Seedling throwing mechanism and automatic driving device

Abstract

The application discloses a seedling throwing mechanism and an automatic driving device, which comprises a seedling taking assembly and an ejection assembly. The seedling taking assembly has a first working state and a second working state. In the first working state, the seedling taking assembly clamps seedlings. In the second working state, the seedling taking assembly releases the seedlings. The ejection assembly is arranged to impact the seedlings after the seedling taking assembly releases the seedlings so that the seedlings are thrown out. Compared with a traditional seedling throwing device, the application can directly grab seedlings from a seedling tray, thereby reducing the process of previously taking the seedlings from the seedling tray and improving the seedling throwing efficiency. Meanwhile, the seedlings are directly clamped from the seedling tray, so that the seedling roots do not need to be cut, thereby avoiding damaging the seedling roots and affecting the growth of the seedlings after planting. The seedlings are impacted by the ejection assembly, so that the throwing direction and the initial throwing speed of the seedlings are controlled, thereby effectively controlling the landing points of the seedlings and enabling the seedlings to be more stably inserted into the soil, and the planting quality of the seedlings is ensured.

Description

Technical Field

[0001] This application relates to the field of agricultural machinery technology, and in particular to a rice seedling throwing mechanism and an automatic driving device having the rice seedling throwing mechanism. Background Technology

[0002] With the continuous development of the agricultural industry and the increasing emphasis placed on agriculture by the state, agricultural mechanization has gradually become widespread in some parts of my country. Traditional mechanized farming requires significant labor costs, and as labor costs continue to rise, autonomous driving technology is also being applied in the field of agricultural machinery.

[0003] Existing rice transplanting mechanisms typically use a cutting blade to cut the seedbed, separating the large patches of seedlings into individual, isolated seedlings. The cutting action targets the soil around the roots of the seedlings, which can damage the root system during the cutting process. While manually separating the seedbed can avoid this root damage, manual labor is labor-intensive and has low production efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide a seedling throwing mechanism and an automatic driving device, which can achieve efficient seedling grabbing and throwing, thereby improving sowing efficiency and sowing quality.

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

[0006] On the one hand, a seedling throwing mechanism is provided, including a seedling picking component and a catapult component;

[0007] The seedling-collecting component has a first working state and a second working state. In the first working state, the seedling-collecting component clamps the seedlings, and in the second working state, the seedling-collecting component releases the seedlings. The ejection component is configured to impact the seedlings after the seedling-collecting component releases them, causing the seedlings to be ejected.

[0008] Optionally, the seedling picking assembly includes a base and two clamping arms. The two clamping arms can move towards each other or away from each other. When the two clamping arms move towards each other to their limit positions, the clamping mechanism is in a first working state. When the two clamping arms move away from each other to their limit positions, 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 translatably mounted on the base.

[0010] Optionally, the two clamping arms are a first clamping arm and a second clamping arm, and both the first clamping arm and the second clamping arm can be movably configured 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.

[0012] Optionally, the two clamping arms are 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 movable relative to the first clamping arm.

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

[0014] Optionally, the ejection assembly is fixedly installed at the position where the corresponding seedling-picking 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, the impact head being located between the two clamping arms.

[0016] Optionally, the ejection drive device includes a device housing, a drive spring, a linkage transmission mechanism, and a cam mechanism. The impact head is located at the end of the linkage transmission mechanism away from the drive spring. The drive spring is used to drive the linkage transmission mechanism to eject the seedlings. The cam mechanism is used to drive the linkage transmission mechanism to compress the drive spring.

[0017] Optionally, it also includes a moving mechanism, wherein the seedling picking component is disposed on the moving mechanism and can move with the moving mechanism to a first working position and a second working position.

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

[0019] On the other hand, an autonomous driving device is provided, which is equipped with the seed-throwing mechanism described above.

