A seedling throwing system and a unmanned aerial vehicle

Abstract

The application discloses a seedling throwing system and a unmanned aerial vehicle, and belongs to the field of agricultural equipment. The load module is used for being connected with the unmanned aerial vehicle; a plurality of seedling throwing mechanisms are installed on the load module; each seedling throwing mechanism comprises a seedling feeding module and a seedling throwing module; the seedling feeding module comprises a seedling feeding frame, the seedling feeding frame has a supporting surface for supporting seedlings, the seedling feeding frame has a seedling feeding opening, and the seedling feeding module is configured to feed the seedlings to the seedling feeding opening; the seedling throwing module is used for taking the seedlings through the seedling feeding opening and throwing the taken seedlings; the plurality of seedling feeding frames are arranged along the Y direction; the seedling feeding frames are inclined along the Z direction, the supporting surfaces are inclined, and the supporting surfaces of the plurality of seedling feeding frames are directed to the same side of the seedling throwing system. The seedling throwing system and the unmanned aerial vehicle are suitable for being carried on the unmanned aerial vehicle to fly and throw seedlings; the seedling throwing system is provided with a plurality of sets of seedling throwing mechanisms, and the seedling feeding frames in the plurality of seedling throwing mechanisms are all configured to be arranged in the same direction in the vertical direction, so that the seedling throwing efficiency is improved, the structure is more compact, and the space utilization rate is high.

Description

Technical Field

[0001] This invention relates to the field of agricultural equipment technology, and in particular to a rice seedling throwing system and a drone. Background Technology

[0002] In agricultural planting, some crops require seedling cultivation before planting. For mechanized seedling planting, related technologies rely on ground-based agricultural machinery for transplanting or throwing seedlings. However, this method requires reserved space on the ground for the machinery to travel, resulting in low space utilization due to site limitations. Some technologies also include drones equipped with seedling throwing systems, but these suffer from poor operational efficiency. Summary of the Invention

[0003] The purpose of this invention is to provide a rice seedling throwing system and a drone, which adopts a method of arranging multiple seedling delivery frames in the same direction at an angle, thereby improving the efficiency of rice seedling throwing while maximizing space utilization.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A rice seedling throwing system, comprising:

[0006] The payload module is used to connect to the drone;

[0007] Multiple seedling throwing mechanisms are installed on the load module; each seedling throwing mechanism includes a seedling feeding module and a seedling throwing module; the seedling feeding module includes a seedling feeding frame, the seedling feeding frame has a support surface for supporting seedlings, the seedling feeding frame has a seedling feeding port, and the seedling feeding module is configured to feed seedlings to the seedling feeding port; the seedling throwing module is used to take seedlings through the seedling feeding port and throw the taken seedlings out.

[0008] The plurality of seedling feeders are arranged along the Y direction; the seedling feeders are tilted along the Z direction so that the supporting surface is tilted, and the supporting surface of the plurality of seedling feeders faces the same side of the seedling throwing system.

[0009] Optionally, the seedling feeding module includes a conveying component, which is installed on the seedling feeding frame and is used to convey seedlings on the seedling feeding frame to the seedling feeding port.

[0010] Optionally, the seedling throwing module includes a first driver and a seedling picker. The first driver is connected to the seedling picker to drive the seedling picker to move along a motion trajectory. When the seedling picker moves along the first stroke of the motion trajectory, it separates the seedlings delivered by the seedling feeding frame. When the seedling picker moves along the second stroke of the motion trajectory, the seedling throwing module throws the seedlings on the seedling picker.

[0011] Optionally, the seedling throwing module includes a seedling throwing seat, and the seedling throwing module includes a plurality of seedling pickers;

[0012] The first driver is connected to the seedling throwing seat via a first rotating shaft. The first driver is used to drive the seedling throwing seat to rotate around the axis of the first rotating shaft. A plurality of seedling pickers are arranged at intervals around the first rotating shaft in the seedling throwing module.

[0013] Optionally, a first slide rail extending in the X direction is provided between the seedling delivery frame and the load module, and the seedling delivery frame is slidably connected to the load module through the first slide rail;

[0014] The seedling throwing system has an operating state and a seedling replenishment state. When the seedling throwing system is in the operating state, multiple seedling delivery frames are located in the central area of ​​the seedling throwing system. When the seedling throwing system is in the seedling replenishment state, at least some of the seedling delivery frames move along the X direction to outside the central area.

[0015] Optionally, the seedling feeding frame includes a seedling feeding tray; the seedling feeding tray includes a seedling feeding base plate and side baffles connected to both sides of the seedling feeding base plate in the x direction, and a seedling trough is formed between the seedling feeding base plate and the side baffles on both sides;

[0016] The front of the seedling feeding tray has a front opening, the seedling feeding port is formed at the bottom of the seedling feeding tray, and the top of the seedling feeding tray has a top opening.

[0017] Optionally, it also includes a first locking member, which is disposed between the seedling feeding frame and the first slide rail, or between the load module and the first slide rail;

[0018] The first locking member has an unlocked state and a locked state; when the first locking member is in the unlocked state, the seedling feeder can move along the X direction to enter or move out of the central area; when the first locking member is in the locked state, the seedling feeder is restricted from moving outward of the central area.

[0019] Optionally, the seedling delivery module includes two seedling delivery frames arranged along the X direction, and the two seedling delivery frames are slidably mounted on the load module via two first slide rails;

[0020] The X direction includes the opposite X1 direction and X2 direction, and the two seedling delivery frames can move outward along the X1 direction and the X2 direction, respectively, towards the outside of the central area of ​​the seedling throwing system.

[0021] Optionally, the seedling delivery module includes at least three seedling delivery trays, and the at least three seedling delivery trays are arranged along the X direction.

[0022] Optionally, the rice transplanting system includes a lateral movement drive device, which is mounted on the load module;

[0023] The seedling delivery module is slidably mounted on the load module via a transverse slide rail, and the transverse drive device is used to drive the seedling delivery module to move relative to the seedling throwing module in the X direction; or, the seedling throwing module is slidably mounted on the load module via a transverse slide rail, and the transverse drive device is used to drive the seedling throwing module to move relative to the seedling delivery module in the X direction.

[0024] When the seedling throwing system is in operation, the seedling delivery module and the seedling throwing module move relative to each other along the X direction, so that the seedling throwing module can pick up seedlings one by one from multiple areas delivered by the seedling delivery module.

[0025] Optionally, the seedling delivery module further includes a lateral drive device and an adapter frame;

[0026] The seedling delivery frame is slidably mounted on the transfer frame via the first slide rail; the transfer frame is slidably mounted on the load module via a transverse slide rail, and the drive end of the transverse drive device is connected to the transfer frame;

[0027] When the seedling throwing system is in the operating state, the lateral drive device is used to drive the transfer frame and the seedling delivery frame to move laterally relative to the seedling throwing module along the X direction; when the seedling throwing system is in the seedling replenishment state, the seedling delivery frame slides relative to the transfer frame under the action of tension or thrust to move towards the central area.

