Small unmanned seedling throwing machine based on agricultural planting

Abstract

The invention belongs to the technical field of intelligent agricultural power machinery, and particularly relates to a small unmanned seedling throwing machine based on agricultural planting. The small unmanned seedling throwing machine based on agricultural planting has a continuous batch seedling throwing function. Comprising an unmanned vehicle body, a directional material guiding assembly and a lifting manipulator, the directional material guiding assembly used for automatically conveying a mold disc is arranged between a material placing frame and a material guiding frame, and the lifting manipulator used for continuously lifting seedlings out of the mold disc in batches for discharging is arranged on the upper portion of the material guiding frame. By means of the design of a curled backflow channel of a directional material guiding assembly and the cooperation of the automatic material pushing function of double material pushing wheels, continuous overturning conveying and feeding of a mold disc for pulling out seedlings can be achieved, and by means of the cooperation of batch clamping and overturning feeding of a lifting mechanical arm, the automatic seedling throwing efficiency of the seedlings can be improved; and the requirement of manual intervention can be remarkably reduced while the operation precision is improved, so that an efficient solution is favorably provided for small-scale refined agricultural planting.

Description

Technical Field

[0001] The invention belongs to the technical field of intelligent agricultural power machinery, and specifically is a small unmanned rice seedling throwing machine based on agricultural planting. Background Art

[0002] For small-scale rice planting fields in hilly areas, the rice seedlings are mainly scattered manually, which results in high labor intensity, low work efficiency, poor uniformity of plant spacing, and other problems. Existing large-scale rice transplanting machinery is not suitable for this purpose. In addition, there is also a blast-type rice seedling-scattering device carried by the human body. During the use of this device, the direction and density of rice seedling scattering need to be manually controlled, which makes it difficult to keep the scattered rice seedlings relatively uniform. In addition, the device needs to be carried by the human body and manually operated. Not only is the efficiency of rice seedling scattering low, but the workload is also large, which undoubtedly increases the burden on workers.

[0003] In view of this, a small unmanned rice seedling transplanter based on agricultural planting with the function of continuous batch transplanting is specially designed to solve the above technical problems. Summary of the invention

[0004] In order to overcome certain limitations of the existing seedling throwing device in actual use, the technical problem of the present invention is to provide a small unmanned seedling throwing machine based on agricultural planting with a continuous batch seedling throwing function.

[0005] The technical solution of the present invention is: a small unmanned rice seedling transplanter based on agricultural planting, including an unmanned vehicle body, a material discharge rack and a material guide rack, and also including a directional material guide assembly and a lifting manipulator. A directional material guide assembly for automatically conveying a mold tray is provided between the material discharge rack and the material guide rack. The directional material guide assembly includes an electric conveyor belt, a baffle, a guide bar and a pushing mechanism. Guide bars are provided at upper and lower intervals on the material discharge rack close to the material guide rack. An electric conveyor belt is installed between the far end of the guide bar and the material guide rack. Baffle bars are provided at intervals on the outer side of the material belt of the electric conveyor belt. A pushing mechanism for driving the mold tray to flip and reflux is provided at the far end of the guide bar. A lifting manipulator for continuously and batch-wise lifting and discharging the seedlings from the mold tray is provided on the upper part of the material guide rack.

[0006] Furthermore, the directional material guide assembly also includes a flow guide structure, which includes an inner curved portion, a flow guide frame, an outer curved portion and a material guide strip. The flow guide frame is longitudinally spaced between the material discharge rack and the material guide frame, the far end of the flow guide strip is provided with an inner curved portion, and the end of the flow guide frame close to the inner curved portion is provided with an outer curved portion. A reflux channel with a curling structure is formed by the cooperation of the inner curved portion and the outer curved portion, which is used to flip and reflux the mold plate. The material guide strip is connected to one end of the flow guide frame away from the outer curved portion, and the material guide strip extends outward to the lower side of the discharge port of the material discharge rack, and the outer end of the material guide strip is designed as a downward bending structure.

[0007] Furthermore, the directional material guide assembly also includes a dual-axis motor, a push wheel and a gear. A group of dual push wheels and gears driven by the dual-axis motor are installed on the guide bar near the inner curved portion. The two corresponding gears in the same group are meshed with each other, and the dual push wheels are driven by the meshing of the gears to form a continuous and step-by-step clamping and transmission of the mold plate.

