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

Abstract

The application discloses a seedling throwing mechanism, a seedling throwing machine and unmanned aerial vehicle seedling throwing equipment, which comprises a seedling taking unit, a rotating drive and a cutter head which are installed on a seedling cutter support, the cutter head is provided with a seedling clamping groove, the rotating drive is connected with the cutter head, the cutter head is driven to rotate through the rotating drive, the cutter head is in a seedling taking state at a seedling taking position and is in a seedling throwing state at a seedling throwing position, the seedling can be clamped into the seedling clamping groove in the seedling taking state, the cutter head is turned upward in the seedling throwing state relative to the seedling taking state, and the cutter head avoids hindering the seedling from being thrown out of the slot opening of the seedling clamping groove, and 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.

Description

TECHNICAL FIELD

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

[0002] The seedling throwing mechanism is the core working part of the seedling throwing machine, and realizes the seedling taking and throwing work. The seedling throwing mechanism generally comprises a driving motor, a gear box and a cutter head. The driving motor is connected with the gear box and can drive the gear box to rotate. The cutter head is connected with an output gear in the gear box and is driven by the gear box to rotate around the axis of the driving motor to realize the reciprocating seedling taking and throwing. The cutter head is controlled by the transmission of the gear box to rotate around the axis of the output gear, so that the direction of the cutter head is always kept fixed. When the cutter head rotates to the seedling taking position, a bunch of seedlings can be torn from the seedling mat. At this position, the centrifugal force of the seedlings is perpendicular to the bottom surface of the cutter head, and the cutter head can prevent the seedlings from flying out. The cutter head continues to rotate downward with the seedlings, and the angle between the direction of the centrifugal force 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, thereby achieving the purpose of seedling throwing. However, in fact, when the seedlings are thrown out, there is still a small angle between the direction of the centrifugal force of the seedlings and the bottom surface of the cutter head. Under the hindering action of the cutter head, part of the centrifugal force of the seedlings is offset, thereby weakening the throwing force of the seedlings and affecting the depth of the seedlings after being thrown into the soil, which has a certain impact on the growth of the seedlings. SUMMARY

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

[0004] To achieve the above-mentioned purpose, the following technical solutions are adopted in the present application:

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

[0006] A seedling taking unit comprises a seedling cutter support and a rotary drive and a cutter head mounted on the seedling cutter support. The cutter head has a seedling clamping groove. The rotary drive is connected with the cutter head and drives the cutter head to rotate. The cutter head is in a seedling taking state at a seedling taking position and in a seedling throwing state at a seedling throwing position. In the seedling taking state, the seedlings can be clamped into the seedling clamping groove. In the seedling throwing state, the cutter head is flipped upward to avoid hindering the seedlings from being thrown out of the slot of the seedling clamping groove.

[0007] A seedling taking driving unit is connected with the seedling cutter support and is used to drive the seedling taking unit to reciprocate between the seedling taking position and the seedling throwing position.

[0008] Optionally, the cutter head comprises a seedling taking part and a control part connected at an angle, the seedling taking groove is arranged on the side of the seedling taking part far away from the control part; a rotating shaft is arranged at the joint of the seedling taking part and the control part, the rotating shaft is rotatably installed on the seedling cutter support; the rotary drive is connected with the control part, and the rotary drive rotates the control part to rotate the whole cutter head.

[0009] Optionally, the rotary drive comprises a slide rod slidably installed on the seedling cutter support, and a long hole is arranged on the end of the slide rod close to the cutter head; a connecting column is arranged on the side of the control part far away from the seedling taking part and penetrates through the long hole, so that the slide rod moving in a straight line can push the cutter head to rotate around the rotating shaft.

[0010] Optionally, the rotary drive further comprises a driving member and a return spring, the driving member and the return spring are connected with the slide rod, the return spring is used for pushing the slide rod out, so that the cutter head enters the seedling throwing state; the driving member is used for pushing the slide rod in, so that the cutter head enters the seedling taking state.

[0011] Optionally, the driving member comprises a swing rod and a cam, the cam is rotatably installed relative to the seedling cutter support, the middle part of the swing rod is hingedly connected to the seedling cutter support, one end of the swing rod is movably connected with the slide rod, and the other end of the swing rod abuts against the cam; the swing rod is pushed to swing through the rotation of the cam relative to the seedling cutter support, so that the swing rod pushes the slide rod to slide.

[0012] Optionally, the seedling cutter support comprises a seedling cutter left shell and a seedling cutter right shell, a first installation cavity is formed between the seedling cutter left shell and the seedling cutter right shell, the rotary drive is installed in the first installation cavity, and one end of the slide rod extends out of the first installation cavity and is connected with the cutter head.