[0028] Optionally, the seedling throwing module is slidably mounted on the load module via a second slide rail, and the seedling throwing module can slide relative to the load module in the X direction; a second locking member is provided between the seedling throwing module and the load module, and when the second locking member is in the unlocked state, the seedling throwing module can slide relative to the load module in the X direction, and when the second locking member is in the locked state, the sliding of the seedling throwing module is restricted.

[0029] A drone, comprising:

[0030] The body, including the fuselage and the frame connected to the fuselage;

[0031] In the aforementioned rice-throwing system, the load module is mounted on the frame.

[0032] The beneficial effects of the present invention are as follows: the seedling throwing system is suitable for use on drones for aerial seedling throwing; the seedling throwing system is equipped with multiple seedling throwing mechanisms, and the seedling delivery frames in the multiple seedling throwing mechanisms are all configured to be tilted in the same direction in the vertical direction, which improves seedling throwing efficiency, while making the structure more compact and space utilization more efficient. Attached Figure Description

[0033] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0034] Figure 1 This is a schematic diagram of a seedling tray for potted seedlings in related technologies;

[0035] Figure 2 A three-dimensional schematic diagram of the tufted seedlings;

[0036] Figure 3 This is a side view of the seedling.

[0037] Figure 4 A schematic diagram of a *Phyllostachys edulis* seedling;

[0038] Figure 5 The seedling is a single seedling removed from the blanket of seedlings by the seedling harvester in this embodiment of the invention;

[0039] Figure 6 The drone described in the embodiments of the present invention;

[0040] Figure 7 This is a schematic diagram of the layout of the seedling delivery mechanism in the seedling throwing system according to an embodiment of the present invention;

[0041] Figure 8 This is a partial structural diagram of the UAV described in an embodiment of the present invention;

[0042] Figure 9 This is one of the top views of the UAV described in the embodiments of the present invention (only part of the structure of the UAV is shown in the figure, and the rice-throwing system is in operation).

[0043] Figure 10 This is a second top view of the UAV described in an embodiment of the present invention (only part of the structure of the UAV is shown in the figure, and the rice seedling throwing system is in the state of replanting rice seedlings).

[0044] Figure 11 This is a top view of the UAV described in the embodiment of the present invention (only part of the structure of the UAV is shown in the figure, and the rice-throwing system is in operation).

[0045] Figure 12 This is the fourth top view of the UAV described in the embodiment of the present invention (only part of the structure of the UAV is shown in the figure, and the rice-throwing system is in operation).

[0046] Figure 13 This is a bottom view of the UAV described in an embodiment of the present invention (only part of the structure of the UAV is shown in the figure, and the rice seedling throwing system is in the replanting state in the figure);

[0047] Figure 14 The frame of the drone described in the embodiments of the present invention;

[0048] Figure 15 This is one of the schematic diagrams showing the cooperation between the seedling delivery module and the seedling throwing module according to an embodiment of the present invention;

[0049] Figure 16 This is the second schematic diagram showing the cooperation between the seedling delivery module and the seedling throwing module in an embodiment of the present invention.

[0050] In the diagram: 10. Load module; 11. Main support; 12. First support; 13. Second support; 14. Third support; 15. Fourth support;

[0051] 20. Seedling delivery module; 21. Seedling delivery frame; 2101. Support surface; 2102. Seedling delivery port; 2103. Top opening; 211. Seedling delivery tray; 2111. Seedling delivery base plate; 2112. Side baffle; 22. Conveying assembly; 23. Transfer frame;

[0052] 30. Rice seedling throwing module; 31. First driver; 32. Rice seedling throwing seat; 33. Rice seedling picker;

[0053] 40. Seedling support board; 41. Seedling opening;

[0054] 51. First slide rail; 52. Lateral slide rail

[0055] 60. Transverse drive device; 61. Transverse actuator; 62. Threaded rod; 63. Threaded sleeve;

[0056] 700, Central area; 810, Blanket seedling; 811, Blanket base; 812, Leaf; 813, Single seedling; 820, Seedling tray; 910, Fuselage; 911, Rotor; 920, Frame; 921, Load frame; 922, Legs. Detailed Implementation

[0057] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0058] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected" and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0059] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0060] In related technologies, plant protection equipment equipped with a rice transplanting system generally has the following problems:

[0061] First, for ground-based agricultural machinery (plant protection vehicles) equipped with rice-throwing systems, sufficient driving space needs to be reserved on the ground during operation. This limits the utilization of planting space and is also subject to significant terrain restrictions, making it inconvenient for ground-based agricultural machinery to reach and operate in special terrains such as terraced fields. Second, some technologies integrate rice-throwing systems onto drones. However, these systems have specific requirements regarding the type of seedlings they can handle, only allowing the throwing of non-mat-like seedlings (such as potted seedlings). Since farmers primarily use mat-like seedlings, potted seedling cultivation is not widespread, making drones equipped with rice-throwing systems in these technologies not widely applicable. Third, given the limited space in drones, it is impossible to balance rice-throwing efficiency with structural compactness.

[0062] Based on this, the present invention provides a rice seedling throwing system and an unmanned aerial vehicle (UAV). This rice seedling throwing mechanism is suitable for throwing blanket-shaped seedlings 810, which can be either mat seedlings or perforated mat seedlings.

[0063] This seedling throwing system is suitable for use on drones, offering wide applicability and being unrestricted by terrain. The more widely adopted seedling raising method in agriculture is blanket seedling raising; this system is suitable for picking and throwing blanket seedlings (810), further expanding its applicability. The system's compact layout improves throwing efficiency.

[0064] Figure 1 The diagram illustrates the structure of potted seedlings, which are non-matted seedlings. Figure 1 The diagram illustrates a seedling tray 820 for potted seedlings. The seedling tray 820 has several grooves evenly distributed on it, with an opening at the top of each groove. Each groove contains one seedling, and each groove has a hole at the bottom. A needle is inserted into the groove through the hole at the bottom to push the seedling out for transplanting. However, this method of seedling cultivation is not widespread. Figure 2 , Figure 3The diagram illustrates the structure of the blanket seedling system. In blanket seedling breeding, the system comprises a base 811 and numerous seedlings (leaves 812) extending from it. The base 811 includes soil and the roots of the seedlings, with the roots of the seedlings interconnected within the base 811. Blanket seedlings are the primary method of seedling cultivation used by farmers. Figure 4 The diagram illustrates the structural form of the perforated seedling. The difference between the perforated seedling and the mat seedling lies in the fact that the perforated seedling has a grid-like groove on the back of its mat base 811, forming a grid-like distribution of protrusions on the back of the mat base 811 through the crisscrossing grooves. In other words, the perforated seedling differs from the mat seedling in that its mat base 811 is pre-cut but not completely severed. In related technologies, no drone has been found capable of transplanting the mat seedling 810 (mat seedling or perforated seedling), thus failing to meet the needs of some situations requiring drone-based transplanting.

