Seedling throwing mechanism and unmanned aerial vehicle seedling throwing system

Abstract

The embodiment of the invention provides a seedling slinging mechanism and an unmanned aerial vehicle seedling slinging system, and relates to the technical field of seedling slinging. The seedling throwing mechanism comprises a load module, a seedling taking module, a first seedling conveying module and a second seedling conveying module, the first seedling conveying module and the second seedling conveying module are movably arranged on the load module along the same straight line so as to be synchronously close to or away from each other, and the seedling taking module is arranged on the load module. The seedling taking module is used for taking seedlings from the first seedling conveying module and / or the second seedling conveying module. The first seedling feeding module and the second seedling feeding module are movably arranged on the load module along the same straight line so as to be synchronously close to or away from each other, the gravity center of the seedling throwing mechanism can be maintained all the time, and then the flight stability of the unmanned aerial vehicle is guaranteed.

Description

Technical Field

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

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

[0003] In the prior art, although some plant protection drones can be used for seedling transplanting operations, during the seedling transplanting operations, the seedling delivery module will cause the aircraft attitude to shake during the seedling delivery movement, resulting in unstable flight and prone to safety accidents. Summary of the invention

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

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

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

[0007] Load module;

[0008] A first seedling conveying module and a second seedling conveying module, wherein the first seedling conveying module and the second seedling conveying module are movably arranged on the load module along the same straight line so as to be synchronously approached or moved away from each other; and

[0009] A seedling taking module, wherein the seedling taking module is arranged on the load module, and the seedling taking module is used to take the seedlings from the first seedling sending module and / or the second seedling sending module.

[0010] In an optional embodiment, the seedling removing module is used to eject the removed seedlings by centrifugal force or by an ejection member.

[0011] In an optional embodiment, the first seedling conveying module and the second seedling conveying module are symmetrical about a center line of the load module.

[0012] In an optional embodiment, the first seedling conveying module and the second seedling conveying module are arranged side by side.

[0013] In an optional embodiment, the seedling throwing mechanism further includes a driving device, which is disposed on the load module and is used to drive the first seedling sending module and the second seedling sending module to move laterally.

[0014] In an optional embodiment, the number of the driving device is one, and the driving device is used to simultaneously drive the first seedling sending module and the second seedling sending module to move laterally.

[0015] In an optional embodiment, the driving device includes a first driving motor and a first gear, the first driving motor is connected to the first gear, the first seedling sending module includes a first seedling sending tray and a first rack, the first rack is arranged on the first seedling sending tray, the second seedling sending module includes a second seedling sending tray and a second rack, the second rack is arranged on the second seedling sending tray, and the seedling removing module is used to remove the seedlings from the first seedling sending tray and / or the second seedling sending tray; wherein, the first gear simultaneously engages the first rack and the second rack.

[0016] In an optional embodiment, there are two driving devices, and the two driving devices are respectively used to drive the first seedling sending module and the second seedling sending module to move laterally.

[0017] In an optional embodiment, the driving device includes a second driving motor and a second gear, the second driving motor is connected to the second gear, the first seedling sending module includes a third seedling sending tray and a third rack, the third rack is arranged on the third seedling sending tray, the second seedling sending module includes a fourth seedling sending tray and a fourth rack, the fourth rack is arranged on the fourth seedling sending tray, and the seedling taking module is used to take the seedlings from the third seedling sending tray and / or the fourth seedling sending tray;

[0018] The second gear of one of the driving devices meshes with the third rack, and the second gear of the other driving device meshes with the fourth rack.

[0019] In an optional embodiment, the seedling throwing mechanism further includes a first buffer and a second buffer, both of which are arranged on the load module, the first buffer is used to elastically abut the third rack, and the second buffer is used to elastically abut the fourth rack.

[0020] In an optional embodiment, the first seedling sending module has a plurality of third seedling sending trays, which are arranged side by side; the second seedling sending module has a plurality of fourth seedling sending trays, which are arranged side by side.

