Afforestation equipment and adaptive terrain recognition obstacle crossing method thereof

Abstract

The invention discloses afforestation equipment and a self-adaptive terrain recognition obstacle crossing method thereof, and relates to the technical field of forest tree transplanting, a hydraulic chassis can move and is provided with an obstacle crossing mechanism, a tree digging mechanism can cut roots of trees to be transplanted and pull out the trees with soil, and a hoisting mechanism can move the pulled-out trees to be transplanted into a vehicle hopper; the control mechanism can detect road condition information and control the hydraulic chassis to output different actions so as to realize obstacle crossing, and the hoisting mechanism can turn over to press the ground for supporting or turn over to break away from the ground; before the afforestation equipment moves forwards to the gully terrain, the control mechanism is used for carrying out terrain recognition and confirming the size of a road surface gully, gully characteristic information is transmitted to the control module, then the control module controls the hydraulic chassis to carry out corresponding actions to cross obstacles, and the automatic gully crossing function is completed. The robot is compact in structure, can automatically recognize information characteristics such as terrain gradient and gully span, and guarantees smooth walking and operation stability of rugged road sections.

Description

Technical Field

[0001] The invention relates to the technical field of tree transplanting, and in particular to afforestation equipment and an adaptive terrain recognition and obstacle crossing method thereof. Background Art

[0002] In the tree transplanting operation for landscape gardening in hilly and mountainous areas, the existing equipment can only complete a single operation, such as digging and lifting, each of which requires a professional equipment to achieve, resulting in high operating costs; in addition, the existing tree transplanting operation equipment usually uses a mechanical chassis driven by a diesel engine or a gasoline engine, which makes the operation equipment large and heavy, especially in forest areas with high planting density, and has the defects of difficulty in rotation, easy damage to trees when entering and exiting the forest area, and low operating efficiency; and the existing forest operation equipment is basically manually operated by humans. When traveling in complex and dangerous forests, the obstacle crossing device in the equipment cannot be automatically adjusted according to the terrain slope and gully span characteristics, and has poor adaptability. When encountering terrain with changing slopes, it is necessary to constantly manually adjust the angle of the operation head, which is extremely inconvenient to operate. Summary of the invention

[0003] The purpose of the present invention is to provide an afforestation equipment and its adaptive terrain recognition and obstacle crossing method to solve the problems existing in the above-mentioned prior art. It has a compact structure and can automatically identify information features such as terrain slope and gully span to ensure smooth walking and operational stability on rugged roads.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] The present invention provides afforestation equipment, including a hydraulic chassis, and a tree digging mechanism, a control mechanism, a lifting mechanism, a hoisting mechanism, a hydraulic chassis and a truck bed connected to the hydraulic chassis. The hydraulic chassis can move and has an obstacle crossing mechanism. The tree digging mechanism can uproot trees to be transplanted and pull them out with soil under the control of the hydraulic chassis. The hoisting mechanism can move the pulled-out trees to be transplanted into the truck bed under the control of the hydraulic chassis. The control mechanism can detect road condition information and control the hydraulic chassis to output different actions to achieve obstacle crossing. The lifting mechanism can flip over to press the ground for support, or flip over to be off the ground, under the control of the hydraulic chassis.

[0006] Preferably, the tree digging mechanism includes a control arm assembly and a tree digging assembly, the control arm assembly includes a mounting seat, a boom lifting cylinder, a tree digging support boom, a shovel tilting cylinder and a front mounting plate, the mounting seat is mounted on the upper end of the hydraulic chassis, the first end of the tree digging support boom is rotatably connected to the upper end of the mounting seat, the second end of the tree digging support boom is rotatably connected to the lower end of the front mounting plate, the tree digging mechanism is mounted on the front mounting plate, the fixed end of the boom lifting cylinder is rotatably connected to the lower end of the mounting seat, the output end of the boom lifting cylinder is rotatably connected to the lower end of the middle part of the tree digging support boom, and can drive the second end of the tree digging support boom to rotate and lift around the mounting seat, the fixed end of the shovel tilting cylinder is rotatably connected to the upper end of the middle part of the tree digging support boom, the output end of the shovel tilting cylinder is rotatably connected to the upper end of the front mounting plate, and can adjust the angle between the front mounting plate and the horizontal ground to drive the tree digging mechanism to penetrate into the ground.

[0007] Preferably, the tree digging assembly includes a side cross beam plate, a side digging shovel lifting cylinder, a side digging shovel clamping drive cylinder, a front digging shovel cross beam plate, a front digging shovel lifting cylinder and a digging shovel, one side of the front digging shovel cross beam plate is fixed to the side of the front mounting plate away from the tree digging support arm, both ends of the front digging shovel cross beam plate extend in a direction away from the front mounting plate and are each rotatably connected to a first end of the side cross beam plate, the second ends of the side cross beam plate extend in a direction close to each other and away from the front mounting plate, the front digging shovel lifting cylinder is installed in the middle of the front digging shovel cross beam plate, and the output of the front digging shovel lifting cylinder The output end is connected to a shovel, the two side shovel lifting cylinders are respectively installed on the opposite sides of the two side cross beams, and the output end of each side shovel lifting cylinder is respectively connected to a shovel, and a side shovel clamping driving cylinder is respectively installed at the connection between the two ends of the front shovel cross beam and each side cross beam, the fixed end of the side shovel clamping driving cylinder is rotatably connected to the outer side of the end of the front shovel cross beam, and the output end of the side shovel clamping driving cylinder is rotatably connected to the outer side of the side cross beam, and can drive the two side cross beams to rotate in the direction of approaching or moving away from each other.

[0008] Preferably, the control mechanism includes a control box and two groups of cameras, the two groups of cameras are installed near the front end and the rear end of the hydraulic chassis respectively, the control box is installed at the upper end of the hydraulic chassis and arranged near the front end of the hydraulic chassis, and the on and off time of the solenoid valve in the control box is controlled by the control system in the control box to control the hydraulic chassis to achieve different actions.

[0009] Preferably, the lifting mechanism includes a bottom bracket, a flip arm, a support plate and a flip driving cylinder, the bottom bracket is installed on the upper end of the hydraulic chassis, the two ends of the bottom bracket are respectively arranged close to the two sides of the hydraulic chassis, the first ends of the two flip arms are rotatably connected to the two ends of the bottom bracket, the flip arm, the support plate and the flip driving cylinder are all in one-to-one correspondence, and the second end of the flip arm is rotatably connected to one side of the support plate, the fixed ends of the two flip driving cylinders are respectively rotatably connected to the two ends of the bottom bracket, the output end of the flip driving cylinder is rotatably connected to one side of the support plate, and can drive the flip arm to rotate until the support plate is in contact with or not in contact with the ground, and the support plate is used to contact the ground on the side away from the output end of the flip driving cylinder and the second end of the flip arm.

