Seedling throwing mechanism and automatic driving equipment

Abstract

The invention discloses a seedling slinging mechanism and automatic driving equipment. The seedling slinging mechanism comprises a seedling taking assembly and an ejection assembly, the seedling taking assembly has a first working state and a second working state, the seedling taking assembly clamps seedlings in the first working state, and the seedling taking assembly releases the seedlings in the second working state; the ejection assembly is arranged to be capable of impacting the seedlings after the seedlings are released by the seedling taking assembly so that the seedlings can be ejected and thrown out. Compared with traditional seedling slinging equipment, the seedling slinging device has the advantages that the seedlings can be directly grabbed from the seedling tray, so that the process of taking the seedlings down from the seedling tray in advance is reduced, and the seedling slinging efficiency is improved; meanwhile, the seedlings are directly clamped from the seedling tray, so that the roots of the seedlings do not need to be cut, and the influence on the growth of the planted seedlings caused by damage to the roots of the seedlings is avoided. The ejection assembly impacts the seedlings, so that the throwing direction and the initial throwing speed of the seedlings are controlled, the falling points of the seedlings can be effectively controlled, the seedlings can be more stably inserted into soil, and the seeding quality of the seedlings is guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of agricultural machinery, and in particular to a seedling throwing mechanism and an automatic driving device having the seedling throwing mechanism. Background Art

[0002] With the continuous development of the agricultural industry and the increasing attention paid by the country to agriculture, agricultural mechanization has gradually become popular in some parts of my country. Traditional mechanized farming requires a large amount of manpower costs, and as labor costs continue to increase, autonomous driving technology has also been applied in the field of agricultural machinery.

[0003] The transplanting mechanism in the prior art usually uses a cutting knife to cut the blanket seedlings, cutting the seedlings into individual discrete seedlings. The cutting action is on the root soil of the blanket seedlings, and the root system of the seedlings is damaged during the cutting process. Although manual separation of the blanket seedlings can avoid the above-mentioned damage to the root system, the manual operation is labor-intensive and the production efficiency is low. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide a seedling throwing mechanism and an automatic driving device, which can realize the efficient grasping and throwing of seedlings, and improve the sowing efficiency and sowing quality.

[0005] To achieve the above objectives, this application adopts the following technical solutions:

[0006] On the one hand, a seedling throwing mechanism is provided, comprising a seedling taking component and an ejection component;

[0007] The seedling taking assembly has a first working state and a second working state. In the first working state, the seedling taking assembly clamps the seedlings, and in the second working state, the seedling taking assembly releases the seedlings. The ejection assembly is configured to hit the seedlings after the seedling taking assembly releases the seedlings so that the seedlings are ejected.

[0008] Optionally, the seedling taking assembly includes a base and two clamping arms, and the two clamping arms can move toward each other or away from each other. When the two clamping arms move toward each other to the extreme position, the clamping mechanism is in a first working state, and when the two clamping arms move away from each other to the extreme position, the clamping mechanism is in a second working state.

[0009] Optionally, the clamping arm is rotatably mounted on the base, or the clamping arm is translationally mounted on the base.

[0010] Optionally, the two clamping arms are respectively a first clamping arm and a second clamping arm, and both the first clamping arm and the second clamping arm can be movably disposed relative to the base.

[0011] Optionally, the first clamping arm and the second clamping arm are driven by the same driving mechanism, or the first clamping arm and the second clamping arm are driven by different driving mechanisms respectively.

[0012] Optionally, the two clamping arms are respectively a first clamping arm and a second clamping arm, the first clamping arm is fixedly disposed on the base, and the second clamping arm is movably disposed relative to the first clamping arm.

[0013] Optionally, the ejection components and the seedling taking components are the same in number and correspond one to one, and the corresponding ejection components and the seedling taking components can be moved synchronously.

[0014] Optionally, the ejection assembly is fixedly arranged at a position where the corresponding seedling taking assembly is in the second working state.

[0015] Optionally, the ejection assembly includes an impact head and an ejection drive device for driving the impact head to move, and the impact head is located between the two clamping arms.

