Seedling throwing mechanism, seedling throwing system and seedling throwing method

Abstract

The embodiment of the invention provides a seedling slinging mechanism, a seedling slinging system and a seedling slinging method, and relates to the field of agricultural planting. The seedling throwing mechanism comprises a seedling placing module, at least two seedling taking modules and a telescopic module, the seedling placing module is used for conveying seedling groups, the seedling taking modules are used for obtaining seedlings from the seedling placing module, the telescopic module is connected with at least one seedling taking module, and the telescopic module is used for driving the seedling taking module to move so as to change the distance between at least two adjacent seedling taking modules. According to the seedling throwing mechanism, the row spacing of thrown seedlings in a farmland can be adjusted, the applicability of the seedling throwing mechanism is improved, and the seedling throwing mechanism can be more widely applied to different seedling throwing scenes.

Description

Technical Field

[0001] The present invention relates to the field of agricultural planting, and in particular to a seedling throwing mechanism, a seedling throwing system and a seedling throwing method. Background Art

[0002] The application of drones in the agricultural field is already quite extensive. Drones can be equipped with various operating systems and can perform agricultural spraying and sowing operations. At present, when drones are used for seedling throwing operations, the seedling throwing structure is generally set at the bottom of the drone. The seedling throwing structure follows the drone to fly above the farmland and performs seedling throwing operations during the flight.

[0003] The seedling throwing mechanism in the prior art has the problem that the row spacing of the thrown seedlings in the farmland cannot be adjusted. Summary of the invention

[0004] The present invention provides a seedling throwing mechanism, a seedling throwing system and a seedling throwing method, which can adjust the row spacing of thrown seedlings in a farmland, improve the applicability of the seedling throwing mechanism, and can be more widely applied to different seedling throwing scenes.

[0005] The embodiments of the present invention can be implemented as follows:

[0006] An embodiment of the present invention provides a seedling throwing mechanism, which comprises:

[0007] A rice seedling placing module, the rice seedling placing module is used to transport the rice seedling group;

[0008] At least two seedling taking modules, the seedling taking modules are used to obtain the seedlings from the seedling placing modules;

[0009] A telescopic module is connected to at least one of the seedling taking modules, and is used to drive the seedling taking module to move so as to change the distance between at least two adjacent seedling taking modules.

[0010] Optionally, there are multiple telescopic modules, and each of the seedling removing modules is connected to the telescopic module.

[0011] Optionally, the seedling throwing mechanism also includes a loading module, the telescopic module is arranged on the loading module, and the loading module is arranged on a drone, the telescopic module includes a driving source and a driving rod, the driving source is connected to the loading module, the driving source is connected to the driving rod, the driving rod is connected to the seedling taking module, and the driving rod is used to drive the seedling taking module to move under the drive of the driving source.

[0012] Optionally, the driving rod includes a telescopic rod and a support rod, one end of the support rod is connected to the seedling taking module, the other end of the support rod is connected to the telescopic rod, the telescopic rod is connected to the driving source, and the telescopic rod is used to drive the support rod to extend and retract under the drive of the driving source, so that the support rod drives the seedling taking module to perform telescopic movement.

[0013] Optionally, the telescopic module includes a rotating motor, a gear and a rack. The rotating motor is arranged on the loading module. The gear is transmission-connected to the rotating motor. The gear is meshed with the rack. The rack is connected to the seedling taking module.

[0014] Optionally, the telescopic module includes a driving motor and a ball screw, the driving motor is connected to the loading module, and the ball screw is connected to the driving motor and the seedling taking module at the same time.

[0015] Optionally, the telescopic module is a telescopic cylinder.

[0016] Optionally, the seedling group is blanket seedlings or plug tray seedlings.

[0017] Optionally, the seedling group is a blanket seedling, and the seedling placing module includes a seedling placing tray and a supporting plate, the seedling placing tray is arranged on the loading module, the seedling placing tray is used to transport the blanket seedlings, the supporting plate is arranged on the seedling placing tray part to support the blanket seedlings, the supporting plate is provided with a seedling placing opening, the number of the seedling retrieval modules corresponds to the number of the seedling placing modules, and the seedling retrieval module is used to separate the blanket seedlings on the seedling placing tray through the seedling placing opening and throw out the separated seedlings.

