A planting equipment

Abstract

The present application provides a planting device, which belongs to the field of greenhouse vegetable planting equipment. The planting device includes a root device, a telescopic actuator, a right-angle steering mechanism, a power source and a power transmission device. The telescopic actuator is arranged at the front and rear ends of the root device and is used to drive the root device to move; the right-angle steering mechanism can make the telescopic actuator rotate along the right-angle steering direction relative to the root device, so that the telescopic actuator changes the telescopic direction, thereby enabling the telescopic actuator to change the moving distance and frequency of the starting brake of the root device in different directions in real time; the power source and the telescopic actuator are connected through a power transmission device to move the root device; by changing the amount of power provided by the power source to the telescopic actuator through the power transmission device in real time, the extension distance and telescopic frequency of the telescopic actuator each time can be changed in real time, so that the moving distance and frequency of the starting brake of the root device can be accurately controlled.

Description

[0001] This application is a divisional application based on the invention with application number 2021115407256, application date December 16, 2021, and invention name "A planting device". Technical Field

[0002] The present application relates to the field of greenhouse vegetable cultivation, and more specifically, to a planting device. Background Art

[0003] An integrated equipment for the whole process of greenhouse vegetable planting is disclosed in "Integrated equipment for the whole process of greenhouse vegetable planting and a method for planting vine vegetables (patent number 202110568713.8)". This application collectively refers to this equipment as root equipment. Root equipment is used for field operations in sunlight multi-span greenhouse vegetable planting. During a vegetable planting process that lasts for several months, the root equipment needs to pass through each vegetable many times for a long time to perform operations, and the root equipment has different operation links and operation durations for each vegetable. Due to the large weight and inertia of the root equipment, a conventional linear walking mechanism is used to move the root equipment. The starting-braking distance and frequency of the root equipment are difficult to control, and it is difficult for the root equipment to have enough operating time to perform operating actions on each vegetable within the preset operating radius. Summary of the Invention

[0004] The embodiment of the present application provides a planting device to improve the problem that the starting-braking distance and frequency of the root equipment are difficult to control, and the root equipment is difficult to perform operating actions on vegetables within a preset operating radius.

[0005] The present application provides a planting device comprising a root device, a telescopic actuator, a right-angle steering mechanism, a power source, and a power transmission device. The root device has four ends: front, rear, left, and right. The telescopic actuator is disposed at the front and rear ends of the root device and is used to drive the root device to move. The right-angle steering mechanism is connected between a first frame of the root device and the telescopic actuator, enabling the telescopic actuator to rotate in a right-angle steering direction relative to the root device, thereby changing the telescopic actuator's telescopic direction, thereby enabling the telescopic actuator to change the start-brake movement distance and frequency of the root device in different directions in real time. The power source is disposed on the root device and is used to provide power to the telescopic actuator. The power source and the telescopic actuator are connected to each other through the power transmission device, and the power transmission device is used to transmit power to the telescopic actuator to move the root device. By changing the amount of power provided by the power source to the telescopic actuator through the power transmission device in real time, the extension distance and telescopic frequency of the telescopic actuator can be changed in real time, thereby enabling precise control of the start-brake movement distance and frequency of the root device.

[0006] In the above technical solution, a telescopic actuator is installed on the root device. A power source can provide power to the telescopic actuator through a power transmission device, causing the telescopic actuator to perform linear reciprocating motion, i.e., extension and contraction. Each time the telescopic actuator extends, it exerts a force on the contact point, which in turn exerts a reaction force on the actuator, causing the actuator to push the root device to move. The telescopic actuator then contracts, stopping the movement of the root device and applying the brakes. The contact point can be the ground or a roller that forms part of the root device.

[0007] Telescopic actuators are arranged at the front and rear ends of the root equipment, which can change the starting-braking movement distance and frequency of the root equipment in the same direction in real time.

[0008] The right-angle steering mechanism is connected between the first frame of the root equipment and the telescopic actuator, and can make the telescopic actuator rotate relative to the root equipment to change the telescopic direction, so that the telescopic actuator can change the starting-brake movement distance and frequency of the root equipment in different directions in real time.

[0009] By varying the amount of power supplied to the telescopic actuator by the power transmission device in real time, the actuator's extension distance and frequency can be varied in real time, allowing precise control of the root equipment's start-stop movement distance and frequency. This allows the root equipment to remain within a pre-set operating radius for a sufficient period of time to perform its operations, tailored to the specific operation phase and duration of each vegetable plant.

[0010] In some embodiments, at least two sets of the telescopic actuators are provided at one end of the root equipment.

[0011] In the above technical solution, two or more sets of telescopic actuators are installed at one end of the root equipment. These multiple sets of telescopic actuators can alternately extend and retract, that is, some telescopic actuators shorten while others extend, driving continuous movement of the root equipment. Changing the telescopic actuators' extension and retraction frequency, that is, shortening some while delaying the extension of others, can drive intermittent movement of the root equipment. During operation, the root equipment can move continuously or intermittently, depending on the actual operation conditions, to achieve optimal operation results for each vegetable plant.

[0012] In some embodiments, the planting equipment also includes a first lever assembly, which is hinged to the first frame of the root equipment and slides with the first frame. The first lever assembly is formed with a first power arm and a first resistance arm located on both sides of the hinge position of the first lever assembly and the first frame. One end of the first power arm is hinged to the telescopic actuator, and one end of the first resistance arm is used to contact the ground.

[0013] In the above technical solution, the first lever assembly is slidably engaged with the first frame, one end of the first power arm of the first lever is hingedly connected to the telescopic actuator, and one end of the first resistance arm contacts the ground. The telescopic actuator can apply a small force to one end of the first power arm of the first lever assembly, causing one end of the first resistance arm of the first lever assembly to apply a large force to the ground, thereby providing a large thrust to the root device. Furthermore, the telescopic actuator can achieve a large movement distance of the root device through the first lever assembly using a small extension.

[0014] In some embodiments, the planting equipment also includes a first lifting actuator, one end of the first lifting actuator is connected to the telescopic actuator, and the other end of the first lifting actuator is hinged to the first frame. The first lifting actuator is used to drive the telescopic actuator to rotate relative to the root equipment, so that the telescopic actuator drives the first lever assembly to slide relative to the first frame, so that the first lever assembly drives the root equipment to move.

