Seedling throwing mechanism and seedling throwing system

Abstract

The embodiment of the invention provides a seedling slinging mechanism and a seedling slinging system, and relates to the technical field of seedling slinging. The seedling throwing mechanism comprises a loading module, a seedling feeding module and a seedling taking module. The load module is arranged on the unmanned aerial vehicle. The seedling conveying module is arranged on the load module and used for conveying blanket seedlings. The seedling taking module is arranged on the load module and used for separating seedlings from the blanket seedlings on the seedling conveying module and then throwing the seedlings out. Thus, the unmanned aerial vehicle can carry the seedling throwing mechanism to conduct seedling throwing operation, blanket seedlings are conveyed through the seedling conveying module, the blanket seedlings are separated through the seedling taking module and then thrown out, and flying seedling throwing operation of the blanket seedlings is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of seedling throwing, and in particular to a seedling throwing mechanism and a seedling throwing system. Background Art

[0002] For mechanized rice planting, there are actually only two solutions on the market: rice transplanter and rice throwing machine. In the existing technology, both solutions rely on agricultural machinery that travels on the ground. For rice throwing machines, a seedling tray with independent holes is generally used for planting. The seedling tray has independent holes to separate multiple seedlings. The rice throwing machine throws the relatively independent seedlings in the tray. This method has high requirements for planting and is not widely used.

[0003] On the contrary, the mainstream rice-planting agricultural machinery that is currently popular is the rice transplanter, and farmers' main method of raising rice seedlings is blanket seedlings. The characteristic of blanket seedlings is that the roots of the seedlings are adhered to each other. Therefore, more seedlings can be separated from an area of ​​the same size, while the relative number of pot seedlings is relatively small overall. For blanket seedlings, they are currently only suitable for planting by transplanting. Summary of the invention

[0004] The invention provides a seedling throwing mechanism and a seedling throwing system, which can realize the seedling throwing operation of blanket seedlings.

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

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

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

[0008] A seedling delivery module, which is arranged on the load module and is used to deliver blanket seedlings; and

[0009] A seedling taking module is arranged on the load module, and is used for separating the seedlings from the seedling blanket on the seedling delivery module and throwing them out.

[0010] Optionally, the seedling retrieval module is used to separate the seedlings from the seedling blanket on the seedling delivery module and throw them out through centrifugal force and / or ejection force.

[0011] Optionally, the seedling retrieval module includes a driving source and a cutter head, wherein the driving source is connected to the cutter head and is used to drive the cutter head to separate the seedlings on the seedling delivery module and eject the separated seedlings through centrifugal force and / or ejection force.

[0012] Optionally, the cutter head includes a mounting portion and a cutter body disposed on the mounting portion, the mounting portion is connected to the driving source, a notch is formed on the cutter body, the notch is used to clamp the seedlings after the cutter body separates the seedlings, so that the seedlings rotate with the rotation and are thrown out under the action of centrifugal force and / or ejection force.

[0013] Optionally, the cutter head includes an ejection member and a seedling needle, the seedling needle is arranged on the ejection member, and the ejection member is connected to the driving source, and is used for ejecting the seedlings under the drive of the driving source.

[0014] Optionally, the ejection member includes a housing, a cam, a connecting rod assembly and a spring; the seedling needle is arranged on the housing;

[0015] The cam is rotatably arranged on the housing, the connecting rod assembly is movably arranged on the housing, and two ends of the spring act on the housing and the connecting rod assembly respectively;

[0016] The cam is connected to the driving source and is used to resist the connecting rod assembly during the process of being driven to rotate, thereby storing elastic potential energy of the spring, and to release the elastic potential energy of the spring when detached from the connecting rod assembly, and to push the connecting rod assembly to eject the seedlings.

[0017] Optionally, the seedling removing module further includes a transmission box, the driving source is connected to the transmission box and is used to drive the transmission box to rotate, and at least one of the cutting heads is arranged on each transmission box.

[0018] Optionally, the number of the seedling delivery modules is multiple, and the multiple seedling delivery modules are arranged side by side; the seedling taking module further includes a first synchronous shaft, and the number of the transmission boxes is multiple; the driving source is connected to the first synchronous shaft, and the multiple transmission boxes are fixedly arranged on the first synchronous shaft at intervals; the multiple transmission boxes correspond one to one to the multiple seedling delivery modules;

[0019] Wherein, the driving source is used to drive the multiple transmission boxes to rotate synchronously through the first synchronization shaft, so that the cutter heads on the multiple transmission boxes rotate accordingly, thereby performing seedling throwing operations on the blanket seedlings on the multiple seedling delivery modules.

[0020] Optionally, the seedling removing module further includes at least one supporting assembly, the supporting assembly including a supporting rod and a bearing, one end of the supporting rod is connected to the load module, the other end of the supporting rod is fixed to the bearing, and the bearing sleeve fixes the first synchronization shaft.

[0021] Optionally, there are multiple seedling delivery modules, and there are multiple seedling retrieval modules, which correspond one-to-one to the multiple seedling delivery modules.

[0022] Optionally, the seedling delivery module comprises a seedling supporting plate and a seedling delivery tray, the seedling supporting plate is arranged on the load module, the seedling supporting plate is provided with an opening, the seedling delivery tray is used to deliver blanket seedlings, the lower part of the seedling delivery tray is located inside the seedling supporting plate, and the seedling delivery tray can move laterally relative to the seedling supporting plate;

[0023] Wherein, the seedling taking module is used to separate the blanket seedlings through the opening and throw out the separated seedlings.

[0024] Optionally, the seedling delivery module further includes a driving device, which is disposed on the load module and is used to drive the seedling delivery plate to move laterally relative to the seedling supporting plate.

[0025] Optionally, the driving device includes a driving motor, a gear and a rack, the driving motor is arranged on the load module, the driving motor is connected to the gear, the rack is fixedly arranged on the seedling delivery tray, and the rack is meshed with the gear;

[0026] Wherein, the driving motor is used to drive the seedling delivery plate to move laterally relative to the seedling supporting plate through the gear and the rack.

[0027] Optionally, the seedling delivery module further includes a conveying device, which is disposed on the seedling delivery tray and is used to drive the seedling blanket to move toward the seedling supporting plate.

[0028] Optionally, the conveying device includes a conveying motor and a conveying member, the conveying motor is connected to the conveying member, and is used to drive the conveying member to rotate; the seedling delivery tray is provided with an installation opening, the conveying member is located in the installation opening, and the blanket seedlings are driven to move toward the seedling supporting plate through the installation opening.

[0029] Optionally, the number of the seedling delivery modules is multiple, and the multiple seedling delivery modules are distributed side by side; the conveying device further includes a second synchronous shaft, and the number of the conveying members is multiple; the conveying motor is connected to the second synchronous shaft, and the multiple conveying members are fixedly arranged on the second synchronous shaft at intervals, and the multiple conveying members are correspondingly arranged at the mounting openings of the seedling delivery trays of the multiple seedling delivery modules;

[0030] Wherein, the conveying motor is used to drive the multiple conveying members to rotate synchronously through the second synchronization shaft, thereby synchronously driving the seedling blankets in the seedling delivery trays of the multiple seedling delivery modules to move.

