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

Abstract

The invention discloses a seedling slinging mechanism, comprising: a seedling taking unit comprising a seedling cutter support and a scaling drive and a cutter head which are installed on the seedling cutter support, the cutter head comprising a first blade and a second blade which can rotate relative to each other, a seedling clamping groove being formed between the first blade and the second blade; the scaling drive is connected with the cutter head, and the seedling clamping groove of the cutter head is controlled to be scaled through the scaling drive, so that the seedling clamping groove is in a shrunk state at a seedling taking position and is in an enlarged state at a 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. In the scheme, when the tool bit rotates to the seedling throwing position, the seedling clamping groove of the tool bit can be automatically enlarged, so that the roots of seedlings are completely separated from the limitation of the bottom surface of the tool bit, the loss of throwing force caused by the obstruction of the tool bit when the seedlings are thrown out is avoided, the soil penetrating depth after the seedlings are thrown out is increased, and the growth of the seedlings is more 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, a zoom drive and a knife head installed on the seedling knife support, wherein the knife head comprises a first blade and a second blade which can rotate relatively, and a seedling clamping groove is formed between the first blade and the second blade; the zoom drive is connected to the knife head, and the zoom drive is used to control the zoom of the seedling clamping groove of the knife head, so that the seedling clamping groove is in a reduced state at the seedling picking position and in an enlarged 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 zoom drive includes a driving push block and a driving spring, and the driving push block pushes the first blade and the second blade to rotate relative to each other so that the seedling clamping groove is reduced, and the driving spring pushes the first blade and the second blade to rotate relative to each other so that the seedling clamping groove is enlarged.

[0009] Optionally, a first hinge portion is provided in the middle of the first blade, and a second hinge portion is provided in the middle of the second blade, the first hinge portion and the second hinge portion are hingedly connected via a hinge shaft, and a control groove and the seedling holding groove are respectively formed between the first blade and the second blade and on both sides of the hinge shaft; the driving spring comprises a first spring and a second spring which are arranged on opposite sides of the first blade and the second blade; the driving push block penetrates into the control groove to expand the control groove, thereby reducing the size of the seedling holding groove; the first spring and the second spring push the first blade and the second blade to move so that the control groove contracts, thereby enlarging the seedling holding groove.

[0010] Optionally, the seedling knife support includes a cutter head support frame, both ends of the hinge shaft are fixed in the cutter head support frame, and the ends of the first spring and the second spring away from the cutter head respectively abut against the inner wall of the cutter head support frame.

[0011] Optionally, the zoom drive also includes a sliding rod, a driving member and a return spring. The driving push block is connected to the sliding rod, and the sliding rod is slidably installed on the seedling knife bracket. The driving member and the return spring are both connected to the sliding rod. The return spring is used to push the sliding rod out so that the driving push block drives the seedling slot to shrink; the driving member is used to push the sliding rod in so that the driving spring drives the seedling slot to expand.

[0012] 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.

[0013] 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 slide rod, the drive member and the return spring are installed in the first installation cavity, and one end of the slide rod extends out of the first installation cavity and is connected to the drive push block.

[0014] 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.

[0015] 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.

[0016] 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.

[0017] Optionally, the angle retainer is a rotating gear type retainer.

[0018] 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.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] Optionally, the angle retainer is a crank rocker type retainer.

[0024] 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.

[0025] 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.

[0026] 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, the seedling taking unit of the seedling throwing mechanism is provided with a releasable cutter head and a zoom drive which can drive the cutter head to automatically loosen the clamp, when taking the seedlings, the seedling holding groove of the cutter head is in a reduced state, when the cutter head rotates through the blanket of seedlings, it can just tear out a bunch of seedlings from the blanket of seedlings; when the cutter head rotates to the seedling throwing position, the seedling holding groove of the cutter head can automatically enlarge, so that the roots of the seedlings are completely free from the restriction of the bottom surface of the cutter head, avoiding the loss of throwing force caused by the obstruction of the cutter head when the seedlings are thrown out, increasing the depth of the seedlings into the soil after being thrown out, which is more conducive to the growth of the seedlings. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The present application is further described in detail below based on the drawings and embodiments.

