An unmanned aerial vehicle throws seedling equipment and sends seedling device

Abstract

The application discloses a seedling separating mechanism, a seedling feeding device, a seedling throwing machine and unmanned aerial vehicle seedling throwing equipment. The seedling separating mechanism comprises a bottom disc, a top surface of which is used for placing blanket seedlings; a seedling pressing fence arranged above the bottom disc and used for pressing the blanket seedlings on the bottom disc; and a seedling cutting knife group comprising a transverse seedling cutting knife group and a longitudinal seedling cutting knife group arranged perpendicularly to each other. The transverse seedling cutting knife group can horizontally cut the soil layer of the blanket seedlings on the bottom disc into multiple rows, and the longitudinal seedling cutting knife group can longitudinally cut the soil layer of the blanket seedlings on the bottom disc into multiple columns. The seedling separating mechanism can separate the existing blanket seedlings into pot seedlings or hole blanket seedlings, the size and weight of the soil block at the head of the seedlings are more uniform, and the uniformity of the growth of the seedlings in the field after planting and the uniformity of the planting spacing of the seedlings in the field are improved.

Description

Technical Field

[0001] This application relates to the technical field of agricultural machinery, and more particularly to a drone-based rice seedling throwing device and a seedling delivery device. Background Technology

[0002] During the operation of the rice transplanter, the seedling picking mechanism located on one side of the seedling delivery tray takes a clump of seedlings from the seedling mat on the delivery tray and throws them out each time. The soil layer of all the seedlings on the seedling mat is connected. When the seedling picking mechanism picks out the seedlings, due to the intricate root system, the number of seedlings torn out each time and the size of the soil clump at the top of the seedling are different. The uneven number of seedlings will lead to uneven growth of the seedlings after transplanting. The soil clumps at the top of the seedlings are different in size and weight. When the seedling picking mechanism throws them out with the same throwing or popping force, it will result in different transplanting distances. Therefore, there is a problem that affects the uniformity of the planting distance of the seedlings in the field. Summary of the Invention

[0003] The purpose of this invention is to provide a drone-based rice seedling throwing device and a seedling delivery 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 one hand, a drone-based rice transplanting device is provided, comprising a drone and a transplanter, wherein the transplanter is mounted beneath the drone; the transplanter includes a seedling delivery device and a seedling collection device; the seedling delivery device includes a seedling separating mechanism capable of separating the seedlings, and the seedling collection device capable of removing and throwing out the separated seedlings; the seedling separating mechanism includes:

[0006] The base and top are used to place the seedlings.

[0007] A seedling pressing rack is set above the base plate to press the seedlings firmly onto the base plate;

[0008] The seedling cutter set includes a horizontal seedling cutter set and a vertical seedling cutter set arranged perpendicularly to each other. The horizontal cutting seedling cutter set can horizontally cut the soil layer of the seedlings on the base into multiple rows, and the vertical cutting seedling cutter set can vertically cut the soil layer of the seedlings on the base into multiple columns.

[0009] Optionally, the top surface of the chassis is provided with a grid groove, which includes a plurality of mutually perpendicular transverse strip grooves and longitudinal strip grooves. The transverse strip grooves are correspondingly arranged with the transverse seedling cutter group to guide the transverse movement of the transverse seedling cutter group; the longitudinal strip grooves are correspondingly arranged with the longitudinal seedling cutter group to guide the longitudinal movement of the longitudinal seedling cutter group.

[0010] Optionally, the transverse seedling cutter group and the longitudinal seedling cutter group each include several seedling cutter units. Each seedling cutter unit includes a blade and a blade connected to the end of the blade and extending upward. The blade is driven by the blade to move laterally or longitudinally to cut the soil layer of the seedling.

[0011] Optionally, the transverse strip groove and the longitudinal strip groove each include a plurality of strip groove units corresponding to the cutting blade unit. The strip groove unit includes a blade guide groove and a blade rod guide groove arranged vertically. The width of the blade guide groove matches the blade, and the width of the blade rod guide groove matches the blade rod. The blade rod is placed in the blade rod guide groove, and the blade extends upward through the blade guide groove and out of the top surface of the chassis.

[0012] Optionally, it also includes a blade assembly drive, which includes a lateral drive and a longitudinal drive. The lateral drive is connected to the lateral cutting blade assembly and is used to drive the lateral cutting blade assembly to move laterally. The longitudinal drive is connected to the longitudinal cutting blade assembly and is used to drive the longitudinal cutting blade assembly to move longitudinally.

[0013] Optionally, both the lateral drive and the longitudinal drive include a rotary drive and a translational transmission component. The input and output ends of the translational transmission component are respectively connected to the blade holder, and the rotary motion of the rotary drive component is converted into the linear motion of the cutting blade unit through the translational transmission component.

[0014] Optionally, the translational transmission component includes a threaded sleeve rotatably mounted on the side of the chassis. The threaded sleeve is connected to the rotary drive component, and the outer periphery of the blade bar is provided with an external thread that mates with the threaded sleeve. The blade bar passes through the threaded sleeve, and the rotary drive component drives the threaded sleeve to rotate, thereby driving the linear movement of the cutting blade unit.

