Rice transplanting mechanism, rice transplanting equipment and rice transplanting drone

Abstract

This invention discloses a seedling throwing mechanism, seedling throwing equipment, and a seedling throwing drone. It includes a seedling conveying device and a seedling throwing device disposed below the seedling conveying device. The seedling conveying device and the seedling throwing device are spaced apart and configured so that seedlings can fall from the seedling conveying device into the effective range of the seedling throwing device and be thrown out by it. Compared to seedlings falling directly in free fall for sowing and traditional seedling throwing equipment, the seedling throwing method of this embodiment provides the seedlings with a higher initial flight speed, thereby scattering the seedlings over a greater distance without requiring the seedling throwing equipment to move over a large area equal to the seedling sowing range, thus improving seedling throwing efficiency.

Description

Technical Field

[0001] This application relates to the field of agricultural machinery technology, and in particular to a rice-throwing mechanism, a rice-throwing device having the rice-throwing mechanism, and a rice-throwing drone. 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 automated rice transplanting equipment is all ground-based. To accommodate simultaneous transplanting over a wide area, the equipment needs to be very large, but the required transplanting distance for a single seedling is not high. However, when using drones for transplanting, the drones can reach high altitudes, allowing the seedlings to fall for a longer period. Therefore, increasing the initial flight speed of the seedlings would facilitate longer-distance flight, enabling single-row flight to sow seedlings over a wider area. However, the initial speed of the seedlings in existing transplanting equipment cannot meet these requirements. Summary of the Invention

[0004] The purpose of this invention is to provide a seedling throwing mechanism, seedling throwing equipment, and seedling throwing drone, which can achieve efficient seedling throwing and improve 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 conveying device and a seedling throwing device disposed below the seedling conveying device. The seedling conveying device and the seedling throwing device are disposed at intervals and are configured such that seedlings can fall from the seedling conveying device into the effective range of the seedling throwing device and be thrown out by the seedling throwing device.

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

[0008] As an optional technical solution for the seedling throwing mechanism, several baffles are provided 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 for the seedling throwing mechanism, the seedling throwing device is a seedling throwing tray with a circular supporting surface. The seedling throwing tray can be rotated around its center. 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 rotating supporting surface.

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

[0011] As an optional technical solution for the seedling throwing mechanism, the supporting surface is a rough surface, and the seedlings falling on it are driven to rotate with the seedling throwing disc by friction.

[0012] As an optional technical solution for the seedling throwing mechanism, a limiting component is provided on the supporting surface, and the seedling is limited by the limiting component and can rotate with the seedling throwing disc.

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

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

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

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

[0017] As an optional technical solution for the seedling throwing mechanism, the seedling throwing device is a rotatable seedling throwing wheel, which is equipped with striking blades. After the seedlings fall towards the seedling throwing wheel, they are struck and thrown out by the striking blades.

[0018] As an optional technical solution for the rice-throwing mechanism, there are multiple slapping blades, which are evenly arranged on the rice-throwing wheel.

[0019] As an optional technical solution for the rice-throwing mechanism, the slapping blade includes a connecting part and a slapping part, the slapping part having a slapping surface facing the tangential direction of the rice-throwing wheel.

[0020] As an optional technical solution for the seedling throwing mechanism, the seedling conveying device has a seedling conveying port, which is positioned facing the seedling throwing device.

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

[0022] As an optional technical solution for the seedling throwing mechanism, the seedling conveying device further includes a rotating conveying wheel disposed at the seedling conveying port, through which the seedlings in the seedling container are output.

[0023] On the other hand, a rice seedling throwing device is provided, having several rice seedling throwing mechanisms as described above.

[0024] On the other hand, a rice-throwing drone is provided, including a fuselage and the rice-throwing equipment as described above.

[0025] The beneficial effects of this application are as follows: This invention discloses a seedling throwing mechanism. Compared with seedlings falling directly in free fall for sowing and traditional seedling throwing equipment, the seedling throwing method of this embodiment can provide the seedlings with a higher initial flight speed, thereby scattering the seedlings to a farther range without requiring the seedling throwing equipment to move over a large area with the same range as the seedling sowing, thus improving the seedling throwing efficiency. Attached Figure Description

[0026] The present application will now be described in further detail with reference to the accompanying drawings and embodiments.

