Under-forest cultivation device for traditional Chinese medicinal material herba epimedii

Abstract

The invention relates to the technical field of traditional Chinese medicinal material planting, in particular to a traditional Chinese medicinal material epimedium under-forest cultivation device which comprises a traction control frame, a walking mechanism, an epimedium seedling containing hopper and a control module. The end part of the traction control frame is provided with a multi-directional adjusting mechanism consisting of a liftable bracket and a bulldozing telescopic piece, the multi-directional adjusting mechanism is connected with a soil sealing bracket, a follow-up driving motor on the soil sealing bracket drives an arc-shaped push plate (the arc-shaped push plate is V-shaped when being overlooked, and the height of the soil stirring plate is gradually changed from a wide part to a narrow part) with a soil stirring plate; a pneumatic control cylinder in the middle of the walking mechanism is provided with multiple sets of automatic clamping assemblies (including a second air pipe, a clamping supporting plate, a flow distribution air bin and a soft clamping / limiting telescopic plate), automatic fixed-distance lossless planting of seedlings is achieved, the roots are precisely and evenly covered with soil, the device is adaptive to under-forest complex terrains, the planting efficiency and the seedling survival rate are greatly improved, and the device is suitable for large-scale popularization and application. Meanwhile, the labor intensity of workers is reduced, and the large-scale cultivation requirement under the epimedium forest is met.

Description

Technical Field

[0001] This invention relates to the field of Chinese medicinal herb cultivation technology, specifically a device for cultivating Epimedium under forest cover. Background Technology

[0002] Epimedium, a traditional Chinese medicinal herb, has roots and leaves with high medicinal value, making it an important category in the cultivation of Chinese medicinal herbs. Due to its shade-loving and moisture-tolerant growth habits, forest understory is the preferred location for its large-scale cultivation. However, in the field of Epimedium understory cultivation, the plant's growth requires specific environmental conditions (such as soil cover thickness and seedling planting posture), and the understory cultivation environment is characterized by complex terrain (mostly uneven ground or sloping hillsides) and significant vegetation obstruction. Therefore, current cultivation operations mainly rely on a combination of traditional understory cultivation equipment and manual assistance.

[0003] Existing understory cultivation devices for Epimedium (a traditional Chinese medicinal herb) have many shortcomings in practical applications, making it difficult to meet the needs of refined and efficient planting. For example, the seedling planting process relies on manual operation, resulting in a low daily planting volume per person (less than 1,000 seedlings). Furthermore, manual handling of seedlings can easily damage the stems, and the planting spacing accuracy is poor (row spacing error can reach 5-10 cm), affecting the later photosynthesis and field management of Epimedium. Additionally, the soil covering components are mostly fixed structures, lacking flexible adjustment capabilities. They cannot adjust the position and force of the soil covering according to the seedling height, soil looseness, and understory terrain (such as sloping hillsides), leading to uneven soil covering. Seedling roots are easily damaged by excessive soil compression or exposed due to insufficient coverage, reducing the survival rate. Therefore, in response to the above situation, there is an urgent need to develop an understory cultivation device for Epimedium to overcome the shortcomings in current practical applications. Summary of the Invention

[0004] The purpose of this invention is to provide a cultivation device for Epimedium under forest cover, in order to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A cultivation device for Epimedium under forest cover, comprising a traction control frame, wherein a walking mechanism is provided on the traction control frame;

[0007] Two multi-directional adjustment mechanisms are symmetrically arranged at the ends of the traction control frame, and a soil sealing bracket is fixedly installed on the multi-directional adjustment mechanism.

[0008] A follower drive motor is fixedly installed on the soil sealing support, and a support disc is fixedly installed on the output end of the follower drive motor. The soil sealing support is used to drive the support disc to rotate on the soil sealing support according to the motion state of the multi-directional adjustment mechanism.

[0009] An arc-shaped push plate is fixedly installed on the supporting disc, and multiple soil-removing plates are provided on the arc-shaped push plate. The arc-shaped push plate and soil-removing plates are used to cover the roots of Epimedium seedlings in the Epimedium planting area with soil.

[0010] As a further aspect of the present invention: both ends of the arc-shaped push plate are provided with inclined cuts, so that the top view projection of the arc-shaped push plate is a V-shaped structure;

[0011] The height of the plurality of soil-removing plates increases sequentially from the widest part to the narrowest part of the arc-shaped push plate.

[0012] As a further aspect of the present invention, it also includes: an Epimedium seedling holding container, wherein the Epimedium seedling holding container is fixedly installed on the traction control frame and is used to hold Epimedium seedlings to be planted;

[0013] And an operating module, which is fixedly installed on the Epimedium seedling holding container and is used to control the movement of the multi-directional adjustment mechanism.

[0014] As a further aspect of the present invention: the multi-directional adjustment mechanism includes:

[0015] A liftable support frame, which is fixedly connected to the traction control frame;

[0016] And a bulldozing telescopic component, which is fixedly installed at the bottom end of the liftable support; wherein, both the liftable support and the bulldozing telescopic component are signal connected to the control module and are used for longitudinal and lateral adjustment of the arc-shaped push plate, respectively.

[0017] Furthermore, the arc-shaped push plate automatically adjusts its rotation state according to its lateral displacement.

[0018] As a further aspect of the present invention: the walking mechanism includes:

[0019] A rotating shaft, which is rotatably connected to the traction control frame;

[0020] And planting drive wheels, the number of which is two, and the two planting drive wheels are respectively fixedly connected to the two ends of the rotating shaft;

[0021] Each of the planting drive wheels is fixedly equipped with a detachable counterweight in the middle, and a counterweight block is detachably installed on the detachable counterweight to ensure that the planting drive wheel moves smoothly on the uneven soil surface.

[0022] As a further aspect of the present invention: a planting trench is provided in the middle of the epimedium planting area for placing the roots of epimedium seedlings;

[0023] The arc-shaped pusher and the soil-pulling plate are used to push the soil on both sides of the planting trench to cover the roots of the Epimedium seedlings located in the planting trench.

[0024] As a further aspect of the present invention, it also includes: a pneumatic control cylinder, which is located at the middle of the walking mechanism and rotates with the walking mechanism;

[0025] The pneumatic control cylinder is equipped with an air source device.

