Bamboo stump chopping device and operation method thereof

Abstract

The invention discloses a bamboo stump chopping device and an operation method thereof, and relates to the technical field of agricultural machinery, the bamboo stump chopping device comprises a rack, and a chassis walking mechanism, a bamboo stump chopping mechanism, a hydraulic system, a visual system, an electric control system and a power system which are mounted on the rack, the hydraulic system can adjust the motion state of the power system, the power system is connected with the chassis walking mechanism and used for driving the chassis walking mechanism to drive the rack to move, the visual system and the bamboo stump cutting mechanism are both electrically connected with the electric control system, and the visual system is used for recognizing and positioning bamboo stumps. The electric control system controls the bamboo stump chopping mechanism to act according to information recognized by the visual system and enables the bamboo stump chopping mechanism to chop the bamboo stumps. The bamboo stump cutting efficiency can be improved, and the labor cost is saved.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, in particular to a bamboo stump chopping device and an operating method thereof. Background Art

[0002] After felling bamboo forests, a large number of bamboo stumps will be left behind. They rely on their tail vertebrae and attached bamboo roots to absorb water and nutrients from bamboo rhizomes and soil. They are hard and not easy to rot. Generally, they take 8 to 10 years to degrade naturally, resulting in the invalid occupation of about 15% of the bamboo forest space. At the same time, the existence of bamboo stumps will also affect the penetration and extension of bamboo rhizomes, which is not conducive to the production of bamboo shoots in bamboo forests and will affect the growth of bamboo.

[0003] At present, bamboo stumps are mainly removed by chemical corrosion and manual digging. Among them, manual digging is time-consuming and labor-intensive, with low operating efficiency, and the labor cost is rising year by year, which reduces the economic benefits of bamboo forests; chemical corrosion is not only costly, but also pollutes the environment and affects food safety. Summary of the invention

[0004] The object of the present invention is to provide a bamboo stump chopping device and an operating method thereof, so as to solve the problems existing in the above-mentioned prior art, improve the efficiency of bamboo stump cutting and save manual labor costs.

[0005] To achieve the above object, the present invention provides the following solutions: The present invention provides a bamboo stump chopping device, comprising a frame, a chassis walking mechanism installed on the frame, a bamboo stump chopping mechanism, a hydraulic system, a visual system, an electric control system and a power system, wherein the hydraulic system is connected to the power system and the hydraulic system can adjust the motion state of the power system, the power system is connected to the chassis walking mechanism and is used to drive the chassis walking mechanism to drive the frame to move, the visual system and the bamboo stump chopping mechanism are both electrically connected to the electric control system, the visual system is used to identify and locate bamboo stumps, and the electric control system controls the action of the bamboo stump chopping mechanism according to information identified by the visual system, and enables the bamboo stump chopping mechanism to chop the bamboo stumps.

[0006] In one embodiment, the chassis walking mechanism is a crawler type, and the chassis walking mechanism includes a track wheel group, an axle, a driving hydraulic motor, a walking plane slewing support, a steering gear and a steering hydraulic motor. Two groups of the track wheel groups are respectively installed on both sides of the axle, and the two groups of the track wheel groups correspond to the two driving hydraulic motors one by one. The inner ring of the track wheel group is provided with a driving wheel, and the output shaft of the driving hydraulic motor is connected to the driving wheel. The walking plane slewing support is installed at the upper end of the axle, and the outer ring of the steering gear is meshed with the inner ring of the walking plane slewing support. The steering hydraulic motor is installed at the lower end of the axle, and the output shaft of the steering hydraulic motor is connected to the steering gear. The inner ring of the walking plane slewing support is also connected to the frame. The driving hydraulic motor and the steering hydraulic motor are both connected to the hydraulic system.

[0007] In one embodiment, guide rail groups are symmetrically installed on both sides of the front end of the frame, and an installation cylinder is installed on the frame. A walking board is slidably connected between the two guide rail groups, and the output end of the installation cylinder is hinged to the walking board, and the installation cylinder can drive the walking board to reciprocate in the horizontal direction, and the bamboo stump chopping mechanism is installed on the walking board; each guide rail group is rotatably installed with a front support leg at one end away from the frame, and a rear support leg is installed on the side of the axle away from the frame. The front support leg and the rear support leg have the same structure and both include a supporting connector, a supporting cylinder, a supporting channel steel, a supporting foot and a supporting shaft. The supporting connector is installed on the outer side of the guide rail group or the axle, the first end of the supporting channel steel is rotatably connected to the supporting connector, and the second end of the supporting channel steel is rotatably connected to the supporting foot through the supporting shaft, and the supporting foot is used to support the ground, the supporting cylinder is located in the supporting channel steel, and the output end of the supporting cylinder is connected to the supporting shaft.

[0008] In one embodiment, the guide rail group includes an upper support rail and a lower support rail arranged in an upper and lower manner; the bamboo stump chopping mechanism includes a flange cylinder, a chopping hydraulic motor, a cutter head mounting plate, a chopping plane slewing support, the walking plate, a tapered roller bearing, a cutter head and a chopping gear, two of the flange cylinders are symmetrically installed on the frame, and the two flange cylinders are connected to the cutter head mounting plate and can drive the cutter head mounting plate to rise and fall, the chopping hydraulic motor is installed at the upper end of the cutter head mounting plate, the outer ring of the chopping plane slewing support is installed at the lower end of the cutter head mounting plate, and the chopping The gear is meshed with the inner ring of the slewing support of the shredding plane, the output end of the shredding hydraulic motor is connected to the shredding gear and can drive the shredding gear to rotate, the inner ring flange of the slewing support of the shredding plane is connected to the cutter head and can drive the cutter head to rotate, the cutter head can extend downward through the middle through hole of the walking board and be used to shred bamboo stumps, the two groups of tapered roller bearings are respectively installed on both sides of the walking board with their backs to each other, and the two groups of guide rail groups and the two groups of tapered roller bearings correspond one to one, and the tapered roller bearings are installed between the upper support rail and the lower support rail on the same side.

[0009] In one embodiment, the cutter head includes a cutter body, a blade and a drill bit, the cutter body includes a cylindrical rod, a mounting body, an upper reinforcing rib and a lower reinforcing rib, the upper end of the cylindrical rod is connected to the inner ring of the slewing support of the shredding plane, the lower end of the cylindrical rod is connected to the drill bit, the mounting body is mounted on the outer circumference of the cylindrical rod, and the lower end of the mounting body is connected to the blade, the lower end of the drill bit extends out of the cylindrical rod and the blade, the upper reinforcing rib is mounted on the outer circumference of the cylindrical rod and the end face of the inner ring of the slewing support of the shredding plane, the lower reinforcing rib is mounted on the outer circumference of the cylindrical rod and the upper end face of the mounting body, the mounting body is spiral, and the lower end of the mounting body has an inclined surface.

[0010] In one embodiment, the hydraulic system includes a hydraulic oil tank, a first hydraulic pump, a second hydraulic pump, a hydraulic pipeline and a hydraulic control valve. The hydraulic oil tank, the first hydraulic pump and the second hydraulic pump are all installed on the frame, and the hydraulic oil tank and the first hydraulic pump, as well as the hydraulic oil tank and the second hydraulic pump are connected through hydraulic pipelines. The hydraulic control valve is installed on the side wall of the hydraulic oil tank, and the first hydraulic pump and the second hydraulic pump are both gear pumps.

[0011] In one embodiment, the power system includes an engine, a driving pulley, a first belt, a second belt and two driven pulleys, the output shaft of the engine is coaxially connected to the driving pulley, the driving pulley is connected to one of the driven pulleys through the first belt, the driving pulley is connected to the other driven pulley through the second belt, and the first hydraulic pump and the second hydraulic pump are respectively connected to the two driven pulleys.

