An unmanned aerial vehicle airborne seedling throwing device

Abstract

The application discloses a unmanned aerial vehicle airborne seedling throwing device, and relates to the technical field of seedling throwing devices.The device comprises flexible seedling trays, lifting assemblies, conveying assemblies, seedling conveying assemblies and baffles.The flexible seedling trays are provided in multiple sets.The lifting assemblies can drive the flexible seedling trays to move up and down through the trays, so that the flexible seedling trays are in contact with the bearing surfaces.The flexible seedling trays can be conveyed downstream through the bearing surfaces.The seedling conveying assemblies are used for conveying seedlings to seedling throwing openings.The baffles are fixedly arranged between the seedling conveying assemblies and the bearing surfaces.The seedling throwing device can throw seedlings through the unmanned aerial vehicle, can carry multiple sets of flexible seedling trays at a time, and can automatically replace the flexible seedling trays on the conveying assemblies, so that the technical effect of being suitable for complex terrains and having high work efficiency is achieved.

Description

Technical Field

[0001] This invention relates to the field of rice seedling throwing devices, and in particular to an unmanned aerial vehicle (UAV)-borne rice seedling throwing device. Background Technology

[0002] Rice seedling throwing is a simplified cultivation technique that significantly improves efficiency and saves labor by throwing seedlings into the field instead of traditional transplanting.

[0003] Traditional rice transplanting relies primarily on manual labor or ground-based machinery. Manual transplanting struggles to ensure uniform seedling distribution, leading to uneven plant growth and reduced yield. While ground-based transplanters improve efficiency, they are limited by the paddy field environment, suffering from issues like getting stuck in mud and difficulty turning, and are unsuitable for small plots or complex terrain. Furthermore, traditional transplanting devices require frequent manual replacement of seed trays, exhibiting poor stability and hindering continuous operation, thus restricting the development of large-scale rice cultivation.

[0004] To address the aforementioned problems, this invention proposes an unmanned aerial vehicle (UAV)-borne rice transplanting device that is adaptable to complex terrain and has higher working efficiency. Summary of the Invention

[0005] The purpose of this invention is to provide an unmanned aerial vehicle (UAV)-borne rice seedling throwing device that uses flexible seedling trays to hold rice seedlings. Through the cooperation of lifting and conveying components, multiple sets of flexible seedling trays can be automatically replaced, thereby improving the efficiency of rice seedling throwing operations.

[0006] To achieve the above objectives, the present invention provides the following solution:

[0007] This invention provides an unmanned aerial vehicle (UAV)-borne rice transplanting device, comprising:

[0008] A flexible seedling tray, used to hold seedlings;

[0009] The lifting assembly has multiple trays spaced apart along the vertical direction. The trays are used to store the flexible seedling trays, and one end of the flexible seedling tray extends out from one side of the tray. The lifting assembly can drive the trays to move up and down.

[0010] A conveying assembly has a supporting surface on top, and the tray and the supporting surface are spaced apart along the horizontal direction. The flexible seedling tray can extend horizontally to the top of the supporting surface, and the supporting surface can convey the flexible seedling tray on the tray downstream.

[0011] A seedling delivery component is used to deliver seedlings from the conveying component to the seedling throwing port, and the seedling delivery component is spaced apart from the supporting surface.

[0012] A baffle is fixedly disposed between the seedling delivery component and the supporting surface, and the baffle is used to guide the flexible seedling tray below the supporting surface.

[0013] In one embodiment, the lifting assembly further includes a first base, a first lead screw, and a first motor. The first lead screw is vertically arranged and is connected to the first motor for transmission. A plurality of first bases are spaced apart along the vertical direction and are threadedly connected to the first lead screw. A plurality of trays are respectively connected to a plurality of first bases.

[0014] In one embodiment, the conveying assembly includes a first conveyor belt, a drive roller, and a driven roller. The drive roller and the driven roller are used to support the first conveyor belt. The drive roller is connected to a drive device, and the outer surface of the first conveyor belt serves as a support surface.

