Seedling throwing mechanism and seedling throwing system

Abstract

Embodiments of the present application provide a seedling throwing mechanism and a seedling throwing system, and relate to the technical field of seedling throwing. The seedling throwing mechanism comprises a load module, a seedling feeding module and a seedling taking module. The load module is arranged on a UAV. The seedling feeding module is arranged on the load module and is used for conveying the seedling blanket. The seedling taking module is arranged on the load module and is used for throwing out the seedling after separating the seedling from the seedling blanket on the seedling feeding module. In this way, the UAV can carry the seedling throwing mechanism to perform the seedling throwing operation. The seedling blanket is conveyed by the seedling feeding module, and the seedling is thrown out after being separated from the seedling blanket by the seedling taking module, thereby realizing the flight seedling throwing operation of the seedling blanket.

Description

TECHNICAL FIELD

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

[0002] For the mechanized planting of rice, there are only two solutions of rice transplanter and throwing seedling machine on the market, and both of the two solutions in the prior art rely on agricultural machinery running on the ground. For the throwing seedling machine, a common way is to use a seedling tray with independent holes for planting, the seedling tray has independent holes to separate multiple seedlings, and the throwing seedling machine throws the relatively independent seedlings in the tray. This way has a high requirement for planting and is not popular.

[0003] On the contrary, the mainstream rice planting agricultural machinery that is popular at present is a rice transplanter, and the seedling raising method of farmers is mainly to use a blanket seedling. The blanket seedling has the characteristic that the roots of seedlings are connected to each other, so that more seedlings can be separated in the same size area, and the number of pot seedlings is relatively small as a whole. For the blanket seedling, the current planting method is only suitable for the way of transplanting. SUMMARY

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

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

[0006] The embodiments of the present application provide a throwing seedling mechanism, which comprises:

[0007] A load module, which is arranged on an unmanned aerial vehicle;

[0008] A seedling feeding module, which is arranged on the load module and is used to transport the blanket seedling; and

[0009] A seedling taking module, which is arranged on the load module and is used to separate the seedlings from the blanket seedling on the seedling feeding module and then throw out the seedlings.

[0010] Optionally, the seedling taking module is used to separate the seedlings from the blanket seedling on the seedling feeding module and then throw out the seedlings by centrifugal force and / or ejection force.

[0011] Optionally, the seedling taking module comprises a driving source and a cutter head, the driving source is connected with the cutter head and is used to drive the cutter head to separate the blanket seedling on the seedling feeding module and then throw out the separated seedlings by centrifugal force and / or ejection force.

[0012] Optionally, the cutter head comprises a mounting portion and a cutter body provided on the mounting portion, the mounting portion is connected with the driving source, and the cutter body is formed with a notch for clamping the seedling to make the seedling follow the rotation and be thrown out under the action of centrifugal force and / or elastic force.

[0013] Optionally, the cutter head comprises a spring member and a seedling needle, the seedling needle is provided on the spring member, and the spring member is connected with the driving source to throw out the seedling under the driving of the driving source.

[0014] Optionally, the spring member comprises a housing, a cam, a connecting rod assembly and a spring, and the seedling needle is provided on the housing.

[0015] The cam is rotatably provided on the housing, the connecting rod assembly is movably provided on the housing, and the two ends of the spring are respectively applied to the housing and the connecting rod assembly.

[0016] The cam is connected with the driving source to resist the connecting rod assembly in the process of being driven to rotate, thereby storing the elastic potential energy of the spring, and to make the spring release the elastic potential energy and push the connecting rod assembly to throw out the seedling when the cam is separated from the connecting rod assembly.

[0017] Optionally, the seedling taking module further comprises a transmission box, the driving source is connected with the transmission box and is used to drive the transmission box to rotate, and at least one cutter head is arranged on each transmission box.

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

[0019] The driving source is used to drive the multiple transmission boxes to rotate synchronously through the first synchronous shaft, so that the cutter heads on the multiple transmission boxes follow the rotation, thereby performing the seedling throwing operation on the seedlings on the multiple seedling feeding modules.

[0020] Optionally, the seedling taking module further comprises at least one supporting assembly, the supporting assembly comprises a supporting rod and a bearing, one end of the supporting rod is connected with the load module, the other end of the supporting rod is fixed with the bearing, and the bearing is sleeved with the first synchronous shaft.

[0021] Optionally, the number of the seedling feeding modules is multiple, and the number of the seedling taking modules is multiple and corresponds to the multiple seedling feeding modules one by one.

[0022] Optionally, the seedling feeding module comprises a seedling supporting plate and a seedling feeding plate, the seedling supporting plate is arranged on the loading module, the seedling supporting plate is provided with an opening, the seedling feeding plate is used for conveying the seedling mat, the lower part of the seedling feeding plate is located in the seedling supporting plate, and the seedling feeding plate is transversely movable relative to the seedling supporting plate.

[0023] The seedling taking module is used for separating the seedling mat through the opening and throwing out the separated seedling.

[0024] Optionally, the seedling feeding module further comprises a driving device, the driving device is arranged on the loading module, and the driving device is used for driving the seedling feeding plate to transversely move relative to the seedling supporting plate.

[0025] Optionally, the driving device comprises a driving motor, a gear and a rack, the driving motor is arranged on the loading module, the driving motor is connected with the gear, the rack is fixedly arranged on the seedling feeding plate, and the rack is engaged with the gear.

[0026] The driving motor is used for driving the seedling feeding plate to transversely move relative to the seedling supporting plate through the gear and the rack.

[0027] Optionally, the seedling feeding module further comprises a conveying device, the conveying device is arranged on the seedling feeding plate, and the conveying device is used for driving the seedling mat to move towards the seedling supporting plate.

[0028] Optionally, the conveying device comprises a conveying motor and a conveying member, the conveying motor is connected with the conveying member and is used for driving the conveying member to rotate, the seedling feeding plate is provided with a mounting opening, the conveying member is located in the mounting opening, and the seedling mat is driven to move towards the seedling supporting plate through the mounting opening.

