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 plurality of seedling conveying modules and a seedling taking module, the load module is used for being arranged on the unmanned aerial vehicle, the plurality of seedling conveying modules are movably arranged on the load module, the seedling taking module is arranged on the load module, and the seedling taking module is used for separating seedlings from blanket seedlings on the seedling conveying modules and then throwing the seedlings out through centrifugal force and / or ejection force. A load module of the seedling throwing mechanism can be installed on the unmanned aerial vehicle, and the unmanned aerial vehicle throws seedlings through blanket seedlings.

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 transplanters and rice throwing machines. In the prior art, both solutions rely on agricultural machinery that travels on the ground. For rice throwing machines, seedling trays with independent holes are generally used to plant seedlings in plug trays. The seedling trays have independent holes to separate multiple seedlings. The rice throwing machine throws the relatively independent seedlings in the tray. This method has high requirements for planting and is not widely used.

[0003] In the prior art, the seedling transplanting system carried by the drone generally utilizes the plug tray seedlings for transplanting, and there is no seedling transplanting system utilizing the blanket seedlings for transplanting. Summary of the invention

[0004] The invention provides a seedling throwing mechanism and a drone seedling throwing system, which can enable the drone to use blanket seedlings to throw seedlings.

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

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

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

[0008] a plurality of seedling delivery modules, wherein the plurality of seedling delivery modules are movably disposed on the load module; and

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

[0010] In an optional embodiment, the number of the seedling sending modules is two, and the moving direction of one of the seedling sending modules is opposite to the moving direction of the other seedling sending module.

[0011] In an optional embodiment, the seedling conveying modules are arranged in back-to-back orientation or in the same direction.

[0012] In an optional embodiment, the number of the seedling delivery modules is at least three, and at least three of the seedling delivery modules are distributed around the same center.

[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 multiple seedling sending modules to move laterally.

[0014] In an optional embodiment, there are two driving devices, and the two driving devices are respectively used to drive the two seedling conveying modules to move laterally.

[0015] In an optional embodiment, the number of the driving device is one, and the driving device is used to simultaneously drive the two seedling delivering modules to move laterally.

[0016] In an optional embodiment, the driving device includes a power source, a first gear, a first rack and a second rack, the first rack is arranged in one of the seedling sending modules, the second rack is arranged in another of the seedling sending modules, the power source is connected to the first gear, and the first gear is meshed with the first rack and the second rack at the same time;

[0017] Wherein, the power source is used to drive the first rack and the second rack to move through the first gear, so as to drive the two seedling delivery modules to move horizontally.

[0018] In an optional embodiment, the driving device includes a power member, a second gear and a third rack, the third rack is provided with the seedling delivery module, the power member is connected to the second gear, and the second gear is meshed with the third rack;

[0019] Wherein, the seedling throwing mechanism also includes a position sensor, which includes a Hall sensor and a magnetic element. The third rack is provided with a plurality of mounting holes, the magnetic element is arranged in one of the mounting holes, and the Hall sensor is arranged in the load module; or, the Hall sensor is arranged in one of the mounting holes, and the magnetic element is arranged in the load module.

[0020] In an optional embodiment, the seedling throwing mechanism further includes a position sensor, which is disposed on the load module and is used to detect the position of the seedling sending module.

[0021] In an optional embodiment, the position sensor includes a first Hall sensor, a first magnetic member and a second magnetic member, the first magnetic member and the second magnetic member are separately arranged in the load module, and the first Hall sensor is arranged in the rice seedling feeding module; the first Hall sensor is used to sense the first magnetic member or the second magnetic member;

[0022] Alternatively, the first magnetic component and the second magnetic component are separately arranged in the rice seedling feeding module, the first Hall sensor is arranged in the load module, and the first Hall sensor is used to sense the first magnetic component or the second magnetic component.

