Seedling throwing mechanism and unmanned aerial vehicle seedling throwing system

Abstract

Embodiments of the present application provide a seedling throwing mechanism and an unmanned aerial vehicle seedling throwing system, and relate to the technical field of seedling throwing. The seedling throwing mechanism comprises a load module, a first seedling feeding module and a first seedling taking module. The load module is used for being installed on an unmanned aerial vehicle. The first seedling feeding module is arranged on the load module. The first seedling taking module is movably arranged on the load module to take out seedlings on the first seedling feeding module row by row. The seedlings are thrown out by the mode that the seedling feeding module is stationary and the seedling taking module moves. The unmanned aerial vehicle seedling throwing is realized. The influence of factors such as terrain and plot area is reduced. Since the seedling feeding module does not need to be driven to move relative to the load module to take out seedlings row by row, the inertial impact on the load module is reduced. The load module can be installed on the unmanned aerial vehicle, thereby ensuring the flight stability of the unmanned aerial vehicle.

Description

Technical Field

[0001] This invention relates to the field of rice seedling throwing technology, and more specifically, to a rice seedling throwing mechanism and a drone rice seedling throwing system. Background Technology

[0002] For mechanized rice planting, there are actually only two options on the market: rice transplanters and rice throwers. Both of these options mainly rely on ground-based agricultural machinery and are subject to limitations due to factors such as terrain and plot size. Summary of the Invention

[0003] To solve the above-mentioned technical problems, the present invention provides a rice seedling throwing mechanism and a drone rice seedling throwing system, which can realize drone rice seedling throwing and reduce the impact of factors such as terrain and plot area.

[0004] The embodiments of the present invention can be implemented as follows:

[0005] In a first aspect, the present invention provides a rice seedling throwing mechanism, comprising:

[0006] A load module, which is used for installation on a drone;

[0007] A first seedling delivery module, wherein the first seedling delivery module is disposed in the load module; and

[0008] The first seedling picking module is movably mounted on the load module to pick up seedlings from the first seedling delivery module row by row and bunch by bunch.

[0009] In an optional implementation, the first seedling-retrieving module is used to throw the retrieved seedlings out by centrifugal force or by ejector.

[0010] In an optional implementation, the first seedling-harvesting module can be laterally movably disposed on the load module.

[0011] In an optional embodiment, the seedling throwing mechanism further includes a driving device connected to the first seedling picking module, the driving device being used to drive the first seedling picking module to move relative to the load module.

[0012] In an optional embodiment, the driving device includes a power component and a threaded rod, the power component and the threaded rod are connected, the threaded rod is rotatably disposed on the load module, and the first seedling picking module and the threaded rod are threadedly engaged, the power component is used to drive the threaded rod to rotate, so that the first seedling picking module moves along the axial direction of the threaded rod.

[0013] In an optional embodiment, the driving device further includes a sliding connector, one end of which is slidably connected to the load module, and the other end of which is connected to the first seedling harvesting module.

[0014] In an optional implementation, there may be multiple first seedling picking modules, and multiple first seedling picking modules may be threadedly engaged with the same threaded rod.

[0015] In an optional embodiment, the seedling throwing mechanism further includes a second seedling delivery module and a second seedling taking module. The second seedling delivery module is disposed on the load module, and the second seedling delivery module is disposed in the same direction as or opposite to the first seedling delivery module.

[0016] The second seedling picking module is movably mounted on the load module to pick up seedlings from the second seedling delivery module row by row and bunch by bunch.

[0017] In an optional implementation, the moving direction of the first seedling-picking module is opposite to that of the second seedling-picking module.

[0018] Secondly, the present invention provides a drone rice-throwing system, including a drone and a rice-throwing mechanism as described in any of the foregoing embodiments, wherein the load module is installed on the drone.

