A device and method for transplanting diyang-jiang-ting

Abstract

The application discloses a Yunnan rhizoma polygonati transplanting device and method, and belongs to the technical field of transplanting equipment. The Yunnan rhizoma polygonati transplanting device comprises a mobile frame, the mobile frame comprises a main frame, a main mounting frame is fixedly connected to the main frame, and a lifting driving mechanism is fixedly installed on the main mounting frame. A rotary feeding mechanism is fixedly connected to the top of the lifting driving mechanism, and an automatic planting mechanism matched with the rotary feeding mechanism is further installed on the lifting driving mechanism. A battery pack is further installed on the main mounting frame, and an auxiliary soil covering mechanism is fixedly installed on the bottom of the mobile frame close to an operation end. The device can complete automatic seedling feeding, automatic material dropping, automatic planting and auxiliary soil covering complete transplanting operation by integrating the rotary feeding mechanism, the lifting driving mechanism and the automatic planting mechanism. The device only needs to be operated by a single person, so that the transplanting efficiency is ensured, and the labor cost is reduced.

Description

Technical Field

[0001] This invention belongs to the field of transplanting equipment technology, specifically relating to a transplanting device and method for Polygonatum yunnanense. Background Technology

[0002] *Polygonatum yunnanense*, a perennial herb belonging to the genus *Polygonatum* in the family Liliaceae, is one of the original plants of *Polygonatum*. Its rhizome possesses the effects of tonifying qi and nourishing yin, strengthening the spleen and moistening the lungs, and benefiting the kidneys. It is also a plant used for both medicinal and edible purposes, with strong market demand. In recent years, with the continuous improvement of social health awareness, the demand for *Polygonatum yunnanense* has been increasing, wild resources have been drastically reduced, and the scale of artificial cultivation has been continuously expanding. However, the current artificial cultivation of *Polygonatum yunnanense* still faces prominent problems such as mixed germplasm resources, extensive cultivation techniques, and unstable yield and quality, which seriously restrict the healthy development of the industry. In the entire industrial chain of *Polygonatum yunnanense* cultivation, transplanting is a key process that determines the survival rate of seedlings, the growth of the population, and the final yield, directly affecting the planting benefits.

[0003] Transplanting is a crucial step in the cultivation of *Polygonatum yunnanense*, and its quality directly affects seedling survival rate, growth vigor, and final yield. Currently, most transplanting of *Polygonatum yunnanense* relies on manual labor. Manual transplanting is not only labor-intensive and inefficient, but also makes it difficult to guarantee consistency in plant spacing, row spacing, and transplanting depth. In recent years, with the development of agricultural machinery, some small and medium-sized transplanting machines have appeared on the market. However, these are mostly designed for grain or vegetable crops, and their direct application to the transplanting of root and rhizome medicinal herbs like *Polygonatum yunnanense* presents problems such as poor applicability, high seedling damage rate, and unstable operation quality. Furthermore, existing equipment typically requires tractors or other traction equipment to move the transplanting device, and each seedling must be manually fed through a guide tube. This is not only complex but also wastes considerable manpower and resources, hindering the improvement of overall transplanting efficiency. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a Yunnan Polygonatum transplanting device and transplanting method.

[0005] The technical solution adopted to solve the above technical problems is: a Yunnan Polygonatum transplanting device, including a mobile frame, the mobile frame including a main frame, a main mounting frame fixedly connected to the main frame, and a lifting drive mechanism fixedly installed on the main mounting frame; The top of the lifting drive mechanism is fixedly connected to a rotary feeding mechanism for automatic rotary feeding of Polygonatum seedlings. The lifting drive mechanism is also equipped with an automatic planting mechanism that matches the rotary feeding mechanism. The main mounting frame is also equipped with a battery pack, and the mobile frame is also equipped with a storage hopper for loading Polygonatum seedlings; An auxiliary soil-covering mechanism is fixedly installed at the bottom of the mobile frame near the operating end, which is used to cover and compact the soil after the Solomon's seal seedlings are planted.

[0006] Furthermore, two front drive wheels are provided at the bottom of one side of the main frame, and two rear auxiliary wheels are installed on the other side of the main frame. An operating bracket is provided on the side of the main frame near the rear auxiliary wheels, and a main controller is installed on the operating bracket.

[0007] Through the above technical solution, the main frame is preferably a frame structure welded from rectangular steel pipes to ensure that the overall structure has sufficient strength and rigidity; the front drive wheels are equipped with an independent hub motor drive system, and the rear auxiliary wheels are preferably omnidirectional wheel structures; the main controller is installed on the operating bracket, and the main controller is equipped with an emergency stop button, a start button, a speed adjustment knob and a mode switching switch. The operator can monitor the working status of each mechanism, set the plant spacing parameters and transplanting depth in real time through the touch screen.