[0023] In an optional embodiment, the position sensor includes a third magnetic member, a second Hall sensor and a third Hall sensor, the second Hall sensor and the third Hall sensor are separately arranged in the load module, and the third magnetic member is arranged in the rice seedling feeding module; the second Hall sensor and the third Hall sensor are both used to sense the third magnetic member;

[0024] Alternatively, the second Hall sensor and the third Hall sensor are separately arranged in the rice seedling feeding module, the third magnetic component is arranged in the load module, and the second Hall sensor and the third Hall sensor are both used to sense the third magnetic component.

[0025] In an optional embodiment, the seedling throwing mechanism further includes a buffer component, which is disposed on the load module and is used for elastically abutting against the seedling sending module.

[0026] In a second aspect, the present invention provides a drone seedling throwing system, comprising a drone and a seedling throwing mechanism as described in any one of the aforementioned embodiments, wherein the load module is installed on the drone.

[0027] The beneficial effects of the seedling throwing mechanism and the drone seedling throwing system of the embodiments of the present invention include, for example:

[0028] The present invention provides a seedling throwing mechanism, which includes a load module, a plurality of seedling sending modules and a seedling taking module. The load module is used to be arranged on a drone, the plurality of seedling sending modules are movably arranged on the load module, the seedling taking module is arranged on the load module, and the seedling taking module is used to separate the seedlings from the blanket seedlings on the seedling sending module and then throw them out through centrifugal force and / or catapult force. The load module of the seedling throwing mechanism can be installed on the drone, so that the drone uses the blanket seedlings to throw the seedlings.

[0029] The present invention provides a drone seedling throwing system, which comprises a drone and the above-mentioned seedling throwing mechanism, wherein a load module is installed on the drone, and the drone seedling throwing system has all the functions of the above-mentioned seedling throwing mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] 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.

[0031] Figure 1 A schematic diagram of a drone seedling throwing system provided in an embodiment of the present invention;

[0032] Figure 2A top view of a drone rice seedling throwing system provided in an embodiment of the present invention;

[0033] Figure 3 A side view of a drone seedling throwing system provided in an embodiment of the present invention;

[0034] Figure 4 It is a schematic diagram of two seedling taking modules provided in an embodiment of the present invention being arranged in the same direction;

[0035] Figure 5 A schematic diagram of three seedling removal modules provided in an embodiment of the present invention being installed on a load module;

[0036] Figure 6 It is a schematic diagram of four seedling removal modules provided in an embodiment of the present invention being installed on a load module;

[0037] Figure 7 A schematic diagram of a driving device provided in an embodiment of the present invention;

[0038] Figure 8 A schematic diagram of a buffer, a Hall sensor and a magnetic element provided in an embodiment of the present invention;

[0039] Fig. 9 It is a schematic diagram of a conveying device and a mounting port provided in an embodiment of the present invention.

[0040] Icons: 1000-seedling throwing mechanism; 100-load module; 200-seedling delivery module; 201-installation port; 300-seedling removal module; 310-driving source; 320-cutter head; 400-driving device; 410-first gear; 420-first rack; 430-second rack; 440-power part; 450-second gear; 460-third rack; 461-installation hole; 500-conveying device; 510-conveying motor; 520-transmitting part; 10-buffer; 20-Hall sensor; 30-magnetic element; 2000-UAV. DETAILED DESCRIPTION

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] As mentioned in the background technology, for mechanized rice planting, there are actually only two solutions on the market: rice transplanter and rice throwing machine. In the prior art, both solutions rely on agricultural machinery that travels on the ground. For rice throwing machines, seedling trays with independent holes are generally used to plant seedlings in trays. The seedling trays have independent holes to separate multiple seedlings. The rice throwing machine throws the relatively independent seedlings in the tray. This method has high requirements for planting and is not widely used.

[0048] In the prior art, the seedling transplanting system carried by the drone generally utilizes the plug tray seedlings for transplanting, and there is no seedling transplanting system utilizing the blanket seedlings for transplanting.

[0049] 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.

[0050] 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 .

[0051] The seedling-casting mechanism 1000 can use the blanket seedlings to cast the seedlings during the flight of the drone 2000, thereby realizing that the drone 2000 can use the blanket seedlings to cast the seedlings.