[0028] Figure 1 The present invention is a schematic diagram of the existing seedling throwing mechanism when taking out the seedlings;

[0029] Figure 2 The present invention is a schematic diagram of the existing seedling throwing mechanism during seedling throwing;

[0030] Figure 3 This is a structural diagram of the seedling throwing mechanism described in the embodiment of the present application;

[0031] Figure 4 This is an explosion diagram of the seedling throwing mechanism described in the embodiment of the present application;

[0032] Figure 5 It is a cross-sectional view of the seedling throwing mechanism described in the embodiment of the present application;

[0033] Figure 6 This is an internal structure diagram of the seedling throwing mechanism described in the embodiment of the present application;

[0034] Figure 7 for Figure 6 An exploded schematic diagram of the structure shown;

[0035] Figure 8 This is a schematic diagram of the internal structure of the seedling removal unit described in the embodiment of the present application;

[0036] Fig. 9 for Figure 8 An exploded schematic diagram of the structure shown;

[0037] Fig.10 for Figure 8 A cross-sectional view of the structure shown;

[0038] Fig.11 This is a schematic diagram of the structure of the tool head and the zoom drive in the embodiment of the present application.

[0039] Figure 1-2 middle:

[0040] a. Gear box; b. Cutter head; c. Rice seedlings.

[0041] Figure 3-11 middle:

[0042] 100, seedling picking unit; 11, cutter head; 111, seedling clamping groove; 112, first blade; 113, second blade; 114, control groove; 12, seedling knife bracket; 121, left shell of seedling knife; 122, right shell of seedling knife; 123, first installation cavity; 124, cutter head support frame; 125, spring stopper; 126, spline sleeve; 13, zoom drive; 131, slide rod; 1311, spring installation groove; 132, drive member; 1321, swing rod; 1322 , cam; 133, return spring; 134, first spring; 135, second spring; 136, drive push block; 200, seedling removal drive unit; 21, angle retainer; 211, gear bracket; 2111, left gear housing; 2112, right gear housing; 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

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] Reference Figure 1 When 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.

[0048] 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.

[0049] Reference Figure 2When 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.

[0050] 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.

[0051] like Figure 1 As shown, this 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 this solution is provided with a scaling drive 13 that can control the scaling of the seedling clamping groove 111 of the cutter head 11, so that when in the seedling picking position, the seedling clamping groove 111 of the cutter head 11 is at a normal seedling clamping width, 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 seedling clamping groove 111 of the cutter head 11 is enlarged, and the cutter head 11 quickly removes the obstruction of the seedling throwing by the cutter head 11.

[0052] 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 scaling drive 13 and a cutter head 11 installed on the seedling knife bracket 12, the cutter head 11 includes a first blade 112 and a second blade 113 which can rotate relatively, and a seedling holding groove 111 is formed between the first blade 112 and the second blade 113; the scaling drive 13 is connected to the cutter head 11, and the scaling of the seedling holding groove 111 of the cutter head 11 is controlled by the scaling drive 13, so that the seedling holding groove 111 is in a reduced state at the seedling taking position and in an enlarged 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.

[0053] Specifically, the seedling slot 111 of the cutter head 11 is in a reduced state at the seedling picking position. In the reduced state, the seedling slot 111 still has a certain width, and its width must at least meet the requirement that when the cutter head 11 rotates to the seedling picking position, the first blade 112 and the second blade 113 on both sides of the seedling slot 111 can be respectively stuck outside one or more seedlings, that is, the stem of the seedling can be stuck in the seedling slot 111. After the cutter head 11 continues to rotate downward and contacts the soil layer, a bunch of seedlings can be torn out from the blanket seedlings. The specific width of the seedling slot 111 when taking seedlings can be set with reference to the existing seedling throwing mechanism. The seedling slot 111 of the cutter head 11 is in an enlarged state at the seedling throwing position, and its purpose is to enable the seedlings to quickly escape from the seedling slot 111 of the cutter head 11. Therefore, the width of the seedling slot 111 should not be less than the width of the root of the taken seedling, so that after the seedling slot 111 is enlarged, the cutter head 11 completely removes the obstruction to the seedling. The change process of the blade head 11 from the reduced state to the enlarged state can be a gradual process or a sudden process, preferably a sudden process (i.e., the blade head is instantly enlarged in a short period of time), that is, before reaching the seedling throwing position, the blade head 11 is in a reduced 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 reduction 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 a reduced state before contacting the seedlings.

[0054] In summary, based on the seedling throwing mechanism of the present embodiment, the seedling taking unit 100 is provided with a releasable blade head 11 and a zoom drive 13 that can drive the blade head 11 to automatically loosen the clamp. When taking the seedlings, the seedling clamping groove 111 of the blade head 11 is in a reduced state, and the blade head 11 can just tear out a handful of seedlings from the blanket when it rotates through the blanket of seedlings; when the blade head 11 rotates to the seedling throwing position, the seedling clamping groove 111 of the blade head 11 can automatically enlarge, so that the roots of the seedlings are completely free from the restriction of the bottom surface of the blade head 11, avoiding the loss of throwing force caused by the obstruction of the blade head 11 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.

