Seedling throwing mechanism, seedling throwing system, unmanned aerial vehicle seedling throwing system and seedling throwing method

Abstract

The embodiment of the invention provides a seedling throwing mechanism of an agricultural unmanned aerial vehicle, a seedling throwing system, an unmanned aerial vehicle seedling throwing system and a seedling throwing method, and relates to the technical field of seedling throwing. The seedling throwing mechanism comprises a first seedling taking piece and a driving module, the driving module comprises a power source and a transmission mechanism, and the power source is in transmission connection with the first seedling taking piece through the transmission mechanism; wherein the driving module is used for controlling the first seedling taking part to move and taking seedlings from a seedling group at a first position, and is used for controlling the first seedling taking part to continuously move until an included angle between the direction of centrifugal force borne by the seedlings and the seedling outlet direction of the first seedling taking part is smaller than a preset angle, so that the seedlings are thrown out at a second position; the seedling throwing mechanism is simple in structure, 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 of an agricultural unmanned aerial vehicle, a seedling throwing system, an unmanned aerial vehicle seedling throwing system and a seedling throwing method. 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 invention provides a seedling throwing mechanism of an agricultural unmanned aerial vehicle, a seedling throwing system, an unmanned aerial vehicle seedling throwing system and a seedling throwing method, 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, the seedling throwing mechanism comprising a first seedling picking member and a driving module, the driving module comprising a power source and a transmission mechanism, the power source being transmission-connected to the first seedling picking member through the transmission mechanism;

[0006] Among them, the driving module is used to control the movement of the first seedling picking component and remove the seedlings from the seedling group at the first position, and is used to control the first seedling picking component to continue moving until the angle between the direction of the centrifugal force exerted on the seedlings and the seedling output direction of the first seedling picking component is less than a preset angle, so that the seedlings are thrown out at the second position.

[0007] 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.

[0008] In an optional embodiment, the preset angle is 20°.

[0009] In an optional embodiment, the transmission mechanism is a rotating arm, the power source is used to drive the rotating arm to rotate, and the first seedling removing member is rotatably connected to the rotating arm.

[0010] In an optional embodiment, the transmission mechanism further comprises a seedling taking member rotating shaft, and the seedling taking member is rotatably connected to the rotating arm via the seedling taking member rotating shaft.

[0011] In an optional embodiment, the transmission mechanism includes 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;

[0012] 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, the first seedling removing member is connected to the first output gear, and 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 embodiment, the seedling throwing mechanism also includes a second seedling picking member, which is used to separate the seedlings from the seedling group, and the transmission mechanism 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, the second seedling picking member is connected to the second output gear, and the rotation centers of the sun gear, the second intermediate gear and the second output gear are located on the same straight line.

[0014] 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.

[0015] In an optional embodiment, the first seedling picking member and the second seedling picking member are both seedling claws.

[0016] In an optional embodiment, the transmission mechanism is a connecting rod mechanism, and the first seedling removing member is connected to the connecting rod mechanism.

[0017] In an optional embodiment, the connecting rod mechanism 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.

[0018] In an optional embodiment, the seedling group is blanket seedlings or pot seedlings.

[0019] 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.

[0020] 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.

[0021] In a fourth aspect, the present invention provides a method for throwing seedlings, the method comprising:

[0022] Controlling the movement of the first seedling removing member to separate the seedlings from the seedling group at a first position;

[0023] The first seedling taking member is controlled to continue to move until the angle between the centrifugal force direction of the seedlings and the seedling-out direction of the first seedling taking member is smaller than a preset angle, so that the seedlings are thrown out at the second position.

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

[0025] The present invention provides a seedling throwing mechanism of an agricultural drone, the seedling throwing mechanism comprises a first seedling picking member and a driving module, the driving module comprises a power source and a transmission mechanism, the power source is connected to the first seedling picking member through the transmission mechanism; wherein the driving module is used to control the movement of the first seedling picking member and to take the seedlings from the seedling group at a first position, and is used to control the first seedling picking member to continue to move until the angle between the centrifugal force direction on the seedlings and the seedling emergence direction of the first seedling picking member is less than a preset angle, so that the seedlings are thrown out at a second position, and when the angle between the centrifugal force direction on the seedlings and the seedling emergence direction of the first seedling picking member is less than a preset angle, the support force of the first seedling picking member on the seedlings cannot prevent the seedlings from moving in the centrifugal force direction, the seedlings will move centrifugally, and separate from the seedling picking member, so that the seedlings are smoothly thrown out, and the seedling throwing operation is completed. The structure of the seedling throwing mechanism is simple, and the seedling throwing mechanism is simplified.