[0029] Optionally, the number of the seedling feeding modules is multiple, and the multiple seedling feeding modules are distributed side by side; the conveying device further comprises a second synchronous shaft, the number of the conveying members is multiple; the conveying motor is connected with the second synchronous shaft, the multiple conveying members are fixedly arranged on the second synchronous shaft at intervals, and the multiple conveying members are correspondingly arranged in the mounting openings of the seedling feeding plates of the multiple seedling feeding modules.

[0030] The conveying motor is used for driving the multiple conveying members to synchronously rotate through the second synchronous shaft, so as to synchronously drive the seedling mat located in the seedling feeding plates of the multiple seedling feeding modules to move.

[0031] Optionally, the seedling feeding module further comprises a seedling pressing device, the seedling pressing device is arranged on the seedling feeding plate, and the seedling pressing device is used for limiting the seedling mat in the seedling feeding plate.

[0032] Optionally, the seedling pressing device comprises a rotating shaft and a plurality of pressing strips, the rotating shaft is horizontally arranged rotatably on the seedling conveying tray, and the plurality of pressing strips are vertically and spacedly arranged on the rotating shaft, and the plurality of pressing strips are used for limiting the seedling blanket in the seedling conveying tray.

[0033] Optionally, the seedling conveying tray is supported by the load module at a plurality of positions in the height direction.

[0034] Optionally, the seedling throwing mechanism further comprises a supporting module, the supporting module comprises a first support and a circular rail.

[0035] One end of the first support is connected with the load module, and the other end of the first support supports the upper part of the seedling conveying tray; the circular rail is arranged on the load module, and the middle part of the seedling conveying tray is movably arranged on the circular rail; and the lower part of the seedling conveying tray is supported on the seedling supporting plate.

[0036] Optionally, the supporting module further comprises a U-shaped groove and a first limiting wheel, the U-shaped groove is arranged on the upper part of the seedling conveying tray and has an opening facing downward, and the first limiting wheel is arranged on the first support and rolls in the U-shaped groove.

[0037] Optionally, the supporting module further comprises a second limiting wheel; the second limiting wheel is arranged on the lower part of the seedling conveying tray, and the second limiting wheel rolls against the seedling supporting plate.

[0038] Optionally, the load module comprises a load frame and at least one foot support arranged on the load frame, the seedling conveying module and the seedling taking module are integrated on the foot support, and the load frame is used for being arranged on the lower part of the unmanned aerial vehicle.

[0039] The embodiment of the present application also provides a seedling throwing system comprising an unmanned aerial vehicle and at least one set of the above-mentioned seedling throwing mechanism, and the load module of the seedling throwing mechanism is carried on the unmanned aerial vehicle.

[0040] Optionally, the load module is detachably carried on the lower part of the unmanned aerial vehicle.

[0041] The seedling throwing mechanism and the seedling throwing system of the embodiment of the present application have the following advantages, for example:

[0042] The seedling throwing mechanism comprises a load module, a seedling conveying module and a seedling taking module. The load module is used for being arranged on an unmanned aerial vehicle. The seedling conveying module is arranged on the load module and is used for conveying a seedling blanket. The seedling taking module is arranged on the load module and is used for throwing out seedlings after separating the seedlings from the seedling blanket on the seedling conveying module. In this way, the unmanned aerial vehicle can carry the seedling throwing mechanism to perform a seedling throwing operation, convey the seedling blanket through the seedling conveying module, separate the seedling blanket through the seedling taking module, and then throw out the seedlings, so as to realize a flying seedling throwing operation of the seedling blanket.

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

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced as follows. It should be understood that the following drawings only show some of the embodiments of the present application, and therefore should not be considered as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0045] Figure 1 The structural diagram of a first seedling throwing system provided in the present embodiment;

[0046] Figure 2 The structural diagram of a second seedling throwing system provided in the present embodiment;

[0047] Figure 3 The structural diagram of the seedling throwing mechanism from a first perspective provided in the present embodiment;

[0048] Figure 4 The structural diagram of the seedling throwing mechanism from a second perspective provided in the present embodiment;

[0049] Figure 5 The structural diagram of another seedling throwing mechanism provided in the present embodiment;

[0050] Figure 6 The structural diagram of another seedling throwing mechanism provided in the present embodiment;

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

[0052] Figure 8 The specific scene schematic diagram of the seedling throwing system from a second perspective provided in the present embodiment;

[0053] Figure 9 The partial structural schematic diagram of the seedling throwing mechanism in the present embodiment; Figure 7 The partial structural schematic diagram of the seedling throwing mechanism in the present embodiment;

[0054] Figure 10 The partial structural schematic diagram of the seedling throwing mechanism in the present embodiment; Figure 7 The partial structural schematic diagram of the seedling throwing mechanism in the present embodiment;

[0055] Figure 11 The related structural schematic diagram of the seedling feeding module in the present embodiment; Figure 7 The related structural schematic diagram of the seedling feeding module in the present embodiment;

[0056] Figure 12 The structural schematic diagram of a tool bit provided in the present embodiment.

[0057] Icon: 1000 - seedling throwing system; 100 - seedling throwing mechanism; 10 - load module; 11 - load frame; 12 - foot support; 13 - mounting rod; 20 - seedling feeding module; 21 - seedling supporting plate; 211 - opening; 212 - sliding rail; 22 - seedling feeding disc; 221 - mounting opening; 23 - driving device; 231 - driving motor; 232 - gear; 233 - rack; 24 - conveying device; 241 - conveying motor; 242 - second synchronous shaft; 243 - conveying member; 25 - seedling pressing device; 251 - rotating shaft; 252 - pressing rod; 30 - seedling taking module; 31 - driving source; 32 - transmission box; 33 - cutter head; 331 - mounting part; 332 - cutter body; 333 - notch; 335 - spring member; 3351 - housing; 3352 - cam; 3353 - abutting area; 3354 - first connecting rod; 3355 - second connecting rod; 3356 - spring; 336 - seedling needle; 34 - first synchronous shaft; 35 - support assembly; 351 - support rod; 352 - bearing; 40 - support module; 41 - U-shaped groove member; 42 - circular rail; 43 - first support; 44 - first limiting wheel; 45 - second limiting wheel; 46 - second support; 47 - third support; 200 - unmanned aerial vehicle; 300 - seedling; 310 - seedling. DETAILED DESCRIPTION

[0058] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings for the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations.

