Spinning planting type unmanned aerial vehicle seedling sowing device
By integrating soil drilling, seedling delivery, and upright seedling placement functions, the rotary planting drone seedling sowing device solves the problems of low efficiency and insufficient precision in traditional seedling planting, realizes efficient automatic planting under the drone platform, is particularly suitable for complex terrain, and improves the survival rate of seedlings.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-31
- Publication Date
- 2026-03-10
AI Technical Summary
Traditional seedling planting is labor-intensive and inefficient, and existing drone seeding equipment is difficult to achieve precise drilling, upright seedling placement, and automatic soil covering, especially in complex terrain.
A rotary-pressed seedling sowing device for unmanned aerial vehicles (UAVs) was designed, integrating soil drilling, seedling delivery, and upright seedling placement functions. By utilizing the coordinated work of the soil drilling mechanism, feeding mechanism, and delivery mechanism, and through the coordinated action of the eccentric receiving port and controller, precise upright planting of seedlings can be achieved.
It enables efficient and automated planting of seedlings using a drone platform, is suitable for complex terrain, improves seedling survival rate, and solves the problems of low efficiency and insufficient precision in traditional manual planting.
Smart Images
Figure CN121621098A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of agricultural automation equipment, in particular to a rotary pressure planting type unmanned aerial vehicle seedling seeding device. BACKGROUND
[0002] Traditional seedling planting mainly relies on manual digging, planting, and soil covering processes, which is labor-intensive, low in efficiency, and difficult to carry out in complex terrains (such as mountains and forests). In recent years, with the development of unmanned aerial vehicle technology, devices for seeding or seed throwing using unmanned aerial vehicles have emerged, but these devices can only complete simple point seeding and are powerless for standardized seedling transplanting operations that require guaranteed planting depth and seedling upright posture. In the prior art, there is no lightweight automated seedling planting device that integrates precise drilling, upright planting, and automatic soil covering functions and is suitable for unmanned aerial vehicle platforms. SUMMARY
[0003] To solve the above problems, the present application provides the following technical scheme: a rotary pressure planting type unmanned aerial vehicle seedling seeding device, comprising an unmanned aerial vehicle, a housing fixedly connected below the unmanned aerial vehicle, a soil drilling mechanism arranged in the housing, the soil drilling mechanism being used for drilling planting holes, a feeding mechanism arranged in the housing, the feeding mechanism being used for receiving and turning over seedlings, and a feeding mechanism arranged in the housing, the feeding mechanism being used for feeding seedlings to the feeding mechanism.
[0004] Further, at least three supporting legs are arranged at the bottom of the housing, and a feeding hole is formed in the bottom plate of the housing, and the soil drilling mechanism is located directly above the feeding hole.
[0005] Further, the soil drilling mechanism comprises a first motor, a lifting device, a movable part, a second motor, and a drill bit, the first motor is fixedly installed at the top of the housing, the lifting device is connected with the output shaft of the first motor and drives the movable part to lift, the second motor is fixedly arranged on the movable part, and the drill bit is connected with the output shaft of the second motor.
[0006] Further, the feeding mechanism comprises a third motor and a hopper, the hopper is provided with a receiving port, the third motor is connected with the hopper to drive the hopper to rotate around a turning axis, and the center axis of the receiving port deviates from the turning axis.
[0007] Further, the feeding mechanism comprises a conveying device and a pushing device, the conveying device comprises a conveying belt and a fourth motor, a plurality of limiting parts are arranged at intervals on the conveying belt, the pushing device comprises a hydraulic cylinder and a pushing piece, the hydraulic cylinder is fixedly installed on the bottom plate of the housing, and the pushing piece is used to push the seedlings on the conveying belt into the receiving port.
[0008] Further, the lifting device comprises a screw rod and a screw block matched with each other, and the screw block is fixedly connected with the movable part.
[0009] Further, the material receiving opening of the hopper horizontally corresponds to the feeding station of the feeding mechanism in the material receiving position, and vertically corresponds to the feeding hole in the feeding position.
[0010] Further, the drill bit is a hollow cylindrical structure, the outer wall of which is provided with a spiral blade, and the inner diameter of the drill bit is greater than the outer diameter of the container for the seedling to be planted.