[0020] The beneficial effects of this application are as follows: In this solution, the seedlings are held by the clamping component. Compared with the traditional seedling throwing equipment, this 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 efficiency of seedling throwing. At the same time, the solution can directly grab the seedlings from the seedling tray without cutting 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] Meanwhile, a catapult assembly is provided, which controls the direction and initial velocity of the seedlings as they are launched by impacting them. This effectively controls the landing point of the seedlings and allows them to be inserted into the soil more stably, ensuring the quality of seedling sowing. Attached Figure Description

[0022] The present application will now be described in further detail with reference to the accompanying drawings and embodiments.

[0023] Figure 1 This is a schematic diagram of the overall structure of the rice-throwing mechanism described in the embodiments of this application;

[0024] Figure 2 This is a schematic diagram of a rice-throwing mechanism according to an embodiment of this application (the ejection assembly is not shown);

[0025] Figure 3 This is a schematic diagram of another structure of the rice-throwing mechanism described in the embodiments of this application (the ejection assembly is not shown);

[0026] Figure 4 This is a schematic diagram of another structure of the rice-throwing mechanism described in the embodiments of this application (the ejection assembly is not shown);

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

[0028] Figure 6 This is a schematic diagram of another structure of the rice-throwing mechanism described in the embodiments of this application (the ejection assembly is not shown);

[0029] Figure 7 This is a cross-sectional schematic diagram of the ejection assembly described in an embodiment of this application;

[0030] Figure 8 for Figure 7 Enlarged view of section II in the middle;

[0031] Figure 9 This is a schematic diagram of the operating state of the seedling throwing mechanism with three seedling picking components described in the embodiments of this application.

[0032] icon:

[0033] 1. Rice seedlings;

[0034] 100. Seedling picking component; 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. Linkage transmission mechanism; 22031. First link; 22032. Second link; 22033. First hinge shaft; 22034. Intermediate link; 2204. Cam mechanism;

[0036] 300. Moving mechanism; 310. Revolutionary motor;

[0037] 400. Self-rotating motor;

[0038] 500, connecting arm. Detailed Implementation

[0039] To make the technical problems solved by this application, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of this application are further described in detail below. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0040] In the description of this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0041] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0042] like Figure 1-9As shown in the figure, an embodiment of this application provides a seedling throwing mechanism, including a seedling picking component 100 and a ejection component 200; the seedling picking component 100 has a first working state and a second working state, in the first working state the seedling picking component 100 clamps the seedling 1, and in the second working state the seedling picking component 100 releases the seedling 1; the ejection component 200 is configured to impact the seedling 1 after the seedling picking component 100 releases the seedling 1 so that the seedling 1 is ejected.

[0043] The seedling throwing mechanism provided in this application embodiment can be used for seedling throwing by drones. Specifically, the seedling throwing mechanism can be mounted on a drone and may also include a seedling delivery module on which seedlings can be placed. The seedling delivery module can be equipped with the seedling picking component 100 and the ejection component 200 on its seedling exit side. When the seedling throwing mechanism is working, the seedling delivery module delivers the seedlings to the seedling exit side, the seedling picking component 100 clamps the leaves of the seedlings and removes them from the seedling tray, and when the seedling picking component 100 releases the seedlings, the seedlings can be ejected by the ejection component 200, thus realizing seedling throwing.

[0044] It should be noted that the seedlings described in this application can be pot seedlings, that is, seedlings are raised in seedling trays with independent holes. After the seedlings are raised, each seedling is independent of the others. Thus, the seedling taking component 100 can directly hold the leaves of the seedling and take the independent seedling out of the seedling tray, and combine with ejection to achieve seedling throwing.

[0045] In this solution, the seedling 1 is held by a clamping component. Compared with traditional seedling throwing equipment, this solution can directly grab the seedling 1 from the seedling tray, thereby reducing the process of removing the seedling 1 from the seedling tray in advance and improving the efficiency of seedling throwing. At the same time, the solution can directly grab the seedling 1 from the seedling tray without cutting the roots of the seedling 1, thereby avoiding damage to the root system of the seedling 1 and affecting the growth of the seedling 1 after planting.

