A seedling throwing mechanism, an agricultural unmanned aerial vehicle and a seedling throwing method

Abstract

Embodiments of the present application provide a seedling throwing mechanism, a seedling throwing system and a seedling throwing method, and relate to the field of agricultural automation. The seedling throwing mechanism can drive the elastic member to move when performing the seedling throwing operation, so that the elastic member pushes out the seedling. If the elastic member is driven to reserve elastic potential energy on the basis of high speed, the load of the driving source will be too large. The control module acquires the actual speed of the driving source, compares the actual speed with the preset speed, and when the actual speed is smaller, the driving source can drive the elastic member to work to throw out the seedling. When the actual speed exceeds or reaches the preset speed, the control module can control the locking member to lock the elastic member, so as to prevent the driving source from being overloaded and affecting the service life.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural automation, in particular to a seedling throwing mechanism, an agricultural unmanned aerial vehicle and a seedling throwing method. BACKGROUND

[0002] For mechanized planting of rice, the market usually carries out automatic operation by a seedling throwing mechanism. In order to ensure a proper plant spacing of the rice, when the moving speed of the seedling throwing mechanism is too fast, the rotating speed of the driving source is also increased. When the driving source is operated at a high rotating speed, the driving source is simultaneously driven to work, which causes an excessive load of the driving source and affects the service life. SUMMARY

[0003] The present application provides a seedling throwing mechanism, a seedling throwing system and a seedling throwing method, which can lock the elastic member when the rotating speed of the driving source is too fast to prevent the driving source from being overloaded and affecting the service life.

[0004] Embodiments of the present application can be implemented as follows:

[0005] Embodiments of the present application provide a seedling throwing mechanism, which comprises:

[0006] A load module, which is arranged on an unmanned aerial vehicle;

[0007] A seedling feeding module, which is arranged on the load module and is used to transport seedlings;

[0008] A seedling taking module, which is arranged on the load module and comprises a driving source and a tool bit. The driving source is connected with the tool bit and is used to drive the tool bit to separate the seedlings on the seedling feeding module and throw the separated seedlings. The tool bit is provided with an elastic member and a locking member, and the locking member is used to unlock or lock the elastic member.

[0009] A control module, which is electrically connected with the locking member and is used to obtain an actual rotating speed of the driving source, compare the actual rotating speed with a preset rotating speed, control the locking member to lock the elastic member if the actual rotating speed is greater than or equal to the preset rotating speed, and control the locking member to unlock the elastic member if the actual rotating speed is less than the preset rotating speed.

[0010] Optionally, the seedling taking module throws the seedlings by centrifugal force when the locking member locks the elastic member, and the seedling taking module throws the seedlings by elastic shooting when the locking member unlocks the elastic member.

[0011] Optionally, the locking member comprises a locking power source and a locking execution rod. The locking power source is electrically connected with the control module, and the locking power source and the locking execution rod are both connected with the elastic member. The locking execution rod is used to lock or unlock the elastic member.

[0012] Optionally, the locking power source is a coil, and the locking execution rod is an electromagnet.

[0013] The electromagnet is used for locking the elastic member when the coil is powered on, or the electromagnet is used for unlocking the elastic member when the coil is powered off.

[0014] Optionally, the cutter head is provided with a cam member, the cam member rotates relative to the elastic member, and the cam member is used for abutting against or separating from the elastic member, so that the elastic member stores or releases elastic potential energy.

[0015] Optionally, the elastic member comprises a shell, a seedling pushing connecting rod and a spring, the shell is connected to the driving source, the seedling pushing connecting rod is rotationally connected to an inner cavity of the shell, and two ends of the spring are connected to the shell and the seedling pushing connecting rod respectively, and the cam member is used for abutting against or separating from the seedling pushing connecting rod, so that the spring is compressed or relaxed.

[0016] The locking member is used for unlocking the seedling pushing connecting rod, so that the seedling pushing connecting rod pushes out the seedlings, or the locking member is used for locking the seedling pushing connecting rod, so that the seedlings are thrown out by centrifugal force.

[0017] Optionally, the seedling pushing connecting rod comprises a first branch rod, a second branch rod and a third branch rod connected in sequence, the first branch rod is rotationally connected to the shell, the cam member is used for abutting against or separating from the first branch rod, the spring is connected to the first branch rod, and two ends of the second branch rod are rotationally connected to the first branch rod and the third branch rod.

[0018] The locking member unlocks the third branch rod, so that the third branch rod pushes out the seedlings, or the locking member is used for locking the third branch rod, so that the seedlings are thrown out by centrifugal force.

[0019] Optionally, the spring is arranged in parallel with the third branch rod.

[0020] Optionally, the seedling pushing connecting rod is provided with a limiting portion matched with the locking member, when the locking member matches with the limiting portion, the cam member abuts against the seedling pushing connecting rod.

[0021] Optionally, the cutter head is provided with a seedling taking needle, the seedling taking needle is connected to the elastic member, the seedling taking needle is used for separating the seedlings from the seedling mat, and the elastic member is used for pushing out the seedlings from the seedling taking needle in the process of releasing the elastic potential energy.

[0022] Optionally, the seedling throwing mechanism further comprises a guide block, the guide block is connected to the elastic member and slidably matches with the seedling taking needle.

[0023] Embodiments of the present application also provide a seedling throwing system, comprising a unmanned aerial vehicle and the seedling throwing mechanism; the unmanned aerial vehicle is connected to the load module of the seedling throwing mechanism.

[0024] Embodiments of the present application also provide a seedling throwing method, which is realized by using the seedling throwing mechanism, and the seedling throwing method comprises the following steps.

[0025] An actual rotating speed of the driving source is acquired.

[0026] Compare the actual rotating speed with the preset rotating speed;

[0027] If the actual rotating speed is greater than the preset rotating speed, the locking member is controlled to lock the elastic member; if the actual rotating speed is less than or equal to the preset rotating speed, the locking member is controlled to unlock the elastic member.

