Seedling throwing mechanism and unmanned aerial vehicle

Abstract

The invention discloses a seedling throwing mechanism and an unmanned aerial vehicle, and belongs to the technical field of agricultural equipment. The seedling throwing mechanism comprises a load module, a seedling feeding module, a seedling throwing module and a transverse movement driving device, the seedling feeding module is fixed to the load module, and the seedling feeding module is movably connected with the load module; the seedling throwing module comprises a seedling supporting plate, a seedling taking device and a first driver; the seedling supporting plate is provided with a seedling taking opening; the first driver is connected with the seedling taking device, and the first driver is used for driving the seedling taking device to penetrate through the seedling taking opening to take seedlings; the transverse movement driving device is used for driving the seedling taking device and the seedling supporting plate to move relative to the seedling conveying module in the transverse movement direction. According to the seedling throwing mechanism and the unmanned aerial vehicle, flying seedling throwing can be achieved, and the application range is wide; during seedling taking and throwing, the seedling feeding module does not move transversely, and the seedling throwing module moves transversely, so that shaking can be reduced, and the flight safety of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural equipment, and in particular to a seedling throwing mechanism and a drone. Background Art

[0002] In the field of agricultural planting, some crops need to be planted after raising seedlings. For mechanical planting of seedlings, the relevant technology relies on agricultural machinery traveling on the ground to transplant or throw seedlings. However, this method of planting seedlings requires reserving space for agricultural machinery on the ground. Due to site limitations, the utilization rate of planting space is low.

[0003] There are also some drones equipped with rice seedling transplanting systems in related technologies, but there is also the problem of poor operating results. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide a seedling throwing mechanism and a drone, which are equipped with a seedling supporting plate to make it easier to take the seedlings, and there is no need for the lateral movement of the seedling delivery module, thereby avoiding the problem of the drone shaking caused by the lateral movement of the heavy seedling delivery module.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A seedling throwing mechanism, comprising:

[0007] A payload module, used to connect with the drone;

[0008] A seedling delivery module is relatively fixed to the load module; one end of the seedling delivery module is provided with a seedling delivery port, and the seedling delivery module is used to deliver the seedlings to be taken to the seedling delivery port;

[0009] A seedling throwing module is movably mounted on the load module; the seedling throwing module comprises a seedling supporting plate, a seedling taking device and a first driver; the seedling supporting plate is arranged beside the seedling delivery port for supporting the seedlings to be taken, and the seedling supporting plate is provided with a seedling taking opening; the first driver is connected to the seedling taking device, and the first driver is used to drive the seedling taking device to pass through the seedling taking opening to take the seedlings;

[0010] A transverse driving device is installed on the load module; the transverse driving device is used to drive the seedling taker and the seedling supporting plate to move along the transverse direction, so that the seedling taker can take seedlings from different areas of the seedlings to be taken.

[0011] Optionally, the seedling throwing module includes a first connecting frame, and the seedling supporting plate and the seedling taking device are respectively connected to the first connecting frame; the first connecting frame is slidably mounted on the load module;

[0012] The transverse driving device is connected to the first connecting frame; the transverse driving device is used to drive the first connecting frame to move in the transverse direction of the seedlings, so as to drive the seedling remover and the seedling supporting plate to move along the transverse direction.

[0013] Optionally, the transverse driving device includes a transverse driving device and a sliding sleeve; the load module includes a guide member; the sliding sleeve is fixed to the first connecting frame, and the sliding sleeve is slidably mounted on the guide member;

[0014] The transverse drive is connected to the sliding sleeve, and is used to drive the sliding sleeve to move back and forth along the guide member, thereby driving the first connecting frame, the seedling remover and the seedling supporting plate to move back and forth along the guide member.

[0015] Optionally, the transverse driving device includes a plurality of the sliding sleeves, and the plurality of sliding sleeves are spaced apart along the length direction of the guide member; and the plurality of sliding sleeves are respectively connected to the first connecting frame.

[0016] Optionally, the transverse driving device is a screw transmission device; the sliding sleeve is a threaded sleeve, the screw transmission device also includes a threaded rod, the threaded sleeve is sleeved outside the threaded rod, and the transverse driving device is connected to the threaded rod; the transverse driving device is used to drive the threaded rod to rotate, thereby driving the first connecting frame to reciprocate along the threaded rod through the threaded sleeve;

[0017] The load module also includes a first side load frame and a second side load frame respectively connected to the two ends of the guide member, the transverse drive is connected to the first side load frame, and the end of the threaded rod away from the transverse drive is rotatably installed on the second side load frame.

[0018] Optionally, the seedling throwing mechanism includes a plurality of seedling taking components arranged at intervals along the transverse direction, and each of the seedling taking components is provided with the seedling taking device; the seedling supporting plate includes a plurality of seedling taking openings arranged at intervals along the transverse direction; and the plurality of seedling taking components correspond one-to-one to the plurality of seedling taking openings.

[0019] Optionally, the seedling throwing module includes a plurality of the seedling taking assemblies;

[0020] Each of the seedling taking components comprises the first driver, a seedling throwing seat and the seedling taking device; the first driver is a rotary driver, the first driver is connected to the seedling throwing seat, and the seedling taking device is installed on the seedling throwing seat; the number of the seedling taking devices is one or more;

[0021] The seedling throwing module includes a plurality of second connecting frames, and the first drivers are connected to the first connecting frames through the second connecting frames.