[0016] Optionally, the ejection drive device includes a device housing, a driving spring, a connecting rod transmission mechanism and a cam mechanism, the impact head is arranged at the end of the connecting rod transmission mechanism away from the driving spring, the driving spring is used to drive the connecting rod transmission mechanism to pop out to eject the seedlings, and the cam mechanism is used to drive the connecting rod transmission mechanism to compress the driving spring.

[0017] Optionally, a moving mechanism is further included, and the seedling taking assembly is arranged on the moving mechanism and can be moved to a first working position and a second working position along with the moving mechanism.

[0018] Optionally, the seedling taking assembly is in the first working state when it is in the first working position, and is in the second working state when it is in the second working position.

[0019] On the other hand, an automatic driving device is provided, on which the seedling throwing mechanism as described above is provided.

[0020] The beneficial effects of the present application are as follows: in the present solution, the seedlings are clamped by a clamping assembly. Compared with the traditional seedling throwing equipment, the present solution can directly grab the seedlings from the seedling tray, thereby reducing the process of removing the seedlings from the seedling tray in advance and improving the seedling throwing efficiency; at the same time, in the present solution, the seedlings are directly clamped from the seedling tray, so there is no need to cut the roots of the seedlings, thereby avoiding damage to the root system of the seedlings and affecting the growth of the seedlings after planting.

[0021] At the same time, an ejection component is provided, which impacts the seedlings through the ejection component so that the throwing direction and initial throwing speed of the seedlings can be controlled, thereby effectively controlling the landing point of the seedlings and enabling the seedlings to be more stably inserted into the soil, thereby ensuring the sowing quality of the seedlings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present application is further described in detail below based on the drawings and embodiments.

[0023] Figure 1 This is a schematic diagram of the overall structure of the seedling throwing mechanism described in an embodiment of the present application;

[0024] Figure 2 A structural schematic diagram of the seedling throwing mechanism described in an embodiment of the present application (the ejection component is not shown);

[0025] Figure 3 This is another structural schematic diagram of the seedling throwing mechanism described in the embodiment of the present application (the ejection component is not shown);

[0026] Figure 4 This is another structural schematic diagram of the seedling throwing mechanism described in the embodiment of the present application (the ejection component is not shown);

[0027] Figure 5 for Figure 4 Enlarged view of point I

[0028] Figure 6 This is another structural schematic diagram of the seedling throwing mechanism described in the embodiment of the present application (the ejection component is not shown);

[0029] Figure 7 It is a cross-sectional schematic diagram of the ejection assembly according to an embodiment of the present application;

[0030] Figure 8 for Figure 7 A partial enlarged view of position II in the middle;

[0031] Fig. 9 This is a schematic diagram of the operating status of the seedling throwing mechanism with three seedling taking components described in an embodiment of the present application.

[0032] icon:

[0033] 1. Seedlings;

[0034] 100, seedling removal assembly; 110, base; 120, clamping arm; 1201, connecting part; 1202, clamping part;

[0035] 200, ejection assembly; 210, impact head; 220, ejection drive device; 2201, device housing; 2202, drive spring; 2203, connecting rod transmission mechanism; 22031, first connecting rod; 22032, second connecting rod; 22033, first hinge shaft; 22034, intermediate connecting rod; 2204, cam mechanism;

[0036] 300, moving mechanism; 310, revolution motor;

[0037] 400, self-rotating motor;

[0038] 500. Connecting arm. DETAILED DESCRIPTION

[0039] In order to make the technical problems solved by this application, the technical solutions adopted, and the technical effects achieved more clearly, the technical solutions of the embodiments of this application are further described in detail below. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0040] In the description of this application, unless otherwise clearly specified and limited, the terms "connected", "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.

[0041] In the present application, 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.

[0042] like Figure 1-9As shown, a seedling throwing mechanism provided in an embodiment of the present application includes a seedling picking assembly 100 and an ejection assembly 200; the seedling picking assembly 100 has a first working state and a second working state, in the first working state the seedling picking assembly 100 clamps the seedling 1, and in the second working state the seedling picking assembly 100 releases the seedling 1; the ejection assembly 200 is configured to hit the seedling 1 after the seedling picking assembly 100 releases the seedling 1 so that the seedling 1 is ejected and thrown out.