[0055] In one embodiment, referring to Figure 10-11 The zoom drive 13 includes a driving push block 136 and a driving spring. The driving push block 136 pushes the first blade 112 and the second blade 113 to rotate relative to each other so that the stem-holding groove 111 is reduced. The driving spring pushes the first blade 112 and the second blade 113 to rotate relative to each other so that the stem-holding groove 111 is enlarged.

[0056] A driving structure in which a driving spring and a driving push block 136 cooperate is provided. The driving spring and the driving push block 136 can respectively drive the clamping groove 111 to expand and shrink. That is, the driving push block 136 only needs to provide a one-way drive for the cutter head 11, and the resetting and shrinking of the clamping groove 111 can be achieved by the driving spring, which simplifies the driving structure of the driving push block 136, facilitates improving the reliability of the zoom drive 13, and reduces its implementation cost.

[0057] On the contrary, in another embodiment, the driving push block 136 pushes the first blade 112 and the second blade 113 to rotate relative to each other so as to enlarge the stem-holding groove 111, and the driving spring pushes the first blade 112 and the second blade 113 to rotate relative to each other so as to shrink the stem-holding groove 111.

[0058] In one embodiment, referring to Fig.11 A first hinge portion is provided in the middle of the first blade 112, and a second hinge portion is provided in the middle of the second blade 113. The first hinge portion and the second hinge portion are hingedly connected via a hinge shaft. A control groove 114 and the stem-grassing groove 111 are respectively formed between the first blade 112 and the second blade 113, and on both sides of the hinge shaft; the driving spring comprises a first spring 134 and a second spring 135 which are arranged on opposite sides of the first blade 112 and the second blade 113; the driving push block 136 penetrates into the control groove 114 to open the control groove 114, so that the stem-grassing groove 111 is reduced; the first spring 134 and the second spring 135 push the first blade 112 and the second blade 113 to move so that the control groove 114 is contracted, so that the stem-grassing groove 111 is enlarged.

[0059] Specifically, the control groove 114 is a trapezoidal groove, and the driving push block 136 is a corresponding trapezoidal block. When the driving push block 136 goes deep into the control groove 114, it will gradually push the control groove 114 open, thereby shrinking the seedling clamping groove 111. When the driving push block 136 exits the control groove 114, under the push of the first spring 134 and the second spring 135, the control groove 114 will gradually shrink, thereby gradually enlarging the seedling clamping groove 111. This structure can realize the control of the expansion and contraction of the seedling clamping groove 111 by only controlling the linear motion of the driving push block 136 unilaterally, and has the advantages of simple control and easy implementation.

[0060] In one embodiment, the vine knife support 12 includes a knife head support frame 124, both ends of the hinge shaft are fixed in the knife head support frame 124, and the ends of the first spring 134 and the second spring 135 away from the knife head 11 respectively abut against the inner wall of the knife head support frame 124.

[0061] The cutter head support frame 124 may be disposed around the cutter head 11 , so as to provide support for the hinge shaft, the first spring 134 and the second spring 135 , thereby achieving reliable installation of the cutter head 11 .

[0062] In one embodiment, the scaling drive 13 also includes a slide bar 131, a driving member 132 and a return spring 133. The driving push block 136 is connected to the slide bar 131. The slide bar 131 is slidably installed on the seedling knife bracket 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 driving push block 136 drives the seedling slot 111 to shrink; the driving member 132 is used to push the slide bar 131 in so that the driving spring drives the seedling slot 111 to expand.

[0063] Similarly, the zoom 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 linearly back and forth, thereby driving the blade 11 to zoom. 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, that is, the use function of the driving member 132 is simplified, so the structure of the driving member 132 can be simplified, which is convenient for improving the reliability of the driving member 132 and reducing its implementation cost.

[0064] Regarding the arrangement of the driving member 132, in one embodiment, refer to Figure 8 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] In one embodiment, referring to Figure 5 The rice blade bracket 12 includes a rice blade left shell 121 and a rice blade right shell 122, and a first installation cavity 123 is formed between the rice blade left shell 121 and the rice blade right shell 122. The sliding rod 131, the driving member 132 and the return spring 133 are 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 driving push block 136.

[0069] That is, the rice knife bracket 12 is set to a shell structure with a closed cavity, and the zoom drive 13 is installed therein, which can isolate the zoom drive 13 from the external environment, reduce the adhesion of moisture and soil to the surface of the zoom drive 13, and reduce the occurrence of obstructions to the normal operation of the zoom drive 13.

[0070] 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.

