Seedling throwing mechanism and unmanned aerial vehicle seedling throwing system

Abstract

The embodiment of the invention provides a seedling slinging mechanism and an unmanned aerial vehicle seedling slinging system, and relates to the technical field of seedling slinging. The seedling throwing mechanism comprises a load module, a first seedling taking module and a second seedling taking module, the first seedling taking module and the second seedling taking module are arranged on the load module, the load module is used for being arranged on the unmanned aerial vehicle, the first seedling taking module comprises a first driving source and a first tool bit which are connected, and the first driving source is used for driving the first tool bit to rotate; the second seedling taking module comprises a second driving source and a second tool bit which are connected, the second driving source is used for driving the second tool bit to rotate, the rotating direction of the first tool bit is opposite to the rotating direction of the second tool bit so as to offset the swinging torque to the seedling throwing mechanism, and the seedling throwing mechanism guarantees the flight stability of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of seedling throwing, and in particular to a seedling throwing mechanism and an unmanned aerial vehicle (UAV) seedling throwing system. Background Art

[0002] For mechanized rice planting, there are actually only two solutions on the market: rice transplanter and rice thrower. Both solutions mainly rely on ground-moving agricultural machinery. For rice throwers, a seedling tray with independent holes is generally used for planting. The seedling tray has independent holes to separate multiple seedlings. The rice thrower throws the relatively independent seedlings in the tray. This method has high requirements for planting and is not widely used.

[0003] In the prior art, although some plant protection drones can be used for seedling transplanting, during the seedling transplanting operation, the seedling transplanting mechanism rotates at high speed, and the deflection torque generated will cause unstable flight and easily cause safety accidents. Summary of the invention

[0004] The invention provides a seedling throwing mechanism and a drone seedling throwing system, which can maintain the flight stability of the drone.

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

[0006] In a first aspect, the present invention provides a seedling throwing mechanism, comprising:

[0007] A load module, the load module is used to be arranged on the drone; and

[0008] A first seedling picking module and a second seedling picking module are arranged in the load module, wherein the first seedling picking module comprises a first driving source and a first cutting head connected to each other, wherein the first driving source is used to drive the first cutting head to rotate, and the second seedling picking module comprises a second driving source and a second cutting head connected to each other, wherein the second driving source is used to drive the second cutting head to rotate;

[0009] Wherein, the rotation direction of the first cutter head is opposite to the rotation direction of the second cutter head so as to offset the swing torque on the seedling throwing mechanism.

[0010] In an optional embodiment, the number of the first seedling taking modules and the number of the second seedling taking modules are both plural, and a plurality of the first seedling taking modules are arranged side by side, and a plurality of the second seedling taking modules are arranged side by side.

[0011] In an optional embodiment, the number of the first seedling removing modules is equal to the number of the second seedling removing modules.

[0012] In an optional embodiment, the spacing between adjacent first seedling taking modules is equal, and the spacing between adjacent second seedling taking modules is equal;

[0013] Among them, the spacing between adjacent first seedling taking modules is a first distance, the spacing between adjacent second seedling taking modules is a second distance, and the first distance is equal to the second distance.

[0014] In an optional embodiment, the first seedling taking module and the second seedling taking module are respectively located on two opposite sides of the load module.

[0015] In an optional embodiment, the rotation plane of the first cutting head and the rotation plane of the second cutting head are located in the same plane.

[0016] In an optional embodiment, the first seedling removing module and the second seedling removing module are located on the same horizontal plane.

[0017] In an optional embodiment, the seedling throwing mechanism further includes a first seedling sending module and a second seedling sending module, and the first seedling sending module and the second seedling sending module are both arranged in the load module;

[0018] The first blade head is used to remove the seedlings from the first seedling sending module, and the second blade head is used to remove the seedlings from the second seedling sending module.

[0019] In an optional embodiment, the first blade head is used to throw the removed seedlings out by centrifugal force or by an ejection member, and the second blade head is used to throw the removed seedlings out by centrifugal force or by an ejection member.

