Small unmanned seedling throwing machine based on agricultural planting

Abstract

The application 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 application provides a small unmanned seedling throwing machine based on agricultural planting with the function of continuously throwing seedlings in batches. The machine comprises a unmanned vehicle body, a directional material guiding assembly and a lifting manipulator. A directional material guiding assembly for automatically conveying a mold tray is arranged between a material placing rack and a material guiding rack. A lifting manipulator for continuously and batchly lifting seedlings from the mold tray is arranged on the upper part of the material guiding rack. Through the design of the curling backflow channel of the directional material guiding assembly and the automatic material pushing function of the double material pushing wheels, the mold tray with the lifted seedlings can be continuously turned over and conveyed for feeding. In combination with the batch clamping and turnover feeding of the lifting manipulator, the efficiency of the automatic seedling throwing can be improved. At the same time, the requirement for manual intervention can be significantly reduced, and an efficient solution for small-scale fine agricultural planting can be provided.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of intelligent agricultural power machinery, and particularly relates to a small unmanned seedling throwing machine based on agricultural planting. BACKGROUND

[0002] For small-scale rice planting fields in hilly areas, artificial seedling throwing operation is mainly relied on, so there are problems of high labor intensity, low operation efficiency, poor uniformity of plant spacing, etc. The existing large-scale seedling planting machines are not suitable, and the existing seedling throwing equipment carried by the human body is also not suitable. In the use process, the direction and density of seedling throwing need to be manually controlled, so that the thrown seedlings are difficult to maintain relative uniformity, and the human body needs to be carried and manually operated. Not only is the seedling throwing efficiency low, but also the workload is large, which undoubtedly increases the burden of labor personnel.

[0003] In view of this, a small unmanned seedling throwing machine based on agricultural planting with continuous batch seedling throwing function is specially designed to solve the above technical problems. SUMMARY

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

[0005] The technical scheme of the present application is: a small unmanned seedling throwing machine based on agricultural planting, comprising an unmanned vehicle body, a feeding rack and a guide rack, further comprising a directional guide assembly and a lifting manipulator, a directional guide assembly for automatically conveying a mold disc is arranged between the feeding rack and the guide rack, the directional guide assembly comprises an electric conveyor belt, a blocking strip, a flow guide strip and a pushing mechanism, the flow guide strips are arranged on the feeding rack on the side close to the guide rack at intervals up and down, an electric conveyor belt is arranged between the distal end of the flow guide strip and the guide rack, blocking strips are arranged on the outer side of the electric conveyor belt at intervals, a pushing mechanism for driving the mold disc to overturn and flow back is arranged at the distal end of the flow guide strip, and a lifting manipulator for continuously and batch feeding seedlings from the mold disc is arranged on the upper part of the guide rack.

[0006] Furthermore, the directional guide assembly further comprises a flow guide structure, the flow guide structure comprises an inner curved portion, a flow guide frame, an outer curved portion and a guide strip, the flow guide frame is arranged longitudinally between the feeding rack and the guide rack at intervals, the inner curved portion is arranged at the distal end of the flow guide strip, the outer curved portion is arranged at one end of the flow guide frame close to the inner curved portion, the inner curved portion and the outer curved portion cooperate to form a flow back channel of the curling structure for overturning and flowing back of the mold disc, the guide strip is connected to one end of the flow guide frame away from the outer curved portion, the guide strip extends outward to the lower side of the feeding port of the feeding rack, and the outer end of the guide strip is designed as a downward bending structure.

[0007] Further, the directional material guiding assembly further comprises a double-shaft motor, a material pushing wheel and a gear, a group of double material pushing wheels and gears driven by the double-shaft motor are installed on one side of the guide strip close to the inner curved part, the two gears corresponding to the same group are meshed with each other, and the double material pushing wheels are driven by the gear meshing to form continuous and step-by-step clamping and conveying of the mold disc.

[0008] Further, the promotion manipulator comprises an adjusting seat, an electric push rod, a turnover mechanism and a clamping mechanism, the upper part of the material guiding frame is provided with a turnover mechanism, a movable adjusting seat is arranged on the swing arm of the turnover mechanism through an electric push rod, and the adjusting seat is provided with a clamping mechanism capable of clamping seedlings in batches.

