Seedling throwing mechanism and unmanned aerial vehicle seedling throwing system

Abstract

Embodiments of the present application provide a seedling throwing mechanism and an unmanned aerial vehicle seedling throwing system, and relate to the technical field of seedling throwing. The seedling throwing mechanism comprises a load module, a seedling taking module, a first seedling sending module and a second seedling sending module. The first seedling sending module and the second seedling sending module are movably arranged along the same line on the load module to be synchronously close to or away from each other. The seedling taking module is arranged on the load module, and is used for taking down seedlings from the first seedling sending module and / or the second seedling sending module. The first seedling sending module and the second seedling sending module are movably arranged along the same line on the load module to be synchronously close to or away from each other, so that the center of gravity of the seedling throwing mechanism can be maintained at all times, thereby ensuring the flight stability of the unmanned aerial vehicle.

Description

Technical Field

[0001] This invention relates to the field of rice seedling throwing technology, and more specifically, to a rice seedling throwing mechanism and a drone rice seedling throwing system. Background Technology

[0002] For mechanized rice planting, there are actually only two solutions on the market: rice transplanters and rice throwers. Both solutions mainly rely on agricultural machinery that travels on the ground. For rice throwers, the planting method generally uses seedling trays with independent holes. The seedling trays have 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 existing technology, although some agricultural drones can be used for rice transplanting, the rice delivery module causes the aircraft to sway and become unstable during the rice transplanting process, which can easily lead to safety accidents. Summary of the Invention

[0004] This invention provides a rice-throwing mechanism and a drone-based rice-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 rice seedling throwing mechanism, comprising:

[0007] Load module;

[0008] A first seedling delivery module and a second seedling delivery module are movably arranged along the same straight line on the load module to synchronously move closer to or further away from each other; and

[0009] A seedling-retrieving module is disposed on the load module, and the seedling-retrieving module is used to retrieve seedlings from the first seedling delivery module and / or the second seedling delivery module.

[0010] In an optional implementation, the seedling-retrieving module is used to throw the retrieved seedlings out by centrifugal force or by ejector.

[0011] In an optional implementation, the first seedling delivery module and the second seedling delivery module are symmetrical about the centerline of the load module.

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

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

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

[0015] In an optional embodiment, the driving device includes a first drive motor and a first gear, the first drive motor being connected to the first gear; the first seedling feeding module includes a first seedling feeding disc and a first rack, the first rack being disposed on the first seedling feeding disc; the second seedling feeding module includes a second seedling feeding disc and a second rack, the second rack being disposed on the second seedling feeding disc; and the seedling picking module is used to pick up seedlings from the first seedling feeding disc and / or the second seedling feeding disc; wherein, the first gear simultaneously meshes with the first rack and the second rack.

[0016] In an optional embodiment, the number of driving devices is two, and the two driving devices are respectively used to drive the first seedling delivery module and the second seedling delivery 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 being connected to the second gear; the first seedling feeding module includes a third seedling feeding disc and a third rack, the third rack being disposed on the third seedling feeding disc; the second seedling feeding module includes a fourth seedling feeding disc and a fourth rack, the fourth rack being disposed on the fourth seedling feeding disc; and the seedling picking module is used to pick up seedlings from the third seedling feeding disc and / or the fourth seedling feeding disc.

[0018] The second gear of one of the drive devices meshes with the third rack, and the second gear of the other drive 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 disposed on the load module. The first buffer is used to elastically abut against the third rack, and the second buffer is used to elastically abut against the fourth rack.

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

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

[0022] In an optional implementation, the payload module is used to mount on a drone.

[0023] Secondly, the present invention provides a drone rice-throwing system, including a drone and a rice-throwing mechanism as described in any of the foregoing embodiments, wherein the load module is installed on the drone.