[0008] Furthermore, the lifting drive mechanism includes a lifting frame fixed on the main mounting frame. A detachable upper cover plate is installed on the top of the lifting frame. A ball screw is rotatably connected between the lifting frame and the upper cover plate. Guide columns are provided at both the front and rear ends of the ball screw. A ball nut seat is installed between the ball screw and the two guide columns. A first servo motor is also installed on the main mounting frame. Synchronous pulleys are installed at the output end of the first servo motor and the bottom end of the ball nut seat. A synchronous belt is installed between the two synchronous pulleys. A protective cover plate for protecting the synchronous pulleys and synchronous belt is installed at the bottom between the main mounting frame and the lifting frame.

[0009] Through the above technical solution, the lifting drive mechanism is mainly used for the lifting control of the automatic planting mechanism. When the first servo motor is working, it can drive the synchronous pulley at its end through its output shaft. The synchronous pulley will then drive the synchronous pulley on the other side and the ball screw to rotate through the synchronous belt. The ball screw can drive the ball nut seat and the entire automatic planting mechanism to lift and lower through forward and reverse rotation. In addition, the bottom protective cover plate is used to protect the synchronous pulley and the synchronous belt. Waterproof sealing strips are provided at its edges to prevent field soil and debris from entering the transmission area. At the same time, the protective cover plate is fixed by bolts, which is easy to disassemble and facilitates daily maintenance.

[0010] Furthermore, the main mounting bracket has a through hole through which the output shaft of the first servo motor passes, and the output shaft of the first servo motor passes through the through hole and extends downward.

[0011] The above technical solution enables the corresponding synchronous pulley to be installed and fixed on the output shaft of the first servo motor, so that the first servo motor can drive the synchronous pulley to rotate, and then drive the synchronous pulley and ball screw on the other side to rotate through the synchronous belt.

[0012] Furthermore, the rotary feeding mechanism includes a mounting plate fixed to the top of the lifting drive mechanism. A platform bracket is fixedly mounted on one side of the top of the mounting plate. A support plate is fixedly connected to the top of the platform bracket. A rotary material tray is rotatably connected to the inner side of the support plate. A second servo motor for driving the rotary material tray to rotate is mounted on the platform bracket. The output shaft of the second servo motor is connected and fixed to the rotary material tray by a limiting block. Multiple evenly distributed positioning holes are opened on the bottom periphery of the rotary material tray. A through discharge hole is opened at the lowest position of the bottom of the support plate. A guide cover is provided between the mounting plate and the discharge hole. A discharge pipe communicating with the guide cover is fixedly connected to the bottom of the mounting plate.

[0013] Through the above technical solution, the rotating material tray is disc-shaped, with positioning holes evenly distributed along the bottom periphery of the rotating material tray. The diameter of the positioning holes is determined according to the size of the soil covering the roots of the Polygonatum seedlings. Each positioning hole has a chamfered or rounded edge to avoid scratching the roots of the Polygonatum seedlings during rotation. The second servo motor is installed below the platform support, with its output shaft vertically upward through the center hole of the platform support and the support plate. It is connected and fixed to the rotating material tray through a limit block. The second servo motor adopts a pulse control method, and the rotation direction of the rotating material tray is unidirectional intermittent rotation. The angle of each rotation is equal to the included angle between two adjacent positioning holes. The guide cover is installed on the mounting... The plate and the feeding hole form a frustum-shaped structure. The upper end connects to the feeding hole, and the lower end connects to the feeding pipe. The guide cover is preferably made of transparent PC plastic to facilitate observation of the seedling's descent. During operation, the operator will first place the Solomon's seal seedlings with soil around their roots evenly into the rotating material tray. The second servo motor drives the rotating material tray to rotate. During this process, the Solomon's seal seedlings located in the positioning holes will rotate sequentially to the position that coincides with the feeding hole. At this time, under the action of gravity, the Solomon's seal seedling will naturally fall through the feeding hole into the guide cover, then through the guide cover into the feeding pipe, and finally fall between the two closed soil-breaking covers below.

[0014] Furthermore, both the support plate and the rotating material plate are designed with an inclined structure.

[0015] By designing the above technical solution with an inclined structure, the Polygonatum seedlings placed on the rotating tray can naturally slide to the lowest side of the rotating tray under the action of gravity, so that the Polygonatum seedlings can naturally slide into the positioning holes on the periphery during the rotation of the rotating tray, and achieve the purpose of continuous automatic feeding.

[0016] Furthermore, the automatic planting mechanism includes a lifting seat fixed on a ball bearing nut seat. A circular hole is provided at the center of the bottom of the lifting seat. Two symmetrically arranged soil-breaking covers are rotatably connected to the front and rear ends of the bottom of the lifting seat. Rotary supports are provided on the outer sides of the two soil-breaking covers. Rotary support assemblies are fixedly connected to the front and rear ends of the lifting seat. Telescopic cylinders are rotatably connected between the two sets of rotary support assemblies and the rotary supports.