[0031] Optionally, the seedling delivery module further includes a seedling pressing device, which is arranged on the seedling delivery tray and is used to limit the position of the seedlings in the seedling delivery tray.

[0032] Optionally, the seedling pressing device includes a rotating shaft and a plurality of pressure strips, wherein the rotating shaft is rotatably placed horizontally on the seedling delivery tray, and the plurality of pressure strips are vertically and spaced apart from the rotating shaft, and the plurality of pressure strips are used to limit the position of the seedlings in the seedling delivery tray.

[0033] Optionally, multiple positions of the seedling delivery tray in the height direction are supported by the load module.

[0034] Optionally, the seedling throwing mechanism further includes a support module, and the support module includes a first bracket and a circular rail;

[0035] Among them, one end of the first bracket is connected to the load module, and the other end of the first bracket supports the upper part of the seedling sending tray; the circular rail is arranged on the load module, and the middle part of the seedling sending tray can be laterally movably arranged on the circular rail; the lower part of the seedling sending tray is supported by the seedling supporting plate.

[0036] Optionally, the support module further includes a U-shaped groove and a first limiting wheel, wherein the U-shaped groove is arranged at the upper part of the seedling delivery tray with an opening facing downward, and the first limiting wheel is arranged on the first bracket, and the first limiting wheel is limited in rolling within the U-shaped groove.

[0037] Optionally, the support module further includes a second limiting wheel; the second limiting wheel is arranged at the lower part of the seedling delivery tray, and the second limiting wheel rolls against the seedling supporting plate.

[0038] Optionally, the load module includes a load frame and at least one tripod arranged on the load frame, the seedling delivery module and the seedling retrieval module are both integrated on the tripod, and the load frame is used to be arranged at the lower part of the UAV.

[0039] An embodiment of the present invention further provides a seedling throwing system, which includes a drone and at least one set of the above-mentioned seedling throwing mechanism, wherein the load module of the seedling throwing mechanism is mounted on the drone.

[0040] Optionally, the load module is detachably mounted on the lower part of the drone.

[0041] The beneficial effects of the seedling throwing mechanism and the seedling throwing system of the embodiments of the present invention include, for example:

[0042] The seedling throwing mechanism includes a load module, a seedling delivery module and a seedling retrieval module. The load module is used to be set on the drone. The seedling delivery module is set on the load module, and the seedling delivery module is used to transport the blanket seedlings. The seedling retrieval module is set on the load module, and the seedling retrieval module is used to separate the seedlings from the blanket seedlings on the seedling delivery module and throw them out. In this way, the drone can carry the seedling throwing mechanism to perform the seedling throwing operation, the blanket seedlings are transported by the seedling delivery module, and the seedling retrieval module separates the blanket seedlings and throws the seedlings out, so as to realize the flying seedling throwing operation of the blanket seedlings.

[0043] The seedling throwing system includes the seedling throwing mechanism, which has all the functions of the seedling throwing mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are 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 creative work.

[0045] Figure 1 A structural diagram of a first seedling throwing system provided in this embodiment;

[0046] Figure 2 A structural diagram of a second seedling throwing system provided in this embodiment;

[0047] Figure 3 A structural diagram of the seedling throwing mechanism provided in this embodiment from a first viewing angle;

[0048] Figure 4 A structural diagram of the seedling throwing mechanism provided in this embodiment from a second viewing angle;

[0049] Figure 5 A structural diagram of another seedling throwing mechanism provided in this embodiment;

[0050] Figure 6 A structural diagram of another seedling throwing mechanism provided in this embodiment;

[0051] Figure 7 A schematic diagram of a specific scene from the first perspective of the seedling throwing system provided in this embodiment;

[0052] Figure 8 A schematic diagram of a specific scene of the seedling throwing system provided in this embodiment from a second viewing angle;

[0053] Fig. 9 for Figure 7 Partial structural diagram of the middle seedling throwing mechanism;

[0054] Fig.10 for Figure 7 Partial structural diagram of the middle seedling throwing mechanism;

[0055] Fig.11 for Figure 7 Schematic diagram of the relevant structure of the mid-seedling delivery module;

[0056] Fig.12 This is a schematic diagram of the structure of a cutter head provided in this embodiment.

[0057] Icons: 1000-seedling throwing system; 100-seedling throwing mechanism; 10-load module; 11-load frame; 12-footstand; 13-mounting rod; 20-seedling delivery module; 21-seedling support plate; 211-opening; 212-slide rail; 22-seedling delivery tray; 221-mounting port; 23-driving device; 231-driving motor; 232-gear; 233-rack; 24-conveying device; 241-conveying motor; 242-second synchronous shaft; 243-transmitting member; 25-seedling pressing device; 251-rotating shaft; 252-pressing strip; 30-seedling removal module; 31-driving source; 32-transmission box; 33-cutter head ;331-installation part;332-blade body;333-notch;335-ejection piece;3351-housing;3352-cam;3353-holding area;3354-first connecting rod;3355-second connecting rod;3356-spring;336-seedling needle;34-first synchronization shaft;35-support assembly;351-support rod;352-bearing;40-support module;41-U-shaped groove;42-circular rail;43-first bracket;44-first limiting wheel;45-second limiting wheel;46-second bracket;47-third bracket;200-UAV;300-blanket seedling;310-seedling. DETAILED DESCRIPTION

[0058] 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.

[0059] 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.

[0060] 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.

[0061] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, or is the orientation or position relationship in which the product of the invention is usually placed when used. It is only for the convenience of describing the present invention and simplifying the description, and does 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.

[0062] 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.

[0063] 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.

[0064] As described in the background technology, for mechanized rice planting, there are actually only two solutions on the market: rice transplanters and rice throwing machines. In the prior art, both solutions rely on agricultural machinery that travels on the ground. For rice throwing machines, it is necessary to use a seedling tray with independent holes for rice seedling cultivation. The seedling tray has independent holes to achieve the separation of multiple rice seedlings (which can be understood as pot seedlings). The rice throwing machine throws the relatively independent rice seedlings in the tray. The cost of the seedling tray required for this method is relatively high and the popularity is not high. On the contrary, the mainstream rice planting agricultural machinery that has been popularized is the rice transplanter, and the rice seedling raising method of farmers is mainly based on blanket seedlings. The characteristic of blanket seedlings is that the roots of the seedlings are adhered to each other. Therefore, more seedlings can be separated from the same area, while the relative number of pot seedlings is relatively small overall. For blanket seedlings, it is currently only suitable for planting by transplanting. Therefore, there is an urgent need for a technology that can use blanket seedlings to achieve rice throwing.

[0065] In view of this, please refer to Figure 1 and Figure 2 The present embodiment provides a seedling throwing mechanism 100 and a seedling throwing system 1000 that can solve the technical problem. Specifically, the seedling throwing system 1000 includes a drone 200 and at least one set of seedling throwing mechanisms 100, and the seedling throwing mechanisms 100 are mounted on the drone 200. The seedling blanket 300 is separated by the seedling throwing mechanism 100, and the separated seedlings 310 are thrown out by centrifugal force and / or ejection force to realize the seedling throwing operation. At the same time, the flying seedling throwing operation is realized in conjunction with the flight of the drone 200.

