Seedling throwing mechanism, seedling throwing equipment and seedling throwing unmanned aerial vehicle

Abstract

The invention discloses a seedling slinging mechanism, seedling slinging equipment and a seedling slinging unmanned aerial vehicle, the seedling slinging mechanism comprises a seedling conveying device and a seedling throwing device arranged below the seedling conveying device, and the seedling conveying device and the seedling throwing device are arranged at an interval; the seedling throwing-out device is arranged to be capable of falling into the action range of the seedling throwing-out device from the seedling conveying device, and is thrown out by the seedling throwing-out device. Compared with the mode that the seedlings directly fall in a free falling mode to be sown and the mode that the seedlings are thrown by traditional seedling throwing equipment, the seedling throwing mode in the embodiment can provide a higher initial flight speed for the seedlings, so that the seedlings can be thrown to a farther range, the seedling throwing equipment does not need to move in a large range which is the same as the seedling sowing range, and the seedling throwing efficiency is improved. Therefore, the seedling throwing efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of agricultural machinery, and in particular to a seedling throwing mechanism, a seedling throwing device having the seedling throwing mechanism, and a seedling throwing drone. 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 existing automated seedling-casting equipment is all ground-based walking equipment. In order to meet the requirements of simultaneously casting seedlings over a large range during operation, the equipment needs to be manufactured in a large size. The casting distance requirement for a single seedling is not high. When drones are used for seedling-casting operations, because the flight altitude of the drones can reach very high, the seedlings have a longer falling time during the seedling-casting process. Therefore, if the initial flight speed of the seedlings is increased, it will be beneficial for the long-distance flight of the seedlings, thereby realizing single-line flight for seedling sowing over a wider range. However, the initial speed of the seedlings of the existing seedling-casting equipment cannot meet the above requirements. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide a seedling throwing mechanism, a seedling throwing device and a seedling throwing drone, which can realize efficient throwing of seedlings and improve 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, including a seedling conveying device and a seedling throwing device arranged below the seedling conveying device, the seedling conveying device and the seedling throwing device are arranged at intervals, and are arranged so that the seedlings can fall from the seedling conveying device into the effective range of the seedling throwing device and be thrown by the seedling throwing device.

[0007] As an optional technical solution of the seedling throwing mechanism, the seedling throwing device is a horizontal conveyor belt. The seedlings fall on the horizontal conveyor belt and are horizontally transported to generate a certain initial velocity. They are thrown out after moving to the end of the horizontal conveyor belt.

[0008] As an optional technical solution of the seedling throwing mechanism, a plurality of baffles are arranged on the surface of the horizontal conveyor belt perpendicular to its conveying direction, and the baffles can push the seedlings falling on the surface of the horizontal conveyor belt to move.

[0009] As an optional technical solution of the seedling throwing mechanism, the seedling throwing device is a seedling throwing disk, which has a circular supporting surface. The seedling throwing disk can be rotatable around its center of circle. The seedlings in the seedling conveying device fall onto the supporting surface and are thrown out under the action of the centrifugal force of the rotation of the supporting surface.

[0010] As an optional technical solution of the seedling throwing mechanism, the distance R between the position where the seedlings fall onto the supporting surface and the rotation center of the seedling throwing disc is greater than 0.

[0011] As an optional technical solution of the seedling throwing mechanism, the supporting surface is a rough surface, and the seedlings falling thereon are driven to rotate along with the seedling throwing disc through friction.

[0012] As an optional technical solution of the seedling throwing mechanism, a limiting member is arranged on the supporting surface, and the seedlings are limited by the limiting member and can rotate along with the seedling throwing disc.

[0013] As an optional technical solution of the seedling throwing mechanism, there are multiple limiting members, and the multiple limiting members are evenly spaced apart on the supporting surface.

[0014] As an optional technical solution of the seedling throwing mechanism, a seedling throwing channel is formed between two adjacent limit members. Under the action of centrifugal force, the seedlings move from a position close to the rotation center in the seedling throwing channel to a direction away from the rotation center and finally break away from the seedling throwing disc and are thrown out.

[0015] As an optional technical solution of the seedling throwing mechanism, the seedling throwing channel is located at the edge of the seedling throwing plate to form a seedling outlet, and a guide member is provided at the seedling outlet.

[0016] As an optional technical solution of the seedling throwing mechanism, the guide member is adjustably connected to the limit member, and the opening size of the seedling outlet and the seedling throwing direction can be adjusted by adjusting the position of the guide member.

[0017] As an optional technical solution of the seedling throwing mechanism, the seedling throwing device is a rotatable seedling throwing wheel, and the seedling throwing wheel is provided with flapping blades. After the seedlings fall toward the seedling throwing wheel, they are flapped and thrown out by the flapping blades.

