Seedling throwing mechanism, seedling throwing machine and unmanned aerial vehicle seedling throwing equipment

Abstract

The invention discloses a seedling slinging mechanism, a seedling slinging machine and unmanned aerial vehicle seedling slinging equipment, the seedling slinging mechanism comprises a seedling taking unit, the seedling taking unit comprises a seedling cutter support and a telescopic drive and a cutter head which are installed on the seedling cutter support, the telescopic drive is connected with the cutter head, the cutter head is driven by the telescopic drive to stretch out and draw back, and the seedling taking unit is connected with the seedling cutter support; the cutter head is in an extending state at the seedling taking position and is in a retracting state at the seedling throwing position; and the seedling taking driving unit is connected with the seedling cutter bracket and is used for driving the seedling taking unit to move back and forth between the seedling taking position and the seedling throwing position. During seedling throwing, the telescopic driver drives the cutter head to be shortened, so that seedlings can be quickly separated from the seedling clamping groove of the cutter head under the inertia effect of the seedlings, the loss of throwing force caused by the obstruction of the cutter head when the seedlings are thrown out is avoided, the soil penetration depth of the thrown seedlings is increased, and the growth of the seedlings is facilitated.

Description

Technical Field

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

[0002] The seedling throwing mechanism is the core working part of the seedling throwing machine, which realizes the work of picking up and throwing seedlings. The seedling throwing mechanism generally includes a driving motor, a gear box and a cutter head. The driving motor is connected to the gear box and can drive the gear box to rotate. The cutter head is connected to the output gear in the gear box. The gear box drives the cutter head to rotate around the axis of the driving motor to realize reciprocating seedling picking and throwing. The gear box controls the cutter head to rotate around the axis of the output gear so that the direction of the cutter head always remains fixed. When the cutter head rotates to the seedling picking position, it can tear a handful of seedlings from the blanket seedlings. The centrifugal force of the seedlings at this position is just perpendicular to the bottom surface of the cutter head, and the cutter head can prevent the seedlings from flying out; the cutter head drives the seedlings to continue to rotate downward, and the angle between the centrifugal force direction of the seedlings and the bottom surface of the cutter head gradually decreases until the seedlings can be thrown out under the action of their own centrifugal force to achieve the purpose of throwing seedlings. However, in reality, when the seedlings are thrown out, there is still a small angle between the direction of the seedlings' own centrifugal force and the bottom surface of the blade. Under the obstruction of the blade, part of the seedlings' own centrifugal force will be offset, thereby weakening the throwing force of the seedlings, affecting the depth of the seedlings into the soil after being thrown out, and having a certain impact on the growth of the seedlings. Summary of the invention

[0003] The purpose of the embodiments of the present invention is to provide a seedling throwing mechanism, a seedling throwing machine and an unmanned aerial vehicle seedling throwing device, which can solve the above-mentioned problems existing in the prior art.

[0004] To achieve the above objectives, this application adopts the following technical solutions:

[0005] On the one hand, a seedling throwing mechanism is provided, comprising:

[0006] The seedling picking unit comprises a seedling knife support and a telescopic drive and a knife head installed on the seedling knife support, wherein the telescopic drive is connected to the knife head, and the knife head is driven to be telescopic by the telescopic drive, so that the knife head is in an extended state at the seedling picking position and in a retracted state at the seedling throwing position;

[0007] The seedling taking driving unit is connected to the seedling knife bracket and is used to drive the seedling taking unit to and fro between the seedling taking position and the seedling throwing position.

[0008] Optionally, the cutter head has a seedling holding groove, and the seedling knife bracket is also fixedly provided with a seedling pushing block located below the seedling holding groove, so that when the cutter head retracts, the seedlings can be pushed away from the seedling holding groove by the seedling pushing block.

[0009] Optionally, the telescopic drive includes a slide rod, a driving member and a return spring, the cutter head is connected to the slide rod, the slide rod is slidably installed on the rice knife bracket, the driving member and the return spring are both connected to the slide rod, the return spring is used to push the slide rod out so that the cutter head is in an extended state; the driving member is used to push the slide rod in so that the cutter head is in a retracted state.

[0010] Optionally, the driving member includes a rocker arm and a cam, the cam is rotatably mounted relative to the seedling knife bracket, the middle part of the rocker arm is hinged to the seedling knife bracket, one end of the rocker arm is movably connected to the sliding rod, and the other end abuts against the cam, and the rotation of the cam relative to the seedling knife bracket pushes the rocker arm to swing, so that the rocker arm pushes the sliding rod to slide.

[0011] Optionally, the vine blade bracket includes a left vine blade shell and a right vine blade shell, a first installation cavity is formed between the left vine blade shell and the right vine blade shell, the telescopic drive is installed in the first installation cavity, and one end of the sliding rod extends out of the first installation cavity and is connected to the blade head.

[0012] Optionally, a spring stopper is provided in the first installation cavity, one end of the return spring abuts against the spring stopper, and the other end abuts against the slide rod.

[0013] Optionally, a spring installation groove is provided on one side of the slide rod, the return spring is placed in the spring installation groove to abut against the slide rod, and the spring blocking sheet extends into the spring installation groove to abut against the return spring.

