A seedling throwing mechanism and unmanned aerial vehicle

Abstract

The application discloses a seedling throwing mechanism and unmanned aerial vehicle and belongs to the technical field of agricultural equipment. The seedling throwing mechanism comprises a load module, a seedling conveying module and a seedling throwing module. The seedling conveying module is used for supporting and conveying the blanket seedlings. The seedling throwing module comprises a first driver and a seedling picker. The first driver is used for driving the seedling picker to move along a working track. When the seedling picker moves along the first stroke of the working track, the seedling picker moves from the back of the seedling conveying module to the front of the seedling conveying module, and the seedling picker is used for separating the seedlings from the blanket seedlings. When the seedling picker moves along the second stroke of the working track, the seedlings on the seedling picker are thrown out. The seedling throwing mechanism and unmanned aerial vehicle are suitable for picking and throwing the seedlings from the blanket seedlings, have a wider application range, the seedling picker of the seedling throwing mechanism reversely rotates to pick the seedlings, the seedlings can be directly separated without contacting the leaves, the amount of the seedlings picked each time is more uniform, the quality of the seedling throwing operation is improved, and the seedling throwing efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of plant protection equipment, and particularly relates to a seedling throwing mechanism and a unmanned aerial vehicle. BACKGROUND

[0002] In the field of agricultural planting, a part of crops needs to be first grown into seedlings and then planted. For mechanical planting of seedlings, in the related art, a farm machine that travels on the ground is used for seedling transplanting or seedling throwing. However, this seedling planting method needs to reserve a space for the farm machine to travel on the ground, is limited by the site, and has low utilization rate of planting space. In the related art, some unmanned aerial vehicles are also provided with a seedling throwing system, but there are still disadvantages such as poor operation effect and unsuitability for popularization and application. SUMMARY

[0003] The present application relates to the technical field of plant protection equipment, and particularly relates to a seedling throwing mechanism and a unmanned aerial vehicle.

[0004] To achieve the above-mentioned purpose, the present application adopts the following technical scheme:

[0005] A seedling throwing mechanism comprises:

[0006] A load module is used for being connected with a unmanned aerial vehicle;

[0007] A seedling feeding module is installed on the load module, and is used for supporting and conveying a blanket seedling;

[0008] A seedling throwing module is installed on the load module, and comprises a first driver and a seedling taking device. The first driver is used for driving the seedling taking device to move along a working track. When the seedling taking device moves along a first stroke of the working track, the seedling taking device moves from the back of the seedling feeding module to the front of the seedling feeding module, and the seedling taking device is used for separating seedlings from the blanket seedling. When the seedling taking device moves along a second stroke of the working track, the seedlings on the seedling taking device are thrown out.

[0009] Optionally, the seedling feeding module comprises a seedling feeding disc and a conveying assembly. The seedling feeding disc is used for supporting the blanket seedling, one end of the seedling feeding disc is provided with a seedling feeding port, and the conveying assembly is used for conveying the blanket seedling to the seedling feeding port.

[0010] The seedling throwing module is arranged close to the seedling feeding port. The seedling feeding module and the seedling throwing module can relatively move along a transverse direction, so that the seedling throwing module can take and throw the seedlings in different areas of the seedling feeding module.

[0011] Optionally, the seedling throwing mechanism further comprises a seedling supporting plate.

[0012] The seedling supporting plate is arranged beside the seedling feeding port, and is used for supporting the blanket seedlings fed by the seedling feeding module; the seedling supporting plate is provided with a seedling taking opening, and the seedling taker passes through the seedling taking opening when moving along the first stroke, so as to separate the blanket seedlings supported by the seedling supporting plate.

[0013] Optionally, the seedling supporting plate comprises a back supporting plate and a plurality of side supporting plates; the seedling taking opening comprises a first opening and a second opening which are connected in communication;

[0014] The back supporting plate comprises a first supporting plate part and a plurality of second supporting plate parts which are arranged at intervals and connected to the same side of the first supporting plate part, and the first opening is formed between adjacent second supporting plate parts;

[0015] The plurality of side supporting plates are arranged at intervals, and the side supporting plates are connected to the side of the second supporting plate part away from the first supporting plate part at an angle, and the second opening is formed between adjacent side supporting plates.

[0016] Optionally, the seedling taker comprises a seedling gripper, and the seedling gripper comprises a seedling taking bottom plate and seedling taking side plates connected to opposite sides of the seedling taking bottom plate; a seedling taking groove is formed between the seedling taking bottom plate and the two seedling taking side plates;

[0017] The side of the seedling taking side plate away from the seedling taking bottom plate forms a seedling cutting side edge.

[0018] Optionally, the seedling throwing module comprises a seedling throwing seat, and the seedling throwing seat is installed on the load module; the seedling taker comprises a connecting arm connected to the seedling gripper, and the seedling taker is installed on the seedling throwing seat through the connecting arm;

[0019] The seedling taking side plate comprises a front plate part and a rear plate part, the front plate part and the rear plate part are connected, the rear plate part is connected to the connecting arm, and the seedling cutting side edge of the front plate part gradually increases in height from one end away from the connecting arm to one end close to the connecting arm.

[0020] Optionally, the seedling throwing module comprises an ejector, and the ejector is arranged on the seedling taker;

[0021] The ejector comprises an ejecting driving member and a seedling pushing plate, and the seedling pushing plate and the seedling taker are relatively movable under the driving of the ejecting driving member, so as to push the seedlings on the seedling taker out of the seedling taker through the seedling pushing plate.

[0022] Optionally, the seedling throwing module comprises a seedling throwing seat and a plurality of seedling takers; a fixed end of the first driver is installed on the load module, a driving end of the first driver is connected to the seedling throwing seat, so as to drive the seedling throwing seat to rotate around a first axis; the plurality of seedling takers are arranged at intervals around the first axis.

[0023] The seedling taking device is fixed to the seedling throwing seat or is rotatably mounted to the seedling throwing seat through a second rotating shaft.

[0024] Optionally, when the seedling taking device is mounted to the seedling throwing seat through the second rotating shaft, the seedling throwing module is further configured to:

[0025] The seedling throwing module comprises a gear set, the gear set comprising a sun gear and a plurality of output gears, the output gears being in driving connection with the sun gear; the sun gear is fixed to the seedling throwing seat, and the axis of the sun gear coincides with the first axis; the output gears are mounted to the seedling throwing seat through the second rotating shaft, and a plurality of the seedling taking devices are circumferentially limitedly connected with a plurality of the output gears respectively; when the first driver drives the seedling throwing seat to rotate around the first axis, the seedling taking devices revolve around the first axis and rotate around the second rotating shaft.

[0026] An unmanned aerial vehicle, comprising:

[0027] a fuselage;

[0028] The seedling throwing mechanism according to any of the above solutions, wherein the load module is connected with the fuselage.

[0029] Optionally, the seedling taking device has a seedling supporting surface, the seedling supporting surface being used for supporting the back surface of the blanket seedlings when the seedling taking device moves along the first stroke; the seedling supporting surface is inclined upward when the seedling taking device moves along the first stroke, and the angle of the seedling supporting surface relative to the first plane is 0-75 degrees.

[0030] The first plane is a plane parallel to the rolling axis and the pitching axis of the unmanned aerial vehicle.