[0015] In the above technical solution, the planting equipment also includes a first lifting actuator, one end of the first lifting actuator is connected to the telescopic actuator, and the other end of the first lifting actuator is hinged to the first frame. The first lifting actuator can drive the telescopic actuator to rotate relative to the root equipment, and the telescopic actuator can drive the first lever assembly to slide relative to the first frame. The first lifting actuator can change the angle and frequency of rotation of the telescopic actuator relative to the root equipment in real time, thereby changing the sliding distance and frequency of the first lever assembly relative to the first frame, so as to change the starting-braking movement distance and frequency of the root equipment in real time.

[0016] In some embodiments, the root equipment also includes a linear walking mechanism and multiple vertical bearing structures, and the multiple vertical bearing structures are arranged at intervals on the first frame along the extension direction of the root equipment. The telescopic actuator is connected to the vertical bearing structure, and the telescopic actuator is used to intermittently push the linear walking mechanism to move the root equipment.

[0017] In the above technical solution, the telescopic actuator is connected to the vertical bearing structure, and the telescopic actuator can intermittently push the linear walking mechanism, and the root equipment moves through the linear walking mechanism, thereby being able to change the starting-braking movement distance and frequency of the root equipment in real time.

[0018] In some embodiments, the plurality of vertical bearing structures are provided with at least two groups of telescopic actuators.

[0019] In the above technical solution, multiple vertical supporting structures are equipped with at least two or more sets of telescopic actuators. The multiple sets of telescopic actuators can be alternately extended and retracted, that is, some telescopic actuators are shortened while others are extended, which can continuously drive the linear travel mechanism to move, thereby enabling continuous movement of the root equipment.

[0020] By varying the telescopic actuator's retraction frequency—that is, shortening some while extending others—the linear travel mechanism can be intermittently driven, thereby causing the root equipment to move intermittently. The root equipment can move continuously or intermittently, depending on the actual operation, to achieve optimal results for each vegetable plant.

[0021] In some embodiments, the linear walking mechanism includes a roller assembly, the roller assembly includes a roller, the roller is rotatably connected to the vertical bearing structure, the roller is provided with a pressure structure, the telescopic actuator is provided with a pressure structure, the pressure structure intermittently abuts against the pressure structure, and the pressure structure intermittently applies a force to the pressure structure to rotate the roller to move the root equipment.

[0022] In the above technical solution, the rollers of the linear travel mechanism are rotatably connected to the vertical bearing structure, and the pressure structure of the rollers of the linear travel mechanism is pressurized by the pressure structure of the telescopic actuator to facilitate the movement of the equipment. This linear travel mechanism has a simple structure and is easy to process.

[0023] In some embodiments, the linear walking mechanism includes a roller track assembly, the roller track assembly includes a roller and a track, the roller is rotatably connected to the vertical bearing structure, the roller is provided with a pressure structure, the telescopic actuator is provided with a pressure structure, the pressure structure intermittently abuts against the pressure structure, the pressure structure intermittently applies a force to the pressure structure, so that the rotation of the roller drives the track to rotate, so that the root equipment moves.

[0024] In the above technical solution, the roller of the linear walking mechanism is rotatably connected to the vertical bearing structure, and the pressure structure of the telescopic actuator is used to apply pressure to the pressure structure of the roller, so that the roller drives the crawler to rotate. The use of crawler transmission can increase the adhesion between the root equipment and the ground, so that the root equipment can move smoothly, and this linear walking mechanism has a simple structure and is easy to process.

[0025] In some embodiments, the planting equipment also includes a second lever assembly, which is hinged to the telescopic actuator, and the second lever assembly is formed with a second resistance arm and a second power arm located on both sides of the hinge position of the second lever assembly and the telescopic actuator, and the second power arm is hinged to the telescopic actuator, and the second resistance arm is used to intermittently push the linear walking mechanism to move the root equipment.

[0026] In the above technical solution, one end of the second power arm of the second lever is hinged to the telescopic actuator, and one end of the second resistance arm intermittently pushes the linear travel mechanism. The telescopic actuator can apply a smaller force to one end of the second power arm of the second lever assembly, so that one end of the second resistance arm of the second lever assembly applies a larger thrust to the linear travel mechanism.

[0027] In some embodiments, the linear walking mechanism includes a roller assembly, the roller assembly includes a roller, the roller is rotatably connected to the vertical bearing structure, the roller is provided with a pressure structure, the second resistance arm is provided with a pressure structure, the pressure structure intermittently abuts against the pressure structure, and the pressure structure intermittently applies a force to the pressure structure to rotate the roller to move the root equipment.

[0028] In the above technical solution, the roller of the linear travel mechanism is rotatably connected to the vertical bearing structure, and the pressure structure of the roller of the linear travel mechanism is pressurized by the pressure structure of the second resistance arm to facilitate the movement of the root equipment. This linear travel mechanism has a simple structure and is easy to process.

[0029] In some embodiments, the linear walking mechanism includes a roller track assembly, the roller track assembly includes a roller and a track, the roller is rotatably connected to the vertical bearing structure, the roller is provided with a pressure structure, the second resistance arm is provided with a pressure structure, the pressure structure intermittently abuts against the pressure structure, and the pressure structure intermittently applies a force to the pressure structure, so that the rotation of the roller drives the track to rotate, so that the root equipment moves.

[0030] In the above technical solution, the roller of the linear walking mechanism is rotatably connected to the vertical bearing structure, and the pressure structure of the roller is pressurized by the pressure structure of the second resistance arm, so that the roller drives the track to rotate. The use of track transmission can increase the adhesion between the root equipment and the ground, so that the root equipment can move smoothly, and this linear walking mechanism has a simple structure and is easy to process.

[0031] In some embodiments, the telescopic actuator is a fluid cylinder telescopic mechanism, the power transmission device includes a fluid pipe assembly, and the power source includes a fluid pressure pump.

