A transplanting device for under-forest planting of medicinal materials

Abstract

This invention belongs to the field of medicinal herb transplanting technology, and particularly relates to a transplanting device for medicinal herbs planted under forest canopies. The device includes a self-propelled transplanter, comprising a body with a planting mechanism capable of alternating planting actions. A seedling lowering mechanism, arranged in a turntable shape, is located on the body above the planting mechanism. A seedling loading mechanism is located inside a support frame near the seedling lowering mechanism. A seedling rotating mechanism integrating seedling picking and placing functions is located on the other side of the support frame. A loading tray mechanism integrating a material tray holding and loading functions is located inside the placement frame. A tray picking mechanism is located above the placement frame. A transfer mechanism integrating material tray clamping and adjustment functions is located at the output end of the horizontal and vertical moving mechanism. This invention reduces labor costs, increases the automation level of the device, improves transplanting efficiency and quality, and fully meets user needs.

Description

Technical Field

[0001] This invention belongs to the field of medicinal herb transplanting and planting technology, and particularly relates to a transplanting and planting device for medicinal herbs planted under forest canopy. Background Technology

[0002] With the rapid development of my country's traditional Chinese medicine industry and the vigorous promotion of the understory economy model, understory planting of medicinal herbs has become an important way to adjust the agricultural structure and increase farmers' income in mountainous areas due to its characteristics of not competing with grain crops for land and combining ecological and economic benefits. Transplanting medicinal herbs is a key link in the understory planting process, and the quality and efficiency of transplanting directly affect the survival rate, growth cycle, and final yield of the herbs.

[0003] Currently, self-propelled seedling transplanters are widely used for transplanting rice seedlings in field crops. These machines have their own power systems and can move independently and automatically complete tasks such as planting, covering with soil, and compacting. Their core working principle follows a standardized process of "segmented seedling picking - vertical seedling placement - zero-speed soil entry - covering with soil and compacting", which significantly improves the transplanting efficiency of field crops. However, there are still some shortcomings when applying existing self-propelled seedling transplanters to the cultivation of medicinal herbs under forest cover. The most prominent problem lies in the seedling loading and unloading and the transfer of seedling trays. Specifically, although existing seedling transplanters can automate the planting process, the seedling loading process still relies heavily on manual operation. During operation, at least 1-2 workers need to accompany the equipment throughout the process. This means that the seedling trays filled with medicinal seedlings need to be transported from the centralized placement area to the operating position of the transplanter. Then, the seedlings need to be manually pulled out of the holes in the seedling trays one by one and placed into the seedling delivery tube of the transplanter. After all the seedlings in a seedling tray have been loaded, the workers need to remove the empty seedling trays and transport them to the empty tray recycling area before picking up the next full tray to continue the operation.

[0004] In the above process: the labor cost is high. In large-scale forest medicinal herb planting bases, the transplanting operation period is short and concentrated, requiring the employment of a large number of temporary workers, resulting in high labor costs; the labor intensity is extremely high. Workers need to repeatedly perform actions such as picking up seedlings, moving seedling trays, and placing seedlings, which can easily lead to fatigue, affecting work efficiency and transplanting quality. Moreover, the reliance on manual labor is too high. The speed of the entire transplanting operation is entirely determined by the speed of manual seedling picking, and the automation advantages of the equipment itself cannot be fully utilized, resulting in low actual transplanting efficiency.

[0005] Therefore, developing a forest-based medicinal herb transplanting device that can automatically pick up and place seedlings and automatically transfer seedling trays is of great significance for reducing labor costs, improving transplanting efficiency and quality, and promoting the large-scale and mechanized development of forest-based medicinal herb cultivation. Summary of the Invention

[0006] This invention addresses the technical problems existing in the above-mentioned transplanting process of medicinal seedlings by proposing a transplanting and planting device for medicinal herbs planted under forest cover. The device is reasonably designed, simple in structure, easy to process, effectively reduces labor costs, improves the automation level of the equipment, enhances transplanting efficiency and quality, and fully meets the needs of users.

[0007] To achieve the above objectives, the present invention provides a transplanting device for medicinal herbs planted under forest cover, comprising a self-propelled transplanter. The self-propelled transplanter includes a body, with self-propelled mechanisms on the front and rear sides of the body. A planting mechanism capable of alternating planting actions is located within the body. The device is characterized by a seedling lowering mechanism arranged in a turntable configuration on the body above the planting mechanism. A triangular support frame is positioned above the body, with a seedling loading mechanism located on the inner side of the support frame near the seedling lowering mechanism. A seedling collection and placement function is located on the other side of the support frame. The integrated seedling transfer mechanism comprises a seedling loading mechanism and a seedling transfer mechanism arranged perpendicularly. A placement frame is located at the front of the machine body in the direction of travel. The placement frame contains a loading mechanism that integrates the functions of carrying a material tray and loading. A tray-retrieving mechanism is located above the placement frame. A concave-shaped support plate is located on the upper inner side of the placement frame. A horizontal and vertical moving mechanism is located above the support plate. The output end of the horizontal and vertical moving mechanism is equipped with a transfer mechanism that integrates the functions of holding and adjusting the material tray. The transfer mechanism receives the material tray from the tray-retrieving mechanism so that the seedling transfer mechanism can pick up the medicinal seedlings and transport them to the seedling loading mechanism.

[0008] Preferably, the seedling feeding mechanism includes a concave-shaped upright frame with a rotating shaft at its geometric center. A rotating disk is mounted on the rotating shaft, and multiple seedling tubes are evenly distributed within the rotating disk. A cover is located on the lower inner side of the upright frame, and a transmission shaft, which is linked to the planting mechanism and extends through the cover, is located on the outer side of the upright frame. A first bevel gear is located at the end of the transmission shaft, and a second bevel gear is located below the rotating shaft. A Y-shaped guide cover is located on one side of the upright frame, and a material drop cover is located below the guide cover. A rotating rod is located inside the guide cover, and a swing plate is mounted on the rotating rod. A swing frame is located outside the rotating rod, and an adapter groove is formed within the swing frame. A transmission rod is located inside the cover, and a third bevel gear is located at one end of the transmission rod. A rotating rod is located on the other side of the transmission rod, and an adapter rod is located outside the rotating rod, corresponding to the adapter groove.

[0009] Preferably, the seedling loading mechanism includes a mounting frame mounted on a support frame, a stabilizing frame below the mounting frame, a trapezoidal carrier plate inside the stabilizing frame, rotating wheels at the bottom corners of the two carrier plates, a mounting seat on the outer side of the bottom of the carrier plate, an auxiliary wheel on the mounting seat, the rotating wheels and auxiliary wheels arranged in a triangular shape, and a transmission belt on the outer side of the transmission belt, multiple U-shaped seedling containers arranged side by side on the outer side of the transmission belt, which move together with the transmission belt, and a U-shaped limiting plate on the outer side of the carrier plate, the two ends of the limiting plate being arc-shaped, to limit the seedling containers on the transmission belt.