[0026] The present invention provides a seedling throwing method, which comprises: controlling a first seedling picking member to move and separate the seedlings from a seedling group at a first position; controlling the first seedling picking member to continue to move until the angle between the centrifugal force direction of the seedlings and the seedling emergence direction of the first seedling picking member is smaller than a preset angle, so that the seedlings are thrown out at a second position. The seedling throwing method can be applied to a drone, and the first seedling picking member is moved until the angle between the centrifugal force direction of the seedlings and the seedling emergence direction of the first seedling picking member is smaller than a preset angle, so that the supporting force of the first seedling picking member on the seedlings cannot prevent the seedlings from moving in the centrifugal force direction, and the seedlings will move centrifugally and separate from the first seedling picking member, so that the seedlings are smoothly thrown out, and the seedling throwing operation is completed. The structure used in the seedling throwing method is simple, and the seedling throwing mechanism is simplified.

[0027] The present invention provides a seedling throwing system, comprising a seedling sending mechanism and the above-mentioned seedling throwing mechanism, wherein the seedling sending mechanism is used to be arranged on a drone, and a first seedling picking component of the seedling throwing mechanism is used to separate seedlings from a seedling group on the seedling sending mechanism and then throw them out, and the seedling throwing system has all the functions of the above-mentioned seedling throwing mechanism.

[0028] The present invention provides a drone seedling throwing system, comprising 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

[0029] 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.

[0030] Figure 1 A schematic diagram of a seedling throwing system provided in an embodiment of the present invention;

[0031] Figure 2 is a schematic diagram of the first seedling taking member; Figure 3 for Figure 1 A schematic diagram of a first seedling picking member of a seedling throwing mechanism in a first position;

[0032] Figure 4 for Figure 1 A schematic diagram of a first seedling picking member of a seedling throwing mechanism in a second position;

[0033] Figure 5 It is a structural schematic diagram of a seedling throwing mechanism provided in other embodiments of the present invention;

[0034] Figure 6 for Figure 5 A schematic diagram of a first seedling picking member of a seedling throwing mechanism in a first position;

[0035] Figure 7 for Figure 5 A schematic diagram of a first seedling picking member of a seedling throwing mechanism in a second position;

[0036] Figure 8 It is a schematic diagram of the seedling throwing mechanism provided in other embodiments of the present invention.

[0037] Icons: 1000-seedling throwing mechanism; 100-first seedling picking component; 101-seedling picking trough; 110-blade tip; 120-blade tail; 200-driving module; 210-power source; 220-transmission mechanism; 221-gear rack; 2211-first housing; 2212-second housing; 222-sun gear; 223-first intermediate gear; 224-first output gear; 225-second intermediate gear; 226-second output gear; 201-first connecting rod; 202-second connecting rod; 203-third connecting rod; 204-fourth connecting rod; 300-second seedling picking component; 400-rotating arm; 500-seedling picking component rotating shaft; 10-seedling group; 11-seedling; 20-seedling delivery mechanism; 30-fixed frame; A-circular trajectory; B-waist-shaped trajectory. 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 8 The seedling throwing mechanism 1000, seedling throwing system, drone seedling throwing system and seedling throwing method of the agricultural drone provided in the embodiments of the present invention can 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 a seedling throwing system. The seedling sending mechanism 20 of the seedling throwing system is arranged on the drone. For example, the seedling sending 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 11 from the seedling group 10 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 11 be thrown out smoothly to complete the seedling throwing operation.

[0048] In this embodiment, the seedling group 10 is blanket seedlings. In other embodiments, the seedling group 10 may also be pot seedlings (hole tray seedlings). After the seedling taking unit obtains the seedlings from the seedling group 10, it can move with the seedlings.

[0049] In this embodiment, the seedling delivery mechanism 20 can be understood as a seedling delivery tray for carrying the blanket seedlings.