[0017] Through the above technical solution, the lifting seat is fixedly installed on the ball nut seat, so that it can rise and fall together with the ball nut seat. At the same time, the circular hole opened at the center of the bottom of the lifting seat matches the inner diameter of the material drop pipe. The rotating support assembly is fixedly installed at the front and rear ends of the lifting seat. Each rotating support assembly has a support lug at the bottom. The tail end of the telescopic cylinder is connected to the rotating support assembly by a hinge, and the other end is also connected to the rotating support on the outside of the soil breaking cover by a hinge. This allows the telescopic cylinder to control the opening and closing of the soil breaking cover by the retraction of the piston rod. When the piston rod of the telescopic cylinder extends, it pushes the two soil breaking covers to rotate outward synchronously to open. When the piston rod retracts, it pulls the two soil breaking covers to rotate inward synchronously to close. The two telescopic cylinders are controlled by the same solenoid valve to ensure the synchronicity of the action.

[0018] Furthermore, the two ground-breaking covers are designed with a warhead structure when closed.

[0019] The above technical solution features a streamlined overall shape, allowing it to be inserted into the soil more smoothly, thus enabling the Solomon's Seal seedlings to be transplanted to the designated soil depth. In addition, the inner wall of the soil-breaking cover has a flexible inner lining layer with a thickness of 3-5mm, made of rubber or polyurethane, which serves as a buffer and protection when holding the seedlings, preventing damage to the roots and buds of the Solomon's Seal seedlings.

[0020] Furthermore, the auxiliary soil-covering mechanism includes a fixed frame fixed to the bottom of the operating support. Two symmetrically arranged rotating frames are rotatably connected to the bottom of the fixed frame. Soil-covering wheels are rotatably connected to the bottom ends of the two rotating frames, and a connecting rod is fixedly connected between the two rotating frames.

[0021] Through the above technical solution, the fixed frame is fixed to the bottom of the operating support with screws, and the two rotating frames are rotatably connected to the bottom of the fixed frame through pins. The two rotating frames are fixedly connected to each other through connecting rods, which can ensure that the two rotating frames always rotate synchronously during operation. The soil covering wheel is rotatably connected to the bottom of the rotating frame, and the two soil covering wheels are arranged symmetrically in a figure-eight shape, which can form a soil-gathering effect during the movement of the device. In order to further optimize the soil covering effect, a compression spring or torsion spring can be installed between the rotating frame and the fixed frame to provide a certain downward pressure to the soil covering wheel, ensuring that the soil covering wheel can maintain good contact with the soil under different terrain conditions. The preload of the spring is adjustable to adapt to the soil covering needs of different soil hardness, improve the contact density between the soil and the seedling roots, and facilitate the rapid rooting and survival of the seedlings.

[0022] A transplanting method for a *Polygonatum yunnanense* transplanting device includes the following steps: Step 1: First, place the Solomon's seal seedlings with soil around their roots evenly in the rotating tray. During transplanting, the operator manually controls the moving frame to move it directionally along the furrows of the planting area. Step Two: During the movement, the first servo motor drives the ball screw to rotate. The ball screw can drive the ball nut seat and the entire automatic planting mechanism to rise and fall through forward and reverse rotation. In the preparation stage, the automatic planting mechanism will rise to the highest position. At this time, the bottom end of the material drop tube coincides with and fits into the center of the circular hole at the bottom of the lifting seat. Step 3: At the same time, the second servo motor drives the rotating material plate to rotate. During this process, the Solomon's seal seedlings located in the positioning holes will rotate to the position that coincides with the feeding hole. At this time, under the action of gravity, the Solomon's seal seedling will naturally fall into the guide cover through the feeding hole, then fall into the feeding pipe through the guide cover, and finally fall between the two closed soil breaking covers below. Step 4: Subsequently, the ball screw rotates in the opposite direction, driving the ball nut seat and the entire automatic planting mechanism to descend. The closed soil-breaking cover will be inserted into the soil to a certain depth. Then, the piston rods of the two telescopic cylinders retract synchronously, and the two soil-breaking covers rotate outward synchronously to open. The Solomon's seal seedling located between them is naturally transplanted into the soil hole. After the transplanting is completed, the automatic planting mechanism rises again. When the bottom of the automatic planting mechanism completely exceeds the height of the Solomon's seal seedling, the two soil-breaking covers close again. Step 5: After transplanting a Solomon's seal seedling, the mobile frame continues to move forward a certain distance and continues to complete the above transplanting process. During the movement, the auxiliary soil covering mechanism located at the rear will move synchronously with the mobile frame. At this time, two symmetrically set soil covering wheels will roll past the sides of the Solomon's seal seedling planting hole, thereby completing the auxiliary soil covering after breaking the soil.

