Mechanical leg walking type automatic desert grass flattening machine

Abstract

This invention discloses a mechanically legged, self-balancing desert grass compactor, belonging to the field of desertification control and engineering sand fixation technology. Addressing the problems of existing grass compaction equipment such as easy sand sinking, poor terrain adaptability, unstable grass compaction quality, limited functionality, and low operational safety, this invention adopts a biomimetic mechanical leg point-ground walking structure, coupled with an automatic balancing system. This system can detect the machine's tilt angle in real time and adjust the mechanical leg posture to adapt to undulating sandy terrain, ensuring stable operation. The equipment features front and rear grass-fixing and grass-pressing components, achieving a two-stage operation mode of first fixing the ends of the grass and then pressing down the middle, effectively preventing grass displacement. This invention has minimal surface damage, strong terrain adaptability and operational stability, and can achieve multiple functions, significantly improving the efficiency and safety of desert grass compaction operations.

Description

Technical Field

[0001] This invention relates to the field of desertification control and engineering sand fixation technology, specifically to a mechanical leg-type automatic balancing desert grass-pressing machine. Background Technology

[0002] Desertification is a major ecological and environmental problem facing the world today. In arid and semi-arid regions, the construction of straw checkerboard sand barriers using straw, rice straw, reeds, and other forage materials is one of the most widely used engineering sand-fixing measures. Straw checkerboard sand barriers are created by laying strips of straw on the sandy surface and pressing the center of the straw into the sand, forming a grid-like three-dimensional sand barrier. This effectively reduces near-surface wind speed, fixes shifting sand, intercepts moisture, and improves the sandy microhabitat, creating conditions for subsequent vegetation restoration.

[0003] Traditionally, the laying of straw checkerboard sand barriers relies mainly on manual labor. Workers have to bend over in the sand to lay the straw, and then use their feet or shovels to press the middle of the straw between the two ends into the sand. This method is labor-intensive, inefficient, and costly, making it difficult to meet the schedule requirements of large-scale desertification control projects. With the advancement of large-scale desertification control projects such as the "Three-North" Project, mechanization of desertification control has become an inevitable trend, and equipment that replaces manual labor for laying and pressing straw has appeared on the market.

[0004] For example, Chinese invention patent application CN121952106A discloses a "three-part mechanical device for laying grass checkerboard sand barriers". The device includes a drive vehicle, three-part tracked transmission wheels, three-part nipple-shaped sand barrier pressing gears and adjustment components. The drive vehicle moves by relying on four three-part tracked transmission wheels, uses the gaps between adjacent tracked transmission wheels to avoid the laid strip-shaped sand barriers, and presses the flat sand barriers into the soil to form vertical sand barriers through the three-part nipple-shaped sand barrier pressing gears at the rear of the vehicle. While the device reduces manual labor to some extent, its walking mechanism still uses a tracked structure, resulting in a large contact area with the sand and a heavy overall weight. This makes it prone to getting stuck in sand when operating on soft sand, limiting its mobility. Additionally, the tracked walking mechanism has limited ability to adjust its posture when crossing undulating terrain such as sand dunes and ridges, making it prone to lateral tilting or even overturning when operating on slopes. Furthermore, its sand compaction operation uses a single-stage gear pressing method, which makes it easy for the straw to be pushed and shifted during the pressing process. Since the straw is not pre-fixed at both ends, it is difficult to maintain a consistent pressing depth, affecting the quality of the straw checkerboard pattern.

[0005] Analysis reveals the following shortcomings in existing grass pressing and mulching machinery: First, the walking devices mostly employ wheeled or tracked structures, resulting in a large ground contact area. This makes them prone to sinking into soft sand and easily crushing existing sand barriers and vegetation, causing significant damage to the ground surface. Second, the walking devices have limited adaptability to undulating dune terrain, and the machine's posture is difficult to adjust automatically. Tilting during operation can easily lead to tipping over, posing a safety hazard. Third, the grass pressing mechanism is often simplistic, typically consisting of only a single pressing wheel or gear. This results in uneven grass pushing and compaction, and the grass is not properly secured at both ends, leading to unstable quality in the grass grid formation. Fourth, the equipment has limited functionality, making it inconvenient to change work tools and difficult to simultaneously meet multiple operational needs such as grass pressing, planting, and transportation. Fifth, operators often need to be close to the equipment during operation, posing a high safety risk when working in dusty, high-temperature, strong-wind, and undulating terrain conditions.

[0006] Therefore, there is an urgent need for a desert grass-pressing machine that can move stably on soft sand, adapt to undulating terrain to maintain its balance, produce high-quality grass-pressing work, and is flexible in operation and safe to operate. Summary of the Invention

[0007] To address the aforementioned shortcomings of existing technologies, the present invention aims to provide a mechanically legged, self-balancing desert grass-pressing machine. Its walking device employs biomimetic mechanical legs, using point-based grounding instead of the large-area grounding of wheeled or tracked machines, reducing the crushing and damage to sand and existing sand barriers, and lowering the risk of sand trapping. An automatic balancing system monitors the machine's tilt angle in real time and adjusts the mechanical leg posture to adapt to undulating dune terrain, maintaining machine stability. The grass-pressing mechanism adopts a two-stage cooperative structure with grass-fixing and pressing components arranged front and rear, first securing both ends of the grass and then pressing down the middle, improving the quality of grass burial and the stability of the grass grid formation.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: A desert hay press includes a frame, a power system mounted on the frame, a walking device connected to the bottom of the frame, and a hay pressing mechanism mounted on the frame. The power system is connected to the walking device and the hay pressing mechanism via transmission. The walking device consists of four sets of bionic mechanical legs, each set located at one of the four corners of the frame. Each set of bionic mechanical legs includes two or more mechanical legs, which alternately lift and lower. The bottom of each mechanical leg is provided with a point-shaped grounding foot. The hay pressing mechanism includes a hay-fixing component and a hay-pressing component arranged sequentially along the walking direction, with the hay-fixing component located in front of the hay-pressing component. The system also includes an automatic balancing system, which includes a tilt angle detection component and a leveling execution component. The tilt angle detection component is mounted on the bionic mechanical legs and is used to detect the tilt angle of the machine body. The leveling execution component is connected between the frame and the bionic mechanical legs. The tilt angle detection component and the leveling execution component are signal-connected.