[0019] The beneficial effects of the rice-throwing mechanism and the UAV rice-throwing system of the present invention include, for example:

[0020] This invention provides a seedling throwing mechanism, which includes a load module, a first seedling delivery module, and a first seedling collection module. The load module is mounted on a drone, the first seedling delivery module is disposed on the load module, and the first seedling collection module is movably disposed on the load module to collect seedlings row by row and clump by clump from the first seedling delivery module. By keeping the seedling delivery module stationary while the seedling collection module moves, the seedlings are collected and thrown, realizing seedling throwing from the drone. This reduces the impact of factors such as terrain and plot size. Furthermore, since it is not necessary to drive the seedling delivery module to move relative to the load module to collect seedlings row by row and clump by clump, the inertial impact on the load module is reduced. Moreover, the load module can be mounted on the drone, thereby ensuring the flight stability of the drone.

[0021] The present invention provides a drone rice-throwing system, which includes a drone and the aforementioned rice-throwing mechanism, with a load module installed on the drone. The drone rice-throwing system has all the functions of the aforementioned rice-throwing mechanism. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of a drone rice-throwing system provided in an embodiment of the present invention;

[0024] Figure 2 This is a top view of the rice-throwing mechanism provided in an embodiment of the present invention;

[0025] Figure 3 This is a front view of the rice-throwing mechanism provided in an embodiment of the present invention;

[0026] Figure 4 This is a schematic diagram of the threaded rod, power component, and sliding rod of the rice-throwing mechanism provided in an embodiment of the present invention;

[0027] Figure 5 for Figure 4 A magnified view of a portion of the image;

[0028] Figure 6 This is a schematic diagram of the load module of the seedling throwing mechanism provided in an embodiment of the present invention, which is equipped with only the first seedling delivery module and the first seedling taking module.

[0029] Icons: 1000-Seedling throwing mechanism; 100-Load module; 110-Sliding rod; 200-First seedling feeding module; 210-First seedling feeding tray; 300-Second seedling feeding module; 310-Second seedling feeding tray; 400-First seedling picking module; 410-Drive source; 420-Cutter head; 500-Second seedling picking module; 610-Power component; 620-Threaded rod; 630-Sliding connector; 640-Sliding bushing; 650-Bearing; 660-Slider; 2000-UAV; 11-Rotating shaft; 12-Pressure strip. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0031] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0032] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0033] In the description of this invention, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0034] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0035] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0036] As mentioned in the background section, for mechanized rice cultivation, there are actually only two solutions on the market: rice transplanters and rice throwers. Both of these solutions mainly rely on ground-based agricultural machinery and are subject to limitations due to factors such as terrain and plot size.

[0037] In view of this, please refer to Figures 1-6 The rice-throwing mechanism 1000 and the drone-based rice-throwing system provided in the embodiments of the present invention can solve this problem, and will be described in detail below.

[0038] Please refer to Figure 1 This invention provides a drone rice-throwing system, which includes a drone 2000 and a rice-throwing mechanism 1000. The load module 100 (described in detail below) of the rice-throwing mechanism 1000 is installed on the drone 2000. The rice-throwing mechanism 1000 can complete the rice-throwing operation during the flight of the drone 2000, while ensuring the flight stability of the drone 2000.

[0039] Specifically, the seedling throwing mechanism 1000 includes a load module 100, a first seedling delivery module 200, and a first seedling picking module 400. The first seedling delivery module 200 is set on the load module 100, and the first seedling picking module 400 is movably set on the load module 100 to pick up the seedlings on the first seedling delivery module 200 row by row and clump by clump. By keeping the seedling delivery module stationary while the seedling picking module moves, the seedlings are picked up and thrown out, realizing unmanned seedling throwing and reducing the impact of factors such as terrain and plot area. Compared with agricultural machinery that relies on ground movement, it has fewer limitations.

[0040] Furthermore, since there is no need to drive the seedling delivery module to move relative to the load module 100 to remove seedlings row by row and bunch by bunch, the inertial impact on the load module 100 is reduced, and the load module 100 can be installed on the UAV 2000, thereby ensuring the flight stability of the UAV 2000.

[0041] In other words, the unmanned aerial vehicle (UAV) rice seedling throwing system provided in this embodiment of the invention uses a fixed position for the seedling delivery module and a horizontal movement of the seedling retrieval module to achieve the functions of retrieving and throwing the seedlings.