[0023] The beneficial effects of the present invention are as follows: (1) By integrating the rotary feeding mechanism, the lifting drive mechanism and the automatic planting mechanism, the present invention enables the device to complete the complete transplanting operation from automatic seedling supply, automatic material dropping, automatic planting to auxiliary soil covering, and the device only requires one person to operate, which ensures transplanting efficiency while reducing labor costs; (2) By adopting an inclined structure design for the support plate and the rotating material of the rotary feeding mechanism, the present invention enables the Polygonatum seedlings placed on the rotating material plate to slide naturally to the lowest side under the action of gravity, and then slide into the positioning holes on the periphery, thereby realizing the automatic seedling supply function of the equipment, greatly reducing the degree of manual intervention and effectively improving transplanting efficiency; (3) The rotary feeding mechanism of the present invention The rotating material tray is driven by a servo motor to rotate intermittently in one direction, so that the Solomon's seal seedlings in the positioning hole coincide with the feeding hole in turn. Under the action of gravity, the feeding is automatically completed. The lifting drive mechanism is also driven by a servo motor and a ball screw to lift the automatic planting mechanism. The automatic planting mechanism controls the opening and closing of the soil breaking cover through the telescopic cylinder to complete the planting. All mechanisms work together to realize the full automation of the transplanting operation. (4) The present invention designs a soil breaking cover with a bullet-shaped streamline structure in the closed state, so that it can be inserted into the soil more smoothly, reducing excessive disturbance to the soil structure. In addition, the inner wall of the soil breaking cover is provided with a flexible inner lining layer, which plays a buffer protection role when holding the seedlings, and can avoid damaging the roots and buds of the Solomon's seal seedlings. Attached Figure Description

[0024] Figure 1 This is a first-view structural diagram of the present invention; Figure 2 This is a second-view structural diagram of the present invention; Figure 3 This is the front view of the present invention; Figure 4 This is a schematic diagram of the structure of the mobile vehicle frame of the present invention; Figure 5 This is a schematic diagram of the installation structure of the lifting drive mechanism and the rotary feeding mechanism of the present invention; Figure 6 This is a schematic diagram of the installation structure of the automatic planting mechanism of the present invention; Figure 7 This is a first-view structural schematic diagram of the lifting drive mechanism of the present invention; Figure 8 This is a second-view structural schematic diagram of the lifting drive mechanism of the present invention; Figure 9 This is a three-dimensional sectional view of the lifting drive mechanism of the present invention; Figure 10 This is a first-view structural schematic diagram of the rotary feeding mechanism of the present invention; Figure 11 This is a second-view structural schematic diagram of the rotary feeding mechanism of the present invention; Figure 12This is a perspective sectional view of the rotary feeding mechanism of the present invention; Figure 13 This is a first-view structural schematic diagram of the automatic planting mechanism of the present invention; Figure 14 This is a second-view structural schematic diagram of the automatic planting mechanism of the present invention; Figure 15 This is a schematic diagram of the auxiliary soil-covering mechanism of the present invention.

[0025] Reference numerals: 1. Mobile frame; 101. Main frame; 102. Front drive wheel; 103. Rear auxiliary wheel; 104. Operating bracket; 105. Main controller; 2. Main mounting bracket; 3. Lifting drive mechanism; 301. Lifting frame; 302. Upper cover plate; 303. Ball screw; 304. Guide column; 305. Ball nut seat; 306. First servo motor; 307. Synchronous pulley; 308. Synchronous belt; 309. Protective cover plate; 4. Rotary feeding mechanism; 401. Mounting plate; 402. Platform bracket; 40 3. Support plate; 404. Rotating material plate; 405. Second servo motor; 406. Limit block; 407. Positioning hole; 408. Discharge hole; 409. Guide cover; 410. Discharge pipe; 5. Automatic planting mechanism; 501. Lifting seat; 502. Round hole; 503. Soil breaking cover; 504. Rotating support; 505. Rotating support assembly; 506. Telescopic cylinder; 6. Battery pack; 7. Storage hopper; 8. Auxiliary soil covering mechanism; 801. Fixing frame; 802. Rotating frame; 803. Soil covering wheel; 804. Connecting rod. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0027] like Figures 1-15As shown, this embodiment of the Solomon's seal transplanting device includes a mobile frame 1, which includes a main frame 101. Two front drive wheels 102 are provided on the bottom of one side of the main frame 101, and two rear auxiliary wheels 103 are installed on the other side of the main frame 101. An operating bracket 104 is provided on the side of the main frame 101 near the rear auxiliary wheels 103, and a main controller 105 is installed on the operating bracket 104. The main frame 101 preferably adopts a frame structure welded from rectangular steel pipes to ensure that the overall structure has sufficient strength and rigidity. The front drive wheels 102 are equipped with independent hub motor drive systems, and the rear auxiliary wheels 103 preferably adopt a universal wheel structure. The main controller 105 installed on the operating bracket 104 is equipped with an emergency stop button, a start button, a speed adjustment knob, and a mode switching switch. The operator can monitor the working status of each mechanism, set the plant spacing parameters, and the transplanting depth in real time through a touch screen.