[0009] Further, the turnover mechanism comprises an inductive connecting arm, a servo motor and a swing arm, the upper part of the material guiding frame is provided with an inductive connecting arm for automatically detecting seedlings in the clamping area, servo motors are installed on the inductive connecting arm at intervals, a swing arm is connected to the output shaft of the servo motor, a guide groove is formed in the swing arm, and the adjusting seat is slidably sleeved in the guide groove.

[0010] Further, the clamping mechanism comprises an adjusting rod, a clamping jaw, a spring and an electric push rod, adjusting rods are slidably sleeved on the same horizontal two adjusting seats respectively, the adjusting seats are respectively provided with electric push rods connected to the ends of the adjusting rods away from each other, a row of clamping jaws is fixed to the adjusting rod at intervals, the clamping jaws are slidably connected to the adjusting rods corresponding to the same group, springs are connected between each pair of clamping jaws, the springs are sleeved on the adjusting rods, and the relative movement of the two adjusting rods of the same group is controlled to make the two clamping jaws close to each other to clamp seedlings in batches.

[0011] Further, it further comprises a moving adjusting member, the moving adjusting member comprises a guide rail, a support arm, a moving wheel and a moving frame, the middle part of the unmanned vehicle body is provided with a guide rail, a group of support arms with low front and high back are arranged on the guide rail through moving wheels with brake structures, a moving frame is installed between the support arms, and the moving frame is designed to be inclined with low front and high back.

[0012] Further, it further comprises a scattering assembly, the scattering assembly comprises a feeding belt, a material pushing strip and a guide plate, a feeding belt for receiving seedlings guided out of the material guiding frame is installed on the moving frame, the feeding belt is arranged inclined below the output end of the material guiding frame, material pushing strips for throwing seedlings to the rear of the drive of the unmanned vehicle body are arranged on the feeding belt at intervals, and the moving frame is connected with a guide plate at the rear end.

[0013] Further further, still including scraping assembly, scraping assembly includes shaft sleeve, adjusting arm, scraper and torsional spring, the unmanned vehicle body rear side close to the drive shaft is fixed with shaft sleeve, the shaft sleeve is rotatably connected with adjusting arm, the adjusting arm is connected with torsional spring between the shaft sleeve, the distal end of the adjusting arm is connected with the scraper of the flat soil, the torsional spring can keep the pre-tightening force of the scraper turning down.

[0014] Further further, still including limiting assembly, limiting assembly includes limiting rod, guide sleeve, clamping block, reset member and push-pull rod, the guide sleeve is arranged on the unmanned vehicle body close to the shaft sleeve, the clamping block is slidably arranged in the guide sleeve, the limiting rod is arranged through the adjusting arm, when the adjusting arm is lifted to the vertical position, the limiting rod triggers the inclined surface self-locking mechanism of the clamping block to realize position keeping, so that the scraper keeps the folded state upward, the reset member is connected between the bottom of the clamping block and the inner side of the guide sleeve, the push-pull rod is arranged on the side edge of the clamping block, and the slot for the push-pull rod to pass through is arranged on the guide sleeve.

[0015] The present application has the following advantages: through the design of the curling backflow channel of the directional material guiding assembly and the automatic pushing function of the double pushing wheels, the mold disc of the pulled seedlings can be continuously turned over and conveyed for feeding, and the batch clamping and turnover feeding of the lifting mechanical hand are matched, thereby being beneficial to improving the efficiency of automatic seedling throwing, improving the operation precision, and significantly reducing the need for manual intervention, thereby being beneficial to providing an efficient solution for small-scale fine agricultural planting. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a perspective structural schematic view of the present application.

[0017] Figure 2 It is a connection structure schematic view of the directional material guiding assembly and the material placing rack of the present application.

[0018] Figure 3 It is a perspective structural schematic view of the directional material guiding assembly of the present application.

[0019] Figure 4 It is a pre-placing state view of the mold disc and the seedlings of the present application.

[0020] Figure 5 It is a perspective structural schematic view of the double-shaft motor, the pushing wheel and the gear of the present application.

[0021] Figure 6 It is a state view of the seedlings clamped by the lifting mechanical hand of the present application.

[0022] Figure 7 It is a perspective structural schematic view of the lifting mechanical hand of the present application.

[0023] Figure 8The structure separation view of the mechanical hand of the present application.

