Low-altitude seedling throwing system based on unmanned aerial vehicle

Abstract

The low-altitude seedling throwing system based on the unmanned aerial vehicle is composed of a large-wheelbase multi-rotor flying platform and an operation platform, and the large-wheelbase multi-rotor flying platform comprises a rack, a seedling carrying module and a seedling taking module. The large-wheelbase multi-rotor flying platform provides enough lift force, projection of a sweeping space when the rotors rotate is separated from the sweeping space when the seedling carrying module moves left and right, and the distance is not smaller than 10 cm, so that stable flying of the flying platform with inherent load is achieved. The two seedling taking modules are arranged in a bilateral symmetry mode, a driving motor is connected with a plurality of coaxial reverse seedling taking mechanisms through a driving shaft, forward and reverse interference-free compressible seedling taking is carried out, torque can be counteracted, and vibration is reduced. The two sets of seedling carrying modules are symmetrically arranged on the rack in a V shape front and back, opposite or reverse transverse seedling feeding movement is carried out during operation, the gravity center of the whole machine does not change drastically along with transverse movement of a seedling tray, and the flight stability of the whole machine is further enhanced. The seedling slinging device is compact in structure, ingenious in design and capable of achieving efficient and high-trafficability seedling slinging operation.

Description

Technical Field

[0001] The invention relates to the field of agricultural aviation technology, and in particular to a low-altitude seedling throwing system based on an unmanned aerial vehicle. Background Art

[0002] The multi-rotor drone has the potential to become a power-bearing platform for the seedling throwing system because it does not contact the ground during flight, and its high speed, high efficiency, and high passability make it possible for the drone to become a power-bearing platform for the seedling throwing system. At present, there are two main types of patents related to drone seedling throwing that have been published, namely, seedling throwing in pots and seedling throwing in blankets. Although the relevant technologies have made certain progress, the existing technologies generally have defects such as complex working principles of seedling throwing devices, redundant structures, insufficient lightweight, and low efficiency in picking up seedlings, which lead to insufficient seedling planting and low operating efficiency in a single drone operation, making it impossible to implement them. For seedling throwing drones with seedling trays, common seedling throwing methods include clamping and ejection. These two methods have complex working principles and redundant structures, are heavy, insufficiently lightweight, and have low efficiency in picking up seedlings. The inertial force generated during high-speed movement is large, which has a serious impact on the flight stability of the drone, and puts forward high requirements on the drone's load capacity and flight performance, which seriously limits the amount of seedlings carried and the operating efficiency of a single drone operation. For seedling throwing drones with blanket trays, relevant patent technologies are constantly emerging, but there are also many shortcomings. For example, patent CN220545457U discloses a UAV seedling throwing device, which uses a combination of a driving member, a cam and a rotating cutter head, and realizes the seedling picking and throwing action through the ejection member and the seedling picking needle on the rotating cutter head. The device has a complex structure, a complicated working principle, insufficient lightness, and high requirements for the load capacity of the UAV. In addition, the seedling throwing system overlaps with the wind field of the UAV, which has a great impact on the flight stability of the UAV. Patent CN221082009U proposes a seedling throwing mechanism and a seedling throwing system, which combines the load module, the seedling delivery module and the seedling picking module through modular design. However, the overall mass of the seedling throwing system is heavy, which makes it difficult to meet the load requirements of the UAV, and the problem of mutual interference between the seedling throwing system and the wind field of the UAV has not been effectively solved. In addition, there are many driving devices and the overall structure is complex, which increases the risk of system failure and maintenance costs.

[0003] In summary, the existing technologies generally have defects such as complex working principle of seedling throwing device, redundant structure, insufficient quantification, low efficiency of seedling removal, etc., which lead to insufficient seedling carrying capacity and low operation efficiency of single-flight operation of drones, and cannot be implemented. Therefore, a new drone seedling throwing system that can effectively solve these problems is urgently needed. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a drone seedling throwing system in response to the above problems and requirements.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] A low-altitude seedling throwing system based on an unmanned aerial vehicle comprises a long-wheelbase multi-rotor flight platform and an operating platform, wherein the operating platform comprises a frame, two groups of seedling carrying modules and two groups of seedling taking modules; the two groups of seedling carrying modules are symmetrically arranged in a V-shape and mounted on the front and rear sides of the frame, the two groups of seedling taking modules are respectively a first seedling taking module group and a second seedling taking module group, the first seedling taking module group and the second seedling taking module group are arranged side by side on the left and right sides of the frame and located at the angle between the two groups of seedling carrying modules, each group of seedling taking modules comprises a plurality of coaxial inverted seedling taking modules, and each group of seedling taking modules The group is driven by a motor and the motors corresponding to the two seedling taking module groups rotate in opposite directions, and the two motors are symmetrically located on the left and right sides of the working platform; each coaxial reverse seedling taking module group includes at least one forward rotating seedling taking turntable mechanism and one reverse seedling taking turntable mechanism, and the forward rotating seedling taking turntable mechanism and the reverse seedling taking turntable mechanism are both connected to the motor shaft, and the reverse seedling taking turntable mechanism includes a reverse seedling taking turntable device and a coaxial reverse mechanism, and the coaxial reverse mechanism drives the reverse seedling taking turntable device to rotate in the opposite direction to the forward rotating seedling taking turntable mechanism through gear transmission;