[0018] As an optional technical solution of the seedling throwing mechanism, there are multiple flapping blades, and the multiple flapping blades are evenly arranged on the seedling throwing wheel.

[0019] As an optional technical solution of the seedling throwing mechanism, the flapping blade includes a connecting portion and a flapping portion, the flapping portion has a flapping surface, and the flapping surface faces the tangent direction of the seedling throwing wheel.

[0020] As an optional technical solution of the seedling throwing mechanism, the seedling conveying device has a seedling conveying port, and the seedling conveying port is arranged toward the seedling throwing device.

[0021] As an optional technical solution of the seedling throwing mechanism, the seedling conveying device is a conical structure with holes at both ends, and the seedling conveying port is the smaller opening at the end.

[0022] As an optional technical solution of the seedling throwing mechanism, the seedling conveying device also includes a rotating conveying wheel arranged at the seedling conveying port, and the seedlings in the seedling container are output through the seedling conveying wheel.

[0023] On the other hand, a seedling throwing device is provided, which has a plurality of seedling throwing mechanisms as described above.

[0024] On the other hand, a rice seedling throwing drone is provided, comprising a fuselage and the rice seedling throwing device as described above.

[0025] The beneficial effects of the present application are as follows: the present invention discloses a seedling throwing mechanism, compared with seedlings directly falling in a free-fall manner for sowing and seedlings thrown by traditional seedling throwing equipment, the seedling throwing method of this embodiment can provide a higher initial flight speed for the seedlings, so that the seedlings can be thrown to a farther range without the need for the seedling throwing equipment to move over a large range as the seeding range of the seedlings, thereby improving the seedling throwing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present application is further described in detail below based on the drawings and embodiments.

[0027] Figure 1 This is a schematic diagram of the overall structure of the seedling throwing mechanism described in an embodiment of the present application;

[0028] Figure 2 This is a structural schematic diagram of the seedling throwing mechanism described in an embodiment of the present application from another perspective;

[0029] Figure 3 This is a schematic top view of the seedling throwing device described in the embodiment of the present application;

[0030] Figure 4 This is a schematic side view of the rice seedling throwing device according to an embodiment of the present application;

[0031] Figure 5 It is a schematic diagram of the overall structure of another structure of the seedling throwing mechanism described in an embodiment of the present application;

[0032] Figure 6 This is a structural schematic diagram of the seedling throwing mechanism described in an embodiment of the present application from another perspective;

[0033] Figure 7This is a schematic top view of the seedling throwing tray described in an embodiment of the present application;

[0034] Figure 8 This is a schematic top view of another structure of the seedling throwing tray described in an embodiment of the present application;

[0035] Fig. 9 This is a schematic top view of another structure of the seedling throwing tray described in the embodiment of the present application;

[0036] Fig.10 This is a schematic top view of another structure of the seedling throwing tray described in an embodiment of the present application;

[0037] Fig.11 This is a schematic top view of another structure of the seedling throwing tray described in an embodiment of the present application;

[0038] Fig.12 This is another structural schematic diagram of the seedling throwing mechanism described in the embodiment of the present application;

[0039] Fig.13 This is a schematic diagram of the structure of another seedling throwing device described in an embodiment of the present application;

[0040] Fig.14 This is a schematic diagram of the relative position relationship of the flapping blades of another seedling throwing wheel in an unfolded state according to an embodiment of the present application;

[0041] Fig.15 This is another structural schematic diagram of the seedling throwing mechanism described in the embodiment of the present application;

[0042] Fig.16 This is a schematic diagram of the three-dimensional structure of the drone described in the embodiment of the present application;

[0043] Fig.17 This is a schematic diagram of the assembly state of the seedling throwing mechanism and the tripod according to the embodiment of the present application;

[0044] Fig.18 This is a schematic diagram of another viewing angle of the assembly state of the seedling throwing mechanism and the tripod according to the embodiment of the present application;

[0045] icon:

[0046] 1. Seedlings;

[0047] 100, fuselage; 110, landing gear;

[0048] 200. Rice seedling throwing mechanism;

[0049] 210, rice seedling conveying device; 2101, rice seedling conveying port; 2102, rotating conveying wheel; 2103, hanging bracket;

[0050] 220. Rice seedling throwing device;

[0051] 2210, horizontal conveyor belt; 2211, roller; 2212, baffle;

[0052] 2220, seedling throwing plate; 2221, limiter; 2222, directional housing; 2223, opening; 2224, seedling throwing channel; 2225, seedling outlet; 2226, guide member;

[0053] 2230, seedling throwing wheel; 2231, flapping blade; 22311, connecting part; 22312, flapping part. DETAILED DESCRIPTION

[0054] 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.

[0055] 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.

[0056] 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.

