Seedling throwing mechanism and seedling throwing system of agricultural unmanned aerial vehicle and unmanned aerial vehicle seedling throwing system

Abstract

The embodiment of the invention provides a seedling slinging mechanism and a seedling slinging system of an agricultural unmanned aerial vehicle and an unmanned aerial vehicle seedling slinging system, and relates to the technical field of seedling slinging. The seedling throwing mechanism of the agricultural unmanned aerial vehicle comprises a first seedling taking part and a driving module, the first seedling taking part is used for separating seedlings from a seedling group and throwing the seedlings out, the first seedling taking part is installed on the driving module, the driving module is used for driving the first seedling taking part to move along a circular track, and the first seedling taking part is driven by the driving module to move along the circular track in the process of moving along the circular track. The included angle between the seedling outlet direction of the first seedling taking piece and the horizontal plane is not changed, the seedling throwing mechanism can be carried on the unmanned aerial vehicle, the unmanned aerial vehicle throws seedlings through the seedling sets, the structure of the seedling throwing mechanism of the agricultural unmanned aerial vehicle is simple, and the seedling throwing mechanism is simplified.

Description

Technical Field

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

[0002] For mechanized rice planting, there are only two solutions on the market: rice transplanters and rice throwing machines. Both solutions rely mainly on ground-based agricultural machinery, which is difficult to transfer smoothly due to terrain restrictions and inconvenient to use in some places where multiple plots are far apart. A small number of plant protection drones can be used for rice throwing operations, but the existing plant protection drones that can be used for rice throwing have relatively complex mechanisms. Summary of the invention

[0003] The present invention provides a seedling throwing mechanism of an agricultural unmanned aerial vehicle, a seedling throwing system and a unmanned aerial vehicle seedling throwing system, which can simplify the seedling throwing mechanism.

[0004] The embodiments of the present invention can be implemented as follows:

[0005] In a first aspect, the present invention provides a seedling throwing mechanism of an agricultural drone, comprising:

[0006] a first seedling picking member, the first seedling picking member being used for separating the seedlings from the seedling group and throwing them out; and

[0007] A driving module, wherein the first seedling removing member is installed on the driving module, and the driving module is used to drive the first seedling removing member to move along a circular trajectory;

[0008] Wherein, during the movement of the first seedling taking member along a circular trajectory, the angle between the seedling taking direction of the first seedling taking member and the horizontal plane remains unchanged.

[0009] In an optional embodiment, the first seedling taking member is provided with an open seedling taking groove, and the direction in which the bottom of the seedling taking groove points to the opening is the seedling taking direction.

[0010] In an optional embodiment, the driving module includes a power source, a gear frame, a sun gear, a first intermediate gear and a first output gear, and the power source is connected to the gear frame to drive the gear frame to rotate;

[0011] Among them, the sun gear, the first intermediate gear and the first output gear are meshed in sequence, the sun gear is arranged on the power source, the first intermediate gear and the first output gear are both rotatably mounted on the gear frame, and the first seedling removing member is connected to the first output gear.

[0012] In an optional embodiment, the ratio of the number of teeth of the sun gear to the number of teeth of the first output gear is 1:1.

[0013] In an optional implementation, the number of teeth of the sun gear, the number of teeth of the first intermediate gear, and the number of teeth of the first output gear are equal.

[0014] In an optional embodiment, rotation centers of the sun gear, the first intermediate gear, and the first output gear are located on the same straight line.

[0015] In an optional embodiment, the seedling throwing mechanism also includes a second seedling picking member, and the driving module also includes a second intermediate gear and a second output gear, the second output gear, the second intermediate gear and the sun gear are meshed in sequence, the second intermediate gear and the second output gear are both rotatably mounted on the gear frame, and the second seedling picking member is connected to the second output gear.

[0016] In an optional embodiment, rotation centers of the sun gear, the second intermediate gear, and the second output gear are located on the same straight line.