[0026] And an automatic clamping assembly, wherein there are multiple automatic clamping assemblies, which are evenly distributed on the pneumatic control cylinder and are all connected to the air source equipment;

[0027] Multiple automatic clamping components are arranged in a uniform manner for planting Epimedium seedlings at fixed intervals.

[0028] As a further aspect of the present invention: the automatic clamping assembly includes:

[0029] Air tube 2, there are multiple air tubes 2, the multiple air tubes 2 are evenly distributed on the pneumatic control cylinder, and are connected to the air source equipment through valves;

[0030] Clamping support plate, the clamping support plate is fixedly installed on the second air tube, wherein every two clamping support plates form a group, and the two clamping support plates in each group are arranged facing each other;

[0031] A gas distribution chamber is fixedly installed on the clamping support plate and connected to the second gas pipe.

[0032] And a plurality of soft clamping telescopic plates, wherein the plurality of soft clamping telescopic plates are inserted into the clamping support plate and are slidably connected to the clamping support plate;

[0033] Furthermore, one end of each of the aforementioned soft clamping telescopic plates is located in one of the multiple compartments opened within the distribution gas chamber;

[0034] The flexible clamping telescopic plate extends and retracts on the clamping support plate by changing the air pressure inside the distribution air chamber, thereby achieving the centering clamping and loosening of the Epimedium seedling stem.

[0035] As a further aspect of the present invention, it also includes: a first air pipe, the two ends of which are respectively connected to the chamber of the distribution air chamber and the air source equipment;

[0036] And a soft limiting telescopic plate, wherein the soft limiting telescopic plate is inserted into the clamping support plate and is perpendicular to the soft clamping telescopic plate, and one end of the soft limiting telescopic plate is located in the chamber of the distribution gas chamber.

[0037] Each of the clamping supports is symmetrically provided with two soft limiting telescopic plates. When the two soft limiting telescopic plates are in contact with the two soft limiting telescopic plates on the other clamping support, the clamping support and the soft limiting telescopic plates are combined to form a square frame structure.

[0038] As a further embodiment of the present invention: the control module includes a core control unit, a parameter setting panel, a status display module, a sensor signal processing module, and a power supply module;

[0039] The core control unit adopts an embedded microprocessor with a built-in preset control program, which is used to receive sensor signals, parse operation instructions, and send control signals to the air source equipment of the liftable support, bulldozer telescopic component, pneumatic control cylinder, and follow-up drive motor.

[0040] The parameter setting panel is used to set the sealing height of the arc-shaped pusher, the extension amount of the pusher telescopic component, and the speed of the follow-up drive motor.

[0041] The status display module is used to display the height of the liftable support, the stroke of the bulldozer telescopic component, the position of the automatic clamping component, and the air pressure value of the air source equipment inside the pneumatic control cylinder. It can also trigger a fault alarm and display the fault location.

[0042] The sensor signal processing module is used to filter, amplify, and analyze the signals from the tilt status sensor on the outer wall of the trachea, the soil sealing status sensor on the side of the soil sealing bracket near the arc-shaped push plate, and the walking status sensor at the end of the rotating shaft.

[0043] The power module supplies power to the control module itself and the low-power sensors, and has overvoltage and overcurrent protection functions.

[0044] Compared with the prior art, the beneficial effects of the present invention are:

[0045] To achieve precise and uniform soil sealing of Epimedium seedlings, improving the quality of soil sealing and survival rate: The arc-shaped pusher plate adopts a V-shaped top-view structure (with inclined cuts at both ends), which can precisely fit the contours of both sides of the planting trench, avoiding soil scattering; the height of the soil-pulling plate increases from the widest to the narrowest part of the arc-shaped pusher plate, ensuring accurate soil pushing in the center of the trench, preventing root exposure and avoiding excessive soil pressure on the seedling stem; the multi-directional adjustment mechanism (liftable support + pusher telescopic component) can flexibly adjust the spatial position of the soil sealing components according to the seedling height and soil conditions, and the follow-up drive motor drives the arc-shaped pusher plate to rotate. With the slight adjustment of the traction control frame by the staff, it can adapt to complex terrains such as sloping hillsides, further ensuring the uniformity of soil sealing.

[0046] Achieving automatic, fixed-distance, and damage-free clamping planting significantly improves planting efficiency and seedling integrity: The pneumatically controlled cylinder rotates with the walking mechanism, and multiple automatic clamping components are evenly distributed along its circumference (adapting to an optimal row spacing of 20-30cm), enabling fixed-distance planting of seedlings; the soft clamping telescopic plate is made of a blend of food-grade silicone and TPE (Shore hardness 50-70A), combining elasticity and wear resistance, and can flexibly clamp the stems of seedlings of different thicknesses (3-8mm) to avoid damage; the air distribution chamber has an independently separated compartment, with precise air pressure distribution to ensure synchronized movement of the telescopic plate. Combined with the soft limiting telescopic plate to form a square frame structure, it can ensure that the seedlings fall vertically into the planting trench, avoiding root suspension, increasing planting efficiency to over 3000 seedlings / hour, and reducing seedling damage rate to below 5%.

[0047] The walking mechanism is highly stable and adaptable to complex forest terrain: The planting drive wheel is equipped with a detachable counterweight in the middle. By adding / removing the counterweight, the pressure of the drive wheel on the ground can be adjusted to avoid slipping, sinking or hanging on uneven soil surfaces. This ensures that the equipment moves smoothly along the preset route and guarantees the straightness and spacing accuracy of the planting trench opening position, providing a stable foundation for the subsequent soil sealing process.

[0048] Highly convenient to operate, reducing operational difficulty and facilitating maintenance: The control module integrates parameter setting, status display, and fault alarm functions. Operators can set parameters such as soil sealing height, bulldozing extension, and motor speed through the panel, and view the real-time status of the height of the liftable support, bulldozing stroke, clamping component position, and air source pressure. In case of a fault, the fault location can be displayed for quick troubleshooting. The sensor signal processing module filters and amplifies the signals from the tilt status sensor, soil sealing status sensor, and walking status sensor to ensure detection accuracy and improve control accuracy.