[0052] Specifically, the seedling throwing mechanism 1000 includes a load module 100, multiple seedling delivery modules 200 and a seedling retrieval module 300. The load module 100 is used to be set on the drone 2000. The multiple seedling delivery modules 200 are movably set on the load module 100. The seedling retrieval module 300 is set on the load module 100. The seedling retrieval module 300 is used to separate the seedlings from the blanket seedlings on the seedling delivery module 200 and then throw them out through centrifugal force and / or catapult force. The load module 100 of the seedling throwing mechanism 1000 can be installed on the drone 2000, so that the drone 2000 can use the blanket seedlings to throw seedlings.

[0053] Specifically, the seedling taking module 300 can separate the seedlings from the seedling blanket on the seedling delivery module 200 and throw them out through centrifugal force, or the seedling taking module 300 can throw the seedlings out through a ejection member.

[0054] In other embodiments, the seedling throwing mechanism 1000 can also utilize the combined effect of centrifugal force and ejection force to throw out the separated seedlings.

[0055] 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 multiple seedling delivery modules 200, separate the blanket seedlings through the seedling retrieval module 300, and then throw the seedlings out to achieve the flying seedling throwing operation of the blanket seedlings.

[0056] It should be noted that there are many ways to separate, for example, cutting, grabbing, pushing out, pressing down, etc. The specific separation and seedling removal method is not limited.

[0057] 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.

[0058] The UAV 2000 can automatically operate according to a preset path, flight speed, posture, etc., or can be manually controlled by an operator.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] It should be noted that, in this embodiment, the load module 100 is a tripod of the UAV 2000.

[0063] It should be noted that multiple seedling delivery modules 200 are movably arranged on the load module 100, which can stabilize the center of gravity of the seedling throwing mechanism 1000, avoid the offset force brought to the drone 2000 when a single seedling delivery module 200 moves, and ensure the flight stability of the drone 2000.

[0064] Specifically, in this embodiment, please refer to Figure 2 There are two seedling delivery modules 200, and the moving direction of one seedling delivery module 200 is opposite to the moving direction of the other seedling delivery module 200, wherein the direction of the arrows can be understood as the moving directions of the two seedling delivery modules 200. The opposite moving directions can offset each other, and the offset force brought to the UAV 2000 by the sideways movement of the seedling delivery modules 200, thereby ensuring the flight stability of the UAV 2000.

[0065] In this embodiment, if Figure 3 As shown, the two seedling delivery modules 200 are arranged opposite to each other. Of course, in other embodiments, such as Figure 4 As shown, the two seedling conveying modules 200 can also be arranged in the same direction.

[0066] Of course, in other embodiments, the number of the seedling delivery modules 200 may be at least three, and at least three seedling delivery modules 200 are distributed around the same center.

[0067] For example, see Figure 5 There are three seedling delivery modules 200, and the three seedling delivery modules 200 can move clockwise or counterclockwise at the same time to stabilize the center of gravity of the seedling throwing mechanism 1000 and ensure the flight stability of the drone 2000.

[0068] Alternatively, please refer to Figure 6 The number of the seedling delivery modules 200 is four, and the lateral movement directions of the two opposite seedling delivery modules 200 are opposite, so as to stabilize the center of gravity of the seedling throwing mechanism 1000 and ensure the flight stability of the UAV 2000. Figure 6In the embodiment, the upper and lower seedling sending modules 200 move in opposite lateral directions, and the left and right seedling sending modules 200 move in opposite lateral directions.

[0069] Please refer to Figure 8 Combined with Figure 3 In order to facilitate the lateral movement of the seedling delivery module 200, the seedling throwing mechanism 1000 further includes a driving device 400. The driving device 400 is disposed on the load module 100 and is used to drive the lateral movement of the seedling delivery module 200.

[0070] Specifically, the driving device 400 can drive the two seedling delivery modules 200 to move in opposite directions. In the present embodiment, there are two driving devices 400, and the two driving devices 400 are respectively used to drive the two seedling delivery modules 200 to move laterally.