[0013] Optionally, a spring stopper is arranged in the first installation cavity, one end of the return spring abuts against the spring stopper, and the other end of the return spring abuts against the slide rod.

[0014] Optionally, a spring installation groove is arranged on one side of the slide rod, the return spring is arranged in the spring installation groove to abut against the slide rod, and the spring stopper extends into the spring installation groove to abut against the return spring.

[0015] Optionally, the seedling taking drive unit comprises a motor and an angle retainer, the angle retainer is connected with the motor and the seedling taking unit, the angle retainer is rotated by the motor, so that the seedling taking unit can reciprocate between the seedling taking position and the seedling throwing position, and the angle retainer can keep the inclination angle of the seedling taking unit fixed.

[0016] Optionally, the angle retainer is a rotary gear type retainer.

[0017] Optionally, the angle retainer comprises 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 coaxially arranged relative to the motor and fixedly arranged, the output shaft of the motor is connected to the gear bracket, the output gear is rotatably arranged on the gear bracket and in transmission connection with 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 the inclination angle of the seedling taking unit fixed relative to the gear bracket.

[0018] Optionally, the angle retainer further comprises an intermediate gear rotatably arranged in the gear bracket and located between the sun gear and the output gear to realize the transmission connection between the sun gear and the output gear.

[0019] 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 rotatable arrangement of the cam relative to the seedling cutter bracket.

[0020] 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 realize the fixed connection between the seedling cutter bracket and the output gear, and the connecting shaft penetrates the center of the spline sleeve and connects the cam.

[0021] Optionally, the gear bracket comprises a gear left shell and a gear right shell, a second mounting cavity capable of mounting the sun gear and the output gear is formed between the gear left shell and the gear right shell; the gear right shell has an avoiding hole allowing the spline sleeve to penetrate, the spline sleeve extends into the second mounting cavity through the avoiding hole to be connected with the output gear, and the connecting shaft is arranged in the gear left shell to penetrate the center of the spline sleeve.

[0022] Optionally, the angle retainer is a crank rocker type retainer.

[0023] In another aspect, a seedling throwing machine is provided, comprising a seedling feeding mechanism and a seedling throwing mechanism, the seedling throwing mechanism being used to take seedlings from the seedling feeding mechanism and throw them out.

[0024] In yet another aspect, an unmanned aerial vehicle seedling throwing device is provided, comprising an unmanned aerial vehicle and a seedling throwing machine, the seedling throwing machine being carried under the unmanned aerial vehicle.

[0025] The beneficial effects of the present application are: the present application provides a throwing seedling mechanism, a throwing seedling machine and an unmanned aerial vehicle throwing seedling equipment, the seedling taking unit of the throwing seedling mechanism is provided with a rotary drive capable of controlling the rotation of the cutter head on the seedling cutter support, during seedling throwing, the rotary drive drives the cutter head to rotate, rapidly increases the included angle between the centrifugal force of the cutter head and the seedling, cancels the obstruction of the cutter head to the seedling when the seedling is thrown out, avoids the loss of throwing force caused by the obstruction of the cutter head when the seedling is thrown out, increases the depth of the seedling after being thrown out, and is more conducive to the growth of the seedling. BRIEF DESCRIPTION OF DRAWINGS

[0026] The present application will be further described in detail below according to the drawings and embodiments.

[0027] Figure 1 The principle diagram of the existing throwing seedling mechanism when taking seedlings;

[0028] Figure 2 The principle diagram of the existing throwing seedling mechanism when throwing seedlings;

[0029] Figure 3 The structure diagram of the throwing seedling mechanism described in the embodiment of the present application;

[0030] Figure 4 The exploded schematic view of the throwing seedling mechanism described in the embodiment of the present application;

[0031] Figure 5 The sectional view of the throwing seedling mechanism described in the embodiment of the present application;

[0032] Figure 6 The internal structure diagram of the throwing seedling mechanism described in the embodiment of the present application;

[0033] Figure 7 The exploded schematic view of the structure shown in the embodiment of the present application; Figure 6

[0034] The exploded schematic view of the structure shown in the embodiment of the present application; Figure 8

[0035] The exploded schematic view of the structure shown in the embodiment of the present application; Figure 9

[0036] The exploded schematic view of the structure shown in the embodiment of the present application; Figure 10 Figure 9 The structure schematic view of the rotary drive and the cutter head connected in the embodiment of the present application;

[0037] Figure 11 The exploded schematic view of the structure shown in the embodiment of the present application.

[0038] Figure 12 Figure 11 The exploded schematic view of the structure shown in the embodiment of the present application.

[0039] Figures 1-2 The exploded schematic view of the structure shown in the embodiment of the present application.​​

[0040] a, gear box; b, cutter head; c, seedling.