[0015] Optionally, the translational transmission component further includes an intermediate transmission component, through which two adjacent threaded sleeves are connected, such that one rotary drive component can drive all the threaded sleeves in the transverse drive to rotate synchronously, and one rotary drive component can drive all the threaded sleeves in the longitudinal drive to rotate synchronously.

[0016] Optionally, the translational transmission component includes a transmission gear rotatably mounted on the side of the chassis. The transmission gear is connected to the rotary drive component, and one side of the blade bar is provided with a strip tooth that cooperates with the transmission gear. The rotary drive component drives the transmission gear to rotate, thereby driving the linear movement of the cutting blade unit.

[0017] Optionally, the translational transmission component further includes an intermediate transmission component, through which two adjacent transmission gears are connected, such that one rotary drive component can drive all the transmission gears in the transverse drive to rotate synchronously, and one rotary drive component can drive all the transmission gears in the longitudinal drive to rotate synchronously.

[0018] Optionally, both the lateral drive and the longitudinal drive include a linear drive component, which is a cylinder or a hydraulic cylinder.

[0019] Optionally, both the lateral drive and the longitudinal drive include a main push arm. All the blades in the lateral cutting blade group are simultaneously connected to one main push arm, so that one linear drive can drive all the cutting blade units in the lateral cutting blade group to move linearly. All the blades in the longitudinal cutting blade group are simultaneously connected to one main push arm, so that one linear drive can drive all the cutting blade units in the longitudinal cutting blade group to move linearly.

[0020] On the other hand, a seedling delivery device is provided, including the above-mentioned seedling separation mechanism, wherein a boss is formed on the chassis between the grid grooves, and a pushing wheel for pushing the seedlings is provided on the boss.

[0021] Optionally, a mounting groove is provided on the protrusion on which the push wheel is installed. The push wheel is rotatably installed in the mounting groove, and the top of the push wheel protrudes out of the mounting groove, so that the push wheel can push the seedlings located on the top surface of the chassis.

[0022] Optionally, the surface of the push wheel is provided with serrated teeth.

[0023] Optionally, the chassis has a mounting cavity, and the mounting cavity is provided with a push drive for driving the push wheel to rotate.

[0024] Optionally, the push drive includes a push motor and a push transmission component connected by a transmission. The push motor is fixed inside the mounting cavity, and the push transmission component is connected to the push wheel to drive the push wheel to rotate.

[0025] Optionally, the push wheel includes a push part and a wheel axle passing through the push part. The push part is located in the mounting groove, and the two ends of the wheel axle are rotatably connected to the side wall of the mounting groove. The push transmission component includes a meshing drive gear and a driven gear. The drive gear is connected to the push motor, and the driven gear is connected to the wheel axle, thereby driving the push wheel to rotate.

[0026] Optionally, each of the push wheels is connected to a corresponding push transmission component, and several drive gears located in the same horizontal row are connected to a transmission shaft, thereby enabling one push motor to synchronously drive several push wheels to rotate.

[0027] The beneficial effects of this application are as follows: This invention provides a drone-based rice transplanting device and a seedling delivery apparatus. The seedling separation mechanism includes a seedling cutting blade assembly. Before transplanting, the seedling cutting blade assembly can be used to quickly divide the soil layer of the seedbed along the horizontal and vertical directions, making the seedbed into potted seedlings or perforated seedbeds, achieving the effect of pre-separation. After separation, the soil clods at the head of each seedling unit are the same size, and the number of seedlings in each seedling unit is also relatively uniform. The separated seedlings are then placed on the transplanter. When the seedling picking mechanism picks up and throws the seedlings, it can directly pick up and throw out one separated seedling unit at a time. Therefore, compared to the traditional method of directly tearing seedlings from the seedbed by the transplanter, the seedling separation mechanism of this solution produces a more uniform number of seedlings in the separated seedling units, and the size and weight of the soil clods at the seedling heads are more uniform. This is beneficial for improving the uniformity of seedling growth in the field after planting and improving the uniformity of planting spacing. Attached Figure Description

[0028] The present application will now be described in further detail with reference to the accompanying drawings and embodiments.

[0029] Figure 1 This is a schematic diagram of the seedling separating mechanism or the seedling delivery device described in the embodiments of this application;

[0030] Figure 2 for Figure 1 Enlarged view of region A in the middle;

[0031] Figure 3 This is a partial sectional view of the seedling separating mechanism or the seedling delivery device described in the embodiments of this application;

[0032] Figure 4 This is a partial sectional view of the chassis described in the embodiments of this application;

[0033] Figure 5 This is one of the structural schematic diagrams of the transverse seedling cutter group or the longitudinal seedling cutter group described in the embodiments of this application;

[0034] Figure 6 This is a second schematic diagram of the structure of the transverse seedling cutter group or the longitudinal seedling cutter group described in the embodiments of this application;

[0035] Figure 7 for Figure 6 Enlarged schematic diagram of region B in the middle.