[0009] It should be noted that in the above technical solution: the walking device uses four sets of bionic mechanical legs to form the walking mechanism. Each set of bionic mechanical legs can have two, three, or more mechanical legs, as long as each mechanical leg can alternately lift and lower, and sequentially ground to support the frame; the bottom of the mechanical legs uses point-grounding foot plates to contact the sand surface, and the grounding area is significantly smaller than that of wheeled or tracked walking devices. This is a completely different walking method from existing grass pressing equipment, which can effectively reduce the compaction of sand and existing sand barriers, and reduce the probability of sinking into sand. In the grass pressing mechanism, the grass-fixing component can be any component that can hold and fix the two ends of the grass, such as a grass-fixing small toothed disc, grass-fixing roller, or grass-pressing plate; the grass-pressing component can be any component that can press the grass into the sand, such as a grass-pressing disc, grass-pressing wheel, or grass-pressing rake; the grass-fixing component and the grass-pressing component are arranged sequentially along the walking direction, so that the grass is first fixed and then pressed down during the walking process, and the number of each can be one or more. The automatic balancing system comprises two functional modules: a tilt angle detection component and a leveling execution component. The specific form of the tilt angle detection component is not limited; it can employ tilt sensors, angle meters, gyroscopes, or combinations thereof, as long as it can detect the tilt angle of the machine body. Similarly, the specific form of the leveling execution component is not limited; it can employ linear drive components such as hydraulic cylinders, electric actuators, or electro-hydraulic actuators, or an actuator composed of linear drive components and linkage mechanisms, as long as it can be connected between the frame and the bionic robotic legs and drive the robotic legs to adjust their posture. The tilt angle detection component and the leveling execution component can be connected via wired or wireless means.

[0010] Furthermore, each set of bionic mechanical legs includes a main square tube, a main drive horizontal shaft passing through the main square tube, crankshaft discs fixed at both ends of the main drive horizontal shaft, and a crankshaft linkage arm connecting the crankshaft discs and the mechanical leg; an eccentric shaft is eccentrically arranged on the crankshaft disc, and the eccentric shafts of the crankshaft discs at both ends of the main drive horizontal shaft are arranged at a 180° offset; the main drive horizontal shaft is connected to a drive component, the drive component being a hydraulic motor, which is fixed to the main square tube; the output end of the hydraulic motor is provided with a drive sprocket, and the main drive horizontal shaft is provided with a driven sprocket, the drive sprocket being driven by the driven sprocket through a chain meshing. The alternating lifting and lowering motion of the mechanical legs is achieved through crankshaft disk drive. The rotation of the main drive horizontal shaft drives the crankshaft disks at both ends to rotate synchronously. Since the eccentric shafts at both ends are arranged at 180° offset, the movement phases of the two mechanical legs are opposite, thus alternating the lifting and lowering of the legs to form a stable walking cycle. The drive component is not limited to hydraulic motors, but can also use electric motors, internal combustion engines, or other power sources. The main drive horizontal shaft and the drive component can use any transmission form such as chain drive, belt drive, or gear drive.

[0011] Furthermore, the mechanical leg includes a fixed shaft, a fixed shaft rocker arm, a mechanical lower leg, a mechanical foot, and a mechanical foot support rod; the fixed shaft is fixed above the main square tube; the fixed shaft rocker arm is rotatably connected to the fixed shaft and connected to the crankshaft linkage arm; the upper end of the mechanical lower leg is hinged to the fixed shaft rocker arm and the crankshaft linkage arm, and the mechanical foot is connected to the lower end of the mechanical lower leg; the mechanical foot support rod is connected between the fixed shaft rocker arm and the mechanical foot; the bottom surface of the mechanical foot is provided with a wear-resistant pad, and the mechanical foot is provided with an assembly hole, on which a conical anti-slip component is detachably installed. The robotic leg adopts a multi-link structure. The fixed-axis rocker arm serves as the intermediate component for power transmission, transmitting the reciprocating motion of the crankshaft linkage arm to the robotic leg. The robotic foot support rod provides traction and posture constraint for the robotic leg, ensuring that the robotic leg maintains a reasonable grounding angle during landing and leg lifting. The robotic foot support rod can be an adjustable component of any length, such as a telescopic screw or hydraulic rod, to adjust the relative angle of the robotic leg. The conical anti-slip component is detachable, making it easy to replace according to different sand conditions, and can also be removed when not needed.

[0012] Furthermore, the four sets of bionic mechanical legs are configured with a diagonal synchronous phase, with the two sets of bionic mechanical legs located at opposite corners of the frame raising and lowering synchronously. That is, at any given time, of the four sets of bionic mechanical legs at the four corners of the frame, two sets at opposite corners raise their legs simultaneously, and the other two sets at opposite corners lower their legs simultaneously for support. At any given time, the frame is supported by at least two sets of diagonally arranged mechanical legs, forming a stable "triangular tripod" support structure. This can counteract the overturning moment during movement, ensuring the stability of the frame and preventing it from tilting. The phase coordination of the four sets of mechanical legs is not limited to the diagonal synchronous method described above; other phase-staggered methods can also be used, as long as sufficient mechanical legs can support the frame at any given time.

[0013] Furthermore, the tilt detection component includes a tilt sensor and an angle gauge, which are mounted on the main square tube of the bionic mechanical leg. The leveling execution component includes a data processor, an electronic controller, a multi-way valve, a synchronous flow divider valve, and multiple sets of balancing hydraulic cylinders. The data processor is signal-connected to the tilt sensor and the angle gauge, and the electronic controller is signal-connected to the data processor. The balancing hydraulic cylinders are connected between the frame and the bionic mechanical leg, and the electronic controller controls the extension and retraction of the balancing hydraulic cylinders to adjust the posture of the bionic mechanical leg. During operation, the tilt sensor and the angle gauge collect the tilt angle signal of the machine body in real time and send it to the data processor. After analyzing and processing the tilt angle signal, the data processor sends a control command to the electronic controller. The electronic controller controls the extension and retraction of each set of balancing hydraulic cylinders, thereby causing each bionic mechanical leg to swing relative to the frame, so that the mechanical leg is always perpendicular to the horizontal plane and the machine body remains horizontally stable. The number and arrangement of the tilt detection elements and balancing hydraulic cylinders can be flexibly adjusted according to the size of the machine model.

[0014] Furthermore, the tilt detection component, the data processor, the electronic controller, the multi-way valve, the synchronous flow divider valve, and the balancing hydraulic cylinder constitute a closed-loop control circuit. The data processor has a built-in attitude balance control program. The working process of the automatic balancing system is as follows: the tilt sensor and the angle meter collect the tilt angle signal of the fuselage relative to the horizontal plane in real time and transmit it to the data processor; the data processor performs filtering and noise reduction processing and attitude error calculation on the tilt angle signal in sequence, and when the attitude error exceeds the preset control dead zone threshold, it generates a hydraulic adjustment command based on the attitude error using a closed-loop control algorithm; after the hydraulic adjustment command is converted and amplified by the electronic controller, it controls the opening and direction of the multi-way valve, thereby driving the extension and retraction of the balancing hydraulic cylinders connected to each of the bionic mechanical legs to adjust the attitude of the bionic mechanical legs so that the mechanical legs are perpendicular to the horizontal plane; the tilt sensor and the angle meter then collect the fuselage tilt angle signal again and feed it back to the data processor, forming a closed-loop iterative adjustment until the fuselage reaches and maintains a horizontal and stable state. The closed-loop control algorithm is preferably an incremental PID control algorithm, and the control dead zone threshold is preferably ±0.1°, so as to avoid frequent start-stop and jitter loss of the hydraulic system.