[0022] Optionally, the seedling throwing module includes a plurality of the seedling taking assemblies;

[0023] Each of the seedling taking components comprises a seedling throwing seat and the seedling taking device; the seedling taking device is installed on the seedling throwing seat; the seedling throwing module comprises a seedling taking transmission shaft, and the seedling taking transmission shaft is rotatably installed on the connecting frame;

[0024] The first driver is a rotary driver, and the first driver is installed on the connecting frame; the first driver is used to drive the seedling taking transmission shaft to rotate, thereby driving the multiple seedling taking components to rotate.

[0025] Optionally, the seedling delivery module includes a seedling delivery tray and a conveying assembly, the seedling delivery tray is connected to and relatively fixed with the load module, the seedling delivery tray is used to support the seedlings to be taken, and the seedling delivery port is formed at the end of the seedling delivery tray;

[0026] The conveying component is installed on the seedling delivery tray or the load module, and the conveying component is used to convey the seedlings to be taken to the seedling delivery port along the conveying direction.

[0027] Optionally, the length of the seedling supporting plate is greater than the length of the seedling delivering tray.

[0028] A drone, comprising:

[0029] body;

[0030] In the aforementioned seedling throwing mechanism, the load module is connected to the fuselage.

[0031] The beneficial effect of the present invention is that the seedling throwing mechanism is suitable for being carried on a drone to perform flying seedling throwing.

[0032] The seedling throwing mechanism is equipped with a seedling supporting plate, which can support the seedlings to be picked up sent by the seedling delivery module, and the seedling picker picks up the seedlings that are only exposed in the seedling picking opening of the seedling supporting plate, so that the seedling picking and seedling throwing effects are better. When the seedling throwing mechanism is in operation, the seedling throwing module and the seedling supporting plate move horizontally, and the seedling picker picks up the seedlings to be picked up one by one, thereby improving the seedling picking efficiency. The seedling delivery module loaded with seedlings to be picked up and with a large weight does not need to move horizontally, which can reduce shaking and improve the flight safety of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The present invention is further described in detail below based on the accompanying drawings and embodiments.

[0034] Figure 1 It is a schematic diagram of a seedling tray for pot seedlings in the related art;

[0035] Figure 2 It is a schematic three-dimensional diagram of the blanket seedling;

[0036] Figure 3 This is a side view of the blanket seedling;

[0037] Figure 4This is a schematic diagram of the hole blanket seedling;

[0038] Figure 5 A single rice seedling taken from a blanket of seedlings by a rice seedling taker according to an embodiment of the present invention;

[0039] Figure 6 This is a diagram showing the coordination between the seedling delivery module and the seedling throwing module when the seedling throwing mechanism according to the embodiment of the present invention is operating;

[0040] Figure 7 This is one of the schematic diagrams of the drone according to the embodiment of the present invention (the back of the rice seedling delivery module is shown in the figure);

[0041] Figure 8 This is a second schematic diagram of a drone according to an embodiment of the present invention (the back of the rice seedling delivery module is shown in the figure);

[0042] Fig. 9 The third schematic diagram of the drone according to the embodiment of the present invention (the front of the rice seedling delivery module is shown in the figure);

[0043] Fig.10 This is a fourth schematic diagram of a drone according to an embodiment of the present invention (the front of the rice seedling delivery module is shown in the figure);

[0044] Fig.11 The fifth schematic diagram of the drone according to the embodiment of the present invention;

[0045] Fig.12 is a schematic diagram of the three-dimensional structure of a drone according to an embodiment of the present invention;

[0046] Fig.13 It is a schematic diagram of the cooperation between the load module and the transverse driving device according to an embodiment of the present invention.

[0047] In the figure: 10, load module; 20, seedling delivery module; 30, seedling throwing module; 40, transverse drive device; 51, first connecting frame; 52, second connecting frame; 53, third connecting frame;

[0048] 11. guide member; 12. first side load frame; 13. second side load frame;

[0049] 21. Seedling delivery tray; 22. Conveying assembly; 23. Seedling pressing device;

[0050] 31. Seedling support plate; 3101. Seedling removal opening; 311. Back support plate; 312. Side support plate; 32. First driver; 33. Seedling throwing seat; 34. Seedling removal device; 35. Seedling removal transmission shaft; 36. Seedling removal assembly;

[0051] 41. traverse driver; 42. threaded rod; 43. threaded sleeve;

[0052] 210, fuselage; 220, rotor; 230, load frame; 240, tripod;

[0053] 810, blanket seedlings; 811, blanket base; 812, leaves; 813, seedlings; 820, seedling trays for pot seedlings; 900, seedlings to be harvested. DETAILED DESCRIPTION

[0054] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0055] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected" and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0056] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0057] In the related art, plant protection equipment equipped with a seedling throwing system generally has the following problems:

[0058] First, for ground agricultural machinery (plant protection vehicles) equipped with a seedling throwing system, it is necessary to reserve driving space for the agricultural machinery on the ground when operating. On the one hand, the utilization rate of the planting space is limited, and on the other hand, it is greatly restricted by the terrain. It is not convenient for ground agricultural machinery to reach and be used in special terrains such as terraces. Second, in some technologies, the seedling throwing mechanism is mounted on the drone. These seedling throwing mechanisms have requirements for the type of seedlings and can only throw non-blanket seedlings (such as pot seedlings). However, the main method of raising seedlings by farmers is blanket seedlings, and the pot seedling raising method is not popular. The drones equipped with the seedling throwing system in the relevant technology cannot be widely used.