[0057] Reference Figures 1 to 18As shown, an embodiment of the present application provides a seedling throwing mechanism 200, including a seedling conveying device 210 and a seedling throwing device 220 arranged below the seedling conveying device 210, the seedling conveying device 210 and the seedling throwing device 220 are arranged at intervals, and are arranged so that the seedlings 1 can fall from the seedling conveying device 210 into the effective range of the seedling throwing device 220 and be thrown by the seedling throwing device 220.

[0058] It can be understood that in the present application, when the seedlings 1 fall from the seedling conveying device 210 to the range of action of the seedling throwing device 220, the seedlings 1 can fall in the form of free fall, or the seedlings 1 can generate an initial moving speed and initial moving direction according to the conveying direction of the seedling conveying device 210 and the way of moving therein.

[0059] The seedling throwing mechanism 200 described in the embodiment of the present application is used in conjunction with a seedling 1 separation device, or can be used manually. The seedling 1 separation device includes a seedling placing board for placing blanket seedlings and a cutting knife arranged at the end of the seedling placing board. The cutting knife can rotate to cut the blanket seedlings within its cutting range into discrete seedlings 1 and make them fall into the seedling conveying device 210 below.

[0060] In the embodiment of the present application, the rice seedling 1 is taken as an example to be dropped vertically into the action range of the rice seedling throwing device 220 in the vertical direction. Figure 1-4 As shown, the seedling throwing device 220 in this embodiment is a horizontal conveyor belt 2210. The seedlings 1 fall on the horizontal conveyor belt 2210 and are horizontally conveyed to generate a certain initial velocity. After moving to the end of the horizontal conveyor belt 2210, they are thrown out.

[0061] Compared with the direct free-falling of the seedlings 1 for sowing and the throwing of the seedlings by traditional seedling throwing equipment, the seedling 1 throwing method of this embodiment can provide a higher initial flight speed for the seedlings 1, so that the seedlings 1 can be thrown to a wider range without the need for the seedling throwing equipment to move over a large range as the sowing range of the seedlings 1, thereby improving the seedling throwing efficiency.

[0062] It can be understood that the seedling throwing mechanism 200 described in the present application is used to throw out the scattered seedlings 1 for sowing, and the specific process of dispersing the seedlings 1 in pieces can be completed manually or mechanically in advance, which does not fall within the scope of protection of the present application and will not be described in detail in the present application.

[0063] In this embodiment, the upper surface of the horizontal conveyor belt 2210 is used as the action range of the seedling throwing device 220. In order to ensure that the seedlings 1 falling onto the surface of the horizontal conveyor belt 2210 will move with the horizontal conveyor belt 2210, refer to Figure 3 , 4As shown, Figure 3 2 shows a top view of the horizontal conveyor belt 2210 described in an embodiment of the present application. Figure 4 The side view of the horizontal conveyor belt 2210 described in the embodiment of the present application is shown. In the embodiment of the present application, a plurality of baffles 2212 are arranged on the surface of the horizontal conveyor belt 2210 perpendicular to its conveying direction, and the baffles 2212 can push the rice seedlings 1 that fall on the surface of the horizontal conveyor belt 2210 to move. When the rice seedlings 1 fall on the surface of the horizontal conveyor belt 2210, under the influence of inertia, the rice seedlings 1 will be difficult to move with the horizontal conveyor belt 2210, and even if the movement is generated by the friction between the two, the phenomenon of slipping may occur, resulting in the initial speed of the rice seedlings 1 when flying out being different from the initial speed of the rice seedlings 1 thrown out expected by controlling the transmission speed of the horizontal conveyor belt 2210, thereby affecting the sowing of the rice seedlings 1, especially when the weight difference between different rice seedlings 1 is large, the inertia has different effects on the movement state of the rice seedlings 1, which will affect the uniformity of the sowing of the rice seedlings 1. By setting the baffle 2212, when the seedlings 1 fall on the surface of the horizontal conveyor belt 2210, they will be located between two adjacent baffles 2212. In the movement direction of the horizontal conveyor belt 2210, the baffle 2212 located behind the seedlings 1 will push the seedlings 1 to move with the horizontal conveyor belt 2210, thereby ensuring that the initial speed of each seedling 1 when thrown out is the same as the transmission speed of the horizontal conveyor belt 2210, thereby ensuring the uniformity of sowing of the seedlings 1.

[0064] Reference Figure 4 As shown, in this embodiment, the horizontal conveyor belt 2210 is supported and driven by a roller 2211, and the roller 2211 at least includes an active roller connected to the roller 2211 driving device and a driven roller arranged at an end of the horizontal conveyor belt 2210 away from the active roller. Preferably, a plurality of supporting rollers can be further arranged between the active roller and the driven roller, and the supporting rollers abut against the upper side of the horizontal conveyor belt 2210 from the inside to prevent it from collapsing.

