Seedling throwing mechanism and unmanned aerial vehicle

Abstract

The invention discloses a seedling throwing mechanism and an unmanned aerial vehicle, and belongs to the field of agricultural equipment. The unmanned aerial vehicle comprises a load module, a seedling conveying module, a seedling throwing module and a seedling storage module, the seedling conveying module is used for conveying seedlings to the seedling throwing module; the seedling conveying module comprises a seedling conveying frame, the seedling conveying frame is provided with a seedling conveying supporting surface, and the seedling conveying supporting surface is horizontal or basically horizontal; the seedling storage module comprises a plurality of seedling storage racks, and the plurality of seedling storage racks are arranged above the seedling conveying rack at intervals; the seedling storage frame is provided with a seedling storage supporting surface which is inclined or vertical relative to the seedling conveying supporting surface; a seedling supplementing opening is formed in the side, close to the seedling feeding frame, of the seedling storage frame and provides a channel so that seedlings of the seedling storage frame can fall to the seedling feeding supporting face through the seedling supplementing opening. According to the seedling throwing mechanism and the unmanned aerial vehicle, the seedling storage amount is large, seedling supplementing can be conducted on the lower seedling conveying frame through the upper seedling storage frame, and seedling supplementing in the flying process is achieved. The plurality of seedling storage racks are arranged above the seedling conveying rack, so that the space above the seedling conveying rack is utilized, and the structural compactness 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 restrictions, the utilization rate of planting space is low. There are also some drones equipped with seedling throwing systems in the relevant technology, but the layout of the drones is unreasonable and inconvenient for farmers to use. Summary of the invention

[0003] The purpose of the embodiments of the present invention is to provide a seedling throwing mechanism and a drone. A single set of seedling throwing mechanism has a large seedling storage capacity, and the seedling delivery frame can be supplemented with seedlings through the seedling storage frame without the need for the drone to land.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] A seedling throwing mechanism, comprising:

[0006] A payload module, used to connect with the drone;

[0007] A seedling throwing module is installed on the load module;

[0008] A seedling delivery module is installed on the load module; the seedling delivery module is used to deliver the seedlings to the seedling throwing module; the seedling delivery module includes a seedling delivery frame, the seedling delivery frame has a seedling delivery support surface, the seedling delivery support surface is horizontal or the angle between the seedling delivery support surface and the reference plane of the seedling throwing mechanism is less than 40 degrees;

[0009] A seedling storage module is installed on the load module; the seedling storage module includes a plurality of seedling storage racks, which are arranged above the seedling delivery rack and at intervals; the seedling storage rack has a seedling storage support surface, which is inclined or perpendicular to the seedling delivery support surface; a seedling filling opening is formed on one side of the seedling storage rack close to the seedling delivery rack, and the seedling filling opening provides a channel so that the seedlings on the seedling storage rack can fall onto the seedling delivery support surface through the seedling filling opening.

[0010] Optionally, the seedling delivery module includes a first conveying component; a seedling delivery opening is formed on one side of the seedling delivery frame in the y direction, and the first conveying component is used to convey the seedlings on the seedling delivery support surface to the seedling delivery opening along the y direction;

[0011] A plurality of seedling storage racks are arranged at intervals along the y direction.

[0012] Optionally, the seedling delivery support surface includes a plurality of seedling dropping areas distributed along the y direction; a plurality of seedling replenishing openings are respectively located above the plurality of seedling dropping areas; and each of the seedling dropping areas is provided with the first conveying assembly.

[0013] Optionally, the seedling sending module includes a plurality of seedling position sensors, and the plurality of seedling position sensors are arranged on the seedling sending frame at intervals along the y direction.

[0014] Optionally, the seedling delivery frame includes a first frame and a second frame connected to each other; the seedling delivery support surface is formed on the top surface of the first frame; the second frame extends downward relative to the first frame, the top surface of the second frame forms a seedling sliding surface, and the seedling delivery mouth is formed at the bottom end of the second frame.

[0015] Optionally, the second frame is bent downward, and the sliding surface is a curved surface.

[0016] Optionally, the plurality of seedling storage support surfaces face the same side of the seedling throwing mechanism; the plurality of seedling storage support surfaces are parallel to each other, or the relative angle between any two of the seedling storage support surfaces is less than 10 degrees.

[0017] Optionally, the seedling storage module includes a plurality of seedling blocking members; the seedling blocking members are movably connected to the seedling storage rack, and the seedling blocking members can move between an open position for opening the seedling replenishing opening and a closed position for blocking the seedling replenishing opening.

[0018] Optionally, the seedling storage module includes a plurality of second conveying components; the seedling storage rack is provided with the second conveying component, and the second conveying component is used to convey the seedlings on the seedling storage support surface to the seedling replenishing port.

[0019] Optionally, the seedling throwing module is used to separate and throw the seedlings; the seedling throwing module includes a first drive, a seedling throwing seat and a seedling taker; one or more seedling takers are installed on the seedling throwing seat, the first drive is installed on the load module, and the first drive is connected to the seedling throwing seat to drive the seedling throwing seat to rotate.

[0020] Optionally, the seedling throwing module includes a seedling supporting plate, which is arranged next to the seedling delivery port, and is used to support the seedlings delivered from the seedling delivery port; the seedling supporting plate is provided with a seedling taking opening, and the first driver is used to drive the seedling taker to rotate through the seedling taking opening.

[0021] Optionally, the seedling throwing mechanism includes a transverse driving device, and the transverse driving device is installed on the load module;

[0022] The seedling delivery module is slidably mounted on the load module, the transverse driving device is connected to the seedling delivery module, and the transverse driving device is used to drive the seedling delivery module to move transversely relative to the seedling throwing module;

[0023] Alternatively, the seedling throwing module is slidably mounted on the load module, the transverse driving device is connected to the seedling throwing module, and the transverse driving device is used to drive the seedling throwing module to move laterally relative to the seedling delivery module.

[0024] Optionally, when the transverse driving device is connected to the seedling sending module; the seedling sending module has a first extreme position, a center position and a second extreme position, and the transverse driving device is used to drive the seedling sending module to move between the first extreme position, the center position and the second extreme position along the transverse direction;

[0025] The seedling throwing mechanism also includes a lateral position sensor, which is arranged between the seedling sending frame and the load module. The lateral position sensor senses a position signal when the seedling sending module is located in the center position.