[0020] In an optional embodiment, the first seedling sending module and the second seedling sending module can be arranged in the load module for transverse movement, and the moving direction of the first seedling sending module is opposite to the moving direction of the second seedling sending module.

[0021] In an optional embodiment, the first seedling conveying module and the second seedling conveying module are arranged back to back.

[0022] In an optional embodiment, the first seedling removing module further includes a first transmission box, the first driving source is connected to the first transmission box and is used to drive the first transmission box to rotate, and at least one of the first cutting heads is arranged on the first transmission box.

[0023] In an optional embodiment, the second seedling removing module further includes a second transmission box, the second driving source is connected to the second transmission box and is used to drive the second transmission box to rotate, and at least one second blade head is arranged on the second transmission box.

[0024] In an optional embodiment, the seedling throwing mechanism further includes a driving device, and the driving device is arranged on the load module. The number of the driving devices is two, and the two driving devices are respectively used to drive the first seedling sending module and the second seedling sending module to move laterally.

[0025] In a second aspect, the present invention provides a drone seedling throwing system, comprising a drone and the seedling throwing mechanism described in any one of the aforementioned embodiments, wherein the load module is installed on the drone.

[0026] The beneficial effects of the seedling throwing mechanism and the drone seedling throwing system of the embodiments of the present invention include, for example:

[0027] The present invention provides a seedling throwing mechanism, which includes a load module, a first seedling taking module and a second seedling taking module arranged on the load module, the load module is used to be arranged on a drone, the first seedling taking module includes a first driving source and a first cutter head connected to each other, the first driving source is used to drive the first cutter head to rotate, the second seedling taking module includes a second driving source and a second cutter head connected to each other, the second driving source is used to drive the second cutter head to rotate, wherein the rotation direction of the first cutter head is opposite to the rotation direction of the second cutter head, so as to offset the swing torque of the seedling throwing mechanism. Since the rotation direction of the first cutter head is opposite to the rotation direction of the second cutter head, the swing torque of the seedling throwing mechanism can be offset to each other, thereby avoiding the situation that the drone flips over and causes its unstable flight, thereby ensuring the flight stability of the drone.

[0028] The present invention provides a drone seedling throwing system, which comprises a drone and the above-mentioned seedling throwing mechanism, wherein a load module is installed on the drone, and the drone seedling throwing system has all the functions of the seedling throwing mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] 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.

[0030] Figure 1 A schematic diagram of a drone seedling throwing system provided in an embodiment of the present invention;

[0031] Figure 2 A top view of a drone rice seedling throwing system provided in an embodiment of the present invention;

[0032] Figure 3 A side view of a drone seedling throwing system provided in an embodiment of the present invention;

[0033] Figure 4It is a schematic diagram of the first seedling removing module provided in an embodiment of the present invention.

[0034] Icons: 1000-seedling throwing mechanism; 100-load module; 200-first seedling sending module; 300-second seedling sending module; 400-first seedling taking module; 410-first driving source; 420-first cutter head; 430-first transmission box; 440-fixed arm; 500-second seedling taking module; 510-second driving source; 520-second cutter head; 530-second transmission box; 600-driving device; 2000-UAV; A-center line. DETAILED DESCRIPTION

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] As described in the background technology, for mechanized rice planting, there are actually only two solutions on the market: rice transplanter and rice thrower. Both solutions mainly rely on ground-moving agricultural machinery. For rice throwers, a seedling tray with independent holes is generally used for planting. The seedling tray has independent holes to achieve the separation of multiple seedlings. The rice thrower throws the relatively independent seedlings in the tray. This method has high requirements for planting and is not widely used.

[0042] In the prior art, although some plant protection UAVs can be used for seedling throwing operations, during the seedling throwing operation of the plant protection UAV, the seedling ejecting mechanism rotates at high speed, and the deflection torque generated will cause the entire UAV to tilt backward or forward. Specifically, the seedling ejecting mechanism is arranged on one side of the UAV's tripod. When the seedling needles of the seedling ejecting mechanism are inserted into the seedling tray and tear the seedlings, there will be a downward force on the seedling tray on one side, which will cause the aircraft to tilt backward, resulting in unstable flight and prone to safety accidents.