[0010] Preferably, the seedling transfer mechanism includes an adjustment drive cylinder located on the outside of the support frame. The output end of the adjustment drive cylinder is provided with a telescopic plate. The telescopic plate is provided with an oblique sliding component. The moving end of the oblique sliding component is provided with a moving plate. Multiple finger cylinders are arranged side by side on the moving plate for clamping the medicinal seedlings on the transfer mechanism and transporting them to the seedling loading mechanism.

[0011] Preferably, the upper plate mechanism includes four sets of bearing seats, a rotating rod is arranged between two horizontally parallel bearing seats, transmission gears are arranged on both sides of the rotating rod, a transmission chain is arranged between two vertically parallel transmission gears, and an L-shaped carrier is arranged between the two transmission chains. The two sets of upper plate mechanisms are arranged in a mirror image on both sides of the placement frame.

[0012] Preferably, the tray-retrieving mechanism includes an extension frame positioned above the placement frame, a vertical drive cylinder positioned above the extension frame, an mounting plate positioned at the output end of the vertical drive cylinder, and one-way output cylinders positioned on both sides of the mounting plate. The two one-way output cylinders cooperate to clamp the tray on the upper tray mechanism.

[0013] Preferably, the lateral movement mechanism includes a transverse rodless cylinder disposed above the support plate, and the moving end of the transverse rodless cylinder is provided with a longitudinal rodless cylinder, the moving end of the longitudinal rodless cylinder being connected to the transfer mechanism.

[0014] Preferably, the transfer mechanism includes a concave seat, a rotary adjustment cylinder is disposed within the concave seat, a standing seat is disposed above the concave seat, a rotating plate is disposed between the two standing seats at an obtuse angle, the lower part of the rotating plate is rotatably connected to the rotary adjustment cylinder, a connecting frame is disposed on the other side of the rotating plate, a transverse sliding assembly is disposed on the front side of the connecting frame, a longitudinal drive cylinder for driving the transverse sliding assembly to move and adjust is disposed within the connecting frame, a sliding frame is disposed on the transverse sliding assembly, a clamping cylinder is disposed on the inner side of the sliding frame, a limiting seat is disposed on the outer side of the clamping cylinder, a conveyor belt mechanism is disposed on the other side of the connecting frame, a material tray is placed between the conveyor belt mechanism and the limiting seat, and multiple through holes are evenly distributed in the material tray.

[0015] Preferably, the power output end of the conveyor belt mechanism is provided with a drive rod, the drive rod is provided with a drive wheel, a top material mechanism is provided above the connecting frame, the top material mechanism includes a vertical plate, a transverse plate is provided between the two vertical plates, a top rod is provided at the end of the transverse plate, a slot corresponding to the transverse plate is opened in the vertical plate, a fixing rod is provided in the slot, a compression spring is sleeved on the fixing rod, and a transmission mechanism with a self-resetting function is provided on one side of the top material mechanism.

[0016] Preferably, the transmission mechanism includes a vertical rod mounted on a connecting frame, a driven rod mounted on the vertical rod, a driven wheel mounted on the outer side of the driven rod, a rotating cylinder mounted on the outer side of the other end of the driven rod, a horizontal groove formed on the outer side of the rotating cylinder, an arc-shaped groove formed on the outer side of the rotating cylinder between the horizontal grooves, and a sliding rod corresponding to the horizontal groove and the arc-shaped groove provided on the outer side of the transverse plate.

[0017] Compared with the prior art, the advantages and positive effects of the present invention are as follows: This invention provides a transplanting and planting device for medicinal herbs grown under forest cover, effectively replacing manual seedling collection and tray transfer. Through the coordinated operation of the tray loading mechanism, tray retrieval mechanism, transfer mechanism, and seedling transfer mechanism, it achieves automatic tray loading, automatic seedling removal and placement, and automatic empty tray recycling. Only one person is needed to inspect each unit, significantly reducing labor costs and intensity, and solving the labor shortage problem during the transplanting season. It also significantly improves transplanting efficiency, as the actions of each mechanism are completely synchronized with the planting mechanism, eliminating any pauses caused by manual operation. The actual operating efficiency is significantly higher than that of the manual seedling collection method. The system enhances the transplanting capabilities to meet the needs of large-scale understory medicinal herb cultivation. It effectively improves transplanting quality and survival rate by employing a combination of pole-lifting and finger-cylinder stem clamping for seedling removal, avoiding damage to the root system caused by manual pulling. The mechanical movements are precise and controllable, ensuring consistent seedling placement depth and verticality, thus increasing the survival rate and significantly improving the uniformity of medicinal herb seedling growth. The system is compact and energy-efficient, with both the seedling placement and lifting mechanisms using a power design linked to the main mechanism, eliminating the need for an additional independent power source, simplifying the equipment structure, and reducing manufacturing costs and operating energy consumption. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of a transplanting device for planting medicinal herbs under forest cover. Figure 2 This is a schematic diagram of the structure of a transplanting device for planting medicinal herbs under forest cover, taken from another perspective. Figure 3 This is a front view of the structure of a transplanting and planting device for medicinal herbs grown under forest cover; Figure 4 This is a schematic diagram of the seedling feeding mechanism; Figure 5 This is a schematic diagram of the seedling lowering mechanism; Figure 6 for Figure 5 A partial structural diagram of the structure at point A in the middle; Figure 7 A schematic diagram showing the location and structure of the upper plate mechanism; Figure 8 This is a schematic diagram of the upper mechanism; Figure 9 This is a schematic diagram of the transfer mechanism; Figure 10 A structural diagram of the transfer mechanism from another perspective; Figure 11This is a schematic diagram of the top material feeding mechanism; Figure 12 for Figure 11 A magnified view of the local structure at point B; In the above figures, 1. Machine body; 2. Self-propelled mechanism; 3. Planting mechanism; 4. Seedling feeding mechanism; 41. Frame; 42. Rotating shaft; 43. Rotating disc; 44. Seedling cylinder; 45. Cover; 46. Drive shaft; 47. First bevel gear; 48. Second bevel gear; 49. Guide cover; 410. Material discharge cover; 411. Rotating rod; 412. Swing plate; 413. Swing frame; 414. Adaptor groove; 415. Drive rod; 416. Third bevel gear; 417. Rotating rod; 418. Adaptor rod; 5. Support frame; 6. Seedling loading mechanism; 61. Mounting frame; 62. Stabilizing frame; 63. Carrier plate; 64. Rotating wheel; 65. Mounting base; 66. Auxiliary wheel; 67. Transmission belt; 68. Seedling holder; 69. Limiting plate; 7. Seedling turning mechanism; 71. Adjustment drive cylinder; 72. Telescopic plate; 73. Angled sliding assembly; 74. Moving plate; 75. Finger cylinder; 8. Placement rack; 9. Upper plate mechanism; 91. Bearing seat; 92. Rotating rod; 93. Transmission gear; 94. Transmission chain; 9 5. Carrier frame; 10. Tray retrieval mechanism; 101. Extension frame; 102. Vertical drive cylinder; 103. Mounting plate; 104. One-way output cylinder; 11. Support plate; 12. Lateral and longitudinal movement mechanism; 121. Lateral rodless cylinder; 122. Longitudinal rodless cylinder; 13. Transfer mechanism; 131. Concave seat; 132. Rotation adjustment cylinder; 133. Stand; 134. Rotating plate; 135. Connecting frame; 136. Longitudinal drive cylinder; 137. Lateral movement sliding assembly; 138. Slide 139. Moving frame; 1310. Clamping cylinder; 14. Limiting seat; 15. Conveyor belt mechanism; 16. Material tray; 17. Drive rod; 18. Drive wheel; 19. Material ejection mechanism; 10. Vertical plate; 11. Horizontal plate; 12. Push rod; 13. Groove; 14. Fixed rod; 15. Compression spring; 16. Transmission mechanism; 17. Vertical rod; 18. Driven rod; 19. Driven wheel; 10. Rotating cylinder; 11. Horizontal groove; 12. Arc groove; 13. Slide rod. Detailed Implementation