[0028] The beneficial effects of the seedling throwing mechanism, the seedling throwing system and the seedling throwing method of the embodiment of the application include, for example:

[0029] The seedling throwing mechanism can be driven by the driving source to move the elastic member to push out the seedlings when performing the seedling throwing operation. If the driving source drives the elastic member to store elastic potential energy on the basis of high rotating speed, the load of the driving source will be too large. The actual rotating speed of the driving source is obtained by the control module, and the actual rotating speed is compared with the preset rotating speed. When the actual rotating speed is smaller, the driving source can drive the elastic member to work to realize the throwing operation of the seedlings. When the actual rotating speed exceeds or reaches the preset rotating speed, the control module can control the locking member to lock the elastic member, thereby preventing the load of the driving source from being too large to affect the service life.

[0030] The agricultural seedling throwing system includes the seedling throwing mechanism, which has all the functions of the seedling throwing mechanism. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0032] Figure 1 The structural diagram of the seedling throwing system provided by an embodiment of the application;

[0033] Figure 2 The structural diagram of the seedling throwing mechanism from a first perspective provided by an embodiment of the application;

[0034] Figure 3 The structural diagram of the seedling throwing mechanism from a second perspective provided by an embodiment of the application;

[0035] Figure 4 The structural diagram of the seedling throwing system from a first perspective provided by another embodiment of the application;

[0036] Figure 5 The structural diagram of the seedling throwing system from a second perspective provided by another embodiment of the application;

[0037] Figure 6 The structural diagram of the locking member unlocking the elastic member provided by an embodiment of the application;

[0038] Figure 7 This is a structural diagram of a locking member locking an ejection member according to an embodiment of the present invention.

[0039] Icons: 1000-seedling throwing system; 100-seedling throwing mechanism; 10-load module; 20-seedling feeding module; 21-seedling supporting plate; 211-opening; 212-slide rail; 22-seedling feeding tray; 23-driving device; 232-gear; 233-rack; 24-conveying device; 25-seedling pressing device; 251-rotating shaft; 252-pressing bar; 30-seedling taking module; 31-driving source; 32-transmission box; 33-cutter head; 331-mounting part; 332-cutter body, 333-notch; 340 - ejection part; 341- shell; 342- seedling pushing connecting rod; 3421- first support rod; 3422- second support rod; 3423- third support rod; 343- spring; 344- limit part; 350- locking part; 351- locking power source; 352- locking execution rod; 360- cam part; 370- seedling needle; 380- guide block; 40- support module; 43- first bracket; 46- second bracket; 47- third bracket; 200- drone; 300- blanket seedling; 310- seedling. DETAILED DESCRIPTION

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only 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 herein can be arranged and designed in various different configurations.

[0041] 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 as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are intended to fall within the scope of protection of the present invention.

[0042] 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, it does not need to be further defined or explained in subsequent drawings.

[0043] In the description of the present application, it should be noted that if the terms "upper", "lower", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly used when the product of the present application is used, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0044] In addition, if the terms "first", "second" and the like appear, they are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0045] The terms "comprise", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "comprises a" does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0046] Unless otherwise explicitly specified and limited, the terms "provide", "connect" and the like should be broadly understood, for example, "connect" can be fixedly connected, or detachably connected, or integrally connected; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0047] It should be noted that the features in the embodiments of the present application can be combined with each other without conflict.

[0048] As the background art, for the mechanized planting of rice, the market usually uses a throwing seedling mechanism to perform automatic operation. In order to ensure the proper plant spacing of the thrown rice, when the moving speed of the throwing seedling mechanism is too fast, the rotation speed of the driving source will also be increased. When the driving source operates at high speed, the driving source is simultaneously driven to work, resulting in excessive load of the driving source, affecting the service life.

[0049] Please refer to Figures 1-7 The throwing seedling mechanism 100, the throwing seedling system 1000 and the throwing seedling method provided in the embodiments of the present application can solve the above problems, which will be described in detail as follows.

[0050] Please refer to Figure 1 and Figure 2The seedling throwing system 1000 comprises a UAV 200 and at least one set of seedling throwing mechanism 100, and the seedling throwing mechanism 100 is carried on the UAV 200. The seedling throwing mechanism 100 separates the blanket seedling 300, and the separated seedling 310 is thrown out by centrifugal force and / or elastic force to realize the seedling throwing operation. Meanwhile, the flight of the UAV 200 is coordinated to realize the flight seedling throwing operation.

[0051] The seedling throwing mechanism 100 can throw the seedling 310 in various ways. In one embodiment, after the seedling throwing mechanism 100 separates the seedling 310 from the blanket seedling 300, the seedling 310 can be thrown out by centrifugal force. In one embodiment, after the seedling throwing mechanism 100 separates the seedling 310 from the blanket seedling 300, the separated seedling 310 can be thrown out by elastic force (the seedling throwing mechanism 100 can be provided with an elastic member 340, which can provide elastic force). In one embodiment, the seedling throwing mechanism 100 can throw the separated seedling 310 by the combined action of centrifugal force and elastic force.

[0052] The seedling throwing mechanism 100 comprises a load module 10, a seedling feeding module 20, and a seedling taking module 30. The load module 10 is arranged on the UAV 200. The seedling feeding module 20 is arranged on the load module 10, and is used to transport the blanket seedling 300. The seedling taking module 30 is arranged on the load module 10, and is used to separate the seedling 310 from the blanket seedling 300 on the seedling feeding module 20 and then throw it out by centrifugal force and / or elastic force. In this way, the UAV 200 can carry the seedling throwing mechanism 100 to perform the seedling throwing operation, transport the blanket seedling 300 by the seedling feeding module 20, separate the seedling 310 from the blanket seedling 300 by the seedling taking module 30, and then throw it out to realize the flight seedling throwing operation of the blanket seedling 300.

[0053] It should be noted that there are many ways to separate, such as cutting, grabbing, pushing out, and pressing down. The specific separation and seedling taking method is not limited.

[0054] In this embodiment, the UAV 200 is a rotor structure, specifically a four-rotor structure, of course, it can also be a single-rotor structure, a double-rotor structure, a six-rotor structure, an eight-rotor structure, etc. The UAV 200 can automatically operate according to the preset path, flight speed, attitude, etc., or be manually controlled by an operator. In order to facilitate description, the front, rear, left, right, upper, and lower directions are shown in the drawings, which are relative positional relationships that can be clearly understood by those skilled in the art when the UAV 200 is placed normally or is flying.