[0017] In an optional implementation, the number of teeth of the sun gear, the number of teeth of the second intermediate gear, and the number of teeth of the second output gear are equal.

[0018] In an optional embodiment, the gear rack includes a first shell and a second shell, the power source is connected to the second shell, the first shell is installed on the second shell, and the first shell and the second shell jointly define an installation cavity, and the sun gear, the first intermediate gear and the first output gear are all located in the installation cavity.

[0019] In an optional embodiment, the driving module is a connecting rod mechanism.

[0020] In an optional embodiment, the driving module is a double crank mechanism, and the driving module includes a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod connected in sequence, and the fourth connecting rod is connected to the first connecting rod, and the first seedling removing member is arranged on the first connecting rod.

[0021] In an optional embodiment, the driving module further includes a power member, the power member is connected to the driving module, and the power member is used to drive the driving module to move.

[0022] In an optional embodiment, the seedling group is blanket seedlings or pot seedlings.

[0023] In a second aspect, the present invention provides a seedling throwing system, comprising a seedling delivery mechanism and the seedling throwing mechanism described in any one of the aforementioned embodiments, wherein the seedling delivery mechanism is used to be set on a drone, and the first seedling picking component of the seedling throwing mechanism is used to separate the seedlings from the seedling group on the seedling delivery mechanism and then throw them out.

[0024] In a third aspect, the present invention provides a drone seedling throwing system, comprising a drone and the seedling throwing system described in the aforementioned embodiment, wherein the seedling delivery mechanism is arranged on the drone.

[0025] The beneficial effects of the seedling throwing mechanism, seedling throwing system and drone seedling throwing system of the agricultural drone according to the embodiments of the present invention include, for example:

[0026] The present invention provides a seedling throwing mechanism of an agricultural unmanned aerial vehicle. The seedling throwing mechanism comprises a first seedling picking member and a driving module. The first seedling picking member is used for separating seedlings from a seedling group and throwing them out. The first seedling picking member is installed on the driving module. The driving module is used for driving the first seedling picking member to move along a circular trajectory. During the movement of the first seedling picking member along the circular trajectory, the angle between the seedling output direction of the first seedling picking member and the horizontal plane remains unchanged. The seedling throwing mechanism can be carried on the unmanned aerial vehicle, so that the unmanned aerial vehicle can use the seedling group to throw the seedlings. The structure of the seedling throwing mechanism of the agricultural unmanned aerial vehicle is simple, and the seedling throwing mechanism is simplified.

[0027] At the same time, since the angle between the first seedling picking member and the horizontal plane remains unchanged during the movement of the first seedling picking member along the circular trajectory, after the first seedling picking member drives the seedlings to move a certain distance, the first seedling picking member cannot provide the seedlings with a supporting force opposite to the centrifugal force of the seedlings. The seedlings will move centrifugally and break away from the first seedling picking member, so that the seedlings can be smoothly thrown out and the seedling throwing operation is completed.

[0028] The present invention provides a seedling throwing system, which includes a seedling sending mechanism and the above-mentioned seedling throwing mechanism. The seedling sending mechanism is used to be arranged on a drone, and the first seedling picking component of the seedling throwing mechanism is used to separate the seedlings from the seedling group on the seedling sending mechanism and then throw them out. The seedling throwing system has all the functions of the above-mentioned seedling throwing mechanism.

[0029] The present invention provides a drone seedling throwing system, which comprises a drone and the above-mentioned seedling throwing system, wherein a seedling delivery mechanism is arranged on the drone, and the drone seedling throwing system has all the functions of the above-mentioned seedling throwing system. 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 seedling throwing system provided in an embodiment of the present invention;

[0032] Figure 2 An exploded view of a driving module provided in an embodiment of the present invention;

[0033] Figure 3 is a schematic diagram of a first seedling removing member of the present invention;

[0034] Figure 4 A brief schematic diagram of the driving module provided in an embodiment of the present invention driving the seedling removing member to remove seedlings;

[0035] Figure 5 A brief schematic diagram of the driving module provided in an embodiment of the present invention driving the seedling picking member to throw the seedlings;

[0036] Figure 6 It is a schematic diagram of a driving module provided in other embodiments of the present invention.