[0014] Optionally, the seedling retrieval drive unit includes a motor and an angle retainer, and the angle retainer is connected to the motor and the seedling retrieval unit. The motor drives the angle retainer to rotate, so that the seedling retrieval unit can move back and forth between the seedling retrieval position and the seedling throwing position; and the angle retainer can keep the inclination angle of the seedling retrieval unit fixed at all times.

[0015] Optionally, the angle retainer is a rotating gear type retainer.

[0016] Optionally, the angle retainer includes a gear bracket, a sun gear and an output gear, the output gear has the same number of teeth as the sun gear, the sun gear is coaxial with the motor and is relatively fixedly arranged, the output shaft of the motor is connected to the gear bracket, the output gear is rotatably installed on the gear bracket and is transmission connected to the sun gear, and the seedling taking unit is fixedly connected to the output gear, so that the seedling taking unit can move back and forth between the seedling taking position and the seedling throwing position by rotating around the sun gear, and keep its own inclination angle fixed relative to the rotation of the gear bracket.

[0017] Optionally, the angle retainer also includes an intermediate gear, which is rotatably mounted in the gear bracket and is located between the sun gear and the output gear to achieve a transmission connection between the sun gear and the output gear.

[0018] Optionally, the gear bracket is provided with a connecting shaft coaxial with the output gear, and the cam is fixed to the connecting shaft to achieve rotational installation of the cam relative to the rice blade bracket.

[0019] Optionally, the vine blade bracket has a spline sleeve, the output gear has a spline hole corresponding to the spline sleeve, the spline sleeve is embedded in the spline hole to achieve a fixed connection between the vine blade bracket and the output gear, and the connecting shaft passes through the center of the spline sleeve and connects the cam.

[0020] Optionally, the gear bracket includes a left gear housing and a right gear housing, and a second mounting cavity capable of mounting the sun gear and the output gear is formed between the left gear housing and the right gear housing; the right gear housing has a avoidance hole allowing the spline sleeve to pass through, and the spline sleeve extends through the avoidance hole into the second mounting cavity to connect with the output gear, and the connecting shaft is arranged on the left gear housing to pass through the center of the spline sleeve.

[0021] Optionally, the angle retainer is a crank rocker type retainer.

[0022] On the other hand, a rice seedling throwing machine is provided, comprising a rice seedling sending mechanism and a rice seedling throwing mechanism, wherein the rice seedling throwing mechanism is used to take out the rice seedlings from the rice seedling sending mechanism and throw them out.

[0023] On the other hand, a drone rice seedling transplanting device is provided, comprising a drone and a rice seedling transplanter, wherein the rice seedling transplanter is mounted under the drone.

[0024] The beneficial effects of the present application are as follows: the present invention provides a seedling throwing mechanism, a seedling throwing machine and an unmanned aerial vehicle seedling throwing equipment, wherein the seedling picking unit of the seedling throwing mechanism is provided with a telescopic drive on the seedling knife bracket which can control the extension and retraction of the knife head, and the knife head is normally extended when picking the seedlings to provide a sufficient seedling picking length; when throwing the seedlings, the telescopic drive drives the knife head to shorten, so that the seedlings can quickly escape from the seedling clamping groove of the knife head under the action of their own inertia, avoiding the loss of throwing force caused by the obstruction of the knife head when the seedlings are thrown out, increasing the depth of the seedlings into the soil after being thrown out, and being more conducive to the growth of the seedlings. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present application is further described in detail below based on the drawings and embodiments.

[0026] Figure 1 The present invention is a schematic diagram of the existing seedling throwing mechanism when taking out the seedlings;

[0027] Figure 2 The present invention is a schematic diagram of the existing seedling throwing mechanism during seedling throwing;

[0028] Figure 3 This is a structural diagram of the seedling throwing mechanism described in the embodiment of the present application;

[0029] Figure 4 This is an explosion diagram of the seedling throwing mechanism described in the embodiment of the present application;

[0030] Figure 5 It is a cross-sectional view of the seedling throwing mechanism described in the embodiment of the present application;

[0031] Figure 6 This is an internal structure diagram of the seedling throwing mechanism described in the embodiment of the present application;

[0032] Figure 7 for Figure 6 An exploded schematic diagram of the structure shown;

[0033] Figure 8 This is a schematic diagram of the structure of the seedling removal unit described in the embodiment of the present application;

[0034] Fig. 9 for Figure 8 An exploded schematic diagram of the structure shown;

[0035] Fig.10 This is a diagram of the internal structure of the seedling removal unit described in the embodiment of the present application;

[0036] Fig.11 for Fig.10 Exploded view of the structure shown.

[0037] Figure 1-2 middle:

[0038] a. Gear box; b. Cutter head; c. Rice seedlings.