[0050] In this embodiment, the drone is a rotor drone, specifically a quad-rotor drone, and of course, it can also be a single-rotor drone, a dual-rotor drone, a six-rotor drone, an eight-rotor drone, etc. The drone can automatically run according to a preset path, flight speed, attitude, etc., or be manually controlled by an operator.

[0051] It should be noted that a seedling throwing method is provided in an embodiment of the present invention, which can be applied to the above-mentioned seedling throwing mechanism 1000. The seedling throwing method includes: controlling the first seedling picking component 100 to move and separate the seedlings 11 from the seedling group 10 at a first position, and controlling the first seedling picking component 100 to continue moving until the angle between the centrifugal force direction of the seedlings 11 and the seedling output direction of the first seedling picking component 100 is less than a preset angle, so that the seedlings 11 are thrown out at the second position.

[0052] The seedling taking component 100 moves until the angle between the centrifugal force direction of the seedlings 11 and the seedling output direction of the first seedling taking component 100 is smaller than a preset angle, so that the supporting force of the first seedling taking component 100 on the seedlings 11 cannot prevent the seedlings 11 from moving in the centrifugal force direction. The seedlings 11 will then move centrifugally and break away from the first seedling taking component 100, so that the seedlings 11 are smoothly thrown out, completing the seedling throwing operation, and realizing the seedling throwing operation using the seedling group 10 by the drone. At the same time, the seedling throwing method uses a simple structure, that is, the seedling throwing mechanism required for the seedling throwing method has a simple structure, which simplifies the seedling throwing mechanism.

[0053] In this embodiment, the preset angle is 20°. For example, the first seedling picking member 100 drives the seedlings 11 to move until the angle between the centrifugal force direction of the seedlings 11 and the seedling output direction of the seedling picking member 100 is between 0° and 20°, and the seedlings 11 are smoothly thrown out to complete the seedling throwing operation.

[0054] Specifically, the seedling throwing mechanism 1000 includes a first seedling picking member 100 and a driving module 200, the driving module 200 includes a power source 210 and a transmission mechanism 220, 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 out direction, and the power source 210 is connected to the first seedling picking member 100 through the transmission mechanism 220; wherein the driving module 200 is used to control the movement of the first seedling picking member 100 and remove the seedlings 11 from the seedling group 10 at the first position, and is used to control the first seedling picking member 100 to continue to move until the direction of the centrifugal force on the seedlings 11 is consistent with the seedling out direction of the first seedling picking member 100 ( Figure 2 The angle between the direction indicated by the arrow in the middle is smaller than the preset angle, so that the rice seedling 11 is thrown out at the second position.

[0055] After the seedlings are removed by the seedling removal member, the leaf part of the seedlings passes through the seedling removal groove 101. The root part of the seedlings with soil is large in volume and cannot pass through the seedling removal groove 101, so the root part of the seedlings will abut against the bottom side of the seedling removal member. Since the root part of the seedlings carries soil, the weight of the soil is much greater than the weight of the leaves of the seedlings. When discussing the force on the seedlings in this embodiment, it generally refers to the soil on the seedlings and their roots. Therefore, the centrifugal force acting on the seedlings and the soil part as a whole can be regarded as located at the root of the seedlings. Of course, even if there is no soil, the weight of the root part of the seedlings is greater than the weight of the leaf part, and the center of gravity of the seedlings is still located near the root. When the seedlings are held by the seedling removal member, the centrifugal force on the seedlings can be decomposed into the pressure on the seedling removal member and the component force along the direction of the seedlings. The support force of the seedling removal member on the seedlings is mainly reflected in the vertical support force of the surface of the seedlings in contact with the seedling removal member and the static friction force of the seedling removal member on the seedlings. When the centrifugal force acting on the seedlings is greater than the static friction force, the seedlings will slide along the seedling-out direction until they are separated from the seedling-taking member.

[0056] When the angle between the direction of the centrifugal force on the seedlings 11 and the direction of the first seedling picking component 100 is less than a preset angle, the supporting force of the first seedling picking component 100 on the seedlings 11 cannot prevent the seedlings 11 from moving in the direction of the centrifugal force, and the seedlings 11 will move centrifugally and break away from the seedling picking component, so that the seedlings 11 are smoothly thrown out, completing the seedling throwing operation, and realizing the use of the seedling group 10 by the drone for seedling throwing. At the same time, the structure of the seedling throwing mechanism is simple, which simplifies the seedling throwing mechanism.