[0065] Please refer to Figures 6 to 16 The following describes a seedling throwing system and a drone provided in this application. For ease of description, this application uses the throwing of a blanket-like seedling 810 as an example. When using the seedling throwing mechanism of this application to plant the blanket-like seedling 810, the seedling-taking device 33 needs to cut the blanket-like seedling 810 into multiple individual seedlings 813 (e.g., ...). Figure 5 (As shown).

[0066] The rice seedling throwing system includes a load module 10 and multiple seedling throwing mechanisms. Each seedling throwing mechanism is installed on the load module 10, which is used to connect to a drone. Each seedling throwing mechanism includes multiple seedling delivery modules 20 and multiple seedling throwing modules 30, with at least one seedling throwing module 30 located next to each seedling delivery module 20.

[0067] It should be noted that in this application, "multiple sets" refers to two or more sets, and "multiple" refers to two or more sets.

[0068] This application uses a seedling delivery module 20 to support and transport a blanket-shaped seedling 810 to a seedling throwing mechanism. The seedling throwing mechanism separates the blanket-shaped seedling 810 and throws out the separated individual seedlings 813 to achieve the seedling throwing operation. Simultaneously, it coordinates with the flight of a drone to achieve aerial seedling throwing operations.

[0069] The seedling throwing mechanism includes a load module 10, a seedling delivery module 20, and a seedling throwing module 30. The load module 10 is mounted on the drone. The seedling delivery module 20 is mounted on the load module 10 and supports and delivers the blanket-shaped seedlings 810. The seedling throwing module 30 is mounted on the load module 10 and is used to separate individual seedlings 813 from the blanket-shaped seedlings 810 on the seedling delivery module 20 and throw them out using centrifugal force and / or ejection force. In this way, the drone can carry the seedling throwing mechanism to perform seedling throwing operations. The seedling delivery module 20 delivers the blanket-shaped seedlings 810, and the seedling throwing module 30 separates the blanket-shaped seedlings 810 and throws out the individual seedlings 813, realizing the aerial seedling throwing operation of the blanket-shaped seedlings 810.

[0070] The seedling separation method of the seedling throwing module 30 (i.e., the seedling retrieval method) can be varied, such as cutting, grabbing, pushing, pressing, digging out, pulling, etc. The specific separation and seedling retrieval method is not limited.

[0071] The seedling throwing module 30 can throw the seedlings in several ways. In one embodiment, after separating the seedlings from the blanket-like seedlings 810, the seedling throwing module 30 can use centrifugal force to fling the seedlings out. In another embodiment, after separating the seedlings from the blanket-like seedlings 810, the seedling throwing module 30 can use a catapult force to launch the separated seedlings (the seedling throwing module 30 may be equipped with a catapult component that can provide catapult force). In yet another embodiment, the seedling throwing module 30 can use the combined action of centrifugal force and catapult force to launch the separated seedlings.

[0072] In this embodiment, the drone is a rotary-wing 911 drone, specifically a quadcopter 911 drone. Of course, it could also be a single-rotor 911 drone, a dual-rotor 911 drone, a hexacopter 911 drone, an octacopter 911 drone, etc. The drone can operate automatically according to a preset path, flight speed, and attitude, or it can be manually controlled by an operator. For ease of description, the accompanying drawings show the forward, backward, left, right, up, and down directions, which are relative positional relationships that can be clearly understood by those skilled in the art when the drone is conventionally placed or in flight.

[0073] The diagram shows a split-type rice-throwing system. Specifically, the load module 10 of the rice-throwing system is detachably mounted on the lower part of the drone. That is, the drone and the rice-throwing system adopt a split-type design, with the drone serving as a mobile platform and the rice-throwing system being separate components. In other words, this type of rice-throwing system is an independent structure, not dependent on the drone's fuselage 910 frame. Based on this type, appropriate devices can be replaced according to actual operational needs in specific operational scenarios. For example, after disassembling the rice-throwing system, a spreading device can be installed to spread pesticides, fertilizers, seeds, etc. Similarly, the rice-throwing system can be disassembled to install surveying devices, spraying devices, and other agricultural operational mechanisms.

[0074] Please refer to the following. Figures 6 to 14 The following section describes the main functions and structure of the rice-throwing system, and also describes the drone that uses this system.

[0075] The seedling feeding module 20 includes a seedling feeding frame 21 and a conveying assembly 22. The seedling feeding frame 21 includes a support surface 2101 for supporting the blanket-like seedlings 810; one end of the seedling feeding frame 21 forms a seedling feeding port 2102. The conveying assembly 22 is disposed on the seedling feeding frame 21 or on the load module 10, and is used to convey the blanket-like seedlings 810 on the seedling feeding frame 21 towards the seedling feeding port 2102 along the conveying direction. The conveying assembly 22 can specifically be a conveyor belt or a conveyor roller, etc. Multiple conveying assemblies 22 can be provided, for example, multiple conveying assemblies 22 can be provided along the conveying direction.

[0076] The seedling feeder 21 is tilted to reduce the space occupied by the seedling feeder 21 in the horizontal width, and the blanket-shaped seedlings 810 are allowed to slide down smoothly by gravity, which reduces the power requirements of the conveying component 22 and reduces the power consumption of the whole machine.

[0077] The seedling throwing module 30 includes a seedling picker 33 and a first driver 31. The main body of the first driver 31 is connected to the load module 10, and the driving part of the first driver 31 is connected to the seedling picker 33. The seedling picker 33 can be a seedling picker claw, a seedling picker blade, a seedling picker pin, a seedling picker frame, etc., and different seedling pickers 33 are selected according to different seedling shapes. The seedling picking and throwing principle of the seedling picker 33 is as follows: the seedling picker 33 rotates under the drive of the first driver 31 to move along the working trajectory. The working trajectory can be circular or irregular curved (such as kidney-shaped). The seedling picker 33 can rotate or reciprocate. When the seedling picker 33 moves along the first stroke of the movement trajectory, it picks off a single seedling 813 from the blanket-shaped seedling 810 delivered from the seedling delivery port 2102 by cutting or other means, thus separating the blanket-shaped seedling 810 delivered by the seedling delivery frame 21. When the seedling picker 33 moves along the second stroke of its trajectory, the seedlings on the seedling picker 33 are thrown out of the seedling picker 33 by centrifugal force and / or ejection force, thus realizing the unmanned aerial vehicle seedling throwing.

[0078] To improve the efficiency of seedling picking at a single location, the seedling throwing module 30 includes a seedling throwing seat 32 and multiple seedling pickers 33. A first driver 31 is connected to the seedling throwing seat 32 via a first rotating shaft. The first driver 31 drives the seedling throwing seat 32 to rotate around the axis of the first rotating shaft. The multiple seedling pickers 33 are spaced apart around the first rotating shaft in the seedling throwing module 30.

[0079] A seedling throwing module 30 may include multiple seedling pickers 33, which may be two, three, or four, etc. The seedling pickers 33 are evenly distributed around the seedling throwing base 32. For example, the angle from two seedling pickers 33 to the center of the turntable is 180 degrees, three seedling pickers 33 are spaced 120 degrees apart, and four seedling pickers 33 are spaced 90 degrees apart.