[0012] In one embodiment, the visual system includes a binocular camera and an industrial computer, both of which are electrically connected to the electronic control system. The binocular camera is installed on the frame and is used to identify bamboo stumps respectively, and the binocular camera can transmit the identified image information to the industrial computer. The industrial computer can analyze and calculate the blade position of the bamboo stump cutting mechanism based on the image information, and transmit the calculation result to the electronic control system.

[0013] In one embodiment, the electronic control system includes an electrical cabinet, a battery, a controller, an operating handle, an integrated circuit and a plurality of sensors. The electrical cabinet is installed on the side wall of the hydraulic oil tank of the hydraulic system. The battery is installed on the frame and is electrically connected to the integrated circuit. The integrated circuit can convert and rectify the output voltage of the battery. The operating handle is electrically connected to the controller. The plurality of sensors are respectively a pressure sensor, a pull-rope displacement sensor, an ultrasonic displacement sensor and an angle sensor. The pressure sensor is used to detect the return oil pressure to determine whether the cutter head of the bamboo stump chopping mechanism is in contact with the bamboo stump. The pull-rope displacement sensor is installed on the frame, and the pull rope of the pull-rope displacement sensor is connected to the bottom of the bamboo stump chopping mechanism and is used to detect the position of the cutter head of the bamboo stump chopping mechanism in the y direction. The ultrasonic displacement sensor is used to detect the position of the cutter head of the bamboo stump chopping mechanism in the z direction. The angle sensor is used to detect the swing angle of the cutter head of the bamboo stump chopping mechanism.

[0014] The present invention also provides an operating method of the bamboo stump chopping device according to any one of the above technical solutions, comprising the following steps: Chassis walking mechanism and frame adjustment: The two sets of crawler wheel assemblies are driven to rotate respectively by driving hydraulic motors, and the frame rotation is controlled by the steering hydraulic motor. The driving hydraulic motor on the right side is connected to the first solenoid valve, and the output torque is controlled by the first solenoid valve. The driving hydraulic motor on the left side is connected to the second solenoid valve, and the output torque is controlled by the second solenoid valve. When the operating handle controls the chassis walking mechanism to move forward or backward, the first solenoid valve and the second solenoid valve are connected at the same time. When turning right is required, the second solenoid valve is connected to control the movement of the crawler wheel assembly on the left side, and the crawler wheel assembly on the right side slides on the spot. When turning left is required, the first solenoid valve is connected to control the movement of the crawler wheel assembly on the right side, and the crawler wheel assembly on the left side slides on the spot. The steering hydraulic motor is connected to the first proportional flow solenoid valve, and the output torque is controlled by the first proportional flow solenoid valve. An angle sensor is installed on the frame. When the operating handle is in manual mode, the angle sensor is in a power-off or skip state. At this time, the state of the first proportional flow solenoid valve is manually controlled by the operating handle to control the rotation angle and the stop position of the frame, thereby driving the cutter head to move circumferentially and align with the left and right positions of the bamboo stumps. The supporting oil cylinder corresponding to the front supporting leg on the right side is connected to the third solenoid valve, and the output torque is controlled by the third solenoid valve; the supporting oil cylinder corresponding to the front supporting leg on the left side is connected to the fourth solenoid valve, and the output torque is controlled by the fourth solenoid valve; the supporting oil cylinder corresponding to the rear supporting leg is connected to the fifth solenoid valve, and the output torque is controlled by the fifth solenoid valve; the operating handle controls the states of the third solenoid valve, the fourth solenoid valve and the fifth solenoid valve respectively, so as to respectively control the opening states of the two front supporting legs and the rear supporting legs, so that the rear supporting legs contact the ground and cooperate with the track wheel group to withstand the reaction force applied when the cutter head is rotary cut downward, and the two front supporting legs are adjusted to be parallel to the frame and the ground, and the cutter head and the bamboo stump are parallel, and at the same time, the two front supporting legs withstand the reverse torque when the cutter head is rotary cut downward; Bamboo stump chopping mechanism adjustment: The shredding hydraulic motor drives the frame to rotate to realize the circumferential rotation reversal of the bamboo stump shredding mechanism, the front-to-back movement of the bamboo stump shredding mechanism is realized by the extension and contraction of the installation cylinder, the cutter head is driven to rotate by the shredding hydraulic motor, and the cutter head is driven to rise and fall by the flange cylinder; the installation cylinder is connected to the second proportional flow solenoid valve, and the output displacement is controlled by the second proportional flow solenoid valve. When the operating handle is in manual mode, the state of the second proportional flow solenoid valve is controlled to control the front and back position of the cutter head to align with the bamboo stump; the shredding hydraulic motor is connected to the sixth solenoid valve, and the two flange cylinders are connected to the seventh solenoid valve at the same time. When the operating handle is in manual mode, the sixth solenoid valve and the seventh solenoid valve are connected at the same time when the cutter head is moved downward or upward by the extension and contraction control of the flange cylinder, that is, when the cutter head moves downward, it starts to rotate in the opposite direction of the spiral line to cut the bamboo stump, and when the cutter head moves upward, the cutter head rotates in the direction of the spiral line to reduce the retraction resistance; Visual system adjustment and automatic mode control adjustment: The bamboo stump chopping device is designed with two operating modes: manual and automatic. In the manual mode, the sensor detection and visual system are not enabled, and the operating handle is directly connected to the electronic control system to control the movement; in the automatic mode, the visual system and sensor detection feedback loop are enabled. In the automatic mode, the operating handle can only control the movement of the chassis walking mechanism and the adjustment of the front and rear support legs, and the other control keys are in an invalid state. Visual system adjustment method: The visual system collects multiple bamboo stump images in different environments to create a data set for deep learning of the binocular camera to identify bamboo stumps, and then uses the binocular camera ranging principle to calculate the spatial position x, y, z of the bamboo stump based on the binocular camera coordinates; Adjustment of the origin of the cutter head: After the bamboo stump chopping device is switched to the automatic mode, the cutter head first returns to the zero position. The establishment of the zero position coordinate system is achieved by parameterizing the pull-rope displacement sensor, ultrasonic displacement sensor and angle sensor, and the zero position coordinate system is in the same direction as the binocular camera coordinate system. The X direction is set by the angle sensor, the center axis of the frame is zero along the forward direction, the swing angle of the frame is θ, the Y direction is set by the pull-rope displacement sensor, and the piston of the installation cylinder is in a fully retracted state when it is zero position, the Z direction is set by the ultrasonic displacement sensor, and the flange cylinder piston is in a fully extended state when it is zero position; after the visual system locates the actual coordinate position (x, y, z) of the bamboo stump, the actual coordinate position of the bamboo stump is converted to the coordinate system established with the cutter head zero position by calculation, and the position is recorded as (X, Y, Z). When the cutter head returns to the zero position, in order to avoid interference, the setting is carried out in the order of Z direction first, then X direction, and finally Y direction; Cutter head positioning adjustment: To facilitate program calculation, the cutter head returns to zero position after each operation is completed in automatic mode. When the binocular camera detects the bamboo stump and determines the position of the bamboo stump, the industrial computer calculates and converts the coordinates of the binocular camera into the coordinate system established with the cutter head as the zero point, and then sends instructions to the controller to control the installation cylinder, steering hydraulic motor and flange cylinder to work respectively: First, control the installation cylinder to achieve Y-axis positioning, and the installation cylinder needs to move a certain distance in the Y direction. The moving distance is fed back to the industrial computer in real time through the pull-rope displacement sensor, and the moving distance is compared with the calculated value through the industrial computer. After reaching the tolerance range, the second proportional flow solenoid valve is reset to the middle position; Then control the steering hydraulic motor to rotate to achieve X-axis positioning, and the steering hydraulic motor rotates at an angle of , the rotation angle is transmitted to the industrial computer in real time through the angle sensor, and the industrial computer compares the rotation angle with the calculated value θ. When the rotation angle is within the range of θ±1°, the second proportional flow solenoid valve is reset, and the bamboo stump X-axis positioning is completed. Then the shredding hydraulic motor starts and drives the cutter head to rotate, and the flange cylinder drives the cutter head to move downward. When the cutter head contacts the bamboo stump, the return oil pressure increases suddenly, and the real-time pressure is transmitted to the industrial computer. The implemented pressure is compared with the set value of the industrial computer through the industrial computer. If it exceeds the set value range of the industrial computer, it is judged that the cutter head contacts the bamboo stump. At this time, the displacement position of the ultrasonic displacement sensor from the origin of the cutter head is recorded to obtain the distance Z1 of the cutter head moving downward. Then the cutter head continues to move downward by Z2, and Z2 is the maximum depth of the bamboo stump. Then the sixth solenoid valve and the seventh solenoid valve are reversed at the same time. At this time, the distance between the cutter head and the origin reaches Z1+Z2, and it is judged that the bamboo stump removal is completed. In this process, the displacement of the cutter head moving downward is transmitted to the industrial computer by the ultrasonic displacement sensor in real time for signal processing and sending instructions to the controller.