[0011] Further, a depth limiting ring is fixedly sleeved on the outer periphery of the drill bit, and the lower end surface of the depth limiting ring has a preset axial distance from the tip of the drill bit, which limits the maximum drilling depth of the drill bit.
[0012] Further, the device further comprises a controller and a plurality of sensors, and the controller is signal connected with the soil drilling mechanism, the feeding mechanism, the feeding mechanism and the plurality of sensors, for controlling the timing action of each mechanism.
[0013] Compared with the prior art, the beneficial effects of the present application are:
[0014] 1. The present application creatively integrates the functions of soil drilling, seedling feeding and straight-up planting into a compact shell that can be carried by a UAV. The device automatically operates in sequence under the coordination of the controller, the single-point planting cycle is short, and the device is free from the constraints of low efficiency and high labor intensity of traditional manual planting. The UAV platform enables the device to quickly reach the work point, and is particularly suitable for complex terrains such as mountains, forests and beaches where personnel cannot enter or large-scale mechanized equipment cannot be deployed, greatly expanding the application range of automated planting.
[0015] 2. The present application solves the industry problem of easy rolling and uncontrollable attitude of seedling air feeding by designing a reversible hopper containing an eccentric material receiving opening. The seedling is pushed into the hopper in a horizontal state, and after a 90-degree turning of the hopper, it is automatically adjusted to a vertical state and accurately falls into the pre-drilled planting hole under the joint action of gravity and eccentric structure. This forced righting feeding mechanism fundamentally guarantees the straight-up planting of seedling roots, avoids problems such as oblique planting and root lodging, lays a good foundation for the subsequent growth of seedlings, and can significantly improve the transplanting survival rate. BRIEF DESCRIPTION OF DRAWINGS
[0016] The accompanying drawings are included to provide a further understanding of the present application, and constitute a part of the specification, together with the embodiments of the present application, to explain the present application, and do not constitute a limitation on the present application. In the drawings:
[0017] Figure 1It is a schematic diagram of the three-dimensional structure of the seed planting device for the spinning and planting unmanned aerial vehicle seedling;
[0018] Figure 2 It is a schematic diagram of the cross-sectional structure of the feeding mechanism in the feeding position in the application;
[0019] Figure 3 It is a schematic diagram of the three-dimensional structure of the feeding mechanism in the application;
[0020] Figure 4 It is a schematic diagram of the cross-sectional structure of the feeding mechanism in the feeding position in the application;
[0021] Figure 5 It is a schematic diagram of the feeding mechanism and the feeding mechanism in the application.
[0022] In the figure: 1, unmanned aerial vehicle; 2, shell; 21, support foot; 22, feeding hole; 3, soil drilling mechanism; 31, first motor; 32, lifting device; 321, screw rod; 322, screw block; 33, movable part; 34, second motor; 35, drill bit; 351, spiral blade; 352, depth limiting ring; 4, feeding mechanism; 41, third motor; 42, hopper; 421, receiving port; 5, feeding mechanism; 51, conveying device; 511, conveying belt; 512, fourth motor; 513, limiting part; 52, pushing device; 521, hydraulic cylinder; 522, pushing part; 6, seedling container. DETAILED DESCRIPTION
[0023] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application; based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the application.
[0024] Embodiment 1
[0025] As shown in Figure 1 and Figure 2 , the application provides a spinning and planting unmanned aerial vehicle seedling seed planting device. The device mainly comprises an unmanned aerial vehicle 1, a shell 2 fixedly connected below the unmanned aerial vehicle 1, a soil drilling mechanism 3 arranged inside the shell 2, a feeding mechanism 4 and a feeding mechanism 5.
[0026] The shell 2 is roughly in the form of a rectangular box structure, which is rigidly connected to the bottom of the fuselage of the unmanned aerial vehicle 1 through a connecting frame. A circular feeding hole 22 is formed in the center of the bottom plate of the shell 2, which is used for the seedlings to fall down. The four corners of the bottom of the shell 2 are respectively provided with retractable support feet 21. When the unmanned aerial vehicle 1 flies to the planting point and lands or hovers at low altitude, the support feet 21 first contact the ground to stabilize the device and provide a working reference plane.