[0039] Figure 3-11 middle:

[0040] 100, seedling taking unit; 11, knife head; 111, seedling clamping groove; 12, seedling knife bracket; 121, seedling knife left shell; 122, seedling knife right shell; 123, first installation cavity; 124, seedling pushing block; 125, spring stopper; 126, spline sleeve; 13, telescopic drive; 131, slide bar; 1311, spring installation groove; 132, drive member; 1321, rocker bar; 1322, cam; 133, reset spring; 200, seedling taking drive unit; 21, angle retainer; 211, gear bracket; 2111, gear left shell; 2112, gear right shell; 2113, second installation cavity; 2114, avoidance hole; 212, sun gear; 213, intermediate gear; 214, output gear; 2141, spline hole; 215, connecting shaft; 22, motor. DETAILED DESCRIPTION

[0041] In order to make the technical problems solved by this application, the technical solutions adopted, and the technical effects achieved more clearly, the technical solutions of the embodiments of this application are further described in detail below. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0042] In the description of this application, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0044] The seedling throwing mechanism is the core working part of the seedling throwing machine, which realizes the work of picking up and throwing seedlings. The seedling throwing mechanism generally includes a driving motor, a gear box and a cutter head. The driving motor is connected to the gear box and can drive the gear box to rotate. The cutter head is connected to the output gear in the gear box. The gear box drives the cutter head to rotate around the axis of the driving motor to realize reciprocating seedling picking and throwing. The gear box controls the cutter head to rotate around the axis of the output gear so that the direction of the cutter head always remains fixed. When the cutter head rotates to the seedling picking position, it can tear a handful of seedlings from the blanket seedlings. The centrifugal force of the seedlings at this position is just perpendicular to the bottom surface of the cutter head, and the cutter head can prevent the seedlings from flying out; the cutter head drives the seedlings to continue to rotate downward, and the angle between the centrifugal force direction of the seedlings and the bottom surface of the cutter head gradually decreases until the seedlings can be thrown out under the action of their own centrifugal force to achieve the purpose of throwing seedlings.

[0045] Reference Figure 1When the existing seedling throwing mechanism is working, driven by the gear box a, the moving trajectory of the tip of the cutter head b is as shown in the figure. The cutter head b has a seedling clamping groove. When the cutter head b rotates to the M point position (i.e., the seedling taking position), it can just tear out a bunch of seedlings c from the blanket seedlings and take them out. The seedlings c are stuck in the seedling clamping groove of the cutter head b, and the roots of the seedlings b are stuck on the lower surface of the cutter head b. At this time, the seedlings c obtain the same linear velocity V1 as the cutter head b under the drive of the cutter head b. The centrifugal force F1 generated by the linear velocity V1 of the seedlings c is just perpendicular to the lower surface of the cutter head b, and the cutter head b can prevent the seedlings c from flying out along the F1 direction.

[0046] As the cutter head b rotates clockwise, the seedling c rotates with it. Since the direction of the cutter head b itself remains unchanged, that is, the inclination of the lower surface of the cutter head b remains moderate, and the centrifugal force F of the seedling c will gradually deflect in the clockwise direction during the rotation, the angle between F and the lower surface of the cutter head b will gradually decrease.

[0047] Reference Figure 2 When the seedling c rotates to point N (i.e., the seedling throwing position), the angle between the centrifugal force F2 generated by the linear velocity V1 of the seedling c and the cutter head b is small enough. At this time, the component force of F2 in the direction parallel to the lower surface of the cutter head b is greater than the friction force between the seedling c and the cutter head. Under the action of F2, the cutter head b is automatically thrown out from the seedling holding groove of the cutter head 2 along the direction of F2.

[0048] Depend on Figure 2 It can be seen that, in fact, when the seedlings c can be thrown out from the seedling groove of the blade head b, there is still a certain angle between the centrifugal force F2 of the seedlings c and the bottom surface of the blade head b, and the blade head b still causes a certain obstacle to the throwing out of the seedlings c, and the throwing force of the blade head b is actually less than F2. That is, the throwing force of the seedlings is weakened to a certain extent, thereby affecting the depth of the seedlings into the soil after being thrown out, and causing a certain impact on the growth of the seedlings.

[0049] In order to overcome the above technical problems, the present embodiment provides a seedling throwing mechanism, including a seedling picking unit 100 and a seedling picking drive unit 200. The seedling picking drive unit 200 can drive the seedling picking unit 100 to and fro between the seedling picking position and the seedling throwing position, so that the seedling picking unit 100 can take the seedlings off the seedling blanket at the seedling picking position and throw the seedlings at the seedling throwing position. Importantly, the seedling picking unit 100 of the present solution is provided with a telescopic drive 13 that can drive the cutter head 11 to extend and retract, so that when in the seedling picking position, the cutter head 11 can normally extend a sufficient length, and the cutter head 11 can smoothly contact the seedling blanket and tear out a handful of seedlings; when rotating to the seedling throwing position, the cutter head 11 can automatically retract, speeding up the separation of the seedlings from the seedling clamping groove 111 of the cutter head 11, and reducing the obstruction caused by the cutter head 11 to the throwing of the seedlings.

[0050] In the specific structure of the seedling throwing mechanism of this embodiment, the seedling taking unit 100 includes a seedling knife bracket 12 and a telescopic drive 13 and a cutter head 11 installed on the seedling knife bracket 12, the telescopic drive 13 is connected to the cutter head 11, and the cutter head 11 is driven to be telescopic by the telescopic drive 13, so that the cutter head 11 is in an extended state at the seedling taking position and in a retracted state at the seedling throwing position; the seedling taking drive unit 200 is connected to the seedling knife bracket 12, and is used to drive the seedling taking unit 100 to and fro between the seedling taking position and the seedling throwing position.