[0024] The beneficial effects of the rice-throwing mechanism and the UAV rice-throwing system of the present invention include, for example:

[0025] This invention provides a seedling throwing mechanism, comprising a load module, a seedling picking module, a first seedling delivery module, and a second seedling delivery module. The first and second seedling delivery modules are movably arranged along a straight line on the load module to synchronously move closer to or away from each other. The seedling picking module is located on the load module and is used to pick up seedlings from the first and / or second seedling delivery modules. By movably arranging the first and second seedling delivery modules along a straight line on the load module to synchronously move closer to or away from each other, the center of gravity of the seedling throwing mechanism can be maintained at all times, thereby ensuring the flight stability of the drone.

[0026] The present invention provides a drone rice-throwing system, including a drone and the aforementioned rice-throwing mechanism, with a load module installed on the drone. The drone rice-throwing system has all the functions of the rice-throwing mechanism. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of a drone rice-throwing system provided in an embodiment of the present invention;

[0029] Figure 2 This is a top view of the unmanned aerial vehicle (UAV) rice-throwing system provided in an embodiment of the present invention;

[0030] Figure 3 This is a schematic diagram of the rice-throwing mechanism provided in an embodiment of the present invention;

[0031] Figure 4 This is a top view of the rice-throwing mechanism provided in an embodiment of the present invention;

[0032] Figure 5 This is an exploded view of the rice-throwing mechanism provided in an embodiment of the present invention;

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

[0034] Figure 7 This is a schematic diagram showing the meshing of the second gear and the third rack in an embodiment of the present invention;

[0035] Figure 8 This is a schematic diagram showing the first rack and the second rack simultaneously meshing with the first gear in other embodiments of the present invention;

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

[0037] Icons: 1000 - Rice seedling throwing mechanism; 100 - Load module; 200 - First rice seedling feeding module; 210 - First rice seedling feeding tray; 220 - First rack; 230 - Third rice seedling feeding tray; 231 - First mounting port; 240 - Third rack; 300 - Second rice seedling feeding module; 310 - Second rice seedling feeding tray; 320 - Second rack; 330 - Fourth rice seedling feeding tray; 340 - Fourth rack; 400 - Rice seedling picking module; 410 - Rice seedling picking mechanism; 411 - Drive source; 412 - Cutter head; 500 - Drive device; 510 - First gear; 520 - Second drive motor; 530 - Second gear; 600 - Conveying device; 610 - Conveying motor; 620 - Conveying component; 10 - First buffer component; 20 - Second buffer component; 30 - First Hall sensor; 40 - First magnetic component; 2000 - Unmanned aerial vehicle (UAV); A - Center line. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0039] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0040] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0041] In the description of this invention, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0042] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0043] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0044] As mentioned in the background section, although some agricultural drones can be used for rice transplanting, the rice delivery module causes the aircraft to sway and become unstable during the rice transplanting process, which can easily lead to safety accidents.

[0045] Specifically, in existing technologies, seedling throwing mechanisms achieve lateral transport of seedlings through the lateral movement of a single row of seedling trays. This unidirectional movement generates a lateral force on the entire plant protection drone system.

[0046] Because drones are highly sensitive to vibration and load, if this actuator is used on a drone, it could cause the drone to sway from side to side during flight, making it difficult to maintain stable flight.

[0047] The vibrations and impacts generated during operation will be transmitted to the drone. The vibrations can easily cause the drone to tilt and sway, affecting the stability of flight and thus the accuracy of the operation. In severe cases, it can even cause the drone to crash or suffer serious damage to the equipment.

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

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

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

[0051] Specifically, the seedling throwing mechanism 1000 includes a load module 100, a seedling picking 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 along the same straight line on the load module 100 so as to synchronously move closer to or further away from each other (e.g., ...). Figure 2 (As indicated by the arrow in the image), the seedling picking module 400 is located in the load module 100. The seedling picking module 400 is used to pick up seedlings from the first seedling delivery module 200 and / or the second seedling delivery module 300.

[0052] Specifically, in this embodiment, the seedling picking module 400 is used to throw the picked seedlings out by centrifugal force. Of course, in other embodiments, the seedling picking module 400 is used to throw the picked seedlings out by a catapult.