[0010] Preferably, the lifting mechanism includes a base plate, a slewing mechanism, a hook assembly, a lifting support boom, a hook retraction and extension driving hydraulic motor, a boom driving cylinder, a middle boom driving cylinder, a middle boom, a small boom driving cylinder and a small boom; the slewing mechanism includes an internal gear slewing support bearing, a slewing driving hydraulic motor, a mounting plate, a transmission gear and a driving gear; the base plate is mounted on the upper end of the hydraulic chassis; the outer ring of the internal gear slewing support bearing is fixed in the mounting hole at the upper end of the base plate; the inner ring of the internal gear slewing support bearing is connected to the lower end of the mounting plate ... The driving hydraulic motor is installed on the mounting plate, and the output end of the rotary driving hydraulic motor passes through the mounting plate and is coaxially connected to the driving gear, the outer periphery of the driving gear is meshed with the outer periphery of the transmission gear, the internal gear slewing support bearing is located at the outer peripheries of the driving gear and the transmission gear, and the inner ring of the internal gear slewing support bearing is meshed with the transmission gear; the lower end of the first section of the lifting support boom is installed on the upper end of the mounting plate, and the upper end of the first section of the lifting support boom is rotatably connected to one end of the second section of the lifting support boom The other end of the second section of the lifting support boom is slidably connected to the first end of the middle boom, and the first end of the middle boom can be stored in the upper end of the lifting support boom, the second end of the middle boom is slidably connected to the first end of the small boom, and the first end of the small boom can be stored in the second end of the middle boom, the second end of the small boom is connected to the hook assembly, the hook retraction and extension driving hydraulic motor is installed on the lifting support boom, and the lifting rope connected to the hook assembly is retracted and extended by the hook retraction and extension driving hydraulic motor, and the boom driving The fixed end of the moving cylinder is rotatably connected to the upper end of the mounting plate, the output end of the boom driving cylinder is rotatably mounted on one end of the second section of the lifting support boom, and can drive the second section of the lifting support boom to rotate and lift, the fixed end of the middle boom driving cylinder is mounted on the upper end outer wall of the lifting support boom, the output end of the middle boom driving cylinder is mounted on the second end outer wall of the middle boom, the fixed end of the small boom driving cylinder is mounted on the middle outer wall of the middle boom, and the output end of the small boom driving cylinder is mounted on the second end of the small boom.

[0011] Preferably, the hydraulic chassis includes a travel drive hydraulic motor, a rear obstacle overcoming mechanism, a rear obstacle overcoming mechanism driving cylinder, a chassis frame, a frame lifting drive cylinder, a front obstacle overcoming mechanism driving cylinder, a front obstacle overcoming mechanism and a travel track, the two travel tracks are respectively installed on both sides of the chassis frame, the two travel drive hydraulic motors are respectively installed on both sides of the chassis frame, and the travel tracks and the travel drive hydraulic motors correspond one to one, and the travel drive hydraulic motor is used to drive the travel tracks to rotate; the fixed end of the frame lifting drive cylinder and the frame The output ends of the lifting drive cylinders are all rotatably connected to the chassis frame; the fixed end of the front obstacle overcoming mechanism driving cylinder is rotatably connected to the chassis frame, the output end of the front obstacle overcoming mechanism driving cylinder is rotatably connected to the front obstacle overcoming mechanism, and one end of the front obstacle overcoming mechanism is rotatably connected to the front end of the chassis frame; the fixed end of the rear obstacle overcoming mechanism driving cylinder is rotatably connected to the chassis frame, the output end of the rear obstacle overcoming mechanism driving cylinder is rotatably connected to the rear obstacle overcoming mechanism, and one end of the rear obstacle overcoming mechanism is rotatably connected to the rear end of the chassis frame.

[0012] Preferably, it also includes a hydraulic balancing device, which is installed above the hydraulic chassis and located below the tree digging mechanism, the lifting mechanism, the hoisting mechanism and the truck bed, and the hydraulic balancing device can keep the tree digging assembly, the truck bed, the lifting mechanism and the hoisting mechanism in a horizontal state at all times.

[0013] Preferably, it also includes a hydraulic system, which includes a power source, a hydraulic motor drive module and a hydraulic cylinder drive module. The power source includes a hydraulic oil tank, a hydraulic pump, a safety valve and an engine. The output end of the engine is connected to the hydraulic pump and can drive the hydraulic pump to extract the hydraulic oil in the hydraulic oil tank to provide driving force for the hydraulic cylinder drive module and the hydraulic motor drive module; the hydraulic motor drive module includes four hydraulic motor drive elements with the same structure, and the four hydraulic motor drive elements are respectively a left crawler hydraulic motor drive element, a right crawler hydraulic motor drive element, a boom rotation hydraulic motor drive element and a rope retracting motor drive element. The hydraulic motor drive element includes a three-position four-way solenoid valve and a hydraulic motor. The hydraulic oil is supplied to the hydraulic motor through the power source, and the three-position four-way solenoid valve of the motor is used to control the rotation direction and start and stop of the hydraulic motor; the hydraulic cylinder drive module includes a tree digging mechanism cylinder drive element, a lifting mechanism cylinder drive element, and a hoisting mechanism cylinder drive element The oil cylinder driving element of the tree digging mechanism includes a left shovel oil cylinder driving part, a right shovel oil cylinder driving part, a front shovel oil cylinder driving part, a left shovel arm oil cylinder driving part, a left shovel flip oil cylinder driving part, a right shovel arm oil cylinder driving part and a right shovel flip oil cylinder driving part; the oil cylinder driving element of the lifting mechanism includes a left lifting arm oil cylinder driving part and a right lifting arm oil cylinder driving part; the oil cylinder driving element of the lifting mechanism includes a lifting arm oil cylinder driving part, a lifting middle arm oil cylinder driving part and a lifting arm oil cylinder driving part The hydraulic chassis cylinder driving element includes a front obstacle overcoming mechanism cylinder driving unit, a rear obstacle overcoming mechanism cylinder driving unit and a chassis frame cylinder driving unit. The structures of the various cylinder driving units in the hydraulic motor driving module are the same, and all include a cylinder three-position four-way solenoid valve, a first hydraulically controlled one-way valve, a second hydraulically controlled one-way valve and a hydraulic cylinder. The first hydraulically controlled one-way valve and the second hydraulically controlled one-way valve are combined and connected to form a hydraulic balancing valve. The hydraulic balancing valve can stabilize the flow of hydraulic oil supplied to the hydraulic cylinder in the hydraulic circuit.

[0014] The present invention also provides an adaptive terrain recognition and obstacle crossing method for afforestation equipment based on any one of the above technical solutions, comprising the following steps:

[0015] S1. Before the afforestation equipment moves forward to the gully terrain, the camera is used to identify the terrain, the sensor is used to confirm the size of the road gully, and the feature information of the gully ahead is transmitted to the control module in the control box through vision and image processing technology;

[0016] S2. Based on the gully size information identified in S1, the control module in the control box is used to first control the three-position four-way solenoid valve in the cylinder driving part of the front obstacle overcoming mechanism to move, so that the front obstacle overcoming mechanism driving cylinder is extended to the position, thereby driving the front obstacle overcoming mechanism to be lifted to the position, so that the front obstacle overcoming mechanism is in contact with the flat road surface behind the gully during the forward movement of the hydraulic chassis;

[0017] S3. The walking track is driven forward by the walking drive hydraulic motor, so that the front end of the hydraulic chassis leaves the flat road surface and enters the gully area. At this time, the three-position four-way solenoid valve of the chassis frame cylinder drive part is controlled by the control system to operate, so that the frame lifting drive cylinder is retracted and the front end of the chassis frame is lifted. Then the hydraulic chassis is controlled to continue to move forward, so that the front end of the walking track enters the flat ground behind the gully;

[0018] S4. When the hydraulic chassis continues to move forward and cross the gully, the control system controls the three-position four-way solenoid valve of the cylinder driving part of the rear obstacle-crossing mechanism to move, so that the rear obstacle-crossing mechanism driving cylinder extends, drives the rear obstacle-crossing mechanism to rotate and lift up, and lifts the rear part of the hydraulic chassis; then the hydraulic chassis continues to be controlled to move forward, so that the walking track completely crosses the gully;

[0019] S5. After the hydraulic chassis completely crosses the gully, the control system controls the three-position four-way solenoid valves of the front obstacle crossing mechanism cylinder drive unit, the rear obstacle crossing mechanism cylinder drive unit and the chassis frame cylinder drive unit to reset the front obstacle crossing mechanism drive cylinder, the rear obstacle crossing mechanism drive cylinder and the frame lifting drive cylinder, driving the front obstacle crossing mechanism, the rear obstacle crossing mechanism and the chassis frame to reset, thus completing an automatic gully crossing function.