[0021] In an optional embodiment, the seedling throwing mechanism further includes a position sensor, which is arranged on the load module, and the position sensor is used to detect the positions of the first seedling sending module and the second seedling sending module.

[0022] In an optional embodiment, the load module is used to be set on a drone.

[0023] In a second aspect, the present invention provides a drone seedling throwing system, comprising a drone and the seedling throwing mechanism described in any one of the aforementioned embodiments, wherein the load module is installed on the drone.

[0024] The beneficial effects of the seedling throwing mechanism and the drone seedling throwing system of the embodiments of the present invention include, for example:

[0025] The present invention provides a seedling throwing mechanism, which includes a load module, a seedling taking module, a first seedling sending module and a second seedling sending module, wherein the first seedling sending module and the second seedling sending module are movably arranged on the load module along the same straight line so as to be synchronously close to or away from each other, and the seedling taking module is arranged on the load module, and the seedling taking module is used to take the seedlings from the first seedling sending module and / or the second seedling sending module. By movably arranging the first seedling sending module and the second seedling sending module on the load module along the same straight line so as to be synchronously close to or away from each other, the center of gravity of the seedling throwing mechanism can be always maintained, thereby ensuring the flight stability of the drone.

[0026] The present invention provides a drone seedling throwing system, comprising a drone and the above-mentioned seedling throwing mechanism, wherein a load module is installed on the drone, and the drone seedling throwing system has all the functions of the seedling throwing mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 A schematic diagram of a drone seedling throwing system provided in an embodiment of the present invention;

[0029] Figure 2 A top view of a drone rice seedling throwing system provided in an embodiment of the present invention;

[0030] Figure 3 A schematic diagram of a seedling throwing mechanism provided in an embodiment of the present invention;

[0031] Figure 4 A top view of a seedling throwing mechanism provided in an embodiment of the present invention;

[0032] Figure 5 An exploded view of a seedling throwing mechanism provided in an embodiment of the present invention;

[0033] Figure 6 It is a schematic diagram of a first seedling conveying module and a second seedling conveying module provided in an embodiment of the present invention;

[0034] Figure 7 A schematic diagram of the meshing of the second gear and the third rack provided in an embodiment of the present invention;

[0035] Figure 8 A schematic diagram of a first rack and a second rack meshing with a first gear simultaneously provided in another embodiment of the present invention;

[0036] Fig. 9 It is a schematic diagram of a conveying device provided in an embodiment of the present invention.

[0037] Icons: 1000-seedling throwing mechanism; 100-load module; 200-first seedling sending module; 210-first seedling sending tray; 220-first rack; 230-third seedling sending tray; 231-first mounting port; 240-third rack; 300-second seedling sending module; 310-second seedling sending tray; 320-second rack; 330-fourth seedling sending tray; 340-fourth rack; 400-seedling taking module; 410-seedling taking mechanism; 411-driving source; 412-cutter head; 500-driving device; 510-first gear; 520-second driving motor; 530-second gear; 600-conveying device; 610-conveying motor; 620-transmitting member; 10-first buffer member; 20-second buffer member; 30-first Hall sensor; 40-first magnetic member; 2000-UAV; A-center line. DETAILED DESCRIPTION

[0038] 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.

[0039] 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.

[0040] 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.

[0041] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0042] 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.

[0043] 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.

[0044] As mentioned in the background technology, in the prior art, although some plant protection UAVs can be used for seedling transplanting operations, during the seedling transplanting operation, the seedling delivery module will cause the aircraft attitude to shake during the seedling delivery movement, resulting in unstable flight and prone to safety accidents.

[0045] Specifically, the seedling-transporting actuator in the prior art realizes the lateral transportation of the seedlings by lateral movement of a single row of seedling trays. The unidirectional movement will cause the entire plant protection UAV system to generate a lateral force.

[0046] Since drones are sensitive to vibration and load, if this actuator is used on a drone, it will cause the drone to sway left and right during flight, making it difficult to fly stably.