[0059] Based on this, the present invention provides a seedling throwing mechanism and a drone. The seedling throwing mechanism is suitable for being carried on a drone for flying seedling throwing, has a wide application range, and is not restricted by terrain.

[0060] The seedling throwing mechanism is equipped with a seedling supporting plate 31, which can support the seedlings 900 to be picked up sent out by the seedling sending module 20. The seedling picking device 34 picks up the seedlings 813 that are only exposed in the seedling picking opening 3101 of the seedling supporting plate 31, and the seedling picking effect is better.

[0061] The seedling throwing mechanism adopts a method in which the position of the seedling sending module 20 is fixed, and the seedling supporting plate 31 and the seedling taking device 34 can be moved laterally, so as to realize the seedling taking and throwing functions of the seedling throwing mechanism. Compared with the structure in which the seedling sending module 20 is moved laterally, the power required for the lateral movement can be reduced, and the power of the whole device can be reduced. Since the overall weight of the lateral movement mechanism is reduced, the inertia generated by the left and right lateral movement is reduced, the left and right swing of the whole device is reduced, thereby reducing the impact on the flight stability of the aircraft.

[0062] In order to facilitate the understanding of the seedling throwing scheme in this application, this application first introduces several types of seedlings.

[0063] Figure 1 The structure of the pot seedling is shown in the figure. The pot seedling is a non-blanket seedling. Figure 1 The figure shows a seedling tray for pot seedlings. The seedling tray is evenly arranged with a number of grooves, each of which is open. There is a seedling in each groove. When taking out the seedlings, a pin is used to push against the bottom of the groove of the seedling tray to push out the single seedling in the groove. It should be noted that after all the seedlings in the pot seedling tray are taken out, an empty seedling tray will be left.

[0064] Figure 2 , Figure 3 The structure of blanket seedlings is shown in Figure 1. When blanket seedlings are cultivated, the blanket seedlings include a blanket base at the bottom and many seedlings growing out of the blanket base. The blanket base includes soil and the roots of the seedlings. The roots of the seedlings in the blanket base are adhered to each other. The main method of raising seedlings by farmers is blanket seedlings.

[0065] Figure 4 The structural form of the hole blanket seedling is shown in FIG. The difference between the hole blanket seedling and the blanket seedling is that a grid-like groove is formed on the back of the blanket base of the hole blanket seedling, and the criss-crossing grooves form grid-like protrusions on the back of the blanket base. The hole blanket seedling can be formed by pre-cutting the blanket base of the blanket seedling but not completely cutting it.

[0066] The seedling throwing mechanism of the present application is suitable for taking and throwing the blanket seedlings 810 (i.e. blanket seedlings, hole blanket seedlings). Of course, the seedling throwing mechanism of the present application can also take and throw the pot seedlings, and has a wider scope of application.

[0067] Please refer to Figures 7 to 10 , Fig.12 , Fig.13 The present application provides a seedling throwing mechanism and a drone including the seedling throwing mechanism. The drone can be equipped with one, two, three, or four seedling throwing mechanisms, and the seedlings 900 to be taken are separated by the seedling throwing mechanism, and the separated seedlings 813 are thrown out by centrifugal force and / or ejection force to achieve the seedling throwing operation. At the same time, the flying seedling throwing operation is achieved in conjunction with the flight of the drone.

[0068] There are many ways for the seedling throwing mechanism to throw the seedlings 813. The seedling throwing mechanism can throw the seedlings by centrifugal throwing and / or ejection throwing. In one embodiment, the seedling throwing mechanism separates the individual seedlings 813 (such as Figure 5 After the seedlings 813 are separated from the blanket, the seedlings 813 can be thrown out by the centrifugal force. In one embodiment, after the seedling throwing mechanism separates the seedlings 813 from the blanket, the separated seedlings 813 can be ejected and thrown out by the ejection force. In one embodiment, the seedling throwing mechanism can use the combined action of centrifugal force and ejection force to throw out the separated seedlings 813.

[0069] The seedling throwing mechanism includes a load module 10, a seedling delivery module 20 and a seedling throwing module 30. The load module 10 is used to be arranged on the drone. The seedling delivery module 20 is arranged on the load module 10, and the seedling delivery module 20 is used to support and transport the blanket seedlings 810.

[0070] The seedling throwing module 30 is arranged on the load module 10, and is used to perform the seedling picking operation and the seedling throwing operation. The seedling throwing module 30 separates the seedlings 813 from the seedling blanket on the seedling delivery module 20 and throws them out by centrifugal force and / or ejection force. In this way, the drone can carry the seedling throwing mechanism to perform the seedling throwing operation, and the seedling blanket is transported by the seedling delivery module 20, and the seedling throwing module 30 separates the seedling blanket and throws the seedlings 813, so as to realize the flying seedling throwing operation of the seedling blanket.

[0071] It should be noted that there are many ways to separate, for example, cutting, grabbing, pushing out, pressing down, digging out, tearing, etc. The specific separation and seedling removal method is not limited.

