An unmanned aerial vehicle seedling throwing device and unmanned aerial vehicle

Abstract

Embodiments of the present application provide a unmanned aerial vehicle seedling throwing device and unmanned aerial vehicle, and relate to the field of agricultural automation equipment. The unmanned aerial vehicle seedling throwing device comprises a driving member, a cam and a rotary cutter head; the rotary cutter head comprises a resilient member and a seedling taking needle, the resilient member is in transmission connection with the driving member, the seedling taking needle is connected to the resilient member and is used for clamping seedlings, and the driving member is used for driving the resilient member and the seedling taking needle to rotate relative to the cam; the cam comprises a protruding guide section, the resilient member first contacts the guide section to store elastic potential energy, and releases the elastic potential energy to push out the seedlings when the resilient member is separated from the guide section. In the process of seedling throwing operation, the driving member is used for driving the rotary cutter head to rotate, the seedling taking needle is used for obtaining seedlings to be thrown, and the resilient member realizes periodic contact with or separation from the guide section through rotary motion, stores elastic potential energy in the process of contact, releases the elastic potential energy and pushes out the seedlings when separated, so that the seedling throwing operation is efficiently and orderly performed.

Description

Technical Field

[0001] This invention relates to the field of agricultural automation equipment, and more specifically, to a drone-based rice transplanting device and a drone. Background Technology

[0002] For mechanized rice planting, rice transplanters are usually used for automated planting operations. However, the soil in some farmlands is relatively loose, and rice transplanters are prone to getting stuck in the mud and making it difficult to carry out the operation.

[0003] In the existing technology, some drones can perform rice transplanting tasks, but they are mainly used for transplanting seedlings in plug trays, and there is no suitable transplanting system for the more widely used blanket seedlings. Summary of the Invention

[0004] This invention provides a drone-based rice seedling throwing device and a drone, which can perform seedling throwing operations, 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-based rice transplanting device, comprising:

[0007] Drive components, cams, and rotating cutter heads;

[0008] The rotating cutter head includes a ejector and a seedling-picking needle. The ejector is connected to the drive unit, and the seedling-picking needle is connected to the ejector and used to hold the seedling. The drive unit is used to drive the ejector and the seedling-picking needle to rotate relative to the cam. The cam includes a protruding guide section. The ejector is used to store elastic potential energy when it is in contact with the guide section and to release elastic potential energy when it is disengaged from the guide section to push out the seedling.

[0009] Optionally, the ejector includes a main arm, a seedling pushing rod, and a spring. The main arm is connected to the drive unit for transmission, the seedling picking needle is connected to the main arm, the seedling pushing rod is rotatably connected to the main arm, and the two 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 disengaged from the guide section.

[0010] Optionally, the seedling pushing linkage 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 both the first and third support rods. A spring is connected to either the first or the third support rod. The third support rod is used to push out the seedlings.

[0011] Optionally, the first support rod includes a rotating section and a contact section connected together. The two ends of the rotating section are rotatably connected to the main arm and the second support rod, respectively. 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 rice-throwing device also includes a fixing element, a cam connected to the fixing element, and a drive element that passes through the cam and drives the main arm to rotate relative to the cam.

[0013] Optionally, the ejector also includes a guide block connected to the main arm and fitted onto the seedling pusher rod.

[0014] Optionally, the ejector also includes a baffle plate connected to the seedling pusher rod.

[0015] Optionally, the ejector also includes a traction block, which is fitted onto the seedling pushing rod and slides in cooperation with the seedling picking needle.

[0016] Optionally, the seedling picking needle has a groove, and the traction block includes a locking part and a sliding part connected to each other. The locking part is sleeved on the seedling pushing rod, and the sliding part slides in cooperation with the groove. 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 housing and a cover. The housing is connected to the drive unit, the seedling pushing rod is rotatably connected to the housing, the seedling picking needle is connected to the housing, and the end of the spring away from the seedling pushing rod is connected to the cover.

[0018] Optionally, the number of rotating cutters is at least two sets, the at least two sets of rotating cutters are arranged in a ring, and the center of the ring of at least two types of rotating cutters coincides with the center of the cam.

[0019] Optionally, the trajectory of the seedling-picking needle and the ejector component is circular.