[0015] Furthermore, the grass-fixing component is a grass-fixing small toothed disc, and the grass-pressing component is a grass-pressing disc; the outer ring of the grass-fixing small toothed disc is provided with annular cutting teeth; the grass-pressing disc is connected to the frame via a lifting hydraulic cylinder. The outer ring of the grass-fixing small toothed disc has multiple cutting teeth, which, during operation, insert into the sand on both sides of the grass stalks, pressing and fixing the ends of the grass stalks to prevent slippage during subsequent burying; the grass-pressing disc rises and falls under the action of the lifting hydraulic cylinder, pressing the middle of the grass stalks into the sand. The number of grass-fixing small toothed discs and grass-pressing discs can both be one or more.

[0016] Furthermore, the grass-fixing disc is positioned in front of the grass-pressing disc along the walking direction. The grass-fixing disc holds both ends of the grass stalks, while the grass-pressing disc presses down on the middle of the grass stalks. During operation, the grass-fixing disc first contacts the grass, pressing both ends of the grass stalks into and fixing them in the sand. Subsequently, the grass-pressing disc passes over the middle of the grass and presses the middle into the sand. Under the combined action of fixing the ends and pressing down the middle, the grass is buried in an arc shape on the sand surface, forming a vertical sand barrier framework, which, together with the strip-shaped grass, forms a grass grid. The cooperation between the grass-fixing and grass-pressing components is not limited to a one-end two-disc configuration; multiple sets of grass-fixing and grass-pressing components arranged in a crisscross pattern can also be used.

[0017] Furthermore, the frame is equipped with a tooling mounting bracket, and the grass pressing mechanism is detachably connected to the frame via the tooling mounting bracket. Planting and watering components, transport containers, or leveling fixtures can be interchangeably mounted on the tooling mounting bracket. By providing a universal tooling mounting bracket on the frame, the grass pressing mechanism, planting and watering components, transport containers, leveling fixtures, and other operating components can be quickly disassembled and replaced, achieving multi-purpose functionality and expanding the equipment's operational capabilities. The type of tooling is not limited to the three types listed above; any operating attachment that can be connected to the frame via the tooling mounting bracket is acceptable.

[0018] Furthermore, it also includes a dual-mode control system, which comprises a manual control component and a wireless remote control component. The manual control component is mounted on the rack; the wireless remote control component includes a remote control receiver, which is signal-connected to the electronic controller. The manual control component allows operators to operate the equipment randomly, suitable for maintenance, debugging, and short-distance relocation scenarios; the wireless remote control component allows operators to remotely control the equipment from a distance, suitable for harsh working environments such as sandy areas with high temperatures and blowing sand, reducing the risk to personnel. The control method is not limited to manual and wireless remote control modes; wired remote control modes can also be added.

[0019] Furthermore, the frame includes an upper frame and a lower frame, with a shock-absorbing component between the upper and lower frames; the frame includes front and rear frame sections, which are hinged together by a hinge assembly; it also includes a steering hydraulic cylinder connected between the front and rear frame sections, which extends and retracts to drive the two frame sections to swing relative to each other. The double-layer frame structure places power, control, and other onboard equipment on the upper frame, and chassis components such as walking and balancing components on the lower frame. The shock-absorbing component between the upper and lower frames can buffer impact vibrations during movement; the front and rear frame sections are hinged together and achieve bending and steering by extending and retracting the steering hydraulic cylinder, providing flexible steering to meet the frequent turning needs in sandy terrain operations; the number of frame sections is not limited to two, but can also be multiple.

[0020] Preferably, the lower frame of the frame is also provided with a mechanical leg guard for connecting the bionic mechanical legs; the shock absorption assembly includes multiple sets of spring steel plates and bidirectional hydraulic shock absorbers; the leveling execution assembly also includes a hydraulic multi-way valve and a synchronous flow divider valve connected to the oil circuit of the balancing hydraulic cylinder; the oil circuit of the grass pressing disc is provided with a floating valve assembly; the power system includes a gasoline engine, a bridge bearing housing assembly, a hydraulic oil pump, a generator, a gasoline tank, a battery accessory integrated box, a hydraulic oil tank, and a hydraulic oil radiator, the output shaft of the gasoline engine is connected to the drive shaft of the bridge bearing housing assembly, and the drive shaft simultaneously drives the hydraulic oil pump and the generator.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) The walking device adopts a bionic mechanical leg with point-ground walking. The grounding area is small, and the crushing of sandy land, sand barriers and sandy vegetation is small when walking. It has good passability in soft sandy land, is not easy to sink in sand, and has little damage to the surface ecology. (2) The automatic balancing system detects the tilt angle of the machine body in real time and adjusts the attitude of the mechanical legs so that the mechanical legs are always perpendicular to the horizontal plane and the machine body remains horizontal and stable, adapting to undulating terrains such as sand dunes and sand ridges, and reducing the risk of the machine body tilting or overturning during operation; (3) The grass pressing mechanism adopts a two-stage cooperation between the grass fixing component and the grass pressing component. First, it fixes the two ends of the grass and then presses the middle of the grass. This can prevent the grass from being pushed and shifted, ensure uniform pressing depth, and improve the quality of grass grid forming and work efficiency. (4) The frame adopts a double-layer structure and is equipped with shock-absorbing components to buffer the bumps during travel, protect the engine and other airborne equipment, and extend the service life of the equipment; (5) The tooling installation support enables quick replacement of various working parts for pressing grass, planting, transportation, leveling, etc., making it a multi-purpose machine. It can also be operated in both manual and remote control modes to improve the adaptability of the equipment and the safety of operation. Attached Figure Description

[0022] Figure 1 The structure of the mechanical leg-walking automatic balancing desert grass compactor in Example 1. Figure 1 .

[0023] Figure 2 The structure of the mechanical leg-walking automatic balancing desert grass compactor in Example 1. Figure 2 .

[0024] Figure 3 This is a side view of the mechanical leg walking automatic balancing desert grass press in Example 1.

[0025] Figure 4 This is a structural diagram of the frame in Example 1.