[0037] Icons: 1000-seedling throwing mechanism; 100-first seedling picking component; 101-seedling picking trough; 110-head; 120-tail; 200-drive module; 210-power source; 221-first housing; 222-second housing; 230-sun gear; 240-first intermediate gear; 250-first output gear; 260-second intermediate gear; 270-second output gear; 281-first connecting rod; 282-second connecting rod; 283-third connecting rod; 284-fourth connecting rod; 300-second seedling picking component; A-center of track; B-circular track; 10-seedling; 20-seedling delivery mechanism; 30-fixed frame. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0039] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

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

[0042] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0043] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0044] As mentioned in the background technology, for mechanized rice planting, there are actually only two solutions on the market: rice transplanters and rice throwing machines. Both solutions mainly rely on agricultural machinery that travels on the ground. Agricultural machinery that travels on the ground is difficult to transfer smoothly due to terrain restrictions when transferring, and it is inconvenient to use in some places where multiple plots are far apart. A small number of plant protection drones can be used for rice throwing operations, but the existing plant protection drones that can be used for rice throwing have relatively complex mechanisms.

[0045] In view of this, please refer to Figure 1-Figure 6 The embodiments of the present invention provide a seedling throwing mechanism 1000 of an agricultural drone, a seedling throwing system, and a drone seedling throwing system to solve this problem, which will be described in detail below.

[0046] Please refer to Figure 1 The present invention provides a drone seedling throwing system, which includes a drone and the above-mentioned seedling throwing system, wherein a seedling delivery mechanism 20 of the seedling throwing system is arranged on the drone. For example, the seedling delivery mechanism 20 can be installed on the drone through a drone tripod.

[0047] The seedling throwing system includes a seedling delivery mechanism 20 and a seedling throwing mechanism 1000 of an agricultural UAV. The seedling delivery mechanism 20 is used to be set on the UAV. The first seedling picking component 100 of the seedling throwing mechanism 1000 is used to separate the seedlings 10 from the seedling group on the seedling delivery mechanism 20 and then throw them out. The seedling throwing mechanism 1000 of the seedling throwing system can make the seedlings 10 be thrown out smoothly to complete the seedling throwing operation.

[0048] In this embodiment, the seedling delivery mechanism 20 can be understood as a seedling delivery tray for carrying the seedling group.

[0049] In this embodiment, the drone is a rotor drone, specifically a quad-rotor drone. Of course, it can also be a single-rotor drone, a dual-rotor drone, a six-rotor drone, an eight-rotor drone, etc.

[0050] The drone can operate automatically according to a preset path, flight speed, attitude, etc., or it can be manually controlled by an operator.

[0051] For more details, please refer to Figure 2 and Figure 3 The seedling throwing mechanism 1000 includes a first seedling picking member 100 and a driving module 200. The first seedling picking member 100 is used to separate the seedlings 10 from the seedling blanket and then throw them out. The first seedling picking member 100 is provided with an open seedling picking groove 101. The direction in which the bottom of the seedling picking groove 101 points to the opening is the seedling throwing direction ( Figure 3 The first seedling taking member 100 is installed on the driving module 200, and the driving module 200 is used to drive the first seedling taking member 100 to move along the circular trajectory B. During the movement of the first seedling taking member 100 along the circular trajectory B, the angle between the seedling taking direction of the first seedling taking member 100 and the horizontal plane remains unchanged.

