A device for cultivating epimedium under forest canopy

Abstract

The present application relates to the technical field of Chinese herbal medicine planting, in particular to a device for undergrowth cultivation of Chinese herbal medicine Epimedium, comprising a traction control frame, a walking mechanism with a planting drive wheel containing a detachable counterweight on the traction control frame, an Epimedium seedling holding bucket and a control module; a multi-directional adjusting mechanism composed of a liftable support and a bulldozer telescopic part is arranged at the end of the traction control frame, which is connected to a soil sealing support, and a curved push plate with a soil shoveling plate (V-shaped in plan view, the height of the soil shoveling plate gradually changes from the wide part to the narrow part) is driven by a follow-up drive motor; a plurality of automatic clamping assemblies (containing a gas pipe II, a clamping support plate, a flow distribution air chamber and a soft clamping / limiting telescopic plate) are arranged in the middle of the walking mechanism, the device realizes automatic distance setting and non-destructive planting of seedlings, accurate and uniform soil sealing of roots, adapts to complex undergrowth topography, greatly improves planting efficiency and seedling survival rate, reduces labor intensity of workers, and meets the demand for large-scale cultivation of Epimedium undergrowth.

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] The arc-shaped push plate is provided with a plurality of earth-moving plates, which are used for covering the roots of the Epimedium brevicornum seedlings in the Epimedium brevicornum planting area.

[0010] As a further scheme of the present application, the arc-shaped push plate is provided with inclined cutouts at both ends, so that the top view of the arc-shaped push plate is in a V-shaped structure.

[0011] The heights of the plurality of earth-moving plates gradually increase from the wide part to the narrow part of the arc-shaped push plate.

[0012] As a further scheme of the present application, the Epimedium brevicornum seedling containing bucket is fixedly installed on the traction control frame and is used for containing the Epimedium brevicornum seedlings to be planted.

[0013] The operating module is fixedly installed on the Epimedium brevicornum seedling containing bucket and is used for controlling the operation of the multidirectional adjusting mechanism.

[0014] As a further scheme of the present application, the multidirectional adjusting mechanism comprises:

[0015] The liftable support is fixedly connected with the traction control frame.

[0016] The push earth telescopic part is fixedly installed at the bottom end of the liftable support, wherein the liftable support and the push earth telescopic part are both signal-connected with the operating module and are respectively used for adjusting the longitudinal direction and the transverse direction of the arc-shaped push plate.

[0017] The arc-shaped push plate automatically adjusts the self-rotation state following the transverse adjustment displacement thereof.

[0018] As a further scheme of the present application, the walking mechanism comprises:

[0019] The rotating shaft is rotationally connected with the traction control frame.

[0020] The planting driving wheels are two in number and are both fixedly connected with both ends of the rotating shaft.

[0021] The detachable counterweight part is provided with a counterweight block detachably installed thereon, which is used for ensuring the smooth walking of the planting driving wheels on the uneven soil surface.

[0022] As a further scheme of the present application, the middle part of the Epimedium brevicornum planting area is provided with a planting groove for placing the roots of the Epimedium brevicornum seedlings.

[0023] The arc-shaped push plate and the earth pushing plate are used for pushing the soil on both sides of the planting groove, and the roots of the Epimedium brevicornum seedlings in the planting groove are covered.

[0024] As a further scheme of the present application, the pneumatic control cylinder is located at the middle part of the walking mechanism and rotates with the walking mechanism.

[0025] The pneumatic control cylinder is provided with a gas source device.

[0026] The automatic clamping assemblies are uniformly distributed on the pneumatic control cylinder and are connected with the gas source device.

[0027] The automatic clamping assemblies are arranged uniformly and are used for planting the Epimedium brevicornum seedlings at a distance.

[0028] As a further scheme of the present application, the automatic clamping assembly comprises:

[0029] The gas pipes II are uniformly distributed on the pneumatic control cylinder and are connected with the gas source device through the valve.

[0030] The clamping support plates are fixedly installed on the gas pipes II, wherein two clamping support plates form a group, and the two clamping support plates in each group are oppositely arranged.

[0031] The flow distribution air chambers are fixedly installed on the clamping support plates and are connected with the gas pipes II.

[0032] The soft clamping expansion plates are inserted into the clamping support plates and are connected with the clamping support plates in a sliding mode.

[0033] One end of each of the soft clamping expansion plates is located in a chamber of the flow distribution air chamber.

[0034] The soft clamping expansion plates are expanded and contracted on the clamping support plates through the change of the air pressure in the chambers of the flow distribution air chamber, so that the stems of the Epimedium brevicornum seedlings are clamped and released.

[0035] As a further scheme of the present application, the pneumatic control cylinder is located at the middle part of the walking mechanism and rotates with the walking mechanism.

[0036] And the soft limiting telescopic plate is inserted into the clamping support plate and is arranged perpendicularly to the soft clamping telescopic plate, and one end of the soft limiting telescopic plate is located in the chamber in the flow distribution air chamber.

[0037] Two soft limiting telescopic plates are symmetrically arranged on each clamping support plate, and when the two soft limiting telescopic plates are in contact with the two soft limiting telescopic plates on the other clamping support plate, the clamping support plate and the soft limiting telescopic plate are combined to form a square frame structure.

