A seedling throwing mechanism, a seedling throwing machine and a unmanned aerial vehicle seedling throwing device

Abstract

The application discloses a seedling throwing mechanism, which comprises a seedling taking unit, a zooming drive and a cutter head installed on a seedling cutter support, the cutter 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 zooming drive is connected with the cutter head, the seedling clamping groove of the cutter head is controlled to zoom by the zooming drive, so that the seedling clamping groove is in a reduced state at a seedling taking position and is in an enlarged state at a seedling throwing position; a seedling taking drive unit is connected with the seedling cutter support and is used for driving the seedling taking unit to reciprocate between the seedling taking position and the seedling throwing position. In the scheme, when the cutter head rotates to the seedling throwing position, the seedling clamping groove of the cutter head can be automatically enlarged, so that the root of the seedling is completely separated from the limitation of the bottom surface of the cutter head, the loss of throwing force caused by the seedling being hindered by the cutter head when the seedling is thrown is avoided, the earth penetration depth of the seedling after being thrown is increased, and the growth of the seedling is more favorable.

Description

Technical Field

[0001] This application relates to the field of agricultural machinery technology, and in particular to a rice seedling throwing mechanism, a rice seedling throwing machine, and a drone rice seedling throwing device. Background Technology

[0002] The seedling throwing mechanism is the core working component of the seedling thrower, realizing the tasks of picking up and throwing seedlings. The throwing mechanism generally includes a drive motor, a gearbox, and a cutter head. The drive motor is connected to the gearbox, driving its rotation. The cutter head is connected to the output gear in the gearbox, and the gearbox drives the cutter head to rotate around the axis of the drive motor, achieving reciprocating seedling picking and throwing. The gearbox's transmission controls the cutter head's rotation around the axis of the output gear, ensuring the cutter head's direction remains fixed. When the cutter head rotates to the seedling picking position, it tears a clump of seedlings from the seedbed. At this position, the centrifugal force of the seedlings is perpendicular to the bottom surface of the cutter head, preventing the seedlings from flying out. As the cutter head continues to rotate downwards, the angle between the centrifugal force of the seedlings and the bottom surface of the cutter head gradually decreases until the seedlings are thrown out by their own centrifugal force, achieving the purpose of seedling throwing. However, in reality, when the seedlings are thrown, there is still a small angle between the direction of the seedling's centrifugal force and the bottom surface of the blade. The obstruction of the blade will cause some of the seedling's centrifugal force to be canceled out, thereby weakening the throwing force of the seedlings and affecting the depth of the seedlings after they are thrown into the soil, which will have a certain impact on the growth of the seedlings. Summary of the Invention

[0003] The purpose of this invention is to provide a rice seedling throwing mechanism, a rice seedling throwing machine, and a drone rice 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 solution:

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

[0006] The seedling picking unit includes a seedling knife support, a scaling drive and a cutting head mounted on the seedling knife support. The cutting head includes a first blade and a second blade that can rotate relative to each other, and a seedling-holding groove is formed between the first blade and the second blade. The scaling drive is connected to the cutting head and controls the scaling of the seedling-holding groove of the cutting head, so that the seedling-holding groove is in a reduced state at the seedling picking position and in a larger state at the seedling throwing position.

[0007] The seedling picking drive unit is connected to the seedling knife bracket and is used to drive the seedling picking unit back and forth between the seedling picking position and the seedling throwing position.

[0008] Optionally, the scaling drive includes a drive pusher and a drive spring. The drive pusher pushes the first blade and the second blade to rotate relative to each other to shrink the seedling groove, and the drive spring pushes the first blade and the second blade to rotate relative to each other to enlarge the seedling groove.

[0009] Optionally, the first blade has a first hinge portion in the middle, and the second blade has a second hinge portion in the middle. The first hinge portion and the second hinge portion are hinged together by a hinge shaft. A control groove and a seedling clamping groove are formed on both sides of the hinge shaft between the first blade and the second blade. The drive spring includes a first spring and a second spring disposed on opposite sides of the first blade and the second blade. The drive push block penetrates into the control groove to open the control groove, thereby reducing the size of the seedling clamping groove. The first spring and the second spring push the first blade and the second blade to move, thereby contracting the control groove and enlarging the seedling clamping groove.

[0010] Optionally, the seedling cutter bracket includes a cutter head support frame, with both ends of the hinge shaft fixed inside the cutter head support frame, and the ends of the first spring and the second spring away from the cutter head respectively abutting against the inner wall of the cutter head support frame.

[0011] Optionally, the scaling drive further includes a slide rod, a driving component, and a return spring. The driving push block is connected to the slide rod, and the slide rod is slidably mounted on the seedling cutter bracket. The driving component and the return spring are both connected to the slide rod. The return spring is used to push the slide rod out, causing the driving push block to drive the seedling clamping groove to shrink. The driving component is used to push the slide rod in, causing the driving spring to drive the seedling clamping groove to enlarge.

[0012] Optionally, the driving component includes a swing arm and a cam. The cam is rotatably mounted relative to the seedling cutter bracket. The middle part of the swing arm is hinged to the seedling cutter bracket, and one end is movably connected to the slide rod, while the other end abuts against the cam. The rotation of the cam relative to the seedling cutter bracket pushes the swing arm to swing, thereby causing the swing arm to push the slide rod to slide.

