WO2018094627A1

WO2018094627A1 - Sowing machine and agricultural unmanned vehicle

Info

Publication number: WO2018094627A1
Application number: PCT/CN2016/106996
Authority: WO
Inventors: 王建伟; 张弛; 吴晓龙
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2016-11-23
Filing date: 2016-11-23
Publication date: 2018-05-31
Also published as: CN106714545B; CN106714545A; CN109110130A; CN109110130B

Abstract

The present invention provides a sowing machine. The sowing machine comprises: a motor (11), a speed reduction mechanism (13), a mixing mechanism (14), and a material spreading mechanism (15). The mixing mechanism (14) is provided at a material outlet disposed above the material spreading mechanism (15) and is used for mixing a material. The speed reduction mechanism (13) comprises: an input end, a first output shaft (131), and a second output shaft (132). The input end is connected to an output shaft of the motor (11) so that the output shaft of the motor (11) drives the input end to rotate. The first output shaft (131) is fixed to the mixing mechanism (14) and is used for driving the mixing mechanism (14) to rotate at a first rotational speed. The second output shaft (132) is fixed to the material spreading mechanism (15) and is used for driving the material spreading mechanism (15) to rotate at a second rotational speed. The sowing machine (10) uses the speed reduction mechanism (13) to drive the mixing mechanism (14) and the material spreading mechanism (15) to rotate at the same time, thereby simplifying the structure and improving energy utilization efficiency. An agricultural unmanned vehicle is also provided.

Description

播撒机及农用无人机Spreader and agricultural drone

技术领域Technical field

本发明提供一种播撒机及农用无人机，属于农用播种设备技术领域。The invention provides a seeding machine and an agricultural drone, and belongs to the technical field of agricultural seeding equipment.

背景技术Background technique

随着科技的进步，农业生产从手工劳动逐渐发展到了以使用机械为主，而用于播种的播撒机就是农业生产机械的主要类别。With the advancement of science and technology, agricultural production has gradually evolved from manual labor to the use of machinery, and the seeding machine used for seeding is the main category of agricultural production machinery.

现有的电动式播撒机包括：料箱、鼓风机、风道外壳、电机和轮盘。其中，料箱的顶部开设有进料口，料箱的底部开设有出料口，种子则储存在料箱中；在出料口固定有风道外壳，在风道外壳上开设有进风口；鼓风机设置在风道外壳外，用于从进风口往风道外壳内鼓风，以通过风力实现对物料的搅拌；轮盘设置在风道外壳的下方，并与电机连接，从而通过电机的转动带动该轮盘转动，以播撒种子。Existing electric spreaders include: bins, blowers, duct casings, motors and wheels. Wherein, the top of the material box is provided with a feeding port, the bottom of the material box is provided with a discharging port, the seed is stored in the material box; the air outlet shell is fixed at the discharging port, and the air inlet port is opened on the air duct shell; The air blower is disposed outside the air duct shell for blowing air from the air inlet to the air duct shell to stir the material by the wind; the wheel disc is disposed under the air duct shell and connected with the motor to pass the rotation of the motor The wheel is rotated to spread the seed.

但是，这种通过鼓风机作为种子搅拌以及通过电机作为种子播撒动力的方式需要设置两种不同的动力，结构非常的复杂。However, this way of using the blower as a seed agitation and propagating power through the motor as a seed requires two different powers to be provided, and the structure is very complicated.

发明内容Summary of the invention

为了解决现有技术中存在的上述或其他潜在问题，本发明提供一种播撒机及农用无人机。In order to solve the above or other potential problems existing in the prior art, the present invention provides a spreader and an agricultural drone.

根据本发明的一些实施例，提供一种播撒机，包括：电机、减速机构、搅拌机构以及物料播撒机构；所述搅拌机构设置在所述物料播撒机构上方的出料口处，用于搅拌物料；所述减速机构包括：输入端、第一输出轴和第二输出轴；所述输入端与所述电机的输出轴连接，以使所述电机的输出轴带动所述输入端转动；所述第一输出轴与所述搅拌机构固定，用于带动所述搅拌机构以第一转速旋转；所述第二输出轴与所述物料播撒机构固定，用于带动所述物料播撒机构以第二转速旋转。 According to some embodiments of the present invention, a seeding machine is provided, including: a motor, a speed reduction mechanism, a stirring mechanism, and a material spreading mechanism; the stirring mechanism is disposed at a discharge port above the material spreading mechanism for stirring materials The speed reduction mechanism includes: an input end, a first output shaft and a second output shaft; the input end is coupled to an output shaft of the motor to cause an output shaft of the motor to drive the input end to rotate; The first output shaft is fixed to the stirring mechanism for driving the stirring mechanism to rotate at a first rotation speed; the second output shaft is fixed to the material spreading mechanism for driving the material spreading mechanism to a second rotation speed Rotate.

根据本发明的一些实施例，提供一种农用无人机，包括：机架和上述播撒机；所述播撒机安装在所述农用无人机的机架下方；所述农用无人机的飞行控制器通过电子调速器与所述电机电连接，用于控制所述电机的工作状态。According to some embodiments of the present invention, there is provided an agricultural drone comprising: a frame and the above-mentioned spreader; the spreader is installed under the frame of the agricultural drone; the flight of the agricultural drone The controller is electrically connected to the motor through an electronic governor for controlling the working state of the motor.

本发明提供的播撒机和农用无人机，通过减速机构同时带动搅拌机构和物料播撒机构旋转，精简了结构，提高了能源利用率。The seeding machine and the agricultural drone provided by the invention drive the stirring mechanism and the material spreading mechanism to rotate at the same time through the speed reduction mechanism, thereby simplifying the structure and improving the energy utilization rate.

附图说明DRAWINGS

通过参照附图的以下详细描述，本发明实施例的上述和其他目的、特征和优点将变得更容易理解。在附图中，将以示例以及非限制性的方式对本发明的多个实施例进行说明，其中：The above and other objects, features and advantages of the embodiments of the present invention will become more <RTIgt; In the drawings, various embodiments of the invention are described by way of illustrative and non

图1为本发明一实施例提供的播撒机的结构示意图；1 is a schematic structural diagram of a seeding machine according to an embodiment of the present invention;

图2为图1中A位置的局部放大图；Figure 2 is a partial enlarged view of the position A in Figure 1;

图3为图1中电机、减速机构和搅拌机构的分解示意图；Figure 3 is an exploded perspective view of the motor, the speed reduction mechanism and the stirring mechanism of Figure 1;

图4为图1中电机、减速机构和搅拌机构的剖视图；Figure 4 is a cross-sectional view of the motor, the speed reduction mechanism and the stirring mechanism of Figure 1;

图5为图1中落料壳体与料箱的装配结构示意图；Figure 5 is a schematic view showing the assembly structure of the blanking housing and the material tank of Figure 1;

图6为本发明一实施例提供的农用无人机的结构示意图。FIG. 6 is a schematic structural diagram of an agricultural drone according to an embodiment of the present invention.

图中：In the picture:

1、农用无人机； 10、播撒机； 11、电机；1. Agricultural drone; 10. Spreading machine; 11. Motor;

12、电机罩； 13、减速机构； 131、第一输出轴；12. Motor cover; 13. Speed reduction mechanism; 131. First output shaft;

132、第二输出轴； 133、主动齿轮； 134、传动齿轮；132, the second output shaft; 133, the driving gear; 134, the transmission gear;

1341、第一齿轮盘； 1342、第一传动齿轮； 1343、第二传动齿轮；1341, a first gear wheel; 1342, a first transmission gear; 1343, a second transmission gear;

135、从动齿轮； 136、第二齿轮盘； 137、固定架；135, driven gear; 136, second gear plate; 137, fixed frame;

138、轴承； 14、搅拌机构； 141、搅拌杆；138, bearing; 14, stirring mechanism; 141, stirring rod;

15、物料播撒机构； 151、转盘； 152、筋板；15. Material spreading mechanism; 151, turntable; 152, ribs;

153、挡盘； 16、电池； 17、料箱；153, the retaining plate; 16, the battery; 17, the bin;

171、进料口； 172、脚架连接件； 173、落料壳体；171, feed port; 172, tripod connector; 173, blanking housing;

174、凸起； 175、卡槽； 18、物料调节机构；174, raised; 175, card slot; 18, material adjustment mechanism;

181、调节电机； 182、第一调节齿轮； 183、第二调节齿轮； 181, adjusting the motor; 182, the first adjusting gear; 183, the second adjusting gear;

184、密封圈； 185、防卡毛毡； 20、机架；184, sealing ring; 185, anti-card felt; 20, rack;

30、脚架； 40、连接线； 50、雷达。30, tripod; 40, connecting line; 50, radar.