[0018] Optionally, there are multiple seedling placing openings, which are spaced apart along the length direction of the support plate. The seedling retrieval module is used to move to any one of the seedling placing openings driven by the telescopic module to change the spacing between the seedlings separated from the blanket seedlings on two adjacent seedling placing trays after being thrown out.

[0019] An embodiment of the present invention further provides a seedling throwing system, comprising a drone and a seedling throwing mechanism, wherein the seedling throwing mechanism is mounted on the drone.

[0020] An embodiment of the present invention further provides a method for throwing seedlings, the method comprising:

[0021] According to the requirements of the seedling throwing task, the telescopic module is controlled to drive at least one seedling picking module to move so as to adjust the distance between at least two adjacent seedling picking modules;

[0022] The seedling taking module is controlled to obtain the seedlings from the seedling placing module to perform the seedling placing operation.

[0023] The beneficial effects of the seedling throwing mechanism, seedling throwing system and seedling throwing method of the embodiments of the present invention include, for example:

[0024] The seedling throwing mechanism includes a seedling placing module, at least two seedling picking modules and a telescopic module. The seedling placing module is used to transport the seedling group, the seedling picking module is used to obtain the seedlings from the seedling placing module, the telescopic module is connected to at least one seedling picking module, and the telescopic module is used to drive the seedling picking module to move so as to change the distance between at least two adjacent seedling picking modules. When the seedling throwing mechanism is in use, the seedling picking module can separate the seedling group on the seedling placing module, and throw the separated seedlings into the farmland to complete the seedling throwing operation. When the seedling picking module is working, the telescopic module can drive the seedling picking module to move, thereby reducing or increasing the distance between at least two adjacent seedling picking modules, thereby reducing or increasing the spacing between the seedlings separated from the seedling groups on at least two adjacent seedling placing modules after being thrown. The seedling throwing mechanism can adjust the row spacing of the thrown seedlings in the farmland, improve the applicability of the seedling throwing mechanism, and can be more widely used in different seedling throwing scenes.

[0025] The seedling throwing system includes a drone and a seedling throwing mechanism, and the seedling throwing mechanism is mounted on the drone. When the seedling throwing mechanism is in use, the seedling picking module can separate the seedling group on the seedling placing module, and throw the separated seedlings into the farmland to complete the seedling throwing operation. When the seedling picking module is working, the telescopic module can drive the seedling picking module to move, thereby reducing or increasing the distance between at least two adjacent seedling picking modules, thereby reducing or increasing the spacing between the seedlings separated from the seedling groups on at least two adjacent seedling placing modules after being thrown. The seedling throwing mechanism can adjust the row spacing of the thrown seedlings in the farmland, improve the applicability of the seedling throwing mechanism, and can be more widely used in different seedling throwing scenarios.

[0026] The seedling throwing method uses a seedling throwing system to perform a seedling throwing operation. The seedling throwing method includes controlling a telescopic module to drive at least one seedling picking module to move according to the seedling throwing task requirements, thereby adjusting the distance between at least two adjacent seedling picking modules; and controlling the seedling picking module to obtain seedlings from the seedling placing module to perform a seedling throwing operation. When used, the seedling throwing method can adjust the row spacing of the thrown seedlings in the farmland, improve the applicability of the seedling throwing mechanism, and can be more widely used in different seedling throwing scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 A schematic structural diagram of a seedling throwing system provided in this embodiment;

[0029] Figure 2 This is a structural schematic diagram of a seedling throwing mechanism provided in this embodiment.