[0043] In view of this, please refer to Figure 1-Figure 4 The seedling throwing mechanism 1000 and the drone seedling throwing system provided in the embodiments of the present invention can solve this problem, which will be described in detail below.

[0044] Please refer to Figure 1-Figure 3 The present invention provides a drone seedling throwing system, which includes a drone 2000 and a seedling throwing mechanism 1000 , wherein a load module 100 (described in detail below) of the seedling throwing mechanism 1000 is installed on the drone 2000 .

[0045] The seedling throwing mechanism 1000 can prevent the drone 2000 from tilting backward or forward during the flight of the drone 2000, that is, prevent the drone 2000 from pitching and swaying forward and backward during the flight, thereby ensuring the flight stability of the drone 2000.

[0046] Specifically, the seedling throwing mechanism 1000 includes a load module 100, a first seedling picking module 400 and a second seedling picking module 500 arranged on the load module 100, the load module 100 is used to be arranged on the drone 2000, the first seedling delivery module 200 and the second seedling delivery module 300 are both arranged on the load module 100, and the first seedling picking module 400 includes a first driving source 410 and a first cutter head 420 connected to each other, and the first driving source 410 is used to drive the first cutter head 420 to rotate.

[0047] The second seedling removing module 500 includes a second driving source 510 and a second cutting head 520 which are connected to each other. The second driving source 510 is used to drive the second cutting head 520 to rotate.

[0048] Among them, the rotation direction of the first cutter head 420 and the rotation direction of the second cutter head 520 are opposite to each other, so as to offset the swing torque on the seedling throwing mechanism 1000. Since the rotation direction of the first cutter head 420 and the rotation direction of the second cutter head 520 are opposite, the swing torque on the seedling throwing mechanism 1000 can offset each other, avoiding the UAV 2000 from flipping over and causing its unstable flight, thereby ensuring the flight stability of the UAV 2000.

[0049] Specifically, in order to facilitate the transportation of seedlings, the seedling throwing mechanism 1000 also includes a first seedling sending module 200 and a second seedling sending module 300, and the first seedling sending module 200 and the second seedling sending module 300 are both arranged in the load module 100; wherein, the first blade head 420 is used to remove the seedlings from the first seedling sending module 200, and the second blade head 520 is used to remove the seedlings from the second seedling sending module 300.

[0050] In the present embodiment, the first seedling conveying module 200 and the second seedling conveying module 300 are both used for conveying blanket seedlings. Of course, the first seedling conveying module 200 and the second seedling conveying module 300 can also be used for conveying pot seedlings.

[0051] Among them, the first blade head 420 is used to throw the seedlings taken from the blanket seedlings or pot seedlings through centrifugal force or through an ejection member, and the second blade head 520 is used to throw the seedlings taken from the blanket seedlings or pot seedlings through centrifugal force or through an ejection member.

[0052] It is easy to understand that the drone 2000 can carry the seedling throwing mechanism 1000 to perform seedling throwing operations, and transport the blanket seedlings (not shown) or pot seedlings through the first seedling delivery module 200 and the second seedling delivery module 300, and separate the blanket seedlings or pot seedlings through the first seedling retrieval module 400 and the second sampling module, and then throw the seedlings out to realize the flying seedling throwing operation of the blanket seedlings or pot seedlings.

[0053] It should be noted that there are many ways to separate, for example, cutting, grabbing, pushing out, pressing down, etc. The specific separation and seedling removal method is not limited.

[0054] In this embodiment, the UAV 2000 is a rotor UAV, specifically a quad-rotor UAV. Of course, it can also be a single-rotor UAV, a dual-rotor UAV, a six-rotor UAV, an eight-rotor UAV, etc.

[0055] The UAV 2000 can automatically operate according to a preset path, flight speed, posture, etc., or can be manually controlled by an operator.

[0056] For ease of description, the accompanying drawings show directions such as front, back, left, right, up, and down. These directions are relative position relationships that can be clearly known to technicians in this field when the drone 2000 is placed normally or flying.