[0066] The seedling throwing mechanism 100 includes a load module 10, a seedling delivery module 20 and a seedling removal module 30. The load module 10 is used to be arranged on the drone 200. The seedling delivery module 20 is arranged on the load module 10, and is used to transport the seedling blanket 300. The seedling removal module 30 is arranged on the load module 10, and is used to separate the seedlings 310 from the seedling blanket 300 on the seedling delivery module 20 and then throw them out.

[0067] There are many ways for the seedling throwing mechanism 100 to throw the seedlings 310. In one embodiment, after the seedling throwing mechanism 100 separates the seedlings 310 from the blanket seedlings 300, the seedlings 310 can be thrown out by centrifugal force. In one embodiment, after the seedling throwing mechanism 100 separates the seedlings 310 from the blanket seedlings 300, the separated seedlings 310 can be ejected and thrown out by the ejection force (the seedling throwing mechanism 100 can be provided with an ejection member, and the ejection member can provide the ejection force). In one embodiment, the seedling throwing mechanism 100 can use the combined action of centrifugal force and ejection force to throw out the separated seedlings 310. In this way, the drone 200 can carry the seedling throwing mechanism 100 to perform the seedling throwing operation, and the blanket seedlings 300 are transported by the seedling delivery module 20, and the seedlings 310 are separated by the seedling taking module 30 and thrown out by centrifugal force and / or ejection force, so as to realize the flying seedling throwing operation of the blanket seedlings 300.

[0068] 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.

[0069] In this embodiment, the drone 200 is a rotor drone, specifically a quad-rotor drone. Of course, it can also be a single-rotor drone, a dual-rotor drone, a six-rotor drone, an eight-rotor drone, etc. The drone 200 can automatically operate according to a preset path, flight speed, attitude, etc., or be manually controlled by an operator. For ease of description, the drawings show directions such as front, back, left, right, up, and down. These directions are all relative positional relationships that can be clearly known to those skilled in the art when the drone 200 is conventionally placed or flying.

[0070] Figure 1 What is shown is a split-type seedling throwing system 1000. Specifically, the load module 10 of the seedling throwing mechanism 100 can be detachably mounted on the lower part of the drone 200, that is, the drone 200 and the seedling throwing mechanism 100 adopt an upper and lower split design. The drone 200 serves as a mobile platform and is a split design with the seedling throwing mechanism 100. In other words, this type of seedling throwing mechanism 100 is an independent structure that does not rely on the fuselage frame of the drone 200. Based on this type, the corresponding device can be replaced according to actual operation requirements in a specific operation scene. For example, after the seedling throwing mechanism 100 is disassembled, a sowing device is installed to achieve the sowing of pesticides, fertilizers, seeds, etc. Similarly, the seedling throwing mechanism 100 can be disassembled and agricultural operation mechanisms such as surveying and mapping devices and spraying devices can be installed.

[0071] Figure 2The figure shows an integrated seedling throwing system 1000. Specifically, the load module 10 of the seedling throwing mechanism 100 is the fuselage frame of the drone 200, that is, it needs to rely on the fuselage frame of the drone 200 for installation. Based on this type, the entire seedling throwing system 1000 has a high degree of integration, which can greatly reduce the transportation space. In addition, under the same conditions, its height can be lower, the center of gravity of the seedling throwing mechanism 100 can be closer to the center of gravity of the drone 200, and the flight can be relatively more stable. At the same time, with a smaller space size, it can adapt to a more demanding working environment.

[0072] Please refer to Figure 3 and Figure 4 , each module of the seedling throwing mechanism 100 will be described in detail below.

[0073] Specifically, the seedling removal module 30 includes a driving source 31 and a cutter head 33. The driving source 31 is connected to the cutter head 33 to drive the cutter head 33 to separate the seedling blanket 300 on the seedling delivery module 20, and to eject the separated seedlings 310 by centrifugal force and / or ejection force. Generally, the driving source 31 is a motor, which drives the cutter head 33 along the Figure 3 The cutter head 33 rotates in the direction indicated by the arrow A, thereby separating the seedling blanket 300 during the contact process. The separated seedling 310 follows the cutter head 33 to rotate in the direction of the arrow A. When the cutter head 33 rotates to a specific position, the seedling 310 is ejected under the action of the centrifugal force and / or the ejection force. The cutter head 33 may be provided with an ejection member, which can complete energy storage and energy release through the cam during the rotation of the cutter head 33. When the ejection member releases energy, the seedling 310 is ejected under the ejection force provided by the ejection member (described in detail below).

[0074] It should be noted that the cutter head 33 can be directly mounted on the output shaft of the driving source 31, and the driving source 31 directly drives the cutter head 33 to rotate, or the cutter head 33 can be rotatably mounted on the load module 10, and the driving source 31 is mounted on the load module 10, and connected to the cutter head 33 through a transmission mechanism, such as (gear box, connecting rod mechanism, sprocket mechanism, pulley mechanism) to provide driving force. Of course, the driving source 31 can also be other than a motor, for example, a pneumatic motor, a gasoline engine, etc.

[0075] In order to facilitate the throwing of the rice seedlings 310, Figure 4In this embodiment, the cutter head 33 includes a mounting portion 331 and a cutter body 332 disposed on the mounting portion 331. The mounting portion 331 is connected to the driving source 31. A notch 333 is formed on the cutter body 332. The notch 333 is used to hold the rice seedling 310 after the cutter body 332 separates the rice seedling 310, so that the rice seedling 310 rotates with it and is thrown out under the action of centrifugal force and / or ejection force. It can be understood that during the specific operation, the notch 333 on the cutter body 332 will hold the soil part at the root of the rice seedling 310, and then drive it to rotate during the rotation process, so as to throw it out. Of course, the specific structure of the cutter head 33 can also be a rice seedling needle.

[0076] Combination Figure 3 and Figure 4 In this embodiment, the seedling removal module 30 further includes a transmission box 32, a driving source 31 is connected to the transmission box 32, and is used to drive the transmission box 32 to rotate, and at least one cutter head 33 is arranged on each transmission box 32. The transmission box 32 can give the cutter head 33 a specific motion trajectory. Generally, a plurality of mutually meshing gears can be arranged inside the transmission box 32, the driving source 31 meshes with a gear in the transmission box 32, and the cutter head 33 meshes with another gear. The transmission box 32 can make the motion trajectory of the cutter head 33 and the posture of the cutter head 33 during the motion process meet the requirements.

[0077] In order to improve the efficiency of removing seedlings, the rotation speed of the cutter head 33 is usually increased. Of course, too fast a speed may cause other problems such as heat dissipation and unstable separation. In order to solve this problem, in this embodiment, at least two cutter heads 33 are arranged on each transmission box 32, thereby expanding the number of cutter heads 33 at the same separation and throwing position.

[0078] In this embodiment, two cutter heads 33 are distributed on one transmission box 32. Of course, in other embodiments, only one cutter head 33 may be distributed, or three, four or more cutter heads 33 may be distributed. When two cutter heads 33 are distributed on one transmission box 32, the angles of the two cutter heads 33 to the center of the transmission box 32 may be distributed at 180 degrees, three cutter heads 33 may be spaced 120 degrees apart, and four cutter heads 33 may be spaced 90 degrees apart. In other words, the cutter heads 33 may be arranged in a uniform distribution. Of course, it is not excluded that the cutter heads 33 may be arranged in an uneven distribution in a certain scenario.