[0036] In the picture:

[0037] 1. Chassis; 11. Grid groove; 111. Transverse strip groove; 112. Longitudinal strip groove; 113. Strip groove unit; 1131. Blade guide groove; 1132. Blade bar guide groove; 12. Boss; 121. Mounting groove; 2. Seedling cutter assembly; 21. Transverse seedling cutter assembly; 22. Longitudinal seedling cutter assembly; 23. Seedling cutter unit; 231. Blade; 232. Blade bar; 24. Blade assembly mounting base; 25. Threaded sleeve; 26. Intermediate transmission component; 261. Sprocket; 262. Chain; 3. Push wheel; 4. Push transmission component; 41. Drive gear; 42. Driven gear; 43. Drive shaft. Detailed Implementation

[0038] 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.

[0039] 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.

[0040] 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.

[0041] In the traditional rice transplanter operation, the seedling picking mechanism located on one side of the seedling delivery tray takes a clump of seedlings from the seedbed and throws them out each time. The soil layer of all the seedlings on the seedbed is connected. When the seedling picking mechanism picks out the seedlings, due to the intricate root system, the number of seedlings torn out each time and the size of the soil clump at the top of the seedling are different. The uneven number of seedlings will lead to uneven growth of the seedlings after transplanting. The different sizes and weights of the soil clumps at the top of the seedlings will also result in different transplanting distances when the seedling picking mechanism throws them out with the same force, thus affecting the uniformity of the planting distance of the seedlings in the field.

[0042] To overcome the above technical problems, this solution provides a seedling separation mechanism. This mechanism can first separate the soil layer of the seedbed to make pot seedlings (the soil layer is completely separated and there is no connection between the seedling units) or perforated seedbeds (most of the soil layer is cut off, and only a thin layer of soil is left on the top surface to connect the seedlings, which is easily torn at the connected thin layer when the seedlings are taken out). When the seedling taking mechanism takes out the seedlings, it can take out one seedling unit at a time. Since the seedlings are pre-cut, the problems of uneven number of seedlings and different soil clod sizes on each seedling unit can be greatly reduced.

[0043] like Figure 1-2 As shown, this embodiment provides a seedling separating mechanism, including:

[0044] Base 1, the top surface is used to place the seedlings;

[0045] A seedling pressing rack is set above the base plate 1 to press the seedlings firmly onto the base plate 1;

[0046] The seedling cutting knife group 2 includes a horizontal seedling cutting knife group 21 and a vertical seedling cutting knife group 22 arranged perpendicularly to each other. The horizontal cutting knife group can horizontally cut the soil layer of the seedlings on the base plate 1 into multiple rows, and the vertical cutting knife group 22 can vertically cut the soil layer of the seedlings on the base plate 1 into multiple columns.

[0047] Specifically, refer to Figure 1The seedling cutting blade group 2 includes a horizontal cutting blade group 21 and a vertical cutting blade group 22 with perpendicular cutting directions. After the seedling blanket is placed on the base plate 1, the horizontal cutting blade group 21 and the vertical cutting blade group 22 are activated sequentially to cut the soil layer of the seedling blanket in the horizontal and vertical directions, so that the soil layer of the seedling blanket is divided into square blocks arranged in a matrix to obtain multiple independent seedling units. In actual operation, when the cutting blade group 2 completely cuts through the soil layer, the soil layers between the seedling units are not connected after cutting, that is, the original seedling blanket is divided into pot seedlings; when the cutting blade group 2 does not completely cut through the soil layer, leaving a thin layer of soil connected, the top layer of soil between the seedling units is still connected, that is, the original seedling blanket is divided into perforated seedling blankets. As perforated seedling blankets, most of the soil layer thickness and the root system of the seedling are cut off, so when the seedling removal mechanism removes the seedling unit, it can basically remove the entire seedling unit with soil intact.

[0048] To prevent the seedlings from arching during the horizontal and vertical slicing of the seedling blanket by the cutting blade assembly 2, this design provides a pressing bar above the base 1 to compact the seedlings. In application, this can be combined with existing pressing devices. In actual operation, to improve the compaction of the seedling soil layer, compared to existing pressing devices, this design can increase the number and density of pressing rods in the pressing bar to increase the compaction area of ​​the seedling soil layer. Furthermore, to avoid interference between the top of the cutting blade assembly 2 and the pressing rods, it is preferable that the top of the cutting blade assembly 2 is slightly lower than the pressing rods. Obviously, with this setting, a small amount of soil in the top layer of the seedling soil layer will not be cut by the cutting blade assembly 2; therefore, the seedlings obtained after cutting by the cutting blade assembly 2 are perforated seedlings.