[0013] Optionally, the seedling cutter bracket includes a left seedling cutter shell and a right seedling cutter shell, and a first mounting cavity is formed between the left seedling cutter shell and the right seedling cutter shell. The sliding rod, the driving component, and the reset spring are installed in the first mounting cavity, and one end of the sliding rod extends out of the first mounting cavity and is connected to the driving push block.

[0014] Optionally, a spring stop is provided in the first mounting cavity, and one end of the reset spring abuts against the spring stop and the other end abuts against the slide rod.

[0015] Optionally, a spring mounting groove is provided on one side of the slide rod, the return spring is placed in the spring mounting groove to abut against the slide rod, and the spring baffle extends into the spring mounting groove to abut against the return spring.

[0016] Optionally, the seedling picking drive unit includes a motor and an angle holder. The angle holder connects the motor and the seedling picking unit. The motor drives the angle holder to rotate, enabling the seedling picking unit to move back and forth between the seedling picking position and the seedling throwing position. The angle holder also ensures that the tilt angle of the seedling picking unit remains fixed at all times.

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

[0018] Optionally, the angle holder 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 fixedly positioned relative to it. The output shaft of the motor is connected to the gear bracket. The output gear is rotatably mounted on the gear bracket and is connected to the sun gear via a transmission connection. The seedling picking unit is fixedly connected to the output gear, so that the seedling picking unit can rotate back and forth between the seedling picking position and the seedling throwing position by rotating around the sun gear, and maintain its own tilt angle fixed relative to the gear bracket.

[0019] Optionally, the angle holder further includes an intermediate gear, which is rotatably mounted in the gear bracket and 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 realize the rotational installation of the cam relative to the seedling blade bracket.

[0021] Optionally, the seedling cutter 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 seedling cutter bracket and the output gear, and the connecting shaft passes through the center of the spline sleeve and connects to the cam.

[0022] Optionally, the gear bracket includes a left gear housing and a right gear housing, with a second mounting cavity formed between the left gear housing and the right gear housing for mounting the sun gear and the output gear; the right gear housing has a clearance hole that allows the spline sleeve to pass through, the spline sleeve extending through the clearance hole into the second mounting cavity to connect with the output gear, and the connecting shaft is disposed in 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 thrower is provided, including a seedling feeding mechanism and a seedling throwing mechanism, wherein the seedling throwing mechanism is used to take seedlings from the seedling feeding mechanism and throw them out.

[0025] On another front, a drone rice-throwing device is provided, comprising a drone and a rice-throwing machine, wherein the rice-throwing machine is mounted beneath the drone.

[0026] The beneficial effects of this application are as follows: This invention provides a seedling throwing mechanism, a seedling throwing machine, and a drone seedling throwing device. The seedling picking unit of the seedling throwing mechanism is equipped with a releasable blade and a scaling drive that can automatically loosen the blade. When picking up seedlings, the seedling clamping groove of the blade is in a reduced state. When the blade rotates and passes over the seedbed, it can just tear a clump of seedlings from the seedbed. When the blade rotates to the seedling throwing position, the seedling clamping groove of the blade can automatically enlarge, so that the roots of the seedlings are completely freed from the restriction of the bottom surface of the blade, avoiding the loss of throwing force caused by the obstruction of the blade when the seedlings are thrown, increasing the soil penetration depth of the seedlings after being thrown, which is more conducive to the growth of the seedlings. Attached Figure Description

[0027] The present application will now be described in further detail with reference to the accompanying drawings and embodiments.

[0028] Figure 1 This is a schematic diagram of the existing seedling throwing mechanism during seedling collection.

[0029] Figure 2 A schematic diagram of the existing rice-throwing mechanism during rice-throwing;

[0030] Figure 3 This is a structural diagram of the rice-throwing mechanism described in the embodiments of this application;

[0031] Figure 4 This is an exploded schematic diagram of the rice-throwing mechanism described in the embodiments of this application;

[0032] Figure 5 This is a cross-sectional view of the rice-throwing mechanism described in the embodiments of this application;

[0033] Figure 6 This is an internal structural diagram of the rice-throwing mechanism described in the embodiments of this application;

[0034] Figure 7 for Figure 6 An exploded view of the structure shown.

[0035] Figure 8 This is a schematic diagram of the internal structure of the seedling-harvesting unit described in the embodiments of this application;

[0036] Figure 9 for Figure 8 An exploded view of the structure shown.

[0037] Figure 10 for Figure 8 Cross-sectional view of the structure shown;

[0038] Figure 11 This is a schematic diagram of the structure of the cutter head and the scaling drive as described in the embodiment of this application.

[0039] Figure 1-2 middle:

[0040] a. Gearbox; b. Cutter head; c. Seedling.