[0047] The vibration and impact generated during operation will be transmitted to the drone. The vibration can easily cause the drone to tilt and sway, affecting the stability of the flight and thus the accuracy of the operation. In severe cases, it may even cause serious losses such as the drone bombing and equipment damage.

[0048] In view of this, please refer to Figure 1-Figure 9 The seedling throwing mechanism 1000 and the drone seedling throwing system provided in the embodiments of the present invention can solve this problem, which will be described in detail below.

[0049] Please refer to Figure 1-Figure 3 The present invention provides a drone seedling throwing system, which includes a drone 2000 and a seedling throwing mechanism 1000 , wherein a load module 100 (described in detail below) of the seedling throwing mechanism 1000 is installed on the drone 2000 .

[0050] The seedling throwing mechanism 1000 can stabilize the center of gravity of the seedling throwing mechanism 1000 during the flight of the UAV 2000, thereby ensuring the flight stability of the UAV 2000.

[0051] Specifically, the seedling throwing mechanism 1000 includes a load module 100, a seedling taking module 400, a first seedling sending module 200 and a second seedling sending module 300. The first seedling sending module 200 and the second seedling sending module 300 are movably arranged on the load module 100 along the same straight line to synchronously approach or move away from each other (such as Figure 2 The seedling taking module 400 is arranged on the load module 100, and the seedling taking module 400 is used to take the seedlings from the first seedling sending module 200 and / or the second seedling sending module 300.

[0052] Specifically, in the present embodiment, the seedling taking module 400 is used to throw out the taken seedlings by centrifugal force. Of course, in other embodiments, the seedling taking module 400 is used to throw out the taken seedlings by a ejection member.

[0053] The first seedling sending module 200 and the second seedling sending module 300 are movably arranged in the load module 100 along the same straight line to synchronously approach or move away from each other. Compared with the single-row seedling throwing actuator in the prior art, the first seedling sending module 200 and the second seedling sending module 300 synchronously approach or move away from each other can offset the lateral force brought to the UAV 2000 when the first seedling sending module 200 or the second seedling sending module 300 moves horizontally, so as to always maintain the center of gravity of the seedling throwing mechanism 1000, thereby ensuring the flight stability of the UAV 2000.

[0054] It is easy to understand that the drone 2000 can carry the seedling throwing mechanism 1000 to perform seedling throwing operations, transport the blanket seedlings (not shown) through the first seedling delivery module 200 and the second seedling delivery module 300, separate the blanket seedlings through the seedling retrieval module 400, and then throw the seedlings out to realize the flying seedling throwing operation of the blanket seedlings.

[0055] Among them, the seedling retrieval module 400 can separate the seedlings from the blanket of seedlings of the first seedling delivering module 200 and the blanket of seedlings of the second seedling delivering module 300 and throw them out through centrifugal force. Alternatively, the seedling retrieval module 400 can separate the seedlings from the blanket of seedlings of the first seedling delivering module 200 or the blanket of seedlings of the second seedling delivering module 300 and throw them out through centrifugal force.

[0056] In this embodiment, the UAV 2000 is a rotor UAV, specifically a quad-rotor UAV. Of course, it can also be a single-rotor UAV, a dual-rotor UAV, a six-rotor UAV, an eight-rotor UAV, etc.

[0057] The UAV 2000 can automatically operate according to a preset path, flight speed, posture, etc., or can be manually controlled by an operator.

[0058] The load module 100 of the seedling throwing mechanism 1000 can be detachably mounted on the lower part of the UAV 2000, that is, the UAV 2000 and the seedling throwing mechanism 1000 adopt an upper and lower split design, and the UAV 2000 serves as a mobile platform and is a split design with the seedling throwing mechanism 1000.

[0059] In other words, this type of seedling throwing mechanism 1000 is an independent structure that does not rely on the fuselage frame of the drone 2000. Based on this type, the corresponding device can be replaced according to actual operation requirements in a specific operation scenario.