[0043] The seedling throwing mechanism provided in the embodiment of the present application can be used for unmanned aerial vehicle seedling throwing. Specifically, the seedling throwing mechanism can be mounted on the unmanned aerial vehicle, and the seedling throwing mechanism can also include a seedling sending module, on which the seedlings can be placed, and the seedling taking assembly 100 and the ejection assembly 200 can be arranged on the seedling exit side of the seedling sending module. When the seedling throwing mechanism is working, the seedling sending module sends the seedlings to the seedling exit side, and the seedling taking assembly 100 clamps the leaves of the seedlings to take the seedlings out of the seedling tray. When the seedling taking assembly 100 releases the seedlings, the seedlings can be ejected by the ejection assembly 200 to achieve seedling throwing.

[0044] It should be noted that the seedlings described in the present application can be potted seedlings, that is, the seedlings are grown in a seedling tray with independent holes. After growth, each seedling is independent of each other, so that the seedling removal assembly 100 can directly clamp the leaves of the seedlings to take the independent seedling out of the seedling tray, and realize seedling throwing in combination with catapult.

[0045] In the present scheme, the seedlings 1 are clamped by a clamping component. Compared with the traditional seedling throwing equipment, the present scheme can directly grab the seedlings 1 from the seedling tray, thereby reducing the process of removing the seedlings 1 from the seedling tray in advance and improving the seedling throwing efficiency. At the same time, the present scheme directly clamps the seedlings 1 from the seedling tray, so there is no need to cut the roots of the seedlings 1, thereby avoiding damaging the root system of the seedlings 1 and affecting the growth of the seedlings 1 after planting.

[0046] At the same time, an ejection component 200 is provided, and the ejection component 200 hits the seedling 1 so that the throwing direction and the initial throwing speed of the seedling 1 are controlled, thereby effectively controlling the landing point of the seedling 1 and enabling the seedling 1 to be more stably inserted into the soil, thereby ensuring the sowing quality of the seedling 1.

[0047] The seedling removing assembly 100 in the embodiment of the present application includes a base 110 and two clamping arms 120. The two clamping arms 120 can move toward each other or move away from each other. When the two clamping arms 120 move toward each other to the extreme position, the clamping mechanism is in a first working state. When the two clamping arms 120 move away from each other to the extreme position, the clamping mechanism is in a second working state.

[0048] Specifically, refer to Figure 2-6As shown, the clamping arm 120 includes a connecting portion 1201 and a clamping portion 1202, wherein the connecting portion 1201 is used to connect to the base 110, and the clamping portion 1202 is used to cooperate with each other to clamp the seedlings 1. Each of the clamping arms 120 is a bent structure, and the two clamping portions 1202 are arranged close to each other. In the first working state where the two clamping portions 1202 are close to each other, the two connecting portions 1201 remain in a separated state. This structure can avoid the connection structure between the connecting portion 1201 and the base 110 occupying space and affecting the two clamping portions 1202 from approaching each other.

[0049] Reference Figure 3 As shown, in an optional embodiment of the present application, when the seedling picking assembly 100 is in the first working state, the two clamping parts 1202 are in contact with each other and are parallel to each other, and the two clamping parts 1202 in contact with each other abut against and clamp the seedling 1 to achieve the clamping thereof.

[0050] Under this structure, each position of the clamping part 1202 in the length direction can be used as a specific clamping position for the seedlings 1. In the process of clamping the seedlings 1, the relative position between the seedlings 1 and the clamping arm 120 does not need to be particularly precise in order to achieve reliable grasping of the seedlings 1. The grasping efficiency is higher and the requirements for the arrangement of the seedlings 1 on the seedling tray are lower.

[0051] It should be pointed out that the mutual contact between the two clamping parts 1202 in the first working state does not serve as a limitation to the present application. In other embodiments of the present application, the two clamping parts 1202 may only partially contact each other in the first working state, and the specific position of clamping the seedling 1 is at a position where the two clamping parts 1202 do not contact each other.