[0055] Figure 1What is shown is a split-type seedling throwing system 1000. Specifically, the load module 10 of the seedling throwing mechanism 100 can be detachably mounted on the lower part of the drone 200. That is, the drone 200 and the seedling throwing mechanism 100 adopt an upper and lower split design. The drone 200 serves as a mobile platform and is a split design from the seedling throwing mechanism 100. In other words, this type of seedling throwing mechanism 100 is an independent structure that does not rely on the fuselage frame of the drone 200. Based on this type, in a specific operation scenario, the corresponding device can be replaced according to actual operation requirements. For example, after the seedling throwing mechanism 100 is disassembled, a sowing device can be installed to achieve the sowing of pesticides, fertilizers, seeds, etc. Similarly, the seedling throwing mechanism 100 can be disassembled and then agricultural operation mechanisms such as surveying and mapping devices and spraying devices can be installed.

[0056] Please refer to Figure 2 and Figure 3 , each module of the seedling throwing mechanism 100 will be described in detail below.

[0057] Specifically, the seedling removal module 30 includes a driving source 31 and a cutter head 33. The driving source 31 is connected to the cutter head 33 and is used to drive the cutter head 33 to separate the seedlings 300 on the seedling delivery module 20 and eject the separated seedlings 310 by centrifugal force or ejection force. Generally, the driving source 31 is a motor, which drives the cutter head 33 along the Figure 3 The blade head 33 rotates in the direction indicated by the arrow A, thereby separating the seedlings 300 while contacting them. The separated seedlings 310 rotate along the direction of the arrow A with the blade head 33. When the blade head 33 rotates to a specific position, the seedlings 310 are ejected under the action of centrifugal force or ejection force. The blade head 33 may be provided with an ejection member 340. The ejection member 340 can store and release energy via the cam member 360 during the rotation of the blade head 33. When the ejection member 340 releases energy, the seedlings 310 are ejected under the ejection force provided by the ejection member 340.

[0058] It should be noted that the cutter head 33 can be directly mounted on the output shaft of the drive source 31, with the drive source 31 directly driving the cutter head 33 to rotate. Alternatively, the cutter head 33 can be rotatably mounted on the load module 10, with the drive source 31 mounted on the load module 10 and connected to the cutter head 33 via a transmission mechanism, such as a gearbox, connecting rod mechanism, sprocket mechanism, or pulley mechanism, to provide driving force. Of course, the drive source 31 can also be other than a motor, for example, a pneumatic motor, a gasoline engine, etc.

[0059] In order to facilitate the throwing of the rice seedlings 310, Figure 4In the embodiment, the cutter head 33 comprises a mounting portion 331 and a cutter body 332 arranged on the mounting portion 331, the mounting portion 331 is connected with the driving source 31, and the cutter body 332 is formed with a notch 333, which is used for clamping the seedling 310 after the seedling 310 is separated from the blanket seedling 300, so that the seedling 310 is rotated and thrown out under the action of centrifugal force or ejection force. Understandably, in the specific operation process, the notch 333 on the cutter body 332 clamps the soil part at the root of the seedling 310, and then drives it to rotate in the rotating process, so as to throw it out.

[0060] In addition, the cutter head 33 can also be provided with a seedling taking needle 370, which is used for separating the seedling 310 from the blanket seedling 300, so that the cutter body 332, the mounting portion 331 and the notch 333 are arranged on the seedling taking needle 370.

[0061] In combination Figure 2 and Figure 3 In the embodiment, the seedling taking module 30 further comprises a transmission box 32, the driving source 31 is connected with the transmission box 32 and is used to drive the transmission box 32 to rotate, at least one cutter head 33 is arranged on each transmission box 32, and the transmission box 32 can give the cutter head 33 a specific motion trajectory. In the embodiment, the motion trajectory of the cutter head 33 is circular.

[0062] In order to improve the seedling taking efficiency, the rotation speed of the cutter head 33 is usually increased, of course, too fast speed may bring other problems such as heat dissipation, unstable separation, etc. In order to solve the problem, in the embodiment, at least two cutter heads 33 are arranged on each transmission box 32, so that the number of cutter heads 33 at the same separation and throwing position can be expanded.

[0063] In the embodiment, two cutter heads 33 are distributed on one transmission box 32, of course, in other embodiments, only one cutter head 33 can be distributed, or three, four or more cutter heads 33 can be distributed. When two cutter heads 33 are distributed on one transmission box 32, the angle of the two cutter heads 33 to the center of the transmission box 32 can be 180 degrees, three cutter heads 33 can be spaced at an interval of 120 degrees, and four cutter heads 33 can be spaced at an interval of 90 degrees, in other words, the cutter heads 33 can be arranged in a uniform distribution manner. Of course, it is not excluded that the cutter heads 33 are arranged in a non-uniform distribution manner in some scenarios.

[0064] By designing a large number of cutter heads 33 on the transmission box 32, the seedling taking efficiency can be improved. In addition, in terms of mounting form, the output shaft of the driving source 31 can be directly mounted with the transmission box 32, or the transmission box 32 can be rotatably mounted on the load module 10, the driving source 31 is mounted on the load module 10, and the transmission box 32 is connected through a transmission mechanism, such as a gear box, a connecting rod mechanism, a chain wheel mechanism or a belt wheel mechanism, to provide driving force.

[0065] On the other hand, the efficiency of the seedling throwing operation can also be improved synchronously by increasing the number of seedling feeding modules 20. Please refer to Figure 3 In the embodiment, the number of seedling feeding modules 20 is multiple, and the number of seedling taking modules 30 is multiple and corresponds to the multiple seedling feeding modules 20.

[0066] Specifically, Figure 3 In the embodiment, the number of seedling feeding modules 20 is three, and correspondingly, the number of seedling taking modules 30 is also three. Of course, when the number of seedling feeding modules 20 is greater than three, the number of seedling taking modules 30 can also be increased correspondingly. Generally, the seedlings 310 transported by multiple seedling feeding modules 20 are of the same type, and the seedling throwing operation is performed in the same piece of farmland, so the multiple seedling taking modules 30 can be controlled to operate synchronously by the control device arranged on the load module 10, or the flight control of the unmanned aerial vehicle 200 can be controlled. Of course, it is not excluded that multiple seedling feeding modules 20 operate independently, for example, the taking efficiency of multiple seedling taking modules 30 is not equal, or part of the seedling taking modules 30 are controlled to work, while the rest of the seedling taking modules 30 do not work.