[0020] Optionally, the cam also includes a disengagement section that connects to the beginning and end of the guide section, the guide section making contact with the ejector, and a gap existing between the disengagement section and the ejector.

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

[0022] Optionally, the seedling-taking needle may have a seedling-holding groove.

[0023] Optionally, the seedling-taking needle includes a connected base plate and two side plates, a seedling-holding groove is provided through the base plate, and a sliding groove is formed between the base plate and the two side plates, the sliding groove slidingly engaging with the ejector component.

[0024] Embodiments of the present invention also provide a drone, comprising:

[0025] The fuselage, the seedling delivery device, and the aforementioned drone seedling throwing device;

[0026] The seedling delivery device and the drone seedling throwing device are both located on the fuselage, and the seedling picking needle is used to pick up seedlings from the seedling delivery device.

[0027] The beneficial effects of the unmanned aerial vehicle (UAV) rice-throwing device and the UAV according to embodiments of the present invention include, for example:

[0028] The unmanned aerial vehicle (UAV) rice transplanting device includes a drive unit, a cam, and a rotating cutter head. The rotating cutter head includes a ejector and a seedling-collecting needle. The ejector is connected to the drive unit, and the seedling-collecting needle is connected to the ejector and used to hold the seedling. The drive unit rotates the ejector and seedling-collecting needle relative to the cam. The cam includes a protruding guide section. The ejector first contacts the guide section to store elastic potential energy and releases this energy upon disengaging from the guide section to eject the seedling. During the transplanting operation, the drive unit rotates the cutting head, the seedling-collecting needle collects the seedling to be transplanted, and the ejector periodically contacts or moves away from the guide section through rotation. During contact, it stores elastic potential energy; when it moves away, it releases this energy and ejects the seedling, thus performing the transplanting operation efficiently and systematically.

[0029] The drone includes a fuselage, a seedling delivery device, and the aforementioned drone seedling throwing device. Both the seedling delivery device and the drone seedling throwing device are located on the fuselage, and a seedling-collecting needle is used to retrieve seedlings from the seedling delivery device. The fuselage supports the various devices and facilitates flight movement. The seedling delivery device transports the seedlings, while the drone seedling throwing device receives the seedlings and throws them out. Attached Figure Description

[0030] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the structure of the UAV provided in an embodiment of the present invention. Figure 1 ;

[0032] Figure 2 This is a schematic diagram of the structure of the UAV provided in an embodiment of the present invention. Figure 2 ;

[0033] Figure 3 This is a schematic diagram from a first-view perspective of the unmanned aerial vehicle (UAV) rice-throwing device provided in an embodiment of the present invention;

[0034] Figure 4 This is a schematic diagram from a second perspective of the unmanned aerial vehicle (UAV) rice-throwing device provided in an embodiment of the present invention;

[0035] Figure 5 This is a schematic diagram from a third perspective of the unmanned aerial vehicle (UAV) rice-throwing device provided in an embodiment of the present invention;

[0036] Figure 6 This is a schematic diagram from a fourth perspective of the unmanned aerial vehicle (UAV) rice-throwing device provided in an embodiment of the present invention;

[0037] Figure 7 for Figure 6 Schematic diagram of cross-section at point AA.

[0038] Icons: 100-Drone rice transplanting device; 110-Driver; 120-Cam; 121-Guide section; 122-Disengagement section; 130-Rotating cutter head; 140-Ejector; 141-Main arm; 1411-Shell; 1412-Cover; 142-Pushing rod; 1421-First support rod; 1421a-Rotating section; 1421b-Contact section; 1421c-Rotating fulcrum; 1421d-Holding end; 1422-Second support rod ; 1423-Third support rod; 143-Spring; 144-Guide block; 145-Baffle; 146-Traction block; 1461-Locking part; 1462-Sliding part; 150-Seedling needle; 1501-Connecting end; 1502-Throwing end; 151-Base plate; 1511-Seedling trough; 152-Side plate; 153-Slide groove; 160-Fixing component; 200-Body; 300-Seedling delivery device; 400-Seedling; 1000-UAV. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0040] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0041] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0042] In the description of this invention, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0043] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0044] The terms “comprising,” “including,” or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase “comprising one…” does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0045] Unless otherwise explicitly specified and limited, terms such as "setup" and "connection" should be interpreted broadly. For example, "connection" 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; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0046] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0047] As described in the background section, for mechanized rice cultivation, rice transplanters are typically used for automated planting. However, in some farmlands, the soil is relatively loose, making it easy for transplanters to get stuck and hinder their operation. While some drones can perform seedling throwing tasks, they are primarily designed for tray seedlings, and there is no suitable throwing system for the more widely used mat seedlings.