[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 cutter bracket; 121. Left shell of seedling cutter; 122. Right shell of seedling cutter; 123. First mounting cavity; 124. Cutter head support frame; 125. Spring baffle; 126. Spline sleeve; 13. Scaling drive; 131. Slide rod; 1311. Spring mounting groove; 132. Drive component; 1321. Swing rod; 1322 133. Cam; 134. Return spring; 135. First spring; 136. Second spring; 137. Drive push block; 200. Seedling picking drive unit; 21. Angle holder; 211. Gear bracket; 2111. Gear left housing; 2112. Gear right housing; 2113. Second mounting cavity; 2114. Alternating hole; 212. Sun gear; 213. Intermediate gear; 214. Output gear; 2141. Spline hole; 215. Connecting shaft; 22. Motor. Detailed Implementation

[0043] To make the technical problems solved by this application, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of this application are further described in detail below. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0044] In the description of this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0045] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0046] The seedling throwing mechanism is the core working component of the seedling thrower, realizing the tasks of picking up and throwing seedlings. The throwing mechanism generally includes a drive motor, a gearbox, and a cutter head. The drive motor is connected to the gearbox, driving its rotation. The cutter head is connected to the output gear in the gearbox, and the gearbox drives the cutter head to rotate around the axis of the drive motor, achieving reciprocating seedling picking and throwing. The gearbox's transmission controls the cutter head's rotation around the axis of the output gear, ensuring the cutter head's direction remains fixed. When the cutter head rotates to the seedling picking position, it tears a clump of seedlings from the seedbed. At this position, the centrifugal force of the seedlings is perpendicular to the bottom surface of the cutter head, preventing the seedlings from flying out. As the cutter head continues to rotate downwards, the angle between the centrifugal force of the seedlings and the bottom surface of the cutter head gradually decreases until the seedlings are thrown out by their own centrifugal force, achieving the purpose of seedling throwing.

[0047] Reference Figure 1 When the existing seedling throwing mechanism is working, the movement trajectory of the tip of the cutter head b is shown in the figure under the drive of gear box a. The cutter head b has a seedling clamping groove. When the cutter head b rotates to the position of point M (i.e., the seedling picking position), it can just tear a clump of seedlings c from the seedbed and take it out. The seedling c is clamped in the seedling clamping groove of the cutter head b. The root system of the seedling c is clamped on the lower surface of the cutter head b. At this time, the seedling c obtains 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 seedling c is exactly perpendicular to the lower surface of the cutter head b. The cutter head b can prevent the seedling c from flying out in the direction of F1.

[0048] As the blade b rotates clockwise, the seedling c follows suit. Since the direction of the blade b remains constant, that is, the inclination of the lower surface of the blade b remains moderate and constant, 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 blade b will gradually decrease.

[0049] Reference Figure 2When the seedling c rotates to position N (i.e. the 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 of F2 in the direction parallel to the lower surface of the cutter head b is greater than the frictional force between the seedling c and the cutter head. Under the action of F2, the cutter head b is automatically thrown out of the seedling groove of the cutter head 2 along the direction of F2.

[0050] Depend on Figure 2 It can be seen that when seedling c is actually thrown out of the groove of the blade b, there is still a certain angle between the centrifugal force F2 of seedling c and the bottom surface of blade b. Blade b still causes some resistance to the throwing of seedling c, and the throwing force of blade b is actually less than F2. That is, the throwing force of the seedling is weakened to a certain extent, which affects the depth of the seedling after it is thrown into the soil, and has a certain impact on the growth of the seedling.

[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 move back and forth between the seedling picking position and the seedling throwing position, so that the seedling picking unit 100 can pick up the seedlings from the seedbed 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 the seedling picking position is in the seedling clamping position, the seedling clamping groove 111 of the cutter head 11 is at the normal seedling clamping width, and the cutter head 11 can smoothly contact the seedbed and tear off a clump of seedlings; when rotating to the seedling throwing position, the seedling clamping groove 111 of the cutter head 11 enlarges, quickly removing the obstruction of the cutter head 11 from throwing the seedlings.

[0052] In the specific structure of the seedling throwing mechanism in this embodiment, the seedling picking unit 100 includes a seedling blade support 12, a scaling drive 13 and a blade head 11 mounted on the seedling blade support 12. The blade head 11 includes a first blade 112 and a second blade 113 that can rotate relative to each other, and a seedling trapping groove 111 is formed between the first blade 112 and the second blade 113. The scaling drive 13 is connected to the blade head 11 and controls the scaling of the seedling trapping groove 111 of the blade head 11, so that the seedling trapping groove 111 is in a reduced state at the seedling picking position and in a larger state at the seedling throwing position. The seedling picking drive unit 200 is connected to the seedling blade support 12 and is used to drive the seedling picking unit 100 back and forth between the seedling picking position and the seedling throwing position.