[0067] In order to realize the separation and throwing of the blanket seedlings 300 row by row and shot by shot, in the embodiment, the seedling feeding module 20 includes a seedling supporting plate 21 and a seedling feeding disc 22. The seedling supporting plate 21 is arranged on the load module 10, the seedling supporting plate 21 is provided with an opening 211, the seedling feeding disc 22 is used to transport the blanket seedlings 300, the lower part of the seedling feeding disc 22 is located in the seedling supporting plate 21, and the seedling feeding disc 22 is transversely movable relative to the seedling supporting plate 21; wherein the seedling taking module 30 is used to separate the blanket seedlings 300 through the opening 211, and throw out the separated seedlings 310.

[0068] In other words, the positions of the seedling taking module 30, the opening 211 of the seedling supporting plate 21, etc. remain unchanged relative to the load module 10, and the seedling feeding disc 22 can reciprocate in the left-right direction. In this way, the seedling taking module 30 only separates the blanket seedlings 300 exposed to the opening 211, so that the separation and throwing of the blanket seedlings 300 row by row and shot by shot can be realized. Of course, in other embodiments, the position of the seedling feeding disc 22 relative to the load module 10 can remain unchanged, and the seedling supporting plate 21 and the seedling taking module 30 can be transversely movable in the left-right direction.

[0069] In the embodiment, the seedling supporting plate 21 can be understood as a plate-shaped structure with an opening 211 in a long strip shape. The seedling supporting plate 21 is relatively fixed with the load module 10, and does not move with the left-right reciprocating movement of the seedling feeding disc 22. The seedling supporting plate 21 has a certain supporting effect on the seedling feeding disc 22. In combination with Figure 4In the embodiment, the number of the seedling taking modules 30 is three and is distributed at intervals, and therefore, the number of the openings 211 is also three and is distributed at intervals, so that each seedling taking module 30 can separate and transplant the blanket seedlings 300 in the opening 211 corresponding thereto.

[0070] In order to facilitate the horizontal movement of the seedling feeding tray 22, in the embodiment, the seedling feeding module 20 further comprises a driving device 23, which is arranged on the load module 10 and is used to drive the seedling feeding tray 22 to move horizontally relative to the seedling holding plate 21.

[0071] Generally, the driving device 23 can be a motor cooperating with a gear 232 and a rack 233 mechanism to realize the left-right reciprocating movement of the seedling feeding tray 22, or can be a motor cooperating with a screw mechanism or a synchronous belt driving scheme. Of course, it is not excluded that the rotor power of the unmanned aerial vehicle 200 is used to drive the seedling feeding tray 22 to move horizontally.

[0072] In combination with Figure 3 Generally, the seedling feeding tray 22 is arranged in an inclined state, which can make the blanket seedlings 300 move downward under the action of gravity after the seedling feeding tray 22 moves horizontally once, so as to facilitate the seedling taking module 30 to take seedlings in the next round. Of course, a power source can also be arranged to drive it, for example, in combination with Figure 3 In the embodiment, the seedling feeding module 20 further comprises a conveying device 24, which is arranged on the seedling feeding tray 22 and is used to drive the blanket seedlings 300 to move towards the seedling holding plate 21.

[0073] The conveying device 24 can be a conveyor belt or a conveyor roller (for example, a wolf tooth wheel). In addition, the conveying device 24 can be arranged at different positions of the seedling feeding tray 22 in the height direction. It should be noted that the inclined arrangement of the seedling feeding tray 22 can also realize the effective use of the longitudinal space, so as to reduce the space occupied by the seedling feeding tray 22 in the horizontal width. At the same time, due to the inclined arrangement, the blanket seedlings 300 can slide downward by using the gravity, and the power consumption of the conveying device 24 can also be reduced.

[0074] In addition, considering the situation that the blanket seedlings 300 may be separated after being placed on the seedling feeding tray 22, in combination with Figure 2 and Figure 3 In the embodiment, the seedling feeding module 20 further comprises a seedling pressing device 25, which is arranged on the seedling feeding tray 22 and is used to limit the blanket seedlings 300 in the seedling feeding tray 22. The seedling pressing device 25 can adopt the form of a plate or a rod, and specifically, in the embodiment, the seedling pressing device 25 comprises a rotating shaft 251 and a plurality of pressing strips 252. The rotating shaft 251 is horizontally and rotatably arranged on the seedling feeding tray 22, and the plurality of pressing strips 252 are vertically and arranged at intervals on the rotating shaft 251, and the plurality of pressing strips 252 are used to limit the blanket seedlings 300 in the seedling feeding tray 22.

[0075] In this embodiment, the rotating shaft 251 can rotate with a certain damping relative to the seedling feeding plate 22 in a certain specific scenario, so that the force of the pressing strip 252 pressing on the blanket seedling 300 can be adjusted, and the pressing state can be maintained. Of course, a torsional spring can also be installed on the rotating shaft 251 to provide a rotating pressure in the direction of the blanket seedling 300.

[0076] In combination Figure 3 , in this embodiment, the seedling feeding plate 22 is a rectangular frame structure, specifically, it includes a bearing plate and two side plates arranged on the left and right sides of the bearing plate, and no side plates are arranged on the upper and lower sides, thereby forming an upper end opening 211 on the upper side to facilitate seedling placement, and forming a lower end opening 211 on the lower side to facilitate seedling taking. The width of the seedling feeding plate 22 can match the width of a disc of blanket seedlings 300, and in addition, the height of the seedling feeding plate 22 is not limited to the height of a disc of blanket seedlings 300. When installed, the two ends of the rotating shaft 251 can be rotatably arranged on the two side plates of the seedling feeding plate 22, Figure 4 , four pressing strips 252 are arranged on one rotating shaft 251. In other words, four pressing strips 252 are arranged on one seedling feeding plate 22 to limit the blanket seedlings 300 in the seedling feeding plate 22, so that the blanket seedlings 300 can be pressed on the seedling feeding plate 22 by the pressing strips 252, greatly ensuring that the blanket seedlings 300 will not be blown away during the flight of the unmanned aerial vehicle 200. Of course, the number of pressing strips 252 corresponding to one seedling feeding plate 22 can not be limited to four, for example, it can also be three, five or more. In addition, since the number of seedling feeding modules 20 in this embodiment is multiple, the number of seedling pressing devices 25 can also be multiple, and each seedling feeding plate 22 is correspondingly provided with a seedling pressing device 25. In a certain scenario, multiple seedling pressing devices 25 located in the same seedling throwing mechanism 100 can share one rotating shaft 251.