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

[0049] refer to Figure 1 and Figure 2The drone 1000 includes a fuselage 200, a seedling delivery device 300, and a drone seedling throwing device 100. Both the seedling delivery device 300 and the drone seedling throwing device 100 are mounted on the fuselage 200. A seedling-collecting needle 150 is used to collect seedlings 400 from the seedling delivery device 300. The fuselage 200 serves to support the various devices and facilitates flight movement. The seedling delivery device 300 transports the seedlings 400, while the drone seedling throwing device 100 receives the seedlings 400 and throws them out.

[0050] refer to Figure 1 To avoid the fuselage 200 affecting the seedling throwing path during flight, the seedling delivery device 300 and the UAV seedling throwing device 100 are both located on the underside of the fuselage 200 to ensure that the seedling throwing path is not affected by the rotor or fixed wing on the fuselage 200.

[0051] refer to Figure 2 If the structure of the fuselage 200 has sufficient space for seedling throwing, the seedling delivery device 300 and the drone seedling throwing device 100 can also be set on the upper side of the fuselage 200.

[0052] It is worth noting that the UAV 1000 is a rotorcraft, specifically a quadcopter, but it could also be a single-rotor, twin-rotor, hexacopter, or octacopter. The UAV 1000 can operate automatically according to preset paths, speeds, and attitudes, or it can be manually controlled by an operator.

[0053] refer to Figure 3 and Figure 4 The unmanned aerial vehicle (UAV) rice seedling throwing device 100 includes a drive component 110, a cam 120, and a rotating cutter head 130. The rotating cutter head 130 includes a ejector component 140 and a seedling-picking needle 150. The ejector component 140 is connected to the drive component 110. The seedling-picking needle 150 is connected to the ejector component 140 and is used to hold the seedlings 400. The drive component 110 is used to drive the ejector component 140 and the seedling-picking needle 150 to rotate relative to the cam 120. The cam 120 includes a protruding guide section 121. The ejector component 140 first contacts the guide section 121 to store elastic potential energy and releases the elastic potential energy when it leaves the guide section 121 to push out the seedlings 400.

[0054] During the rice seedling throwing operation, the drive component 110 is used to drive the rotating cutter head 130 to rotate, the seedling picking needle 150 is used to pick up the seedlings 400 to be thrown, and the ejector component 140 periodically contacts or moves away from the guide section 121 through rotational motion. During the contact process, it stores elastic potential energy, and when it moves away, it releases elastic potential energy and pushes out the seedlings 400, thereby carrying out the rice seedling throwing operation efficiently and in an orderly manner.

[0055] refer to Figure 3 and Figure 4 The drone rice-throwing device 100 also includes a fixing member 160, which is connected to both the cam 120 and the drive member 110. The fixing member 160 is also detachably connected to a load-bearing component on the fuselage 200, thus providing support for the cam 120 and the drive member 110. Furthermore, the detachable connection allows for quick installation and removal of the drone rice-throwing device 100, improving maintenance and replacement efficiency.

[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 pass through 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 drive member 110 and the rotating cutter head 130 are located on both sides of the fixed member 160. The drive member 110 provides a power source so that the rotating cutter head 130 can rotate relative to the cam 120 and the fixed member 160. The drive member 110 can be a rotary motor, a rotary cylinder, or a rotary hydraulic cylinder, and its specific power form is not limited.

[0058] refer to Figure 3 and Figure 4 The number of rotating cutter heads 130 is at least two sets, and the at least two sets of rotating cutter heads 130 are arranged in a ring. The center of the ring of at least two types of rotating cutter heads 130 coincides with the center of the cam 120. Furthermore, the movement trajectory of the seedling picking needle 150 is circular. During the seedling throwing operation, the circular movement trajectory makes the throwing process smoother and helps reduce jamming.

[0059] It is worth noting that the cam 120 can be seen as a wheel with a protrusion on the outer side, and the center of the cam 120 can be understood as the center of the wheel.