[0028] Regarding lifting drive mechanism 3, refer to... Figures 1-9 A main mounting frame 2 is fixedly connected to the main frame 101, and a lifting drive mechanism 3 is fixedly mounted on the main mounting frame 2. The lifting drive mechanism 3 includes a lifting frame 301 fixed to the main mounting frame 2. A detachable upper cover plate 302 is mounted on the top of the lifting frame 301. A ball screw 303 is rotatably connected between the lifting frame 301 and the upper cover plate 302. Guide posts 304 are provided at both the front and rear ends of the ball screw 303. A ball nut seat 305 is installed between the ball screw 303 and the two guide posts 304. A first servo motor 306 is also mounted on the main mounting frame 2. Synchronous pulleys 307 are mounted on the output end of the first servo motor 306 and the bottom end of the ball nut seat 305. A synchronous belt 308 is installed between the two synchronous pulleys 307. A bottom mounting bracket is installed between the main mounting frame 2 and the lifting frame 301. The system is equipped with a protective cover plate 309 for protecting the synchronous pulley 307 and the synchronous belt 308. The lifting drive mechanism 3 is mainly used for lifting control of the automatic planting mechanism 5. When the first servo motor 306 is working, it can drive the synchronous pulley 307 at its end through its output shaft. The synchronous pulley 307 will then drive the synchronous pulley 307 on the other side and the ball screw 303 to rotate through the synchronous belt 308. The ball screw 303 can drive the ball nut seat 305 and the entire automatic planting mechanism 5 to lift through forward and reverse rotation. In addition, the protective cover plate 309 at the bottom is used to protect the synchronous pulley 307 and the synchronous belt 308. Waterproof sealing strips are provided at its edges to prevent field soil and debris from entering the transmission area. At the same time, the protective cover plate 309 is fixed by bolts, which makes it easy to disassemble and facilitates daily maintenance.

[0029] In a further embodiment, the main mounting bracket 2 has a through hole through which the output shaft of the first servo motor 306 passes. The output shaft of the first servo motor 306 passes through the through hole and extends downward, so that the corresponding synchronous pulley 307 can be mounted and fixed on the output shaft of the first servo motor 306, so that the synchronous pulley 307 can be driven to rotate by the first servo motor 306, and then the synchronous pulley 307 and the ball screw 303 on the other side can be driven to rotate by the synchronous belt 308.

[0030] Regarding rotary feeding mechanism 4, refer to... Figures 10-12 A rotating feeding mechanism 4 is fixedly connected to the top of the lifting drive mechanism 3 for automatic rotating feeding of Polygonatum seedlings. The rotating feeding mechanism 4 includes a mounting plate 401 fixed to the top of the lifting drive mechanism 3. A platform bracket 402 is fixedly mounted on one side of the top of the mounting plate 401. A support plate 403 is fixedly connected to the top of the platform bracket 402. A rotating material plate 404 is rotatably connected to the inner side of the support plate 403. A second servo motor 405 for driving the rotating material plate 404 to rotate is mounted on the platform bracket 402. The output shaft of the second servo motor 405 is connected and fixed to the rotating material plate 404 by a limiting block 406. Multiple evenly distributed positioning holes 407 are opened on the bottom periphery of the rotating material plate 404. A through discharge hole 408 is opened at the lowest position of the bottom of the support plate 403. A guide cover 409 is provided between the mounting plate 401 and the discharge hole 408. A drop pipe 410 communicating with the guide cover 409 is fixedly connected to the bottom of the mounting plate 401. The rotating material tray 404 is disc-shaped, with positioning holes 407 evenly distributed along the bottom periphery of the rotating material tray 404. The diameter of the positioning holes 407 is determined according to the size of the soil covering the roots of the Polygonatum seedlings. Each positioning hole 407 has a chamfered or rounded edge to avoid scratching the roots of the Polygonatum seedlings during rotation. The second servo motor 405 is installed below the platform support 402. Its output shaft passes vertically upward through the center hole of the platform support 402 and the support tray 403, and is connected and fixed to the rotating material tray 404 through the limit block 406. The second servo motor 405 adopts a pulse control method, and the rotation direction of the rotating material tray 404 is unidirectional intermittent rotation. The angle of each rotation is equal to the included angle between two adjacent positioning holes 407. The guide cover 409 is installed between the mounting plate 401 and the discharge hole 408. It has a frustum-shaped structure. The upper end is connected to the discharge hole 408, and the lower end is connected to the drop pipe 410. The guide cover 409 is preferably made of transparent PC plastic to facilitate observation of the seedling's descent.