[0052] Specifically, refer to Figure 4-5 As shown, in another optional embodiment of the present application, the two clamping parts 1202 are arranged at an angle to each other in the length direction, and the ends of the two clamping parts 1202 away from the connecting part 1201 are in contact with each other in the first working state, and gradually separate from the contact end to the direction of the connecting part 1201, that is, when the two clamping parts 1202 are in the first working state, there is an angle α between the relative surfaces of the two. Under this structure, the position for clamping the seedling 1 is the gap position close to the ends of the two clamping parts 1202 that are in contact with each other. Clamping the seedling 1 through the gap position can avoid the seedling 1 from being injured, and the end contact can form a limiting function, so that the gap width close to the end is effectively controlled to ensure that its width can effectively clamp the seedling 1. It can be understood that the relative inclination angle α between the two clamping parts 1202 in this embodiment should be small enough, that is, when the ends are in contact with each other, the gap close to the contact end should be smaller than the leaf thickness of the seedling 1, so as to ensure that the seedling 1 is clamped.

[0053] In the present application, the switching action of the seedling removal assembly 100 between the first working state and the second working state can be achieved by various structures. Figure 2 , Figure 4 As shown, in an optional embodiment of the present application, the two clamping arms 120 are respectively hinged to the base 110 , and the movement toward or away from each other is achieved through the rotation of the clamping arms 120 .

[0054] It can be understood that, in the structure where the above-mentioned clamping arms 120 are hinged on the base 110, the two clamping arms 120 are hinged to the base 110 through the connecting portion 1201, and the distance between the two connecting portions 1201 should be relatively large. When the two clamping arms 120 rotate toward each other, the clamping arms 120 switch to the first working state, and when the two clamping arms 120 rotate to the extreme position close to each other, the seedling taking assembly 100 reaches the first working state; when the two clamping arms 120 rotate away from each other, the clamping arms 120 switch to the second working state, and when the two clamping walls rotate to separate a certain distance, the seedling taking assembly 100 reaches the second working state. After reaching the second working state, the two clamping arms 120 can continue to rotate away from each other to make their openings larger to avoid interference with the falling of the seedlings 1.

[0055] In the present application, the rotation of the two clamping arms 120 does not stop immediately after reaching the second working state. It can be understood that any position state in which the two clamping arms 120 continue to rotate away from each other after rotating away from each other to a certain distance is the second working state.

[0056] It should be pointed out that the fact that the clamping arms 120 of the seedling throwing mechanism described in the present application are rotatably mounted on the base 110 is not a limitation of the present application, and in other embodiments, the technical solution that the clamping arms 120 are translationally mounted on the base 110 may also be adopted. That is, the two clamping arms 120 respectively perform linear movements toward or away from each other during the process of moving toward or away from each other.

[0057] Specifically, refer to Figure 3As shown, in this embodiment, the two clamping arms 120 are respectively a first clamping arm 120 and a second clamping arm 120 . The above scheme is a scheme in which both the first clamping arm 120 and the second clamping arm 120 can be movably arranged relative to the base 110 . When both the first clamping arm 120 and the second clamping arm 120 are movable relative to the base 110, the driving scheme may be that the first clamping arm 120 and the second clamping arm 120 are driven by the same driving mechanism. For example, when the first clamping arm 120 and the second clamping arm 120 are respectively rotatably mounted on the base 110, the rotation of the two clamping arms 120 is driven by the same driving motor, and a transmission mechanism is provided between the driving motor and the two clamping arms 120. The synchronous movement of the two clamping arms 120 is achieved through transmission by the transmission mechanism. This scheme can reduce the number of driving motors, save installation space and also reduce equipment costs. Compared with the scheme of using different driving motors to drive the movement of the two clamping arms 120, this scheme is easier to control the synchronous movement of the two clamping arms 120, and the reliability of clamping the seedlings 1 is higher.

[0058] In the scheme of using the same drive motor to drive the two clamping arms 120, the specific structure of the transmission mechanism that transmits the output power of the drive motor to the two clamping arms 120 belongs to the technical means commonly used by technical personnel in this field and will not be described in detail in this application.