[0027] Figure 1 This is a schematic diagram of the overall structure of the rice-throwing mechanism described in the embodiments of this application;

[0028] Figure 2 This is a schematic diagram of the rice-throwing mechanism described in an embodiment of this application from another perspective;

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

[0030] Figure 4 This is a side view of the seedling throwing device described in an embodiment of this application;

[0031] Figure 5 This is a schematic diagram of the overall structure of another structure of the rice-throwing mechanism described in the embodiments of this application;

[0032] Figure 6 This is a schematic diagram of the rice-throwing mechanism described in an embodiment of this application from another perspective;

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

[0034] Figure 8 This is a top view schematic diagram of another structure of the rice seedling throwing tray described in the embodiments of this application;

[0035] Figure 9 This is a top view schematic diagram of another structure of the rice seedling throwing tray described in the embodiments of this application;

[0036] Figure 10 This is a top view schematic diagram of another structure of the rice seedling throwing tray described in the embodiments of this application;

[0037] Figure 11 This is a top view schematic diagram of another structure of the rice seedling throwing tray described in the embodiments of this application;

[0038] Figure 12 This is another structural schematic diagram of the rice-throwing mechanism described in the embodiments of this application;

[0039] Figure 13 This is a schematic diagram of another seedling throwing device described in an embodiment of this application;

[0040] Figure 14 This is a schematic diagram showing the relative positions of the flapping leaves in the unfolded state of another rice-throwing reel as described in an embodiment of this application;

[0041] Figure 15 This is another structural schematic diagram of the rice-throwing mechanism described in the embodiments of this application;

[0042] Figure 16 This is a schematic diagram of the three-dimensional structure of the UAV described in the embodiments of this application;

[0043] Figure 17 This is a schematic diagram of the rice-throwing mechanism and its supporting frame assembly as described in the embodiments of this application;

[0044] Figure 18 This is another perspective view of the rice-throwing mechanism and its supporting frame assembly state as described in the embodiments of this application;

[0045] icon:

[0046] 1. Rice seedlings;

[0047] 100. Fuselage; 110. Landing gear;

[0048] 200. Rice seedling throwing mechanism;

[0049] 210. Seedling conveying device; 2101. Seedling conveying inlet; 2102. Rotary conveyor wheel; 2103. Hanger;

[0050] 220. Seedling throwing device;

[0051] 2210. Horizontal conveyor belt; 2211. Roller; 2212. Baffle;

[0052] 2220. Rice seedling throwing tray; 2221. Limiting component; 2222. Orientation shell; 2223. Opening; 2224. Rice seedling throwing channel; 2225. Seedling outlet; 2226. Guide component;

[0053] 2230, Rice seedling throwing wheel; 2231, Leaf beating mechanism; 22311, Connecting part; 22312, Beating part. Detailed Implementation

[0054] 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.

[0055] 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.

[0056] 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.

[0057] Reference Figures 1 to 18As shown, an embodiment of this application provides a seedling throwing mechanism 200, including a seedling conveying device 210 and a seedling throwing device 220 disposed below the seedling conveying device 210. The seedling conveying device 210 and the seedling throwing device 220 are spaced apart and are configured such that seedlings 1 can fall from the seedling conveying device 210 into the effective range of the seedling throwing device 220 and be thrown out by the seedling throwing device 220.

[0058] It is understood that during the process of the seedling 1 falling from the seedling conveying device 210 into the range of action of the seedling throwing device 220 in this application, the seedling 1 may fall in the form of free fall, or the seedling 1 may generate an initial moving speed and an initial moving direction according to the conveying direction of the seedling conveying device 210 and the way it moves within it.

[0059] The seedling throwing mechanism 200 described in this application embodiment is used in conjunction with the seedling 1 separation device, or it can be used in conjunction with manual operation. The seedling 1 separation device includes a seedling placement plate for placing the seedling blanket and a cutting blade set at the end of the seedling placement plate. The cutting blade can rotate to cut the seedling blanket within its cutting range into discrete seedlings 1, and cause them to fall into the seedling conveying device 210 below.

[0060] In this embodiment, the example is taken as a seedling 1 falling vertically into the range of action of the seedling throwing device 220. (Refer to...) Figure 1-4 As shown, in this embodiment, 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, it is thrown out.