[0015] Compared with the prior art, the present invention has achieved the following technical effects: The bamboo stump chopping device and the operation method thereof provided by the present invention have a hydraulic system connected to a power system, and the hydraulic system can adjust the motion state of the power system, the power system is connected to a chassis traveling mechanism, and is used to drive the chassis traveling mechanism to drive the frame to move, the visual system and the bamboo stump chopping mechanism are both electrically connected to an electronic control system, the visual system is used to identify and locate bamboo stumps, the electronic control system controls the action of the bamboo stump chopping mechanism according to information identified by the visual system, and enables the bamboo stump chopping mechanism to chop the bamboo stumps, thereby ensuring that the bamboo stump chopping mechanism can accurately and effectively cut the bamboo stumps, thereby improving the efficiency and effect of bamboo stump cutting, and at the same time, the bamboo stumps are mechanically cut by the bamboo stump chopping mechanism, and there is no need to manually use a hoe to dig the bamboo stumps, thereby saving manpower, and at the same time, the load on the operator is small, thereby reducing the physical damage to the operator. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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.

[0017] Figure 1 It is a schematic diagram of the structure of the bamboo stump chopping device in Example 1 when it is at an angle; Figure 2 is a schematic structural diagram of the bamboo stump chopping device in Embodiment 1 at another angle; Figure 3 This is a schematic diagram of the structure of the chassis walking mechanism in Example 1 when it is at an angle; Figure 4 It is a schematic diagram of the structure of the chassis walking mechanism in the first embodiment at another angle; Figure 5 This is a schematic diagram of the connection relationship at the rack in Example 1; Figure 6 Schematic diagram of the installation position of the bamboo stump chopping mechanism in the first embodiment; Figure 7 Schematic diagram of the structure of the bamboo stump chopping mechanism in the first embodiment; Figure 8 It is a front view of the bamboo stump chopping mechanism in the first embodiment; Fig. 9 This is a schematic diagram of the structure of the slewing support of the cutting plane in the first embodiment; Fig.10 Schematic diagram of the positions of the visual system and the electronic control system in Example 1; Fig.11 A method diagram of a hydraulic control system of a first hydraulic pump in Embodiment 2; Fig.12 A method diagram of a hydraulic control system of a second hydraulic pump in Embodiment 2; Fig.13 This is a control flow chart of the electronic control system and the hydraulic system in Embodiment 2; In the figure: 1-chassis walking mechanism, 11-track wheel group, 111-driving wheel, 12-axle, 13-driving hydraulic motor, 14-walking plane slewing support, 15-steering gear, 16-steering hydraulic motor; 2-frame, 21-front supporting leg, 22-rear supporting leg, 23-upper supporting guide rail, 24-lower supporting guide rail, 25-installing cylinder, 211-support connecting piece, 212-supporting cylinder, 213 -Support channel steel, 214-Support foot, 215-Support shaft; 3-Bamboo stump shredding mechanism, 31-Flange cylinder, 32-Shredding hydraulic motor, 33-Cutter head mounting plate, 34-Cutter plane slewing support, 35-Walking plate, 36-Tapered roller bearing, 37-Cutter head, 371-Cutter body, 3711-Cylindrical rod, 3712-Mounting body, 3713-Lower reinforcement rib, 3714-Upper reinforcement rib, 372- Blade, 373-drill bit, 38-chopping gear; 4-hydraulic system, 41-hydraulic oil tank, 42-first hydraulic pump, 43-hydraulic pipeline, 44-second hydraulic pump, 45-hydraulic control valve; 5-visual system, 51-binocular camera; 6-electronic control system, 61-electric cabinet, 62-battery, 63-operating handle, 64-pressure sensor, 65-pull-rope displacement sensor, 66-ultrasonic displacement sensor, 67-rotation angle sensor; 7-power system, 71-engine, 72-driving pulley, 73-first belt, 74-second belt, 75-driven pulley; 81-first solenoid valve, 82-second solenoid valve, 83-third solenoid valve, 84-fourth solenoid valve, 85-fifth solenoid valve, 86-sixth solenoid valve, 87-seventh solenoid valve, 88-first proportional flow solenoid valve, 89-second proportional flow solenoid valve. DETAILED DESCRIPTION

[0018] 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.

[0019] The purpose of the present invention is to provide a bamboo stump chopping device and an operating method thereof, so as to solve the problems existing in the prior art, improve the efficiency of bamboo stump cutting and save labor costs.

[0020] 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.

[0021] Embodiment 1 like Figure 1-Figure 10As shown, this embodiment provides a bamboo stump chopping device, including a frame 2, and a chassis walking mechanism 1 installed on the frame 2, a bamboo stump chopping mechanism 3, a hydraulic system 4, a visual system 5, an electronic control system 6 and a power system 7. The frame 2 integrates other components to ensure integrity. The hydraulic system 4 is connected to the power system 7, and the hydraulic system 4 can adjust the motion state of the power system 7 to meet the needs of different working states. The power system 7 is connected to the chassis walking mechanism 1 and is used to drive the chassis walking mechanism 1 to drive the frame 2 to move to achieve continuous operation. The visual system 5 The bamboo stump chopping mechanism 3 is electrically connected to the electronic control system 6. The visual system 5 is used to identify and locate the bamboo stumps, and then accurately locate the bamboo stumps. The electronic control system 6 controls the action of the bamboo stump chopping mechanism 3 according to the information identified by the visual system 5, and enables the bamboo stump chopping mechanism 3 to chop the bamboo stumps, thereby ensuring that the bamboo stump chopping mechanism 3 can accurately and effectively cut the bamboo stumps, thereby improving the efficiency and effect of bamboo stump cutting. At the same time, the bamboo stumps are mechanically cut by the bamboo stump chopping mechanism 3, and there is no need to manually use a hoe to dig the bamboo stumps, thereby saving manpower, and at the same time, the load on the operator is small, thereby reducing the physical damage to the operator.