[0060] In this embodiment, there are three sets of rotating cutter heads 130, which are evenly arranged in a ring, meaning the angle difference between adjacent rotating cutter heads 130 is 120°. Of course, in other embodiments, the number of rotating cutter heads 130 can be two, four, five, eight, etc., and the specific number is not limited. For the purpose of uniform seedling distribution, when the number of rotating cutter heads 130 is three or more, the multiple rotating cutter heads 130 can be evenly arranged in a ring direction.

[0061] Specifically, the drone rice-throwing device 100 also includes a turntable, which is connected to the drive unit 110 for transmission. A rotating cutter head 130 can be connected to the turntable, and the center of the turntable is concentric with the drive unit 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 ejector 140 includes a main arm 141, a seedling pushing rod 142, and a spring 143. The main arm 141 is connected to the drive component 110 for transmission. The seedling picking needle 150 is connected to the main arm 141. The seedling pushing rod 142 is rotatably connected to the main arm 141. 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 disengaged from the guide section 121.

[0063] The ejector 140, by setting the main arm 141, can provide a certain degree of shielding and protection for the seedling pushing rod 142 and the spring 143. By setting the seedling pushing rod 142, the rotational motion of the drive component 110 and the main arm 141 is converted into the compression or relaxation motion of the spring 143, and the spring 143 can drive the seedling pushing rod 142 to push the seedlings 400 out when it relaxes.

[0064] It is worth noting that the main arm 141 includes a detachably connected housing 1411 and a cover 1412. The housing 1411 is connected to the drive component 110. The seedling pushing rod 142 and the spring 143 are both housed in the housing 1411, and the end of the spring 143 away from the seedling pushing rod 142 is connected to the cover 1412. The detachable connection facilitates the installation of components such as the seedling pushing rod 142 and the spring 143 into the inner cavity of the main arm 141. In addition, multiple through holes are provided around the main arm 141 to facilitate the passage of the seedling pushing rod 142.

[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. The two ends of the second support rod 1422 are rotatably connected to both the first support rod 1421 and the third support rod 1423. The spring 143 is connected to either 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, spring 143 is connected to the third support rod 1423, and the extension / retraction direction of spring 143 is parallel to the extension 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, thus limiting the relative rotation range between the first support rod 1421 and the third support rod 1423.

[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 together. One end of the rotating section 1421a is rotatably connected to the main arm 141. A rotation fulcrum 1421c is formed at the rotatable connection between the rotating section 1421a and the main arm 141. This allows the first support rod 1421 to rotate synchronously with the main arm 141 around the drive member 110, and also allows the first support rod 1421 to rotate relative to the main arm 141 around the rotation fulcrum 1421c. The other end of the rotating section 1421a is rotatably connected to the second support rod 1422, and the extension direction of the rotating section 1421a is a straight line. One end of the contact segment 1421b is connected to the middle of the rotating segment 1421a. The contact segment 1421b has a bent structure, and the other end of the contact segment 1421b is the abutment end 1421d, which is used to contact the guide segment 121. The contact segment 1421b causes the rotating segment 1421a to rotate slightly around the rotation fulcrum 1421c through contact with the guide segment 121. Then, the second support rod 1422 pulls the third support rod 1423 to move linearly. In addition, the contact segment 1421b also has a bent structure in the direction perpendicular to the plate surface of the rotating segment 1421a. On the one hand, it can play a role in avoiding obstacles, and on the other hand, it can increase the structural strength of the contact segment 1421b. Furthermore, 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 prevent the structure of the main arm 141 from restricting the contact between the third support rod 1423 and the seedling 400.

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

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

[0070] refer to Figure 3 and Figure 4 The ejector 140 also includes a baffle 145, which is connected to the end of the pushing rod 142, and the end face area of ​​the baffle 145 is larger than the end face area of ​​the pushing rod 142. Specifically, the baffle 145 is connected to the end of the third support rod 1423 away from the second support rod 1422, and the baffle 145 is located on the outside of the main arm 141.

[0071] The ejector 140, by providing a baffle 145, can relatively increase the contact area with the seedling 400, thereby better applying thrust to the seedling 400. Furthermore, the end face of the baffle 145 that contacts the seedling 400 can be arc-shaped, with both sides of the arc concave towards the center, preventing the seedling 400 from easily slipping out from either side of the baffle 145 upon contact.