具体实施方式detailed description

下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below can be combined with each other without conflict.

实施例1Example 1

本实施例提供一种播撒机10，用于在农业生产中进行播种，其可以单独使用或者安装在农用无人机、拖拉机等机械上使用。This embodiment provides a seeding machine 10 for seeding in agricultural production, which can be used alone or installed on machinery such as agricultural drones and tractors.

图1为本实施例提供的播撒机的结构示意图；图2为图1中A位置的局部放大图；图3为图1中电机、减速机构和搅拌机构的分解示意图；图4为图1中电机、减速机构和搅拌机构的剖视图；图5为图1中落料壳体与料箱的装配结构示意图。1 is a schematic structural view of a seeding machine provided in the embodiment; FIG. 2 is a partial enlarged view of the position A in FIG. 1; FIG. 3 is an exploded view of the motor, the speed reducing mechanism and the stirring mechanism in FIG. 1; A sectional view of the motor, the speed reduction mechanism and the stirring mechanism; Fig. 5 is a schematic view showing the assembly structure of the blanking housing and the material tank of Fig. 1.

如图1至图4所示，本实施例提供的播撒机10，包括:电机11、减速机构13、搅拌机构14以及物料播撒机构15。其中，搅拌机构14设置在物料播撒机构15上方的出料口处，用于搅拌物料；减速机构13包括：输入端、第一输出轴131和第二输出轴132；输入端与电机11的输出轴连接，以使电机11的输出轴带动输入端转动；第一输出轴131与搅拌机构14固定，用于带动搅拌机构14以第一转速旋转；第二输出轴132与物料播撒机构15固定，用于带动物料播撒机构15以第二转速旋转。As shown in FIG. 1 to FIG. 4, the seeding machine 10 provided in this embodiment includes: a motor 11, a speed reduction mechanism 13, a stirring mechanism 14, and a material spreading mechanism 15. Wherein, the stirring mechanism 14 is disposed at the discharge port above the material spreading mechanism 15 for stirring the material; the speed reduction mechanism 13 includes: an input end, a first output shaft 131 and a second output shaft 132; and an output of the input end and the motor 11 The shaft is connected to rotate the output shaft of the motor 11 to drive the input end; the first output shaft 131 is fixed to the stirring mechanism 14 for driving the stirring mechanism 14 to rotate at the first rotation speed; and the second output shaft 132 is fixed to the material spreading mechanism 15 The belt animal spreading mechanism 15 is rotated at a second rotation speed.

具体的，在本实施例中，电机11可以是现有技术中任意类型的电机11，例如无刷电机11、步进电机11或者是交流电机11。优选地，在本实施例中使用无刷电机11以更好地适应野外作业的要求。此外，上述电机11可以通过外部电源供电，例如，通过带有插头的连接线40与农田内的配电箱连接。请参阅图1，优选地，播撒机10还包括电池16，该电池16与电机11电连接，用于为电机11供电，从而可以无需再使用电连接线40与外部的配电箱连接，从而提高播撒机10的安全性，并且还能使播撒机10的外观优美，结构紧凑。此外，电机11外还可以设置电机罩12以保护电机11。 Specifically, in the present embodiment, the motor 11 may be any type of motor 11 in the prior art, such as a brushless motor 11, a stepper motor 11, or an AC motor 11. Preferably, the brushless motor 11 is used in this embodiment to better accommodate the requirements of field work. Furthermore, the motor 11 described above can be powered by an external power source, for example, via a connection line 40 with a plug, to a distribution box within the field. Referring to FIG. 1 , preferably, the seeder 10 further includes a battery 16 electrically connected to the motor 11 for powering the motor 11 so that the electrical connection line 40 can be used to connect to an external power distribution box. The safety of the spreader 10 is improved, and the spreader 10 can also be made beautiful and compact. In addition, a motor cover 12 may be provided outside the motor 11 to protect the motor 11.

减速机构13可以是现有技术中能够实现一级输入、两级输出的任意类型的减速装置，例如，单独的齿轮系或者包括齿轮系的减速箱等。当然，本领域技术人员应该理解，减速机构13还可以是能够实现一级输入，两级以上输出(例如三级或者四级)的减速装置。并且，本实施例的减速机构13不限于应用在播撒机上，其还可以应用在其他需要多级转速输出的设备上。The speed reduction mechanism 13 may be any type of speed reduction device capable of realizing one-stage input and two-stage output in the prior art, for example, a separate gear train or a reduction gear box including a gear train. Of course, those skilled in the art should understand that the speed reduction mechanism 13 can also be a speed reduction device capable of realizing one-stage input and two-stage output (for example, three-stage or four-stage). Moreover, the speed reduction mechanism 13 of the present embodiment is not limited to being applied to a spreader, and can be applied to other devices requiring multi-stage speed output.

优选地，如图1和2所示，减速机构13还可以包括一个固定架137，以方便减速机构13的安装。但是，需要说明的是，本领域技术人员应该了解，上述固定架137并非减速机构13必须具备的。Preferably, as shown in Figures 1 and 2, the speed reduction mechanism 13 may also include a mounting bracket 137 to facilitate installation of the speed reduction mechanism 13. However, it should be noted that those skilled in the art should understand that the above-described fixing frame 137 is not necessarily required for the speed reducing mechanism 13.

在本实施例中，减速机构13可以从第一输出轴131和第二输出轴132输出两个相同的或者不同的转速，也即第一输出轴131输出的第一转速和第二输出轴132输出的第二转速可以相同或者不同。优选地，在本实施例中，第一转速和第二转速不同，以适应播撒机10在工作时搅拌速度和播撒速度不同的现实需求。In the present embodiment, the speed reduction mechanism 13 can output two identical or different rotational speeds from the first output shaft 131 and the second output shaft 132, that is, the first rotational speed outputted by the first output shaft 131 and the second output shaft 132. The second rotational speed of the output may be the same or different. Preferably, in the present embodiment, the first rotational speed and the second rotational speed are different to accommodate the actual need for the spreader 10 to have different agitation speed and spreading speed during operation.

还需要说明的是，减速机构13的第一输出轴131和第二输出轴132可以同轴也可以异轴。其中，第一输出轴131和第二输出轴132同轴的意思是指第一输出轴131和第二输出轴132的轴线重合；第一输出轴131和第二输出轴132异轴的意思是指第一输出轴131和第二输出轴132的轴线不重合，例如相互平行或者呈一定夹角。优选地，在本实施例中，第一输出轴131和第二输出轴132同轴，以使减速机构13的机构更加紧凑，从而减少减速机构13的体积，进而降低播撒机10的重量和体积。It should also be noted that the first output shaft 131 and the second output shaft 132 of the speed reduction mechanism 13 may be coaxial or different. The fact that the first output shaft 131 and the second output shaft 132 are coaxial means that the axes of the first output shaft 131 and the second output shaft 132 coincide; the meanings of the first output shaft 131 and the second output shaft 132 are different axes. It is meant that the axes of the first output shaft 131 and the second output shaft 132 do not coincide, for example, parallel to each other or at a certain angle. Preferably, in the present embodiment, the first output shaft 131 and the second output shaft 132 are coaxial to make the mechanism of the speed reduction mechanism 13 more compact, thereby reducing the volume of the speed reduction mechanism 13, thereby reducing the weight and volume of the spreader 10. .

此外，在本实施例中，第一输出轴131和第二输出轴132可以是由现有技术中任意合适材料制作而成的，例如塑料或者金属。Moreover, in the present embodiment, the first output shaft 131 and the second output shaft 132 may be fabricated from any suitable material in the prior art, such as plastic or metal.

进一步举例来说，在本实施例中的减速机构13的第一输出轴131和第二输出轴132同轴且第一转速和第二转速不相同，从而使得减速机构的结构紧凑并适应播撒速度和搅拌速度的不同要求。Further, for example, the first output shaft 131 and the second output shaft 132 of the speed reduction mechanism 13 in the present embodiment are coaxial and the first rotation speed and the second rotation speed are different, so that the structure of the speed reduction mechanism is compact and adapts to the spreading speed. And different requirements for mixing speed.