[0065] The structure of the seedling throwing device 220 being a horizontal conveyor belt 2210 is not intended to limit the present application. Figure 5-11 As shown, in another optional embodiment of the present application, the seedling throwing device 220 can also be a seedling throwing plate 2220, which is horizontally arranged below the seedling conveying device 210 and has a circular supporting surface. The seedling throwing plate 2220 can be rotatable around its center of circle, and the seedlings 1 in the seedling conveying device 210 fall onto the supporting surface and are thrown out under the action of the centrifugal force of the rotation of the supporting surface.

[0066] In order to enable the seedlings 1 to generate centrifugal force when they fall onto the supporting surface, in this embodiment, it is necessary to control the distance R between the position where the seedlings 1 fall onto the supporting surface and the rotation center of the seedling throwing plate 2220 to be greater than 0, that is, the seedling 1 falling point of the seedling conveying device 210 is set to deviate from the center of the seedling throwing plate 2220.

[0067] At the same time, the present application provides a variety of solutions to prevent the seedlings 1 from slipping on the supporting surface and being unable to rotate synchronously with the seedling throwing plate 2220. Figure 8 As shown, in an optional embodiment of the present application, the supporting surface is a rough surface, and the seedlings 1 falling thereon are driven to rotate along with the seedling throwing plate 2220 through friction.

[0068] Optionally, in another embodiment of the present application, the supporting surface is set as a rough surface in the specific form of providing stripes on the supporting surface along the radial direction of the seedling throwing disc 2220, and the stripes can provide thrust in the rotation direction for the seedlings 1 when the seedling throwing disc 2220 rotates. When the rotation speed of the seedlings 1 reaches a level that allows it to produce centrifugal motion, the stripes in this direction do not affect the radial movement of the seedlings 1.

[0069] It is understandable that the rough surface described in this embodiment as a striped structure is not a limitation of the present application. In other embodiments, a rough surface with a grid structure or a rough surface with a convex structure can also be used, as well as other surface forms that can increase friction that can be thought of by technical personnel in this field, as long as they can increase the friction between the supporting surface and the seedling 1.

[0070] At the same time, as a preferred technical solution, the present application does not require that the surface texture or bumps forming the rough surface be a uniform structure. In some optional embodiments, it can adopt a uniform texture or bump arrangement, but in other optional embodiments, it can adopt a non-uniformly arranged texture or bump structure.

[0071] In another optional embodiment of the present application, another solution is provided to prevent the seedlings 1 from slipping on the supporting surface, referring to Figure 9-10 As shown, a limiting piece 2221 is provided on the supporting surface, and the seedling 1 is limited by the limiting piece 2221 and can rotate with the seedling throwing disc 2220. When the seedling 1 falls on the supporting surface, if it slips and cannot rotate synchronously with the seedling throwing disc 2220, it will gradually approach the limiting piece 2221 until it abuts against the limiting piece 2221 and no longer slides relative to the seedling throwing disc 2220 in the rotation direction. At this time, the seedling 1 is blocked by the limiting piece 2221 and is pushed to rotate synchronously with the seedling throwing disc 2220. The seedling 1 generates centrifugal force under high-speed rotation, so that the seedling 1 is close to the limiting piece 2221 and moves toward the periphery of the seedling throwing disc 2220 until it is separated from the seedling throwing disc 2220 and is thrown out.

[0072] In order to control the rice seedlings 1 to be thrown from a specific direction, rather than flying out from any position around the rice seedling throwing plate 2220, which would cause the throwing direction to be uncontrollable, refer to Fig. 9 As shown, a directional shell 2222 is also provided in the embodiment of the present application. The directional shell 2222 is semi-enclosed and is arranged on the periphery of the seedling throwing plate 2220. It is fixedly installed and does not move with the rotation of the seedling throwing plate 2220. The directional shell 2222 is provided with an opening 2223 on one side, so that the seedling 1 can only be thrown out from the opening 2223.

[0073] Specifically, during the operation of the seedling throwing mechanism 200 described in this embodiment, when the seedling 1 falls onto the seedling throwing plate 2220 and rotates with the seedling throwing plate 2220, it will generate centrifugal motion in the radial direction until it moves to the periphery of the seedling throwing plate 2220. If the seedling 1 is at the opening 2223 of the corresponding directional shell 2222 at this time, it can fly out from the opening 2223 smoothly. If the seedling 1 is at other positions of the directional shell 2222 at this time, the seedling 1 will be blocked by the directional shell 2222, and continue to rotate with the seedling throwing plate 2220 inside the directional shell 2222 until it moves to the opening 2223 and is no longer blocked by the directional shell 2222 and flies out, thus completing the seedling throwing action.

[0074] Since the directional shell 2222 is fixed relative to the seedling throwing disc 2220, the opening 2223 on the seedling throwing shell is fixed in direction, so that the seedlings 1 can fly out from the opening 2223 in the same direction in sequence, ensuring that the seeds can be sown neatly in rows and columns.