[0020] Compared with the prior art, the present invention has achieved the following technical effects:

[0021] 1. The afforestation equipment and the adaptive terrain recognition and obstacle crossing method provided by the present invention adopt a pure hydraulic system as the power source for the hydraulic chassis drive and afforestation operations (such as digging, hoisting, auxiliary support, etc.) of the afforestation equipment, making its overall structure more compact and the driving operation more flexible, thereby being suitable for completing operations in forest areas with high planting density;

[0022] 2. The afforestation equipment and its adaptive terrain recognition and obstacle crossing method provided by the present invention utilize visual recognition and image processing technology to automatically identify information features such as the terrain slope and gully span of the forest land, and transmit the feature information to the control module. The control module controls the corresponding obstacle crossing hydraulic cylinder in the hydraulic chassis to achieve an appropriate extension and retraction amount, thereby enabling the hydraulic chassis to complete the adaptive obstacle crossing function of the gully section, ensuring smooth walking and operational stability on rugged sections, as well as the convenience of obstacle crossing operation of the afforestation equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 It is a structural schematic diagram of the afforestation equipment in Example 1;

[0025] Figure 2 Schematic diagram of the installation position of the tree digging mechanism in Example 1 (at an angle);

[0026] Figure 3 Schematic diagram of the installation position of the tree digging mechanism in Example 1 (at another angle);

[0027] Figure 4 It is a structural schematic diagram of the tree digging component in the first embodiment;

[0028] Figure 5 It is a structural schematic diagram of the hydraulic chassis and the control mechanism in the first embodiment;

[0029] Figure 6 Schematic diagram of the installation position of the lifting mechanism in the first embodiment;

[0030] Figure 7 It is a structural schematic diagram of the lifting mechanism in the first embodiment;

[0031] Figure 8 It is a partial structural schematic diagram of the lifting mechanism in the first embodiment;

[0032] Fig. 9 It is a structural schematic diagram of the hydraulic chassis in the first embodiment (at one angle);

[0033] Fig.10 It is a structural schematic diagram of the hydraulic chassis in the first embodiment (at another angle);

[0034] Fig.11 It is a working principle diagram of the hydraulic system in the first embodiment;

[0035] Fig.12 Schematic diagram of the circuit of each hydraulic cylinder in the first embodiment;

[0036] Fig.13 Schematic diagram of the circuit of each hydraulic motor in the first embodiment;

[0037] Fig.14 This is a schematic diagram of the state of the afforestation equipment at the end of S2 in Example 2;

[0038] Fig.15This is a schematic diagram of the state of the afforestation equipment at the end of S3 in Example 2;

[0039] Fig.16 This is a schematic diagram of the state of the afforestation equipment at the end of S4 in Example 2;

[0040] In the figure: 1- tree digging mechanism, 11- control arm assembly, 111- mounting seat, 112- arm lifting cylinder, 113- tree digging support arm, 114- shovel flip cylinder, 115- front mounting plate, 12- tree digging assembly, 121- side cross beam plate, 122- side shovel lifting cylinder, 123- side shovel clamping drive cylinder, 124- front shovel cross beam plate, 125- front shovel lifting cylinder, 126- shovel; 2- control mechanism, 21- control box, 22- camera; 3- lifting mechanism, 31- bottom bracket, 32- flip arm, 33- support plate, 34- flip drive cylinder; 4- lifting mechanism, 41- bottom plate, 42- slewing mechanism, 421-internal gear slewing support bearing, 422-slewing drive hydraulic motor, 423-mounting plate, 424-transmission gear, 425-driving gear, 43-hook assembly, 44-lifting support arm, 45-hook retracting and releasing drive hydraulic motor, 46-middle boom drive cylinder, 47-middle boom, 48-small boom drive cylinder, 49-small boom; 5-hydraulic chassis, 51-travel drive hydraulic motor, 52-rear obstacle crossing mechanism, 53-rear obstacle crossing mechanism drive cylinder, 54-chassis frame, 55-frame lifting drive cylinder, 56-front obstacle crossing mechanism drive cylinder, 57-front obstacle crossing mechanism, 58-travel crawler; 6-hydraulic balancing device; 7- Truck body; 80-power source, 801-hydraulic oil tank, 802-hydraulic pump, 803-safety valve, 804-engine, 81-hydraulic motor drive module, 8101-left crawler hydraulic motor drive element, 81011-motor three-position four-way solenoid valve, 81012-hydraulic motor, 8102-right crawler hydraulic motor drive element, 8103-arm rotation hydraulic motor drive element, 8104-rope retracting motor drive element, 82-hydraulic cylinder drive module, 8201-left shovel cylinder drive unit, 82011-cylinder three-position four-way solenoid valve, 82012-first hydraulically controlled one-way valve, 82013-second hydraulically controlled one-way valve, 82 014-Hydraulic cylinder, 8202-right shovel cylinder drive unit, 8203-front shovel cylinder drive unit, 8204-left shovel arm cylinder drive unit, 8205-left shovel flip cylinder drive unit, 8206-right shovel arm cylinder drive unit, 8207-right shovel flip cylinder drive unit, 8208-left lifting arm cylinder drive unit, 8209-right lifting arm cylinder drive unit, 8210-lifting arm cylinder drive unit, 8211-lifting middle arm cylinder drive unit, 8212-lifting forearm cylinder drive unit, 8213-front obstacle overcoming mechanism cylinder drive unit, 8214-rear obstacle overcoming mechanism cylinder drive unit, 8215-chassis frame cylinder drive unit. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] The purpose of the present invention is to provide an afforestation equipment and its adaptive terrain recognition and obstacle crossing method to solve the problems existing in the prior art. The equipment has a compact structure and can automatically identify information features such as terrain slope and gully span to ensure smooth walking and operational stability on rugged roads.