[0072] refer to Figures 3-5 The ejector 140 also includes a traction block 146, which is sleeved on the pushing rod 142 and slides in cooperation with the seedling-picking needle 150. The ejector 140 uses the traction block to ensure the accuracy of the relative position between the pushing rod 142 and the seedling-picking needle 150.

[0073] Furthermore, the seedling-taking needle 150 has a sliding groove 153, and the traction block 146 includes a locking part 1461 and a sliding part 1462 connected to each other. The locking part 1461 is sleeved on the seedling-pushing connecting rod 142, and the sliding part 1462 is slidably engaged with the sliding groove 153. The extension length of the sliding part 1462 is greater than the extension length of the locking part 1461.

[0074] Specifically, the locking part 1461 is sleeved on the third support rod 1423. The sliding part 1462 has a longer extension length, which can fully ensure the contact area with the slide groove 153, thereby preventing the sliding part 1462 from easily deviating relative to the slide groove 153 during the sliding process.

[0075] refer to Figures 3-5 The seedling-collecting needle 150 has a seedling-holding groove 1511. The seedling-collecting needle 150 has a U-shaped structure and includes a connected base plate 151 and two side plates 152. The seedling-holding groove 1511 is disposed through the base plate 151, and a sliding groove 153 is formed between the base plate 151 and the two side plates 152. The sliding groove 153 is slidably engaged with the ejector 140. Specifically, the sliding groove 153 is slidably engaged with the sliding part 1462.

[0076] In this embodiment, the seedling delivery device 300 delivers seedlings. The seedling picking 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 easily detach from the seedling picking needle 150 before being pushed out. The sliding groove 153 can guide the sliding part 1462 on the ejector 140.

[0077] refer to Figure 3 and Figure 4The seedling needle 150 is provided with a connecting end 1501 and a throwing end 1502. The seedling clamping groove 1511 is opened at the throwing end 1502. 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 shading area of ​​the side plate 152 near the throwing end 1502 is reduced.

[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 is in contact with the ejector 140, and there is a gap between the disengagement section 122 and the ejector 140. Specifically, the guide section 121 is in contact with the contact section 1421b of the first support rod 1421, while 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. The disengagement section 122 extends in the radial direction of the cam 120. By limiting the direction of the disengagement section 122, the beginning and end of the guide section 121 are stepped. When reverse rotation occurs, the first support rod 1421 will interfere with the disengagement section 122, thereby preventing misoperation.

[0080] As the first support rod 1421 approaches the guide section 121, it rotates through the contact section 1421b between the guide section 121 and the first support rod 1421, compressing the spring 143. Simultaneously, the second support rod 1422 drives the third support rod 1423 to extend and retract. When the first support rod 1421 is about to disengage from the guide section 121, the disengagement section 122 allows for rapid separation between the first support rod 1421 and the guide section 121. This releases the elastic potential energy stored in the compressed spring 143, thereby driving the third support rod 1423 to push the seedling 400 out, completing the seedling throwing action.

[0081] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A drone-based rice transplanting device, characterized in that, include: Drive unit (110), cam (120) and rotary cutter head (130); The rotating cutter head (130) includes a ejector (140) and a seedling-picking needle (150). The ejector (140) is connected to the drive (110) for transmission. The seedling-picking needle (150) is connected to the ejector (140). The seedling-picking needle (150) picks up seedlings (400) from the seedbed and is used to hold the seedlings (400). The drive (110) is used to drive the ejector (140) and the seedling-picking needle (150) to rotate relative to the cam (120). The cam (120) includes a protruding guide section (121). The ejector (140) is used to store elastic potential energy when it is in contact with the guide section (121) and to release elastic potential energy when it is disengaged from the guide section (121) to push out the seedlings (400).

2. The unmanned aerial vehicle (UAV) rice-throwing device according to claim 1, characterized in that, The ejector (140) includes a main arm (141), a seedling pushing rod (142), and a spring (143). The main arm (141) is connected to the drive (110) for transmission. The seedling picking needle (150) is connected to the main arm (141). The seedling pushing rod (142) is rotatably connected to the main arm (141). 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 disengaged from the guide section (121).