[0052] In this embodiment, the seedling group is a blanket seedling. In other embodiments, the seedling group can also be a pot seedling (hole tray seedling). After the seedling taking member obtains the seedling from the seedling group, it can move with the seedling. Correspondingly, in this embodiment, the first seedling taking member 100 is similar in structure to a seedling needle.

[0053] Since the angle between the first seedling picking component 100 and the horizontal plane remains unchanged during the movement of the first seedling picking component 100 along the circular trajectory B, after the first seedling picking component 100 drives the seedlings 10 to move a certain distance, when the first seedling picking component 100 cannot provide the seedlings 10 with sufficient supporting force opposite to the centrifugal force of the seedlings 10, the seedlings 10 will move centrifugally and separate from the first seedling picking component 100, so that the seedlings 10 are smoothly thrown out, completing the seedling throwing operation, and realizing the drone using the seedling group to perform the seedling throwing operation, and the structure of the seedling throwing mechanism of the agricultural drone is simple, which simplifies the seedling throwing mechanism.

[0054] Please refer to Figure 2-Figure 5 In this embodiment, the driving module 200 includes a power source 210, a gear frame, a sun gear 230, a first intermediate gear 240 and a first output gear 250. The power source 210 is a motor, and the power source 210 is connected to the gear frame to drive the gear frame to rotate.

[0055] Among them, the sun gear 230, the first intermediate gear 240 and the first output gear 250 are meshed in sequence, the sun gear 230 is set on the power source 210, for example, the sun gear 230 is set on the stator part of the power source 210, the sun gear does not rotate, the first intermediate gear 240 and the first output gear 250 are both rotatably installed on the gear frame, and the first seedling removing member 100 is connected to the first output gear 250.

[0056] It should be noted that the gear rack includes a first shell 221 and a second shell 222, the power source 210 is connected to the second shell 222, the first shell is installed on the second shell 222, and the first shell and the second shell 222 jointly define an installation cavity, and the sun gear 230, the first intermediate gear 240 and the first output gear 250 are all located in the installation cavity.

[0057] For example, the driving end of the power source 210 passes through the first shell 221 and is connected to the second shell 222 to drive the second shell 222 to rotate, and the rotation center of the driving end of the power source 210 is concentric with the rotation center of the sun gear 230, and at the same time drives the first shell 221 to rotate together to ensure that the angle α1 between the first seedling removing component 100 and the horizontal plane remains unchanged.

[0058] It should be noted that, in this embodiment, the sun gear 230 is fixed to the fixing frame 30 via a flat shaft, and the fixing frame 30 is also connected to the UAV tripod. The stator of the power source 210 is fixed to the fixing frame, and the rotor part of the power source 210 passes through the fixing frame, and the driving end (rotor) of the power source 210 passes through the flat shaft and is connected to the second shell 222.

[0059] That is to say, the sun gear 230 does not rotate together with the gear carrier during the rotation of the gear carrier.

[0060] In this way, during the rotation of the first housing 221, the first intermediate gear 240 meshing with the sun gear 230 rotates, and at the same time, the first output gear 250 rotates. It is easy to understand that the ratio of the number of teeth of the sun gear 230 to the number of teeth of the first output gear 250 is 1:1, and the number of teeth of the sun gear 230, the number of teeth of the first intermediate gear 240 and the number of teeth of the first output gear 250 are equal, and the rotation centers of the sun gear 230, the first intermediate gear 240 and the first output gear 250 are located on the same straight line, so as to realize that during the movement of the first seedling picking component 100 around the trajectory center A of the circular trajectory B, the angle α1 between the first seedling picking component 100 and the horizontal plane remains unchanged.

[0061] It should be noted that the angle between the seedling-out direction of the first seedling-picking component 100 and the horizontal plane can be understood as the angle between the length direction of the first seedling-picking component 100 and the horizontal plane (such as the ground), and the length direction of the first seedling-picking component 100 can be understood as the length extension direction from the tail 120 of the first seedling-picking component 100 to the head 110 of the first seedling-picking component 100.