[0051] Specifically, the blade 11 is in an extended state at the seedling picking position, and its extended length must at least meet the requirement that when the blade 11 rotates to the seedling picking position, there is a certain degree of overlap between the blade 11 and the blanket seedling, and the blade 11 can be embedded in the seedling. After the blade 11 continues to rotate downward and contacts the soil layer, a bunch of seedlings can be torn out from the blanket seedling. The specific extended length can be set with reference to the existing seedling throwing mechanism. The blade 11 is in a retracted state at the seedling throwing position, and its purpose is to allow the seedlings to quickly escape from the seedling holding groove 111 of the blade 11, so the retracted length of the blade 11 should not be less than the depth of the seedlings entering the seedling holding groove 111. The change process of the blade head 11 from the extended state to the retracted state can be a gradual process or a sudden process, preferably a sudden process (i.e., the blade head retracts instantaneously in a short period of time), that is, before reaching the seedling throwing position, the blade head 11 is in an extended state to ensure that the blade head 11 can press the seedlings to the predetermined seedling throwing position before throwing them out, so that the component force in the direction perpendicular to the ground after the seedlings are thrown out is large enough to avoid the problem of the seedlings being thrown out too quickly and being thrown obliquely upward or horizontally. After the seedlings are thrown out, in the process of the blade head 11 returning from the seedling throwing position to the seedling picking position, the extension process of the blade head 11 can be a gradual process or a sudden process, as long as it is ensured that the blade head 11 is in an extended state before contacting the seedlings.

[0052] In summary, based on the seedling throwing mechanism of the present embodiment, a telescopic drive 13 capable of controlling the extension and retraction of the cutter head 11 is provided on the seedling picking unit 100 on the seedling knife bracket 12. When picking the seedlings, the cutter head 11 is normally extended to provide a sufficient length for picking the seedlings; when throwing the seedlings, the telescopic drive 13 drives the cutter head 11 to shorten, so that the seedlings can quickly escape from the seedling holding groove 111 of the cutter head 11 under the action of their own inertia, avoiding the loss of throwing force caused by the obstruction of the cutter head 11 when the seedlings are thrown, increasing the depth of the seedlings into the soil after being thrown, which is more conducive to the growth of the seedlings.

[0053] In one embodiment, referring to Figure 4 The cutter head 11 has a seedling groove 111, and the seedling knife bracket 12 is also fixedly provided with a seedling pushing block 124 located below the seedling groove 111, so that when the cutter head 11 retracts, the seedlings can be pushed away from the seedling groove 111 by the seedling pushing block 124.

[0054] Generally speaking, at the seedling throwing position, the seedlings can be automatically thrown out from the seedling clamping groove 111 under the centrifugal force of the seedlings themselves. However, since there is still a certain angle between the cutter head 11 and the centrifugal force of the seedlings, the cutter head 11 may drive the seedlings to move in the direction away from the retraction of the cutter head 11 during the retraction process, thereby affecting the throwing of the seedlings. Therefore, in this solution, a seedling pushing block 124 located below the seedling clamping groove 111 is provided on the seedling knife support 12. When the cutter head 11 retracts, the cutter head 11 cannot drive the seedlings to move in the retraction direction under the limiting effect of the seedling pushing block 124, thereby solving the problem of affecting the throwing of the seedlings and making the seedling throwing process smoother.

[0055] Regarding the structure of the telescopic drive 13, in one embodiment, refer to Fig.10 The telescopic drive 13 includes a slide rod 131, a driving member 132 and a return spring 133. The cutter head 11 is connected to the slide rod 131. The slide rod 131 is slidably mounted on the rice knife bracket 12. The driving member 132 and the return spring 133 are both connected to the slide rod 131. The return spring 133 is used to push the slide rod 131 out to put the cutter head 11 in an extended state; the driving member 132 is used to push the slide rod 131 in to put the cutter head 11 in a retracted state.

[0056] The telescopic drive 13 is provided in the form of a combination of a driving member 132 and a reset spring 133, and the two push the sliding rod 131 to slide in opposite directions, so as to drive the sliding rod 131 to move back and forth linearly, thereby driving the blade head 11 to telescope. Therefore, in this solution, the driving member 132 only needs to be able to drive the sliding rod 131 to move in a fixed direction, and the reset of the sliding rod 131 can be achieved by the reset spring 133, which simplifies the use function of the driving member 132, thereby simplifying the structure of the driving member 132, facilitating the improvement of the reliability of the driving member 132, and reducing its implementation cost.

[0057] Regarding the arrangement of the driving member 132, in one embodiment, refer to Fig. 9 The driving member 132 includes a swing rod 1321 and a cam 1322. The cam 1322 is rotatably installed relative to the rice blade bracket 12. The middle part of the swing rod 1321 is hinged to the rice blade bracket 12, and one end is movably connected to the slide bar 131, and the other end abuts against the cam 1322. The rotation of the cam 1322 relative to the rice blade bracket 12 pushes the swing rod 1321 to swing, so that the swing rod 1321 pushes the slide bar 131 to slide.