[0007] The seedling loading module is used to drive the seedlings to reciprocate and translate on the crossbeam of the seedling box to realize the lateral seedling delivery movement, and the front end of the crossbeam of the seedling box is evenly provided with a plurality of seedling door gaps. The two groups of seedling loading modules are respectively a forward seedling loading module and a reverse seedling loading module. The lateral seedling delivery movements of the forward seedling loading module and the reverse seedling loading module are performed in opposite directions; the position of the seedling door gap on the forward seedling loading module corresponds to the forward rotating seedling taking turntable mechanism of the first seedling taking module group and the reverse rotating seedling taking turntable mechanism of the second seedling taking module, and the position of the seedling door gap on the reverse seedling loading module corresponds to the forward rotating seedling taking turntable mechanism of the first seedling taking module group and the reverse rotating seedling taking turntable mechanism of the second seedling taking module group. A reverse seedling taking turntable mechanism corresponding to the first seedling taking module group and a forward seedling taking turntable mechanism corresponding to the second seedling taking module group are arranged. The forward seedling taking turntable mechanism in the first seedling taking module group and the reverse seedling taking turntable mechanism in the second seedling taking module group have the same rotation direction, and are used to cut and throw out the seedlings at the gap of the seedling door of the cross beam of the seedling box in the forward seedling loading module. The reverse seedling taking turntable mechanism in the first seedling taking module group and the forward seedling taking turntable mechanism in the second seedling taking module have the same rotation direction, and are used to cut and throw out the seedlings at the gap of the seedling door of the cross beam of the seedling box in the reverse seedling loading module.

[0008] Furthermore, the large wheelbase multi-rotor flying platform is composed of 4-8 rotor shafts, each rotor shaft is arranged with 1-2 sets of propellers, and the projection of the swept space when the rotor rotates is separated from the swept space when the seedling carrying module moves horizontally left and right, and the spacing is not less than 10 cm.

[0009] Furthermore, the forward seedling loading module and the reverse seedling loading module both include a movable seedling box, a seedling box crossbeam and a transverse seedling delivery assembly, wherein the movable seedling box is used to place the seedlings, and the transverse seedling delivery drive assembly is used to drive the movable seedling box to reciprocate horizontally on the seedling box crossbeam, and the movable seedling box includes a seedling box frame, a longitudinal seedling delivery conveyor belt and a seedling pressing rack, a plurality of longitudinal seedling delivery conveyor belts are arranged side by side at the rear side of the seedling box frame, and a seedling pressing rack is arranged at the front side of the seedling box frame, and the longitudinal seedling delivery conveyor belt is used to place the seedlings, and the seedling pressing rack is used to press the seedlings on the longitudinal seedling delivery conveyor belt, and as the seedling throwing process proceeds, after the seedlings on the seedling box crossbeam gradually decrease, the upper seedlings can descend under the action of gravity and drive the longitudinal seedling delivery conveyor belt to rotate;

[0010] A plurality of restraint devices are evenly arranged on the cross beam of the seedling box, and the inner side of the restraint device is arc-shaped. In each seedling taking module, there is a forward rotating seedling taking turntable mechanism or a reverse rotating seedling taking turntable mechanism corresponding to a restraint device, and the distance between the restraint device and the seedling door is the same as the distance between the forward rotating seedling taking turntable mechanism and the reverse rotating seedling taking turntable device.

[0011] Furthermore, the seedling pressing frame includes a cross bar and a seedling pressing rod group, the seedling pressing rod group is evenly arranged along the axial direction of the cross bar, each seedling pressing rod group corresponds to a longitudinal seedling sending conveyor belt, and each seedling pressing rod group includes a long rod and a short rod. The seedling pressing frame is fixed to both sides of the seedling box frame by bolts and the distance between the seedling pressing frame and the longitudinal seedling sending conveyor belt is adjusted by adjusting the position of the bolts, so as to adapt to seedlings of different heights so that the seedlings can continue to descend smoothly under the action of gravity to complete the longitudinal seedling sending.