[0080] The seedling delivery frame 21 and the seedling throwing module 30 of this application are configured to move laterally relative to each other, so as to pick up and throw seedlings from different areas of the blanket-shaped seedlings 810 by means of the seedling picker 33. Exemplarily, the seedling delivery frame 21 can move left and right on the load module 10, while the seedling throwing module 30 is fixed in position on the load module 10. Thus, by moving the blanket-shaped seedlings 810 left and right with the seedling delivery frame 21, the stationary seedling picker 33 can pick up seedlings 810 one by one from left to right or from right to left (picking individual seedlings 813) and throw them. In other embodiments, the seedling delivery frame 21 can be fixed in position on the load module 10, the seedling throwing module 30 can move left and right on the load module 10, the blanket-shaped seedlings 810 can remain stationary, and the seedling picker 33 can move left and right to pick up seedlings 810 one by one from left to right or from right to left.

[0081] To improve the efficiency of drone-based rice seedling throwing, the system is equipped with multiple throwing mechanisms, which can enhance the efficiency of seedling throwing.

[0082] The seedling throwing system of this application, based on the configuration of multiple seedling throwing mechanisms and the vertically inclined seedling delivery frame 21, configures the multiple seedling delivery frames 21 of the multiple seedling throwing mechanisms of the seedling throwing system to be arranged in the same inclined direction.

[0083] In other words, the tilt direction of the seedling delivery frame 21 is the same. (Refer to...) Figure 6 , Figure 7 , Figures 9 to 12 Multiple seedling throwing mechanisms are arranged at intervals along the Y-direction, and multiple seedling delivery frames 21 are also arranged at intervals along the Y-direction. The seedling delivery frames 21 are configured to be inclined from top to bottom along the Y-direction. Specifically, one side of the seedling delivery frame 21 forms a support surface 2101, which is used to support the blanket-shaped seedlings 810. The support surfaces 2101 of the multiple seedling delivery frames 21 face the same side of the seedling throwing system. Correspondingly, the seedling delivery module 20 and the seedling throwing module 30 are configured to be movable relative to each other along the X-direction, so that the seedling throwing module 30 can pick up the blanket-shaped seedlings 810 delivered by the seedling delivery module 20 one by one.

[0084] In one embodiment, the X direction is perpendicular to the Y direction and is consistent with the width direction of the blanket-like seedling 810.

[0085] In one embodiment, the Y and X directions refer to the left-right direction of the rice-throwing system and the front-back direction, respectively. The Z direction refers to the vertical direction (i.e., up-down direction) of the rice-throwing system. Exemplarily, the rice-throwing system includes multiple rice-throwing mechanisms arranged along the front-back direction, and multiple rice-feeding frames 21 spaced apart along the front-back direction. The rice-feeding frames 21 are inclined forward from top to bottom, and the front side of the rice-feeding frame 21 is a support surface 2101. When each rice-throwing mechanism performs its rice-throwing operation, within a single rice-throwing mechanism, referring to... Figure 15 , Figure 16 The seedling delivery module 20 and the seedling throwing module 30 move laterally relative to each other in the left and right directions to pick up and throw seedlings one by one.

[0086] When a rice-throwing system is applied to a drone, the Z-direction is the yaw axis of the drone. In some embodiments, the X-direction is the pitch axis of the drone, and the Y-direction is the roll axis of the drone. In another embodiment, the X-direction is the roll axis of the drone, and the Y-direction is the pitch axis of the drone. Of course, the X and Y directions may not be the pitch or roll axes of the drone.

[0087] In this application, a seedling throwing system is used with multiple seedling throwing mechanisms configured, and the seedling delivery frame 21 is set vertically at an angle. Furthermore, the multiple seedling delivery frames 21 are configured with the same angle (the support surface 2101 of the seedling delivery frame 21 faces the same side), which has the following effects:

[0088] First, multiple seedling delivery frames 21 can increase the number of seedlings that the drone can carry at one time, increase the number of seedlings that the drone can throw at one takeoff, and improve the efficiency of seedling throwing by the drone.

[0089] Second, among the multiple sets of seedling throwing mechanisms, at least two sets can perform seedling throwing operations simultaneously, thereby improving the efficiency of seedling throwing by drones.

[0090] Third, among the multiple seedling throwing mechanisms, at least two seedling throwing mechanisms can perform seedling throwing operations simultaneously. In this way, when performing seedling throwing operations, the simultaneous movement of multiple seedling delivery modules 20 (such as moving in opposite directions) or the simultaneous movement of multiple seedling throwing modules 30 (such as moving in opposite directions) can offset or partially offset the tilt of the drone caused by the change in the center of gravity due to the movement of the modules, making the drone flight more stable and safer.

[0091] Fourth, the vertical tilt of the seedling delivery frame 21 can effectively utilize the height space of the drone and save the space occupied by the seedling delivery frame 21 in the horizontal dimension of the drone.

[0092] Fifth, the multiple seedling delivery frames 21 in the multiple seedling throwing mechanisms are tilted in the same direction. This allows for a more compact coordination between the various seedling throwing mechanisms and a more compact arrangement between adjacent seedling delivery frames 21, making full use of the space between adjacent seedling delivery frames 21. For example, as... Figure 1 As shown in the figure, the seedling throwing module 30 of the rear seedling throwing mechanism can be at least partially arranged below the seedling feeding frame 21 of the front seedling throwing mechanism, and some supports for cooperating with the front seedling throwing mechanism can be at least partially arranged above the seedling throwing module 30 of the rear seedling throwing mechanism.

[0093] Reference Figure 8 The blanket-shaped seedling 810 is generally rectangular in structure. To accommodate the structure of the blanket-shaped seedling 810, one or more seedling delivery trays 211 are provided on the seedling delivery frame 21. Each seedling delivery tray 211 is rectangular in structure, with baffles on the left and right sides, but no baffles on the top and bottom sides. The seedling delivery tray 211 includes at least a seedling delivery base plate 2111 and side baffles 2112 located on both sides of the width direction of the seedling delivery base plate 2111. The side baffles 2112 on both sides are connected to the seedling delivery base plate 2111, and the side baffles 2112 on both sides cooperate with the seedling delivery base plate 2111 to form a seedling trough. The front of the seedling delivery tray 211 forms a front opening, the top of the seedling delivery tray 211 has an opening 2103, and the bottom forms a seedling delivery opening 2102.

[0094] The width of the seedling tray 211 can be matched with the width of a blanket or a tray of seedlings, and the height of the seedling tray is not limited to the height of a blanket or a tray of seedlings.