[0058] Specifically, the cam 1322 is a rotating body with a variable diameter structure. As long as the swing rod 1321 can always be close to the surface of the cam 1322 from one direction, the rotation of the swing rod 1321 can be controlled by the rotation of the cam 1322, so that the swinging swing rod 1321 can drive the slide bar 131 to move linearly. The thrust of the swing rod 1321 to keep the swinging movement of the swing rod 1322 is provided by the reset spring 133; in order to realize that the swinging movement of the swing rod 1321 can be converted into the linear movement of the slide bar 131, the swing rod 1321 and the slide bar 131 are movably connected, and specifically, a connecting column can be fixedly set at the end of one of them, and a waist hole can be set at the end of the other, and the connecting column passes through the waist hole. The swing rod 1321 and the slide bar 131 can be linked by using the connecting column, and the waist hole can provide enough activity space for the connecting column.

[0059] This solution uses a structure composed of a cam 1322 and a rocker rod 1321 as the driving member 132 for driving the slide rod 131. It only needs to be able to drive the cam 1322 to rotate, which has the advantage of being easy to implement.

[0060] Other implementations of the driving member 132 may be a driving structure in which a motor, a gear and a rack cooperate, a driving structure in which a motor, a worm wheel and a worm cooperate, or an electromagnet structure.

[0061] In one embodiment, referring to Figure 8-9 The rice blade bracket 12 includes a rice blade left shell 121 and a rice blade right shell 122, a first installation cavity 123 is formed between the rice blade left shell 121 and the rice blade right shell 122, the telescopic drive 13 is installed in the first installation cavity 123, and one end of the sliding rod 131 extends out of the first installation cavity 123 and is connected to the knife head 11.

[0062] That is, the rice blade support 12 is set to a shell structure with a closed cavity, and the telescopic drive 13 is installed therein, which can isolate the telescopic drive 13 from the external environment, reduce the adhesion of moisture and soil to the surface of the telescopic drive 13, and reduce the occurrence of obstructions to the normal operation of the telescopic drive 13.

[0063] Among them, the connection between the left shell 121 of the rice blade and the right shell 122 of the rice blade can be in the form of screw connection, clamping, welding, adhesive connection, etc.; to ensure the stability of the extension and retraction of the sliding rod 131, a sliding mounting seat that matches the outer diameter of the sliding rod 131 can be set in the left shell 121 and the right shell 122 of the rice blade.

[0064] In one embodiment, referring to Figure 9-11 A spring stopper 125 is provided in the first installation cavity 123 , one end of the return spring 133 abuts against the spring stopper 125 , and the other end abuts against the slide rod 131 .

[0065] A spring stopper 125 is provided in the rice blade support 12 for fixing the end of the return spring 133 , so that the return spring 133 can be reliably installed, and the return spring 133 can stably push the slide bar 131 to move in one direction.

[0066] In one embodiment, referring to Fig.11 A spring mounting groove 1311 is provided on one side of the slide rod 131 , the return spring 133 is inserted into the spring mounting groove 1311 to abut against the slide rod 131 , and the spring blocking piece 125 extends into the spring mounting groove 1311 to abut against the return spring 133 .

[0067] A spring mounting groove 1311 capable of accommodating the return spring 133 is directly arranged in the slide bar 131, so that the return spring 133 and the slide bar 133 are overlapped. Compared with connecting the return spring 133 to the end of the slide bar 131, this form of the combination of the return spring 131 and the slide bar 131 has a shorter length, so it is beneficial to shorten the size of the seedling knife bracket 12 and facilitate the miniaturization design of the entire seedling taking unit 100.

[0068] In one embodiment, the seedling taking driving unit 200 includes a motor 22 and a rotating support, the output shaft of the motor 22 is connected to the rotating support, and the seedling taking unit 100 is fixedly mounted on the rotating support. The motor 22 of the seedling taking unit 100 revolves, and after the seedlings are taken out, the angle between the centrifugal force of the seedlings and the cutter head 11 remains unchanged. Based on the rotary drive 13 of this solution, when the set seedling throwing position is reached, the cutter head 11 is quickly retracted, so that the obstruction of the cutter head 11 to the seedlings can be eliminated and the seedlings can be thrown out.

[0069] In one embodiment, the seedling retrieval drive unit 200 includes a motor 22 and an angle retainer 21, and the angle retainer 21 is connected to the motor 22 and the seedling retrieval unit 100. The motor 22 drives the angle retainer 21 to rotate, so that the seedling retrieval unit 100 can move back and forth between the seedling retrieval position and the seedling throwing position; and the angle retainer 21 can keep the inclination angle of the seedling retrieval unit 100 fixed at all times.

