling taking needle 150 to rotate relative to the cam 120; the cam 120 includes a protruding guide section 121, the ejection member 140 first contacts the guide section 121 to store elastic potential energy, and releases the elastic potential energy when it is separated from the guide section 121 to push out the seedling 400.

[0054] During the seedling throwing operation, the driving member 110 is used to drive the rotating cutter head 130 to rotate, the seedling needle 150 is used to obtain the seedlings 400 to be thrown out, and the ejection member 140 periodically contacts or moves away from the guide section 121 through rotational motion, storing elastic potential energy during the contact process, and releasing the elastic potential energy and pushing out the seedlings 400 when moving away, thereby performing the seedling throwing operation efficiently and orderly.

[0055] refer to Figure 3 and Figure 4 The drone seedling throwing device 100 further includes a fixing member 160, which is connected to the cam 120 and the driving member 110 at the same time. The fixing member 160 is also detachably connected to the load member on the fuselage 200, so as to bear the cam 120 and the driving member 110. And through the detachable connection, the drone seedling throwing device 100 can be quickly installed or disassembled, which helps to improve the maintenance and replacement efficiency of the drone seedling throwing device 100.

[0056] Specifically, the cam 120 is fixedly connected to the fixing member 160 , and the rotating shaft of the driving member 110 is used to penetrate the cam 120 and be connected and fixed to the main arm 141 , thereby driving the main arm 141 to rotate relative to the cam 120 .

[0057] In this embodiment, the driving member 110 and the rotating cutter head 130 are respectively located on both sides of the fixing member 160, and the driving member 110 is used to provide a power source so that the rotating cutter head 130 can rotate relative to the cam 120 and the fixing member 160. The driving member 110 can be a rotating motor, a rotating cylinder or a rotating hydraulic cylinder, and its specific power form is not limited.

[0058] refer to Figure 3 and Figure 4 The number of the rotating blade heads 130 is at least two groups, and the at least two groups of rotating blade heads 130 are arranged in a ring shape, and the ring centers of at least two rotating blade heads 130 coincide with the center of the cam 120. And the movement trajectory of the seedling needle 150 is a circle. During the seedling throwing operation, the circular movement trajectory can make the seedling throwing process smoother and smoother, which helps to reduce jamming.

[0059] It is worth noting that the cam 120 can be regarded as a circular wheel with a raised portion on the outer side, and the center of the cam 120 is understood to be the center of the circular wheel.

[0060] In this embodiment, the number of the rotating cutter heads 130 is three groups, and the three groups of rotating cutter heads 130 are evenly arranged along the ring, that is, the angle difference between adjacent rotating cutter heads 130 is 120°. Of course, in other embodiments, the number of rotating cutter heads 130 can also be two, four, five, eight groups, etc., and the specific number of settings is not limited. For the consideration of uniform seedling throwing, when the number of rotating cutter heads 130 is greater than or equal to three, multiple rotating cutter heads 130 can be evenly arranged along the ring direction.

[0061] Specifically, the drone seedling throwing device 100 also includes a turntable, which is transmission-connected to the driving member 110. The rotating cutter head 130 can be connected to the turntable, and the center of the turntable is concentric with the driving member 110. The rotating cutter head 130 is arranged in a ring and the center of the ring is concentric with the turntable.

[0062] refer to Figure 3 and Figure 4 The ejection member 140 includes a main arm 141, a seedling pushing rod 142 and a spring 143. The main arm 141 is transmission-connected to the driving member 110, the seedling taking needle 150 is connected to the main arm 141, the seedling pushing rod 142 is rotationally connected to the main arm 141, and the two ends of the spring 143 are respectively connected to the main arm 141 and the seedling pushing rod 142. The seedling pushing rod 142 is used to compress the spring 143 when it is in contact with the guide section 121. The spring 143 is used to release elastic potential energy and push the seedling pushing rod 142 when the seedling pushing rod 142 is separated from the guide section 121.

[0063] The ejection member 140 can provide a certain shielding and protection for the seedling pushing link 142 and the spring 143 by setting the main arm 141. By setting the seedling pushing link 142, the rotational movement of the driving member 110 and the main arm 141 can be converted into a compression or relaxation movement of the spring 143, and the spring 143 can drive the seedling pushing link 142 to realize the pushing operation of the seedlings 400 when relaxing.

[0064] It is worth noting that the main arm 141 includes a detachably connected housing 1411 and a cover 1412, the housing 1411 is in transmission connection with the driving member 110, the seedling pushing link 142 and the spring 143 are both accommodated in the housing 1411, and the end of the spring 143 away from the seedling pushing link 142 is connected to the cover 1412. Through the detachable connection, it is convenient to install the seedling pushing link 142, the spring 143 and other components in the inner cavity of the main arm 141. In addition, a plurality of through holes are provided around the main arm 141 to facilitate the seedling pushing link 142 to pass through.