[0049] In summary, based on the seedling separation mechanism of this embodiment, before transplanting, the soil layer of the seedbed can be quickly divided along the horizontal and vertical directions using the seedling cutting blade group 2, turning the seedbed into potted seedlings or perforated seedbeds, achieving the effect of pre-separation. After separation, the soil clods at the head of each seedling unit are the same size, and the number of seedlings in each seedling unit is also relatively uniform. Then, the separated seedlings are placed on the transplanter. When the seedling picking mechanism picks up and throws the seedlings, it can directly pick up and throw out one separated seedling unit at a time. Therefore, compared to the traditional method of directly tearing seedlings from the seedbed by the transplanter, the seedling separation mechanism of this solution produces a more uniform number of seedlings in the separated seedling units, and the size and weight of the soil clods at the seedling heads are more uniform. This is beneficial for improving the uniformity of seedling growth in the field after planting and improving the uniformity of planting spacing.

[0050] In one embodiment, the top surface of the chassis 1 is provided with a grid groove 11, the grid groove 11 including a plurality of mutually perpendicular transverse strip grooves 111 and longitudinal strip grooves 112. The transverse strip grooves 111 are correspondingly arranged with the transverse seedling cutter group 21 to guide the transverse movement of the transverse seedling cutter group 21; the longitudinal strip grooves 112 are correspondingly arranged with the longitudinal seedling cutter group 22 to guide the longitudinal movement of the longitudinal seedling cutter group 22.

[0051] Specifically, with the chassis 1 serving as the support for the soil layer directly contacting the seedlings, and the seedling cutter group 2 only cutting the soil layer of the seedlings, this design incorporates a grid groove 11 on the chassis 1 corresponding to the cutting path of the seedling cutter group 2. The grid groove 11 guides the movement of the seedling cutter group 2, ensuring its stability. Furthermore, the grid groove 11 defines the movement path of the seedling cutter group 2, thus ensuring the uniformity of the size of each seedling unit after division.

[0052] In one embodiment, reference is made to Figure 5-7 The transverse cutting knife group 21 and the longitudinal cutting knife group 22 each include a plurality of cutting knife units 23. Each cutting knife unit 23 includes a knife bar 232 and a blade 231 connected to the end of the knife bar 232 and extending upward. The blade 231 is driven by the knife bar 232 to move laterally or longitudinally to cut the soil layer of the seedling.

[0053] Specifically, each cutting blade unit 23 completes one cut of the seedling in a linear reciprocating motion, leaving a cutting slit in the soil layer of the seedling. The structure combines a blade shank 232 and a blade 231. The blade shank 232 provides structural support and drives the blade 231 to move linearly, allowing the blade 231 to cut the seedling. This structure offers the advantage of high reliability.

[0054] In one embodiment, reference is made to Figure 2 The transverse strip groove 111 and the longitudinal strip groove 112 each include a plurality of strip groove units 113 corresponding to the cutting knife unit 23. The strip groove unit 113 includes a blade guide groove 1131 and a knife bar guide groove 1132 arranged vertically. The width of the blade guide groove 1131 matches the blade 231, and the width of the knife bar guide groove 1132 matches the knife bar 232. The knife bar 232 is placed in the knife bar guide groove 1132, and the blade 231 extends upward through the blade guide groove 1131 and out of the top surface of the chassis 1.

[0055] Specifically, corresponding to the structure of the cutting knife unit 23, the strip groove unit 113 is configured as a blade guide groove 1131 and a knife bar guide groove 1132, which can simultaneously provide limiting guidance for the knife bar 232 and part of the blade 231, preventing the knife bar 232 and the blade 231 from being bent or deformed during movement, and ensuring the reliability of the structure and movement of the cutting knife unit 23.

[0056] In one embodiment, to achieve automatic driving of the cutting blade assembly 2, the seedling separation mechanism of this embodiment further includes a blade assembly drive, which includes a lateral drive and a longitudinal drive. The lateral drive is connected to the lateral cutting blade assembly 21 and is used to drive the lateral cutting blade assembly 21 to move laterally; the longitudinal drive is connected to the longitudinal cutting blade assembly 22 and is used to drive the longitudinal cutting blade assembly 22 to move longitudinally.

[0057] The blade assembly driver is set up to drive the movement of the seedling cutting blade assembly 2, which can realize the automatic cutting function without the need for manual pushing of the seedling cutting blade assembly 2, thus reducing the labor input. Moreover, the blade assembly can effectively speed up the movement of the seedling cutting blade assembly 2.

[0058] Of course, in other embodiments, the movement of the seedling cutter assembly 2 can also be driven manually, that is, manually pushing the seedling cutter assembly 2 to achieve the purpose of cutting seedlings. This method can greatly simplify the structure of the device and reduce the cost of the device.

[0059] Regarding the knife assembly drive configuration, in one embodiment, both the lateral drive and the longitudinal drive include a rotary drive and a translational transmission component. The input and output ends of the translational transmission component are respectively connected to the knife bar 232. The rotational motion of the rotary drive component is converted into the linear movement of the cutting knife unit 23 through the translational transmission component.

[0060] Specifically, the rotary drive component is a common type of drive component, such as an electric motor or hydraulic motor. The rotation of its output shaft drives the translational transmission component, which can be a worm gear, rack and pinion, synchronous belt, connecting rod, or other transmission mechanism. This converts the rotation at the input end into linear reciprocating motion at the output end, thus moving the cutting knife unit 23. This solution uses a combination of rotary drive and translational transmission components to drive the movement of the cutting knife unit 23, offering advantages such as mature technology and ease of implementation.