[0041] Figures 3-11 In:

[0042] 100, seedling taking unit; 11, cutter head; 111, seedling clamping groove; 112, seedling taking part; 113, control part; 114, rotating shaft; 115, connecting column; 12, seedling cutter support; 121, left seedling cutter shell; 122, right seedling cutter shell; 123, first mounting cavity; 124, cutter head seat; 125, spring stop piece; 126, spline sleeve; 13, rotary drive; 131, sliding rod; 1311, spring mounting groove; 1312, long hole; 132, driving piece; 1321, swing lever; 1322, cam; 133, return spring; 200, seedling taking driving unit; 21, angle retainer; 211, gear support; 2111, left gear shell; 2112, right gear shell; 2113, second mounting cavity; 2114, position avoiding 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 in the application, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the application are further described in detail below. Obviously, the described embodiments are only some of the embodiments of the application, not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the application.

[0044] In the description of the application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0045] In the present application, unless specifically and explicitly defined otherwise, a first feature is "on" or "under" a second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "over" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is horizontally higher than the second feature. The first feature "under", "below" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the first feature is horizontally lower than the second feature.

[0046] The seedling throwing mechanism is the core working part of the seedling throwing machine, and realizes the seedling taking and throwing work. The seedling throwing mechanism generally includes a driving motor, a gear box and a cutter head. The driving motor is connected with the gear box and can drive the gear box to rotate. The cutter head is connected with an output gear in the gear box, and the cutter head is driven by the gear box to rotate around the axis of the driving motor to realize reciprocating seedling taking and throwing. The cutter head is controlled by the transmission of the gear box 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 a seedling taking position, a bunch of seedlings can be torn from the mat 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 continues to rotate downward with the seedlings, and the included 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, achieving the purpose of seedling throwing.

[0047] Referring to Figure 1 , the existing seedling throwing mechanism works, and the moving track of the tip of the cutter head b is shown in the figure under the drive of the gear box a. 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 a bunch of seedlings c from the mat seedlings and take them out. The seedlings c are clamped in the seedling clamping groove of the cutter head b, and the root system of the seedlings b is clamped 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 in the direction of F1.

[0048] With the clockwise rotation of the cutter head b, the seedlings c rotate with it. Since the direction of the cutter head b always remains unchanged, i.e. the inclination of the lower surface of the cutter head b remains unchanged, and the centrifugal force F of the seedlings c will gradually swing in the clockwise direction during the rotation process, the included angle between F and the lower surface of the cutter head b will gradually decrease.

[0049] Referring to 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] To overcome the above technical problems, 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 equipped with a rotation drive that can drive the blade head 11 to rotate, so that when the seedling picking position is in the normal tilt angle, the blade head 11 can smoothly contact the seedbed and tear off a clump of seedlings; when rotating to the seedling throwing position, the blade head 11 can automatically flip upward, reducing the obstruction caused by the blade head 11 to the seedling throwing, so that the seedlings can be smoothly thrown out of the slot of the seedling clamping groove 111.

[0052] In the specific structure of the seedling throwing mechanism in this embodiment, the seedling picking unit 100 includes a seedling knife support 12, a rotary drive 13 and a blade head 11 mounted on the seedling knife support 12. The blade head 11 has a seedling clamping groove 111. The rotary drive 13 is connected to the blade head 11. The rotary drive 13 drives the blade head 11 to rotate, so that the blade head 11 is in the seedling picking state at the seedling picking position and in the seedling throwing state at the seedling throwing position. In the seedling picking state, the seedlings can be clamped into the seedling clamping groove 111. In the seedling throwing state, relative to the seedling picking state, the blade head 11 is flipped upward to prevent the blade head 11 from obstructing the seedlings from being thrown out of the groove of the seedling clamping groove 111. 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.