[0065] Specifically, the seedling pushing rod 142 includes a first support rod 1421, a second support rod 1422, and a third support rod 1423. The first support rod 1421 is rotatably connected to the main arm 141 and is used to contact or disengage from the guide section 121. Both ends of the second support rod 1422 are rotatably connected to the first support rod 1421 and the third support rod 1423 at the same time. The spring 143 is connected to the first support rod 1421 or the third support rod 1423. The third support rod 1423 is used to push out the seedlings 400.

[0066] In this embodiment, the spring 143 is connected to the third support rod 1423, and the extension direction of the spring 143 is parallel to the push-out direction of the third support rod 1423. There is a certain angle between the first support rod 1421 and the third support rod 1423, and the extension length of the second support rod 1422 is much smaller than the extension lengths of the first support rod 1421 and the third support rod 1423, so that the relative rotation range between the first support rod 1421 and the third support rod 1423 is limited.

[0067] refer to Figure 3 , Figure 6 and Figure 7The first support rod 1421 includes a rotating section 1421a and a contact section 1421b connected to each other. One end of the rotating section 1421a is rotatably connected to the main arm 141. A rotating fulcrum 1421c is formed at the rotating connection between one end of the rotating section 1421a and the main arm 141. On the one hand, the first support rod 1421 can rotate synchronously with the main arm 141 around the driving member 110, and on the other hand, the first support rod 1421 can rotate relative to the main arm 141 around the rotating fulcrum 1421c; the other end of the rotating section 1421a is rotatably connected to the second support rod 1422, and the extending direction of the rotating section 1421a is a straight line. One end of the contact section 1421b is connected to the middle of the rotating section 1421a, and the contact section 1421b is a bent structure, and the other end of the contact section 1421b is a butting end 1421d, and the butting end 1421d is used to contact the guide section 121. The contact section 1421b makes the rotating section 1421a rotate slightly around the rotating fulcrum 1421c through contact with the guide section 121, and then the second support rod 1422 pulls the third support rod 1423 to move linearly. In addition, the contact section 1421b is also bent in the direction perpendicular to the plate surface of the rotating section 1421a, which can play a role of avoidance on the one hand, and increase the structural strength of the contact section 1421b on the other hand. In addition, the end of the third support rod 1423 away from the second support rod 1422 can extend out of the main arm 141, which can avoid the structure of the main arm 141 from limiting the contact between the third support rod 1423 and the seedling 400.

[0068] refer to Figure 3 and Figure 4 The ejection member 140 further includes a guide block 144, which is connected to the main arm 141 and is sleeved on the seedling pushing connecting rod 142. Specifically, the guide block 144 is fixedly connected to the main arm 141, and the guide block 144 is sleeved on the third support rod 1423.

[0069] When the third support rod 1423 is telescopically moved under the action of external force, the guide block 144 can guide and limit the third support rod 1423 to ensure that the moving direction of the third support rod 1423 is stable, thereby ensuring the accuracy of the relative position with the seedling 400.

[0070] refer to Figure 3 and Figure 4 The ejection member 140 further includes a blocking piece 145, which is connected to the end of the rice-pushing connecting rod 142, and the end surface area of ​​the blocking piece 145 is larger than the end surface area of ​​the rice-pushing connecting rod 142. Specifically, the blocking piece 145 is connected to an end of the third supporting rod 1423 away from the second supporting rod 1422, and the blocking piece 145 is located outside the main arm 141.

[0071] The ejection member 140 can increase the contact area with the rice seedling 400 by providing the baffle 145, so as to better apply thrust to the rice seedling 400. In addition, the end surface of the baffle 145 in contact with the rice seedling 400 can be arc-shaped, and both sides of the arc of the baffle 145 are concave toward the middle of the arc, so that the rice seedling 400 will not easily slide out from both sides of the baffle 145 when in contact.

[0072] refer to Figure 3-Figure 5 The ejection member 140 further includes a traction block 146, which is sleeved on the seedling pushing connecting rod 142 and slidably matched with the seedling taking needle 150. The ejection member 140 is used to ensure the relative position accuracy of the seedling pushing connecting rod 142 and the seedling taking needle 150 by setting the traction member.