[0061] In one embodiment, reference is made to Figure 5-7 The translational transmission component includes a threaded sleeve 25 rotatably mounted on the side of the chassis 1. The threaded sleeve 25 is connected to the rotary drive component (not shown in the figure) for transmission. The outer periphery of the blade shank 232 is provided with an external thread that mates with the threaded sleeve 25. The blade shank 232 passes through the threaded sleeve 25 and drives the threaded sleeve 25 to rotate through the rotary drive component, thereby driving the linear movement of the cutting blade unit 23.

[0062] Specifically, to enable the rotatable installation of the threaded sleeve 25, preferably, a tool assembly mounting seat 24 is provided on the side of the chassis 1, and the threaded sleeve 25 is rotatably installed on the tool assembly mounting seat 24; regarding the connection between the rotary drive and the threaded sleeve 25, preferably, a chain or gear transmission structure can be provided between the rotary drive and the threaded sleeve 25, so that the rotary drive can drive the threaded sleeve 25 to rotate.

[0063] In this structure, the rotational freedom of the cutting blade unit 23 is restricted. When the threaded sleeve 25 rotates, it will push the threaded blade 232 to move axially, thus achieving the purpose of pushing the cutting blade unit 23 to translate and cut the seedlings.

[0064] In one embodiment, the translational transmission component further includes an intermediate transmission component 26, and two adjacent threaded sleeves 25 are connected by the intermediate transmission component 26, so that one rotary drive component can drive all the threaded sleeves 25 in the transverse drive to rotate synchronously, and one rotary drive component can drive all the threaded sleeves 25 in the longitudinal drive to rotate synchronously.

[0065] Specifically, an intermediate transmission component 26 is set between two adjacent threaded sleeves 25, so that when one threaded sleeve 25 rotates, it will drive all the threaded sleeves 25 to rotate synchronously, thus achieving the purpose of one rotational drive component driving all the threaded sleeves to rotate, simplifying the equipment structure; at the same time, it can also ensure the synchronicity of the movement of all the cutting blade units 23, and achieve synchronous cutting.

[0066] Optionally, the intermediate transmission component 26 can be a chain drive or a gear drive. For example, each threaded sleeve 25 is provided with two sprockets 261, and a chain 262 is used to connect the two sprockets 261 between two adjacent threaded sleeves 25, so that the rotation between any two adjacent threaded sleeves 25 can be transmitted to each other.

[0067] In another embodiment, the translational transmission component includes a transmission gear rotatably mounted on the side of the chassis 1. The transmission gear is connected to the rotary drive component, and one side of the blade shank 232 is provided with a strip tooth that cooperates with the transmission gear. The rotary drive component drives the transmission gear to rotate, thereby driving the linear movement of the cutting blade unit 23.

[0068] The diagram in this specification does not show the structure of the drive gear and the rack gear engaging. The form of engagement between the drive gear and the rack gear can be set with reference to the form of engagement between the threaded sleeve 25 and the screw mentioned above. The difference is that in this method, the axial direction of the drive gear is perpendicular to the axial direction of the tool holder 232.

[0069] In one embodiment, the translational transmission component further includes an intermediate transmission component 26, through which two adjacent transmission gears are connected, such that one rotary drive component can drive all the transmission gears in the transverse drive to rotate synchronously, and one rotary drive component can drive all the transmission gears in the longitudinal drive to rotate synchronously.

[0070] Specifically, using a gear and rack transmission method, the axes of all gears can be located on the same straight line. Therefore, two adjacent transmission gears can be connected by a connecting shaft, that is, the intermediate transmission component 26 can be set as a connecting shaft.

[0071] In one embodiment, both the lateral drive and the longitudinal drive include a linear drive component, which is a cylinder or a hydraulic cylinder.

[0072] Specifically, the linear drive components mentioned above are all existing drive devices, possessing the advantages of mature technology and reliable operation. Using linear drive components allows for direct linear drive output, eliminating intermediate transmission components, which simplifies the device structure, reduces cost, and improves reliability.

[0073] Furthermore, both the lateral drive and the longitudinal drive include a main push arm. All the blades 232 in the lateral cutting blade group 21 are simultaneously connected to one main push arm, so that one linear drive can drive all the cutting blade units 23 in the lateral cutting blade group 21 to move linearly. All the blades 232 in the longitudinal cutting blade group 22 are simultaneously connected to one main push arm, so that one linear drive can drive all the cutting blade units 23 in the longitudinal cutting blade group 22 to move linearly.

[0074] Similarly, a linear drive can be used to push the main push arm to translate, thereby driving all the cutting blade units 23 to move linearly in sync, which can simplify the setting of the linear drive and reduce costs.

[0075] On the other hand, this embodiment also provides a seedling delivery device, which includes the aforementioned seedling separation mechanism. A boss 12 is formed on the chassis 1 between the grid grooves 11, and a pushing wheel 3 for pushing the seedlings is provided on the boss 12.