[0060] For example, after the seedling throwing mechanism 1000 is disassembled, a spreading device is installed to spread pesticides, fertilizers, seeds, etc. Similarly, after the seedling throwing mechanism 1000 is disassembled, a surveying device, a spraying device, and other agricultural operation mechanisms can be installed.

[0061] It should be noted that, in this embodiment, the load module 100 is a UAV tripod, and the load module 100 is used to be set on the UAV 2000. In other embodiments, the load module 100 can also be a bracket, which mainly serves to connect and fix the positions of the seedling delivery module and the seedling removal module.

[0062] Please refer to Figure 4 Specifically, in this embodiment, the first seedling sending module 200 and the second seedling sending module 300 are symmetrical about the center line A of the load module 100, and the first seedling sending module 200 and the second seedling sending module 300 are distributed side by side. The center line A here can be understood as a straight line passing through the center of gravity of the load module 100. The symmetrical distribution of the first seedling sending module 200 and the second seedling sending module 300 can help stabilize the center of gravity of the seedling throwing mechanism 1000.

[0063] Please refer to Figure 5 and Figure 6 In order to facilitate the movement of the first seedling sending module 200 and the second seedling sending module 300, the seedling throwing mechanism 1000 also includes a driving device 500, which is arranged on the load module 100, and the driving device 500 is used to drive the first seedling sending module 200 and the second seedling sending module 300 to move horizontally.

[0064] Specifically, the driving device 500 can drive the first seedling conveying module 200 and the second seedling conveying module 300 to move closer to or away from each other.

[0065] In this embodiment, there are two driving devices 500, and the two driving devices 500 are respectively used to drive the first seedling conveying module 200 and the second seedling conveying module 300 to move laterally, and the direction of the lateral movement can be parallel to the ground.

[0066] Please continue to refer to Figure 7 Each driving device 500 includes a second driving motor 520 and a second gear 530 . The second driving motor 520 is connected to the second gear 530 . The second driving motor 520 is used to drive the second gear 530 to rotate.

[0067] The first seedling conveying module 200 includes a third seedling conveying tray 230 and a third rack 240 , and the third rack 240 is disposed on the third seedling conveying tray 230 . The second seedling conveying module 300 includes a fourth seedling conveying tray 330 and a fourth rack 340 , and the fourth rack 340 is disposed on the fourth seedling conveying tray 330 .

[0068] The second gear 530 of one driving device 500 meshes with the third rack 240, and the second gear 530 of the other driving device 500 meshes with the fourth rack 340. It is easy to understand that by the forward or reverse rotation of the second driving motor 520, the third seedling sending tray 230 and the fourth seedling sending tray 330 can be moved closer to or farther away from each other.

[0069] The seedling taking module 400 is used to take the seedlings from the third seedling feeding tray 230 and / or the fourth seedling feeding tray 330. Specifically, the seedling taking module 400 is used to separate the seedlings from the blanket seedlings on the third seedling feeding tray 230 and / or the fourth seedling feeding tray 330 and throw them out by centrifugal force. For example, the seedling taking module 400 can separate the seedlings from the blanket seedlings on the third seedling feeding tray 230 and the blanket seedlings on the fourth seedling feeding tray 330 and throw them out by centrifugal force. Alternatively, the seedling taking module 400 can separate the seedlings from the blanket seedlings on the third seedling feeding tray 230 or the fourth seedling feeding tray 330 and throw them out by centrifugal force.

[0070] In this embodiment, the third seedling delivery tray 230 and the fourth seedling delivery tray 330 are both provided with blanket seedlings, and the number of seedling retrieval modules 400 is two. The two seedling retrieval modules 400 respectively separate the seedlings from the blanket seedlings on the third seedling delivery tray 230 and the fourth seedling delivery tray 330 and throw them out by centrifugal force.

