A seedling throwing mechanism and unmanned aerial vehicle

Abstract

The application discloses a seedling throwing mechanism and a 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 driving device. The seedling feeding module is fixed with 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 is used for driving the seedling taking device to take seedlings through the seedling taking opening. The transverse driving device is used for driving the seedling taking device and the seedling supporting plate to move along a transverse direction relative to the seedling feeding module. The seedling throwing mechanism and the unmanned aerial vehicle can realize flying seedling throwing, and have wide application range. When seedlings are taken and thrown, 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] This invention relates to the field of agricultural equipment technology, and in particular to a rice seedling throwing mechanism and a drone. Background Technology

[0002] In the field of agricultural planting, some crops require seedling cultivation before planting. For mechanized planting of seedlings, relevant technologies rely on agricultural machinery that travels on the ground for transplanting or throwing seedlings. However, this method of seedling planting requires reserving space on the ground for the machinery to travel, which is limited by the available space and results in low utilization of planting space.

[0003] Some related technologies also include drones equipped with rice-throwing systems, but these also suffer from poor operational results. Summary of the Invention

[0004] The purpose of this invention is to provide a seedling throwing mechanism and a drone, which is equipped with a seedling support plate to make it easier to pick up seedlings and eliminates the need for the seedling delivery module to move laterally, thus avoiding the problem of drone shaking caused by the lateral movement of the heavy seedling delivery module.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A rice seedling throwing mechanism, comprising:

[0007] The payload module is used to connect to the drone;

[0008] A seedling delivery module is fixed relative 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 picked to the seedling delivery port;

[0009] A seedling throwing module is movably installed on the load module; the seedling throwing module includes a seedling support plate, a seedling picker, and a first driver; the seedling support plate is located next to the seedling delivery port to support the seedlings to be picked, and the seedling support plate is provided with a seedling picking opening; the first driver is connected to the seedling picker, and the first driver is used to drive the seedling picker to pass through the seedling picking opening to pick up the seedlings.

[0010] A transverse drive device is installed on the load module; the transverse drive device is used to drive the seedling picker and the seedling support plate to move along the transverse direction, so that the seedling picker can pick seedlings from different areas of the seedlings to be picked.

[0011] Optionally, the rice transplanting module includes a first connecting frame, and the rice seedling support plate and the rice seedling picker are respectively connected to the first connecting frame; the first connecting frame is slidably installed on the load module;

[0012] The lateral movement drive device is connected to the first connecting frame; the lateral movement drive device is used to drive the first connecting frame to move in the lateral movement direction, so as to drive the seedling picker and the seedling support plate to move along the lateral movement direction.

[0013] Optionally, the lateral movement drive device includes a lateral movement driver and a sliding sleeve; the load module includes a guide; the sliding sleeve is fixed to the first connecting frame, and the sliding sleeve is slidably mounted on the guide;

[0014] The transverse drive is connected to the sliding sleeve, and the transverse drive is used to drive the sliding sleeve to reciprocate along the guide, thereby driving the first connecting frame, the seedling picker and the seedling support plate to reciprocate along the guide.

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

[0016] Optionally, the lateral drive device is a screw drive device; the sliding sleeve is a threaded sleeve, the screw drive device further includes a threaded rod, the threaded sleeve is fitted outside the threaded rod, and the lateral drive is connected to the threaded rod; the lateral drive 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 both ends of the guide member. The transverse drive is connected to the first side load frame, and the end of the threaded rod opposite to the transverse drive is rotatably mounted on the second side load frame.

[0018] Optionally, the seedling throwing mechanism includes a plurality of seedling picking components arranged at intervals along the lateral movement direction, each seedling picking component being provided with a seedling picker; the seedling support plate includes a plurality of seedling picking openings arranged at intervals along the lateral movement direction; the plurality of seedling picking components correspond one-to-one with the plurality of seedling picking openings.

[0019] Optionally, the seedling throwing module includes multiple seedling picking components;

[0020] Each of the seedling-collecting components includes a first driver, a seedling-throwing seat, and a seedling-collecting device; the first driver is a rotary driver, the first driver is connected to the seedling-throwing seat, and the seedling-collecting device is mounted on the seedling-throwing seat; the number of seedling-collecting devices is one or more.

[0021] The rice transplanting module includes multiple second connecting frames, and the first driver is connected to the first connecting frame through the second connecting frame.