[0031] The seedling throwing mechanism is suitable for being carried on the unmanned aerial vehicle to perform flight seedling throwing; the seedling raising method widely used in the agricultural field is blanket seedling raising, and the seedling throwing mechanism is suitable for taking and throwing the blanket seedlings, and has a wider application range; the seedling taking device of the seedling throwing mechanism adopts the reverse rotation seedling taking mode, the seedling taking device can separate the seedlings without contacting the leaves, directly separates the blanket base, causes less damage to the seedlings, and the amount of seedlings taken each time is more uniform, which is beneficial to improving the seedling throwing operation quality.

[0032] The unmanned aerial vehicle carries the seedling throwing mechanism, and the seedling throwing operation efficiency and effect can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0033] The application will be further described in detail below with reference to the drawings and embodiments.

[0034] Figure 1 A schematic view of a seedling tray of a pot seedling in the related art;

[0035] Figure 2 is a schematic view of a blanket seedling;

[0036] Figure 3 is a side view of a blanket seedling;

[0037] Figure 4 is a schematic view of a hole blanket seedling;

[0038] Figure 5 is a single seedling taken out of a blanket seedling by a seedling taker of an embodiment of the present application;

[0039] Figure 6 is a schematic view of a structure of a seedling throwing mechanism of an embodiment of the present application (in the figure, the seedling taker is ready to take out seedlings);

[0040] Figure 7 is a schematic view of a structure of a seedling throwing mechanism of an embodiment of the present application (in the figure, seedlings are thrown out of the seedling taker);

[0041] Figure 8 is a schematic view of a seedling taker of a seedling throwing mechanism of an embodiment of the present application moving along a first stroke (in the figure, two positions when moving along the first stroke are shown);

[0042] Figure 9 is a schematic view of a seedling taker of a seedling throwing mechanism of an embodiment of the present application moving along a second stroke (in the figure, two positions when moving along the second stroke are shown);

[0043] Figure 10 is a schematic view of a cooperation between a seedling feeding module and a seedling throwing module of a seedling throwing mechanism of an embodiment of the present application;

[0044] Figure 11 is a schematic view of a structure of a seedling holding plate of a seedling throwing mechanism of an embodiment of the present application (first);

[0045] Figure 12 is a schematic view of a structure of a seedling holding plate of a seedling throwing mechanism of an embodiment of the present application (second);

[0046] Figure 13 is a schematic view of a structure of a seedling claw of a seedling taker of a seedling throwing mechanism of an embodiment of the present application;

[0047] Figure 14 is a schematic view of a structure of a seedling throwing module of a first embodiment of the present application;

[0048] Figure 15 is a schematic view of a structure of a seedling throwing module of a second embodiment of the present application;

[0049] Figure 16 is a schematic view of a structure of a seedling throwing module of a third embodiment of the present application;

[0050] Figure 17Structure diagram of the throwing seedling module of the fourth embodiment of the present application;

[0051] Figure 18 Structure diagram of the throwing seedling module of the fifth embodiment of the present application;

[0052] Figure 19 Structure diagram of the throwing seedling module of the sixth embodiment of the present application;

[0053] Figure 20 Process diagram of seedling taking and throwing using the throwing seedling module in Figure 19

[0054] Structure diagram of the unmanned aerial vehicle of the present application; Figure 21

[0055] Structure diagram of the heading axis, the roll axis and the pitch axis of the unmanned aerial vehicle. Figure 22 In the figure: 100, seedling throwing mechanism; 10, load module; 20, seedling feeding module; 30, throwing seedling module;

[0056] 11, load frame; 12, foot stand; 131, first support; 132, second support; 133, third support; 134, fourth support; 135, main frame body;

[0057] 21, seedling feeding disc; 22, conveying assembly; 23, seedling supporting plate; 231, seedling taking opening; 2311, first opening; 2312, second opening; 232, back supporting plate; 2321, first supporting plate part; 2322, second supporting plate part; 233, side supporting plate; 24, horizontal moving driving mechanism;

[0058] 301, first axis; 302, second axis; 31, first driver; 32, seedling throwing seat; 321, first housing; 322, second housing; 33, seedling taker; 331, connecting arm; 332, seedling claw; 3321, seedling taking side plate; 33211, front plate part; 33212, rear plate part; 3322, seedling taking bottom plate; 3323, seedling cutting side edge; 34, ejector; 341, ejecting driving member; 342, seedling pushing plate; 35, gear set; 351, sun gear; 352, intermediate gear; 353, output gear; 371, power output shaft; 372, fixed shaft;

[0059] 210, airframe; 220, rotor;

[0060] 810, blanket seedling; 811, blanket base; 812, leaf; 813, seedling; 820, pot seedling seedling disc;

[0061] 900, operation track; 910, first stroke; 920, second stroke.

[0062] ​DETAILED DESCRIPTION

[0063] In order to make the technical problems solved by the present application, the technical solutions adopted and the technical effects achieved more clearly, the technical solutions of the embodiments of the present application will be further described in detail below with reference to the drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0064] In the description of the present application, unless explicitly defined and limited otherwise, the terms "connected", "fixed" should be understood broadly, for example, can be fixed connection, can also be detachable connection or integral; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between 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.

[0065] In the present application, unless explicitly defined and limited otherwise, the "upper" or "lower" of the first feature to the second feature can include that the first and second features are in direct contact, or can include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the "upper", "above" and "on" of the first feature to the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The "below", "under" and "under" of the first feature to the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0066] In the related art, the plant protection equipment equipped with the seedling throwing system generally has the following problems:

[0067] Firstly, for the ground agricultural machine (plant protection vehicle) equipped with the seedling throwing system, it is necessary to reserve a space for the agricultural machine to run on the ground during operation, which has the problems of limited utilization of planting space and great limitation by terrain, and the ground agricultural machine cannot easily reach and be applied to special terrains such as terraced fields. Secondly, in some technologies, the seedling throwing system is equipped on a unmanned aerial vehicle, but such seedling throwing system has requirements for the type of seedlings and can only throw non-mat seedlings (such as pot seedlings), but the main seedling raising method of farmers is mat seedling, and the pot seedling raising method is not popular, so the unmanned aerial vehicle equipped with the seedling throwing system in the related art cannot be widely applied.

[0068] Based on this, the present application provides a seedling throwing mechanism 100 and a unmanned aerial vehicle. The seedling throwing mechanism 100 is suitable for throwing mat seedlings 810, which can be mat seedlings or hole mat seedlings.

[0069] The seedling throwing mechanism 100 is suitable for use on drones for aerial seedling throwing, with a wide range of applications and no terrain limitations. A more widely adopted seedling raising method in agriculture is blanket seedling raising, and this seedling throwing mechanism 100 is suitable for picking and throwing blanket seedlings 810, further expanding its applicability. The seedling picker 33 of the seedling throwing mechanism 100 uses a reverse rotation method to pick up seedlings, resulting in a more uniform amount of seedlings 813 picked up each time.

[0070] It should be noted that the "seedling" in this invention can be rice seedling 813, melon seedling 813, vegetable seedling 813, etc.

[0071] Figure 1 The diagram illustrates the structure of potted seedlings, which are non-matted seedlings. Figure 1 The diagram illustrates a seedling tray 820 for potted seedlings. The seedling tray 813 has several grooves evenly distributed on it, with an opening at the top of each groove. Each groove contains one seedling, and each groove has a hole at the bottom. A needle is inserted into the groove through the hole at the bottom to push the seedling 813 out for transplanting. However, this method of seedling cultivation is not widespread.

