Forest land cleaning soil preparation machine with automatic obstacle avoidance function

Abstract

The utility model belongs to the technical field of forestry production equipment, particularly relates to a forest land cleaning and soil preparation machine with an automatic obstacle avoidance function, and provides the following scheme aiming at the problems that existing equipment is insufficient in obstacle avoidance capacity, discontinuous in operation and poor in cleaning and soil preparation collaboration in a complex environment. Comprising an outer frame, a cleaning chassis, a lifting suspension assembly, a cleaning assembly, a soil preparation assembly and a plurality of detection radars, the cleaning chassis, the cleaning assembly and the soil preparation assembly are lifted together through the action of the lifting suspension assembly, and automatic obstacle avoidance is achieved; therefore, cutter cracking, edge curling or transmission mechanism damage caused by violent collision between the cleaning blade and the soil preparation blade and obstacles is effectively prevented, and the durability and reliability of the equipment in a complex forest land environment are greatly improved; the cleaning assembly can conduct crushing and clearing firstly, a relatively clean and flat working face is created for the soil preparation assembly behind the cleaning assembly, and the soil preparation assembly can conduct ploughing, crushing and leveling of soil more effectively.

Description

Technical Field

[0001] This utility model relates to a land clearing and leveling machine, specifically a forest land clearing and leveling machine with automatic obstacle avoidance function, belonging to the field of forestry production equipment technology. Background Technology

[0002] Forest clearing and land preparation are crucial steps in forestry production, but traditional equipment has significant limitations when dealing with complex forest environments. Existing forest clearing and land preparation machines mostly employ mechanical rotary tillage or shoveling devices, relying on operator experience. However, in densely wooded areas with numerous obstacles, the equipment is prone to collisions with hidden tree roots, rocks, and other debris, leading to damage to working parts and low operational efficiency. While some improvements attempt to incorporate obstacle avoidance features, their methods are relatively limited and cannot comprehensively address the diverse types of obstacles found in forests.

[0003] In existing technologies, such as the automatic obstacle-avoiding weeder disclosed in CN115462243A, a moving block on the outer ring is used to move gravel to avoid collision between the cutting blade and the gravel. While this method can handle small gravel, its effectiveness is limited for obstacles common in forests, such as tree roots and pits. Furthermore, its mechanical moving mechanism cannot provide active detection and early warning, remaining within the scope of passive protection. Another example is a forest land preparation device disclosed in CN212034887U, which uses a vacuum pump to absorb cut weeds to avoid affecting the cutting blade's operation. However, its function is mainly focused on weed removal and does not address effective obstacle avoidance measures for fixed obstacles, leaving a high risk of blade damage in complex forest environments. In addition, some studies, such as the obstacle recognition method based on convolutional neural networks mentioned in the research on autonomous obstacle avoidance strategies for forestry robots based on obstacle classification and recognition, and the ultrasonic sensor obstacle avoidance system applied in the design and testing of an intelligent obstacle avoidance system for orchard rotary tillers, demonstrate more advanced obstacle avoidance technologies. However, these technologies either require high computing resources or have limitations in detection accuracy and response speed, making them difficult to widely apply in forestry machinery with strict cost control, and they often lack efficient synergy with land preparation functions.

[0004] In summary, existing forest clearing and land preparation equipment has the following main shortcomings: First, the obstacle avoidance method is passive and singular, and it cannot actively detect and effectively avoid diverse forest obstacles; second, the coordination between clearing and land preparation functions is poor, and the operation process is not continuous; third, the equipment often disrupts the continuity of the operation during obstacle avoidance, affecting the final land preparation quality. Utility Model Content

[0005] This invention provides a forest land clearing and leveling machine with automatic obstacle avoidance function to solve the problems of insufficient obstacle avoidance ability, discontinuous operation and poor coordination of clearing and leveling in complex environments of existing equipment.

[0006] The present invention achieves the above objectives through the following technical solution: a forest clearing and leveling machine with automatic obstacle avoidance function, comprising an outer frame and a clearing chassis, the clearing chassis being movably connected inside the outer frame, a lifting suspension assembly being connected between the clearing chassis and the outer frame, a clearing assembly and a leveling assembly being provided on the clearing chassis, the clearing assembly being located in front of the leveling assembly along the forward direction, and multiple detection radars being connected to the top of the outer frame in the forward direction.