[0032] In the above technical solution, the fluid pressure pump can deliver fluid to the fluid cylinder telescopic mechanism continuously and quickly or continuously and slowly through the fluid pipe assembly, and can also deliver fluid to the fluid cylinder telescopic mechanism intermittently and quickly or intermittently and slowly, so that the fluid cylinder telescopic mechanism can make the root equipment move regularly or irregularly. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0034] Figure 1 A planting device provided in some embodiments of the present application;

[0035] Figure 2 This is a schematic diagram of the connection between the telescopic actuator, power source and power transmission device;

[0036] Figure 3 for Figure 1 A side view of the planting apparatus shown;

[0037] Figure 4 Planting equipment provided in other embodiments of the present application;

[0038] Figure 5 for Figure 4A side view of the planting apparatus shown;

[0039] Figure 6 Partial side view of the planting device provided in some other embodiments of the present application ( Figure 6 and Figure 4 The right-angle steering mechanism is different);

[0040] Figure 7 Partial side view of the planting device provided in some other embodiments of the present application ( Figure 7 and Figure 6 The right-angle steering mechanism is different. Figure 7 Also having a first lever assembly);

[0041] Figure 8 Partial side view of the planting device provided in some other embodiments of the present application ( Figure 8 No right-angle steering mechanism);

[0042] Figure 9 A partial side view of a planting device provided in some other embodiments of the present application (the telescopic actuator is provided on the vertical bearing structure);

[0043] Figure 10 A partial side view of a planting device provided in some other embodiments of the present application (two sets of telescopic actuators are provided on multiple vertical bearing structures);

[0044] Figure 11 Partial side view of the planting device provided in some other embodiments of the present application ( Figure 11 and Figure 10 Compared with a second lever assembly);

[0045] Figure 12 Partial side view of the planting device provided in some other embodiments of the present application ( Figure 12 and Figure 10 compared to having tracks).

[0046] Icons: 1000-planting equipment; 100-telescopic actuator; 110-cylinder; 111-accommodating space; 1111-chamber; 120-piston rod; 121-piston rod; 122-piston; 101-landing assembly; 102-first non-rotatable connecting member; 103-second non-rotatable connecting member; 104-third non-rotatable connecting member; 105-first rotatable connecting member; 106-second rotatable connecting member; 107-fixing member; 200-power transmission device; 210- Oil pressure pipe assembly; 211-oil pressure pipe; 212-oil pressure overflow pipe; 213-overflow pipe; 214-oil inlet pipe; 220-control valve assembly; 221-reversing valve; 222-throttle valve; 223-overflow valve; 230-oil tank; 240-coupling; 300-right angle steering mechanism; 310-right angle steering crank; 320-rotating shaft; 330-rotating shaft sleeve; 340-right angle steering motor; 350-gear set; 351-first gear; 352-second gear; 360-vertical steering Shaft; 370-push-pull mechanism; 400-power source; 410-hydraulic pump; 420-motor; 430-reducer; 500-first lever assembly; 510-first hinge point; 520-first resistance arm; 521-track; 530-first power arm; 540-first lifting actuator; 541-first cylinder; 542-first piston rod; 5421-first piston; 5422-first piston rod; 550-connecting seat; 600-second lever assembly; 610-second hinge point ;620-second resistance arm; 630-second power arm; 640-pressure-applying structure; 650-pressure-bearing structure; 660-fourth non-rotatable connecting member; 700-root equipment; 710-first frame; 711-vertical bearing structure; 720-linear walking mechanism; 721-roller; 7211-driving wheel; 7222-driven wheel; 722-track; 800-moving direction; 810-first linear direction; 820-second linear direction; 830-right-angle turning direction; 900-earth. DETAILED DESCRIPTION

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0048] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative work are within the scope of protection of the present application.

[0049] It should be noted that, unless there is any conflict, the embodiments and features in the embodiments of this application can be combined with each other.

[0050] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0051] In the description of the embodiments of the present application, it should be noted that the indicated orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the product of the application is conventionally placed when in use, or are the orientations or positional relationships conventionally understood by those skilled in the art. These are merely for the convenience of describing the present application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present application. In addition, the terms "first," "second," "third," etc. are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0052] In the description of the embodiments of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," and "connected" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0053] The inventors discovered that the distance between columns in a solar multi-span greenhouse, which is related to the width of field operations, ranges from 6 to 12 meters. The height of the insulation space in a solar multi-span greenhouse ranges from 3 to 12 meters. The root equipment 700, specifically designed for operations in this space, has significant weight and inertia. When performing specific field operations in a solar multi-span greenhouse, the root equipment 700 is required to intermittently move at preset intervals along the first linear direction 810. Depending on the specific operation, each movement may only be a few tens of centimeters to a little over a meter. Each movement must accurately stop at a preset point, allowing the operating mechanism of the operation device to perform the operation within the preset operating radius and ensuring operation quality. If multiple intermittent operations occur along the first linear direction 810, or if multiple batches of intermittent operations occur within the same operation, the root equipment 700 will have to repeat the start-stop operation multiple times at the same adjacent points. For example, the combined operation of tying, beating, and picking can be repeated hundreds of times for each vine vegetable plant, often over several months. Accordingly, the root device 700 must pass over each vine vegetable plant hundreds of times over several months, braking and starting near each vine vegetable hundreds of times, so that the binding, pruning, and harvesting combined machine can perform the combined operations of vine binding, pruning, and harvesting each vine vegetable hundreds of times over several months. The starting and braking distance and frequency of the root device 700 must be precisely controlled to ensure that the root device 700 has sufficient operating time to perform each vegetable operation within the preset operating radius.

[0054] Please refer to Figure 1 , Figure 1 The present application provides a planting device 1000, which includes a root device 700, a telescopic actuator 100, a power source 400, and a power transmission device 200. The telescopic actuator 100 is mounted on the root device 700 and is used to drive the root device 700 to move. The power source 400 is mounted on the root device 700 and is used to provide power to the telescopic actuator 100. The power source 400 is connected to the telescopic actuator 100 via a power transmission device 200, which is used to transmit power to the telescopic actuator 100 to move the root device 700.

[0055] The telescopic actuator 100 is mounted on the root device 700. The power source 400 provides power to the telescopic actuator 100 via the power transmission device 200, causing the telescopic actuator 100 to perform linear reciprocating motion, i.e., extension and contraction. Each time the telescopic actuator 100 extends, it exerts a force on the applied force point, which in turn exerts a reaction force on the telescopic actuator 100, causing the telescopic actuator 100 to push the root device 700 to start moving. The telescopic actuator 100 then contracts, stopping its push on the root device 700 and applying a brake to the root device 700.

[0056] By varying the power supplied by the power source 400 to the telescopic actuator 100 via the power transmission device 200 in real time, the extension distance and frequency of the telescopic actuator 100 can be varied in real time, thereby precisely controlling the start-stop movement distance and frequency of the root device 700. This allows the root device 700 to remain within a pre-set operating radius for a sufficient period of time to perform its operations, based on the specific operation phase and duration of each vegetable.