[0015] In one embodiment, the end of the first conveyor belt near the baffle is lower than the end of the first conveyor belt near the lifting assembly, and the baffle is inclined toward the setting direction of the first conveyor belt.

[0016] In one embodiment, the seedling delivery assembly includes a seedling clamping unit, which includes a second lead screw, a second motor, a second base, a movable frame, and grippers. The second lead screw is drivenly connected to the second motor, and the second base is threadedly connected to the second lead screw. The movable frame is mounted on the second base, and a plurality of grippers are spaced apart on the movable frame along a conveying direction perpendicular to the first conveyor belt. The grippers are used to clamp seedlings.

[0017] In one embodiment, the gripper includes a third motor, a mounting plate, a movable plate, a rotating plate, and clamping plates. The mounting plate is mounted on one side of the output shaft of the third motor, and has a through hole for the output shaft of the third motor to pass through. The output shaft of the third motor is provided with an external thread. The movable plate has a threaded hole that matches the external thread. The movable plate is located on the side of the mounting plate away from the main body of the third motor. There are two clamping plates. The first ends of the two clamping plates are rotatably connected to the mounting plate, and the first ends of the two clamping plates are respectively located on both sides of the through hole. There are two rotating plates. The first ends of the two rotating plates are rotatably connected to the middle of the two clamping plates, and the second ends of the two rotating plates are respectively connected to the two ends of the movable plate.

[0018] In one embodiment, the seedling delivery assembly includes a seedling delivery unit, which includes multiple seedling delivery channels arranged side by side. The entrance of each seedling delivery channel is correspondingly arranged with the gripper. The seedling delivery unit also includes a second conveyor belt, a drive motor, a drive shaft, and a driven shaft. The drive shaft is drivenly connected to the drive motor. One end of each seedling delivery channel is rotatably connected to a drive shaft, and the driven shaft is rotatably connected to the other end of the seedling delivery channel. Each seedling delivery channel is equipped with a second conveyor belt, which is disposed on the drive shaft and the driven shaft. Any two adjacent drive shafts are drivenly connected by a speed-changing gear set to enable any two second conveyor belts to run at different speeds.

[0019] In one embodiment, the gear set includes a first gear and a second gear, the first gear being larger than the second gear, the first gear being connected to the drive shaft close to the drive motor, and the second gear being connected to the drive shaft away from the drive motor, with the first gear meshing with the second gear.

[0020] As one embodiment, it also includes a seedling guide hopper, and the outlets of the plurality of seedling delivery channels are all corresponding to the inlet of the seedling guide hopper. The seedling guide hopper includes a seedling guide slope, and the seedling throwing port is located at the bottom end of the seedling guide slope. The seedling guide slope is used to guide the seedlings entering the seedling guide hopper to the seedling throwing port.

[0021] As one embodiment, a sensor is also included, which is disposed at one end of the conveying assembly near the seedling delivery assembly, and the sensor is electrically connected to the seedling delivery assembly and the conveying assembly.

[0022] The present invention achieves the following technical effects compared to the prior art:

[0023] In the UAV-borne rice transplanting device disclosed in this invention, the flexible seedling tray has the characteristic of being deformable under external force and restoring its deformation when the external force disappears. The lifting assembly is vertically equipped with multiple trays for storing the flexible seedling trays, enabling the transplanting device to carry multiple sets of flexible seedling trays at once, thus increasing the overall load capacity of the device. One end of the flexible seedling tray extends from one side of the tray and can extend horizontally above the supporting surface. When the lifting assembly drives the pusher to move downwards, one end of the flexible seedling tray contacts the supporting surface. The supporting surface can pull the flexible seedling tray off the tray through friction and transport it. Downstream, the seedling delivery component delivers seedlings to the seedling throwing port for throwing. When the flexible seedling tray comes into contact with the baffle, the baffle changes the direction of movement of the flexible seedling tray, guiding it below the support surface. This allows other flexible seedling trays on the tray to reach the side of the seedling delivery component via the support surface, enabling the seedling delivery component to carry out the next round of throwing. This also allows for automatic replacement of the flexible seedling trays on the delivery component. This seedling throwing device is carried by a drone and can adapt to complex terrain. Its larger seedling carrying capacity and automatic replacement of flexible seedling trays effectively improve the operating efficiency of the drone-borne seedling throwing device. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the structure of the UAV-borne rice transplanting device in an embodiment of the present invention;