[0024] Figure 9 The three-dimensional structure schematic view of the moving adjusting part and the scattering assembly of the present application.

[0025] Figure 10 The three-dimensional structure schematic view of the scraping assembly and the limiting assembly of the present application.

[0026] Figure 11 The structure separation view of the limiting assembly of the present application.

[0027] Figure 12 The folding state view of the scraper turning upward of the present application.

[0028] Figure 13 The scattering state view of the seedling of the present application.

[0029] Label name in the figure: 1 unmanned vehicle body, 2 material placing frame, 3 material guiding frame, 4 electric conveying belt, 40 blocking strip, 5 flow guiding strip, 50 inner curved part, 6 flow guiding frame, 60 outer curved part, 61 material guiding strip, 7 double shaft motor, 8 material pushing wheel, 9 gear, 10 inductive connecting arm, 11 servo motor, 12 swing arm, 1201 guide groove, 13 adjusting seat, 14 electric push rod one, 15 adjusting rod, 16 clamping jaw, 17 spring, 18 electric push rod two, 19 guide rail, 20 supporting arm, 21 moving wheel, 22 moving frame, 23 feeding belt, 24 material pushing strip, 25 flow guiding plate, 26 shaft sleeve, 27 adjusting arm, 28 scraper, 29 torsional spring, 30 limiting rod, 31 guide sleeve, 3101 notch, 32 clamping block, 33 reset part, 34 push-pull rod, 35 roof, a mold plate, b seedling. DETAILED DESCRIPTION

[0030] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0031] Embodiment one: the present application provides a small unmanned seedling throwing machine based on agricultural planting, as shown in the figure, Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 12 and Figure 13As shown, including unmanned vehicle body 1, put the frame 2, guide material frame 3, ceiling 35, directional guide assembly and lifting manipulator, unmanned vehicle body 1 front side is provided with for storage loaded with seedling b mold a put the frame 2, put the frame 2 is provided with front high back low inclined design of put the tray, and the put the tray is longitudinally spaced distribution, rear side is provided with for guiding out seedling b guide material frame 3, guide material frame 3 is longitudinally spaced distribution has the structure of unloading tray that is high in front and low in back, and the unloading tray is gradually tapered from long to short from top to bottom, it is favorable to the seedling b is batched interval misregistration unloading, further favorable to keep the continuity of seedling b unloading and throwing seedling efficiency; the upper part between put the frame 2 and guide material frame 3 is provided with for shielding seedling b ceiling 35, it is favorable to the seedling b that pre-stores plays sunscreen purpose; put the frame 2 and guide material frame 3 between directional guide assembly, directional guide assembly includes electric conveyor belt 4, baffle 40, guide strip 5 and push mechanism, put the frame 2 is close to guide material frame 3 one side is provided with guide strip 5, and the distal end of guide strip 5 is installed with electric conveyor belt 4 between guide material frame 3, for the mold a that is loaded with seedling b is gradually transported from front to back, and the outer side of the material belt of electric conveyor belt 4 is provided with baffle 40, it is favorable to keep the stability of mold a transport; the distal end of guide strip 5 is provided with push mechanism, and the upper part of guide material frame 3 is provided with lifting manipulator, through lifting manipulator can be batched upward from mold a seedling b and overturns and transfers unloading, further favorable to improve the throwing seedling efficiency of seedling b.

[0032] Further, as shown in Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 And Figure 6 Directional guide assembly further includes guide structure, guide structure includes guide frame 6, inner curved part 50, outer curved part 60 and guide strip 61, and the longitudinal interval between put the frame 2 and guide material frame 3 is provided with guide frame 6, the distal end of guide strip 5 is provided with inner curved part 50, and the end close to inner curved part 50 of guide frame 6 is provided with outer curved part 60, and guide strip 61 is connected to the end of guide frame 6 away from outer curved part 60, and guide strip 61 extends to the lower side of the discharge port of put the frame 2, and the outer end of guide strip 61 is designed as a downward bending structure; the return flow channel of the curling structure is formed by the cooperation of inner curved part 50 and outer curved part 60, and the mold a that is gradually transported can be turned over and returned to guide strip 61 through the return flow channel, which is convenient for recycling the mold a drawn out from the front side; after the pre-stored mold a loaded with seedling b is used up, only need to place the mold a loaded with seedling b again, and the used mold a is drawn out and recycled, so as to circulate repeatedly.