[0030] Icons: 10-loading module; 20-seedling placing module; 21-seedling placing tray; 22-supporting plate; 221-seedling placing opening; 30-seedling taking module; 31-transmission disc; 32-cutter head; 33-cutter head motor; 40-telescopic module; 41-driving source; 42-driving rod; 421-telescopic rod; 422-support rod; 423-connecting rod; 50-transverse movement module; 100-seedling throwing mechanism; 101-blanket seedling; 200-drone; 1000-seedling throwing system. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0034] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0035] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0036] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0037] The application of drones in the agricultural field is already quite extensive. Drones can be equipped with various operating systems and can perform agricultural spraying and sowing operations. At present, when drones are used for seedling throwing operations, the seedling throwing structure is generally set at the bottom of the drone. The seedling throwing structure follows the drone to fly above the farmland and performs seedling throwing operations during the flight.

[0038] The seedling throwing mechanism in the related art has the problem that the row spacing of the thrown seedlings in the farmland cannot be adjusted.

[0039] Please refer to Figure 1-Figure 2 The present embodiment provides a seedling throwing system 1000, which includes a drone 200 and a seedling throwing mechanism 100. The seedling throwing mechanism 100 is mounted on the bottom of the drone 200, and the seedling throwing mechanism 100 follows the flight of the drone 200 to perform seedling throwing operations. The seedling throwing system 1000 can effectively improve the above-mentioned technical problems, can adjust the row spacing of the thrown seedlings in the farmland, improve the applicability of the seedling throwing mechanism 100, and can be more widely used in different seedling throwing scenarios.

[0040] In this embodiment, the carrier is a drone 200, specifically, an agricultural drone, which is generally equipped with spraying components and sowing components required for agriculture, and can achieve spray irrigation, sowing, etc. Of course, the carrier can also carry a camera, a game device, etc. At the same time, the carrier is not limited to the drone 200, for example, the carrier can also be a robot, an unmanned vehicle, an unmanned ship, etc.

[0041] It should be noted that there can be multiple seedling throwing mechanisms 100, and the multiple seedling throwing mechanisms 100 are all mounted on the bottom of the drone 200 and follow the flight of the drone 200 to perform the seedling throwing operation.

[0042] In this embodiment, the drone 200 is a rotor drone, specifically a quad-rotor drone, and of course, it can also be a single-rotor drone, a dual-rotor drone, a six-rotor drone, an eight-rotor drone, etc. The drone can automatically operate according to a preset path, flight speed, attitude, etc., or be manually controlled by an operator.

[0043] Please refer to Figure 1-Figure 2 The seedling throwing mechanism 100 includes a loading module 10, a seedling placing module 20, at least two seedling picking modules 30 and a telescopic module 40. The loading module 10 is arranged on the drone 200, the seedling placing module 20 is arranged on the loading module 10, the seedling placing module 20 is used to transport the seedling group, the seedling picking module 30 is used to obtain the seedlings from the seedling placing module 20, the telescopic module 40 is arranged on the loading module 10, the telescopic module 40 is connected to at least one seedling picking module 30, and the telescopic module 40 is used to drive the seedling picking module 30 to move so as to change the distance between at least two adjacent seedling picking modules 30.

[0044] Wherein, the rice seedling group can be blanket seedlings 101 or plug tray seedlings, that is, pot seedlings. In this embodiment, the rice seedling group is blanket seedlings 101.

[0045] Specifically, the number of the seedling placing modules 20 may be multiple, one seedling taking module 30 may correspond to one seedling placing module 20 , and multiple seedling taking modules 30 may also correspond to the same seedling placing module 20 .

[0046] The seedling taking module 30 in this embodiment is arranged below the seedling placing module 20. The seedling taking module 30 is used to separate the seedlings from the seedling group on the seedling placing module 20 and then throw them out by centrifugal force or by ejection of an ejection member. In some embodiments, the seedling taking module 30 can take the seedlings from the seedling group of the seedling placing module 20 and then let the seedlings fall freely and then throw them out. When the seedling group is a plug tray seedling, the seedling taking module 30 can eject the seedlings from the plug tray by ejecting with an ejector pin to obtain the seedlings. Moreover, the number of the seedling taking modules 30 corresponds to the number of the seedling placing modules 20.