[0053] Specifically, the blade 11 is in the seedling-picking state at the seedling-picking position, which can be combined with... Figure 1The state shown is understood, when the cutter head 11 rotates to the seedling taking position, the cutter head 11 has a certain degree of coincidence with the blanket seedlings, the cutter head 11 can be embedded in the seedlings, 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, and the seedlings taken out obtain the same linear velocity as the cutter head 11. In order to avoid the seedlings flying out, there is a large angle between the lower surface of the cutter head 11 and the centrifugal force of the seedlings. In actual setting, the existing seedling throwing mechanism can be referred to for setting. Generally speaking, when the seedlings are taken, the angle between the centrifugal force of the seedlings and the lower surface of the cutter head 11 should be not less than 90°. The cutter head 11 is in the seedling throwing state at the seedling throwing position. Specifically, the cutter head 11 can be combined with the seedling throwing mechanism of the existing seedling throwing mechanism. Figure 2 The state shown is understood, assuming that the cutter head 11 rotates to the seedling throwing position without moving the cutter head 11, the centrifugal force direction of the seedlings and the lower surface of the cutter head 11 still has a certain angle, the throwing force of the cutter head 11 on the seedlings is weakened. The purpose of the present scheme is to enable the seedlings to quickly escape from the cutter head 11. Therefore, the cutter head 11 provides a rotating drive 13 that can drive the cutter head 11 to rotate upward, that is, when the cutter head 11 rotates to the seedling throwing position, the rotating drive 13 drives the cutter head 11 to rotate upward, further reduces the angle between the lower surface of the cutter head 11 and the centrifugal force of the seedlings, and even can make the lower surface of the cutter head 11 relative to the direction of the centrifugal force of the seedlings upwardly inclined. At this time, the cutter head 11 will not hinder the throwing of the seedlings. Therefore, when entering the seedling throwing state, the angle of upward deflection of the cutter head 11 can be set according to actual needs. Preferably, the deflection angle is not less than the size of the angle between the lower surface of the cutter head 11 and the centrifugal force direction of the seedlings at the seedling throwing position without moving the cutter head 11. The change process of the cutter head 11 from the seedling taking state to the seedling throwing state can be a gradual change process or a sudden change process, and is preferably a sudden change process (that is, the cutter head is instantaneously turned upward in a short time). That is, before reaching the seedling throwing position, the cutter head 11 remains stationary to ensure that the cutter head 11 can throw the seedlings to the predetermined seedling throwing position, so that the component of the seedlings in the direction perpendicular to the ground is large enough to avoid the problem of throwing the seedlings upwardly or horizontally.

[0054] In summary, based on the seedling throwing mechanism of the present embodiment, the seedling taking unit 100 is provided with a rotating drive 13 capable of controlling the rotation of the cutter head 11 on the seedling cutter support 12. When throwing seedlings, the rotating drive 13 drives the cutter head 11 to rotate, quickly increases the angle between the cutter head 11 and the centrifugal force of the seedlings, cancels the hindrance of the cutter head 11 to the throwing of the seedlings, avoids the loss of throwing force caused by the hindrance of the cutter head 11 to the throwing of the seedlings, increases the depth of the seedlings after being thrown into the soil, and is more conducive to the growth of the seedlings.

[0055] In one embodiment, referring to Figures 11-12 , the cutter head 11 comprises a seed taking part 112 and a control part 113 connected at an angle, the seed taking groove 111 is arranged on the side of the seed taking part 112 away from the control part 113; a rotating shaft 114 is arranged at the joint of the seed taking part 112 and the control part 113, the rotating shaft 114 is rotatably installed on the seed cutter support 12; the rotary drive 13 is connected with the control part 113, and the rotary drive 13 rotates the control part 113 to rotate the whole cutter head 11.

[0056] Since the movement of the cutter head 11 is a rotating movement, the present scheme sets the seed taking part 112 and the control part 113 connected at an angle, which is more convenient for setting the rotary drive 13, and the rotary drive 13 drives the control part 113 to rotate around the rotating shaft 114, and further drives the seed taking part 112 to rotate around the rotating shaft 114. The included angle between the seed taking part 112 and the control part 113 is preferably 90°-120°. In order to facilitate the rotating installation of the cutter head 11, the end of the seed cutter support 12 is provided with a cutter head seat 124, and the two ends of the rotating shaft 114 are hinged to the cutter head seat 124.

[0057] In one embodiment, referring to Figures 11-12 , the rotary drive 13 comprises a sliding rod 131 slidably installed on the seed cutter support 12, and one end of the sliding rod 131 close to the cutter head 11 is provided with a long hole 1312; the side of the control part 113 away from the seed taking part 112 is provided with a connecting column 115 penetrating through the long hole 1312, so that the linear movement of the sliding rod 131 can push the cutter head 11 to rotate around the rotating shaft 114.

[0058] That is, the long hole 1312 and the connecting column 115 are matched to realize the movable connection of the sliding rod 131 and the cutter head 11, so that the linear movement of the sliding rod 131 itself can push the cutter head 11 to rotate. That is, in the present scheme, only the driving force that can control the linear movement of the sliding rod 131 is needed, which has the advantage of easy implementation.

[0059] In one embodiment, the rotary drive 13 further comprises a driving member 132 and a return spring 133, the driving member 132 and the return spring 133 are connected with the sliding rod 131, the return spring 133 is used to push the sliding rod 131 out, so that the cutter head 11 enters the seed throwing state; the driving member 132 is used to push the sliding rod 131 in, so that the cutter head 11 enters the seed taking state.