[0059] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor are within the scope of protection of the present application.

[0060] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0061] In the description of the present application, it should be noted that if the terms "upper", "lower", "inner", "outer" and the like indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship when the product of the present application is used, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0062] In addition, if the terms "first", "second" and the like appear, they are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0063] It should be noted that the features in the embodiments of the present application can be combined with each other without conflict.

[0064] As described in the background, for the mechanized planting of rice, there are only two solutions on the market, rice transplanter and rice seedling throwing machine, and both of them rely on agricultural machinery traveling on the ground. For the rice seedling throwing machine, it needs to use a seedling raising tray with independent holes for seedling raising, and the seedling raising tray has independent holes to separate multiple seedlings (which can be understood as pot seedlings). The rice seedling throwing machine throws the relatively independent seedlings in the tray, and the cost of the seedling raising tray required by this method is relatively high, and the popularity is not high. On the contrary, the mainstream rice planting agricultural machinery that is popular at present is the rice transplanter, and the seedling raising method of farmers is mainly based on blanket seedlings. The characteristic of blanket seedlings is that the roots of the seedlings are connected to each other, so that more seedlings can be separated in the same size area, and the overall number of pot seedlings is relatively small. For blanket seedlings, the current planting method is only suitable for the way of rice transplanting. Therefore, there is an urgent need for a technology that can use blanket seedlings to achieve seedling throwing.

[0065] In view of this, referring to Figure 1 and Figure 2 , the present embodiment provides a seedling throwing mechanism 100 and a seedling throwing system 1000 which can solve the technical problem. Specifically, the seedling throwing system 1000 comprises a unmanned aerial vehicle 200 and at least one set of seedling throwing mechanism 100, and the seedling throwing mechanism 100 is carried on the unmanned aerial vehicle 200. The seedling throwing mechanism 100 separates the blanket seedlings 300, and throws out the separated seedlings 310 by centrifugal force and / or ejection force to achieve seedling throwing operation. At the same time, the flight of the unmanned aerial vehicle 200 is coordinated to achieve flight seedling throwing operation.

[0066] The seedling throwing mechanism 100 comprises a load module 10, a seedling feeding module 20 and a seedling taking module 30. The load module 10 is arranged on the unmanned aerial vehicle 200. The seedling feeding module 20 is arranged on the load module 10, and is used to transport the blanket seedlings 300. The seedling taking module 30 is arranged on the load module 10, and is used to throw out the seedlings 310 separated from the blanket seedlings 300 on the seedling feeding module 20.

[0067] The seedling throwing mechanism 100 can throw the seedlings 310 in several ways. In one embodiment, after separating the seedlings 310 from the seedbed 300, the seedling throwing mechanism 100 can use centrifugal force to throw the seedlings 310 out. In another embodiment, after separating the seedlings 310 from the seedbed 300, the seedling throwing mechanism 100 can use a catapult force to launch the separated seedlings 310 (the seedling throwing mechanism 100 may be equipped with a catapult component that can provide catapult force). In another embodiment, the seedling throwing mechanism 100 can use the combined action of centrifugal force and catapult force to launch the separated seedlings 310. In this way, the drone 200 can carry the seedling throwing mechanism 100 to perform seedling throwing operations. The seedbed 300 is transported by the seedling delivery module 20, and the seedling picking module 30 separates the seedbed 300 and launches the seedlings 310 by centrifugal force and / or catapult force, realizing the aerial seedling throwing operation of the seedbed 300.

[0068] It should be noted that there are many ways to separate seedlings, such as cutting, grabbing, pushing, or pressing. The specific method of separation and seedling removal is not limited.

[0069] In this embodiment, the drone 200 is a rotary-wing drone, specifically a quadcopter drone. Of course, it could also be a single-rotor drone, a dual-rotor drone, a hexacopter drone, an octacopter drone, etc. The drone 200 can operate automatically according to a preset path, flight speed, and attitude, or it can be manually controlled by an operator. For ease of description, the accompanying drawings show the forward, backward, left, right, up, and down directions, which are relative positional relationships that can be clearly understood by those skilled in the art when the drone 200 is conventionally placed or in flight.

[0070] Figure 1 The diagram shows a split-type rice-throwing system 1000. Specifically, the load module 10 of the rice-throwing mechanism 100 is detachably mounted on the lower part of the drone 200. That is, the drone 200 and the rice-throwing mechanism 100 adopt a split-type design, with the drone 200 serving as a mobile platform and the rice-throwing mechanism 100 being a separate design. In other words, this type of rice-throwing mechanism 100 is an independent structure, not dependent on the fuselage frame of the drone 200. Based on this type, appropriate devices can be replaced according to actual operational needs in specific operational scenarios. For example, after disassembling the rice-throwing mechanism 100, a spreading device can be installed to spread pesticides, fertilizers, seeds, etc. Similarly, after disassembling the rice-throwing mechanism 100, agricultural operation mechanisms such as surveying devices and spraying devices can be installed.

[0071] Figure 2The image shows an integrated rice-throwing system 1000. Specifically, the load module 10 of the rice-throwing mechanism 100 is the fuselage frame of the drone 200, meaning it needs to be installed using the fuselage frame of the drone 200. Based on this type, the entire rice-throwing system 1000 has a high degree of integration, which can greatly reduce transportation space. Furthermore, under the same conditions, its height can be lower, and the center of gravity of the rice-throwing mechanism 100 can be closer to the center of gravity of the drone 200, resulting in more stable flight. At the same time, its smaller size allows it to adapt to more demanding operating environments.

[0072] Please refer to Figure 3 and Figure 4 The following will provide a detailed description of each module of the rice transplanting mechanism 100.