[0071] Each driving device 400 includes a power member 440, a second gear 450 and a third rack 460. The third rack 460 is provided with a seedling delivery module 200. The power member 440 is connected to the second gear 450. The second gear 450 and the third rack 460 are meshed. The power member 440 here can be a driving motor.

[0072] It is easy to understand that by rotating the output end of the power member 440 forward or reverse, the lateral movement directions of the two seedling delivery modules 200 can be opposite.

[0073] In addition, the driving device 400 can also use a mechanism in which a synchronous belt and a motor cooperate or a mechanism in which a screw mechanism and a motor cooperate to achieve the lateral movement of the two seedling sending modules 200. For example, the synchronous belt and the seedling sending module 200 are fixedly connected, and the motor drives the synchronous belt to move to achieve the lateral movement of the seedling sending module 200.

[0074] Alternatively, the screw mechanism is connected to the seedling delivery module 200, and the motor drives the screw mechanism to move, thereby achieving lateral movement of the seedling delivery module 200.

[0075] It should be noted that the seedling sending module 200 may include one seedling sending tray or multiple seedling sending trays, and the multiple seedling sending trays are arranged side by side. A blanket of seedlings may be arranged on the seedling sending module 200.

[0076] Of course, please refer to Figure 7 In other embodiments, the number of the driving device 400 may also be one, and the driving device 400 is used to simultaneously drive the two seedling delivery modules 200 to move laterally.

[0077] Specifically, the driving device 400 includes a power source (not shown), a first gear 410, a first rack 420 and a second rack 430. The power source can be a motor. The first rack 420 is arranged in one of the seedling sending modules 200, and the second rack 430 is arranged in the other seedling sending module 200. The power source is connected to the first gear 410, and the first gear 410 is engaged with the first rack 420 and the second rack 430 at the same time. The power source is used to drive the first rack 420 and the second rack 430 to move through the first gear 410, so as to drive the two seedling sending modules 200 to move laterally in opposite directions.

[0078] Among them, the first gear 410 simultaneously meshes with the first rack 420 and the second rack 430, and the side of the first rack 420 with meshing teeth is opposite to the side of the second rack 430 with meshing teeth. The output end of the power source is rotated forward or reversely to drive the first gear 410 to rotate, thereby making the lateral movement directions of the two seedling feeding modules 200 opposite.

[0079] Please refer again Figure 8 In order to facilitate the buffering of the extreme position of the third rack 460 during the reciprocating lateral movement and to slow down the seedling delivery module 200, the extreme position here can be understood as the position of the third rack 460 when the seedling delivery module 200 has the maximum lateral movement distance in the lateral direction, which can be understood as the extreme position of the engagement between the second gear 450 and the third rack 460.

[0080] The seedling throwing mechanism 1000 further includes a buffer member 10 , which is disposed on the load module 100 . The buffer member 10 is used to elastically abut against the seedling sending module 200 . Specifically, the buffer member 10 is used to elastically abut against the third rack 460 .

[0081] Two buffer members 10 are distributed on both sides of each third rack 460, that is, buffering can be performed at the extreme positions during the reciprocating lateral movement of the third rack 460. It should be noted that, in this embodiment, the third rack 460 can be slidably connected to the load module 100. Specifically, the load module 100 has a sliding rod, and the third rack 460 is sleeved on the outer side of the sliding rod.

[0082] In the present embodiment, the buffer 10 is a compression spring structure. Of course, in other embodiments, the buffer 10 may also be a buffer with elastic force, such as a buffer structure made of rubber.

[0083] In addition, in order to facilitate the adjustment of the rotation direction of the output end of the power component 440 when the third rack 460 moves to the extreme position during the reciprocating lateral movement, the seedling throwing mechanism 1000 also includes a position sensor, which is arranged on the load module 100 and is used to detect the position of the seedling delivery module 200.

[0084] Specifically, the position sensor includes a Hall sensor 20 and a magnetic element 30 . Each third rack 460 is provided with a plurality of mounting holes 461 . The magnetic element 30 is disposed in one of the mounting holes 461 . The Hall sensor 20 is provided with a load module 100 .