[0057] Specifically, please refer to Figure 2 and Figure 3 ,in, Figure 2The first seedling removing member 100 is in the first position. Figure 3 The first seedling removing member 100 is in the second position. In order to facilitate the above-mentioned seedling throwing method, the transmission mechanism 220 is a rotating arm 400, the power source 210 is used to drive the rotating arm 400 to rotate, and the first seedling removing member 100 is rotatably connected to the rotating arm 400.

[0058] Among them, the driving module 200 is used to control the movement of the first seedling picking component 100 and separate the seedlings 11 from the seedling group 10 at the first position, and is used to control the first seedling picking component 100 to continue moving until the angle between the centrifugal force direction of the seedlings 11 and the seedling output direction of the first seedling picking component 100 is less than a preset angle, so that the seedlings 11 are thrown out at the second position.

[0059] Specifically, the seedling throwing mechanism 1000 can use the power source 210 to enable the rotating arm 400 to drive the first seedling picking component 100 to move, separate the seedlings 11 from the seedling group 10 at the first position, and drive the first seedling picking component 100 to continue to move to the second position until the angle between the centrifugal force direction of the seedlings 11 and the seedling output direction of the first seedling picking component 100 is less than a preset angle, so that the supporting force of the first seedling picking component 100 on the seedlings 11 cannot prevent the seedlings 11 from moving in the direction of the centrifugal force. The seedlings 11 will then move centrifugally and separate from the first seedling picking component 100, so that the seedlings 11 are smoothly thrown out, completing the seedling throwing operation.

[0060] It should be noted that the power source 210 can be a driving motor, and the transmission mechanism 220 also includes a seedling picking member rotating shaft 500. The first seedling picking member 100 is rotatably connected to the rotating arm 400 through the seedling picking member rotating shaft 500, so that the angle between the first seedling picking member 100 and the rotating arm 400 changes during the process of the first seedling picking member 100 moving from the first position to the second position.

[0061] The first seedling picking member 100 may be a seedling claw. It is easy to understand that the angle between the seedling-emerging direction of the first seedling picking member 100 and the horizontal plane can be understood as the angle between the length direction of the first seedling picking member 100 and the horizontal plane (such as the ground). The length direction of the first seedling picking member 100 can be understood as the length extension direction from the blade tail 120 of the first seedling picking member 100 to the blade tip 110 of the first seedling picking member 100. In this embodiment, the seedling-emerging direction of the first seedling picking member 100 is consistent with the length direction.

[0062] Of course, in other embodiments, the seedling-out direction of the first seedling-picking member 100 and the length direction of the first seedling-picking member 100 may be inconsistent.

[0063] Specifically, in Figure 3In the process, the power source 210 rotates and drives the rotating arm 400 to move, and drives the first seedling taking member 100 to move, so that the first seedling taking member 100 separates the seedlings 11 from the seedling group 10. At this time, the first seedling taking member 100 is in the first position, and the seedlings 11 have the same linear velocity V1 as the first seedling taking member 100, and generate a centrifugal force F1, wherein the angle between the first seedling taking member 100 and the rotating arm 400 is α1, but at this time, due to the angle β1 between the length direction of the first seedling taking member 100 and the direction of the centrifugal force F1, the angle β1 can range from 80° to 90°, for example, the angle β1 can be 80° or 90°. Here, the angle β1 is 80°. At this time, the seedlings 11 will be blocked by the first seedling taking member 100 and cannot be thrown out.

[0064] Please refer to Figure 4 When the driving rotating arm 400 of the power source 210 moves clockwise to the second position, the first seedling picking component 100 not only rotates around the output end of the power source 210, but also rotates around the seedling picking component shaft 500. The angle between the first seedling picking component 100 and the rotating arm 400 becomes α2, and the angle α2 is greater than the angle α1.

[0065] It should be noted that, in some embodiments, the seedling removing member shaft 500 can be an output shaft of a servo, and the output shaft of the servo can be controlled to rotate at a specific position so that the first seedling removing member 100 follows the rotation to change the angle α, for example, from angle α1 to angle α2.