[0071] In one embodiment, referring to Figure 9-10 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 .

[0072] 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.

[0073] In one embodiment, referring to Figure 9-10 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 .

[0074] 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.

[0075] 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 seedling holding groove 111 of the cutter head 11 is quickly enlarged, so that the cutter head 11 can remove the obstruction of the seedlings to the seedlings and the seedlings can be thrown out.

[0076] 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.

[0077] 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.

[0078] In one embodiment, the angle retainer 21 is a rotating gear retainer.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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 .

[0083] 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.

[0084] 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 .

[0085] 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, and it can just fit in the seedling picking position to reduce the seedling slot 111 and enlarge the seedling slot 111 in 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.

[0086] 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.

[0087] 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.

[0088] In one embodiment, referring to Figure 4The 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.

[0089] 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.

[0090] 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.

[0091] Regarding the angle retainer 21, in another embodiment, the angle retainer 21 is a crank rocker type retainer.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] 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.

[0101] 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 scaling drive (13) and a knife head (11) mounted on the seedling knife support (12), wherein the knife head (11) comprises a first blade (112) and a second blade (113) which can rotate relative to each other, and a seedling holding groove (111) is formed between the first blade (112) and the second blade (113); the scaling drive (13) is connected to the knife head (11), and the scaling of the seedling holding groove (111) of the knife head (11) is controlled by the scaling drive (13), so that the seedling holding groove (111) is in a reduced state at a seedling picking position and in an enlarged 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 zoom drive (13) comprises a driving push block (136) and a driving spring, and the driving push block (136) is used to push the first blade (112) and the second blade (113) to rotate relative to each other so that the vine holding groove (111) is reduced, and the driving spring is used to push the first blade (112) and the second blade (113) to rotate relative to each other so that the vine holding groove (111) is enlarged.

3. The seedling throwing mechanism according to claim 2, characterized in that: A first hinged portion is provided in the middle of the first blade (112), and a second hinged portion is provided in the middle of the second blade (113); the first hinged portion and the second hinged portion are hingedly connected via a hinge shaft; a control groove (114) and the seedling clamping groove (111) are respectively formed between the first blade (112) and the second blade (113) and on both sides of the hinge shaft; the driving spring comprises a first spring (134) and a second spring (135) which are arranged on opposite sides of the first blade (112) and the second blade (113); the driving push block (136) penetrates into the control groove (114) to expand the control groove (114), so that the seedling clamping groove (111) is reduced; the first spring (134) and the second spring (135) push the first blade (112) and the second blade (113) to move so that the control groove (114) is contracted, so that the seedling clamping groove (111) is enlarged.

4. The seedling throwing mechanism according to claim 3, characterized in that: The vine knife support (12) comprises a knife head support frame (124), both ends of the hinge shaft are fixed in the knife head support frame (124), and the ends of the first spring (134) and the second spring (135) away from the knife head (11) respectively abut against the inner wall of the knife head support frame (124).

5. The seedling throwing mechanism according to any one of claims 2 to 4, characterized in that: The zoom drive (13) further comprises a slide bar (131), a driving member (132) and a return spring (133); the driving push block (136) is connected to the slide bar (131); the slide bar (131) is slidably mounted on the seedling knife 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 driving push block (136) drives the seedling clamping groove (111) to shrink; the driving member (132) is used to push the slide bar (131) in so that the driving spring drives the seedling clamping groove (111) to expand.

6. The seedling throwing mechanism according to claim 5, 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.

7. The seedling throwing mechanism according to claim 5, 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 slide rod (131), the driving member (132) and the return spring (133) are installed in the first installation cavity (123), and one end of the slide rod (131) extends out of the first installation cavity (123) and is connected to the driving push block (136).

8. The seedling throwing mechanism according to claim 7, 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).

9. The seedling throwing mechanism according to claim 8, 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).

10. The seedling throwing mechanism according to claim 6, 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.

11. The seedling throwing mechanism according to claim 10, characterized in that: The angle retainer (21) is a rotating gear type retainer.

12. The seedling throwing mechanism according to claim 11, 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).

13. The seedling throwing mechanism according to claim 12, 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).

14. The seedling throwing mechanism according to claim 12, 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).

15. The seedling throwing mechanism according to claim 14, 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).

16. The seedling throwing mechanism according to claim 15, 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).

17. The seedling throwing mechanism according to claim 10, characterized in that: The angle retainer (21) is a crank rocker type retainer.

18. 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 1-17.

19. A drone seedling throwing device, characterized in that: It comprises a drone and a rice transplanter, wherein the rice transplanter is mounted under the drone, and the rice transplanter is the rice transplanter according to claim 18.

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