[0057] The root equipment 700 refers to an integrated equipment for the entire greenhouse vegetable cultivation process disclosed in the invention patent application number 202110568713.8. The root equipment 700 includes an execution machine and a control mechanism for operating vegetables. In actual operation, the execution machine needs to complete multiple operation links for a vegetable. After completing the last operation link, the execution machine sends a signal to the control mechanism, and the control mechanism sends a signal to the power source 400. The power source 400 provides power to the telescopic actuator 100 via the power transmission device 200. By controlling the amount of power provided by the power source 400 to the telescopic actuator 100, the telescopic actuator 100's telescopic distance and frequency are controlled. Since the telescopic actuator 100's telescopic distance and frequency can change the root equipment 700's starting-braking distance and frequency, the execution machine can perform the operation within a preset operating radius.

[0058] It should be noted that in the optimization plan, the minimum external size of the root equipment 700 is within 6 meters, 4 meters and 3 meters in length, width and height respectively, to adapt to field operations in a daylight greenhouse with a column spacing of 6 meters * 4 meters and a ceiling height of 3 meters in the insulation space; the maximum external size of the root equipment 700 is within 12 meters, 12 meters and 12 meters in length, width and height respectively, to adapt to field operations in a daylight greenhouse with a column spacing of 12 meters * 12 meters and a ceiling height of 12 meters in the insulation space.

[0059] The telescopic actuator 100 is a mechanism capable of linear reciprocating motion.

[0060] In some embodiments, the telescopic actuator 100 may be a crank-connecting rod mechanism, a rack and pinion mechanism, a worm gear mechanism, or a fluid cylinder telescopic mechanism.

[0061] The power source 400 refers to a power mechanism that acts on the telescopic actuator 100 through the power transmission device 200 . The types of the power source 400 and the power transmission device 200 correspond to the types of the telescopic actuator 100 .

[0062] In an embodiment in which the telescopic actuator 100 is a crank-connecting rod mechanism, a rack and pinion mechanism, and a worm gear mechanism, the power source 400 is a motor, and the power transmission device 200 is a reducer 430. The motor provides torque to the telescopic actuator 100 through the reducer 430. The telescopic actuator 100 performs regular linear reciprocating motion to make the root equipment 700 move regularly, and the starting braking distance and parking time of the root equipment 700 are fixed.

[0063] Exemplarily, the telescopic actuator 100 is a fluid cylinder telescopic mechanism, the power transmission device 200 includes a fluid pipe assembly, and the power source 400 includes a fluid pressure pump.

[0064] The fluid pressure pump can deliver fluid to the fluid cylinder telescopic mechanism continuously and quickly or continuously and slowly through the fluid pipe assembly, or it can deliver fluid to the fluid cylinder telescopic mechanism intermittently and quickly or intermittently and slowly, so that the fluid cylinder telescopic mechanism can make the root equipment 700 move regularly or irregularly.

[0065] The fluid cylinder telescopic mechanism can be an oil cylinder telescopic mechanism or an air cylinder telescopic mechanism, the fluid pipe assembly can be an oil pressure pipe assembly 210 or an air pressure pipe assembly, and the fluid pressure pump can be an oil pressure pump 410 or an air pressure pump.

[0066] Exemplarily, the fluid cylinder telescopic actuator 100 is an oil-pressure cylinder telescopic actuator, the fluid pipe assembly is an oil-pressure pipe assembly 210 , and the fluid pressure pump is an oil-pressure pump 410 .

[0067] Please refer to Figure 2 , Figure 2This is a schematic diagram of the connection between the telescopic actuator 100, the power source 400, and the power transmission device 200. The hydraulic cylinder telescopic mechanism includes a cylinder barrel 110 and a piston rod 120. The piston rod 120 includes a piston rod 121 and a piston 122. The cylinder barrel 110 has a receiving space 111. The piston 122 is movably disposed within the receiving space 111 of the cylinder barrel 110. One end of the piston rod 121 is connected to one side of the piston 122. The receiving space 111 is divided into two chambers 1111 by the piston 122. The power transmission device also includes a control valve assembly 220 and an oil tank 230. The control valve assembly 220 includes a reversing valve 221, a throttle valve 222, and a relief valve 223. The power source 400 also includes a motor 420. The hydraulic pipe assembly 210 includes an oil pipe 211, an overflow pipe 213, an oil overflow pipe 212, and an oil inlet pipe 214.

[0068] There are two oil pressure overflow pipes 212: one connected to one chamber 1111 and the other to the other chamber 1111. Both are connected to the reversing valve 221. The oil pressure pipe 211 is connected to the throttle valve 222. The overflow pipe 213 connects the oil tank 230 and the reversing valve 221. The oil pump 410 and the motor 420 are connected via a coupling 240. The oil inlet pipe 214 connects the oil tank 230 and the oil pump 410.

[0069] During actual operation, the starting motor 420 drives the oil pump 410 to extract pressurized oil from the oil tank 230 through the oil inlet pipe 214. The pressurized oil flows through the throttle valve 222 and the reversing valve 221 in sequence through the oil pressure pipe 211, and then flows into a chamber 1111 of the cylinder 110 through the oil pressure overflow pipe 212. Correspondingly, the pressurized oil in another chamber 1111 of the cylinder 110 flows back to the oil tank 230 through the oil pressure overflow pipe 212. In short, oil enters one chamber 1111 of the cylinder 110, and oil returns to the other chamber 1111 of the cylinder 110 at the same time. The pressure of the pressurized oil on one side of the piston 122 is greater than the pressure of the pressurized oil on the other side of the piston 122, and the piston rod 121 extends or shortens outside the cylinder 110.

[0070] The reversing valve 221 can change the flow direction of the pressurized oil. The reversing valve 221 allows oil to flow into the chamber 1111 of the cylinder 110 on the side where the piston rod 121 is located, while returning oil to the other chamber 1111 of the cylinder 110, thereby pushing the piston rod 121 to contract inwardly into the cylinder 110. Alternatively, the reversing valve 221 allows oil to flow outwardly into the other chamber 1111 of the cylinder 110, thereby pushing the piston rod 121 to extend outwardly from the cylinder 110. When the piston rod 120 is performing a slow retracting or contracting motion or is stagnant, the throttle valve 222 cooperates with the relief valve 223 to direct excess pressurized oil back from the relief valve 223 to the oil tank 230.