[0046] Meanwhile, a catapult assembly 200 is provided. By impacting the seedling 1 with the catapult assembly 200, the direction and initial velocity of the seedling 1 can be controlled, thereby effectively controlling the landing point of the seedling 1 and enabling the seedling 1 to be inserted into the soil more stably, ensuring the sowing quality of the seedling 1.

[0047] The seedling-harvesting assembly 100 described in this embodiment includes a base 110 and two clamping arms 120. The two clamping arms 120 can move towards each other or away from each other. When the two clamping arms 120 move towards each other to their limit positions, the clamping mechanism is in a first working state. When the two clamping arms 120 move away from each other to their limit positions, the clamping mechanism is in a second working state.

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

[0049] Reference Figure 3 As shown, in an optional embodiment of this application, when the seedling taking component 100 is in the first working state, the two clamping parts 1202 are in contact with each other and are parallel to each other. The two clamping parts 1202 that are in contact with each other abut and clamp the seedling 1, thereby realizing the clamping of it.

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

[0051] It should be noted that the fact that the two clamping parts 1202 are in contact with each other in the first working state is not a limitation of this application. In other embodiments of this application, the two clamping parts 1202 may only be in partial contact in the first working state, and the specific position of clamping the seedling 1 may be located at the position where the two clamping parts 1202 are not in contact with each other.

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

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

[0054] It is understandable that, in the above-mentioned structure where the clamping arm 120 is hinged to the base 110, the two clamping arms 120 are hinged to the base 110 through the connecting part 1201, and the distance between the two connecting parts 1201 should be large. When the two clamping arms 120 rotate towards each other, the clamping arms 120 switch to the first working state. When the two clamping arms 120 rotate to the extreme position where they are close to each other, the seedling picking component 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. When the two clamping arms rotate to a certain distance apart, the seedling picking component 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 the opening larger and avoid interfering with the falling of the seedlings 1.

[0055] In this 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 where the two clamping arms 120 rotate in opposite directions to a certain distance apart and then continue to rotate in opposite directions is the second working state.

[0056] It should be noted that the rotatable mounting of the clamping arm 120 to the base 110 in the rice-throwing mechanism described in this application is not a limitation of this application. In other embodiments, the clamping arm 120 can also be translatably mounted to the base 110. That is, the two clamping arms 120 perform linear movements toward each other or away from each other during their mutual approach and separation movements.

[0057] Specifically, refer to Figure 3As shown, in this embodiment, the two clamping arms 120 are a first clamping arm 120 and a second clamping arm 120, respectively. The above solution provides a solution in which both the first clamping arm 120 and the second clamping arm 120 can be moved relative to the base 110. When both the first clamping arm 120 and the second clamping arm 120 can move relative to the base 110, the driving scheme can 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 rotatably mounted on the base 110, the rotation of the two clamping arms 120 is driven by the same driving motor. A transmission mechanism is set between the driving motor and the two clamping arms 120. The synchronous movement of the two clamping arms 120 is achieved through the transmission mechanism. This scheme can reduce the number of driving motors, save installation space, and 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 to transmit the output power of the drive motor to the two clamping arms 120 is a technical means commonly used by those skilled in the art, and will not be described in detail in this application.

[0059] It should be noted that the above-mentioned scheme of driving the two clamping arms 120 through the same drive motor is not intended to limit this application. In other embodiments, the first clamping arm 120 and the second clamping arm 120 may also be driven by different drive mechanisms. For example, the first clamping arm 120 and the second clamping arm 120 may be driven by independent drive motors to achieve relative movement.

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

[0061] However, the above solutions are not intended to limit this application; alternatively, reference may be made to... Figure 6As shown, in another embodiment of this application, the two clamping arms 120 are 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 movable relative to the first clamping arm 120. That is, in this embodiment, one of the two clamping arms 120 moves while the other remains stationary. This structure can use a separate drive motor to drive the second clamping arm 120 to move. When the second clamping arm 120 moves toward the direction of the first clamping arm 120 and moves to the extreme position in that direction, the seedling picking component 100 is in the first working state. When the second clamping arm 120 moves away from the first clamping arm 120 to the extreme position, the seedling picking component 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 picking component 100 holding the seedling 1 changes from the first working state to the second working state, the seedling 1 slides down between the two clamping arms 120. After the seedling 1 slides down, it can be ejected by the ejection component 200 to fly out, forming a seedling throwing action.