[0022] Optionally, the seedling throwing module includes multiple seedling picking components;

[0023] Each of the seedling-collecting components includes a seedling-throwing seat and a seedling-collecting device; the seedling-collecting device is mounted on the seedling-throwing seat; the seedling-throwing module includes a seedling-collecting drive shaft, which is rotatably mounted on the connecting frame.

[0024] The first driver is a rotary driver, and the first driver is mounted on the connecting frame; the first driver is used to drive the seedling picking transmission shaft to rotate, thereby driving the multiple seedling picking 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 to the load module. The seedling delivery tray is used to support the seedlings to be picked up, and the seedling delivery port is formed at the end of the seedling delivery tray.

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

[0027] Optionally, the length of the seedling support plate is greater than the length of the seedling delivery tray.

[0028] A drone, comprising:

[0029] body;

[0030] In the aforementioned rice-throwing mechanism, the load module is connected to the machine body.

[0031] The beneficial effects of this invention are: the rice-throwing mechanism is suitable for use on drones for aerial rice-throwing.

[0032] This seedling throwing mechanism is equipped with a seedling support plate, which supports the seedlings to be picked up from the seedling delivery module. The seedling picker picks up the seedlings that are only exposed through the picking opening on the seedling support plate, resulting in better seedling picking and throwing efficiency. During operation, the seedling throwing module and the seedling support plate move laterally, and the seedling picker picks up the seedlings one bunch at a time, improving picking efficiency. The heavier seedling delivery module, which is loaded with seedlings, does not need to move laterally, reducing swaying and improving the safety of the drone flight. Attached Figure Description

[0033] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0034] Figure 1 This is a schematic diagram of a seedling tray for potted seedlings in related technologies;

[0035] Figure 2 A three-dimensional schematic diagram of the tufted seedlings;

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

[0037] Figure 4A schematic diagram of a *Phyllostachys edulis* seedling;

[0038] Figure 5 The seedling is a single seedling removed from the blanket of seedlings by the seedling picker in this embodiment of the invention;

[0039] Figure 6 This diagram illustrates the cooperation between the seedling delivery module and the seedling throwing module during operation of the seedling throwing mechanism in this embodiment of the invention.

[0040] Figure 7 This is one of the schematic diagrams of a drone according to an embodiment of the present invention (showing the back of the seedling delivery module);

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

[0042] Figure 9 This is the third schematic diagram of the drone according to an embodiment of the present invention (showing the front of the seedling delivery module);

[0043] Figure 10 The fourth schematic diagram of the drone in this embodiment of the invention (showing the front of the seedling delivery module);

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

[0045] Figure 12 This is a three-dimensional structural diagram of the drone according to an embodiment of the present invention;

[0046] Figure 13 This is a schematic diagram illustrating the cooperation between the load module and the transverse drive device in an embodiment of the present invention.

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

[0048] 11. Guide component; 12. First side load frame; 13. Second side load frame;

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

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

[0051] 41. Transverse actuator; 42. Threaded rod; 43. Threaded sleeve;

[0052] 210. Fuselage; 220. Rotor; 230. Load frame; 240. Landing gear;

[0053] 810. Blanket seedling; 811. Blanket base; 812. Leaf; 813. Seedling; 820. Potted seedling tray; 900. Seedlings to be harvested. Detailed Implementation

[0054] 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 with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0055] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected" and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0056] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0057] In related technologies, plant protection equipment equipped with a rice transplanting system generally has the following problems:

[0058] First, for ground-based agricultural machinery (plant protection vehicles) equipped with rice-throwing systems, sufficient driving space needs to be reserved on the ground during operation. This results in limited utilization of planting space and significant terrain limitations, making it inconvenient for ground-based agricultural machinery to reach and operate in special terrains such as terraced fields. Second, some technologies mount the rice-throwing mechanism on drones. These mechanisms have specific requirements regarding seedling type, only allowing the throwing of non-mat-like seedlings (such as potted seedlings). However, farmers primarily use mat-like seedlings, and potted seedling cultivation is not widespread, making drones equipped with rice-throwing systems in these technologies not widely applicable.

[0059] Based on this, the present invention provides a rice seedling throwing mechanism and a drone. This rice seedling throwing mechanism is suitable for mounting on a drone for aerial rice seedling throwing, has a wide range of applications, and is not limited by terrain.