[0075] exist Fig. 9In the illustrated embodiment, there is one limiting member 2221. When the seedling 1 falls onto the seedling throwing plate 2220, if the friction between the seedling 1 and the seedling throwing plate 2220 is sufficient to drive the seedling 1 to rotate with the seedling throwing plate 2220 without slipping, the seedling 1 will rotate with the seedling throwing plate 2220 until it is lifted off the seedling throwing plate 2220 and flies out. If the friction between the seedling 1 and the seedling throwing plate 2220 is insufficient to drive the seedling 1 to rotate synchronously with the seedling throwing plate 2220, the seedling 1 will gradually move to the position of the limiting member 2221 relative to the seedling throwing plate 2220. Because there is only one limiting member 2221, when slipping occurs between the seedling 1 and the seedling throwing plate 2220, the seedling 1 will gradually move to the position of the limiting member 2221 relative to the seedling throwing plate 2220. When the phenomenon occurs, when the falling position is relatively close to the limit piece 2221, the relative sliding distance between the seedlings 1 and the seedling throwing plate 2220 will be relatively large, and the sliding time will be relatively long; when the falling position is relatively far from the limit piece 2221, the relative sliding distance between the seedlings 1 and the seedling throwing plate 2220 will be relatively small, and the sliding time will be relatively short. The long sliding time means that the seedlings 1 stay on the seedling throwing plate 2220 for a longer time, which will affect the frequency of the seedlings 1 falling from the seedling throwing plate 2220, thereby affecting the spacing between the seedlings 1. At the same time, some seedlings 1 stay on the seedling throwing plate 2220 for too long, which will affect the seedling throwing efficiency.

[0076] Therefore, in another optional embodiment of the present application, referring to Fig.10 As shown, there are three limiting members 2221, and the three limiting members 2221 are evenly spaced on the supporting surface. By setting the limiting members 2221 in plurality, a seedling throwing channel 2224 is formed between two adjacent limiting members 2221. The seedling throwing channel 2224 is located at the edge of the seedling throwing disc 2220 to form an outlet for the seedlings 1. Under the action of centrifugal force, the seedlings 1 move from the position close to the rotation center in the seedling throwing channel 2224 to the direction away from the rotation center, and finally leave the seedling throwing disc 2220 and are thrown out. When the seedlings 1 fall from the seedling conveying device 210 to the seedling throwing disc 2220, they can fall into different channels, and the centrifugal force generated by the rotation makes them fly out of the channel, which can improve the seedling throwing efficiency while also ensuring the spacing of the seedlings 1, so that the seedlings 1 are arranged more neatly.

[0077] At the same time, in this embodiment, since multiple limiting members 2221 are provided to form multiple limiting channels, the seedling throwing plate 2220 is divided into multiple areas. Therefore, the range covered by each area is smaller, which can ensure that only one seedling 1 falls in each area at a time, avoiding the problem of repeated seedling throwing.

[0078] As an optional technical solution, refer to Fig.11 As shown, in the embodiment of the present application, a guide member 2226 is provided at the outlet of the seedling 1. The setting of the guide member 2226 can control the direction of the seedling 1 when it is thrown, so that the throwing is more accurate.

[0079] As a further preferred technical solution, the guide member 2226 is connected to the limit member 2221 in an adjustable position, and the size of the opening 2223 of the seedling 1 outlet and the direction of seedling throwing can be adjusted by adjusting the position of the guide member 2226.

[0080] It should be understood that due to the friction between the seedling throwing plate 2220 and the seedlings 1, not all seedlings 1 will stick to the limiting piece 2221 and rotate with the seedling throwing plate 2220. At this time, the throwing direction of the seedlings 1 will not be affected by the limiting piece 2221. Thus, in order to improve the accuracy of seedling throwing, it is necessary to control the size of the seedling 1 outlet through which the seedlings 1 can pass when thrown. By setting an adjustable guide piece 2226, when it is necessary to increase or decrease the size of the seedling 1 outlet, the position of the guide piece 2226 can be adjusted. Seedling 1 outlets of different sizes can be adapted to the throwing of different types of seedlings 1, thereby improving the versatility of the equipment.

[0081] Specifically, in this embodiment, one end of the guide member 2226 is hinged to the limiting member 2221 through a movable pin, and a limiting column is provided at the other end. A plurality of limiting holes are provided on the seedling casting plate 2220, and the position of the guide member 2226 can be adjusted by inserting the limiting column of the limiting member 2221 into different limiting holes.

[0082] It should be pointed out that the connection of the above-mentioned guide member 2226 to the limit member 2221 does not serve as a limitation to the present solution. In other embodiments of the present application, the guide member 2226 can be set on the directional shell 2222, or the limit member 2221 can be set to a specific shape to form the guide member 2226 thereon.