[0053] The first seedling delivery module 200 and the second seedling delivery module 300 are movably arranged in the load module 100 along the same straight line so that they move closer or further away from each other synchronously. Compared with the single-row seedling throwing actuator in the prior art, the synchronous movement of the first seedling delivery module 200 and the second seedling delivery module 300 towards each other can cancel out the lateral force on the UAV 2000 when the first seedling delivery module 200 or the second seedling delivery module 300 moves laterally, 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 be equipped with a seedling throwing mechanism 1000 to carry out seedling throwing operations. The first seedling delivery module 200 and the second seedling delivery module 300 are used to transport the seedlings (not shown in the figure), and the seedlings are separated by the seedling picking module 400 and then thrown out, thus realizing the flying seedling throwing operation.

[0055] The seedling picking module 400 can separate the seedlings from the blanket seedlings of the first seedling delivery module 200 and the second seedling delivery module 300 and then throw them out by centrifugal force. Alternatively, the seedling picking module 400 can separate the seedlings from the blanket seedlings of the first seedling delivery module 200 or the second seedling delivery module 300 and then throw them out by centrifugal force.

[0056] In this embodiment, the UAV 2000 is a rotary-wing UAV, specifically a quadcopter UAV. Of course, it can also be a single-rotor UAV, a dual-rotor UAV, a hexacopter UAV, an octacopter UAV, etc.

[0057] The 2000 drone can operate automatically according to preset paths, flight speeds, attitudes, etc., or be manually controlled by operators.

[0058] The load module 100 of the rice-throwing mechanism 1000 is detachably mounted on the lower part of the drone 2000. That is, the drone 2000 and the rice-throwing mechanism 1000 adopt an upper and lower split design. The drone 2000, as a mobile platform, is a separate design from the rice-throwing mechanism 1000.

[0059] In other words, this type of rice-throwing mechanism 1000 is an independent structure that does not depend on the fuselage frame of the UAV 2000. Based on this type, the corresponding device can be replaced according to the actual operation requirements in specific operation scenarios.

[0060] For example, the rice-throwing mechanism 1000 can be disassembled and a spreading device installed to spread pesticides, fertilizers, seeds, etc. Similarly, the rice-throwing mechanism 1000 can be disassembled and agricultural operation mechanisms such as surveying devices and spraying devices installed.

[0061] It should be noted that in this embodiment, the load module 100 is a drone tripod, and the load module 100 is used to mount the drone 2000. In other embodiments, the load module 100 can also be a bracket, mainly serving to connect and fix the positions of the seedling delivery module and the seedling picking module.

[0062] Please refer to Figure 4 Specifically, in this embodiment, the first seedling delivery module 200 and the second seedling delivery module 300 are symmetrical about the center line A of the load module 100, and the first seedling delivery module 200 and the second seedling delivery module 300 are distributed side by side. Here, the center line A 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 delivery module 200 and the second seedling delivery 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 delivery module 200 and the second seedling delivery module 300, the seedling throwing mechanism 1000 also includes a driving device 500. The driving device 500 is disposed in the load module 100 and is used to drive the first seedling delivery module 200 and the second seedling delivery module 300 to move laterally.

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

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

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

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

[0068] The second gear 530 of one drive device 500 meshes with the third rack 240, and the second gear 530 of the other drive device 500 meshes with the fourth rack 340. It is easy to understand that by rotating the second drive motor 520 forward or backward, the third seedling tray 230 and the fourth seedling tray 330 can be moved closer or further apart.

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

[0070] In this embodiment, both the third seedling tray 230 and the fourth seedling tray 330 are provided with seedling mats. There are two seedling picking modules 400. The two seedling picking modules 400 separate the seedling mats on the third seedling tray 230 and the fourth seedling tray 330 respectively and throw them out by centrifugal force.