[0026] A drone, comprising:

[0027] body;

[0028] The seedling throwing mechanism as described in the above scheme; the load module is connected to the fuselage; wherein the reference plane is perpendicular to the heading axis of the UAV.

[0029] The beneficial effect of the present invention is that the seedling throwing mechanism can be carried on an unmanned aerial vehicle for application.

[0030] The seedling throwing mechanism and the drone including the seedling throwing mechanism have a large seedling storage capacity for a single set of the seedling throwing mechanism, and the seedlings can be replenished on the seedling delivery frame below through the seedling storage frame above, so as to achieve the replenishment during flight. The multiple seedling storage frames are all arranged above the seedling delivery frame to utilize the space above the seedling delivery frame, which is conducive to improving the compactness of the structure when the seedling throwing mechanism is applied to the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The present invention is further described in detail below based on the accompanying drawings and embodiments.

[0032] Figure 1 This is a schematic diagram of the structure of the drone according to an embodiment of the present invention;

[0033] Figure 2 This is one of the schematic diagrams of the seedling throwing mechanism according to the embodiment of the present invention (part of the structure is omitted in the figure);

[0034] Figure 3 This is a second schematic diagram of the seedling throwing mechanism according to an embodiment of the present invention (part of the structure is omitted in the figure);

[0035] Figure 4 This is a schematic diagram of a seedling-replenishing process of the seedling-throwing mechanism according to an embodiment of the present invention;

[0036] Figure 5 This is a second schematic diagram of the seedling-replenishing process of the seedling-throwing mechanism according to an embodiment of the present invention;

[0037] Figure 6 This is one of the schematic diagrams of the cooperation between the seedling delivery module and the seedling throwing module according to an embodiment of the present invention (the seedling delivery frame is located in the center in the figure);

[0038] Figure 7 This is the second schematic diagram of the cooperation between the seedling delivery module and the seedling throwing module according to the embodiment of the present invention (the seedling delivery frame is located at the first extreme position in the figure);

[0039] Figure 8 This is one of the schematic diagrams of the seedling storage tray according to the embodiment of the present invention;

[0040] Fig. 9 This is a second schematic diagram of the seedling storage tray according to an embodiment of the present invention;

[0041] Fig.10 This is a third schematic diagram of the seedling storage tray according to an embodiment of the present invention;

[0042] Fig.11 This is a structural schematic diagram of a seedling throwing module according to one embodiment of the present invention;

[0043] Fig.12 This is a schematic diagram of the structure of the wolf tooth wheel according to an embodiment of the present invention;

[0044] Fig.13 This is the distribution diagram of the pitch axis, roll axis, and heading axis of the drone;

[0045] Fig.14 It is a schematic diagram of a seedling tray for pot seedlings in the related art;

[0046] Fig.15 It is a schematic three-dimensional diagram of the blanket seedling;

[0047] Fig.16 This is a side view of the blanket seedling;

[0048] Fig.17 This is a schematic diagram of the hole blanket seedling;

[0049] Fig.18 The present invention is a single rice seedling taken out from the blanket seedlings by the rice seedling taker of the embodiment of the present invention.

[0050] In the figure: 10, load module; 20, seedling delivery module; 21, seedling delivery frame; 2101, first frame; 2102, second frame; 211, seedling delivery support surface; 212, seedling sliding surface; 213, seedling delivery mouth; 22, first conveying component; 30, seedling throwing module; 31, first driver; 32, seedling throwing seat; 33, seedling taker; 40, seedling storage module; 41, seedling storage frame; 411, seedling storage support surface; 412, seedling filling mouth; 42, seedling blocking member; 50, seedling supporting plate; 51, seedling taking opening; 60, transverse driving device; 80, seedling dropping area; 90, reference plane; 210, fuselage; 230, frame; 231, load frame; 232, tripod; 300, blanket seedlings; 310, blanket base; 320, leaves; 400, single seedlings. DETAILED DESCRIPTION

[0051] 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.

[0052] 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.

[0053] 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.

[0054] For the convenience of description, the following embodiment takes the seedlings to be thrown as blanket seedlings as an example to illustrate the structure and principle of the seedling throwing mechanism and the drone. Before the drone takes off, the seedlings to be thrown are loaded into the seedling delivery rack and the seedling storage rack.

[0055] The current rice transplanters on the market are generally tractors in the field that pull the rice transplanting system. They are costly, inefficient, and subject to terrain restrictions. It is not convenient for agricultural machinery to reach special terrains such as terraces. Some drones are equipped with rice transplanting systems, but the layout is unreasonable and inconvenient for farmers to use.

[0056] The present application provides a seedling throwing mechanism suitable for being carried on a drone for seedling throwing. A drone including the seedling throwing mechanism is also provided. The seedling throwing mechanism is equipped with a seedling storage module 40, which has a large seedling storage capacity and can replenish the seedlings of the seedling delivery module 20 in the air, thereby reducing the number of landing and replenishing seedlings during the drone's flying seedling throwing. The layout between the seedling delivery module 20 and the seedling storage module 40 is reasonable and compact, and is suitable for drones with limited space.

[0057] Related art In the rice transplanting technology, there are pot seedlings and blanket seedlings. However, some equipment can only remove and throw the pot seedlings, and is not suitable for throwing blanket seedlings. The present application is suitable for throwing blanket seedlings 300, which include blanket seedlings and hole blanket seedlings.

[0058] Among them, pot seedlings are non-blanket seedlings. Fig.14 The figure shows a seedling tray for pot seedlings. There are several grooves evenly arranged on the seedling tray. The top of the grooves are open. There is a seedling in each groove. There is a hole at the bottom of each groove. A needle is inserted into the groove from the hole at the bottom, so that the seedlings can be pushed out for transplanting. However, this method of raising seedlings is not popular. Fig.15 , Fig.16 The structure of the blanket seedling is shown in FIG. When the blanket seedling is cultivated, the blanket seedling includes a blanket base 310 at the bottom and a plurality of seedling leaves 320 growing out of the blanket base 310. The blanket base 310 includes soil and the roots of the seedlings. The roots of the seedlings in the blanket base 310 are adhered to each other. The main method of raising seedlings by farmers is blanket seedlings. Fig.17 The structural form of the hole blanket seedling is shown in the figure. The difference between the hole blanket seedling and the blanket seedling is that a grid of grooves is formed on the back of the blanket base 310 of the hole blanket seedling, and grid-shaped protrusions are formed on the back of the blanket base 310 through the criss-crossing grooves. In other words, the hole blanket seedling is pre-cut but not completely cut off relative to the blanket base 310 of the blanket seedling. In the related art, no drone capable of transplanting the blanket seedlings 300 (blanket seedlings or hole blanket seedlings) has been found, which cannot meet the need to use drones for transplanting in some cases.