[0043] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0044] Embodiment 1

[0045] like Figure 1-Figure 13 As shown, this embodiment provides a forestry equipment, including a hydraulic chassis 5, and a tree digging mechanism 1, a control mechanism 2, a lifting mechanism 3, a lifting mechanism 4, a hydraulic chassis 5 and a truck bed 7 connected to the hydraulic chassis 5. The hydraulic chassis 5 can move and has an obstacle crossing mechanism to realize different functions of the hydraulic chassis 5. The tree digging mechanism 1 can uproot the trees to be transplanted and pull them out with soil under the control of the hydraulic chassis 5. The lifting mechanism 4 can move the pulled out trees to be transplanted into the truck bed 7 under the control of the hydraulic chassis 5 to complete the tree moving operation, so as to facilitate the transfer of the pulled out trees to be transplanted to the operation area under the drive of the hydraulic chassis 5 for transportation or transplanting operations. The control mechanism 2 can detect road condition information and control the hydraulic chassis 5 to output different actions to achieve obstacle crossing, and can adapt to various terrains. The lifting mechanism 3 can be flipped under the control of the hydraulic chassis 5 to press the ground for support to ensure the overall stability of the forestry equipment during tree digging operations. The lifting mechanism 3 can also be flipped under the control of the hydraulic chassis 5 to be off the ground to avoid affecting the overall movement. This embodiment uses a pure hydraulic system as the power source 80 for driving the hydraulic chassis 5 of the afforestation equipment and afforestation operations (such as digging, lifting, auxiliary support, etc.), making its overall structure more compact and the driving operation more flexible, and thus suitable for completing operations in forest areas with high planting density.

[0046] Specifically, Figure 2-Figure 4As shown, the tree digging mechanism 1 includes a control arm assembly 11 and a tree digging assembly 12. The control arm assembly 11 includes a mounting seat 111, a boom lifting cylinder 112, a tree digging support boom 113, a shovel flip cylinder 114 and a front mounting plate 115. The mounting seat 111 is mounted on the upper end of the hydraulic chassis 5. The first end of the tree digging support boom 113 is rotatably connected to the upper end of the mounting seat 111. The second end of the tree digging support boom 113 is rotatably connected to the lower end of the front mounting plate 115, so that the tree digging support boom 113 can rotate relative to the mounting seat 111. The tree digging mechanism 1 is mounted on the front mounting plate 115. The fixed end of the boom lifting cylinder 112 is rotatably connected to the lower end of the mounting seat 111. The output end of 112 is rotatably connected to the lower end of the middle part of the tree digging support arm 113, and can drive the second end of the tree digging support arm 113 to rotate and lift around the mounting seat 111, thereby realizing the lifting and lowering of the tree digging component 12, which can not only adjust the position of the tree clamped, but also realize the tree pulling operation. The fixed end of the shovel tilting cylinder 114 is rotatably connected to the upper end of the middle part of the tree digging support arm 113, and the output end of the shovel tilting cylinder 114 is rotatably connected to the upper end of the front mounting plate 115, and can adjust the angle between the front mounting plate 115 and the horizontal ground, thereby realizing the inclination angle control of the end of the shovel 126 of the tree digging component 12 and the ground, making it convenient for the shovel 126 to go deep into the ground to realize the tree digging and root cutting operation.

[0047] The tree digging assembly 12 includes a side cross beam plate 121, a side shovel lifting cylinder 122, a side shovel clamping drive cylinder 123, a front shovel cross beam plate 124, a front shovel lifting cylinder 125 and a shovel 126. One side of the front shovel cross beam plate 124 is fixed to the side of the front mounting plate 115 away from the tree digging support arm 113. Both ends of the front shovel cross beam plate 124 extend in a direction away from the front mounting plate 115 and are rotatably connected to the first end of each side cross beam plate 121. The second end of the side cross beam plate 121 extends in a direction close to each other and away from the front mounting plate 115, so as to clamp the tree. The front shovel lifting cylinder 125 is installed in the middle of the front shovel cross beam plate 124, and the output end of the front shovel lifting cylinder 125 is connected to a shovel 126, which is a front shovel. The two side shovel lifting cylinders 122 are respectively installed on the opposite sides of the two side cross beam plates 121, and each side shovel lifting cylinder 122 The output ends are respectively connected to a shovel 126, which are two side shovels. The front shovel lifting cylinder 125 drives the front shovel to lift and lower the front shovel, and the side shovel lifting cylinder 122 drives the side shovel to lift and lower the side shovel, so as to realize the root cutting and earth digging operations for the trees to be transplanted. A side shovel clamp driving cylinder 123 is respectively installed at the connection between the two ends of the front shovel beam plate 124 and each side beam plate 121. The fixed end of the side shovel clamp driving cylinder 123 is rotatably connected to the outer side of the end of the front shovel beam plate 124. The output end of the side shovel clamp driving cylinder 123 is rotatably connected to the outer side of the side beam plate 121, and can drive the two side beam plates 121 to rotate in the direction of approaching or moving away from each other, and then the distance between the two side shovels set on the left and right and the central tree to be transplanted is controlled by the two side shovel clamp driving cylinders 123 set on the left and right, so as to realize the pre-encirclement action of the roots of the trees to be transplanted.

[0048] like Figure 5 As shown, the control mechanism 2 includes a control box 21 and two groups of cameras 22. The two groups of cameras 22 are respectively installed near the front end and the rear end of the hydraulic chassis 5. The front and rear groups of cameras 22 identify the road condition information during the travel process, distinguish the size of the gully, and use image processing technology to generate a suitable obstacle crossing system. The control box 21 is installed on the upper end of the hydraulic chassis 5 and is set near the front end of the hydraulic chassis 5. The control system in the control box 21 controls the on-off time of the solenoid valve in the control box 21, and controls the hydraulic chassis 5 to achieve different actions to complete the crossing of the gully.

[0049] like Figure 6As shown, the lifting mechanism 3 includes a bottom bracket 31, a turning arm 32, a support plate 33 and a turning drive cylinder 34. The bottom bracket 31 is installed on the upper end of the hydraulic chassis 5. The two ends of the bottom bracket 31 are respectively arranged close to the two sides of the hydraulic chassis 5. The first ends of the two turning arms 32 are rotatably connected to the two ends of the bottom bracket 31 to ensure that the turning arms 32 can rotate relative to the bottom bracket 31 and avoid the two sides of the hydraulic chassis 5 affecting the turning of the turning arms 32. The turning arms 32, the support plates 33 and the turning drive cylinders 34 are all in one-to-one correspondence, and the second ends of the turning arms 32 are connected to the support plates 33. The first end of the bottom bracket 31 is rotatably connected to the second end of the bottom bracket 31, and the fixed ends of the two flip driving oil cylinders 34 are rotatably connected to the two ends of the bottom bracket 31 respectively. The output end of the flip driving oil cylinder 34 is rotatably connected to one side of the support plate 33, and can drive the flip arm 32 to rotate until the support plate 33 contacts and presses or does not contact the ground. The support plate 33 is used to contact the ground at a side away from the output end of the flip driving oil cylinder 34 and the second end of the flip arm 32. When the support plate 33 contacts the ground, it can play a supporting role in pressing the ground. At the same time, the support plates 33 arranged on the left and right sides ensure the overall stability during the tree digging operation.