[0057] The load module 100 of the seedling throwing mechanism 1000 can be detachably mounted on the lower part of the UAV 2000, that is, the UAV 2000 and the seedling throwing mechanism 1000 adopt an upper and lower split design, and the UAV 2000 serves as a mobile platform and is a split design with the seedling throwing mechanism 1000.

[0058] In other words, this type of seedling throwing mechanism 1000 is an independent structure that does not rely on the fuselage frame of the drone 2000. Based on this type, the corresponding device can be replaced according to actual operation requirements in a specific operation scenario.

[0059] For example, after the seedling throwing mechanism 1000 is disassembled, a spreading device is installed to spread pesticides, fertilizers, seeds, etc. Similarly, after the seedling throwing mechanism 1000 is disassembled, a surveying device, a spraying device, and other agricultural operation mechanisms can be installed.

[0060] It should be noted that, in this embodiment, the load module 100 is a tripod of the UAV 2000.

[0061] In this embodiment, the first seedling delivery module 200 and the second seedling delivery module 300 are both seedling delivery trays, which are used to transport the blanket seedlings toward the first seedling retrieval module 400 and the second seedling retrieval module 500 respectively. The first seedling delivery module 200 and the second seedling delivery module 300 are arranged back to back.

[0062] Furthermore, the first seedling taking module 400 and the second seedling taking module 500 are respectively located on two opposite sides of the load module 100 .

[0063] The number of the first seedling conveying modules 200 and the number of the second seedling conveying modules 300 are both plural. In the present embodiment, three first seedling conveying modules 200 are arranged side by side, and three second seedling conveying modules 300 are arranged side by side.

[0064] In order to facilitate the throwing of the blanket seedlings on the multiple first seedling delivering modules 200 and the multiple second seedling delivering modules 300, the number of the first seedling taking modules 400 and the number of the second seedling taking modules 500 are also multiple, and the multiple first seedling taking modules 400 are arranged side by side, and the multiple second seedling taking modules 500 are arranged side by side.

[0065] Among them, the number of the first seedling taking modules 400 and the number of the second seedling taking modules 500 are equal, and the number of the first seedling taking modules 400 and the number of the second seedling taking modules 500 are both three.

[0066] That is, the three first seedling taking modules 400 are arranged side by side in front of the loading module 100 , and the three second seedling taking modules 500 are arranged side by side behind the loading module 100 .

[0067] In order to improve the flight stability of the UAV, the rotation plane of the first cutting head 420 and the rotation plane of the second cutting head 520 are located in the same plane.

[0068] It is easy to understand that in the front-to-back direction, the first cutter heads 420 of the three first seedling removing modules 400 and the second cutter heads 520 of the three second seedling removing modules 500 correspond one to one, and the rotation plane of a single first cutter head 420 and the rotation plane of the corresponding single second cutter head 520 are located in the same plane.

[0069] Of course, in other embodiments, the number of the first seedling taking modules 400 and the number of the second seedling taking modules 500 may not be equal, for example, the number of the first seedling taking modules 400 is four, and the number of the second seedling taking modules 500 is three.

[0070] The spacing between adjacent first seedling taking modules 400 is equal, and the spacing between adjacent second seedling taking modules 500 is equal, wherein the spacing between adjacent first seedling taking modules 400 is a first distance, and the spacing between adjacent second seedling taking modules 500 is a second distance, and the first distance is equal to the second distance.

[0071] In order to maintain the center of gravity of the entire drone seedling throwing system and prevent the drone 2000 from tilting forward or backward, in this embodiment, the first seedling taking module 400 and the second seedling taking module 500 are located on the same horizontal plane.

[0072] It should be noted that, here, the first seedling taking module 400 and the second seedling taking module 500 are located on the same horizontal plane, which can be understood as the first seedling taking module 400 and the second seedling taking module 500 are at the same height relative to the ground, wherein the ground is parallel to the horizontal plane.

[0073] At the same time, the rotation center line of the first blade head 420 of the first seedling removing module 400 is parallel to the rotation center line of the second blade head 520 of the second seedling removing module 500, and is symmetrical about the center line A.