[0071] In addition, the drive device 500 can use a mechanism that combines a synchronous belt with a motor or a screw mechanism with a motor to achieve the lateral movement of the first seedling delivery module 200 or the second seedling delivery module 300. For example, the synchronous belt is fixedly connected to the first seedling delivery module 200, and the motor drives the synchronous belt to move, thereby achieving the lateral movement of the first seedling delivery module 200.

[0072] Alternatively, the lead screw mechanism is connected to the first seedling feeding module 200, and the motor drives the lead screw mechanism to move, thereby enabling the first seedling feeding module 200 to move laterally.

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

[0074] Specifically, please refer to Figure 8 The drive device 500 includes a first drive motor and a first gear 510. The first drive motor is connected to the first gear 510. The first seedling feeding module 200 includes a first seedling feeding disc 210 and a first rack 220. The first rack 220 is disposed on the first seedling feeding disc 210.

[0075] The second seedling delivery module 300 includes a second seedling delivery tray 310 and a second rack 320. The second rack 320 is disposed on the second seedling delivery tray 310. The seedling taking module 400 is used to take seedlings from the first seedling delivery tray 210 and / or the second seedling delivery tray 310. Specifically, the seedling taking module 400 is used to separate the seedlings from the seedlings on the first seedling delivery tray 210 and / or the second seedling delivery tray 310 and then throw them out by centrifugal force.

[0076] The first gear 510 simultaneously meshes with the first rack 220 and the second rack 320. The side of the first rack 220 with meshing teeth and the side of the second rack 320 with meshing teeth are opposite each other. The first drive motor rotates forward or backward, driving the first gear 510 to rotate, thereby causing the first seedling tray 210 and the second seedling tray 310 to move closer or further apart.

[0077] The seedling picking module 400 is used to separate seedlings from the first seedling feeding tray 210 and / or the second seedling feeding tray 310 and then throw them out by centrifugal force. For example, the seedling picking module 400 can separate the seedlings from the first seedling feeding tray 210 and the second seedling feeding tray 310 and then throw them out by centrifugal force. Alternatively, the seedling picking module 400 can separate the seedlings from the first seedling feeding tray 210 or the second seedling feeding tray 310 and then throw them out by centrifugal force.

[0078] To facilitate buffering of the extreme positions of the third rack 240 and the fourth rack 340 during the reciprocating lateral movement, and to decelerate the third seedling tray 230 and the fourth seedling tray 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 tray 230 or the fourth seedling tray 330 moves the maximum lateral distance in the lateral direction. It can be understood as the extreme position of the second gear 530 meshing with the third rack 240 or the fourth rack 340.

[0079] Please refer to this again. Figure 6The seedling throwing mechanism 1000 also includes a first buffer 10 and a second buffer 20. Both the first buffer 10 and the second buffer 20 are installed 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 buffers 10 and two second buffers 20. The two first buffers 10 are located on both sides of the third rack 240, and the two second buffers 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 sleeved on the outside of the sliding rod.

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

[0083] In addition, in order to enable more seedlings to be transplanted, in this embodiment, the first seedling delivery module 200 has multiple third seedling delivery trays 230, which are arranged side by side; the second seedling delivery module 300 has multiple fourth seedling delivery trays 330, which are arranged side by side.

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

[0085] Please refer to this again. Figure 7 In addition, in order to facilitate the adjustment of the rotation direction of the second drive motor 520 when the third rack 240 and the fourth rack 340 move to their limit positions during the reciprocating lateral movement, the seedling throwing mechanism 1000 also includes a position sensor, which is set in the load module 100 and is used to detect the position of the first seedling delivery module 200 and the second seedling delivery module 300.

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

[0087] There are two of each of the following: a first Hall sensor 30, a first magnetic element 40, a second Hall sensor, and a second magnetic element. Both first Hall sensors 30 are disposed on the load module 100 and located on both sides of the third rack 240. The two first magnetic elements 40 are located at both ends of the third rack 240. Thus, the first Hall sensor 30 can obtain whether the third rack 240 is in its extreme position by the magnetic field strength of the first magnetic element 40 near the first Hall sensor 30. If it is in its extreme position, the first Hall sensor 30 can feed back the signal to the second drive motor 520 and cause the second drive motor 520 to adjust its rotation direction, causing the third seedling tray 230 to move in the opposite direction.