[0059] Please refer to Figures 1 to 12, a seedling throwing mechanism and a drone provided by the present application are described below. For the convenience of description, the present application takes the seedling throwing of the blanket seedling 300 as an example for description. When the seedling throwing mechanism of the present application is used to throw the blanket seedling 300 for planting, the blanket seedling 300 needs to be cut by the seedling taker 33, and the blocks of blanket seedlings 300 are cut into multiple single seedlings 400 (such as Fig.18 shown).

[0060] The UAV includes a fuselage 210 and a seedling throwing mechanism. The fuselage 210 includes a rotor. The number of the seedling throwing mechanism can be one or more.

[0061] The seedling throwing mechanism includes a loading module 10 , a seedling throwing module 30 , a seedling delivery module 20 , and a seedling storage module 40 .

[0062] The load module 10 is used to be directly or indirectly connected to the drone fuselage 210. The seedling delivery module 20 is arranged on the load module 10, and the seedling delivery module 20 is used to support and deliver the blanket seedlings 300 to the seedling throwing module 30. The seedling throwing module 30 is arranged on the load module 10, and the seedling throwing module 30 is used to separate the individual seedlings 400 from the blanket seedlings 300 on the seedling delivery module 20 and then throw them out through centrifugal force and / or ejection force. In this way, the drone can carry the seedling throwing mechanism to perform the seedling throwing operation, the blanket seedlings 300 are transported by the seedling delivery module 20, and the individual seedlings 400 are thrown out after the blanket seedlings 300 are separated by the seedling throwing module 30, so as to realize the flying seedling throwing operation of the blanket seedlings 300. The seedling storage module 40 is arranged on the load module 10 , and is used to store the blanket seedlings 300 , and to provide the blanket seedlings 300 to the seedling delivery module 20 for replenishment when the blanket seedlings 300 are needed, so that the blanket seedlings 300 can be continuously delivered to the seedling throwing module 30 .

[0063] There are many ways for the seedling throwing module 30 to separate the seedlings (i.e., the way of taking the seedlings), for example, cutting, grabbing, pushing out, pressing down, digging out, pulling, etc. The specific separation and taking methods are not limited.

[0064] There are many ways for the seedling throwing module 30 to throw the seedlings. In one embodiment, after the seedling throwing module 30 separates the seedlings from the blanket seedlings 300, the seedlings can be thrown out by centrifugal force. In one embodiment, after the seedling throwing module 30 separates the seedlings from the blanket seedlings 300, the separated seedlings can be ejected and thrown out by an ejection force (the seedling throwing module 30 can be provided with an ejection member, and the ejection member can provide an ejection force). In one embodiment, the seedling throwing module 30 can use the combined action of centrifugal force and ejection force to throw out the separated seedlings.

[0065] The present application provides a seedling throwing mechanism with a large seedling storage capacity, and provides a drone using the seedling throwing mechanism. The present application has multiple seedling storage racks 41 arranged above the seedling delivery rack 21 to utilize the space above the seedling delivery rack 21, which is beneficial to improving the compactness of the structure and the utilization efficiency of the limited space of the drone when the seedling delivery assembly is applied to the drone seedling throwing system; the aerial seedling replenishment operation does not require manual participation, and when applied to the drone seedling throwing system, it can increase the seedling storage capacity of a single drone seedling throwing system, reduce the number of stoppages for seedling replenishment of the seedling throwing drone, and improve the seedling throwing efficiency.

[0066] When a set of seedling throwing mechanism of a drone is only equipped with one seedling delivery rack 21, after the seedling taking mechanism in the seedling throwing system takes out all the seedlings on the seedling delivery rack 21 and throws them, it needs to fly back to the base for replenishment, which is inefficient. This application can be used to throw seedlings and replenish seedlings at the same time during flight, which is convenient to use and more practical. A drone can be equipped with multiple sets of seedling throwing mechanisms with large seedling storage capacity, which improves the efficiency of seedling throwing and reduces the number of landings for replenishment.

[0067] It should be noted that, in the present application, a plurality of sets refers to two sets or more than two sets, and a plurality refers to two or more than two.

[0068] Please refer to Figures 1 to 12 , the seedling throwing mechanism and the drone are further explained below.

[0069] The seedling delivery module 20 includes a seedling delivery frame 21, which has a seedling delivery support surface 211 for supporting the blanket seedlings 300. A seedling delivery opening 213 is provided at one end of the seedling delivery frame 21, and the seedling throwing module 30 is provided beside the seedling delivery opening 213. The seedling delivery module 20 is used to deliver the blanket seedlings 300 to the seedling delivery opening 213.

[0070] The seedling storage module 40 includes a plurality of seedling storage racks 41, which are arranged above the seedling delivery rack 21 and arranged at intervals; the seedling storage rack 41 has a seedling storage support surface 411, which is inclined or perpendicular to the seedling delivery support surface 211. A seedling filling opening 412 is formed on one side of the seedling storage rack 41 close to the seedling delivery rack 21, and the seedling filling opening 412 provides a passage so that the seedlings in the seedling storage rack 41 can fall to the seedling delivery support surface 211 through the seedling filling opening 412.

[0071] Exemplarily, the seedling throwing mechanism includes a seedling delivery frame 21 and three seedling supplementing frames arranged at intervals in front and behind. Figure 1 Before the drone takes off, the first blanket of seedlings 300 is loaded on the seedling delivery rack 21, the second blanket of seedlings 300 is loaded on the seedling storage rack 41 at the rear, the third blanket of seedlings 300 is loaded on the seedling storage rack 41 at the middle, and the fourth blanket of seedlings 300 is loaded on the seedling storage rack 41 at the front. Figure 4 , reference Figure 5When the rice seedlings need to be supplemented to the rice seedling delivery rack 21 , the rice seedlings on the rice seedling storage rack 41 are delivered to the rice seedling delivery rack 21 through the rice seedling supplement opening 412 for supplementation.