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

[0061] This seedling throwing mechanism employs a fixed seedling delivery module 20, while the seedling support plate 31 and seedling picker 34 can move laterally, thus realizing the seedling picking and throwing functions. Compared to a structure where the seedling delivery module 20 moves laterally, this reduces the power required for lateral movement and the overall power of the equipment. Because the overall weight of the lateral movement mechanism is reduced, the inertia generated by left and right lateral movement is decreased, reducing the overall lateral swaying of the equipment and thus minimizing its impact on aircraft flight stability.

[0062] To facilitate understanding of the rice transplanting scheme in this application, this application first introduces several types of seedlings.

[0063] Figure 1 The diagram illustrates the structure of potted seedlings, which are non-matted seedlings. Figure 1 The diagram illustrates a seedling tray with several evenly spaced grooves, each with an opening at the top. Each groove contains one seedling. To remove a seedling, a thimble is used to push the seedling out from the bottom of each groove. It should be noted that after all the seedlings in the tray have been removed, an empty tray will remain.

[0064] Figure 2 , Figure 3 The diagram illustrates the structure of blanket seedlings. In blanket seedling cultivation, the seedling consists of a base blanket and numerous seedlings growing out of it. The base blanket includes soil and the roots of the seedlings, with the roots of the seedlings interlocking within the base blanket. Blanket seedlings are the primary method of seedling cultivation used by farmers.

[0065] Figure 4 The diagram illustrates the structural form of the perforated seedling. The difference between perforated and regular perforated seedlings lies in the fact that perforated seedlings have a grid-like grooved surface on the back of the perforated substrate, creating a grid-like distribution of protrusions. Perforated seedlings can be formed by pre-cutting, but not completely severing, the perforated substrate.

[0066] The seedling throwing mechanism of this application is suitable for taking and throwing seedlings of mat-shaped seedlings 810 (i.e., mat seedlings, perforated mat seedlings). Of course, the seedling throwing mechanism of this application can also take and throw seedlings of potted seedlings, thus having a wider range of applications.

[0067] Please refer to Figures 7 to 10 , Figure 12 , Figure 13 This application provides a rice seedling throwing mechanism and a drone including the rice seedling throwing mechanism. The drone can be equipped with one, two, three, or four rice seedling throwing mechanisms, which are used to separate the rice seedlings 900 to be picked, and then throw the separated rice seedlings 813 using centrifugal force and / or ejection force to achieve the rice seedling throwing operation. At the same time, in conjunction with the flight of the drone, a flight rice seedling throwing operation is achieved.

[0068] The seedling throwing mechanism can throw the seedlings 813 in various ways, including centrifugal throwing and / or catapult throwing. In one embodiment, the seedling throwing mechanism separates individual seedlings 813 (e.g., from the seedbed) from the seedbed. Figure 5 After (as shown), the seedlings 813 can be thrown out by centrifugal force. In one embodiment, after the seedling throwing mechanism separates the seedlings 813 from the seedbed, it can eject the separated seedlings 813 by ejection force. In another 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 mounted on the drone. The seedling delivery module 20 is mounted on the load module 10 and is used to support and transport the blanket-shaped seedlings 810.

[0070] The seedling throwing module 30 is installed on the load module 10. The seedling throwing module 30 is used to perform seedling picking and throwing operations. After separating the seedlings 813 from the seedbed on the seedling delivery module 20, the seedling throwing module 30 throws them out by centrifugal force and / or ejection force. In this way, the UAV can be equipped with a seedling throwing mechanism to perform seedling throwing operations. The seedbed delivery module 20 transports the seedbed, and the seedling throwing module 30 separates the seedbed and throws out the seedlings 813, realizing the aerial seedling throwing operation.

[0071] It should be noted that there are many ways to separate seedlings, such as cutting, grabbing, pushing, pressing, digging, and tearing. The specific method of separation and seedling removal is not limited.

[0072] Please refer to Figures 6 to 13 The following will provide a detailed description of each module of the rice-throwing mechanism.