[0072] Figure 2 , Figure 3 The diagram illustrates the structure of the blanket seedling system. In blanket seedling cultivation, the system comprises a base blanket 811 and numerous seedlings 813 growing out of it. The base blanket 811 includes soil and the roots of the seedlings 813, with the roots of the seedlings 813 interconnected within the base blanket 811. Blanket seedlings are the primary method of seedling cultivation used by farmers.

[0073] Figure 4 The diagram illustrates the structural form of the perforated seedling. The difference between a perforated seedling and a regular seedling lies in the fact that a grid-like groove is formed on the back of the substrate 811 of the perforated seedling, creating a grid-like distribution of protrusions on the back of the substrate 811 through the crisscrossing grooves. Perforated seedlings can be formed by pre-cutting, but not completely severing, the substrate 811 of the perforated seedling.

[0074] In related technologies, no drones capable of transplanting seedlings 810 (blanket seedlings or perforated blanket seedlings) have been found, which cannot meet the needs of some situations requiring drone transplanting. This application provides a transplanting mechanism 100 suitable for transplanting seedlings 810 (blanket seedlings or perforated blanket seedlings), and this transplanting mechanism 100 is suitable for mounting on a drone for aerial transplanting. When transplanting seedlings using the transplanting mechanism 100 of this application, the seedlings 810 need to be cut using a seedling picker 33, breaking the bulk seedlings 810 into multiple individual seedlings 813 (e.g., ...). Figure 5 (As shown).

[0075] Please refer to Figure 1 and Figure 2The application provides a seedling throwing mechanism 100 and a UAV comprising the seedling throwing mechanism 100. One, two, three, four or more sets of seedling throwing mechanisms 100 can be carried on the UAV, the seedling throwing mechanism 100 is used to separate the blanket seedlings 810, and the separated seedlings 813 are thrown out by centrifugal force and / or elastic force to realize the seedling throwing operation. Meanwhile, the flight of the UAV is coordinated to realize the flight seedling throwing operation.

[0076] The seedling throwing mechanism 100 can throw the seedlings 813 in multiple ways, and the seedling throwing mechanism 100 can throw the seedlings 813 by centrifugal throwing and / or elastic throwing. In an embodiment, after the seedling throwing mechanism 100 separates the seedlings 813 from the blanket seedlings, the seedlings 813 can be thrown out by centrifugal force. In an embodiment, after the seedling throwing mechanism 100 separates the seedlings 813 from the blanket seedlings, the separated seedlings 813 can be thrown out by elastic force. In an embodiment, the seedling throwing mechanism 100 can throw the separated seedlings 813 by the combined action of centrifugal force and elastic force.

[0077] The seedling throwing mechanism 100 comprises a load module 10, a seedling feeding module 20 and a seedling throwing module 30. The load module 10 is arranged on the UAV. The seedling feeding module 20 is arranged on the load module 10, and the seedling feeding module 20 is used to support and feed the blanket seedlings 810.

[0078] The seedling throwing module 30 is arranged on the load module 10, and the seedling throwing module 30 is used to perform the seedling taking operation and the seedling throwing operation. After the seedling throwing module 30 separates the seedlings 813 from the blanket seedlings on the seedling feeding module 20, the seedlings 813 are thrown out by centrifugal force and / or elastic force. In this way, the UAV can carry the seedling throwing mechanism 100 to perform the seedling throwing operation. The blanket seedlings are fed by the seedling feeding module 20, and the seedlings 813 are thrown out after the blanket seedlings are separated by the seedling throwing module 30, so that the flight seedling throwing operation of the blanket seedlings is realized.

[0079] It should be noted that there are many ways to separate, for example, cutting, grabbing, pushing out, pressing down, digging out and the like. The specific separation and seedling taking method is not limited.

[0080] In this embodiment, the UAV is a rotor 220 UAV, specifically a four-rotor 220 UAV. Of course, it can also be a single-rotor 220 UAV, a double-rotor 220 UAV, a six-rotor 220 UAV, an eight-rotor 220 UAV, etc. The UAV can automatically operate according to a 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 is normally placed or is flying.

[0081] The seedling taking device 33 of the seedling throwing mechanism 100 is configured to be rotatable. The seedling taking device 33 cuts the mat base 811 in the process of rotation to separate the single seedling 813 from the mat seedling 810. The seedling taking device 33 can take the seedlings from one side to the other side of the first row of the mat seedling 810 delivered by the seedling feeding module 20, and then take the seedlings from the second row.

[0082] The inventor finds that the seedling taking device 33 is suitable for mechanically separating the seedlings 813 from the mat seedling 810 and improving the seedling taking efficiency by adopting the rotating cutting seedling taking mode. However, the leaves 812 of the mat seedling may be intertwined in some areas. If the seedling taking device 33 rotates from the front to the back of the mat surface to take the seedlings, the seedling taking device 33 will pass through the leaves 812 before contacting the mat base 811. Thus, when the seedling taking device 33 aims to cut the mat base 811 in the first area, the seedling taking device 33 may pull the leaves 812 in the second area when rotating through the area of the leaves 812. Thus, in the process of separating the seedlings 813 in the first area from the whole mat seedling, the seedling taking device 33 may separate part of the mat base 811 in the second area due to pulling the leaves 812 in the second area, which may result in that the actual seedling taking amount is greater than the target seedling taking amount. Thus, the seedling taking amount is sometimes large and sometimes small, which results in uneven seedling taking amount in different times.

[0083] Especially when the seedling throwing mechanism 100 is mounted on the unmanned aerial vehicle, the unmanned aerial vehicle needs to fly to a position at a certain height from the ground to throw the seedlings. If the amount of seedlings 813 thrown each time is uneven when flying to throw the seedlings, the weight of the seedlings 813 will be different, which results in different throwing distances of the single seedlings 813, is not conducive to more accurate control of the throwing distance of the seedlings 813, and affects the throwing effect. In other words, the seedling throwing mechanism 100 mounted on the unmanned aerial vehicle has higher requirements for the uniformity of the seedling taking amount of each time than the seedling throwing mechanism 100 mounted on the ground agricultural machine.

[0084] In order to achieve a better seedling throwing effect, the seedling taking device 33 is configured to rotate reversely. The seedling taking device 33 rotates from the back of the seedling feeding module 20 and the mat seedling 810 to the front of the seedling feeding module 20 and the mat seedling 810 (i.e., rotates from the root to the seedling head direction). Thus, the seedling taking device 33 can directly cut the mat base 811 without contacting the leaves 812. After cutting the mat base 811, the seedling taking device 33 continues to rotate reversely to separate the single seedling 813. In this process, the seedling taking device 33 moves along the growth direction of the leaves 812 and is not easy to pull the leaves 812.

[0085] Figures 6 to 9 In the embodiment, the front of the seedling feeding module 20 and the mat seedling 810 is located on the side close to the F1 direction, and the back is located on the side close to the F2 direction. Figures 6 to 9 In the embodiment, the reverse rotation of the seedling taking device 33 refers to the rotation of the seedling taking device 33 to the F1 direction.Figure 21 In the middle, the front of the seedling feeding module 20 on the left side of the figure is located on the side close to the F1 direction, and the back is located on the side close to the F2 direction. The front of the seedling feeding module 20 on the right side of the figure is located on the side close to the F2 direction, and the back is located on the side close to the F1 direction.