[0085] Specifically, in this embodiment, a plurality of mounting holes 461 are provided at both ends of the third rack 460 , and a magnetic element 30 is disposed in each of the mounting holes 461 at both ends of the third rack 460 . The magnetic element 30 may be a magnet.

[0086] There is a Hall sensor 20 on both sides of each third rack 460, and the Hall sensor 20 can obtain whether the third rack 460 is in the extreme position through the magnetic field strength of the magnetic element 30 close to the Hall sensor 20. If it is in the extreme position, the Hall sensor 20 can feed back the signal to the power component 440, and adjust the rotation direction of the output end of the power component 440 to make the rice seedling feeding module 200 move in the opposite direction.

[0087] Of course, it is also possible that the Hall sensor 20 is set in one of the mounting holes 461, and the magnetic element 30 is set in the load module 100, that is, there is a magnetic element 30 on both sides of each third rack 460, and then the Hall sensor 20 can obtain whether the third rack 460 is in the extreme position through the magnetic field strength of the magnetic element 30 close to the Hall sensor 20. If it is in the extreme position, the Hall sensor 20 can feed back the signal to the power part 440, and adjust the rotation direction of the output end of the power part 440 to make the rice seedling feeding module 200 move in the opposite direction.

[0088] In other embodiments, the position sensor may also be a photoelectric sensor to obtain whether the third rack 460 has reached the extreme position. For example, the third rack 460 reaches the extreme position during the lateral movement, triggering the photoelectric sensor. The photoelectric sensor feeds back the signal to the drive component and causes the output end of the drive component to adjust the rotation direction.

[0089] Of course, in other embodiments, the position sensor may include a first Hall sensor, a first magnetic part and a second magnetic part, both of which are magnets, and the first magnetic part and the second magnetic part are separated and arranged in the load module 100, and the first Hall sensor is arranged in the rice seedling feeding module 200, and the first Hall sensor is used to sense the first magnetic part or the second magnetic part.

[0090] For example, during the lateral movement, the seedling delivery module 200 will approach the first magnetic part or the second magnetic part, and then the first Hall sensor can obtain whether the seedling delivery module 200 is in the extreme position through the magnetic field strength of the first magnetic part or the second magnetic part. If it is in the extreme position, the first Hall sensor can feed back the signal to the power part 440, and adjust the rotation direction of the output end of the power part 440 to make the seedling delivery module 200 move in the opposite direction.

[0091] Alternatively, the first magnetic part and the second magnetic part may be separately arranged in the seedling delivery module 200, and the first Hall sensor may be arranged in the load module 100. The first Hall sensor is used to sense the first magnetic part or the second magnetic part. When the seedling delivery module 200 is in the transverse movement process, the first Hall sensor on the seedling delivery module 200 will be close to the first magnetic part or the second magnetic part. Then, the first Hall sensor can obtain whether the seedling delivery module 200 is in the extreme position through the magnetic field strength of the first magnetic part or the second magnetic part. If it is in the extreme position, the first Hall sensor can feed back the signal to the power part 440, and adjust the rotation direction of the output end of the power part 440 to make the seedling delivery module 200 move in the opposite direction.

[0092] In other embodiments, the position sensor may include a third magnetic component, a second Hall sensor and a third Hall sensor, the second Hall sensor and the third Hall sensor are separately arranged in the load module 100, the third magnetic component is arranged in the rice seedling feeding module 200, and the second Hall sensor and the third Hall sensor are both used to sense the third magnetic component.

[0093] For example, when the seedling delivery module 200 is moving laterally, the second Hall sensor and the third Hall sensor will be close to the third magnetic part, and then the second Hall sensor and the third Hall sensor can obtain whether the seedling delivery module 200 is in the extreme position through the magnetic field strength of the third magnetic part. If it is in the extreme position, the second Hall sensor or the third Hall sensor can feed back the signal to the power part 440, and adjust the rotation direction of the output end of the power part 440 to make the seedling delivery module 200 move in the opposite direction.