[0083] Reference Figure 12-14 As shown, in another embodiment of the seedling throwing mechanism 200 described in the present application, the seedling throwing device 220 is a rotatable seedling throwing wheel 2230, and the seedling throwing wheel 2230 is provided with flapping blades 2231. After the seedlings 1 fall toward the seedling throwing wheel 2230, they are flapped and thrown out by the flapping blades 2231.

[0084] The difference between this embodiment and the above-mentioned embodiments is that the movement direction of the seedling throwing device is different, and the way of applying force to the seedlings 1 is different. Specifically, the above-mentioned embodiments provide a throwing speed for the seedlings 1 through friction or thrust, and the throwing speed of the seedlings 1 is the same as the maximum speed of the horizontal conveyor belt 2210 or the seedling throwing plate 2220. In this embodiment, the seedlings 1 are beaten, and the beating blades 2231 hit the seedlings 1, so that the seedlings 1 can fly out at a higher speed, which can fully expand the sowing range of the seedlings 1 and improve the seedling throwing efficiency.

[0085] Specifically, refer to Figure 12-14As shown, there are three flapping blades 2231, and the three flapping blades 2231 are evenly arranged on the seedling throwing wheel 2230. The evenly arranged flapping blades 2231 cooperate with the even falling of the seedlings 1 on the seedling conveying device 210 so that each flapping blade 2231 can flap and throw one seedling 1, and the seedling throwing wheel 2230 can realize the throwing of multiple seedlings 1 after one rotation, thereby improving the efficiency of throwing.

[0086] It should be pointed out that in order to ensure that the seedlings 1 can effectively fall into the effective range of the seedling throwing device, the flapping blades 2231 in this embodiment should not be arranged too densely, and there should be enough space between adjacent flapping blades 2231 to allow the seedlings 1 to fall into them. Preferably, in this embodiment, three flapping blades 2231 are evenly arranged on the seedling throwing wheel 2230.

[0087] In this embodiment, the flapping blade 2231 includes a connecting portion 22311 and a flapping portion 22312. The flapping portion 22312 has a flapping surface, and the flapping surface is arranged toward the tangent direction of the seedling throwing wheel 2230. The flapping blade 2231 and the seedling throwing wheel 2230 can be a detachable connection structure or an integrally formed structure.

[0088] Specifically, taking the detachable connection structure of the flapping blade 2231 and the seedling throwing wheel 2230 as an example, a connection hole is provided on the seedling throwing wheel 2230, and the flapping blade 2231 is inserted into the connection hole and connected to the flapping wheel through the connection part 22311. In the embodiment of the present application, the connection hole is a threaded hole, and the connection part 22311 is a threaded column matched therewith.

[0089] In other embodiments of the present application, the flapping blade 2231 and the connecting hole may be connected by an interference fit plug-in connection or other connection methods that can be thought of by those skilled in the art.

[0090] It can be understood that the orientation of the above-mentioned beating surface is not a limitation of the present application. In other embodiments of the present application, the orientation of the beating surface can also be set to form a certain angle with the tangent direction of the seedling throwing wheel 2230, that is, during the seedling throwing process, the beating surface beats the seedlings 1 to the side of the seedling throwing wheel 2230.

[0091] At the same time, the flapping surfaces of the plurality of flapping parts 22312 on the seedling throwing wheel 2230 may face in different directions. Specifically, in another optional embodiment of the present application, refer to Fig.14FIG. 2 shows a schematic diagram of the relative position relationship between the three beating parts 22312 in the expanded state of the outer periphery of the seedling throwing wheel. The seedling throwing wheel 2230 is provided with three beating parts 22312, wherein the beating surface of each beating part 22312 is sequentially arranged to be inclined to the right relative to the tangent direction of the seedling throwing wheel 2230, toward the tangent direction of the seedling throwing wheel 2230, and inclined to the left relative to the tangent direction of the seedling throwing wheel 2230. During operation, when three rice seedlings 1 fall into the action range of the seedling throwing wheel 2230 in sequence, the first rice seedling 1 is beatingly inclined to the right side of the plane where the tangent of the seedling throwing wheel 2230 is located, as shown in the figure by X 1 The second seedling 1 is hit along the tangent direction X of the seedling throwing wheel 2230. 2 The third seedling 1 is hit and tilted to the left of the tangent direction of the seedling throwing wheel 2230 to the X in the figure. 3 Direction flying out, that is, three rows (or columns) of seedlings 1 can be sown at one time.

[0092] It should be pointed out that the above-mentioned setting method of the direction of the beating surface of the beating part 22312 is not a limitation of the present application. In other embodiments, more or fewer beating parts 22312 can be used, and the direction of each beating surface can also be reasonably set according to actual sowing needs.

[0093] Further, see Fig.15 As shown, the seedling conveying device 210 in the embodiment of the present application has a seedling conveying port 2101 , and the seedling conveying port 2101 is arranged toward the seedling throwing device 220 .