[0073] In addition, the seedling needle 150 is provided with a slide groove 153, and the traction block 146 includes a locking portion 1461 and a sliding portion 1462 connected to each other. The locking portion 1461 is sleeved on the seedling pushing connecting rod 142, and the sliding portion 1462 is slidably matched with the slide groove 153, and the extension length of the sliding portion 1462 is greater than the extension length of the locking portion 1461.

[0074] Specifically, the locking portion 1461 is sleeved on the third support rod 1423. The extended length of the sliding portion 1462 is longer, which can fully ensure the contact area with the sliding groove 153, thereby preventing the sliding portion 1462 from easily deflecting relative to the sliding groove 153 during the sliding process.

[0075] refer to Figure 3-Figure 5 The seedling picking needle 150 is provided with a seedling clamping groove 1511. The seedling picking needle 150 is a U-shaped structure, and includes a bottom plate 151 and two side plates 152 connected to each other. The seedling clamping groove 1511 is arranged through the bottom plate 151. A slide groove 153 is formed between the bottom plate 151 and the two side plates 152, and the slide groove 153 is slidably matched with the ejection member 140. Specifically, the slide groove 153 is slidably matched with the sliding portion 1462.

[0076] In this embodiment, the seedling delivery device 300 transports blanket seedlings, and the seedling removal needle 150 can remove and clamp the seedlings 400 on the seedling delivery device 300 through the seedling clamping groove 1511, so that the seedlings 400 will not be easily separated from the seedling removal needle 150 before being pushed out, and the sliding portion 1462 on the ejection member 140 can be slidably guided through the sliding groove 153.

[0077] refer to Figure 3 and Figure 4The seedling needle 150 is relatively provided with a connecting end 1501 and a throwing end 1502, the seedling holding groove 1511 is opened at the throwing end 1502, and the height of the side plate 152 near the connecting end 1501 is greater than the height of the side plate 152 near the throwing end 1502, so that the shielding area of ​​the side plate 152 for the seedling 400 is reduced at the position near the throwing end 1502.

[0078] refer to Figure 3 and Figure 4 The cam 120 includes a guide section 121 and a disengagement section 122 connected end to end, the guide section 121 contacts and cooperates with the ejection member 140, and there is a gap between the disengagement section 122 and the ejection member 140. Specifically, the guide section 121 contacts and cooperates with the contact section 1421b of the first support rod 1421, and there is a gap between the disengagement section 122 and the contact section 1421b.

[0079] Furthermore, the guide section 121 is arc-shaped, and the disengagement section 122 is straight-line-shaped. The disengagement section 122 extends along the radial direction of the cam 120. By limiting the direction of the disengagement section 122, steps are formed at the head and tail ends of the guide section 121. When reverse rotation occurs, the first support rod 1421 will interfere with the disengagement section 122, thereby preventing misoperation.

[0080] When the first support rod 1421 approaches the guide section 121, the first support rod 1421 can rotate through the contact and cooperation between the guide section 121 and the contact section 1421b of the first support rod 1421, and the third support rod 1423 can be telescopically moved through the second support rod 1422 while the spring 143 is compressed. When the first support rod 1421 is about to separate from the guide section 121, the separation section 122 is provided to enable the first support rod 1421 to be quickly separated from the guide section 121, so that the elastic potential energy stored in the compression of the spring 143 is released instantly, thereby driving the third support rod 1423 to push the seedlings 400 out, completing the seedling throwing action.

[0081] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A drone seedling throwing device, characterized in that: include: A driving member (110), a cam (120) and a rotating cutter head (130); The rotary cutter head (130) comprises an ejection member (140) and a seedling removal needle (150); the ejection member (140) is transmission-connected to the driving member (110); the seedling removal needle (150) is connected to the ejection member (140) and is used to hold the seedling (400); the driving member (110) is used to drive the ejection member (140) and the seedling removal needle (150) to rotate relative to the cam (120); the cam (120) comprises a protruding guide section (121); the ejection member (140) is used to store elastic potential energy when in contact with the guide section (121), and to release the elastic potential energy when separated from the guide section (121) to push out the seedling (400).

2. The drone seedling throwing device according to claim 1, characterized in that: The ejection member (140) comprises a main arm (141), a seedling pushing connecting rod (142) and a spring (143); the main arm (141) is transmission-connected to the driving member (110); the seedling taking needle (150) is connected to the main arm (141); the seedling pushing connecting rod (142) is rotationally connected to the main arm (141); two ends of the spring (143) are respectively connected to the main arm (141) and the seedling pushing connecting rod (142); the seedling pushing connecting rod (142) is used to compress the spring (143) when in contact with the guide section (121); and the spring (143) is used to release elastic potential energy and push the seedling pushing connecting rod (142) when the seedling pushing connecting rod (142) is separated from the guide section (121).