[0026] Figure 2 for Figure 1 A diagram from another perspective;

[0027] Figure 3 This is a schematic diagram of the lifting assembly in an embodiment of the present invention;

[0028] Figure 4 This is a schematic diagram of the seedling delivery unit in an embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of the gripper structure in an embodiment of the present invention;

[0030] Figure 6 This is a schematic diagram of the seedling clamping unit in an embodiment of the present invention;

[0031] Figure 7 This is a schematic diagram of the structure of the recycling bin in an embodiment of the present invention;

[0032] The components include: 1. Flexible seedling tray; 2. Seedling; 3. Tray; 4. Throwing port; 5. Baffle; 6. First base; 7. First lead screw; 8. First motor; 9. First conveyor belt; 10. Second lead screw; 11. Second motor; 12. Second base; 13. Moving frame; 14. Gripper; 15. Third motor; 16. Mounting plate; 17. Moving plate; 18. Rotating plate; 19. Clamping plate; 20. Second conveyor belt; 21. Drive motor; 22. Drive shaft; 23. Driven shaft; 24. First gear; 25. Second gear; 26. Seedling guide hopper; 27. Sensor; 28. Base plate; 29. ​​Recycling box; 30. Guide platform; 31. Lifting rail; 32. Conveying rail; 33. Support plate; 34. Partition. Detailed Implementation

[0033] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] The purpose of this invention is to provide an unmanned aerial vehicle (UAV)-borne rice transplanting device that achieves automatic replacement of multiple sets of flexible seedling trays through the cooperation of lifting components, conveying components and baffles, thereby improving the operating efficiency of the rice transplanting device.