[0079] By designing a larger number of cutter heads 33 on the transmission box 32, the efficiency of removing seedlings can be improved at the same rotation speed. In addition, in terms of installation, the transmission box 32 can be directly installed on the output shaft of the driving source 31, or the transmission box 32 can be rotatably installed on the load module 10, the driving source 31 is installed on the load module 10, and is connected to the transmission box 32 through a transmission mechanism, such as (gear box, connecting rod mechanism, sprocket mechanism, pulley mechanism) to provide driving force.

[0080] On the other hand, the efficiency of the seedling throwing operation can also be improved by increasing the number of seedling delivery modules 20. Figure 5 In this embodiment, there are multiple seedling delivery modules 20 , and there are multiple seedling taking modules 30 , which correspond one to one with the multiple seedling delivery modules 20 .

[0081] Specifically, Figure 5 In the figure, the number of seedling delivery modules 20 is three, and correspondingly, the number of seedling retrieval modules 30 is also three. Of course, when the number of seedling delivery modules 20 is greater than three, the number of seedling retrieval modules 30 can also be increased accordingly. Generally, the seedlings 310 transported by multiple seedling delivery modules 20 are the same kind of seedlings 310, and the seedling throwing operation is carried out in the same farmland. Therefore, the multiple seedling retrieval modules 30 can be controlled to work synchronously by a control device arranged on the load module 10, or by the flight control of the drone 200. Of course, it is not ruled out that multiple seedling delivery modules 20 work independently, for example, the seedling retrieval efficiencies of the multiple seedling retrieval modules 30 are controlled to be unequal, or some of the seedling retrieval modules 30 are controlled to work while the remaining seedling retrieval modules 30 do not work.

[0082] In order to achieve the separation and throwing of the blanket seedlings 300 row by row and bunch by bunch, in this embodiment, the seedling delivery module 20 includes a seedling supporting plate 21 and a seedling delivery tray 22. The seedling supporting plate 21 is arranged on the load module 10. The seedling supporting plate 21 is provided with an opening 211. The seedling delivery tray 22 is used to transport the blanket seedlings 300. The lower part of the seedling delivery tray 22 is located in the seedling supporting plate 21. The seedling delivery tray 22 can move laterally relative to the seedling supporting plate 21. Among them, the seedling taking module 30 is used to separate the blanket seedlings 300 through the opening 211 and throw out the separated seedlings 310.

[0083] In other words, the positions of the seedling taking module 30, the opening 211 of the seedling supporting plate 21, etc. remain unchanged relative to the load module 10, and the seedling delivery tray 22 can reciprocate in the left and right directions. In this way, the seedling taking module 30 only separates the blanket seedlings 300 exposed in the opening 211, so that the blanket seedlings 300 can be separated and thrown row by row and bunch by bunch. Of course, in other embodiments, the position of the seedling delivery tray 22 relative to the load module 10 can also remain unchanged, while the seedling supporting plate 21 and the seedling taking module 30 can move horizontally in the left and right directions.

[0084] In this embodiment, the seedling support plate 21 can be understood as an open plate in a long strip shape. The seedling support plate 21 is relatively fixed to the load module 10 and does not move with the left and right reciprocating motion of the seedling delivery tray 22. The seedling support plate 21 has a certain supporting effect on the seedling delivery tray 22. Figure 5In this embodiment, the number of the seedling taking modules 30 is three and they are distributed at intervals. Therefore, the number of the openings 211 is also three and they are distributed at corresponding intervals, so that each seedling taking module 30 can separate and throw the blanket seedlings 300 in the corresponding opening 211.

[0085] In order to facilitate the lateral movement of the seedling delivery tray 22 , in this embodiment, the seedling delivery module 20 further includes a driving device 23 , which is disposed on the load module 10 and is used to drive the seedling delivery tray 22 to move laterally relative to the seedling supporting plate 21 .

[0086] Generally, the driving device 23 can use a motor with a gear rack mechanism to achieve the left and right reciprocating movement of the seedling tray 22, or a motor with a screw mechanism or a synchronous belt. Of course, it is not excluded to use the rotor power of the drone 200 to drive the seedling tray 22 to move left and right.

[0087] Combination Figure 3 Generally, the seedling delivery tray 22 is set to be placed in an inclined state. This design allows the seedling blanket 300 to move downward under the action of gravity after the seedling delivery tray 22 moves horizontally once, so that the seedling removal module 30 can carry out the next round of seedling removal. Of course, a power source can also be set to drive it, for example, in combination with Figure 3 In this embodiment, the seedling delivery module 20 further includes a conveying device 24 , which is disposed on the seedling delivery tray 22 , and is used to drive the seedling blanket 300 to move toward the seedling supporting plate 21 .

[0088] The conveying device 24 can be a conveyor belt or a conveying roller (such as a wolf tooth wheel). In addition, the conveying device 24 can be set at different positions in the height direction of the seedling delivery tray 22. It should be noted that the inclined setting of the seedling delivery tray 22 can also achieve effective utilization of the longitudinal space to reduce the space occupied by the seedling delivery tray 22 in the horizontal width. At the same time, due to the inclined setting, the blanket seedlings 300 can use their gravity to slide down, and the power consumption of the conveying device 24 can also be reduced.

[0089] In addition, considering the possible separation of the blanket seedling 300 after being placed on the seedling delivery tray 22, combined with Figure 3 and Figure 4 In this embodiment, the seedling delivery module 20 further includes a seedling pressing device 25, which is disposed on the seedling delivery tray 22, and is used to limit the position of the blanket seedlings 300 in the seedling delivery tray 22. The seedling pressing device 25 can be in the form of a plate or a rod, etc. Specifically, in this embodiment, the seedling pressing device 25 includes a rotating shaft 251 and a plurality of pressure strips 252, the rotating shaft 251 is rotatably disposed horizontally on the seedling delivery tray 22, and the plurality of pressure strips 252 are vertically and spaced apart from the rotating shaft 251, and the plurality of pressure strips 252 are used to limit the position of the blanket seedlings 300 in the seedling delivery tray 22.

[0090] In this embodiment, in a specific scenario, the rotating shaft 251 can rotate relative to the seedling delivery tray 22 with a certain damping, so the force of the pressure bar 252 on the blanket seedling 300 can be adjusted, and the pressure state can be maintained. Of course, a torsion spring can also be installed on the rotating shaft 251 to provide pressure to rotate in the direction of the blanket seedling 300.