[0027] With reference to Figure 2 and Figure 3 , the soil drilling mechanism 3 is arranged inside the housing 2 and directly above the feeding hole 22. The soil drilling mechanism 3 comprises a lifting stepper motor as a first motor 31, a lifting device 32 driven by the motor, a movable part 33, a brushless DC motor as a second motor 34, and a drill bit 35.
[0028] The first motor 31 is fixed to the inner wall of the top plate of the housing 2 through a mounting seat. The lifting device 32 comprises a vertically arranged ball screw 321, a nut block 322 threadedly engaged with the screw 321, and a linear guide rail (not shown in the figure) arranged parallel to the screw 321. The nut block 322 is fixedly connected with a flat plate-shaped movable part 33, which is connected with the slider of the linear guide rail at the same time, so as to ensure smooth lifting in the vertical direction. The second motor 34 is fixed to the center of the lower surface of the movable part 33 through a mounting bracket, and its output shaft extends vertically downward. The drill bit 35 is connected with the output shaft of the second motor 34 through a shaft coupling.
[0029] The drill bit 35 is preferably made of high-strength alloy steel. Its outer wall is processed with a spiral blade 351 for cutting and lifting soil. On the outer periphery of the shank of the drill bit 35, a depth-limiting ring 352 is sleeved through threaded connection, and can be fixedly secured by a locking nut (not shown in the figure). By rotating to adjust the axial position of the depth-limiting ring 352 on the drill bit 35, the distance between the lower end face and the tip of the drill bit 35 can be accurately set, which is the preset planting depth (for example, it can be set to 10-15 cm). The central axis of the drill bit 35 is aligned with the central axis of the feeding hole 22 at the bottom of the housing 2, so as to ensure that the planting hole drilled by the drill bit 35 is directly below the feeding hole 22, so that the seedling container 6 released from the feeding mechanism 4 can accurately fall into the hole.
[0030] Please refer to Figure 2 , Figure 4 and Figure 5 , the feeding mechanism 4 is arranged in the housing 2 and located at the side (for example, the left side) of the feeding hole 22. The feeding mechanism 4 comprises a rudder as a third motor 41 and an open-ended cylindrical hopper 42.
[0031] The hopper 42 is rotatably supported on the side wall of the housing 2 by a rotating shaft (not shown in the figure) at both sides thereof, and the rotating axis (i.e. the overturning axis) thereof is arranged in a horizontal direction. A circular receiving port 421 is formed in the middle of the side wall of the hopper 42. The central axis of the receiving port 421 is parallel to the overturning axis of the hopper 42, but there is a certain eccentricity between them in space. The third motor 41 is connected with the rotating shaft of the hopper 42 through a set of speed reduction gears (not shown in the figure), and is used to drive the hopper 42 to perform an accurate 90-degree overturning movement about the overturning axis thereof, so that the hopper 42 can be switched between the horizontal “receiving position” and the vertical “feeding position”.
[0032] The feeding mechanism 5 is arranged in the housing 2, and is located on the side (for example, the left side) away from the feeding hole 22 of the feeding mechanism 4. The feeding mechanism 5 comprises a conveying device 51 and a pushing device 52.
[0033] The conveying device 51 comprises a stepping motor as a fourth motor 512, a driving wheel, a driven wheel, and a conveying belt 511 wound thereon. A plurality of U-shaped limiting portions 513 are fixed on the conveying belt 511 at equal intervals, and each of the limiting portions 513 is used to accommodate and position a seedling container 6 filled with seedlings. The fourth motor 512 drives the conveying belt 511 to perform intermittent stepping movement, and each time a full load limiting portion 513 is sent to a designated “feeding station”, which is horizontally opposite to the receiving port 421 of the hopper 42 in the receiving position.