[0071] In the embodiment where the telescopic actuator 100 is a hydraulic cylinder telescopic actuator 100, please continue to refer to Figure 1 The hydraulic cylinder telescopic actuator 100 is also provided with a ground assembly 101, which is connected to the piston rod 121. The ground assembly 101 can contact the ground 900. Every time the piston rod 121 of the hydraulic cylinder telescopic actuator 100 is extended, the ground assembly 101 generates a force on the ground 900, and the ground 900 generates a reaction force on the ground assembly 101, so that the hydraulic cylinder telescopic actuator 100 pushes the root equipment 700 to move and start, and then the piston rod 121 is shortened, the hydraulic cylinder telescopic actuator 100 stops pushing the root equipment 700 to move, and the root equipment 700 is braked.

[0072] The telescopic actuator 100 can be directly connected to the root device 700 or indirectly connected to the root device 700, for example, please refer to Figure 3 , Figure 3 for Figure 1 As shown in a side view of the planting device 1000 , the telescopic actuator 100 is connected to the root equipment 700 via a first non-rotatable connection 102 .

[0073] In some embodiments, the root device 700 has multiple ends, and at least one end is provided with a telescopic actuator 100 .

[0074] At least one of the multiple ends of the root equipment 700 is provided with a telescopic actuator 100 , and the telescopic actuator 100 can change the moving distance and frequency of the start-brake of the root equipment 700 in real time.

[0075] In some embodiments, a telescopic actuator 100 is provided at one end of the root device 700, allowing the root device 700 to intermittently move in one direction. In actual operation, since the root device 700 cannot turn around in the multi-span greenhouse, the telescopic actuator 100 is arranged at one end of the root device 700 along the first linear direction 810. The root device 700 moves forward from a starting point to an end point in the first linear direction 810 in the multi-span greenhouse using intermittent movement, then reverses from the end point to the original starting point using continuous movement, then translates left or right along the second linear direction 820 using continuous movement to a second first linear direction 810, and repeats the above process.

[0076] In some embodiments, the root device 700 is provided with telescopic actuators 100 at two opposite ends along the first linear direction 810. During actual operation, the root device 700 moves forward from a starting point to an end point along the first linear direction 810 in the multi-span greenhouse in an intermittent manner, then moves left or right in a continuous manner along the second linear direction 820 to a second first linear direction 810, and then moves forward from the second first linear direction 810 as a starting point in an intermittent manner to an end point in the second first linear direction 810. The root device 700 then moves in a continuous manner along the second linear direction 820 to a third first linear direction 810, and the above process is repeated.

[0077] In some embodiments, telescopic actuators 100 are provided at multiple ends of the root equipment 700. During actual operation, the root equipment 700 can move forward in an intermittent walking manner in any first linear direction 810 or second linear direction 820.

[0078] In some embodiments, at least two sets of telescopic actuators 100 are disposed at one end of the root equipment 700 .

[0079] Two or more sets of telescopic actuators 100 are installed at one end of the root device 700. These multiple sets of actuators 100 can be retracted and retracted alternately, allowing some actuators 100 to shorten while others lengthen, driving continuous movement of the root device 700. Changing the frequency of these actuators 100, shortening some while extending others with a delay, can facilitate intermittent movement of the root device 700. During operation, the root device 700 can move continuously or intermittently, depending on the specific operation, to achieve optimal results for each vegetable plant.

[0080] In some embodiments, please refer to Figure 1 The root device 700 has four ends, namely, front, rear, left, and right. The telescopic actuator 100 is disposed at the front and rear ends of the root device 700 .

[0081] Telescopic actuators 100 are arranged at the front and rear ends of the root equipment 700. The telescopic actuators 100 can change the moving distance and frequency of the start-brake of the root equipment 700 in the same direction in real time.

[0082] In actual working process, the root equipment 700 can move forward in an intermittent walking manner in any first linear direction 810 or second linear direction 820.

[0083] In some embodiments, please refer to Figure 4 , Figure 4For some other embodiments of the planting equipment 1000 of the present application, the planting equipment 1000 also includes a right-angle steering mechanism 300, which is connected between the first frame 710 of the root equipment 700 and the telescopic actuator 100, and is used to rotate the telescopic actuator 100 relative to the root equipment 700 so that the telescopic actuator 100 changes the telescopic direction.

[0084] The right-angle steering mechanism 300 is connected between the first frame 710 of the root equipment 700 and the telescopic actuator 100, and can rotate the telescopic actuator 100 relative to the root equipment 700 along the right-angle steering direction 830 to change the telescopic direction of the telescopic actuator 100, thereby enabling the telescopic actuator 100 to change the starting-braking movement distance and frequency of the root equipment 700 in different directions in real time.

[0085] The right-angle turning mechanism 300 can be a variety of mechanisms.

[0086] In some embodiments, please refer to Figure 5 , Figure 5 for Figure 4 A side view of a planting device 1000 is shown. The right-angle steering mechanism 300 includes a rotating shaft 320, a rotating shaft sleeve 330, and a right-angle steering crank 310. The rotating shaft sleeve 330 is fixed to the first frame 710, and the rotating shaft 320 is rotatably disposed within the rotating shaft sleeve 330. The telescopic actuator 100 is fixedly connected to the rotating shaft 320 via a first non-rotatable connector 102. The right-angle steering crank 310 is fixedly connected to the end of the rotating shaft 320. Turning the right-angle steering crank 310 in a right-angle direction rotates the rotating shaft 320 90 degrees about its axis. Turning the rotating shaft 320 in the opposite direction returns the rotating shaft 320 to its original position, thereby changing the telescopic direction of the telescopic actuator 100 and, consequently, the moving direction 800 of the root equipment 700.

[0087] The right-angle steering mechanism 300 further includes a locking mechanism, which can fix the rotating shaft 320 , that is, fix the telescopic direction of the telescopic actuator 100 , thereby fixing the moving direction 800 of the root equipment 700 .

[0088] In some embodiments, please refer to Figure 6 , Figure 6A partial side view of a planting device 1000 provided for other embodiments of the present application. The right-angle steering mechanism 300 includes a rotating shaft 320, a rotating shaft sleeve 330, a right-angle steering motor 340, and a gear set 350. The gear set 350 includes a first gear 351 and a second gear 352. The rotating shaft sleeve 330 is fixedly connected to the first frame 710, and the rotating shaft 320 is rotatably disposed in the rotating shaft sleeve 330. The right-angle steering motor 340 is rotatably connected to the first frame 710, and the first gear 351 is engaged with the second gear 352. The right-angle steering motor 340 transmits torque to the first gear 351 through the output shaft, and the first gear 351 transmits the torque to the second gear 352. The telescopic actuator 100 is connected to the rotating shaft 320 via the second non-rotatable connecting member 103. The telescopic direction of the telescopic actuator 100 changes, thereby changing the moving direction 800 of the root equipment 700.