[0095] The seedling delivery base plate 2111 supports the blanket base 811 of the blanket seedling 810, and the leaves 812 of the blanket seedling 810 can also extend from the front opening. The side baffle 2112 is mainly used to restrict the left and right position of the blanket seedling 810. During the flight of the drone, the side baffle 2112 supports the left and right sides of the blanket base 811 of the blanket seedling 810 to prevent the blanket seedling 810 from falling off to the side when the drone is tilted. The left and right position of the blanket seedling 810 is restricted, and it can only be delivered to the seedling delivery port 2102, which also allows the seedling picker 33 of the seedling throwing module 30 to move accurately from left to right or from right to left to pick up the seedlings.

[0096] Combination Figures 8 to 14 The drone includes a fuselage 910 and a frame 920. The fuselage 910 includes rotors 911. The frame 920 includes a load frame 921 located below the fuselage 910, and landing gear 922 connected to the load frame 921, extending downwards from the load frame 921. The landing gear 922 provides support during takeoff and landing. A load space is formed between the load frame 921 and the landing gear 922, which can accommodate a rice-throwing system. The rice-throwing system is located below the load frame 921, partially inside the landing gear 922, and may also partially outside the landing gear 922.

[0097] After the drone takes off and releases the seedlings, it needs to land to replant the seedlings, loading the new blanket seedlings 810 into the seedling delivery frame 21.

[0098] However, the inventors discovered that when multiple sets of seedling delivery frames 21 of the seedling throwing mechanism are tilted in the same direction, how to replenish new blanket-like seedlings 810 to the seedling delivery frame 21 becomes a problem that needs to be solved. The front seedling delivery frame 21 will block the front opening of the rear seedling delivery frame 21, and the front and rear seedling delivery frames 21 are configured with a small gap in order to make efficient use of the space of the drone, making it difficult to put the blanket-like seedlings 810 into the rear seedling delivery frame 21 from the side of the gap space between the front and rear seedling delivery frames 21. Especially when the left and right sides of the seedling delivery frame 21 are provided with side baffles 2112 in the width direction, the presence of the side baffles 2112 also makes it difficult to put the blanket-like seedlings 810 into the rear seedling delivery frame 21 from the side. Secondly, the inventors considered configuring a top opening 2103 connected to the seedling trough at the top of the seedling delivery frame 21. The top opening 2103 was used as a seedling replenishment port to find a way to slide the blanket-shaped seedlings 810 from top to bottom into the seedling delivery frame 21. However, the inventors found that after assembling the seedling throwing system into the drone, due to the vertical tilt of the seedling delivery tray, it is difficult for the user to replenish seedlings from the top opening 2103. In addition, the drone's load frame 921 will also block at least part of the top opening 2103 of the seedling delivery tray 211, that is, block the seedling replenishment port, and it is also impossible to replenish seedlings from top to bottom.

[0099] A first slide rail 51 extending in the X direction is provided between the seedling delivery frame 21 and the load module 10. The seedling delivery frame 21 is slidably connected to the load module 10 through the first slide rail 51. The seedling throwing system has an operating state and a seedling replenishment state. When the seedling throwing system is in the operating state, multiple seedling delivery frames 21 are located within the central area 700 of the seedling throwing system. When the seedling throwing system is in the seedling replenishment state, at least some of the seedling delivery frames 21 move in the X direction to outside the central area 700.

[0100] In one embodiment, the drone includes a fuselage 910, a frame 920, and the aforementioned rice-throwing system. The fuselage 910 includes rotors 911.

[0101] The frame 920 includes a load frame 921 and a foot 922. The foot 922 is connected to the lower side of the load frame 921, and a load space is formed between the foot 922 and the load frame 921. The rice transplanting system is set in the load space.

[0102] The central area 700 of the rice-throwing system is located in the central area 700 of the frame 920. When the rice-throwing system is in operation, the rice-feeding frame 21 is located below the load frame 921, and most of it is located inside the foot frame 922. When the rice-throwing system is in the replanting state, the rice-feeding frame 21 is detached from the foot frame 922.

[0103] In one embodiment, the first slide rail 51 can be a drawer-type pull-out slide rail. The first slide rail 51 includes a first track seat and a first telescopic rail. The first track seat is connected to the load module 10, and the first telescopic rail is connected to the seedling delivery frame 21. By pulling out the seedling delivery frame 21, it can be pulled out from the side of the frame 920. To improve the weighing capacity, a segmented slide rail can be used. In other embodiments, the first slide rail 51 may also include a slidingly engaged sliding rod and a sliding sleeve. One of the sliding rod and the sliding sleeve is connected to the load module 10, and the other is connected to the seedling delivery frame 21. Other configurations of the first slide rail 51 are also possible.

[0104] The first slide rail 51 can be configured in two or more to improve the weighing capacity and make it easy to return the seedling delivery frame 21 after the seedlings are placed.

[0105] To address the difficulty of replanting seedlings when multiple seedling delivery frames 21 are tilted, resulting in the rear front opening of the frame being blocked, this application configures the seedling throwing system as follows: the seedling delivery frame 21 is slidably mounted on the load module 10 via a first slide rail 51, which is configured to provide a sliding guide for the seedling delivery frame 21 to slide relative to the load module 10 in the X direction. The seedling delivery frame 21 has an inward-folding position and a replanting position.

[0106] The first slide rail 51 can be a slide rail that cooperates with each other, or a slide rod and a slide sleeve that cooperate with each other, etc.

[0107] When the rice seedling throwing system is in operation, the seedling delivery frame 21 is in the retracted position, centered or near the center. At this time, the seedling replenishment port is located directly below the load frame 921. When it is necessary to replenish the seedlings on the seedling delivery frame 21, it can be moved to the left or right outward by pulling, pushing, or electric drive, so that the seedling delivery frame 21 slides from the retracted position to the seedling replenishment position.

[0108] When the seedling throwing system is in the replanting state, with the seedling delivery frame 21 in the replanting position, the replanting opening moves out of the space below the load frame 921, exposing the replanting opening. Then, the blanket-shaped seedling 810 is placed into the seedling delivery tray 211 from above the replanting opening. After the blanket base 811 of the blanket-shaped seedling 810 contacts the seedling delivery base plate 2111, it slides downward under the action of gravity until it is completely inserted into the seedling trough, completing the replanting. After completing the replanting, the seedling delivery frame 21 is slid inward to return to the retracted position.

[0109] In some embodiments, when the seedling feeder 21 slides to switch between an inward position and a seedling replenishment position, the conveying component 22 slides synchronously with the seedling feeder 21. In other embodiments, before the seedling feeder 21 slides, the conveying component 22 is separated from the seedling feeder 21, and when the seedling feeder 21 slides to switch between an inward position and a seedling replenishment position, the conveying component 22 does not slide.

[0110] The seedling throwing mechanism also includes a first locking element, which is located between the seedling delivery frame 21 and the load module 10. The first locking element has a locked state and an unlocked state. When the first locking element is in the locked state, it restricts the sliding of the seedling delivery frame 21; when the first locking element is in the unlocked state, the seedling delivery frame 21 can slide relative to the load module 10 in the X direction. When replanting is not required, the first locking element switches to the locked state.

[0111] The first locking component can be a latch, a fastener, a limit pin, etc.