[0086] Therefore, the reverse rotation of the seedling picker 33 can improve the uniformity of the seedling weight, thereby improving the uniformity of the seedling weight, and facilitating more accurate control of the spacing between the seedlings 813 on the ground. Moreover, the reverse rotation of the seedling picker 33 is less likely to damage the leaves 812 of the seedlings 813, which is beneficial to the growth of the seedlings 813 after the seedlings are thrown. The seedling picker 33 rotates from the root to the seedling head to separate the seedlings 813, which can improve the throwing effect of the unmanned aerial vehicle and facilitate popularization and application.

[0087] During the rotation of the seedling picker 33, the head of the seedling picker 33 moves along the operation track 900 to complete the seedling picking action and the seedling throwing action. The operation track 900 at least includes a first stroke 910 and a second stroke 920.

[0088] Figure 6 In the middle, the seedling picker 33 just starts to enter the first stroke 910, and the seedling picker 33 just starts to accurately contact the mat base 811 for picking. Figure 8 The dynamic diagram of the process of the head of the seedling picker 33 moving along the first stroke 910 is shown. The seedling picker 33 moves from the back of the seedling feeding module 20 to the front of the seedling feeding module 20, directly cuts the mat base 811 from the back of the mat seedling 810, and pushes the cut mat base 811 forward to separate the single seedling 813 from the mat seedling 810.

[0089] It should be noted that the front of the mat seedling 810 refers to the side where the leaves 812 of the seedlings 813 extend, and the back or bottom of the mat seedling 810 refers to the bottom of the mat base 811. The front of the seedling feeding module 20 refers to the side where the mat seedling 810 is placed, and the back or bottom of the seedling feeding module 20 refers to the side away from the mat seedling 810.

[0090] After moving along the first stroke 910, the seedling picker 33 continues to rotate, feeds the single seedling 813 forward, and makes the head of the seedling picker 33 enter the second stroke 920. Referring to Figure 7 Figure 9 During the movement of the head of the seedling picker 33 along the second stroke 920, the seedling throwing module 30 throws the seedling 813 on the seedling picker 33, and the seedling 813 separates from the seedling picker 33 and falls.

[0091] Please continue to refer to Figure 10 Figure 21 ​​The seedling delivery module 20 includes a seedling delivery tray 21 and a conveying assembly 22. The seedling delivery tray 21 is used to support the blanket-shaped seedlings 810. One end of the seedling delivery tray 21 has a seedling delivery opening (not shown in the figure). Figure 21 The seedling delivery inlet is located at the bottom of the seedling delivery tray 21. The conveying component 22 is used to convey the blanket-like seedlings 810 on the seedling delivery tray 21 to the seedling delivery inlet. The seedling throwing module 30 is positioned close to the seedling delivery inlet so that the blanket-like seedlings 810 conveyed through the seedling delivery inlet are separated and thrown out row by row and bunch by bunch.

[0092] The conveying component 22 can be a conveyor belt or a conveyor roller (e.g., a toothed roller). In addition, the conveying component 22 can be installed at different positions in the height direction of the seedling tray 21.

[0093] To achieve the separation and throwing of the seedlings 810 in clusters, the seedling delivery module 20 and the seedling throwing module 30 are configured to move relative to each other in the lateral direction, so that the seedling throwing module 30 can pick up and throw seedlings 813 from different areas on the seedling delivery module 20. To provide lateral movement force, the seedling throwing mechanism 100 includes a lateral movement drive mechanism 24, which is mounted on the load module 10.

[0094] In one embodiment, the seedling delivery tray 21 moves laterally during seedling throwing, while the seedling throwing module 30 does not. Specifically, the lateral movement drive mechanism 24 is connected to the seedling delivery tray 21 of the seedling delivery module 20 to drive the seedling delivery tray 21 to move laterally. During the lateral movement of the seedling delivery tray 21, the seedling throwing module 30 can pick up and throw the blanket-shaped seedlings 810 from left to right or from right to left. In another embodiment, the seedling throwing module 30 moves laterally during seedling throwing, while the seedling delivery tray 21 does not. Specifically, the lateral movement drive mechanism 24 is connected to the seedling throwing module 30 to drive the seedling throwing module 30 to move laterally. In another embodiment, both the seedling throwing module 30 and the seedling delivery tray 21 can move laterally during seedling throwing, but in opposite directions, as long as there is relative lateral movement between the seedling throwing module 30 and the seedling delivery tray 21.

[0095] To facilitate the individual collection and throwing of seedlings from the outermost row of the blanket-like seedlings 810, the seedling throwing mechanism 100 also includes a seedling support plate 23. The seedling support plate 23 is positioned next to the seedling delivery port and is used to support the blanket-like seedlings 810 delivered by the seedling delivery module 20. In practice, the seedling support plate 23 can be configured to support the outermost row of the blanket-like seedlings 810, i.e., the row to be collected. The seedling support plate 23 has a seedling collection opening 231. When the seedling throwing module 30 performs the seedling collection action, i.e., when the seedling collector 33 moves along the first stroke 910 of the working trajectory 900, the seedling collector 33 passes through the seedling collection opening 231 to cut the blanket-like seedlings 810 supported by the seedling support plate 23, thereby separating and removing individual seedlings 813.

[0096] The setting of the seedling supporting plate 23 can support the first row of carpet seedlings 810 to be taken, avoid the shaking of the outermost carpet seedlings 810, and ensure that the carpet seedlings 810 supported and only exposed to the seedling taking opening 231 are cut by the seedling taking device 33 when the seedling taking device 33 rotates through the seedling taking opening 231, so as to accurately cut the target area and not easily cut the carpet seedlings 810 in the non-target area, and separate the single seedlings 813. In other words, the setting of the seedling supporting plate 23 also improves the uniformity of the amount of seedlings taken each time.

[0097] In an embodiment, the seedling delivery disc 21 is horizontally moved and the seedling throwing module 30 is not horizontally moved when the seedlings are thrown; and the seedling supporting plate 23 is fixed and not horizontally moved; wherein the seedling supporting plate 23 can be fixed to the load module 10 or the seedling throwing module 30. In another embodiment, the seedling throwing module 30 is horizontally moved and the seedling delivery disc 21 is not horizontally moved when the seedlings are thrown; and the seedling supporting plate 23 is horizontally moved synchronously with the seedling throwing module 30. In other words, the position of the seedling taking opening 231 needs to correspond to the position of the seedling taking device 33.

[0098] In order to realize the reverse rotation of the seedling taking device 33 to take seedlings while the seedling supporting plate 23 supports the carpet seedlings 810 delivered from the seedling delivery disc 21, and to be able to cut and take seedlings more uniformly, the seedling supporting plate 23 of the present application is configured as follows:

[0099] With reference to Figures 10 to 12 , the seedling supporting plate 23 includes a back supporting plate 232 and a plurality of side supporting plates 233.