[0026] Figure 5 This is a structural diagram of the latter half of Example 1.

[0027] Figure 6 This is a structural diagram of the bionic mechanical leg in Example 1.

[0028] The diagram is labeled as follows: 100-Frame; 101-Upper frame; 102-Lower frame; 103-Two-way hydraulic shock absorber; 104-Hinged assembly; 105-Steering hydraulic cylinder; 106-Retractable spline bushing; 107-Tooling mounting bracket; 108-Spring steel plate; 109-Driver's seat; 110-Passenger's seat; 111-U-shaped retaining ring; 200-Power system; 201-Gasoline engine; 202-Transition bearing housing assembly; 203-Generator; 204-Gasoline tank; 205-Hydraulic oil tank; 206-Hydraulic oil cooler; 300-Bionic mechanical leg; 301-Main square tube; 302-Main drive horizontal shaft; 303-Crankshaft disc; 304-Eccentric shaft; 305-Crankshaft linkage arm; 306-Hydraulic motor; 307-Drive sprocket; 308-Driven sprocket; 309-Fixed shaft; 310-Fixed shaft rocker arm; 311-Mechanical lower leg; 312-Mechanical foot; 313-Mechanical foot support rod; 314-Mechanical leg guard; 315-Crankshaft linkage pull plate; 400 - Automatic balancing system; 401 - Balancing hydraulic cylinder; 402 - Opposite-direction bidirectional hinged seat; 403 - Hydraulic multi-way valve; 500 - Grass pressing mechanism; 501 - Grass-fixing small toothed disc; 502 - Grass-fixing small toothed disc pull arm; 503 - Grass pressing disc; 504 - Grass pressing disc hydraulic pull arm; 505 - Grass pressing disc lifting hydraulic cylinder; 506 - Grass pressing disc hydraulic cylinder top frame; 600 - Dual-mode control system; 601 - Hydraulic control lever. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0030] In the description of the embodiments of the present invention, it should be noted that if terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, terms such as "first," "second," and "third" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0031] Furthermore, the use of terms such as "horizontal," "vertical," and "sag" does not imply that the component must be absolutely horizontal or suspended, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0032] In the description of the embodiments of the present invention, "multiple" means at least two.

[0033] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0034] The present invention will now be described in detail and specifically through specific embodiments to enable a better understanding of the invention. However, the following embodiments do not limit the scope of protection of the present invention.

[0035] like Figures 1 to 6 As shown, this embodiment provides a mechanically legged, self-balancing desert grass-pressing machine, including a frame 100, a power system 200 mounted on the frame 100, a walking device connected to the bottom of the frame 100, and a grass-pressing mechanism 500 mounted on the frame 100. The power system 200 is connected to the walking device and the grass-pressing mechanism 500 for transmission, providing power for the machine's movement and operation.

[0036] like Figure 4 As shown, the frame 100 adopts a double-layer modular structure, including an upper frame 101 and a lower frame 102. Both the upper frame 101 and the lower frame 102 are composed of independently symmetrical square tube welded structural components. The upper frame 101 is used to support airborne components such as the power system 200, the dual-mode control system 600, and electronic control components, while the lower frame 102 is used to connect chassis components such as the walking device, the automatic balancing system 400, and the shock absorption components. A shock-absorbing assembly and a bidirectional hydraulic shock absorber 103 are provided between the upper frame 101 and the lower frame 102. The shock-absorbing assembly includes multiple (five) layers of spring steel plates 108. The spring steel plates 108 are arranged with their arched backs facing upwards and their two ends facing downwards. Their upper ends are fixed to the square tube of the upper frame 101 by U-shaped fixing rings 111, and their lower ends are suspended from the square tube inside the lower frame 102. Four bidirectional hydraulic shock absorbers 103 are also provided at the four corners. The shock-absorbing support points of the lower frame 102 extend outwards, and the shock-absorbing support points of the upper frame 101 converge inwards, thereby forming a three-dimensional shock-absorbing structure between the upper and lower frames to buffer the impact vibration during the movement of the mechanical leg.

[0037] like Figure 2As shown, the power system 200 is mounted on the upper frame 101 and includes a gasoline engine 201, a bridge bearing housing assembly 202, a hydraulic oil pump, a generator 203, a gasoline tank 204, a battery accessory integration box, a hydraulic oil tank 205, and a hydraulic oil radiator 206. The output shaft of the gasoline engine 201 is connected to the drive shaft of the bridge bearing housing assembly 202. This drive shaft simultaneously drives the hydraulic oil pump and the generator 203, achieving "one shaft, two drives," meaning that one power source simultaneously drives the hydraulic system pump and the generator system, providing pressurized oil for various hydraulic actuators such as walking, leveling, steering, and grass pressing, and supplying power to the electronic control devices.

[0038] like Figure 5 , Figure 6 As shown, the walking device consists of four sets of bionic mechanical legs 300, which are respectively located at the four corners of the frame 100. Each set of bionic mechanical legs 300 includes two mechanical legs, which alternately lift and lower. The bottom of the mechanical legs is equipped with point-grounding foot plates, which contact the sand surface through point-grounding.

[0039] The specific structure of each set of bionic mechanical legs 300 is as follows: It includes a main square tube 301, which is a rectangular tube measuring 150mm × 150mm × 6mm, serving as the load-bearing skeleton of the bionic mechanical leg 300; a main drive horizontal shaft 302 is mounted on the main square tube 301, with a diameter of 40mm. Crankshaft discs 303 are fixed to both ends of the main drive horizontal shaft 302, and eccentric shafts 304 are eccentrically mounted on the crankshaft discs 303. The eccentric shafts 304 on the crankshaft discs 303 at both ends of the main drive horizontal shaft 302 are offset by 180°. The main drive horizontal shaft 302 is mounted on the main square tube 301 via a sand-proof sealed bearing seat. The inner side of the main drive horizontal shaft 302 is provided with a 12A-16 tooth double-row driven sprocket 308. The driving component is a hydraulic motor 306, which is fixed to the upper part of the main square tube 301. The output end of the hydraulic motor 306 is provided with a 12A-12 tooth active double-row sprocket 307. The active sprocket 307 is driven by the driven sprocket 308 through a double-row chain with a transmission ratio of 1.33. The double-row chain and sprocket are provided with a closed dustproof cover to prevent sand and dust from entering.