[0047] Compared with the seedling throwing mechanism in the prior art, the telescopic module 40 of the seedling throwing mechanism 100 provided in this embodiment can drive the seedling retrieval module 30 to move, thereby reducing or increasing the distance between two adjacent seedling retrieval modules 30, thereby reducing or increasing the distance between the seedlings separated by the blanket seedlings 101 on two adjacent seedling placing modules 20 after being thrown out.

[0048] Specifically, there are multiple telescopic modules 40, and each seedling taking module 30 is connected to a telescopic module 40. It should be noted that one telescopic module 40 can drive multiple seedling taking modules 30 to take seedlings together, or one telescopic module 40 drives one seedling taking module 30 to take seedlings.

[0049] In this embodiment, the telescopic module 40 includes a driving source 41 and a driving rod 42. The driving source 41 is connected to the loading module 10, the driving source 41 is connected to the driving rod 42, the driving rod 42 is connected to the seedling taking module 30, and the driving rod 42 is used to drive the seedling taking module 30 to move under the drive of the driving source 41.

[0050] Specifically, the driving rod 42 includes a telescopic rod 421 and a support rod 422. One end of the support rod 422 is connected to the seedling taking module 30, and the other end of the support rod 422 is connected to the telescopic rod 421. The telescopic rod 421 is connected to the driving source 41. The telescopic rod 421 is used to drive the support rod 422 to extend and retract under the drive of the driving source 41, so that the support rod 422 drives the seedling taking module 30 to perform telescopic movement.

[0051] In this embodiment, the telescopic rod 421 and the supporting rod 422 are vertically arranged, and the telescopic direction of the telescopic rod 421 is the same as the spacing direction of two adjacent seedling taking modules 30 .

[0052] The driving source 41 in this embodiment is a driving motor, which drives the telescopic rod 421 to perform telescopic movement, so that the support rod 422 drives the seedling taking module 30 connected thereto to perform telescopic movement, thereby reducing or increasing the distance between two adjacent seedling taking modules 30, thereby reducing or increasing the distance between the seedlings separated from the blanket seedlings 101 on two adjacent seedling placing modules 20 after being thrown out.

[0053] Furthermore, the telescopic module 40 further includes a connecting rod 423 , one end of which is connected to the loading module 10 , and the other end of which is connected to the driving source 41 .

[0054] In other embodiments, the telescopic module 40 includes a rotating motor, a gear and a rack, the rotating motor is disposed on the loading module 10, the gear is connected to the rotating motor in a transmission manner, the gear is meshed with the rack, and the rack is connected to the seedling removal module 30. The rotating motor drives the gear to rotate, so that the rack meshed with the gear performs a linear motion, thereby driving the seedling removal module 30 to move.

[0055] In other embodiments, the telescopic module 40 includes a driving motor and a ball screw, the driving motor is connected to the loading module 10, and the ball screw is connected to the driving motor and the seedling taking module 30. The screw of the ball screw is connected to the driving motor, and the nut of the ball screw is connected to the seedling taking module 30. The driving motor drives the screw of the ball screw to rotate, so that the nut connected to the screw moves linearly along the screw, thereby driving the seedling taking module 30 to move.

[0056] In more embodiments, the telescopic module 40 is a telescopic cylinder.

[0057] In this embodiment, the seedling placing module 20 includes a seedling placing tray 21 and a supporting plate 22. The seedling placing tray 21 is arranged on the loading module 10. The seedling placing tray 21 is used to transport the blanket seedlings 101. The supporting plate 22 is arranged at the bottom of the seedling placing tray 21 to support the blanket seedlings 101. The supporting plate 22 is provided with a seedling placing opening 221. The seedling taking module 30 is used to separate the blanket seedlings 101 on the seedling placing tray 21 through the seedling placing opening 221 and throw out the separated seedlings.

[0058] The seedling tray 21 is a rectangular structure, the width of the seedling tray 21 matches the width of the seedling blanket 101, and the height of the seedling tray 21 is not less than the height of the seedling blanket 101. The seedling removal module 30 moves along the width direction of the seedling tray 21, and sequentially separates the seedlings on the seedling blanket 101 and throws them out.