[0094] Alternatively, the second Hall sensor and the third Hall sensor may be separately disposed in the rice seedling feeding module 200, the third magnetic component is disposed in the load module 100, and the second Hall sensor and the third Hall sensor are both used to sense the third magnetic component.

[0095] When the seedling delivery module 200 is moving laterally, the third magnetic part approaches the second Hall sensor or the third Hall sensor, and then the second Hall sensor and the third Hall sensor can obtain whether the seedling delivery module 200 is in the extreme position through the magnetic field strength of the third magnetic part. If it is in the extreme position, the second Hall sensor or the third Hall sensor can feed back the signal to the power part 440, and adjust the rotation direction of the output end of the power part 440 to make the seedling delivery module 200 move in the opposite direction.

[0096] In this embodiment, the seedling taking module 300 includes a driving source 310 and a cutter head 320. The driving source 310 is connected to the cutter head 320 and is used to drive the cutter head 320 to separate the blanket seedlings on the seedling sending module 200 and throw the separated seedlings out by centrifugal force. The driving source 310 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 320. The cutter head motor is used to drive the transmission box to drive the cutter head 320 to separate the blanket seedlings. The cutter head 320 here is a seedling needle.

[0097] Of course, there can be multiple cutter heads 320, which are connected to the same transmission box, which can be a gear box, a connecting rod mechanism, a sprocket mechanism or a pulley mechanism. The cutter head motor of the driving source 310 can also be replaced by a pneumatic motor, a gasoline engine, etc.

[0098] In addition, the seedling throwing mechanism 1000 also includes a conveying device 500, which includes a conveying motor 510 and a conveying member 520. The conveying motor 510 is connected to the conveying member 520 to drive the conveying member 520 to move, and the seedling delivery module 200 is provided with an installation port 201.

[0099] The conveying member 520 of the conveying device 500 is located in the installation opening 201 , and drives the blanket seedlings to move toward the seedling taking module 300 through the installation opening 201 .

[0100] The conveying member 520 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 down freely.

[0101] According to a drone seedling throwing system provided in this embodiment, the working principle of the drone seedling throwing system is as follows:

[0102] When the drone 2000 is flying, the driving source 310 drives the multiple cutter heads 320 to rotate at high speed, and the cutter heads 320 separate the seedlings from the seedling blanket on the seedling delivery module 200, drive the seedlings to rotate and throw them out. At the same time, the two seedling delivery modules 200 move horizontally in opposite directions during the flight, driving the seedling blanket to move left and right, so that the seedling blanket is cut and thrown out row by row and bunch by bunch.

[0103] 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 500. In this way, when the seedling delivery module 200 moves backward again, the seedlings are cut and thrown row by row and bunch by bunch by the seedling picking module 300. This cycle repeats until all the blanket seedlings are cut and thrown, and the drone 2000 returns to the starting point.

[0104] To summarize, the seedling throwing mechanism 1000 includes a load module 100, a plurality of seedling delivery modules 200 and a seedling retrieval module 300. The load module 100 is used to be arranged on the drone 2000. The plurality of seedling delivery modules 200 are movably arranged on the load module 100. The seedling retrieval module 300 is arranged on the load module 100. The seedling retrieval module 300 is used to separate the seedlings from the blanket seedlings on the seedling delivery module 200 and then throw them out through centrifugal force and / or catapult force. The load module 100 of the seedling throwing mechanism 1000 can be installed on the drone 2000, thereby realizing that the drone 2000 uses the blanket seedlings for seedling throwing.

[0105] 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 above-mentioned seedling throwing mechanism 1000 .

[0106] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A seedling throwing mechanism, characterized in that: include: A load module (100), the load module (100) being used to be arranged on the drone (2000); a plurality of seedling delivery modules (200), wherein the plurality of seedling delivery modules (200) are movably arranged on the load module (100); and A seedling taking module (300) is provided on the load module (100), and is used for separating the seedlings from the seedling blanket on the seedling delivery module (200) and ejecting them through centrifugal force and / or ejection force.