[0049] The overall workflow is optimized to reduce labor intensity: the Epimedium seedling holding container can pre-store a sufficient number of seedlings, reducing the frequency of staff going back and forth to retrieve seedlings; the automatic clamping and planting functions replace a large amount of manual operation, and with precise soil sealing and stable walking, a single person can complete a continuous planting operation, which greatly reduces labor intensity and improves overall planting efficiency. Attached Figure Description

[0050] Figure 1 This is a three-dimensional structural schematic diagram of the Epimedium understory cultivation device in an embodiment of the present invention.

[0051] Figure 2 This is a three-dimensional structural diagram showing the installation location of the control module in an embodiment of the present invention.

[0052] Figure 3 This is a three-dimensional structural diagram of the walking mechanism in an embodiment of the present invention.

[0053] Figure 4 This is a three-dimensional structural diagram of the traction control frame in an embodiment of the present invention.

[0054] Figure 5 This is a cross-sectional view of the rotating shaft in an embodiment of the present invention.

[0055] Figure 6 This is a three-dimensional structural diagram of the liftable support in an embodiment of the present invention.

[0056] Figure 7 This is a three-dimensional structural diagram of the soil sealing support in an embodiment of the present invention.

[0057] Figure 8 This is a three-dimensional structural diagram of the arc-shaped push plate in an embodiment of the present invention.

[0058] Figure 9 This is a three-dimensional structural diagram of the distribution of soil-removing plates in an embodiment of the present invention.

[0059] Figure 10 This is a three-dimensional structural diagram of the distribution of clamping support plates in an embodiment of the present invention.

[0060] Figure 11 This is a three-dimensional structural diagram of the soft clamping telescopic plate in an embodiment of the present invention.

[0061] Figure 12 This is a three-dimensional structural diagram of the distribution gas chamber in an embodiment of the present invention.

[0062] Figure 13 This is a schematic cross-sectional view of the second trachea in an embodiment of the present invention.

[0063] Figure 14 This is a partial cross-sectional view of the Epimedium planting area in an embodiment of the present invention.

[0064] In the diagram: 1-Traction control frame, 2-Epimedium seedling holding bucket, 3-Planting drive wheel, 4-Detachable counterweight, 5-Pneumatic control cylinder, 6-Operating module, 7-Rotating shaft, 8-Liftable support, 9-Soil pushing telescopic component, 10-Soil sealing support, 11-Follow-up drive motor, 12-Support disc, 13-Arc-shaped push plate, 14-Soil-pulling plate, 15-Inclined cut, 16-Air pipe one, 17-Clamping support plate, 18-Air pipe two, 19-Soft limiting telescopic plate, 20-Soft clamping telescopic plate, 21-Distribution air chamber, 22-Planting trench, 23-Epimedium planting area. Detailed Implementation

[0065] 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.

[0066] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0067] Please see Figures 1-14 The present invention provides a cultivation device for Epimedium under forest, which includes a traction control frame 1 and a walking mechanism on the traction control frame 1;

[0068] Two multi-directional adjustment mechanisms are symmetrically arranged at the end of the traction control frame 1, and a soil sealing bracket 10 is fixedly installed on the multi-directional adjustment mechanism.

[0069] A follower drive motor 11 is fixedly installed on the soil sealing support 10, and a support disk 12 is fixedly installed on the output end of the follower drive motor 11. The soil sealing support 10 is used to drive the support disk 12 to rotate on the soil sealing support 10 according to the motion state of the multi-directional adjustment mechanism.

[0070] An arc-shaped push plate 13 is fixedly installed on the support disc 12. Multiple soil-removing plates 14 are provided on the arc-shaped push plate 13. The arc-shaped push plate 13 and the soil-removing plates 14 are used to cover the roots of the Epimedium seedlings in the Epimedium planting area 23 with soil.

[0071] Through the coordinated operation of the aforementioned traction control frame 1, walking mechanism, multi-directional adjustment mechanism, soil sealing support 10, follow-up drive motor 11, support disc 12, arc-shaped push plate 13, and soil-pulling plate 14, efficient and precise soil sealing of Epimedium seedling roots is achieved. In existing understory cultivation techniques for Chinese medicinal herbs, due to the complex terrain and extensive vegetation cover, traditional soil sealing devices often suffer from uneven soil sealing due to insufficient adjustment capacity, resulting in exposed or excessively compressed seedling roots, thus affecting survival rates. In this invention, the traction control frame 1 serves as the main frame of the device, providing the mounting foundation for each component and connecting to external traction equipment (preferably, the traction control frame 1 is moved manually by the operator; simultaneously, by slightly pressing down or raising the traction control frame 1, the operator can change the inclination of the arc-shaped push plate 13 during the sealing process to adapt to different terrain conditions, thereby improving the quality of the sealing; this will not be elaborated further here). This allows the entire device to move under the trees (especially on sloping hillsides, etc.). The walking mechanism ensures the stability of the device's movement, preventing the sealing position from shifting due to terrain bumps. The multi-directional adjustment mechanism can adjust according to the height of the Epimedium seedlings. The spatial position of the soil covering support 10 is flexibly adjusted according to the degree of soil looseness to ensure that the arc-shaped push plate 13 can be accurately aligned with the seedling root area; the follow-up drive motor 11 receives the control signal from the control module 6 and drives the support disc 12 to rotate at a preset speed, thereby driving the arc-shaped push plate 13 to rotate synchronously, so that the soil-pushing plate 14 is in continuous contact with the soil and completes the soil-pushing action; the arc-shaped structure of the arc-shaped push plate 13 is adapted to the soil contour of the understory planting area, and the soil-pushing plate 14 pushes the surrounding soil to the seedling roots in a directional manner to achieve uniform soil covering, effectively solving the problems of low soil covering efficiency and poor effect of traditional devices, and improving the planting quality of Epimedium seedlings.

[0072] In one embodiment of the present invention, please refer to Figures 1-14 Both ends of the arc-shaped push plate 13 are provided with inclined cuts 15, so that the top view projection of the arc-shaped push plate 13 is a V-shaped structure.

[0073] The height of the plurality of soil-removing plates 14 increases sequentially from the widest part to the narrowest part of the arc-shaped push plate 13.