[0073] The seedling delivery module 20 supports and transports the seedlings 900 to be harvested, while the seedling throwing module 30 separates individual seedlings 813 from the seedlings 900 and throws them out. 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 support plate 31 and a seedling picking assembly 36. The seedling support plate 31 is located beside the seedling delivery module 20 to support the seedlings 900 delivered by the seedling delivery module 20. The seedling picking assembly 36 includes a seedling picker 34, located beside the seedling support plate 31. The seedling support plate 31 has a seedling picking opening 3101. The seedling picker 34 separates the seedlings 900 that are only exposed through the seedling picking opening 3101 and removes individual seedlings 813.

[0074] When the seedling throwing mechanism performs seedling picking and throwing operations, the seedling delivery module 20 and the seedling throwing module 30 move laterally relative to each other, so that the seedling picker 34 can pick up the seedlings 900 in the same row one by one, resulting in high operating efficiency. For example, by moving the seedling delivery module 20 and the seedling throwing module 30 laterally relative to each other, the first row of seedlings 900 can be picked from left to right or from right to left. After picking up the first row, the seedlings 900 are continued to be conveyed forward along the conveying direction, and then the second row of seedlings 900 can be picked up from left to right or from right to left, resulting in high seedling picking efficiency.

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

[0076] However, the inventors discovered that in order to achieve the relative lateral movement between the seedling delivery module 20 and the seedling throwing module 30, if the seedling delivery module 20 is controlled to move laterally during the seedling picking and throwing operation so that the seedling picker 34 of the seedling throwing module 30 picks up seedlings one bunch at a time, then when the seedling delivery module 20 is loaded with a large number of seedlings 900 to be picked, the power required for the left and right movement of the seedling delivery module 20 will be greater, the lateral inertia generated will be greater, and the tendency to sway left and right will be greater. Especially 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 moves laterally, it will cause the drone's center of gravity to become unstable, and the drone will easily sway and swing, affecting its flight attitude, flight stability, and safety. It should be noted that although some drones in related technologies are equipped with seedling throwing mechanisms, these seedling throwing mechanisms do not provide a solution for the relative lateral movement between the seedling delivery module 20 and the seedling throwing module 30 during seedling throwing.

[0077] To address the issue of drone swaying during seedling collection, this application employs a method where the seedling delivery module 20 is fixed in position, while the seedling support plate 31 and the seedling collector 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 lateral movement drive device 40 installed on the load module 10. The lateral movement drive device 40 drives the seedling picker 34 and the seedling support plate 31 to move relative to the seedling delivery module 20 in the lateral movement direction, thereby realizing the seedling picking and throwing functions of the seedling throwing mechanism. Among them, the seedling support plate 31 moves laterally with the seedling picker 34. This is to ensure that while the seedling picker 34 moves laterally relative to the seedling delivery module 20, the seedling picker 34 and the seedling picking opening 3101 of the seedling support plate 31 maintain a corresponding position. This ensures that the seedling picker 34 can pass through the seedling picking opening 3101 to pick up seedlings in the area exposed by the seedling picking opening 3101, and avoids the situation where the seedling picker 34 is misaligned with the seedling picking opening 3101, causing the seedling picker 34 to be blocked by the seedling support plate 31 and unable to pick up seedlings.

[0079] Since the seedling delivery module 20 does not need to move laterally, and the weight of the seedling throwing module 30 which moves laterally is less than that of the seedling delivery module 20 which is loaded with seedlings to be picked up 900, this application can reduce the power required for lateral movement, reduce the overall power of the equipment, and help 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 to using two sets of lateral movement drive devices 40 to drive the seedling picking assembly 36 and the seedling support plate 31 to move laterally respectively, configuring a first connecting frame 51 to connect the seedling support plate 31, the seedling picking assembly 36, and the lateral movement drive device 40 can make the seedling throwing mechanism structure more compact. Of course, in other embodiments, two lateral movement drive devices 40 and two frames slidably mounted on the load module 10 are configured to drive the seedling support plate 31 and the seedling picking assembly 36 to move laterally respectively.

[0081] To achieve a more compact overall structure and adapt to the high space utilization requirements of drone structures, the seedling throwing mechanism is equipped with a first connecting frame 51. The seedling picking component 36 and the seedling support plate 31 are respectively connected to the first connecting frame 51. The first connecting frame 51 is slidably installed on the load device. The transverse drive device 40 is connected to the first connecting frame 51. By driving the first connecting frame 51 to move in the transverse direction, the seedling picking component 36 and the seedling support plate 31 can be driven to move transversely at the same time.