[0091] Combination Figure 4 In this embodiment, the seedling delivery tray 22 is a rectangular frame structure, specifically, it includes a load-bearing plate and two baffles arranged on the left and right edges of the load-bearing plate, and no baffles are arranged above or below it, so that an upper opening is formed at the top to facilitate placing the seedlings, and a lower opening is formed at the bottom to facilitate taking the seedlings. The width of the seedling delivery tray 22 can match the width of a tray of seedling blankets 300. In addition, the height of the seedling delivery tray 22 is not limited to the height of a tray of seedling blankets 300. During installation, the two ends of the rotating shaft 251 can be rotatably arranged on the two baffles of the seedling delivery tray 22, respectively. Figure 4 In the embodiment, four pressure strips 252 are correspondingly arranged on a rotating shaft 251. In other words, four pressure strips 252 are distributed on a seedling delivery tray 22 to limit the blanket seedlings 300 in the seedling delivery tray 22, so that the blanket seedlings 300 can be pressed on the seedling delivery tray 22 by the pressure strips 252, which greatly ensures that the blanket seedlings 300 will not be blown away during the flight of the drone 200. Of course, the number of pressure strips 252 corresponding to a seedling delivery tray 22 may not be limited to four, for example, it may also be three, five or more. In addition, since in the present embodiment, the number of seedling delivery modules 20 is multiple, the number of seedling pressing devices 25 may also be multiple, and each seedling delivery tray 22 is correspondingly provided with a seedling pressing device 25. In a certain scenario, multiple seedling pressing devices 25 located in the same seedling throwing mechanism 100 may share a rotating shaft 251.

[0092] In addition, combined Figure 3 In this embodiment, the seedling delivery tray 22 is supported at multiple positions in the height direction by the load module 10. For example, in this embodiment, the seedling throwing mechanism 100 further includes a support module 40, for example, the support module 40 includes a first bracket 43, one end of the first bracket 43 is connected to the load module 10, and the other end of the first bracket 43 supports the upper part of the seedling delivery tray 22. Figure 3 and Figure 4 Since the seedling delivery tray 22 needs to move horizontally, in order to facilitate support, the support position of the first bracket 43 and the seedling delivery tray 22 can be supported horizontally by the cooperation of a slide rail and a pulley. For example, a pulley is provided at the end of the first bracket 43, and a slide rail is provided on the seedling delivery tray 22, and the two are rollingly matched. Alternatively, a slide rail is provided at the end of the first bracket 43, and a pulley is provided on the seedling delivery tray 22. In addition, in some scenarios, the height of the first bracket 43 is adjustable, and the inclination angle of the seedling delivery tray 22 can also be adjusted.

[0093] At the same time, the lower part of the seedling delivery tray 22 is supported by the seedling support plate 21 to improve the overall compactness of the structure. Of course, the middle part of the seedling delivery tray 22 can also be supported by the load module 10. It should be noted here that the upper part is only to indicate that the position of the support is higher than the middle and lower parts in the height direction.

[0094] Of course, the support module 40 may also include a second bracket 46 and a third bracket 47. One end of the second bracket 46 is connected to the load module 10, and the other end of the second bracket 46 is installed with the above-mentioned seedling support plate 21. One end of the third bracket 47 is connected to the load module 10, and the other end of the third bracket 47 is installed with the above-mentioned seedling removal module 30 (specifically, the driving source 31). Of course, the second bracket 46 and the third bracket 47 may also be a bracket structure, that is, the seedling support plate 21 and the seedling removal module 30 are installed on the load module 10 through the same bracket.

[0095] Please refer to Figure 6 , Figure 6 Another seedling throwing mechanism 100 provided in this embodiment is Figure 5 The illustrated seedling throwing mechanism 100 is largely identical except that:

[0096] In the present embodiment, there are multiple seedling delivery modules 20, and the multiple seedling delivery modules 20 are distributed side by side; the seedling taking module 30 also includes a first synchronous shaft 34, and the number of transmission boxes 32 is multiple; the driving source 31 is connected to the first synchronous shaft 34, and the multiple transmission boxes 32 are fixedly arranged on the first synchronous shaft 34 at intervals; the multiple transmission boxes 32 correspond one by one to the multiple seedling delivery modules 20; wherein the driving source 31 is used to drive the multiple transmission boxes 32 to rotate synchronously through the first synchronous shaft 34, so that the blade heads 33 on the multiple transmission boxes 32 rotate accordingly, thereby performing seedling throwing operations on the blanket seedlings 300 on the multiple seedling delivery modules 20.

[0097] In other words, Figure 6 In the embodiment, the entire seedling picking module 30 can use a single power source to realize the seedling picking and throwing work of multiple seedling delivery modules 20. Figure 6 The number of transmission boxes 32 is three, and the three transmission boxes 32 correspond to the three seedling delivery modules 20. It can be understood that three seedling support plates 21 with openings 211 are required to match them. Of course, in this embodiment, only one longer seedling support plate 21 can be used. For example, three openings 211 are provided on a longer seedling support plate 21 to correspond to the seedling delivery trays 22 of the three seedling delivery modules 20, respectively.

[0098] In order to facilitate the support of multiple transmission boxes 32 and cutter heads 33, in this embodiment, the seedling taking module 30 also includes at least one support assembly 35, the support assembly 35 includes a support rod 351 and a bearing 352, one end of the support rod 351 is connected to the load module 10, and the other end of the support rod 351 is fixed to the bearing 352, and the bearing 352 is fixed to the first synchronization shaft 34.

[0099] Figure 6 In the embodiment, the number of the support assembly 35 is two, and the support assembly 35 is arranged between two adjacent transmission boxes 32. Of course, when the number of the seedling sending module 20, the transmission box 32, etc. is large, the number of the support assembly 35 can also be increased accordingly.

[0100] Figure 1-Figure 6 The embodiment shown shows the main structure of the seedling throwing mechanism 100 provided by the present invention. A more specific embodiment is provided below. Figure 7-Figure 12 It should be noted that Figure 7-Figure 12 The actual structure of the product is not limited, that is, the specific product is not necessarily as shown in the figure. In addition, the multiple modules mentioned in this application (load module 10, seedling delivery module 20, seedling removal module 30, etc.) can be manufactured and sold separately in the early stage, and assembled into an integral structure in the later stage.

[0101] Please refer to Figure 7-Figure 12 , Figure 7 and Figure 8 For the overall picture, Figure 9-11 can be understood as Figure 7 or Figure 8 Based on the above, some of the diagrams are disassembled and displayed, so that the relevant structures can be understood in combination. In addition, the same or similar technical contents can be referred to in the previous text.

[0102] Combination Figure 7 and Figure 8 The seedling throwing system 1000 is a double system, that is, it has two sets of seedling throwing mechanisms 100, and the two seedling throwing mechanisms 100 share a load module 10. The two sets of seedling throwing mechanisms 100 are arranged back to back. Of course, in other embodiments, the two sets of seedling throwing mechanisms 100 can also be arranged in other ways (for example, arranged in the same direction), and three, four or more sets of seedling throwing mechanisms 100 can also be arranged. During the seedling throwing operation of the drone 200, the seedling picking module 30 rotates at a high speed, and the seedling delivery tray 22 also needs to cooperate to perform rapid left and right reciprocating lateral movement, and the left and right lateral movement will cause the aircraft attitude to tilt left and right, the flight is unstable, and safety accidents are prone to occur. Figure 7 In the embodiment, by providing two sets of seedling throwing mechanisms 100 and controlling the two sets of seedling throwing mechanisms 100 to move in opposite directions, the lateral impact force can be offset, so that the drone 200 can remain stable.

[0103] In addition, due to the high integration, in some scenarios, only one motor can be used to drive all the transmission boxes 32 to rotate. Similarly, only one motor can be used to drive all the seedling delivery trays 22 to move horizontally. Similarly, only one motor can be used to drive the blanket seedlings 300 in all the seedling delivery trays 22 to be transported downward. Of course, these motors can also be omitted, and the power is provided by the rotor power of the drone 200.