[0053] Specifically, when the cutter head 11 is in the seedling-picking position, the seedling-holding groove 111 is in a reduced state. Even in this reduced state, the seedling-holding groove 111 still has a certain width, which must at least meet the following requirements: 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-holding groove 111 can respectively hold one or more seedlings, meaning the stem of the seedling can be inserted into the seedling-holding groove 111. As the cutter head 11 continues to rotate downwards and contacts the soil layer, it can tear a clump of seedlings out of the seedbed. The specific width of the seedling-holding groove 111 during seedling picking can be set with reference to existing seedling-throwing mechanisms. When the cutter head 11 is in the seedling-throwing position, the seedling-holding groove 111 is in an enlarged state. This is to allow the seedlings to quickly detach from the seedling-holding groove 111 of the cutter head 11. Therefore, the width of the seedling-holding groove 111 should not be less than the width of the root of the seedling being picked up, so that after the seedling-holding groove 111 is enlarged, the cutter head 11 completely removes its obstruction of the seedlings. The process of the blade 11 changing from a reduced state to a larger state can be a gradual process or an abrupt process, preferably an abrupt process (i.e., the blade expands instantaneously within a short period of time). That is, before reaching the seedling throwing position, the blade 11 is in a reduced state to ensure that it can press the seedling to the predetermined throwing position before throwing it out. This ensures that the force component of the seedling in the direction perpendicular to the ground is sufficiently large after it is thrown out, avoiding the problem of the seedling being thrown out too quickly, resulting in an upward or horizontal throw. After the seedling is thrown out, during the process of the blade 11 returning from the throwing position to the seedling picking position, the reduction process of the blade 11 can also be a gradual process or an abrupt process, as long as it ensures that the blade 11 is in a reduced state before contacting the seedling.

[0054] In summary, based on the seedling throwing mechanism of this embodiment, the seedling picking unit 100 is equipped with a releasable clamping blade 11 and a scaling drive 13 that can drive the blade 11 to automatically loosen its clamping. When picking seedlings, the seedling clamping groove 111 of the blade 11 is in a reduced state. When the blade 11 rotates past the seedbed, it can just tear a clump of seedlings from the seedbed. When the blade 11 rotates to the seedling throwing position, the seedling clamping groove 111 of the blade 11 can automatically enlarge, so that the roots of the seedlings are completely freed from the restriction of the bottom surface of the blade 11. This avoids the loss of throwing force caused by the obstruction of the blade 11 when the seedlings are thrown, increases the soil penetration depth of the seedlings after they are thrown, and is more conducive to the growth of the seedlings.

[0055] In one embodiment, reference is made to Figure 10-11 The scaling drive 13 includes a drive push block 136 and a drive spring. The drive push block 136 pushes the first blade 112 and the second blade 113 to rotate relative to each other to shrink the seedling groove 111. The drive spring pushes the first blade 112 and the second blade 113 to rotate relative to each other to enlarge the seedling groove 111.

[0056] A drive structure is provided that cooperates with a drive spring and a drive push block 136. The drive spring and the drive push block 136 can drive the seedling slot 111 to enlarge and shrink respectively. That is, the drive push block 136 only needs to provide unidirectional drive to the cutter head 11. The reset and shrinkage of the seedling slot 111 can be achieved by the drive spring. This simplifies the drive structure of the drive push block 136, facilitates the improvement of the reliability of the scaling drive 13, and reduces its implementation cost.

[0057] Conversely, in another embodiment, the first blade 112 and the second blade 113 are rotated relative to each other by the drive pusher 136 to enlarge the seedling groove 111, and the first blade 112 and the second blade 113 are rotated relative to each other by the drive spring to shrink the seedling groove 111.

[0058] In one embodiment, reference is made to Figure 11 The first blade 112 has a first hinge portion in the middle, and the second blade 113 has a second hinge portion in the middle. The first hinge portion and the second hinge portion are hinged by a hinge shaft. Between the first blade 112 and the second blade 113, a control groove 114 and a seedling clamping groove 111 are formed on both sides of the hinge shaft, respectively. The drive spring includes a first spring 134 and a second spring 135 disposed on opposite sides of the first blade 112 and the second blade 113. The drive push block 136 penetrates into the control groove 114 to open the control groove 114, thereby reducing the size of the seedling clamping groove 111. The first spring 134 and the second spring 135 push the first blade 112 and the second blade 113 to move, thereby causing the control groove 114 to contract and the seedling clamping groove 111 to enlarge.

[0059] Specifically, the control groove 114 is a trapezoidal groove, and the drive push block 136 is a corresponding trapezoidal block. When the drive push block 136 penetrates the control groove 114, it gradually pushes the control groove 114 open, thereby causing the seedling clamping groove 111 to shrink. When the drive push block 136 exits the control groove 114, under the pushing force of the first spring 134 and the second spring 135, the control groove 114 will gradually shrink, causing the seedling clamping groove 111 to gradually enlarge. This structure can control the scaling of the seedling clamping groove 111 by simply controlling the linear motion of the drive push block 136, and has the advantages of simple control and easy implementation.

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

[0061] The cutter head support frame 124 can be set around the cutter head 11, which can provide support for the hinge shaft, the first spring 134 and the second spring 135, so as to achieve reliable installation of the cutter head 11.

[0062] In one embodiment, the scaling drive 13 further includes a slide rod 131, a drive member 132, and a return spring 133. The drive push block 136 is connected to the slide rod 131. The slide rod 131 is slidably mounted on the seedling cutter bracket 12. The drive member 132 and the return spring 133 are both connected to the slide rod 131. The return spring 133 is used to push the slide rod 131 out, causing the drive push block 136 to drive the seedling clamping groove 111 to shrink. The drive member 132 is used to push the slide rod 131 in, causing the drive spring to drive the seedling clamping groove 111 to enlarge.