[0022] The chassis walking mechanism 1 is used to support the mobile operation of the bamboo stump chopping device; the chassis walking mechanism 1 is a crawler type, and the chassis walking mechanism 1 includes a crawler wheel group 11, an axle 12, a driving hydraulic motor 13, a walking plane slewing support 14, a steering gear 15 and a steering hydraulic motor 16, the driving hydraulic motor 13 is used to output walking power, two sets of crawler wheel groups 11 are respectively installed on both sides of the axle 12, for realizing the overall mobile walking, and the two sets of driving hydraulic motors 13 can be differentially driven to realize the small radius turning of the chassis walking mechanism 1, the turning radius depends on the spacing between the two sets of crawler wheel groups 11, the two sets of crawler wheel groups 11 correspond to the two driving hydraulic motors 13 one by one, the inner ring of the crawler wheel group 11 is provided with a driving wheel 111, and the output of the driving hydraulic motor 13 The shaft is connected to the driving wheel 111, thereby driving the driving wheel 111 to rotate, and the driving wheel 111 drives the track wheel group 11 to rotate to realize the walking function. The walking plane slewing support 14 is installed at the upper end of the axle 12, and the outer ring of the steering gear 15 is meshed with the inner ring of the walking plane slewing support 14. The steering hydraulic motor 16 is installed at the lower end of the axle 12. The output shaft of the steering hydraulic motor 16 is connected to the steering gear 15 to drive the steering gear 15 to rotate. The steering gear 15 drives the inner ring of the walking plane slewing support 14 to rotate. The inner ring of the walking plane slewing support 14 is also connected to the frame 2, thereby realizing the rotation of the frame 2, and finally realizing the angle adjustment of the bamboo stump chopping mechanism 3. The driving hydraulic motor 13 and the steering hydraulic motor 16 are both connected to the hydraulic system 4 to realize hydraulic control.

[0023] Guide rail groups are symmetrically installed on both sides of the front end of the frame 2, and a mounting cylinder 25 is installed on the frame 2. A walking board 35 is slidably connected between the two guide rail groups. The output end of the mounting cylinder 25 is hinged to the walking board 35, and the mounting cylinder 25 can drive the walking board 35 to move back and forth in the horizontal direction. In this process, the two sets of guide rail groups are used to guide the walking board 35 during movement. The bamboo stump chopping mechanism 3 is installed on the walking board 35, thereby realizing the linear movement of the bamboo stump chopping mechanism 3 to adapt to the position of the bamboo stump; each guide rail group is rotatably installed with a front support leg 21 at the end away from the frame 2, and a rear support leg 22 is installed on the side of the axle 12 away from the frame 2. The front support leg 21 and the rear support leg 22 have the same structure and both include a support connector 211, a support cylinder 212, a support channel steel 213, a support foot 214 and a support shaft 215. The support connector 211 is installed on the guide rail group The outer side or axle 12, the first end of the support channel steel 213 is rotatably connected to the support connecting piece 211, and the second end of the support channel steel 213 is rotatably connected to the support foot 214 through the support shaft 215. The support foot 214 is used to be supported on the ground. The support oil cylinder 212 is located in the support channel steel 213, and the output end of the support oil cylinder 212 is connected to the support shaft 215. The support channel steel 213 is driven to rotate by the support oil cylinder 212, and the support foot 214 is driven to move to contact the ground. The support foot 214 rotates freely around the support shaft 215 under the action of gravity. After contacting the ground, it can be freely adjusted according to the slope of the ground to adapt to the environment, thereby improving adaptability. The front support leg 21 is used to support and adjust the frame 2 to be roughly parallel to the ground. The rear support leg 22 is used to contact the ground and, together with the track wheel group 11, resist the reaction force applied to the bamboo stump chopping device when the bamboo stump chopping mechanism 3 is rotated downward.

[0024] The guide rail group includes an upper support guide rail 23 and a lower support guide rail 24 arranged in an upper and lower manner; the bamboo stump chopping mechanism 3 is used as an actuator for realizing the terminal function of chopping bamboo baskets, and the bamboo stump chopping mechanism 3 includes a flange cylinder 31, a chopping hydraulic motor 32, a cutter head mounting plate 33, a chopping plane slewing support 34, a walking plate 35, a tapered roller bearing 36, a cutter head 37 and a chopping gear 38. The two flange cylinders 31 are symmetrically installed on the frame 2, and the two flange cylinders 31 are connected to the cutter head mounting plate 33 and can drive the cutter head mounting plate 33 to rise and fall, the chopping hydraulic motor 32 is installed on the upper end of the cutter head mounting plate 33, the outer ring of the chopping plane slewing support 34 is installed on the lower end of the cutter head mounting plate 33, the chopping gear 38 is meshed with the inner ring of the chopping plane slewing support 34, and the chopping The outer ring of the gear 38 has the same number of teeth as the inner ring of the shredding plane rotary support 34 and forms a spline transmission. The output end of the shredding hydraulic motor 32 is connected to the shredding gear 38 and can drive the shredding gear 38 to rotate. The inner ring flange of the shredding plane rotary support 34 is connected to the cutter head 37 and can drive the cutter head 37 to rotate, output the rotary cutting torque, and the shredding plane rotary support 34 can withstand the axial force. The transmission mechanism is simple. The cutter head 37 can extend downward through the middle through hole of the walking plate 35 and is used to shred bamboo stumps. Two sets of tapered roller bearings 36 are respectively installed on both sides of the walking plate 35 with their backs to each other, and there are two sets of guide rails and two sets of tapered rollers, each set of tapered roller bearings 36 is four, and the tapered roller bearings 36 are used as walking wheels, which can simultaneously withstand axial forces and radial forces of large loads.

[0025] The cutter head 37 comprises a cutter body 371, a blade 372 and a drill bit 373. The cutter body 371 comprises a cylindrical rod 3711, a mounting body 3712, an upper reinforcing rib 3714 and a lower reinforcing rib 3713. The cutter body 371 is made of Q345B material as a whole. The cylindrical rod 3711 is formed by turning. The upper end of the cylindrical rod 3711 is connected to the inner ring of the slewing support 34 of the shredding plane. The lower end of the cylindrical rod 3711 is connected to the drill bit 373. The mounting body 3712 is mounted on the upper end of the cylindrical rod 3711. The drill bit 373 is mounted on the outer periphery of the cylindrical rod 3711, and the lower end of the mounting body 3712 is connected to the blade 372. The lower end of the drill bit 373 extends out of the cylindrical rod 3711 and the blade 372. The drill bit 373 and the blade body 371 are welded to break the bamboo stump. The drill bit 373 is made of SKH-51 material and uses the same heat treatment process as the blade 372. It needs to be preheated to 200℃~300℃ before welding. After the blade body 371 is welded, stress relief annealing is performed. Put it into a heating furnace preheated to 200℃, heat it to 560℃~620℃, keep it warm for 3h~5h, then cool it to 300℃ with the furnace, and finally take it out of the furnace and air cool it to room temperature; the upper reinforcing rib 3714 is installed on the outer periphery of the cylindrical rod 3711 and the inner ring end face of the slewing support 34 of the shredding plane, and the lower reinforcing rib 3713 is installed on the outer periphery of the cylindrical rod 3711 and the upper end face of the installation body 3712. The upper reinforcing rib 3714 and the lower reinforcing rib 3713 are both triangular reinforcing ribs. The triangular reinforcement rib and the installation body 3712 are welded on the cylindrical rod 3711 by carbon dioxide shielded welding. The installation body 3712 is spiral and welded obliquely at an angle of α. An inclined surface is formed at the lower end of the installation body 3712. α is preferably 15° to 25° for installing the blade 372. At the same time, the installation body 3712 is welded on the cylindrical rod 3711 in equal parts and is tapered as a whole, which effectively reduces the contact area between the blade 372 and the bamboo stump, thereby reducing the cutting force.The blade 372 is also spiral-shaped, and the processing slope is consistent with the slope of the installation body 3712. It is installed on the installation body 3712 with screws. The threaded hole should be processed by clamping the two parts together before welding to complete the bottom hole processing. The blade 372 is made of SKH-51 material, which has good hardness, wear resistance and shock resistance after heat treatment. After the spiral surface processing of the blade 372 is completed, the annealing treatment begins. The blade 372 is placed in a hot furnace preheated to 800℃~880℃ and kept warm for 2h~4h, then gradually cooled with the furnace, and then quenched. It is placed in a heating furnace preheated to 550℃~600℃ and kept warm for T1 (T1=workpiece thickness×30min / 25mm), then heated to 850℃~900℃ with the furnace, kept warm for T2 time (T2=workpiece thickness×20s / 1mm), then heated to 1170℃~1240℃ with the furnace, kept warm for T3 time (T3=workpiece thickness×10s / 1mm), then taken out and put into quenching oil preheated to 40℃~60℃ to cool to room temperature, and finally tempered, heated the blade 372 to 550℃~570℃ and kept warm for ≥T4 time (T4=workpiece thickness×60min / 25mm), then air cooled to room temperature, and the tempering treatment needs to be repeated twice. ;