[0088] The second Hall sensor and the second magnetic element are used to detect the position of the fourth rack 340. Their working principle can be referred to the first Hall sensor 30 and the first magnetic element 40 mentioned above, and will not be repeated 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 their limit positions. For example, if the third rack 240 or the fourth rack 340 reaches its limit position during the lateral movement, the photoelectric sensor is triggered. The photoelectric sensor feeds back the signal to the second drive motor 520, and causes the second drive motor 520 to adjust its rotation direction.

[0090] In this embodiment, there are two seedling picking modules 400. Each seedling picking module 400 includes two seedling picking mechanisms 410. Each seedling picking mechanism 410 is used to separate seedlings from the seedlings on a third seedling feeding tray 230 or a fourth seedling feeding tray 330.

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

[0092] Please refer to this again. Figure 6 and combined Figure 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 component 620. The conveying motor 610 is connected to the conveying component 620 and is used to drive the conveying component 620 to move. The third seedling feeding tray 230 is provided with a first mounting port 231 and the fourth seedling feeding tray 330 is provided with a second mounting port. In this embodiment, the first mounting port 231 and the second mounting port have the same structure.

[0093] One of the conveying devices 600 has a conveying component 620 located in the first mounting port 231, and drives the seedlings to move toward the seedling taking module 400 through the first mounting port 231. The other conveying device 600 has a conveying component 620 located in the second mounting port, and drives the seedlings to move toward the seedling taking module 400 through the second mounting port.

[0094] The conveyor 620 can convey rollers (e.g., serrated rollers) to contact the seedlings and prevent them from sliding freely.

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

[0096] When the UAV 2000 is in flight, the drive source 411 drives the cutter head 412 to rotate at high speed. The cutter head 412 separates the seedlings from the third and fourth seedling trays 230, causing the seedlings to rotate and be thrown out. At the same time, the third and fourth seedling trays 230 move laterally towards or away from each other during the flight of the UAV 2000, causing the seedlings to move left and right, so that the seedlings are cut and thrown out row by row and clump by clump.

[0097] After a row of seedlings in the left and right directions of the seedbed is cut, the entire seedbed moves downward under the action of gravity and the driving force of the conveying device 600. Thus, during the reverse lateral movement of the third seedbed tray 230 or the fourth seedbed tray 330, the seedlings are cut and thrown out row by row and bunch by bunch by the seedling picking module 400. This process is repeated until all the seedbed seedlings have been cut and thrown out, at which point the drone 2000 returns to the starting point.

[0098] In summary, the seedling throwing mechanism 1000 includes a load module 100, a seedling picking 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 along the same straight line in the load module 100 so as to move closer or further away from each other synchronously. The seedling picking module 400 is arranged in the load module 100 and is used to pick up seedlings from the first seedling delivery module 200 and / or the second seedling delivery module 300.

[0099] By movably arranging the first seedling delivery module 200 and the second seedling delivery module 300 along the same straight line in the load module 100, they can synchronously move closer or further away from each other. This allows the first seedling delivery module 200 and the second seedling delivery module 300 to cancel out the offset force caused by the lateral movement to the UAV 2000, thereby stabilizing the center of gravity of the seedling throwing mechanism 1000 and ensuring the flight stability of the UAV 2000.

[0100] Compared to traditional rice transplanter actuators, this design offers greater stability. When applied to the UAV 2000, it prevents the aircraft from tilting or swaying due to vibrations or unbalanced impacts, resulting in more stable flight during operation. This improves the overall lifespan and reliability of the equipment, ensuring operational accuracy and efficiency.