[0042] Since the seedling-collecting module does not need to carry seedlings, its overall weight is reduced, the power required to drive the seedling-collecting module is smaller, the overall power of the equipment is reduced, the inertia generated by lateral movement is reduced, the overall lateral sway of the equipment is reduced, and thus the impact on the flight stability of the aircraft is also reduced.

[0043] In this embodiment, the UAV 2000 is a rotary-wing UAV, specifically a quadcopter UAV. Of course, it can also be a single-rotor UAV, a dual-rotor UAV, a hexacopter UAV, an octacopter UAV, etc.

[0044] The 2000 drone can operate automatically according to preset paths, flight speeds, attitudes, etc., or be manually controlled by operators.

[0045] The load module 100 of the rice-throwing mechanism 1000 is detachably mounted on the lower part of the drone 2000. That is, the drone 2000 and the rice-throwing mechanism 1000 adopt an upper and lower split design. The drone 2000, as a mobile platform, is a separate design from the rice-throwing mechanism 1000.

[0046] In other words, this type of rice-throwing mechanism 1000 is an independent structure that does not depend on the fuselage frame of the UAV 2000. Based on this type, the corresponding device can be replaced according to the actual operation requirements in specific operation scenarios.

[0047] For example, the rice-throwing mechanism 1000 can be disassembled and a spreading device installed to spread pesticides, fertilizers, seeds, etc. Similarly, the rice-throwing mechanism 1000 can be disassembled and agricultural operation mechanisms such as surveying devices and spraying devices installed.

[0048] It should be noted that in this embodiment, the load module 100 is a tripod for the UAV 2000, and the load module 100 is used to mount the UAV 2000. In other embodiments, the load module 100 can also be a bracket, mainly serving to connect and fix the positions of the seedling delivery module and the seedling picking module.

[0049] In this embodiment, please continue to refer to Figure 2 In order to improve the efficiency of seedling throwing, the seedling throwing mechanism 1000 also includes a second seedling delivery module 300 and a second seedling taking module 500. The second seedling delivery module 300 is set in the load module 100 and is arranged opposite to the first seedling delivery module 200.

[0050] Of course, in other embodiments, the second seedling delivery module 300 and the first seedling delivery module 200 can also be arranged in the same direction.

[0051] The second seedling-picking module 500 is laterally movable and positioned on the load module 100 to pick up seedlings row by row and bunch by bunch from the second seedling-delivering module 300. Specifically, as follows: Figure 2 As indicated by the middle arrow, the moving direction of the first seedling picking module 400 and the moving direction of the second seedling picking module 500 can be opposite. Of course, the moving direction of the first seedling picking module 400 and the moving direction of the second seedling picking module 500 can also be the same.

[0052] It is easy to understand that in this embodiment, the first seedling delivery module 200 and the second seedling delivery module 300 can carry seedling mats, and the first seedling delivery module 200 can transport the seedling mats toward the first seedling taking module 400, and the second seedling delivery module 300 can transport the seedling mats toward the second seedling taking module 500.

[0053] It should be noted that the first seedling picking module 400 can throw the seedlings taken off the blanket seedlings out by centrifugal force. Of course, the first seedling picking module 400 can also throw the seedlings taken off the blanket seedlings out by the ejector (the seedling picking module can be equipped with an ejector, which can provide ejection force).

[0054] Meanwhile, the second seedling-removing module 500 can also throw the seedlings removed from the blanket seedlings out by centrifugal force or use a catapult to throw the seedlings removed from the blanket seedlings out.

[0055] To facilitate the lateral movement of the first seedling picking module 400 and the second seedling picking module 500, the seedling throwing mechanism 1000 also includes two driving devices, one of which is connected to the first seedling picking module 400. The driving device is used to drive the first seedling picking module 400 to reciprocate laterally relative to the load module 100.

[0056] Another drive device is connected to the second seedling picking module 500, and the other drive device is used to drive the second seedling picking module 500 to reciprocate laterally relative to the load module 100.