[0073] Specifically, the seedling-collecting module 30 includes a drive source 31 and a cutter head 33. The drive source 31 is connected to the cutter head 33 and is used to drive the cutter head 33 to separate the seedlings 300 on the seedling delivery module 20, and to throw the separated seedlings 310 out by centrifugal force and / or ejection force. Generally, the drive source 31 is a motor, which drives the cutter head 33 along... Figure 3 The blade 33 rotates in the direction indicated by arrow A, thereby separating the seedlings 300 during contact. The separated seedlings 310 follow the rotation of the blade 33 in the direction of arrow A. When the blade reaches a specific position, the seedlings 310 are ejected under the action of centrifugal force and / or ejection force. The blade 33 may be equipped with an ejector element, which can store and release energy via a cam during the rotation of the blade 33. When the ejector element releases energy, the seedlings 310 are ejected under the ejection force provided by the ejector element (detailed below).

[0074] It should be noted that the cutter head 33 can be directly mounted on the output shaft of the drive source 31, with the drive source 31 directly driving the cutter head 33 to rotate. Alternatively, the cutter head 33 can be rotatably mounted on the load module 10, with the drive source 31 mounted on the load module 10 and connected to the cutter head 33 via a transmission mechanism, such as a gearbox, linkage mechanism, sprocket mechanism, or pulley mechanism, to provide driving force. Of course, the drive source 31 can also be a pneumatic motor or gasoline engine, instead of an electric motor.

[0075] To facilitate the throwing of seedlings 310, combined with Figure 4In this embodiment, the cutter head 33 includes a mounting part 331 and a cutter body 332 disposed on the mounting part 331. The mounting part 331 is connected to the drive source 31. A groove 333 is formed on the cutter body 332. The groove 333 is used to hold the seedling 310 after it is separated from the seedling by the cutter body 332, causing the seedling 310 to rotate and be thrown out under the action of centrifugal force and / or ejection force. It can be understood that in the specific operation process, the groove 333 on the cutter body 332 will hold the soil part of the root of the seedling 310, and then drive it to rotate during the rotation, thereby throwing it out. Of course, the specific structure of the cutter head 33 can also be a seedling needle.

[0076] Combination Figure 3 and Figure 4 In this embodiment, the seedling picking module 30 also includes a transmission box 32. The drive source 31 is connected to the transmission box 32 and is used to drive the transmission box 32 to rotate. Each transmission box 32 is equipped with at least one cutter head 33. The transmission box 32 can give the cutter head 33 a specific motion trajectory. Generally, multiple meshing gears can be set inside the transmission box 32. The drive source 31 meshes with one of the gears 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] To improve seedling picking efficiency, the rotation speed of the cutter head 33 is usually increased. However, excessive speed may lead to other problems such as heat dissipation and unstable separation. 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 seedling 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, or three, four or more cutter heads 33 may be distributed. When two cutter heads 33 are distributed on one transmission box 32, the angle between the two cutter heads 33 and the center of the transmission box 32 can be 180 degrees. Three cutter heads 33 can be spaced 120 degrees apart, and four cutter heads 33 can be spaced 90 degrees apart. In other words, the cutter heads 33 can be arranged in a uniform distribution. Of course, it is not excluded that in some scenarios, the cutter heads 33 may be arranged in a non-uniform distribution.

[0079] By designing a larger number of cutter heads 33 on the transmission box 32, the seedling harvesting efficiency can be improved at the same rotational speed. Furthermore, in terms of installation, the transmission box 32 can be directly mounted on the output shaft of the drive source 31, or the transmission box 32 can be rotatably mounted on the load module 10, with the drive source 31 mounted on the load module 10 and connected to the transmission box 32 via a transmission mechanism, such as a gearbox, linkage mechanism, sprocket mechanism, or pulley mechanism, to provide driving force.

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

[0081] Specifically, Figure 5 In this system, there are three seedling delivery modules 20, and correspondingly, three seedling collection modules 30. Of course, when the number of seedling delivery modules 20 exceeds three, the number of seedling collection modules 30 can also be increased accordingly. Generally, the seedlings 310 delivered by multiple seedling delivery modules 20 are of the same type and are used for transplanting in the same field. Therefore, the multiple seedling collection modules 30 can be controlled to operate synchronously by a control device mounted on the load module 10, or they can be controlled by the flight control system of the UAV 200. Of course, it is not impossible for multiple seedling delivery modules 20 to operate independently; for example, the seedling collection efficiency of the multiple seedling collection modules 30 can be controlled to be unequal, or some seedling collection modules 30 can be controlled to work while the others do not.

[0082] In order to separate and throw the seedlings 300 row by row and bunch by bunch, in this embodiment, the seedling delivery module 20 includes a seedling support plate 21 and a seedling delivery tray 22. The seedling support plate 21 is disposed on the load module 10 and has an opening 211. The seedling delivery tray 22 is used to transport the 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 can move laterally relative to the seedling support plate 21. The seedling picking module 30 is used to separate the seedlings 300 through the opening 211 and throw out the separated seedlings 310.

[0083] In other words, the positions of the seedling-picking module 30 and the opening 211 of the seedling-supporting plate 21 remain unchanged relative to the load module 10, while the seedling-feeding tray 22 can reciprocate in the left-right direction. In this way, the seedling-picking module 30 only separates the seedlings 300 exposed in the opening 211, thus enabling the separation and throwing of the seedlings 300 row by row and clump by clump. Of course, in other embodiments, the position of the seedling-feeding tray 22 relative to the load module 10 can remain unchanged, while the seedling-supporting plate 21 and the seedling-picking module 30 can move laterally in the left-right direction.

[0084] In this embodiment, the seedling support plate 21 can be understood as a long, open plate. The seedling support plate 21 is fixed relative to the load module 10 and does not move with the left-right reciprocating movement of the seedling feeding tray 22. The seedling support plate 21 provides a certain degree of support for the seedling feeding tray 22. Figure 5In this embodiment, there are three seedling picking modules 30 that are spaced apart. Therefore, there are also three openings 211 that are spaced apart, so that each seedling picking module 30 can separate and throw the 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 also includes a driving device 23. The driving device 23 is disposed in the load module 10 and is used to drive the seedling delivery tray 22 to move laterally relative to the seedling support plate 21.