[0031] In this embodiment, during operation, the operator first places the Solomon's seal seedlings with soil around their roots evenly into the rotating material tray 404. The second servo motor 405 drives the rotating material tray 404 to rotate. During this process, the Solomon's seal seedlings located in the positioning hole 407 will rotate sequentially to the position that coincides with the discharge hole 408. At this time, under the action of gravity, the Solomon's seal seedling will naturally fall into the guide cover 409 through the discharge hole 408, and then fall into the discharge pipe 410 through the guide cover 409, and finally fall between the two closed soil-breaking covers 503 below.

[0032] In this embodiment, both the support plate 403 and the rotating material plate 404 are designed with an inclined structure. By designing them with an inclined structure, the Polygonatum seedlings placed on the rotating material plate 404 can naturally slide to the lowest side of the rotating material plate 404 under the action of gravity. This allows the Polygonatum seedlings to naturally slide into the positioning holes 407 on the periphery during the rotation of the rotating material plate 404, thus achieving the purpose of continuous automatic feeding.

[0033] Regarding the automatic planting mechanism 5, see reference [link / reference]. Figures 13-14 The lifting drive mechanism 3 is also equipped with an automatic planting mechanism 5 that matches the rotary feeding mechanism 4. The automatic planting mechanism 5 includes a lifting seat 501 fixed on a ball nut seat 305. A circular hole 502 is opened at the center of the bottom of the lifting seat 501. Two symmetrically arranged soil-breaking covers 503 are rotatably connected to the front and rear ends of the bottom of the lifting seat 501. Rotary supports 504 are provided on the outer side of each of the two soil-breaking covers 503. Rotary support assemblies 505 are fixedly connected to the front and rear ends of the lifting seat 501. Telescopic cylinders 506 are rotatably connected between the two sets of rotary support assemblies 505 and the rotary supports 504. The lifting seat 501 is fixedly installed on the ball nut seat 305 so that it can rise and fall together with the ball nut seat 305. At the same time, the circular hole 502 is opened at the center of the bottom of the lifting seat 501. The circular hole 502 matches the inner diameter of the material drop pipe 410; the rotating support assembly 505 is fixedly installed at the front and rear ends of the lifting seat 501, and each rotating support assembly 505 has a support lug at its bottom. The tail end of the telescopic cylinder 506 is connected to the rotating support assembly 505 by a hinge, and the other end is also connected to the rotating support 504 on the outside of the soil breaking cover 503 by a hinge, so that the telescopic cylinder 506 can control the opening and closing of the soil breaking cover 503 by the contraction of the piston rod; when the piston rod of the telescopic cylinder 506 extends, it pushes the two soil breaking covers 503 to rotate outward synchronously to open; when the piston rod retracts, it pulls the two soil breaking covers 503 to rotate inward synchronously to close; the two telescopic cylinders 506 are controlled by the same solenoid valve to ensure the synchronicity of the action.

[0034] In this embodiment, the two soil-breaking covers 503 are designed with a bullet-shaped structure when closed, and the overall outline is streamlined, which allows them to be inserted into the soil more smoothly, so that the Solomon's seal seedlings can be delivered to the designated soil transplanting depth. In addition, the inner wall of the soil-breaking cover 503 is provided with a flexible inner lining layer with a thickness of 3-5mm, which is made of rubber or polyurethane, to provide a buffering and protection function when holding the seedlings, so as to avoid damaging the roots and buds of the Solomon's seal seedlings.

[0035] In this embodiment, a battery pack 6 is also installed on the main mounting frame 2. The battery pack 6 is a quick-change structure and is connected to the vehicle's electrical system via an aviation plug. The spare battery can be quickly replaced on-site to achieve uninterrupted operation. The mobile frame 1 is also equipped with a storage hopper 7 for loading Polygonatum seedlings and storing the Polygonatum seedlings to be transplanted.

[0036] Regarding auxiliary earth-covering mechanism 8, please refer to... Figure 1 and Figure 15 An auxiliary soil-covering mechanism 8 is fixedly installed at the bottom of the mobile frame 1 near the operating end. The auxiliary soil-covering mechanism 8 includes a fixed frame 801 fixed to the bottom of the operating support 104. Two symmetrically arranged rotating frames 802 are rotatably connected to the bottom of the fixed frame 801. Soil-covering wheels 803 are rotatably connected to the bottom of each of the two rotating frames 802, and a connecting rod 804 is fixedly connected between the two rotating frames 802. The fixed frame 801 is fixed to the bottom of the operating support 104 by screws. The two rotating frames 802 are rotatably connected to the bottom of the fixed frame 801 by pins. The two rotating frames 802 are fixedly connected to each other by the connecting rod 804, so as to ensure that the two rotating frames 802 always rotate synchronously during operation. The soil-covering wheels 803 are rotatably connected to the bottom of the rotating frames 802, and the two soil-covering wheels 803 are arranged symmetrically in a figure-eight shape, which can form a soil-accumulating effect during the movement of the device.