[0074] It also includes: Epimedium seedling holding container 2, which is fixedly installed on the traction control frame 1 and is used to hold Epimedium seedlings to be planted;

[0075] And the control module 6, which is fixedly installed on the Epimedium seedling holding container 2, is used to control the action of the multi-directional adjustment mechanism.

[0076] The multi-directional adjustment mechanism includes:

[0077] A liftable support 8 is fixedly connected to the traction control frame 1.

[0078] And a bulldozing telescopic component 9, which is fixedly installed at the bottom end of the liftable support 8; wherein, both the liftable support 8 and the bulldozing telescopic component 9 are signal connected to the control module 6 and are used to adjust the longitudinal and lateral directions of the arc-shaped push plate 13, respectively.

[0079] Furthermore, the arc-shaped push plate 13 automatically adjusts its rotation state according to its lateral displacement.

[0080] By designing the inclined cut 15 of the arc-shaped pusher plate 13 and setting the height gradient of the soil-moving plate 14, combined with the seedling storage function of the Epimedium seedling holding container 2 and the precise control of the multi-directional adjustment mechanism by the control module 6, the flexibility and convenience of the soil-sealing operation are further optimized. In the existing technology, the soil-sealing components for Epimedium understory cultivation are mostly fixed structures, which cannot adjust the pushing trajectory according to the shape of the planting trench 22 and the seedling distribution density, and require frequent manual replenishment of seedlings, making the operation process cumbersome. In this invention, the inclined cuts 15 at both ends of the arc-shaped pusher plate 13 give it a V-shaped structure when viewed from above. This structure can precisely fit the contours of both sides of the planting trench 22, preventing soil from scattering out of the trench during the pushing process. (Initially, the wide part of the arc-shaped pusher plate 13 faces the soil, allowing a large area of ​​soil near the seedling roots to gather towards the roots. As the arc-shaped pusher plate 13 approaches the seedling roots, the follow-up drive motor 11 drives the arc-shaped pusher plate 13 to rotate, causing its narrow part to push the soil to continue sealing the seedling roots, thereby achieving...) The concentrated soil covering around the seedling roots ensures sufficient coverage and avoids excessive soil covering of the seedling roots or even the stems, thus improving the quality of soil sealing. Multiple soil-pulling plates 14 increase in height from the widest to the narrowest part of the arc-shaped push plate 13, ensuring more precise soil delivery near the center of the trench (during the rotation of the arc-shaped push plate 13, the soil reaches near the seedling roots), ensuring sufficient root coverage while preventing excessive soil accumulation from damaging the seedling stems. The Epimedium seedling holding container 2 is fixed. Sufficient seedlings to be planted can be pre-stored on the traction control frame 1, reducing the frequency of staff going back and forth to retrieve seedlings and lowering labor intensity. The control module 6, as the control core, integrates parameter setting, status display, and command sending functions. Staff can set parameters such as soil sealing depth and pushing speed through it, and then control the height of the arc-shaped push plate 13 along the longitudinal direction of the liftable support 8 (for example, for 1-year-old Epimedium seedlings, the soil sealing height is set to 5-8cm to avoid the roots being too deep and lacking oxygen), and control the pushing telescopic component 9 to adjust the distance between the arc-shaped push plate 13 and the trench along the lateral direction, so as to prevent the arc-shaped push plate 13 from scraping the soil on both sides of the Epimedium planting area 23 during the movement of the whole equipment. At the same time, the arc-shaped push plate 13 can automatically adjust its rotation state according to the lateral adjustment displacement to ensure that the roots of the seedlings are fully covered with soil. During the lateral movement, the soil-pulling plate 14 can always maintain a stable contact angle with the soil, avoiding the interruption of pushing or uneven soil pushing due to position adjustment. This allows a single person to complete the precise soil sealing operation, greatly improving planting efficiency.

[0081] The liftable support 8 and the bulldozing telescopic component 9 can both be in the form of hydraulic telescopic cylinders or electric telescopic cylinders, thereby realizing the adjustment of the position of the arc-shaped push plate 13. All of the above are existing technologies and will not be elaborated on here.

[0082] In addition, depending on the soil conditions or the requirements for soil covering, the arc-shaped push plate 13 can always push the soil at a certain part (i.e., the follow-up drive motor 11 is in a stopped state), thereby improving the practicality and flexibility of the equipment.

[0083] In one embodiment of the present invention, please refer to Figures 1-14 The walking mechanism includes:

[0084] Rotary shaft 7, which is rotatably connected to the traction control frame 1;

[0085] And planting drive wheels 3, there are two planting drive wheels 3, and the two planting drive wheels 3 are respectively fixedly connected to the two ends of the rotating shaft 7;

[0086] Each of the planting drive wheels 3 is fixedly equipped with a detachable counterweight 4 in the middle. The detachable counterweight 4 is equipped with a counterweight block to ensure that the planting drive wheel 3 moves smoothly on the uneven soil surface.

[0087] A planting trench 22 is provided in the middle of the epimedium planting area 23 for placing the roots of epimedium seedlings.

[0088] The arc-shaped pusher plate 13 and the soil-pulling plate 14 are used to push the soil on both sides of the planting trench 22 to cover the roots of the Epimedium seedlings located in the planting trench 22.

[0089] Through the cooperation of the rotating shaft 7 of the walking mechanism, the planting drive wheel 3, and the detachable counterweight 4, combined with the design of the planting trench 22 in the Epimedium planting area 23, a stable moving foundation and positioning reference are provided for the precise sealing of soil by the arc-shaped push plate 13 and the soil-lifting plate 14. In the understory cultivation scenario, the soil surface is often uneven due to the accumulation of fallen leaves and the protrusion of roots. Traditional walking mechanisms are prone to slipping and bumping, causing the planting trench 22 to be opened at an off-center position, making it impossible to accurately cover the seedling roots when sealing soil. In this invention, the rotating shaft 7 is rotatably connected to the traction control frame 1, and drives the two planting drive wheels 3 to rotate synchronously under the action of external traction power, providing the device with the power to move. The detachable counterweight 4 (box structure) in the middle of each planting drive wheel 3 can be adjusted by adding or removing the counterweight to adjust the pressure of the drive wheel on the ground. When encountering raised soil, the increased pressure of the counterweight makes it difficult for the drive wheel to be suspended in the air, and when encountering sunken soil, it prevents the drive wheel from sinking too much and slipping, ensuring that the device moves smoothly along the preset planting route and ensuring the straightness and spacing accuracy of the planting trench 22. The planting trench 22 in the middle of the Epimedium planting area 23 is for the seedling roots. The device provides a fixed placement space, ensuring that the roots are neatly arranged and preventing them from being scattered and exposed during soil covering. When the device moves above the planting trench 22, the walking mechanism maintains a stable moving speed. The arc-shaped push plate 13, under the coordinated action of the multi-directional adjustment mechanism and the follow-up drive motor 11, fits against the soil surface on both sides of the planting trench 22. The soil-pushing plate 14 pushes the soil on both sides of the trench into the trench, so that the soil evenly covers the seedling roots and forms a uniform soil covering layer. This solves the problem of soil covering misalignment and incomplete covering caused by the unstable movement of traditional devices, ensuring that the seedling roots are in full contact with the soil and promoting root development.