2. The seedling throwing mechanism according to claim 1, characterized in that: The number of the seedling sending modules (200) is two, and the moving direction of one of the seedling sending modules (200) is opposite to the moving direction of the other seedling sending module (200).

3. The seedling throwing mechanism according to claim 1, characterized in that: The seedling conveying modules (200) are arranged in opposite directions or in the same direction.

4. The seedling throwing mechanism according to claim 1, characterized in that: The number of the seedling delivery modules (200) is at least three, and at least three of the seedling delivery modules (200) are distributed around the same center.

5. The seedling throwing mechanism according to claim 1, characterized in that: The seedling throwing mechanism further comprises a driving device (400), wherein the driving device (400) is arranged on the load module (100), and the driving device (400) is used to drive the plurality of seedling sending modules (200) to move laterally.

6. The seedling throwing mechanism according to claim 5, characterized in that: The number of the driving devices (400) is two, and the two driving devices (400) are respectively used to drive the two seedling delivery modules (200) to move laterally.

7. The seedling throwing mechanism according to claim 5, characterized in that: The number of the driving device (400) is one, and the driving device (400) is used to simultaneously drive the two seedling conveying modules (200) to move laterally.

8. The seedling throwing mechanism according to claim 7, characterized in that: The driving device (400) comprises a power source, a first gear (410), a first rack (420) and a second rack (430), wherein the first rack (420) is arranged on one of the seedling sending modules (200), and the second rack (430) is arranged on the other of the seedling sending modules (200), the power source is connected to the first gear (410), and the first gear (410) is meshed with the first rack (420) and the second rack (430) at the same time; The power source is used to drive the first rack (420) and the second rack (430) to move via the first gear (410), so as to drive the two seedling delivery modules (200) to move laterally.

9. The seedling throwing mechanism according to claim 5, characterized in that: The driving device (400) comprises a power member (440), a second gear (450) and a third rack (460), the third rack (460) is provided with the seedling delivery module (200), the power member (440) is connected to the second gear (450), and the second gear (450) is meshed with the third rack (460); The seedling throwing mechanism further comprises a position sensor, the position sensor comprises a Hall sensor (20) and a magnetic element (30), a plurality of mounting holes (461) are provided on the third rack (460), the magnetic element (30) is arranged in one of the mounting holes (461), and the Hall sensor (20) is arranged in the load module (100); or, the Hall sensor (20) is arranged in one of the mounting holes (461), and the magnetic element (30) is arranged in the load module (100).

10. 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 position of the seedling sending module (200).

11. The seedling throwing mechanism according to claim 10, characterized in that: The position sensor comprises a first Hall sensor, a first magnetic component and a second magnetic component, the first magnetic component and the second magnetic component are separately arranged in the load module (100), the first Hall sensor is arranged in the rice seedling feeding module (200), and the first Hall sensor is used to sense the first magnetic component or the second magnetic component; Alternatively, the first magnetic component and the second magnetic component are separately arranged in the rice seedling delivery module (200), the first Hall sensor is arranged in the load module (100), and the first Hall sensor is used to sense the first magnetic component or the second magnetic component.

12. The seedling throwing mechanism according to claim 10, characterized in that: The position sensor comprises a third magnetic member, a second Hall sensor and a third Hall sensor; the second Hall sensor and the third Hall sensor are separately arranged in the load module (100), and the third magnetic member is arranged in the rice seedling feeding module (200); the second Hall sensor and the third Hall sensor are both used to sense the third magnetic member; Alternatively, the second Hall sensor and the third Hall sensor are separately arranged in the rice seedling feeding module (200), the third magnetic component is arranged in the load module (100), and the second Hall sensor and the third Hall sensor are both used to sense the third magnetic component.

13. The seedling throwing mechanism according to claim 1, characterized in that: The seedling throwing mechanism further comprises a buffer component (10), wherein the buffer component (10) is arranged on the load module (100), and the buffer component (10) is used for elastically abutting against the seedling sending module (200).

14. A drone seedling throwing system, characterized in that: It comprises an unmanned aerial vehicle (2000) and the 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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