[0063] Similarly, the scaling drive 13 is configured as a combination of a driving element 132 and a return spring 133, with the two pushing the slide bar 131 in opposite directions. This enables the slide bar 131 to move linearly back and forth, thereby driving the cutter head 11 to scale. Therefore, in this solution, the driving element 132 only needs to be able to drive the slide bar 131 to move in a fixed direction, and the return of the slide bar 131 can be achieved by the return spring 133. This simplifies the function of the driving element 132, thus simplifying its structure, improving its reliability, and reducing its implementation cost.

[0064] Regarding the configuration of the driver 132, in one embodiment, refer to... Figure 8 The driving component 132 includes a swing arm 1321 and a cam 1322. The cam 1322 is rotatably mounted relative to the seedling knife support 12. The middle part of the swing arm 1321 is hinged to the seedling knife support 12, and one end is movably connected to the slide rod 131, while the other end abuts against the cam 1322. The rotation of the cam 1322 relative to the seedling knife support 12 pushes the swing arm 1321 to swing, causing the swing arm 1321 to push the slide rod 131 to slide.

[0065] Specifically, the cam 1322 is a rotating body with a variable diameter structure. As long as the rocker arm 1321 can always be close to the surface of the cam 1322 from one direction, the rotation of the rocker arm 1321 can be controlled by the rotation of the cam 1322, thereby enabling the oscillating rocker arm 1321 to drive the slide rod 131 to move linearly. The thrust that keeps the rocker arm 1321 abutting against the cam 1322 is provided by the return spring 133. In order to realize that the oscillating motion of the rocker arm 1321 can be converted into the linear motion of the slide rod 131, the rocker arm 1321 and the slide rod 131 are movably connected. Specifically, a connecting post can be fixedly set at the end of one of them, and a waist hole can be set at the end of the other. The connecting post passes through the waist hole. The rocker arm 1321 and the slide rod 131 can be linked by the connecting post, and the waist hole can provide sufficient movement space for the connecting post.

[0066] This solution uses a combination of cam 1322 and rocker arm 1321 as the driving element 132 for driving slide bar 131. It only needs to be able to drive cam 1322 to rotate, which has the advantage of being easy to implement.

[0067] Other embodiments of the drive component 132 may include a drive structure consisting of a motor, gears, and racks; a drive structure consisting of a motor, worm gear, and worm; or an electromagnet structure.

[0068] In one embodiment, reference is made to Figure 5 The seedling cutter support 12 includes a left seedling cutter shell 121 and a right seedling cutter shell 122. A first mounting cavity 123 is formed between the left seedling cutter shell 121 and the right seedling cutter shell 122. The sliding rod 131, the driving member 132 and the return spring 133 are installed in the first mounting cavity 123. One end of the sliding rod 131 extends out of the first mounting cavity 123 and is connected to the driving push block 136.

[0069] That is, by setting the seedling cutter support 12 as a shell structure with a closed cavity and installing the scaling drive 13 in it, the scaling drive 13 can be isolated from the external environment, reducing the adhesion of water and soil to the surface of the scaling drive 13 and reducing the occurrence of obstruction to the normal operation of the scaling drive 13.

[0070] The connection between the left and right housings of the seedling cutter 121 and the right housing of the seedling cutter can be achieved by means of screw connection, snap-fit, welding, or adhesive connection. To ensure the stability of the extension and retraction of the slide rod 131, a sliding mounting seat that matches the outer diameter of the slide rod 131 can be provided in the left and right housings of the seedling cutter 121 and the right housing of the seedling cutter 122.

[0071] In one embodiment, reference is made to Figure 9-10 The first mounting cavity 123 is provided with a spring baffle 125, and one end of the reset spring 133 abuts against the spring baffle 125, and the other end abuts against the slide rod 131.

[0072] A spring stop 125 is provided in the seedling cutter bracket 12 to fix the end of the reset spring 133, which can realize the reliable installation of the reset spring 133 and enable the reset spring 133 to stably push the slide bar 131 to move in one direction.

[0073] In one embodiment, reference is made to Figure 9-10 The slide bar 131 has a spring mounting groove 1311 on one side. The return spring 133 is placed in the spring mounting groove 1311 to abut against the slide bar 131. The spring baffle 125 extends into the spring mounting groove 1311 to abut against the return spring 133.

[0074] A spring mounting groove 1311 that can accommodate the return spring 133 is directly provided in the slide bar 131, so that the return spring 133 and the slide bar 133 are set to coincide. Compared with connecting the end of the return spring 133 to the slide bar 131, the length of the structure of the return spring 131 and the slide bar 131 combined is shorter, which is beneficial to shortening the size of the seedling cutter bracket 12 and facilitating the miniaturization design of the entire seedling picking unit 100.

[0075] In one embodiment, the seedling-picking drive unit 200 includes a motor 22 and a rotating support. The output shaft of the motor 22 is connected to the rotating support. The seedling-picking unit 100 is fixedly mounted on the rotating support. The motor 22 of the seedling-picking unit 100 revolves. After the seedling is picked up, the angle between the centrifugal force of the seedling and the blade 11 remains constant. Based on the rotation drive 13 of this solution, when the set seedling throwing position is reached, the seedling-holding groove 111 of the blade 11 is quickly enlarged, which can remove the obstruction of the blade 11 on the seedling and allow the seedling to be thrown out.