[0012] Furthermore, the reverse seedling-taking turntable device and the forward seedling-taking turntable mechanism both include a plurality of compressible seedling-taking mechanisms evenly distributed along the circumferential edge of the turntable, the motor shaft is connected to the turntable, and is used to drive the turntable and the compressible seedling-taking mechanism to rotate in a vertical plane, and the compressible seedling-taking mechanism includes a seedling needle, a first spring base, a shaft sleeve, a push rod, a first connecting rod, a second connecting rod, a first spring, a second spring, a second spring base, etc.; the middle portion of the first connecting rod is hinged to the turntable through the rotating shaft, the lower end of the first connecting rod is in contact with the outer surface of the cam, and the upper end of the first connecting rod is hinged to the second connecting rod The other end of the second connecting rod is hinged with the push rod, a shaft sleeve is provided on the outer side of the push rod, a seedling needle is fixed on the upper side of the shaft sleeve, a first spring base is provided below the shaft sleeve, the lower end of the first spring base is fixed on the rotating disk, straight slots are provided on both sides of the first spring base, a short shaft is provided in the straight slot, the shaft sleeve is fixed to the short shaft, the upper end of the first spring is connected to the shaft sleeve, and the lower end is connected to the inner side of the bottom of the fixing member, the second spring base is provided on the outer side of the upper end of the first connecting rod, and a second spring is provided between one end of the second spring base and the upper end of the first connecting rod, and the other end of the second spring base is fixed to the short shaft;

[0013] When the turntable rotates, it can drive the connecting rod to move along the cam, so that when the seedling needle is located in front of the seedling gate, the contact point between the lower end of the connecting rod and the double-side cams changes from the highest point to the lowest point, and the second spring is released from the compressed state, pushing the first connecting rod, driving the second connecting rod to push the push rod forward relative to the seedling needle, and the seedlings at the seedling gate are quickly ejected to complete the seedling throwing;

[0014] When the seedling needle rotates into the constraint mechanism, the shaft sleeve moves backward to compress the first spring, driving the short shaft and the seedling needle to move downward and inward along the straight slot of the first spring base to shorten, so as to avoid interference with the opposite side beam during the rotation process. When the second connecting rod and the seedling needle are separated from the constraint mechanism, the first spring returns to its original state to complete the compression.

[0015] Furthermore, the coaxial reversal mechanism includes a gear box, a first gear, a second gear and a third gear. The driving shaft drives the first gear to rotate, and the first gear drives the third gear to rotate in the opposite direction through the second gear. The third gear is connected to the turntable of the reversing seedling taking turntable device to realize the coaxial reversal movement of the forward rotating seedling taking turntable mechanism and the reverse rotating seedling taking turntable mechanism.

[0016] The beneficial effects of the invention are as follows: the low-altitude seedling throwing system based on the drone comprises a large-wheelbase multi-rotor flight platform and an operating platform, the latter comprising a frame, two groups of seedling carrying modules and two groups of seedling taking modules, presenting an overall V-shaped structure, and the seedlings are thrown out from the middle of the front and rear seedling carrying platforms, which can effectively avoid the influence of the wind field dispersed by the rotor of the drone on the seedling carrying module, thereby improving the flight stability of the drone; the frame is mainly composed of carbon fiber rods, which can effectively reduce the overall weight; the number of seedling trays and the number of seedling taking modules that can be carried by the seedling carrying module can be adjusted according to the load capacity of the drone; the seedling taking module adopts a compressible seedling taking mechanism, which can effectively avoid the interference between the seedling taking module and the opposite side beam during the rotation process, thereby ensuring the smooth progress of seedling taking, and such a design can well reduce the weight of the seedling taking mechanism, thereby improving the operating capacity and flight stability of the drone; the seedling carrying modules move toward or away from each other, and the forward seedling taking module and the reverse seedling taking module included in the two groups of seedling taking modules move in opposite directions, which can offset the torque generated by each seedling taking module, thereby ensuring the flight stability of the drone. The invention has a light overall weight, a simple structure, meets lightweight requirements, and has a high seedling removal efficiency.

[0017] The present invention is described in detail below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a structural schematic diagram of a low-altitude seedling throwing system based on a drone;

[0019] Figure 2 This is a top view of the structure of a low-altitude rice seedling throwing system based on drones;

[0020] Figure 3 It is a structural schematic diagram of the working platform;

[0021] Figure 4 It is a schematic diagram of the structure of the rack;

[0022] Figure 5 It is a structural schematic diagram of the rice seedling loading module;

[0023] Figure 6 It is the front view of the rice seedling loading module;

[0024] Figure 7 It is a structural schematic diagram of the seedling pressing frame;

[0025] Figure 8 It is a structural schematic diagram of the seedling removal module;

[0026] Fig. 9 It is a structural schematic diagram of the coaxial reversal mechanism;

[0027] Fig.10 It is a structural schematic diagram of the seedling-taking turntable mechanism;

[0028] Fig.11 It is a schematic diagram of the structure and working process of the compressible seedling taking mechanism;

[0029] Fig.12 It is a structural schematic diagram of the double-side cam;

[0030] Fig.13 is a structural schematic diagram of the first connecting rod;

[0031] Fig.14 is the structural diagram of the constraint mechanism.