[0033] Further, as shown in Figure 7 And Figure 8As shown, the directional material guiding assembly further comprises a double-shaft motor 7, a material pushing wheel 8 and a gear 9. A set of material pushing wheels 8 and gears 9 driven by the double-shaft motor 7 are installed on one side of the inner curved portion 50 of the flow guide strip 5. The two gears 9 of the same set are meshed with each other, and the double material pushing wheels 8 are driven by the meshed gears 9 to form continuous and gradual clamping and conveying of the mold disc a, which is beneficial to improve the automation level and can effectively reduce manual intervention and labor intensity of manual operation.

[0034] Further, as shown in Figure 1 , Figure 4 , Figure 6 , Figure 7 and Figure 8 , the lifting manipulator comprises an adjusting seat 13, an electric push rod 14, a turnover mechanism and a clamping mechanism. The upper part of the material guiding frame 3 is provided with a turnover mechanism. A movable adjusting seat 13 is arranged on the swing arm 12 of the turnover mechanism through the electric push rod 14. The adjusting seat 13 is provided with a clamping mechanism capable of clamping seedlings b in batches. The turnover mechanism comprises an inductive connecting arm 10, a servo motor 11 and a swing arm 12. The upper part of the material guiding frame 3 is provided with an inductive connecting arm 10. The inductive connecting arm 10 is further provided with an intelligent identification camera for automatically detecting and identifying seedlings b, which is beneficial to real-time detection of seedlings b transferred to 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 with 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 comprises an adjusting rod 15, a clamping jaw 16, a spring 17 and an electric push rod 18. Two adjusting seats 13 of the same horizontal level are respectively slidably sleeved with adjusting rods 15, and the adjusting seat 13 is respectively provided with an electric push rod 18 connected with the end of the adjusting rod 15 away from each other. A row of clamping jaws 16 is respectively and intervally fixed on the adjusting rod 15, and the clamping jaw 16 is slidably sleeved with the adjusting rod 15 of the same set. The spring 17 is connected between each pair of clamping jaws 16, and the spring 17 is sleeved on the adjusting rod 15. The spring 17 can play a buffering and protection role, avoiding excessive clamping damage to the seedlings b. When the intelligent identification camera detects that the seedlings b are transferred to the designated clamping area, the two adjusting rods 15 of the same set are controlled to move relative to each other, so that the two clamping jaws 16 can be closed to clamp the seedlings b in batches. The intelligent identification camera is electrically connected with the servo motor 11, the electric push rod 14 and the electric push rod 18.

[0035] Further, as shown in Figure 1 , Figure 9 , Figure 12 and Figure 13As shown, it also includes a mobile adjusting member, which includes a guide rail 19, a support arm 20, a mobile wheel 21 and a mobile frame 22. The middle part of the unmanned vehicle body 1 is provided with the guide rail 19. A group of front-low and rear-high support arms 20 are arranged on the guide rail 19 through the mobile wheel 21 with a brake structure. The mobile wheel 21 cooperates with the guide rail 19 to form a mobile frame 22 fixed at any position. The mobile frame 22 is installed between the support arms 20. It also includes a scattering assembly, which includes a feeding belt 23, a pushing strip 24 and a flow guide plate 25. The mobile frame 22 is installed with the feeding belt 23 for receiving the seedlings b guided from the guide frame 3. The feeding belt 23 is inclined and arranged below the output end of the guide frame 3. The pushing strip 24 for throwing the seedlings b to the rear of the unmanned vehicle body 1 is arranged on the feeding belt 23 in a circumferential interval. The mobile frame 22 is connected with the flow guide plate 25 at the rear end. The mobile frame 22 is designed to be inclined with a front-low and rear-high structure. Through the mobile frame 22 and the feeding belt 23 which can be horizontally moved and adjusted, the path of the seedlings b is controlled.