[0076] This embodiment integrates the aforementioned seedling separating mechanism with the seedling delivery device. After the seedlings are separated, there is no need to manually transfer them to the seedling throwing machine. The seedling taking mechanism can directly take out the separated seedlings from the seedling delivery device, thus eliminating the need for manual seedling transfer and reducing manpower input.

[0077] Specifically, in practical applications, a seedling-retrieving mechanism is usually set on one side of the seedling delivery device. This mechanism continuously removes the divided seedlings and throws them out one by one. However, the seedling-retrieving position of the mechanism is usually fixed, so it is necessary to continuously transport the seedlings one by one to the seedling-retrieving position. In this solution, a pushing wheel 3 is set on the boss 12. After the seedling cutting blade group 2 completes the cutting and resets, the pushing wheel 3 can be activated to continuously push the seedlings to the side of the chassis 1 where the seedling-retrieving mechanism is installed. This allows the seedling-retrieving mechanism to remove the seedlings one by one and throw them out. That is, this solution not only achieves the function of cutting the seedlings before throwing, but also provides the function of pushing the cut seedlings. Moreover, after cutting, there is no need to transfer the seedlings; they can be directly pushed by the pushing wheel 3 on the boss 12.

[0078] In other embodiments, a seedling pushing mechanism can be set above the chassis 1 on the side opposite to the seedling taking mechanism (i.e., the side where the longitudinal seedling cutting knife group 22 is located). The seedling pushing mechanism can be used to gradually push the seedlings that have been divided towards the seedling taking mechanism.

[0079] Assuming that the pushing wheel 3 can push the seedlings toward the seedling picking mechanism in the longitudinal direction, it is understood that in practical applications, a transverse driving mechanism is also needed for the seedling feeding device or seedling picking mechanism of this scheme. This transverse driving mechanism can drive the seedling feeding device and the seedling picking mechanism to move laterally relative to each other, so that the seedling picking mechanism can pick up and throw the seedling units one by one in the transverse direction.

[0080] In one embodiment, a mounting groove 121 is provided on the boss 12 corresponding to the mounting of the push wheel 3. The push wheel 3 is rotatably mounted in the mounting groove 121, and the top of the push wheel 3 protrudes out of the mounting groove 121, so that the push wheel 3 can push the seedlings located on the top surface of the chassis 1.

[0081] The push wheel 3 is installed in the mounting groove 121 in a recessed manner. The side wall of the mounting groove 121 can provide support for the push wheel 3, so as to achieve reliable installation of the push wheel 3. It should be noted that in order for the push wheel 3 to contact and push the seedlings, the push wheel 3 needs to have a part protruding from the top surface of the boss 12.

[0082] In one embodiment, the surface of the pusher wheel 3 is provided with protruding teeth.

[0083] Specifically, protruding teeth are provided on the surface of the push wheel 3. These teeth can be embedded in the soil layer of the seedling to form an interlocking structure, enabling the push wheel 3 to push the seedling to move more smoothly.

[0084] Regarding the layout of the pusher wheel 3, since there is friction between the soil layers of the seedling unit after cutting, each seedling can drive the adjacent seedlings to move, and the seedlings behind can push the seedlings in front to move. Therefore, preferably, the pusher wheel 3 can be set only in some of the protrusions 12. This can reduce the number of pusher wheels 3, simplify the device structure, and reduce the device cost.

[0085] In one embodiment, the chassis 1 has a mounting cavity, and the mounting cavity is provided with a push drive for driving the push wheel 3 to rotate.

[0086] Specifically, the top surface of chassis 1 is used to place seedlings. To avoid interfering with the placement of seedlings and to drive the push wheel 3, this solution sets chassis 1 to have an internal cavity structure. The push drive is installed in the mounting cavity, which provides installation space and also protects the push drive.

[0087] In one embodiment, the push drive includes a push motor and a push transmission component 4 connected by a transmission. The push motor is fixed inside the mounting cavity, and the push transmission component 4 is connected to the push wheel to drive the push wheel 3 to rotate.

[0088] The push wheel 3 is installed in the mounting groove 121 of the boss 12. The installation space is relatively small, making it difficult to directly connect the push motor to the push wheel 3. Therefore, in this solution, the push motor is placed in a relatively open position below the top plate of the chassis 1, and a push transmission component 4 is set in the middle to transmit the rotation, so as to transmit the driving force of the push motor to the push wheel 3.

[0089] In one embodiment, reference is made to Figure 3 The push wheel 3 includes a push part and a wheel axle passing through the push part. The push part is located in the mounting groove 121, and the two ends of the wheel axle are rotatably connected to the side wall of the mounting groove 121. The push transmission component 4 includes a meshing drive gear 41 and a driven gear 42. The drive gear 41 is connected to the push motor, and the driven gear 42 is connected to the wheel axle, thereby driving the push wheel 3 to rotate.