[0038] As a further scheme of the present application, the operating module comprises a core control unit, a parameter setting panel, a state display module, a sensor signal processing module and a power module.

[0039] The core control unit adopts an embedded microprocessor, and is internally provided with a preset control program, and is used for receiving sensor signals, analyzing operation instructions and sending control signals to the liftable support, the bulldozing telescopic piece, the air source equipment of the pneumatic control cylinder and the follow-up driving motor.

[0040] The parameter setting panel is used for setting the earth sealing height of the arc-shaped push plate, the extension amount of the bulldozing telescopic piece and the rotating speed of the follow-up driving motor.

[0041] The state display module is used for displaying the height of the liftable support, the stroke of the bulldozing telescopic piece, the position of the automatic clamping assembly and the air pressure value of the air source equipment in the pneumatic control cylinder, and can trigger a fault alarm and display a fault position.

[0042] The sensor signal processing module is used for filtering, amplifying and analyzing the signals of the inclination state sensor of the outer wall of the air pipe, the earth sealing state sensor on the side of the earth sealing support close to the arc-shaped push plate and the walking state sensor at the end of the rotating shaft.

[0043] The power module is used for supplying power to the operating module itself and low-power sensors, and has overvoltage and overcurrent protection functions.

[0044] Compared with the prior art, the present application has the following beneficial effects:

[0045] Realize the accurate and uniform sealing of Epimedium sagittatum Bunge seedling roots, improve the sealing quality and survival rate: the arc-shaped push plate adopts a V-shaped top view structure (two ends are provided with inclined notches), which can accurately fit the profile of the planting groove on both sides to avoid soil scattering; the height of the soil shoveling plate increases from the wide part to the narrow part of the arc-shaped push plate, ensuring the accurate amount of soil pushed in the center of the groove, preventing root exposure and avoiding excessive soil from damaging the seedling stems; the multi-directional adjusting mechanism (liftable support + soil pushing telescopic part) can flexibly adjust the spatial position of the sealing part according to the height of the seedling and the soil condition, and the arc-shaped push plate rotates driven by the follow-up driving motor, and the slight adjustment of the traction control frame by the staff can adapt to complex terrains such as inclined slopes, further ensuring the uniformity of sealing.

[0046] Achieve automatic distance setting and non-damage clamping planting, greatly improve planting efficiency and seedling integrity: the pneumatic control cylinder rotates with the walking mechanism, and multiple automatic clamping components are evenly distributed along the circumference (optimal row spacing of 20-30 cm), realizing distance planting of seedlings; the soft clamping telescopic plate is made of food-grade silicone and TPE blended material (Shore hardness 50-70A), which has elasticity and wear resistance, and can flexibly clamp seedling stems of different thicknesses (3-8 mm) to avoid damage; the flow distribution air chamber is independently separated into chambers, the air pressure distribution is accurate, ensuring that the telescopic plate moves synchronously, and the soft limiting telescopic plate forms a square structure, which can ensure that the seedlings fall vertically into the planting groove, avoid the roots hanging in the air, and improve the planting efficiency to more than 3000 plants / hour, and reduce the seedling damage rate to less than 5%.

[0047] The walking mechanism has strong stability and is suitable for complex terrains in the forest: a detachable counterweight is arranged in the middle of the planting driving wheel, which can adjust the pressure of the driving wheel on the ground by adding / removing counterweight blocks, avoiding slipping, sinking or floating on the uneven soil surface, ensuring the smooth movement of the equipment along the preset route, and ensuring the straightness and spacing accuracy of the planting groove opening position, providing a stable foundation for the subsequent sealing process.

[0048] High operational convenience, reducing operation difficulty and facilitating maintenance: the operation module integrates parameter setting, state display and fault alarm functions, and the staff can set parameters such as sealing height, soil pushing extension, motor speed through the panel, real-time view the height of the liftable support, soil pushing distance, clamping component position, air pressure, etc., and display the fault position when fault occurs, facilitating quick troubleshooting; the sensor signal processing module filters and amplifies the signals of the inclination state sensor, the sealing state sensor and the walking state sensor, ensuring the detection accuracy and improving the control accuracy.

[0049] Optimize the overall operation process and reduce labor intensity: the Epimedium sagittatum Bunge seedling container can store a sufficient amount of seedlings in advance, reducing the frequency of staff taking seedlings back and forth; the automatic clamping and planting functions replace a large amount of manual operation, combined with accurate sealing and stable walking, realizing continuous planting operation by a single person, greatly reducing labor intensity and improving 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 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 figure: 1 - traction control frame, 2 - Epimedium seedling holding bucket, 3 - planting driving wheel, 4 - detachable counterweight, 5 - pneumatic control cylinder, 6 - operating module, 7 - rotating shaft, 8 - liftable support, 9 - bulldozing telescopic part, 10 - soil sealing support, 11 - follow-up driving motor, 12 - supporting disc, 13 - arc-shaped push plate, 14 - soil pushing plate, 15 - inclined cutout, 16 - air pipe I, 17 - clamping support plate, 18 - air pipe II, 19 - soft limiting telescopic plate, 20 - soft clamping telescopic plate, 21 - flow distribution air chamber, 22 - planting groove, 23 - Epimedium planting area. DETAILED DESCRIPTION

[0065] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0066] The specific implementation of the present application will be described in detail in combination with specific embodiments.