[0071] In addition, the driving device 500 can adopt a mechanism in which a synchronous belt cooperates with a motor or a mechanism in which a screw mechanism cooperates with a motor to realize the lateral movement of the first seedling sending module 200 or the second seedling sending module 300. For example, the synchronous belt and the first seedling sending module 200 are fixedly connected, and the motor drives the synchronous belt to move, thereby realizing the lateral movement of the first seedling sending module 200.

[0072] Alternatively, the screw mechanism is connected to the first seedling sending module 200, and the motor drives the screw mechanism to move, thereby realizing the lateral movement of the first seedling sending module 200.

[0073] Of course, in other embodiments, the number of the driving device 500 may also be one, and the driving device 500 is used to simultaneously drive the first seedling conveying module 200 and the second seedling conveying module 300 to move laterally.

[0074] Specifically, please refer to Figure 8 The driving device 500 includes a first driving motor and a first gear 510 , the first driving motor is connected to the first gear 510 , the first seedling sending module 200 includes a first seedling sending tray 210 and a first rack 220 , and the first rack 220 is arranged on the first seedling sending tray 210 .

[0075] The second seedling delivering module 300 includes a second seedling delivering tray 310 and a second rack 320, wherein the second rack 320 is arranged on the second seedling delivering tray 310, and the seedling taking module 400 is used for taking the seedlings from the first seedling delivering tray 210 and / or the second seedling delivering tray 310. Specifically, the seedling taking module 400 is used for separating the seedlings from the blanket seedlings on the first seedling delivering tray 210 and / or the second seedling delivering tray 310 and throwing them out by centrifugal force.

[0076] Among them, the first gear 510 simultaneously meshes with the first rack 220 and the second rack 320, and the side of the first rack 220 with meshing teeth is opposite to the side of the second rack 320 with meshing teeth. The first drive motor is driven to rotate forward or reversely to drive the first gear 510 to rotate, thereby making the first seedling sending plate 210 and the second seedling sending plate 310 approach or move away from each other.

[0077] The seedling taking module 400 is used for separating the seedlings from the blanket seedlings on the first seedling sending tray 210 and / or the second seedling sending tray 310 and throwing them out by centrifugal force. For example, the seedling taking module 400 can separate the seedlings from the blanket seedlings on the first seedling sending tray 210 and the blanket seedlings on the second seedling sending tray 310 and throw them out by centrifugal force. Alternatively, the seedling taking module 400 can separate the seedlings from the blanket seedlings on the first seedling sending tray 210 or the second seedling sending tray 310 and throw them out by centrifugal force.

[0078] In order to facilitate the buffering of the extreme position of the third rack 240 and the fourth rack 340 during the reciprocating lateral movement, and to slow down the third seedling sending plate 230 and the fourth seedling sending plate 330, the extreme position here can be understood as the position of the third rack 240 or the fourth rack 340 when the third seedling sending plate 230 or the fourth seedling sending plate 330 has the maximum lateral movement distance in the lateral direction, which can be understood as the extreme position of the engagement of the second gear 530 with the third rack 240 or the fourth rack 340.

[0079] Please refer again Figure 6The seedling throwing mechanism 1000 also includes a first buffer 10 and a second buffer 20 , both of which are arranged in the load module 100 , the first buffer 10 is used to elastically abut against the third rack 240 , and the second buffer 20 is used to elastically abut against the fourth rack 340 .

[0080] There are two first buffer members 10 and two second buffer members 20 . The two first buffer members 10 are located on both sides of the third rack 240 , and the two second buffer members 20 are located on both sides of the fourth rack 340 .

[0081] That is, buffering can be performed at the extreme positions during the reciprocating lateral movement of the third rack 240 and the fourth rack 340. It should be noted that, in this embodiment, the third rack 240 and the fourth rack 340 can be slidably connected to the load module 100. Specifically, the load module 100 has a sliding rod, and the third rack 240 and the fourth rack 340 are both mounted on the outside of the sliding rod.