[0077] In addition, in combination Figure 3 , in this embodiment, the seedling feeding plate 22 is supported at multiple positions in the height direction by the load module 10. For example, in this embodiment, the seedling throwing mechanism 100 further includes a support module 40, for example, the support module 40 includes a first support 43, one end of the first support 43 is connected with the load module 10, and the other end of the first support 43 supports the upper part of the seedling feeding plate 22. In combination Figure 3 and Figure 4 , since the seedling feeding plate 22 needs to move left and right, in order to facilitate support, the support position of the first support 43 and the seedling feeding plate 22 can be achieved by the cooperation of the sliding rail 212 and the pulley, for example, the end of the first support 43 is provided with a pulley, and the seedling feeding plate 22 is provided with a sliding rail 212, and the two are rolling cooperation. Alternatively, the end of the first support 43 is provided with a sliding rail 212, and the seedling feeding plate 22 is provided with a pulley. In addition, in a certain scenario, the height of the first support 43 is adjustable, and the inclination angle of the seedling feeding plate 22 can also be adjusted.

[0078] Meanwhile, the lower part of the seedling delivery tray 22 is supported by the seedling supporting plate 21, which can improve the compactness of the overall structure. Of course, the middle part of the seedling delivery tray 22 can also be supported by the load module 10. It should be noted that the upper part is only used to indicate that the position of the support is higher than the middle part and the lower part in the height direction.

[0079] Of course, the support module 40 can also include a second support 46 and a third support 47. One end of the second support 46 is connected to the load module 10, and the other end of the second support 46 is installed with the above-mentioned seedling supporting plate 21. One end of the third support 47 is connected to the load module 10, and the other end of the third support 47 is installed with the above-mentioned seedling taking module 30 (specifically, the driving source 31). Of course, the second support 46 and the third support 47 can also be a support structure, that is, the seedling supporting plate 21 and the seedling taking module 30 are installed on the load module 10 through the same support.

[0080] Figures 1-3 The embodiment shown shows the main structure of the seedling throwing mechanism 100 provided by the present application, and the modules (the load module 10, the seedling delivery module 20, the seedling taking module 30, etc.) mentioned in the present application can be manufactured, sold, etc. separately in the early stage, and assembled to form the overall structure in the later stage.

[0081] Figure 4 With Figure 5 Another embodiment of the seedling throwing system 1000 is shown, and the same modules, mechanisms or components can be referred to the foregoing. In this embodiment, the seedling throwing system 1000 is a double system, that is, it has two sets of seedling throwing mechanisms 100, and the two seedling throwing mechanisms 100 share one load module 10. The two sets of seedling throwing mechanisms 100 are arranged in a back-to-back manner. Of course, in other embodiments, the two sets of seedling throwing mechanisms 100 can also be arranged in other ways (for example, arranged in the same direction), and three, four or more sets of seedling throwing mechanisms 100 can also be arranged.

[0082] According to the seedling throwing system 1000 provided by the present embodiment, the working principle of the seedling throwing system 1000 is as follows:

[0083] When the unmanned aerial vehicle 200 flies, the driving source 31 drives the transmission box 32 to rotate, the transmission box 32 drives the cutter head 33 to rotate at high speed, the cutter head 33 separates and takes off the seedlings 310 when rotating to the opening 211, drives the seedlings 310 to rotate, and the seedlings 310 are thrown off and fall into the field under the action of centrifugal force and / or elastic force when the seedlings 310 rotate to a certain angle, so that the seedlings 300 are thrown off while flying. At the same time, the seedling feeding plate 22 moves horizontally, driving the seedlings 300 to move left and right, so that the seedlings 300 are separated and thrown off row by row. When a row of seedlings 310 in the left and right directions of the seedlings 300 is separated, the whole seedlings 300 move downward under the action of gravity and the driving force of the conveying device 24, so that the seedlings 300 are separated and thrown off row by row again by the seedling taking module 30 during the horizontal movement of the seedling feeding plate 22. By analogy, the process is repeated and circulated until all the seedlings 300 are separated and thrown off.

[0084] Reference Figures 1-7 The seedling throwing mechanism 100 includes a load module 10, a seedling feeding module 20, a seedling taking module, and a control module. The load module 10 is arranged on the unmanned aerial vehicle 200. The seedling feeding module 20 is arranged on the load module 10 and is used to convey the seedlings 300. The seedling taking module 30 is arranged on the load module 10 and includes a driving source 31 and a cutter head 33. The driving source 31 is connected with the cutter head 33 and is used to separate the seedlings 300 on the seedling feeding module 20 and throw off the separated seedlings 310. The cutter head 33 is provided with an elastic member 340 and a locking member 350. The locking member 350 is used to unlock or lock the elastic member 340. The locking member 350 is electrically connected with the control module. The control module is used to obtain the actual rotating speed of the driving source 31, compare the actual rotating speed with a preset rotating speed, control the locking member 350 to lock the elastic member 340 if the actual rotating speed is greater than or equal to the preset rotating speed, and control the locking member 350 to unlock the elastic member 340 if the actual rotating speed is less than the preset rotating speed.

[0085] When the seedling throwing mechanism 100 performs the seedling throwing operation, the driving source 31 drives the elastic member 340 to move, so that the elastic member 340 pushes out the seedlings 310. If the elastic member 340 is driven to store elastic potential energy on the basis of high rotating speed when the actual rotating speed of the driving source 31 exceeds the preset rotating speed, the load of the driving source 31 will be too large. The control module obtains the actual rotating speed of the driving source 31 and compares the actual rotating speed with the preset rotating speed. When the actual rotating speed is smaller, the driving source 31 can drive the elastic member 340 to work to throw off the seedlings 310. When the actual rotating speed exceeds or reaches the preset rotating speed, the control module can control the locking member 350 to lock the elastic member 340, so as to prevent the load of the driving source 31 from being too large and affecting the service life.