[0067] Please refer to Figures 1-14 The Epimedium undergrowth cultivation device provided by the embodiments of the present application comprises a traction control frame 1, and a walking mechanism is arranged on the traction control frame 1.

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

[0069] A follow-up driving motor 11 is fixedly installed on the soil sealing support 10, and a supporting disc 12 is fixedly installed on the output end of the follow-up driving motor 11, and the soil sealing support 10 is used for driving the supporting disc 12 to rotate on the soil sealing support 10 according to the movement state of the multi-directional adjusting mechanism.

[0070] An arc-shaped push plate 13 is fixedly installed on the supporting disc 12, and a plurality of soil pushing plates 14 are arranged on the arc-shaped push plate 13, and the arc-shaped push plate 13 and the soil pushing plates 14 are used for sealing the roots of Epimedium seedlings in the Epimedium planting area 23.

[0071] Through the cooperation of the traction control frame 1, the walking mechanism, the multi-directional adjusting mechanism, the soil sealing support 10, the follow-up driving motor 11, the supporting disc 12, the arc-shaped push plate 13 and the soil pushing plate 14, efficient and accurate soil sealing of the Epimedium brevicornum seedling root is realized. In the existing Chinese herbal medicine undergrowth cultivation technology, due to the complex undergrowth terrain and the multiple vegetation sheltering, the traditional soil sealing device often causes uneven soil sealing due to insufficient adjusting capacity, the seedling root is easily exposed or squeezed by excessive soil, and the survival rate is affected. In the present application, the traction control frame 1 serves as the device main frame, provides an installation basis for each component and connects the external traction equipment (preferably, the staff manually pulls the traction control frame 1 to move, at the same time, the inclination degree of the arc-shaped push plate 13 in the soil sealing process can be changed by the staff slightly pressing or lifting the traction control frame 1, so as to cope with different ground conditions and improve the soil sealing quality, which is not described in detail here), drives the whole device to move under the undergrowth (especially in the inclined slope area); the walking mechanism ensures the stability of the device movement and avoids the displacement of the soil sealing position caused by the terrain bumping; the multi-directional adjusting mechanism can flexibly adjust the spatial position of the soil sealing support 10 according to the height of the Epimedium brevicornum seedling and the soil softness, so as to ensure that the arc-shaped push plate 13 can accurately aim at the seedling root area; the follow-up driving motor 11 receives the control signal of the operating module 6, drives the supporting disc 12 to rotate at a preset speed, and then drives the arc-shaped push plate 13 to synchronously rotate, so that the soil pushing plate 14 continuously contacts with the soil and completes the soil pushing action; the arc-shaped structure of the arc-shaped push plate 13 is suitable for the soil profile of the undergrowth planting area, and the soil pushing plate 14 pushes the surrounding soil to the seedling root in a directional manner, so as to realize uniform soil covering and effectively solve the problems of low efficiency and poor effect of the traditional device, and improve the planting quality of the Epimedium brevicornum seedling.

[0072] In one embodiment of the present application, please refer to Figures 1-14 , the two ends of the arc-shaped push plate 13 are provided with inclined cutouts 15, so that the plan view of the arc-shaped push plate 13 presents a V-shaped structure.

[0073] The heights of the plurality of soil pushing plates 14 gradually increase from the wide part to the narrow part of the arc-shaped push plate 13.

[0074] Further comprising: an Epimedium brevicornum seedling containing hopper 2, which is fixedly installed on the traction control frame 1 and is used for containing the Epimedium brevicornum seedling to be planted;

[0075] and an operating module 6, which is fixedly installed on the Epimedium brevicornum seedling containing hopper 2 and is used for controlling the action of the multi-directional adjusting mechanism.

[0076] The multi-directional adjusting mechanism comprises:

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

[0078] And a bulldozing telescopic piece 9 is fixedly installed at the bottom end of the liftable support 8; wherein, the liftable support 8 and the bulldozing telescopic piece 9 are signal connected with the operating module 6, and are respectively used for longitudinal and transverse adjustment of the arc-shaped pushing plate 13;

[0079] And the arc-shaped pushing plate 13 automatically adjusts the self-rotation state following the transverse adjustment displacement thereof.