[0059] It should be pointed out that the solution of driving the two clamping arms 120 through the same drive motor is not a limitation of the present application. In other embodiments, the first clamping arm 120 and the second clamping arm 120 can also be driven by different drive mechanisms respectively. For example, the first clamping arm 120 and the second clamping arm 120 are driven by independent drive motors respectively to achieve relative movement.

[0060] The structure in this embodiment in which both clamping arms 120 are movable shortens the moving stroke of a single clamping arm 120 when the maximum spacing between the two clamping arms 120 is the same, thereby shortening the time required for the clamping action and improving work efficiency.

[0061] However, the above solution is not intended to limit the present application. Figure 6As shown, in another embodiment of the present application, the two clamping arms 120 are respectively a first clamping arm 120 and a second clamping arm 120 , the first clamping arm 120 is fixedly disposed on the base 110 , and the second clamping arm 120 is movably disposed relative to the first clamping arm 120 . That is, in the present embodiment, one of the two clamping arms 120 moves while the other is fixed. This structure can use a separate driving motor to drive the second clamping arm 120 to move. When the second clamping arm 120 moves toward the first clamping arm 120 and moves to the extreme position in this direction, the seedling taking assembly 100 is in the first working state. When the second clamping arm 120 moves to the extreme position in the direction away from the first clamping arm 120, the seedling taking assembly 100 is in the second working state. When entering the first working state, if there is a seedling 1 between the two clamping arms 120, the seedling 1 can be clamped. When the seedling taking assembly 100 clamping the seedling 1 is switched from the first working state to the second working state, the seedling 1 slides down from between the two clamping arms 120. After sliding down, the seedling 1 can be ejected out by the ejection assembly 200 to form a seedling throwing action.

[0062] In one embodiment of the present application, referring to Figure 1 As shown, the ejection assembly 200 is the same in number as the seedling taking assembly 100 and corresponds to each other one by one, and the ejection assembly 200 and the seedling taking assembly 100 can be moved synchronously. It can be understood that the positions of the seedling taking assembly 100 of the seedling throwing mechanism described in the present application are different when they are in the first working state and the second working state. By setting the ejection assembly 200 to be movable synchronously with the seedling taking assembly 100, there is no need to strictly limit the position of the second working state. Therefore, the position of the seedling 1 thrown can be set more flexibly and can be adjusted and modified as needed. For example, when the angle and orientation of the seedling throwing need to be adjusted, the position of the second working state can be adjusted. Since the ejection assembly 200 moves synchronously with the seedling taking assembly 100, the ejection assembly 200 can perform the ejection operation at any position when the seedling taking assembly 100 is switched to the second working state.

[0063] Optionally, in another embodiment of the present application, the ejection assembly 200 is fixedly arranged at the position where the corresponding seedling removal assembly 100 is in the second working state. In this case, the number of seedling removal assemblies 100 and the number of ejection assemblies 200 may be different, that is, one ejection assembly 200 may correspond to multiple seedling removal assemblies 100, and each seedling removal assembly 100 switches to the second working state when it moves to the position corresponding to the ejection assembly 200, and the rice seedling 1 is separated from the seedling removal assembly 100 within the range that the ejection assembly 200 can hit, and then is ejected and flies out by the impact of the ejection assembly 200. This structure can reduce the number of ejection assemblies 200, which is conducive to saving equipment costs.

[0064] It should be pointed out that the clamping arm 120 described in the present embodiment is installed on the base 110 and can be directly connected to the base 110 when the ejection assembly 200 is fixed in the second working state position. When the ejection assembly 200 and the seedling taking assembly 100 are the same in number and correspond one to one, the ejection assembly 200 can be connected to the base 110, and the seedling taking assembly 100 can be connected to the base 110 through the ejection assembly 200, or the seedling taking assembly 100 can be connected to the base 110, and the ejection assembly 200 can be connected to the base 110 through the seedling taking assembly 100, or the ejection assembly 200 and the seedling taking assembly 100 can be connected to the base 110 respectively.

[0065] Specifically, refer to Figure 7-8 As shown, the ejection assembly 200 in the embodiment of the present application includes an impact head 210 and an ejection driving device 220 for driving the impact head 210 to move, and the impact head 210 is located between the two clamping arms 120.