[0086] It is worth noting that the control module can be a module of the seedling throwing mechanism 100 itself, or an integrated module installed on the unmanned aerial vehicle 200 and simultaneously controlling the seedling throwing operation of the seedling throwing mechanism 100 and the flight operation of the unmanned aerial vehicle 200. Moreover, the above-mentioned electrical connection can be wireless connection or wired connection, and the specific connection mode is not limited, which can be adaptively adjusted according to different application scenarios.

[0087] Moreover, when the locking member 350 locks the elastic member 340, the seedling taking module 30 throws the seedlings 310 by centrifugal force; when the locking member 350 unlocks the elastic member 340, the seedling taking module 30 throws the seedlings 310 by the elastic member 340.

[0088] It is worth noting that in order to make the thrown seedlings 310 meet the required plant spacing, the rotation speed of the driving source 31 is linked with the flight speed of the unmanned aerial vehicle 200. When the flight speed of the unmanned aerial vehicle 200 decreases during the seedling throwing process, the rotation speed of the driving source 31 also decreases accordingly; when the flight speed of the unmanned aerial vehicle 200 increases, the rotation speed of the driving source 31 also increases accordingly.

[0089] For example: when the seedling throwing plant spacing is set to 20 cm, the rotation speed of the driving source 31 needs to reach 3600 rpm to meet the plant spacing when the flight speed of the unmanned aerial vehicle 200 reaches 4 m / s. The flight of the unmanned aerial vehicle 200 on a straight line can be divided into an acceleration section, a constant speed section, and a deceleration section. The acceleration is from 0 m / s to 4 m / s, the constant speed section maintains 4 m / s, and the deceleration section is from 4 m / s to 0 m / s (not necessarily decelerated to 0 m / s, but generally needs to be decelerated for turning), accordingly, the rotation speed of the driving source 31 also only maintains 3600 rpm in the constant speed section, and the rotation speed in the acceleration section and the deceleration section will change with the flight speed.

[0090] Reference Figure 3 , Figure 6 and Figure 7 The seedling throwing mechanism 100 further comprises a cam member 360 connected to the transmission box 32. The cam member 360 rotates relative to the elastic member 340, and the cam member 360 is used to abut or separate from the elastic member 340, so as to make the elastic member 340 store or release elastic potential energy.

[0091] In the process of throwing seedling operation, the elastic member 340 rotates with the cam member 360, the cam member 360 abuts against the elastic member 340, under the guidance of the outer shape of the cam member 360, the elastic member 340 can store elastic potential energy; and when the cam member 360 is separated from the elastic member 340, the elastic potential energy stored in the elastic member 340 is released at the moment of separation, and then the seedling 310 is pushed out, and the throwing seedling operation is completed. And the relative rotation of the elastic member 340 and the cam member 360 is periodic motion, the process of abutting against-separating-abutting against… is orderly carried out, so that the throwing seedling process is also orderly carried out.

[0092] Reference Figure 3 、 Figure 6 and Figure 7 The elastic member 340 includes a shell 341, a seedling pushing connecting rod 342 and a spring 343, the shell 341 is connected with the driving source 31 through the transmission box 32, the seedling pushing connecting rod 342 is connected with the shell 341, the cam member 360 is used for abutting against or separating from the seedling pushing connecting rod 342, so as to compress or relax the spring 343; the locking member 350 is used for unlocking the seedling pushing connecting rod 342, so as to push out the seedling 310 by the seedling pushing connecting rod 342; or, the locking member 350 is used for locking the seedling pushing connecting rod 342, so that the seedling 310 is thrown out by the centrifugal force.

[0093] Specifically, in the process of rotating motion, the seedling pushing connecting rod 342, the spring 343 and the seedling taking needle 370 rotate synchronously with the shell 341. In the process of synchronous rotation, the cam member 360 abuts against one end of the seedling pushing connecting rod 342, so that the relative rotation between the seedling pushing connecting rod 342 and the shell 341 also occurs, and the compression of the spring 343 is realized through the relative rotation of the two, so as to store elastic potential energy; when one end of the seedling pushing connecting rod 342 is separated from the cam member 360, the spring 343 which is previously compressed releases the elastic potential energy and resets, so that the seedling pushing connecting rod 342 pushes out the seedling 310 to realize the throwing seedling operation. In addition, in the process of operation, the shell 341 can also play a certain protection and shielding role for the seedling pushing connecting rod 342 and the spring 343.

[0094] And the seedling pushing connecting rod 342 includes a first branch rod 3421, a second branch rod 3422 and a third branch rod 3423 connected in sequence, the first branch rod 3421 is rotationally connected with the shell 341, the cam member 360 is used for abutting against or separating from the first branch rod 3421, the spring 343 is connected to the first branch rod 3421, the two ends of the second branch rod 3422 are rotationally connected with the first branch rod 3421 and the third branch rod 3423;

[0095] The locking member 350 unlocks the third branch rod 3423, so that the third branch rod 3423 pushes out the seedling 310; or, the locking member 350 is used for locking the third branch rod 3423, so that the seedling 310 is thrown out by the centrifugal force of the seedling taking needle 370.

[0096] In this embodiment, the spring 343 is connected with the first supporting rod 3421, and the extension direction of the spring 343 is parallel to the pushing direction of the third supporting rod 3423. There is a certain angle between the first supporting rod 3421 and the third supporting rod 3423, and the extension length of the second supporting rod 3422 is much smaller than the extension lengths of the first supporting rod 3421 and the third supporting rod 3423, so that the relative rotation amplitude between the first supporting rod 3421 and the third supporting rod 3423 is limited, avoiding the knocking between the first supporting rod 3421 and the third supporting rod 3423 and the main arm due to the too large rotation amplitude.

[0097] Referring to Figure 6 and Figure 7 The seedling throwing mechanism 100 further comprises a guide block 380 connected with the elastic member 340, and the guide block 380 is in sliding fit with the seedling taking needle 370. Specifically, a part of the guide block 380 is connected with the end of the third supporting rod 3423, and another part of the guide block 380 is in sliding fit with the inner side of the seedling taking needle 370.