[0062] In one embodiment of this application, reference is made to Figure 1 As shown, the number of ejection components 200 and seedling-collecting components 100 are the same and correspond one-to-one. Correspondingly, the ejection components 200 and seedling-collecting components 100 can be moved synchronously. It is understood that the seedling-collecting component 100 of the seedling-throwing mechanism described in this application is in different positions in the first working state and the second working state. By setting the ejection component 200 to move synchronously with the seedling-collecting component 100, there is no need to strictly limit the position in the second working state. Therefore, the position where the seedling 1 is thrown can be set more flexibly and can be adjusted and modified as needed. For example, when the angle and orientation of the seedling throw need to be adjusted, the position in the second working state can be adjusted. Since the ejection component 200 and the seedling-collecting component 100 move synchronously, the ejection component 200 can perform the ejection operation at any position when the seedling-collecting component 100 switches to the second working state.

[0063] Optionally, in another embodiment of this application, the ejector component 200 is fixedly disposed at the position where the corresponding seedling-collecting component 100 is in the second working state. In this case, the number of seedling-collecting components 100 and the number of ejector components 200 can be different; that is, one ejector component 200 can correspond to multiple seedling-collecting components 100. When each seedling-collecting component 100 moves to the position corresponding to the ejector component 200, it switches to the second working state. The seedling 1 detaches from the seedling-collecting component 100 within the impact range of the ejector component 200 and is then ejected by the impact of the ejector component 200. This structure can reduce the number of ejector components 200, which is beneficial for saving equipment costs.

[0064] It should be noted that, in this embodiment, when the clamping arm 120 is installed on the base 110 and the ejector assembly 200 is fixedly set in the second working state position, it can be directly connected to the base 110. However, when the number of ejector assemblies 200 and seedling-taking assemblies 100 is the same and they correspond one-to-one, the ejector assembly 200 can be connected to the base 110 and the seedling-taking assembly 100 can be connected to the base 110 through the ejector assembly 200, or the seedling-taking assembly 100 can be connected to the base 110 and the ejector assembly 200 can be connected to the base 110 through the seedling-taking assembly 100, or the ejector 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 this embodiment includes an impact head 210 and an ejection drive device 220 for driving the impact head 210 to move. The impact head 210 is located between the two clamping arms 120.

[0066] It is understandable that under various relative positional relationships between the seedling-harvesting component 100 and the ejection component 200, the structure of the ejection component 200 can be the same. The only difference is the installation method and installation position of the ejection component 200. The following describes a specific structure of the ejection component 200.

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

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

[0069] like Figure 7 As shown, when the cam mechanism 2204 rotates clockwise, the cam's protruding position presses against the first connecting rod 22031, causing the first connecting rod 22031 to rotate counterclockwise around the first hinge axis 22033. At this time, the first connecting rod 22031 will drive the second connecting rod 22032 to move and retract, compressing the drive spring 2202. The drive spring 2202 is compressed and stores force by the first connecting rod 22031. When the cam mechanism 2204 continues to rotate and passes its highest position, the cam mechanism 2204 stops pressing against the first connecting rod 22031 and the drive spring 2202. The pressure stored in the drive spring 2202 is released, pushing the first connecting rod 22031 to quickly rotate clockwise around the first hinge axis 22033. The first connecting rod 22031 pushes the second connecting rod 22032 to quickly extend the impact head 210, achieving a catapult effect.