搅拌机构14可以是现有技术中在播撒机10上使用的能够实现对物料搅拌作用的任意搅拌装置，例如由减速机构13带动的叶片、杆或者其他形状的元件。应该理解的是，搅拌机构14可以在直线上往复运动以搅拌物料，例如沿着垂直物料的运动方向的平面上的一条穿过物料的直线上作往复运动；又例如，搅拌机构14还可以在垂直物料的运动方向的平面上作经过物料的圆周运动，也即旋转运动；再例如，搅拌机构14还可以是在能够穿过物料的路径上作无规则运动，也即异形搅拌。The agitation mechanism 14 can be any agitation device used in the prior art on the applicator 10 to effect agitation of the material, such as blades, rods or other shaped elements that are driven by the deceleration mechanism 13. It should be understood that the agitation mechanism 14 can reciprocate in a straight line to agitate the material, such as a line passing through the material on a plane along the direction of motion of the vertical material. Reciprocating motion; for example, the agitation mechanism 14 can also perform a circular motion through the material in a plane of the direction of movement of the vertical material, that is, a rotary motion; for example, the agitation mechanism 14 can also be in a path capable of passing through the material. Irregular movement, that is, asymmetrical stirring.

请参阅图3和图4，优选地，搅拌机构14包括至少一个搅拌杆141，该搅拌杆141固定在第一输出轴131上。例如，搅拌杆141可以是至少一个直杆、弧形杆或者其他异形杆，以实现不同的搅拌需求。此外，搅拌杆141可以是直接固定在第一输出轴131上的；也可以是将至少一个搅拌杆141(例如四个直杆)的一端固定在一个套环上，然后将该套环套设在第一输出轴131上并固定，从而实现将搅拌杆141固定在第一输出轴131上的目的。Referring to FIGS. 3 and 4, preferably, the agitation mechanism 14 includes at least one agitating rod 141 that is fixed to the first output shaft 131. For example, the agitating rod 141 can be at least one straight rod, curved rod or other shaped rod to achieve different mixing needs. In addition, the stirring rod 141 may be directly fixed to the first output shaft 131; or one end of at least one stirring rod 141 (for example, four straight rods) may be fixed on one collar, and then the collar is sleeved. The first output shaft 131 is fixed and fixed to achieve the purpose of fixing the stirring rod 141 to the first output shaft 131.

物料播撒机构15也可以是现有技术中在播撒机10上使用的能够实现物料播撒作用的任意播撒装置，例如由减速机构13带动的转盘151或者其他结构。The material spreading mechanism 15 may also be any spreading device used in the prior art for the material spreading effect on the seeding machine 10, such as the turntable 151 or other structure driven by the speed reducing mechanism 13.

此外，继续参考图1和图2，优选地，播撒机10还可以包括料箱17，在该料箱17上方设置进料口171，其下方设置出料口(图中未示出)，前述搅拌机构14设置在出料口处，以通过旋转的方式使搅拌更有效并防止搅拌机构14卡死。具体的，料箱17可以是现有技术中任意类型的具有储料作用的箱体，并且，在本实施例中不对箱体的具体形状、容积做限定。当然，上述料箱17可以是单独设置的，也可以是与其他装置共用的，例如，当播撒机10安装在农用无人机上时，可以使用农用无人机的水箱作为料箱17，也可以单独在农用无人机上设置播撒机10的料箱17。在上述优选方式中，通过设置料箱17，在播种过程中无需人工全程供料，使用更加方便。In addition, referring to FIG. 1 and FIG. 2, preferably, the spreader 10 may further include a bin 17 above which a feed port 171 is disposed, and a discharge port (not shown) is disposed under the bin, the foregoing The agitation mechanism 14 is disposed at the discharge port to make the agitation more efficient by rotation and prevent the agitation mechanism 14 from being stuck. Specifically, the bin 17 may be any type of tank having a stocking function in the prior art, and the specific shape and volume of the box are not limited in this embodiment. Of course, the above-mentioned bins 17 may be separately provided or shared with other devices. For example, when the seeding machine 10 is installed on an agricultural drone, the water tank of the agricultural drone may be used as the bin 17, or The bin 17 of the spreader 10 is provided separately on the agricultural drone. In the above preferred mode, by providing the tank 17, it is more convenient to use without manual feeding in the sowing process.

优选地，在料箱17的底部(也即出料口一侧)还安装有落料壳体173，以引导从出料口流出的物料下落到播撒机10构上。具体在设置时，落料壳体173可以以可拆卸或者不可拆卸的方式安装在料箱17的底部。例如，落料壳体173和料箱17之间可以通过旋转卡口或者螺纹等方式可拆卸连接在一起，从而可以快速清理播撒机内部的杂物。举例来说，在图5所示的实施例中，可以在落料壳体173内设置卡槽175(例如大致为L形的卡槽175)，并相应的在料箱17的底部设置与该卡槽175相配合的凸起174(例如矩形或者圆弧形凸起174)，以实现落料壳体173和料箱17的可拆卸连接。在其他实施例中，落料壳体173与所述料箱17通过螺纹结构可拆卸连接。同时，当设置落料壳体173时，还可以将上述固定架137安装在该落料壳体173上，从而实现将减速机构13安装在料箱17内的目的。此外，需要说明的是，上述落料壳体173并非是必须设置的，例如当物料受风力影响很小或者出料口和播撒机10构的距离很近时，可以无需设置该落料壳体173。Preferably, a blanking housing 173 is also mounted at the bottom of the magazine 17 (i.e., on the side of the discharge opening) to guide the material flowing out of the discharge port to fall onto the spreader 10. Specifically, when disposed, the blanking housing 173 can be mounted to the bottom of the magazine 17 in a detachable or non-detachable manner. For example, the blanking housing 173 and the magazine 17 can be detachably coupled together by a rotating bayonet or a thread, so that the debris inside the spreading machine can be quickly cleaned. For example, in the embodiment shown in FIG. 5, a slot 175 (eg, a generally L-shaped slot 175) may be disposed in the blanking housing 173 and correspondingly disposed at the bottom of the bin 17 The slots 175 are mated with projections 174 (e.g., rectangular or arcuate projections 174) to effect detachable attachment of the blank housing 173 and the magazine 17. In other embodiments, the blanking housing 173 and the magazine 17 are threaded. Disassemble the connection. Meanwhile, when the blanking housing 173 is provided, the above-described fixing bracket 137 can also be mounted on the blanking housing 173, thereby achieving the purpose of mounting the speed reducing mechanism 13 in the magazine 17. In addition, it should be noted that the blanking housing 173 is not necessarily provided. For example, when the material is affected by the wind force or the distance between the discharging port and the spreading device 10 is very close, the blanking housing may not be provided. 173.

以下简要介绍本实施例的播撒机10的工作原理：The working principle of the seeding machine 10 of the present embodiment will be briefly described below:

电机11启动后，通过电机11的输出轴将电机11的转速输出到减速机构13的输入端中，通过减速机构13的变速作用，分别从第一输出轴131和第二输出轴132输出给与第一输出轴131固定的搅拌机构14和与第二输出轴132固定的物料播撒机构15。一方面，可以带动搅拌机构14以第一转速转动来搅拌流动到出料口的物料，例如蔬菜或者玉米的种子。另一方面，又可以带动物料播撒机构15以第二转速转动，从而将从出料口经过落料壳体173内部落到物料播撒机构15上的物料播撒到土壤中，当然落到物料播撒机构15上的物料是经搅拌机构14搅拌均匀的。After the motor 11 is started, the rotational speed of the motor 11 is output to the input end of the speed reduction mechanism 13 through the output shaft of the motor 11, and is output from the first output shaft 131 and the second output shaft 132 through the shifting action of the speed reducing mechanism 13, respectively. The first output shaft 131 is fixed to the stirring mechanism 14 and the material spreading mechanism 15 fixed to the second output shaft 132. In one aspect, the agitation mechanism 14 can be rotated to rotate at a first rotational speed to agitate material flowing to the discharge port, such as seeds of vegetables or corn. On the other hand, the animal material spreading mechanism 15 can be rotated at the second rotation speed, so that the material falling from the discharge port through the inside of the blanking housing 173 to the material spreading mechanism 15 is spread into the soil, and of course falls to the material spreading mechanism. The material on the 15 is uniformly stirred by the stirring mechanism 14.

最后，本实施例的播撒机10可以以可拆卸或者不可拆卸的方式固定在例如拖拉机、农用无人机等运动对象上。优选地，播撒机10通过可拆卸连接方式(例如快拆板)固定在运动对象上，以提高播撒机10的安装效率，从而节省播种时间，同时也降低了播撒机10的安装难度。Finally, the spreader 10 of the present embodiment can be fixed in a detachable or non-detachable manner on a moving object such as a tractor or an agricultural drone. Preferably, the spreader 10 is fixed to the moving object by a detachable connection means (for example, a quick release plate) to improve the installation efficiency of the spreader 10, thereby saving the seeding time and also reducing the installation difficulty of the spreader 10.