[0057] It should be noted that, in this embodiment, the first seedling picking module 400 and the second seedling picking module 500 mentioned above can be simply referred to as seedling picking modules, and the first seedling delivery module 200 and the second seedling delivery module 300 mentioned above can be simply referred to as seedling delivery modules.

[0058] Please refer to Figure 4 and Figure 5 In this embodiment, the driving device includes a power component 610 and a threaded rod 620. The power component 610 and the threaded rod 620 are connected. The threaded rod 620 is rotatably mounted on the load module 100. The first seedling picking module 400 and the threaded rod 620 are threadedly engaged. The power component 610 is used to drive the threaded rod 620 to rotate, so that the first seedling picking module 400 moves along the axial direction of the threaded rod 620.

[0059] The power component 610 is also installed in the load module 100. In this embodiment, the power component 610 is a motor. The power output end of the power component 610 is connected to one end of the threaded rod 620. In order to facilitate the rotation of the threaded rod 620, a bearing 650 is installed at both ends of the threaded rod 620, and the bearing 650 is located in the load module 100.

[0060] In addition, the drive device also includes a sliding connector 630, which has a long strip plate structure. The load module 100 has a sliding rod 110, and the sliding rod 110 and the threaded rod 620 are arranged in parallel.

[0061] One end of the sliding connector 630 is slidably connected to the load module 100. Specifically, one end of the sliding connector 630 has a sliding bushing 640, which is slidably connected to the sliding rod 110 of the load module 100.

[0062] The other end of the sliding connector 630 is connected to the first seedling picking module 400. Specifically, the threaded rod 620 is threaded with a slider 660, and the other end of the sliding connector 630 is connected to the slider 660. That is, the other end of the sliding connector 630 is connected to the first seedling picking module 400 through the slider 660.

[0063] Of course, in some embodiments, the drive source 410 (described in detail below) of the first seedling picking module 400 may also be threadedly engaged with the threaded rod 620.

[0064] When the power component 610 drives the threaded rod 620 to rotate, the slider 660 begins to move laterally, and the sliding connector 630 and the sliding bushing 640 move laterally at the same time. The first seedling picking module 400 connected to the slider 660 also moves laterally. By rotating the power output end of the power component 610 forward or backward, the first seedling picking module 400 can be moved laterally back and forth, thereby picking up the seedlings row by row and tuft by tuft and throwing them out.

[0065] In this embodiment, please refer to Figure 3 and combined Figure 2 The first seedling feeding module 200 has multiple first seedling feeding trays 210 arranged side by side, and the second seedling feeding module 300 also has multiple second seedling feeding trays 310 arranged side by side. The first seedling feeding trays 210 and the second seedling feeding trays 310 are used to carry the seedlings. Both the first seedling feeding trays 210 and the second seedling feeding trays 310 have a conveyor belt in the middle to facilitate the downward conveying of the seedlings. In this way, the first seedling feeding trays 210 can convey the seedlings to the first seedling taking module 400, and the second seedling feeding trays 310 can convey the seedlings to the second seedling taking module 500.

[0066] It should be noted that, for ease of description, the first seedling tray 210 and the second seedling tray 310 are referred to as seedling trays. Generally, the seedling trays are set to be placed at an angle.

[0067] To address the possibility of seedlings detaching after being placed in the seedling delivery tray, the tray is equipped with a seedling pressing device to limit the position of the seedlings within the tray. The pressing device can take the form of a plate or rod. Specifically, in this embodiment, the pressing device includes a rotating shaft 11 and multiple pressing strips 12. The rotating shaft 11 is rotatably placed horizontally on the seedling delivery tray, and the multiple pressing strips 12 are vertically spaced on the rotating shaft 11, serving to limit the position of the seedlings within the tray.

[0068] In this embodiment, under certain specific scenarios, the rotating shaft 11 can rotate with a certain damping relative to the seedling feeding tray, thus adjusting the force exerted by the pressing strip 12 on the seedling and maintaining its pressing state. Alternatively, a torsion spring can be fitted onto the rotating shaft 11 to provide rotational pressure towards the seedling.