[0032] Fig.15 is the structural diagram of the first gear.

[0033] Fig.16 Schematic diagram of the structure of the second gear.

[0034] The components represented by the reference numerals in the accompanying drawings are as follows:

[0035] 1. Large wheelbase multi-rotor flight platform; 2. Working platform; 2-1. Frame; 2-2. First seedling loading module; 2-3. Second seedling loading module; 2-3-1. Movable seedling box assembly; 2-3-1-1. Roller groove; 2-3-1-2. Conveyor belt; 2-3-1-3. Seedling box frame; 2-3-1-4. Seedling pressing rack; 2-3-2. Seedling box crossbeam assembly; 2-3-2-1. Seedling box crossbeam; 2-3-2-2. Crossbeam fixing part; 2-3-2-3. Restraint mechanism; 2-3-2-4. Seedling door; 2-3-3. Horizontal Seedling delivery drive assembly, 2-3-3-1, roller, 2-3-3-2, cross bar, 2-3-3-3, screw pair, 2-3-3-4, reciprocating screw rod, 2-3-3-5, first drive motor; 2-4, first seedling removal module, 2-4-1, third drive motor, 2-4-2, first coaxial reversing seedling removal module, 2-4-21, coaxial reversing mechanism, 2-4-21-1, third gear, 2-4-21-2, gear box, 2-4-21-3, second gear, 2-4-21-4, first gear, 2-4-2 1-5, bearing 1, 2-4-21-6, bearing 2, 2-4-21-7, center shaft, 2-4-21-8, bearing 3, 2-4-22, forward rotation seedling taking turntable mechanism, 2-4-23, reverse rotation seedling taking turntable mechanism, 2-4-23-1, first compressible seedling taking mechanism, 2-4-23-11, seedling needle, 2-4-23-12, first spring base, 2-4-23-13, shaft sleeve, 2-4-23-14, push rod, 2-4-23-15, connecting rod 2, 2-4-23-16, second spring, 2- 4-23-17, second spring base, 2-4-23-18, connecting rod one, 2-4-23-19, double-sided cam, 2-4-23-110, turntable, 2-4-23-111, first spring, 2-4-23-112, first and second spring bases, 2-4-23-2, second compressible seedling taking mechanism, 2-4-23-3, third compressible seedling taking mechanism, 2-4-3, transmission shaft, 2-4-4, second coaxial reversing seedling taking module; 2-5, second seedling taking module, 2-5-1, fourth driving motor. DETAILED DESCRIPTION

[0036] The following is an example of a seedling throwing system using a quad-rotor drone with a large load capacity and carrying eight seedling boxes.

[0037] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0038] like Figure 1 , Figure 2As shown, the overall schematic diagram of the UAV seedling throwing system; the seedling throwing system is fixed to the lower part of the long wheelbase multi-rotor flight platform 1 as a whole, and the projection of the swept space when the flight platform rotor rotates is separated from the swept space when the first seedling carrying module 2-2 and the second seedling carrying module 2-3 move horizontally and send the seedlings left and right, and the spacing is not less than 10cm. The first seedling carrying module 2-2 and the second seedling carrying module 2-3 are arranged in a V-shaped front-to-back symmetrical layout and are mounted on the frame 2-1. During operation, the lateral seedling sending movement of the first seedling carrying module 2-2 and the second seedling carrying module 2-3 is performed in opposite or reverse directions; the first seedling taking module 2-4 and the second seedling taking module 2-5 are arranged symmetrically on the frame 2-1, and each seedling taking module includes two groups of coaxial reverse seedling taking modules, which are driven by the third drive motor 2-4-1 and the fourth drive motor 2-5-1 arranged on the left and right sides, so as to realize the non-interference compressible seedling taking and throwing action of the seedlings at the seedling gate on the crossbeam of the first seedling carrying module 2-2 and the second seedling carrying module 2-3 in the forward and reverse directions.

[0039] like Figure 3 As shown, the working platform 2 is V-shaped as a whole, the first seedling carrying module 2-2 and the second seedling carrying module 2-3 move toward or in the opposite direction, and the first seedling taking module 2-4 and the second seedling taking module 2-5 rotate in the opposite direction. The V-shaped structure, the movement mode of the first seedling carrying module 2-2, the second seedling carrying module 2-3 and the first seedling taking module 2-4, the second seedling taking module 2-5 can effectively avoid the torque generated by the seedling throwing system and the influence of the interaction between the UAV wind field and the seedling throwing system on the stability of the UAV.

[0040] like Figure 4 As shown, the frame 2-1 is used to carry the first seedling carrying module 2-2, the second seedling carrying module 2-3 and the first seedling taking module group 2-4, the second seedling taking module group 2-5 and connect the flight platform, and the whole is constructed by carbon fiber rods and buckles.