[0104] Combination Fig. 9 and Fig.10 In this embodiment, the load module 10 includes a load frame 11 and at least one tripod 12 arranged on the load frame 11, the seedling delivery module 20 and the seedling retrieval module 30 are both integrated on the tripod 12, and the load frame 11 is used to be arranged at the lower part of the drone 200.

[0105] Specifically, the tripod 12 is an inverted "concave"-shaped structure, and there are two tripods 12, and the upper parts of the two tripods 12 are respectively connected to the opposite sides of the load frame 11. In addition, the load module 10 also includes two mounting rods 13 connected and fixed at the middle position of the two tripods 12. Specifically, the seedling delivery module 20 and the seedling removal module 30 are both installed on the two mounting rods 13 through the support module 40.

[0106] In detail, the support module 40 includes a circular rail 42, a first bracket 43, a second bracket 46 and a third bracket 47. One end of the first bracket 43 is connected to the load module 10 (mounting rod 13), and the other end of the first bracket 43 supports the upper part of the seedling delivery tray 22. The circular rail 42 is arranged on the load module 10 (mounting rod 13), and the middle part of the seedling delivery tray 22 can be laterally movably arranged on the circular rail 42; the lower part of the seedling delivery tray 22 is supported on the seedling support plate 21.

[0107] At the same time, one end of the second bracket 46 is connected to the load module 10 (mounting rod 13), and the other end of the second bracket 46 is installed with the above-mentioned seedling supporting plate 21. One end of the third bracket 47 is connected to the load module 10 (mounting rod 13), and the other end of the third bracket 47 is installed with the above-mentioned seedling taking module 30.

[0108] It should be noted that the above-mentioned brackets can be directly mounted on the mounting rod 13, or can be mounted on the mounting rod 13 through other structures, or each bracket can be a part of the structure of an integral bracket.

[0109] In order to facilitate the upper support of the seedling delivery tray 22, the support module 40 also includes a U-shaped groove 41 and a first limiting wheel 44. The U-shaped groove 41 is arranged on the upper part of the seedling delivery tray 22 with the opening facing downward. The first limiting wheel 44 is arranged on the first bracket 43. The first limiting wheel 44 is limited in rolling within the U-shaped groove 41.

[0110] In order to facilitate the lower support of the seedling delivery tray 22, the support module 40 further includes a second limiting wheel 45; the second limiting wheel 45 is disposed at the lower portion of the seedling delivery tray 22, and the second limiting wheel 45 rolls against the seedling support plate 21. Specifically, a slide rail 212 is disposed on the seedling support plate 21, and the second limiting wheel 45 rolls on the slide rail 212.

[0111] In the above, the seedling delivery tray 22 can move horizontally left and right along the circular track 42. The U-shaped groove 41 and the first limiting wheel 44 are arranged on the upper part to limit the seedling delivery tray 22 from rotating upward around the axis of the circular track 42, and the lower part thereof is pressed against the seedling supporting plate 21 through the second limiting wheel 45, so as to limit the seedling delivery tray 22 from rotating downward around the axis of the circular track 42, and at the same time, the circular track 42 can be used to realize low-friction left and right lateral movement.

[0112] Combination Fig.10 and Fig.11 For a set of seedling throwing mechanism 100, two first brackets 43 and corresponding two first limiting wheels 44 can be arranged to support the upper part of the seedling sending tray 22. Similarly, four second limiting wheels 45 can be arranged to roll against the seedling supporting plate 21.

[0113] Combination Fig.11 The above-mentioned driving device 23 for driving the seedling supporting plate 21 to move horizontally to the left and right, its specific structure can be optionally realized by a motor in combination with a gear rack mechanism. Specifically, the driving device 23 includes a driving motor 231, a gear 232 and a rack 233. The driving motor 231 is arranged on the load module 10, and the driving motor 231 is connected to the gear 232. The rack 233 is fixedly arranged on the seedling sending plate 22, and the rack 233 is engaged with the gear 232; wherein the driving motor 231 is used to drive the seedling sending plate 22 to move horizontally relative to the seedling supporting plate 21 through the gear 232 and the rack 233.

[0114] In addition, combined Fig.11 The specific structure of the above-mentioned conveying device 24 for driving the blanket seedlings 300 to move toward the seedling supporting plate 21 can be optionally as follows:

[0115] The conveying device 24 includes a conveying motor 241 and a conveying member 243. The conveying motor 241 is connected to the conveying member 243 to drive the conveying member 243 to rotate. The seedling delivery tray 22 is provided with an installation opening 221. The conveying member 243 is located in the installation opening 221 and drives the blanket seedlings 300 to move toward the seedling supporting plate 21 through the installation opening 221.

[0116] Specifically, the conveying motor 241 is disposed on the seedling conveying tray 22. Of course, in other embodiments, the conveying motor 241 can also be installed on the load module 10.

[0117] Fig.11In the embodiment, the transmission member 243 is a wolf tooth wheel, and when the wolf tooth wheel is driven to rotate, the blanket seedling 300 is moved downward.

[0118] Of course, in this embodiment, there are multiple seedling delivery modules 20, and the multiple seedling delivery modules 20 are arranged side by side. Fig.11 As shown, the conveying device 24 also includes a second synchronous shaft 242, and the number of conveying members 243 is multiple; the conveying motor 241 is connected to the second synchronous shaft 242, and the multiple conveying members 243 are fixedly arranged on the second synchronous shaft 242 at intervals, and the multiple conveying members 243 are correspondingly arranged on the mounting openings 221 of the seedling delivery trays 22 of the multiple seedling delivery modules 20; wherein the conveying motor 241 is used to drive the multiple conveying members 243 to rotate synchronously through the second synchronous shaft 242, thereby synchronously driving the blanket seedlings 300 located in the seedling delivery trays 22 of the multiple seedling delivery modules 20 to move.

[0119] In other words, a motor can synchronously drive the blanket seedlings 300 in a plurality of seedling delivery trays 22 to move downward synchronously. Of course, a relatively independent driving device 23 can also be arranged in each seedling delivery tray 22.

[0120] Also, please refer to Fig.12 , shows a schematic diagram of the structure of a cutter head 33; the cutter head 33 can eject the rice seedling 310. Specifically, the cutter head 33 includes an ejection member 335 and a seedling needle 336, the seedling needle 336 is arranged on the ejection member 335, and the ejection member 335 is connected to the driving source 31, and is used to eject the rice seedling 310 under the drive of the driving source 31.

[0121] In detail, the ejection member 335 includes a shell 3351, a cam 3352, a connecting rod assembly and a spring 3356; the seedling needle 336 is arranged on the shell 3351; the cam 3352 is rotatably arranged on the shell 3351, the connecting rod assembly is movably arranged on the shell 3351, and the two ends of the spring 3356 act on the shell 3351 and the connecting rod assembly respectively; the cam 3352 is connected to the driving source 31, and is used to resist the connecting rod assembly during the process of being driven to rotate, thereby storing elastic potential energy of the spring 3356, and is used to release the elastic potential energy of the spring 3356 when the connecting rod assembly is detached, and push the connecting rod assembly to eject the seedling 310.