[0037] To further optimize the soil covering effect, a compression spring or torsion spring can be installed between the rotating frame 802 and the fixed frame 801 to provide a certain downward pressure to the soil covering wheel 803, ensuring that the soil covering wheel 803 can maintain good contact with the soil under different terrain conditions. The preload of the spring is adjustable to adapt to the soil covering requirements of different soil hardness, improve the contact tightness between the soil and the seedling roots, and facilitate the rapid rooting and survival of the seedlings.

[0038] A transplanting method for a *Polygonatum yunnanense* transplanting device includes the following steps: Step 1: First, place the Solomon's seal seedlings with soil around their roots evenly into the rotating tray 404. During transplanting, the operator manually controls the moving frame 1 to move it directionally along the furrows of the planting area. Step 2: During the movement, the first servo motor 306 drives the ball screw 303 to rotate. The ball screw 303 can drive the ball nut seat 305 and the entire automatic planting mechanism 5 to rise and fall through forward and reverse rotation. In the preparation stage, the automatic planting mechanism 5 will rise to the highest position. At this time, the bottom end of the material drop pipe 410 coincides with and fits the round hole 502 at the center of the bottom of the lifting seat 501. Step 3: At the same time, the second servo motor 405 drives the rotating material plate 404 to rotate. During this process, the Solomon's seal seedlings located in the positioning hole 407 will rotate to the position that coincides with the discharge hole 408. At this time, under the action of gravity, the Solomon's seal seedling will naturally fall into the guide cover 409 through the discharge hole 408, and then fall into the discharge pipe 410 through the guide cover 409, and finally fall between the two closed soil breaking covers 503 below. Step 4: Subsequently, the ball screw 303 rotates in the opposite direction, driving the ball nut seat 305 and the entire automatic planting mechanism 5 to descend. The closed soil-breaking cover 503 will be inserted into the soil to a certain depth. Then, the piston rods of the two telescopic cylinders 506 retract synchronously, and the two soil-breaking covers 503 rotate outward synchronously to open. The Solomon's seal seedling located between them is naturally transplanted into the soil hole. After the transplanting is completed, the automatic planting mechanism 5 rises again. When the bottom of the automatic planting mechanism 5 completely exceeds the height of the Solomon's seal seedling, the two soil-breaking covers 503 close again. Step 5: After transplanting a Solomon's seal seedling, the mobile frame 1 continues to move forward a certain distance and continues to complete the above transplanting process. During the movement, the auxiliary soil covering mechanism 8 located at the rear will move synchronously with the mobile frame 1. At this time, the two symmetrically arranged soil covering wheels 803 will roll past the sides of the Solomon's seal seedling planting hole, thereby completing the auxiliary soil covering after breaking the soil.

[0039] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention.

Claims

1. A transplanting device for Polygonatum yunnanense, comprising a mobile frame (1), characterized in that: The mobile frame (1) includes a main frame (101), a main mounting frame (2) is fixedly connected to the main frame (101), and a lifting drive mechanism (3) is fixedly installed on the main mounting frame (2). The top of the lifting drive mechanism (3) is fixedly connected to a rotary feeding mechanism (4) for automatic rotary feeding of Polygonatum seedlings. The lifting drive mechanism (3) is also equipped with an automatic planting mechanism (5) that matches the rotary feeding mechanism (4). The main mounting frame (2) is also equipped with a battery pack (6), and the mobile frame (1) is also equipped with a storage hopper (7) for loading Solomon's seal seedlings. An auxiliary soil-covering mechanism (8) is fixedly installed at the bottom of the mobile frame (1) near the operating end, which is used to cover and compact the soil after the Solomon's seal seedlings are planted.

2. The Yunnan Polygonatum transplanting device according to claim 1, characterized in that, Two front drive wheels (102) are provided at the bottom of one side of the main frame (101), and two rear auxiliary wheels (103) are installed on the other side of the main frame (101). An operating bracket (104) is provided on the side of the main frame (101) near the rear auxiliary wheels (103), and a main controller (105) is installed on the operating bracket (104).

3. The Yunnan Polygonatum transplanting device according to claim 1, characterized in that, The lifting drive mechanism (3) includes a lifting frame (301) fixed on the main mounting frame (2). A detachable upper cover plate (302) is installed on the top of the lifting frame (301). A ball screw (303) is rotatably connected between the lifting frame (301) and the upper cover plate (302). Guide columns (304) are provided at both the front and rear ends of the ball screw (303). A ball nut seat is installed between the ball screw (303) and the two guide columns (304). 305), a first servo motor (306) is also installed on the main mounting frame (2). The output end of the first servo motor (306) and the bottom end of the ball nut seat (305) are both equipped with synchronous pulleys (307). A synchronous belt (308) is installed between the two synchronous pulleys (307). A protective cover plate (309) for protecting the synchronous pulleys (307) and the synchronous belt (308) is installed at the bottom between the main mounting frame (2) and the lifting frame (301).