[0040] A crankshaft linkage arm 305 is connected to the crankshaft disc 303, and the lower end of the crankshaft linkage arm 305 is connected to the mechanical leg. The mechanical leg includes a fixed shaft 309, a fixed shaft rocker arm 310, a mechanical leg 311, a mechanical foot 312, and a mechanical foot support rod 313. The fixed shaft 309 is fixed above the main square tube 301. The fixed shaft rocker arm 310 is rotatably connected to the fixed shaft 309 and connected to the lower end of the crankshaft linkage arm 305. A crankshaft linkage pull plate 315 is hinged between the crankshaft linkage arm 305 and the fixed shaft rocker arm 310. The upper end of the mechanical leg 311 is hinged to one end of the fixed shaft rocker arm 310 and the crankshaft linkage arm 305. The mechanical foot 312 is connected to the lower end of the mechanical leg 311. The mechanical foot support rod 313 is connected between the other end of the fixed shaft rocker arm 310 and the mechanical foot 312. The mechanical foot support rod 313 is a telescopic screw with adjustable length, used to adjust the grounding angle of the mechanical foot 312. During operation, the hydraulic motor 306 drives the main drive horizontal shaft 302 and the crankshaft discs 303 at both ends to rotate synchronously via chain drive. The crankshaft discs 303 drive the fixed shaft rocker arm 310 to swing around the fixed shaft 309 via the crankshaft linkage arm 305, thereby driving the two mechanical legs to alternately lift and land, realizing walking forward. Because the eccentric shafts 304 at both ends are arranged 180° off-center, the two mechanical legs in the same group move in opposite phases. When one leg lifts, the other leg lands, ensuring that the frame 100 is always supported by a mechanical leg during walking.

[0041] The mechanical foot 312 is constructed of 300mm x 150mm steel plate with a thickness of 8mm. The bottom of the mechanical foot 312 is equipped with a 10mm thick wear-resistant rubber pad to increase friction with the sand surface and cushion the impact of landing. The mechanical foot 312 has four 12mm diameter mounting holes, each containing a detachable 120mm long tapered tempered steel anti-slip screw. When operating on soft sand or slopes, the tapered anti-slip component inserts into the sand to prevent the machine from sliding backward. The tapered anti-slip component can be flexibly installed and removed depending on the sand conditions.

[0042] The four sets of bionic mechanical legs 300 adopt a diagonal synchronous phase configuration: two sets of bionic mechanical legs 300 located at opposite corners of the frame 100 raise and land simultaneously. Specifically, the bionic mechanical legs 300 in the front left position operate at a 0° / 180° phase, the bionic mechanical legs 300 in the front right position operate at a 90° / 270° phase, the bionic mechanical legs 300 in the rear left position operate at a 90° / 270° phase, and the bionic mechanical legs 300 in the rear right position operate at a 0° / 180° phase. That is, at any given time, two sets of bionic mechanical legs 300 at opposite corners of the frame 100 raise their legs simultaneously, and the other two sets at opposite corners land simultaneously for support. The frame 100 is supported by at least two sets of diagonally arranged mechanical legs at any given time, forming a stable "triangular tripod" support pattern, which can offset the overturning moment during walking and ensure the stability of the machine. Each mechanical leg can lift 145mm in a single stride, with a stride distance of 400mm and a maximum stride distance of 540mm, enabling it to traverse common sand barriers and sand dunes.

[0043] The automatic balancing system 400 includes a tilt detection component and a leveling execution component. The tilt detection component includes a tilt sensor and an angle meter. An angle meter is installed on the main body square tube 301 of each set of bionic mechanical legs 300. A dual-axis tilt sensor is also installed on the main body square tube 301 corresponding to one of the mechanical legs for real-time acquisition of the body tilt signal. The leveling actuator includes a data processor, an electronic controller, eight sets of balancing hydraulic cylinders 401, a hydraulic multi-way valve 403, and a synchronous flow divider valve. The data processor is connected to the tilt sensor and angle meter, and the electronic controller is connected to the data processor. The hydraulic multi-way valve 403 and the synchronous flow divider valve are installed on the hydraulic oil circuit and connected to the electronic controller. The eight sets of balancing hydraulic cylinders 401 are respectively connected between the lower frame 102 of the frame 100 and the mechanical leg guards 314 of each set of bionic mechanical legs 300, with four sets for the front axle and four sets for the rear axle. Each set of bionic mechanical legs 300 corresponds to two sets of balancing hydraulic cylinders 401, which adjust the posture of the mechanical legs in the forward and backward and left and right directions, respectively.

[0044] like Figure 2 As shown, the balancing hydraulic cylinder 401 is hinged between the lower frame 102 and the bionic mechanical leg 300 via the opposite-direction bidirectional hinge seat 402 and the cross coupling seat. The cylinder end of the balancing hydraulic cylinder 401 is hinged to the lower frame 102 via the opposite-direction bidirectional hinge seat 402, and the piston rod end is hinged to the mechanical leg guard 314 of the bionic mechanical leg 300 via the cross coupling seat. The rotation center line of the opposite-direction bidirectional hinge seat 402 coincides with the rotation center line of the cross coupling seat, ensuring that the hinge points of the balancing hydraulic cylinder 401 rotate flexibly when adjusting the posture of the mechanical leg, avoiding motion interference and jamming.

[0045] The automatic balancing system 400 works as follows: During the movement of the mechanical leg, the tilt sensor and angle meter collect the tilt angle signal of the machine body relative to the horizontal plane in real time and send the tilt angle signal to the data processor; the data processor analyzes and processes the tilt angle signal, determines the current tilt direction and tilt angle of the machine body, and outputs control commands to the electronic controller; the electronic controller controls the opening and direction of the hydraulic multi-way valve 403 and the synchronous flow divider valve according to the control commands, and then controls the extension and retraction of each set of balancing hydraulic cylinders 401, so that the mechanical leg swings relative to the frame 100, adjusts the posture of the mechanical leg, and keeps the mechanical leg perpendicular to the horizontal plane, thereby ensuring that the machine body always remains horizontal and stable. When the machine body tilts forward or backward, the front and rear sets of balancing hydraulic cylinders 401 are linked to level; when the machine body tilts left or right, the left and right sets of balancing hydraulic cylinders 401 are linked to level. The entire process is carried out in real time in a closed loop, enabling the equipment to adapt to undulating terrain such as sand dunes and sand ridges.

[0046] Furthermore, in this embodiment, the dual-axis tilt sensor is rigidly fixed to the surface of the main square tube 301 of the bionic mechanical leg 300, and deforms synchronously with the mechanical leg structure. It can collect posture deviation data during the walking process of a single leg and the whole machine, thereby reducing the influence of body vibration and frame deformation on the detection results. The dual-axis tilt sensor collects two sets of core posture data in real time at a fixed sampling frequency (50Hz in this embodiment), namely the X-axis (the pitch angle of the whole machine forward and backward) and the Y-axis (the roll angle of the whole machine left and right). Its angle measurement range is ±15°, and the original measurement accuracy is ±0.05°, which can capture the small leg posture deviations during walking. The dual-axis tilt sensor converts the collected analog posture signals into standard digital signals and transmits them to the data processor in real time.