[0101] The unmanned aerial vehicle (UAV) rice-throwing system includes a UAV 2000 and the aforementioned rice-throwing mechanism 1000. The load module 100 is installed on the UAV 2000. The UAV rice-throwing system has all the functions of the rice-throwing mechanism 1000.

[0102] 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 throwing mechanism, characterized in that, The invention relates to a seedling throwing device comprising: a loading module (100); a first seedling feeding module (200) and a second seedling feeding module (300), which are movably arranged along the same line on the loading module (100) to move towards or away from each other synchronously and feed seedlings; and a seedling taking module (400) arranged on the loading module (100), which is used to take seedlings from the seedlings on the first seedling feeding module (200) and / or the second seedling feeding module (300) and throw them out.

2. The casting mechanism according to claim 1, wherein The seedling taking module (400) is used to throw the taken seedlings out by centrifugal force or by a spring member.

3. The casting mechanism according to claim 1, wherein The first seedling feeding module (200) and the second seedling feeding module (300) are symmetrical about the center line (A) of the loading module (100).

4. The casting mechanism according to claim 1, wherein The first seedling feeding module (200) and the second seedling feeding module (300) are distributed side by side.

5. The casting mechanism according to claim 1, wherein The seedling throwing device further comprises a driving device (500) arranged on the loading module (100), which is used to drive the first seedling feeding module (200) and the second seedling feeding module (300) to move laterally.

6. The casting mechanism according to claim 5, wherein The number of the driving device (500) is one, which is used to drive the first seedling feeding module (200) and the second seedling feeding module (300) to move laterally at the same time.

7. The casting mechanism according to claim 6, wherein The driving device (500) comprises a first driving motor and a first gear (510), the first driving motor is connected with the first gear (510), the first seedling feeding module (200) comprises a first seedling feeding disc (210) and a first rack (220), the first rack (220) is arranged on the first seedling feeding disc (210), the second seedling feeding module (300) comprises a second seedling feeding disc (310) and a second rack (320), the second rack (320) is arranged on the second seedling feeding disc (310), the seedling taking module (400) is used to take seedlings from the first seedling feeding disc (210) and / or the second seedling feeding disc (310); wherein the first gear (510) engages the first rack (220) and the second rack (320) at the same time.

8. The casting mechanism according to claim 5, wherein The number of the driving device (500) is two, and the two driving devices (500) are respectively used to drive the first seedling feeding module (200) and the second seedling feeding module (300) to move laterally.

9. The casting mechanism according to claim 8, wherein The 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 first seedling delivery module (200) includes a third seedling delivery disc (230) and a third rack (240), the third rack (240) is disposed on the third seedling delivery disc (230), the second seedling delivery module (300) includes a fourth seedling delivery disc (330) and a fourth rack (340), the fourth rack (340) is disposed on the fourth seedling delivery disc (330), and the seedling taking module (400) is used to take seedlings from the third seedling delivery disc (230) and / or the fourth seedling delivery disc (330); The second gear (530) of one of the drive devices (500) engages the third rack (240), and the second gear (530) of the other drive device (500) engages the fourth rack (340).

10. The casting mechanism according to claim 9, wherein The seedling throwing mechanism also includes a first buffer (10) and a second buffer (20). The first buffer (10) and the second buffer (20) are both disposed on 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).

11. The casting mechanism according to claim 9, wherein The first seedling delivery module (200) has multiple third seedling delivery trays (230), which are arranged side by side; the second seedling delivery module (300) has multiple fourth seedling delivery trays (330), which are arranged side by side.

12. The casting mechanism according to claim 1, wherein The seedling throwing mechanism also includes a position sensor, which is disposed on the load module (100) and is used to detect the positions of the first seedling delivery module (200) and the second seedling delivery module (300).

13. The casting mechanism according to claim 1, wherein The load module (100) is used to install on the UAV (2000).

14. An unmanned aerial machine throwing system characterized in that, Includes a drone (2000) and a rice-throwing mechanism according to any one of claims 1-13, wherein the load module (100) is mounted on the drone (2000).

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