[0026] The hydraulic system 4 is used to adjust and control the movement and posture of each component; the hydraulic system 4 includes a hydraulic oil tank 41, a first hydraulic pump 42, a second hydraulic pump 44, a hydraulic pipeline 43 and a hydraulic control valve 45. The hydraulic oil tank 41, the first hydraulic pump 42 and the second hydraulic pump 44 are all installed on the frame 2, and the hydraulic oil tank 41 and the first hydraulic pump 42, as well as the hydraulic oil tank 41 and the second hydraulic pump 44 are connected through a hydraulic pipeline 43. The hydraulic oil tank 41 is used to store hydraulic oil and is conducive to oil heat dissipation and impurity precipitation. The hydraulic pipeline 43 includes an oil diversion pipe, a hose etc., used to connect each hydraulic pump and each actuator. The hydraulic control valve 45 is installed on the side wall of the hydraulic oil tank 41, and is connected to each hydraulic pipeline 43 to adjust the pressure and hydraulic oil direction of the hydraulic system 4. Each hydraulic motor cooperates with the hydraulic cylinder to convert hydraulic energy into mechanical energy output to drive the actuator to move. The first hydraulic pump 42 and the second hydraulic pump 44 are both gear pumps, and the anchor screw holes are slot-shaped waist holes. The first hydraulic pump 42 and the second hydraulic pump 44 are installed on the frame 2 by anchor screws, and are connected to the hydraulic oil tank 41 to provide energy and pressure for the movement of the hydraulic system 4.

[0027] The power system 7 provides power support for the operation of the whole machine; the power system 7 includes an engine 71 (which can be a diesel engine or a gasoline engine), a driving pulley, a first belt 73, a second belt 74 and two driven pulleys. The output shaft of the engine 71 is coaxially connected to the driving pulley, the driving pulley is connected to one of the driven pulleys through the first belt 73, the driving pulley is connected to the other driven pulley through the second belt 74, the first hydraulic pump 42 and the second hydraulic pump 44 are respectively connected to the two driven pulleys, and the rope is pulled to start the engine 71 to drive the active rotation, the driving pulley 72 drives the first belt 73 and the second belt 74 to move, thereby driving the two driven pulleys 75 to rotate respectively, and the rotation of the driven pulley 75 drives the first hydraulic pump 42 and the second hydraulic pump 44 to work, pumping the hydraulic oil in the hydraulic oil tank 41 and supplying oil to the hydraulic system 4, so as to effectively control each moving part.

[0028] The visual system 5 is used to identify and accurately locate the bamboo basket; the visual system 5 includes a binocular camera 51 and an industrial computer, both of which are electrically connected to the electronic control system 6. The binocular camera 51 is installed on the frame 2 and is used to identify the bamboo stumps respectively, and the binocular camera 51 can transmit the identified image information to the industrial computer through a data line. The industrial computer can analyze and calculate the position of the blade 37 of the bamboo stump chopping mechanism 3 based on the image information, and transmit the calculation result to the electronic control system 6 through a pulse signal, thereby realizing the automatic positioning function of the bamboo stumps.

[0029] The electric control system 6 serves as the control center of the bamboo stump chopping device, coordinating the entire device and making it run in an orderly manner; the electric control system 6 includes an electric cabinet 61, a battery 62, a controller, an operating handle 63, an integrated circuit and a plurality of sensors. The electric cabinet 61 is installed on the side wall of the hydraulic oil tank 41 of the hydraulic system 4, and is used to install the controller, inverter, integrated circuit, industrial computer, etc. The battery 62 is installed on the frame 2, and is used to supply power to the various electrical components of the bamboo stump chopping device, and the battery 62 is electrically connected to the integrated circuit, and the integrated circuit can convert and rectify the output voltage of the battery 62 to convert the voltage provided by the battery 62 into the rated voltage of each electrical appliance and rectify it to stabilize the voltage. The controller is used to output signals to control the precise and orderly movement of each moving part. The operating handle 63 is electrically connected to the controller to realize human-computer interaction and manually control the equipment. The plurality of sensors are pressure sensors. 64, a pull-rope displacement sensor 65, an ultrasonic displacement sensor 66 and an angle sensor 67, each of which is electrically connected to the controller for receiving signals, realizing closed-loop control, and transmitting signals to the controller to control related circuits, wherein the pressure sensor 64 is installed in the return oil pipe of the flange cylinder 31, for detecting the return oil pressure of the cylinder to determine whether the cutter head 37 of the bamboo stump chopping mechanism 3 is in contact with the bamboo stump, the pull-rope displacement sensor 65 is installed on the frame 2, and the pull rope of the pull-rope displacement sensor 65 is connected to the walking plate 35, and the position of the cutter head 37 of the bamboo stump chopping mechanism 3 in the y direction is detected by the length of the pulled rope, the ultrasonic displacement sensor 66 is used to detect the position of the cutter head mounting plate 33, that is, the position of the cutter head 37 of the bamboo stump chopping mechanism 3 in the z direction, and the angle sensor 67 is used to detect the angle of rotation of the frame 2, that is, the swing angle of the cutter head 37 of the bamboo stump chopping mechanism 3.