[0080] Through the inclined cutout 15 design of the arc-shaped pushing plate 13, the height gradient setting of the earth-moving plate 14, the storage seedling function of the Epimedium seedling storage hopper 2 and the precise control of the operating module 6 on the multidirectional adjustment mechanism, the flexibility and convenience of the soil sealing operation are further optimized. In the prior art, the soil sealing parts of the Epimedium undergrowth cultivation are mostly fixed structures, which cannot adjust the bulldozing track according to the shape of the planting groove 22 and the distribution density of the seedlings, and need to be manually replenished frequently, and the operation process is complicated. In the present application, the inclined cutout 15 at both ends of the arc-shaped pushing plate 13 makes its overhead projection present a V-shaped structure, which can precisely fit the profiles of both sides of the planting groove 22, avoiding soil scattering outside the groove during bulldozing (when the wide part of the arc-shaped pushing plate 13 is directly opposite the soil, a large range of soil near the root of the seedling is gathered to the root direction, as the arc-shaped pushing plate 13 approaches the root of the seedling, the self-rotation of the arc-shaped pushing plate 13 driven by the follow-up driving motor 11 makes the narrow part of the arc-shaped pushing plate 13 push the soil to continue sealing the root of the seedling, thereby realizing concentrated soil covering of the root of the seedling, ensuring sufficient soil covering, and avoiding excessive soil covering of the root of the seedling, even covering the stem of the seedling, thereby improving the soil sealing quality); the heights of the multiple earth-moving plates 14 from the wide part to the narrow part of the arc-shaped pushing plate 13 increase in turn, which can ensure more precise pushing amount of the soil near the center of the groove (during the self-rotation of the arc-shaped pushing plate 13, it can ensure that the soil reaches near the root of the seedling), both ensuring that the root is fully covered and preventing excessive soil accumulation from injuring the stem of the seedling; the Epimedium seedling storage hopper 2 is fixed on the traction control frame 1, which can pre-store sufficient seedlings to be planted, reducing the frequency of the staff taking seedlings back and forth and reducing the labor intensity; the operating module 6 as the control core integrates the functions of parameter setting, state display and instruction sending, and the staff can set parameters such as soil sealing depth and bulldozing speed through it, and then control the liftable support 8 to adjust the height of the arc-shaped pushing plate 13 along the longitudinal direction (such as for 1-year-old Epimedium seedlings, the soil sealing height is set to 5-8 cm to avoid root hypoxia), and control the bulldozing telescopic piece 9 to adjust the distance between the arc-shaped pushing plate 13 and the groove along the transverse direction, avoiding the arc-shaped pushing plate 13 scraping the soil on both sides of the Epimedium planting area 23 during the overall equipment walking process; at the same time, the arc-shaped pushing plate 13 can automatically adjust the self-rotation state following the transverse adjustment displacement, ensuring sufficient soil covering of the root of the seedling, and during the transverse movement, the earth-moving plate 14 can always maintain a stable contact angle with the soil, avoiding interruption of bulldozing or uneven soil pushing due to position adjustment, realizing single-person precise soil sealing operation, and greatly improving the planting efficiency;

[0081] Wherein, the liftable support 8 and the bulldozing telescopic piece 9 can adopt the form of hydraulic telescopic cylinder or electric telescopic cylinder, so as to realize the adjustment of the position of the arc-shaped pushing plate 13, which are all prior arts and will not be described in detail here;

[0082] In addition, according to the condition of the soil or the requirement of covering soil, the arc-shaped pushing plate 13 can always push the soil at a certain part (i.e. the follow-up driving motor 11 is in the state of shutdown), so as to improve the practicability and flexibility of the equipment.

[0083] In an embodiment of the present application, please refer to Figures 1-14 , the walking mechanism comprises:

[0084] a rotating shaft 7, which is rotationally connected with the traction control frame 1;

[0085] and two planting driving wheels 3, which are fixedly connected with two ends of the rotating shaft 7 respectively;

[0086] Wherein, the middle part of each planting driving wheel 3 is fixedly installed with a detachable counterweight 4, and the detachable counterweight 4 is detachably installed with a counterweight block, which is used for ensuring the stable walking of the planting driving wheel 3 on the uneven soil surface.

[0087] The middle part of the Epimedium planting area 23 is provided with a planting groove 22, which is used for placing the root part of the Epimedium seedling;

[0088] Wherein, the arc-shaped pushing plate 13 and the earth-moving plate 14 are used for pushing the soil on both sides of the planting groove 22, so as to cover the root part of the Epimedium seedling in the planting groove 22.

[0089] The cooperation of the rotating shaft 7 of the walking mechanism, the planting driving wheel 3 and the detachable counterweight 4, combined with the design of the planting groove 22 of the Epimedium planting area 23, provides a stable moving basis and positioning reference for the accurate soil sealing of the arc-shaped push plate 13 and the soil turning plate 14. In the understory cultivation scene, the soil surface is often uneven due to the accumulation of fallen leaves and the protrusion of root systems. The traditional walking mechanism is prone to slipping and bumping, which causes the planting groove 22 to deviate from the set position, and the roots of the seedlings cannot be accurately covered when sealing the soil. In the present application, the rotating shaft 7 is rotationally connected with the traction control frame 1, and under the action of external traction power, the two planting driving wheels 3 are synchronously rotated to provide the device with moving power; the detachable counterweight 4 (box body structure) in the middle of each planting driving wheel 3 can be adjusted by adding or removing the counterweight block to adjust the pressure of the driving wheel on the ground. When encountering protruding soil, the increased pressure of the counterweight block makes the driving wheel not easy to float, and when encountering depressed soil, it avoids the driving wheel from sinking too much and slipping, ensuring that the device walks smoothly along the preset planting route, and ensuring the straightness and spacing accuracy of the planting groove 22; the planting groove 22 in the middle of the Epimedium planting area 23 provides a fixed placement space for the roots of the seedlings, making the roots in a neat arrangement, avoiding the scattering of the roots causing some roots to be exposed when sealing the soil; when the device moves above the planting groove 22, the walking mechanism maintains a stable moving speed, the arc-shaped push plate 13 is attached to the soil surface on both sides of the planting groove 22 under the synergistic action of the multidirectional adjusting mechanism and the follow-up driving motor 11, and the soil turning plate 14 pushes the soil on both sides of the groove to the inside of the groove, so that the soil evenly covers around the roots of the seedlings, forming a uniform thickness of the soil layer, solving the misplacement and missing sealing problems caused by unstable walking of the traditional device, ensuring that the roots of the seedlings are in full contact with the soil, and promoting the development of the root system.