[0061] Compared to seedlings 1 being sown by falling directly in free fall and traditional seedling throwing equipment, the seedling throwing method of this embodiment can provide seedlings 1 with a higher initial flight speed, thereby allowing seedlings 1 to be thrown to a greater range without the seedling throwing equipment needing to move over a large area similar to the sowing range of seedlings 1, thus improving seedling throwing efficiency.

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

[0063] In this embodiment, the upper surface of the horizontal conveyor belt 2210 serves as the effective range of the seedling throwing device 220. 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 A top view of the horizontal conveyor belt 2210 described in an embodiment of this application is shown. Figure 4 A side view of the horizontal conveyor belt 2210 described in this embodiment is shown. In this embodiment, several baffles 2212 are arranged on the surface of the horizontal conveyor belt 2210 perpendicular to its conveying direction. These baffles 2212 can push the seedlings 1 that have fallen onto the surface of the horizontal conveyor belt 2210. When the seedlings 1 fall onto the surface of the horizontal conveyor belt 2210, due to inertia, they will have difficulty moving with the belt. Even if movement is achieved through friction between the two, slippage may occur. This results in the initial velocity of the seedlings 1 when they are launched being different from the initial velocity expected by controlling the conveying speed of the horizontal conveyor belt 2210. This affects the sowing of the seedlings 1, especially when there is a large weight difference between different seedlings 1, the inertia has different effects on the motion state of the seedlings 1, affecting the uniformity of sowing. By setting baffles 2212, when the seedling 1 falls on the surface of the horizontal conveyor belt 2210, it will be located between two adjacent baffles 2212. In the direction of movement of the horizontal conveyor belt 2210, the baffles 2212 located behind the seedling 1 will push the seedling 1 to move with the horizontal conveyor belt 2210. This ensures that the initial speed of each seedling 1 when it is thrown is the same as the transmission speed of the horizontal conveyor belt 2210, thereby ensuring the uniformity of seedling sowing.

[0064] Reference Figure 4 As shown, in this embodiment, the horizontal conveyor belt 2210 is supported and driven by rollers 2211. The rollers 2211 include at least an active roller connected to the roller 2211 drive device and a driven roller disposed at one end of the horizontal conveyor belt 2210 away from the active roller. Preferably, a number of support rollers may also be disposed between the active roller and the driven roller. The support rollers abut against the upper side of the horizontal conveyor belt 2210 from the inside to prevent it from collapsing.

[0065] The above-mentioned seedling throwing device 220, which is a structure of a horizontal conveyor belt 2210, is not intended to limit this application. (Refer to...) Figure 5-11 As shown, in another optional embodiment of this application, the seedling throwing device 220 can also be a seedling throwing tray 2220. The seedling throwing tray 2220 is horizontally arranged below the seedling conveying device 210 and has a circular supporting surface. The seedling throwing tray 2220 can be rotated around its center. 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 rotating supporting surface.

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

[0067] Meanwhile, this application provides several solutions to prevent the seedlings 1 from slipping on the support surface and failing to rotate synchronously with the seedling throwing tray 2220, as described above. Figure 8 As shown, in one optional embodiment of this application, the supporting surface is a rough surface, and the seedlings 1 falling on it are driven to rotate with the seedling throwing tray 2220 by friction.

[0068] Optionally, in another embodiment of this application, the specific form of setting the supporting surface as a rough surface is to set stripes on the supporting surface along the radial direction of the seedling throwing tray 2220. These stripes can provide a thrust in the rotational direction for the seedling 1 when the seedling throwing tray 2220 rotates. When the rotational speed of the seedling 1 reaches a level that can cause it to generate centrifugal motion, the stripes in this direction do not affect the radial movement of the seedling 1.

[0069] It is understood that the rough surface described in this embodiment as a striped structure is not intended to limit this 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 morphologies that can increase friction that can be conceived by those skilled in the art, as long as they can increase the friction between the supporting surface and the seedling 1.

[0070] Meanwhile, as a preferred technical solution, this application does not require the surface texture or bumps forming the rough surface to be a uniform structure. In some optional embodiments, a uniform texture or bump arrangement can be used, but in other optional embodiments, a non-uniform texture or bump structure can be used.