[0074] The center line A here can be understood as a straight line passing through the center of gravity of the load module 100. Figure 2 In the figure, the first seedling conveying module 200 and the second seedling conveying module 300 are also symmetrically distributed about the center line A.

[0075] It can be understood that, in the process of taking seedlings from the blanket of seedlings, the blade head of the seedling taking module of the seedling throwing mechanism 1000 provided in the present embodiment will generate a downward tearing force on the blanket of seedlings when taking seedlings, thereby applying a downward force to the seedling delivery module. In the present embodiment, a downward force can be exerted on the corresponding first seedling delivery module 200 or the second seedling delivery module 300 at the same time through both sides, and then when the first seedling taking module 400 and the second seedling taking module 500 take seedlings, the downward force on both sides offsets the rotational torque on the seedling throwing mechanism 1000, thereby maintaining the flight stability of the drone 2000.

[0076] Please refer to Figure 4 Union Figure 2 In order to facilitate the rotation of the first cutter head 420 and the second cutter head 520 and achieve the separation of the seedlings, the first seedling removing module 400 also includes a first transmission box 430. The first driving source 410 is connected to the first transmission box 430 and is used to drive the first transmission box 430 to rotate. At least one first cutter head 420 is arranged on the first transmission box 430.

[0077] In this embodiment, two first cutter heads 420 are distributed on a first transmission box 430. Of course, in other embodiments, only one first cutter head 420, or three, four or more first cutter heads 420 may be distributed.

[0078] When two first cutter heads 420 are distributed in one first transmission box 430, the angles between the two first cutter heads 420 and the center of the first transmission box 430 can be 180 degrees, three first cutter heads 420 can be spaced 120 degrees apart, and four first cutter heads 420 can be spaced 90 degrees apart. In other words, the first cutter heads 420 can be arranged in a uniform distribution. Of course, it is not excluded that the first cutter heads 420 are arranged in an uneven distribution in certain scenarios.

[0079] Generally, a plurality of meshing gears may be provided inside the first transmission box 430, the first driving source 410 meshes with a gear inside the first transmission box 430, and the first cutter head 420 meshes with another gear. The first transmission box 430 may make the movement trajectory of the first cutter head 420 and the posture of the first cutter head 420 during the movement meet the requirements. In the present embodiment, the rotation of the first cutter head 420 may be realized by the rotation of the first transmission box 430.

[0080] In this embodiment, the first driving source 410 may be a motor, and the first transmission box 430 is directly mounted on the output shaft of the first driving source 410 .

[0081] In addition, the second seedling removing module 500 also includes a second transmission box 530. The second driving source 510 is connected to the second transmission box 530 and is used to drive the second transmission box 530 to rotate. At least one second cutter head 520 is arranged on the second transmission box 530. For example, one, two, three, four or more second cutter heads 520 can be arranged on the second transmission box 530.

[0082] In this embodiment, the structure of the second seedling taking module 500 is the same as that of the first seedling taking module 400. The difference lies in that, during the seedling throwing operation, the first blade head 420 of the first seedling taking module 400 rotates counterclockwise, and the second blade head 520 of the second seedling taking module 500 rotates clockwise, so as to offset the swing torque on the seedling throwing mechanism 1000, avoid the UAV 2000 from tilting backward or forward, and ensure the flight stability of the UAV 2000.

[0083] In addition, the first seedling delivering module 200 and the second seedling delivering module 300 can be arranged in the load module 100 for laterally movement, wherein the moving direction of the first seedling delivering module 200 is opposite to the moving direction of the second seedling delivering module 300, so as to offset the lateral impact on the seedling throwing mechanism 1000 and prevent the drone 2000 from swaying left and right.

[0084] In this embodiment, if Figure 2 As shown in the figure, the first driving source 410 of the first seedling picking module 400 is connected to the load module 100 through the fixed arm 440, the first sampling module is fixed on the load module 100, and the second seedling picking module 500 also has a fixed arm 440 structure to achieve the fixation of the second seedling picking module 500 and the load module 100.