[0060] The rotating drive 13 is in the form of a combination of a driving member 132 and a reset spring 133, and the sliding directions of the two are opposite, so as to realize the linear reciprocating movement of the slide rod 131, and further realize the rotating process of the cutter head 11. Therefore, in the scheme, the driving member 132 only needs to be able to drive the slide rod 131 to move in a fixed direction, and the reset of the slide rod 131 can be realized by the reset spring 133, that is, the use function of the driving member 132 is simplified, so that the structure of the driving member 132 can be simplified, the reliability of the driving member 132 can be improved, and the implementation cost thereof can be reduced.

[0061] Regarding the setting of the driving member 132, in an embodiment, referring to Figures 8-9 , the driving member 132 includes a swing rod 1321 and a cam 1322, the cam 1322 is rotatably installed relative to the seedling knife support 12, the middle part of the swing rod 1321 is hingedly connected to the seedling knife support 12, one end is movably connected to the slide rod 131, and the other end abuts against the cam 1322. The swing rod 1321 is pushed to swing by the rotation of the cam 1322 relative to the seedling knife support 12, so that the swing rod 1321 pushes the slide rod 131 to slide.

[0062] Specifically, the cam 1322 is a rotating body with a variable diameter structure, as long as the swing rod 1321 can always approach the surface of the cam 1322 from a direction, the rotation of the cam 1322 can control the rotation of the swing rod 1321, and then the swing rod 1321 can drive the slide rod 131 to move linearly. The pushing force of the swing rod 1321 abutting against the cam 1322 is provided by the reset spring 133; in order to realize that the swing motion of the swing rod 1321 can be converted into the linear motion of the slide rod 131, the swing rod 1321 and the slide rod 131 are movably connected, specifically, a connecting pin can be fixedly arranged at the end of one of them, and a waist hole can be arranged at the end of the other, the connecting pin penetrates through the waist hole, and the connecting pin can link the swing rod 1321 and the slide rod 131, and the waist hole can provide sufficient movement space for the connecting pin.

[0063] The scheme adopts the structure of the combination of the cam 1322 and the swing rod 1321 as the driving member 132 for driving the slide rod 131, and only needs to be able to drive the rotation of the cam 1322, which has the advantage of easy implementation.

[0064] Regarding other embodiments of the driving member 132, it can be a driving structure of a motor, a gear and a rack, or a driving structure of a motor, a worm gear and a worm.

[0065] In an embodiment, referring to Figure 5The seedling cutter support 12 comprises a seedling cutter left shell 121 and a seedling cutter right shell 122, a first installation cavity 123 is formed between the seedling cutter left shell 121 and the seedling cutter right shell 122, the rotary drive 13 is installed in the first installation cavity 123, and one end of the sliding rod 131 extends out of the first installation cavity 123 and is connected with the cutter head 11.

[0066] That is, the seedling cutter support 12 is arranged as a shell structure with a closed cavity, the rotary drive 13 is installed in the shell structure, the rotary drive 13 can be isolated from the external environment, the adhesion of water and soil to the surface of the rotary drive 13 is reduced, and the situation that the normal operation of the rotary drive 13 is blocked is reduced.

[0067] The connection between the seedling cutter left shell 121 and the seedling cutter right shell 122 can be in the form of screw connection, clamping, welding, adhesive connection and the like; in order to ensure the stability of the extension and retraction of the sliding rod 131, a sliding installation seat matched with the outer diameter of the sliding rod 131 can be arranged in the seedling cutter left shell 121 and the seedling cutter right shell 122.

[0068] In an embodiment, referring to Figures 9-10 A spring stopper 125 is arranged in the first installation cavity 123, one end of the reset spring 133 abuts against the spring stopper 125, and the other end of the reset spring 133 abuts against the sliding rod 131.

[0069] The spring stopper 125 arranged in the seedling cutter support 12 is used for fixing the end of the reset spring 133, the reliable installation of the reset spring 133 can be realized, and the reset spring 133 can stably push the sliding rod 131 to move in one direction.

[0070] In an embodiment, referring to Figures 9-10 One side of the sliding rod 131 is provided with a spring installation groove 1311, the reset spring 133 is arranged in the spring installation groove 1311 to abut against the sliding rod 131, and the spring stopper 125 extends into the spring installation groove 1311 to abut against the reset spring 133.

[0071] The spring installation groove 1311 capable of accommodating the reset spring 133 is directly arranged in the sliding rod 131, the reset spring 133 is arranged in coincidence with the sliding rod 131, and compared with the connection of the reset spring 133 with the end of the sliding rod 131, the length of the structure of the combination of the reset spring 131 and the sliding rod 131 is shorter, so that the size of the seedling cutter support 12 is shortened, and the miniaturization design of the whole seedling taking unit 100 is facilitated.