[0094] In the above schemes, it is necessary to control the landing point of the seedlings 1 from the seedling conveying device 210 to the seedling throwing device 220, so as to ensure that the seedlings 1 can fall to a reasonable position of the seedling conveying device 210 and be thrown out, and the throwing direction is controllable. Therefore, in order to simultaneously meet the requirements of accurate landing point and sufficient delivery of the seedlings 1, the seedling conveying device 210 described in this embodiment is a conical structure with openings 2223 at both ends, and the seedling delivery port 2101 is the smaller end opening 2223. The end with a larger opening 2223 can accommodate a larger number of seedlings 1, and the seedlings 1 gradually approach the seedling delivery port 2101 in the seedling conveying device 210, thereby reducing the range of their landing points.

[0095] It can be understood that in the present application, the seedling conveying device 210 can be the method for the seedlings 1 to fall from the seedling conveying port 2101 to the seedling throwing device 220 as described in the above embodiment, while in other embodiments, a more controllable seedling 1 conveying method can also be adopted. In another optional embodiment of the present application, the seedling conveying device 210 also includes a rotating conveying wheel 2102 arranged at the seedling conveying port 2101, and the seedlings 1 are output through the seedling conveying device 210.

[0096] Specifically, refer to Fig.15 As shown, the rotating conveying wheel 2102 includes a first conveying wheel and a second conveying wheel arranged on both sides of the seedling conveying port 2101. The first conveying wheel and the second conveying wheel can both rotate actively, and the distance between the two is set so that the seedling 1 is difficult to pass through the gap between the first conveying wheel and the second conveying wheel by its own gravity. When the seedling 1 needs to be conveyed to the seedling 1 throwing mechanism, the first conveying wheel and the second conveying wheel rotate towards each other, and the seedling 1 located between the two passes through the gap between the first conveying wheel and the second conveying wheel after being subjected to downward extrusion and friction. In this process, the root of the seedling 1 may be slightly deformed, but the root system will not be damaged to affect the sowing of the seedling 1; when the seedling 1 does not need to be output, the first conveying wheel and the second conveying wheel stop rotating, and the seedling 1 cannot pass through the gap between the two and will not fall.

[0097] A rotating conveying wheel 2102 is provided, and by controlling its rotation cycle, the falling speed of the seedlings 1 can be effectively controlled, so that it can be precisely matched with the seedling conveying device 210, to ensure the uniformity of the sowing of the seedlings 1 and to ensure the space required for the growth of the seedlings 1 to improve the sowing quality of the seedlings 1.

[0098] At the same time, the embodiment of the present application also provides a seedling throwing device, which has a plurality of the above-mentioned seedling throwing mechanisms 200. The seedling throwing device of this embodiment is provided with a plurality of the above-mentioned seedling throwing mechanisms 200, and each seedling throwing mechanism 200 can perform seedling throwing operations at the same time, which can greatly improve the seedling throwing efficiency.

[0099] The embodiment of the present application also provides a seedling throwing drone, which includes a fuselage 100 and the seedling throwing equipment as described above. By installing the seedling throwing equipment on the drone fuselage 100, the seedlings can be thrown in the air without touching the field. On the one hand, damage to the field and the seedlings 1 that have been planted can be avoided. On the other hand, the drone can fly more flexibly, and turning and movement are not controlled by the terrain, so the work efficiency is higher.

[0100] In the rice seedling throwing drone described in the embodiment of the present application, the rice seedling throwing equipment is suspended below the drone fuselage 100, referring to Figure 16-18 As shown, it includes a UAV landing gear 110, and the space formed inside the landing gear 110 is used to install a seedling conveying device 210 and a seedling throwing device 220. The seedling conveying device 210 is suspended on the landing gear 110, and the seedling throwing device 220 is suspended on the seedling conveying device 210. Taking the seedling throwing device 220 as a horizontal conveyor belt 2210 as an example, in this embodiment, a hanger 2103 is arranged below the seedling conveying device 210, and the active roller and the driven roller are rotatably mounted on the hanger 2103 respectively.

[0101] In another optional embodiment of the rice seedling throwing drone described in the present application, the rice seedling conveying device 210 and the rice seedling throwing device 220 are also arranged under the landing gear 110. The difference between it and the above-mentioned embodiment is that the rice seedling conveying device 210 is suspended on the landing gear 110, and the rice seedling throwing device 220 is mounted on an installation platform arranged on the legs of the landing gear 110.

[0102] The drone using the seedling throwing mechanism 200 described in the present application can efficiently and orderly throw the seedlings 1, thereby ensuring the sowing quality and improving the sowing efficiency.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] 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 (200), characterized in that: The invention comprises a seedling conveying device (210) and a seedling throwing device (220) arranged below the seedling conveying device (210); the seedling conveying device (210) and the seedling throwing device (220) are arranged at a distance from each other and are arranged so that the seedlings (1) can fall from the seedling conveying device (210) into the action range of the seedling throwing device (220) and be thrown by the seedling throwing device (220).