本实施例的播撒机10，通过减速机构13同时带动搅拌机构14和物料播撒机构15旋转，从而精简了部件，减小了播撒机10的体积，使得其结构更加紧凑，并且降低了其重量，同时还优化了其能源利用率，从而节约了能源。进一步，通过将播撒机固定在运动对象上，可以远程控制播撒机，避免因作业人员直接接触播撒物引起的中毒风险。并且，当播撒机固定在农用无人机上时，可避免作业器械直接接触作物，降低对作物的危害；而且农用无人机以较高速度飞行，作业效率高，且旋翼式农用无人机的桨叶的下压风力有利于播撒均匀，防止漂移。The seeding machine 10 of the present embodiment simultaneously drives the stirring mechanism 14 and the material spreading mechanism 15 to rotate by the speed reducing mechanism 13, thereby simplifying the components, reducing the volume of the seeding machine 10, making the structure more compact and reducing the weight thereof. It also optimizes its energy efficiency, which saves energy. Further, by fixing the spreading machine to the moving object, the spreading machine can be remotely controlled to avoid the risk of poisoning caused by the direct contact of the worker with the spreading object. Moreover, when the seeding machine is fixed on the agricultural drone, the working equipment can be prevented from directly contacting the crop and the damage to the crop can be avoided; and the agricultural drone is flying at a higher speed, the working efficiency is high, and the rotor type agricultural drone is used. The downward pressure of the blades facilitates even spreading and prevents drift.

实施例2Example 2

本实施例提供一种播撒机10，用于在农业生产中进行播种，其可以单独使用或者安装在农用无人机、拖拉机等机械上使用。 This embodiment provides a seeding machine 10 for seeding in agricultural production, which can be used alone or installed on machinery such as agricultural drones and tractors.

请参阅图1至图4，本实施例提供的播撒机10是在实施例1的基础上，将减速机构13设置为包括：主动齿轮133、传动齿轮134和从动齿轮135。其中，主动齿轮133套设在电机11的输出轴上；从动齿轮135通过传动齿轮134与主动齿轮133啮合；并且，第一输出轴131固定在该从动齿轮135上；第二输出轴132固定在传动齿轮134上。Referring to FIG. 1 to FIG. 4 , the seeding machine 10 provided in this embodiment is based on the first embodiment, and the speed reduction mechanism 13 is configured to include a driving gear 133 , a transmission gear 134 and a driven gear 135 . The driving gear 133 is sleeved on the output shaft of the motor 11; the driven gear 135 is meshed with the driving gear 133 through the transmission gear 134; and the first output shaft 131 is fixed on the driven gear 135; the second output shaft 132 It is fixed to the transmission gear 134.

具体的，主动齿轮133、传动齿轮134和从动齿轮135的直径、齿轮数可以根据实际需要的传动比进行设置，如何实现确定的传动比计算本领域技术人员可以参见相应的教科书或者技术手册，在此不再进行赘述。例如，当需要较小的搅拌速度(也即第一转速)和较大的播撒速度(也即第二转速)时，可以使用大齿数的从动齿轮135和小齿数的传动齿轮134。此外，在本实施例中，啮合可以是直接啮合也可以是间接啮合，例如，主动齿轮133和传动齿轮134啮合，可以是传动齿轮134与主动齿轮133直接触，也可以是传动齿轮134与主动齿轮133间接接触，也即在传动齿轮134和主动齿轮133之间还有其他的传动部件，比如另外一个齿轮。Specifically, the diameters and the number of gears of the driving gear 133, the transmission gear 134, and the driven gear 135 can be set according to the actual required transmission ratio. How to achieve the determined transmission ratio calculation can be referred to the corresponding textbook or technical manual by those skilled in the art. I will not repeat them here. For example, when a small agitation speed (i.e., a first rotation speed) and a large spreading speed (i.e., a second rotation speed) are required, a large number of driven gears 135 and a small number of transmission gears 134 can be used. In addition, in this embodiment, the meshing may be direct meshing or indirect meshing. For example, the driving gear 133 and the transmission gear 134 are meshed, and the transmission gear 134 may be in direct contact with the driving gear 133, or may be the transmission gear 134 and the active gear. The gear 133 is in indirect contact, that is, there are other transmission components, such as another gear, between the transmission gear 134 and the drive gear 133.

此外，在本实施例中，主动齿轮133、传动齿轮134和从动齿轮135可以由任意合适的现有材料制作而成，例如塑料或者金属。Further, in the present embodiment, the driving gear 133, the transmission gear 134, and the driven gear 135 may be fabricated from any suitable existing materials such as plastic or metal.

本实施例的播撒机10，通过齿轮传动系来传递电机11的动力，可以非常方便的实现一个电机11同时控制搅拌机构14和物料播撒机构15以相同或者不同的转速工作，并且结构也简单紧凑；同时，还可以稳定的输出相应的转速，减少播撒机10的故障率。The seeding machine 10 of the present embodiment transmits the power of the motor 11 through the gear train. It is very convenient to realize one motor 11 while controlling the stirring mechanism 14 and the material spreading mechanism 15 to operate at the same or different rotational speeds, and the structure is also simple and compact. At the same time, it is also possible to stably output the corresponding rotation speed and reduce the failure rate of the spreader 10.

继续参考图1至图4，优选地，传动齿轮134包括：第一齿轮盘1341、第一传动齿轮1342、以及第二传动齿轮1343。其中，第一传动齿轮1342和第二传动齿轮1343固定在第一齿轮盘1341上；并且，第一传动齿轮1342与主动齿轮133啮合，第二传动齿轮1343与从动齿轮135啮合；第二输出轴132固定在前述第一齿轮盘1341上。With continued reference to FIGS. 1 through 4, preferably, the transmission gear 134 includes a first gear plate 1341, a first transmission gear 1342, and a second transmission gear 1343. Wherein, the first transmission gear 1342 and the second transmission gear 1343 are fixed on the first gear plate 1341; and, the first transmission gear 1342 is meshed with the driving gear 133, the second transmission gear 1343 is meshed with the driven gear 135; The shaft 132 is fixed to the aforementioned first gear plate 1341.

具体的，第一齿轮盘1341可以是现有技术中使用的任意类型的齿轮盘，但以能够实现将主动齿轮133的动力传递给从动齿轮135为限，并且优选结构简单、体积小的齿轮盘。此外，第一齿轮盘1341可以使用现有技术中任意合适材料制作而成，例如塑料或者金属。Specifically, the first gear wheel 1341 may be any type of gear disk used in the prior art, but the gear that can transmit the power of the driving gear 133 to the driven gear 135 is limited, and a gear having a simple structure and a small volume is preferable. plate. Additionally, the first gear plate 1341 can be fabricated using any suitable material in the prior art, such as plastic or metal.

第一传动齿轮1342和第二传动齿轮1343可以是通过现有的常规方法，例如焊接、螺接，固定在第一齿轮盘1341上的，也可以是和第一齿轮盘1341一体制造的，本领域技术人员可以根据制造成本和所需的结构强度选择合适的固定方式。并且，第一传动齿轮1342和第二传动齿轮1343可以使用现有技术中任意合适材料制作而成，例如塑料或者金属。此外，第一传动齿轮1342和第二传动齿轮1343可以设置在第一齿轮盘1341的任意合适位置。优选地，第一传动齿轮1342和第二传动齿轮1343分别固定在第一齿轮盘1341相对的两个表面上，以减小减速机构13其中一个方向的宽度。例如图4中示出了在第一齿轮盘1341的上表面固定第一传动齿轮1342，并在其下表面固定第二传动齿轮1343的方案，这样就可以减少减速机构13在横向上的宽度。The first transmission gear 1342 and the second transmission gear 1343 may be by a conventional conventional method. For example, welding or screwing, which is fixed on the first gear plate 1341, may also be integrally formed with the first gear plate 1341. Those skilled in the art can select a suitable fixing manner according to the manufacturing cost and the required structural strength. Also, the first transfer gear 1342 and the second transfer gear 1343 can be fabricated using any suitable material in the prior art, such as plastic or metal. Further, the first transfer gear 1342 and the second transfer gear 1343 may be disposed at any suitable position of the first gear plate 1341. Preferably, the first transmission gear 1342 and the second transmission gear 1343 are respectively fixed on opposite surfaces of the first gear plate 1341 to reduce the width of one of the directions of the speed reduction mechanism 13. For example, a scheme in which the first transmission gear 1342 is fixed to the upper surface of the first gear plate 1341 and the second transmission gear 1343 is fixed to the lower surface thereof is shown in FIG. 4, so that the width of the speed reduction mechanism 13 in the lateral direction can be reduced.