[0008] Furthermore, the lifting robot includes an adjusting seat, an electric push rod, a flipping mechanism and a clamping mechanism. The upper part of the material guide frame is provided with a flipping mechanism. A movable adjusting seat is provided on the swing arm of the flipping mechanism through an electric push rod. The adjusting seat is provided with a clamping mechanism that can clamp the seedlings in batches.

[0009] Furthermore, the flipping mechanism includes an inductive connecting arm, a servo motor and a swing arm. The upper part of the material guide frame is provided with an inductive connecting arm for automatically detecting the seedlings in the clamping area. The servo motor is installed on the inductive connecting arm at intervals. The output shaft of the servo motor is connected to the swing arm. The swing arm is provided with a guide groove, and the adjustment seat is slidably sleeved in the guide groove.

[0010] Furthermore, the clamping mechanism includes an adjusting rod, a clamping claw, a spring and two electric push rods. The two adjusting seats at the same level are respectively slidably sleeved with adjusting rods, and the adjusting seats are respectively provided with two electric push rods connected to one end of the adjusting rod away from each other. A row of clamping claws are fixedly connected to the adjusting rods at intervals, and the clamping claws are slidably sleeved with the adjusting rods corresponding to the same group. A spring is connected between each of the two mutually cooperating clamping claws, and the spring is sleeved on the adjusting rod. By controlling the relative movement of the two adjusting rods in the same group, the two mutually cooperating clamping claws can be retracted to clamp the seedlings in batches.

[0011] Furthermore, it also includes a movable adjustment part, which includes a guide rail, a support arm, a movable wheel and a movable frame. A guide rail is provided in the middle of the unmanned vehicle body, and a group of support arms with a lower front and a higher rear are provided on the guide rail through a movable wheel with a braking structure. A movable frame is installed between the support arms, and the movable frame is inclined with a lower front and a higher rear.

[0012] Furthermore, it also includes a scattering component, which includes a feeding belt, a pushing bar and a guide plate. The mobile frame is equipped with a feeding belt for receiving the seedlings guided out from the guide frame, and the feeding belt is arranged obliquely below the output end of the guide frame. Pushing bars for throwing the seedlings to the rear of the drive of the unmanned vehicle body are arranged at intervals on the feeding belt in a circumferential direction, and the guide plate is connected to the rear end of the mobile frame.

[0013] Furthermore, it also includes a scraping component, which includes a shaft sleeve, an adjusting arm, a scraper and a torsion spring. A shaft sleeve is fixedly connected to the rear side of the unmanned vehicle body near the drive shaft, and an adjusting arm is rotatably connected to the shaft sleeve. A torsion spring is connected between the adjusting arm and the shaft sleeve. A scraper for leveling the soil is connected to the far end of the adjusting arm, and the torsion spring can maintain a pre-tightening force on the scraper to flip downward.

[0014] Furthermore, it also includes a limit assembly, which includes a limit rod, a guide sleeve, a block, a reset piece and a push-pull rod. A guide sleeve is provided on the unmanned vehicle body near the shaft sleeve, and a block is provided on the sliding sleeve inside the guide sleeve. A limit rod is passed through the adjusting arm. When the adjusting arm is lifted to a vertical position, the limit rod triggers the inclined self-locking mechanism of the block to maintain the position, so that the scraper remains in an upward folded state. A reset piece is connected between the bottom of the block and the inner side of the guide sleeve, a push-pull rod is provided on the side of the block, and a slot for the push-pull rod to pass through is opened on the guide sleeve.

[0015] The present invention has the following advantages: through the curling reflux channel design of the directional material guide component and the automatic pushing function of the double pushing wheels, the mold plate for pulling out the seedlings can be continuously flipped, conveyed and fed, and the batch clamping and flipping feeding of the lifting robot can be coordinated, which is beneficial to improving the efficiency of automatic seedling throwing; and while improving the operation accuracy, it can also significantly reduce the need for manual intervention, which is beneficial to provide an efficient solution for small-scale fine agricultural planting. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0017] Figure 2 It is a schematic diagram of the connection structure between the directional material guide assembly and the material placing rack of the present invention.

[0018] Figure 3 It is a schematic diagram of the three-dimensional structure of the directional material guide assembly of the present invention.

[0019] Figure 4 This is a diagram of the pre-placement state of the mold tray and rice seedlings of the present invention.