[0076] In one embodiment, the seedling picking drive unit 200 includes a motor 22 and an angle holder 21. The angle holder 21 is connected to the motor 22 and the seedling picking unit 100. The motor 22 drives the angle holder 21 to rotate, so that the seedling picking unit 100 can move back and forth between the seedling picking position and the seedling throwing position. The angle holder 21 can keep the tilt angle of the seedling picking unit 100 fixed at all times.

[0077] This solution provides an angle holder 21 to keep the tilt angle of the seedling picking unit 100 constant, so that at the seedling picking position, the surface of the blade head 11 can be perpendicular to the centrifugal force of the seedling, so that the seedling can be smoothly carried downwards; as the seedling rotates with the blade head 11, while the tilt angle of the blade head 11 remains constant, the angle between the centrifugal force of the seedling and the surface of the blade head 11 gradually decreases, thereby achieving the purpose of smoothly throwing the seedling when it reaches the throwing position.

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

[0079] The rotary gear type angle holder 21 has the advantages of stable operation and low vibration, which is conducive to increasing the rotation speed of the angle holder 21, and thus conducive to increasing the rice transplanting speed.

[0080] In one embodiment, reference is made to Figure 2-3 The angle holder 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 fixedly arranged relative to it. The output shaft of the motor 22 is connected to the gear bracket 211. The output gear 214 is rotatably mounted on the gear bracket 211 and is connected to the sun gear 212 in a transmission manner. The seedling picking unit 100 is fixedly connected to the output gear 214 so that the seedling picking unit 100 can rotate back and forth between the seedling picking position and the seedling throwing position by rotating around the sun gear 212, and maintain its own tilt angle fixed relative to the gear bracket 211.

[0081] Specifically, the sun gear 212 is fixed relative to the motor 22, meaning that the rotation of the motor 22 will not cause the sun gear 212 to rotate. The gear support 211 is driven to rotate by the motor 22. Therefore, as the output gear 214 rotates around the motor 22 along with the gear support 211, it will rotate relative to the gear support 211 under the influence of the sun gear 212. Since the output gear 214 and the sun gear 212 have the same number of teeth, the output gear 214 will rotate one revolution around the sun gear 212 and one rotation relative to the gear support 211. The final result is that the relative positions of all points on the output gear 214 will remain constant. Therefore, the relative positions of all points on the seedling-harvesting unit 100 will remain constant, achieving the goal of maintaining the fixed tilt angle of the seedling-harvesting unit 100.

[0082] In one embodiment, the angle holder 21 further includes an intermediate gear 213, which is rotatably mounted in the gear bracket 211 and located between the sun gear 212 and the output gear 214 to realize the transmission connection between the sun gear 212 and the output gear 214.

[0083] Specifically, the intermediate gear 213 can be one or more. The transmission through the intermediate gear 213 increases the wheelbase between the sun gear 212 and the output gear 214, thereby increasing the distance between the seedling-harvesting 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 arranged around the axis of the sun gear 212. Each output gear 214 can connect to one seedling-harvesting unit 100, thus enabling multiple seedling-harvesting units 100 to perform one seedling-harvesting and seedling-throwing operation per revolution of the gear support 211, thereby significantly improving seedling-throwing efficiency.

[0084] In one embodiment, reference is made 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 to realize the rotational installation of the cam 1322 relative to the seedling cutter bracket 12.

[0085] Specifically, as described above, when the gear bracket 211 rotates one revolution, the output gear 214 rotates one revolution relative to the gear bracket 211. Utilizing this condition, the connecting shaft 215 extending from the gear bracket 211 is used to mount the cam 1322. When the seedling cutter bracket 12 revolves around the sun gear 212 one revolution, the cam 1322 rotates one revolution relative to the seedling cutter bracket 12, perfectly matching the seedling clamping groove 111 to shrink at the seedling picking position and enlarge at the seedling throwing position. Therefore, this embodiment eliminates the need for a separate power source for the cam 1322, reducing costs and offering the advantages of stability and reliability.

[0086] In one embodiment, the seedling cutter support 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 seedling cutter support 12 and the output gear 214. The connecting shaft 215 passes through the center of the spline sleeve 126 and connects to the cam 1322.

[0087] By using a splined sleeve 126 that mates with the splined hole 2141 of the output gear 214, a reliable fixed connection can be achieved between the seedling cutter bracket 12 and the output gear 214. Furthermore, the splined sleeve 126 has a central cavity, allowing the connecting shaft 215 to pass through it and connect to the cam 1322 located on the side of the seedling cutter bracket 12 facing away from the splined sleeve 126. This structure achieves the aforementioned goal of driving the cam 1322 to rotate relative to the seedling cutter bracket 12 and offers the advantage of high reliability.