[0082] To achieve a sliding connection between the first connecting frame 51 and the load module 10, the seedling throwing mechanism includes a guide member 11. The guide member 11 can be, but is not limited to, a guide rod, a guide groove, a guide rail, or other strip-shaped structure. The guide member 11 provides sliding guidance for the first connecting frame 51. Correspondingly, the lateral movement drive device 40 includes a lateral movement driver 41 and a sliding sleeve. The lateral movement driver 41 is fixed to the load device or the seedling delivery module 20, and the sliding sleeve is connected to the lateral movement driver 41. The sliding sleeve is fixed to the first connecting frame 51 and slidably mounted on the guide member 11. Thus, when it is necessary to control the lateral movement of the seedling picker 34 and the seedling support plate 31, the lateral movement driver 41 drives the sliding sleeve to reciprocate along the guide member 11, thereby driving the first connecting frame 51, the seedling picker 34, and the seedling support plate 31 to reciprocate along the guide member 11 through the sliding sleeve. The movement along the guide member 11 is the movement along the lateral direction.

[0083] Since the sliding connection between the first connecting frame 51 and the load module 10 also requires the cooperation of sliding sleeves, 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. (Refer to...) Figures 6 to 10 , Figure 12 Multiple spaced sliding blocks make the force transmission between the guide 11 and the first connecting frame 51 more uniform, which can support the weight of the seedling taking component 36 and the seedling support plate 31, making the lateral movement smoother.

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

[0085] The lateral drive 41 can be, but is not limited to, a motor, an electric push rod, or a cylinder. In some embodiments, the rice-throwing mechanism includes a transmission assembly, and the lateral drive 41 is slidably connected to the sliding sleeve via the transmission assembly. The transmission assembly can be, but is not limited to, a gear and rack assembly, a timing belt assembly, etc.

[0086] Several configuration options for the transverse drive unit 40 are provided below.

[0087] Horizontal traverse drive unit 40 configuration method one:

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

[0089] The transverse drive 41 in the screw drive device can be a motor or other rotary drive, and the sliding sleeve is a threaded sleeve 43. The screw drive device also includes a threaded rod 42, which is fitted onto the external thread of the threaded rod 42. The main body of the transverse drive 41 is fixed to the load device, and the driving part of the transverse drive 41 is connected to the threaded rod 42. The transverse drive 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] To enable the threaded sleeve 43 to move laterally along the threaded rod 42 when the threaded rod 42 rotates, the circumferential movement of the threaded sleeve 43 needs to be restricted. The threaded sleeve 43 is slidably mounted on the load device guide 11, which also serves to restrict 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 both ends of the guide 11. The lateral movement driver 41 is connected to the first-side load frame 12, and the end of the threaded rod 42 facing away from the lateral movement driver 41 is rotatably mounted on the second-side load frame 13. The first-side load frame 12 and the second-side load frame 13 can be fixed to the landing gear 240 on both sides of the UAV to support the load module 10 of the rice-throwing mechanism through the UAV landing gear 240.

[0091] Horizontal traverse drive unit 40 configuration method two:

[0092] The lateral movement drive device 40 includes a lateral movement driver 41 and a transmission assembly. The lateral movement drive device 40 is fixed to the load module 10 and is connected to the first connecting frame 51 via the transmission assembly. The transmission assembly includes a gear and a rack. One gear and one rack are connected to the lateral movement drive 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 move laterally.

[0093] Reference Figures 6 to 12 The seedling delivery module 20 includes a seedling delivery tray 21 and a conveying component 22. The seedling delivery tray 21 supports the blanket-shaped seedlings 810, and one end of the seedling delivery tray 21 has a seedling delivery opening (not shown in the figure). The conveying component 22 is used to convey the blanket-shaped seedlings 810 on the seedling delivery tray 21 to the seedling delivery opening. The seedling throwing module 30 is positioned close to the seedling delivery opening so that the blanket-shaped seedlings 810 conveyed through the seedling delivery opening are separated and thrown out row by row and bunch by bunch. The conveying component 22 can be a conveyor belt or a conveying roller (e.g., a toothed roller). In addition, the conveying component 22 can be set at different positions in the height direction of the seedling delivery tray 21. In other embodiments, the seedling delivery module 20 can also use the conveying component 22 to perform both seedling support and conveying functions.