[0090] In one embodiment of the present application, 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] Among them, the pneumatic control cylinder 5 is provided with a gas source device;

[0092] And an automatic clamping assembly, the number of the automatic clamping assembly is multiple, multiple automatic clamping assemblies are evenly distributed on the pneumatic control cylinder 5, and are in communication with the gas source device;

[0093] Multiple automatic clamping assemblies are arranged in a uniform manner to plant Epimedium seedlings at a distance.

[0094] The automatic clamping assembly includes:

[0095] A plurality of air pipes 18 are evenly distributed on the pneumatic control cylinder 5 and are in communication with the gas source device through a valve.

[0096] Clamping branch plates 17 are fixedly installed on the air ducts 18, wherein two clamping branch plates 17 form a group, and the two clamping branch plates 17 in each group are oppositely arranged;

[0097] A flow distribution air chamber 21 is fixedly installed on the clamping branch plate 17 and communicates with the air duct 18;

[0098] A plurality of soft clamping expansion plates 20 are inserted into the clamping branch plate 17 and are in sliding connection with the clamping branch plate 17;

[0099] One end of each soft clamping expansion plate 20 is located in a chamber of the flow distribution air chamber 21 (similar to a cylinder structure);

[0100] The soft clamping expansion plate 20 expands and contracts on the clamping branch plate 17 through the change of air pressure in the chamber of the flow distribution air chamber 21, thereby achieving the centering and clamping and releasing of the stem of the Epimedium brevicornum Bunge seedling.

[0101] The device further comprises an air duct 16, two ends of the air duct 16 respectively communicate with the chamber of the flow distribution air chamber 21 and an air source device;

[0102] A soft limiting expansion plate 19 is inserted into the clamping branch plate 17 and is arranged perpendicularly to the soft clamping expansion plate 20, and one end of the soft limiting expansion plate 19 is located in the chamber of the flow distribution air chamber 21;

[0103] Two soft limiting expansion plates 19 are symmetrically arranged on each clamping branch plate 17, and when the two soft limiting expansion plates 19 respectively contact two soft limiting expansion plates 19 on another clamping branch plate 17, the clamping branch plate 17 and the soft limiting expansion plate 19 form a square structure.

[0104] When the two clamping plates 17 rotate to the highest position of the pneumatic control cylinder 5, the inclined state sensor provided on the air pipe two 18 can detect it, at this time, the operation module 6 controls the air supply equipment to make the corresponding soft limiting telescopic plate 19 and soft clamping telescopic plate 20 extend, so as to clamp the epimedium seedling stem (the root is upward, so that the root is downward when rotating to the lower side), and the root will extend out of the clamping equipment by a distance (i.e. a distance above the clamping plate 17), because the root is upward, it is convenient for the staff to control the distance of the root extending out of the clamping equipment, to ensure the subsequent accurate soil sealing and survival rate. When the pneumatic control cylinder 5 rotates with the walking equipment, it can drive the epimedium seedling between the two clamping plates 17 to rotate downward until it reaches the lowest position, and then the air supply equipment controls the soft clamping telescopic plate 20 to shrink into the clamping plate 17, and the combination of the clamping plate 17 and the soft limiting telescopic plate 19 forms a square frame structure to limit the loosened epimedium seedling, so that the epimedium seedling reaches the planting groove 22 under the weight of its root, and contacts with the bottom of the planting groove 22, avoiding the suspended state of soil sealing, and making the epimedium seedling in the approximate vertical state for soil sealing, avoiding the loose soil sealing due to the clamping inclination and other factors.