[0062] Of course, in other embodiments, there is also inconsistency between the seedling-out direction of the first seedling-picking member 100 and the length direction of the first seedling-picking member 100 .

[0063] The first seedling picking member 100 here may be a seedling claw. In the present embodiment, the circular trajectory B may be understood as the movement trajectory of the head 110 of the first seedling picking member 100 .

[0064] In order to improve the efficiency of seedling picking, the seedling throwing mechanism 1000 also includes a second seedling picking component 300. The structure of the second seedling picking component 300 can refer to the structure of the first seedling picking component 100. The driving module 200 also includes a second intermediate gear 260 and a second output gear 270. The second output gear 270, the second intermediate gear 260 and the sun gear 230 are meshed in sequence. The second intermediate gear 260 and the second output gear 270 are both rotatably mounted on the gear frame, and the second seedling picking component 300 is connected to the second output gear 270.

[0065] The rotation centers of the sun gear 230, the second intermediate gear 260 and the second output gear 270 are located on the same straight line, and the number of teeth of the sun gear 230, the number of teeth of the second intermediate gear 260 and the number of teeth of the second output gear 270 are equal, so as to realize that, during the movement of the second seedling picking component 300 around the trajectory center A of the circular trajectory B, the angle α2 between the second seedling picking component 300 and the horizontal plane remains unchanged, that is, the angle between the length direction of the second seedling picking component 300 and the horizontal plane (such as the ground) is α2. The structure of the second seedling picking component 300 can refer to the above-mentioned first seedling picking component 100. In the present embodiment, the angle α1 is equal to the angle α2.

[0066] It should be noted that, in this embodiment, the first intermediate gear 240, the first output gear 250, the sun gear 230, the second intermediate gear 260 and the second output gear 270 are all circular gears, and there is no need to adopt an anti-backlash structure. The overall structure is simple and easy to process. The use of circular gears ensures smooth operation and reduces the vibration of the drive module 200.

[0067] Please refer again Figure 4 and Figure 5 ,like Figure 4 As shown, at this time, the head 110 of the first seedling picking component 100 has just picked up the seedlings 10, and the seedlings 10 obtain the same linear velocity V1 as the head 110 of the first seedling picking component 100, generating a centrifugal force F1. At this time, the direction of the centrifugal force F1 of the seedlings 10 is basically perpendicular to the length direction of the first seedling picking component 100. The support force provided by the first seedling picking component 100 offsets F1, and the seedlings 10 will not accidentally fall out.

[0068] like Figure 5As shown, the first seedling picking component 100 continues to move. At this time, since the linear velocity V2 of the seedlings 10 changes, the direction of the centrifugal force F2 generated is basically the same as the length direction of the first seedling picking component 100. The first seedling picking component 100 cannot provide a supporting force in the opposite direction of F2. At this time, the seedlings 10 will move centrifugally and break away from the first seedling picking component 100, and then be thrown out in the direction of the linear velocity V2 to complete the seedling removal process.

[0069] The working principle of the second seedling removing member 300 can refer to the working principle of the first seedling removing member 100, and will not be described in detail here.

[0070] Please refer to Figure 6 In other embodiments, the driving module 200 may also be a connecting rod mechanism, through which the first seedling removing member 100 can move along the circular trajectory B, and the angle between the first seedling removing member 100 and the horizontal plane remains unchanged.

[0071] Specifically, the driving module 200 is a double crank mechanism, and the driving module 200 includes a first connecting rod 281, a second connecting rod 282, a third connecting rod 283 and a fourth connecting rod 284 connected in sequence, and the fourth connecting rod 284 is connected to the first connecting rod 281, and the first seedling removing member 100 is arranged on the first connecting rod 281.