[0085] The first seedling delivering module 200 and the second seedling delivering module 300 can move back and forth horizontally relative to the load module 100. In this way, the first seedling taking module 400 and the second seedling taking module 500 can separate the blanket seedlings 300, and realize the separation and throwing of the blanket seedlings 300 row by row and bunch by bunch.

[0086] In order to facilitate the driving of the first seedling delivering module 200 and the second seedling delivering module 300 to move horizontally left and right, the seedling throwing mechanism 1000 also includes a driving device 600, which is arranged on the load module 100. There are two driving devices 600, and the two driving devices 600 are respectively used to drive the first seedling delivering module 200 and the second seedling delivering module 300 to move horizontally.

[0087] The driving device 600 here can use a motor with a gear rack mechanism to achieve the left and right reciprocating movement of the first seedling delivery module 200 and the second seedling delivery module 300, or a motor with a screw mechanism or a synchronous belt and other driving solutions. Of course, it is not ruled out that the rotor power of the drone 2000 is used to drive the first seedling delivery module 200 and the second seedling delivery module 300 to move left and right.

[0088] According to a drone seedling throwing system provided in this embodiment, the working principle of the drone seedling throwing system is as follows:

[0089] When the UAV 2000 is flying, the first driving sources 410 of the three first seedling picking modules 400 all drive the first transmission box 430 to rotate, driving the first cutter head 420 to rotate counterclockwise at high speed. The first cutter head 420 separates the seedlings from the blanket seedlings on the first seedling delivery module 200, drives the seedlings to rotate and throw them out, and then they fall into the field.

[0090] At the same time, the second driving sources 510 of the three second seedling picking modules 500 all drive the second transmission box 530 to rotate, driving the second cutter head 520 to rotate clockwise at high speed. The second cutter head 520 separates the seedlings from the blanket seedlings on the second seedling delivery module 300, drives the seedlings to rotate and throw them out, and then they fall into the field.

[0091] The first seedling delivery module 200 and the second seedling delivery module 300 move horizontally to the left and right, driving the blanket seedlings to move horizontally, so that the blanket seedlings are separated and thrown row by row and bunch by bunch. The first seedling delivery module 200 and the second seedling delivery module 300 are both inclined, and the blanket seedlings can move downward under the action of gravity. In this way, when the first seedling delivery module 200 and the second seedling delivery module 300 move horizontally again, the blanket seedlings are separated and thrown row by row and bunch by bunch by the first seedling taking module 400 and the second seedling taking module 500. This process is repeated and repeated until all the blanket seedlings are separated and thrown.

[0092] To sum up, the seedling throwing mechanism 1000 includes a load module 100, a first seedling picking module 400 and a second seedling picking module 500 arranged on the load module 100, the load module 100 is used to be arranged on the drone 2000, the first seedling delivery module 200 and the second seedling delivery module 300 are both arranged in the load module 100, the first seedling picking module 400 includes a first driving source 410 and a first cutter head 420 connected to each other, the first driving source 410 is used to drive the first cutter head 420 to rotate, the second seedling picking module 500 includes a second driving source 510 and a second cutter head 520 connected to each other, the second driving source 510 is used to drive the second cutter head 520 to rotate.

[0093] Among them, the rotation direction of the first cutter head 420 and the rotation direction of the second cutter head 520 are opposite to each other, so as to offset the swing torque on the seedling throwing mechanism 1000. Since the rotation direction of the first cutter head 420 and the rotation direction of the second cutter head 520 are opposite, the swing torque on the seedling throwing mechanism 1000 can offset each other, avoiding the UAV 2000 from flipping over and causing its unstable flight, thereby ensuring the flight stability of the UAV 2000.

[0094] The drone seedling throwing system comprises a drone 2000 and the above-mentioned seedling throwing mechanism 1000 , and the load module 100 is installed on the drone 2000 . The drone seedling throwing system has all the functions of the seedling throwing mechanism 1000 .

[0095] 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 should be based on the protection scope of the claims.