[0020] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0021] Numerous specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways than those described herein, and therefore the invention is not limited to the specific embodiments disclosed in the following specification.

[0022] Examples, such as Figures 1-12 As shown, a transplanting device for medicinal herbs planted under forest canopy includes a self-propelled transplanter. The self-propelled transplanter includes a body 1, with self-propelled mechanisms 2 on both the front and rear sides of the body 1. A planting mechanism 3, capable of alternating planting actions, is located inside the body 1. The self-propelled mechanisms 2 drive the body 1 to move autonomously through the uneven terrain under the forest canopy, adapting to the narrow and complex working space. The planting mechanism 3 employs a scissor-type lifting structure, completing the transplanting process through a reciprocating motion of rising to receive seedlings and lowering to plant them in the soil. Its operating rhythm provides a synchronization benchmark for all subsequent seedling supply mechanisms. A seedling lowering mechanism 4, arranged in a turntable shape, is located on the body 1 above the planting mechanism 3. A triangular support frame 5 is located above the body 1. A seedling raising mechanism 6 is located inside the support frame 5 near the seedling lowering mechanism 4. A seedling rotating mechanism 7, integrating seedling picking and placing functions, is located on the other side of the support frame 5. The seedling raising mechanism 6 and the seedling rotating mechanism 7 are arranged perpendicularly. A placement frame 8 is provided on the front side of the machine body 1 in the direction of travel. The placement frame 8 is equipped with an upper plate mechanism 9 that integrates the functions of carrying material trays and feeding. A tray-retrieving mechanism 10 is provided above the placement frame 8. A support plate 11 with a concave design is provided on the upper inner side of the placement frame 8. A horizontal and vertical moving mechanism 12 is provided above the support plate 11. A transfer mechanism 13 integrating the functions of collecting material trays and adjusting is provided at the output end of the horizontal and vertical moving mechanism 12. The transfer mechanism 13 receives the material tray 141 at the tray-retrieving mechanism 10 so that the seedling transfer mechanism 7 can pick up the medicinal seedlings and transport them to the seedling feeding mechanism 6. This device addresses the pain points of complex forest planting environment, low efficiency of manual transplanting, poor planting accuracy, and inability to continuously alternate planting. Through the linkage and cooperation of various mechanisms, it realizes the fully automated operation of medicinal seedling feeding from the material tray 141, seedling ejection, seedling picking and transfer, continuous seedling feeding, alternating seedling removal, automated planting, and empty tray recycling. It is suitable for the needs of medicinal seedling transplanting operations in irregular forest plots.

[0023] To achieve intermittent repositioning and timed descent of medicinal seedlings, and to precisely synchronize with the alternating planting actions of the dual-station planting mechanism 3, without the need for an additional independent power source, the seedling lowering mechanism 4 is mounted in a turntable shape on the body 1 located above the planting mechanism 3. The seedling lowering mechanism 4 includes a concave-shaped upright frame 41, with a rotating shaft 42 rotatably mounted at the geometric center of the upright frame 41. A rotating disk 43 is fixedly mounted at the top of the rotating shaft 42. Multiple seedling tubes 44 for supporting seedlings are evenly distributed along the circumference inside the rotating disk 43. A cover 45 is fixedly mounted on the lower inner side of the upright frame 41, and a transmission shaft 46, which is linked to the power output end of the planting mechanism 3, is rotatably mounted on the outer side of the upright frame 41. A drive shaft 46 is installed through the cover 45. A first bevel gear 47 is fixedly installed at the end of the drive shaft 46 that extends into the cover 45. A second bevel gear 48 that meshes with the first bevel gear 47 is fixedly installed at the lower end of the rotating shaft 42. A Y-shaped guide cover 49 is fixedly installed on one side of the support frame 41. Two material drop covers 410 are respectively installed below the guide cover 49 corresponding to the two planting mechanisms 3. A rotating rod 411 is rotatably installed inside the guide cover 49. A swing plate 412 for switching the falling direction of the seedlings is fixedly installed on the rotating rod 411. A swing frame 413 is fixedly installed on the outside of the rotating rod 411 that extends out of the guide cover 49. A long strip-shaped adapter groove is opened in the swing frame 413. 414. A transmission rod 415 is rotatably installed inside the cover 45. One end of the transmission rod 415 is fixedly provided with a third bevel gear 416 that meshes with the first bevel gear 47. The other end of the transmission rod 415 is fixedly provided with a rotating rod 417. An adapter rod 418 is eccentrically fixed on the outer side of the rotating rod 417. The adapter rod 418 extends into the adapter groove 414 of the swing frame 413 and can slide along the adapter groove 414. In the above process: the power of the planting mechanism 3 is transmitted to the transmission shaft 46 to realize the output of driving power. That is, the lifting action of the planting mechanism 3 drives the transmission shaft 46 to rotate. On the one hand, the rotating disk 43 is driven to change position through two sets of bevel gears, and on the other hand, the third bevel gear 416 is driven to change position through the third bevel gear 47. The bevel gear 416 drives the transmission rod 415 and the rotating rod 417 to rotate synchronously. The rotating rod 417 drives the adapter rod 418 to make a circular motion. The adapter rod 418 slides back and forth in the adapter groove 414, converting the rotational motion into the reciprocating swing of the swing frame 413, which in turn drives the rotating rod 411 and the swing plate 412 to swing back and forth inside the guide cover 49, switching the guiding direction of the seedling falling. In other words, the operation of the first bevel gear 47 will drive the second bevel gear 48 and the third bevel gear 416 to rotate. The second bevel gear 48 drives the rotating disk 43 to rotate intermittently through the rotating shaft 42, so that each seedling cylinder 44 is aligned with the upper entrance of the guide cover 49 in turn, realizing the sequential conveying of seedlings cylinder by cylinder.The third bevel gear 416 drives the rotating rod 417 to perform circular motion via the transmission rod 415. The adapter rod 418 on the rotating rod 417 slides along the adapter groove 414 of the swing frame 413, converting the rotational motion into the reciprocating swing of the swing frame 413. This, in turn, drives the swing plate 412 to swing left and right within the guide cover 49 via the rotating rod 411. When the left planting mechanism 3 rises to the seedling receiving position, the swing plate 412 swings to the right, guiding the seedlings in the guide cover 49 to the left discharge cover 410. When the right planting mechanism 3 rises to the seedling receiving position, the swing plate 412 swings to the left, guiding the seedlings to the right discharge cover 410. This achieves alternating seedling supply at two positions, perfectly synchronized with the lifting and lowering motion of the planting mechanism 3, effectively avoiding seedling leakage and misplacement, and significantly improving transplanting efficiency.