[0086] Generally, the drive device 23 can use a motor in conjunction with a rack and pinion mechanism to achieve the reciprocating left and right movement of the seedling tray 22, or it can use a motor in conjunction with a lead screw mechanism or a synchronous belt. Of course, it is not ruled out that the rotor power of the UAV 200 can be used to drive the seedling tray 22 to move laterally left and right.

[0087] Combination Figure 3 Generally, the seedling delivery tray 22 is set to an inclined position. This design allows the seedling mat 300 to move downwards under gravity after the seedling delivery tray 22 moves horizontally once, facilitating the seedling picking module 30 to pick up seedlings in the next round. 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 also includes a conveying device 24, which is disposed on the seedling delivery tray 22 and is used to drive the seedlings 300 to move toward the seedling support plate 21.

[0088] The conveying device 24 can be a conveyor belt or a conveyor roller (e.g., a toothed roller). Furthermore, the conveying device 24 can be installed at different positions along the height of the seedling tray 22. It should be noted that the inclined design of the seedling tray 22 also allows for efficient use of longitudinal space, reducing the space occupied by the seedling tray 22 in the horizontal width. Simultaneously, due to the inclined design, the seedlings 300 can slide down smoothly under their own weight, further reducing the overall power consumption of the conveying device 24.

[0089] In addition, considering the possibility of seedling detachment after the 300 seedlings are placed in the seedling 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 seedlings 300 within the seedling delivery tray 22. The seedling pressing device 25 can be in the form of a plate or rod. Specifically, in this embodiment, the seedling pressing device 25 includes a rotating shaft 251 and multiple pressing strips 252. The rotating shaft 251 is rotatably placed horizontally on the seedling delivery tray 22, and the multiple pressing strips 252 are vertically arranged at intervals on the rotating shaft 251 and are used to limit the position of the seedlings 300 within the seedling delivery tray 22.

[0090] In this embodiment, under certain specific scenarios, the rotating shaft 251 can rotate with a certain damping relative to the seedling tray 22, thus adjusting the force exerted by the pressing strip 252 on the seedling mat 300 and maintaining its pressing state. Alternatively, a torsion spring can be fitted onto the rotating shaft 251 to provide pressure for rotation towards the seedling mat 300.

[0091] Combination Figure 4 In this embodiment, the seedling delivery tray 22 is a rectangular frame structure. Specifically, it includes a support plate and two baffles disposed on the left and right sides of the support plate. It has no top or bottom baffles, thus forming an upper opening for easy seedling placement and a lower opening for easy seedling removal. The width of the seedling delivery tray 22 can match the width of a tray of seedling mats 300. Furthermore, the height of the seedling delivery tray 22 is not limited to the height of a tray of seedling mats 300. During installation, the two ends of the rotating shaft 251 can be rotatably mounted on the two baffles of the seedling delivery tray 22. Figure 4 In this embodiment, four pressing strips 252 are configured on a single rotating shaft 251. In other words, four pressing strips 252 are distributed on a seedling feeding tray 22 to limit the placement of the seedlings 300 within the tray, ensuring that the seedlings 300 are pressed onto the tray 22 by the pressing strips 252, thus greatly ensuring that the seedlings 300 are not blown away during the flight of the drone 200. Of course, the number of pressing strips 252 configured on a single seedling feeding tray 22 is not limited to four; for example, it can be three, five, or more. Furthermore, since there are multiple seedling feeding modules 20 in this embodiment, there can also be multiple seedling pressing devices 25, with each seedling feeding tray 22 corresponding to a seedling pressing device 25. In some scenarios, multiple seedling pressing devices 25 located in the same seedling throwing mechanism 100 can share a single 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 also includes a support module 40, which 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 tray 22 needs to move laterally, the support positions of the first support 43 and the seedling tray 22 can be achieved through the cooperation of slide rails and pulleys for easy support. For example, pulleys can be installed at the end of the first support 43, and slide rails can be installed on the seedling tray 22, with the two rolling together. Alternatively, slide rails can be installed at the end of the first support 43, and pulleys can be installed on the seedling tray 22. In addition, in certain scenarios, the height of the first support 43 can be adjusted, which can also make the tilt angle of the seedling tray 22 adjustable.

[0093] Meanwhile, the lower part of the seedling tray 22 is supported by the seedling support plate 21, which improves the overall structural compactness. Of course, the middle part of the seedling 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 in the height direction than the middle and lower parts.

[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 equipped with the aforementioned 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 equipped with the aforementioned seedling picking module 30 (specifically, the drive source 31). Of course, the second bracket 46 and the third bracket 47 may also be a single bracket structure, that is, the seedling support plate 21 and the seedling picking module 30 are mounted to the load module 10 through the same bracket.

[0095] Please refer to Figure 6 , Figure 6 Another rice-throwing mechanism 100 provided in this embodiment is similar to... Figure 5 The rice-throwing mechanism 100 shown is mostly the same, except that:

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

[0097] In other words, Figure 6 In this system, the entire seedling-collecting module 30 can utilize a single power source to perform seedling-collecting and seedling-throwing operations on multiple seedling-delivering modules 20. Combined with... Figure 6 There are three transmission boxes 32, which correspond to three seedling feeding modules 20. Understandably, three seedling trays 21, each with an opening 211, are needed to match them. Of course, in this embodiment, only one longer seedling tray 21 can be used. For example, a longer seedling tray 21 can have three openings 211 spaced apart, which can be used to correspond to the seedling feeding trays 22 of the three seedling feeding modules 20 respectively.

[0098] To facilitate the support of multiple transmission boxes 32 and cutter heads 33, in this embodiment, the seedling picking module 30 also includes at least one support component 35. The support component 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. The bearing 352 is fitted to fix the first synchronous shaft 34.

[0099] Figure 6 In this configuration, there are two support components 35, which are arranged between two adjacent transmission boxes 32. Of course, when there are many seedling delivery modules 20, transmission boxes 32, etc., the number of support components 35 can be increased accordingly.