[0082] In this embodiment, the first buffer 10 and the second buffer 20 are both compression spring structures. Of course, in other embodiments, the first buffer 10 and the second buffer 20 may also be elastic buffers, such as buffer structures made of rubber.

[0083] In addition, in order to achieve the transplanting of more seedlings, in the present embodiment, the first seedling delivering module 200 has multiple third seedling delivering trays 230, and the multiple third seedling delivering trays 230 are arranged side by side; the second seedling delivering module 300 has multiple fourth seedling delivering trays 330, and the multiple fourth seedling delivering trays 330 are arranged side by side.

[0084] Specifically, the first seedling sending module 200 includes two third seedling sending trays 230 arranged side by side, and the two third seedling sending trays 230 arranged side by side are both connected to the third rack 240. The second seedling sending module 300 includes two fourth seedling sending trays 330 arranged side by side, and the two fourth seedling sending trays 330 arranged side by side are both connected to the fourth rack 340.

[0085] Please refer again Figure 7 In addition, in order to facilitate the third rack 240 and the fourth rack 340 to move to the extreme position during the reciprocating transverse movement, the second drive motor 520 adjusts the rotation direction, and the seedling throwing mechanism 1000 also includes a position sensor, which is arranged on the load module 100. The position sensor is used to detect the positions of the first seedling sending module 200 and the second seedling sending module 300.

[0086] Specifically, the position sensor here includes a first Hall sensor 30 and a second Hall sensor, the first magnetic member 40 is arranged on the third rack 240, and the second magnetic member is arranged on the fourth rack 340. Both the first magnetic member 40 and the second magnetic member can be magnets.

[0087] The number of the first Hall sensor 30, the first magnetic part 40, the second Hall sensor and the second magnetic part are all two. The two first Hall sensors 30 are both arranged in the load module 100 and are located on both sides of the third rack 240. The two first magnetic parts 40 are located at both ends of the third rack 240. Therefore, the first Hall sensor 30 can obtain whether the third rack 240 is in the extreme position through the magnetic field strength of the first magnetic part 40 close to the first Hall sensor 30. If it is in the extreme position, the first Hall sensor 30 can feed back the signal to the second drive motor 520, and make the second drive motor 520 adjust the rotation direction, so that the third seedling delivery plate 230 moves in the opposite direction.

[0088] The second Hall sensor and the second magnetic member are used to detect the position state of the fourth rack 340 , and the working principle thereof can refer to the first Hall sensor 30 and the first magnetic member 40 mentioned above, which will not be described again here.

[0089] Of course, in other embodiments, the position sensor can also be a photoelectric sensor to obtain whether the third rack 240 and the fourth rack 340 have reached the limit position. For example, the third rack 240 or the fourth rack 340 reaches the limit position during the lateral movement, triggering the photoelectric sensor. The photoelectric sensor feeds back the signal to the second drive motor 520, and causes the second drive motor 520 to adjust the rotation direction.

[0090] In this embodiment, there are two seedling taking modules 400 , each of which includes two seedling taking mechanisms 410 . Each seedling taking mechanism 410 is used to separate seedlings from the seedling blanket on a third seedling sending tray 230 or a fourth seedling sending tray 330 .

[0091] like Figure 5 As shown, the seedling taking mechanism 410 includes a driving source 411 and a cutter head 412. The driving source 411 is connected to the cutter head 412 and is used to drive the cutter head 412 to separate the blanket seedlings on the third seedling feeding tray 230 or a fourth seedling feeding tray 330, and to throw the separated seedlings out by centrifugal force. The driving source 411 includes a cutter head motor and a transmission box. The cutter head motor is connected to the transmission box, and the transmission box is connected to the cutter head 412. The cutter head motor is used to drive the transmission box to drive the cutter head 412 to separate the blanket seedlings. The cutter head 412 here is a seedling needle.