[0089] The right-angle steering motor 340 may include a motor 420 and a reducer 430 . The motor 420 provides torque to the reducer 430 , and the reducer 430 transmits the torque to the first gear 351 through an output shaft.

[0090] In the embodiment where the telescopic actuator 100 is a fluid cylinder telescopic actuator 100 , the right-angle steering motor 340 may be a hydraulic motor, which can share a power source 400 with the telescopic actuator 100 .

[0091] In some embodiments, please refer to Figure 7 , Figure 7A partial side view of a planting device 1000 provided in accordance with another embodiment of the present application. The right-angle steering mechanism 300 includes a vertical rotating shaft 360, a rotating shaft 320, a second rotatable connector 106, a push-pull mechanism 370, a fixed member 107, a rotating shaft sleeve 330, and a right-angle steering crank 310. The vertical rotating shaft 360 is rotatably connected to the fixed member 107, the second rotatable connector 106 is rotatably connected to the vertical rotating shaft 360, one end of the push-pull mechanism 370 is fixedly connected to the second rotatable connector 106, and the other end is connected to the right-angle steering crank 310. The push-pull mechanism 370 can drive the right-angle steering crank 310 to move or reset along the right-angle steering direction 830. The push-pull mechanism 370 is a mechanism that performs reciprocating linear motion and can be a pneumatic device or a hydraulic device. The rotating shaft 320 is rotatably disposed on the rotating shaft sleeve 330, and the right-angle steering crank 310 is fixedly connected to the end of the rotating shaft 320 and the push-pull mechanism 370. The telescopic actuator 100 is fixedly connected to the rotating shaft 320 through a third non-rotatable connecting member 104. The push-pull mechanism 370 pushes the right-angle steering crank 310 along the right-angle turn to rotate the rotating shaft 320 90 degrees around its axis. The right-angle steering crank 310 is pulled in the opposite direction to reset the rotating shaft 320 around its axis, thereby changing the telescopic direction of the telescopic actuator 100 and thus changing the moving direction 800 of the root equipment 700.

[0092] In some embodiments, please refer to Figure 8 , Figure 8 A partial side view of a planting device 1000 is provided for other embodiments. The planting device 1000 further includes a first lever assembly 500, which is hingedly connected to and slidably engaged with the first frame 710 of the root equipment 700. The first lever assembly 500 is formed with a first power arm 530 and a first resistance arm 520 located on both sides of the hinged position between the first lever assembly 500 and the first frame 710. One end of the first power arm 530 is hingedly connected to the telescopic actuator 100, and one end of the first resistance arm 520 is configured to contact the ground 900.

[0093] The first lever assembly 500 is slidably engaged with the first frame 710. One end of the first power arm 530 of the first lever is hingedly connected to the telescopic actuator 100. One end of the first resistance arm 520 contacts the ground 900. The telescopic actuator 100 can apply a small force to one end of the first power arm 530 of the first lever assembly 500, causing one end of the first resistance arm 520 of the first lever assembly 500 to apply a large force to the ground 900, thereby generating a large thrust for the root device 700. Furthermore, the telescopic actuator 100 can achieve a large movement distance for the root device 700 through the first lever assembly 500 using a small extension.

[0094] The first frame 710 is also fixedly connected to a connecting seat 550, and the first lever assembly 500 is hinged to the first frame 710 through the connecting seat 550. The first lever assembly 500 is provided with a track 521, and the connecting seat 550 and the first hinge point 510 of the first lever assembly 500 can slide in the track 521. The first lever assembly 500 is also provided with a ground assembly 101, and the ground assembly 101 is connected to the end of the first resistance arm 520 of the first lever assembly 500. The ground assembly 101 is in contact with the ground 900. The telescopic actuator 100 applies a smaller force to one end of the first power arm 530 of the first lever assembly 500, so that one end of the first resistance arm 520 of the first lever assembly 500 applies a larger force to the ground 900 through the ground assembly 101, thereby moving the root equipment 700.

[0095] In some embodiments, please refer to Figure 7 The planting equipment 1000 also includes a right-angle steering mechanism 300, which is connected to the first frame 710. The first lever assembly 500 can be hinged to the first frame 710 of the root equipment 700 through the right-angle steering mechanism 300 and slides with the first frame 710. The first lever assembly 500 is hinged to the rotating shaft 320 of the right-angle steering mechanism 300 through the connecting seat 550. The connecting seat 550 is fixedly connected to the rotating shaft 320, and the rotating shaft 320 is rotatably connected to the first frame 710 of the root equipment 700. A track 521 is provided on the first lever assembly 500, and the hinge point between the connecting seat 550 and the first lever assembly 500 can slide within the track 521.

[0096] In some embodiments, please refer to Figure 8 The planting equipment 1000 also includes a first lifting actuator 540, one end of the first lifting actuator 540 is connected to the telescopic actuator 100, and the other end of the first lifting actuator 540 is hinged to the first frame 710. The first lifting actuator 540 is used to drive the telescopic actuator 100 to rotate relative to the root equipment 700, so that the telescopic actuator 100 drives the first lever assembly 500 to slide relative to the first frame 710, so that the first lever assembly drives the root equipment 700 to move.

[0097] The planting equipment 1000 also includes a first lifting actuator 540, one end of the first lifting actuator 540 is connected to the telescopic actuator 100, and the other end of the first lifting actuator 540 is hinged to the first frame 710. The first lifting actuator 540 can drive the telescopic actuator 100 to rotate relative to the root equipment 700, and the telescopic actuator 100 can drive the first lever assembly 500 to slide relative to the first frame 710. The first lifting actuator 540 can change the rotation angle and frequency of the telescopic actuator 100 relative to the root equipment 700 in real time, thereby changing the sliding distance and frequency of the first lever assembly 500 relative to the first frame 710, so as to change the starting-braking movement distance and frequency of the root equipment 700 in real time.

[0098] Exemplarily, the first lifting actuator 540 is a fluid cylinder lifting actuator, the first lifting actuator 540 includes a first cylinder 541 and a first piston rod 542, the first piston rod 542 includes a first piston 5421 and a first piston rod 5422, the first piston rod 5422 is connected to the first piston 5421, and the power source 400 of the first lifting actuator 540 can be the same as the power source 400 of the telescopic actuator 100.