[0047] After receiving the raw attitude data transmitted by the dual-axis tilt sensor, the data processor first preprocesses the raw data using a sliding mean filtering algorithm to filter out high-frequency noise data generated by equipment walking vibration, hydraulic shock, and road bumps, eliminating abnormal interference values ​​and ensuring the stability and authenticity of the attitude data. Then, attitude error calculation is performed: the system presets a standard target attitude where the mechanical leg is perpendicular to the horizontal plane (pitch angle 0°, roll angle 0°). The actual tilt angle collected in real time is compared with the standard zero angle to calculate the pitch error value and the roll error value, respectively, to determine the tilt direction and offset amplitude of the mechanical leg.

[0048] Meanwhile, the data processor has a built-in attitude control dead zone threshold (±0.1° in this embodiment): when the tilt error is less than or equal to the dead zone threshold, it is judged as a normal small fluctuation, and no adjustment command is output to avoid frequent start-stop and jitter loss of the hydraulic system; when the tilt error exceeds the dead zone threshold, the core control algorithm is immediately started. In this embodiment, the core control algorithm adopts an incremental PID control algorithm, that is, based on the real-time attitude error, the proportional term (P) quickly offsets the current tilt deviation, the integral term (I) eliminates the steady-state angle error, and the derivative term (D) predicts the attitude change trend and suppresses dynamic overshoot, thereby calculating and generating hydraulic adjustment increment commands; and dynamically matching the adjustment force according to the size and rate of change of the tilt angle: the larger the tilt angle, the larger the cylinder extension and retraction adjustment amount output by the algorithm to achieve rapid correction; when the mechanical leg approaches the vertical standard posture, the adjustment increment is automatically reduced to avoid over-adjustment and attitude oscillation. Compared with fuzzy control, incremental PID control has the advantages of higher steady-state accuracy, smoother hydraulic action, and easier solidification of debugging parameters, and is suitable for the working conditions of long-term continuous walking operation of equipment.

[0049] After the data processor completes the algorithm calculation, it transmits the standardized hydraulic adjustment command to the electronic controller. The electronic controller amplifies and converts the weak current control signal, and outputs a drive signal that matches the working voltage of the hydraulic multi-way valve 403, so as to accurately control the opening and closing direction and opening degree of the hydraulic multi-way valve 403. The hydraulic multi-way valve 403 and the synchronous flow divider valve control the extension or retraction of the corresponding group of balance hydraulic cylinders 401 according to the drive signal, and adjust the tilt angle of the mechanical leg square tube in real time to correct the pitch and roll offset generated during walking, so that the four groups of bionic mechanical legs 300 always maintain a standard posture perpendicular to the horizontal plane.

[0050] After a single attitude adjustment is completed, the dual-axis tilt sensor immediately re-acquires the real-time attitude data of the robotic leg and transmits it back to the data processor, forming a closed-loop dynamic control cycle of "acquisition—operation—command output—attitude adjustment—feedback retesting". The device continuously iterates and adjusts throughout its movement, offsetting attitude deviations caused by road undulations and body offsets in real time. In this embodiment, the closed-loop operation cycle of the automatic balancing system 400 is 20ms, the attitude adjustment response time is ≤280ms (±5° tilt attitude complete correction), the steady-state leveling accuracy is ±0.15° (error between the robotic leg and the horizontal plane), and the effective tilt angle control range is 0°~±12°.

[0051] like Figure 4As shown, the frame 100 includes two sections: a front frame and a rear frame. The two sections are hinged together by a hinge assembly 104, which includes a bearing and a locating pin. The two sections can flexibly swing horizontally without misalignment in the vertical direction. Symmetrically arranged on both sides of the two sections are retractable splined bushings 106 and steering hydraulic cylinders 105. The steering hydraulic cylinders 105 connect the two sections, and their extension and retraction drive the two sections to swing relative to each other around the hinge assembly 104, achieving a bending steering mechanism. The steering hydraulic cylinders 105 cooperate with the retractable splined bushings 106 to ensure continuous power and transmission during the bending steering process, resulting in good steering synchronization.

[0052] like Figure 3 As shown, the grass-pressing mechanism 500 is located at the front end of the upper frame 101 of the rear frame, and includes two sets of grass-pressing small toothed discs 501, grass-pressing small toothed disc pull arms 502, grass-pressing disc 503, grass-pressing disc hydraulic pull arms 504, grass-pressing disc lifting hydraulic cylinders 505, and grass-pressing disc hydraulic cylinder top frames 506. The grass-pressing small toothed discs 501 are connected to the frame 100 through the grass-pressing small toothed disc pull arms 502. The grass-pressing small toothed discs 501 have a built-in spring floating structure, which allows them to float up and down to conform to the uneven sand surface. The outer diameter of the grass-pressing small toothed discs 501 is 300mm, and the outer ring is machined with annular cutting teeth with a depth of 15mm, with multiple cutting teeth evenly distributed along the circumference. The grass pressing disc 503 is connected to the frame 100 via a grass pressing disc hydraulic arm 504 and a grass pressing disc lifting hydraulic cylinder 505. The grass pressing disc lifting hydraulic cylinder 505 is mounted on the frame 100 via a grass pressing disc hydraulic cylinder top bracket 506. The grass pressing disc 503 has a diameter of 800mm and a plate thickness of 6mm. The hydraulic circuit of the grass pressing disc lifting hydraulic cylinder 505 is equipped with a floating valve assembly, enabling the grass pressing disc 503 to adaptively rise and fall according to the sandy terrain.

[0053] The working principle of the grass pressing mechanism 500 is as follows: When the equipment moves, the grass-fixing small toothed disc 501 is located in front of the grass pressing disc 503. It first contacts the strip-shaped grass on the sand surface, and with the help of the spring floating structure, it conforms to the uneven sand surface. The annular cutting teeth are inserted into the sand on both sides of the grass, pressing and fixing the two ends of the grass stalks. Then, the grass pressing disc 503 is pressed down by the lifting hydraulic cylinder 505, pressing the middle part of the grass into the sand, forming an arc-shaped buried state with the two ends of the grass stalks fixed and the middle pressed down, that is, a vertical sand barrier frame, which, together with the strip-shaped grass, forms a grass grid. The hydraulic circuit of the lifting hydraulic cylinder 505 is equipped with a floating oil circuit composed of a floating valve assembly. Under the undulating terrain of the sand, the grass pressing disc 503 can adaptively rise and fall with the sand surface, without lifting the frame 100 and causing the mechanical legs to be suspended and unloaded. The maximum burial depth of the 503 ballast disc is 150mm. When moving the ballast disc, it can be raised with a ground clearance of 150mm.