[0105] Through the rotation function of the pneumatic control cylinder 5, the power supply of the air source device, combined with the coordinated control of the air pipe 2 of the automatic clamping assembly 18, the clamping support plate 17, the flow distribution air chamber 21, the soft clamping expansion plate 20, and the air pipe 1 16, the soft limiting expansion plate 19 and the inclination state sensor, the operating module 6, the distance, non-destructive and precise automatic planting of the Epimedium sagittatum is realized, laying the foundation for the subsequent soil sealing process. The existing Epimedium sagittatum planting relies on manual planting, which not only has low efficiency (less than 1000 plants per day per person), but also easily damages the stems of the seedlings during manual clamping, and the distance accuracy is poor (the row spacing error can reach 5-10 cm), which affects the photosynthesis and field management in the later period.In the present application, the pneumatic control cylinder 5 is located in the middle of the walking mechanism (i.e. installed in the middle position of the rotating shaft 7), and rotates synchronously with the walking mechanism, and the gas source device (such as a miniature air pump) in the pneumatic control cylinder 5 provides stable air pressure for the automatic clamping assembly; a plurality of automatic clamping assemblies are evenly distributed along the circumference of the pneumatic control cylinder 5 (such as one set every 15 cm), which ensures the uniform spacing of seedling planting (adapted to the optimal row spacing requirement of 20-30 cm of Epimedium); when the clamping support plate 17 of a certain group of automatic clamping assemblies rotates to the highest position of the pneumatic control cylinder 5, the inclined state sensor on the air pipe 2 18 detects the position signal and transmits it to the control module 6, which immediately controls the gas source device to supply air to the flow distribution air chamber 21 through the air pipe 2 18, and the air pressure in the flow distribution air chamber 21 rises to push the soft clamping expansion plate 20 out of the clamping support plate 17, and the soft clamping expansion plates 20 on the two sets of opposite clamping support plates 17 cooperate with each other to flexibly clamp the stem of the Epimedium seedling (the soft material avoids damaging the stem, and can adapt to different thickness seedlings with diameters of 3-8 mm); at the same time, the gas source device supplies air to the other chamber of the flow distribution air chamber 21 through the air pipe 1 16, pushing the soft limiting expansion plate 19 to extend out, and the soft limiting expansion plates 19 on the two clamping support plates 17 contact each other to form a square frame structure, which assists in limiting the seedling to prevent it from deviating during rotation; as the pneumatic control cylinder 5 continues to rotate, the clamped seedling is rotated downward, and when it rotates to the lowest position (opposite the planting groove 22), the control module 6 controls the gas source device to release pressure, and the soft clamping expansion plate 20 retracts into the clamping support plate 17, and the seedling falls under the action of its own weight, and the soft limiting expansion plate 19 of the square frame structure ensures that the seedling falls vertically into the planting groove 22, with the root precisely contacting the bottom of the groove (to avoid the root being suspended and not fully contacting the soil after the soil is covered); after the soil covering is completed, the gas source device can be controlled to release pressure under the detection of the sensor on the soil covering device, and the soft limiting expansion plate 19 retracts into the clamping support plate 17 to release the limiting, so as to avoid the collision between the square frame structure and the stem of the seedling when the overall device continues to move forward; after the soil covering is completed, continue to pull the overall device forward, the pneumatic control cylinder 5 continues to rotate, the next group of automatic clamping assemblies rotates to the highest position to repeat the above action, realizing continuous planting at a fixed distance, and the planting efficiency can be improved to more than 3000 plants / hour, and the seedling damage rate is reduced to less than 5%, solving the pain points of traditional manual planting, and providing precise seedling positioning for the subsequent precise soil covering of the arc push plate 13 and the soil pushing plate 14, ensuring the cooperation and high efficiency of the planting and soil covering processes.

[0106] The soft clamping expansion plate 20 is in the form of a long strip hollow structure as a whole, is matched with the mounting hole size of the clamping support plate 17, the length is set to 10-15 cm, the expansion stroke is controlled to 3-5 cm (to meet the clamping requirement of the Epimedium sagittatum seedling stem with a diameter of 3-8 mm), one end of the plate body is a sealed connection end, the outer wall is provided with an annular groove, a nitrile rubber sealing ring (cross-section diameter 2-3 mm) is embedded in the groove, which is used for sealed butt joint with the warehouse outlet of the flow distribution warehouse 21 to prevent gas pressure leakage; the other end is a clamping working end, the end face is processed into an inner concave arc shape (arc surface radius 5-8 mm), which increases the contact area with the seedling stem and avoids local excessive pressure damage to the bark. The plate body is provided with a strip-shaped guide protrusion (width 2 mm, height 1.5 mm) on both sides along the length direction, which is in sliding cooperation with the guide groove (matching protrusion size) on the inner wall of the clamping support plate 17 mounting hole, so that the plate body moves along the axial direction during expansion to avoid offset and clamping misalignment. In addition, 3-4 axial reinforcing ribs (thickness 1 mm) are arranged in the hollow cavity of the plate body to enhance the structural strength and prevent excessive deformation of the plate body under the action of gas pressure to affect the clamping stability. The soft clamping expansion plate 20 is made of food-grade silicone and thermoplastic elastomer (TPE) blended material, in which the proportion of silicone is 60%-70% and the proportion of TPE is 30%-40%; the Shore hardness of the material is set to 50-70A, which has good elastic recovery (tensile elongation at break ≥300%) and wear resistance (wear amount ≤0.05 g / 1000 times of friction), can be repeatedly expanded and clamped without easy cracking, can adapt to temperature changes of -10℃-40℃ in the forest, is resistant to moisture and mold (meets the requirements of the antibacterial rate ≥90% in GB / T16856-2018 “Rubber and Plastic Antibacterial Performance Test Method”), avoids pollution or material degradation of the soil and seedlings caused by long-term contact with the soil and seedlings.

[0107] The flow distribution air chamber 21 is a rectangular cuboid closed cavity (size: length 8-12 cm, width 5-7 cm, height 3-4 cm), adopts a multi-chamber independent separation structure, is separated into 6-8 independent chambers (each chamber volume 15-20 mL) by 3-4 polycarbonate partitions (thickness 2 mm) inside, 4-6 chambers correspond to the soft clamping expansion plate 20 (every 2 chambers are a group, respectively connected with a group of opposite clamping expansion plates), 2 chambers correspond to the soft limiting expansion plate 19 (respectively connected with the limiting expansion plates on both sides of the clamping support plate 17), the partition and the chamber wall are sealed by ultrasonic welding to prevent air leakage between the chambers. One side of the chamber body is provided with a main air inlet (screw specification G1 / 8), which is communicated with the gas source equipment in the pneumatic control cylinder 5 through the air pipe two 18, and the interface is provided with a built-in fluororubber sealing pad (temperature resistance-20℃-200℃, pressure resistance 0.8MPa); each independent chamber is provided with a branch air outlet (screw specification G1 / 16), which is screwed with the sealing connection end of the corresponding expansion plate to realize accurate distribution of air pressure. The bottom of the chamber body is provided with four bolt mounting holes (hole diameter 3 mm), which are fixedly connected with the clamping support plate 17 through M3 stainless steel bolts, and the mounting surface is provided with a positioning pin (diameter 4 mm), which ensures the accurate relative position of the flow distribution air chamber 21 and the clamping support plate 17, avoids the misplacement of the interface. In addition, the top of the chamber body is provided with a transparent observation window (PC plate with thickness of 2 mm), which can observe the air pressure state in the chamber (such as whether there is condensed water), facilitate maintenance, and realize the expansion of the expansion plate through the change of air pressure.