[0050] like Figure 7-Figure 8As shown, the lifting mechanism 4 includes a base plate 41, a slewing mechanism 42, a hook assembly 43, a lifting support boom 44, a hook retracting and releasing driving hydraulic motor 45, a boom driving cylinder, a middle boom driving cylinder 46, a middle boom 47, a small boom driving cylinder 48 and a small boom 49, and the slewing mechanism 42 includes an internal gear slewing support bearing 421, a slewing driving hydraulic motor 422, a mounting plate 423, a transmission gear 424 and a driving gear 425. The base plate 41 is mounted on the upper end of the hydraulic chassis 5, and the outer ring of the internal gear slewing support bearing 421 is fixed in the mounting hole at the upper end of the base plate 41, and the inner ring of the internal gear slewing support bearing 421 is connected to the lower end of the mounting plate 423. The outer ring and the inner ring of the internal gear slewing support bearing 421 are rotatably connected, and can Relative rotation occurs, the rotary drive hydraulic motor 422 is installed on the mounting plate 423, and the output end of the rotary drive hydraulic motor 422 passes through the mounting plate 423 and is coaxially connected to the driving gear 425, and then the driving gear 425 is driven to rotate by the rotary drive hydraulic motor 422, the outer periphery of the driving gear 425 is meshed with the outer periphery of the transmission gear 424, and then the transmission gear 424 is driven to rotate by the driving gear 425, the internal gear rotary support bearing 421 is located at the outer periphery of the driving gear 425 and the transmission gear 424, and the inner ring of the internal gear rotary support bearing 421 is meshed with the transmission gear 424, and then the inner ring of the internal gear rotary support bearing 421 is driven to rotate by the transmission gear 424, so as to realize the rotation of the mounting plate 423;The lower end of the first section of the lifting support boom 44 is installed on the upper end of the mounting plate 423, so that the mounting plate 423 can drive the lifting support boom 44 to rotate to meet the use needs. The upper end of the first section of the lifting support boom 44 is rotatably connected to one end of the second section of the lifting support boom 44, and the other end of the second section of the lifting support boom 44 is slidably connected to the first end of the middle lifting arm 47, and the first end of the middle lifting arm 47 can be stored in the upper end of the lifting support boom 44, and the second end of the middle lifting arm 47 is slidably connected to the first end of the small lifting arm 49, and the first end of the small lifting arm 49 can be stored in the second end of the middle lifting arm 47, and then by adjusting the length of the middle lifting arm 47 extending out of the second section of the lifting support boom 44, and the length of the small lifting arm 49 extending out of the middle lifting arm 47, the overall length can be adjusted, the second end of the small lifting arm 49 is connected to the hook assembly 43, the hook retraction and release driving hydraulic motor 45 is installed on the lifting support boom 44, and the lifting rope connected to the hook assembly 43 is connected by The hook retraction and extension drive hydraulic motor 45 is retracted and extended to realize the lifting of the trees to be transplanted. The fixed end of the boom driving cylinder is rotatably connected to the upper end of the mounting plate 423. The output end of the boom driving cylinder is rotatably installed on one end of the second section of the lifting support boom 44, and can drive the second section of the lifting support boom 44 to rotate and lift, thereby realizing the height adjustment of the hook assembly 43. The fixed end of the middle boom driving cylinder 46 is installed on the upper outer wall of the lifting support boom 44. The output end is mounted on the second end outer wall of the middle boom 47. Through the extension and retraction of the middle boom driving cylinder 46, the length adjustment of the middle boom 47 extending to lift and support the big boom 44 can be realized. The fixed end of the small boom driving cylinder 48 is mounted on the middle outer wall of the middle boom 47, and the output end of the small boom driving cylinder 48 is mounted on the second end of the small boom 49. Through the extension and retraction of the small boom driving cylinder 48, the length adjustment of the small boom 49 extending from the middle boom 47 can be realized.

[0051] like Figure 9-10As shown, the hydraulic chassis 5 includes a travel drive hydraulic motor 51, a rear obstacle overcoming mechanism 52, a rear obstacle overcoming mechanism driving cylinder 53, a chassis frame 54, a frame lifting drive cylinder 55, a front obstacle overcoming mechanism driving cylinder 56, a front obstacle overcoming mechanism 57 and a travel crawler 58. The two travel crawlers 58 are respectively installed on both sides of the chassis frame 54. The two travel drive hydraulic motors 51 are respectively installed on both sides of the chassis frame 54, and the travel crawlers 58 and the travel drive hydraulic motors 51 correspond to each other one by one. The travel drive hydraulic motor 51 is used to drive the travel crawler 58 to rotate. The two travel drive hydraulic motors 51 respectively control the rotation of the two travel crawlers 58 set on the left and right, thereby realizing the moving action of the hydraulic chassis 5. The corresponding solenoid valves are used to control the rotation speed of the two travel drive hydraulic motors 51 set on the left and right, thereby realizing the turning action of the hydraulic chassis 5. The fixed end of the frame lifting drive cylinder 55 and the output end of the frame lifting drive cylinder 55 are both rotatably connected to the chassis frame. The front obstacle-crossing mechanism driving cylinder 56 is connected to the chassis frame 54, and the output end of the front obstacle-crossing mechanism driving cylinder 56 is connected to the front obstacle-crossing mechanism 57, and one end of the front obstacle-crossing mechanism 57 is connected to the front end of the chassis frame 54, so that the front end of the chassis frame 54 can be lifted and overcome obstacles; the fixed end of the rear obstacle-crossing mechanism driving cylinder 53 ... The chassis frame 54 is on the upper and lower parts of the vehicle frame 52, and the output end of the rear obstacle overcoming mechanism driving cylinder 53 is rotatably connected to the rear obstacle overcoming mechanism 52, and one end of the rear obstacle overcoming mechanism 52 is rotatably connected to the rear end of the chassis frame 54, so that the rear end of the chassis frame 54 can be lifted to overcome obstacles. The corresponding solenoid valves are used to control the action time and sequence of the rear obstacle overcoming mechanism driving cylinder 53, the frame lifting driving cylinder 55 and the front obstacle overcoming mechanism driving cylinder 56, so as to realize the front and rear lifting and lowering actions of the hydraulic chassis 5, so as to prepare for crossing the gully.

[0052] The present embodiment also includes a hydraulic balancing device 6, the interior of which is composed of multiple groups of hydraulic cylinders 82014. The hydraulic balancing device 6 is installed above the hydraulic chassis 5 and is located below the tree digging mechanism 1, the lifting mechanism 3, the hoisting mechanism 4 and the truck bed 7. The angle between the hydraulic chassis 5 and the ground is determined by a sensor, and the corresponding solenoid valve is used to control the internal hydraulic cylinder 82014 to be extended or retracted, thereby ensuring that the upper surface of the entire afforestation equipment is always in a horizontal state, thereby ensuring that the tree digging mechanism 1, the lifting mechanism 3, the hoisting mechanism 4 and the truck bed 7 are always in a horizontal state even in complex terrain, thereby improving the stability of the overall operation.

[0053] like Fig.11As shown, this embodiment also includes a hydraulic system, which includes a power source 80, a hydraulic motor drive module 81 and a hydraulic cylinder drive module 82. The power source 80 includes a hydraulic oil tank 801, a hydraulic pump 802, a safety valve 803 and an engine 804. The output end of the engine 804 is connected to the hydraulic pump 802, and can drive the hydraulic pump 802 to extract the hydraulic oil in the hydraulic oil tank 801 to provide driving force for the hydraulic cylinder drive module 82 and the hydraulic motor drive module 81.