[0094] Figure 11 , Figure 12In this design, the seedling feeding port of the seedling feeding tray 21 is located at the bottom of the tray, and an opening is formed at the top of the tray to facilitate the addition of seedlings 900 to be picked up. The bottom plate of the seedling feeding tray 21 can be a flat plate or a grid structure (i.e., a seedling feeding frame). Baffles can also be installed on the left and right sides of the bottom plate of the seedling feeding tray 21 to prevent the seedlings 900 placed on the tray from falling off. The seedling feeding tray 21 is tilted to reduce the space occupied by the tray in horizontal width and to allow the seedlings to slide down smoothly using gravity, thereby reducing the overall power consumption of the machine. The tilted seedling feeding tray 21 can be supported by the frame of the load module 10.

[0095] Combination Figure 11 In one embodiment, the seedling feeding tray 21 is inclined, the seedling support plate 31 is located below the seedling feeding tray 21, the seedling picking assembly 36 is located below the seedling feeding tray 21, and the first connecting frame 51 is located behind the seedling feeding tray 21. The seedling throwing mechanism also includes a second connecting frame 52, one end of which 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 picking assembly 36. The seedling throwing mechanism also includes a third connecting frame 53, which 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 tray 21 may also be set horizontally or nearly horizontally.

[0097] Reference Figure 6 , Figure 9 , Figure 10 The length of the seedling support plate 31 is greater than the length of the seedling delivery tray 21. This ensures that when the seedling throwing module 30 moves to its leftmost or rightmost extreme position under the drive of the lateral movement mechanism, the seedling support plate 31 can stably and reliably support the seedlings 900 delivered by the seedling delivery module 20. Combined with... Figure 10 , Figure 6 (b) In the figure, the seedling throwing module 30 moves laterally to the extreme position to perform the seedling picking action in the outermost area, while the seedling support plate 31 still reliably supports the seedlings to be picked 900.

[0098] In one embodiment, to support the two adjacent sides of the blanket-like seedling 810, the seedling support plate 31 is configured to include a back support plate 311 and a side support plate 312, with the back support plate 311 and the side support plate 312 connected at an angle, which can be an L-shaped structure. (Refer to...) Figures 6 to 11 At least one side plate 312 of the seedling support plate 31 is provided with a seedling picking opening 3101 to facilitate the seedling picking device 34 to pick up seedlings during rotation. The back plate 311 of the seedling support plate 31 is directly or indirectly connected to the first connecting frame 51 to avoid obstructing the seedling picking device 34 from passing through the seedling picking opening 3101 of the side plate 312 to pick up seedlings.

[0099] In this embodiment, the seedling throwing mechanism includes multiple seedling picking components 36 arranged at intervals along the lateral movement direction, and each seedling picking component 36 is provided with a seedling picker 34; correspondingly, the seedling support plate 31 includes multiple seedling picking openings 3101 arranged at intervals along the lateral movement direction; the multiple seedling picking components 36 correspond one-to-one with the multiple seedling picking openings 3101 to pick seedlings at multiple positions, thereby improving the efficiency of seedling picking and throwing.

[0100] The seedling throwing module 30 also includes a first driver 32 and a seedling throwing base 33. The seedling picker 34 is installed on the seedling throwing base 33. The first driver 32 is connected to the seedling throwing base 33 to drive the seedling throwing base 33 to rotate, thereby driving the seedling picker 34 to rotate to pick up and throw seedlings. The first driver 32 can be, but is not limited to, a motor.

[0101] With multiple sets of seedling pickers 34 and seedling support plates 31 having multiple seedling openings 3101, the seedling throwing module 30 can be configured in at least the following two ways.

[0102] Configuration method 1 for the seedling throwing module 30: Refer to Figures 7 to 10 The seedling throwing module 30 includes multiple sets of seedling throwing components. Each set of seedling throwing components includes a first driver 32, a seedling throwing seat 33, and a seedling picker 34. The first driver 32 is connected to the seedling throwing seat 33, and the seedling picker 34 is installed on the seedling throwing seat 33. The number of seedling pickers 34 can be one or more. When multiple seedling pickers 34 are installed, the seedling picking efficiency can be improved under the condition of the downlight rotation speed.

[0103] The rice transplanting module 30 includes multiple second connecting frames 52, and each first driver 32 is connected to a first connecting frame 51 through a second connecting frame 52.