[0024] To provide stable installation support for the seedling loading mechanism 6 and the seedling transfer mechanism 7, and to ensure precise spatial matching between the mechanisms and adapt to the vibration requirements of the bumpy operation environment under the forest, a triangular support frame 5 is fixedly installed on the top of the machine body 1. The triangular structure has excellent vibration resistance and stability, which can effectively reduce mutual interference between the mechanisms during operation and ensure the accuracy of seedling picking and placing.

[0025] To ensure the orderly and continuous delivery of seedlings from the seedling transfer mechanism 7 to the seedling tray 44 of the seedling dispensing mechanism 4, achieving a stable and uninterrupted seedling supply, a seedling loading mechanism 6 is installed inside the support frame 5 near the seedling dispensing mechanism 4. The seedling loading mechanism 6 includes a mounting frame 61 fixedly mounted on the support frame 5. A stabilizing frame 62 for structural strength is fixedly installed below the mounting frame 61. Trapezoidal carrier plates 63 are fixedly installed inside the stabilizing frame 62. Rotating wheels 64 are rotatably mounted at the bottom corners of the two carrier plates 63. Mounting seats 65 are fixedly installed on the outer side of the upper bottom of the carrier plates 63. An auxiliary wheel 66 is rotatably mounted on the mounting base 65. The rotating wheel 64 and the auxiliary wheel 66 are arranged in a triangular shape. A transmission belt 67 is tensioned and fitted on the outer side of the three. Multiple seedling holding shells 68 with a U-shape design and arranged side by side are evenly fixed on the outer side of the transmission belt 67. The seedling holding shells 68 move together with the transmission belt 67. Their openings face outward to support the seedlings. A U-shaped limiting plate 69 is fixed on the outer side of the carrier plate 63. The two ends of the limiting plate 69 are arc-shaped to limit the radial swing of the seedling holding shells 68 on the transmission belt 67 and prevent the seedlings from falling off during the transportation process.

[0026] During the above process: During operation, the seedling transfer mechanism 7 precisely places the grabbed medicinal seedlings inside the empty seedling container 68. The transmission belt 67 circulates at a uniform speed, driving the seedling container 68 downwards along the contour of the trapezoidal carrier plate 63. Under the constraint of the limiting plate 69, it maintains a stable transport state. The limiting plate 69 always stays against the outside of the seedling container 68, ensuring that the seedlings will not tip over due to vibration or tilting. When the seedling container 68 carrying the seedlings rotates with the transmission belt 67 to the position of the lower auxiliary wheel 66, it is subjected to structural bending deformation and the weight of the seedlings themselves. The elastic seedling holder 68 automatically opens, allowing the seedlings to naturally detach from the holder 68, releasing the seedlings from their wrapping and restraint. The seedlings fall vertically downwards and precisely land inside the seedling cylinder 44 of the seedling feeding mechanism 4. The falling speed and interval of the seedlings are precisely matched with the rotation process of the rotating disk 43, forming a continuous and rhythmic automatic seedling feeding operation. This provides a stable supply of seedlings for uninterrupted transplanting of the entire machine. The above structure is simple and reliable, and the conveying speed can be precisely matched with the rotation speed of the transmission belt 67 and the rotation speed of the seedling feeding mechanism 4, resulting in a low seedling leakage rate.

[0027] To achieve precise grasping, fine-tuning of position, and fixed-point placement of medicinal seedlings, and to efficiently connect the seedling picking process of the transfer mechanism 13 with the seedling storage process of the seedling loading mechanism 6, replacing manual seedling picking and placement operations, a seedling transfer mechanism 7 integrating seedling picking and placement functions is set on the other side of the support frame 5. The seedling loading mechanism 6 and the seedling transfer mechanism 7 are arranged perpendicularly. The seedling transfer mechanism 7 includes an adjusting drive cylinder 71 set on the outside of the support frame 5. The output end of the adjusting drive cylinder 71 is equipped with a telescopic plate 72. The telescopic plate 72 is equipped with an oblique sliding component 73. The moving end of the oblique sliding component 73 is equipped with a moving plate 74. Multiple finger cylinders 75 are arranged side by side on the moving plate 74 for clamping the medicinal seedlings on the transfer mechanism 13 and transporting them to the seedling loading mechanism 6. During operation, when the transfer mechanism 13 transports the seedling tray 141 to the designated work position, and the top material mechanism 15 pushes the seedlings out of the protruding tray 141, the oblique sliding component 73 drives the moving plate 74 towards the tray 141. The device moves diagonally in one direction, aligning each finger cylinder 75 with the corresponding seedling stem. The finger cylinders 75 close to grip the seedling with appropriate force, avoiding damage to the roots and stems. Then, the diagonal sliding component 73 drives the moving plate 74 to reset, and the adjusting drive cylinder 71 pushes the telescopic plate 72 forward, so that the finger cylinders 75 are accurately aligned with the opening of the empty seedling container 68 of the seedling loading mechanism 6. The finger cylinders 75 open, and the seedling is smoothly placed into the seedling container 68, completing one seedling picking and placing cycle. After picking the seedling, each structure is finely adjusted in the opposite direction to accurately place the gripped seedling inside the empty seedling container 68 of the seedling loading mechanism 6. Then, the cylinders reset, waiting for the next seedling picking and transfer. This cycle completes the seamless transfer of seedlings from the feed tray 141 to the seedling loading mechanism 6. The diagonal movement design effectively avoids interference with the feed tray 141 and the seedling loading mechanism 6. Multiple finger cylinders 75 work simultaneously, greatly improving the seedling picking efficiency and meeting the needs of high-speed transplanting.