[0072] The first link 281 is parallel to the third link 283, the second link 282 and the fourth link 284 are parallel and equal in length, the third link 283 is fixed, the second link 282 and the fourth link 284 are both active arms, and it should be noted that the length between the two pivot points at the connection between the first link 281 and the second link 282 and the fourth link 284 is the first length, the length between the two pivot points at the connection between the third link 283 and the second link 282 and the fourth link 284 is the second length, and the first length is equal to the second length.

[0073] The driving module 200 also includes a power component, which is a motor. The power component is connected to the driving module 200 and is used to drive the driving module 200 to move. Specifically, the power component can drive the second connecting rod 282 and the fourth connecting rod 284 to move, so that the first seedling picking component 100 connected to the first connecting rod 281 moves along a circular trajectory B, and the angle between the first seedling picking component 100 and the horizontal plane remains unchanged.

[0074] In summary, the seedling throwing mechanism 1000 of the agricultural drone includes a first seedling picking member 100 and a driving module 200. The first seedling picking member 100 is used to separate the seedlings 10 from the blanket seedlings and then throw them out. The first seedling picking member 100 is provided with an open seedling picking groove 101. The direction in which the bottom of the seedling picking groove 101 points to the opening is the seedling throwing direction. The first seedling picking member 100 is installed on the driving module 200. The driving module 200 is used to drive the first seedling picking member 100 to move along the circular trajectory B. During the movement of the first seedling picking member 100 along the circular trajectory B, the seedling throwing direction of the first seedling picking member 100 is the same as that of the first seedling picking member 100. The angle of the horizontal plane remains unchanged. Since the angle between the first seedling picking component 100 and the horizontal plane remains unchanged during the movement of the first seedling picking component 100 along the circular trajectory B, after the first seedling picking component 100 drives the seedlings 10 to move a certain distance, the first seedling picking component 100 cannot provide the seedlings 10 with a supporting force opposite to the centrifugal force of the seedlings 10. The seedlings 10 will move centrifugally and break away from the first seedling picking component 100, so that the seedlings 10 are smoothly thrown out, completing the seedling throwing operation, and realizing the drone using the seedling group to perform the seedling throwing operation. The seedling throwing mechanism of the agricultural drone has a simple structure and simplifies the seedling throwing mechanism.

[0075] The seedling throwing system includes a seedling delivery mechanism 20 and the above-mentioned seedling throwing mechanism 1000. The seedling delivery mechanism 20 is used to be set on a drone. The first seedling picking component 100 of the seedling throwing mechanism 1000 is used to separate the seedlings 10 from the seedling group on the seedling delivery mechanism 20 and then throw them out. The seedling throwing system has all the functions of the above-mentioned seedling throwing mechanism 1000.

[0076] The unmanned aerial vehicle seedling throwing system comprises a unmanned aerial vehicle and the above-mentioned seedling throwing system, wherein a seedling delivery mechanism 20 is arranged on the unmanned aerial vehicle, and the unmanned aerial vehicle seedling throwing system has all the functions of the above-mentioned seedling throwing system.

[0077] 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 rice seedling throwing mechanism for an agricultural drone, characterized in that: include: A first seedling removing member (100), wherein the first seedling removing member (100) is used to separate the seedlings (10) from the seedling group and then throw them out; as well as a driving module (200), wherein the first seedling removing member (100) is installed on the driving module (200), and the driving module (200) is used to drive the first seedling removing member (100) to move along a circular trajectory (B); Wherein, during the movement of the first seedling removing member (100) along the circular trajectory (B), the angle between the seedling-exiting direction of the first seedling removing member (100) and the horizontal plane remains unchanged.

2. The seedling throwing mechanism of the agricultural drone according to claim 1 is characterized in that: The first seedling taking member (100) is provided with an open seedling taking groove (101), and the direction in which the bottom of the seedling taking groove (101) points to the opening is the seedling taking direction.