第二输出轴132固定在第一齿轮盘1341上的方式可以是通过焊接或者螺接等现有技术中常规的固定方法固定在第一齿轮盘1341上。优选地，在第一齿轮盘1341上开设有第二输出轴132安装口，第二输出轴132穿设并固定在该第二输出轴132安装口，以简化第二输出轴132的安装难度。例如，在第二输出轴132安装口处设置有轴承138，第二输出轴132安装在该轴承138上。又优选地，第二输出轴132和第一齿轮盘1341可以一体成形，以提高二者的结构强度。The manner in which the second output shaft 132 is fixed to the first gear plate 1341 may be fixed to the first gear plate 1341 by a conventional fixing method such as welding or screwing. Preferably, a second output shaft 132 mounting opening is defined in the first gear wheel 1341, and the second output shaft 132 is bored and fixed to the second output shaft 132 mounting opening to simplify the installation of the second output shaft 132. For example, a bearing 138 is provided at the mounting opening of the second output shaft 132, and the second output shaft 132 is mounted on the bearing 138. Still preferably, the second output shaft 132 and the first gear plate 1341 may be integrally formed to increase the structural strength of both.

进一步，继续参阅图3，减速机构13还包括：第二齿轮盘136，从动齿轮135和第一输出轴131固定在该第二齿轮盘136上。Further, with continued reference to FIG. 3, the speed reduction mechanism 13 further includes a second gear plate 136 to which the driven gear 135 and the first output shaft 131 are fixed.

具体的，第二齿轮盘136也可以是现有技术中使用的任意类型的齿轮盘，但优选结构简单、体积小的齿轮盘。此外，第二齿轮盘136可以使用现有技术中任意合适材料制作而成，例如塑料或者金属。又优选地，如图3所示，第一输出轴131为空心轴，并在第二齿轮盘136上开设有通孔，以供第二输出轴132穿过并容纳在第一输出轴131的内部，从而减小减速机构13的横向体积。更优选地，前述通孔开设在第二齿轮盘136的轴心位置，从而使第一输出轴131和第二输出轴132同轴，以进一步减小减速机构13的横向体积。Specifically, the second gear plate 136 may also be any type of gear disk used in the prior art, but a gear disk having a simple structure and a small volume is preferable. Additionally, the second gear plate 136 can be fabricated from any suitable material in the prior art, such as plastic or metal. Still preferably, as shown in FIG. 3, the first output shaft 131 is a hollow shaft, and a through hole is formed in the second gear plate 136 for the second output shaft 132 to pass through and be accommodated in the first output shaft 131. Internal, thereby reducing the lateral volume of the speed reduction mechanism 13. More preferably, the aforementioned through hole is opened at the axial center position of the second gear plate 136 such that the first output shaft 131 and the second output shaft 132 are coaxial to further reduce the lateral volume of the speed reduction mechanism 13.

实施例3Example 3

请参阅图1和图2，本实施例提供的播撒机10是在上述实施例1或实施例2的基础上，将物料播撒机构15设置为包括转盘151，该转盘151固定在第一输出轴131上，且位于搅拌机构14的下方。Referring to FIG. 1 and FIG. 2, the seeding machine 10 provided in this embodiment is in the above embodiment 1 or implemented. On the basis of Example 2, the material spreading mechanism 15 is provided to include a turntable 151 which is fixed to the first output shaft 131 and which is located below the stirring mechanism 14.

具体的，在本实施例中对于转盘151的形状和大小不作限定，本领域技术人员在设置时可以根据实际需求选择合适的形状和大小。此外，本实施例的转盘151可以由现有技术中的任意材料制作而成，例如塑料或者金属。如图1和2所示，优选地，转盘151为金属材料制成而成的圆盘，从而当第二输出轴132带动圆盘转动时，在圆盘的外边沿可以形成相同的离心力，保证播种的均匀度，且耐腐蚀。Specifically, in the embodiment, the shape and size of the turntable 151 are not limited, and those skilled in the art can select an appropriate shape and size according to actual needs when setting. Further, the turntable 151 of the present embodiment can be made of any material in the prior art, such as plastic or metal. As shown in FIGS. 1 and 2, preferably, the turntable 151 is a disc made of a metal material, so that when the second output shaft 132 drives the disc to rotate, the same centrifugal force can be formed on the outer edge of the disc to ensure the same. Uniformity of sowing and corrosion resistance.

本实施例的播撒机10，通过将转盘151固定在第二输出轴132上，从而通过第二输出轴132带动转盘151转动，以将经过搅拌机构14的后落到转盘151上的物料在离心力的作用下播撒到土壤中，结构简单，使用方便。The seeding machine 10 of the present embodiment, by fixing the turntable 151 to the second output shaft 132, drives the turntable 151 to rotate by the second output shaft 132 to centrifugally force the material that has passed through the stirring mechanism 14 to the turntable 151. The seed is spread into the soil, and the structure is simple and convenient to use.

进一步，继续参阅图1和图2，将上述转盘151的中心设置为低于转盘151的边沿，从而利于收集物料，避免物料在非离心力的作用下掉出转盘151。Further, referring to FIG. 1 and FIG. 2, the center of the turntable 151 is set to be lower than the edge of the turntable 151, thereby facilitating the collection of materials and preventing the material from falling out of the turntable 151 under the action of non-centrifugal force.

进一步，请参阅图2，在转盘151上还设置有至少一个筋板152，用于将转盘151分割成多个物料播撒区域。当物料从出料口进入转盘151时，可以均匀的落入上述多个物料播撒区域内，避免过多物料堆积在一起，并且，通过设置筋板152，还能够加强转盘151的结构，从而提高播撒机10的使用寿命。Further, referring to FIG. 2, at least one rib 152 is further disposed on the turntable 151 for dividing the turntable 151 into a plurality of material spreading areas. When the material enters the turntable 151 from the discharge port, it can uniformly fall into the plurality of material spreading areas to avoid excessive material accumulation, and by providing the rib 152, the structure of the turntable 151 can be strengthened, thereby improving The service life of the spreader 10.

进一步，请参阅图1和图2，物料播撒机构15还包括：挡盘153，该挡盘153设置在转盘151上方，并与转盘151形成撒料空间，从而避免播种时物料飞溅的上方。详细的，挡盘153的形状可以与转盘151的形状完全一样，或者也可以有少许差异，例如面积更大或者更小。优选地，挡盘153的形状和转盘151的形状一致，以简化加工工艺。Further, referring to FIG. 1 and FIG. 2, the material spreading mechanism 15 further includes: a retaining disk 153 disposed above the turntable 151 and forming a scattering space with the turntable 151 to avoid splashing of material during seeding. In detail, the shape of the retaining disk 153 may be exactly the same as the shape of the turntable 151, or may be slightly different, such as a larger or smaller area. Preferably, the shape of the retaining disk 153 coincides with the shape of the turntable 151 to simplify the machining process.

实施例4Example 4

请参阅图1和图2，本实施例提供的播撒机10是在上述实施例1、实施例2、或实施例3的基础上，该播撒机10还包括：物料调节机构18，此物料调节结构用于调整所述出料口的出料量。 Referring to FIG. 1 and FIG. 2, the seeding machine 10 provided in this embodiment is based on the foregoing embodiment 1, the embodiment 2, or the third embodiment. The seeding machine 10 further includes: a material adjusting mechanism 18, which adjusts the material. The structure is used to adjust the discharge amount of the discharge port.

具体的，物料调节机构18可以是设置在出料口外侧、能够相对出料口移动的挡板，从而由出料口和挡板一起形成一个可调节出料量的出料通道。并且，挡板可以是滑设在出料口的外侧，也可以是枢设在出料口的外侧，或者还可以是通过连杆安装在出料口的外侧，以便通过连杆带动该挡板在出料口处侧运动以调整出料口的出料量。也即是，在实际设置时，可以通过多种联动方式驱动挡板运动以实现对出料口遮蔽面积的调整，从而达到调整出料口出料量的目的。Specifically, the material adjusting mechanism 18 may be a baffle disposed outside the discharge port and movable relative to the discharge port, so that the discharge port and the baffle together form a discharge passage with adjustable discharge amount. Moreover, the baffle may be slidably disposed on the outer side of the discharge port, or may be pivoted on the outer side of the discharge port, or may be installed on the outer side of the discharge port through a connecting rod to drive the baffle through the connecting rod. Move at the side of the discharge port to adjust the discharge amount of the discharge port. That is to say, in the actual setting, the movement of the baffle can be driven by a plurality of linkage modes to achieve the adjustment of the shielding area of the discharge opening, thereby achieving the purpose of adjusting the discharge amount of the discharge port.