[0059] Furthermore, the inclined setting of the seedling tray 21 can reduce the space occupied by the seedling tray 21 in the horizontal direction, and at the same time can use gravity to allow the blanket seedlings 101 placed on the seedling tray 21 to slide down, thereby reducing the power consumption of the whole machine.

[0060] It should also be explained that there are multiple seedling placing openings 221, which are spaced apart along the length direction of the support plate 22. The seedling taking module 30 is used to move to any seedling placing opening 221 driven by the telescopic module 40 to change the spacing between the seedlings separated from the blanket seedlings 101 on two adjacent seedling placing trays 21 after being thrown out.

[0061] In this embodiment, there are three seedling placing openings 221, which are spaced apart along the length direction of the supporting plate 22. The seedling taking module 30 can be moved to any seedling placing opening 221 in sequence driven by the telescopic module 40 to perform the seedling placing operation.

[0062] In addition, the seedling taking module 30 includes a transmission disk 31, a cutter head 32 and a cutter head motor 33. The cutter head motor 33 is connected to the telescopic module 40, the transmission disk 31 is connected to the cutter head motor 33, and the cutter head 32 is connected to the transmission disk 31. The transmission disk 31 rotates under the drive of the cutter head motor 33, thereby driving the cutter head 32 to rotate at high speed, so that the cutter head 32 cuts the blanket seedlings 101 on the seedling placing module 20.

[0063] It should be noted that the cutter head 32 may also be directly mounted on the output shaft of the cutter head motor 33 , and the cutter head motor 33 directly drives the cutter head 32 to rotate.

[0064] At least one cutter head 32 is arranged on each transmission disc 31. The transmission disc 31 can give the cutter head 32 a specific motion trajectory. Generally, a plurality of mutually meshing gears can be arranged inside the transmission disc 31. The cutter head motor 33 meshes with a gear in the transmission disc 31, and the cutter head 32 meshes with another gear. The transmission disc 31 can make the motion trajectory of the cutter head 32 and the posture of the cutter head 32 during the motion process meet the requirements.

[0065] In this embodiment, two cutter heads 32 are arranged on the transmission disc 31. In other embodiments, the number of cutter heads 32 arranged on the transmission disc 31 can be adjusted, which is not specifically limited here.

[0066] In this embodiment, the number of the seedling placing module 20, the seedling taking module 30 and the telescopic module 40 are all three. When the row spacing between two adjacent rows of seedlings needs to be reduced, two adjacent telescopic modules 40 simultaneously drive the seedling taking modules 30 connected thereto to move toward a direction close to each other until the position of the seedling taking module 30 corresponds to the position of the seedling placing opening 221. Thus, the spacing between the two adjacent seedling taking modules 30 is reduced; or, one of the telescopic modules 40 drives the seedling taking module 30 connected thereto to move toward a direction close to the adjacent seedling taking module 30 until the position of the seedling taking module 30 corresponds to the position of the seedling placing opening 221, which can also achieve the reduction of the spacing between the two adjacent seedling taking modules 30.

[0067] When the row spacing between two adjacent rows of seedlings needs to be increased, two adjacent telescopic modules 40 simultaneously drive the seedling taking modules 30 connected thereto to move in directions away from each other until the positions of the seedling taking modules 30 correspond to the positions of the seedling placing openings 221. Thus, the spacing between two adjacent seedling taking modules 30 is increased; or, one of the telescopic modules 40 drives the seedling taking module 30 connected thereto to move in a direction away from the adjacent seedling taking module 30 until the position of the seedling taking module 30 corresponds to the position of the seedling placing openings 221, thereby also increasing the spacing between two adjacent seedling taking modules 30.

[0068] Furthermore, the seedling throwing mechanism 100 provided in this embodiment further includes a transverse movement module 50, which is connected to the loading module 10 and the transverse movement module 50 is connected to the seedling placing tray 21, and the transverse movement module 50 is used to drive the seedling placing tray 21 to perform reciprocating motion in the transverse direction.