[0028] To provide a centralized installation foundation for the tray loading mechanism 9, the tray retrieval mechanism 10, and the horizontal and vertical moving mechanism 12, and to enable batch storage of the transplanting trays 141, a placement frame 8 is fixedly installed at the front of the machine body 1 in the direction of travel. To automatically transport the stacked trays 141 upwards one by one, providing a continuous supply of trays 141 for the tray retrieval mechanism 10, thus achieving automatic tray loading and reducing the frequency of manual tray replenishment, the placement frame 8 is equipped with a tray loading mechanism 9 that integrates tray support and loading functions. The tray loading mechanism 9 includes four sets of bearing seats 91. A rotating rod 92 is positioned between two horizontally parallel bearing seats 91, with transmission gears 93 on both sides of the rotating rod 92. A transmission chain 94 is positioned between two vertically parallel transmission gears 93, and an L-shaped carrier frame 95 is positioned between the two transmission chains 94. The two sets of tray loading mechanisms 9 are arranged in a mirror image. Set up on both sides of the placement frame 8, during operation, the staff places the neatly stacked trays 141 containing medicinal seedlings between the two sets of upper tray mechanisms 9, so that the two sides of the trays 141 rest on the corresponding height of the carriers 95. The transmission gear 93 drives the transmission chain 94 to run upward intermittently. The carrier 95 supports the bottom tray 141 and moves it upward, smoothly transporting it to the grabbing height of the tray-retrieving mechanism 10. When a tray 141 is taken away by the tray-retrieving mechanism 10, the transmission chain 94 continues to run one station to transport the next tray 141 to the position. This cycle realizes the continuous automatic feeding of the trays 141. The L-shaped carrier 95 can stably support the edge of the tray 141, without squeezing or deforming the tray 141 or damaging the seedlings inside, so as to continuously supply material for the subsequent tray-retrieving, transfer and seedling-retrieving processes, ensuring the continuous automated operation of the whole machine.

[0029] To automatically pick up the seedling trays 141 to be transplanted from the upper tray mechanism 9 and accurately transport them to the receiving position of the transfer mechanism 13, thus realizing the automatic transfer of seedling trays between different mechanisms, a tray-retrieving mechanism 10 is provided above the placement frame 8. The tray-retrieving mechanism 10 includes an extension frame 101 set above the placement frame 8, a vertical drive cylinder 102 is provided above the extension frame 101, and a mounting plate 103 is provided at the output end of the vertical drive cylinder 102. One-way output cylinders 104 are provided on both sides of the mounting plate 103. The two one-way output cylinders 104 cooperate to clamp the seedling trays 141 on the upper tray mechanism 9. When the upper plate mechanism 9 transports the material tray 141 to the designated height, the vertical drive cylinder 102 drives the mounting plate 103 to move downward, so that the output ends of the two one-way output cylinders 104 are aligned with the left and right edges of the material tray 141 respectively. The two one-way output cylinders 104 extend at the same time and clamp the material tray 141 from both sides. Then, the vertical drive cylinder 102 drives the mounting plate 103 and the material tray 141 to lift upward, take the material tray 141 off the carrier 95 and transport it directly above the transfer mechanism 13, waiting for the transfer mechanism 13 to receive it. This clamping method is stable and reliable, can adapt to standard seedling trays of different specifications, and has strong versatility.

[0030] In order to provide a stable installation platform for the horizontal and vertical moving mechanism 12, a concave support plate 11 is fixedly installed on the upper inner side of the placement frame 8.

[0031] To enable the transfer mechanism 13 to move freely in both horizontal and vertical directions, achieving precise positioning of the material tray 141 and automatic retrieval of the empty material tray 141, a horizontal and vertical moving mechanism 12 is installed above the support plate 11. The horizontal and vertical moving mechanism 12 includes a horizontal rodless cylinder 121 fixedly installed above the support plate 11. On one hand, it can finely adjust the position of the material tray 141 to adapt to the seedling transfer mechanism 7 for seedling collection; on the other hand, it can horizontally transfer the empty material tray 141 after seedling collection to the top of the collection box, completing the empty tray retrieval. The collection box is located behind the placement frame 8 and between the two planting mechanisms 3, used to receive empty trays. That is, when the empty tray is driven by the transfer mechanism 13 to become horizontal and placed above the collection box, the clamping of the empty tray is released, allowing it to fall into the collection box. A pushing cylinder can also be installed on the outside of the collection box to push it below the upper tray mechanism 9. The process of removing the empty tray is simple, convenient, and highly practical. The moving end of the horizontal rodless cylinder 121 is fixedly equipped with a vertical rodless cylinder 122, which can drive the transfer mechanism 13 to complete the horizontal and vertical precise displacement, and precisely adjust the distance between the material tray 141 and the seedling transfer mechanism 7 and the top material mechanism 15 to ensure the alignment accuracy of seedling ejection and grabbing. The moving end of the vertical rodless cylinder 122 is fixedly connected to the transfer mechanism 13. During operation, the horizontal rodless cylinder 121 drives the vertical rodless cylinder 122 and the transfer mechanism 13 to move left and right along the horizontal direction of the machine body 1, and the vertical rodless cylinder 122 drives the transfer mechanism 13 to move forward and backward along the vertical direction of the machine body 1. The two work together to allow the transfer mechanism 13 to reach any designated position above the placement rack 8. The rodless cylinder has the advantages of compact structure, small space occupation, and high movement accuracy, which can meet the position requirements of precise positioning of the material tray 141 and empty tray recycling.