[0122] In this embodiment, referring to the above content, the driving source 31 drives the cutter head 33 through the transmission box 32 , and therefore, the power of the cam 3352 can come from the transmission box 32 .

[0123] refer to Fig.12The connecting rod assembly includes a first connecting rod 3354 and a second connecting rod 3355. The middle part of the first connecting rod 3354 is rotatably connected to the shell 3351, and one end of the first connecting rod 3354 abuts against or disengages from the cam 3352; the second connecting rod 3355 is movably connected to the shell 3351, and one end of the second connecting rod 3355 is hinged to one end of the first connecting rod 3354 away from the cam 3352; the end of the second connecting rod 3355 away from the first connecting rod 3354 is used to eject the seedling 310.

[0124] Specifically, the two ends of the spring 3356 act on the housing 3351 and the first connecting rod 3354 respectively; when the spring 3356 releases its elastic potential energy, it pushes the first connecting rod 3354 and the second connecting rod 3355 to eject the seedling 310.

[0125] Working principle of the ejection member 335: When the seedling needle 336 and the ejection member 335 are driven by the driving source 31 to rotate to the opening 211, the seedling needle 336 cuts and removes the seedling 310. After the seedling 310 rotates a certain angle with the seedling needle 336, the ejection member 335 below the seedling needle 336 ejects the seedling 310 to realize ejection and throwing. Specifically, the housing 3351 is driven to rotate by the driving source 31. At this time, the cam 3352 is also driven to rotate by the driving source 31. When the cam 3352 rotates at a certain angle, the cam 3352 is ejected. Fig.12 When the clockwise rotation makes the abutment area 3353 of the cam 3352 continuously abut against the lower end of the first connecting rod 3354, the spring 3356 at the upper end of the first connecting rod 3354 is continuously compressed to realize elastic potential energy storage, and the second connecting rod 3355 retracts. When the cam 3352 continues to rotate until the abutment area 3353 of the cam 3352 is disengaged from the lower end of the first connecting rod 3354, the spring 3356 instantly releases the elastic potential energy and returns to its original state, thereby pushing the first connecting rod 3354 and pushing out the second connecting rod 3355 to eject the seedling 310.

[0126] According to a seedling throwing system 1000 provided in this embodiment, the working principle of the seedling throwing system 1000 is as follows:

[0127] When the drone 200 is flying, the driving source 31 drives the transmission box 32 to rotate, and the transmission box 32 drives the cutter head 33 to achieve high-speed rotation. When the cutter head 33 rotates to the opening 211, it separates and removes the rice seedlings 310, drives the rice seedlings 310 to rotate, and when the rice seedlings 310 rotate to a certain angle, the rice seedlings 310 are thrown out and fall into the field under the action of centrifugal force and / or ejection force, thereby realizing the flying and throwing of the blanket seedlings 300. At the same time, the rice seedling delivery tray 22 moves horizontally, driving the blanket seedlings 300 to move left and right, so that the blanket seedlings 300 are separated and thrown row by row. After a row of rice seedlings 310 in the left and right directions of the blanket seedlings 300 is separated, the entire blanket seedlings 300 moves downward under the action of gravity and the driving force of the conveying device 24, so that in the process of the rice seedling delivery tray 22 moving horizontally again, it is separated and thrown row by ...

[0128] In summary, the embodiment of the present invention provides a seedling throwing mechanism 100 and a seedling throwing system 1000, wherein the seedling throwing mechanism 100 includes a load module 10, a seedling delivery module 20 and a seedling retrieval module 30. The load module 10 is used to be arranged on the drone 200. The seedling delivery module 20 is arranged on the load module 10, and the seedling delivery module 20 is used to transport the blanket seedlings 300. The seedling retrieval module 30 is arranged on the load module 10, and the seedling retrieval module 30 is used to separate the seedlings 310 from the blanket seedlings 300 on the seedling delivery module 20 and then throw them out. In this way, the drone 200 can carry the seedling throwing mechanism 100 to perform the seedling throwing operation, and the blanket seedlings 300 are transported by the seedling delivery module 20, and the seedling retrieval module 30 separates the blanket seedlings 300 and then throws the seedlings 310, so as to realize the flying seedling throwing operation of the blanket seedlings 300.

[0129] The seedling throwing system 1000 includes the seedling throwing mechanism 100 , and has all the functions of the seedling throwing mechanism 100 .

[0130] 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 (10), the load module (10) being used to be arranged on the drone (200); a seedling delivery module (20), the seedling delivery module (20) being arranged on the load module (10), the seedling delivery module (20) being used for delivering blanket seedlings (300); and A seedling taking module (30), wherein the seedling taking module (30) is arranged on the load module (10), and the seedling taking module (30) is used to separate the seedlings (310) from the seedling blanket (300) on the seedling delivery module (20) and then throw them out.

2. The seedling throwing mechanism according to claim 1, characterized in that: The seedling retrieval module (30) is used to separate the seedlings (310) from the seedling blanket (300) on the seedling delivery module (20) and then eject them through centrifugal force and / or ejection force.

3. The seedling throwing mechanism according to claim 1, characterized in that: The seedling removal module (30) comprises a driving source (31) and a cutter head (33); the driving source (31) is connected to the cutter head (33) and is used to drive the cutter head (33) to separate the blanket seedlings (300) on the seedling delivery module (20), and to eject the separated seedlings (310) by centrifugal force and / or ejection force.

4. The seedling throwing mechanism according to claim 3, characterized in that: The cutter head (33) comprises a mounting portion (331) and a cutter body (332) arranged on the mounting portion (331); the mounting portion (331) is connected to the driving source (31); a notch (333) is formed on the cutter body (332); the notch (333) is used to clamp the rice seedling (310) after the cutter body (332) separates the rice seedling (310), so that the rice seedling (310) rotates with the cutter body and is ejected under the action of centrifugal force and / or ejection force.

5. The seedling throwing mechanism according to claim 3, characterized in that: The cutter head (33) comprises an ejection member (335) and a seedling needle (336); the seedling needle (336) is arranged on the ejection member (335); the ejection member (335) is connected to the driving source (31) and is used to eject the seedling (310) under the drive of the driving source (31).

6. The seedling throwing mechanism according to claim 5, characterized in that: The ejection member (335) comprises a housing (3351), a cam (3352), a connecting rod assembly and a spring (3356); the seedling needle (336) is arranged on the housing (3351); The cam (3352) is rotatably arranged on the housing (3351), the connecting rod assembly is movably arranged on the housing (3351), and the two ends of the spring (3356) act on the housing (3351) and the connecting rod assembly respectively; The cam (3352) is connected to the driving source (31) and is used to abut against the connecting rod assembly during the process of being driven to rotate, thereby storing elastic potential energy of the spring (3356), and to release the elastic potential energy of the spring (3356) and push the connecting rod assembly to eject the seedling (310) when the spring (3356) is detached from the connecting rod assembly.

7. The seedling throwing mechanism according to claim 3, characterized in that: The seedling removing module (30) further comprises a transmission box (32), the driving source (31) being connected to the transmission box (32) and being used to drive the transmission box (32) to rotate, and at least one of the cutting heads (33) being arranged on each of the transmission boxes (32).