[0066] It can be understood that, in various relative position relationships between the above-mentioned seedling removal assembly 100 and the ejection assembly 200, the structure of the ejection assembly 200 can be the same, and the only difference lies in the installation method and installation position of the ejection assembly 200. A specific structure of the ejection assembly 200 is introduced below.

[0067] Reference Figure 7 As shown, the ejection drive device 220 includes a device housing 2201, a driving spring 2202, a connecting rod transmission mechanism 2203 and a cam mechanism 2204. The impact head 210 is arranged at the end of the connecting rod transmission mechanism 2203 away from the driving spring 2202. The driving spring 2202 is used to drive the connecting rod transmission mechanism 2203 to pop out to eject the seedling 1. The cam mechanism 2204 is used to drive the connecting rod transmission mechanism 2203 to compress the driving spring 2202.

[0068] For details, please refer to Figure 7 , Figure 8 As shown, the connecting rod transmission mechanism 2203 includes a first connecting rod 22031 and a second connecting rod 22032, the first connecting rod 22031 is hinged to the device housing 2201 through a first hinge shaft 22033, the second connecting rod 22032 is hinged to one end of the first connecting rod 22031, and the cam mechanism 2204 is arranged at the end of the first hinge shaft 22033 away from the second connecting rod 22032 and can selectively drive the first connecting rod 22031 to rotate around the first hinge shaft 22033. The rotation direction of the first connecting rod 22031 driven by the cam mechanism 2204 is opposite to the rotation direction of the first connecting rod 22031 pushed by the driving spring 2202.

[0069] like Figure 7 As shown, when the cam mechanism 2204 rotates in the clockwise direction, the raised position of the cam squeezes the first link 22031, causing the first link 22031 to rotate counterclockwise around the first hinge axis 22033. At this time, the first link 22031 will drive the second link 22032 to move and retract, and compress the drive spring 2202. The drive spring 2202 is compressed and stored by the first link 22031. When the cam mechanism 2204 continues to rotate and passes the highest position of the cam mechanism 2204, the cam mechanism 2204 no longer squeezes the first link 22031 and the drive spring 2202. The accumulated pressure of the drive spring 2202 is released, pushing the first link 22031 to rotate quickly around the first hinge axis 22033 in the clockwise direction. The first link 22031 pushes the second link 22032 to drive the impact head 210 to extend quickly, thereby achieving a ejection effect.

[0070] In the embodiment of the present application, a guide groove is further provided in the device housing 2201, and the second connecting rod 22032 is provided in the guide groove so that the second connecting rod 22032 can move linearly along the length direction of the guide groove.

[0071] Reference Figure 8 As shown, in order to ensure that the force direction of the second link 22032 during movement is along its length direction, an intermediate link 22034 is further arranged between the first link 22031 and the second link 22032, and the two ends of the intermediate link 22034 are respectively hinged to the first link 22031 and the second link 22032. The intermediate link 22034 plays a transit role in the process of transmitting the rotation of the first link 22031 to the second link 22032 to form a linear motion. It can adjust the force direction of the second link 22032, thereby avoiding the change of the moving direction of the second link 22032 or even the jamming phenomenon.

[0072] Generally, the gripping and throwing of the seedlings 1 need to be performed at different positions, so it is necessary to control the seedling taking assembly 100 to be in different positions in the first working state and the second working state. In order to achieve the above functions, this embodiment also includes a moving mechanism 300, and the seedling taking assembly 100 is arranged on the moving mechanism 300 and can be moved to the first working position and the second working position with the moving mechanism 300. The seedling taking assembly 100 is in the first working state when it is in the first working position, and is in the second working state when it is in the second working position.

[0073] Specifically, as shown in 1-4 and 6, the seedling throwing mechanism in this embodiment also includes a connecting arm 500, and the seedling throwing mechanism is connected to the seedling throwing equipment through the connecting arm 500. A revolving motor 310 is provided at the end of the connecting arm 500, and the moving mechanism 300 is connected to the connecting arm 500 so as to be relatively rotatable through the revolving motor 310.