[0035] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] Please refer to Figure 1-7The UAV-borne rice transplanting device disclosed in this embodiment of the invention includes: a flexible seedling tray 1, a lifting assembly, a conveying assembly, a seedling delivery assembly, and a baffle 5; wherein, the flexible seedling tray 1 is used to hold seedlings 2; multiple trays 3 are spaced apart on the vertical lifting assembly, the trays 3 are used to store the flexible seedling tray 1, and one end of the flexible seedling tray 1 extends from one side of the tray 3, the lifting assembly can drive the trays 3 to move up and down; the conveying assembly has a supporting surface above it, and the trays 3 are spaced apart from the supporting surface in the horizontal direction to avoid interference between the trays 3 and the supporting surface. The flexible seedling tray 1 extends horizontally from one end of the tray 3 to above the supporting surface, and the supporting surface can transport the flexible seedling tray 1 on the tray 3 downstream. Along the direction in which the seedlings 2 are transferred inside the seedling throwing device, the inlet end of the seedling feeding component is located downstream of the supporting surface. The seedling feeding component is used to transport the seedlings 2 in the flexible seedling tray 1 on the feeding component to the seedling throwing port 4. The seedling feeding component and the supporting surface are spaced apart. The baffle 5 is fixedly installed between the seedling feeding component and the supporting surface. The baffle 5 can change the forward direction of the flexible seedling tray 1 to guide the flexible seedling tray 1 below the supporting surface.Its working principle is as follows: multiple trays 3 set on the lifting component can carry multiple flexible seedling trays 1 at one time, allowing the seedling throwing device to hold more seedlings 2. The lifting component can drive the trays 3 to move up and down. Before the seedling throwing operation begins, the trays 3 are all located on the upper side of the supporting surface, and each tray 3 contains one flexible seedling tray 1. During the process of the lifting component driving the trays 3 to descend, the end of the flexible seedling tray 1 extending out of the tray 3 gradually approaches and contacts the supporting surface. The supporting surface can provide the flexible seedling tray 1 with the driving force for downstream movement through friction. The supporting surface itself can provide the flexible seedling tray 1 with the supporting force, and thus the flexible seedling tray 1 on the tray 3 can be transported downstream through the supporting surface. It can be understood that downstream here refers to the overall movement direction of the seedlings 2 in the seedling throwing device. As the flexible seedling tray 1 gradually approaches the seedling delivery component, the seedling delivery component can remove the seedlings 2 from the flexible seedling tray 1 and transport them to the seedling throwing port 4. The seedlings 2 leave the seedling throwing device from the seedling throwing port 4 and are then subjected to gravity. The seedlings fall into the target position, completing the seedling throwing process of seedling 2. Further, as the supporting surface continuously transports the flexible seedling tray 1 downstream, one end of the flexible seedling tray 1 will abut against the baffle 5. The flexible seedling tray 1 has the characteristic of being able to deform under external force and recover its deformation when the external force disappears. Therefore, the baffle 5 can change the shape of the front end of the flexible seedling tray 1, making its front end bend, thereby changing the forward direction of the flexible seedling tray 1. The flexible seedling tray 1 moves through the gap between the baffle 5 and the supporting surface to below the supporting surface, so that the next flexible seedling tray 1 can reach one side of the seedling delivery component for the next batch (in the next flexible seedling tray 1) of seedlings 2 to be thrown. This realizes the automatic switching between empty and full seedling trays. The seedling throwing device is carried by a drone and can adapt to complex terrain. The multi-tray 3 increases the carrying capacity of seedling 2. The flexible seedling tray 1 can be replaced without stopping through the lifting component, the conveying component and the baffle 5, effectively improving the operating efficiency of the drone-borne seedling throwing device.

[0037] It is understandable that one end of the flexible seedling tray 1 extends from one side of the tray 3. This can be achieved by controlling the initial placement position of the flexible seedling tray 1, or by changing the size of the flexible seedling tray 1, that is, by making the size of the flexible seedling tray 1 slightly larger than the size of the tray 3 along the line connecting the lifting component and the conveying component.

[0038] In this embodiment, the upper surface of the tray 3 is smoothed to reduce the friction between the tray 3 and the flexible seedling tray 1, and the upper surface of the supporting surface is roughened to increase the friction between the supporting surface and the flexible seedling tray 1, so that the flexible seedling tray 1 on the tray 3 can be more easily transported downstream by the supporting surface through friction.

[0039] In this embodiment, the UAV-borne rice transplanting device also includes a base plate 28. The lifting assembly, conveying assembly, and seedling delivery assembly are all mounted on the base plate 28. The entire UAV-borne rice transplanting device is connected to the UAV through the base plate 28, thereby enabling rice transplanting operations in complex terrain areas.

[0040] In this embodiment, a support frame is installed below the gap between the conveying component and the seedling delivery component. The support frame is fixedly installed on the base plate 28, and the baffle 5 is fixedly installed on the support frame. The upper end of the baffle 5 extends upward to the upper side of the supporting surface near the end of the baffle 5.

[0041] In this embodiment, the UAV-borne rice transplanting device also includes a recovery box 29, which is located below the gap between the conveying component and the seedling delivery component. The baffle 5 is a straight plate, and the lower end of the baffle 5 is fixedly connected to the side wall of the recovery box 29. The upper end of the baffle 5 extends upward to the upper side of the conveying component near the baffle 5, ensuring that the flexible seedling tray 1 on the support surface can contact the baffle 5 during its downstream movement. The angle between the baffle 5 and the support surface is an acute angle, and the baffle 5 and the support surface are spaced apart so that the flexible seedling tray 1 can enter the recovery box 29 under the action of the baffle 5.