[0069] In this embodiment, the seedling tray is a rectangular frame structure. Specifically, it includes a support plate and two baffles set on the left and right sides of the support plate. There are no baffles at the top and bottom, so that an upper opening is formed at the top to facilitate seedling placement and a lower opening is formed at the bottom to facilitate seedling removal.

[0070] The width of the seedling tray can be matched with the width of a tray of seedlings. In addition, the height of the seedling tray is not limited to the height of a tray of seedlings.

[0071] During installation, the two ends of the rotating shaft 11 can be rotatably mounted on the two baffles of the seedling delivery tray. Figure 3 In this configuration, three pressure strips 12 are configured on a single rotating shaft 11. In other words, three pressure strips 12 on a single seedling feeding tray limit the position of the seedlings within the tray, ensuring they are held in place and preventing them from being blown away during drone flight. Of course, the number of pressure strips 12 on a single seedling feeding tray is not limited to three; for example, it could be four, five, or more. Furthermore, there are multiple first seedling picking modules 400, with a one-to-one correspondence between the number of first seedling picking modules 400 and the number of first seedling feeding trays 210. These multiple first seedling picking modules 400 are threadedly engaged by multiple sliders 660 and the same threaded rod 620.

[0072] Of course, in this embodiment, there are also multiple second seedling picking modules 500. The number of second seedling picking modules 500 corresponds one-to-one with the number of second seedling delivery trays 310. The reciprocating lateral movement mode of the second seedling picking module 500 can refer to the movement mode of the first seedling picking module 400 described above, and will not be repeated here.

[0073] Of course, in other embodiments, the driving device may also include a rack and a motor with gears. For example, the rack is connected to the first seedling picking module 400, which is slidably disposed in the load module 100. The gear at the output end of the motor cooperates with the rack, and the reciprocating lateral movement of the first seedling picking module 400 is realized by the rotation of the gear at the output end of the motor.

[0074] The driving device may also include a drive motor and a synchronous belt. The synchronous belt is installed in the load module 100 and is fixedly connected to the first seedling picking module 400. The drive motor drives the synchronous belt to move, thereby realizing the reciprocating lateral movement of the first seedling picking module 400.

[0075] Furthermore, it should be noted that in this embodiment, please refer to... Figure 2 The first seedling picking module 400 includes a drive source 410 and a cutter head 420. The drive source 410 is connected to the slider 660 and the drive source 410 is connected to the cutter head 420. The drive source 410 is used to drive the cutter head 420 to separate the seedlings on the first seedling feeding module 200 and throw the separated seedlings out by centrifugal force. The drive source 410 includes a cutter head 420 motor and a transmission box. The cutter head 420 motor is connected to the transmission box and the transmission box is connected to the cutter head 420. The cutter head 420 motor is used to drive the transmission box to drive the cutter head 420 to separate the seedlings. Here, the cutter head 420 is a seedling needle.

[0076] Of course, there can be multiple cutter heads 420, all connected to the same transmission box, which can be a gearbox, linkage mechanism, sprocket mechanism, or pulley mechanism. The motor of the cutter head 420 driven by the drive source 410 can also be replaced by a pneumatic motor, gasoline engine, etc.

[0077] In addition, in other embodiments, a catapult can be provided on the cutter head 420. The catapult can store and release energy through a cam during the rotation of the cutter head 420. When the catapult releases energy, the seedlings are ejected under the catapult force provided by the catapult.

[0078] The structure and principle of the second seedling picking module 500 can be referred to the first seedling picking module 400, and will not be repeated here.

[0079] It should be noted that, please refer to Figure 6 In some embodiments, the load module 100 of the seedling throwing mechanism 1000 may only be equipped with the first seedling delivery module 200 and the first seedling taking module 400 to realize the removal and throwing of seedlings.

[0080] According to the drone rice-throwing system provided in this embodiment, the working principle of the drone rice-throwing system is as follows:

[0081] When the UAV 2000 is in flight, the drive source 410 drives multiple cutter heads 420 to rotate at high speed. The cutter heads 420 separate the seedlings from the seedbeds on the first seedling delivery module 200 and the second seedling delivery module 300, causing the seedlings to rotate and be thrown out. At the same time, the first seedling picking module 400 and the second seedling picking module 500 move laterally in opposite directions during flight, so that the seedbeds are cut and thrown out row by row and clump by clump.