[0072] When the drone is flying and throwing seedlings, the seedlings on the seedling delivery rack 21 are transported from back to front. The seedling throwing module 30 first takes and throws the first row of seedlings sent by the seedling delivery rack 21. When the first row of seedlings is taken, the seedlings on the seedling delivery rack 21 are transported forward one row.

[0073] The following is an exemplary method of supplementing rice seedlings based on the rice seedling throwing mechanism:

[0074] like Figure 4 As shown, after the first blanket of seedlings is conveyed forward a certain distance, the end of the first blanket of seedlings moves to the vicinity of the seedling replenishment opening 412 at the bottom of the rear seedling storage rack 41. At this time, the second blanket of seedlings is sent downward through the rear seedling storage rack 41 for seedling replenishment, so that the front end of the second blanket of seedlings is connected to the rear end of the first blanket of seedlings.

[0075] like Figure 5 As shown, the second blanket of seedlings contacting the seedling delivery support surface 211 continues to be delivered forward until the end of the second blanket of seedlings moves to the vicinity of the seedling filling opening 412 at the bottom of the middle seedling storage rack 41, at which time the third blanket of seedlings is delivered downward through the middle seedling storage rack 41 for seedling filling, so that the front end of the third blanket of seedlings is connected to the rear end of the second blanket of seedlings. This continues in this way until the third blanket of seedlings is also received and supported by the seedling delivery rack 21.

[0076] The seedling storage rack 41 is connected to the load module 10 and the relative position is fixed. Figure 3 , the seedling replenishing opening 412 of the seedling storage rack 41 can be projected downward into the seedling delivery support surface 211. In this way, when throwing or replenishing seedlings, there is no need to move the horizontal position of the seedling storage rack 41, and the seedlings can be replenished and continued from different positions of the seedling delivery support surface 211 through multiple seedling storage racks 41 inclined in the same direction, while increasing the seedling storage capacity, simplifying the connection structure between the seedling storage rack 41 and the load module 10, saving space, and facilitating assembly and maintenance.

[0077] The seedling storage rack 41 is arranged above the seedling delivery rack 21 to utilize the space above the seedling delivery rack 21 and improve the compactness of the UAV structure. After the seedlings in the seedling storage rack 41 are sent out of the seedling replenishment port 412 at the bottom of the seedling storage rack 41 under the action of gravity or conveying force, the soft blanket seedlings will slowly fall on the seedling delivery support surface 211 for seedling replenishment. Multiple seedling storage racks 41 are arranged at intervals to reserve space between adjacent seedling storage racks 41 to load the blanket seedlings 300 for advance storage. When seedling replenishment is needed, the seedling storage rack 41 does not need to move relative to the seedling delivery rack 21, and the seedlings stored in the seedling storage rack 41 can be directly lowered.

[0078] The seedling throwing mechanism of the present application needs to be mounted on a drone for application. After multiple seedling storage racks 41 are vertically tilted or vertically arranged above the seedling delivery rack 21, the seedling storage module 40 occupies a large height space of the drone. Based on this, the seedling delivery rack 21 is configured to be horizontal or basically horizontal. On the one hand, the seedling storage capacity can be increased, and the overall height space of the drone can be solved to achieve a compact space effect; on the other hand, the seedling delivery rack 21 is horizontal or basically horizontal, and a larger seedling receiving surface can be provided through the seedling delivery support surface 211. The seedling filling openings 412 of the multiple seedling storage racks 41 arranged at intervals above the seedling delivery rack 21 are all located above the seedling delivery rack 21. The position of the seedling storage rack 41 does not need to be moved, and there is no need to configure a corresponding mechanism to adjust the position of the seedling filling rack. The blanket seedlings 300 that slide out of the seedling filling opening 412 can directly fall to the seedling delivery rack 21, saving the lateral space of the drone.

[0079] It is understandable that the seedling delivery frame 21 is horizontal or substantially horizontal, that is, the seedling delivery support surface 211 is horizontal or substantially horizontal. When the drone lands on a flat ground, the seedling delivery support surface 211 is horizontal or substantially horizontal with the horizontal plane. Wherein, substantially horizontal means that the seedling delivery support surface 211 can be tilted at a small angle relative to the horizontal plane, for example, with a tilt of 0.5 to 40 degrees. It is understandable that the horizontality of the seedling delivery support surface 211 can be detected by setting a level meter on the seedling delivery support surface 211 when the drone stops on a relatively flat ground.

[0080] In one embodiment, in order to make the seedling sending support surface 211 horizontal or substantially horizontal when the seedling throwing mechanism is mounted on the drone, when the seedling throwing mechanism is assembled, the seedling sending support surface 211 is configured to be substantially horizontal relative to the reference plane 90 of the seedling throwing mechanism, that is, the angle between the seedling sending support surface 211 and the reference plane 90 is 0 to 40 degrees. Optionally, the angle between the seedling sending support surface 211 and the reference plane 90 of the seedling throwing mechanism is less than 20 degrees. Optionally, the angle between the seedling sending support surface 211 and the reference plane 90 of the seedling throwing mechanism is less than 10 degrees.

[0081] In the figure, S2 indicates a surface parallel to the seedling delivery support surface 211, and S3 indicates a surface parallel to the seedling storage support surface 411. The reference plane 90 of the seedling throwing mechanism is a virtual plane. When the seedling throwing mechanism is mounted on the drone body 210 or the frame 230, the heading axis of the drone is perpendicular to the virtual plane. In one embodiment, the seedling throwing mechanism has an x-axis, a y-axis, and a z-axis that are perpendicular to each other. The virtual plane is the xy plane. When the seedling throwing mechanism is assembled to the drone, the seedling throwing mechanism is adjusted so that the heading axis of the drone passes through the xy plane. Fig.13The pitch axis, roll axis (also called tumbling axis), and heading axis of the drone are shown. The pitch axis, roll axis, and heading axis are imaginary lines passing through the center of the drone. In some embodiments, the x-axis direction of the seedling throwing mechanism is consistent with the pitch axis direction of the drone, and the y-axis direction of the seedling throwing mechanism is consistent with the tumbling axis direction of the drone.