[0108] The soft limiting telescopic plate 19 is a long strip solid structure, arranged vertically with the soft clamping telescopic plate 20, with a length of 8-12 cm and a telescopic stroke control of 2-4 cm (ensuring that two opposite limiting telescopic plates can form a square frame structure with a side length of 5-8 cm after contact, adapting to the limiting needs of the Epimedium seedling stem). One end of the plate body is a sealed connection end, which is consistent in structure with the soft clamping telescopic plate 20 (annular groove with sealing ring), and is sealed and connected with the limiting warehouse of the flow distribution warehouse 21; the other end is a limiting working end, with a flat end face (flatness ≤0.1 mm), ensuring that two opposite limiting telescopic plates can be tightly fitted when in contact, forming a complete square frame boundary to prevent the seedling from deviating from the gap. The plate body is provided with a rectangular guide strip (width 3 mm, height 2 mm) along the length direction, which is in sliding fit with the guide hole (matching the size of the guide strip) in the clamping support plate 17 perpendicular to the clamping telescopic plate guide groove, ensuring that the telescopic process moves vertically to the clamping direction, and accurately connects to form a square frame. In addition, the plate body is provided with a 0.5 mm thick wear-resistant coating (polytetrafluoroethylene material) near the working end, which reduces the wear when in contact with the opposite limiting telescopic plate, prolonging the service life. The soft limiting telescopic plate 19 is made of high-elasticity TPE and nitrile rubber blended material, with TPE accounting for 70%-80% and nitrile rubber accounting for 20%-30%; the material Shore hardness is set to 60-80A, higher than that of the soft clamping telescopic plate 20, ensuring sufficient supporting stiffness (compression deformation rate ≤10% @ 20N pressure), which can stably form a square frame to limit the seedling, while retaining a certain elasticity (rebound rate ≥90%), avoiding damage to the seedling due to rigid collision when in contact. The material has excellent oil resistance (adapted to the possible plant oil in the forest) and aging resistance, meeting the health requirements of GB / T20028-2005 "Sulfurized rubber or thermoplastic rubber applied to materials and products in contact with drinking water", and will not have adverse effects on the growth of the seedling, which will not be described in detail here.

[0109] In one embodiment of the present application, please refer to Figure 1 and 2 , the operating module 6 is fixedly installed on the outer side wall of the Epimedium seedling holding bucket 2 (preferably near the side operated by the staff, avoiding interference with the moving parts such as the walking mechanism and the automatic clamping assembly, and facilitating the operation and observation of the staff), which serves as the control center of the device, and the core function is to coordinate the whole process actions such as seedling clamping, multi-directional adjustment and soil sealing. The specific composition and functions are as follows:

[0110] 1. Core control unit;

[0111] The core control unit is installed in the internal sealed cavity of the operating module 6, adopts an embedded microprocessor (such as an STM32F4 series chip), and is provided with a preset control program. The main function of the core control unit is to receive detection signals transmitted by various sensors, analyze operation instructions input by a worker through a parameter setting panel, and simultaneously send precise control signals to an actuating mechanism such as the liftable support 8, the bulldozing telescopic piece 9, a gas source device of the pneumatic control cylinder 5, and the follow-up driving motor 11, so as to ensure that various components cooperatively complete planting-related actions.

[0112] 2. The parameter setting panel;

[0113] The parameter setting panel is externally arranged on the front face of the operating module 6 and is designed in a touch or key type. A worker can set key parameters in the planting process through the parameter setting panel, including the height of the earth covering of the arc-shaped push plate 13, the extension amount of the bulldozing telescopic piece 9, and the rotating speed of the follow-up driving motor 11, so as to adapt to Epimedium sagittatum seedlings in different growth stages and different soil conditions under the forest.

[0114] 3. The state display module;

[0115] The state display module is integrated with the parameter setting panel (using an LCD or LED screen) and can display the running state of the device in real time, including the position information of the actuating mechanism such as the height of the liftable support 8 and the stroke of the bulldozing telescopic piece 9, the position of the automatic clamping assembly (such as the highest position for clamping and the lowest position for planting), the gas pressure value of the gas source device in the pneumatic control cylinder 5, and the like. If the device has problems such as sensor abnormalities and insufficient gas pressure, the state display module can also trigger a fault alarm in real time and display the fault position, so as to facilitate the worker to timely troubleshoot.

[0116] 4. The signal transceiver module;

[0117] The signal transceiver module is built in the operating module 6 (with a shielding layer to reduce signal interference) and mainly functions to establish signal connection with external components: upwardly communicating with the liftable support 8, the bulldozing telescopic piece 9, the gas source device, and the follow-up driving motor 11 to send control instructions; and downwardly receiving detection signals of various sensors to realize bidirectional transmission of instructions and data, so as to ensure that the control instructions are timely responded.