[0020] Figure 5 It is a three-dimensional structural schematic diagram of the dual-axis motor, pusher wheel and gear of the present invention.

[0021] Figure 6 This is a state diagram of the lifting robot holding the seedlings of the present invention.

[0022] Figure 7 It is a schematic diagram of the three-dimensional structure of the lifting robot of the present invention.

[0023] Figure 8This is a structural separation diagram of the lifting robot of the present invention.

[0024] Fig. 9 It is a three-dimensional structural schematic diagram of the movable adjustment member and the scattering assembly of the present invention.

[0025] Fig.10 It is a schematic diagram of the three-dimensional structure of the scraping component and the limiting component of the present invention.

[0026] Fig.11 This is a structural separation diagram of the limiting component of the present invention.

[0027] Fig.12 This is a diagram showing the scraper of the present invention in a stowed state with the scraper flipped upward.

[0028] Fig.13 It is a diagram showing the scattered state of the rice seedlings of the present invention.

[0029] The label names in the figure are: 1_unmanned vehicle body, 2_discharging rack, 3_guide rack, 4_electric conveyor belt, 40_blocking bar, 5_guide bar, 50_inner bending part, 6_guide rack, 60_outer bending part, 61_guide bar, 7_dual-axis motor, 8_push wheel, 9_gear, 10_inductive connecting arm, 11_servo motor, 12_swing arm, 1201_guide groove, 13_adjustment seat, 14_electric push rod 1, 15_adjustment rod, 1 6_clamping claw, 17_spring, 18_electric push rod 2, 19_guide rail, 20_support arm, 21_moving wheel, 22_moving frame, 23_feeding belt, 24_pushing bar, 25_guide plate, 26_shaft sleeve, 27_adjusting arm, 28_scraper, 29_torsion spring, 30_limiting rod, 31_guide sleeve, 3101_notch, 32_block, 33_reset part, 34_push-pull rod, 35_ceiling, a_mold tray, b_seedling. DETAILED DESCRIPTION

[0030] Embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0031] Embodiment 1: The present invention provides a small unmanned rice seedling transplanter based on agricultural planting, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig.12 and Fig.13As shown, it includes an unmanned vehicle body 1, a material discharge rack 2, a material guide rack 3, a ceiling 35, a directional material guide component and a lifting manipulator. The front side of the unmanned vehicle body 1 is provided with a material discharge rack 2 for storing a mold plate a containing seedlings b. The material discharge rack 2 is provided with a material discharge tray with a high front and a low back tilt design, and the material discharge trays are distributed at intervals in the longitudinal direction. The rear side is provided with a material guide rack 3 for exporting the seedlings b. The material guide rack 3 is provided with a discharge tray with a high front and a low back structure at intervals in the longitudinal direction, and the discharge trays gradually shrink from long to short from top to bottom, which is conducive to discharging the pulled out seedlings b in batches with intervals, and thus is conducive to maintaining the continuous discharging of the seedlings b and the efficiency of throwing the seedlings; a ceiling 35 for shielding the seedlings b is provided between the upper part of the material discharge rack 2 and the material guide rack 3, which is conducive to the pre-stored seedlings b serves the purpose of sun protection; a directional material guiding assembly is provided between the unloading rack 2 and the guide rack 3, and the directional material guiding assembly includes an electric conveyor belt 4, a baffle 40, a guide bar 5 and a pushing mechanism. Guide bars 5 are provided at intervals on the upper and lower sides of the unloading rack 2 close to the guide rack 3, and an electric conveyor belt 4 is installed between the far end of the guide bar 5 and the guide rack 3, which is used to gradually transport the mold plate a loaded with seedlings b from front to back, and baffle bars 40 are provided at intervals on the outer side of the material belt of the electric conveyor belt 4, which is beneficial to maintaining the stability of the transportation of the mold plate a; a pushing mechanism is provided at the far end of the guide bar 5, and a lifting manipulator is provided on the upper part of the guide rack 3, through which the seedlings b can be lifted up from the mold plate a in batches and turned over and transferred for unloading, thereby helping to improve the efficiency of throwing the seedlings b.