[0112] The seedling throwing system of this application allows the seedling delivery frame 21 of the throwing mechanism to slide outwards by pulling or pushing, facilitating the replanting of seedlings to areas where the front opening of the delivery frame 21 is blocked. Replanting is simple to operate, and compared to separating and disassembling the entire seedling throwing mechanism from the drone's body 910 or frame 920 before replanting, it is easier to operate and more convenient for farmers. When applied to drones, the seedling throwing system of this application takes into account multiple aspects, including the compactness of multiple seedling throwing mechanisms and ease of replanting operations for farmers.

[0113] To achieve a more compact structure, the tilt angles of the seedling delivery frames 21 are consistent or substantially consistent. In other words, the support surfaces 2101 of the multiple seedling delivery frames 21 arranged at intervals along the Y direction are parallel, or the relative tilt angle between any two support surfaces 2101 is less than 20 degrees. This avoids excessive differences in the tilt angles of the support surfaces 2101, thus preventing wasted space and allowing for more rational use of the overall space of the drone, which is beneficial for a compact layout. In one embodiment, the difference in the tilt angles of any two support surfaces 2101 relative to the XY plane is 0 to 5 degrees.

[0114] In order to increase the capacity of a single seedling throwing mechanism and improve the seedling throwing efficiency, the seedling delivery module 20 includes at least three seedling delivery trays 211, which are arranged along the X direction.

[0115] To improve the seedling throwing efficiency of a single seedling throwing mechanism, the mechanism is configured as follows: the seedling delivery module 20 includes multiple seedling delivery trays 211 arranged along the X direction, each tray 211 capable of supporting and placing a blanket-like seedling 810. Thus, a single seedling delivery module 20 can simultaneously accommodate multiple blanket-like seedlings 810 placed along the X direction. Correspondingly, the seedling throwing mechanism has multiple seedling throwing modules 30 spaced apart along the X direction, and the seedling support plate 40 has multiple seedling retrieval openings 41 spaced apart along the X direction. This expands the planting capacity of a single seedling throwing system and improves the seedling throwing efficiency. During operation, multiple seedling throwing modules 30 can simultaneously retrieve and throw multiple blanket-like seedlings 810, resulting in high operational efficiency. The seedling delivery frame 21 has three seedling delivery trays 211, including three seedling throwing modules 30, and the seedling support plate 40 has three seedling retrieval openings 41.

[0116] The seedling delivery module 20 includes multiple seedling delivery trays 211. Alternatively, the seedling delivery module 20 may include a seedling delivery frame 21, which is slidably mounted on the load module 10 via a first slide rail 51, and the seedling delivery frame 21 includes multiple seedling delivery trays 211 arranged along the X direction. Or, the seedling delivery module 20 may include two seedling delivery frames 21 arranged along the X direction, and each seedling delivery frame 21 is slidably mounted on the load module 10 via a first slide rail 51.

[0117] The inventors discovered that increasing the number of seedling trays 211 arranged along the X direction in a single seedling throwing mechanism, for example, by having three or more seedling trays 211, allows for simultaneous throwing of seedlings in multiple rows when the seedling throwing module 30 and the seedling feeding module 20 move laterally relative to each other, thus improving throwing efficiency. However, when multiple seedling trays 211 are configured, if the replanting needs of each tray 211 need to be met, the seedling feeding frame 21 needs to be pulled or pushed outwards to move to a position where all replanting openings are not obstructed by the load frame 921. This requires a relatively long outward sliding stroke. To address the problem of a long sliding stroke for the seedling feeding frame 21 when the number of seedling trays 211 is large, this application configures two seedling feeding frames 21 that can move in opposite directions and slide outwards within the same seedling feeding module 20.

[0118] The seedling delivery module 20 includes two seedling delivery frames 21 arranged along the X direction. The two seedling delivery frames 21 are slidably mounted on the load module 10 via two first slide rails 51. The X direction includes opposite directions X1 and X2. The two seedling delivery frames 21 can move outwards from the center area 700 of the seedling throwing system along the X1 and X2 directions, respectively. When a single seedling delivery module 20 includes three or four seedling delivery trays 211, if the seedling delivery frame 21 is only pulled out from one side for supplementary seedling delivery, the pulling stroke is too long. Therefore, two seedling delivery frames 21 that can be pulled out to the left and right sides respectively are configured. This allows multiple seedling delivery trays 211 to be mounted on a single seedling delivery module 20 while also accommodating supplementary seedling delivery operations.

[0119] In one embodiment, handles are provided at both ends of the rice seedling feeder 21 in the X direction to facilitate farmers to directly pull the rice seedling feeder 21 to replant seedlings.

[0120] In one embodiment, in order to enable the seedling throwing module 30 to pick up the blanket-shaped seedlings 810 of the seedling delivery module 20 one by one from left to right or from right to left, the seedling throwing system includes a transverse drive device 60, which is installed on the load module 10.

[0121] The seedling delivery module 20 is slidably mounted on the load module 10 via the transverse slide rail 52. The transverse drive device 60 is used to drive the seedling delivery module 20 to move relative to the seedling throwing module 30 in the X direction; or, the seedling throwing module 30 is slidably mounted on the load module 10 via the transverse slide rail 52. The transverse drive device 60 is used to drive the seedling throwing module 30 to move relative to the seedling delivery module 20 in the X direction. When the seedling throwing system is in operation, the seedling delivery module 20 and the seedling throwing module 30 move relative to each other in the X direction so that the seedlings delivered by the seedling delivery module 20 can be picked up one by one in multiple areas by the seedling throwing module 30.

[0122] In one embodiment, the lateral movement drive 60 is a lead screw drive. (See reference...) Figure 13 The screw drive device includes a transverse drive 61 fixed to the frame 920 via the load module 10. The transverse drive 61 is a rotary drive and can be, but is not limited to, a motor. The screw drive device also includes a threaded rod 62 and a threaded sleeve 63. The seedling throwing mechanism also includes a transverse slide rail 52 disposed between the seedling feeding frame 21 and the load module 10. One end of the threaded rod 62 is connected to the transverse drive 61, and the other end of the threaded rod 62 is rotatably mounted on the load module 10. The threaded sleeve 63 is fitted onto the transverse slide rail 52 and the threaded rod 62. The transverse drive 61 drives the threaded rod 62 to rotate, thereby driving the seedling feeding frame 21 to slide relative to the load module 10 and relative to the frame 920 in the x-direction.

[0123] In one embodiment, the lateral movement drive device 60 is configured to drive the seedling delivery module 20 to move laterally left and right, so that the seedling throwing module 30, which is in a fixed position, can pick up the blanket-like seedlings 810 on the seedling delivery module 20 from the left and right. Based on this, in order to accommodate the lateral movement of the seedling delivery frame 21 during operation, and also to allow for the replacement of seedlings after the seedlings on the seedling delivery frame 21 have been used up, the seedling throwing system is configured as follows:

[0124] The seedling delivery module 20 also includes a transverse drive device 60 and a transfer frame 23; the seedling delivery frame 21 is slidably mounted on the transfer frame 23 via a first slide rail 51; the transfer frame 23 is slidably mounted on the load module 10 via a transverse slide rail 52, and the drive end of the transverse drive device 60 is connected to the transfer frame 23; when the seedling throwing system is in operation, the transverse drive device 60 is used to drive the transfer frame 23 and the seedling delivery frame 21 to move laterally relative to the seedling throwing module 30 in the X direction; when the seedling throwing system is in the seedling replenishment state, the seedling delivery frame 21 slides relative to the transfer frame 23 under the action of tension or thrust to move towards the central area 700.