[0100] The side supporting plates 233 are arranged at an angle with the back supporting plate 232 and are connected thereto, and the back supporting plate 232 and the side supporting plates 233 are connected and matched in a similar L shape. The side supporting plates 233 are used to support the side of the carpet seedlings 810, in other words, the side supporting plates 233 block the delivery direction of the carpet seedlings 810 to prevent the carpet seedlings 810 from sliding out of the seedling delivery opening; the back supporting plate 232 is used to support the bottom of the carpet seedlings 810, and the back supporting plate 232 supports the bottom of the carpet seedlings 810 to position the carpet seedlings 810, which is beneficial to the cutting of the carpet base 811 by the seedling taking device 33 from the bottom of the carpet seedlings 810. Part of the seedling taking opening 231 is arranged on the back supporting plate 232 (i.e. the first opening 2311 in the following scheme), and the other part is formed between adjacent side supporting plates 233 (i.e. the second opening 2312 in the following scheme).

[0101] It should be noted that A1 in the drawing schematically shows the direction of rotation of the seedling taking device 33 around the first axis 301, and A2 schematically shows the delivery direction of the seedlings 813 by the seedling delivery module 20.

[0102] The seedling taking opening 231 includes a first opening 2311 and a second opening 2312. Regarding the configuration of the first opening 2311: the back supporting plate 232 includes a first supporting plate part 2321 and a plurality of second supporting plate parts 2322, the plurality of second supporting plate parts 2322 are arranged at intervals and connected to the same side of the first supporting plate part 2321, and the first opening 2311 is formed between adjacent second supporting plate parts 2322. Regarding the configuration of the second opening 2312: a plurality of side supporting plates 233 are arranged at intervals, the side supporting plates 233 are connected to the side of the second supporting plate part 2322 away from the first supporting plate part 2321, and the side supporting plates 233 are arranged at an angle with the second supporting plate part 2322; the second opening 2312 is formed between adjacent side supporting plates 233. It should be noted that the plurality in the present application refers to two or more than two.

[0103] In other words, the seedling supporting plate 23 includes a first supporting plate part 2321 and a plurality of L-shaped plate parts, the L-shaped plate parts include second supporting plate parts 2322 and side supporting plate parts 233 arranged at an angle, the plurality of L-shaped plate parts are arranged at intervals and connected to the same side of the first supporting plate part 2321, the seedling taking opening 231 is formed between adjacent L-shaped plate parts, and the seedling taking opening 231 is an L-shaped opening. Since the first supporting plate part 2321 is not provided with an opening, the seedling supporting plate 23 can be installed in the seedling feeding disc 21, the seedling throwing module 30, or the load module 10 through the first supporting plate part 2321.

[0104] In the present embodiment, the seedling supporting plate 23 can be understood as a long strip-shaped plate provided with an opening. The seedling feeding module 20 is configured to reciprocate transversely relative to the load module 10, the seedling supporting plate 23 is fixed relative to the load module 10, and the seedling throwing module 30 is fixed in the transverse position. During seedling throwing, the seedling feeding disc 21 reciprocates left and right, and the seedling supporting plate 23 does not move with the seedling feeding disc 21 reciprocating left and right, and the seedling supporting plate 23 has a certain supporting effect on the seedling feeding disc 21. In the present embodiment, one seedling throwing mechanism 100 is configured with a plurality of seedling throwing modules 30 arranged at intervals, and correspondingly, the seedling supporting plate 23 is provided with a plurality of seedling taking openings 231 arranged at intervals.

[0105] Figure 10 In the present embodiment, the number of seedling throwing modules 30 is three and they are distributed at intervals, therefore, the number of seedling taking openings 231 provided on the seedling supporting plate 23 is also three and they are correspondingly distributed at intervals, so that each seedling throwing module 30 can cut and separate the mat-shaped seedlings 810 in the seedling taking opening 231 corresponding thereto and throw the seedlings. In other embodiments, one, two, four, five, etc. seedling throwing modules 30 can also be configured in one seedling throwing mechanism 100.

[0106] In another embodiment, the seedling feeding module 20 is fixed relative to the load module 10, the seedling feeding module 20 does not transversely move, and the seedling throwing module 30 can reciprocate transversely, and the seedling supporting plate 23 reciprocates transversely with the seedling throwing module 30.

[0107] Referring to 13, Figure 14 , Figures 6 to 9 The seedling extractor 33 includes a seedling claw 332 configured to contact the mat seedling 810 and separate the single seedling 813 in a continuous motion.

[0108] In order to provide more uniform seedling extraction, the seedling claw 332 is provided with a seedling side plate 3321 to improve the efficiency of cutting the mat base 811 soil block. Referring to Figure 12 The seedling claw 332 includes a seedling bottom plate 3322 and a seedling side plate 3321 connected to the opposite sides of the seedling bottom plate 3322; a seedling groove is formed between the seedling bottom plate 3322 and the two seedling side plates 3321; and a seedling side edge 3323 is formed on the side of the seedling side plate 3321 away from the seedling bottom plate 3322. When the seedling extractor 33 rotates along the first stroke 910, due to the addition of the seedling side plate 3321, the seedling side plate 3321 protrudes forward relative to the seedling bottom plate 3322, the seedling side plate 3321 is first inserted into the mat base 811, then the seedling bottom plate 3322 pushes against the bottom surface of the mat base 811, the mat base 811 soil block enters the seedling groove, and the seedling extractor 33 continues to rotate to complete the cutting and separation of the single seedling 813.

[0109] The seedling extractor 33 rotates in reverse when extracting seedlings, and the seedling claw 332 does not directly cut the mat base 811 from the back without passing through the leaf 812. The seedling claw 332 with the seedling side plate 3321 is used, which is advantageous for quickly dividing the left and right sides of the mat base 811 exposed to the seedling extraction opening 231, and improving the uniformity of the single seedling 813 soil block, compared with the seedling claw 332 with a flat plate.

[0110] It should be noted that the seedling extractor 33 continues to rotate forward after cutting the mat base 811 to complete the seedling extraction. Since it rotates along the growth direction of the leaf 812, the seedling side plate 3321 is also less likely to damage the leaf 812.

[0111] In order to protect the leaf 812, on the basis of the seedling side plate 3321, the height of the seedling side plate 3321 is less than the thickness of the mat base 811, so that after the separation of the single seedling 813 is completed, the seedling side plate 3321 is lower than the front of the seedling 813 soil block, and in the process of continuous rotation of the seedling extractor 33, the soil block directly pushes away the adjacent area of the leaf 812, the seedling side edge 3323 of the seedling side plate 3323 does not substantially contact the leaf 812, and the leaf 812 is not damaged. The intact leaf 812 is conducive to improving the survival rate of the seedling 813 after falling to the ground, and the planting effect is better.

[0112] In one embodiment, the seedling-receiving side plate 3321 and the seedling-receiving base plate 3322 are configured to be detachably connected. By replacing the seedling-receiving side plate 3321 with different heights, it can be adapted to the blanket base 811 of different thicknesses, thereby keeping the height of the seedling-receiving side plate 3321 lower than the thickness of the blanket base 811. In other embodiments, the seedling-receiving side plate 3321 can also be configured to be movably connected to the seedling-receiving base plate 3322.

[0113] In order to reduce the cutting resistance of the cutting side 3323 of the seedling-taking side plate 3321, the seedling-taking side plate 3321 includes a front plate portion 33211 and a rear plate portion 33212 connected to each other, and the cutting side 3323 of the front plate portion 33211 is inclined relative to the seedling-taking bottom plate 3322.