[0072] Please refer to Figures 6 to 13 , each module of the seedling throwing mechanism will be described in detail below.

[0073] The seedling delivery module 20 is used to support and transport the seedlings 900 to be taken, and the seedling throwing module 30 is used to separate the individual seedlings 813 from the seedlings 900 to be taken, and throw the separated seedlings 813. The seedling delivery module 20 and the seedling throwing module 30 are respectively installed on the load module 10. The seedling throwing module 30 includes a seedling supporting plate 31 and a seedling taking assembly 36. The seedling supporting plate 31 is arranged beside the seedling delivery module 20, so as to support the seedlings 900 to be taken sent by the seedling delivery module 20. The seedling taking assembly 36 includes a seedling taking device 34, which is arranged beside the seedling supporting plate 31, and the seedling supporting plate 31 is provided with a seedling taking opening 3101. The seedling taking device 34 is used to separate the seedlings 900 to be taken that are only exposed in the seedling taking opening 3101, and take out the individual seedlings 813.

[0074] When the seedling throwing mechanism performs the seedling picking and throwing operation, the seedling delivery module 20 and the seedling throwing module 30 move horizontally relative to each other, so that the seedlings 900 to be picked up in the same row can be picked up one by one through the seedling picking device 34, and the operation efficiency is high. For example, by the relative horizontal movement of the seedling delivery module 20 and the seedling throwing module 30, the seedlings 900 to be picked up in the first row can be picked up from left to right or from right to left. After the seedlings in the first row are picked up, the seedlings 900 to be picked up are continuously transported forward along the conveying direction, and then the seedlings 900 to be picked up in the second row are picked up from left to right or from right to left, and the seedling picking efficiency is high.

[0075] Figures 6 to 10 , Fig.12 The F1 direction and F2 direction are used to indicate the possible lateral movement directions.

[0076] However, the inventors found that in order to achieve the relative lateral movement of the seedling delivery module 20 and the seedling throwing module 30, if the seedling delivery module 20 is controlled to move horizontally during the seedling picking and throwing operation so that the seedling picker 34 of the seedling throwing module 30 picks the seedlings one by one, then when the number of seedlings 900 to be picked up loaded on the seedling delivery module 20 is large, the power required for the left and right movement of the seedling delivery module 20 is greater, the left and right inertia generated is greater, and the tendency of left and right swing is greater. In particular, when the seedling throwing mechanism is applied to a drone, when the seedling delivery module 20 loaded with a large number of seedlings 900 to be picked up moves horizontally, it will cause the problem of unstable center of gravity of the drone, and the drone is prone to shaking and swaying, affecting the flight attitude, flight stability and safety. It should be noted that although some drones in the relevant technology are equipped with a seedling throwing mechanism, these seedling throwing mechanisms do not provide a solution for the relative lateral movement of the seedling delivery module 20 and the seedling throwing module 30 during seedling throwing.

[0077] In order to solve the problem of drone shaking that may occur when removing seedlings, the present application adopts a method in which the position of the seedling delivery module 20 is fixed, and the seedling supporting plate 31 and the seedling remover 34 can move laterally.

[0078] Specifically, the seedling delivery module 20 is fixed to the load module 10, and the seedling throwing module 30 is movably installed on the load module 10. The seedling throwing mechanism also includes a transverse driving device 40 installed on the load module 10. The transverse driving device 40 is used to drive the seedling taker 34 and the seedling supporting plate 31 to move relative to the seedling delivery module 20 along the transverse direction to realize the seedling taking and seedling throwing functions of the seedling throwing mechanism. Among them, the seedling supporting plate 31 moves transversely synchronously with the seedling taker 34, so that when the seedling taker 34 moves transversely relative to the seedling delivery module 20, the seedling taker 34 and the seedling taking opening 3101 of the seedling supporting plate 31 maintain corresponding positions, ensuring that the seedling taker 34 can pass through the seedling taking opening 3101 to take seedlings from the area exposed to the seedling taking opening 3101, and avoiding the situation where the seedling taker 34 and the seedling taking opening 3101 are misaligned, resulting in the seedling taker 34 being blocked by the seedling supporting plate 31 and unable to take seedlings.

[0079] In the present application, since the seedling delivery module 20 does not need to move laterally, and the weight of the seedling throwing module 30 that moves laterally is less than the seedling delivery module 20 loaded with the seedlings 900 to be picked, the power required for lateral movement can be reduced, the overall power of the equipment can be reduced, and it is beneficial to improve the flight stability of the UAV, alleviate or avoid the shaking problem caused by the lateral movement of the seedling delivery module 20, so as to provide safe and stable flight seedling throwing performance.

[0080] Compared with using two sets of transverse driving devices 40 to drive the seedling picking assembly 36 and the seedling supporting plate 31 to move transversely, configuring the first connecting frame 51 to achieve the connection between the seedling supporting plate 31, the seedling picking assembly 36, and the transverse driving device 40 can make the seedling throwing mechanism structure more compact. Of course, in other embodiments, two transverse driving devices 40 and two frames slidably mounted on the load module 10 are configured to drive the seedling supporting plate 31 and the seedling picking assembly 36 to move transversely.