本实施例的播撒机10，通过设置物料调节机构18来调整出料口的出料量，这样就可以根据不同的物料种类或者土壤情况来调整单位面积的播种量，简单方便、易操作。The seeding machine 10 of the embodiment adjusts the discharge amount of the discharge port by setting the material adjustment mechanism 18, so that the seeding amount per unit area can be adjusted according to different material types or soil conditions, which is simple, convenient and easy to operate.

进一步，物料调节机构18包括：调节电机181及调节齿轮，所述调节电机181用于驱动调节齿轮运动以调整所述出料口的出料量。Further, the material adjustment mechanism 18 includes an adjustment motor 181 and an adjustment gear for driving the adjustment gear movement to adjust the discharge amount of the discharge port.

具体的，调节电机181可以使用现有技术中任意类型的电机11，例如无刷电机11、步进电机11、或交流电机11等。调节齿轮与调节电机181的输出轴配合，通过调节电机181输出轴的转动来驱动该调节齿轮移动以便调整调节齿轮遮蔽出料口面积的功能。例如，调节齿轮固定在一个蜗杆上，蜗杆上的外螺纹再与调节电机181的输出轴上固定的齿轮啮合，从而实现用调节电机181来驱动调节齿轮移动给的目的。Specifically, the adjustment motor 181 can use any type of motor 11 of the prior art, such as a brushless motor 11, a stepping motor 11, or an AC motor 11, and the like. The adjustment gear cooperates with the output shaft of the adjustment motor 181, and the adjustment gear is moved by adjusting the rotation of the output shaft of the motor 181 to adjust the function of adjusting the area of the gear shielding outlet. For example, the adjustment gear is fixed to a worm, and the external thread on the worm is meshed with the fixed gear on the output shaft of the adjustment motor 181, thereby achieving the purpose of driving the adjustment gear by the adjustment motor 181.

在上述优选方式中，通过调节电机181和调节齿轮的配合来调节出料口的出料量，结构简单、安装方便、调节精度高且易于操作。In the above preferred mode, the discharge amount of the discharge port is adjusted by adjusting the cooperation of the motor 181 and the adjustment gear, and the structure is simple, the installation is convenient, the adjustment precision is high, and the operation is easy.

请继续参阅图1和图2，优选地，调节齿轮包括：第一调节齿轮182和第二调节齿轮183。其中，第一调节齿轮182上开设有开口，此开口与出料口形成出料通道；第二调节齿轮183与第一调节齿轮182啮合，并穿设在调节电机181的输出轴上，用于带动第二调节齿轮183旋转，以调整出料通道的出料量。With continued reference to FIGS. 1 and 2, preferably, the adjustment gear includes a first adjustment gear 182 and a second adjustment gear 183. The first adjusting gear 182 is provided with an opening, and the opening forms a discharging passage with the discharging port; the second adjusting gear 183 is meshed with the first adjusting gear 182 and is disposed on the output shaft of the adjusting motor 181 for The second adjustment gear 183 is rotated to adjust the discharge amount of the discharge passage.

具体来说，第一调节齿轮182上的开口可以根据实际需要开设，其可以是圆形孔、椭圆形孔、多边形孔、或者异型孔。第调节齿轮和第二调节齿轮183的传动比可以根据实际需要进行设置，具体计算方法可以参考教科书或者技术手册，在此不再进行赘述。Specifically, the opening on the first adjustment gear 182 may be opened according to actual needs, and may be a circular hole, an elliptical hole, a polygonal hole, or a shaped hole. The transmission ratio of the first adjustment gear and the second adjustment gear 183 can be set according to actual needs. For the specific calculation method, reference may be made to a textbook or a technical manual, and details are not described herein.

进一步，物料调节机构18还包括：角位移传感器，该角位移传感器设于调节电机181上，用于感测调节电机181的角位移，以提高出料量的调节精度。具体的，角位移传感器可以是现有技术中能够测定角位移的传感器，例如霍尔传感器、电位器传感器等。Further, the material adjustment mechanism 18 further includes: an angular displacement sensor, the angular displacement sensor is disposed at The adjustment motor 181 is used to sense the angular displacement of the adjustment motor 181 to improve the adjustment accuracy of the discharge amount. Specifically, the angular displacement sensor may be a sensor capable of measuring angular displacement in the prior art, such as a Hall sensor, a potentiometer sensor, or the like.

具体使用时，启动调节电机181，调节电机181的输出轴带动第二调节齿轮183旋转，从而带动第一调节齿轮182旋转，以使第一调节齿轮182上开设的开口和出料口之间形成不同截面大小的出料通道，从而控制出料量。同时，角位移传感器检测第二调节齿轮183的旋转角度、或者位移量，并将检测到的数据反馈给调节电机181，调节电机181接收到角位移传感器发送的数据后，根据该数据经过比较、计算等调整其输出，也即调整其输出轴的转速，从而提高出料量调整的精度。In the specific use, the adjusting motor 181 is activated, and the output shaft of the adjusting motor 181 drives the second adjusting gear 183 to rotate, thereby driving the first adjusting gear 182 to rotate, so as to form an opening between the opening and the discharging opening formed on the first adjusting gear 182. The discharge channels of different cross-section sizes control the discharge amount. At the same time, the angular displacement sensor detects the rotation angle or the displacement amount of the second adjustment gear 183, and feeds back the detected data to the adjustment motor 181. After the adjustment motor 181 receives the data sent by the angular displacement sensor, the data is compared according to the data. The output is adjusted by the calculation, that is, the rotation speed of the output shaft is adjusted, thereby improving the accuracy of the discharge amount adjustment.

进一步，继续参阅图1和图2，在物料调节机构18和所述物料播撒机构15之间还可以设置密封圈184，以避免粉状物料从缝隙处泄露。Further, with continued reference to Figures 1 and 2, a seal ring 184 may be provided between the material conditioning mechanism 18 and the material spreading mechanism 15 to prevent leakage of powdered material from the gap.

进一步，继续参阅图1和图2，当设置落料壳体173时，物料调节机构18和落料壳体173之间还设置有防卡毛毡185，用于防止物料进入物料调节机构18和落料壳体173之间的缝隙内，以避免影响第一调节齿轮182的转动。Further, referring to FIG. 1 and FIG. 2, when the blanking housing 173 is disposed, an anti-seize felt 185 is disposed between the material adjusting mechanism 18 and the blanking housing 173 for preventing material from entering the material adjusting mechanism 18 and falling. Within the gap between the housings 173 to avoid affecting the rotation of the first adjustment gear 182.

实施例5Example 5

本实施例提供一种农用无人机，用于在农业生产中进行播种.This embodiment provides an agricultural drone for seeding in agricultural production.

图6为本实施例提供的农用无人机的结构示意图。FIG. 6 is a schematic structural diagram of an agricultural drone provided by the embodiment.

如图6所示，本实施例提供的农用无人机1，包括：机架20和播撒机10。其中，播撒机10安装在农用无人机1的机架20下方；农用无人机1的飞行控制器通过电子调速器与电机11电连接，用于控制电机11的工作状态。As shown in FIG. 6, the agricultural drone 1 provided in this embodiment includes a rack 20 and a seeder 10. The seeding machine 10 is installed under the frame 20 of the agricultural drone 1; the flight controller of the agricultural drone 1 is electrically connected to the motor 11 through an electronic governor for controlling the working state of the motor 11.

具体的，本实施例中的机架20可以是现有农用无人机1中使用的任意类型的机架20。例如可以使用现有的四旋翼、六旋翼农用无人机1的机架20。飞行控制器和电子调速器也可以是现有技术中农用无人机或者其他类型的无人机采用的任意类型的飞行控制器和电子调速器。Specifically, the rack 20 in this embodiment may be any type of rack 20 used in the existing agricultural drone 1. For example, the frame 20 of the existing four-rotor, six-rotor agricultural drone 1 can be used. The flight controller and electronic governor can also be any type of flight controller and electronic governor employed in prior art agricultural drones or other types of drones.