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

[0101] Please refer to Figures 7-12 , Figure 7 and Figure 8 For the overall picture, Figures 9-11 Both can be understood as in Figure 7 or Figure 8 The diagrams shown are broken down and presented based on existing information, allowing for a comprehensive understanding of the relevant structures. Additionally, for instances where the technical content is identical or similar, please refer to the preceding text.

[0102] Combination Figure 7 and Figure 8 The rice-throwing system 1000 is a dual-system, meaning it has two rice-throwing mechanisms 100, which share a single load module 10. The two rice-throwing mechanisms 100 are arranged back-to-back. Of course, in other embodiments, the two rice-throwing mechanisms 100 can also be arranged in other ways (e.g., in the same direction), and three, four, or more rice-throwing mechanisms 100 can also be arranged. During the rice-throwing operation of the UAV 200, the seedling-collecting module 30 rotates at high speed, and the seedling-delivering tray 22 must also move rapidly left and right. This left-right movement causes the aircraft to tilt left and right, resulting in unstable flight and increasing the risk of accidents. Figure 7 In this process, by setting up two sets of rice-throwing mechanisms 100 and controlling the lateral movement of the two sets of rice-throwing mechanisms 100 in opposite directions, the lateral impact force can be canceled out, enabling the drone 200 to remain stable.

[0103] Furthermore, due to its high integration, in certain scenarios, a single motor can drive the rotation of all transmission boxes 32. Similarly, a single motor can drive the left and right lateral movement of all seedling trays 22, and similarly, a single motor can drive the downward transport of all the seedlings 300 within the seedling trays 22. Of course, these motors can also be omitted, with power provided by the rotor power of the UAV 200.

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

[0105] Specifically, the legs 12 have an inverted "U" shape, and there are two legs 12, with the upper parts of the two legs 12 connected to opposite sides of the load frame 11. Additionally, the load module 10 includes two mounting rods 13 connected and fixed at the middle position of the two legs 12. Specifically, the seedling feeding module 20 and the seedling picking module 30 are both mounted to the two mounting rods 13 via 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 feeding tray 22. The circular rail 42 is mounted on the load module 10 (mounting rod 13), and the middle part of the seedling feeding tray 22 is laterally movable and mounted on the circular rail 42; the lower part of the seedling feeding tray 22 is supported by the seedling support plate 21.

[0107] Meanwhile, 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 equipped with the aforementioned seedling support 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 equipped with the aforementioned seedling picking module 30.

[0108] It should be noted that the above-mentioned brackets can be directly installed onto the mounting rod 13, or they can be installed onto the mounting rod 13 through other structures, or each bracket can be part of a whole bracket structure.

[0109] To facilitate the upper support of the seedling 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 located on the upper part of the seedling tray 22 with its opening facing downwards. The first limiting wheel 44 is located on the first bracket 43 and is limited to rolling within the U-shaped groove 41.

[0110] To facilitate the lower support of the seedling tray 22, the support module 40 also includes a second limiting wheel 45; the second limiting wheel 45 is disposed at the lower part of the seedling tray 22 and rolls against the seedling support plate 21. Specifically, the seedling support plate 21 is provided with a slide rail 212, and the second limiting wheel 45 is rolled on the slide rail 212.

[0111] In the above description, the seedling tray 22 can move laterally left and right along the circular rail 42. The upper part is provided with a U-shaped groove 41 and a first limiting wheel 44 to restrict the upward rotation of the seedling tray 22 around the axis of the circular rail 42. The lower part is pressed against the seedling support plate 21 by the second limiting wheel 45 to restrict the downward rotation of the seedling tray 22 around the axis of the circular rail 42. At the same time, the circular rail 42 can be used to achieve low-friction lateral movement.

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

[0113] Combination Figure 11 The aforementioned drive device 23 for driving the seedling tray 21 to move laterally can optionally be implemented using a motor and a gear and rack mechanism. Specifically, the drive device 23 includes a drive motor 231, a gear 232, and a rack 233. The drive motor 231 is located on the load module 10 and is connected to the gear 232. The rack 233 is fixedly located on the seedling feeding tray 22 and meshes with the gear 232. The drive motor 231 is used to drive the seedling feeding tray 22 to move laterally relative to the seedling tray 21 through the gear 232 and the rack 233.

[0114] In addition, combined Figure 11 The specific structure of the conveying device 24 mentioned above, which drives the seedling 300 to move toward the seedling tray 21, can optionally be as follows:

[0115] The conveying device 24 includes a conveying motor 241 and a conveying component 243. The conveying motor 241 is connected to the conveying component 243 and is used to drive the conveying component 243 to rotate. The seedling tray 22 is provided with an installation port 221. The conveying component 243 is located in the installation port 221 and drives the seedling 300 to move toward the seedling support plate 21 through the installation port 221.

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

[0117] Figure 11In the middle, the conveyor 243 is a wolf tooth wheel. As the wolf tooth wheel is driven to rotate, it moves the carpet seedling 300 downward.

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

[0119] In other words, a single motor can synchronously drive the seedlings 300 in multiple seedling trays 22 to move downwards simultaneously. Of course, each seedling tray 22 can also be equipped with a relatively independent drive device 23.

[0120] Additionally, please refer to Figure 12 The diagram shows a schematic of a cutter head 33, which can eject seedlings 310. Specifically, the cutter head 33 includes an ejector 335 and a seedling needle 336. The seedling needle 336 is disposed on the ejector 335. The ejector 335 is connected to a drive source 31 and is used to eject the seedlings 310 under the drive of the drive source 31.

[0121] In detail, the ejector 335 includes a housing 3351, a cam 3352, a connecting rod assembly, and a spring 3356; the seedling needle 336 is disposed in the housing 3351; the cam 3352 is rotatably disposed in the housing 3351, the connecting rod assembly is movably disposed in 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 drive source 31 and is used to resist the connecting rod assembly during the driven rotation, thereby storing elastic potential energy in the spring 3356, and to release the elastic potential energy in the spring 3356 when disengaged from the connecting rod assembly, and push the connecting rod assembly to eject the seedling 310.