[0007] The lifting suspension assembly includes a diagonal brace link and an electric telescopic rod. The diagonal brace link is arranged in parallel on both sides of the cleaning chassis, and the electric telescopic rod is movably connected to the rear end of the cleaning chassis in the forward direction.

[0008] The cleaning assembly includes two sets of synchronously driven cleaning rods, which are staggered. The rods of the cleaning rods move through the cleaning chassis, and each cleaning rod has multiple cleaning blades connected to its rod body located below the cleaning chassis.

[0009] The grounding assembly includes two synchronously driven grounding rods. Each grounding rod has multiple sets of grounding blades connected to its shaft, and the grounding blades connected to the shafts of the two grounding rods are arranged in a staggered manner.

[0010] As a further improvement of this utility model: a base plate is fixedly connected to the upper part of the outer frame, and radar brackets are evenly distributed in a parallel pattern on the base plate, with each detection radar connected to a corresponding radar bracket.

[0011] As a further improvement of this utility model: a storage battery and a central controller are also fixedly connected to the base plate. The storage battery is electrically connected to each electrical component, and the central controller is signal connected to each electrical component. Drive track wheels are connected to both sides of the outer frame.

[0012] As a further embodiment of this utility model: both ends of the two sides of the cleaning chassis are rotatably connected to diagonal bracing rods, and the other ends of the diagonal bracing rods are rotatably connected to the inner side of the outer frame. The movable end of the electric telescopic rod is rotatably connected to the middle part of the rear end of the cleaning chassis in the forward direction, and the fixed end of the electric telescopic rod is rotatably connected to the inner side of the outer frame. The cleaning chassis is horizontally lifted backward and upward by the retraction of the electric telescopic rod.

[0013] As a further improvement of this utility model: the chassis body of the cleaning chassis has through holes for rotating rods and belts, and an outer cover is fixedly connected to the top of the chassis body of the cleaning chassis.

[0014] As a further embodiment of this utility model: the cleaning drive rod of the cleaning component is rotatably connected inside the outer cover, the cleaning rotating rod of the cleaning component moves through the rotating rod through hole, and a rotating bearing is sleeved on the rod body located inside the rotating rod through hole. A driven bevel gear is fixedly connected to the upper end of the cleaning rotating rod on the same axis. Multiple driving bevel gears are fixedly connected to the rod body of the cleaning drive rod on the same axis. The driving bevel gears and driven bevel gears are meshed and connected in a one-to-one correspondence. Several layered cleaning blade seats are fixedly sleeved on the rod body of the cleaning rotating rod located below the cleaning chassis. Each cleaning blade seat is fixedly connected to a cleaning blade that is evenly distributed along the circumference.

[0015] As a further embodiment of this utility model, the cleaning assembly also includes a cleaning motor disposed inside the outer casing. The body of the cleaning motor is fixedly connected to the cleaning chassis. Two cleaning drive wheels are fixedly connected coaxially to the motor shaft of the cleaning motor. A cleaning driven wheel is fixedly connected coaxially to the body of each cleaning drive rod. A cleaning transmission belt connects the cleaning drive wheel and the corresponding cleaning driven wheel.

[0016] As a further embodiment of this utility model: the two grounding rotating rods of the grounding component are arranged in parallel below the grounding chassis. The two ends of the grounding rotating rods are rotatably connected to connecting support rods, and the upper ends of the connecting support rods are fixedly connected to the two sides of the grounding chassis. Several equally spaced grounding blade seats are fixedly sleeved on the rod body of each grounding rotating rod, and each grounding blade seat is fixedly connected to a grounding blade that is evenly distributed along the circumference.

[0017] As a further embodiment of this utility model: the grounding component also includes a grounding motor disposed inside the outer casing. The body of the grounding motor is fixedly connected to the grounding chassis. The motor shaft of the grounding motor is coaxially fixedly connected to a grounding drive wheel. The shafts of the two grounding rods are coaxially fixedly connected to grounding driven wheels. A grounding transmission belt is connected between the grounding drive wheel and the two grounding driven wheels. The belt body of the grounding transmission belt moves through the belt perforation.