[0036] When the unmanned seedling throwing machine works, first, the mold disc a provided with seedlings b is placed on the inclined material placing tray of the material placing frame 2 and on the motorized conveying belt 4, so that two mold discs a in the same horizontal plane can abut against each other, thereby facilitating subsequent continuous automatic pushing and discharging; through cooperation of the motorized conveying belt 4 and the blocking strip 40 of the directional material guiding assembly, the mold disc a can be conveyed along the guide strip 5 to the material placing frame 3; when the mold disc a reaches the distal end of the guide strip 5, the meshing gear 9 driven by the double-shaft motor 7 drives the material pushing wheel 8 to clamp the mold disc a, and gradually sends it into the curling return channel formed by the inner curved portion 50 and the outer curved portion 60; at the same time, when the intelligent recognition camera on the inductive connecting arm 10 detects the seedling b, the two adjusting rods 15 in the same group will be synchronously relatively moved by the electric push rod one 14, so that the clamping jaws 16 are mutually closed to adaptively clamp the root of the seedling b; the spring 17 can play a buffering protection purpose, avoiding excessive clamping damage to the seedling b; then the seedling b after clamping is lifted upward by the electric push rod two 18, and the seedling b is pulled out of the mold disc a which is gradually wound, then the servo motor 11 drives the swing arm 12 to perform backward side overturning, so that the seedling b is conveyed to the tapered discharging disc of each material placing frame 3, and then the two adjusting rods 15 in the same group are reset by the electric push rod one 14, so that the clamping jaws 16 thereon release the seedling b, and then the seedling b falls on the discharging disc which is high in front and low in back and slides to the feeding belt 23, the seedling b is thrown and scattered backward by the continuously rotating feeding belt 23 and the material pushing strip 24 thereon, so that the continuous and repeated operation can be realized, and can be matched with the unmanned vehicle body 1 when driving in the field, thereby realizing automatic continuous and stable seedling throwing after batch pulling out of the mold disc a; when the mold disc a is gradually conveyed to the material placing frame 3 between the guide strip 61 and the bottom of the material placing tray, the automatic overturning and circulating conveying of the mold disc a is completed, which is convenient and fast, and is beneficial to improving the seedling throwing efficiency.

[0037] In the embodiment one, on the basis of Figure 1 、 Figure 9 、 Figure 10 、 Figure 11 、 Figure 12 and Figure 13As shown, the scraping assembly includes a shaft sleeve 26, an adjusting arm 27, a scraper 28 and a torsional spring 29. The shaft sleeve 26 is fixed to the rear side of the unmanned vehicle body 1 near the drive shaft. The adjusting arm 27 is rotatably connected to the shaft sleeve 26. The torsional spring 29 is connected between the adjusting arm 27 and the shaft sleeve 26. The distal end of the adjusting arm 27 is connected to the scraper 28. The scraping assembly can not only scrape the traces of the wheels of the unmanned vehicle body 1, but also can perform preliminary leveling treatment on the area where the seedlings b are scattered. Therefore, it is beneficial to further maintain the uniformity of the seedlings b, so that the seedlings b are evenly spaced. The torsional spring 29 can keep the scraper 28 in a downward turning state, and is beneficial to automatic obstacle avoidance. The limiting assembly includes a limiting rod 30, a guide sleeve 31, a clamping block 32, a reset member 33 and a push-pull rod 34. The guide sleeve 31 is arranged on the unmanned vehicle body 1 near the shaft sleeve 26. The clamping block 32 is slidably arranged in the guide sleeve 31. The limiting rod 30 is arranged on the adjusting arm 27. When the adjusting arm 27 is lifted to the vertical position, the limiting rod 30 triggers the inclined surface self-locking mechanism of the clamping block 32 to keep the position, so that the scraper 28 keeps the upward folding state. The reset member 33 is connected between the bottom of the clamping block 32 and the inner side of the guide sleeve 31. The push-pull rod 34 is arranged on the side of the clamping block 32. The guide sleeve 31 is provided with a slot 3101 for the push-pull rod 34.

[0038] In addition, after the clamping block 32 is separated from the limiting rod 30 by pushing the push-pull rod 34 downward, the scraper 28 is turned downward. The action of the torsional spring 29 can keep the scraper 28 sliding on the ground, thereby achieving the purpose of preliminary leveling of the traces of the soil after the wheels are driven. It is convenient to scatter the seedlings b into the leveled area, thereby further improving the flatness of the seedlings b. When the scraper 28 needs to be folded, the adjusting arm 27 is lifted to the vertical position to trigger the inclined surface self-locking mechanism of the limiting assembly. The clamping block 32 automatically locks the limiting rod 30 to achieve fixation. The structure is simple and convenient to use.