[0032] Further, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, the directional guide assembly also includes a guide structure, which includes a guide frame 6, an inner curved portion 50, an outer curved portion 60 and a guide strip 61. The guide frame 6 is longitudinally spaced between the discharge rack 2 and the guide rack 3. The far end of the guide strip 5 is provided with an inner curved portion 50, and the end of the guide frame 6 close to the inner curved portion 50 is provided with an outer curved portion 60. The guide strip 61 is connected to the end of the guide frame 6 away from the outer curved portion 60, and the guide strip 61 extends outward to the lower side of the discharge port of the discharge rack 2, and The outer end of the material guide strip 61 is designed as a downwardly bent structure; the inner curved portion 50 and the outer curved portion 60 cooperate to form a reflux channel with a curled structure, through which the gradually transported mold tray a can be flipped and refluxed onto the material guide strip 61, thereby facilitating the mold tray a to be pulled out to the front side for recycling; after the pre-stored mold tray a carrying the seedlings b is used up, it is only necessary to replace the mold tray a carrying the seedlings b, and pull out the used mold tray a for recycling, and this cycle is repeated.

[0033] Further, such as Figure 4 and Figure 5As shown, the directional guide assembly also includes a dual-axis motor 7, a pusher wheel 8 and a gear 9. A group of pusher wheels 8 and gears 9 driven by the dual-axis motor 7 are installed on the guide bar 5 near the inner curved portion 50. The two corresponding gears 9 in the same group are meshed with each other. The dual pusher wheels 8 are driven by the meshing of the gears 9 to form a continuous and step-by-step clamping and transmission of the mold plate a, which is beneficial to improving the level of automation, and can effectively reduce manual intervention, thereby reducing the labor intensity of manual operation.

[0034] Further, such as Figure 1 , Figure 4 , Figure 6 , Figure 7 and Figure 8 As shown, the lifting manipulator includes an adjusting seat 13, an electric push rod 14, a turning mechanism and a clamping mechanism. The upper part of the guide frame 3 is provided with a turning mechanism. The swing arm 12 of the turning mechanism is provided with a movable adjusting seat 13 through an electric push rod 14. The adjusting seat 13 is provided with a clamping mechanism capable of batch clamping the seedlings b; the turning mechanism includes an inductive connecting arm 10, a servo motor 11 and a swing arm 12. The upper part of the guide frame 3 is provided with an inductive connecting arm 10, wherein the inductive connecting arm 10 is also provided with an intelligent recognition camera for automatically detecting and identifying the seedlings b, which is conducive to real-time detection of the transfer of the seedlings b to the clamping area, the servo motor 11 is installed at intervals on the inductive connecting arm 10, the output shaft of the servo motor 11 is connected to the swing arm 12, the swing arm 12 is provided with a guide groove 1201, and the adjusting seat 13 is slidably sleeved in the guide groove 1201; the clamping mechanism includes an adjusting rod 15, a clamping claw 16, a spring Spring 17 and electric push rod 2 18, the two adjustment seats 13 at the same level are respectively slidably sleeved with adjustment rods 15, and the adjustment seats 13 are respectively provided with electric push rods 2 18 connected to the ends away from the adjustment rods 15, a row of clamping claws 16 are fixedly connected to the adjustment rods 15 at intervals, and the clamping claws 16 are slidably sleeved with the adjustment rods 15 corresponding to the same group, and a spring 17 is connected between each of the two mutually cooperating clamping claws 16, and the spring 17 is sleeved on the adjustment rod 15, and the spring 17 can play a buffering and protective purpose to avoid excessive clamping damage to the seedlings b; when the intelligent recognition camera detects that the seedlings b are transferred to the designated clamping area, the two adjustment rods 15 in the same group are controlled to move relative to each other, so that the two mutually cooperating clamping claws 16 can be retracted to clamp the seedlings b in batches synchronously; and the intelligent recognition camera is electrically connected to the servo motor 11, the electric push rod 14 and the electric push rod 2 18 respectively.