[0070] In this embodiment, a guide groove is further provided in the device housing 2201, and the second connecting rod 22032 is disposed 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 is along its length during movement, an intermediate link 22034 is also provided between the first link 22031 and the second link 22032. 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 role in the process of the rotation of the first link 22031 being transmitted to the second link 22032 to form a linear motion. It can adjust the force direction of the second link 22032, thereby preventing the second link 22032 from changing its movement direction or even getting stuck.

[0072] Typically, the picking and throwing of seedlings 1 need to be performed at different positions. Therefore, it is necessary to control the seedling picking component 100 to be in different positions in the first working state and the second working state. To achieve the above function, this embodiment also includes a moving mechanism 300. The seedling picking component 100 is disposed on the moving mechanism 300 and can move with the moving mechanism 300 to the first working position and the second working position. The seedling picking component 100 is in the first working state when it is in the first working position, and 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. The seedling throwing mechanism is connected to the seedling throwing equipment through the connecting arm 500. A revolution motor 310 is provided at the end of the connecting arm 500. The moving mechanism 300 is rotatably connected to the connecting arm 500 through the revolution motor 310.

[0074] To improve seedling harvesting efficiency, the seedling harvesting component 100 described in this application can be configured as multiple components, and the multiple seedling harvesting components 100 are evenly arranged on the moving mechanism 300.

[0075] Specifically, refer to Figure 1-6 As shown, in an optional embodiment of this application, two seedling-picking components 100 are provided on the moving mechanism 300, namely a first seedling-picking component 100 and a second seedling-picking component 100. The two seedling-picking components 100 can be moved and arranged with the moving mechanism 300, and the positions of the two seedling-picking components 100 are set such that when the first seedling-picking component 100 is in a first working position, the second seedling-picking component 100 is in a second working position, and when the second seedling-picking component 100 is in a first working position, the first seedling-picking component 100 is in a second working position. The first seedling-picking component 100 and the second seedling-picking component 100 alternately perform seedling picking and throwing operations, which can improve work efficiency.

[0076] It is understood that the above-mentioned seedling picking component 100 consists of two components and is not intended to limit this application. In other specific embodiments of this application, three seedling picking components 100, four seedling picking components 100, five seedling picking components 100, etc. may also be used.

[0077] In this application, when there are two or more seedling picking components 100, when one of the seedling picking components 100 is in the first working position, any one of the seedling picking components 100 in front of it in the rotation direction of the moving mechanism 300 is in the second working position.

[0078] The direction of seedling throwing can be adjusted by moving different seedling-grabbing components 100 in front of the first working position to the second working position. Specifically, taking a moving mechanism 300 with three seedling-grabbing components 100 as an example, refer to... Figure 9As shown, when the seedling-collecting component 100 at point A is in its first working position, it is in its first working state. If the seedling-collecting component 100 at point B is in its second working state, then that position is the second working position, and the seedling 1 is ejected from that position in the x-direction shown in the diagram. Similarly, if the seedling-collecting component 100 at point C is in its second working state, then that position is the second working position, and the seedling 1 is ejected from that position in the y-direction shown in the diagram. By adjusting whether the seedling-collecting component 100 is in its second working position at point B or C, the ejection direction of the seedling 1 can be changed, thereby adjusting the landing point of the seedling 1. This allows for adjustments to the seedling density based on the type of seedling 1 and the actual conditions of the planting site, such as the site environment.

[0079] Furthermore, refer to Figure 2-4 As shown in Figure 6, the seedling picking assembly 100 in this embodiment also includes a rotation mechanism. The seedling picking assembly 100 is connected to the moving mechanism 300 through the rotation mechanism and can be moved relative to the moving mechanism 300.

[0080] Specifically, in this embodiment, a self-rotating motor 400 is provided on the moving mechanism 300. The self-rotating motor 400 is connected to the base 110 and drives the base 110, the seedling picking component 100 located on the base 110, and the ejection component 200 to rotate.