[0074] In order to improve the efficiency of removing seedlings, the seedling removing assembly 100 described in the present application can be set to multiple, and the multiple seedling removing assemblies 100 are evenly arranged on the moving mechanism 300.

[0075] Specifically, refer to Figure 1-6 As shown, in an optional embodiment of the present application, two seedling taking assemblies 100 are arranged on the mobile mechanism 300, namely a first seedling taking assembly 100 and a second seedling taking assembly 100. The two seedling taking assemblies 100 can be moved along with the mobile mechanism 300, and the positions of the two seedling taking assemblies 100 are set so that when the first seedling taking assembly 100 is in the first working position, the second seedling taking assembly 100 is in the second working position, and when the second seedling taking assembly 100 is in the first working position, the first seedling taking assembly 100 is in the second working position. The first seedling taking assembly 100 and the second seedling taking assembly 100 perform seedling taking and seedling throwing work alternately, which can improve work efficiency.

[0076] It is understandable that the fact that there are two seedling taking assemblies 100 does not limit the present application. In other specific embodiments of the present application, three seedling taking assemblies 100, four seedling taking assemblies 100, five seedling taking assemblies 100, etc. may also be adopted.

[0077] In the present application, when there are more than two seedling taking assemblies 100, when one of the seedling taking assemblies 100 is in the first working position, any seedling taking assembly 100 in front of it in the rotation direction of the moving mechanism 300 is in the second working position.

[0078] The seedling throwing direction can be adjusted by placing different seedling taking assemblies 100 in front of the first working position in the second working position. Specifically, taking the mobile mechanism 300 with three seedling taking assemblies 100 as an example, refer to Fig. 9As shown, when the seedling taking assembly 100 at A is in the first working position, it is the first working state. At this time, if the seedling taking assembly 100 at B is in the second working state, then this position is the second working position, and the direction in which the seedling 1 is ejected and thrown at this position is the x direction in the figure. If the seedling taking assembly 100 at C is in the second working state, then this position is the second working position, and the direction in which the seedling 1 is ejected and thrown at this position is the y direction in the figure. By adjusting the seedling taking assembly 100 at B or at C to the second working position, the throwing direction of the seedling 1 can be changed, thereby adjusting the landing point of the seedling 1, so as to adjust the seedling throwing density according to the actual conditions such as the type of seedling 1 at the sowing site and the site environment.

[0079] Further, see Figure 2-4 As shown in Figures 6, the seedling taking assembly 100 in this embodiment further includes a self-rotation mechanism. The seedling taking assembly 100 is connected to the moving mechanism 300 via the self-rotation mechanism and can be movably arranged relative to the moving mechanism 300.

[0080] Specifically, in this embodiment, a self-rotating motor 400 is provided on the moving mechanism 300, and the self-rotating motor 400 is transmission-connected to the base 110, so as to drive the base 110 and the seedling removal assembly 100 and the ejection assembly 200 located on the base 110 to rotate.

[0081] Specifically, the seedling taking assembly 100 described in the present application can move by itself, and can also move with the moving mechanism 300 as a whole, so that during the working process, its self-rotation cooperates with the revolution formed by the moving mechanism 300 as a whole to enter the corresponding working position. By setting the seedling taking assembly 100 to be rotatable, it is more convenient to design the working angle of the seedling taking assembly 100 in the first working position and the second working position, so as to better grasp the seedlings 1 and eject the seedlings 1 at a better angle.

[0082] At the same time, an embodiment of the present application also provides an automatic driving device, on which the seedling throwing mechanism as described above is provided.

[0083] Preferably, the autonomous driving equipment is a seedling-casting drone. The use of a drone for seedling-casting operations can avoid compacting the soil and causing soil lumps to affect sowing. At the same time, the drone has a wider range of activities, which can improve sowing efficiency. The flight of the drone is not affected by the terrain, so it can be more widely used in agricultural sowing in terraces and hilly areas.

[0084] In the description of this article, it should be understood that the terms "upper", "lower", "left", "right", etc., and other directions or positional relationships are only for the convenience of description and simplification of operation, and do not indicate or imply 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 this application. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0085] 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.