[0082] The seedling delivery module 20 includes a first conveying assembly 22. A seedling delivery opening 213 is formed on one side of the seedling delivery frame 21 in the y direction, and the first conveying assembly 22 is used to deliver the seedlings on the seedling delivery support surface 211 to the seedling delivery opening 213 along the y direction. After the seedling delivery frame 21 is set horizontally or substantially horizontally, the first conveying assembly 22 is configured to ensure that the substantially horizontal blanket seedlings 300 can be continuously delivered to the seedling delivery opening 213, and the seedling throwing module 30 takes the seedlings row by row.

[0083] The first conveying assembly 22 is arranged at the bottom and / or the side of the seedling delivery frame 21. The first conveying assembly 22 can be a conveyor belt, a conveying roller (such as a wolf tooth wheel), a conveying chain, etc. The first conveying assembly 22 can be partially inserted into the blanket base 310 of the blanket seedling 300 to increase the friction force to convey the blanket seedling 300. When conveying the blanket seedling 300, the first conveying assembly 22 can contact one or more of the bottom surface, side surface, and top surface of the blanket base 310.

[0084] Reference Figures 1 to 4 , multiple seedling storage racks 41 are arranged at intervals along the y direction, that is, multiple seedling storage racks 41 are arranged at intervals along the seedling sending direction of the seedling sending rack 21, which not only effectively utilizes the space above the seedling sending rack 21, but also has a compact overall structure. Moreover, multiple seedling storage racks 41 can replenish seedlings from different positions without interfering with each other.

[0085] Reference Figure 3 The seedling delivery module 20 is used to transport the seedlings along the y direction. Correspondingly, the seedling delivery support surface 211 includes a plurality of seedling dropping areas 80 distributed along the y direction, and a plurality of seedling replenishment openings 412 are respectively located above the plurality of seedling dropping areas 80, which is not only conducive to a compact layout, but also ensures that the seedlings on each seedling storage rack 41 are received by the seedling delivery support surface 211 after falling.

[0086] Each seedling drop area 80 is provided with a first conveying assembly 22, which ensures that after the blanket seedlings 300 of the seedling storage rack 41 fall to the seedling delivery rack 21 for replenishment, the replenished blanket seedlings 300 contact the first conveying assembly 22, and the replenished blanket seedlings 300 can be reliably and continuously conveyed forward, so that the replenished blanket seedlings 300 are connected to the tail end of the previous blanket seedlings 300. In other words, for the horizontal or substantially horizontally arranged seedling delivery rack 21, the first conveying assembly 22 is provided in each seedling drop area 80, while taking into account the compactness of the space, it is ensured that the replenished blanket seedlings 300 are connected to the rear side of the previous blanket seedlings 300, and the continuity of the seedling delivery module 20 to the seedling throwing module 30 is improved.

[0087] The seedling delivery module 20 includes a plurality of seedling position sensors, which are arranged at intervals along the y direction on the seedling delivery frame 21. The seedling position sensors are used to sense the positions of the seedlings on the seedling delivery frame 21. The seedling position sensors may be pressure sensors, photoelectric sensors, etc.

[0088] In one embodiment, a set of seedling position sensors is provided in each seedling drop area 80. The seedling position sensors sense the position of the end of the blanket seedlings 300 of the seedling delivery rack 21, so as to control the corresponding seedling replenishing rack to release the additional blanket seedlings 300 through the seedling replenishing opening 412 at an appropriate time.

[0089] For example, three seedling replenishing racks are included, and the seedling delivery rack 21 includes three seedling drop areas 80, and the three seedling drop areas 80 are respectively provided with seedling position sensors. When the tail end of the blanket seedling 300 on the seedling delivery support surface 211 passes through the seedling position sensor located at the rear side, a first seedling replenishing signal is generated. Figure 4 , the seedling replenishing rack located at the rear side releases the blanket seedlings 300 for replenishment; then, when the tail end of the blanket seedlings 300 on the seedling delivery support surface 211 passes through the seedling position sensor located in the middle, a first seedling replenishing signal is generated, referring to Figure 5 , the seedling replenishing rack located in the middle releases the blanket of seedlings 300 for replenishment; similarly, after the seedling sensor located on the front side senses the passing of the tail end, it generates a third seedling replenishing signal, and the seedling replenishing rack located on the front side releases the blanket of seedlings 300 for replenishment.

[0090] In other embodiments, the seedling position sensor may not be provided, and the seedling delivery speed of the seedling delivery rack 21 and the seedling replenishment time of the seedling replenishment rack may be controlled by preset parameters.

[0091] In some embodiments, the front end of the seedling delivery rack 21 is tilted to facilitate the seedling delivery. Figures 1 to 3The seedling delivery rack 21 includes a first frame 2101 and a second frame 2102 connected to each other. The first frame 2101 is a flat plate, and a seedling delivery support surface 211 is formed on the top surface of the first frame 2101. The second frame 2102 extends downward. In other words, the second frame 2102 is matched with the first frame 2101 at an angle. The top surface of the second frame 2102 forms a seedling sliding surface 212, and a seedling delivery opening 213 is formed at the bottom end of the second frame 2102. The first frame 2101 is arranged horizontally or substantially horizontally, which can save the height space of the drone. A plurality of seedling storage racks 41 are arranged above the first frame 2101 of the seedling delivery rack 21 to supplement the seedlings to the first frame 2101. The second frame 2102 extends downward, and when the blanket seedlings 300 are transported close to the seedling delivery port 213, the front blanket seedlings 300 can slide down to the seedling delivery port 213 under the action of gravity, reducing the transport power consumption of the first conveying assembly 22, and more easily delivering the blanket seedlings 300 to the seedling delivery port 213 for the seedling throwing module 30 to pick up and throw the seedlings. In some embodiments, the first frame 2101 and the second frame 2102 are both provided with the first conveying assembly 22. In some embodiments, the first conveying assembly 22 is only provided on the first frame 2101.

[0092] Reference Figures 1 to 3 The second frame 2102 is bent downward to form an arc-shaped, curved sliding surface 212. The arc-shaped sliding surface 212 has a smooth transition between the seedling delivery support surface 211, the sliding surface 212, and the seedling delivery port 213, which is beneficial to protect the blanket base 310 of the blanket seedling 300 from being scratched and prevent the blanket base 310 from being scratched and becoming loose. In other embodiments, the sliding surface 212 can also be a plane.