[0092] Please refer again Figure 6 Combined with Fig. 9In addition, the seedling throwing mechanism 1000 also includes two conveying devices 600, the conveying device 600 includes a conveying motor 610 and a conveying member 620, the conveying motor 610 is connected to the conveying member 620, and is used to drive the conveying member 620 to move, and the third seedling delivery tray 230 is provided with a first mounting port 231, and the fourth seedling delivery tray 330 is provided with a second mounting port. In this embodiment, the structures of the first mounting port 231 and the second mounting port are the same.

[0093] The conveying member 620 of one of the conveying devices 600 is located in the first installation port 231, and drives the blanket seedlings to move toward the seedling removal module 400 through the first installation port 231. The conveying member 620 of the other conveying device 600 is located in the second installation port, and drives the blanket seedlings to move toward the seedling removal module 400 through the second installation port.

[0094] The conveying member 620 can be a conveying roller (such as a wolf tooth wheel), and the conveying roller contacts the blanket seedlings to prevent the blanket seedlings from sliding freely.

[0095] According to a drone seedling throwing system provided in this embodiment, the working principle of the drone seedling throwing system is as follows:

[0096] When the drone 2000 is flying, the driving source 411 drives the cutter head 412 to rotate at a high speed, and the cutter head 412 separates the seedlings from the blankets on the third seedling feeding tray 230 and the fourth seedling feeding tray 330, drives the seedlings to rotate and throw out. At the same time, the third seedling feeding tray 230 and the fourth seedling feeding tray 330 move horizontally toward or away from each other during the flight of the drone 2000, driving the blankets to move left and right, so that the blankets are cut and thrown out row by row and bunch by bunch.

[0097] When a row of seedlings in the left and right directions of the blanket is cut, the entire blanket moves downward under the action of gravity and the driving force of the conveying device 600. In this way, when the third seedling delivery tray 230 or the fourth seedling delivery tray 330 moves in the opposite direction again, the seedlings are cut and thrown row by row and bunch by bunch by the seedling picking module 400. This process is repeated repeatedly until all the blanket seedlings are cut and thrown, and the drone 2000 returns to the starting point.

[0098] To summarize, the seedling throwing mechanism 1000 includes a loading module 100, a seedling retrieval module 400, a first seedling delivery module 200 and a second seedling delivery module 300. The first seedling delivery module 200 and the second seedling delivery module 300 are movably arranged in the loading module 100 along the same straight line so as to move closer to or away from each other synchronously. The seedling retrieval module 400 is arranged in the loading module 100, and the seedling retrieval module 400 is used to remove the seedlings from the first seedling delivery module 200 and / or the second seedling delivery module 300.

[0099] The first seedling delivering module 200 and the second seedling delivering module 300 are movably arranged in the load module 100 along the same straight line so as to synchronously approach or move away from each other, thereby achieving the offset force caused by the lateral movement to the drone 2000 between the first seedling delivering module 200 and the second seedling delivering module 300, stabilizing the center of gravity of the seedling throwing mechanism 1000, and further ensuring the flight stability of the drone 2000.

[0100] Compared with the traditional rice transplanter actuator, it has higher stability and is applied to the UAV 2000 to avoid the tilt and sway of the aircraft caused by vibration or unbalanced impact, making the flight more stable during operation. This improves the overall service life and reliability of the equipment and ensures the accuracy and efficiency of the operation.

[0101] The drone seedling throwing system comprises a drone 2000 and the above-mentioned seedling throwing mechanism 1000 , and the load module 100 is installed on the drone 2000 . The drone seedling throwing system has all the functions of the seedling throwing mechanism 1000 .

[0102] 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: Load module (100); a first seedling sending module (200) and a second seedling sending module (300), wherein the first seedling sending module (200) and the second seedling sending module (300) are movably arranged on the load module (100) along the same straight line so as to synchronously approach or move away from each other; and A seedling taking module (400), wherein the seedling taking module (400) is arranged on the load module (100), and the seedling taking module (400) is used to take the seedlings from the first seedling delivering module (200) and / or the second seedling delivering module (300).