4. The Yunnan Polygonatum transplanting device according to claim 3, characterized in that, The main mounting bracket (2) has a through hole through which the output shaft of the first servo motor (306) passes. The output shaft of the first servo motor (306) passes through the through hole and extends downward.

5. The Yunnan Polygonatum transplanting device according to claim 1, characterized in that, The rotary feeding mechanism (4) includes a mounting plate (401) fixed to the top of the lifting drive mechanism (3). A platform bracket (402) is fixedly mounted on one side of the top of the mounting plate (401). A support plate (403) is fixedly connected to the top of the platform bracket (402). A rotary material tray (404) is rotatably connected to the inner side of the support plate (403). A second servo motor (405) for driving the rotary material tray (404) to rotate is mounted on the platform bracket (402). (405) The output shaft and the rotating material tray (404) are connected and fixed by a limiting block (406). The rotating material tray (404) has a plurality of evenly distributed positioning holes (407) on its bottom periphery. The support plate (403) has a through discharge hole (408) at the lowest side of its bottom. A guide cover (409) is provided between the mounting plate (401) and the discharge hole (408). The bottom of the mounting plate (401) is fixedly connected to a discharge pipe (410) that communicates with the guide cover (409).

6. The Yunnan Polygonatum transplanting device according to claim 5, characterized in that, Both the support plate (403) and the rotating material plate (404) are designed with an inclined structure.

7. The Yunnan Polygonatum transplanting device according to claim 3, characterized in that, The automatic planting mechanism (5) includes a lifting seat (501) fixed on a ball nut seat (305). A circular hole (502) is provided at the center of the bottom of the lifting seat (501). Two symmetrically arranged soil-breaking covers (503) are rotatably connected to the front and rear ends of the bottom of the lifting seat (501). Rotary supports (504) are provided on the outer side of the two soil-breaking covers (503). Rotary support components (505) are fixedly connected to the front and rear ends of the lifting seat (501). Telescopic cylinders (506) are rotatably connected between the two sets of rotary support components (505) and the rotary supports (504).

8. The Yunnan Polygonatum transplanting device according to claim 7, characterized in that, The two ground-breaking covers (503) are designed with a warhead structure when closed.

9. The Yunnan Polygonatum transplanting device according to claim 2, characterized in that, The auxiliary soil covering mechanism (8) includes a fixed frame (801) fixed to the bottom of the operating support (104). The bottom of the fixed frame (801) is rotatably connected to two symmetrically arranged rotating frames (802). The bottom ends of the two rotating frames (802) are rotatably connected to soil covering wheels (803), and a connecting rod (804) is fixedly connected between the two rotating frames (802).

10. The transplanting method of the *Polygonatum yunnanense* transplanting device according to any one of claims 1-9, characterized in that, Includes the following steps: Step 1: First, place the Solomon's seal seedlings with soil around their roots evenly in the rotating tray (404). When transplanting, the operator manually controls the moving frame (1) to move it directionally along the furrows of the planting area. Step 2: During the movement, the first servo motor (306) drives the ball screw (303) to rotate through the synchronous wheel (307) and the synchronous belt (308). The ball screw (303) can drive the ball nut seat (305) and the entire automatic planting mechanism (5) to rise and fall by reversing forward and reverse. In the preparation stage, the automatic planting mechanism (5) will rise to the highest position. At this time, the bottom end of the material drop pipe (410) coincides with and fits the round hole (502) at the center of the bottom of the lifting seat (501). Step 3: At the same time, the second servo motor (405) drives the rotating material plate (404) to rotate. During this process, the Solomon's seal seedlings located in the positioning hole (407) will rotate to the position that coincides with the discharge hole (408). At this time, under the action of gravity, the Solomon's seal seedling will naturally fall into the guide cover (409) through the discharge hole (408), and then fall into the discharge pipe (410) through the guide cover (409), and finally fall between the two closed soil breaking covers (503) below. Step 4: Subsequently, the ball screw (303) rotates in the opposite direction, driving the ball nut seat (305) and the entire automatic planting mechanism (5) to descend. The closed soil-breaking cover (503) will be inserted into the soil to a certain depth. Then, the piston rods of the two telescopic cylinders (506) retract synchronously, and the two soil-breaking covers (503) rotate outward synchronously to open. The Solomon's seal seedling located between the two is naturally transplanted into the soil hole. After the transplanting is completed, the automatic planting mechanism (5) rises again. When the bottom of the automatic planting mechanism (5) completely exceeds the height of the Solomon's seal seedling, the two soil-breaking covers (503) close again. Step 5: After a Solomon's seal seedling is transplanted, the mobile frame (1) continues to move forward a certain distance and continues to complete the above transplanting process. During the movement, the auxiliary soil covering mechanism (8) located at the rear will move synchronously with the mobile frame (1). At this time, the two symmetrically set soil covering wheels (803) will roll through the soil holes on both sides of the Solomon's seal seedling planting hole, thereby completing the auxiliary soil covering after breaking the soil.

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