[0018] The beneficial effects of this utility model are:

[0019] 1. This utility model is equipped with an outer frame, a clearing chassis, a lifting and suspension assembly, a cleaning assembly, a land leveling assembly, and multiple detection radars. By movably connecting the clearing chassis to the outer frame and installing the lifting and suspension assembly, the entire clearing chassis can move flexibly up and down relative to the outer frame, achieving automatic obstacle avoidance. The layout of multiple detection radars can form a wider detection field of view and cross-verification, enabling timely detection of obstacles in the path. When the detection radar detects an obstacle, the lifting and suspension assembly can lift the clearing chassis together with the cleaning and land leveling assemblies, effectively preventing the cleaning and land leveling blades from violently colliding with obstacles, which could cause blade breakage, chipping, or damage to the transmission mechanism. This greatly improves the durability and reliability of the equipment in complex forest environments. The front-mounted cleaning assembly can break up and remove shrubs, weeds, gravel, and other debris on the ground, creating a relatively clean and flat working surface for the land leveling assembly, allowing the land leveling assembly to more effectively till, break up, and level the soil.

[0020] 2. The lifting suspension assembly of this utility model includes a diagonal brace and an electric telescopic rod. The diagonal brace is arranged in parallel on both sides of the cleaning chassis. The electric telescopic rod is movably connected to the rear end of the cleaning chassis in the forward direction, which can realize the smooth lifting of the cleaning chassis. The diagonal brace can form a parallelogram-shaped suspension structure to ensure that the working angle of the cleaning component and the grounding component remains unchanged when the cleaning chassis is lifted, and only vertical lifting is realized.

[0021] 3. The cleaning component of this utility model includes two sets of synchronously driven cleaning rods, which are staggered. The rod body of the cleaning rod moves through the cleaning chassis. Each cleaning rod has multiple sets of cleaning blades connected to its rod body located below the cleaning chassis, which allows the cleaning operation range to cover a wider area. Furthermore, the staggered arrangement of the cleaning rods and cleaning blades can cut and pull the ground vegetation in a cross-cutting manner without dead angles, thus improving the thoroughness of the cleaning.

[0022] 4. The land preparation component of this utility model includes two synchronously driven land preparation rotating rods. Each land preparation rotating rod is connected to multiple sets of land preparation blades. The land preparation blades connected to the two land preparation rotating rods are arranged in a staggered manner. When rotating, the staggered land preparation blades can cut and turn the soil in an alternating manner, so that the soil is broken into finer and more uniform pieces. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0024] Figure 2 This is a cross-sectional structural diagram of the chassis in the cleaning state according to this utility model;

[0025] Figure 3 This is a cross-sectional structural diagram of the chassis of this utility model in a lifted state.

[0026] Figure 4 This is a schematic diagram of the connection structure between the outer frame and the cleaning chassis of this utility model;

[0027] Figure 5 This is a schematic diagram of the connection structure between the chassis and the lifting suspension assembly of this utility model;

[0028] Figure 6 This is a schematic diagram of the cleaning component structure of this utility model;

[0029] Figure 7 This is a schematic diagram of the connection structure between the cleaning rotating rod and the cleaning blade of this utility model;

[0030] Figure 8 This is a schematic diagram of the connection structure between the cleaning drive rod and the cleaning motor of this utility model;

[0031] Figure 9 This is a schematic diagram of the structure of the land leveling component of this utility model;

[0032] Figure 10 This is a schematic diagram of the connection structure between the leveling rotating rod and the leveling blade of this utility model;

[0033] Figure 11 This is a schematic diagram of the connection structure between the grounding rotating rod and the grounding motor of this utility model.

[0034] In the diagram: 1. Outer frame; 11. Base plate; 12. Radar bracket; 13. Detection radar; 14. Battery; 15. Central controller; 16. Drive track wheel; 2. Cleaning chassis; 21. Diagonal brace; 22. Electric telescopic rod; 23. Outer cover; 24. Rotary rod perforation; 25. Belt perforation; 3. Cleaning assembly; 31. Cleaning drive rod; 32. Cleaning rotating rod; 33. Cleaning blade holder; 34. Cleaning blade; 35. Cleaning motor; 36. Rotating bearing; 37. Driven bevel gear; 38. Driven bevel gear; 39. Cleaning drive wheel; 310. Cleaning driven wheel; 311. Cleaning transmission belt; 4. Grounding assembly; 41. Grounding rotating rod; 42. Connecting support rod; 43. Grounding blade holder; 44. Grounding blade; 45. Grounding motor; 46. Grounding drive wheel; 47. Grounding driven wheel; 48. Grounding transmission belt. Detailed Implementation