[0032] To receive the material tray 141 delivered by the tray-collecting mechanism 10 and to adjust its posture and position, cooperating with the seedling transfer mechanism 7 to complete the row-by-row seedling clamping action, while simultaneously achieving automatic unloading of the empty material tray 141, the output end of the horizontal and vertical moving mechanism 12 is equipped with a transfer mechanism 13 that integrates material tray clamping and adjustment functions. The transfer mechanism 13 includes a concave seat 131, a rotary adjustment cylinder 132 is installed inside the concave seat 131, a standing seat 133 is installed above the concave seat 131, and a rotating plate 134 is set between the two standing seats 133 at an obtuse angle. The lower part of the rotating plate 134 is rotatably connected to the rotary adjustment cylinder 132. A connecting frame 135 is installed on the other side of the rotating plate 134, and a horizontal crossbar is installed on the front side of the connecting frame 135. A longitudinal drive cylinder 136 for driving the lateral sliding component 137 to move and adjust is provided inside the connecting frame 135. A sliding frame 138 is provided on the lateral sliding component 137. A clamping cylinder 139 is provided on the inner side of the sliding frame 138, and a limit seat 1310 is provided on the outer side of the clamping cylinder 139. A conveyor belt mechanism 14 arranged vertically is provided on the other side of the connecting frame 135. A material tray 141 is placed between the conveyor belt mechanism 14 and the limit seat 1310. Multiple through holes are evenly distributed in the material tray 141. In the above process: the concave seat 131 is the bottom bearing base of the transfer mechanism 13. It has strong structural rigidity and can stably support all the upper adjustment, clamping, and conveying structures. The concave seat 131 has a built-in rotating... The adjusting cylinder 132 is the core power component for adjusting the angle of the material tray 141. Two sets of uprights 133 are symmetrically fixed above the concave seat 131. A rotating plate 134 with an obtuse angle structure is hinged between the two uprights 133. The bottom hinged end of the rotating plate 134 is rotatably connected to the output end of the adjusting cylinder 132. The cylinder's extension and retraction can drive the rotating plate 134 to reciprocate and rotate, thereby adjusting the tilt angle of the upper material tray 141. This allows the material tray 141 to maintain a parallel posture with the seedling feeding mechanism 4, greatly reducing the difficulty of seedling picking by the seedling turning mechanism 7 and improving the seedling picking accuracy. A connecting frame 135 is fixed on the other side of the rotating plate 134, serving as the integrated mounting base for the upper working structure. A longitudinal drive cylinder 136 is fixed inside the connecting frame 135. The longitudinal drive cylinder 136 outputs... The output end is connected to a lateral sliding component 137, which can drive the sliding frame 138 to complete longitudinal displacement fine-tuning, accurately adapting to material trays 141 of different thicknesses and specifications, ensuring clamping stability. A clamping cylinder 139 is fixed inside the sliding frame 138. The clamping cylinder 139 adopts a rotary telescopic structure, which, through rotation and telescopic movements, works in conjunction with the outer limiting seat 1310 to limit and clamp the sidewall of the material tray 141, firmly fixing the working posture of the material tray 141 and preventing shaking or displacement of the material tray 141 during seedling removal. Additionally, pulleys can be installed inside the limiting seat 1310 to ensure smoother movement and adjustment of the material tray, improving functionality. A conveyor belt mechanism 14 is vertically arranged inside the connecting frame 135, cooperating with the limiting seat 1310.The mechanism can support the material tray 141 and drive it to move slightly, switching the position of the through holes in the material tray 141 row by row and column by column, so as to sequentially push out and grab all the seedlings in the material tray 141. During operation, when it is necessary to receive the material tray 141 conveyed by the tray-retrieving mechanism 10, the adjusting cylinder 132 is rotated to extend, driving the rotating plate 134 to rotate around the hinge point of the upright seat 133, so that the connecting frame 135 is adjusted to a horizontal state. The longitudinal driving cylinder 136 drives the sliding frame 138 to move towards the material tray 141. The clamping cylinder 139 cooperates with the limiting seat 1310 to clamp the material tray 141 conveyed by the tray-retrieving mechanism 10, and firmly fix the material tray 141 between the conveyor belt mechanism 14 and the limiting seat 1310. When it is necessary to cooperate with the seedling-turning mechanism 7 to pick up seedlings, the adjusting cylinder 132 is rotated to retract, driving the rotating plate 134 to rotate, so that the connecting frame 135 and the sliding frame 138 move towards the material tray 141. The feed tray 141 is adjusted to an inclined angle parallel to the seedling transfer mechanism 7, facilitating the finger cylinder 75 to pick up seedlings from the front. When the conveyor belt mechanism 14 operates, it drives the feed tray 141 to slowly move vertically upwards, allowing seedlings in different rows of the feed tray 141 to sequentially align with the finger cylinder 75 of the seedling transfer mechanism 7, achieving row-by-row seedling picking. Simultaneously, the conveyor belt mechanism 14 drives the feed tray 141 to shift slightly, switching the seedling picking point, and cooperating with the top-feeding mechanism 15 to complete the seedling lifting and grabbing. This mechanism enables flexible adjustment of the feed tray 141's posture and precise position control, ensuring that the seedling transfer mechanism 7 accurately picks up seedlings each time. After all seedlings in the feed tray 141 have been picked up, all structures reset, adjusting the feed tray 141 to a horizontal position, and cooperating with the horizontal and vertical movement mechanism 12 to complete the empty tray retrieval, even if the feed tray 141 is in a horizontal state.

[0033] To push the medicinal seedlings in the feeding tray 141 upwards through the bottom through-hole, exposing the stems of the seedlings on the surface of the feeding tray 141, making it easier for the finger cylinder 75 of the seedling transfer mechanism 7 to grasp them, and avoiding direct grasping that could damage the seedling roots and nutrient pots, a drive rod 142 is provided at the power output end of the conveyor belt mechanism 14. A drive wheel 143 is provided on the drive rod 142. A feeding mechanism 15 is provided above the connecting frame 135. The feeding mechanism 15 includes upright plates 151, a transverse plate 152 is provided between the two upright plates 151, and a push rod 153 is provided at the end of the transverse plate 152. A slot 154 corresponding to the transverse plate 152 is opened in the upright plate 151, and a fixing rod 155 is provided in the slot 154. A compression spring 156 is sleeved on the fixing rod 155. One end of the 6 abuts against the inner wall of the slot 154, and the other end abuts against the side of the transverse plate 152. During operation, the transverse plate 152 is driven by the transmission mechanism 16 to move horizontally towards the material tray 141, which drives the push rod 153 to accurately penetrate the through hole of the material tray 141 and push the medicinal seedlings embedded in the through hole upward, so that the seedlings protrude from the surface of the material tray 141 and completely get away from the limit of the material tray 141, which provides convenience for the finger cylinder 75 to grasp and pick up. When the push rod 153 completes a single seedling pushing action, the transmission thrust is released, the compression spring 156 instantly releases the elastic potential energy, pushes the transverse plate 152 to slide in the opposite direction, and drives the push rod 153 to quickly return to the initial position, completes self-reset, and waits for the next pushing action. The intermittent pushing rhythm is perfectly matched with the seedling picking rhythm of the seedling turning mechanism 7.

[0034] To utilize the running power of the conveyor belt mechanism 14 to drive the top material mechanism 15 and achieve automatic synchronization between the top material movement and the movement of the material tray 141, eliminating the need for an additional independent power source and reducing equipment energy consumption and manufacturing costs, a transmission mechanism 16 with a self-resetting function is provided on one side of the top material mechanism 15. The transmission mechanism 16 includes a vertical rod 161 mounted on the connecting frame 135, a driven rod 162 mounted on the vertical rod 161, a driven wheel 163 mounted on the outer side of the driven rod 162, and a driven wheel 163 mounted on the outer side of the other end of the driven rod 162. A rotating cylinder 164 is provided, with a horizontal groove 165 on its outer side. An arc-shaped groove 166 is also provided on the outer side of the rotating cylinder 164 between the horizontal grooves 165. A sliding rod 167 is provided on the outer side of the transverse plate 152, which is adapted to the horizontal groove 165 and the arc-shaped groove 166. In actual operation, while the conveyor belt mechanism 14 drives the material tray 141 to move upward one row, the drive rod 142 at its power output end drives the drive wheel 143 to rotate. The drive wheel 143 drives the driven wheel 163 and the driven rod 162 through a synchronous belt. The rotation, via a synchronous belt, drives the driven wheel 163, driven rod 162, and rotating cylinder 164 to rotate synchronously and uniformly. When the sliding rod 167 aligns with the contact points of the horizontal groove 165 and the arc-shaped groove 166 on the rotating cylinder 164, as the rotating cylinder 164 moves, the sliding rod 167 slides along the arc-shaped groove 166 towards the material tray 141, causing the transverse plate 152 to move forward against the elastic force of the compression spring 156, so that the push rod 153 passes through the through hole at the bottom of the material tray 141, pushing the seedlings in that row, along with their nutrient pots, upwards to a predetermined height. As the rotating cylinder 164 continues to rotate until the sliding rod 167 moves to the other junction of the horizontal groove 165 and the arc groove 166, the elastic force of the compression spring 156 pushes the transverse plate 152 to move in the opposite direction. The sliding rod 167 slides back to its original position along the horizontal groove 165, causing the top rod 153 to exit from the through hole of the material tray 141, waiting for the next feeding action. This linkage structure achieves precise synchronization of the material tray 141 moving one row and the feeding mechanism 15 feeding out one row of seedlings. The action is coordinated and reliable, effectively reducing the seedling damage rate and improving the transplant survival rate.