[0114] Reference Figure 13 , Figure 14 The seedling picker 33 includes a connecting arm 331 connected to the seedling claw 332. The seedling picker 33 is installed on the seedling throwing seat 32 through the connecting arm 331. The seedling picking side plate 3321 includes a front plate portion 33211 and a rear plate portion 33212 connected to each other. The front plate portion 33211 is farther away from the connecting arm 331 than the rear plate portion 33212. The height of the front plate portion 33211 increases from the side away from the connecting arm 331 to the side close to the connecting arm 331.

[0115] The aforementioned operating trajectory 900 can be, but is not limited to, a circular trajectory, an elliptical trajectory, an oblong trajectory, or a kidney-shaped trajectory. Among these, a circular trajectory is easier to implement with a simpler and more reliable drive method; when using an elliptical or oblong trajectory, it can provide a stroke with a faster curvature change or a stroke with a slower curvature change. In addition, the orientation of the seedling picker 33's seedling-holding surface at key position points can be controlled according to the trajectory design; using a kidney-shaped trajectory can meet the requirements for more precise control.

[0116] It is understandable that, based on the scheme of the seedling picker 33 rotating in the opposite direction to cut the blanket-like seedlings 810 to separate them into individual seedlings 813 and throw them out, those skilled in the art can use seedling throwing modules 30 with various structures, as long as it is ensured that the seedling picker 33 cuts and picks the seedlings from the root to the head when moving along the first stroke 910 of the working trajectory 900, and that the seedlings 813 on the seedling picker 33 are thrown out when moving along the second stroke 920 of the working trajectory 900.

[0117] The following are several configuration methods for the rice transplanting module 30.

[0118] Module 30 for transplanting seedlings - Configuration Method 1:

[0119] Reference Figures 15 to 19 The seedling throwing module 30 includes a driver, a seedling throwing seat 32, and multiple seedling pickers 33.

[0120] The seedling throwing seat 32 is in the shape of a rotating disc or other shapes, and the driver can be a motor or other device capable of driving the seedling throwing seat 32 to rotate, which is installed on the load module 10. The driving end of the driver is connected to the seedling throwing seat 32 for driving the seedling throwing seat 32 to rotate around the first axis 301. A plurality of seedling takers 33 are arranged at intervals around the first axis 301 and installed on the seedling throwing seat 32. When the driver drives the rotating disc to rotate around the first axis 301, it drives the plurality of seedling takers 33 to rotate around the first axis 301.

[0121] In this way, the plurality of seedling takers 33 on the same seedling throwing module 30 can alternately take seedlings 813 from the same seedling outlet position, expanding the number of seedling takers 33 for the same seedling outlet position, and improving the seedling taking and throwing speed without the need to increase the rotation speed. When the seedling throwing module 30 is applied to unmanned aerial vehicle seedling throwing, since the flight of the unmanned aerial vehicle is not affected by the ground environment, the unmanned aerial vehicle can fly relatively fast. Therefore, by configuring a plurality of seedling takers 33 on the same seedling throwing module 30, the relatively fast flight speed of the unmanned aerial vehicle can be adapted to, and the relatively fast seedling throwing speed of the adaptation can be improved, thereby improving the seedling throwing efficiency. Moreover, the seedling throwing efficiency can be improved without the need to increase the rotation speed of the first driver 31, without the need to increase the requirements of the first driver 31, and without the need to use a larger first driver 31, thereby avoiding occupying the limited space of the unmanned aerial vehicle.

[0122] The seedling taker 33 comprises a connecting arm 331 and a seedling claw 332. The connecting arm 331 is installed on the mounting portion of the seedling throwing seat 32, and the seedling claw 332 is used for cutting and taking seedlings.

[0123] Based on the configuration mode of the seedling throwing module 30 structure, several specific embodiments are provided.

[0124] In one specific embodiment, in combination with Figure 16 The seedling taker 33 is fixed on the seedling throwing seat 32, and the connecting line between the mounting portion of the seedling throwing seat 32 and the first axis 301 is L1. The surface of the seedling claw 332 for supporting the bottom surface of the seedling 813 soil block extends along L2, and L1 and L2 are angularly matched. The angle of the seedling claw 332 for supporting the surface of the bottom surface of the seedling 813 soil block relative to L1 can be adjusted, and the angle is adjusted to adapt to various situations, thereby achieving reliable seedling taking and throwing. In this way, a baffle can be provided on the seedling claw 332 to support the seedling 813 below the seedling 813 soil block when the seedling claw 332 is rotated to be perpendicular to the ground, thereby preventing the seedling 813 from being separated from the seedling taker 33 when the seedling taker 33 is not in the second stroke 920 and continues to move from back to front.

[0125] In another specific embodiment, in combination with Figure 17The seedling picker 33 is fixed on the seedling throwing seat 32. The line connecting the mounting part of the seedling throwing seat 32 and the first axis 301 is L1. The seedling claw 332 is used to support the bottom surface of the seedling 813 soil block. The surface extends along L2. L1 is parallel to or coincides with L2.

[0126] In another specific embodiment, combined with Figures 18 to 19 The seedling picker 33 is rotatably mounted on the seedling throwing seat 32 via the second rotating shaft. As the seedling throwing seat 32 rotates around the first axis 301, the seedling picker 33 revolves around the first axis 301. When the seedling picker 33 is about to reach the seedling throwing position, it can be driven by a spring, pusher or other structure (not shown in the figure) to rotate (i.e., swing slightly) around the second axis 302, so that the seedling picker 33 moves along the second stroke 920. By rotating, the angle of the seedling picker 33 is adjusted, so that the seedling 813 is thrown out at the seedling throwing position.

[0127] In some embodiments, the seedling throwing module 30 includes a second driver mounted on the seedling throwing seat 32. The second driver is used to drive the seedling picker 33 to rotate around the axis of the second rotating shaft (i.e., the second axis 302), thereby throwing the seedlings 813 at the appropriate position.

[0128] Planting Module 30 Structural Configuration Method Two:

[0129] Reference Figure 19 , Figure 20 The seedling throwing module 30 includes a driver, a seedling throwing seat 32, a gear set 35, and multiple seedling pickers 33.

[0130] The seedling throwing base 32 is an oblong or elongated shell, or other shapes. The driver can be a motor or other device that can drive the seedling throwing base 32 to rotate. The gear set 35 includes a sun gear 351, multiple intermediate gears 352, and multiple output gears 353, wherein the number of seedling pickers 33, the number of output gears 353, and the number of intermediate gears 352 correspond. For example, it includes two seedling pickers 33, two output gears 353, and two intermediate gears 352. The output gears 353 mesh with the intermediate gears 352, and the intermediate gears 352 mesh with the sun gear 351.

[0131] The driver is connected to the seedling throwing base 32 and drives the seedling throwing base 32 to rotate around the first axis 301. The sun gear 351 is fixed to the seedling throwing base 32, and the axis of the sun gear 351 is collinear with the first axis 301. The output gear 353 is rotatably mounted on the seedling throwing base 32 via a second rotating shaft. The seedling picker 33 is circumferentially limited and connected to the output gear 353, that is, the output gear 353 can drive the seedling picker 33 to rotate around the second rotating shaft relative to the seedling throwing base 32.