[0030] Embodiment 2 like Figure 1-Figure 13 As shown, this embodiment provides an operation method based on the bamboo stump chopping device in Embodiment 1, comprising the following steps: Adjustment of chassis traveling mechanism 1 and frame 2: The two groups of track wheel assemblies 11 are driven to rotate respectively by the driving hydraulic motor 13, and the rotation of the frame 2 is controlled by the steering hydraulic motor 16. The driving hydraulic motor 13 on the right side is connected to the first solenoid valve 81, and the output torque is controlled by the first solenoid valve 81. The driving hydraulic motor 13 on the left side is connected to the second solenoid valve 82, and the output torque is controlled by the second solenoid valve 82. The first solenoid valve 81 and the second solenoid valve 82 are both "O-type" three-position four-way solenoid reversing valves. When the operating handle 63 controls the chassis walking mechanism 1 to move forward or backward, the first solenoid valve 81 and the second solenoid valve 82 are connected at the same time. When it is necessary to turn right, the second solenoid valve 82 is connected to control the movement of the left track wheel assembly 11, and the right track wheel assembly 11 slides on the spot. When it is necessary to turn left, the first solenoid valve 81 is connected to control the movement of the right track wheel assembly 11, and the left track wheel assembly 11 slides on the spot. The steering hydraulic motor 16 is connected to the first proportional flow solenoid valve 88, and the output torque is controlled by the first proportional flow solenoid valve 88. The first proportional flow solenoid valve 88 is an "O-type" three-position four-way proportional flow solenoid reversing valve. An angle sensor is installed on the frame 2. When the operating handle 63 is in manual mode, the angle sensor is in a power-off or skip state. At this time, the state of the first proportional flow solenoid valve 88 is manually controlled by the operating handle 63 to control the rotation angle and the stop position of the frame 2, thereby driving the cutter head 37 to move circumferentially and align with the left and right positions of the bamboo stump. When the operating handle 63 is in the automatic state, see the visual system 5 adjustment and automatic mode control adjustment steps; The supporting oil cylinder 212 corresponding to the front supporting leg 21 on the right side is connected to the third solenoid valve 83, and the output torque is controlled by the third solenoid valve 83. The supporting oil cylinder 212 corresponding to the front supporting leg 21 on the left side is connected to the fourth solenoid valve 84, and the output torque is controlled by the fourth solenoid valve 84. The supporting oil cylinder 212 corresponding to the rear supporting leg 22 is connected to the fifth solenoid valve 85, and the output torque is controlled by the fifth solenoid valve 85. The third solenoid valve 83, the fourth solenoid valve 84 and the fifth solenoid valve 85 are all "O-type" three-position four-position The electromagnetic reversing valve is passed, and the operating handle 63 controls the states of the third electromagnetic valve 83, the fourth electromagnetic valve 84 and the fifth electromagnetic valve 85 respectively, so as to control the opening states of the two front supporting legs 21 and the rear supporting legs 22 respectively, so that the rear supporting legs 22 contact the ground and cooperate with the track wheel set 11 to withstand the reaction force applied by the cutter head 37 when the cutter head 37 is peeled downward, and the two front supporting legs 21 are adjusted to the frame being basically parallel to the ground and the cutter head 37 being basically parallel to the bamboo stump, and at the same time, the two front supporting legs withstand the reverse torque when the cutter head 37 is peeled downward; Bamboo stump chopping mechanism 3 adjustment: The frame 2 is driven to rotate by the shredding hydraulic motor 32 to realize the circumferential rotation and reversing of the bamboo stump shredding mechanism 3, and the front-to-back movement of the bamboo stump shredding mechanism 3 is realized by the extension and contraction of the installation cylinder 25. The cutter head 37 is driven to rotate by the shredding hydraulic motor 32, and the cutter head 37 is driven to rise and fall by the flange cylinder 31; the installation cylinder 25 is connected to the second proportional flow solenoid valve 89, and the output displacement is controlled by the second proportional flow solenoid valve 89. The second proportional flow solenoid valve 89 is an "O-type" three-position four-way proportional flow solenoid reversing valve. When the operating handle 63 is in manual mode, the state of the second proportional flow solenoid valve 89 is controlled to control the front-to-back position of the cutter head 37 to align with the bamboo stump. The shredding hydraulic motor 32 is connected to the sixth solenoid valve 86, and the two flange cylinders 31 are connected to the seventh solenoid valve 87 at the same time. The sixth solenoid valve 86 and the seventh solenoid valve 87 are both "O-type" three-position four-way solenoid reversing valves. When the operating handle 63 is in manual mode, the sixth solenoid valve 86 and the seventh solenoid valve 87 are connected at the same time when the cutter head 37 is moved downward or upward through the extension and contraction control of the flange cylinder 31, that is, when the cutter head 37 moves downward, it starts to rotate in the opposite direction of the spiral line to peel the bamboo stumps. When the cutter head 37 moves upward, the cutter head 37 rotates in the direction of the spiral line to reduce the retraction resistance. When the operating handle 63 is in the automatic state, see the visual system 5 adjustment and automatic mode control adjustment steps; Vision system 5 adjustment and automatic mode control adjustment: The bamboo stump chopping device is designed with two operation modes: manual and automatic. In the manual mode, the sensor detection and the visual system 5 are not enabled, and the operating handle 63 is directly electrically connected to the electronic control system 6 to control the movement; in the automatic mode, the visual system 5 and the sensor detection feedback loop are enabled. In the automatic mode, the operating handle 63 can only control the movement of the chassis walking mechanism 1 and the adjustment of the front support legs 21 and the rear support legs 22, and the other control keys are in an invalid state. Adjustment method of the visual system 5: The visual system 5 collects more than 100 pictures of bamboo stumps in different environments to produce a data set for deep learning of the binocular camera 51 to identify the bamboo stumps, and then uses the ranging principle of the binocular camera 51 to calculate the spatial position x, y, z of the bamboo stump based on the coordinates of the binocular camera 51; The origin adjustment of the cutter head 37: After the bamboo stump chopping device is switched to the automatic mode, the cutter head 37 first returns to the zero position. The establishment of the zero position coordinate system is realized by parameterizing the pull-rope displacement sensor 65, the ultrasonic displacement sensor 66 and the angle sensor 67. The zero position coordinate system is consistent with the direction of the binocular camera 51 coordinate system. The X direction is set by the angle sensor 67. The center axis of the frame 2 is zero along the forward direction. The swing angle of the frame 2 is θ. The Y direction is set by the pull-rope displacement sensor 65. The oil cylinder 2 is installed. When the piston of 5 is in a fully retracted state, it is at zero position. The Z direction is set by the ultrasonic displacement sensor 66. When the piston of the flange oil cylinder 31 is in a fully extended state, it is at zero position. After the visual system 5 locates the actual coordinate position (x, y, z) of the bamboo stump, it converts the actual coordinate position of the bamboo stump into the coordinate system established with the zero position of the cutter head 37 by calculation. The position is recorded as (X, Y, Z). When the cutter head 37 returns to the zero position, in order to avoid interference, the setting is carried out in the order of Z direction first, then X direction, and finally Y direction. Positioning adjustment of the cutter head 37: To facilitate program calculation, each time the operation is completed in the automatic mode, the cutter head 37 returns to the zero position. When the binocular camera 51 detects the bamboo stump and determines the position of the bamboo stump, the industrial computer calculates and converts the coordinates of the binocular camera 51 into a coordinate system established with the cutter head 37 as the zero point, and then sends instructions to the controller to control the installation cylinder 25, the steering hydraulic motor 16 and the flange cylinder 31 to work respectively: First, the installation cylinder 25 is controlled to realize Y-axis positioning, and the installation cylinder 25 needs to move a distance in the Y-axis, and the moving distance is fed back to the industrial computer in real time through the pull-rope displacement sensor 65, and the moving distance is compared with the calculated value through the industrial computer. After reaching the tolerance range, the second proportional flow solenoid valve 89 is reset to the middle position; Then, the steering hydraulic motor 16 is controlled to rotate to realize X-direction positioning, and the steering hydraulic motor 16 rotates at an angle, which is transmitted to the industrial computer in real time through the angle sensor 67, and the industrial computer compares the rotation angle with the calculated value θ. When the rotation angle is within the range of θ±1°, the second proportional flow solenoid valve 89 is reset, and the bamboo stump X-direction positioning is completed. Then, the shredding hydraulic motor 32 is started and drives the cutter head 37 to rotate, and the flange cylinder 31 drives the cutter head 37 to move downward. When the cutter head 37 contacts the bamboo stump, the return oil pressure increases suddenly, and the real-time pressure is transmitted to the industrial computer, and the implementation pressure is compared with the setting of the industrial computer through the industrial computer. If the value exceeds the set value range of the industrial computer, it is determined that the cutter head 37 contacts the bamboo stump. At this time, the displacement position of the ultrasonic displacement sensor 66 from the origin of the cutter head 37 is recorded to obtain the downward movement distance Z1 of the cutter head 37. Then the cutter head 37 continues to move downward for 120 mm (set according to the maximum depth of the bamboo stump). Then the sixth solenoid valve 86 and the seventh solenoid valve 87 are switched at the same time. At this time, the distance between the cutter head 37 and the origin reaches Z1+120 mm, and it is determined that the bamboo stump is removed. During this process, the downward displacement of the cutter head 37 is transmitted by the ultrasonic displacement sensor 66 to the industrial computer in real time for signal processing and sending instructions to the controller.