[0093] In other embodiments, a flat plate may be used as the seedling delivery rack 21, that is, the second frame body 2102 extending downward is not provided.

[0094] For the seedling storage module 40, in order to improve the compactness of the seedling storage module 40, multiple seedling storage racks 41 are arranged in parallel or nearly in parallel. Multiple seedling storage support surfaces 411 face the same side of the seedling throwing mechanism; multiple seedling storage support surfaces 411 are parallel to each other, or the relative angle between any two seedling storage support surfaces 411 is less than 10 degrees. The highly compact seedling storage module 40 is suitable for use in drones with limited space.

[0095] Reference Figures 8 to 10 The seedling storage module 40 includes a plurality of seedling retaining members 42, and each seedling storage rack 41 is provided with a seedling retaining member 42. The seedling retaining member 42 is configured to be movable between an open position for opening the seedling replenishing opening 412 and a closed position for shielding the seedling replenishing opening 412. Figure 8 As shown, the seedling retaining member 42 is in the closed position, the seedling replenishing opening 412 is closed, and the blanket seedlings 300 on the seedling storage rack 41 do not fall. Fig. 9 , Fig.10As shown, when the seedling blocking member 42 is in the open position, the seedling replenishing opening 412 is opened, and the blanket seedlings 300 of the seedling storage rack 41 can be sent to the seedling delivery rack 21 through the seedling replenishing opening 412 for seedling replenishment. The seedling blocking member 42 can be controlled to be opened or closed by means of motor drive or the like to control seedling replenishment.

[0096] Figures 8 to 10 A seedling blocking member 42 is provided which is rotatably mounted on a seedling storage rack 41. The seedling blocking member 42 is used as a flip door panel. The seedling blocking member 42 is switched between an open position and a closed position by rotating. Figures 6 to 8 In the embodiment, one seedling storage rack 41 is provided with two seedling retaining members 42 that are opened and closed, which reduces the travel required for a single seedling retaining member 42 to flip and open, avoids taking up too much space and causing waste, and is conducive to compact design. In other embodiments, only one flipping seedling retaining member 42 may be provided. Figures 8 to 10 The rotation axis of the seedling member is perpendicular to the seedling storage support surface 411.

[0097] In another embodiment, a seedling blocking member 42 that can be flipped to open or close the seedling replenishing opening 412 is also used, and the flipping axis is parallel to the seedling storage supporting surface 411, thereby saving more vertical space.

[0098] In other embodiments, a laterally retractable seedling blocking rod may also be configured to open or close the seedling replenishing opening 412.

[0099] In other embodiments, the seedling retaining member 42 may not be provided, and a notch may be directly designed in the seedling storage frame 41 and a similar Fig.12 The transmission wheel and the wolf tooth wheel with convex teeth shown in the figure transmit the blanket seedlings 300 downward only when the wolf tooth wheel rotates.

[0100] The seedling storage module 40 includes a plurality of second conveying components; the seedling storage rack 41 is provided with a second conveying component, and the second conveying component is used to convey the seedlings on the seedling storage support surface 411 to the seedling filling port 412. The second conveying component can convey the seedlings to the seedling filling port 412 more stably, and can control the seedling filling speed. The second conveying component can be a conveyor belt, a conveying roller (such as a wolf tooth wheel), a conveying chain, etc. In other embodiments, the inclined or vertically arranged seedling storage rack 41 may not be provided with a second conveying component. When the seedling filling port 412 is opened, the blanket seedlings 300 in the seedling storage rack 41 can slide down to the seedling delivery rack 21 under the action of gravity.

[0101] The seedling throwing module 30 includes a seedling taker 33 and a first driver 31. The main body of the first driver 31 is connected to the load module 10, and the driving part of the first driver 31 is connected to the seedling taker 33. The seedling taker 33 can be a seedling taker claw, a seedling taker blade, a seedling taker thimble, a seedling taker top frame, etc. Different seedling takers 33 are selected according to different forms of seedlings. The principle of taking and throwing seedlings of the seedling taker 33 is as follows: the seedling taker 33 rotates under the drive of the first driver 31 to move along the working track. The working track can be circular or irregularly curved (such as kidney-shaped). The seedling taker 33 can perform rotational motion or reciprocating motion. When the seedling taker 33 moves along the first stroke of the motion track, the single seedling 400 is removed from the blanket seedling 300 sent from the seedling delivery port 213 by cutting or other methods, and the blanket seedling 300 sent by the seedling delivery frame 21 is separated. When the seedling taker 33 moves along the second stroke of the motion trajectory, the seedlings on the seedling taker 33 are thrown out of the seedling taker 33 by the action of centrifugal force and / or ejection force, thereby realizing the flying seedling throwing of the drone.

[0102] In order to improve the efficiency of picking up seedlings at a single position, the seedling throwing module 30 includes a seedling throwing seat 32, and the seedling throwing module 30 includes a plurality of seedling takers 33. The first driver 31 is connected to the seedling throwing seat 32 through a first rotating shaft, and the first driver 31 is used to drive the seedling throwing seat 32 to rotate around the axis of the first rotating shaft, and the plurality of seedling takers 33 are arranged around the first rotating shaft at intervals in the seedling throwing module 30.

[0103] A seedling throwing module 30 may include a plurality of seedling takers 33, and the number of the seedling takers 33 may be two, three, or four. The seedling takers 33 are evenly distributed around the seedling throwing seat 32, such as the angle between two seedling takers 33 and the center of the turntable is 180 degrees, three seedling takers 33 are spaced 120 degrees apart, and four seedling takers 33 are spaced 90 degrees apart.

[0104] The seedling throwing module 30 includes a seedling supporting plate 50, which is arranged next to the seedling delivery port 213 and is used to support the seedlings delivered from the seedling delivery port 213; the seedling supporting plate 50 is provided with a seedling taking opening 51, and the first driver 31 is used to drive the seedling taking device 33 to rotate through the seedling taking opening 51.

[0105] In order to facilitate the picking and throwing of the outermost row of the blanket seedlings 300, the throwing mechanism further includes a supporting plate 50. The supporting plate 50 is arranged beside the seedling delivery port 213. The supporting plate 50 is used to support the blanket seedlings 300 delivered by the seedling delivery module 20. When implemented, the supporting plate 50 can be configured to support the outermost row of the blanket seedlings 300, that is, the row to be picked. The supporting plate 50 is provided with a seedling picking opening 51. When the seedling throwing module 30 performs the seedling picking action, the seedling picking device 33 passes through the seedling picking opening 51 to cut the blanket seedlings 300 supported by the supporting plate 50 to separate and take out the individual seedlings 400.