[0086] 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.

[0087] The technical principles of the present application are described above in conjunction with specific embodiments. These descriptions are only for explaining the principles of the present application and cannot be interpreted as limiting the scope of protection of the present application in any way. Based on the explanations herein, those skilled in the art can think of other specific implementation methods of the present application without creative work, and these methods will fall within the scope of protection of the present application.

Claims

1. A seedling throwing mechanism, characterized in that: It comprises a seedling removal assembly (100) and an ejection assembly (200); The seedling retrieval assembly (100) has a first working state and a second working state. In the first working state, the seedling retrieval assembly (100) clamps the seedling (1), and in the second working state, the seedling retrieval assembly (100) releases the seedling (1). The ejection assembly (200) is configured to impact the seedling (1) after the seedling retrieval assembly (100) releases the seedling (1) so that the seedling (1) is ejected and thrown out.

2. The seedling throwing mechanism according to claim 1, characterized in that: The seedling retrieval assembly (100) comprises a base (110) and two clamping arms (120), wherein the two clamping arms (120) can move toward each other or move away from each other. When the two clamping arms (120) move toward each other to an extreme position, the clamping mechanism is in a first working state. When the two clamping arms (120) move away from each other to an extreme position, the clamping mechanism is in a second working state.

3. The seedling throwing mechanism according to claim 2, characterized in that: The clamping arm (120) is rotatably mounted on the base (110), or the clamping arm (120) is translationally mounted on the base (110).

4. The seedling throwing mechanism according to claim 3, characterized in that: The two clamping arms (120) are respectively a first clamping arm (120) and a second clamping arm (120), and both the first clamping arm (120) and the second clamping arm (120) can be movably arranged relative to the base (110).

5. The seedling throwing mechanism according to claim 4, characterized in that: The first clamping arm (120) and the second clamping arm (120) are driven by the same driving mechanism, or the first clamping arm (120) and the second clamping arm (120) are driven by different driving mechanisms respectively.

6. The seedling throwing mechanism according to claim 2, characterized in that: The two clamping arms (120) are respectively a first clamping arm (120) and a second clamping arm (120); the first clamping arm (120) is fixedly disposed on the base (110); and the second clamping arm (120) is movably disposed relative to the first clamping arm (120).

7. The seedling throwing mechanism according to any one of claims 1 to 6, characterized in that: The ejection components (200) and the seedling retrieval components (100) are the same in number and correspond one to one, and the corresponding ejection components (200) and the seedling retrieval components (100) can be moved synchronously.

8. The seedling throwing mechanism according to any one of claims 1 to 6, characterized in that: The ejection assembly (200) is fixedly arranged at the position where the corresponding seedling removing assembly (100) is in the second working state.

9. The seedling throwing mechanism according to any one of claims 1 to 6, characterized in that: The ejection assembly (200) comprises an impact head (210) and an ejection driving device (220) for driving the impact head (210) to move, and the impact head (210) is located between the two clamping arms (120).

10. The seedling throwing mechanism according to claim 9, characterized in that: The ejection drive device (220) comprises a device housing (2201), a drive spring (2202), a connecting rod transmission mechanism (2203) and a cam mechanism (2204); the impact head (210) is arranged at the end of the connecting rod transmission mechanism (2203) away from the drive spring (2202); the drive spring (2202) is used to drive the connecting rod transmission mechanism (2203) to eject to eject the seedling (1); and the cam mechanism (2204) is used to drive the connecting rod transmission mechanism (2203) to compress the drive spring (2202).

11. The seedling throwing mechanism according to any one of claims 1 to 6, characterized in that: It also comprises a moving mechanism (300), and the seedling removing assembly (100) is arranged on the moving mechanism (300) and can move to a first working position and a second working position along with the moving mechanism (300).

12. The seedling throwing mechanism according to claim 11, characterized in that: The seedling removing assembly (100) is in the first working state when it is in the first working position, and is in the second working state when it is in the second working position.

13. An automatic driving device, characterized in that: A seedling throwing mechanism according to any one of claims 1 to 12 is arranged thereon.

Images