[0118] 6. The sensor signal processing module;

[0119] The sensor signal processing module is installed in the operating module 6 close to the core control unit, mainly filters, amplifies and analyzes the signals of external sensors, eliminates environmental interference to ensure signal accuracy. Its core is associated with three types of sensors: first, the inclination state sensor installed on the outer wall of the air pipe 2 of each automatic clamping assembly, used to detect the rotation position of the clamping support plate 17 with the air control cylinder 5 (identify the highest position and the lowest position); second, the soil sealing state sensor installed on the side of the soil sealing support 10 close to the arc-shaped push plate 13, used to detect the distance between the arc-shaped push plate 13 and the planting groove 22 and the thickness of the soil covering the roots of the seedlings; third, the walking state sensor installed at the end of the rotating shaft 7 (coaxial with the planting drive wheel 3), which detects the speed of the planting drive wheel 3 speed conversion device to provide speed matching basis for the automatic clamping assembly.

[0120] 7. A power module;

[0121] The power module is installed at the bottom of the operating module 6 (detachable), with a built-in rechargeable lithium battery (such as 12V / 5Ah) or an external power supply interface, mainly for powering the operating module 6 itself and low-power sensors, while having overvoltage and overcurrent protection functions to avoid voltage abnormalities damaging equipment components.

[0122] It should be noted that in the present application, unless otherwise specified and limited, the terms "sliding", "rotating", "fixed", "provided with" and the like should be understood broadly, for example, can be welded connection, or bolted connection, or integrated; can be mechanical connection, or electrical connection; can be directly connected, or indirectly connected through an intermediate medium; can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0123] In addition, it should be understood that although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description manner of the specification is only for the sake of 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 those skilled in the art can understand.

Claims

1. A device for cultivating Epimedium under forest, comprising a traction control frame, characterized in that, The traction control frame is provided with a walking mechanism; The traction control frame is also provided with two multi-directional adjusting mechanisms on the ends thereof, and the multi-directional adjusting mechanisms are fixedly installed with soil sealing supports; The soil sealing supports are fixedly installed with follow-up driving motors, and the output ends of the follow-up driving motors are fixedly installed with supporting discs, and the soil sealing supports are used to drive the supporting discs to rotate on the soil sealing supports according to the movement state of the multi-directional adjusting mechanisms; The supporting discs are fixedly installed with arc-shaped push plates, and the arc-shaped push plates are provided with a plurality of soil pushing plates, and the arc-shaped push plates and the soil pushing plates are used to seal the roots of the Epimedium brevicornum seedlings in the Epimedium brevicornum planting area; The arc-shaped push plates are provided with inclined notches at the two ends thereof, so that the top view of the arc-shaped push plates is in a V-shaped structure; The heights of the plurality of soil pushing plates gradually increase from the wide part to the narrow part of the arc-shaped push plates; The multi-directional adjusting mechanisms comprise liftable supports which are fixedly connected with the traction control frame; and earth pushing telescopic members which are fixedly installed at the bottom ends of the liftable supports; wherein the liftable supports and the earth pushing telescopic members are signal connected with a control module and are respectively used to adjust the longitudinal and transverse directions of the arc-shaped push plates; and the arc-shaped push plates automatically adjust the self-rotation state following the transverse adjustment displacement thereof; Further comprising a pneumatic control cylinder which is located at the middle part of the walking mechanism and rotates with the walking mechanism; wherein the pneumatic control cylinder is provided with a gas source device; and a plurality of automatic clamping assemblies which are uniformly distributed on the pneumatic control cylinder and are in communication with the gas source device; The plurality of automatic clamping assemblies are used to plant the Epimedium brevicornum seedlings at a distance through the uniform arrangement; The automatic clamping assemblies comprise a plurality of air pipes II which are uniformly distributed on the pneumatic control cylinder and are in communication with the gas source device through a valve; clamping support plates which are fixedly installed on the air pipes II, wherein every two clamping support plates form a group, and the two clamping support plates of each group are oppositely arranged; flow distribution air chambers which are fixedly installed on the clamping support plates and are in communication with the air pipes II; and a plurality of soft clamping telescopic plates which are inserted into the clamping support plates and are slidingly connected with the clamping support plates; and one end of each of the plurality of soft clamping telescopic plates is located in a chamber of the flow distribution air chamber; The soft clamping telescopic plates realize the expansion and contraction on the clamping support plates through the change of the air pressure in the chambers of the flow distribution air chamber, so as to realize the centering clamping and loosening of the stems of the Epimedium brevicornum seedlings; Further comprising an air pipe I which is in communication with the chambers of the flow distribution air chamber and the gas source device; and a soft limiting telescopic plate which is inserted into the clamping support plate and is perpendicularly arranged with the soft clamping telescopic plate, and one end of the soft limiting telescopic plate is located in a chamber of the flow distribution air 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.

2. The device for cultivating Epimedium under forest according to claim 1, 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.

3. The device for cultivating Epimedium under forest 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.

4. The device for cultivating Epimedium under forest according to claim 1, 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.

5. The device for cultivating Epimedium under forest according to claim 1, 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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