8. The seedling throwing mechanism according to claim 7, characterized in that: The number of the seedling delivery modules (20) is multiple, and the multiple seedling delivery modules (20) are arranged side by side; the seedling removal module (30) further comprises a first synchronization shaft (34), and the number of the transmission boxes (32) is multiple; the driving source (31) is connected to the first synchronization shaft (34), and the multiple transmission boxes (32) are fixedly arranged on the first synchronization shaft (34) at intervals; the multiple transmission boxes (32) correspond one to one to the multiple seedling delivery modules (20); The driving source (31) is used to drive the multiple transmission boxes (32) to rotate synchronously via the first synchronization shaft (34), so that the cutter heads (33) on the multiple transmission boxes (32) rotate accordingly, thereby performing a seedling throwing operation on the blanket seedlings (300) on the multiple seedling delivery modules (20).

9. The seedling throwing mechanism according to claim 8, characterized in that: The seedling removing module (30) further comprises at least one supporting assembly (35), wherein the supporting assembly (35) comprises a supporting rod (351) and a bearing (352), wherein one end of the supporting rod (351) is connected to the load module (10), and the other end of the supporting rod (351) is fixed to the bearing (352), and the bearing (352) is sleeved and fixed to the first synchronization shaft (34).

10. The seedling throwing mechanism according to any one of claims 1 to 7, characterized in that: The number of the seedling delivery modules (20) is multiple, and the number of the seedling removal modules (30) is multiple and corresponds one-to-one to the multiple seedling delivery modules (20).

11. The seedling throwing mechanism according to any one of claims 1 to 9, characterized in that: The seedling delivery module (20) comprises a seedling support plate (21) and a seedling delivery tray (22); the seedling support plate (21) is arranged on the load module (10); the seedling support plate (21) is provided with an opening (211); the seedling delivery tray (22) is used to deliver blanket seedlings (300); the lower part of the seedling delivery tray (22) is located inside the seedling support plate (21); and the seedling delivery tray (22) is movable laterally relative to the seedling support plate (21); The seedling removal module (30) is used to separate the blanket seedlings (300) through the opening (211) and to throw out the separated seedlings (310).

12. The seedling throwing mechanism according to claim 11, characterized in that: The seedling delivery module (20) further comprises a driving device (23), wherein the driving device (23) is arranged on the load module (10), and the driving device (23) is used to drive the seedling delivery tray (22) to move laterally relative to the seedling supporting plate (21).

13. The seedling throwing mechanism according to claim 12, characterized in that: The driving device (23) comprises a driving motor (231), a gear (232) and a rack (233); the driving motor (231) is arranged on the load module (10); the driving motor (231) is connected to the gear (232); the rack (233) is fixedly arranged on the seedling delivery tray (22); and the rack (233) is meshed with the gear (232); Wherein, the driving motor (231) is used to drive the seedling delivery plate (22) to move laterally relative to the seedling supporting plate (21) via the gear (232) and the rack (233).

14. The seedling throwing mechanism according to claim 11, characterized in that: The seedling delivery module (20) further comprises a conveying device (24), wherein the conveying device (24) is arranged on the seedling delivery tray (22), and the conveying device (24) is used to drive the blanket seedlings (300) to move toward the seedling supporting plate (21).

15. The seedling throwing mechanism according to claim 14, characterized in that: The conveying device (24) comprises a conveying motor (241) and a conveying member (243); the conveying motor (241) is connected to the conveying member (243) and is used to drive the conveying member (243) to rotate; the seedling delivery tray (22) is provided with a mounting opening (221); the conveying member (243) is located in the mounting opening (221), and drives the blanket seedlings (300) to move toward the seedling supporting plate (21) through the mounting opening (221).

16. The seedling throwing mechanism according to claim 15, characterized in that: The number of the seedling delivery modules (20) is multiple, and the multiple seedling delivery modules (20) are arranged side by side; the conveying device (24) also includes a second synchronous shaft (242), and the number of the transmission members (243) is multiple; the conveying motor (241) is connected to the second synchronous shaft (242), and the multiple transmission members (243) are fixedly arranged on the second synchronous shaft (242) at intervals, and the multiple transmission members (243) are correspondingly arranged on the installation openings (221) of the seedling delivery trays (22) of the multiple seedling delivery modules (20); The conveying motor (241) is used to drive the multiple conveying members (243) to rotate synchronously via the second synchronization shaft (242), thereby synchronously driving the seedling blankets (300) in the seedling delivery trays (22) of the multiple seedling delivery modules (20) to move.

17. The seedling throwing mechanism according to claim 11, characterized in that: The seedling delivery module (20) further comprises a seedling pressing device (25), wherein the seedling pressing device (25) is arranged on the seedling delivery tray (22), and the seedling pressing device (25) is used to limit the position of the blanket seedlings (300) in the seedling delivery tray (22).

18. The seedling throwing mechanism according to claim 17, characterized in that: The seedling pressing device (25) comprises a rotating shaft (251) and a plurality of pressing strips (252); the rotating shaft (251) is rotatably disposed transversely on the seedling delivery tray (22); the plurality of pressing strips (252) are vertically and spaced apart from each other on the rotating shaft (251); the plurality of pressing strips (252) are used to limit the position of the blanket seedlings (300) in the seedling delivery tray (22).

19. The seedling throwing mechanism according to claim 11, characterized in that: The seedling delivery tray (22) is supported at multiple positions in the height direction by the load module (10).

20. The seedling throwing mechanism according to claim 19, characterized in that: The seedling throwing mechanism (100) further comprises a support module (40), wherein the support module (40) comprises a first bracket (43) and a circular rail (42); One end of the first bracket (43) is connected to the load module (10), and the other end of the first bracket (43) supports the upper part of the seedling delivery tray (22); the circular rail (42) is arranged on the load module (10), and the middle part of the seedling delivery tray (22) can be laterally movably arranged on the circular rail (42); the lower part of the seedling delivery tray (22) is supported on the seedling supporting plate (21).

21. The seedling throwing mechanism according to claim 20, characterized in that: The support module (40) further comprises a U-shaped groove (41) and a first limiting wheel (44); the U-shaped groove (41) is arranged on the upper part of the seedling delivery tray (22) and has an opening facing downward; the first limiting wheel (44) is arranged on the first bracket (43); the first limiting wheel (44) is rollingly limited in the U-shaped groove (41).

22. The seedling throwing mechanism according to claim 21, characterized in that: The support module (40) further comprises a second limiting wheel (45); the second limiting wheel (45) is arranged at the lower part of the seedling delivery tray (22), and the second limiting wheel (45) rolls against the seedling supporting plate (21).

23. The seedling throwing mechanism according to any one of claims 1 to 9, characterized in that: The load module (10) comprises a load frame (11) and at least one tripod (12) arranged on the load frame (11); the seedling delivery module (20) and the seedling removal module (30) are both integrated on the tripod (12); and the load frame (11) is used to be arranged at the bottom of the drone (200).

24. A seedling throwing system, characterized in that: It comprises an unmanned aerial vehicle (200) and at least one set of seedling throwing mechanisms (100) according to any one of claims 1 to 23, wherein the load module (10) of the seedling throwing mechanism (100) is mounted on the unmanned aerial vehicle (200).

25. The seedling throwing system according to claim 24, characterized in that: The load module (10) is detachably mounted on the lower part of the drone (200).

Images