[0088] In one embodiment, reference is made to Figure 4The gear support 211 includes a left gear housing 2111 and a right gear housing 2112. A second mounting cavity 2113 is formed between the left gear housing 2111 and the right gear housing 2112, which can accommodate the sun gear 212 and the output gear 214. The right gear housing 2112 has a clearance hole 2114 that allows the spline sleeve 126 to pass through. The spline sleeve 126 extends through the clearance hole 2114 into the second mounting cavity 2113 to connect with the output gear 214. The connecting shaft 215 is disposed in 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 isolate the gear from the external environment, which helps to ensure the stability of each gear's operation.

[0090] Reference Figure 5 Preferably, the sun gear 212 has an annular shoulder on the side near the left gear housing 2111, and the left gear housing 2111 has a corresponding through hole. The shoulder extends through the through hole to the outside of the left gear housing 2111, allowing the sun gear 212 to be fixedly connected to the frame of the rice transplanter, thus achieving the purpose of relatively fixing the sun gear 212 and the motor 22. The shaft of the motor 22 passes through the sun gear 212 and is connected to the right gear housing 2112, enabling the motor 22 to drive the gear support 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 picking unit 100 back and forth between the seedling picking position and the seedling throwing position, while keeping the tilt angle of the seedling picking unit 100 constant. The crank-rocker type structure is implemented using the parallelogram principle, and can be implemented with reference to existing crank-rocker mechanisms, which will not be described in detail in this embodiment.

[0093] On the other hand, a rice seedling thrower is provided, including a seedling feeding mechanism and a seedling throwing mechanism, wherein the seedling throwing mechanism is used to take seedlings from the seedling feeding mechanism and throw them out.

[0094] Specifically, the seedling throwing mechanism is usually fixed on the seedling throwing machine, and the seedling delivery mechanism can transport the seedlings to the seedling picking 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 thrower of this embodiment has the advantages of low resistance when throwing seedlings and a smoother throwing process, which is conducive to increasing the depth of the seedling roots in the soil and is more conducive to the growth of seedlings.

[0096] On another front, a drone rice-throwing device is provided, comprising a drone and a rice-throwing machine, wherein the rice-throwing machine is mounted beneath the drone.

[0097] Specifically, drones have the advantage of high flight speed, and the rice transplanter mounted beneath the drone does not need to come into contact with the soil and water in the field, resulting in less running resistance and improving the transfer speed of the transplanter, thus increasing transplanting efficiency. Furthermore, the drone-based rice transplanting equipment in this embodiment, equipped with the aforementioned transplanter, helps to increase the depth of the seedling roots penetrating the soil, which is more conducive to seedling growth.

[0098] In the description herein, it should be understood that the terms "upper," "lower," "left," "right," and other orientations or positional relationships are used only for ease of description and simplification of operation, and 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 a limitation of this application. Furthermore, the terms "first" and "second" are used merely for descriptive distinction and have no special meaning.

[0099] 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.

[0100] 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.

[0101] The technical principles of this application have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of this application and should not be construed as limiting the scope of protection of this application in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of this application without inventive effort, and these embodiments will all fall within the scope of protection of this application.

Claims

1. A rice seedling throwing mechanism, characterized in that, include: The seedling picking unit (100) includes a seedling knife support (12) and a scaling drive (13) and a cutter head (11) mounted on the seedling knife support (12). The cutter head (11) includes a first blade (112) and a second blade (113) that can rotate relative to each other. A seedling clamping 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 controls the scaling of the seedling clamping groove (111) of the cutter head (11) so that the seedling clamping groove (111) is in a reduced state at the seedling picking position and in a larger state at the seedling throwing position. The seedling picking drive unit (200) is connected to the seedling knife support (12) and is used to drive the seedling picking unit (100) back and forth between the seedling picking position and the seedling throwing position; When the seedlings are being picked up, the seedling trap (111) is in a reduced state. When the blade (11) rotates past the seedbed, it can just tear a clump of seedlings off the seedbed. When the blade (11) rotates to the seedling throwing position, the seedling trap (111) can automatically enlarge, so that the roots of the seedlings are completely freed from the restriction of the bottom surface of the blade (11), avoiding the loss of throwing force caused by the blade (11) when the seedlings are thrown.

2. The rice-throwing mechanism according to claim 1, characterized in that, The scaling drive (13) includes a drive push block (136) and a drive spring. The drive push block (136) pushes the first blade (112) and the second blade (113) to rotate relative to each other to shrink the seedling groove (111). The drive spring pushes the first blade (112) and the second blade (113) to rotate relative to each other to enlarge the seedling groove (111).

3. The rice-throwing mechanism according to claim 2, characterized in that, The first blade (112) has a first hinge portion in the middle, and the second blade (113) has a second hinge portion in the middle. The first hinge portion and the second hinge portion are hinged by a hinge shaft. Between the first blade (112) and the second blade (113), a control groove (114) and a seedling clamping groove (111) are formed on both sides of the hinge shaft, respectively. The driving spring includes a first spring (134) and a second spring (135) disposed 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), thereby reducing the size of the seedling clamping groove (111). 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) contracts, thereby enlarging the size of the seedling clamping groove (111).

4. The rice-throwing mechanism according to claim 3, characterized in that, The seedling cutter bracket (12) includes a cutter head support frame (124), and the two ends of the hinge shaft are fixed inside the cutter head support frame (124). The ends of the first spring (134) and the second spring (135) away from the cutter head (11) respectively abut against the inner wall of the cutter head support frame (124).