[0125] In this way, when replanting is needed, the transfer frame 23 and the seedling delivery frame 21 can be moved to their extreme positions by the lateral drive mechanism, and then the seedling delivery frame 21 can be pulled to slide relative to the transfer frame 23. This shortens the sliding stroke of the seedling delivery frame 21 relative to the transfer frame 23 and reduces the requirements on the first slide rail 51.

[0126] In other embodiments, the threaded rod 62 can also be used directly as the first slide rail 51. That is, the transverse drive device 60 is used to move the seedling delivery frame 21 within the middle area 700 when the seedling throwing system is in operation, and also to move the seedling delivery frame 21 outside the middle area 700 when the seedling throwing system is in the replanting state.

[0127] The inventors discovered that when the seedling delivery frames 21 of multiple seedling delivery modules 20 are configured to tilt in the same direction, the space between adjacent seedling delivery frames 21 is relatively compact because at least a portion of the seedling throwing module 30 needs to be located in the area in front of the seedling block (the obliquely front side is also considered the front side). However, when using the seedling throwing system, there is a need to replace or repair the seedling picker 33. For example, if the picker is a blade, it may be necessary to select a seedling throwing module 30 with three or two blades depending on the requirements. When it is necessary to replace or repair the entire or some parts of the seedling throwing module 30, the space for replacement and repair of the seedling throwing module 30 located relatively in the middle is relatively small, making the operation inconvenient.

[0128] Addressing the inconvenience of disassembling, replacing, or repairing all or part of the seedling-throwing module 30, this application also configures the seedling-throwing module 30 to slide outwards via pulling or pushing, thereby moving the seedling-throwing module 30 to a position convenient for disassembly. Two configuration methods for the seedling-throwing module 30 are provided below, allowing it to slide to an unobstructed position before disassembly and repair.

[0129] Configuration method 1 for the rice transplanting module 30:

[0130] The seedling throwing module 30 and the seedling delivery frame 21 are slidably installed on the load module 10 through different sliding components and cooperate with the load module 10 through different locking parts, so that the seedling delivery frame 21 can be pulled out separately for replanting, or the seedling throwing module 30 can be pulled out separately for disassembly and maintenance.

[0131] The seedling throwing module 30 is slidably mounted on the load module 10 via a second slide rail, and can slide relative to the load module 10 in the X direction. A second locking element is provided between the seedling throwing module 30 and the load module 10. When the second locking element is unlocked, the seedling throwing module 30 can slide relative to the load module 10 in the X direction to a position without obstruction, providing more operating space for maintenance and replacement operations such as blade replacement. When the second locking element is locked, it restricts the sliding of the seedling throwing module 30, ensuring that the seedling throwing module 30 remains in the working area when replacement is not required.

[0132] The first slide rail 51 can be a slide rail that cooperates with each other, or a slide rod and a slide sleeve that cooperate with each other, etc.

[0133] The first slide rail 51 can be a multi-segment nested slide rail, which can provide a longer pulling stroke and is also convenient to store when the seedling feeder 21 is retracted. In addition, the multi-segment nested slide rail can provide more reliable support and improve the slide rail's resistance to deformation.

[0134] The first locking component can be a latch, a fastener, a limit pin, etc.

[0135] The pulling and pushing operations of the seedling throwing module 30 and the pulling and pushing operations of the seedling delivery frame 21 are separated. In the case where only replanting operations are required, the seedling delivery frame 21 can be pulled out or pushed out without moving the seedling throwing module 30. This reduces the external force required to pull or push outward, making the replanting operation easier.

[0136] Configuration method 2 for the rice transplanting module 30:

[0137] The seedling throwing module 30 and the seedling delivery frame 21 are configured to be slidably installed on the load module 10 via the same sliding component, and the seedling throwing module 30 and the seedling delivery frame 21 can be pulled out or pushed out simultaneously.

[0138] Specifically, the seedling throwing module 30 is connected to the seedling delivery module 20 via a connecting frame to form a seedling throwing assembly. Of course, the seedling throwing assembly may also include other components. The connecting frame is slidably mounted on the load module 10 via the first slide rail 51. When the first locking member is in the unlocked state, the seedling throwing assembly can slide relative to the load module 10 in the X direction. When the first locking member is in the locked state, the sliding of the seedling throwing assembly is restricted.

[0139] The rice seedling throwing frame and the rice seedling delivery module 20 are slidably installed on the same first slide rail 51, making the overall structure simpler.

[0140] It is understood that in this application, the pushing and pulling of the seedling delivery frame 21 and the pushing and pulling of the seedling throwing module 30 can be achieved by manual operation or by mechanical drive such as a linear actuator.

[0141] In one embodiment, the drone includes a load frame 921 and two tripods 922, which are a first tripod and a second tripod, respectively. The first tripod and the second tripod are connected to opposite sides of the load frame 921 in the X direction. For example, the X direction is the left-right direction of the drone. When the seedling throwing system is in the seedling replenishment state, seedlings are thrown forward of the drone without being blocked by the tripods 922. When seedling replenishment is needed, the seedling delivery frame 21 is pulled out from the left or right side, exposing the top opening 2103 of the seedling delivery frame 21, and seedlings are placed in through the top opening 2103.

[0142] In one embodiment, the load module 10 is detachably or non-detachably fixed to the frame 920, and the load module 10 includes a main bracket 11, a first bracket 12, a second bracket 13, a third bracket 14, and a fourth bracket 15.

[0143] In one embodiment, reference is made to Figure 1 The main support 11 is connected among multiple legs 922. In one embodiment, a first support 12 is disposed between the back of the seedling delivery frame 21 and the main support 11 to support the inclined seedling delivery frame 21. The first support 12 is fixed or hinged to the main support 11. The first support 12 is slidably engaged with the seedling delivery frame 21 via a transverse slide rail 52 and / or a first slide rail 51, so that the seedling delivery frame 21 can slide relative to the main support 11 and the frame 920. In one embodiment, one end of the second support 13 is connected to the transverse drive device 60, and the other end is connected to the seedling delivery frame 21. In one embodiment, the seedling support plate 40 is connected to the main support 11 via a third support 14. In one embodiment, the seedling throwing module 30 is connected to the main support 11 via a fourth support 15.

[0144] It should be noted that in other embodiments, the load module 10 can also be configured in other ways, as long as the installation and coordination requirements between the various components of the rice transplanting system and the frame 920 are met.