[0070] The present solution provides an angle retainer 21 so that the inclination angle of the seedling retrieval unit 100 always remains unchanged, so that in the seedling retrieval position, the surface of the cutter head 11 can be perpendicular to the centrifugal force of the seedlings, so that the seedlings can be smoothly brought downward; as the seedlings rotate with the cutter head 11, the angle between the centrifugal force of the seedlings and the surface of the cutter head 11 gradually decreases while the inclination angle of the cutter head 11 itself remains unchanged, thereby achieving the purpose of smoothly throwing the seedlings out when reaching the seedling throwing position.

[0071] In one embodiment, the angle retainer 21 is a rotating gear retainer.

[0072] The use of a rotating gear-type angle retainer 21 has the advantages of stable operation and low vibration, which is conducive to increasing the rotation speed of the angle retainer 21, that is, it is conducive to increasing the seedling throwing speed.

[0073] In one embodiment, referring to Figure 2-3 The angle retainer 21 includes a gear bracket 211, a sun gear 212 and an output gear 214. The output gear 214 has the same number of teeth as the sun gear 212. The sun gear 212 is coaxial with the motor 22 and is relatively fixedly arranged. The output shaft of the motor 22 is connected to the gear bracket 211. The output gear 214 is rotatably installed on the gear bracket 211 and is transmission-connected to the sun gear 212. The seedling taking unit 100 is fixedly connected to the output gear 214, so that the seedling taking unit 100 can rotate around the sun gear 212 to move back and forth between the seedling taking position and the seedling throwing position, and keep its own inclination angle fixed relative to the rotation of the gear bracket 211.

[0074] Specifically, the sun gear 212 is fixed relative to the motor 22, that is, the rotation of the motor 22 will not drive the sun gear 212 to rotate; and the gear bracket 211 is driven to rotate by the motor 22, so the output gear 214 follows the gear bracket 211 in the process of rotating around the motor 22. Under the push of the sun gear 212, the output gear 214 will rotate relative to the gear bracket 211, and because the output gear 214 and the sun gear 212 have the same number of teeth, the output gear 214 revolves around the sun gear 212 once, and the output gear 214 will rotate relative to the gear bracket 211. The final result is that the relative positions of various points on the output gear 214 will always remain unchanged; therefore, the relative positions of various points on the seedling taking unit 100 will always remain unchanged, thereby achieving the purpose of keeping the inclination angle of the seedling taking unit 100 itself fixed.

[0075] In one embodiment, the angle retainer 21 further includes an intermediate gear 213 , which is rotatably mounted in the gear bracket 211 and is located between the sun gear 212 and the output gear 214 to achieve a transmission connection between the sun gear 212 and the output gear 214 .

[0076] Specifically, the number of intermediate gears 213 can be one or more, and the transmission of the intermediate gears 213 can increase the wheelbase between the sun gear 212 and the output gear 214, thereby increasing the distance between the seedling picking unit 100 and the axis of the sun gear 212. Therefore, two or more sets of intermediate gears 213 and output gears 214 can be axially arranged around the sun gear 212, and each output gear 214 can be connected to a seedling picking unit 100, thereby realizing that the gear bracket 211 rotates one circle, and multiple seedling picking units 100 perform seedling picking and seedling throwing operations respectively, thereby achieving the effect of doubling the efficiency of seedling throwing.

[0077] In one embodiment, referring to Figure 6-7 The gear bracket 211 is provided with a connecting shaft 215 coaxial with the output gear 214 , and the cam 1322 is fixed to the connecting shaft 215 , so that the cam 1322 can be rotatably installed relative to the rice blade bracket 12 .

[0078] Specifically, it can be known from the above that when the gear bracket 211 rotates one circle, the output gear 214 just rotates one circle relative to the gear bracket 211. By using this condition, the connecting shaft 215 is directly extended from the gear bracket 211 for installing the cam 1322. When the seedling blade bracket 12 revolves around the sun gear 212, the cam 1322 just rotates one circle relative to the seedling blade bracket 12, which can just meet the purpose of extending the blade head 11 at the seedling taking position and retracting the blade head 11 at the seedling throwing position. Therefore, this embodiment does not need to provide a separate power source for the cam 1322, which can reduce costs and has the advantages of allowing stability and reliability.

[0079] In one embodiment, the rice blade bracket 12 has a spline sleeve 126, and the output gear 214 has a spline hole 2141 corresponding to the spline sleeve 126. The spline sleeve 126 is embedded in the spline hole 2141 to achieve a fixed connection between the rice blade bracket 12 and the output gear 214, and the connecting shaft 215 passes through the center of the spline sleeve 126 and is connected to the cam 1322.

[0080] The spline sleeve 126 is matched with the spline hole 2141 of the output gear 214, so that the reliable fixed connection between the rice blade support 12 and the output gear 214 can be achieved. In addition, the center of the spline sleeve 126 is set as a through cavity, so that the connecting shaft 215 can pass through it, so that the connecting shaft 215 can be connected to the cam 1322 located on the side of the rice blade support 12 facing away from the spline sleeve 126. This structure can achieve the purpose of driving the cam 1322 to rotate relative to the rice blade support 12, and has the advantage of good reliability.