[0099] In an embodiment where the telescopic actuator 100 is a fluid cylinder telescopic actuator 100, the first cylinder 541 is hinged to the connecting seat 550, the first piston rod 5422 is hinged to the cylinder 110 of the telescopic actuator 100, and the end of the cylinder 110 of the telescopic actuator 100 is rotatably connected to the first frame 710 via the first rotatable connecting member 105 and the third non-rotatable connecting member 104. The first piston rod 5422 can push the cylinder 110 of the telescopic actuator 100 to swing up and down relative to the first frame 710 via the first rotatable connecting member 105 by performing a telescopic movement, thereby changing the telescopic direction of the telescopic actuator 100, so that the first lever assembly 500 intermittently applies a force to the ground 900, and intermittently moves the root equipment 700 along the moving direction 800.

[0100] In some embodiments, please refer to Figure 7 The planting equipment 1000 also includes a right-angle steering mechanism 300, which is connected to the first frame 710 of the root equipment 700. The rotating shaft 320 of the right-angle steering mechanism 300 is rotatably connected to the first frame 710. One end of the first lifting actuator 540 is connected to the telescopic actuator 100, and the other end of the first lifting actuator 540 is hinged to the connecting seat 550. The connecting seat 550 is connected to the rotating shaft 320 of the right-angle steering mechanism 300.

[0101] In some embodiments, please refer to Figure 9 , Figure 9A partial schematic diagram of a side view of a planting device 1000 according to another embodiment. The root device 700 further includes a linear travel mechanism 720 and multiple vertical support structures 711. The multiple vertical support structures 711 are spaced apart on the first frame 710 along the extension direction of the root device 700. The telescopic actuator 100 is connected to the vertical support structures 711 and is used to intermittently push the linear travel mechanism 720 to move the root device 700.

[0102] The telescopic actuator 100 is connected to the vertical bearing structure 711. The telescopic actuator 100 can intermittently push the linear travel mechanism 720, and the root equipment 700 moves through the linear travel mechanism 720, thereby being able to change the starting-braking movement distance and frequency of the root equipment 700 in real time.

[0103] The planting device 1000 includes a plurality of telescopic actuators 100 , and one group of telescopic actuators 100 is correspondingly provided to one vertical bearing structure 711 .

[0104] In some embodiments, please refer to Figure 9 , a group of telescopic actuators 100 are set up on multiple vertical bearing structures 711.

[0105] In some embodiments, please refer to Figure 10 , Figure 10 A partial side view of a planting device 1000 provided in some other embodiments, wherein the plurality of vertical bearing structures 711 are provided with at least two groups of telescopic actuators 100 .

[0106] The plurality of vertical supporting structures 711 are provided with at least two or more sets of telescopic actuators 100. The multiple sets of telescopic actuators 100 can be alternately extended and retracted, that is, some telescopic actuators 100 shorten while others lengthen, thereby continuously driving the linear travel mechanism 720 to move, thereby continuously moving the root equipment 700.

[0107] The linear travel mechanism 720 can have various structures.

[0108] In some embodiments, please refer to Figure 9 and Figure 10 The linear walking mechanism 720 includes a roller 721 assembly, and the roller 721 assembly includes a roller 721. The roller 721 is rotatably connected to the vertical bearing structure 711. The roller 721 is provided with a pressure structure 650. The telescopic actuator 100 is provided with a pressure structure 640. The pressure structure 640 intermittently abuts against the pressure structure 650. The pressure structure 640 intermittently applies a force to the pressure structure 650 to rotate the roller 721 to move the root equipment 700.

[0109] The roller 721 of the linear travel mechanism 720 is rotatably connected to the vertical bearing structure 711. The pressure structure 640 of the telescopic actuator 100 applies pressure to the pressure structure 650 of the roller 721 of the linear travel mechanism 720, which facilitates the movement of the root equipment 700. This linear travel mechanism 720 has a simple structure and is easy to process.

[0110] In some embodiments, please refer to Figure 12 , Figure 12 A partial side view of the planting equipment 1000 provided for other embodiments of the present application, wherein the linear walking mechanism 720 includes a roller 721 and track 722 assembly, wherein the roller 721 and track 722 assembly includes a roller 721 and a track 722, wherein the roller 721 is rotatably connected to the vertical bearing structure 711, and the roller 721 is provided with a pressure structure 650, and the telescopic actuator 100 is provided with a pressure structure 640, and the pressure structure 640 intermittently abuts against the pressure structure 650, and the pressure structure 640 intermittently applies a force to the pressure structure 650, so that the roller 721 rotates and drives the track 722 to rotate, so that the root equipment 700 moves.

[0111] The roller 721 of the linear walking mechanism 720 is rotatably connected to the vertical supporting structure 711. The pressure-applying structure 640 of the telescopic actuator 100 applies pressure to the pressure structure 650 of the roller 721, so that the roller 721 drives the track 722 to rotate. The use of the track 722 for transmission can increase the adhesion between the root equipment 700 and the ground, allowing the root equipment 700 to move smoothly. In addition, this linear walking mechanism 720 has a simple structure and is easy to process.

[0112] The pressure-applying structure 640 and the pressure-receiving structure 650 are a pair of mating parts. The pressure-applying structure 640 and the pressure-receiving structure 650 can be of various shapes, for example, the pressure-applying structure 640 is a spherical protrusion and the pressure-receiving structure 650 is a spherical depression; the pressure-applying structure 640 is a spherical depression and the pressure-receiving structure 650 is a spherical protrusion.

[0113] The roller 721 pushed by the telescopic actuator 100 can be regarded as the driving wheel 7211, and the other rollers 721 can be regarded as the driven wheels 7222. The telescopic actuator 100 performs a telescopic movement to push the driving wheel 7211 to roll, thereby driving the driven wheels 7222 to roll, so that the root equipment 700 moves.

[0114] In some embodiments, please refer to Figure 11 , Figure 11A partial side view of a planting device 1000 provided in some other embodiments of the present application, wherein the planting device 1000 further includes a second lever assembly 600, which is hinged to the telescopic actuator 100, and the second lever assembly 600 is formed with a second resistance arm 620 and a second power arm 630 located on both sides of the hinge position of the second lever assembly 600 and the telescopic actuator 100, the second power arm 630 is hinged to the telescopic actuator 100, and the second resistance arm 620 is used to intermittently push the linear walking mechanism 720 to move the root equipment 700.