[0041] like Figure 5 , Figure 6The seedling loading module 2-3 includes a movable seedling box 2-3-1, a seedling box crossbeam assembly 2-3-2 and a transverse seedling delivery drive assembly 2-3-3. The movable seedling box 2-3-1 is used to place seedlings. The transverse seedling delivery drive assembly 2-3-3 uses a first drive motor 2-3-3-5 to drive the reciprocating screw rod 2-3-3-4 to rotate. The screw pair 2-3-3-3 is fixedly connected to the seedling box frame 2-3-1-4 to drive the movable seedling box 2-3-1 to reciprocate horizontally on the seedling box crossbeam 2-3-2-1. At the same time, five rollers 2-3-3-1 are fixed on the frame 2-1, and the roller groove 2-3-1 reciprocates on the roller 2-3-3-1 to realize transverse seedling delivery. The movable seedling box 2-3-2 includes a roller groove 2- 3-1-1, longitudinal seedling conveyor belt 2-3-1-2, seedling box frame 2-3-1-3 and seedling pressing rack 2-3-1-4, 4 groups of longitudinal seedling conveyor belts 2-3-1-2 are arranged side by side on the rear side of the seedling box frame 2-3-1-3, and the seedling pressing rack 2-3-1-4 is arranged on the front side of the seedling box frame 2-3-1-3. The longitudinal seedling conveyor belt 2-3-1-2 is used for stacking 4 trays of seedlings, and the seedling pressing rack 2-3-1-4 is used to press the seedlings on the longitudinal seedling conveyor belt 2-3-1-2. As the seedling sending process proceeds, the seedlings on the seedling box crossbeam 2-3-2-1 gradually decrease, and the seedlings above descend under the action of gravity and drive the longitudinal seedling sending conveyor belt 2-3-1-2 to rotate, so as to realize longitudinal seedling sending.

[0042] like Figure 7 As shown, the end of the seedling pressing frame 2-3-1-3 is curled, which is conducive to putting the seedlings into the conveyor belt. The front end is higher than the seedling pressing part, which is convenient for compressing the tip of the seedlings to avoid damage to the seedlings during the seedling removal. It can also avoid the phenomenon of seedlings being piled up and blocked at the seedling gate 2-3-1-7, ensuring the smooth progress of the seedling throwing work.

[0043] like Figure 8 As shown, the first seedling taking module 2-4 is arranged between the first seedling loading module 2-2 and the second seedling loading module 2-3, and the first seedling taking module 2-4 drives the transmission shaft 2-4-3 through the third driving motor 2-4-1 to drive the first coaxial reversing seedling taking module 2-4-2 and the second coaxial reversing seedling taking module 2-4-4 to rotate, and the forward seedling taking turntable mechanism 2-4-22 is fixedly connected with the third gear 2-4-21-1 under the action of the coaxial reversing mechanism 2-4-21 to realize forward seedling taking, and the reverse seedling taking turntable mechanism 2-4-23 is fixedly connected with the transmission shaft 2-4-3 to realize reverse seedling taking.

[0044] like Fig. 9As shown, the coaxial reversing mechanism 2-4-21 is used to realize that the rotation direction of the forward-rotating seedling-taking turntable mechanism 2-4-22 is opposite to the rotation direction of the transmission shaft 2-4-3. The coaxial reversing mechanism 2-4-21 includes a third gear 2-4-21-1, a gear box 2-4-21-2, a second gear 2-4-21-3, a first gear 2-4-21-4, a bearing 1 2-4-21-5, a bearing 2-4-21-6, a central shaft 2-4-21-7 and a bearing 3 2-4-21-8. The transmission shaft is as shown in FIG. Fig.16 The first gear 2-4-21-4 is fixedly connected, passes through the turntable 2-4-23-110 through the bearing three 2-4-21-8, and drives the first gear 2-4-21-4 to rotate. The first gear 2-4-21-4 drives the second gear 2-4-21-3 to rotate around the central axis 2-4-21-7. The second gear 2-4-21-3 drives the third gear 2-4-21-1 to rotate. The third gear 2-4-21-1 is fixedly connected to the turntable 2-4-23-110, driving the forward rotating seedling taking turntable mechanism 2-4-22 to rotate forwardly. The transmission shaft 2-4-3 is fixedly connected to the reverse rotating seedling taking turntable mechanism 2-4-23 to drive it to rotate reversely.

[0045] like Fig.10 As shown, the reversible seedling taking turntable mechanism 2-4-23 includes a first compressible seedling taking mechanism 2-4-23-1, a second compressible seedling taking mechanism 2-4-23-2 and a third compressible seedling taking mechanism 2-4-23-3.