[0071] In another optional embodiment of this application, a different solution is provided to prevent the seedlings 1 from slipping on the supporting surface, as described below. Figure 9-10 As shown, a limiting member 2221 is provided on the supporting surface. The seedling 1 is limited by the limiting member 2221 and can rotate with the seedling throwing tray 2220. When the seedling 1 lands on the supporting surface, if it slips and cannot rotate synchronously with the seedling throwing tray 2220, it will gradually approach the limiting member 2221 until it comes into contact with the limiting member 2221 and then no longer slides relative to the seedling throwing tray 2220 in the rotation direction. At this time, the seedling 1 is pushed by the limiting member 2221 to rotate synchronously with the seedling throwing tray 2220. The seedling 1 generates centrifugal force in the high-speed rotation state, causing the seedling 1 to stick to the limiting member 2221 and move towards the periphery of the seedling throwing tray 2220 until it leaves the seedling throwing tray 2220 and is thrown out.

[0072] To control the seedlings 1 so that they are thrown from a specific direction, rather than flying out from any position around the throwing tray 2220 and causing the throwing direction to be uncontrollable, refer to... Figure 9 As shown, this embodiment of the application also provides an directional housing 2222, which is semi-enclosed and sleeved around the periphery of the seedling throwing tray 2220. It is fixedly installed and does not move with the rotation of the seedling throwing tray 2220. The directional housing 2222 has an opening 2223 on one side, so that the seedling 1 can only be thrown out from the opening 2223.

[0073] Specifically, in the operation of the seedling throwing mechanism 200 described in this embodiment, when the seedling 1 falls onto the seedling throwing tray 2220 and rotates with the seedling throwing tray 2220, it will generate centrifugal motion in the radial direction until it moves to the periphery of the seedling throwing tray 2220. If the seedling 1 is at the opening 2223 of the corresponding directional shell 2222 at this time, it can fly out smoothly from the opening 2223. However, 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 tray 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 tray 2220, the opening 2223 on the seedling throwing shell is fixed in orientation, so that the seedlings 1 can fly out from the opening 2223 in the same direction in sequence, ensuring that they can be sown neatly in rows and columns.

[0075] exist Figure 9In the illustrated embodiment, there is one limiting member 2221. When the seedling 1 falls onto the seedling throwing tray 2220, if the friction between the seedling 1 and the seedling throwing tray 2220 is sufficient to cause it to rotate with the seedling throwing tray 2220 without slipping, it will rotate with the seedling throwing tray 2220 until it is lifted off the seedling throwing tray 2220 and flies out. If the friction between the seedling 1 and the seedling throwing tray 2220 is insufficient to cause it to rotate synchronously with the seedling throwing tray 2220, it will gradually move relative to the seedling throwing tray 2220 to the position of the limiting member 2221. Because there is only one limiting member 2221, when the seedling 1 slips between itself and the seedling throwing tray 2220... When the drop position is close to the limiting component 2221, the relative sliding distance between the seedling 1 and the seedling throwing tray 2220 will be larger and the sliding time will be longer. Conversely, when the drop position is far from the limiting component 2221, the relative sliding distance between the seedling 1 and the seedling throwing tray 2220 will be smaller and the sliding time will be shorter. The longer the sliding time, the longer the seedling 1 stays on the seedling throwing tray 2220, which will affect the frequency of the seedling 1 falling off the seedling throwing tray 2220 and thus affect the spacing between the seedlings 1. At the same time, some seedlings 1 staying on the seedling throwing tray 2220 for too long will affect the seedling throwing efficiency.

[0076] Therefore, in another optional embodiment of this application, referring to Figure 10 As shown, there are three limiting members 2221, which are evenly spaced on the supporting surface. By setting multiple limiting members 2221, 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 tray 2220, forming the seedling outlet 1. Under the action of centrifugal force, the seedling 1 moves from the position near the rotation center in the seedling throwing channel 2224 to the direction away from the rotation center, and finally detaches from the seedling throwing tray 2220 and is thrown out. When the seedling 1 falls from the seedling conveying device 210 onto the seedling throwing tray 2220, it can fall into different channels. The centrifugal force generated by rotation causes it to fly out of the channel, which can improve the seedling throwing efficiency while ensuring the spacing of the seedling 1, making the seedling 1 more neatly arranged.

[0077] Meanwhile, in this embodiment, multiple limiting components 2221 are set to form multiple limiting channels, dividing the rice seedling throwing tray 2220 into multiple areas. Therefore, the area covered by each area is small, which can ensure that only one seedling 1 falls in each area at a time, avoiding the problem of repeated rice seedling throwing.