3. The seedling throwing mechanism of the agricultural drone according to claim 1 is characterized in that: The driving module (200) comprises a power source (210), a gear frame, a sun gear (230), a first intermediate gear (240) and a first output gear (250); the power source (210) is connected to the gear frame to drive the gear frame to rotate; The sun gear (230), the first intermediate gear (240) and the first output gear (250) are meshed in sequence, the sun gear (230) is arranged on the power source (210), the first intermediate gear (240) and the first output gear (250) are both rotatably mounted on the gear frame, and the first seedling removing member (100) is connected to the first output gear (250).

4. The seedling throwing mechanism of the agricultural drone according to claim 3 is characterized in that: The ratio of the number of teeth of the sun gear (230) to the number of teeth of the first output gear (250) is 1:

1.

5. The seedling throwing mechanism of the agricultural drone according to claim 3 is characterized in that: The number of teeth of the sun gear (230), the number of teeth of the first intermediate gear (240), and the number of teeth of the first output gear (250) are equal.

6. The seedling throwing mechanism of the agricultural drone according to claim 3, characterized in that: The rotation centers of the sun gear (230), the first intermediate gear (240) and the first output gear (250) are located on the same straight line.

7. The seedling throwing mechanism of the agricultural drone according to claim 3, characterized in that: The seedling throwing mechanism further comprises a second seedling picking member (300), and the driving module (200) further comprises a second intermediate gear (260) and a second output gear (270), wherein the second output gear (270), the second intermediate gear (260) and the sun gear (230) are meshed in sequence, the second intermediate gear (260) and the second output gear (270) are both rotatably mounted on the gear frame, and the second seedling picking member (300) is connected to the second output gear (270).

8. The seedling throwing mechanism of the agricultural drone according to claim 7, characterized in that: The rotation centers of the sun gear (230), the second intermediate gear (260), and the second output gear (270) are located on the same straight line.

9. The seedling throwing mechanism of the agricultural drone according to claim 7, characterized in that: The number of teeth of the sun gear (230), the number of teeth of the second intermediate gear (260), and the number of teeth of the second output gear (270) are equal.

10. The seedling throwing mechanism of the agricultural drone according to claim 3, characterized in that: The gear rack comprises a first housing (221) and a second housing (222); the power source (210) and the second housing (222) are connected; the first housing (221) is mounted on the second housing (222); and the first housing and the second housing (222) jointly define an installation cavity; the sun gear (230), the first intermediate gear (240) and the first output gear (250) are all located in the installation cavity.

11. The rice seedling throwing mechanism of the agricultural drone according to claim 1, characterized in that: The driving module (200) is a connecting rod mechanism.

12. The rice seedling throwing mechanism of the agricultural drone according to claim 11, characterized in that: The driving module (200) is a double crank mechanism, comprising a first connecting rod (281), a second connecting rod (282), a third connecting rod (283) and a fourth connecting rod (284) which are connected in sequence, and the fourth connecting rod (284) is connected to the first connecting rod (281), and the first seedling removing member (100) is arranged on the first connecting rod (281).

13. The seedling throwing mechanism of the agricultural drone according to claim 11, characterized in that: The driving module (200) further comprises a power member, the power member being connected to the driving module (200), and the power member being used to drive the driving module (200) to move.

14. The seedling throwing mechanism of the agricultural drone according to claim 1, characterized in that: The rice seedling group is blanket seedlings or pot seedlings.

15. A seedling throwing system, characterized in that: It comprises a seedling delivery mechanism (20) and a seedling throwing mechanism of an agricultural UAV as described in any one of claims 1 to 14, wherein the seedling delivery mechanism (20) is used to be arranged on the UAV, and the first seedling picking member (100) of the seedling throwing mechanism is used to separate the seedlings (10) from the seedling group on the seedling delivery mechanism (20) and then throw them out.

16. A drone seedling throwing system, characterized in that: It comprises an unmanned aerial vehicle and the seedling throwing system according to claim 15, wherein the seedling sending mechanism (20) is arranged on the unmanned aerial vehicle.

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