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

Claims

1. A small unmanned rice seedling throwing machine based on agricultural planting, comprising an unmanned vehicle body (1), a material placing frame (2) and a material guiding frame (3), characterized in that: It also includes a directional material guide component and a lifting manipulator, a directional material guide component for automatically conveying the mold plate (a) is provided between the material unloading rack (2) and the material guide rack (3), the directional material guide component includes an electric conveyor belt (4), a stop bar (40), a guide bar (5) and a pushing mechanism, the material unloading rack (2) is provided with a guide bar (5) at intervals on the upper and lower sides of the side close to 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), a stop bar (40) is 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), and a lifting manipulator for continuously and batch-wise removing the seedlings (b) from the mold plate (a) is provided on the upper part of the material guide rack (3); The directional guide assembly also includes a flow guide structure, which includes an inner curvature (50), a flow guide frame (6), an outer curvature (60) and a guide strip (61). The flow 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 curvature (50). The end of the guide rack (6) close to the inner curvature (50) is provided with an outer curvature (60). The inner curvature (50) and the outer curvature (60) cooperate to form a reflux channel with a curling structure for flipping and refluxing the mold plate (a). The guide strip (61) is connected to the end of the flow guide frame (6) away from the outer curvature (60). 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 guide strip (61) is designed as a downward bending structure. The lifting manipulator comprises an adjusting seat (13), an electric push rod (14), a turning mechanism and a clamping mechanism. The upper portion of the guide frame (3) is provided with a turning mechanism. A movable adjusting seat (13) is provided on the swing arm (12) of the turning mechanism via an electric push rod (14). The adjusting seat (13) is provided with a clamping mechanism capable of clamping the seedlings (b) in batches. The clamping mechanism includes an adjusting rod (15), a clamping claw (16), a spring (17) and two electric push rods (18). The two adjusting seats (13) at the same level are respectively provided with an adjusting rod (15) in a sliding manner, and the adjusting seats (13) are respectively provided with two electric push rods (18) connected to one end away from the adjusting rod (15). A row of clamping claws (16) are fixedly connected to the adjusting rod (15) at intervals, and the clamping claws (16) are slidably connected to the adjusting rod (15) corresponding to 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 rod (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.

2. The small unmanned rice seedling transplanter for agricultural planting according to claim 1 is characterized in that: The directional guide assembly further comprises 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 bar (5) near the inner curved portion (50); the two corresponding gears (9) in the same group are meshed with each other, and the meshing of the gears (9) drives the dual push wheels (8) to form a continuous and step-by-step clamping and transmission of the mold plate (a).

3. The small unmanned rice seedling transplanter for agricultural planting according to claim 2 is characterized in that: The turning mechanism comprises an inductive connecting arm (10), a servo motor (11) and a swing arm (12); the upper portion of the 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); a guide groove (1201) is provided on the swing arm (12), and the adjustment seat (13) is slidably sleeved in the guide groove (1201).

4. The small unmanned rice seedling transplanter for agricultural planting according to claim 3 is characterized by: The unmanned vehicle body (1) further 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) through the 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.

5. The small unmanned rice seedling transplanter for agricultural planting according to claim 4 is characterized in that: The invention 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 movable 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 provided at intervals on the circumference of the feeding belt (23). The guide plate (25) is connected to the rear end of the movable frame (22).

6. The small unmanned rice seedling transplanter for agricultural planting according to claim 5, characterized in that: The invention also includes a scraping assembly, which includes a shaft sleeve (26), an adjusting arm (27), a scraper (28) and a torsion spring (29). The rear side of the unmanned vehicle body (1) is fixedly connected to the shaft sleeve (26), 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), the far end of the adjusting arm (27) is connected to a scraper (28) for leveling the soil, and the torsion spring (29) can maintain a pre-tightening force on the scraper (28) to flip downward.

7. The small unmanned rice seedling transplanter for agricultural planting according to claim 6, characterized in that: The invention also includes a limiting assembly, which includes a limiting 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 limiting rod (30). When the regulating arm (27) is lifted to a vertical position, the limiting rod (30) triggers the inclined self-locking mechanism of the block (32) to maintain the position, so that the scraper (28) is kept 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).

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