[0054] The front end of the upper frame 101 is equipped with a universal tooling mounting bracket 107, and the grass pressing mechanism 500 is detachably connected to the frame 100 via the tooling mounting bracket 107. When the operation function needs to be changed, the grass pressing mechanism 500 can be completely removed, and operating attachments such as seedling planting and watering components, material transport boxes, or sand leveling tools can be installed on the tooling mounting bracket 107 to achieve multi-purpose use.

[0055] The dual-mode control system 600 includes a manual control component and a wireless remote control component. The manual control component is located on the upper frame 101 of the frame 100 and includes a driver's seat 109, a passenger seat 110, a hydraulic control lever 601, and control switches. Operators can freely control the equipment's movement, leveling, steering, and straw pressing operations. The wireless remote control component includes a remote control receiver connected to the electronic controller. Operators send commands to the receiver using a handheld remote control, which then transmits the commands to the electronic controller, enabling remote wireless control of the equipment's movement, leveling, steering, and straw pressing actions. This allows operators to work away from the equipment, adapting to harsh working environments such as sandstorms and high temperatures, and reducing operational risks.

[0056] The overall working process of this embodiment is as follows: The gasoline engine 201 is started, and power is simultaneously transmitted to the hydraulic oil pump and generator 203 via the axle bearing housing assembly 202. The hydraulic system establishes oil pressure, and the generator system supplies power to the electronic control devices. The operator issues a walking command through the manual control component or the wireless remote control component. The hydraulic motor 306 drives the crankshaft disc 303 of each bionic mechanical leg 300 to rotate. The four sets of bionic mechanical legs 300 alternately raise and lower their legs in diagonal synchronous phases, propelling the entire machine forward. During the movement... The automatic balancing system 400 detects the tilt angle of the machine body in real time and adjusts the eight sets of balancing hydraulic cylinders 401 to ensure that the mechanical legs are always perpendicular to the horizontal plane. When turning is required, the steering hydraulic cylinder 105 extends and retracts, driving the front and rear sections of the frame to bend and swing to complete the turning. After arriving at the work area, the grass pressing mechanism 500 is lowered, the grass-fixing small toothed disc 501 first presses the two ends of the grass stalks, and then the grass pressing disc 503 presses the middle of the grass into the sand, completing the grass square pressing operation. After the operation is completed, the grass pressing disc 503 is raised to the off-ground state, and the equipment is moved to another location. Example 2

[0057] The difference between this embodiment and Embodiment 1 lies in the configuration of the drive component of the bionic mechanical leg. In Embodiment 1, the drive component uses a hydraulic motor that drives the main drive shaft via a sprocket and chain transmission. In this embodiment, the drive component uses an electric motor, which is fixed to the main square tube. The motor's output shaft is directly connected to the main drive shaft via a coupling, or via a gear reduction mechanism. The transmission between the main drive shaft and the motor can also be achieved using belt drive, worm gear drive, etc. Furthermore, each set of bionic mechanical legs can have three legs, driven by three sets of crankshaft discs. The eccentric shafts of each crankshaft disc are staggered by 120°, allowing the three legs to rise and fall sequentially, further improving walking stability and load-bearing capacity.

[0058] The remaining structure of this embodiment is the same as that of Embodiment 1, and will not be described again here. Example 3

[0059] The difference between this embodiment and Embodiment 1 lies in the composition of the automatic balancing system. In Embodiment 1, the tilt detection component includes a tilt sensor and an angle gauge, and the leveling execution component includes a data processor, an electronic controller, eight sets of balancing hydraulic cylinders, a hydraulic multi-way valve, and a synchronous flow divider valve. In this embodiment, the tilt detection component can use inertial detection elements such as gyroscopes or electronic levels to replace or supplement the tilt sensor and angle gauge, only needing to be able to output the fuselage tilt signal in real time; the number of balancing hydraulic cylinders can be adjusted according to the size of the model, for example, one set of balancing hydraulic cylinders can be configured for each of the four sets of bionic mechanical legs, for a total of four sets, to level the mechanical legs in only one direction, or two sets can be configured for each set, for a total of eight sets, to level the mechanical legs in two intersecting directions respectively.

[0060] In another variation, the leveling actuator can use linear drive components such as electric actuators or electro-hydraulic actuators instead of balancing hydraulic cylinders, and the data processor and electronic controller can be integrated into a single controller. Wired or wireless signal connections can be used between the tilt detection component and the data processor, and between the data processor and the electronic controller.

[0061] In another variant, the core control algorithm built into the data processor is not limited to incremental PID control algorithm, but can also adopt position PID control algorithm, fuzzy PID control algorithm or adaptive control algorithm, as long as it can generate corresponding hydraulic adjustment commands based on real-time attitude error; the attitude control dead zone threshold, the sampling frequency and other control parameters can also be flexibly adjusted according to the machine size and working conditions.

[0062] The remaining structure of this embodiment is the same as that of Embodiment 1, and will not be described again here. Example 4

[0063] The difference between this embodiment and Embodiment 1 lies in the specific structural form of the grass pressing mechanism. In Embodiment 1, the grass-fixing component consists of two sets of small grass-fixing discs, and the grass-pressing component consists of one pressing disc. In this embodiment, the grass-fixing component can be a grass-fixing roller, with annular cutting teeth or patterned teeth on the outer ring, which can also press and fix the ends of the grass stalks; the number of grass pressing components can be two, with the two pressing discs arranged side by side along the transverse direction of the frame or arranged back and forth along the walking direction to increase the width of a single operation; the diameter and thickness of the pressing disc can be adjusted according to different grass species and sandy conditions, and the depth of the pressing disc into the soil is adjusted by the stroke of the hydraulic cylinder for lifting and lowering the pressing disc.

[0064] In another variation, a forage guide plate can be installed between the forage-fixing disc and the forage-pressing disc to regulate the posture of the forage during movement and prevent the forage from deflecting.

[0065] The remaining structure of this embodiment is the same as that of Embodiment 1, and will not be described again here. Example 5

[0066] The difference between this embodiment and Embodiment 1 lies in the interchangeability of different working tools via the tooling mounting bracket, achieving multi-purpose functionality. In Embodiment 1, a grass-pressing mechanism is installed on the tooling mounting bracket for grass-pressing operations. In this embodiment, after removing the grass-pressing mechanism from the tooling mounting bracket, a seedling planting and watering component can be installed, transforming the equipment into a sand afforestation device integrating ditching, planting, and watering; or a material transport cargo box can be installed, transforming the equipment into a sand transport vehicle, utilizing a bionic mechanical leg walking device and an automatic balancing system to transport materials such as hay and seedlings in soft sand; or sand leveling tools can be installed, transforming the equipment into a sand leveling device. Each working tool can be quickly assembled and disassembled from the frame via a common tooling mounting bracket, achieving "multi-purpose functionality and rapid tool changeover."