[0078] As an optional technical solution, refer to Figure 11 As shown in the embodiment of this application, a guide 2226 is provided at the outlet of the seedling 1. The direction of the seedling 1 when it is thrown can be controlled by the guide 2226, so that the throwing is more accurate.

[0079] As a further preferred technical solution, the guide member 2226 is arbitrarily connected to the limiting member 2221. By adjusting the position of the guide member 2226, the size of the opening 2223 of the seedling outlet and the direction of seedling throwing can be adjusted.

[0080] It is important to understand that due to the friction between the seedling tray 2220 and the seedlings 1, not all seedlings 1 will adhere to the limiting member 2221 and rotate with the seedling tray 2220. In this case, the direction of seedling 1 being thrown will not be affected by the limiting member 2221. Therefore, in order to improve the accuracy of seedling throwing, it is necessary to control the size of the seedling outlet that the seedlings 1 can pass through when they are thrown. By setting an adjustable guide member 2226, the position of the guide member 2226 can be adjusted when it is necessary to increase or decrease the size of the seedling outlet. Different sizes of seedling outlets can be adapted to different types of seedlings 1 being thrown, thus 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 by a movable pin, and the other end is provided with a limiting post. Several limiting holes are provided on the seedling throwing tray 2220. The position of the guide member 2226 is adjusted by inserting the limiting post of the limiting member 2221 into different limiting holes.

[0082] It should be noted that the connection of the guide member 2226 to the limiting member 2221 is not a limitation of this solution. In other embodiments of this application, the guide member 2226 may be set on the directional housing 2222, or the limiting member 2221 may 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 this application, the seedling throwing device 220 is a rotatable seedling throwing wheel 2230, and the seedling throwing wheel 2230 is provided with a slapping blade 2231. After the seedling 1 falls towards the seedling throwing wheel 2230, it is slapped and thrown out by the slapping blade 2231.

[0084] The difference between this embodiment and the above embodiment is that the direction of movement of the seedling throwing device is different, and the way the force is applied to the seedling 1 is different. Specifically, the above embodiment provides the throwing speed of the seedling 1 through friction or thrust, and the throwing speed of the seedling 1 is the same as the maximum speed of the horizontal conveyor belt 2210 or the seedling throwing tray 2220. In this embodiment, by patting the seedling 1 and the impact of the patting blade 2231 on the seedling 1, the seedling 1 can be made to fly out at a higher speed, which can fully expand the sowing range of the seedling 1 and improve the seedling throwing efficiency.

[0085] Specifically, refer to Figure 12-14As shown, there are three striking blades 2231, which are evenly arranged on the seedling throwing wheel 2230. The evenly arranged striking blades 2231, combined with the even descent of the seedlings 1 on the seedling conveying device 210, allow each striking blade 2231 to strike and throw one seedling 1. A single rotation of the seedling throwing wheel 2230 can throw multiple seedlings 1, thereby improving the throwing efficiency.

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

[0087] In this embodiment, the slapping blade 2231 includes a connecting part 22311 and a slapping part 22312. The slapping part 22312 has a slapping surface, which is arranged in the tangential direction of the rice throwing wheel 2230. The slapping blade 2231 and the rice throwing wheel 2230 can be a detachable connection structure or an integrally formed structure.

[0088] Specifically, taking the detachable connection structure of the beating blade 2231 and the rice-throwing wheel 2230 as an example, a connecting hole is provided on the rice-throwing wheel 2230, and the beating blade 2231 is inserted into the connecting hole and connected to the beating wheel through the connecting part 22311. In the embodiments of this application, the connecting hole is a threaded hole, and the connecting part 22311 is a threaded post that mates with it.

[0089] In other embodiments of this application, the connection between the flapping blade 2231 and the connecting hole can also be an interference fit plug connection or other connection methods that can be conceived by those skilled in the art.

[0090] It is understood that the orientation of the above-mentioned striking surface is not intended to limit this application. In other embodiments of this application, the orientation of the striking surface can also be set to form a certain angle with the tangential direction of the rice throwing wheel 2230. That is, during the rice throwing process, the striking surface will slap the rice seedlings 1 and send them flying toward the side of the rice throwing wheel 2230.