[0031] 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 bamboo stump chopping device, characterized in that: The utility model comprises a frame, a chassis traveling mechanism, a bamboo stump chopping mechanism, a hydraulic system, a visual system, an electric control system and a power system which are installed on the frame. The hydraulic system is connected to the power system and can adjust the motion state of the power system. The power system is connected to the chassis traveling mechanism and is used to drive the chassis traveling mechanism to drive the frame to move. The visual system and the bamboo stump chopping mechanism are both electrically connected to the electric control system. The visual system is used to identify and locate bamboo stumps. The electric control system controls the action of the bamboo stump chopping mechanism according to the information identified by the visual system and enables the bamboo stump chopping mechanism to chop the bamboo stumps.

2. The bamboo stump chopping device according to claim 1, characterized in that: The chassis walking mechanism is a crawler type, and the chassis walking mechanism includes a track wheel group, an axle, a driving hydraulic motor, a walking plane slewing support, a steering gear and a steering hydraulic motor. Two groups of the track wheel groups are respectively installed on both sides of the axle, and the two groups of the track wheel groups correspond to the two driving hydraulic motors one by one. The inner ring of the track wheel group is provided with a driving wheel, and the output shaft of the driving hydraulic motor is connected to the driving wheel. The walking plane slewing support is installed at the upper end of the axle, and the outer ring of the steering gear is meshed with the inner ring of the walking plane slewing support. The steering hydraulic motor is installed at the lower end of the axle, and the output shaft of the steering hydraulic motor is connected to the steering gear. The inner ring of the walking plane slewing support is also connected to the frame. The driving hydraulic motor and the steering hydraulic motor are both connected to the hydraulic system.

3. The bamboo stump chopping device according to claim 2, characterized in that: The yoke is provided with a plurality of guide rails, each of which is provided with a plurality of guide rails, and a plurality of guide rails are provided on the yoke, and a plurality of guide rails are provided on the yoke, and a plurality of guide rails are provided on the yoke, and a plurality of guide rails are provided on the yoke, and a plurality of guide rails are provided on the yoke, and a plurality of guide rails are provided on the yoke, and a plurality of guide rails are provided on the yoke, and a plurality of guide rails are provided on the yoke, 4. The bamboo stump chopping device according to claim 3, characterized in that: The guide rail group includes an upper support rail and a lower support rail arranged up and down; the bamboo stump chopping mechanism includes a flange cylinder, a chopping hydraulic motor, a cutter head mounting plate, a chopping plane slewing support, the walking plate, a tapered roller bearing, a cutter head and a chopping gear, two of the flange cylinders are symmetrically installed on the frame, and both of the flange cylinders are connected to the cutter head mounting plate and can drive the cutter head mounting plate to rise and fall, the chopping hydraulic motor is installed at the upper end of the cutter head mounting plate, the outer ring of the chopping plane slewing support is installed at the lower end of the cutter head mounting plate, and the chopping gear is meshed On the inner ring of the slewing support of the shredding plane, the output end of the shredding hydraulic motor is connected to the shredding gear and can drive the shredding gear to rotate. The inner ring flange of the slewing support of the shredding plane is connected to the cutter head and can drive the cutter head to rotate. The cutter head can extend downward through the middle through hole of the walking board and is used to shred bamboo stumps. The two groups of tapered roller bearings are respectively installed on both sides of the walking board with their backs to each other, and the two groups of guide rail groups and the two groups of tapered roller bearings correspond one to one. The tapered roller bearings are installed between the upper support rail and the lower support rail on the same side.

5. The bamboo stump chopping device according to claim 4, characterized in that: The cutter head includes a cutter body, a blade and a drill bit. The cutter body includes a cylindrical rod, a mounting body, an upper reinforcing rib and a lower reinforcing rib. The upper end of the cylindrical rod is connected to the inner ring of the slewing support of the shredding plane, and the lower end of the cylindrical rod is connected to the drill bit. The mounting body is mounted on the outer circumference of the cylindrical rod, and the lower end of the mounting body is connected to the blade. The lower end of the drill bit extends out of the cylindrical rod and the blade. The upper reinforcing rib is mounted on the outer circumference of the cylindrical rod and the end face of the inner ring of the slewing support of the shredding plane, and the lower reinforcing rib is mounted on the outer circumference of the cylindrical rod and the upper end face of the mounting body. The mounting body is spiral, and the lower end of the mounting body has an inclined surface.

6. The bamboo stump chopping device according to claim 1, characterized in that: The hydraulic system includes a hydraulic oil tank, a first hydraulic pump, a second hydraulic pump, a hydraulic pipeline and a hydraulic control valve. The hydraulic oil tank, the first hydraulic pump and the second hydraulic pump are all installed on the frame, and the hydraulic oil tank and the first hydraulic pump, as well as the hydraulic oil tank and the second hydraulic pump are connected through hydraulic pipelines. The hydraulic control valve is installed on the side wall of the hydraulic oil tank. The first hydraulic pump and the second hydraulic pump are both gear pumps.

7. The bamboo stump chopping device according to claim 6, characterized in that: The power system includes an engine, a driving pulley, a first belt, a second belt and two driven pulleys, the output shaft of the engine is coaxially connected to the driving pulley, the driving pulley is connected to one of the driven pulleys through the first belt, the driving pulley is connected to the other driven pulley through the second belt, and the first hydraulic pump and the second hydraulic pump are respectively connected to the two driven pulleys.

8. The bamboo stump chopping device according to claim 1, characterized in that: The visual system includes a binocular camera and an industrial computer, both of which are electrically connected to the electronic control system. The binocular camera is installed on the frame and is used to identify bamboo stumps respectively, and the binocular camera can transmit the identified image information to the industrial computer. The industrial computer can analyze and calculate the blade position of the bamboo stump cutting mechanism based on the image information, and transmit the calculation result to the electronic control system.

9. The bamboo stump chopping device according to claim 1, characterized in that: The electric control system includes an electric cabinet, a battery, a controller, an operating handle, an integrated circuit and a plurality of sensors. The electric cabinet is installed on the side wall of the hydraulic oil tank of the hydraulic system. The battery is installed on the frame and is electrically connected to the integrated circuit. The integrated circuit can convert and rectify the output voltage of the battery. The operating handle is electrically connected to the controller. The plurality of sensors are respectively a pressure sensor, a pull-rope displacement sensor, an ultrasonic displacement sensor and an angle sensor. The pressure sensor is used to detect the return oil pressure to determine whether the cutter head of the bamboo stump chopping mechanism is in contact with the bamboo stump. The pull-rope displacement sensor is installed on the frame, and the pull rope of the pull-rope displacement sensor is connected to the bottom of the bamboo stump chopping mechanism and is used to detect the position of the cutter head of the bamboo stump chopping mechanism in the y direction. The ultrasonic displacement sensor is used to detect the position of the cutter head of the bamboo stump chopping mechanism in the z direction. The angle sensor is used to detect the swing angle of the cutter head of the bamboo stump chopping mechanism.