[0067] The specific embodiments of the present invention have been described in detail above, but they are merely examples, and the present invention is not equivalent to the specific embodiments described above. For those skilled in the art, any equivalent modifications and substitutions to the present invention are also within the scope of the present invention. Therefore, all equivalent transformations and modifications made without departing from the spirit and scope of the present invention should be covered within the scope of the present invention.

Claims

1. A mechanical leg-driven automatic balancing desert grass-pressing machine, comprising a frame (100), a power system (200) mounted on the frame (100), a walking device connected to the bottom of the frame (100), and a grass-pressing mechanism (500) mounted on the frame (100); the power system (200) is connected to the walking device and the grass-pressing mechanism (500) in a transmission connection; Its features are: The walking device consists of four sets of bionic mechanical legs (300). The four sets of bionic mechanical legs (300) are respectively located at the four corners of the frame (100). Each set of bionic mechanical legs (300) includes two or more mechanical legs. The mechanical legs alternately lift and lower. The bottom of the mechanical legs is provided with point-shaped grounding feet. The grass-pressing mechanism (500) includes grass-fixing components and grass-pressing components arranged sequentially along the walking direction, with the grass-fixing components located in front of the grass-pressing components; It also includes an automatic balancing system (400), which includes a tilt angle detection component and a leveling execution component; the tilt angle detection component is disposed on the bionic mechanical leg (300) and is used to detect the tilt angle of the body; the leveling execution component is connected between the frame (100) and the bionic mechanical leg (300); the tilt angle detection component and the leveling execution component are signal connected.

2. The mechanical leg-walking automatic balancing desert grass-pressing machine according to claim 1, characterized in that: Each set of bionic mechanical legs (300) includes a main square tube (301), a main drive horizontal shaft (302) passing through the main square tube (301), crankshaft disks (303) fixed at both ends of the main drive horizontal shaft (302), and crankshaft linkage arms (305) connecting the crankshaft disks (303) and the mechanical leg; an eccentric shaft (304) is eccentrically arranged on the crankshaft disks (303), and the crankshaft disks (303) at both ends of the main drive horizontal shaft (302) are... The eccentric shaft (304) is arranged in a 180° offset manner; the main drive horizontal shaft (302) is connected to the drive component, the drive component is a hydraulic motor (306), the hydraulic motor (306) is fixed on the main body square tube (301); the output end of the hydraulic motor (306) is provided with a drive sprocket (307), the main drive horizontal shaft (302) is provided with a driven sprocket (308), and the drive sprocket (307) is meshed with the driven sprocket (308) through a chain.

3. The mechanical leg-driven automatic balancing desert hay press according to claim 2, characterized in that: The mechanical leg includes a fixed shaft (309), a fixed shaft rocker arm (310), a mechanical lower leg (311), a mechanical foot (312), and a mechanical foot support rod (313); the fixed shaft (309) is fixed above the main body square tube (301); the fixed shaft rocker arm (310) is rotatably connected to the fixed shaft (309) and connected to the crankshaft linkage arm (305); the upper end of the mechanical lower leg (311) is hinged to the fixed shaft rocker arm (310) and the crankshaft linkage arm (305), and the mechanical foot (312) is connected to the lower end of the mechanical lower leg (311); the mechanical foot support rod (313) is connected between the fixed shaft rocker arm (310) and the mechanical foot (312); the bottom surface of the mechanical foot (312) is provided with a wear-resistant pad, and the mechanical foot (312) is provided with an assembly hole, and a conical anti-slip part is detachably installed in the assembly hole.

4. The mechanical leg-walking automatic balancing desert grass compactor according to claim 1, characterized in that: The four sets of bionic mechanical legs (300) are configured with diagonal synchronous phase, and the two sets of bionic mechanical legs (300) located at diagonal positions of the frame (100) raise and land synchronously.

5. The mechanical leg-walking automatic balancing desert grass-pressing machine according to claim 1, characterized in that: The tilt detection component includes a tilt sensor and an angle meter, which are mounted on the main square tube (301) of the bionic mechanical leg (300). The leveling execution component includes a data processor, an electronic controller, a multi-way valve, a synchronous flow divider valve, and multiple sets of balancing hydraulic cylinders (401). The data processor is connected to the tilt sensor and the angle meter, and the electronic controller is connected to the data processor. The balancing hydraulic cylinders (401) are connected between the frame (100) and the bionic mechanical leg (300), and the electronic controller controls the extension and retraction of the balancing hydraulic cylinders (401) to adjust the posture of the bionic mechanical leg (300).

6. The mechanical leg-walking automatic balancing desert grass compactor according to claim 1, characterized in that: The grass-fixing component is a grass-fixing small toothed disc (501), and the grass-pressing component is a grass-pressing disc (503); the outer ring of the grass-fixing small toothed disc (501) is provided with annular cutting teeth; the grass-pressing disc (503) is connected to the frame (100) through a lifting hydraulic cylinder (505).

7. The mechanical leg-walking automatic balancing desert grass compactor according to claim 6, characterized in that: The grass-fixing disc (501) is located in front of the grass-pressing disc (503) along the walking direction. The grass-fixing disc (501) holds both ends of the grass stalks, and the grass-pressing disc (503) presses down on the middle of the grass stalks.

8. The mechanical leg-walking automatic balancing desert grass compactor according to claim 6, characterized in that: The frame (100) is provided with a tooling mounting bracket (107), and the grass pressing mechanism (500) is detachably connected to the frame (100) through the tooling mounting bracket (107); the tooling mounting bracket (107) is replaceably equipped with a planting and watering component, a transport box or a leveling tool.

9. The mechanical leg-walking automatic balancing desert grass compactor according to claim 5, characterized in that: It also includes a dual-mode control system (600), which includes a manual control component and a wireless remote control component; the manual control component is mounted on the rack (100); the wireless remote control component includes a remote control receiver, which is signal-connected to the electronic controller.

10. The mechanical leg-walking automatic balancing desert grass-pressing machine according to claim 1, characterized in that: The frame (100) includes an upper frame (101) and a lower frame (102), and a shock-absorbing component is provided between the upper frame (101) and the lower frame (102); the frame (100) includes front and rear frame sections, which are hinged together by a hinge component (104); it also includes a steering hydraulic cylinder (105), which is connected between the front and rear frame sections (100), and the steering hydraulic cylinder (105) drives the front and rear frame sections (100) to swing relative to each other by extending and retracting.

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