播撒机10可以使用上述任一实施例中的播撒机10，其结构、功能、工作原理及效果可以参见上述实施例，在此不再进行赘述。此外，播撒机10可以以可拆卸或者不可拆卸的方式安装在农用无人机1的机架20的下方。例如，播撒机10和农用无人机1的机架20可以通过快拆件以可拆卸方式连接在一起，而快拆件可以使用现有技术中的任意快拆件，比如快拆板、卡扣或者螺纹。同时，播撒机10的电机11与飞行控制器之间的电连接可以通过有线或者无线方式，例如图3中示出了，电机11和飞行控制器(图中未示出)通过连接线40电连接在一起，以传递控制信号。The slinger 10 can use the slinger 10 in any of the above embodiments. The structure, function, working principle and effect of the slinger 10 can be referred to the above embodiment, and details are not described herein. Further, the spreader 10 can be mounted below the frame 20 of the agricultural drone 1 in a detachable or non-removable manner. For example, the loom 10 and the frame 20 of the agricultural drone 1 can be detachably connected by a quick release member. As a result, the quick release member can use any quick release member of the prior art, such as a quick release plate, a snap fastener or a thread. Meanwhile, the electrical connection between the motor 11 of the seeder 10 and the flight controller may be wired or wireless, such as shown in FIG. 3, and the motor 11 and the flight controller (not shown) are electrically connected through the connection line 40. Connected together to pass control signals.

进一步，播撒机10的料箱17可以使用农用无人机1的水箱或者也可以单独设置料箱17。当播撒机10单独设置料箱17时，其料箱17固定在所述农用无人机1的脚架30上，并且，料箱17上方设置有进料口171，其下方设置有出料口，播撒机10的搅拌机构14位于出料口处，以提高搅拌效率并避免其卡死。优选地，在料箱17上设置有脚架连接件172，用于与农用无人机1的脚架30固定。其中，脚架连接件172可以是现有技术中任意形式的固定件，例如螺栓连接件或者是卡扣连接件。Further, the tank 17 of the spreader 10 can use the water tank of the agricultural drone 1 or the tank 17 can be separately provided. When the dispenser 10 is separately provided with the magazine 17, its magazine 17 is fixed on the stand 30 of the agricultural drone 1, and a feed port 171 is disposed above the bin 17, and a discharge port is disposed below the bin The agitation mechanism 14 of the spreader 10 is located at the discharge port to improve the agitation efficiency and prevent it from being stuck. Preferably, a tripod connector 172 is provided on the magazine 17 for fixing to the stand 30 of the agricultural drone 1. The tripod connector 172 can be any form of fastener in the prior art, such as a bolted connector or a snap-fit connector.

进一步，播撒机还可以包括落料壳体173，该落料壳体173的结构、功能和效果与上述实施例相同，具体可参见上述实施例，在此不再进行赘述。Further, the slinger may further include a blanking housing 173. The structure, function and effect of the blanking housing 173 are the same as those of the above embodiment. For details, refer to the above embodiments, and no further details are provided herein.

进一步，在播撒机10上还可以设置雷达50，用于进行避障，从而提高农用无人机1的避障能力，避免农用无人机1在飞行过程中与障碍物发生碰撞。Further, a radar 50 may be disposed on the seeding machine 10 for obstacle avoidance, thereby improving the obstacle avoidance capability of the agricultural drone 1 and preventing the agricultural drone 1 from colliding with an obstacle during flight.

以下简要介绍农用无人机的工作过程：The following is a brief introduction to the working process of agricultural drones:

首先，将物料装入料箱17或者用作料箱17的水箱中，然后启动农用无人机1。当农用无人机1到达播种区域时，飞行控制器控制分别控制电机11和调节电机181启动，电机11的输出经减速机构13减速后分别带动搅拌机构14和播撒机10构旋转，调节电机181则调节出料口的出料大小。物料从料箱17流到出料口处经搅拌机构14搅拌均匀，然后通过经调节机构和出料口形成的出料通道落到播撒机10构上，最终在离心力的作用下播撒到土壤中。在播种过程中，搅拌速度、播撒速度和出料量可以根据物料的粒径大小，单位面积的播种量，以及播种区域等各种因素进行调节，例如，通过遥控器调节、智能终端或者电脑上的应用软件调节。First, the material is loaded into the tank 17 or used as a tank of the tank 17, and then the agricultural drone 1 is started. When the agricultural drone 1 reaches the seeding area, the flight controller controls the motor 11 and the adjusting motor 181 to be respectively activated, and the output of the motor 11 is decelerated by the speed reducing mechanism 13 to drive the stirring mechanism 14 and the spreading machine 10 respectively to rotate the motor 181. Then adjust the discharge size of the discharge port. The material flows from the tank 17 to the discharge port and is evenly stirred by the stirring mechanism 14, and then falls to the spreader 10 through the discharge passage formed by the adjusting mechanism and the discharge port, and finally spreads into the soil under the action of centrifugal force. . During the sowing process, the stirring speed, spreading speed and discharge amount can be adjusted according to various factors such as the particle size of the material, the seeding amount per unit area, and the seeding area, for example, by remote control, smart terminal or computer. Application software tuning.

本实施例的农用无人机1，其播撒机10通过减速机构13同时带动搅拌机构14和物料播撒机构15旋转，从而精简了部件，减小了播撒机10的体积，使得其结构更加紧凑，并且降低了其重量，同时还优化了其能源利用率，从而节约了能源。 In the agricultural drone 1 of the present embodiment, the seeding machine 10 simultaneously drives the stirring mechanism 14 and the material spreading mechanism 15 to rotate by the speed reducing mechanism 13, thereby simplifying the components, reducing the volume of the seeding machine 10, and making the structure more compact. And it reduces its weight, while also optimizing its energy efficiency, which saves energy.

以上各个实施例中的技术方案、技术特征在与本相冲突的情况下均可以单独，或者进行组合，只要未超出本领域技术人员的认知范围，均属于本申请保护范围内的等同实施例。The technical solutions and technical features in the above various embodiments may be separate or combined in the case of conflicting with the present invention, and are equivalent embodiments within the scope of the present application as long as they do not exceed the cognitive scope of those skilled in the art. .

在本发明所提供的几个实施例中，应该理解到，所揭露的相关装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个***，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。In the several embodiments provided by the present invention, it should be understood that the related apparatus and method disclosed may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be used. Combinations can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.

所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得计算机处理器101(processor)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁盘或者光盘等各种可以存储程序代码的介质。The integrated unit, if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium. A number of instructions are included to cause a computer processor 101 to perform all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: a U disk, a removable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes.

以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。 The above is only the embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformation of the present invention and the contents of the drawings may be directly or indirectly applied to other related technologies. The fields are all included in the scope of patent protection of the present invention.

最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。 Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present invention. range.

Claims

一种播撒机，其特征在于，包括：电机、减速机构、搅拌机构以及物料播撒机构；A seeding machine, comprising: a motor, a speed reduction mechanism, a stirring mechanism and a material spreading mechanism;

所述搅拌机构设置在所述物料播撒机构上方的出料口处，用于搅拌物料；The stirring mechanism is disposed at a discharge port above the material spreading mechanism for stirring the material;

所述减速机构包括：输入端、第一输出轴和第二输出轴；The speed reduction mechanism includes: an input end, a first output shaft, and a second output shaft;

所述输入端与所述电机的输出轴连接，以使所述电机的输出轴带动所述输入端转动；The input end is coupled to an output shaft of the motor such that an output shaft of the motor drives the input end to rotate;

所述第一输出轴与所述搅拌机构固定，用于带动所述搅拌机构以第一转速旋转；The first output shaft is fixed to the stirring mechanism for driving the stirring mechanism to rotate at a first rotation speed;

所述第二输出轴与所述物料播撒机构固定，用于带动所述物料播撒机构以第二转速旋转。The second output shaft is fixed to the material spreading mechanism for driving the material spreading mechanism to rotate at a second rotation speed.
根据权利要求1所述的播撒机，其特征在于，所述第一转速与第二转速相同或者不同。The seeding machine according to claim 1, wherein said first rotational speed is the same as or different from said second rotational speed.
根据权利要求1所述的播撒机，其特征在于，所述第一输出轴与所述第二输出轴同轴或者异轴。The seeding machine of claim 1 wherein said first output shaft is coaxial or dissimilar to said second output shaft.
根据权利要求1所述的播撒机，其特征在于，所述减速机构包括：主动齿轮、传动齿轮和从动齿轮；The seeding machine according to claim 1, wherein the speed reduction mechanism comprises: a driving gear, a transmission gear, and a driven gear;