[0090] Specifically, Figure 3 The figure shows a partial vertical sectional view of the seedling feeding device at the location where the pusher wheel 3 is installed. The top side corresponds to the top surface of the chassis 1, where the pusher wheel 3 is installed. The bottom side corresponds to the mounting cavity on the bottom side of the chassis 1, where the pusher transmission component 4 is installed. As can be seen from the figure, the driven gear 42 and the driving gear 41 are arranged vertically. The pusher motor can be directly connected to the driving gear 41 or driven by transmission, so that the pusher motor drives the driving gear 41 to rotate, the driving gear 41 pushes the driven gear 42 to rotate, and the driven gear 42 then drives the pusher part to rotate through the wheel axle, so as to achieve the purpose of the pusher part pushing the seedlings to move.

[0091] In one embodiment, each of the push wheels 3 is connected to a corresponding push transmission member 4, and several drive gears 41 located in the same horizontal row are connected to a transmission shaft 43, thereby realizing that one push motor synchronously drives several push wheels 3 to rotate.

[0092] That is, multiple drive gears 41 located in the same horizontal row are connected in series via a transmission shaft 43. Only one push motor is needed in the same horizontal row to drive the transmission shaft 43 to rotate, which can drive all the drive gears 41 to rotate, thus achieving the purpose of driving the entire row of push wheels 3 to rotate synchronously. Therefore, this structure can greatly reduce the number of push motors required, reduce the cost of the device, and at the same time help ensure the synchronicity of the rotation of all push wheels 3.

[0093] On the other hand, a rice seedling thrower is provided, including a seedling feeding device and a seedling picking device. The seedling feeding device is capable of cutting the seedlings into sections, and the seedling picking device is capable of taking out the cut seedlings and throwing them out.

[0094] Similarly, the seedling transplanter in this embodiment uses the above seedling delivery device. Before transplanting, the seedling cutting knife group 2 can be used to separate the seedlings into pot seedlings or perforated seedlings. When planting with the seedling transplanter in this embodiment, the number of seedlings in the divided seedling units is more uniform, and the size and weight of the soil clods at the top of the seedlings are more uniform. This is conducive to improving the uniformity of seedling growth in the field after planting, as well as improving the uniformity of the planting spacing of seedlings in the field.

[0095] 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.

[0096] 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 improve the uniformity of seedling growth in the field after planting, as well as the uniformity of planting spacing.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] 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 drone-based rice transplanting device, characterized in that, The system includes a drone and a rice transplanter, with the rice transplanter mounted below the drone. The rice transplanter includes a seedling delivery device and a seedling collection device. The seedling delivery device includes a seedling separating mechanism that can separate the seedlings, and the seedling collection device can remove and throw out the separated seedlings. The seedling separation mechanism includes: The base (1) has a top surface for placing the seedlings; The seedling pressing fence is set above the base plate (1) and is used to press the seedlings tightly onto the base plate (1); The seedling cutting knife group (2) includes a horizontal seedling cutting knife group (21) and a vertical seedling cutting knife group (22) arranged perpendicularly to each other. The horizontal cutting knife group can horizontally cut the soil layer of the seedlings on the base plate (1) into multiple rows, and the vertical cutting knife group (22) can vertically cut the soil layer of the seedlings on the base plate (1) into multiple columns.

2. The unmanned aerial vehicle (UAV) rice transplanting device according to claim 1, characterized in that, The top surface of the chassis (1) is provided with a grid groove (11). The grid groove (11) includes several mutually perpendicular horizontal strip grooves (111) and vertical strip grooves (112). The horizontal strip grooves (111) are correspondingly arranged with the horizontal seedling cutter group (21) to guide the horizontal movement of the horizontal seedling cutter group (21). The vertical strip grooves (112) are correspondingly arranged with the vertical seedling cutter group (22) to guide the vertical movement of the vertical seedling cutter group (22).

3. The unmanned aerial vehicle (UAV) rice transplanting device according to claim 2, characterized in that, The transverse cutting knife group (21) and the longitudinal cutting knife group (22) each include a plurality of cutting knife units (23). Each cutting knife unit (23) includes a knife bar (232) and a blade (231) connected to the end of the knife bar (232) and extending upward. The blade (231) is driven by the knife bar (232) to move laterally or longitudinally to cut the soil layer of the seedling.

4. The unmanned aerial vehicle (UAV) rice transplanting device according to claim 3, characterized in that, The transverse strip groove (111) and the longitudinal strip groove (112) each include a plurality of strip groove units (113) corresponding to the cutting knife unit (23). The strip groove unit (113) includes a blade guide groove (1131) and a knife bar guide groove (1132) arranged vertically. The width of the blade guide groove (1131) matches the blade (231), and the width of the knife bar guide groove (1132) matches the knife bar (232). The knife bar (232) is placed in the knife bar guide groove (1132), and the blade (231) extends upward through the blade guide groove (1131) and out of the top surface of the chassis (1).

5. The unmanned aerial vehicle (UAV) rice transplanting device according to claim 3, characterized in that, It also includes a blade assembly drive, which includes a lateral drive and a longitudinal drive. The lateral drive is connected to the lateral cutting blade assembly (21) and is used to drive the lateral cutting blade assembly (21) to move laterally. The longitudinal drive is connected to the longitudinal cutting blade assembly (22) and is used to drive the longitudinal cutting blade assembly (22) to move longitudinally.