[0090] In one embodiment of the present invention, please refer to Figures 1-14 It also includes: a pneumatic control cylinder 5, which is located in the middle of the walking mechanism and rotates with the walking mechanism;

[0091] The pneumatic control cylinder 5 is equipped with an air source device.

[0092] And automatic clamping components, there are multiple automatic clamping components, the multiple automatic clamping components are evenly distributed on the pneumatic control cylinder 5, and all of them are connected to the air source equipment;

[0093] Multiple automatic clamping components are arranged in a uniform manner for planting Epimedium seedlings at fixed intervals.

[0094] The automatic clamping assembly includes:

[0095] Air pipe 2 18, there are multiple air pipes 2 18, the multiple air pipes 2 18 are evenly distributed on the pneumatic control cylinder 5, and are connected to the air source equipment through valves;

[0096] Clamping support plate 17, the clamping support plate 17 is fixedly installed on the second air tube 18, wherein every two clamping support plates 17 form a group, and the two clamping support plates 17 in each group are arranged facing each other;

[0097] The gas distribution chamber 21 is fixedly installed on the clamping support plate 17 and is connected to the gas pipe 18.

[0098] And a soft clamping telescopic plate 20, wherein there are multiple soft clamping telescopic plates 20, and all of the multiple soft clamping telescopic plates 20 are inserted into the clamping support plate 17 and are slidably connected to the clamping support plate 17;

[0099] Furthermore, one end of each of the multiple soft clamping telescopic plates 20 is located in multiple compartments (similar to the structure of a cylinder) opened within the distribution air chamber 21.

[0100] The soft clamping telescopic plate 20 extends and retracts on the clamping support plate 17 by changing the air pressure inside the distribution air chamber 21, thereby achieving the centering clamping and loosening of the Epimedium seedling stem.

[0101] It also includes: air pipe 16, the two ends of which are connected to the chamber of the distribution air chamber 21 and the air source equipment, respectively;

[0102] And a soft limiting telescopic plate 19, which is inserted into the clamping support plate 17 and is perpendicular to the soft clamping telescopic plate 20, and one end of the soft limiting telescopic plate 19 is located in the chamber of the distribution gas chamber 21.

[0103] Each of the clamping support plates 17 is symmetrically provided with two soft limiting telescopic plates 19. When the two soft limiting telescopic plates 19 are in contact with the two soft limiting telescopic plates 19 on the other clamping support plate 17, the clamping support plate 17 and the soft limiting telescopic plates 19 are combined to form a square frame structure.

[0104] When the two clamping support plates 17 rotate to the highest position of the pneumatic control cylinder 5, the tilt state sensor installed on the air pipe 18 can detect this. At this time, the operating module 6 will control the air source equipment to extend the corresponding soft limiting telescopic plate 19 and soft clamping telescopic plate 20, thereby clamping the stem of the Epimedium seedling (roots facing upwards so that the roots face downwards when rotated downwards). The roots will extend a certain distance outside the clamping device (i.e., a certain distance above the clamping support plate 17). Since the roots are facing upwards, it is convenient for the staff to control the distance the roots extend outside the clamping device, ensuring accurate subsequent soil sealing and ensuring survival rate. As the walking device rotates, it can drive the Epimedium seedlings between the two clamping support plates 17 to rotate downwards until they reach the lowest position. At this point, the air source device controls the soft clamping telescopic plate 20 to retract into the clamping support plate 17. The combination of the clamping support plate 17 and the soft limiting telescopic plate 19 forms a square frame structure that can limit the loose Epimedium seedlings, allowing the roots of the Epimedium seedlings to reach into the planting trench 22 under their own weight and contact the bottom of the planting trench 22. This prevents the seedlings from being suspended in the air and allows the seedlings to be covered with soil in a nearly vertical position, preventing the soil from being not tightly sealed at the roots due to factors such as clamping tilt.