[0054] The hydraulic motor drive module 81 includes four hydraulic motor drive elements with the same structure, which are respectively a left crawler hydraulic motor drive element 8101 (corresponding to the travel drive hydraulic motor 51 located on the left side of the hydraulic chassis 5), a right crawler hydraulic motor drive element 8102 (corresponding to the travel drive hydraulic motor 51 located on the right side of the hydraulic chassis 5), a boom rotation hydraulic motor drive element 8103 (corresponding to the slewing drive hydraulic motor 422 in the lifting mechanism 4) and a rope retracting motor drive element 8104 (corresponding to the hook retracting drive hydraulic motor 45 in the lifting mechanism 4). Fig.12 As shown, each of the above-mentioned hydraulic motor driving elements includes a three-position four-way solenoid valve 81011 and a hydraulic motor 81012. The hydraulic oil is supplied to each hydraulic motor 81012 through the power source 80, and the three-position four-way solenoid valve 81011 of each motor is used to control the rotation direction and start and stop action of the corresponding hydraulic motor 81012 to realize the corresponding functions, such as realizing the forward and backward movement of the left and right walking tracks 58.

[0055] The hydraulic cylinder drive module 82 includes the cylinder drive elements of the tree digging mechanism 1 (corresponding to the boom lifting cylinder 112, the shovel turning cylinder 114, the side shovel lifting cylinder 122, the side shovel clamping drive cylinder 123 and the front shovel lifting cylinder 125 in the tree digging mechanism 1), the cylinder drive elements of the lifting mechanism 3 (corresponding to the turning drive cylinder 34 in the lifting mechanism 3), the cylinder drive elements of the lifting mechanism 4 (corresponding to the boom drive cylinder, the middle boom drive cylinder 46 and the small boom drive cylinder 48 in the lifting mechanism 4) and the cylinder drive elements of the hydraulic chassis 5 (corresponding to the rear obstacle crossing mechanism drive cylinder 53, the frame lifting drive cylinder 55 and the front obstacle crossing mechanism drive cylinder 56 in the hydraulic chassis 5).

[0056] The cylinder driving elements of the tree digging mechanism 1 include a left shovel cylinder driving unit 8201 (corresponding to the side shovel lifting cylinder 122 on the left side of the tree digging mechanism 1), a right shovel cylinder driving unit 8202 (corresponding to the side shovel lifting cylinder 122 on the right side of the tree digging mechanism 1), a front shovel cylinder driving unit 8203 (corresponding to the front shovel lifting cylinder 125 in the tree digging mechanism 1), a left shovel boom cylinder driving unit 8204 (corresponding to the boom driving cylinder on the left side of the tree digging mechanism 1), a left shovel flipping cylinder driving unit 8205 (corresponding to the shovel flipping cylinder 114 on the left side of the tree digging mechanism 1), a right shovel boom cylinder driving unit 8206 (corresponding to the boom driving cylinder on the right side of the tree digging mechanism 1) and a right shovel flipping cylinder driving unit 8207 (corresponding to the shovel flipping cylinder 114 on the right side of the tree digging mechanism 1); the cylinder driving elements of the lifting mechanism 3 include a left boom cylinder driving unit 82 08 (corresponding to the flip drive cylinder 34 located on the left side in the lifting mechanism 3) and the right lifting arm cylinder drive unit 8209 (corresponding to the flip drive cylinder 34 located on the right side in the lifting mechanism 3); the lifting mechanism 4 cylinder drive element includes a lifting arm cylinder drive unit 8210 (corresponding to the lifting arm drive cylinder in the lifting mechanism 4), a lifting middle arm cylinder drive unit 8211 (corresponding to the middle arm drive cylinder 46 in the lifting mechanism 4) and a lifting arm cylinder drive unit 8212 (corresponding to the small arm drive cylinder 48 in the lifting mechanism 4); the hydraulic chassis 5 cylinder drive element includes a front obstacle crossing mechanism cylinder drive unit 8213 (corresponding to the front obstacle crossing mechanism drive cylinder 56 in the hydraulic chassis 5), a rear obstacle crossing mechanism cylinder drive unit 8214 (corresponding to the rear obstacle crossing mechanism drive cylinder 53 in the hydraulic chassis 5) and a chassis frame cylinder drive unit 8215 (corresponding to the frame lifting drive cylinder 55 in the hydraulic chassis 5), as shown in FIG. Fig.13 As shown, the structures of the various cylinder drive parts in the hydraulic motor drive module 81 are the same, and all include a cylinder three-position four-way solenoid valve 82011, a first hydraulically controlled one-way valve 82012, a second hydraulically controlled one-way valve 82013 and a hydraulic cylinder 82014. The first hydraulically controlled one-way valve 82012 and the second hydraulically controlled one-way valve 82013 are combined and connected to form a hydraulic balance valve. The hydraulic balance valve can stabilize the flow of hydraulic oil supplied to the hydraulic cylinder 82014 in the hydraulic circuit.

[0057] The working principle of the hydraulic balancing valve is as follows: the left side of the three-position four-way solenoid valve 82011 of the cylinder is energized and the valve body moves to the right. At this time, the hydraulic oil passes through the three-position four-way solenoid valve 82011 of the cylinder and enters the first hydraulically controlled one-way valve 82012. Part of the hydraulic oil enters the oil inlet on the left side of the hydraulic cylinder 82014 through the first hydraulically controlled one-way valve 82012, pushing the piston of the hydraulic cylinder 82014 to move right and out, and part of the hydraulic oil enters the second hydraulically controlled one-way valve 82013, so that the second hydraulically controlled one-way valve 82013 opens. In this state, the second hydraulically controlled one-way valve 82013 becomes a one-way valve. Finally, the hydraulic oil passes through the three-position four-way solenoid valve 82011 of the cylinder and enters the hydraulic oil tank 801. Since a certain pressure is required to push the second hydraulically controlled one-way valve 82013 to open, when the pressure in the circuit is relatively low, the second hydraulically controlled one-way valve 82013 cannot be opened and the hydraulic cylinder 82014 is in a locked state, ensuring that the side shovel at the end of the left shovel cylinder drive unit 8201 is in the current state, thereby ensuring the stability of the operation.

[0058] Embodiment 2

[0059] like Figure 14-16 As shown, this embodiment provides an adaptive terrain recognition obstacle crossing method based on the afforestation equipment in Embodiment 1, comprising the following steps:

[0060] S1. Before the afforestation equipment moves forward to the gully terrain, the camera 22 is used to identify the terrain, the sensor is used to confirm the size of the road gully, and the characteristic information of the gully in front is transmitted to the control module in the control box 21 through visual and image processing technology;

[0061] S2. Based on the gully size information identified in S1, the control module in the control box 21 is used to first control the three-position four-way solenoid valve 82011 in the front obstacle overcoming mechanism cylinder driving unit 8213 to operate, so that the front obstacle overcoming mechanism driving cylinder 56 is extended to the position, thereby driving the front obstacle overcoming mechanism 57 to be lifted to the position, so that the front obstacle overcoming mechanism 57 contacts the flat road surface behind the gully during the forward movement of the hydraulic chassis 5, as shown in FIG. Fig.14 As shown;

[0062] S3. The walking drive hydraulic motor 51 drives the walking crawler 58 forward, so that the front end of the hydraulic chassis 5 leaves the flat road surface and enters the gully area. At this time, the control system controls the three-position four-way solenoid valve 82011 of the chassis frame cylinder drive unit 8215 to operate, so that the frame lifting drive cylinder 55 retracts and drives the front end of the chassis frame 54 to lift up, and then controls the hydraulic chassis 5 to continue moving forward, so that the front end of the walking crawler 58 enters the flat ground behind the gully, as shown in FIG. Fig.15 As shown;