[0035] The specific workflow is as follows: Before the equipment is started, the operator places the neatly stacked trays 141 containing medicinal seedlings in batches between the carrier frames 95 of the two sets of upper tray mechanisms 9. After the equipment is started, the self-propelled mechanism 2 drives the machine body 1 to move forward at a constant speed along the preset route in the understory planting area. The planting mechanism 3 begins to perform scissor-like alternating lifting and lowering planting actions. At the same time, the power output end of the planting mechanism 3 drives the seedling lowering mechanism 4 to run synchronously.

[0036] The transmission chain 94 of the upper tray mechanism 9 drives the carrier 95 to move upward intermittently, smoothly conveying the uppermost tray 141 to the gripping position of the tray-retrieving mechanism 10. The vertical drive cylinder 102 of the tray-retrieving mechanism 10 drives the mounting plate 103 to move downward, and the two one-way output cylinders 104 extend simultaneously to clamp the two sides of the tray 141. Then, the vertical drive cylinder 102 drives the tray 141 to be lifted upward to directly above the transfer mechanism 13.

[0037] At this time, the rotation adjustment cylinder 132 of the transfer mechanism 13 drives the connecting frame 135 to adjust to a horizontal state, the longitudinal drive cylinder 136 drives the sliding frame 138 to move towards the material tray 141, the limit seat 1310 abuts against the front side of the material tray 141, the clamping cylinder 139 extends and rotates to clamp the material tray 141, fixing the material tray 141 between the conveyor belt mechanism 14 and the limit seat 1310, the one-way output cylinder 104 of the tray-retrieving mechanism 10 releases the material tray 141, the vertical drive cylinder 102 drives the mounting plate 103 to reset, ready to grab the next material tray 141.

[0038] Rotating the adjusting cylinder 132 drives the connecting frame 135 and the material tray 141 to be adjusted to an inclined position parallel to the seedling transfer mechanism 7. The conveyor belt mechanism 14 starts, driving the material tray 141 to slowly move one row vertically upward. At the same time, the conveyor belt mechanism 14 drives the top material mechanism 15 to work through the transmission mechanism 16. The top rod 153 passes through the through hole at the bottom of the material tray 141 and pushes all the seedlings in the row upward to the predetermined height.

[0039] The inclined sliding component 73 of the seedling transfer mechanism 7 drives the moving plate 74 to move obliquely towards the feed tray 141. Multiple finger cylinders 75 simultaneously close to clamp the pushed-out seedling stems. Then, the inclined sliding component 73 drives the moving plate 74 to reset. The adjustment drive cylinder 71 pushes the telescopic plate 72 forward, so that the finger cylinders 75 are accurately aligned with the empty seedling container 68 of the seedling loading mechanism 6. The finger cylinders 75 open, and the seedlings are smoothly placed into the seedling container 68.

[0040] The transmission belt 67 of the seedling feeding mechanism 6 drives the seedling holding shell 68 downward. When it reaches the lower auxiliary wheel 66, the seedlings naturally detach from the seedling holding shell 68 and fall precisely into the corresponding seedling cylinder 44 of the rotating disk 43 of the seedling discharging mechanism 4. The rotating disk 43 rotates intermittently under the drive of the bevel gear, and sequentially transports the seedling cylinder 44 containing the seedlings to the upper entrance of the guide cover 49. After the seedlings fall into the guide cover 49, the swing plate 412 swings back and forth under the drive of the transmission mechanism, alternately guiding the seedlings to the left and right drop covers 410, and falling into the two alternately rising planting mechanisms 3 respectively. The planting mechanism 3 carries the seedlings down into the soil, completing one planting action.

[0041] After all the seedlings in a row in the feed tray 141 have been removed, the conveyor belt mechanism 14 continues to move the feed tray 141 upward by one row. The top feeding mechanism 15 and the seedling transfer mechanism 7 repeat the above actions of top feeding, clamping, and releasing seedlings, and then clamp the seedlings in the subsequent rows in sequence. When all the seedlings in the entire feed tray 141 have been removed, the adjusting cylinder 132 is rotated to adjust the connecting frame 135 and the empty feed tray 141 to a horizontal state. The horizontal and vertical moving mechanism 12 drives the transfer mechanism 13 to move to the top of the empty tray collection box on the side of the machine body 1. The clamping cylinder 139 is released, and the empty feed tray 141 falls into the collection box under the action of gravity.

[0042] The horizontal and vertical moving mechanism 12 drives the transfer mechanism 13 to reset to the tray-retrieving position, ready to receive the next full tray 141 delivered by the tray-retrieving mechanism 10. This cycle repeats, realizing the fully automated operation of the entire process of transplanting medicinal herbs under the forest, including automatic tray feeding, automatic seedling picking and placing, automatic seedling planting, and automatic empty tray recycling. This completely eliminates the dependence on manual seedling picking and tray circulation, greatly reduces labor costs and labor intensity, and improves transplanting efficiency and quality.

[0043] In the above process: it effectively replaces manual seedling picking and seedling tray circulation. Through the coordinated operation of the tray loading mechanism 9, tray picking mechanism 10, transfer mechanism 13, and seedling transfer mechanism 7, it realizes automatic tray feeding, automatic seedling picking and placing, and automatic empty tray recycling. Only one person is needed to inspect each unit, which greatly reduces labor costs and labor intensity, and solves the labor shortage problem during the transplanting season; it significantly improves transplanting efficiency. The actions of each mechanism are completely synchronized with the planting mechanism 3, without any pauses due to manual operation. The actual operating efficiency is improved compared to the manual seedling picking mode, meeting the centralized transplanting needs of large-scale understory medicinal herb planting; it effectively improves transplanting quality and survival rate, using the top rod 153 The seedling-picking method using a combination of top-planting and finger-cylinder 75 stem clamping avoids damage to the root system caused by manual seedling pulling; the mechanical movements are precise and controllable, ensuring consistent seedling placement depth and verticality, thus improving the survival rate of medicinal seedlings and significantly enhancing growth uniformity; the structure is compact and energy-efficient, with both the seedling placement mechanism 4 and the top-planting mechanism 15 employing a power design linked to the main mechanism, eliminating the need for an additional independent power source, simplifying the equipment structure, and reducing manufacturing costs and operating energy consumption; it is adaptable to complex understory working environments, with the triangular support frame 5 exhibiting strong structural stability and a compact overall layout, capable of adapting to undulating terrain and confined spaces under the forest canopy, thus expanding the applicability of mechanized transplanting.