[0069] An embodiment of the present invention further provides a method for throwing rice seedlings, which comprises:

[0070] S1: According to the requirements of the seedling throwing task, the telescopic module 40 is controlled to drive at least one seedling picking module 30 to move so as to adjust the distance between at least two adjacent seedling picking modules 30;

[0071] Specifically, the driving source 41 is controlled to work according to the requirements of the seedling throwing operation task, and the driving source 41 drives the telescopic rod 421 to be extended and retracted, and the supporting rod 422 connected thereto drives the seedling taking module 30 to perform telescopic movement together, thereby adjusting the distance between two adjacent seedling taking modules 30.

[0072] S2: Control the seedling taking module 30 to obtain the seedlings from the seedling placing module 20 to perform the seedling placing operation;

[0073] Specifically, the transmission disc 31 rotates under the drive of the cutter head motor 33 , thereby driving the cutter head 32 to rotate at a high speed, so that the cutter head 32 cuts the blanket seedlings 101 on the seedling placing module 20 .

[0074] In summary, the embodiment of the present invention provides a seedling throwing mechanism 100, a seedling throwing system 1000 and a seedling throwing method. The seedling throwing mechanism 100 includes a loading module 10, a seedling placing module 20, at least two seedling picking modules 30 and a telescopic module 40. The loading module 10 is arranged on the drone 200, the seedling placing module 20 is arranged on the loading module 10, the seedling placing module 20 is used to transport the seedling group, the seedling picking module 30 is used to obtain the seedlings from the seedling placing module 20, the telescopic module 40 is arranged on the loading module 10, the telescopic module 40 is connected to at least one seedling picking module 30, and the telescopic module 40 is used to drive the seedling picking module 30 to move so as to change the distance between at least two adjacent seedling picking modules 30. When the seedling throwing mechanism 100 is in use, the seedling picking module 30 can separate the seedling group on the seedling placing module 20, and the separated seedlings are thrown into the farmland to complete the seedling throwing operation. When the seedling picking module 30 is working, the telescopic module 40 can drive the seedling picking module 30 to move, thereby reducing or increasing the distance between at least two adjacent seedling picking modules 30, thereby reducing or increasing the spacing between the seedlings separated from the seedling groups on at least two adjacent seedling placing modules 20 after being thrown out. The seedling throwing mechanism 100 can adjust the row spacing of the thrown seedlings in the farmland, improve the applicability of the seedling throwing mechanism 100, and can be more widely used in different seedling throwing scenes.

[0075] The seedling throwing system 1000 includes a drone 200 and a seedling throwing mechanism 100, and the loading module 10 is mounted on the drone 200. When the seedling throwing mechanism 100 is in use, the seedling picking module 30 can separate the seedling group on the seedling placing module 20, and throw the separated seedlings into the farmland to complete the seedling throwing operation. When the seedling picking module 30 is working, the telescopic module 40 can drive the seedling picking module 30 to move, thereby reducing or increasing the distance between at least two adjacent seedling picking modules 30, thereby reducing or increasing the spacing between the seedlings separated from the seedling groups on at least two adjacent seedling placing modules 20 after being thrown. The seedling throwing mechanism 100 can adjust the row spacing of the thrown seedlings in the farmland, improve the applicability of the seedling throwing mechanism 100, and can be more widely used in different seedling throwing scenes.

[0076] The seedling throwing method uses the seedling throwing system 1000 to perform the seedling throwing operation. The seedling throwing method includes controlling the telescopic module 40 to drive at least one seedling picking module 30 to move according to the seedling throwing task requirements, thereby adjusting the distance between at least two adjacent seedling picking modules 30; controlling the seedling picking module 30 to obtain the seedlings from the seedling placing module 20 to perform the seedling throwing operation. When the seedling throwing method is used, the row spacing of the thrown seedlings in the farmland can be adjusted, thereby improving the applicability of the seedling throwing mechanism 100 and being more widely applied to different seedling throwing scenarios.

[0077] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A seedling throwing mechanism, characterized in that: include: A rice seedling placing module (20), wherein the rice seedling placing module (20) is used to transport a rice seedling group; at least two seedling taking modules (30), wherein the seedling taking modules (30) are used to take the seedlings from the seedling placing module (20); A telescopic module (40), wherein the telescopic module (40) is connected to at least one of the seedling taking modules (30), and the telescopic module (40) is used to drive the seedling taking module (30) to move so as to change the distance between at least two adjacent seedling taking modules (30).