[0115] One end of the second power arm 630 of the second lever is hinged to the telescopic actuator 100, and one end of the second resistance arm 620 intermittently pushes the linear travel mechanism 720. The telescopic actuator 100 can apply a smaller force to one end of the second power arm 630 of the second lever assembly 600, so that one end of the second resistance arm 620 of the second lever assembly 600 applies a larger thrust to the linear travel mechanism 720.

[0116] One end of the second power arm 630 of the second lever is hinged to the telescopic actuator 100 at the second hinge point 610. The telescopic actuator 100 is fixedly connected to the root equipment 700 through the fourth non-rotatable connecting member 660. When the telescopic actuator 100 performs telescopic movement, the second lever assembly 600 rotates around the second hinge point 610 relative to the root equipment 700.

[0117] The linear travel mechanism 720 can be of various structures.

[0118] In some embodiments, please refer to Figure 11 The linear walking mechanism 720 includes a roller 721 assembly, and the roller 721 assembly includes a roller 721. The roller 721 is rotatably connected to the vertical supporting structure 711. The roller 721 is provided with a pressure structure 650. The second resistance arm 620 is provided with a pressure structure 640. The pressure structure 640 intermittently abuts against the pressure structure 650. The pressure structure 640 intermittently applies a force to the pressure structure 650 to rotate the roller 721 to move the root equipment 700.

[0119] The roller 721 of the linear travel mechanism 720 is rotatably connected to the vertical supporting structure 711. The pressure structure 640 of the second resistance arm 620 applies pressure to the pressure structure 650 of the roller 721 of the linear travel mechanism 720, which facilitates the movement of the root equipment 700. This linear travel mechanism 720 has a simple structure and is easy to process.

[0120] In some embodiments, please refer to Figure 12The linear walking mechanism 720 includes a roller 721 and track 722 assembly. The roller 721 and track 722 assembly includes a roller 721 and a track 722. The roller 721 is rotatably connected to the vertical bearing structure 711. The roller 721 is provided with a pressure structure 650. The second resistance arm 620 is provided with a pressure structure 640. The pressure structure 640 intermittently abuts against the pressure structure 650. The pressure structure 640 intermittently applies a force to the pressure structure 650, so that the roller 721 rotates and drives the track 722 to rotate, so that the root equipment 700 moves.

[0121] The roller 721 of the linear walking mechanism 720 is rotatably connected to the vertical supporting structure 711. The pressure structure 640 of the second resistance arm 620 applies pressure to the pressure structure 650 of the roller 721, so that the roller 721 drives the track 722 to rotate. The use of the track 722 for transmission can increase the adhesion between the root equipment 700 and the ground, so that the root equipment 700 moves smoothly, and this linear walking mechanism 720 has a simple structure and is easy to process.

[0122] The roller 721 pushed by the second resistance arm 620 can be regarded as the driving wheel 7211, and the other rollers 721 can be regarded as the driven wheels 7222. The telescopic actuator 100 performs a telescopic movement to push the driving wheel 7211 to roll, thereby driving the driven wheel 7222 to roll, so that the root equipment 700 moves.

[0123] The above are merely preferred embodiments of the present application and are not intended to limit the present application. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A planting device, characterized in that: Used to precisely perform vine tying, branch pruning, and harvesting operations on each vine vegetable in a solar greenhouse, including: A root device having four ends, front, back, left, and right, with an external body length, width, and height ranging from 6 meters, 4 meters, and 3 meters to 12 meters, 12 meters, and 12 meters, respectively, to accommodate field operations in a daylight multi-span greenhouse with a column spacing of 6 meters by 4 meters and a ceiling height of 3 meters within the insulation space, ranging from a column spacing of 12 meters by 12 meters and a ceiling height of 12 meters within the insulation space; The telescopic actuator is arranged at the front and rear ends of the root equipment, and the telescopic actuator is used to drive the root equipment to move; the telescopic actuator is a hydraulic cylinder telescopic actuator, the hydraulic cylinder telescopic actuator includes a cylinder and a piston rod, the piston rod includes a piston rod and a piston, the cylinder is connected to the root equipment, the hydraulic cylinder telescopic actuator is also provided with a ground assembly, the ground assembly is connected to the piston rod, and the ground assembly can contact the ground, each time the piston rod of the hydraulic cylinder telescopic actuator is extended, the ground assembly generates a force on the ground, and the ground generates a reaction force on the ground assembly, so that the hydraulic cylinder telescopic actuator pushes the root equipment to move and start, then the piston rod is shortened, the hydraulic cylinder telescopic actuator stops pushing the root equipment to move, and the root equipment brakes, and can accurately stop at a preset point each time, so that the execution mechanism of the working device on the root equipment can perform working actions within a preset working radius; A right-angle steering mechanism connected between the first frame of the root equipment and the telescopic actuator, capable of rotating the telescopic actuator relative to the root equipment in a right-angle steering direction to change the telescopic direction of the telescopic actuator, thereby enabling the telescopic actuator to change the starting and braking movement distance and frequency of the root equipment in different directions in real time; A power source is provided on the root equipment, and the power source is used to provide power for the telescopic actuator; a power transmission device, wherein the power source is connected to the telescopic actuator via the power transmission device, and the power transmission device is used to transmit power to the telescopic actuator to move the root equipment; By changing the amount of power provided by the power source to the telescopic actuator through the power transmission device in real time, the extension distance and extension frequency of the telescopic actuator each time can be changed in real time, thereby accurately controlling the starting and braking movement distance and frequency of the root equipment.

2. The planting device according to claim 1, characterized in that At least two groups of the telescopic actuators are provided at one end of the root equipment.

3. The planting equipment according to claim 1, characterized in that The planting equipment also includes a first lever assembly, which is hinged to the first frame of the root equipment and slides with the first frame. The first lever assembly is formed with a first power arm and a first resistance arm located on both sides of the hinge position of the first lever assembly and the first frame. One end of the first power arm is hinged to the telescopic actuator, and one end of the first resistance arm is used to contact the ground.

4. The planting equipment according to claim 3, characterized in that The planting equipment also includes a first lifting actuator, one end of the first lifting actuator is connected to the telescopic actuator, and the other end of the first lifting actuator is hinged to the first frame. The first lifting actuator is used to drive the telescopic actuator to rotate relative to the root equipment, so that the telescopic actuator drives the first lever assembly to slide relative to the first frame, so that the first lever assembly drives the root equipment to move.

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