5. The rice-throwing mechanism according to any one of claims 2-4, characterized in that, The scaling drive (13) further includes a slide rod (131), a drive member (132), and a return spring (133). The drive push block (136) is connected to the slide rod (131). The slide rod (131) is slidably mounted on the seedling cutter bracket (12). The drive member (132) and the return spring (133) are both connected to the slide rod (131). The return spring (133) is used to push the slide rod (131) out, so that the drive push block (136) drives the seedling slot (111) to shrink. The drive member (132) is used to push the slide rod (131) in, so that the drive spring drives the seedling slot (111) to enlarge.

6. The rice-throwing mechanism according to claim 5, characterized in that, The driving component (132) includes a swing arm (1321) and a cam (1322). The cam (1322) is rotatably mounted relative to the seedling cutter bracket (12). The middle part of the swing arm (1321) is hinged to the seedling cutter bracket (12), and one end is movably connected to the slide rod (131), while the other end abuts against the cam (1322). The rotation of the cam (1322) relative to the seedling cutter bracket (12) pushes the swing arm (1321) to swing, thereby causing the swing arm (1321) to push the slide rod (131) to slide.

7. The rice-throwing mechanism according to claim 5, characterized in that, The seedling cutter support (12) includes a left seedling cutter shell (121) and a right seedling cutter shell (122). A first mounting cavity (123) is formed between the left seedling cutter shell (121) and the right seedling cutter shell (122). The sliding rod (131), the driving member (132), and the return spring (133) are installed in the first mounting cavity (123). One end of the sliding rod (131) extends out of the first mounting cavity (123) and is connected to the driving push block (136).

8. The rice-throwing mechanism according to claim 7, characterized in that, The first mounting cavity (123) is provided with a spring stop plate (125), one end of the return spring (133) abuts against the spring stop plate (125), and the other end abuts against the slide rod (131).

9. The rice-throwing mechanism according to claim 8, characterized in that, The slide bar (131) has a spring mounting groove (1311) on one side. The return spring (133) is placed in the spring mounting groove (1311) to abut against the slide bar (131). The spring baffle (125) extends into the spring mounting groove (1311) to abut against the return spring (133).

10. The rice-throwing mechanism according to claim 6, characterized in that, The seedling picking drive unit (200) includes a motor (22) and an angle holder (21). The angle holder (21) is connected to the motor (22) and the seedling picking unit (100). The motor (22) drives the angle holder (21) to rotate, so that the seedling picking unit (100) can move back and forth between the seedling picking position and the seedling throwing position. The angle holder (21) can keep the tilt angle of the seedling picking unit (100) fixed at all times.

11. The rice-throwing mechanism according to claim 10, characterized in that, The angle retainer (21) is a rotary gear retainer.

12. The rice-throwing mechanism according to claim 11, characterized in that, The angle holder (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 fixedly arranged relative to it. The output shaft of the motor (22) is connected to the gear bracket (211). The output gear (214) is rotatably mounted on the gear bracket (211) and is connected to the sun gear (212) in a transmission connection. The seedling picking unit (100) is fixedly connected to the output gear (214) so ​​that the seedling picking unit (100) can rotate back and forth between the seedling picking position and the seedling throwing position by rotating around the sun gear (212), and maintain its own tilt angle fixed relative to the gear bracket (211).

13. The rice-throwing mechanism according to claim 12, characterized in that, The angle holder (21) also includes an intermediate gear (213), which is rotatably mounted in the gear bracket (211) and located between the sun gear (212) and the output gear (214) to realize the transmission connection between the sun gear (212) and the output gear (214).

14. The rice-throwing mechanism according to claim 12, characterized in that, 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) to realize the rotational installation of the cam (1322) relative to the seedling cutter bracket (12).

15. The rice-throwing mechanism according to claim 14, characterized in that, The seedling cutter support (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 seedling cutter support (12) and the output gear (214). The connecting shaft (215) passes through the center of the spline sleeve (126) and connects to the cam (1322).

16. The rice-throwing mechanism according to claim 15, characterized in that, The gear support (211) includes a left gear housing (2111) and a right gear housing (2112). A second mounting cavity (2113) is formed between the left gear housing (2111) and the right gear housing (2112) to mount the sun gear (212) and the output gear (214). The right gear housing (2112) has a clearance hole (2114) that allows the spline sleeve (126) to pass through. The spline sleeve (126) extends through the clearance hole (2114) into the second mounting cavity (2113) to connect with the output gear (214). The connecting shaft (215) is disposed in the left gear housing (2111) to pass through the center of the spline sleeve (126).

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

18. A rice transplanter, characterized in that, It includes a seedling delivery mechanism and a seedling throwing mechanism, wherein the seedling throwing mechanism is used to take seedlings from the seedling delivery mechanism and throw them out, and the seedling throwing mechanism is the seedling throwing mechanism according to any one of claims 1-17.

19. A drone-based rice transplanting device, characterized in that, It includes a drone and a rice transplanter, wherein the rice transplanter is mounted below the drone, and the rice transplanter is the rice transplanter as described in claim 18.

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