[0072] In an embodiment, the seedling taking driving unit 200 comprises a motor 22 and a rotating support, the output shaft of the motor 22 is connected with the rotating support, the seedling taking unit 100 is fixedly installed on the rotating support, the seedling taking unit 100 is driven to revolve by the motor 22, and the angle between the centrifugal force of the seedling and the cutter head 11 is always kept unchanged after the seedling is taken out. Based on the rotating driving 13 of the present scheme, when the set seedling throwing position is reached, the cutter head 11 is quickly rotated in the direction opposite to the driving rotating direction of the motor 22, so that the cutter head 11 can be removed from the seedling, and the seedling can be thrown out.

[0073] In an embodiment, the seedling taking driving unit 200 comprises a motor 22 and an angle keeper 21, the angle keeper 21 is connected with the motor 22 and the seedling taking unit 100, the seedling taking unit 100 can be driven to reciprocate between the seedling taking position and the seedling throwing position by the motor 22, and the angle keeper 21 can keep the inclination angle of the seedling taking unit 100 unchanged.

[0074] The present scheme keeps the inclination angle of the seedling taking unit 100 unchanged by the angle keeper 21, so that the surface of the cutter head 11 can be perpendicular to the centrifugal force of the seedling at the seedling taking position, and the seedling can be smoothly taken out downwards; with the seedling following the cutter head 11 to rotate, the angle between the centrifugal force of the seedling and the surface of the cutter head 11 gradually decreases under the condition that the inclination angle of the cutter head 11 itself is kept unchanged, and the seedling can be smoothly thrown out at the seedling throwing position. That is, when the seedling throwing position is reached, the angle between the cutter head 11 and the centrifugal force of the seedling is small itself without the rotating driving 13, so the cutter head 11 only needs to be slightly deflected to completely remove the obstruction to the seedling throwing.

[0075] In an embodiment, the angle keeper 21 is a rotating gear type keeper.

[0076] The rotating gear type angle keeper 21 has the advantages of stable operation and small vibration, and is beneficial to the increase of the rotating speed of the angle keeper 21, i.e. the increase of the seedling throwing speed.

[0077] In an embodiment, the seedling taking driving unit 200 comprises a motor 22 and a rotating support, the output shaft of the motor 22 is connected with the rotating support, the seedling taking unit 100 is fixedly installed on the rotating support, the seedling taking unit 100 is driven to revolve by the motor 22, and the angle between the centrifugal force of the seedling and the cutter head 11 is always kept unchanged after the seedling is taken out. Based on the rotating driving 13 of the present scheme, when the set seedling throwing position is reached, the cutter head 11 is quickly rotated in the direction opposite to the driving rotating direction of the motor 22, so that the cutter head 11 can be removed from the seedling, and the seedling can be thrown out. Figures 2-3The angle maintainer 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 coaxially arranged relative to the motor 22 and fixedly arranged, the output shaft of the motor 22 is connected to the gear support 211, the output gear 214 is rotatably arranged on the gear support 211 and in transmission connection with the sun gear 212, and the seedling taking unit 100 is fixedly connected to the output gear 214, so that the seedling taking unit 100 can move back and forth between the seedling taking position and the seedling throwing position by rotating around the sun gear 212, and the inclination angle of the seedling taking unit 100 is kept fixed relative to the gear support 211.

[0078] Specifically, the sun gear 212 is fixed relative to the motor 22, that is, the rotation of the motor 22 does not drive the sun gear 212 to rotate, and the gear support 211 is driven to rotate by the motor 22, so that the output gear 214 rotates around the motor 22 with the gear support 211, and under the pushing of the sun gear 212, the output gear 214 rotates relative to the gear support 211, and since the output gear 214 has the same number of teeth as the sun gear 212, the output gear 214 rotates around the sun gear 212 once, and the output gear 214 rotates relative to the gear support 211 once, and finally the relative positions of all points on the output gear 214 remain unchanged, so that the relative positions of all points on the seedling taking unit 100 remain unchanged, and the inclination angle of the seedling taking unit 100 is kept fixed.

[0079] In an embodiment, the angle maintainer 21 further comprises an intermediate gear 213, which is rotatably arranged in the gear support 211 and located between the sun gear 212 and the output gear 214, so as to achieve the transmission connection between the sun gear 212 and the output gear 214.

[0080] Specifically, the number of intermediate gears 213 can be one or more, and the transmission of the intermediate gears 213 can increase the axial distance between the sun gear 212 and the output gear 214, and further increase the distance between the seedling taking unit 100 and the axis of the sun gear 212. Therefore, two or more groups of intermediate gears 213 and output gears 214 can be arranged around the sun gear 212, and each output gear 214 can be connected to a seedling taking unit 100, so that when the gear support 211 rotates once, multiple seedling taking units 100 can perform seedling taking and throwing operations respectively, and the efficiency of seedling throwing can be doubled.