Claims

1. A seedling throwing mechanism, characterized in that: include: A load module (100), the load module (100) being used to be arranged on the drone (2000); as well as A first seedling taking module (400) and a second seedling taking module (500) are arranged on the load module (100), wherein the first seedling taking module (400) comprises a first driving source (410) and a first cutting head (420) connected to each other, and the first driving source (410) is used to drive the first cutting head (420) to rotate; and the second seedling taking module (500) comprises a second driving source (510) and a second cutting head (520) connected to each other, and the second driving source (510) is used to drive the second cutting head (520) to rotate; The rotation direction of the first blade head (420) and the rotation direction of the second blade head (520) are opposite to each other so as to offset the swing torque on the seedling throwing mechanism.

2. The seedling throwing mechanism according to claim 1, characterized in that: The number of the first seedling removing modules (400) and the number of the second seedling removing modules (500) are both multiple, multiple first seedling removing modules (400) are arranged side by side, and multiple second seedling removing modules (500) are arranged side by side.

3. The seedling throwing mechanism according to claim 2, characterized in that: The number of the first seedling removing modules (400) is equal to the number of the second seedling removing modules (500).

4. The seedling throwing mechanism according to claim 2, characterized in that: The spacing between adjacent first seedling removing modules (400) is equal, and the spacing between adjacent second seedling removing modules (500) is equal; Wherein, the spacing between adjacent first seedling removing modules (400) is a first distance, the spacing between adjacent second seedling removing modules (500) is a second distance, and the first distance is equal to the second distance.

5. The seedling throwing mechanism according to claim 1, characterized in that: The first seedling removing module (400) and the second seedling removing module (500) are respectively located on two opposite sides of the load module (100).

6. The seedling throwing mechanism according to claim 1, characterized in that: The rotation plane of the first cutting head (420) and the rotation plane of the second cutting head (520) are located in the same plane.

7. The seedling throwing mechanism according to claim 1, characterized in that: The first seedling removing module (400) and the second seedling removing module (500) are located on the same horizontal plane.

8. The seedling throwing mechanism according to claim 1, characterized in that: The seedling throwing mechanism further comprises a first seedling sending module (200) and a second seedling sending module (300), wherein the first seedling sending module (200) and the second seedling sending module (300) are both arranged on the load module (100); The first blade head (420) is used to remove the seedlings from the first seedling delivery module (200), and the second blade head (520) is used to remove the seedlings from the second seedling delivery module (300).

9. The seedling throwing mechanism according to claim 8, characterized in that: The first blade head (420) is used to eject the removed seedlings by centrifugal force or by an ejection member, and the second blade head (520) is used to eject the removed seedlings by centrifugal force or by an ejection member.

10. The seedling throwing mechanism according to claim 8, characterized in that: The first seedling sending module (200) and the second seedling sending module (300) can both be arranged in the load module (100) in a transversely movable manner, and the moving direction of the first seedling sending module (200) is opposite to the moving direction of the second seedling sending module (300).

11. The seedling throwing mechanism according to claim 8, characterized in that: The first seedling conveying module (200) and the second seedling conveying module (300) are arranged opposite to each other.

12. The seedling throwing mechanism according to claim 8, characterized in that: The first seedling removing module (400) further comprises a first transmission box (430), the first driving source (410) is connected to the first transmission box (430) and is used to drive the first transmission box (430) to rotate, and at least one of the first cutting heads (420) is arranged on the first transmission box (430).

13. The seedling throwing mechanism according to claim 12, characterized in that: The second seedling removing module (500) further comprises a second transmission box (530), the second driving source (510) is connected to the second transmission box (530) and is used to drive the second transmission box (530) to rotate, and at least one second blade head (520) is arranged on the second transmission box (530).

14. The seedling throwing mechanism according to claim 8, characterized in that: The seedling throwing mechanism further comprises a driving device (600), wherein the driving device (600) is arranged on the load module (100), and the number of the driving devices (600) is two, and the two driving devices (600) are respectively used to drive the first seedling sending module (200) and the second seedling sending module (300) to move laterally.

15. A drone seedling throwing system, characterized in that: It comprises an unmanned aerial vehicle (2000) and the rice seedling throwing mechanism according to any one of claims 1 to 14, wherein the load module (100) is installed on the unmanned aerial vehicle (2000).

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