[0042] In this embodiment, the recycling box 29 is a rectangular box. The recycling box 29 is detachably connected to the base plate 28. The upper end of the recycling box 29 is open and located below the gap between the conveying component and the seedling delivery component. A guide platform 30 is provided on the bottom wall of the recycling box 29 near the baffle 5. The guide platform 30 is arc-shaped so that the flexible seedling tray 1 can be laid flat and stored in the recycling box 29.

[0043] In this embodiment, the baffle 5 is arc-shaped, with the concave surface of the baffle 5 facing the bearing surface. The arc-shaped baffle 5 is more conducive to guiding the flexible seedling tray 1.

[0044] In this embodiment, the baffle 5 is used to smooth the surface that contacts the flexible seedling tray 1.

[0045] In this embodiment, the lifting assembly further includes a first base 6, a first lead screw 7, and a first motor 8. The first lead screw 7 is vertically arranged and is connected to the first motor 8. Multiple first bases 6 are spaced apart in the vertical direction and are threadedly connected to the first lead screw 7. Multiple trays 3 are respectively connected to multiple spaced first bases 6. The first motor 8 drives the first lead screw 7 to rotate, thereby driving the first base 6 to move up and down along the axis of the first lead screw 7, realizing the up and down movement of the trays 3.

[0046] In this embodiment, the lifting assembly also includes a lifting rail 31, which is vertically arranged. The lower end of the lifting rail 31 is connected to the base plate 28. The first motor 8 is installed at one end of the lifting rail 31. The lifting rail 31 is provided with a groove that engages with the first base 6 to ensure that the first base 6 can move smoothly in the vertical direction.

[0047] In this embodiment, the conveying assembly includes a first conveyor belt 9, a drive roller, and a driven roller. The drive roller and the driven roller are used to support the first conveyor belt 9. The drive roller is connected to the drive device, and the outer surface of the first conveyor belt 9 serves as a support surface. The drive roller and the driven roller are detachably mounted on the base plate 28 through a bracket. The drive device provides power to the first conveyor belt 9 through the drive roller to convey the flexible seedling tray 1 through the first conveyor belt 9.

[0048] In this embodiment, the conveying assembly includes multiple rotating rollers, which are arranged at intervals along a certain direction and rotate in the same direction to move the flexible seedling tray 1 on the tray 3 away from the tray 3. It is understood that the purpose of arranging the rotating rollers at intervals is to prevent friction between adjacent rotating rollers. The smaller the gap between the rotating rollers, the better, while ensuring that adjacent rotating rollers do not rub against each other.

[0049] In this embodiment, the end of the first conveyor belt 9 near the baffle 5 is lower than the end of the first conveyor belt 9 near the lifting component. This allows the flexible seedling tray 1 to move more easily toward the seedling delivery component by utilizing the gravity of the flexible seedling tray 1, and also makes it easier to reduce the angle between the baffle 5 and the bearing surface.

[0050] In this embodiment, the baffle 5 is inclined toward the direction of the first conveyor belt 9, which helps to reduce the angle between the baffle 5 and the bearing surface, so as to facilitate the guidance of the flexible seedling tray 1.

[0051] In this embodiment, the seedling delivery assembly includes a seedling clamping unit, which includes a second lead screw 10, a second motor 11, a second base 12, a movable frame 13, and grippers 14. The second lead screw 10 is connected to the second motor 11 via a drive, and the second motor 11 is detachably mounted on the base via a frame. The second base 12 is threadedly connected to the second lead screw 10, and the movable frame 13 is mounted on the second base 12. Multiple grippers 14 are spaced apart on the movable frame 13 along the conveying direction perpendicular to the first conveyor belt 9. The grippers 14 are used to clamp the seedlings 2. The second lead screw 10 extends toward the seedling delivery unit, thereby enabling the grippers 14 to clamp the seedlings 2 to the seedling delivery unit via the second lead screw 10.