[0081] In an embodiment, with reference to Figures 6-7The 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 to realize the rotation mounting of the cam 1322 relative to the seedling cutter support 12.

[0082] Specifically, as known from the above, the gear support 211 rotates one circle, and the output gear 214 rotates one circle relative to the gear support 211. By using this condition, the connecting shaft 215 of the gear support 211 is directly extended to mount the cam 1322. When the seedling cutter support 12 revolves one circle around the sun gear 212, the cam 1322 rotates one circle relative to the seedling cutter support 12, which can exactly match the position of the cutter head 11 to extend or retract the cutter head 11 at the seedling taking position or the seedling throwing position. Therefore, this embodiment does not need to provide a separate power source for the cam 1322, which can reduce the cost and has the advantages of stability and reliability.

[0083] In an embodiment, the seedling cutter support 12 is provided with a spline sleeve 126, the output gear 214 is provided with a spline hole 2141 corresponding to the spline sleeve 126, and the spline sleeve 126 is embedded in the spline hole 2141 to realize the fixed connection of the seedling cutter support 12 and the output gear 214. The connecting shaft 215 penetrates the center of the spline sleeve 126 and connects the cam 1322.

[0084] The spline sleeve 126 and the spline hole 2141 of the output gear 214 are matched to realize the reliable fixed connection of the seedling cutter support 12 and the output gear 214. Moreover, the center of the spline sleeve 126 is provided with a through cavity, so that the connecting shaft 215 can penetrate the through cavity to realize the connection of the connecting shaft 215 and the cam 1322 located on the side of the seedling cutter support 12 away from the spline sleeve 126. This structure can realize the rotation of the cam 1322 relative to the seedling cutter support 12 and has the advantage of good reliability.

[0085] In an embodiment, referring to Figure 4 The gear support 211 includes a gear left shell 2111 and a gear right shell 2112, and a second mounting cavity 2113 capable of mounting the sun gear 212 and the output gear 214 is formed between the gear left shell 2111 and the gear right shell 2112. The gear right shell 2112 is provided with an avoiding hole 2114 allowing the spline sleeve 126 to penetrate, and the spline sleeve 126 extends into the second mounting cavity 2113 through the avoiding hole 2114 to be connected with the output gear 214. The connecting shaft 215 is arranged in the gear left shell 2111 to penetrate the center of the spline sleeve 126.

[0086] Similarly, the structure of the shell with a closed inner cavity is used to mount each gear, which can separate the gears from the external environment and is conducive to ensuring the stability of the operation of each gear.

[0087] Referring to Figure 5 Preferably, the sun gear 212 is provided with an annular shoulder on the side close to the gear left shell 2111, and the gear left shell 2111 is correspondingly provided with a through hole, the shoulder extends to the outside of the gear left shell 2111 through the through hole, so that the sun gear 212 can be fixedly connected with the rack of the seedling throwing machine, achieving the purpose of relative fixation of the sun gear 212 and the motor 22. The rotating shaft of the motor 22 penetrates the sun gear 212 and is connected with the gear right shell 2112, achieving the purpose of rotating the gear support 211 driven by the motor 22.

[0088] As to the angle holder 21, in another embodiment, the angle holder 21 is a crank rocker type holder.

[0089] Specifically, the crank rocker type holder can also achieve the purpose of driving the seedling taking unit 100 to reciprocate 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 specifically utilizes the principle of parallelogram, which can be implemented by referring to the existing crank rocker mechanism, and the present embodiment will not be described in detail.

[0090] On the other hand, a seedling throwing machine is provided, which comprises a seedling feeding mechanism and a seedling throwing mechanism, the seedling throwing mechanism being used for taking out seedlings from the seedling feeding mechanism and throwing out.

[0091] Specifically, the seedling throwing mechanism is generally fixedly arranged on the seedling throwing machine, and the seedling feeding mechanism can deliver the seedlings to the seedling taking position of the seedling throwing mechanism, achieving the purpose of continuous seedling throwing.

[0092] Similarly, based on the seedling throwing mechanism of the present embodiment, the seedling throwing machine of the present embodiment has the advantages of small resistance of seedling throwing, and more smooth throwing process, which is beneficial to increasing the soil penetration depth of the seedling roots, and more beneficial to the growth of the seedlings.

[0093] Still another aspect, a unmanned aerial vehicle seedling throwing device is provided, comprising a unmanned aerial vehicle and a seedling throwing machine, the seedling throwing machine is carried under the unmanned aerial vehicle.

[0094] Specifically, the unmanned aerial vehicle has the advantage of fast flight speed, and the seedling throwing machine carried under the unmanned aerial vehicle does not need to contact the field soil and water, and has smaller running resistance, which is beneficial to improving the transfer speed of the seedling throwing machine, so as to improve the seedling throwing efficiency. In addition, the unmanned aerial vehicle seedling throwing device of the present embodiment carries the above seedling throwing machine, which is beneficial to increasing the soil penetration depth of the seedling roots, and more beneficial to the growth of the seedlings.