[0046] like Fig.11As shown, the reversing seedling taking turntable mechanism 2-4-23 comprises three groups of compressible seedling taking mechanisms evenly distributed along the circumference of the seedling taking turntable, and the compressible seedling taking mechanism 2-4-23-1 comprises a seedling needle 2-4-23-11, a first spring base 2-4-23-12, a shaft sleeve 2-4-23-13, a push rod 2-4-23-14, a second connecting rod 2-4-23-15, a second spring 2-4-23-16, a second second spring base 2-4-23-17, a first connecting rod 2-4-23-1 8. Double-sided cam 2-4-23-19, rotating disk 2-4-23-110, first spring 2-4-23-111, first and second spring base 2-4-23-112; the middle part of the first connecting rod 2-4-23-18 is hinged with the rotating disk 2-4-23-110, the lower end of the first connecting rod 2-4-23-18 is in contact with the outer surface of one side of the double-sided cam 2-4-23-19, the upper end of the first connecting rod 2-4-23-18 is hinged with the second connecting rod 2-4-23-15, and the second connecting rod 2 -4-23-15 is hinged at the other end with the push rod 2-4-23-14, the push rod 2-4-23-14 is sleeved with a shaft sleeve 2-4-23-13 on the outside, a seedling needle 2-4-23-11 is fixed on the shaft sleeve 2-4-23-13, the shaft sleeve 2-4-23-13 is fixed by the first spring base 2-4-23-12, the lower end of the first spring base 2-4-23-12 is connected to the first spring 2-4-23-111, and the lower end of the first spring 2-4-23-111 is fixed on the first and second springs. In the base 2-4-23-112, one end of the second spring 2-4-23-16 contacts the first connecting rod 2-4-23-18, and the other end is fixed in the second second spring base 2-4-23-17. The second second spring base 2-4-23-17 is fixedly connected to the first spring base 2-4-23-12. The first spring base 2-4-23-12 can move back and forth in the slot on the first second spring base 2-4-23-112 by compressing the first spring 2-4-23-111;

[0047] The inverted seedling picking turntable mechanism 2-4-23 has three steps in the working process, namely, seedling picking state A, seedling throwing state B, and compression state C.

[0048] The seedling taking process is as follows: during the rotation of the reverse seedling taking turntable mechanism 2-4-23, the three seedling needles pass through the seedling gate in sequence. As the horizontal and vertical seedling feeding are continuously carried out, the seedlings at the seedling gate 2-3-2-4 are continuously taken out. At this time, the first spring 2-4-23-111 is in the original state, the end of the first connecting rod 2-4-23-18 contacts the highest point on one side of the double-sided cam 2-4-23-19, the second spring 2-4-23-16 is in a compressed state, and under the action of the second connecting rod 2-4-23-15, the push rod 2-4-23-14 is in the relative position of the seedling needle as shown in FIG. Fig.11The state A shown prevents the push rod 2-4-23-14 from affecting the seedling removal and prepares for the subsequent seedling throwing;

[0049] The seedling throwing process is as follows: when the rotating disk 2-4-23-110 rotates, it can drive the connecting rod 2-4-23-18 to move along the cam 2-4-23-19, so that after the seedling needle 2-4-23-11 takes the seedling, the contact point between the lower end of the first connecting rod 2-4-23-18 and the double-side cam 2-4-23-19 changes from the highest point to the lowest point, and the second spring 2-4-23-16 is released from the compressed state, pushing the first connecting rod 2-4-23-18, driving the second connecting rod 2-4-23-15 to push the push rod 2-4-23-14 forward relative to the seedling needle 2-4-23-11, and the seedling cut by the seedling needle 2-4-23-11 is quickly ejected, completing the seedling throwing;

[0050] The compression process is as follows: when the seedling needle 2-4-23-11 rotates to contact the constraint mechanism 2-3-2-3, the first spring base 2-4-23-12 compresses the first spring 2-4-23-111, driving the seedling needle 2-4-23-11 to move downward along the straight slot of the first and second spring bases 2-4-23-112 to avoid interference with the opposite side beam during the rotation process; when the second connecting rod 2-4-23-15 and the seedling needle 2-4-23-11 are separated from the constraint mechanism 2-3-2-3, the first spring 2-4-23-111 returns to its original state to complete the compression.

[0051] The working principle of the forward rotating seedling taking turntable mechanism 2-4-22 is basically the same as the working principle of the reverse rotating seedling taking turntable mechanism 2-4-23, the difference is that it is driven by the coaxial reverse mechanism 2-4-21.

[0052] like Fig.12 As shown, the double-sided cam 2-4-23-19 can be fixed to the frame 2-1 by bolts and kept fixed by installing the transmission shaft bearing in the center hole, and can simultaneously switch the forward-rotating seedling picking turntable mechanism 2-4-22 and the reverse-rotating seedling picking turntable mechanism 2-4-23 between the seedling picking and throwing states.