[0034] The pushing device 52 comprises a compact linear pneumatic cylinder as a hydraulic cylinder 521, and a pushing piece 522 connected to the front end of the piston rod of the hydraulic cylinder. The hydraulic cylinder is fixed on the bottom plate of the housing 2 through a mounting bracket, and the extension direction of the piston rod is perpendicular to the conveying direction of the conveying belt 511. The front end of the pushing piece 522 can be designed as an arc or a plane matching the cross section of the receiving port 421 of the hopper 42, so as to ensure smooth and accurate pushing.
[0035] The device further comprises an integrated controller (not shown in the figure) and a plurality of sensors. The sensors comprise: a first sensor (such as an upper limit switch, not shown in the figure) for detecting whether the drill bit 35 rises to a safe height, a second sensor (such as an angle sensor) for detecting whether the hopper 42 reaches the horizontal or vertical limit position, and a third sensor (such as a photoelectric sensor) for detecting whether the seedling container 6 on the conveying belt 511 accurately reaches the feeding station. The controller is electrically connected with the flight control system of the unmanned aerial vehicle 1, all the driving devices (31, 34, 41, 512, 521), and the above-mentioned sensors, and coordinates the timing actions of the various mechanisms according to the preset program.
[0036] The working process of the embodiment of the present application is as follows:
[0037] The unmanned aerial vehicle 1 flies to the predetermined planting coordinate point and lands, and the supporting leg 21 contacts the ground.
[0038] The controller starts the soil drilling mechanism 3. The second motor 34 drives the drill bit 35 to rotate at high speed, while the first motor 31 drives the movable part 33 with the rotating drill bit 35 to move downward through the screw rod 321. The helical blade 351 of the drill bit 35 cuts the soil and forms a planting hole right below the feeding hole 22. When the lower end surface of the depth-limiting ring 352 contacts the ground, the drilling depth reaches the preset value, and the drill bit 35 stops drilling.
[0039] The drill bit 35 stops rotating and is lifted under the drive of the first motor 31, and completely exits the area of the feeding hole 22 to a safe height. At the same time, the feeding mechanism 5 is started, and the fourth motor 512 drives the conveying belt 511 to step one station, so that the limiting part 513 carrying the seedling container 6 is sent to the feeding station aligned with the feeding port 421 of the hopper 42.
[0040] After the third sensor detects that the seedling is in place, the controller starts the pushing device 52. The hydraulic cylinder 521 drives the pushing piece 522 to horizontally extend, and stably pushes the seedling container 6 from the conveying belt 511 into the inside of the hopper 42 in the horizontal (feeding) position.
[0041] After the pushing piece 522 is retracted, the controller immediately starts the feeding mechanism 4. The third motor 41 drives the hopper 42 to rotate 90 degrees clockwise (for example, in the view angle shown in the figure) to the vertical (feeding) position. During the turning process, the seedling container 6 is automatically adjusted to an upright posture under the action of gravity by means of the eccentric design of the feeding port 421. When the hopper 42 reaches the vertical position, the opening (or the feeding port 421) at the bottom thereof is aligned with the feeding hole 22 on the bottom plate of the shell 2, and the seedling container 6 falls vertically and accurately falls into the planting hole drilled below.
[0042] After the seedling is planted, the third motor 41 drives the hopper 42 to turn 90 degrees counterclockwise to restore the horizontal feeding posture. The unmanned aerial vehicle 1 can slightly ascend and fly to the next planting point, and the device is ready to perform the next planting cycle.
[0043] Embodiment 2
[0044] On the basis of embodiment 1, in order to further optimize heat dissipation or adapt to different specifications of seedlings, the following designs can be made:
[0045] The surface of the helical blade 351 of the drill bit 35 can be nitrided to improve its wear resistance. A double nut locking or an elastic washer can be additionally arranged between the depth-limiting ring 352 and the drill bit 35 to enhance the anti-loose performance in a vibrating environment. The inner wall of the hopper 42 can be coated with a coating with low friction coefficient (such as Teflon) to ensure smooth sliding of the seedling container 6. The limiting part 513 of the conveying belt 511 can be wrapped with a flexible material (such as rubber) to reduce the impact on the seedling container.
[0046] The other structure and working principle of this embodiment are the same as those of Embodiment 1, which will not be described herein again.