[0081] In one embodiment, referring to Figure 4 The gear bracket 211 includes a left gear housing 2111 and a right gear housing 2112, and a second installation cavity 2113 capable of installing the sun gear 212 and the output gear 214 is formed between the left gear housing 2111 and the right gear housing 2112; the right gear housing 2112 has a avoidance hole 2114 allowing the spline sleeve 126 to pass through, and the spline sleeve 126 extends through the avoidance hole 2114 to the second installation cavity 2113 to be connected to the output gear 214, and the connecting shaft 215 is arranged on the left gear housing 2111 to pass through the center of the spline sleeve 126.

[0082] Similarly, using a shell structure with a closed inner cavity to install each gear can separate the gear from the external environment, which is beneficial to ensuring the stability of the operation of each gear.

[0083] Reference Figure 5 Preferably, a circular boss is provided on one side of the sun gear 212 close to the left gear housing 2111, and a through hole is correspondingly provided on the left gear housing 2111. The boss passes through the through hole and extends to the outside of the left gear housing 2111, so that the sun gear 212 can be fixedly connected to the frame of the rice transplanter, so as to achieve the purpose of relative fixation between the sun gear 212 and the motor 22. The rotating shaft of the motor 22 passes through the sun gear 212 and is connected to the right gear housing 2112, so as to achieve the purpose of the motor 22 driving the gear bracket 211 to rotate.

[0084] Regarding the angle retainer 21, in another embodiment, the angle retainer 21 is a crank rocker type retainer.

[0085] Specifically, the crank rocker type retainer can also achieve the purpose of driving the seedling taking unit 100 to and fro between the seedling taking position and the seedling throwing position, and keeping the inclination angle of the seedling taking unit 100 unchanged. The crank rocker type structure is specifically implemented using the parallelogram principle, and can be implemented with reference to the existing crank rocker mechanism, which will not be described in detail in this embodiment.

[0086] On the other hand, a rice seedling throwing machine is provided, comprising a rice seedling sending mechanism and a rice seedling throwing mechanism, wherein the rice seedling throwing mechanism is used to take out the rice seedlings from the rice seedling sending mechanism and throw them out.

[0087] Specifically, the seedling throwing mechanism is generally fixed on the seedling throwing machine, and the seedling delivery mechanism can transport the blanket seedlings to the seedling taking position of the seedling throwing mechanism to achieve the purpose of continuous seedling throwing.

[0088] Similarly, based on the seedling throwing mechanism of this embodiment, the seedling throwing machine of this embodiment has the advantages of small resistance to seedling throwing and smoother throwing process, which is beneficial to increasing the depth of seedling roots into the soil and is more conducive to the growth of seedlings.

[0089] On the other hand, a drone rice seedling transplanting device is provided, comprising a drone and a rice seedling transplanter, wherein the rice seedling transplanter is mounted under the drone.

[0090] Specifically, the drone has the advantage of high flight speed, and the seedling-casting machine carried under the drone does not need to contact the field soil and water, so its running resistance is smaller, which is conducive to increasing the transfer speed of the seedling-casting machine, and thus can improve the efficiency of seedling-casting. In addition, the drone seedling-casting equipment of this embodiment is equipped with the above seedling-casting machine, which is conducive to increasing the soil penetration depth of the seedling roots, which is more conducive to the growth of the seedlings.

[0091] In the description of this article, it should be understood that the terms "upper", "lower", "left", "right", etc., and other directions or positional relationships are only for the convenience of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation of this application. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0092] In the description of this specification, the description with reference to the terms "an embodiment", "example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0093] In addition, it should be understood that although this specification is described according to implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0094] The technical principles of the present application are described above in conjunction with specific embodiments. These descriptions are only for explaining the principles of the present application and cannot be interpreted as limiting the scope of protection of the present application in any way. Based on the explanations herein, those skilled in the art can think of other specific implementation methods of the present application without creative work, and these methods will fall within the scope of protection of the present application.

Claims

1. A seedling throwing mechanism, characterized in that: include: A seedling picking unit (100) comprises a seedling knife support (12), a telescopic drive (13) and a knife head (11) mounted on the seedling knife support (12), wherein the telescopic drive (13) is connected to the knife head (11), and the knife head (11) is driven to be telescopic by the telescopic drive (13), so that the knife head (11) is in an extended state at a seedling picking position and in a retracted state at a seedling throwing position; The seedling taking driving unit (200) is connected to the seedling knife support (12) and is used to drive the seedling taking unit (100) to and fro between the seedling taking position and the seedling throwing position.

2. The seedling throwing mechanism according to claim 1, characterized in that: The blade head (11) has a seedling retaining groove (111), and the seedling blade support (12) is also fixedly provided with a seedling pushing block (124) located below the seedling retaining groove (111), so that when the blade head (11) is retracted, the seedlings can be pushed away from the seedling retaining groove (111) by the seedling pushing block (124).

3. The seedling throwing mechanism according to claim 1 or 2, characterized in that: The telescopic drive (13) comprises a slide bar (131), a driving member (132) and a return spring (133); the cutter head (11) is connected to the slide bar (131); the slide bar (131) is slidably mounted on the rice blade support (12); the driving member (132) and the return spring (133) are both connected to the slide bar (131); the return spring (133) is used to push the slide bar (131) out so that the cutter head (11) is in an extended state; the driving member (132) is used to push the slide bar (131) in so that the cutter head (11) is in a retracted state.