[0035] Further, such as Figure 1 , Fig. 9 , Fig.12 and Fig.13As shown, it also includes a moving adjustment member, which includes a guide rail 19, a support arm 20, a moving wheel 21 and a moving frame 22. The middle part of the unmanned vehicle body 1 is provided with a guide rail 19, and a group of support arms 20 with a lower front and a higher rear are provided on the guide rail 19 through a moving wheel 21 with a brake structure. The moving frame 22 is fixed at any position by the moving wheel 21 with a brake structure and the guide rail 19. The moving frame 22 is installed between the support arms 20; it also includes a scattering component, which includes a feeding belt 23, a pushing strip 2 4 and guide plate 25, a feeding belt 23 for receiving the seedlings b guided from the guide frame 3 is installed on the mobile frame 22, and the feeding belt 23 is arranged obliquely below the output end of the guide frame 3, and a pushing strip 24 for throwing the seedlings b to the rear of the unmanned vehicle body 1 is arranged at intervals on the feeding belt 23 in the circumferential direction, and a guide plate 25 is connected to the rear end of the mobile frame 22; and the mobile frame 22 is inclined in design with a lower front and a higher rear; through the mobile frame 22 and the feeding belt 23 that can be moved horizontally to adjust the position, it is helpful to control the throwing path of the seedlings b.

[0036] When the unmanned rice seedling throwing machine is in use, the mold plate a containing the rice seedlings b is first placed on the inclined discharge tray of the discharge rack 2 and on the electric conveyor belt 4, so that the two mold plates a at the same level can abut against each other, which is conducive to the subsequent continuous automatic pushing and unloading; through the cooperation of the electric conveyor belt 4 and the baffle bar 40 of the directional guide assembly, the mold plate a can be conveyed along the guide bar 5 to the guide rack 3; when the mold plate a reaches the far end of the guide bar 5, the meshing gear 9 driven by the dual-axis motor 7 drives the push wheel 8 to clamp the mold plate a, and gradually send it into the curling reflux channel formed by the inner curved part 50 and the outer curved part 60. At the same time, when the intelligent recognition camera on the inductive connecting arm 10 detects the rice seedlings b, the electric push rod 14 controls the two adjusting rods 15 of the same group to move synchronously relative to each other, so that the clamping claws 16 are retracted to adaptively clamp the roots of the rice seedlings b, and the spring 17 can play a buffering and protective purpose to avoid excessive clamping damage to the rice seedlings b. Then, the electric push rod 18 is used to control the clamped seedlings b to be lifted upward, and the seedlings b are pulled out from the gradually wound die plate a, and then the servo motor 11 drives the swing arm 12 to flip backward, so that the seedlings b are conveyed to the gradually shrinking discharge plate of each guide rack 3, and then the electric push rod 14 is used to control the two adjusting rods 15 of the same group to reset, so that the clamping claws 16 on them release the seedlings b, and then the seedlings b will fall on the discharge plate with a high front and a low back and slide onto the feeding belt 23, and then the seedlings b will fall on the discharge plate with a high front and a low back, and slide onto the feeding belt 23, and then the seedlings b will fall on the discharge plate with a high front and a low back. The seedlings b are scattered backwards by the continuously rotating feeding belt 23 and the pushing strip 24 thereon, and this operation is repeated continuously. It can cooperate with the unmanned vehicle body 1 when driving in the field, and then the seedlings b can be automatically and stably thrown after being pulled out in batches from the mold plate a; when the mold plate a is gradually transported into the reflux channel to between the guide strip 61 and the bottom of the discharge tray, the automatic flipping and cyclic transportation of the mold plate a is completed, which is convenient and quick, and is conducive to improving the efficiency of throwing the seedlings b.

[0037] Embodiment 2: Based on Embodiment 1, Figure 1 , Fig. 9 , Fig.10 , Fig.11 , Fig.12 and Fig.13As shown, it also includes a scraping component, which includes a sleeve 26, an adjusting arm 27, a scraper 28 and a torsion spring 29. The sleeve 26 is fixedly connected to the rear side of the unmanned vehicle body 1 near the drive shaft, and the adjusting arm 27 is rotatably connected to the sleeve 26. A torsion spring 29 is connected between the adjusting arm 27 and the sleeve 26, and a scraper 28 is connected to the far end of the adjusting arm 27. This can not only scrape and level the traces of the wheels on the unmanned vehicle body 1, but also pre-level the area where the seedlings b are thrown. This is conducive to further maintaining the uniformity of the seedlings b, so that the scattered seedlings b are evenly spaced; the torsion spring 29 for leveling the soil can keep the pre-tightening force on the scraper 28 to flip downward , and it is also beneficial to automatically avoid obstacles; it also includes a limit assembly, which includes a limit rod 30, a guide sleeve 31, a block 32, a reset member 33 and a push-pull rod 34. A guide sleeve 31 is provided on the unmanned vehicle body 1 near the shaft sleeve 26, and a block 32 is provided in the sliding sleeve of the guide sleeve 31. A limit rod 30 is passed through the adjusting arm 27. When the adjusting arm 27 is lifted to a vertical position, the limit rod 30 triggers the inclined self-locking mechanism of the block 32 to maintain the position, so that the scraper 28 remains in an upward folded state. A reset member 33 is connected between the bottom of the block 32 and the inner side of the guide sleeve 31, a push-pull rod 34 is provided on the side of the block 32, and a slot 3101 for the push-pull rod 34 to pass through is opened on the guide sleeve 31.