[0132] The driver is used to drive the seedling throwing seat 32 to rotate around the first axis 301 to drive the seedling taking device 33 to revolve. Since the sun gear 351 is fixed relative to the seedling throwing seat 32, the sun gear 351 also rotates around the first axis 301 when the seedling throwing seat 32 rotates, so that the output gear 353 mounted on the seedling throwing seat 32 rotates around the second rotation axis under the rotation of the sun gear 351, thereby driving the seedling taking device 33 to rotate around the second rotation axis. In other words, when the driver drives the seedling throwing seat 32 to rotate around the first axis 301, the seedling taking device 33 revolves around the first axis 301 and also rotates around the second rotation axis. Since the gear set 35 is all regular gear, the overall operation track 900 of the seedling taking device 33 is circular.

[0133] Referring to Figure 19 In an embodiment, the seedling throwing module 30 further comprises a power output shaft 371 and a fixed shaft 372, the sun gear 351 is fixed on the fixed shaft 372 through a flat position, the power output shaft 371 passes through the middle of the fixed shaft 372 (empty sleeve, no contact), and the power output shaft 371 is directly connected to the seedling throwing seat 32 to transmit power. The seedling throwing seat 32 comprises a first shell 321 and a second shell 322 which are detachably connected, and a cavity formed by the connection of the two shells is used to accommodate the gear set 35. The connecting arm 331 of the seedling taking device 33 is in angular cooperation with the seedling claw 332, which is similar to L-shaped, and the connecting arm 331 is connected to the output gear 353 through a spline.

[0134] Exemplarily, as Figure 20 (a), the seedling taking device 33 moves along the first stroke 910 to separate the seedlings 813, as Figure 20 (b), at this time, the seedling taking device 33 moves along the second stroke 920, the seedlings 813 are thrown out, and the seedling throwing is completed. It should be noted that Figure 20 The seedling taking and throwing track processes shown in the figures are only examples and are not limited to the present scheme. In other cases, the positions of seedling taking and seedling throwing can also be different from the positions shown in the figures.

[0135] The seedling throwing module 30 only needs to complete the seedling taking and throwing actions, the gears of the gear set 35 are all regular gears, the operation track 900 of the seedling taking device 33 is circular, and compared with the scheme of using eccentric gears for the gear set 35, the regular gears are simple to process, the gap elimination structure needed to be configured due to the use of eccentric gears can be omitted, the regular gears run stably, and the structural vibration can be reduced. Of course, in other embodiments, part of the gears of the gear set 35 can also be non-regular gears, thereby providing a non-regular operation track 900.

[0136] It can be understood that the intermediate gear 352 can also not be provided, and the output gear 353 is directly engaged on the outer periphery of the sun gear 351.

[0137] The third configuration mode of the seedling throwing module 30:

[0138] The seedling throwing module 30 comprises a driver, a connecting rod mechanism, and a seedling taking device 33 (not shown in the figure).

[0139] The connecting rod mechanism can be a planar connecting rod mechanism, specifically a parallel four-connecting rod mechanism. The connecting rod mechanism comprises a mounting arm and two driving arms hinged to the mounting arm, the seedling taking device 33 is mounted on the mounting arm, and the driver is used to drive the driving arms to swing, thereby driving the mounting arm to swing, and thereby driving the seedling taking device 33 to move. The working track 900 of the seedling taking device 33 can be, but is not limited to, a circle.

[0140] It should be noted that, in addition to the aforementioned three structure configuration modes of the seedling throwing module 30, the structure of the seedling throwing module 30 can also be other forms. The seedling throwing module 30 can be configured with multiple seedling taking devices 33, or can be configured with only one seedling taking device 33.

[0141] In some embodiments, the seedling throwing module 30 comprises an ejector 34 arranged on the seedling taking device 33. The ejector 34 comprises an ejecting driving member 341 and a seedling pushing plate 342. The seedling pushing plate 342 is movable relative to the seedling taking device 33 under the driving of the ejecting driving member 341, so as to push the seedlings 813 on the seedling taking device 33 out of the seedling taking device 33 through the seedling pushing plate 342. By configuring the ejector 34, the seedling throwing position can be more flexibly controlled when the seedling taking device 33 configured to take seedlings in the reverse rotation direction.

[0142] Specifically, the ejecting driving member 341 can be a spring, an electric push rod, etc. The seedling pushing plate 342 can be pushed out in a pure mechanical way or in an electric way. The seedling pushing plate 342 is configured to be movable along the length direction of the seedling taking device 33.

[0143] Next, an unmanned aerial vehicle employing any of the aforementioned embodiments is provided.

[0144] The unmanned aerial vehicle comprises a body 210 and the aforementioned seedling throwing mechanism 100. The body 210 comprises a flight module, and the flight module comprises a rotor 220.

[0145] The load module 10 comprises a load frame 11 connected with the body 210, a foot support 12 connected with the load frame 11, a main frame body 135 connected with the foot support 12, and further comprises a first support 131, a second support 132, a third support 133, and a fourth support 134 respectively connected with the main frame body 135. The first support 131 supports a seedling feeding tray 21, and the seedling feeding tray 21 is slidingly mounted on the first support 131. A transverse movement driving mechanism 24 is mounted on the second support 132. A seedling supporting plate 23 is connected with the main frame body 135 through the third support 133. A seedling throwing module 30 is connected with the main frame body 135 through the fourth support 134. Such a load module 10 structure not only can realize stable take-off and landing of the unmanned aerial vehicle, but also can reliably support each part in the seedling throwing mechanism 100.

[0146] In other embodiments, the load module 10 may also be configured in other ways.

[0147] The seedling delivery tray 21 can be set at an angle or horizontally. An angled setting of the seedling delivery tray 21 allows for efficient use of longitudinal space, reducing the space occupied by the tray in the horizontal width. Simultaneously, due to the angled setting, the blanket-like seedlings 810 can slide down smoothly using gravity, further reducing the overall power consumption of the conveying assembly 22. A horizontal setting of the seedling delivery tray 21 provides better utilization of the drone's longitudinal space.

[0148] The drone includes multiple seedling throwing mechanisms 100. When multiple seedling throwing mechanisms 100 are configured, seedlings can be thrown simultaneously, improving operational efficiency. Furthermore, when multiple seedling throwing mechanisms 100 are throwing seedlings, the drone's center of gravity shift caused by the reverse lateral movement of the seedling delivery tray 21 or the reverse lateral movement of the seedling picking module can be offset.

[0149] To achieve better cutting results and obtain more complete seedlings 813 when the seedling picker 33 rotates in the opposite direction to cut the seedlings 813 from the back of the blanket base 811, the seedling picker 33 is configured as follows:

[0150] The seedling picker 33 has a seedling-supporting surface. When the seedling picker 33 moves along the first stroke 910, the seedling-supporting surface is used to support the back of the blanket-shaped seedling 810. When the seedling picker 33 moves along the first stroke 910, the seedling-supporting surface is tilted upward, and the angle between the seedling-supporting surface and the first plane is 0 degrees to 75 degrees. The first plane is a plane parallel to the roll axis and pitch axis of the UAV.

[0151] Optionally, when the seedling picker 33 moves along the first stroke 910, the angle between the seedling support surface and the first plane is 20 to 50 degrees, so as to avoid the seedling support surface tilting too small an angle to cut the blanket base 811, and also to avoid the seedling support surface tilting too large an angle to cause the seedlings 813 to fall off.