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

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

[0106] The following provides a drone employing any of the aforementioned embodiments.

[0107] The drone includes a fuselage 210, a payload frame 230, a landing gear 240, and the aforementioned rice-throwing mechanism. The fuselage 210 includes a rotor 220.

[0108] The drone includes multiple seedling throwing mechanisms. When configured with multiple seedling throwing mechanisms, seedlings can be thrown simultaneously, improving operational efficiency. Furthermore, when multiple seedling throwing mechanisms are in operation, they can be moved laterally in the opposite direction via the seedling delivery tray 21 or the seedling picking module.

[0109] Considering the possibility of seedling detachment after being placed in the seedling delivery tray 21, in this embodiment, the seedling delivery module 20 further includes a seedling pressing device 23. The seedling pressing device 23 is disposed in the seedling delivery tray 21 and is used to limit the position of the seedlings in the seedling delivery tray 21. The seedling pressing device 23 can be in the form of a plate or rod, etc. Specifically, in this embodiment, the seedling pressing device 23 includes a rotating shaft and multiple pressing strips. The rotating shaft is rotatably placed horizontally in the seedling delivery tray 21, and the multiple pressing strips are vertically and spaced apart from the rotating shaft. The multiple pressing strips are used to limit the position of the seedlings in the seedling delivery tray 21.

[0110] In this embodiment, the drone is a rotary-wing 220 drone, specifically a quadcopter 220 drone. Of course, it could also be a single-rotor 220 drone, a dual-rotor 220 drone, a hexacopter 220 drone, an octacopter 220 drone, etc. The drone can operate automatically according to a preset path, flight speed, and attitude, or it can be manually controlled by an operator. For ease of description, the accompanying drawings show the forward, backward, left, right, up, and down directions, which are relative positional relationships that can be clearly understood by those skilled in the art when the drone is conventionally placed or in flight.

[0111] The diagram shows a split-type rice-throwing mechanism. Specifically, the load module 10 of the rice-throwing mechanism is detachably mounted on the lower part of the load frame 230 of the drone. That is, the drone and the rice-throwing mechanism adopt a split-type design, with the drone serving as a mobile platform and the rice-throwing mechanism being separate components. In other words, this type of rice-throwing mechanism is an independent structure that does not depend on the drone's fuselage 210 frame. Based on this type, appropriate devices can be replaced according to actual operational needs in specific operational scenarios. For example, after disassembling the rice-throwing mechanism, a spreading device can be installed to spread pesticides, fertilizers, seeds, etc. Similarly, after disassembling the rice-throwing mechanism, agricultural operation mechanisms such as surveying devices and spraying devices can be installed.

[0112] The drone includes multiple sets of seed-throwing units, each set comprising two seed-throwing mechanisms; the lateral movement drive device 40 includes a lateral movement driver 41, with the lateral movement drivers 41 in the same set of seed-throwing mechanisms positioned on opposite sides to balance the overall weight. Alternatively, the lateral movement drivers 41 in the same set of seed-throwing mechanisms may be positioned between two seed-feeding modules 20.

[0113] In the description herein, it should be understood that the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings, and are used only for ease of description and simplification of operation. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used merely for descriptive distinction and have no special meaning.

[0114] In the description of this specification, references to terms such as "an embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0115] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0116] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of the invention and should not be construed as limiting the scope of protection of the invention in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of the invention without inventive effort, and these embodiments will all fall within the scope of protection of the present invention.

Claims

1. A rice seedling throwing mechanism, characterized in that, include: A load module (10) is used to connect to the drone; The seedling delivery module (20) is fixed relative to the load module (10); one end of the seedling delivery module (20) is provided with a seedling delivery port, and the seedling delivery module (20) is used to deliver the seedlings (900) to be picked up from the blanket seedling to the seedling delivery port; A seedling throwing module (30) is movably installed on the load module (10); the seedling throwing module (30) includes a seedling support plate (31), a seedling picker (34), and a first driver (32); the seedling support plate (31) is located next to the seedling delivery port to support the seedlings to be picked (900), and the seedling support plate (31) is provided with a seedling picking opening (3101); the first driver (32) is connected to the seedling picker (34), and the first driver (32) is used to drive the seedling picker (34) to pass through the seedling picking opening (3101) to pick up seedlings; A transverse drive device (40) is installed on the load module (10); the transverse drive device (40) is used to drive the seedling picker (34) and the seedling support plate (31) to move relative to the seedling delivery module (20) in the transverse direction.