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

[0123] refer to Figure 12The linkage assembly includes a first linkage 3354 and a second linkage 3355. The middle part of the first linkage 3354 is rotatably connected to the housing 3351, and one end of the first linkage 3354 abuts against or disengages from the cam 3352. The second linkage 3355 is movably connected to the housing 3351, and one end of the second linkage 3355 is hinged to the end of the first linkage 3354 away from the cam 3352. The end of the second linkage 3355 away from the first linkage 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] The working principle of the ejector 335: When the seedling needle 336 and the ejector 335 rotate to the opening 211 under the drive of the drive source 31, the seedling needle 336 cuts and removes the seedling 310. After the seedling 310 rotates a certain angle with the seedling needle 336, the ejector 335 below the seedling needle 336 ejects the seedling 310, realizing the ejection of seedlings. Specifically, the housing 3351 is driven to rotate by the drive source 31. At this time, the cam 3352 is also driven to rotate by the drive source 31. When the cam 3352 rotates at a certain angle... Figure 12 When the cam 3352 rotates clockwise, the abutting area 3353 of the cam 3352 continuously abuts against the lower end of the first link 3354. The spring 3356 at the upper end of the first link 3354 is continuously compressed to store elastic potential energy. The second link 3355 retracts. When the cam 3352 continues to rotate until the abutting area 3353 of the cam 3352 disengages from the lower end of the first link 3354, the spring 3356 instantly releases its elastic potential energy and returns to its original state, thereby pushing the first link 3354 and pushing out the second link 3355 to eject the seedling 310.

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

[0127] When the UAV 200 is in flight, the drive source 31 drives the transmission box 32 to rotate. The transmission box 32 drives the cutter head 33 to rotate at high speed. When the cutter head 33 rotates to the opening 211, it separates and removes the seedlings 310, causing the seedlings 310 to rotate. When the seedlings 310 rotate to a certain angle, they are thrown out and fall into the field under the action of centrifugal force and / or ejection force, thus realizing the simultaneous flight and throwing of the seedling blanket 300. At the same time, the seedling delivery tray 22 moves laterally, causing the seedling blanket 300 to move left and right, so that the seedling blanket 300 is separated and thrown row by row and clump by clump. After a row of seedlings 310 in the left and right direction of the seedling blanket 300 is separated, the entire seedling blanket 300 moves downward under the action of gravity and the driving force of the conveying device 24. In this way, during the process of the seedling delivery tray 22 moving laterally again, it is separated and thrown row by row and clump by clump by clump by seedling picking module 30. This process is repeated until all the seedling blanket 300 are separated and thrown.

[0128] In summary, this invention provides a seedling throwing mechanism 100 and a seedling throwing system 1000. The seedling throwing mechanism 100 includes a load module 10, a seedling delivery module 20, and a seedling collection module 30. The load module 10 is mounted on a drone 200. The seedling delivery module 20 is mounted on the load module 10 and is used to deliver the seedling mat 300. The seedling collection module 30 is mounted on the load module 10 and is used to separate the seedling 310 from the seedling mat 300 on the seedling delivery module 20 and throw it out. In this way, the drone 200 can carry the seedling throwing mechanism 100 to perform seedling throwing operations. The seedling delivery module 20 delivers the seedling mat 300, and the seedling collection module 30 separates the seedling mat 300 and throws out the seedling 310, realizing the aerial seedling throwing operation of the seedling mat 300.

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

[0130] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A rice seedling throwing mechanism, characterized in that, include: A load module (10) is provided for installation on a drone (200); A seedling delivery module (20), wherein the seedling delivery module (20) is disposed on the load module (10), and the seedling delivery module (20) is used to deliver the seedlings (300); and Seedling picking module (30), which is set on the load module (10), is used to separate seedlings (310) from the seedling blanket (300) on the seedling delivery module (20) and throw them out.

2. The rice-throwing mechanism according to claim 1, characterized in that, The seedling picking 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 by centrifugal force and / or ejection force.

3. The rice-throwing mechanism according to claim 1, characterized in that, The seedling picking module (30) includes a drive source (31) and a cutter head (33). The drive source (31) is connected to the cutter head (33) and is used to drive the cutter head (33) to separate the seedlings (300) on the seedling delivery module (20) and throw the separated seedlings (310) out by centrifugal force and / or ejection force.

4. The rice-throwing mechanism according to claim 3, characterized in that, The cutter head (33) includes a mounting part (331) and a cutter body (332) disposed on the mounting part (331). The mounting part (331) is connected to the drive source (31). A groove (333) is formed on the cutter body (332). The groove (333) is used to hold the seedling (310) after it is separated from the seedling by the cutter body (332), so that the seedling (310) rotates and is thrown out under the action of centrifugal force and / or ejection force.

5. The rice-throwing mechanism according to claim 3, characterized in that, The cutter head (33) includes a catapult (335) and a seedling needle (336). The seedling needle (336) is disposed on the catapult (335). The catapult (335) is connected to the drive source (31) and is used to eject the seedling (310) under the drive of the drive source (31).

6. The rice-throwing mechanism according to claim 5, characterized in that, The ejector (335) includes a housing (3351), a cam (3352), a connecting rod assembly, and a spring (3356); the seedling needle (336) is disposed in the housing (3351); The cam (3352) is rotatably disposed on the housing (3351), the linkage assembly is movably disposed on the housing (3351), and the two ends of the spring (3356) act on the housing (3351) and the linkage assembly respectively. The cam (3352) is connected to the drive source (31) and is used to abut against the linkage assembly during the driven rotation, thereby storing elastic potential energy in the spring (3356), and to release the elastic potential energy of the spring (3356) when it is disengaged from the linkage assembly, and to push the linkage assembly to eject the seedling (310).

7. The rice-throwing mechanism according to claim 3, characterized in that, The seedling picking module (30) also includes a transmission box (32), the drive source (31) is connected to the transmission box (32) and is used to drive the transmission box (32) to rotate, and each transmission box (32) is provided with at least one of the cutter heads (33).