[0035] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0036] Example 1

[0037] like Figures 1 to 11 As shown, a forest clearing and leveling machine with automatic obstacle avoidance function includes an outer frame 1 and a clearing chassis 2. The clearing chassis 2 is movably connected inside the outer frame 1. A lifting suspension assembly connects the clearing chassis 2 and the outer frame 1. A clearing component 3 and a leveling component 4 are installed on the clearing chassis 2. The clearing component 3 is located in front of the leveling component 4 along the forward direction. Multiple detection radars 13 are connected to the top of the outer frame 1 in the forward direction. By movably connecting the clearing chassis 2 inside the outer frame 1 and installing the lifting suspension assembly, the entire clearing chassis 2 can flexibly rise and fall relative to the outer frame 1, realizing the automatic obstacle avoidance function. The layout of multiple detection radars 13 can form a wider detection field of view and... Cross-validation enables timely detection of obstacles on the path. When the detection radar 13 detects an obstacle, the lifting suspension assembly can lift the clearing chassis 2 together with the clearing assembly 3 and the leveling assembly 4, effectively preventing the clearing blades 34 and leveling blades 44 from violently colliding with the obstacle, which could cause the blades to break, chip, or be damaged in the transmission mechanism. This greatly improves the durability and reliability of the equipment in complex forest environments. The clearing assembly 3, positioned in front, can break up and remove shrubs, weeds, gravel, and other debris on the ground, creating a relatively clean and flat working surface for the leveling assembly 4, allowing the leveling assembly 4 to more effectively till, break up, and level the soil.

[0038] The lifting suspension assembly includes a diagonal brace 21 and an electric telescopic rod 22. The diagonal brace 21 is arranged in parallel on both sides of the cleaning chassis 2. The electric telescopic rod 22 is movably connected to the rear end of the cleaning chassis 2 in the forward direction, which can realize the smooth lifting of the cleaning chassis 2. The diagonal brace 21 can form a parallelogram-shaped suspension structure to ensure that the working tilt angle of the cleaning assembly 3 and the grounding assembly 4 remains unchanged when the cleaning chassis 2 is lifted.

[0039] The cleaning component 3 includes two sets of synchronously driven cleaning rods 32, which are staggered. The rods of the cleaning rods 32 extend through the cleaning chassis 2. Each cleaning rod 32 has multiple sets of cleaning blades 34 connected to its rod below the cleaning chassis 2, which allows the cleaning operation to cover a wider area. The staggered arrangement of the cleaning rods 32 and cleaning blades 34 can cut and pull the ground vegetation in a cross-cutting manner without dead angles, thus improving the thoroughness of the cleaning.

[0040] The tillage assembly 4 includes two synchronously driven tillage rotating rods 41. Each tillage rotating rod 41 is connected to multiple sets of tillage blades 44. The tillage blades 44 connected to the two tillage rotating rods 41 are staggered. When rotating, the staggered tillage blades 44 can cut and turn the soil in an alternating manner, avoiding missed tillage or unbroken soil clods, and making the soil more fine and uniform.

[0041] Example 2

[0042] Improvements based on Example 1:

[0043] like Figure 1 As shown, a base plate 11 is fixedly connected to the upper part of the outer frame 1. Radar brackets 12 are evenly distributed in a row on the base plate 11. Detection radars 13 are connected one-to-one to the radar brackets 12, ensuring that multiple detection radars 13 can be stably and accurately installed in the designated positions of the outer frame 1. Their even distribution helps to form a detection area without blind spots, thereby comprehensively perceiving the environmental information in front of and to the sides of the machine.

[0044] Furthermore, a battery 14 and a central controller 15 are fixedly connected to the base plate 11. The battery 14 is electrically connected to each electrical component, and the central controller 15 is signal connected to each electrical component. Drive tracks 16 are connected to both sides of the outer frame 1. It should be noted that the central controller 15 and the detection radar 13 can adopt the control module and lidar component involved in the tracked mountain orchard row-to-row hybrid weeding robot disclosed in CN114158543A. The drive tracks 16 can adopt the drive high-mounted tracked walking wheel system disclosed in CN104176138B. By also fixing the battery 14 and the central controller 15 to the base plate 11, the base plate 11 becomes a core platform integrating energy control and sensing signal reception. The drive tracks 16 connected to both sides of the outer frame 1 provide the whole machine with good terrain passability and stability, making it particularly suitable for operation in rugged forest environments.