[0098] When the third supporting rod 3423 moves in extension or retraction under the action of external force, the guide block 380 can guide and limit the third supporting rod 3423, so as to ensure the stability of the moving direction of the third supporting rod 3423, thereby ensuring the accuracy of the relative position with the seedling 310.

[0099] Referring to Figure 6 and Figure 7 The locking member 350 comprises a locking power source 351 and a locking execution rod 352, the locking power source 351 is electrically connected with the control module, and the locking power source 351 and the locking execution rod 352 are both connected with the elastic member 340, and the locking execution rod 352 is used for locking or unlocking the elastic member 340.

[0100] Specifically, the locking execution rod 352 is used for locking or unlocking the seedling pushing connecting rod 342, and more specifically, the unlocking or locking effect can be realized by abutting or separating the third supporting rod 3423 through the locking execution rod 352.

[0101] In this embodiment, the locking power source 351 is a coil, and the locking execution rod 352 is an electromagnet. When the actual rotation speed of the driving source 31 is greater than the preset rotation speed, the locking power source 351 can drive the locking execution rod 352 to perform locking operation, that is, when the coil is powered, the electromagnet extends to abut the seedling pushing connecting rod 342; when the coil is powered off, the electromagnet retracts to separate from the seedling pushing connecting rod 342.

[0102] It is worth noting that the electromagnet can be a part of the locking execution rod 352, or the whole locking execution rod 352 can be an electromagnet.

[0103] In other embodiments of the present application, the locking power source 351 can also be a linear power cylinder, specifically a linear air cylinder, a linear electric cylinder or a linear hydraulic cylinder, without limitation on the specific power shape.

[0104] With reference to Figure 6 and Figure 7 The elastic member 340 is provided with a limiting portion 344 matched with the locking member 350. Specifically, the limiting portion 344 is matched with the locking execution rod 352, and the limiting portion 344 is arranged in the third branch rod 3423 in the seedling pushing link 342.

[0105] Further, in the case that the actual rotation speed of the driving source 31 is greater than the preset rotation speed, and the cam member 360 abuts against the seedling pushing link 342, the locking execution rod 352 is matched with the limiting portion 344. By ensuring that the locking execution rod 352 is matched with the limiting portion 344 when the cam member 360 abuts against the seedling pushing link 342, interference between the cam member 360 and the seedling pushing link 342 during the locking matching process can be avoided.

[0106] In the present embodiment, the limiting portion 344 is a limiting hole, and the limiting hole is arranged in the third branch rod 3423, so that the end of the locking execution rod 352 can be accommodated in the limiting hole, ensuring the stability of the locking of the seedling pushing link 342. Further, the limiting hole and the locking execution rod 352 can be clearance fit, interference fit or transition fit.

[0107] In other embodiments of the present application, the limiting portion 344 can also be a suction member, which can generate a suction force with the end of the locking execution rod 352, so that the locking execution rod 352 can lock the seedling pushing link 342. Specifically, the suction member can be protruded from the outer wall of the seedling pushing link 342, or embedded in the surface wall of the seedling pushing link 342.

[0108] The embodiments of the present application also provide a seedling throwing method for the seedling throwing mechanism 100 described above, comprising the following steps:

[0109] S1: obtaining the actual rotation speed of the driving source 31; during the seedling throwing operation, the rotation speed of the driving source 31 is usually linked with the moving speed of the unmanned aerial vehicle 200, when the flight speed of the unmanned aerial vehicle 200 is too fast, the actual rotation speed of the driving source 31 also rises accordingly, to ensure the stability of the plant spacing between the thrown seedlings 310.

[0110] S2: comparing the actual rotation speed with the preset rotation speed;

[0111] S3: if the actual rotation speed is greater than the preset rotation speed, controlling the locking member 350 to lock the elastic member 340, so that the seedlings 310 are thrown by the centrifugal force; if the actual rotation speed is less than or equal to the preset rotation speed, controlling the locking member 350 to unlock the elastic member 340, so that the elastic member 340 pushes out the seedlings 310.

[0112] Specifically, when the actual rotation speed of the driving source 31 is greater than the preset rotation speed, the locking power source 351 drives the locking execution rod 352 to extend, and cooperates with the limiting hole on the third branch rod 3423 in the seedling pushing connecting rod 342 in the elastic member 340, so as to realize the locking effect on the third branch rod 3423. At this time, the elastic member 340 no longer works, and the cam member 360 also does not interfere with the first branch rod 3421; because the rotation speed of the driving source 31 is high enough, the centrifugal force is large enough, and the seedling 310 can be separated from the seedling taking needle 370 under the action of the centrifugal force, so as to realize the seedling throwing operation. The throwing position of the seedling 310 under the action of the centrifugal force is the same as the position of the elastic member 340, so as to ensure the consistency of the throwing track of the seedling 310 in the centrifugal throwing and the elastic throwing.

[0113] And when the actual rotation speed of the driving source 31 is less than the preset speed, because the rotation speed of the driving source 31 is low, the centrifugal force is small, and the seedling 310 will not be separated from the seedling taking needle 370 before contacting the third branch rod 3423, so that the throwing of the seedling 310 is realized by the pushing effect of the third branch rod 3423.

[0114] It is worth noting that because the locking member 350 cooperates with the elastic member 340, the cam member 360 abuts against the elastic member 340. Because the cam member 360 abuts against the elastic member 340 because the driving member drives the elastic member 340 to move to a specific position, the position information of the driving member can also be obtained, and when it is determined that the elastic member 340 moves to the area abutting against the cam member 360, the locking member 350 is controlled to lock the elastic member 340.