[0052] In this embodiment, the seedling clamping unit also includes a conveying track 32. The conveying track 32 is set in the same direction as the second lead screw 10. The conveying track 32 is fixedly connected to the base plate 28. The second motor 11 is installed at one end of the conveying track 32. The conveying track 32 is provided with a groove that matches the second base 12 to ensure that the second base 12 can move stably along the axis of the second lead screw 10.

[0053] In this embodiment, the gripper 14 includes a third motor 15, a mounting plate 16, a movable plate 17, a rotating plate 18, and clamping plates 19. The third motor 15 is detachably mounted on the movable frame 13. The mounting plate 16 is mounted on one side of the output shaft of the third motor 15. The mounting plate 16 has a through hole for the output shaft of the third motor 15 to pass through. The output shaft of the third motor 15 is provided with an external thread. The movable plate 17 has a threaded hole that matches the external thread. The movable plate 17 is located on the side of the mounting plate 16 away from the main body of the third motor 15. There are two clamping plates 19. The first ends of the two clamping plates 19 are respectively connected to the mounting plate 16. The mounting plate 16 is rotatably connected, and the first ends of the two clamping plates 19 are respectively set on both sides of the through hole. There are two rotating plates 18. The first ends of the two rotating plates 18 are rotatably connected to the middle of the two clamping plates 19, and the second ends of the two rotating plates 18 are respectively connected to the two ends of the moving plate 17. During operation, the third motor 15 rotates, which can drive the moving plate 17 to move closer to or away from the third motor 15 through the external thread on the output shaft. During the movement of the moving plate 17, the second ends of the clamping plates 19 can be driven to move closer to or away from each other through the rotating plates 18, thereby realizing the clamping and releasing action.

[0054] In this embodiment, the gripping height of the claw 14 is located at the middle part of the seedling 2, that is, the claw 14 removes the seedling 2 from the flexible seedling tray 1 by gripping the middle of the seedling 2.

[0055] In this embodiment, the seedling delivery assembly includes a seedling delivery unit, which includes multiple seedling delivery channels arranged side by side. The entrance of each seedling delivery channel is correspondingly arranged with the gripper 14. The seedling delivery unit also includes a second conveyor belt 20, a drive motor 21, a drive shaft 22, and a driven shaft 23. The drive shaft 22 is connected to the drive motor 21. One end of each seedling delivery channel is rotatably provided with a drive shaft 22, and the driven shaft 23 is rotatably provided at the other end of the seedling delivery channel. Each seedling delivery channel is provided with a second conveyor belt 20, which is located on the drive shaft 22 and the driven shaft 23. Any two adjacent drive shafts 22 are connected by a speed-changing gear set so that any two second conveyor belts 20 can run at different speeds. Through the differentially running second conveyor belts 20, multiple seedlings 2 gripped by the seedling clamping unit can be sequentially transported to the seedling throwing port 4 to prevent the seedlings 2 from squeezing each other and causing blockage.

[0056] In this embodiment, the gear set includes a first gear 24 and a second gear 25. The size of the first gear 24 is larger than that of the second gear 25. The first gear 24 is connected to the drive shaft 22 near the drive motor 21, and the second gear 25 is connected to the drive shaft 22 away from the drive motor 21. The first gear 24 and the second gear 25 mesh with each other. From the seedling feeding channel near the drive motor 21 to the seedling feeding channel away from the drive motor 21, the speed of the second conveyor belt 20 gradually increases, thereby realizing the differential speed operation of the second conveyor belt 20.

[0057] In this embodiment, the gear set includes a first gear 24 and a second gear 25. The size of the first gear 24 is larger than that of the second gear 25. The first gear 24 is connected to the drive shaft 22 away from the drive motor 21, and the second gear 25 is connected to the drive shaft 22 close to the drive motor 21. The first gear 24 and the second gear 25 mesh. From the seedling feeding channel close to the drive motor 21 to the seedling feeding channel away from the drive motor 21, the speed of the second conveyor belt 20 gradually decreases, thereby realizing the differential speed operation of the second conveyor belt 20.