[0081] In order to make the overall structure more compact and adapt to the UAV structure with higher requirements on space utilization, the seedling throwing mechanism is provided with a first connecting frame 51, and the seedling taking assembly 36 and the seedling supporting plate 31 are respectively connected to the first connecting frame 51, and the first connecting frame 51 is slidably installed on the load device, and the transverse driving device 40 is connected to the first connecting frame 51. By driving the first connecting frame 51 to move along the transverse direction, the seedling taking assembly 36 and the seedling supporting plate 31 can be driven to move transversely at the same time.

[0082] In order to realize the sliding connection between the first connecting frame 51 and the load module 10, the seedling throwing mechanism includes a guide member 11, which may be, but is not limited to, a bar structure such as a guide rod, a guide slide groove, a guide convex rail, etc. The guide member 11 is used to provide a sliding guide for the first connecting frame 51. Correspondingly, the transverse driving device 40 includes a transverse driving driver 41 and a sliding sleeve. The transverse driving driver 41 is fixed to the load device or the seedling sending module 20, and the sliding sleeve is connected to the transverse driving driver 41. The sliding sleeve is fixed to the first connecting frame 51 and slidably installed on the guide member 11. In this way, when it is necessary to control the transverse movement of the seedling taker 34 and the seedling supporting plate 31, the transverse driving driver 41 drives the sliding sleeve to reciprocate along the guide member 11, thereby driving the first connecting frame 51, the seedling taker 34 and the seedling supporting plate 31 to reciprocate along the guide member 11 through the sliding sleeve. Among them, the movement along the guide member 11 is the movement along the transverse direction.

[0083] Since the sliding connection between the first connecting frame 51 and the load module 10 also requires the cooperation of the sliding sleeve, in order to provide a more reliable and stable sliding guide, the seedling throwing module 30 is equipped with multiple sliding sleeves, which are spaced apart along the length direction of the guide member 11; the multiple spaced sliding sleeves are respectively connected to the first connecting frame 51. Figures 6 to 10 , Fig.12 The multiple sliding blocks arranged at intervals make the force transmission between the guide member 11 and the first connecting frame 51 more uniform, and can support the weight of the seedling taking assembly 36 and the seedling supporting plate 31, making the lateral movement smoother.

[0084] In other embodiments, the sliding sleeve may not be configured, and the first connecting frame 51 and the guide member 11 may be directly slidably connected. However, this will require a relatively large first connecting frame 51, which is not conducive to reducing the weight of the mechanism.

[0085] The traverse driver 41 may be, but is not limited to, a motor, an electric push rod, or a cylinder. In some embodiments, the seedling throwing mechanism includes a transmission assembly, and the traverse driver 41 is slidably connected to the sliding sleeve via the transmission assembly. The transmission assembly may be, but is not limited to, a gear rack assembly, a synchronous belt assembly, and the like.

[0086] Several configurations of the transverse drive device 40 are provided below.

[0087] Transverse drive device 40 configuration mode 1:

[0088] Reference Figures 7 to 11 The lateral movement drive device 40 is a screw transmission device. The screw transmission device has excellent impact resistance and high reliability. Compared with other transmission methods, it has the characteristics of simple structure, low friction, and long service life. It is suitable for situations where high-frequency control of the lateral movement of the seedling throwing module 30 is required during the drone seedling throwing operation; in addition, the screw transmission has high precision, which is conducive to precise control of the seedling picking position.

[0089] The traverse driver 41 in the screw transmission device can be a motor or other rotary driver, the sliding sleeve is a threaded sleeve 43, and the screw transmission device also includes a threaded rod 42, which is sleeved on the external thread of the threaded rod 42. The main body of the traverse driver 41 is fixed to the load device, and the driving part of the traverse driver 41 is connected to the threaded rod 42. The traverse driver 41 is used to drive the threaded rod 42 to rotate, thereby driving the first connecting frame 51 to reciprocate along the threaded rod 42 through the threaded sleeve 43.

[0090] In order to enable the threaded sleeve 43 to move laterally along the threaded rod 42 when the threaded rod 42 rotates, it is necessary to limit the circumferential movement of the threaded sleeve 43. The threaded sleeve 43 is slidably mounted on the guide member 11 of the load device, and also plays a role in limiting the circumferential movement of the threaded sleeve 43. In addition, the load module 10 also includes a first side load frame 12 and a second side load frame 13 respectively connected to the two ends of the guide member 11, the lateral movement driver 41 is connected to the first side load frame 12, and the end of the threaded rod 42 away from the lateral movement driver 41 is rotatably mounted on the second side load frame 13. Among them, the first side load frame 12 and the second side load frame 13 can be fixed to the tripods 240 on both sides of the drone, and the load module 10 of the seedling throwing mechanism is supported by the unmanned tripod 240.

[0091] Transverse drive device 40 configuration mode 2:

[0092] The transverse driving device 40 includes a transverse driving device 41 and a transmission assembly. The transverse driving device 40 is fixed to the load module 10, and the transverse driving device 40 is connected to the first connecting frame 51 through the transmission assembly. The transmission assembly includes a gear and a rack, one of the gear and the rack is connected to the transverse driving device 40, and the other is connected to the first connecting frame 51. When the gear rolls on the rack, the first connecting frame 51 and the load device are transversely moved.