[0044] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments for application in other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A transplanting and planting device for medicinal herbs planted under forest cover, comprising a self-propelled transplanter, wherein the self-propelled transplanter includes a body, self-propelled mechanisms are provided on the front and rear sides of the body, and a planting mechanism is provided inside the body to realize alternating planting actions, characterized in that, A seedling lowering mechanism is set on the body above the planting mechanism in a turntable shape. A triangular support frame is set on the top of the body. A seedling raising mechanism is set on the inner side of the support frame near the seedling lowering mechanism. A seedling rotating mechanism integrating seedling picking and placing functions is set on the other side of the support frame. The seedling raising mechanism and the seedling rotating mechanism are arranged perpendicularly. A placement frame is set on the front side of the body in the direction of travel. A tray upper mechanism integrating material tray holding and feeding functions is set inside the placement frame. A tray picking mechanism is set on the top of the placement frame. A concave support plate is set on the upper inner side of the placement frame. A horizontal and vertical moving mechanism is set on the top of the support plate. A transfer mechanism integrating material tray clamping and adjustment functions is set at the output end of the horizontal and vertical moving mechanism. The transfer mechanism receives the material tray at the tray picking mechanism so that the seedling rotating mechanism can pick up the medicinal seedlings and transport them to the seedling raising mechanism.

2. The transplanting and planting device for medicinal herbs under forest cover according to claim 1, characterized in that, The seedling feeding mechanism includes a concave-shaped upright frame with a rotating shaft at its geometric center. A rotating disk is mounted on the rotating shaft, and multiple seedling tubes are evenly distributed within the rotating disk. A cover is located on the lower inner side of the upright frame, and a transmission shaft, linked to the planting mechanism, is located on the outer side of the upright frame, penetrating the cover. A first bevel gear is located at the end of the transmission shaft, and a second bevel gear is located below the rotating shaft. A Y-shaped guide cover is located on one side of the upright frame, and a material drop cover is located below the guide cover. A rotating rod is located inside the guide cover, and a swing plate is mounted on the rotating rod. A swing frame is located outside the rotating rod, and an adapter groove is formed within the swing frame. A transmission rod is located inside the cover, with a third bevel gear at one end and a rotating rod on the other side. An adapter rod is located outside the rotating rod, corresponding to the adapter groove.

3. The transplanting and planting device for medicinal herbs under forest cover according to claim 2, characterized in that, The seedling loading mechanism includes a mounting frame erected on a support frame, a stabilizing frame below the mounting frame, a trapezoidal carrier plate inside the stabilizing frame, rotating wheels at the bottom corners of the two carrier plates, a mounting seat on the outer side of the bottom of the carrier plate, an auxiliary wheel on the mounting seat, the rotating wheels and auxiliary wheels arranged in a triangular shape, and a transmission belt on the outer side of the transmission belt, multiple U-shaped seedling containers arranged side by side on the outer side of the transmission belt, which move together with the transmission belt, and a U-shaped limiting plate on the outer side of the carrier plate, with arc-shaped ends to limit the seedling containers on the transmission belt.

4. A transplanting and planting device for medicinal herbs grown under forest cover according to claim 3, characterized in that, The seedling transfer mechanism includes an adjustment drive cylinder located on the outside of the support frame. The output end of the adjustment drive cylinder is provided with a telescopic plate. The telescopic plate is provided with an oblique sliding component. The moving end of the oblique sliding component is provided with a moving plate. Multiple finger cylinders are arranged side by side on the moving plate for clamping the medicinal seedlings on the transfer mechanism and transporting them to the seedling loading mechanism.

5. A transplanting device for planting medicinal herbs under forest cover according to claim 4, characterized in that, The upper plate mechanism includes four sets of bearing seats. A rotating rod is arranged between two horizontally parallel bearing seats. Transmission gears are arranged on both sides of the rotating rod. A transmission chain is arranged between two vertically parallel transmission gears. An L-shaped carrier is arranged between the two transmission chains. The two sets of upper plate mechanisms are arranged in a mirror image on both sides of the placement frame.

6. A transplanting device for planting medicinal herbs under forest cover according to claim 5, characterized in that, The tray-retrieving mechanism includes an extension frame mounted above the placement frame. A vertical drive cylinder is mounted above the extension frame. A mounting plate is mounted on the output end of the vertical drive cylinder. One-way output cylinders are mounted on both sides of the mounting plate. The two one-way output cylinders cooperate to clamp the tray on the upper tray mechanism.

7. A transplanting device for planting medicinal herbs under forest cover according to claim 6, characterized in that, The lateral movement mechanism includes a transverse rodless cylinder mounted above the support plate. The moving end of the transverse rodless cylinder is provided with a longitudinal rodless cylinder, and the moving end of the longitudinal rodless cylinder is connected to the transfer mechanism.

8. A transplanting device for planting medicinal herbs under forest cover according to claim 7, characterized in that, The transfer mechanism includes a concave seat, within which a rotary adjustment cylinder is installed. A standing seat is positioned above the concave seat, and a rotating plate, set at an obtuse angle, is positioned between two standing seats. The lower part of the rotating plate is rotatably connected to the rotary adjustment cylinder. A connecting frame is positioned on the other side of the rotating plate. A transverse sliding assembly is positioned on the front side of the connecting frame. A longitudinal drive cylinder for adjusting the movement of the transverse sliding assembly is installed within the connecting frame. A sliding frame is mounted on the transverse sliding assembly. A clamping cylinder is positioned inside the sliding frame, and a limiting seat is positioned outside the clamping cylinder. A vertically arranged conveyor belt mechanism is positioned on the other side of the connecting frame. A material tray is placed between the conveyor belt mechanism and the limiting seat, and multiple through holes are evenly distributed within the material tray.

9. A transplanting device for planting medicinal herbs under forest cover according to claim 8, characterized in that, The power output end of the conveyor belt mechanism is provided with a drive rod, and the drive rod is provided with a drive wheel. A top material mechanism is provided above the connecting frame. The top material mechanism includes a vertical plate, a transverse plate is provided between the two vertical plates, and a top rod is provided at the end of the transverse plate. A slot corresponding to the transverse plate is opened in the vertical plate, and a fixing rod is provided in the slot. A compression spring is sleeved on the fixing rod. A transmission mechanism with a self-resetting function is provided on one side of the top material mechanism.

10. A transplanting device for planting medicinal herbs under forest cover according to claim 9, characterized in that, The transmission mechanism includes a vertical rod mounted on a connecting frame, a driven rod mounted on the vertical rod, a driven wheel mounted on the outer side of the driven rod, a rotating cylinder mounted on the outer side of the other end of the driven rod, a horizontal groove opened on the outer side of the rotating cylinder, an arc-shaped groove opened on the outer side of the rotating cylinder between the horizontal grooves, and a sliding rod adapted to the horizontal groove and the arc-shaped groove on the outer side of the transverse plate.

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