[0152] Figure 22 This diagram illustrates the drone's pitch axis, roll axis (also known as yaw axis), and yaw axis. It should be noted that... Figure 22 Used only to illustrate the pitch, roll, and yaw axes of the drone. Figure 22 The rice-throwing system is not shown in the image. Figure 22 The wing configuration, fuselage structure, and payload of the UAV are not considered limitations of this design. The pitch axis, roll axis, and yaw axis are imaginary lines passing through the center of the UAV.

[0153] In the description herein, it should be understood that the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings, and are used only for ease of description and simplification of operation. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used merely for descriptive distinction and have no special meaning.

[0154] In the description of this specification, references to terms such as "an embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0155] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0156] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of the invention and should not be construed as limiting the scope of protection of the invention in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of the invention without inventive effort, and these embodiments will all fall within the scope of protection of the present invention.

Claims

1. A rice seedling throwing mechanism, characterized in that, include: A load module (10) is used to connect to the drone; The seedling delivery module (20) is installed on the load module (10); The seedling delivery module (20) is used to support and deliver the blanket-shaped seedlings (810); A seedling throwing module (30) is installed on the load module (10); the seedling throwing module (30) includes a first driver (31) and a seedling picker (33), the first driver is used to drive the seedling picker (33) to move along the working trajectory (900); when the seedling picker (33) moves along the first stroke (910) of the working trajectory (900), the seedling picker (33) moves from the back of the seedling delivery module (20) to the front of the seedling delivery module (20), and the seedling picker (33) is used to separate the seedlings (813) from the blanket seedlings (810); when the seedling picker (33) moves along the second stroke (920) of the working trajectory (900), the seedlings (813) on the seedling picker (33) are thrown out; The seedling delivery module (20) includes a seedling delivery tray (21) for supporting the blanket-shaped seedlings (810), and a seedling delivery port is provided at one end of the seedling delivery tray (21); the seedling throwing module (30) is located close to the seedling delivery port; the seedling delivery module (20) and the seedling throwing module (30) can move relative to each other in the lateral direction so that the seedling throwing module (30) can pick up and throw the seedlings (813) in different areas of the seedling delivery module (20); The seedling throwing mechanism (100) also includes a seedling support plate (23); the seedling support plate (23) is located next to the seedling delivery port, and the seedling support plate (23) is used to support the blanket-shaped seedlings (810) delivered by the seedling delivery module (20); the seedling support plate (23) is provided with a seedling taking opening (231), and when the seedling taker (33) moves along the first stroke (910), the seedling taker (33) passes through the seedling taking opening (231) to separate the blanket-shaped seedlings (810) supported by the seedling support plate (23).

2. The rice-throwing mechanism according to claim 1, characterized in that, The seedling delivery module (20) includes a delivery component (22) for delivering the blanket-shaped seedlings (810) to the seedling delivery port.

3. The rice-throwing mechanism according to claim 1, characterized in that, The seedling support plate (23) includes a back support plate (232) and multiple side support plates (233); the seedling picking opening (231) includes a first opening (2311) and a second opening (2312) that are connected to each other; The back support plate (232) includes a first support plate portion (2321) and a plurality of second support plate portions (2322). The plurality of second support plate portions (2322) are spaced apart and connected to the same side of the first support plate portion (2321). The first opening (2311) is formed between adjacent second support plate portions (2322). Multiple side plates (233) are spaced apart, and the side plates (233) are connected at an angle to the side of the second plate portion (2322) opposite to the first plate portion (2321). The second opening (2312) is formed between adjacent side plates (233).

4. The rice-throwing mechanism according to claim 1, characterized in that, The seedling picker (33) includes a seedling claw (332), which includes a seedling picking base plate (3322) and seedling picking side plates (3321) connected to opposite sides of the seedling picking base plate (3322); a seedling picking groove is formed between the seedling picking base plate (3322) and the seedling picking side plates (3321) on both sides; The side of the seedling-picking side plate (3321) facing away from the seedling-picking bottom plate (3322) forms the seedling-cutting side (3323).

5. The rice-throwing mechanism according to claim 4, characterized in that, The seedling throwing module (30) includes a seedling throwing seat (32), which is installed on the load module (10); the seedling picker (33) includes a connecting arm (331) connected to the seedling claw (332), and the seedling picker (33) is installed on the seedling throwing seat (32) through the connecting arm (331); The seedling-picking side plate (3321) includes a front plate (33211) and a rear plate (33212). The front plate (33211) is connected to the rear plate (33212), and the rear plate (33212) is connected to the connecting arm (331). The cutting side (3323) of the front plate (33211) gradually increases in height from one end away from the connecting arm (331) to one end close to the connecting arm (331).

6. The rice-throwing mechanism according to claim 1, characterized in that, The seedling throwing module (30) includes a catapult (34), which is located on the seedling picker (33); The ejector (34) includes an ejection drive (341) and a seedling pusher (342). The seedling pusher (342) and the seedling picker (33) can move relative to each other under the drive of the ejection drive (341) so as to push the seedlings (813) on the seedling picker (33) out of the seedling picker (33) by the seedling pusher (342).

7. The rice-throwing mechanism according to any one of claims 1-6, characterized in that, The seedling throwing module (30) includes a seedling throwing seat (32) and a plurality of seedling pickers (33); the fixed end of the first driver (31) is installed on the load module (10), and the driving end of the first driver (31) is connected to the seedling throwing seat (32) to drive the seedling throwing seat (32) to rotate around the first axis (301); the plurality of seedling pickers (33) are arranged at intervals around the first axis (301); The seedling picker (33) is fixed to the seedling throwing seat (32), or is rotatably mounted on the seedling throwing seat (32) via a second rotating shaft.

8. The rice-throwing mechanism according to claim 7, characterized in that, When the seedling picker (33) is mounted on the seedling throwing seat (32) via the second rotating shaft, the seedling throwing module (30) is further configured as follows: The seedling throwing module (30) includes a gear set (35), which includes a sun gear (351) and multiple output gears (353). The output gears (353) are connected to the sun gear (351) in a transmission manner. The sun gear (351) is fixed to the seedling throwing seat (32), and the axis of the sun gear (351) coincides with the first axis (301). The output gears (353) are mounted on the seedling throwing seat (32) through the second rotating shaft. Multiple seedling pickers (33) are circumferentially limited and connected to multiple output gears (353). When the first driver (31) drives the seedling throwing seat (32) to rotate around the first axis (301), the seedling pickers (33) revolve around the first axis (301) and rotate around the second rotating shaft.

9. A drone, characterized in that, include: Fuselage (210); The rice-throwing mechanism (100) according to any one of claims 1-8, wherein the load module (10) is connected to the machine body (210).

10. The UAV according to claim 9, characterized in that, The seedling picker (33) has a seedling support surface. When the seedling picker (33) moves along the first stroke (910), the seedling support surface is used to support the back of the blanket-shaped seedling (810). When the seedling picker (33) moves along the first stroke (910), the seedling support surface is tilted upward, and the angle between the seedling support surface and the first plane is 0 degrees to 75 degrees. The first plane is a plane parallel to the roll axis and pitch axis of the UAV.

Images