[0053] like Fig.13 As shown, hole a of the first connecting rod 2-4-23-18 is connected to the second connecting rod 2-4-23-15, protrusion b is used to fix the second spring 2-4-23-16 to make the arc d of the first connecting rod 2-4-23-18 tangent to the outer surface of one side of the double-sided cam 2-4-23-19, hole c is used to be fixed on the turntable 2-4-23-110, and the first connecting rod 2-4-23-18 can rotate around hole c.

[0054] like Fig.14As shown, the restraining mechanism 2-3-2-3 is installed at the bottom of the crossbeam 2-3-2-1 through the three holes on the upper part. When the seedling needle 2-4-23-11 contacts the restraining mechanism 2-3-2-3, the spring 2-4-23-111 is compressed, and the seedling needle 2-4-23-11 and the first spring base 2-4-23-12 move obliquely downward in the straight groove of the first and second spring bases 2-4-23-112 to reach the compressed state C.

[0055] like Fig.15 As shown, there is a hexagonal hole in the middle of the first gear 2-4-21-4, which cooperates with the transmission shaft 2-4-3 and rotates synchronously with the transmission shaft 2-4-3.

[0056] like Fig.16 As shown, the second gear 2-4-21-3 has a raised step in the middle, and a central shaft 2-4-21-7 is installed in the middle.

[0057] The above is an example of the best implementation of the present invention, and the parts not described in detail are common knowledge of ordinary technicians in the field. The protection scope of the present invention shall be based on the content of the claims, and any equivalent transformation based on the technical enlightenment of the present invention is also within the protection scope of the present invention.

Claims

1. A low-altitude seedling throwing system based on drones, characterized in that: The invention comprises a long-wheelbase multi-rotor flight platform and an operating platform, wherein the operating platform comprises a frame, two groups of seedling carrying modules and two groups of seedling taking modules; the two groups of seedling carrying modules are symmetrically arranged in a V-shape and mounted on the front and rear sides of the frame, and the two groups of seedling taking modules are respectively a first seedling taking module and a second seedling taking module, the first seedling taking module and the second seedling taking module are arranged side by side on the left and right sides of the frame and located at the angle between the two groups of seedling carrying modules, each group of seedling taking modules comprises a plurality of coaxial reverse seedling taking modules, each group of seedling taking modules is driven by a motor and the motors corresponding to the two seedling taking modules rotate in opposite directions, and the two motors are symmetrically located on the left and right sides of the operating platform; each coaxial reverse seedling taking module comprises at least one forward rotating seedling taking turntable mechanism and one reverse seedling taking turntable mechanism, and the forward rotating seedling taking turntable mechanism and the reverse seedling taking turntable mechanism are both connected to the motor shaft, the reverse seedling taking turntable mechanism comprises a reverse seedling taking turntable device and a coaxial reverse mechanism, and the coaxial reverse mechanism drives the reverse seedling taking turntable device to rotate in the opposite direction to the forward rotating seedling taking turntable mechanism through gear transmission; The seedling loading module is used to drive the seedlings to reciprocate and translate on the crossbeam of the seedling box to realize the lateral seedling delivery movement, and the front end of the crossbeam of the seedling box is evenly provided with a plurality of seedling door gaps. The two groups of seedling loading modules are respectively a forward seedling loading module and a reverse seedling loading module. The lateral seedling delivery movements of the forward seedling loading module and the reverse seedling loading module are performed in opposite directions; the position of the seedling door gap on the forward seedling loading module corresponds to the forward rotating seedling taking turntable mechanism of the first seedling taking module group and the reverse rotating seedling taking turntable mechanism of the second seedling taking module, and the position of the seedling door gap on the reverse seedling loading module corresponds to the forward rotating seedling taking turntable mechanism of the first seedling taking module group and the reverse rotating seedling taking turntable mechanism of the second seedling taking module group. The reverse seedling-taking turntable mechanism of the first seedling-taking module group and the forward seedling-taking turntable mechanism of the second seedling-taking module group are arranged to have the same rotation direction, and are used to cut and throw out the seedlings at the gap of the seedling door of the cross beam of the seedling box in the forward seedling loading module, and the reverse seedling-taking turntable mechanism of the first seedling-taking module group and the forward seedling-taking turntable mechanism of the second seedling-taking module group have the same rotation direction, and are used to cut and throw out the seedlings at the gap of the seedling door of the cross beam of the seedling box in the reverse seedling loading module.

2. The drone-based low-altitude seedling throwing system according to claim 1 is characterized in that the large wheelbase multi-rotor flight platform is composed of 4-8 rotor shafts, each rotor shaft is arranged with 1-2 sets of propellers, and the projection of the swept space when the rotor rotates is separated from the swept space when the seedling carrying module moves horizontally left and right, and the spacing is not less than 10 cm.