[0066] Moreover, the direction of the linear velocity V2 of the seedlings 11 is different from the direction of the linear velocity V1. The generated centrifugal force F2 forms an angle β2 with the direction of the first seedling picking component 100. The range of the angle β2 can be 0° to 20°. For example, the angle β2 can be 0° or 20°. Here, the angle β2 is 20°. The supporting force of the first seedling picking component 100 on the seedlings 11 cannot prevent the seedlings 11 from moving in the direction of the centrifugal force F2. Eventually, the seedlings 11 will break away from the first seedling picking component 100 and be thrown out in the direction of the linear velocity V2, completing the process of seedling removal.

[0067] In this embodiment, the speed values ​​of V1 and V2 are equal.

[0068] Please refer to Figure 5-Figure 7 In an embodiment of the present invention, a seedling throwing mechanism 1000 is also provided, which can also implement the above-mentioned seedling throwing method. Different from the above-mentioned seedling throwing mechanism 1000, the transmission mechanism 220 includes a gear rack 221, a sun gear 222, a first intermediate gear 223 and a first output gear 224, and the power source 210 is connected to the gear rack 221 to drive the gear rack 221 to rotate.

[0069] The power source 210 here can also be a motor, and the driving end of the power source 210 is fixedly connected to the gear frame 221 to drive the gear frame 221 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 222.

[0070] Among them, the sun gear 222, the first intermediate gear 223 and the first output gear 224 are meshed in sequence, the sun gear 222 is set on the power source 210, for example, the sun gear 222 is set on the stator part of the power source 210, the sun gear 222 does not rotate, the first intermediate gear 223 and the first output gear 224 are both rotatably installed on the gear frame 221, and the first seedling removing member 100 is connected to the first output gear 224.

[0071] Among them, the gear rack 221 includes a first shell 2211 and a second shell 2212, the power source 210 is connected to the second shell 2212, the first shell 2211 is installed on the second shell 2212, and the first shell 2211 and the second shell 2212 jointly define an installation cavity, and the sun gear 222, the first intermediate gear 223 and the first output gear 224 are all located in the installation cavity.

[0072] For example, the driving end of the power source 210 passes through the first shell 2211 and is connected to the second shell 2212 to drive the second shell 2212 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 222, and at the same time drives the first shell 2211 to rotate together.

[0073] It should be noted that, in this embodiment, the sun gear 222 is fixed to the fixing frame 30 through 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 30, and the rotor part of the power source 210 passes through the fixing frame 30, and the driving end (rotor) of the power source 210 passes through the flat shaft and is connected to the second shell 2212.

[0074] That is to say, the sun gear 222 does not rotate together with the gear carrier 221 during the rotation of the gear carrier 221 .

[0075] In addition, the ratio of the number of teeth of the sun gear 222 to the number of teeth of the first output gear 224 is 1:1, and the rotation centers of the sun gear 222, the first intermediate gear 223 and the first output gear 224 are located on the same straight line. The number of teeth of the sun gear 222, the number of teeth of the first intermediate gear 223 and the number of teeth of the first output gear 224 are equal, so as to realize that the first seedling picking component 100 can move along the circular trajectory A, and at the same time, the angle between the seedling-out direction of the first seedling picking component 100 and the horizontal plane remains unchanged.

[0076] Among them, the driving module is used to control the movement of the first seedling picking component 100 and separate the seedlings 11 from the seedling group 10 at the first position, and is used to control the first seedling picking component 100 to continue moving until the angle between the centrifugal force direction of the seedlings 11 and the seedling output direction of the first seedling picking component 100 is less than a preset angle, so that the seedlings 11 are thrown out at the second position.

[0077] In addition, in order to improve the efficiency of seedling picking, the seedling throwing mechanism 1000 also includes a second seedling picking member 300. The structure of the second seedling picking member 300 is the same as that of the first seedling picking member 100, and both can be seedling claws. The second seedling picking member 300 is used to separate the seedlings 11 from the seedling group 10. The transmission mechanism 220 also includes a second intermediate gear 225 and a second output gear 226. The second output gear 226, the second intermediate gear 225 and the sun gear 222 are meshed in sequence. The second intermediate gear 225 and the second output gear 226 are both rotatably mounted on the first housing 2211 of the gear frame 221. The second seedling picking member 300 is connected with the second output gear 226. The rotation centers of the sun gear 222, the second intermediate gear 225 and the second output gear 226 are located on the same straight line, so as to achieve that in the process of the seedling picking member 300 moving along the circular trajectory A, the angle between the seedling output direction of the second seedling picking member 300 and the horizontal plane remains unchanged.