[0045] like Figures 1 to 5As shown, both ends of the two sides of the cleaning chassis 2 are rotatably connected to diagonal bracing rods 21. The other ends of the diagonal bracing rods 21 are rotatably connected to the inner frame of the outer frame 1. The movable end of the electric telescopic rod 22 is rotatably connected to the middle part of the rear end of the cleaning chassis 2 in the forward direction, and the fixed end of the electric telescopic rod 22 is rotatably connected to the inner frame of the outer frame 1. The cleaning chassis 2 is horizontally lifted backward and upward by the retraction of the electric telescopic rod 22. When the electric telescopic rod 22 retracts, it can drive the cleaning chassis 2 to be horizontally lifted backward and upward in a translational manner. This ensures that during the obstacle avoidance lifting process, the cleaning components 3 and the grounding components 4 installed on the cleaning chassis 2 can maintain their original working inclination angle. This avoids the blades scraping or biting into the soil at an abnormal angle during the lifting process, causing unnecessary resistance wear or even structural damage, and ensuring the smoothness and precision of the lifting action.

[0046] Furthermore, the cleaning chassis 2 has a through hole 24 for a rotating rod and a through hole 25 for a belt. An outer cover 23 is fixedly connected to the top of the cleaning chassis 2. The through hole 24 provides a necessary passage for the cleaning rotating rod 32 to rotate smoothly through the cleaning chassis 2. The through hole 25 provides a path for the transmission belt to pass through, so that power can be transmitted from the motor above the cleaning chassis 2 to the cleaning rotating rod 41 below the chassis. This achieves efficient power transmission and rational use of space. The outer cover 23 provides protection, covering all transmission components and preventing problems such as transmission failure, increased wear, or even motor burnout caused by debris entanglement or blockage.

[0047] like Figure 2 , Figure 3 , Figure 4 , Figure 6 , Figure 7 and Figure 8As shown, the cleaning drive rod 31 of the cleaning assembly 3 is rotatably connected inside the outer cover 23. The cleaning rotating rod 32 of the cleaning assembly 3 moves through the rotating rod through hole 24, and a rotating bearing 36 is sleeved on the rod body of the cleaning rotating rod 32 located inside the rotating rod through hole 24. A driven bevel gear 37 is coaxially fixedly connected to the upper end of the cleaning rotating rod 32. Multiple driving bevel gears 38 are coaxially fixedly connected to the rod body of the cleaning drive rod 31. The driving bevel gears 38 and the driven bevel gears 37 are meshed one-to-one. Several layered cleaning blade seats 33 are fixedly sleeved on the rod body of the cleaning rotating rod 32 located below the cleaning chassis 2. Each cleaning blade holder 33 is fixedly connected to a cleaning blade 34 that is evenly distributed along the circumference. The horizontal rotational motion of the cleaning drive rod 31 is converted into the vertical rotational motion of the cleaning rod 32 by a bevel gear transmission, realizing the transmission of power to multiple vertically arranged working shafts. The layered arrangement of the cleaning blade holders 33 allows multiple sets of cleaning blades 34 to be reasonably distributed in the vertical direction, which can effectively clean vegetation at different heights and enhance the tearing and breaking effect on messy vegetation. The evenly distributed cleaning blades 34 ensure the balance of cutting force and improve the stability of operation.

[0048] Furthermore, the cleaning assembly 3 also includes a cleaning motor 35 housed inside the outer casing 23. The body of the cleaning motor 35 is fixedly connected to the cleaning chassis 2. The motor shaft of the cleaning motor 35 is coaxially fixedly connected to two cleaning drive wheels 39. Each cleaning drive rod 31 has a cleaning driven wheel 310 coaxially fixedly connected to its shaft. A cleaning transmission belt 311 connects the cleaning drive wheel 39 and the corresponding cleaning driven wheel 310. The cleaning motor 35 simultaneously drives the two cleaning drive rods 31 to rotate synchronously, thereby driving the two sets of cleaning rods 32 to operate synchronously. This ensures that the two sets of cleaning rods 32 and their cleaning blades 34 can work in a coordinated manner, avoiding uneven work results or mutual interference caused by asynchrony.