2. The rice-throwing mechanism according to claim 1, characterized in that, The seedling throwing module (30) includes a first connecting frame (51), and the seedling support plate (31) and the seedling picker (34) are respectively connected to the first connecting frame (51); the first connecting frame (51) is slidably installed on the load module (10); The lateral movement drive device (40) is connected to the first connecting frame (51); the lateral movement drive device (40) is used to drive the first connecting frame (51) to move in the lateral movement direction, so as to drive the seedling picker (34) and the seedling support plate (31) to move along the lateral movement direction.

3. The rice-throwing mechanism according to claim 2, characterized in that, The lateral drive device (40) includes a lateral driver (41) and a sliding sleeve; the load module (10) includes a guide (11); the sliding sleeve is fixed to the first connecting frame (51), and the sliding sleeve is slidably mounted on the guide (11); The transverse drive (41) is connected to the sliding sleeve. The transverse drive (41) is used to drive the sliding sleeve to reciprocate along the guide (11), thereby driving the first connecting frame (51), the seedling picker (34) and the seedling support plate (31) to reciprocate along the guide (11).

4. The rice-throwing mechanism according to claim 3, characterized in that, The lateral drive device (40) includes a plurality of sliding sleeves, which are spaced apart along the length of the guide (11); the plurality of sliding sleeves are respectively connected to the first connecting frame (51).

5. The rice-throwing mechanism according to claim 3, characterized in that, The transverse drive device (40) is a screw drive device; the sliding sleeve is a threaded sleeve (43), the screw drive device also includes a threaded rod (42), the threaded sleeve (43) is fitted over the threaded rod (42), the transverse drive (41) is connected to the threaded rod (42); the transverse drive (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 includes a first side load frame (12) and a second side load frame (13) respectively connected to both ends of the guide (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 rice-throwing mechanism according to claim 2, characterized in that, The seedling throwing mechanism includes multiple seedling picking components (36) arranged at intervals along the lateral movement direction, and each seedling picking component (36) is provided with a seedling picker (34); the seedling support plate (31) includes multiple seedling picking openings (3101) arranged at intervals along the lateral movement direction; the multiple seedling picking components (36) correspond one-to-one with the multiple seedling picking openings (3101).

7. The rice-throwing mechanism according to claim 6, characterized in that, The seedling throwing module (30) includes a plurality of the seedling picking components (36); Each of the seedling-collecting components (36) includes a first driver (32), a seedling-throwing seat (33), and a seedling-collecting 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-collecting device (34) is installed on the seedling-throwing seat (33); The seedling throwing module (30) includes multiple second connecting frames (52), and the first driver (32) is connected to the first connecting frame (51) through the second connecting frame (52).

8. The rice-throwing mechanism according to claim 6, characterized in that, The seedling throwing module (30) includes a plurality of the seedling picking components (36); Each of the seedling-collecting components (36) includes a seedling-throwing seat (33) and a seedling-collecting device (34); the seedling-collecting device (34) is mounted on the seedling-throwing seat (33); the seedling-throwing module (30) includes a seedling-collecting drive shaft (35), which is rotatably mounted on the first connecting frame (51); The first driver (32) is a rotary driver, and the first driver (32) is mounted on the first connecting frame (51); the first driver (32) is used to drive the seedling picking transmission shaft (35) to rotate, thereby driving the multiple seedling picking components (36) to rotate.

9. The rice-throwing mechanism according to any one of claims 1-8, characterized in that, The seedling delivery module (20) includes a seedling delivery tray (21) and a conveying component (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 to be taken (900). The seedling delivery port is formed at the end of the seedling delivery tray (21). The conveying component (22) is installed on the seedling tray (21) or the load module (10), and the conveying component (22) is used to convey the seedlings (900) to be picked up to the seedling inlet along the conveying direction.

10. The rice-throwing mechanism according to claim 9, characterized in that, The length of the seedling support plate (31) is greater than the length of the seedling delivery tray (21).

11. A drone, characterized in that, include: Fuselage (210); The rice-throwing mechanism as described in any one of claims 1-10, wherein the load module (10) is connected to the machine body (210).

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