8. The rice-throwing mechanism according to claim 7, characterized in that, The number of seedling delivery modules (20) is multiple, and the multiple seedling delivery modules (20) are arranged 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 drive source (31) is connected to the first synchronous shaft (34), and the multiple transmission boxes (32) are fixedly arranged at intervals on the first synchronous shaft (34); the multiple transmission boxes (32) correspond one-to-one with the multiple seedling delivery modules (20); The drive source (31) is used to drive multiple transmission boxes (32) to rotate synchronously via the first synchronous shaft (34), so that the cutter head (33) on the multiple transmission boxes (32) rotates accordingly, thereby performing seedling throwing operation on the seedlings (300) on the multiple seedling delivery modules (20).

9. The rice-throwing mechanism according to claim 8, characterized in that, The seedling harvesting module (30) further includes at least one support component (35), which 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). The bearing (352) is fitted to fix the first synchronous shaft (34).

10. The rice-throwing mechanism according to any one of claims 1-7, characterized in that, There are multiple seedling delivery modules (20) and multiple seedling taking modules (30) that correspond one-to-one with the multiple seedling delivery modules (20).

11. The rice-throwing mechanism according to any one of claims 1-9, characterized in that, The seedling delivery module (20) includes a seedling support plate (21) and a seedling delivery tray (22). The seedling support plate (21) is disposed in the load module (10). The seedling support plate (21) has an opening (211). The seedling delivery tray (22) is used to deliver the seedlings (300). The lower part of the seedling delivery tray (22) is located inside the seedling support plate (21). The seedling delivery tray (22) can move laterally relative to the seedling support plate (21). The seedling picking module (30) is used to separate the seedlings (300) through the opening (211) and throw out the separated seedlings (310).

12. The rice-throwing mechanism according to claim 11, characterized in that, The seedling delivery module (20) further includes a drive device (23), which is disposed on the load module (10). The drive device (23) is used to drive the seedling delivery tray (22) to move laterally relative to the seedling support plate (21).

13. The rice-throwing mechanism according to claim 12, characterized in that, The driving device (23) includes a drive motor (231), a gear (232) and a rack (233). The drive motor (231) is disposed on the load module (10). The drive motor (231) is connected to the gear (232). The rack (233) is fixedly disposed on the seedling tray (22). The rack (233) meshes with the gear (232). The drive motor (231) is used to drive the seedling tray (22) to move laterally relative to the seedling support plate (21) through the gear (232) and the rack (233).

14. The rice-throwing mechanism according to claim 11, characterized in that, 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 seedlings (300) to move toward the seedling support plate (21).

15. The rice-throwing mechanism according to claim 14, characterized in that, The conveying device (24) includes a conveying motor (241) and a conveying component (243). The conveying motor (241) is connected to the conveying component (243) and is used to drive the conveying component (243) to rotate. The seedling tray (22) is provided with an installation port (221). The conveying component (243) is located in the installation port (221) and drives the seedling (300) to move toward the seedling support plate (21) through the installation port (221).

16. The rice-throwing mechanism according to claim 15, characterized in that, The number of 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 conveying components (243) is multiple; the conveying motor (241) is connected to the second synchronous shaft (242), the multiple conveying components (243) are fixedly arranged at intervals on the second synchronous shaft (242), and the multiple conveying components (243) are correspondingly arranged at the mounting port (221) of the seedling delivery tray (22) of the multiple seedling delivery modules (20); The conveying motor (241) is used to drive multiple conveying components (243) to rotate synchronously via the second synchronous shaft (242), thereby synchronously driving the seedlings (300) located in the seedling trays (22) of multiple seedling delivery modules (20) to move.

17. The rice-throwing mechanism according to claim 11, characterized in that, The seedling delivery module (20) also includes a seedling pressing device (25), which is disposed on the seedling delivery tray (22) and is used to limit the position of the seedlings (300) in the seedling delivery tray (22).

18. The rice-throwing mechanism according to claim 17, characterized in that, The seedling pressing device (25) includes a rotating shaft (251) and multiple pressing strips (252). The rotating shaft (251) is rotatably placed horizontally on the seedling delivery tray (22). The multiple pressing strips (252) are vertically arranged and spaced apart from the rotating shaft (251). The multiple pressing strips (252) are used to limit the position of the seedlings (300) in the seedling delivery tray (22).

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

20. The rice-throwing mechanism according to claim 19, characterized in that, The rice-throwing mechanism (100) also includes a support module (40), which includes 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 tray (22); the circular rail (42) is disposed on the load module (10), and the middle part of the seedling tray (22) is disposed on the circular rail (42) in a laterally movable manner; the lower part of the seedling tray (22) is supported by the seedling support plate (21).

21. The rice-throwing mechanism according to claim 20, characterized in that, The support module (40) further includes a U-shaped groove (41) and a first limiting wheel (44). The U-shaped groove (41) is located on the upper part of the seedling tray (22) and the opening faces downward. The first limiting wheel (44) is located on the first bracket (43) and the first limiting wheel (44) is limited to rolling within the U-shaped groove (41).

22. The rice-throwing mechanism according to claim 21, characterized in that, The support module (40) also includes a second limiting wheel (45); the second limiting wheel (45) is located at the lower part of the seedling tray (22), and the second limiting wheel (45) rolls against the seedling support plate (21).

23. The rice-throwing mechanism according to any one of claims 1-9, characterized in that, The load module (10) includes a load frame (11) and at least one leg (12) disposed on the load frame (11). The seedling delivery module (20) and the seedling taking module (30) are both integrated on the leg (12). The load frame (11) is used to be disposed on the lower part of the drone (200).

24. A rice transplanting system, characterized in that, It includes a drone (200) and at least one set of rice-throwing mechanism (100) as described in any one of claims 1-23, wherein the load module (10) of the rice-throwing mechanism (100) is mounted on the drone (200).

25. The rice transplanting system according to claim 24, characterized in that, The load module (10) is detachably mounted on the lower part of the UAV (200).

Images