[0082] After a row of seedlings in the left and right directions of the seedbed has been cut, the entire seedbed can move downwards under the influence of gravity or the output of the conveyor belt of the seedling delivery tray. In this way, as the first seedling picking module 400 and the second seedling picking module 500 move in opposite directions again, the seedlings are cut and thrown row by row and bunch by bunch. This process is repeated until all the seedlings have been cut and thrown, and then the drone 2000 returns to the starting point.

[0083] In summary, the seedling throwing mechanism 1000 includes a load module 100, a first seedling delivery module 200, and a first seedling collection module 400. The load module 100 is installed on the drone 2000, the first seedling delivery module 200 is located on the load module 100, and the first seedling collection module 400 is movably located on the load module 100 to collect seedlings row by row and clump by clump from the first seedling delivery module 200. By keeping the seedling delivery module stationary while the seedling collection module moves, the seedlings are collected and thrown out, realizing the seedling throwing of the drone 2000. This reduces the impact of factors such as terrain and plot area. Furthermore, since it is not necessary to drive the seedling delivery module to move relative to the load module 100 to collect seedlings row by row and clump by clump, the inertial impact on the load module 100 is reduced, thereby ensuring the flight stability of the drone 2000.

[0084] The unmanned aerial vehicle (UAV) rice-throwing system includes a UAV 2000 and the aforementioned rice-throwing mechanism 1000. The load module 100 is installed on the UAV 2000. This UAV rice-throwing system has all the functions of the aforementioned rice-throwing mechanism 1000.

[0085] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A rice seedling throwing mechanism, characterized in that, include: A load module (100) for installation on a drone (2000). A first seedling delivery module (200) is disposed in the load module (100); and The first seedling picking module (400) is movably disposed on the load module (100) to pick up the seedlings on the first seedling delivery module (200) row by row and bunch by bunch; The second seedling delivery module (300) and the second seedling taking module (500) are provided in the load module (100). The second seedling delivery module (300) is arranged in the same direction or opposite to the first seedling delivery module (200). The second seedling picking module (500) is movably disposed on the load module (100) to pick up the seedlings on the second seedling delivery module (300) row by row and bunch by bunch; The first seedling picking module (400) is used to throw the picked seedlings out by centrifugal force or by ejector.

2. The rice-throwing mechanism according to claim 1, characterized in that, The first seedling picking module (400) is movably mounted on the load module (100).

3. The rice-throwing mechanism according to claim 1, characterized in that, The seedling throwing mechanism also includes a driving device, which is connected to the first seedling picking module (400). The driving device is used to drive the first seedling picking module (400) to move relative to the load module (100).

4. The rice-throwing mechanism according to claim 3, characterized in that, The driving device includes a power component (610) and a threaded rod (620). The power component (610) and the threaded rod (620) are connected. The threaded rod (620) is rotatably disposed on the load module (100). The first seedling picking module (400) and the threaded rod (620) are threadedly engaged. The power component (610) is used to drive the threaded rod (620) to rotate so that the first seedling picking module (400) moves along the axial direction of the threaded rod (620).

5. The rice-throwing mechanism according to claim 4, characterized in that, The driving device further includes a sliding connector (630), one end of which is slidably connected to the load module (100), and the other end of which is connected to the first seedling picking module (400).

6. The rice-throwing mechanism according to claim 4, characterized in that, There are multiple first seedling picking modules (400), and multiple first seedling picking modules (400) are threadedly engaged with the same threaded rod (620).

7. The rice-throwing mechanism according to claim 1, characterized in that, The moving direction of the first seedling picking module (400) is opposite to that of the second seedling picking module (500).

8. A drone-based rice transplanting system, characterized in that, Includes a drone (2000) and a rice-throwing mechanism as described in any one of claims 1-7, wherein the load module (100) is mounted on the drone (2000).

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