4. The seedling throwing mechanism according to claim 3, characterized in that: The driving member (132) comprises a swing rod (1321) and a cam (1322); the cam (1322) is rotatably mounted relative to the rice blade support (12); the middle part of the swing rod (1321) is hinged to the rice blade support (12), one end of the swing rod (1321) is movably connected to the slide bar (131), and the other end abuts against the cam (1322); the rotation of the cam (1322) relative to the rice blade support (12) pushes the swing rod (1321) to swing, so that the swing rod (1321) pushes the slide bar (131) to slide.

5. The seedling throwing mechanism according to claim 3, characterized in that: The vine blade support (12) comprises a vine blade left shell (121) and a vine blade right shell (122), a first installation cavity (123) is formed between the vine blade left shell (121) and the vine blade right shell (122), the telescopic drive (13) is installed in the first installation cavity (123), and one end of the sliding rod (131) extends out of the first installation cavity (123) and is connected to the blade head (11).

6. The seedling throwing mechanism according to claim 5, characterized in that: A spring stopper (125) is provided in the first installation cavity (123); one end of the return spring (133) abuts against the spring stopper (125), and the other end abuts against the slide rod (131).

7. The seedling throwing mechanism according to claim 6, characterized in that: A spring installation groove (1311) is provided on one side of the slide bar (131), the return spring (133) is inserted into the spring installation groove (1311) to abut against the slide bar (131), and the spring blocking piece (125) extends into the spring installation groove (1311) to abut against the return spring (133).

8. The seedling throwing mechanism according to claim 4, characterized in that: The seedling taking drive unit (200) comprises a motor (22) and an angle retainer (21); the angle retainer (21) is connected to the motor (22) and the seedling taking unit (100); the motor (22) drives the angle retainer (21) to rotate, so that the seedling taking unit (100) can move back and forth between the seedling taking position and the seedling throwing position; and the angle retainer (21) can keep the inclination angle of the seedling taking unit (100) fixed at all times.

9. The seedling throwing mechanism according to claim 8, characterized in that: The angle retainer (21) is a rotating gear type retainer.

10. The seedling throwing mechanism according to claim 9, characterized in that: The angle retainer (21) comprises a gear support (211), a sun gear (212) and an output gear (214); the output gear (214) has the same number of teeth as the sun gear (212); the sun gear (212) is coaxial with the motor (22) and relatively fixedly arranged; the output shaft of the motor (22) is connected to the gear support (211); the output gear (214) is rotatably mounted on the gear support (211) and is transmission-connected to the sun gear (212); the seedling taking unit (100) is fixedly connected to the output gear (214), so that the seedling taking unit (100) can rotate around the sun gear (212) to reciprocate between the seedling taking position and the seedling throwing position, and keep its own inclination fixed relative to the rotation of the gear support (211).

11. The seedling throwing mechanism according to claim 10, characterized in that: The angle retainer (21) further comprises an intermediate gear (213), which is rotatably mounted in the gear bracket (211) and is located between the sun gear (212) and the output gear (214) to achieve transmission connection between the sun gear (212) and the output gear (214).

12. The seedling throwing mechanism according to claim 10, characterized in that: The gear support (211) is provided with a connecting shaft (215) coaxial with the output gear (214), and the cam (1322) is fixed to the connecting shaft (215), so that the cam (1322) can be rotatably mounted relative to the rice blade support (12).

13. The seedling throwing mechanism according to claim 12, characterized in that: The rice blade support (12) has a spline sleeve (126), the output gear (214) has a spline hole (2141) corresponding to the spline sleeve (126), the spline sleeve (126) is embedded in the spline hole (2141) to achieve a fixed connection between the rice blade support (12) and the output gear (214), and the connecting shaft (215) passes through the center of the spline sleeve (126) and is connected to the cam (1322).

14. The seedling throwing mechanism according to claim 13, characterized in that: The gear bracket (211) comprises a left gear housing (2111) and a right gear housing (2112); a second mounting cavity (2113) capable of mounting the sun gear (212) and the output gear (214) is formed between the left gear housing (2111) and the right gear housing (2112); the right gear housing (2112) has a position avoidance hole (2114) allowing the spline sleeve (126) to pass through; the spline sleeve (126) extends through the position avoidance hole (2114) into the second mounting cavity (2113) to be connected to the output gear (214); and the connecting shaft (215) is arranged on the left gear housing (2111) to pass through the center of the spline sleeve (126).

15. The seedling throwing mechanism according to claim 8, characterized in that: The angle retainer (21) is a crank rocker type retainer.

16. A rice seedling throwing machine, characterized in that: It comprises a seedling sending mechanism and a seedling throwing mechanism, wherein the seedling throwing mechanism is used for taking out the seedlings from the seedling sending mechanism and throwing them out, and the seedling throwing mechanism is the seedling throwing mechanism described in any one of claims 1-15.

17. A drone seedling throwing device, characterized in that: It comprises a drone and a rice-transporting machine, wherein the rice-transporting machine is mounted under the drone, and the rice-transporting machine is the rice-transporting machine according to claim 16.

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