[0063] S4. When the hydraulic chassis 5 continues to move forward and cross the gully, the control system controls the three-position four-way solenoid valve 82011 of the rear obstacle-crossing mechanism cylinder drive unit 8214 to move, so that the rear obstacle-crossing mechanism drive cylinder 53 extends, drives the rear obstacle-crossing mechanism 52 to rotate and lift up, and lifts the rear part of the hydraulic chassis 5; then the hydraulic chassis 5 continues to be controlled to move forward, so that the walking track 58 completely crosses the gully, such as Fig.16 As shown;

[0064] S5. After the hydraulic chassis 5 has completely crossed the gully, the control system controls the three-position four-way solenoid valve 82011 of the front obstacle crossing mechanism cylinder drive unit 8213, the rear obstacle crossing mechanism cylinder drive unit 8214 and the chassis frame cylinder drive unit 8215 to operate, so that the front obstacle crossing mechanism drive cylinder 56, the rear obstacle crossing mechanism drive cylinder 53 and the frame lifting drive cylinder 55 are reset, and the front obstacle crossing mechanism 57, the rear obstacle crossing mechanism 52 and the chassis frame 54 are reset, completing the automatic gully crossing function.

[0065] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A afforestation equipment, characterized in that: It includes a hydraulic chassis, and a tree digging mechanism, a control mechanism, a lifting mechanism, a hoisting mechanism, a hydraulic chassis and a truck bed connected to the hydraulic chassis. The hydraulic chassis is movable and has an obstacle crossing mechanism. The tree digging mechanism can uproot trees to be transplanted and pull them out with soil under the control of the hydraulic chassis. The hoisting mechanism can move the pulled-out trees to be transplanted into the truck bed under the control of the hydraulic chassis. The control mechanism can detect road condition information and control the hydraulic chassis to output different actions to achieve obstacle crossing. The lifting mechanism can flip over to press the ground for support, or flip over to be off the ground, under the control of the hydraulic chassis.

2. The afforestation equipment according to claim 1, characterized in that: The tree digging mechanism includes a control arm assembly and a tree digging assembly, the control arm assembly includes a mounting seat, a boom lifting cylinder, a tree digging support boom, a shovel tilting cylinder and a front mounting plate, the mounting seat is mounted on the upper end of the hydraulic chassis, the first end of the tree digging support boom is rotatably connected to the upper end of the mounting seat, the second end of the tree digging support boom is rotatably connected to the lower end of the front mounting plate, the tree digging mechanism is mounted on the front mounting plate, the fixed end of the boom lifting cylinder is rotatably connected to the lower end of the mounting seat, the output end of the boom lifting cylinder is rotatably connected to the lower end of the middle part of the tree digging support boom, and can drive the second end of the tree digging support boom to rotate and lift around the mounting seat, the fixed end of the shovel tilting cylinder is rotatably connected to the upper end of the middle part of the tree digging support boom, the output end of the shovel tilting cylinder is rotatably connected to the upper end of the front mounting plate, and can adjust the angle between the front mounting plate and the horizontal ground to drive the tree digging mechanism to penetrate into the ground.

3. The afforestation equipment according to claim 2, characterized in that: The tree digging assembly includes a side cross beam plate, a side shovel lifting cylinder, a side shovel clamping drive cylinder, a front shovel cross beam plate, a front shovel lifting cylinder and a shovel. One side of the front shovel cross beam plate is fixed to the side of the front mounting plate away from the tree digging support arm. Both ends of the front shovel cross beam plate extend in a direction away from the front mounting plate and are rotatably connected to a first end of the side cross beam plate. The second ends of the side cross beam plate extend in a direction close to each other and away from the front mounting plate. The front shovel lifting cylinder is installed in the middle of the front shovel cross beam plate, and the output end of the front shovel lifting cylinder is A shovel is connected, and the two side shovel lifting cylinders are respectively installed on the opposite sides of the two side cross beams, and the output end of each side shovel lifting cylinder is respectively connected to a shovel, and a side shovel clamping driving cylinder is respectively installed at the connection between the two ends of the front shovel cross beam and each side cross beam, and the fixed end of the side shovel clamping driving cylinder is rotatably connected to the outer side of the end of the front shovel cross beam, and the output end of the side shovel clamping driving cylinder is rotatably connected to the outer side of the side cross beam, and can drive the two side cross beams to rotate in the direction of approaching or moving away from each other.

4. The afforestation equipment according to claim 1, characterized in that: The control mechanism includes a control box and two groups of cameras. The two groups of cameras are installed near the front end and the rear end of the hydraulic chassis respectively. The control box is installed at the upper end of the hydraulic chassis and is arranged near the front end of the hydraulic chassis. The control system in the control box controls the on and off time of the solenoid valve in the control box to control the hydraulic chassis to achieve different actions.

5. The afforestation equipment according to claim 1, characterized in that: The lifting mechanism includes a bottom bracket, a flip arm, a support plate and a flip driving cylinder. The bottom bracket is installed on the upper end of the hydraulic chassis, and the two ends of the bottom bracket are respectively arranged close to the two sides of the hydraulic chassis. The first ends of the two flip arms are rotatably connected to the two ends of the bottom bracket. The flip arm, the support plate and the flip driving cylinder are all in one-to-one correspondence, and the second end of the flip arm is rotatably connected to one side of the support plate. The fixed ends of the two flip driving cylinders are respectively rotatably connected to the two ends of the bottom bracket, and the output end of the flip driving cylinder is rotatably connected to one side of the support plate, and can drive the flip arm to rotate until the support plate is in contact with or not in contact with the ground. The support plate is used to contact the ground on the side away from the output end of the flip driving cylinder and the second end of the flip arm.

6. The afforestation equipment according to claim 1, characterized in that: The lifting mechanism includes a base plate, a slewing mechanism, a hook assembly, a lifting support boom, a hook retracting and releasing driving hydraulic motor, a boom driving cylinder, a middle boom driving cylinder, a middle boom, a small boom driving cylinder and a small boom. The slewing mechanism includes an internal gear slewing support bearing, a slewing driving hydraulic motor, a mounting plate, a transmission gear and a driving gear. The base plate is mounted on the upper end of the hydraulic chassis, the outer ring of the internal gear slewing support bearing is fixed in the mounting hole at the upper end of the base plate, the inner ring of the internal gear slewing support bearing is connected to the lower end of the mounting plate, and the slewing driving hydraulic The hydraulic motor is installed on the mounting plate, and the output end of the rotary drive hydraulic motor passes through the mounting plate and is coaxially connected to the driving gear, the outer periphery of the driving gear is meshed with the outer periphery of the transmission gear, the internal gear slewing support bearing is located at the outer periphery of the driving gear and the transmission gear, and the inner ring of the internal gear slewing support bearing is meshed with the transmission gear; the lower end of the first section of the lifting support boom is installed on the upper end of the mounting plate, and the upper end of the first section of the lifting support boom is rotatably connected to one end of the second section of the lifting support boom, The other end of the second section of the lifting support boom is slidably connected to the first end of the middle boom, and the first end of the middle boom can be stored in the upper end of the lifting support boom, the second end of the middle boom is slidably connected to the first end of the small boom, and the first end of the small boom can be stored in the second end of the middle boom, the second end of the small boom is connected to the hook assembly, the hook retraction and extension driving hydraulic motor is installed on the lifting support boom, and the lifting rope connected to the hook assembly is retracted and extended by the hook retraction and extension driving hydraulic motor, and the boom driving The fixed end of the cylinder is rotatably connected to the upper end of the mounting plate, the output end of the boom driving cylinder is rotatably mounted on one end of the second section of the lifting support boom, and can drive the second section of the lifting support boom to rotate and lift, the fixed end of the middle boom driving cylinder is mounted on the upper end outer wall of the lifting support boom, the output end of the middle boom driving cylinder is mounted on the second end outer wall of the middle boom, the fixed end of the small boom driving cylinder is mounted on the middle outer wall of the middle boom, and the output end of the small boom driving cylinder is mounted on the second end of the small boom.