3. The unmanned aerial vehicle (UAV) rice-throwing device according to claim 2, characterized in that, The seedling pushing link (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 both the first support rod (1421) and the third support rod (1423). The spring (143) is connected to either the first support rod (1421) or the third support rod (1423). The third support rod (1423) is used to push out the seedling (400).

4. The unmanned aerial vehicle (UAV) rice-throwing device according to claim 3, characterized in that, The first support rod (1421) includes a rotating section (1421a) and a contact section (1421b) connected to each other. The two ends of the rotating section (1421a) are rotatably connected to the main arm (141) and the second support rod (1422), respectively. 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 disengage from the guide section (121).

5. The unmanned aerial vehicle (UAV) rice transplanting device according to claim 2, characterized in that, The unmanned aerial vehicle (UAV) rice-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 pass through the cam (120) and drive the main arm (141) to rotate relative to the cam (120).

6. The unmanned aerial vehicle (UAV) rice-throwing device according to claim 2, characterized in that, The ejector (140) also includes a guide block (144), which is connected to the main arm (141) and is sleeved on the seedling pusher (142).

7. The unmanned aerial vehicle (UAV) rice transplanting device according to claim 2, characterized in that, The ejector (140) also includes a baffle (145) connected to the seedling pusher (142).

8. The unmanned aerial vehicle (UAV) rice transplanting device according to claim 2, characterized in that, The ejector (140) also includes a traction block (146), which is sleeved on the seedling pusher (142) and slides in cooperation with the seedling picking needle (150).

9. The unmanned aerial vehicle (UAV) rice transplanting device according to claim 8, characterized in that, The seedling picking needle (150) has a sliding groove (153). The traction block (146) includes a locking part (1461) and a sliding part (1462) connected to each other. The locking part (1461) is sleeved on the seedling pushing rod (142). The sliding part (1462) slides in cooperation with the sliding groove (153). The extension length of the sliding part (1462) is greater than the extension length of the locking part (1461).

10. The unmanned aerial vehicle (UAV) rice-throwing device according to claim 2, characterized in that, The main arm (141) includes a detachably connected housing (1411) and a cover (1412). The housing (1411) is connected to the drive member (110) in a transmission manner. The seedling pushing rod (142) is rotatably connected to the housing (1411). The seedling picking needle (150) is connected to the housing (1411). The end of the spring (143) away from the seedling pushing rod (142) is connected to the cover (1412).

11. The unmanned aerial vehicle (UAV) rice-throwing device according to any one of claims 1-10, characterized in that, The number of the rotating cutter heads (130) is at least two sets, and the at least two sets of rotating cutter heads (130) are arranged in a ring, with the center of the ring of the at least two sets of rotating cutter heads (130) coinciding with the center of the cam (120).

12. The unmanned aerial vehicle (UAV) rice-throwing device according to claim 11, characterized in that, The movement trajectories of the seedling-collecting needle (150) and the ejector (140) are circular.

13. The unmanned aerial vehicle (UAV) rice transplanting device according to any one of claims 1-10, characterized in that, The cam (120) also includes a disengagement section (122) that connects to the guide section (121) end to end. The guide section (121) is in contact with the ejector (140), and there is a gap between the disengagement section (122) and the ejector (140).

14. The unmanned aerial vehicle (UAV) rice transplanting device according to claim 13, characterized in that, The guide section (121) is arc-shaped, the disengagement section (122) is straight, and the disengagement section (122) extends in the radial direction of the cam (120).

15. The unmanned aerial vehicle (UAV) rice-throwing device according to any one of claims 1-10, characterized in that, The seedling needle (150) is provided with a seedling clamping groove (1511).

16. The unmanned aerial vehicle (UAV) rice-throwing device according to claim 15, characterized in that, The seedling picking needle (150) includes a bottom plate (151) and two side plates (152) connected to each other. The seedling clamping groove (1511) is disposed through the bottom plate (151). A sliding groove (153) is formed between the bottom plate (151) and the two side plates (152). The sliding groove (153) is in sliding cooperation with the ejector (140).

17. An unmanned aerial vehicle (UAV), characterized in that, include: The fuselage (200), the seedling delivery device (300), and the unmanned aerial vehicle seedling throwing device according to any one of claims 1-16; The seedling delivery device (300) and the drone seedling throwing device are both located on the body (200), and the seedling picking needle (150) is used to pick up the seedlings (400) from the seedling delivery device (300).

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