[0105] By controlling the rotation of the cylinder 5 pneumatically and the power supply of the air source equipment, combined with the automatic clamping components including the second air pipe 18, clamping support plate 17, air distribution chamber 21, and soft clamping telescopic plate 20, as well as the coordinated control of the first air pipe 16, the soft limiting telescopic plate 19, the tilt sensor, and the control module 6, the fixed-distance, non-destructive, and precise automatic planting of Epimedium seedlings is achieved, laying the foundation for the subsequent soil sealing process. Currently, Epimedium cultivation relies heavily on manual planting, which is not only inefficient (less than 1000 seedlings planted per person per day), but also prone to damaging the seedling stems with manual clamping, and suffers from poor spacing accuracy (row spacing error can reach 5-10cm), affecting later photosynthesis and field management.In this invention, the pneumatic control cylinder 5 is located in the middle of the walking mechanism (i.e., installed in the middle of the rotating shaft 7), and rotates synchronously with the walking mechanism. Its internal air source device (such as a micro air pump) provides stable air pressure for the automatic clamping components. Multiple automatic clamping components are evenly distributed along the circumference of the pneumatic control cylinder 5 (e.g., one group every 15cm) to ensure consistent seedling planting spacing (suitable for the optimal row spacing of 20-30cm for Epimedium). When the clamping support plate 17 of a certain group of automatic clamping components rotates to the highest position of the pneumatic control cylinder 5, the tilt sensor on the second air pipe 18 detects the position signal and transmits it to the control module 6, which then controls the operation. Module 6 immediately controls the gas source equipment to supply air to the distribution air chamber 21 through air pipe 2 18. The increased air pressure in the distribution air chamber 21 pushes the soft clamping telescopic plate 20 to extend from the clamping support plate 17. The soft clamping telescopic plates 20 on the two sets of opposing clamping support plates 17 cooperate with each other to flexibly clamp the stem of the Epimedium seedling (the soft material avoids damage to the stem and can accommodate seedlings of different thicknesses of 3-8mm). At the same time, the gas source equipment supplies air to another chamber of the distribution air chamber 21 through air pipe 1 16, pushing the soft limiting telescopic plate 19 to extend. The soft limiting telescopic plates 19 on the two clamping support plates 17 contact each other to form a square frame structure, which... The seedlings are assisted in being limited to prevent them from shifting during rotation. As the pneumatically controlled cylinder 5 continues to rotate, it drives the clamped seedlings downwards. When the seedlings reach their lowest position (directly opposite the planting trench 22), the control module 6 controls the air supply device to release pressure, and the soft clamping telescopic plate 20 retracts into the clamping support plate 17. The seedlings fall under their own weight, and the square-shaped soft limiting telescopic plate 19 ensures that the seedlings fall vertically into the planting trench 22, with their roots precisely contacting the bottom of the trench (avoiding insufficient contact between the roots and the soil after sealing due to suspension). After sealing, the air supply device can be controlled to release pressure under the detection of sensors on the sealing device. The soft limiting telescopic plate 19 retracts back into the clamping support plate 17, releasing the limit and preventing the square frame structure from colliding with the seedling stem when the whole equipment continues to move forward. After the soil sealing is completed, the whole equipment continues to move forward, and the pneumatically controlled cylinder 5 continues to rotate. The next set of automatic clamping components rotates to the highest position and repeats the above actions, realizing continuous fixed-distance planting. The planting efficiency can be increased to more than 3,000 plants / hour, and the seedling damage rate is reduced to less than 5%, solving the pain points of traditional manual planting. At the same time, it provides accurate seedling positioning for the subsequent precise soil sealing by the arc-shaped push plate 13 and the soil-pulling plate 14, ensuring the coordinated and efficient operation of the planting and soil sealing process.

[0106] The flexible clamping telescopic plate 20 has a long, hollow structure that fits the mounting hole size of the clamping support plate 17. Its length is 10-15cm, and its telescopic stroke is controlled at 3-5cm (to meet the clamping requirements of Epimedium seedling stems with a diameter of 3-8mm). One end of the plate is a sealed connection end with an annular groove on the outer wall. A nitrile rubber sealing ring (2-3mm in cross-sectional diameter) is embedded in the groove to achieve a sealed connection with the outlet of the distribution air chamber 21, preventing air pressure leakage. The other end is the clamping working end, with an inwardly concave arc shape (arc radius 5-8mm) to increase the contact area with the seedling stem and avoid excessive local pressure that could damage the stem bark. Both sides of the plate have strip-shaped guide protrusions (2mm wide, 1.5mm high) along their length, which slide in conjunction with guide grooves (matching the protrusion size) on the inner wall of the mounting hole of the clamping support plate 17 to ensure axial movement during telescopic movement and prevent misalignment. In addition, the hollow cavity of the plate is equipped with 3-4 axial reinforcing ribs (1mm thick) to enhance structural strength and prevent excessive deformation of the plate under air pressure from affecting clamping stability. The soft clamping telescopic plate 20 is made of food-grade silicone and thermoplastic elastomer (TPE) blend, with silicone accounting for 60%-70% and TPE accounting for 30%-40%. The material has a Shore hardness of 50-70A, and has both good elastic recovery (tensile elongation at break ≥300%) and wear resistance (wear amount ≤0.05g / 1000 friction cycles). It can be repeatedly telescopically clamped without cracking, and can adapt to temperature changes of -10℃ to 40℃ under forest cover. It is moisture-resistant and mildew-resistant (meets the requirement of antibacterial rate ≥90% in GB / T16856-2018 "Test Method for Antibacterial Properties of Rubber and Plastics"), avoiding long-term contact with soil and seedlings to prevent pollution or material deterioration.

[0107] The distribution chamber 21 is a rectangular sealed cavity (dimensions: length 8-12cm, width 5-7cm, height 3-4cm). It adopts a multi-compartment independent separation structure. The interior is divided into 6-8 independent compartments (each compartment has a volume of 15-20mL) by 3-4 polycarbonate partitions (thickness 2mm). Among them, 4-6 compartments correspond to soft clamping telescopic plates 20 (each pair of compartments is connected to a pair of opposing clamping telescopic plates), and 2 compartments correspond to soft limiting telescopic plates 19 (which are connected to the limiting telescopic plates on both sides of the clamping support plate 17). The partitions are sealed to the inner wall of the compartment by ultrasonic welding to prevent air leakage between compartments. One side of the chamber has a main air inlet (thread G1 / 8), which connects to the air source equipment inside the pneumatic control cylinder 5 via air pipe 2 18. The inlet has a built-in fluororubber sealing gasket (temperature resistance -20℃-200℃, pressure resistance 0.8MPa). Each independent chamber has a branch air outlet (thread G1 / 16), which mates with the threaded sealing connection end of the corresponding telescopic plate to achieve precise air pressure distribution. The bottom of the chamber has four bolt mounting holes (3mm diameter), which are fixedly connected to the clamping support plate 17 with M3 stainless steel bolts. The mounting surface has a positioning pin (4mm diameter) to ensure the precise relative position of the distribution air chamber 21 and the clamping support plate 17 and avoid interface misalignment. In addition, the top of the chamber has a transparent observation window (2mm thick PC board) to observe the air pressure status inside the chamber (such as the presence of condensation), facilitating maintenance. The telescopic plate is extended and retracted by changes in air pressure.