[0093] Reference Figures 6 to 12 The seedling delivery module 20 includes a seedling delivery tray 21 and a conveying assembly 22. The seedling delivery tray 21 is used to support the blanket seedlings 810. A seedling delivery opening (not shown) is formed at one end of the seedling delivery tray 21. The conveying assembly 22 is used to deliver the blanket seedlings 810 on the seedling delivery tray 21 to the seedling delivery opening. The seedling throwing module 30 is arranged close to the seedling delivery opening so that the blanket seedlings 810 transported through the seedling delivery opening are separated and thrown out row by row and bunch by bunch. The conveying assembly 22 can be a conveyor belt or a conveying roller (such as a wolf tooth wheel). In addition, the conveying assembly 22 can be set at different positions of the seedling delivery tray 21 in the height direction. In other embodiments, the seedling delivery module 20 can also take into account the support and delivery functions of the seedlings 813 through the conveying assembly 22.

[0094] Fig.11 , Fig.12In the embodiment, the seedling delivery opening of the seedling delivery tray 21 is located at the bottom of the seedling delivery tray 21, and an opening is formed at the top of the seedling delivery tray 21, so as to facilitate the addition of the seedlings 900 to be taken. The bottom plate of the seedling delivery tray 21 can be a flat plate or a grid structure (i.e., a seedling delivery frame). Baffles can also be set on the left and right sides of the bottom plate of the seedling delivery tray 21 to prevent the seedlings 900 to be taken placed on the seedling delivery tray 21 from falling from the left and right sides of the seedling delivery tray 21. The seedling delivery tray 21 is tilted to reduce the space occupied by the seedling delivery tray 21 in the horizontal width, and the gravity is used to allow the blanket seedlings to slide down, thereby reducing the power consumption of the whole machine. The tilted seedling delivery tray 21 can be supported by the frame of the load module 10.

[0095] Combination Fig.11 In one embodiment, the seedling delivery tray 21 is tilted, the seedling support plate 31 is arranged below the seedling delivery tray 21, the seedling retrieval assembly 36 is arranged below the seedling delivery tray 21, and the first connecting frame 51 is arranged behind the seedling delivery tray 21. The seedling throwing mechanism also includes a second connecting frame 52, one end of the second connecting frame 52 is connected to the first connecting frame 51, and the other end extends forward to connect to the seedling throwing seat 33 of the seedling retrieval assembly 36. The seedling throwing mechanism also includes a third connecting frame 53, the third connecting frame 53 is connected to the first connecting frame 51, and the other end extends forward to connect to the seedling support plate 31.

[0096] In other embodiments, the seedling delivery tray 21 may also be arranged horizontally or nearly horizontally.

[0097] Reference Figure 6 , Fig. 9 , Fig.10 , the length of the seedling support plate 31 is greater than the length of the seedling delivery tray 21. In this way, when the seedling throwing module 30 moves to the leftmost or rightmost limit position driven by the lateral drive mechanism, the seedling support plate 31 can stably and reliably support the seedlings 900 to be taken out by the seedling delivery module 20. Fig.10 , Figure 6 (b), in the figure, the seedling throwing module 30 moves horizontally to the extreme position to perform the seedling picking action in the edge area, and the seedling supporting plate 31 still maintains reliable support for the seedlings 900 to be picked.

[0098] In one embodiment, in order to support the two adjacent sides of the blanket seedlings 810, the seedling support plate 31 is configured to include a back support plate 311 and a side support plate 312. The back support plate 311 and the side support plate 312 are connected at an angle and may be an L-shaped structure. Figures 6 to 11 At least the side support plate 312 of the seedling support plate 31 is provided with a seedling taking opening 3101 to facilitate the taking of seedlings during the rotation of the seedling taker 34. The back support plate 311 of the seedling support plate 31 is directly or indirectly connected to the first connecting frame 51 to avoid obstructing the seedling taker 34 from passing through the seedling taking opening 3101 of the side support plate 312 to take seedlings.

[0099] In this embodiment, the seedling throwing mechanism includes a plurality of seedling picking components 36 arranged at intervals along the transverse movement direction, and each seedling picking component 36 is provided with a seedling picking device 34; correspondingly, the seedling supporting plate 31 includes a plurality of seedling picking openings 3101 arranged at intervals in the transverse movement direction of the seedlings; the plurality of seedling picking components 36 correspond one-to-one to the plurality of seedling picking openings 3101, so that seedlings can be picked at multiple positions, thereby improving the efficiency of seedling picking and throwing.

[0100] The seedling throwing module 30 further includes a first driver 32 and a seedling throwing seat 33, a seedling taker 34 is mounted on the seedling throwing seat 33, and the first driver 32 is connected to the seedling throwing seat 33 to drive the seedling throwing seat 33 to rotate, thereby driving the seedling taker 34 to rotate, and performing seedling taking and seedling throwing. The first driver 32 may be, but is not limited to, a motor.

[0101] When multiple groups of seedling takers 34 are configured and the seedling supporting plate 31 is provided with multiple seedling taker openings 3101, the seedling throwing module 30 can be configured in at least the following two ways.

[0102] Configuration method 1 of seedling throwing module 30: Figures 7 to 10 The seedling throwing module 30 includes multiple seedling throwing assemblies, each of which includes a first driver 32, a seedling throwing seat 33, and a seedling taker 34. The first driver 32 is connected to the seedling throwing seat 33, and the seedling taker 34 is installed on the seedling throwing seat 33. The number of the seedling takers 34 is one or more. When multiple seedling takers 34 are installed, the efficiency of taking seedlings can be improved under the condition of the rotation speed of the downlight.