10. An operating method of the bamboo stump chopping device according to any one of claims 1 to 9, characterized in that: The following steps are involved: Chassis walking mechanism and frame adjustment: The two sets of crawler wheel assemblies are driven to rotate respectively by driving hydraulic motors, and the frame rotation is controlled by the steering hydraulic motor. The driving hydraulic motor on the right side is connected to the first solenoid valve, and the output torque is controlled by the first solenoid valve. The driving hydraulic motor on the left side is connected to the second solenoid valve, and the output torque is controlled by the second solenoid valve. When the operating handle controls the chassis walking mechanism to move forward or backward, the first solenoid valve and the second solenoid valve are connected at the same time. When turning right is required, the second solenoid valve is connected to control the movement of the crawler wheel assembly on the left side, and the crawler wheel assembly on the right side slides on the spot. When turning left is required, the first solenoid valve is connected to control the movement of the crawler wheel assembly on the right side, and the crawler wheel assembly on the left side slides on the spot. The steering hydraulic motor is connected to the first proportional flow solenoid valve, and the output torque is controlled by the first proportional flow solenoid valve. An angle sensor is installed on the frame. When the operating handle is in manual mode, the angle sensor is in a power-off or skip state. At this time, the state of the first proportional flow solenoid valve is manually controlled by the operating handle to control the rotation angle and the stop position of the frame, thereby driving the cutter head to move circumferentially and align with the left and right positions of the bamboo stumps. The supporting oil cylinder corresponding to the front supporting leg on the right side is connected to the third solenoid valve, and the output torque is controlled by the third solenoid valve; the supporting oil cylinder corresponding to the front supporting leg on the left side is connected to the fourth solenoid valve, and the output torque is controlled by the fourth solenoid valve; the supporting oil cylinder corresponding to the rear supporting leg is connected to the fifth solenoid valve, and the output torque is controlled by the fifth solenoid valve; the operating handle controls the states of the third solenoid valve, the fourth solenoid valve and the fifth solenoid valve respectively, so as to respectively control the opening states of the two front supporting legs and the rear supporting legs, so that the rear supporting legs contact the ground and cooperate with the track wheel group to withstand the reaction force applied when the cutter head is rotary cut downward, and the two front supporting legs are adjusted to be parallel to the frame and the ground, and the cutter head and the bamboo stump are parallel, and at the same time, the two front supporting legs withstand the reverse torque when the cutter head is rotary cut downward; Bamboo stump chopping mechanism adjustment: The shredding hydraulic motor drives the frame to rotate to realize the circumferential rotation reversal of the bamboo stump shredding mechanism, the front-to-back movement of the bamboo stump shredding mechanism is realized by the extension and contraction of the installation cylinder, the cutter head is driven to rotate by the shredding hydraulic motor, and the cutter head is driven to rise and fall by the flange cylinder; the installation cylinder is connected to the second proportional flow solenoid valve, and the output displacement is controlled by the second proportional flow solenoid valve. When the operating handle is in manual mode, the state of the second proportional flow solenoid valve is controlled to control the front and back position of the cutter head to align with the bamboo stump; the shredding hydraulic motor is connected to the sixth solenoid valve, and the two flange cylinders are connected to the seventh solenoid valve at the same time. When the operating handle is in manual mode, the sixth solenoid valve and the seventh solenoid valve are connected at the same time when the cutter head is moved downward or upward by the extension and contraction control of the flange cylinder, that is, when the cutter head moves downward, it starts to rotate in the opposite direction of the spiral line to cut the bamboo stump, and when the cutter head moves upward, the cutter head rotates in the direction of the spiral line to reduce the retraction resistance; Visual system adjustment and automatic mode control adjustment: The bamboo stump chopping device is designed with two operating modes: manual and automatic. In the manual mode, the sensor detection and visual system are not enabled, and the operating handle is directly connected to the electronic control system to control the movement; in the automatic mode, the visual system and sensor detection feedback loop are enabled. In the automatic mode, the operating handle can only control the movement of the chassis walking mechanism and the adjustment of the front and rear support legs, and the other control keys are in an invalid state. Visual system adjustment method: The visual system collects multiple bamboo stump images in different environments to create a data set for deep learning of the binocular camera to identify bamboo stumps, and then uses the binocular camera ranging principle to calculate the spatial position x, y, z of the bamboo stump based on the binocular camera coordinates; Adjustment of the origin of the cutter head: After the bamboo stump chopping device is switched to the automatic mode, the cutter head first returns to the zero position. The establishment of the zero position coordinate system is achieved by parameterizing the pull-rope displacement sensor, ultrasonic displacement sensor and angle sensor, and the zero position coordinate system is in the same direction as the binocular camera coordinate system. The X direction is set by the angle sensor, the center axis of the frame is zero along the forward direction, the swing angle of the frame is θ, the Y direction is set by the pull-rope displacement sensor, and the piston of the installation cylinder is in a fully retracted state when it is zero position, the Z direction is set by the ultrasonic displacement sensor, and the flange cylinder piston is in a fully extended state when it is zero position; after the visual system locates the actual coordinate position (x, y, z) of the bamboo stump, the actual coordinate position of the bamboo stump is converted to the coordinate system established with the cutter head zero position by calculation, and the position is recorded as (X, Y, Z). When the cutter head returns to the zero position, in order to avoid interference, the setting is carried out in the order of Z direction first, then X direction, and finally Y direction; Cutter head positioning adjustment: To facilitate program calculation, the cutter head returns to zero position after each operation is completed in automatic mode. When the binocular camera detects the bamboo stump and determines the position of the bamboo stump, the industrial computer calculates and converts the coordinates of the binocular camera into the coordinate system established with the cutter head as the zero point, and then sends instructions to the controller to control the installation cylinder, steering hydraulic motor and flange cylinder to work respectively: First, control the installation cylinder to achieve Y-axis positioning, and the installation cylinder needs to move a certain distance in the Y direction. The moving distance is fed back to the industrial computer in real time through the pull-rope displacement sensor, and the moving distance is compared with the calculated value through the industrial computer. After reaching the tolerance range, the second proportional flow solenoid valve is reset to the middle position; Then control the steering hydraulic motor to rotate to achieve X-axis positioning, and the steering hydraulic motor rotates at an angle of , the rotation angle is transmitted to the industrial computer in real time through the angle sensor, and the industrial computer compares the rotation angle with the calculated value θ. When the rotation angle is within the range of θ±1°, the second proportional flow solenoid valve is reset, and the bamboo stump X-axis positioning is completed. Then the shredding hydraulic motor starts and drives the cutter head to rotate, and the flange cylinder drives the cutter head to move downward. When the cutter head contacts the bamboo stump, the return oil pressure increases suddenly, and the real-time pressure is transmitted to the industrial computer. The implemented pressure is compared with the set value of the industrial computer through the industrial computer. If it exceeds the set value range of the industrial computer, it is judged that the cutter head contacts the bamboo stump. At this time, the displacement position of the ultrasonic displacement sensor from the origin of the cutter head is recorded to obtain the distance Z1 of the cutter head moving downward. Then the cutter head continues to move downward by Z2, and Z2 is the maximum depth of the bamboo stump. Then the sixth solenoid valve and the seventh solenoid valve are reversed at the same time. At this time, the distance between the cutter head and the origin reaches Z1+Z2, and it is judged that the bamboo stump removal is completed. In this process, the displacement of the cutter head moving downward is transmitted to the industrial computer by the ultrasonic displacement sensor in real time for signal processing and sending instructions to the controller.

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