[0108] The soft limiting telescopic plate 19 is a long, solid strip structure, arranged perpendicularly to the soft clamping telescopic plate 20. Its length is set at 8-12cm, and its telescopic stroke is controlled at 2-4cm (ensuring that the two opposing limiting telescopic plates can form a rectangular structure with sides of 5-8cm after contact, adapting to the stem limiting requirements of Epimedium seedlings). One end of the plate is a sealed connection end, with a structure identical to the soft clamping telescopic plate 20 (annular groove with a sealing ring), sealingly connecting with the limiting chamber of the air distribution chamber 21; the other end is the limiting working end, with a flat surface (flatness ≤0.1mm), ensuring that the two opposing limiting telescopic plates can fit tightly together when in contact, forming a complete rectangular boundary and preventing the seedling from shifting through the gap. The plate has rectangular guide strips (3mm wide, 2mm high) along its length, which slide and engage with guide holes (matching the guide strip size) perpendicular to the guide groove of the clamping telescopic plate within the clamping support plate 17. This ensures that the plate moves perpendicular to the clamping direction during telescopic movement, precisely aligning to form a square frame. Furthermore, a 0.5mm thick wear-resistant coating (PTFE material) is applied near the working end of the plate to reduce wear when in contact with the opposite limiting telescopic plate, extending its service life. The soft limiting telescopic plate 19 is made of a blend of high-elasticity TPE and nitrile rubber, with TPE comprising 70%-80% and nitrile rubber 20%-30%. The material's Shore hardness is set to 60-80A, higher than that of the soft clamping telescopic plate 20, ensuring sufficient supporting rigidity (compression deformation rate ≤10%@20N pressure) to stably form a square frame to limit the seedlings, while retaining a certain degree of elasticity (rebound rate ≥90%) to prevent damage to the seedlings due to rigid collisions during contact. This material has excellent oil resistance (suitable for plant oils that may be present under the forest canopy) and aging resistance, and meets the hygiene requirements of GB / T20028-2005 "Vulcanized rubber or thermoplastic rubber in contact with drinking water". It will not have an adverse effect on seedling growth, so we will not go into further detail here.

[0109] In one embodiment of the present invention, please refer to Figure 1 and 2 The control module 6 is fixedly installed on the outer wall of the Epimedium seedling holding container 2 (preferably on the side closer to the operator to avoid interference with moving parts such as the walking mechanism and automatic clamping components, while also facilitating operator operation and observation). As the control center of the device, its core function is to coordinate the entire process of seedling clamping, multi-directional adjustment, and soil sealing. Its specific composition and functions are as follows:

[0110] 1. Core control unit;

[0111] The core control unit is installed in the sealed cavity inside the control module 6, and uses an embedded microprocessor (such as an STM32F4 series chip) with a built-in preset control program. Its main functions are to receive detection signals transmitted by various sensors, analyze the operation commands input by the operator through the parameter setting panel, and send precise control signals to the actuators such as the liftable support 8, the bulldozing telescopic component 9, the air source equipment of the pneumatic control cylinder 5, and the follow-up drive motor 11 to ensure that all components work together to complete the planting-related actions.

[0112] 2. Parameter setting panel;

[0113] The parameter setting panel is exposed on the front of the control module 6 and adopts a touch or button design. The staff can use this panel to set key parameters in the planting process, including the soil sealing height of the arc-shaped push plate 13, the extension amount of the pusher telescopic component 9, and the rotation speed of the follow-up drive motor 11, so as to adapt to the different growth stages of Epimedium seedlings and different soil conditions under the forest.

[0114] 3. Status display module;

[0115] The status display module is integrated with the parameter setting panel (using an LCD or LED screen) and can display the equipment's operating status in real time, including the height of the liftable support 8, the stroke of the bulldozer telescopic component 9, and other actuator position information; the position of the automatic clamping component (such as the highest position to be clamped, the lowest position to be planted); the air pressure value of the air source equipment in the pneumatic control cylinder 5; if the equipment has problems such as sensor abnormality or insufficient air pressure, it can also trigger a fault alarm in real time and display the fault location, which is convenient for staff to troubleshoot in a timely manner.

[0116] 4. Signal transceiver module;

[0117] The signal transceiver module is built into the control module 6 (with a shielding layer to reduce signal interference). Its main function is to establish signal connections with external components: it connects upwards to actuators such as the liftable support 8, bulldozer telescopic component 9, air source equipment, and follow-up drive motor 11 to send control commands; downwards it receives detection signals from various sensors to achieve bidirectional transmission of commands and data, ensuring timely response to control commands.

[0118] 6. Sensor signal processing module;

[0119] The sensor signal processing module is installed inside the control module 6, adjacent to the core control unit. It primarily filters, amplifies, and analyzes signals from external sensors to eliminate environmental interference and ensure signal accuracy. It is associated with three types of sensors: first, a tilt sensor installed on the outer wall of the air duct 18 of each automatic clamping component, used to detect the rotational position of the clamping support plate 17 with the pneumatically controlled cylinder 5 (identifying the highest and lowest positions); second, a soil sealing status sensor installed on the side of the soil sealing bracket 10 near the arc-shaped push plate 13, used to detect the distance between the arc-shaped push plate 13 and the planting trench 22, and the thickness of the soil cover around the seedling roots; and third, a walking status sensor installed at the end of the rotating shaft 7 (coaxial with the planting drive wheel 3), which detects the movement speed of the planting drive wheel 3 and provides a speed matching basis for the automatic clamping component's fixed-distance planting.

[0120] 7. Power supply module;

[0121] The power module is installed at the bottom of the control module 6 (removable), with a built-in rechargeable lithium battery (such as 12V / 5Ah) or an external power interface. It mainly powers the control module 6 itself and the low-power sensors, and also has overvoltage and overcurrent protection functions to prevent abnormal voltage from damaging the equipment components.

[0122] It should be noted that, in this invention, unless otherwise explicitly specified and limited, the terms "sliding," "rotating," "fixed," and "equipped" should be interpreted broadly. For example, they can refer to welded connections, bolted connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0123] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A cultivation device for Epimedium under forest cover, comprising a traction control frame, characterized in that, The traction control frame is equipped with a walking mechanism; Two multi-directional adjustment mechanisms are symmetrically arranged at the ends of the traction control frame, and a soil sealing bracket is fixedly installed on the multi-directional adjustment mechanism. A follower drive motor is fixedly installed on the soil sealing support, and a support disc is fixedly installed on the output end of the follower drive motor. The soil sealing support is used to drive the support disc to rotate on the soil sealing support according to the motion state of the multi-directional adjustment mechanism. An arc-shaped push plate is fixedly installed on the supporting disc, and multiple soil-removing plates are provided on the arc-shaped push plate. The arc-shaped push plate and soil-removing plates are used to cover the roots of Epimedium seedlings in the Epimedium planting area with soil.