[0103] The seedling throwing module 30 includes a plurality of second connecting frames 52 , and each first driver 32 is connected to the first connecting frame 51 via a second connecting frame 52 .

[0104] Configuration method 2 of seedling throwing module 30: Figure 6 The seedling throwing module 30 includes multiple groups of seedling throwing components, each seedling taking component 36 includes a seedling throwing seat 33 and a seedling taking device 34; the seedling taking device 34 is installed on the seedling throwing seat 33; the seedling throwing module 30 includes a seedling taking transmission shaft 35, and the seedling taking transmission shaft 35 is rotatably installed on the connecting frame; the first driver 32 is a rotary driver, and the first driver 32 is installed on the first connecting frame 51; the first driver 32 is used to drive the seedling taking transmission shaft 35 to rotate, thereby driving multiple seedling taking components 36 to rotate.

[0105] In other words, multiple seedling throwing assemblies are driven to rotate synchronously by a first driver 32, thereby reducing the number of drivers and reducing weight.

[0106] A drone using any of the aforementioned embodiments is provided below.

[0107] The drone includes a fuselage 210 , a load frame 230 , a tripod 240 and the aforementioned rice seedling throwing mechanism. The fuselage 210 includes a rotor 220 .

[0108] The UAV includes multiple sets of seedling throwing mechanisms. When multiple sets of seedling throwing mechanisms are configured, seedlings can be thrown at the same time to improve the work efficiency. When multiple sets of seedling throwing mechanisms are thrown, the seedlings can be moved in the opposite direction by the seedling delivery tray 21 or the seedling taking module.

[0109] Considering the possible separation of the blanket seedlings after being placed on the seedling delivery tray 21, in this embodiment, the seedling delivery module 20 further includes a seedling pressing device 23, which is arranged on the seedling delivery tray 21, and is used to limit the position of the blanket seedlings in the seedling delivery tray 21. The seedling pressing device 23 can be in the form of a plate or a rod, etc. Specifically, in this embodiment, the seedling pressing device 23 includes a rotating shaft and a plurality of pressure strips, the rotating shaft is rotatably arranged horizontally on the seedling delivery tray 21, and the plurality of pressure strips are arranged vertically and at intervals on the rotating shaft, and the plurality of pressure strips are used to limit the position of the blanket seedlings in the seedling delivery tray 21.

[0110] In this embodiment, the drone is a rotor 220 drone, specifically a quad-rotor 220 drone. Of course, it can also be a single-rotor 220 drone, a dual-rotor 220 drone, a six-rotor 220 drone, an eight-rotor 220 drone, etc. The drone can automatically operate according to a preset path, flight speed, attitude, etc., or the operator can manually control it. For ease of description, the drawings show the front, back, left, right, up, and down directions, which are all relative positional relationships that can be clearly known to those skilled in the art when the drone is conventionally placed or flying.

[0111] The figure shows a split-type seedling throwing mechanism. Specifically, the load module 10 of the seedling throwing mechanism can be detachably mounted on the lower part of the load frame 230 of the drone, that is, the drone and the seedling throwing mechanism adopt an upper and lower split design. The drone is used as a mobile platform and is a split design with the seedling throwing mechanism. In other words, this type of seedling throwing mechanism is an independent structure that does not rely on the fuselage 210 frame of the drone. Based on this type, the corresponding device can be replaced according to actual operation requirements in a specific operation scene. For example, after the seedling throwing mechanism is disassembled, a spreading device can be installed to achieve the spreading of pesticides, fertilizers, seeds, etc. Similarly, the seedling throwing mechanism can be disassembled and agricultural operation mechanisms such as surveying and mapping devices and spraying devices can be installed.

[0112] The drone includes multiple seedling throwing groups, each of which includes two seedling throwing mechanisms; the lateral drive device 40 includes a lateral drive 41, and the lateral drives 41 in the same group of seedling throwing mechanisms are arranged on opposite sides to balance the overall weight. Alternatively, the lateral drive 41 in the same group of seedling throwing mechanisms is arranged between the two seedling sending modules 20.

[0113] In the description of this article, it should be understood that the terms "upper", "lower", "left", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplified operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0114] In the description of this specification, the description with reference to the terms "an embodiment", "example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0115] In addition, it should be understood that although this specification is described according to implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0116] The technical principle of the present invention is described above in conjunction with specific embodiments. These descriptions are only for explaining the principle of the present invention and cannot be interpreted as limiting the scope of protection of the present invention in any way. Based on the explanations herein, those skilled in the art can associate other specific implementations of the present invention without paying creative labor, and these methods will fall within the scope of protection of the present invention.

Claims

1. A seedling throwing mechanism, characterized in that: include: A load module (10), used for connecting to the drone; A seedling delivery module (20) is fixed relatively to the load module (10); one end of the seedling delivery module (20) is provided with a seedling delivery opening, and the seedling delivery module (20) is used to deliver the seedlings (900) to be taken to the seedling delivery opening; A seedling throwing module (30) is movably mounted on the load module (10); the seedling throwing module (30) comprises a seedling supporting plate (31), a seedling taking device (34) and a first driver (32); the seedling supporting plate (31) is arranged beside the seedling delivery opening for supporting the seedlings (900) to be taken, and the seedling supporting plate (31) is provided with a seedling taking opening (3101); the first driver (32) is connected to the seedling taking device (34), and the first driver (32) is used to drive the seedling taking device (34) to pass through the seedling taking opening (3101) to take the seedlings; A transverse driving device (40) is installed on the load module (10); the transverse driving device (40) is used to drive the seedling remover (34) and the seedling supporting plate (31) to move relative to the seedling delivery module (20) along a transverse direction.