[0091] Meanwhile, the striking surfaces of the multiple striking parts 22312 on the rice-throwing wheel 2230 can face different directions. Specifically, in another optional embodiment of this application, refer to... Figure 14The diagram illustrates the relative positions of the three striking parts 22312 on the outer periphery of the rice-throwing wheel in its unfolded state. The rice-throwing wheel 2230 has three striking parts 22312, each with its striking surface sequentially tilted to the right relative to the tangent of the rice-throwing wheel 2230, towards the tangent of the rice-throwing wheel 2230, and to the left relative to the tangent of the rice-throwing wheel 2230. During operation, when three rice seedlings 1 fall sequentially into the effective range of the rice-throwing wheel 2230, the first seedling 1 is struck and tilted to the right of the plane containing the tangent of the rice-throwing wheel 2230, flying out in the direction X1 shown in the diagram; the second seedling 1 is struck and flew out along the tangent of the rice-throwing wheel 2230 in the direction X2 shown in the diagram; and the third seedling 1 is struck and tilted to the left of the tangent of the rice-throwing wheel 2230, flying out in the direction X3 shown in the diagram. This means that three rows (or columns) of rice seedlings 1 can be sown simultaneously.

[0092] It should be noted that the orientation of the striking surface of the striking part 22312 described above is not intended to limit this application. In other embodiments, more or fewer striking parts 22312 may be used, and the orientation of each striking surface may be reasonably set according to actual sowing needs.

[0093] Furthermore, refer to Figure 15 As shown, the seedling conveying device 210 in this embodiment of the application has a seedling conveying port 2101, which is disposed toward the seedling throwing device 220.

[0094] All of the above solutions require control over the landing point of the seedling 1 from the seedling conveying device 210 to the seedling throwing device 220, so as to ensure that the seedling 1 can fall into the appropriate 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 seedling 1, the seedling conveying device 210 in this embodiment has a conical structure with openings 2223 at both ends, and the seedling delivery port 2101 is the smaller end opening 2223. The larger end of the opening 2223 can accommodate more seedlings 1. The seedling 1 gradually moves closer to the seedling delivery port 2101 in the seedling conveying device 210, thereby reducing its landing point range.

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

[0096] Specifically, refer to Figure 15 As shown, the rotating conveyor wheel 2102 includes a first conveyor wheel and a second conveyor wheel disposed on both sides of the seedling conveying port 2101. Both the first and second conveyor wheels can rotate actively, and the distance between them is set such that the seedling 1 cannot pass through the gap between the first and second conveyor wheels by its own weight. When the seedling 1 needs to be conveyed to the seedling throwing mechanism, the first and second conveyor wheels rotate in opposite directions. The seedling 1 located between them is squeezed and frictional and passes through the gap between the first and second conveyor wheels. During this process, the roots of the seedling 1 may be slightly deformed, but the root system will not be damaged and will not affect the sowing of the seedling 1. When the seedling 1 does not need to be output, the first and second conveyor wheels stop rotating, and the seedling 1 cannot pass through the gap between them and will not fall.

[0097] The rotating conveyor wheel 2102 is set up. By controlling its rotation cycle, the falling speed of the seedling 1 can be effectively controlled, so that it can be precisely matched with the seedling throwing device 220 to ensure the uniformity of seedling 1 sowing and ensure the space required for seedling 1 growth, thereby improving the sowing quality of seedling 1.

[0098] Meanwhile, this application embodiment also provides a rice seedling throwing device, which has a plurality of rice seedling throwing mechanisms 200 as described above. By setting multiple rice seedling throwing mechanisms 200, each rice seedling throwing mechanism 200 can perform rice seedling throwing operations simultaneously, which can significantly improve the rice seedling throwing efficiency.

[0099] This application embodiment also provides a rice-throwing drone, which includes a fuselage 100 and a rice-throwing device as described above. By installing the rice-throwing device on the drone fuselage 100, rice seedlings can be thrown in the air without contacting the field. On the one hand, this avoids damage to the field and the already sown rice seedlings 1. On the other hand, the drone's flight and movement are more flexible, and its turning and movement are not controlled by the terrain, resulting in higher work efficiency.