所述主动齿轮套设在所述电机的输出轴上；The driving gear is sleeved on an output shaft of the motor;

所述从动齿轮通过所述传动齿轮与所述主动齿轮啮合；The driven gear meshes with the driving gear through the transmission gear;

所述第一输出轴固定在所述从动齿轮上；The first output shaft is fixed on the driven gear;

所述第二输出轴固定在所述传动齿轮上。The second output shaft is fixed to the transmission gear.
根据权利要求4所述的播撒机，其特征在于，所述传动齿轮包括：第一齿轮盘、第一传动齿轮、以及第二传动齿轮；The seeding machine according to claim 4, wherein the transmission gear comprises: a first gear plate, a first transmission gear, and a second transmission gear;

所述第一传动齿轮和第二传动齿轮固定在所述第一齿轮盘上；The first transmission gear and the second transmission gear are fixed on the first gear plate;

所述第一传动齿轮与所述主动齿轮啮合，所述第二传动齿轮与所述从动齿轮啮合；The first transmission gear meshes with the driving gear, and the second transmission gear meshes with the driven gear;

所述第二输出轴固定在所述第一齿轮盘上。The second output shaft is fixed to the first gear plate.
根据权利要求5所述的播撒机，其特征在于，所述第一传动齿轮和第二传动齿轮分别固定在所述第一齿轮盘相对的两个表面上。The seeding machine according to claim 5, wherein said first transmission gear and said second transmission gear are respectively fixed to opposite surfaces of said first gear disc.
根据权利要求5所述的播撒机，其特征在于，所述减速机构还包括：第二齿轮盘；The seeding machine according to claim 5, wherein the speed reduction mechanism further comprises: Second gear plate;

所述从动齿轮和所述第一输出轴固定在所述第二齿轮盘上。The driven gear and the first output shaft are fixed to the second gear plate.
根据权利要求1所述的播撒机，其特征在于，所述搅拌机构包括至少一个搅拌杆，所述搅拌杆固定在所述第一输出轴上。The seeding machine according to claim 1, wherein said agitation mechanism comprises at least one agitating rod fixed to said first output shaft.
根据权利要求1所述的播撒机，其特征在于，所述物料播撒机构包括：转盘，所述转盘固定在所述第一输出轴上，且位于所述搅拌机构的下方。The seeding machine according to claim 1, wherein said material spreading mechanism comprises: a turntable fixed to said first output shaft and located below said stirring mechanism.
根据权利要求9所述的播撒机，其特征在于，所述转盘的中心低于所述转盘的边沿。The seeding machine according to claim 9, wherein the center of the turntable is lower than the edge of the turntable.
根据权利要求9所述的播撒机，其特征在于，所述转盘上设置有至少一个筋板，用于将所述转盘分割成多个物料播撒区域。The seeding machine according to claim 9, wherein said turntable is provided with at least one rib for dividing said turntable into a plurality of material spreading areas.
根据权利要求9所述的播撒机，其特征在于，所述物料播撒机构还包括：挡盘，所述挡盘设置在所述转盘上方，并与所述转盘形成撒料空间。The seeding machine according to claim 9, wherein said material spreading mechanism further comprises: a retaining disk, said retaining disk being disposed above said turntable and forming a spreading space with said turntable.
根据权利要求1所述的播撒机，其特征在于，所述播撒机还包括：物料调节机构，所述物料调节结构用于调整出料口的出料量。The seeding machine according to claim 1, wherein the spreader further comprises: a material adjustment mechanism for adjusting a discharge amount of the discharge port.
根据权利要求13所述的播撒机，其特征在于，所述物料调节机构包括：调节电机及调节齿轮，所述调节电机用于驱动调节齿轮运动以调整所述出料口的出料量。The seeding machine according to claim 13, wherein the material adjusting mechanism comprises: an adjusting motor and an adjusting gear, wherein the adjusting motor is configured to drive the adjusting gear movement to adjust the discharging amount of the discharging port.
根据权利要求14所述的播撒机，其特征在于，所述调节齿轮包括：第一调节齿轮和第二调节齿轮；The seeding machine according to claim 14, wherein the adjustment gear comprises: a first adjustment gear and a second adjustment gear;

所述第一调节齿轮上开设有开口，所述开口与所述出料口形成出料通道；An opening is formed in the first adjusting gear, and the opening forms a discharging passage with the discharging port;

所述第二调节齿轮与所述第一调节齿轮啮合，并穿设在所述调节电机的输出轴上，用于带动所述第二调节齿轮旋转，以调整所述出料通道的出料量。The second adjusting gear meshes with the first adjusting gear and is disposed on an output shaft of the adjusting motor for driving the second adjusting gear to rotate to adjust the discharging amount of the discharging passage .
根据权利要求14所述的播撒机，其特征在于，所述物料调节机构还包括：角位移传感器，所述角位移传感器设于所述调节电机上，用于感测所述调节电机的角位移。The seeding machine according to claim 14, wherein the material adjusting mechanism further comprises: an angular displacement sensor, wherein the angular displacement sensor is disposed on the adjusting motor for sensing an angular displacement of the adjusting motor .
根据权利要求13所述的播撒机，其特征在于，所述物料调节机构和所述物料播撒机构之间设置有密封圈。The seeding machine according to claim 13, wherein a seal ring is disposed between the material regulating mechanism and the material spreading mechanism.
根据权利要求1所述的播撒机，其特征在于，所述播撒机还包括：电池，所述电池与所述电机电连接，用于为所述电机供电。The seeding machine of claim 1 wherein said seeding machine further comprises: a battery electrically coupled to said motor for powering said motor.
根据权利要求1所述的播撒机，其特征在于，所述播撒机还包括：料箱，所述料箱上方设置有进料口，所述料箱的下方设置有出料口，所述搅拌机构位于所述出料口处。The seeding machine according to claim 1, wherein the spreader further comprises: a feeding box, a feeding port is arranged above the material box, a discharging port is arranged below the material box, and the stirring mechanism is located at the discharging port.
根据权利要求19所述的播撒机，其特征在于，所述播撒机还包括：落料壳体，所述落料壳体可拆卸地连接在所述料箱的底部，所述播撒机的物料播撒机构位于所述落料壳体的下方。A seeding machine according to claim 19, wherein said seeding machine further comprises: a blanking housing, said blanking housing being detachably coupled to the bottom of said magazine, said material of said spreading machine A spreading mechanism is located below the blanking housing.
一种农用无人机，其特征在于，包括：机架和权利要求1-18任一项所述的播撒机；An agricultural drone, comprising: a rack and the spreader according to any one of claims 1-18;

所述播撒机安装在所述农用无人机的机架下方；The seeding machine is installed below the frame of the agricultural drone;

所述农用无人机的飞行控制器通过电子调速器与所述电机电连接，用于控制所述电机的工作状态。The flight controller of the agricultural drone is electrically connected to the motor through an electronic governor for controlling the working state of the motor.
根据权利要求21所述的农用无人机，其特征在于，所述播撒机还包括：料箱；The agricultural drone according to claim 21, wherein the spreader further comprises: a bin;

所述料箱固定在所述农用无人机的脚架上；The bin is fixed on a tripod of the agricultural drone;

所述料箱上方设置有进料口，所述料箱的下方设置有出料口，所述搅拌机构位于所述出料口处。A feed port is disposed above the tank, a discharge port is disposed below the tank, and the stirring mechanism is located at the discharge port.
根据权利要求22所述的农用无人机，其特征在于，所述料箱上设置有脚架连接件，用于与农用无人机的脚架固定。The agricultural drone according to claim 22, wherein the magazine is provided with a tripod connector for fixing to the stand of the agricultural drone.
根据权利要求22所述的农用无人机，其特征在于，所述播撒机还包括：落料壳体，所述落料壳体可拆卸地连接在所述料箱的底部，所述物料播撒机的播撒机构位于所述落料壳体的下方。The agricultural drone according to claim 22, wherein the spreader further comprises: a blanking housing, the blanking housing is detachably coupled to the bottom of the magazine, and the material is spread The spreading mechanism of the machine is located below the blanking housing.
根据权利要求21所述的农用无人机，其特征在于，所述播撒机上还设置有雷达，用于进行避障。 The agricultural drone according to claim 21, wherein the spreader is further provided with a radar for performing obstacle avoidance.