[0106] The setting of the seedling support plate 50 can support the first row of blanket seedlings 300 to be removed, prevent the outermost blanket seedlings 300 from shaking and being difficult to separate, and ensure that the seedling remover 33 cuts the blanket seedlings 300 that are supported and only exposed to the seedling removal opening 51 when rotating through the seedling removal opening 51, so as to accurately cut the target area, and it is not easy to cut the blanket seedlings 300 in the non-target area, so as to separate the individual seedlings 400. In other words, the setting of the seedling support plate 50 also improves the uniformity of the amount of seedlings removed each time.

[0107] In order to realize that the blanket-like seedlings 300 are separated and thrown out one by one, the seedling delivery module 20 and the seedling throwing module 30 are configured to be relatively movable along the lateral direction, such as Figure 6 , Figure 7 As shown, by the relative transverse movement of the seedling delivery module 20 and the seedling throwing module 30, the seedling throwing module 30 can take and throw the seedlings in different areas of the seedling delivery module 20. In order to provide transverse movement force, the seedling throwing mechanism includes a transverse movement driving mechanism, which is installed on the load module 10.

[0108] In some embodiments, the seedling delivery module 20 is slidably mounted on the load module 10, and the transverse driving device 60 is connected to the seedling delivery module 20, and the transverse driving device 60 is used to drive the seedling delivery module 20 to move transversely relative to the seedling throwing module 30. That is, when throwing the seedlings, the seedling delivery module 20 moves transversely, and the seedling supporting plate 50 and the seedling throwing module 30 do not move transversely.

[0109] In other embodiments, the seedling throwing module 30 is slidably mounted on the load module 10, and the transverse driving device 60 is connected to the seedling throwing module 30, and the transverse driving device 60 is used to drive the seedling throwing module 30 to move transversely relative to the seedling sending module 20. That is, when the seedlings are thrown, the seedling supporting plate 50 and the seedling throwing module 30 move transversely synchronously, and the seedling sending module 20 does not move transversely.

[0110] It should be noted that the transverse direction of the seedling throwing mechanism in the present application is the x direction. Transverse movement refers to movement along the x direction.

[0111] When the transverse driving device 60 is connected to the seedling sending module 20 , the seedling sending frame 21 needs to be transversely moved to just below the seedling replenishing frame before replenishing the seedlings to prevent the replenished seedlings from falling outside the seedling sending frame 21 .

[0112] The seedling delivering module 20 has a first extreme position, a center position and a second extreme position. The transverse driving device 60 is used to drive the seedling delivering module 20 to move between the first extreme position, the center position and the second extreme position along the transverse direction; when the seedling delivering module 20 is in the center position, the seedling delivering rack 21 is located directly below the seedling storage rack 41, and the downward projection of the seedling replenishing opening 412 of the seedling storage rack 41 completely falls into the seedling delivering support surface 211.

[0113] The seedling throwing mechanism and the drone of the present application detect the position of the seedling delivery frame 21 and judge that the seedling delivery frame 21 is in the middle position before the seedlings are replenished. Specifically, the seedling throwing mechanism also includes a transverse position sensor, which is arranged between the seedling delivery frame 21 and the load module 10. The transverse position sensor senses a position signal when the seedling delivery module 20 is in the middle position. The controller generates a seedling replenishment signal according to the position signal of the transverse position sensor, and controls the seedling storage module 40 to replenish the seedlings.

[0114] In one embodiment, the seedling delivery rack 21 includes a plurality of seedling delivery trays arranged along the x direction, and the width of each seedling delivery tray is consistent with the width of a blanket of seedlings. Correspondingly, the seedling storage rack 41 includes a plurality of seedling storage trays arranged along the x direction.

[0115] In one embodiment, the seedling delivery rack 21 includes a first frame bottom plate and a first frame side plate connected to both sides of the width of the first frame bottom plate, and the first frame side plate is used to limit the lateral movement of the blanket surface, which is more stable. Correspondingly, the seedling storage rack 41 includes a second frame bottom plate and a second frame side plate connected to both sides of the width of the second frame bottom plate, and the second frame side plate is used to limit the lateral movement of the blanket surface, which is more stable.

[0116] In some embodiments, the load module 10 includes a main bracket, a first bracket, a second bracket, a third bracket, a fourth bracket, and a fifth bracket; the seedling delivery rack 21 is installed on the main bracket through the first bracket, the seedling storage rack 41 is installed on the main bracket through the second bracket, the seedling throwing module 30 is installed on the main bracket through the third bracket, the seedling support plate 50 is installed on the main bracket through the fourth bracket, and the transverse driving device 60 is installed on the main bracket through the fifth bracket. It can be understood that in other embodiments, the load module 10 can also be configured in other ways to achieve the installation of various components, modules, and devices.

[0117] When the rice seedling throwing mechanism is assembled to the drone, the load module 10 is connected to the frame 230 of the drone, or the load module 10 is connected to the fuselage 210 of the drone.

[0118] In some embodiments, the drone includes a fuselage 210, a frame 230 and a seedling throwing mechanism. The load module 10 is installed on the frame 230. The frame 230 may include a load frame 231 and a tripod 232. When the seedling throwing mechanism needs to be assembled or disassembled, the seedling throwing mechanism load module 10 and the drone frame 230 can be assembled or disassembled.

[0119] In other embodiments, the UAV includes a fuselage 210 and a seedling throwing mechanism, and the load module 10 includes a load frame 231, a tripod 232 and other structures. When the seedling throwing mechanism needs to be assembled or disassembled, the seedling throwing mechanism load module 10 can be assembled or disassembled with the UAV fuselage 210.

[0120] In this embodiment, the drone is a rotor drone, specifically a quad-rotor drone. Of course, it can also be a single-rotor drone, a dual-rotor drone, a six-rotor drone, an eight-rotor drone, etc. The drone can automatically operate according to a preset path, flight speed, attitude, etc., or be manually controlled by an operator. For ease of description, the drawings show directions such as front, back, left, right, up, and down. These directions are all relative positional relationships that can be clearly known to those skilled in the art when the drone is conventionally placed or flying.