[0078] Please refer again Figure 6 and Figure 7 ,like Figure 6 As shown, at this time, the blade tip 110 of the first seedling picking component 100 has just picked up the seedling 11, and the seedling 11 obtains the same linear velocity V3 as the blade tip 110 of the first seedling picking component 100, generating a centrifugal force F3. At this time, the direction of the centrifugal force F3 of the seedling 11 is basically perpendicular to the length direction of the first seedling picking component 100, and the first seedling picking component 100 provides a supporting force to offset F1, and the seedling 11 will not accidentally fall out. Moreover, at this time, the length direction of the first seedling picking component 100 and the direction of the centrifugal force F3 include an angle β3, and the range of the angle β3 can be 80° to 90°. For example, the angle β3 can be 80° or 90°. Here, the angle β3 is 80°. At this time, the seedling 11 will be blocked by the first seedling picking component 100 and cannot be thrown out.

[0079] like Figure 7As shown, at this time, the first seedling taking component 100 continues to move, and at this time, due to the change in the linear velocity V4 of the seedling 11, the direction of the centrifugal force F4 is basically the same as the length direction of the first seedling taking component 100, and the first seedling taking component 100 cannot provide a supporting force opposite to the direction of F4. Moreover, at this time, the direction of the linear velocity V4 of the seedling 11 is different from the direction of the linear velocity V3, and the centrifugal force F4 generated forms an angle β4 with the direction of the first seedling taking component 100. The range of the angle β4 can be 0° to 20°. For example, the angle β4 can be 0° or 20°. Here, the angle β4 is 20°. The supporting force of the first seedling taking component 100 on the seedling 11 cannot prevent the seedling 11 from moving in the direction of the centrifugal force F4. Finally, the seedling 11 will break away from the first seedling taking component 100 and be thrown out in the direction of the linear velocity V2, completing the process of seedling taking out.

[0080] 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.

[0081] Please refer to Figure 8 In other embodiments of the present invention, a seedling throwing mechanism 1000 is also provided, which can also realize the above-mentioned seedling throwing method. Different from the above-mentioned seedling throwing mechanism 1000, the transmission mechanism 220 is a connecting rod mechanism, and the first seedling picking component 100 is connected to the connecting rod mechanism, and the connecting rod mechanism can drive the first seedling picking component 100 to move.

[0082] Among them, the connecting rod mechanism is used to control the movement of the first seedling picking component 100 and separate the seedlings 11 from the seedling group 10 at the first position, and is used to control the first seedling picking component 100 to continue to move until the angle between the centrifugal force direction of the seedlings 11 and the seedling output direction of the first seedling picking component 100 is less than a preset angle, so that the seedlings 11 are thrown out at the second position.

[0083] The seedlings 11 are separated from the seedling group 10 at the first position, and the first seedling picking component 100 can be driven to continue moving until the angle between the centrifugal force direction of the seedlings 11 and the length direction of the first seedling picking component 100 is smaller than a preset angle, so that the supporting force of the first seedling picking component 100 on the seedlings 11 cannot prevent the seedlings 11 from moving in the centrifugal force direction. The seedlings 11 will then move centrifugally and break away from the first seedling picking component 100, so that the seedlings 11 are smoothly thrown out, completing the seedling throwing operation.

[0084] Specifically, the connecting rod mechanism includes a first connecting rod 201, a second connecting rod 202, a third connecting rod 203 and a fourth connecting rod 204 which are connected in sequence, and the fourth connecting rod 204 is connected to the first connecting rod 201, and the first seedling removing member 100 is arranged on the first connecting rod 201.