7. The afforestation equipment according to claim 1, characterized in that: The hydraulic chassis comprises a travel drive hydraulic motor, a rear obstacle overcoming mechanism, a rear obstacle overcoming mechanism drive cylinder, a chassis frame, a frame lifting drive cylinder, a front obstacle overcoming mechanism drive cylinder, a front obstacle overcoming mechanism and a travel crawler, two of the travel crawlers are respectively installed on both sides of the chassis frame, two of the travel drive hydraulic motors are respectively installed on both sides of the chassis frame, and the travel crawlers and the travel drive hydraulic motors correspond one to one, and the travel drive hydraulic motor is used to drive the travel crawlers to rotate; The fixed end of the frame lifting drive cylinder and the output end of the frame lifting drive cylinder are both rotatably connected to the chassis frame; the fixed end of the front obstacle overcoming mechanism drive cylinder is rotatably connected to the chassis frame, the output end of the front obstacle overcoming mechanism drive cylinder is rotatably connected to the front obstacle overcoming mechanism, and one end of the front obstacle overcoming mechanism is rotatably connected to the front end of the chassis frame; the fixed end of the rear obstacle overcoming mechanism drive cylinder is rotatably connected to the chassis frame, the output end of the rear obstacle overcoming mechanism drive cylinder is rotatably connected to the rear obstacle overcoming mechanism, and one end of the rear obstacle overcoming mechanism is rotatably connected to the rear end of the chassis frame.

8. The afforestation equipment according to claim 1, characterized in that: It also includes a hydraulic balancing device, which is installed above the hydraulic chassis and below the tree digging mechanism, the lifting mechanism, the hoisting mechanism and the truck bed. The hydraulic balancing device can keep the tree digging assembly, the truck bed, the lifting mechanism and the hoisting mechanism in a horizontal state at all times.

9. The afforestation equipment according to claim 1, characterized in that: It also includes a hydraulic system, which includes a power source, a hydraulic motor drive module and a hydraulic cylinder drive module. The power source includes a hydraulic oil tank, a hydraulic pump, a safety valve and an engine. The output end of the engine is connected to the hydraulic pump and can drive the hydraulic pump to extract the hydraulic oil in the hydraulic oil tank to provide driving force for the hydraulic cylinder drive module and the hydraulic motor drive module; the hydraulic motor drive module includes four hydraulic motor drive elements with the same structure, and the four hydraulic motor drive elements are respectively a left crawler hydraulic motor drive element, a right crawler hydraulic motor drive element, a boom rotation hydraulic motor drive element and a rope retracting motor drive element. The hydraulic motor drive element includes a three-position four-way solenoid valve and a hydraulic motor. The hydraulic oil is supplied to the hydraulic motor through the power source, and the three-position four-way solenoid valve of the motor is used to control the rotation direction and start and stop of the hydraulic motor; the hydraulic cylinder drive module includes a tree digging mechanism cylinder drive element, a lifting mechanism cylinder drive element, a hoisting mechanism cylinder drive element and The hydraulic chassis cylinder drive element, the tree digging mechanism cylinder drive element includes a left shovel cylinder drive unit, a right shovel cylinder drive unit, a front shovel cylinder drive unit, a left shovel arm cylinder drive unit, a left shovel flip cylinder drive unit, a right shovel arm cylinder drive unit and a right shovel flip cylinder drive unit; the lifting mechanism cylinder drive element includes a left boom cylinder drive unit and a right boom cylinder drive unit; the lifting mechanism cylinder drive element includes a lifting boom cylinder drive unit, a lifting middle arm cylinder drive unit and a lifting forearm cylinder drive unit ; The hydraulic chassis cylinder drive element includes a front obstacle overcoming mechanism cylinder drive unit, a rear obstacle overcoming mechanism cylinder drive unit and a chassis frame cylinder drive unit. The structures of the various cylinder drive units in the hydraulic motor drive module are the same, and all include a three-position four-way solenoid valve of the cylinder, a first hydraulically controlled one-way valve, a second hydraulically controlled one-way valve and a hydraulic cylinder. The first hydraulically controlled one-way valve and the second hydraulically controlled one-way valve are combined and connected to form a hydraulic balancing valve. The hydraulic balancing valve can stabilize the flow of hydraulic oil supplied to the hydraulic cylinder in the hydraulic circuit.

10. An adaptive terrain recognition and obstacle crossing method for afforestation equipment according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. Before the afforestation equipment moves forward to the gully terrain, the camera is used to identify the terrain, the sensor is used to confirm the size of the road gully, and the feature information of the gully ahead is transmitted to the control module in the control box through vision and image processing technology; S2. Based on the gully size information identified in S1, the control module in the control box is used to first control the three-position four-way solenoid valve in the cylinder driving part of the front obstacle overcoming mechanism to move, so that the front obstacle overcoming mechanism driving cylinder is extended to the position, thereby driving the front obstacle overcoming mechanism to be lifted to the position, so that the front obstacle overcoming mechanism is in contact with the flat road surface behind the gully during the forward movement of the hydraulic chassis; S3. The walking track is driven forward by the walking drive hydraulic motor, so that the front end of the hydraulic chassis leaves the flat road surface and enters the gully area. At this time, the three-position four-way solenoid valve of the chassis frame cylinder drive part is controlled by the control system to operate, so that the frame lifting drive cylinder is retracted and the front end of the chassis frame is lifted. Then the hydraulic chassis is controlled to continue to move forward, so that the front end of the walking track enters the flat ground behind the gully; S4. When the hydraulic chassis continues to move forward and cross the gully, the control system controls the three-position four-way solenoid valve of the cylinder driving part of the rear obstacle-crossing mechanism to move, so that the rear obstacle-crossing mechanism driving cylinder extends, drives the rear obstacle-crossing mechanism to rotate and lift up, and lifts the rear part of the hydraulic chassis; then the hydraulic chassis continues to be controlled to move forward, so that the walking track completely crosses the gully; S5. After the hydraulic chassis completely crosses the gully, the control system controls the three-position four-way solenoid valves of the front obstacle crossing mechanism cylinder drive unit, the rear obstacle crossing mechanism cylinder drive unit and the chassis frame cylinder drive unit to reset the front obstacle crossing mechanism drive cylinder, the rear obstacle crossing mechanism drive cylinder and the frame lifting drive cylinder, driving the front obstacle crossing mechanism, the rear obstacle crossing mechanism and the chassis frame to reset, thus completing an automatic gully crossing function.

Images