[0100] In the rice-throwing drone described in this application embodiment, the rice-throwing equipment is suspended below the drone fuselage 100, as shown in the reference. Figure 16-18 As shown, the device includes a drone landing gear 110. 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 provided below the seedling conveying device 210. The driving roller and the driven roller are rotatably mounted on the hanger 2103.

[0101] In another optional embodiment of the rice-throwing drone described in this application, the seedling conveying device 210 and the seedling throwing device 220 are also located below the landing gear 110. The difference from the above embodiment is that the seedling conveying device 210 is suspended on the landing gear 110, and the seedling throwing device 220 is mounted on a mounting platform set on the legs of the landing gear 110.

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

[0103] 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.

[0104] 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.

[0105] 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.

[0106] 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 throwing mechanism (200) applied to a UAV, characterized in that, The device 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 separately, and the seedling (1) can fall from the seedling conveying device (210) to the effective range of the seedling throwing device (220) and be thrown by the seedling throwing device (220); The seedling throwing mechanism (200) is used in cooperation with the seedling separating device; the seedling separating device comprises a seedling placing plate for placing the blanket seedlings and a cutting knife arranged at the end of the seedling placing plate, the cutting knife can cut the blanket seedlings in the cutting range into discrete seedlings by rotating, and the discrete seedlings fall into the seedling conveying device (210) below. The seedling conveying device (210) has a seedling conveying port (2101) and a rotating conveying wheel (2102) arranged at the seedling conveying port (2101); the falling speed of the seedling (1) is controlled by controlling the rotating period of the rotating conveying wheel (2102), so that the seedling (1) is accurately matched with the seedling throwing device (220), and the uniformity of the seedling (1) sowing is ensured.

2. The throwing mechanism (200) according to claim 1, characterized in that, The seedling throwing device (220) is a horizontal conveying belt (2210), the seedling (1) falls on the horizontal conveying belt (2210) and is moved to generate a certain initial speed, and is thrown after moving to the end of the horizontal conveying belt (2210).

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

4. The casting mechanism (200) according to claim 1, characterized in that, The seedling throwing device (220) is a seedling throwing disc (2220), the seedling throwing disc (2220) has a circular supporting surface, the seedling throwing disc (2220) is rotatably arranged around the center thereof, and the seedling (1) in the seedling conveying device (210) falls on the supporting surface and is thrown under the action of the centrifugal force of the rotating supporting surface.

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

6. The casting mechanism (200) according to claim 5, characterized in that, The supporting surface is a rough surface, and the seedling (1) falling thereon is driven to rotate with the seedling throwing disc (2220) by friction.

7. The casting mechanism (200) as claimed in claim 4, wherein, Limiting pieces (2221) are arranged on the supporting surface, and the seedling (1) is limited by the limiting pieces (2221) and can rotate with the seedling throwing disc (2220).

8. The casting mechanism (200) according to claim 7, characterized in that, The limiting pieces (2221) are a plurality of limiting pieces, and the plurality of limiting pieces (2221) are uniformly and spacedly arranged on the supporting surface.

9. The casting mechanism (200) according to claim 8, characterized in that, Adjacent two limiting pieces (2221) form a seedling throwing channel (2224), and the seedling (1) moves from the position close to the center of rotation to the position far away from the center of rotation in the seedling throwing channel (2224) under the action of the centrifugal force, and is finally thrown out of the seedling throwing disc (2220).

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

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

12. The casting mechanism (200) as claimed in claim 1, wherein, The seedling throwing device (220) is a rotatable seedling throwing wheel (2230), and the seedling throwing wheel (2230) is provided with beating blades (2231), and the seedling (1) falls to the seedling throwing wheel (2230) and is thrown by the beating blades (2231).

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

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

15. The casting mechanism (200) according to any one of claims 1-14, characterized in that, The seedling conveying port (2101) is arranged towards the seedling throwing device (220).

16. The casting mechanism (200) according to claim 15, characterized in that, The seedling conveying device (210) is a conical structure with both ends being open, and the seedling conveying port (2101) is the smaller end of the conical structure.

17. The casting mechanism (200) as claimed in claim 16, wherein The seedling (1) in the seedling container is output through the rotating conveying wheel (2102).

18. A throwing device, characterized in that The seedling throwing mechanism (200) of any one of claims 1-17.

19. A seedling throwing drone, characterized in that, The seedling throwing device comprises a fuselage (100) and the seedling throwing mechanism (200) of claim 18.

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