2. The seedling throwing mechanism according to claim 1, characterized in that: The number of the telescopic modules (40) is plural, and each of the seedling removing modules (30) is connected to the telescopic module (40).

3. The seedling throwing mechanism according to claim 1, characterized in that: The seedling throwing mechanism further comprises a loading module (10), the telescopic module (40) is arranged on the loading module (10), the loading module (10) is arranged on the drone (200), the telescopic module (40) comprises a driving source (41) and a driving rod (42), the driving source (41) is connected to the loading module (10), the driving source (41) is connected to the driving rod (42), the driving rod (42) is connected to the seedling taking module (30), and the driving rod (42) is used to drive the seedling taking module (30) to move under the drive of the driving source (41).

4. The seedling throwing mechanism according to claim 3, characterized in that: The driving rod (42) comprises a telescopic rod (421) and a supporting rod (422); one end of the supporting rod (422) is connected to the seedling taking module (30); the other end of the supporting rod (422) is connected to the telescopic rod (421); the telescopic rod (421) is connected to the driving source (41); the telescopic rod (421) is used to drive the supporting rod (422) to extend and retract under the driving of the driving source (41), so that the supporting rod (422) drives the seedling taking module (30) to perform telescopic movement.

5. The seedling throwing mechanism according to claim 3, characterized in that: The telescopic module (40) comprises a rotating motor, a gear and a rack; the rotating motor is arranged on the loading module (10); the gear is transmission-connected to the rotating motor; the gear is meshed with the rack; and the rack is connected to the seedling removing module (30).

6. The seedling throwing mechanism according to claim 3, characterized in that: The telescopic module (40) comprises a drive motor and a ball screw, the drive motor is connected to the loading module (10), and the ball screw is simultaneously connected to the drive motor and the seedling removal module (30).

7. The seedling throwing mechanism according to claim 1, characterized in that: The telescopic module (40) is a telescopic cylinder.

8. The seedling throwing mechanism according to claim 1, characterized in that: The rice seedling group is blanket seedlings (101) or plug tray seedlings.

9. The seedling throwing mechanism according to any one of claims 3 to 6, characterized in that: The seedling group is a blanket of seedlings (101); the seedling placing module (20) comprises a seedling placing tray (21) and a supporting plate (22); the seedling placing tray (21) is arranged on the loading module (10); the seedling placing tray (21) is used to transport the blanket of seedlings (101); the supporting plate (22) is arranged at the bottom of the seedling placing tray (21) to support the blanket of seedlings (101); the supporting plate (22) is provided with a seedling placing opening (221); the number of the seedling taking modules (30) corresponds to the number of the seedling placing modules (20); the seedling taking modules (30) are used to separate the blanket of seedlings (101) on the seedling placing tray (21) through the seedling placing opening (221) and throw out the separated seedlings.

10. The seedling throwing mechanism according to claim 9, characterized in that: There are a plurality of seedling placing openings (221), and the plurality of seedling placing openings (221) are arranged at intervals along the length direction of the supporting plate (22). The seedling taking module (30) is used to move to any one of the seedling placing openings (221) driven by the telescopic module (40) to change the spacing between the seedlings separated from the blanket seedlings (101) on two adjacent seedling placing trays (21) after being thrown out.

11. A seedling throwing system, characterized in that: It comprises an unmanned aerial vehicle (200) and the seedling throwing mechanism (100) according to any one of claims 1 to 10, wherein the seedling throwing mechanism (100) is mounted on the unmanned aerial vehicle (200).

12. A seedling throwing method, characterized in that: The seedling throwing method comprises: According to the requirements of the seedling throwing task, the telescopic module (40) is controlled to drive at least one seedling picking module (30) to move, thereby adjusting the distance between at least two adjacent seedling picking modules (30); The seedling taking module (30) is controlled to obtain the seedlings from the seedling placing module (20) to perform a seedling placing operation.

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