[0095] In the description of the present application, it should be understood that the terms "upper", "lower", "left", "right", and the like, are intended to facilitate the description and are not intended to indicate or imply that the device or element indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the application. In addition, the terms "first", "second", are only used to distinguish in the description, and have no special meaning.

[0096] In the description of the present application, the description referring to the terms "an embodiment", "an example", and the like, 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 application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example.

[0097] In addition, it should be understood that although the present application is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description of the present application is only for the sake of clarity, and those skilled in the art should consider the present application as a whole, and the technical solutions in each embodiment can be appropriately combined to form other embodiments that those skilled in the art can understand.

[0098] The technical principles of the present application are described above in conjunction with specific embodiments. These descriptions are only for the purpose of explaining the principles of the present application, and cannot be interpreted in any way as limiting the scope of protection of the present application. Based on the explanation here, those skilled in the art do not need to make creative efforts to think of other specific embodiments of the present application, and these embodiments will fall within the scope of protection of the present 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 rotary drive (13) and a blade (11) mounted on the seedling knife support (12). The blade (11) has a seedling clamping groove (111). The rotary drive (13) is connected to the blade (11). The rotary drive (13) drives the blade (11) to rotate, so that the blade (11) is in the seedling picking state at the seedling picking position and in the seedling throwing state at the seedling throwing position. In the seedling picking state, the seedlings can be clamped into the seedling clamping groove (111). In the seedling throwing state, relative to the seedling picking state, the blade (11) is flipped upward to prevent the blade (11) from obstructing the seedlings from being thrown out of the groove of the seedling clamping groove (111). 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 blade (11) rotates to the seedling picking position, it can tear a clump of seedlings from the seedbed. The centrifugal force of the seedlings at this position is exactly perpendicular to the bottom surface of the blade (11), and the blade (11) can prevent the seedlings from flying out. The blade (11) drives the seedlings to continue rotating downwards, and the angle between the direction of the centrifugal force of the seedlings and the bottom surface of the blade (11) gradually decreases. When it rotates to the seedling throwing position, the blade (11) can automatically flip upwards, reducing the obstruction caused by the blade (11) to the seedlings, so that the seedlings can be smoothly thrown out from the opening of the seedling trap (111).

2. The rice-throwing mechanism according to claim 1, characterized in that, The blade (11) includes a seedling picking part (112) and a control part (113) connected at an angle to each other. The seedling clamping groove (111) is located on the side of the seedling picking part (112) away from the control part (113). A rotating shaft (114) is provided at the connection between the seedling picking part (112) and the control part (113). The rotating shaft (114) is rotatably mounted on the seedling blade bracket (12). The rotation drive (13) is connected to the control part (113). It drives the control part (113) to rotate, thereby rotating the entire blade (11).

3. The rice-throwing mechanism according to claim 2, characterized in that, The rotary drive (13) includes a slide rod (131) slidably mounted on the seedling cutter bracket (12). The slide rod (131) has an elongated hole (1312) at one end near the cutter head (11). The control unit (113) has a connecting post (115) passing through the elongated hole (1312) on the side away from the seedling taking part (112), so that the linearly moving slide rod (131) can push the cutter head (11) to rotate around the rotating shaft (114).

4. The rice-throwing mechanism according to claim 3, characterized in that, The rotary drive (13) further includes a drive member (132) and a return spring (133). 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 cutter head (11) enters the seedling throwing state; the drive member (132) is used to push the slide rod (131) in, so that the cutter head (11) enters the seedling picking state.

5. The rice-throwing mechanism according to claim 4, 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.

6. 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 rotary drive (13) is installed in the first mounting cavity (123). One end of the slide rod (131) extends out of the first mounting cavity (123) and is connected to the cutter head (11).

7. The rice-throwing mechanism according to claim 6, 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).

8. The rice-throwing mechanism according to claim 7, 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).

9. The rice-throwing mechanism according to any one of claims 5-8, 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.

10. The rice-throwing mechanism according to claim 9, characterized in that, The angle retainer (21) is a rotary gear retainer.

11. The rice-throwing mechanism according to claim 10, 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).

12. The rice-throwing mechanism according to claim 11, 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).

13. The rice-throwing mechanism according to claim 11, 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).

14. The rice-throwing mechanism according to claim 13, 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).

15. The rice-throwing mechanism according to claim 14, 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).

16. The rice-throwing mechanism according to claim 9, characterized in that, The angle retainer (21) is a crank-rocker type retainer.

17. 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 1-16.

18. 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 17.

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