3. The drone seedling throwing system according to claim 1, characterized in that: The forward seedling loading module and the reverse seedling loading module both include a movable seedling box, a seedling box crossbeam and a transverse seedling delivery assembly, wherein the movable seedling box is used to place the seedlings, and the transverse seedling delivery drive assembly is used to drive the movable seedling box to reciprocate horizontally on the seedling box crossbeam, and the movable seedling box includes a seedling box frame, a longitudinal seedling delivery conveyor belt and a seedling pressing rack, a plurality of longitudinal seedling delivery conveyor belts are arranged side by side at the rear side of the seedling box frame, and a seedling pressing rack is arranged at the front side of the seedling box frame, and the longitudinal seedling delivery conveyor belt is used to place the seedlings, and the seedling pressing rack is used to press the seedlings on the longitudinal seedling delivery conveyor belt, and as the seedling throwing process proceeds, after the seedlings on the seedling box crossbeam gradually decrease, the upper seedlings can drop under the action of gravity and drive the longitudinal seedling delivery conveyor belt to rotate; A plurality of restraint devices are evenly arranged on the cross beam of the seedling box, and the inner side of the restraint device is arc-shaped. In each seedling taking module, there is a forward rotating seedling taking turntable mechanism or a reverse rotating seedling taking turntable mechanism corresponding to a restraint device, and the distance between the restraint device and the seedling door is the same as the distance between the forward rotating seedling taking turntable mechanism and the reverse rotating seedling taking turntable device.

4. The drone seedling throwing system according to claim 3, characterized in that: The seedling pressing frame includes a cross bar and a seedling pressing rod group, the seedling pressing rod group is evenly arranged along the axial direction of the cross bar, each seedling pressing rod group corresponds to a longitudinal seedling sending conveyor belt, each seedling pressing rod group includes a long rod and a short rod, the seedling pressing frame is fixed to both sides of the seedling box frame by bolts, and the distance between the seedling pressing frame and the longitudinal seedling sending conveyor belt is adjusted by adjusting the position of the bolts, so as to adapt to seedlings of different heights so that the seedlings can smoothly and continuously descend under the action of gravity to complete the longitudinal seedling sending.

5. The drone seedling throwing system according to claim 1, characterized in that: The reverse seedling-taking turntable device and the forward seedling-taking turntable mechanism both include a plurality of compressible seedling-taking mechanisms evenly distributed along the circumferential edge of the turntable, the motor shaft is connected to the turntable, and is used to drive the turntable and the compressible seedling-taking mechanism to rotate in a vertical plane, the compressible seedling-taking mechanism includes a seedling needle, a first spring base, a shaft sleeve, a push rod, a first connecting rod, a second connecting rod, a first spring, a second spring, a second spring base, the middle portion of the first connecting rod is hinged to the turntable through the rotating shaft, the lower end of the first connecting rod is in contact with the outer surface of the cam, the upper end of the first connecting rod is hinged to the second connecting rod, The other end of the second connecting rod is hinged with the push rod, a shaft sleeve is provided on the outer side of the push rod, a seedling needle is fixed on the upper side of the shaft sleeve, a first spring base is provided below the shaft sleeve, the lower end of the first spring base is fixed on the rotating disk, straight slots are provided on both sides of the first spring base, a short shaft is provided in the straight slot, the shaft sleeve is fixed to the short shaft, the upper end of the first spring is connected to the shaft sleeve, and the lower end is connected to the inner side of the bottom of the fixing member, the second spring base is provided on the outer side of the upper end of the first connecting rod, and a second spring is provided between one end of the second spring base and the upper end of the first connecting rod, and the other end of the second spring base is fixed to the short shaft; When the turntable rotates, it can drive the connecting rod to move along the cam, so that when the seedling needle is located in front of the seedling gate, the contact point between the lower end of the connecting rod and the double-side cams changes from the highest point to the lowest point, and the second spring is released from the compressed state, pushing the first connecting rod, driving the second connecting rod to push the push rod forward relative to the seedling needle, and the seedlings at the seedling gate are quickly ejected to complete the seedling throwing; When the seedling needle rotates into the constraint mechanism, the shaft sleeve moves backward to compress the first spring, driving the short shaft and the seedling needle to move downward and inward along the straight slot of the first spring base to shorten, so as to avoid interference with the opposite side beam during the rotation process. When the second connecting rod and the seedling needle are separated from the constraint mechanism, the first spring returns to its original state to complete the compression.

6. The coaxial reverse seedling taking module according to claim 1, characterized in that: The coaxial reversing mechanism includes a gear box, a first gear, a second gear and a third gear. The driving shaft drives the first gear to rotate, and the first gear drives the third gear to rotate in the opposite direction through the second gear. The third gear is connected to the turntable of the reversing seedling taking turntable device to realize the coaxial reversing movement of the forward rotating seedling taking turntable mechanism and the reverse rotating seedling taking turntable mechanism.

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