[0121] 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 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 sowing device is installed to achieve the sowing 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.

[0122] 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.

[0123] 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.

[0124] 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.

[0125] 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 throwing module (30) installed on the load module (10); A seedling delivery module (20) is installed on the load module (10); the seedling delivery module (20) is used to deliver seedlings to the seedling throwing module (30); the seedling delivery module (20) comprises a seedling delivery frame (21), the seedling delivery frame (21) has a seedling delivery support surface (211), the seedling delivery support surface (211) is horizontal or the angle between the seedling delivery support surface (211) and the reference plane (90) of the seedling throwing mechanism is less than 40 degrees; A seedling storage module (40) is installed on the load module (10); the seedling storage module (40) comprises a plurality of seedling storage racks (41), the plurality of seedling storage racks (41) are arranged above the seedling delivery rack (21) and are arranged at intervals; the seedling storage rack (41) has a seedling storage support surface (411), the seedling storage support surface (411) is inclined or perpendicular to the seedling delivery support surface (211); a seedling replenishment opening (412) is formed on one side of the seedling storage rack (41) close to the seedling delivery rack (21), and the seedlings on the seedling storage rack (41) can fall onto the seedling delivery support surface (211) through the seedling replenishment opening (412).

2. The seedling throwing mechanism according to claim 1, characterized in that: The seedling delivery module (20) comprises a first conveying assembly (22); a seedling delivery opening (213) is formed on one side of the seedling delivery frame (21) in the y direction, and the first conveying assembly (22) is used to convey the seedlings on the seedling delivery support surface (211) to the seedling delivery opening (213) along the y direction; A plurality of seedling storage racks (41) are arranged at intervals along the y direction.

3. The seedling throwing mechanism according to claim 2, characterized in that: The seedling delivery support surface (211) comprises a plurality of seedling dropping areas (80) distributed along the y direction; the plurality of seedling replenishing openings (412) are respectively located above the plurality of seedling dropping areas (80); and each of the seedling dropping areas (80) is provided with the first conveying assembly (22).

4. The seedling throwing mechanism according to claim 2, characterized in that: The seedling delivery module (20) comprises a plurality of seedling position sensors, and the plurality of seedling position sensors are arranged on the seedling delivery frame (21) at intervals along the y direction.

5. The seedling throwing mechanism according to claim 2, characterized in that: The seedling delivery frame (21) comprises a first frame body (2101) and a second frame body (2102) connected to each other; the seedling delivery support surface (211) is formed on the top surface of the first frame body (2101); the second frame body (2102) extends downward relative to the first frame body (2101), and the top surface of the second frame body (2102) forms a seedling sliding surface (212); and the seedling delivery opening (213) is formed at the bottom end of the second frame body (2102).

6. The seedling throwing mechanism according to claim 5, characterized in that: The second frame (2102) is bent downward, and the sliding surface (212) is a curved surface.

7. The seedling throwing mechanism according to any one of claims 1 to 6, characterized in that: The plurality of seedling storage support surfaces (411) face the same side of the seedling throwing mechanism; the plurality of seedling storage support surfaces (411) are parallel to each other, or the relative angle between any two of the seedling storage support surfaces (411) is less than 10 degrees.

8. The seedling throwing mechanism according to any one of claims 1 to 6, characterized in that: The seedling storage module (40) comprises a plurality of seedling retaining members (42); the seedling retaining members (42) are movably connected to the seedling storage frame (41), and the seedling retaining members (42) can move between an open position for opening the seedling replenishing opening (412) and a closed position for blocking the seedling replenishing opening (412).

9. The seedling throwing mechanism according to any one of claims 1 to 6, characterized in that: The seedling storage module (40) comprises a plurality of second conveying assemblies; the seedling storage rack (41) is provided with the second conveying assemblies, and the second conveying assemblies are used to convey the seedlings on the seedling storage support surface (411) to the seedling replenishing opening (412).

10. The seedling throwing mechanism according to claim 2, characterized in that: The seedling throwing module (30) is used to separate and throw out the seedlings; the seedling throwing module (30) comprises a first driver (31), a seedling throwing seat (32) and a seedling taker (33); one or more seedling takers (33) are installed on the seedling throwing seat (32), the first driver (31) is installed on the load module (10), and the first driver (31) is connected to the seedling throwing seat (32) to drive the seedling throwing seat (32) to rotate.

11. The seedling throwing mechanism according to claim 10, characterized in that: The seedling throwing module (30) comprises a seedling supporting plate (50), the seedling supporting plate (50) being arranged beside the seedling delivery opening (213), the seedling supporting plate (50) being used for supporting the seedlings delivered from the seedling delivery opening (213); the seedling supporting plate (50) is provided with a seedling taking opening (51), and the first driver (31) is used for driving the seedling taking device (33) to rotate through the seedling taking opening (51).

12. The seedling throwing mechanism according to claim 1, characterized in that: The seedling throwing mechanism comprises a transverse driving device (60), and the transverse driving device (60) is installed on the load module (10); The seedling delivery module (20) is slidably mounted on the load module (10), the transverse driving device (60) is connected to the seedling delivery module (20), and the transverse driving device (60) is used to drive the seedling delivery module (20) to move transversely relative to the seedling throwing module (30); Alternatively, the seedling throwing module (30) is slidably mounted on the load module (10), the transverse driving device (60) is connected to the seedling throwing module (30), and the transverse driving device (60) is used to drive the seedling throwing module (30) to move transversely relative to the seedling delivery module (20).

13. The seedling throwing mechanism according to claim 12, characterized in that: When the transverse driving device (60) is connected to the seedling sending module (20), the seedling sending module (20) has a first extreme position, a center position and a second extreme position, and the transverse driving device (60) is used to drive the seedling sending module (20) to move between the first extreme position, the center position and the second extreme position along the transverse direction; The seedling throwing mechanism further comprises a transverse position sensor, which is arranged between the seedling sending frame (21) and the load module (10), and the transverse position sensor senses a position signal when the seedling sending module (20) is located at the center position.

14. A drone, characterized in that: include: Body (210); The seedling throwing mechanism according to any one of claims 1 to 13; the load module (10) is connected to the fuselage (210); wherein: The reference plane (90) is perpendicular to the heading axis of the drone.

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