[0038] In addition, after pushing the push-pull rod 34 downward to make the block 32 disengage from the limit rod 30, the scraper 28 is flipped downward. The torsion spring 29 can keep the scraper 28 sliding close to the ground, thereby achieving the purpose of pre-leveling the mud marks left by the wheels, making it easier to scatter the seedlings b into the leveled area, thereby helping to further improve the flatness of the scattering of the seedlings b; when the scraper 28 needs to be folded, it is only necessary to lift the adjustment arm 27 to a vertical position to trigger the inclined self-locking mechanism of the limit assembly, and the block 32 automatically locks the limit rod 30 to fix it. The structure is simple and easy to use.

[0039] Although the present disclosure has been described with respect to only a limited number of embodiments, those skilled in the art having benefit of this disclosure will appreciate that various other embodiments can be devised without departing from the scope of the present invention. Accordingly, the scope of the present invention should be limited only by the appended claims.

Claims

1. A small unmanned rice seedling transplanter for agricultural planting, comprising an unmanned vehicle body (1), a material placing frame (2) and a material guiding frame (3), wherein: It also includes a directional material guide component and a lifting robot. A directional material guide component for automatically conveying the mold plate (a) is provided between the material discharge rack (2) and the material guide rack (3). The directional material guide component includes an electric conveyor belt (4), a stopper bar (40), a guide bar (5) and a pushing mechanism. A guide bar (5) is provided at intervals on the upper and lower sides of the material discharge rack (2) near the material guide rack (3). An electric conveyor belt (4) is installed between the far end of the guide bar (5) and the material guide rack (3). Stopper bars (40) are provided at intervals on the outer side of the material belt of the electric conveyor belt (4). A pushing mechanism for driving the mold plate (a) to flip and reflux is provided at the far end of the guide bar (5). A lifting robot for continuously and batch-wise lifting and unloading the seedlings (b) from the mold plate (a) is provided on the upper part of the material guide rack (3).

2. A small unmanned rice seedling transplanter based on agricultural planting according to claim 1, characterized in that: The directional material guide assembly also includes a flow guide structure, which includes an inner curved portion (50), a flow guide frame (6), an outer curved portion (60) and a material guide strip (61). The flow guide frame (6) is longitudinally spaced between the material discharge frame (2) and the material guide frame (3). The far end of the flow guide strip (5) is provided with an inner curved portion (50). The end of the flow guide frame (6) close to the inner curved portion (50) is provided with an outer curved portion (60). The inner curved portion (50) and the outer curved portion (60) cooperate to form a reflux channel with a curling structure for flipping and reflux of the mold plate (a). The material guide strip (61) is connected to an end of the flow guide frame (6) away from the outer curved portion (60). The material guide strip (61) extends outward to the lower side of the discharge port of the material discharge frame (2), and the outer end of the material guide strip (61) is designed as a downward bending structure.

3. A small unmanned rice seedling transplanter based on agricultural planting according to claim 2, characterized in that: The directional guide assembly also includes a dual-axis motor (7), a push wheel (8) and a gear (9); a group of dual push wheels (8) and gears (9) driven by the dual-axis motor (7) are installed on the guide strip (5) near the inner curved portion (50); two corresponding gears (9) in the same group are meshed with each other, and the dual push wheels (8) are driven by the meshing of the gears (9) to form a continuous and step-by-step clamping and transmission of the mold plate (a).

4. The small unmanned rice seedling transplanter based on agricultural planting according to claim 1 is characterized in that: The lifting robot comprises an adjustment seat (13), an electric push rod (14), a turning mechanism and a clamping mechanism. The upper part of the material guide frame (3) is provided with a turning mechanism. A movable adjustment seat (13) is provided on the swing arm (12) of the turning mechanism via an electric push rod (14). The adjustment seat (13) is provided with a clamping mechanism capable of clamping the seedlings (b) in batches.