6. The unmanned aerial vehicle (UAV) rice transplanting device according to claim 5, characterized in that, Both the lateral drive and the longitudinal drive include a rotary drive and a translational transmission component. The input and output ends of the translational transmission component are respectively connected to the blade bar (232). The rotational motion of the rotary drive component is converted into the linear movement of the cutting blade unit (23) through the translational transmission component.

7. The unmanned aerial vehicle (UAV) rice transplanting device according to claim 6, characterized in that, The translational transmission component includes a threaded sleeve (25) rotatably mounted on the side of the chassis (1). The threaded sleeve (25) is connected to the rotary drive component. The outer periphery of the blade (232) is provided with an external thread that mates with the threaded sleeve (25). The blade (232) passes through the threaded sleeve (25). The rotary drive component drives the threaded sleeve (25) to rotate, thereby driving the linear movement of the cutting blade unit (23).

8. The unmanned aerial vehicle (UAV) rice transplanting device according to claim 7, characterized in that, The translational transmission component also includes an intermediate transmission component (26), and two adjacent threaded sleeves (25) are connected by the intermediate transmission component (26), so that one rotary drive component can drive all the threaded sleeves (25) in the transverse drive to rotate synchronously, and one rotary drive component can drive all the threaded sleeves (25) in the longitudinal drive to rotate synchronously.

9. The unmanned aerial vehicle (UAV) rice transplanting device according to claim 6, characterized in that, The translational transmission component includes a transmission gear rotatably mounted on the side of the chassis (1). The transmission gear is connected to the rotary drive component. The blade bar (232) has a strip tooth on one side that cooperates with the transmission gear. The rotary drive component drives the transmission gear to rotate, thereby driving the linear movement of the cutting blade unit (23).

10. The unmanned aerial vehicle (UAV) rice transplanting device according to claim 9, characterized in that, The translational transmission component also includes an intermediate transmission component (26), and two adjacent transmission gears are connected by the intermediate transmission component (26) so that one of the rotary drive components can drive all the transmission gears in the transverse drive to rotate synchronously, and one of the rotary drive components can drive all the transmission gears in the longitudinal drive to rotate synchronously.

11. The unmanned aerial vehicle (UAV) rice transplanting device according to claim 5, characterized in that, Both the lateral drive and the longitudinal drive include a linear drive component, which is a cylinder or a hydraulic cylinder.

12. The unmanned aerial vehicle (UAV) rice transplanting device according to claim 11, characterized in that, Both the lateral drive and the longitudinal drive include a main push arm. All the blades (232) in the lateral cutting blade group (21) are simultaneously connected to one main push arm, so that one linear drive can drive all the cutting blade units (23) in the lateral cutting blade group (21) to move linearly. All the blades (232) in the longitudinal cutting blade group (22) are simultaneously connected to one main push arm, so that one linear drive can drive all the cutting blade units (23) in the longitudinal cutting blade group (22) to move linearly.

13. A seedling delivery device, characterized in that, The unmanned aerial vehicle seedling throwing device according to any one of claims 2-12 has a boss (12) formed on the chassis (1) between the grid grooves (11), and a pushing wheel (3) for pushing the seedlings is provided on the boss (12).

14. The seedling delivery device according to claim 13, characterized in that, A mounting groove (121) is provided on the boss (12) on which the push wheel (3) is installed. The push wheel (3) is rotatably installed in the mounting groove (121), and the top of the push wheel (3) protrudes out of the mounting groove (121), so that the push wheel (3) can push the seedlings located on the top surface of the chassis (1).

15. The seedling delivery device according to claim 14, characterized in that, The surface of the push wheel (3) is provided with protruding teeth.

16. The seedling delivery device according to claim 14, characterized in that, The chassis (1) has a mounting cavity, and the mounting cavity is provided with a push drive for driving the push wheel (3) to rotate.

17. The seedling delivery device according to claim 16, characterized in that, The push drive includes a push motor and a push transmission component (4) connected by a transmission. The push motor is fixed in the mounting cavity, and the push transmission component (4) is connected to the push wheel (3) to drive the push wheel (3) to rotate.

18. The seedling delivery device according to claim 17, characterized in that, The push wheel (3) includes a push part and a wheel axle passing through the push part. The push part is located in the mounting groove (121). The two ends of the wheel axle are rotatably connected to the side wall of the mounting groove (121). The push transmission component (4) includes a meshing drive gear (41) and a driven gear (42). The drive gear (41) is connected to the push motor, and the driven gear (42) is connected to the wheel axle, thereby driving the push wheel (3) to rotate.

19. The seedling delivery device according to claim 18, characterized in that, Each of the push wheels (3) is connected to a push transmission component (4), and several drive gears (41) located in the same horizontal row are connected to a transmission shaft (43), thereby realizing that one push motor synchronously drives several push wheels (3) to rotate.

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