[0085] Among them, the third link 203 is fixed, and the fourth link 204 rotates as the active arm, driving the first link 201 and the second link 202 to move. The distance between the two pivot points at the connection between the fourth link 204 and the first link 201 and the third link 203 is the first distance, and the distance between the two pivot points at the connection between the second link 202 and the first link 201 and the third link 203 is the second distance. The first distance is smaller than the second distance. For example, the first distance is 90 mm and the second distance is 100 mm.

[0086] Moreover, the distance between the two pivot points at which the first link 201 is connected with the second link 202 and the fourth link 204 is the third distance, the distance between the two pivot points at which the third link 203 is connected with the second link 202 and the fourth link 204 is the fourth distance, the third distance is equal to the fourth distance, and the third distance is greater than the second distance, for example, the third distance and the fourth distance are both 152 mm.

[0087] The distance from the pivot point where the first link 201 and the fourth link 204 are connected to the connection between the first link 201 and the first seedling removing member 100 is a fifth distance, which is smaller than the fourth distance. For example, the fifth distance is 70 mm.

[0088] The fourth connecting rod 204 can be driven to rotate by a power source 210 (such as a motor), thereby driving the first seedling removing member 100 to move, wherein the trajectory of the blade tip 110 of the first seedling removing member 100 can be a waist-shaped trajectory B ( Figure 8 As shown in the figure), the specific principle of taking seedlings by the first seedling taking member 100 can refer to the principle of taking seedlings by the above-mentioned seedling throwing mechanism 1000, which will not be repeated here.

[0089] To sum up, the seedling throwing method includes: controlling the first seedling picking component 100 to move and separate the seedlings 11 from the seedling group 10 at a first position; controlling the first seedling picking component 100 to continue to move until the angle between the centrifugal force direction of the seedlings 11 and the seedling emergence direction of the first seedling picking component 100 is less than a preset angle, so that the seedlings 11 are thrown out at a second position. The seedling throwing method can be applied to drones. The first seedling picking component 100 moves until the angle between the centrifugal force direction of the seedlings 11 and the seedling emergence direction of the first seedling picking component 100 is less than a preset angle, so that the supporting force of the first seedling picking component 100 on the seedlings 11 cannot prevent the seedlings 11 from moving in the centrifugal force direction. The seedlings 11 will move centrifugally and break away from the first seedling picking component 100, so that the seedlings 11 are smoothly thrown out to complete the seedling throwing operation. The structure used in the seedling throwing method is simple, and the seedling throwing mechanism is simplified.

[0090] The seedling throwing mechanism 1000 includes a first seedling picking component 100 and a driving module 200, the driving module 200 includes a power source 210 and a transmission mechanism 220, the first seedling picking component 100 is provided with an open seedling picking trough 101, the direction in which the bottom of the seedling picking trough 101 points to the opening is the seedling output direction, and the power source 210 is connected to the first seedling picking component 100 through the transmission mechanism 220; wherein the driving module 200 is used to control the movement of the first seedling picking component 100 and remove the seedlings 11 from the seedling group 10 at the first position, and is used to control the first seedling picking component 100 to continue to move until the angle between the direction of the centrifugal force on the seedlings 11 and the seedling output direction of the first seedling picking component 100 is less than a preset angle, so that the seedlings 11 are thrown out at the second position.

[0091] When the angle between the direction of the centrifugal force on the seedlings 11 and the direction of the first seedling picking component 100 is less than a preset angle, the supporting force of the first seedling picking component 100 on the seedlings 11 cannot prevent the seedlings 11 from moving in the direction of the centrifugal force. The seedlings 11 will move centrifugally and break away from the seedling picking component, so that the seedlings 11 are smoothly thrown out, completing the seedling throwing operation, and realizing the use of the seedling group 10 by the drone for seedling throwing. The structure of the seedling throwing mechanism is simple, and the seedling throwing mechanism is simplified.

[0092] 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 11 from the seedling group 10 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.

[0093] 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.

[0094] 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: The seedling throwing mechanism comprises a first seedling picking member (100) and a driving module (200), wherein the driving module (200) comprises a power source (210) and a transmission mechanism (220), and the power source (210) is in transmission connection with the first seedling picking member (100) via the transmission mechanism (220); The driving module (200) is used to control the movement of the first seedling removing member (100) and remove the seedlings (11) from the seedling group (10) at a first position, and is used to control the first seedling removing member (100) to continue to move until the angle between the direction of the centrifugal force on the seedlings (11) and the direction of the first seedling removing member (100) is smaller than a preset angle, so that the seedlings (11) are thrown out at a second position.