[0145] In the description herein, it should be understood that the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings, and are used only for ease of description and simplification of operation. They 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 limiting the present invention. Furthermore, the terms "first" and "second" are used merely for descriptive distinction and have no special meaning.

[0146] In the description of this specification, references to terms such as "an embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0147] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0148] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of the invention and should not be construed as limiting the scope of protection of the invention in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of the invention without inventive effort, and these embodiments will all fall within the scope of protection of the present invention.

Claims

1. A rice seedling throwing system, characterized in that, include: A load module (10) is used to connect to the drone; Multiple seedling throwing mechanisms are installed on the load module (10); each seedling throwing mechanism includes a seedling delivery module (20) and a seedling throwing module (30); the seedling delivery module (20) includes a seedling delivery frame (21), the seedling delivery frame (21) has a support surface (2101) for supporting seedlings, the seedling delivery frame (21) has a seedling delivery port (2102), the seedling delivery module (20) is configured to deliver the seedlings to the seedling delivery port (2102); the seedling throwing module (30) is used to take seedlings through the seedling delivery port (2102) and throw the taken seedlings out; Among them, a plurality of the seedling delivery frames (21) are arranged along the Y direction; the seedling delivery frames (21) are tilted along the Z direction so that the support surface (2101) is tilted, and the support surface (2101) of the plurality of seedling delivery frames (21) faces the same side of the seedling throwing system.

2. The rice transplanting system according to claim 1, characterized in that, The seedling delivery module (20) includes a conveying component (22), which is installed on the seedling delivery frame (21) and is used to convey the seedlings on the seedling delivery frame (21) to the seedling delivery port (2102).

3. The rice transplanting system according to claim 1, characterized in that, The seedling throwing module (30) includes a first driver (31) and a seedling picker (33). The first driver (31) is connected to the seedling picker (33) to drive the seedling picker (33) to move along a motion trajectory. When the seedling picker (33) moves along the first stroke of the motion trajectory, it separates the seedlings delivered by the seedling feeder (21). When the seedling picker (33) moves along the second stroke of the motion trajectory, the seedling throwing module (30) throws the seedlings on the seedling picker (33).

4. The rice transplanting system according to claim 3, characterized in that, The seedling throwing module (30) includes a seedling throwing seat (32) and a plurality of seedling pickers (33); The first driver (31) is connected to the seedling throwing seat (32) via the first rotating shaft. The first driver (31) is used to drive the seedling throwing seat (32) to rotate around the axis of the first rotating shaft. A plurality of seedling pickers (33) are arranged at intervals around the first rotating shaft in the seedling throwing module (30).

5. The rice transplanting system according to any one of claims 1-4, characterized in that, A first slide rail (51) extending in the X direction is provided between the seedling delivery frame (21) and the load module (10), and the seedling delivery frame (21) is slidably connected to the load module (10) through the first slide rail (51); The seedling throwing system has an operating state and a seedling replenishment state. When the seedling throwing system is in the operating state, all of the seedling delivery frames (21) are located within the central area (700) of the seedling throwing system. When the seedling throwing system is in the seedling replenishment state, at least some of the seedling delivery frames (21) move along the X direction to outside the central area (700).

6. The rice transplanting system according to claim 5, characterized in that, The seedling delivery frame (21) includes a seedling delivery tray (211); the seedling delivery tray (211) includes a seedling delivery base plate (2111) and side baffles (2112) connected to both sides of the seedling delivery base plate (2111) in the x direction, and a seedling trough is formed between the seedling delivery base plate (2111) and the side baffles (2112) on both sides; The front of the seedling tray (211) has a front opening, the seedling inlet (2102) is formed at the bottom of the seedling tray (211), and the top of the seedling tray (211) has a top opening (2103).

7. The rice transplanting system according to claim 5, characterized in that, It also includes a first locking member, which is located between the seedling feeder (21) and the first slide rail (51), or between the load module (10) and the first slide rail (51). The first locking member has an unlocked state and a locked state; when the first locking member is in the unlocked state, the seedling feeder (21) can move along the X direction to enter or move out of the central region (700); when the first locking member is in the locked state, it restricts the seedling feeder (21) from moving outward of the central region (700).

8. The rice transplanting system according to claim 5, characterized in that, The seedling delivery module (20) includes two seedling delivery frames (21) arranged along the X direction, and the two seedling delivery frames (21) are slidably installed on the load module (10) via two first slide rails (51); The X direction includes the opposite X1 direction and X2 direction, and the two seedling delivery frames (21) can move outward along the X1 direction and the X2 direction respectively towards the outer side of the central area (700) of the seedling throwing system.

9. The rice transplanting system according to claim 6, characterized in that, The seedling delivery module (20) includes at least three seedling delivery trays (211), which are arranged along the X direction.

10. The rice transplanting system according to any one of claims 1-4, characterized in that, The rice seedling throwing system includes a lateral movement drive device (60), which is installed on the load module (10); The seedling delivery module (20) is slidably mounted on the load module (10) via a transverse slide rail (52), and the transverse drive device (60) is used to drive the seedling delivery module (20) to move relative to the seedling throwing module (30) in the X direction; or, the seedling throwing module (30) is slidably mounted on the load module (10) via a transverse slide rail (52), and the transverse drive device (60) is used to drive the seedling throwing module (30) to move relative to the seedling delivery module (20) in the X direction; When the seedling throwing system is in operation, the seedling delivery module (20) and the seedling throwing module (30) move relative to each other along the X direction so that the seedling throwing module (30) can pick up seedlings one by one from multiple areas delivered by the seedling delivery module (20).

11. The rice transplanting system according to claim 6, characterized in that, The seedling delivery module (20) also includes a transverse drive device (60) and a transfer frame (23); The seedling delivery frame (21) is slidably mounted on the transfer frame (23) via the first slide rail (51); the transfer frame (23) is slidably mounted on the load module (10) via the transverse slide rail (52); and the drive end of the transverse drive device (60) is connected to the transfer frame (23). When the seedling throwing system is in the operating state, the lateral drive device (60) is used to drive the transfer frame (23) and the seedling delivery frame (21) to move laterally relative to the seedling throwing module (30) in the X direction; when the seedling throwing system is in the seedling replenishment state, the seedling delivery frame (21) slides relative to the transfer frame (23) under the action of tension or thrust, so as to move towards the central area (700).

12. The rice transplanting system according to any one of claims 1-4, characterized in that, The seedling throwing module (30) is slidably mounted on the load module (10) via a second slide rail. The seedling throwing module (30) can slide relative to the load module (10) in the X direction. A second locking member is provided between the seedling throwing module (30) and the load module (10). When the second locking member is in the unlocked state, the seedling throwing module (30) can slide relative to the load module (10) in the X direction. When the second locking member is in the locked state, the sliding of the seedling throwing module (30) is restricted.

13. A drone, characterized in that, include: The body includes a fuselage (910) and a frame (920) connected to the fuselage (910); The rice transplanting system according to any one of claims 1-12, wherein the load module (10) is mounted on the frame (920).

Images