3. The drone seedling throwing device according to claim 2, characterized in that: The seedling pushing rod (142) comprises a first support rod (1421), a second support rod (1422), and a third support rod (1423); the first support rod (1421) is rotatably connected to the main arm (141) and is used to contact or disengage from the guide section (121); both ends of the second support rod (1422) are rotatably connected to the first support rod (1421) and the third support rod (1423); the spring (143) is connected to the first support rod (1421) or the third support rod (1423); and the third support rod (1423) is used to push out the seedling (400).

4. The drone seedling throwing device according to claim 3, characterized in that: The first support rod (1421) comprises a rotating section (1421a) and a contact section (1421b) connected to each other, wherein two ends of the rotating section (1421a) are respectively rotatably connected to the main arm (141) and the second support rod (1422), one end of the contact section (1421b) is connected to the rotating section (1421a), and the other end of the contact section (1421b) is used to contact or detach from the guide section (121).

5. The drone seedling throwing device according to claim 2, characterized in that: The drone rice seedling throwing device also includes a fixing member (160), the cam (120) is connected to the fixing member (160), and the driving member (110) is used to penetrate the cam (120) and drive the main arm (141) to rotate relative to the cam (120).

6. The drone seedling throwing device according to claim 2, characterized in that: The ejection member (140) further comprises a guide block (144), wherein the guide block (144) is connected to the main arm (141), and the guide block (144) is sleeved on the seedling pushing connecting rod (142).

7. The drone seedling throwing device according to claim 2, characterized in that: The ejection member (140) further comprises a blocking piece (145), wherein the blocking piece (145) is connected to the seedling-pushing connecting rod (142).

8. The drone seedling throwing device according to claim 2, characterized in that: The ejection member (140) further comprises a traction block (146), wherein the traction block (146) is sleeved on the seedling pushing connecting rod (142) and slidably cooperates with the seedling taking needle (150).

9. The drone seedling throwing device according to claim 8, characterized in that: The seedling taking needle (150) is provided with a slide groove (153), and the traction block (146) includes a locking portion (1461) and a sliding portion (1462) connected to each other, the locking portion (1461) is sleeved on the seedling pushing connecting rod (142), and the sliding portion (1462) is slidably matched with the slide groove (153), and the extension length of the sliding portion (1462) is greater than the extension length of the locking portion (1461).

10. The drone seedling throwing device according to claim 2, characterized in that: The main arm (141) comprises a detachably connected shell (1411) and a cover (1412); the shell (1411) is transmission-connected to the driving member (110); the seedling-pushing connecting rod (142) is rotationally connected to the shell (1411); the seedling-taking needle (150) is connected to the shell (1411); and one end of the spring (143) away from the seedling-pushing connecting rod (142) is connected to the cover (1412).

11. The drone seedling throwing device according to any one of claims 1 to 10, characterized in that: The number of the rotating cutter heads (130) is at least two groups, and the at least two groups of rotating cutter heads (130) are arranged in a ring shape, and the ring center of the at least two groups of rotating cutter heads (130) coincides with the center of the cam (120).

12. The drone rice seedling throwing device according to claim 11, characterized in that: The movement tracks of the seedling removing needle (150) and the ejection member (140) are circular.

13. The drone seedling throwing device according to any one of claims 1 to 10, characterized in that: The cam (120) further comprises a disengagement section (122) connected end to end with the guide section (121); the guide section (121) is in contact with the ejection member (140); and a gap exists between the disengagement section (122) and the ejection member (140).

14. The drone seedling throwing device according to claim 13, characterized in that: The guide section (121) is in an arc shape, the disengagement section (122) is in a straight line shape, and the disengagement section (122) extends along the radial direction of the cam (120).

15. The drone seedling throwing device according to any one of claims 1 to 10, characterized in that: The seedling picking needle (150) is provided with a seedling holding groove (1511).

16. The drone seedling throwing device according to claim 15, characterized in that: The seedling taking needle (150) comprises a bottom plate (151) and two side plates (152) connected to each other, the seedling holding groove (1511) is arranged through the bottom plate (151), a sliding groove (153) is formed between the bottom plate (151) and the two side plates (152), and the sliding groove (153) is slidably matched with the ejection member (140).

17. A drone, characterized in that: include: A fuselage (200), a seedling delivery device (300), and a drone seedling delivery device as described in any one of claims 1 to 16; The seedling delivery device (300) and the unmanned aerial vehicle seedling throwing device are both arranged on the fuselage (200), and the seedling removal needle (150) is used to obtain the seedlings (400) from the seedling delivery device (300).

Images