[0047] It should be noted that, in this document, the terms "first", "second", and so on are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any actual relationship or order between such entities or operations. Moreover, the terms "comprises", "comprising", or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus.
[0048] Although embodiments of the present application have been shown and described, it is to be understood that various modifications, substitutions, replacements, and variations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.
Claims
1. A spinning and planting unmanned seedling planting device, characterized in that, The utility model provides an unmanned aerial vehicle (1), the unmanned aerial vehicle (1) is fixedly connected with the shell (2) below, the shell (2) is provided with the earth drilling mechanism (3) in, the earth drilling mechanism (3) is used for drilling planting hole, the shell (2) is provided with the feeding mechanism (4) in, the feeding mechanism (4) is used for receiving and overturning and throwing seedling, the shell (2) is provided with the feeding mechanism (5) in, the feeding mechanism (5) is used for conveying seedling to the feeding mechanism (4).
2. The spinning press-in-place unmanned aerial nursery seed planting device according to claim 1, characterized in that: The bottom of the shell (2) is provided with at least three supporting legs (21), and a feeding hole (22) is formed in the bottom plate of the shell (2), and the earth drilling mechanism (3) is located directly above the feeding hole (22).
3. The spinning press-in-place unmanned aerial nursery seed planting device of claim 2, wherein: The earth drilling mechanism (3) comprises a first motor (31), a lifting device (32), a movable part (33), a second motor (34) and a drill bit (35), the first motor (31) is fixedly installed on the top of the shell (2), the lifting device (32) is connected with the output shaft of the first motor (31) and drives the movable part (33) to lift, the second motor (34) is fixedly arranged on the movable part (33), and the drill bit (35) is connected with the output shaft of the second motor (34).
4. The spinning press-in-place unmanned aerial nursery seed planting device of claim 3, wherein: The feeding mechanism (4) comprises a third motor (41) and a hopper (42), the hopper (42) is provided with a receiving port (421), the third motor (41) is connected with the hopper (42) to drive the hopper (42) to rotate around a rotation axis, and the central axis of the receiving port (421) deviates from the rotation axis.
5. The spinning press-in-place unmanned aerial nursery seed planting device of claim 4, wherein: The feeding mechanism (5) comprises a conveying device (51) and a pushing device (52), the conveying device (51) comprises a conveying belt (511) and a fourth motor (512), a plurality of limiting parts (513) are arranged at intervals on the conveying belt (511), the pushing device (52) comprises a hydraulic cylinder (521) and a pushing piece (522), the hydraulic cylinder (521) is fixedly installed on the bottom plate of the shell (2), and the pushing piece (522) is used for pushing seedlings on the conveying belt (511) into the receiving port (421).
6. The spinning press-in-place unmanned aerial nursery seed planting device of claim 5, wherein: The lifting device (32) comprises a screw rod (321) and a screw block (322) matched with each other, and the screw block (322) is fixedly connected with the movable part (33).
7. The spinning press-in-place unmanned aerial nursery seed planting device of claim 4, wherein: The receiving port (421) of the hopper (42) horizontally corresponds to a feeding station of the feeding mechanism (5) at a receiving position, and vertically corresponds to the feeding hole (22) when being turned to a feeding position.
8. The spinning press-in-place unmanned aerial nursery seed planting device of claim 3, wherein: The drill bit (35) is a hollow cylindrical structure, the outer wall of the drill bit (35) is provided with a spiral blade (351), and the inner diameter of the drill bit (35) is greater than the outer diameter of a to-be-planted seedling container (6).
9. The spin-to-plant unmanned seedling plug seeding device of claim 8, wherein: The outer periphery of the drill bit (35) is fixedly sleeved with a depth limiting ring (352), and the lower end surface of the depth limiting ring (352) and the tip end of the drill bit (35) have a preset axial distance, which defines the maximum drilling depth of the drill bit (35).
10. The spin-to-plant unmanned seedling planting and seeding device according to any one of claims 1-9, characterized in that: The device also comprises a controller and a plurality of sensors, the controller being connected with the soil drilling mechanism (3), the material feeding mechanism (4), the material feeding mechanism (5) and the plurality of sensors for controlling the timing action of each mechanism.