5. A small unmanned rice seedling transplanter based on agricultural planting according to claim 4, characterized in that: The turning mechanism comprises an inductive connecting arm (10), a servo motor (11) and a swing arm (12); the upper part of the material guide frame (3) is provided with an inductive connecting arm (10) for automatically detecting the seedlings (b) in the clamping area; the servo motor (11) is installed on the inductive connecting arm (10) at intervals; the output shaft of the servo motor (11) is connected to the swing arm (12); the swing arm (12) is provided with a guide groove (1201), and the adjustment seat (13) is slidably sleeved in the guide groove (1201).

6. The small unmanned rice seedling transplanter based on agricultural planting according to claim 4 is characterized in that: The clamping mechanism comprises an adjusting rod (15), a clamping claw (16), a spring (17) and two electric push rods (18). The adjusting rods (15) are slidably sleeved on two adjusting seats (13) at the same level, and the adjusting seats (13) are respectively provided with two electric push rods (18) connected to the ends of the adjusting rods (15) that are away from each other. A row of clamping claws (16) are fixedly connected to the adjusting rods (15) at intervals, and the clamping claws (16) are slidably sleeved with the corresponding adjusting rods (15) in the same group. A spring (17) is connected between each of the two mutually cooperating clamping claws (16), and the spring (17) is sleeved on the adjusting rods (15). By controlling the relative movement of the two adjusting rods (15) in the same group, the two mutually cooperating clamping claws (16) can be retracted to clamp the seedlings (b) in batches.

7. The small unmanned rice seedling transplanter based on agricultural planting according to claim 1 is characterized in that: The invention also comprises a movable adjustment member, wherein the movable adjustment member comprises a guide rail (19), a support arm (20), a moving wheel (21) and a moving frame (22). The middle part of the unmanned vehicle body (1) is provided with a guide rail (19), and a group of support arms (20) with a lower front and a higher rear are provided on the guide rail (19) via a moving wheel (21) with a brake structure. The moving frame (22) is installed between the support arms (20), and the moving frame (22) is designed to be lower front and higher rear.

8. The small unmanned rice seedling transplanter based on agricultural planting according to claim 7 is characterized in that: It also includes a scattering component, which includes a feeding belt (23), a pushing bar (24) and a guide plate (25). The feeding belt (23) for receiving the seedlings (b) guided out from the guide frame (3) is installed on the mobile frame (22), and the feeding belt (23) is arranged obliquely below the output end of the guide frame (3). Pushing bars (24) for throwing the seedlings (b) to the rear of the driving of the unmanned vehicle body (1) are arranged at intervals on the circumference of the feeding belt (23). The guide plate (25) is connected to the rear end of the mobile frame (22).

9. The small unmanned rice seedling transplanter based on agricultural planting according to claim 1 is characterized in that: The invention also comprises a scraping assembly, which comprises a shaft sleeve (26), an adjusting arm (27), a scraper (28) and a torsion spring (29); a shaft sleeve (26) is fixedly connected to the rear side of the unmanned vehicle body (1) near the driving shaft; the adjusting arm (27) is rotatably connected to the shaft sleeve (26); a torsion spring (29) is connected between the adjusting arm (27) and the shaft sleeve (26); a scraper (28) for leveling soil is connected to the far end of the adjusting arm (27); and the torsion spring (29) can maintain a pre-tightening force on the scraper (28) to flip downward.

10. The small unmanned rice seedling transplanter based on agricultural planting according to claim 9, characterized in that: The invention also comprises a limit assembly, which comprises a limit rod (30), a guide sleeve (31), a block (32), a reset member (33) and a push-pull rod (34). The unmanned vehicle body (1) is provided with a guide sleeve (31) near the shaft sleeve (26). The sliding sleeve in the guide sleeve (31) is provided with a block (32). The regulating arm (27) is provided with a limit rod (30). When the regulating arm (27) is lifted to a vertical position, the limit rod (30) triggers the inclined self-locking mechanism of the block (32) to maintain the position, so that the scraper (28) is maintained in an upward folded state. A reset member (33) is connected between the bottom of the block (32) and the inner side of the guide sleeve (31). The push-pull rod (34) is provided on the side of the block (32), and the guide sleeve (31) is provided with a notch (3101) for the push-pull rod (34) to pass through.

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