[0081] Specifically, the seedling-grabbing component 100 described in this application is movable and can move as a whole with the moving mechanism 300, so that its rotation during operation is coordinated with the revolution formed by the moving mechanism 300 to enter the corresponding working position. By setting the seedling-grabbing component 100 to be rotatable, it is easier to design the working angle of the seedling-grabbing component 100 in the first working position and the second working position, so as to better grasp the seedling 1 and throw the seedling 1 out at a better angle.

[0082] Meanwhile, this application also provides an autonomous driving device, which is equipped with the rice-throwing mechanism described above.

[0083] Preferably, the autonomous driving device is a rice-throwing drone. Using a drone for rice-throwing can avoid compacting the soil and causing soil clogging, which would affect sowing. At the same time, the drone has a wider range of operations, which can improve sowing efficiency. The drone's flight is not affected by terrain, so it can be more widely used in agricultural sowing in terraced fields and hilly areas.

[0084] In the description herein, it should be understood that the terms "upper," "lower," "left," "right," and other orientations or positional relationships are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used merely for descriptive distinction and have no special meaning.

[0085] In the description of this specification, references to terms such as "an embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0086] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0087] The technical principles of this application have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of this application and should not be construed as limiting the scope of protection of this application in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of this application without inventive effort, and these embodiments will all fall within the scope of protection of this application.

Claims

1. A rice seedling throwing mechanism, characterized in that, Includes a seedling-harvesting component (100) and a catapult component (200); The seedling-collecting component (100) has a first working state and a second working state. In the first working state, the seedling-collecting component (100) clamps the seedling (1), and in the second working state, the seedling-collecting component (100) releases the seedling (1). The ejection component (200) is configured to impact the seedling (1) after the seedling-collecting component (100) releases the seedling (1), causing the seedling (1) to be ejected. The number of ejection components (200) is the same as the number of seedling-collecting components (100), and they correspond one-to-one. The seed-shooting assembly (200) and the seedling-picking assembly (100) can be moved synchronously; it also includes a moving mechanism (300), on which the seedling-picking assembly (100) is mounted and can move with the moving mechanism (300) to a first working position and a second working position; the seedling-picking assembly (100) itself can move, and at the same time can move with the moving mechanism (300) as a whole, so that its rotation during operation is coordinated with the revolution formed by the moving mechanism (300) as a whole to enter the corresponding working position.

2. The rice-throwing mechanism according to claim 1, characterized in that, The seedling picking assembly (100) includes a base (110) and two clamping arms (120). The two clamping arms (120) can move towards each other or away from each other. When the two clamping arms (120) move towards each other to their limit positions, the clamping mechanism is in a first working state. When the two clamping arms (120) move away from each other to their limit positions, the clamping mechanism is in a second working state.

3. The rice-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 translatably mounted on the base (110).

4. The rice-throwing mechanism according to claim 3, characterized in that, The two clamping arms (120) are 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 moved relative to the base (110).

5. The rice-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.

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

7. The rice-throwing mechanism according to any one of claims 1-6, characterized in that, The ejection assembly (200) is fixedly installed at the position where the corresponding seedling-picking assembly (100) is in the second working state.

8. The rice-throwing mechanism according to any one of claims 1-6, characterized in that, The ejection assembly (200) includes an impact head (210) and an ejection drive device (220) for moving the impact head (210), the impact head (210) being located between the two clamping arms (120).

9. The rice-throwing mechanism according to claim 8, characterized in that, The ejection drive device (220) includes a device housing (2201), a drive spring (2202), a linkage transmission mechanism (2203), and a cam mechanism (2204). The impact head (210) is located at the end of the linkage transmission mechanism (2203) away from the drive spring (2202). The drive spring (2202) is used to drive the linkage transmission mechanism (2203) to eject the seedling (1). The cam mechanism (2204) is used to drive the linkage transmission mechanism (2203) to compress the drive spring (2202).

10. The rice-throwing mechanism according to claim 1, characterized in that, The seedling picking component (100) is in the first working state when it is in the first working position and in the second working state when it is in the second working position.

11. An autonomous driving device, characterized in that, It is provided with the rice-throwing mechanism as described in any one of claims 1-10.

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