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 toward 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 preset angle is 20°.

4. The seedling throwing mechanism of the agricultural drone according to claim 1, characterized in that: The transmission mechanism (220) is a rotating arm (400), the power source (210) is used to drive the rotating arm (400) to rotate, and the first seedling removing member (100) is rotatably connected to the rotating arm (400).

5. The seedling throwing mechanism of the agricultural drone according to claim 4, characterized in that: The transmission mechanism (220) further comprises a seedling taking member rotating shaft (500), and the seedling taking member is rotatably connected to the rotating arm (400) via the seedling taking member rotating shaft (500).

6. The seedling throwing mechanism of the agricultural drone according to claim 1, characterized in that: The transmission mechanism (220) comprises a gear frame (221), a sun gear (222), a first intermediate gear (223) and a first output gear (224); the power source (210) is connected to the gear frame (221) to drive the gear frame (221) to rotate; The sun gear (222), the first intermediate gear (223) and the first output gear (224) are meshed in sequence, the sun gear (222) is arranged on the power source (210), the first intermediate gear (223) and the first output gear (224) are both rotatably mounted on the gear frame (221), the first seedling removing member (100) and the first output gear (224) are connected, and the ratio of the number of teeth of the sun gear (222) to the number of teeth of the first output gear (224) is 1:

1.

7. The seedling throwing mechanism of the agricultural drone according to claim 6, characterized in that: The seedling throwing mechanism further comprises a second seedling taking member (300), the second seedling taking member (300) being used for separating the seedlings (11) from the seedling group (10), the transmission mechanism (220) further comprises a second intermediate gear (225) and a second output gear (226), the second output gear (226), the second intermediate gear (225) and the sun gear (222) being meshed in sequence, the second intermediate gear (225) and the second output gear (226) being both rotatably mounted on the gear frame (221), the second seedling taking member (300) being connected to the second output gear (226), and the rotation centers of the sun gear (222), the second intermediate gear (225) and the second output gear (226) being located on the same straight line.

8. The seedling throwing mechanism of the agricultural drone according to claim 7, characterized in that: The number of teeth of the sun gear (222), the number of teeth of the second intermediate gear (225), and the number of teeth of the second output gear (226) are equal.

9. The seedling throwing mechanism of the agricultural drone according to claim 7, characterized in that: The first seedling removing member (100) and the second seedling removing member (300) are both seedling claws.

10. The seedling throwing mechanism of the agricultural drone according to claim 1, characterized in that: The transmission mechanism (220) is a connecting rod mechanism, and the first seedling removing member (100) is connected to the connecting rod mechanism.

11. The rice seedling throwing mechanism of the agricultural drone according to claim 10, characterized in that: The connecting rod mechanism comprises a first connecting rod (201), a second connecting rod (202), a third connecting rod (203) and a fourth connecting rod (204) which are connected in sequence, and the fourth connecting rod (204) is connected to the first connecting rod (201), and the first seedling removing member (100) is arranged on the first connecting rod (201).

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

13. A seedling throwing system, characterized in that: It comprises a seedling delivery mechanism (20) and a seedling throwing mechanism of an agricultural drone as described in any one of claims 1 to 12, wherein the seedling delivery mechanism (20) is used to be arranged on the drone, and the first seedling picking member (100) of the seedling throwing mechanism is used to separate the seedlings (11) from the seedling group (10) on the seedling delivery mechanism (20) and then throw them out.

14. A drone seedling throwing system, characterized in that: It comprises an unmanned aerial vehicle and the seedling throwing system according to claim 13, wherein the seedling sending mechanism (20) is arranged on the unmanned aerial vehicle.

15. A seedling throwing method, characterized in that: The seedling throwing method comprises: Controlling the movement of the first seedling removing member (100) to separate the seedlings (11) from the seedling group (10) at a first position; The first seedling removing member (100) is controlled to continue to move until the angle between the centrifugal force direction of the seedling (11) and the seedling ejection direction of the first seedling removing member (100) is smaller than a preset angle, so that the seedling (11) is ejected at the second position.

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