2. The seedling throwing mechanism (200) according to claim 1, characterized in that: The seedling throwing device (220) is a horizontal conveyor belt (2210). The seedling (1) falls on the horizontal conveyor belt (2210) and is horizontally conveyed to generate a certain initial velocity. After moving to the end of the horizontal conveyor belt (2210), the seedling is thrown out.

3. The seedling throwing mechanism (200) according to claim 2, characterized in that: A plurality of baffles (2212) are arranged on the surface of the horizontal conveyor belt (2210) perpendicular to its conveying direction, and the baffles (2212) can push the seedlings (1) falling on the surface of the horizontal conveyor belt (2210) to move.

4. The seedling throwing mechanism (200) according to claim 1, characterized in that: The seedling throwing device (220) is a seedling throwing disc (2220), and the seedling throwing disc (2220) has a circular supporting surface. The seedling throwing disc (2220) can be rotatably arranged around its center of circle. The seedlings (1) in the seedling conveying device (210) fall onto the supporting surface and are thrown out under the action of the rotating centrifugal force of the supporting surface.

5. The seedling throwing mechanism (200) according to claim 4, characterized in that: The distance R between the position where the seedling (1) falls onto the supporting surface and the rotation center of the seedling throwing plate (2220) is greater than 0.

6. The seedling throwing mechanism (200) according to claim 5, characterized in that: The supporting surface is a rough surface, and the seedlings (1) falling thereon are driven to rotate along with the seedling throwing plate (2220) through friction.

7. The seedling throwing mechanism (200) according to claim 4, characterized in that: A limiting member (2221) is arranged on the supporting surface, and the rice seedling (1) is limited by the limiting member (2221) and can rotate along with the rice seedling throwing plate (2220).

8. The seedling throwing mechanism (200) according to claim 7, characterized in that: There are a plurality of the limiting members (2221), and the plurality of limiting members (2221) are evenly spaced apart on the supporting surface.

9. The seedling throwing mechanism (200) according to claim 8, characterized in that: A seedling throwing channel (2224) is formed between two adjacent limiting members (2221), and the seedlings (1) are moved from a position close to the rotation center in the seedling throwing channel (2224) to a direction away from the rotation center under the action of centrifugal force, and finally separated from the seedling throwing disc (2220) and thrown out.

10. The seedling throwing mechanism (200) according to claim 9, characterized in that: The seedling throwing channel (2224) is located at the edge of the seedling throwing plate (2220) to form a seedling outlet (2225), and a guide member (2226) is provided at the seedling outlet (2225).

11. The seedling throwing mechanism (200) according to claim 10, characterized in that: The guide member (2226) is connected to the limiting member (2221) in an adjustable position, and the size of the opening (2223) of the seedling outlet (2225) and the direction of seedling throwing can be adjusted by adjusting the position of the guide member (2226).

12. The seedling throwing mechanism (200) according to claim 1, characterized in that: The seedling throwing device (220) is a rotatable seedling throwing wheel (2230), and the seedling throwing wheel (2230) is provided with a beating blade (2231). After the seedling (1) falls in the direction of the seedling throwing wheel (2230), it is beaten and thrown out by the beating blade (2231).

13. The seedling throwing mechanism (200) according to claim 12, characterized in that: There are a plurality of the beating blades (2231), and the plurality of the beating blades (2231) are evenly arranged on the seedling throwing wheel (2230).

14. The seedling throwing mechanism (200) according to claim 12, characterized in that: The flapping blade (2231) comprises a connecting portion (22311) and a flapping portion (22312), wherein the flapping portion (22312) has a flapping surface, and the flapping surface faces the tangent direction of the seedling throwing wheel (2230).

15. The seedling throwing mechanism (200) according to any one of claims 1 to 14, characterized in that: The rice seedling conveying device (210) has a rice seedling conveying port (2101), and the rice seedling conveying port (2101) is arranged toward the rice seedling throwing device (220).

16. The seedling throwing mechanism (200) according to claim 15, characterized in that: The seedling conveying device (210) is a conical structure with openings at both ends, and the seedling conveying port (2101) is the opening at the smaller end.

17. The seedling throwing mechanism (200) according to claim 16, characterized in that: The seedling conveying device (210) further comprises a rotating conveying wheel (2102) arranged at the seedling conveying port (2101), and the seedlings (1) in the seedling (1) container are output via the seedling (1) conveying wheel.

18. A rice seedling throwing device, characterized in that: A seedling throwing mechanism (200) is provided according to any one of claims 1 to 17.

19. A rice seedling throwing drone, characterized in that: It comprises a body (100) and the rice seedling throwing equipment as claimed in claim 18.

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