2. The seedling throwing mechanism according to claim 1, characterized in that: The seedling throwing module (30) comprises a first connecting frame (51), and the seedling supporting plate (31) and the seedling taking device (34) are respectively connected to the first connecting frame (51); the first connecting frame (51) is slidably mounted on the load module (10); The transverse driving device (40) is connected to the first connecting frame (51); the transverse driving device (40) is used to drive the first connecting frame (51) to move in the transverse direction of the seedlings, so as to drive the seedling remover (34) and the seedling supporting plate (31) to move along the transverse direction.

3. The seedling throwing mechanism according to claim 2, characterized in that: The transverse drive device (40) comprises a transverse drive (41) and a sliding sleeve; the load module (10) comprises a guide member (11); the sliding sleeve is fixed to the first connecting frame (51), and the sliding sleeve is slidably mounted on the guide member (11); The transverse drive (41) is connected to the sliding sleeve, and the transverse drive (41) is used to drive the sliding sleeve to move back and forth along the guide member (11), thereby driving the first connecting frame (51), the seedling remover (34) and the seedling supporting plate (31) to move back and forth along the guide member (11).

4. The seedling throwing mechanism according to claim 3, characterized in that: The transverse driving device (40) comprises a plurality of sliding sleeves, and the plurality of sliding sleeves are distributed at intervals along the length direction of the guide member (11); the plurality of sliding sleeves are respectively connected to the first connecting frame (51).

5. The seedling throwing mechanism according to claim 3, characterized in that: The transverse driving device (40) is a screw transmission device; the sliding sleeve is a threaded sleeve (43), the screw transmission device also includes a threaded rod (42), the threaded sleeve (43) is sleeved outside the threaded rod (42), and the transverse driving device (41) is connected to the threaded rod (42); the transverse driving device (41) is used to drive the threaded rod (42) to rotate, thereby driving the first connecting frame (51) to reciprocate along the threaded rod (42) through the threaded sleeve (43); The load module (10) further comprises a first side load frame (12) and a second side load frame (13) respectively connected to the two ends of the guide member (11); the transverse drive (41) is connected to the first side load frame (12); and the threaded rod (42) is rotatably mounted on the second side load frame (13) at one end away from the transverse drive (41).

6. The seedling throwing mechanism according to claim 2, characterized in that: The seedling throwing mechanism comprises a plurality of seedling taking assemblies (36) arranged at intervals along the transverse direction, and each of the seedling taking assemblies (36) is provided with the seedling taking device (34); the seedling supporting plate (31) comprises a plurality of seedling taking openings (3101) arranged at intervals along the transverse direction; and the plurality of seedling taking assemblies (36) correspond one to one to the plurality of seedling taking openings (3101).

7. The seedling throwing mechanism according to claim 6, characterized in that: The seedling throwing module (30) comprises a plurality of seedling taking components (36); Each of the seedling taking components (36) comprises the first driver (32), a seedling throwing seat (33) and the seedling taking device (34); the first driver (32) is a rotary driver, the first driver (32) is connected to the seedling throwing seat (33), and the seedling taking device (34) is installed on the seedling throwing seat (33); The seedling throwing module (30) comprises a plurality of second connecting frames (52), and the first drivers (32) are connected to the first connecting frames (51) via the second connecting frames (52).

8. The seedling throwing mechanism according to claim 6, characterized in that: The seedling throwing module (30) comprises a plurality of seedling taking components (36); Each of the seedling taking components (36) comprises a seedling throwing seat (33) and a seedling taking device (34); the seedling taking device (34) is mounted on the seedling throwing seat (33); the seedling throwing module (30) comprises a seedling taking transmission shaft (35), and the seedling taking transmission shaft (35) is rotatably mounted on the first connecting frame (51); The first driver (32) is a rotation driver, and the first driver (32) is mounted on the first connecting frame (51); the first driver (32) is used to drive the seedling taking transmission shaft (35) to rotate, thereby driving the plurality of seedling taking assemblies (36) to rotate.

9. The seedling throwing mechanism according to any one of claims 1 to 8, characterized in that: The seedling delivery module (20) comprises a seedling delivery tray (21) and a conveying assembly (22); the seedling delivery tray (21) is connected to and relatively fixed to the load module (10); the seedling delivery tray (21) is used to support the seedlings (900) to be taken; and the seedling delivery opening is formed at the end of the seedling delivery tray (21); The conveying component (22) is installed on the seedling delivery tray (21) or the load module (10), and the conveying component (22) is used to convey the seedlings (900) to be taken toward the seedling delivery port along a conveying direction.

10. The seedling throwing mechanism according to claim 9, characterized in that: The length of the seedling supporting plate (31) is greater than the length of the seedling sending tray (21).

11. A drone, characterized in that: include: Body (210); According to any one of claims 1 to 10, the load module (10) is connected to the body (210).

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