2. The seedling throwing mechanism according to claim 1, characterized in that: The seedling removal module (400) is used to eject the removed seedlings by centrifugal force or by an ejection member.

3. The seedling throwing mechanism according to claim 1, characterized in that: The first seedling conveying module (200) and the second seedling conveying module (300) are symmetrical about a center line (A) of the load module (100).

4. The seedling throwing mechanism according to claim 1, characterized in that: The first seedling conveying module (200) and the second seedling conveying module (300) are arranged side by side.

5. The seedling throwing mechanism according to claim 1, characterized in that: The seedling throwing mechanism further comprises a driving device (500), wherein the driving device (500) is arranged on the load module (100), and the driving device (500) is used to drive the first seedling sending module (200) and the second seedling sending module (300) to move laterally.

6. The seedling throwing mechanism according to claim 5, characterized in that: The number of the driving device (500) is one, and the driving device (500) is used to simultaneously drive the first seedling sending module (200) and the second seedling sending module (300) to move laterally.

7. The seedling throwing mechanism according to claim 6, characterized in that: The driving device (500) comprises a first driving motor and a first gear (510), wherein the first driving motor is connected to the first gear (510); the first seedling sending module (200) comprises a first seedling sending tray (210) and a first rack (220), wherein the first rack (220) is arranged on the first seedling sending tray (210); the second seedling sending module (300) comprises a second seedling sending tray (310) and a second rack (320), wherein the second rack (320) is arranged on the second seedling sending tray (310); the seedling removing module (400) is used for removing the seedlings from the first seedling sending tray (210) and / or the second seedling sending tray (310); wherein the first gear (510) is engaged with the first rack (220) and the second rack (320) at the same time.

8. The seedling throwing mechanism according to claim 5, characterized in that: The number of the driving devices (500) is two, and the two driving devices (500) are respectively used to drive the first seedling sending module (200) and the second seedling sending module (300) to move laterally.

9. The seedling throwing mechanism according to claim 8, characterized in that: The driving device (500) comprises a second driving motor (520) and a second gear (530), the second driving motor (520) being connected to the second gear (530), the first seedling sending module (200) comprising a third seedling sending tray (230) and a third rack (240), the third rack (240) being arranged on the third seedling sending tray (230), the second seedling sending module (300) comprising a fourth seedling sending tray (330) and a fourth rack (340), the fourth rack (340) being arranged on the fourth seedling sending tray (330), and the seedling taking module (400) being used for taking the seedlings from the third seedling sending tray (230) and / or the fourth seedling sending tray (330); The second gear (530) of one of the driving devices (500) meshes with the third rack (240), and the second gear (530) of the other driving device (500) meshes with the fourth rack (340).

10. The seedling throwing mechanism according to claim 9, characterized in that: The seedling throwing mechanism further comprises a first buffer (10) and a second buffer (20), wherein the first buffer (10) and the second buffer (20) are both arranged on the load module (100), the first buffer (10) being used for elastically abutting against the third rack (240), and the second buffer (20) being used for elastically abutting against the fourth rack (340).

11. The seedling throwing mechanism according to claim 9, characterized in that: The first seedling sending module (200) has a plurality of third seedling sending trays (230), and the plurality of third seedling sending trays (230) are arranged side by side; the second seedling sending module (300) has a plurality of fourth seedling sending trays (330), and the plurality of fourth seedling sending trays (330) are arranged side by side.

12. The seedling throwing mechanism according to claim 1, characterized in that: The seedling throwing mechanism further comprises a position sensor, which is arranged on the load module (100) and is used to detect the positions of the first seedling sending module (200) and the second seedling sending module (300).

13. The seedling throwing mechanism according to claim 1, characterized in that: The load module (100) is used to be arranged on a drone (2000).

14. A drone seedling throwing system, characterized in that: It comprises an unmanned aerial vehicle (2000) and the rice seedling throwing mechanism according to any one of claims 1 to 13, wherein the load module (100) is installed on the unmanned aerial vehicle (2000).

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