2. The understory cultivation device for Epimedium (a traditional Chinese medicinal herb) according to claim 1, characterized in that, Both ends of the arc-shaped push plate are provided with inclined cuts, so that the top view projection of the arc-shaped push plate is a V-shaped structure; The height of the plurality of soil-removing plates increases sequentially from the widest part to the narrowest part of the arc-shaped push plate.

3. The understory cultivation device for Epimedium (a traditional Chinese medicinal herb) according to claim 1 or 2, characterized in that, Also includes: An Epimedium seedling holding container, which is fixedly installed on the traction control frame, is used to hold Epimedium seedlings to be planted; And an operating module, which is fixedly installed on the Epimedium seedling holding container and is used to control the movement of the multi-directional adjustment mechanism.

4. The understory cultivation device for Epimedium (a traditional Chinese medicinal herb) according to claim 3, characterized in that, The multi-directional adjustment mechanism includes: A liftable support frame, which is fixedly connected to the traction control frame; And a bulldozing telescopic component, which is fixedly installed at the bottom end of the liftable support; wherein, both the liftable support and the bulldozing telescopic component are signal connected to the control module and are used for longitudinal and lateral adjustment of the arc-shaped push plate, respectively. Furthermore, the arc-shaped push plate automatically adjusts its rotation state according to its lateral displacement.

5. The understory cultivation device for Epimedium (a traditional Chinese medicinal herb) according to claim 1, characterized in that, The walking mechanism includes: A rotating shaft, which is rotatably connected to the traction control frame; And planting drive wheels, the number of which is two, and the two planting drive wheels are respectively fixedly connected to the two ends of the rotating shaft; Each of the planting drive wheels is fixedly equipped with a detachable counterweight in the middle, and a counterweight block is detachably installed on the detachable counterweight to ensure that the planting drive wheel moves smoothly on the uneven soil surface.

6. The understory cultivation device for Epimedium (a traditional Chinese medicinal herb) according to claim 1 or 5, characterized in that, A planting trench is provided in the middle of the epimedium planting area to place the roots of epimedium seedlings; The arc-shaped pusher and the soil-pulling plate are used to push the soil on both sides of the planting trench to cover the roots of the Epimedium seedlings located in the planting trench.

7. The understory cultivation device for Epimedium (a traditional Chinese medicinal herb) according to claim 4, characterized in that, Also includes: A pneumatically controlled cylinder is located in the middle of the traveling mechanism and rotates with the traveling mechanism. The pneumatic control cylinder is equipped with an air source device. And an automatic clamping assembly, wherein there are multiple automatic clamping assemblies, which are evenly distributed on the pneumatic control cylinder and are all connected to the air source equipment; Multiple automatic clamping components are arranged in a uniform manner for planting Epimedium seedlings at fixed intervals.

8. The understory cultivation device for Epimedium (a traditional Chinese medicinal herb) according to claim 7, characterized in that, The automatic clamping assembly includes: Air tube 2, there are multiple air tubes 2, the multiple air tubes 2 are evenly distributed on the pneumatic control cylinder, and are connected to the air source equipment through valves; Clamping support plate, the clamping support plate is fixedly installed on the second air tube, wherein every two clamping support plates form a group, and the two clamping support plates in each group are arranged facing each other; A gas distribution chamber is fixedly installed on the clamping support plate and connected to the second gas pipe. And a plurality of soft clamping telescopic plates, wherein the plurality of soft clamping telescopic plates are inserted into the clamping support plate and are slidably connected to the clamping support plate; Furthermore, one end of each of the aforementioned soft clamping telescopic plates is located in one of the multiple compartments opened within the distribution gas chamber; The flexible clamping telescopic plate extends and retracts on the clamping support plate by changing the air pressure inside the distribution air chamber, thereby achieving the centering clamping and loosening of the Epimedium seedling stem.

9. The understory cultivation device for Epimedium (a traditional Chinese medicinal herb) according to claim 8, characterized in that, Also includes: Air pipe one, the two ends of which are respectively connected to the chamber of the distribution air chamber and the air source equipment; And a soft limiting telescopic plate, wherein the soft limiting telescopic plate is inserted into the clamping support plate and is perpendicular to the soft clamping telescopic plate, and one end of the soft limiting telescopic plate is located in the chamber of the distribution gas chamber. Each of the clamping supports is symmetrically provided with two soft limiting telescopic plates. When the two soft limiting telescopic plates are in contact with the two soft limiting telescopic plates on the other clamping support, the clamping support and the soft limiting telescopic plates are combined to form a square frame structure.

10. The understory cultivation device for Epimedium (a traditional Chinese medicinal herb) according to claim 9, characterized in that, The control module includes a core control unit, a parameter setting panel, a status display module, a sensor signal processing module, and a power supply module; The core control unit adopts an embedded microprocessor with a built-in preset control program, which is used to receive sensor signals, parse operation instructions, and send control signals to the air source equipment of the liftable support, bulldozer telescopic component, pneumatic control cylinder, and follow-up drive motor. The parameter setting panel is used to set the sealing height of the arc-shaped pusher, the extension amount of the pusher telescopic component, and the speed of the follow-up drive motor. The status display module is used to display the height of the liftable support, the stroke of the bulldozer telescopic component, the position of the automatic clamping component, and the air pressure value of the air source equipment inside the pneumatic control cylinder. It can also trigger a fault alarm and display the fault location. The sensor signal processing module is used to filter, amplify, and analyze the signals from the tilt status sensor on the outer wall of the trachea, the soil sealing status sensor on the side of the soil sealing bracket near the arc-shaped push plate, and the walking status sensor at the end of the rotating shaft. The power module supplies power to the control module itself and the low-power sensors, and has overvoltage and overcurrent protection functions.

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