[0058] In this embodiment, each seedling delivery channel is equipped with an independent belt conveyor structure, and the conveying speed of any belt conveyor structure is different, so as to achieve differential conveying of seedlings 2.

[0059] In this embodiment, the UAV-borne rice transplanting device also includes a seedling guide hopper 26. The outlets of multiple seedling delivery channels are all set to correspond to the inlets of the seedling guide hopper 26. The seedling guide hopper 26 includes a seedling guide slope, and the seedling outlet 4 is set at the bottom of the seedling guide slope. The seedling guide slope is used to guide the seedlings 2 that enter the seedling guide hopper 26 to the seedling outlet 4, thereby realizing the planting of a single row of seedlings 2 at the target position by using the UAV-borne rice transplanting device.

[0060] In this embodiment, the seedling guide hopper 26 is funnel-shaped.

[0061] In this embodiment, the UAV-borne rice seedling throwing device also includes a sensor 27. The sensor 27 is used to detect whether there are seedlings 2 at the target location. The sensor 27 is set at one end of the conveying component near the seedling delivery component. The sensor 27 is electrically connected to the seedling delivery component and the conveying component. When the sensor 27 detects that there are seedlings 2 at the target location, the conveying component stops working, the seedling clamping unit works to clamp the seedlings 2 at the target location and transfer them to the seedling delivery unit, and the seedling delivery unit works to transfer the seedlings 2 to the throwing port 4, thus realizing the automatic delivery of the seedlings 2.

[0062] In this embodiment, the UAV-borne rice transplanting device also includes a controller, which is connected to the terminal signal and electrically connected to the lifting component, the conveying component, and the seedling delivery component. The lifting component, the conveying component, and the seedling delivery component can all be independently controlled through the terminal.

[0063] In this embodiment, the second ends of the two clamping plates 19 are provided with a flexible anti-slip structure close to each other on one side to improve the clamping stability of the gripper 14.

[0064] In this embodiment, the seedling delivery component includes a support plate 33, on which multiple partitions 34 are installed at intervals. The partitions 34 are detachably connected to the support plate 33 to divide the upper space of the support plate 33, forming multiple seedling delivery channels. The partitions 34 prevent the seedlings 2 in adjacent seedling delivery channels from contacting each other, ensuring the stability of the seedlings 2 during the delivery process.

[0065] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A drone-borne rice transplanting device, characterized in that, include: Flexible seedling tray (1), the flexible seedling tray (1) is used to hold seedlings (2); The lifting assembly has multiple trays (3) spaced apart along the vertical direction. The trays (3) are used to store the flexible seedling trays (1) and one end of the flexible seedling trays (1) extends out from one side of the trays (3). The lifting assembly can drive the trays (3) to move up and down. The conveying assembly has a supporting surface on top, and the tray (3) is spaced apart from the supporting surface in the horizontal direction. The flexible seedling tray (1) can extend in the horizontal direction to the top of the supporting surface, and the supporting surface can convey the flexible seedling tray (1) on the tray (3) downstream. The seedling delivery component is used to deliver the seedlings (2) on the conveying component to the seedling throwing port (4), and the seedling delivery component is spaced apart from the supporting surface; Baffle (5), the baffle (5) is fixedly disposed between the seedling delivery component and the supporting surface, the baffle (5) is used to guide the flexible seedling tray (1) below the supporting surface; The conveying assembly includes a first conveyor belt (9); The seedling delivery assembly includes a seedling clamping unit, which includes a second lead screw (10), a second motor (11), a second base (12), a moving frame (13), and grippers (14). The second lead screw (10) is connected to the second motor (11) in a transmission manner, and the second base (12) is threadedly connected to the second lead screw (10). The moving frame (13) is mounted on the second base (12), and a plurality of grippers (14) are spaced apart on the moving frame (13) along the conveying direction perpendicular to the first conveyor belt (9). The grippers (14) are used to clamp seedlings (2). The seedling delivery assembly includes a seedling delivery unit, which includes multiple seedling delivery channels arranged side by side. The entrance of each seedling delivery channel is corresponding to the gripper (14). The seedling delivery unit also includes a second conveyor belt (20), a drive motor (21), a drive shaft (22), and a driven shaft (23). The drive shaft (22) is connected to the drive motor (21) for transmission. One end of each seedling delivery channel is rotatably provided with a drive shaft (22). The driven shaft (23) is rotatably provided at the other end of the seedling delivery channel. Each seedling delivery channel is provided with a second conveyor belt (20). The second conveyor belt (20) is provided on the drive shaft (22) and the driven shaft (23). Any two adjacent drive shafts (22) are connected by a speed-changing gear set so that any two second conveyor belts (20) run at different speeds.