[0115] In summary, the seedling throwing mechanism 100, the seedling throwing system 1000 and the seedling throwing method provided by the embodiment of the application at least have the following advantages:

[0116] The seedling throwing mechanism 100, the seedling throwing system 1000 and the seedling throwing method can enable the elastic member 340 to perform the seedling throwing operation when the rotation speed of the driving source 31 is low, so that the seedling 310 can be pushed out at a suitable seedling throwing position under the low flight speed of the unmanned aerial vehicle 200 and the low rotation speed of the driving source 31; the elastic member 340 is disabled when the rotation speed of the driving source 31 is high, so that the driving source 31 does not need to overcome the resistance of the compressed spring 343 during rotation, and the rotation is more smooth; and the seedling 310 is thrown out by the centrifugal force generated by the seedling taking needle 370 during rotation, so that the seedling 310 can also be thrown out at a suitable seedling throwing position under the action of pure centrifugal force, and the consistency of the throwing track of the seedling 310 is not negatively affected by the disabling of the elastic member 340.

[0117] The above merely illustrates the specific embodiments of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A throwing mechanism, characterized in that, The utility model relates to a unmanned aerial vehicle seedling transplanting device, which comprises the following parts: a load module (10) arranged on a unmanned aerial vehicle (200); a seedling conveying module (20) arranged on the load module (10) and used for conveying a seedling mat (300); a seedling taking module (30) arranged on the load module (10) and comprising a driving source (31) and a cutter head (33), wherein the driving source (31) is connected with the cutter head (33) and used for driving the cutter head (33) to separate the seedling mat (300) on the seedling conveying module (20) and throw off the separated seedling (310), the cutter head (33) is provided with a spring member (340) and a locking member (350), and the locking member (350) is used for unlocking or locking the spring member (340); a control module electrically connected with the locking member (350) and used for acquiring an actual rotating speed of the driving source (31), comparing the actual rotating speed with a preset rotating speed, controlling the locking member (350) to lock the spring member (340) when the actual rotating speed is greater than or equal to the preset rotating speed, and controlling the locking member (350) to unlock the spring member (340) when the actual rotating speed is less than the preset rotating speed.

2. The casting mechanism according to claim 1, wherein When the locking member (350) locks the spring member (340), the cutter head (33) throws off the seedling (310) by centrifugal force; when the locking member (350) unlocks the spring member (340), the cutter head (33) throws off the seedling (310) by the spring member (340).

3. The casting mechanism according to claim 2, wherein When the driving source (31) works at the preset rotating speed, the position where the seedling (310) is thrown off by centrifugal force is the same as the position where the seedling (310) is thrown off by the spring member (340).

4. The casting mechanism according to any one of claims 1 to 3, wherein The locking member (350) comprises a locking power source (351) and a locking execution rod (352), the locking power source (351) is electrically connected with the control module, and the locking power source (351) and the locking execution rod (352) are both connected with the spring member (340), and the locking execution rod (352) is used for locking or unlocking the spring member (340).

5. The casting mechanism according to claim 4, wherein The locking power source (351) is a coil, and the locking execution rod (352) is an electromagnet. The electromagnet is used for locking the spring member (340) when the coil is powered on, or the electromagnet is used for unlocking the spring member (340) when the coil is powered off.

6. The casting mechanism according to any one of claims 1 to 3, wherein The cutter head (33) is provided with a cam member (360), the cam member (360) rotates relative to the spring member (340), and the cam member (360) is used for abutting or separating from the spring member (340) so as to make the spring member (340) store or release elastic potential energy.

7. The casting mechanism according to claim 6, wherein The elastic member (340) comprises a housing (341), a seedling pushing link (342) and a spring (343), the housing (341) is connected to the driving source (31), the seedling pushing link (342) is rotationally connected to the housing (341), and two ends of the spring (343) are respectively connected to the housing (341) and the seedling pushing link (342), the cam member (360) is used for abutting against or being separated from the seedling pushing link (342), so that the spring (343) is compressed or relaxed; The locking member (350) is used for unlocking the seedling pushing link (342), so that the seedling pushing link (342) pushes out the seedling (310); or the locking member (350) is used for locking the seedling pushing link (342), so that the seedling (310) is thrown out by centrifugal force.

8. The casting mechanism according to claim 7, wherein The seedling pushing link (342) comprises a first branch rod (3421), a second branch rod (3422) and a third branch rod (3423) connected in sequence, the first branch rod (3421) is rotationally connected to the housing (341), the cam member (360) is used for abutting against or being separated from the first branch rod (3421), and the spring (343) is connected to the first branch rod (3421), two ends of the second branch rod (3422) are rotationally connected to the first branch rod (3421) and the third branch rod (3423) at the same time; The locking member (350) unlocks the third branch rod (3423), so that the third branch rod (3423) pushes out the seedling (310); or the locking member (350) is used for locking the third branch rod (3423), so that the seedling (310) is thrown out by centrifugal force.

9. The casting mechanism according to claim 8, wherein The spring (343) is arranged in parallel with the third branch rod (3423).

10. The casting mechanism according to claim 7, wherein The seedling pushing link (342) is provided with a limiting portion (344) matched with the locking member (350), and the cam member (360) abuts against the seedling pushing link (342) when the locking member (350) is matched with the limiting portion (344).

11. The casting mechanism according to any one of claims 1 to 3, wherein The tool bit (33) is provided with a seedling taking needle (370), the seedling taking needle (370) is connected to the elastic member (340), the seedling taking needle (370) is used for separating the seedling (310) from the blanket seedling (300), and the elastic member (340) is used for pushing out the seedling (310) from the seedling taking needle (370) in the process of releasing elastic potential energy.

12. The casting mechanism according to claim 11, wherein The seedling throwing mechanism further comprises a guide block (380), the guide block (380) is connected to the elastic member (340) and is in sliding cooperation with the seedling taking needle (370).

13. A throwing system, characterized in that The seedling throwing mechanism comprises a unmanned aerial vehicle (200) and the seedling throwing mechanism according to any one of claims 1-12, and the unmanned aerial vehicle (200) is connected to the load module (10) of the seedling throwing mechanism.

14. A method of throwing seedlings, characterized by, The seedling throwing method is realized by using the seedling throwing mechanism according to any one of claims 1-12, and the seedling throwing method comprises the following steps: An actual rotating speed of the driving source (31) is acquired; The actual rotating speed is compared with a preset rotating speed; If the actual rotating speed is greater than the preset rotating speed, a locking member (350) is controlled to lock a spring member (340); if the actual rotating speed is less than or equal to the preset rotating speed, the locking member (350) is controlled to unlock the spring member (340).

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