2. The UAV-borne rice transplanting device according to claim 1, characterized in that, The lifting assembly also includes a first base (6), a first lead screw (7) and a first motor (8). The first lead screw (7) is vertically arranged and is connected to the first motor (8) in a transmission manner. Multiple first bases (6) are arranged at intervals in the vertical direction and are threadedly connected to the first lead screw (7). Multiple trays (3) are respectively connected to multiple first bases (6).

3. The UAV-borne rice transplanting device according to claim 1, characterized in that, The conveying assembly further includes a drive roller and a driven roller, which are used to support the first conveyor belt (9). The drive roller is connected to the drive device, and the outer surface of the first conveyor belt (9) serves as the support surface.

4. The UAV-borne rice transplanting device according to claim 3, characterized in that, The end of the first conveyor belt (9) near the baffle (5) is lower than the end of the first conveyor belt (9) near the lifting assembly, and the baffle (5) is inclined toward the setting direction of the first conveyor belt (9).

5. The UAV-borne rice transplanting device according to claim 1, characterized in that, The gripper (14) includes a third motor (15), a mounting plate (16), a moving plate (17), a rotating plate (18), and a clamping plate (19). The mounting plate (16) is mounted on one side of the output shaft of the third motor (15). The mounting plate (16) has a through hole for the output shaft of the third motor (15) to pass through. The output shaft of the third motor (15) is provided with an external thread. The moving plate (17) has a threaded hole that matches the external thread. The moving plate (17) is located on the mounting plate (15). 16) On the side away from the main body of the third motor (15), there are two clamping plates (19). The first ends of the two clamping plates (19) are rotatably connected to the mounting plate (16) respectively. The first ends of the two clamping plates (19) are respectively located on both sides of the through hole. There are two rotating plates (18). The first ends of the two rotating plates (18) are rotatably connected to the middle of the two clamping plates (19) respectively. The second ends of the two rotating plates (18) are respectively connected to the two ends of the moving plate (17).

6. The UAV-borne rice transplanting device according to claim 1, characterized in that, The gear set includes a first gear (24) and a second gear (25). The size of the first gear (24) is larger than that of the second gear (25). The first gear (24) is connected to the drive shaft (22) near the drive motor (21), and the second gear (25) is connected to the drive shaft (22) away from the drive motor (21). The first gear (24) and the second gear (25) mesh with each other.

7. The UAV-borne rice transplanting device according to claim 1, characterized in that, It also includes a seedling guide hopper (26), and the outlets of the multiple seedling delivery channels are all set to correspond to the inlet of the seedling guide hopper (26). The seedling guide hopper (26) includes a seedling guide slope, and the seedling throwing port (4) is set at the bottom end of the seedling guide slope. The seedling guide slope is used to guide the seedlings (2) entering the seedling guide hopper (26) to the seedling throwing port (4).

8. The UAV-borne rice transplanting device according to claim 1, characterized in that, It also includes a sensor (27), which is disposed at one end of the conveying assembly near the seedling delivery assembly, and the sensor (27) is electrically connected to the seedling delivery assembly and the conveying assembly.

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