[0049] like Figure 2 , Figure 3 , Figure 4 , Figure 9 , Figure 10 and Figure 11As shown, the two tillage rotating rods 41 of the tillage component 4 are arranged in parallel below the tillage chassis 2. Connecting support rods 42 are rotatably connected to both ends of the tillage rotating rods 41, and the upper ends of the connecting support rods 42 are fixedly connected to the two sides of the tillage chassis 2. Several equally spaced tillage blade seats 43 are fixedly fitted onto the body of each tillage rotating rod 41. Each tillage blade seat 43 is fixedly connected to tillage blades 44 evenly distributed along its circumference. The cantilevered connection of the connecting support rods 42 allows the tillage rotating rods 41 and tillage blades 44 to be fully exposed to the soil for interference-free tillage operations. The evenly distributed tillage blade seats 43 and the uniformly distributed tillage blades 44 ensure the uniformity and continuity of the tillage rotating rod 41's action on the soil during rotation. The tillage blades 44 connected to the two tillage rotating rods 41 are staggered, allowing for cross-cutting and turning of the soil during rotation, resulting in finer soil fragmentation and more uniform mixing, greatly improving the quality and smoothness of the tillage. Furthermore, during use, the tillage machine can overlap previous travel paths, enabling multiple cleaning and tillage operations on the same area, ensuring uniform cleaning and tillage of the forest land.

[0050] Furthermore, the leveling assembly 4 also includes a leveling motor 45 housed inside the outer casing 23. The body of the leveling motor 45 is fixedly connected to the leveling chassis 2. The motor shaft of the leveling motor 45 is coaxially fixedly connected to a leveling drive wheel 46. Both leveling rods 41 are coaxially fixedly connected to leveling driven wheels 47. A leveling drive belt 48 is connected between the leveling drive wheel 46 and the two leveling driven wheels 47. The belt of the leveling drive belt 48 passes through the belt through hole 25. The two leveling rods 41 are synchronously driven by one leveling motor 45 to ensure the synchronous and coordinated operation of the two leveling rods 41 and the leveling blades 44 arranged on them.

[0051] Working principle: The whole machine moves through the forest under the drive of the drive track wheel 16. Multiple detection radars 13 located on the front of the top of the outer frame 1 continuously scan the terrain environment in front and to the sides, build a clear operation path map and transmit the environmental information to the central controller 15 in real time.

[0052] When the detection radar 13 detects obstacles such as rocks or tree roots ahead, the central controller 15 immediately issues a command to control the lifting suspension assembly. The electric telescopic rod 22 begins to retract, and through the approximately parallelogram mechanism formed by the parallel bracing rods 21 on both sides of the cleaning chassis 2, the entire cleaning chassis 2, together with the cleaning assembly 3 and the leveling assembly 4 on it, is driven to be smoothly lifted horizontally backward and upward. This ensures that the working angle of the cleaning assembly 3 and the leveling assembly 4 remains unchanged, and only the vertical obstacle avoidance lifting is achieved, thereby effectively avoiding direct collision between the cleaning blade 34 and the leveling blade 44 and the obstacle.

[0053] After the obstacle is passed, the electric telescopic rod 22 extends smoothly to restore the working parts to the original set working depth. During normal operation, the cleaning component 3 first processes the ground surface. The layered cleaning blade seat 33 and the cleaning blades 34 evenly distributed along the circumference rotate at high speed to cross-cut and break up the shrubs, weeds and gravel on the ground to complete the initial cleaning. Then the land preparation component 4 performs fine land preparation on the cleaned area.

[0054] The soil leveling motor 45 synchronously drives two parallel soil leveling rods 41 to rotate. The soil leveling blade seats 43, which are evenly distributed on the rods, and the soil leveling blades 44, which are evenly distributed around the circumference and arranged in a staggered manner, cut and turn the soil in an alternating manner, thereby achieving soil fragmentation and leveling.

[0055] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0056] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A forest land clearing and leveling machine with automatic obstacle avoidance function, comprising an outer frame (1) and a clearing chassis (2), characterized in that: The cleaning chassis (2) is movably connected inside the outer frame (1). A lifting suspension assembly is connected between the cleaning chassis (2) and the outer frame (1). A cleaning assembly (3) and a grounding assembly (4) are provided on the cleaning chassis (2). The cleaning assembly (3) is located in front of the grounding assembly (4) along the forward direction. Multiple detection radars (13) are connected to the top of the outer frame (1) in the forward direction. The lifting suspension assembly includes a diagonal brace (21) and an electric telescopic rod (22). The diagonal brace (21) is arranged in parallel on both sides of the cleaning chassis (2). The electric telescopic rod (22) is movably connected to the rear end of the cleaning chassis (2) in the forward direction. The cleaning component (3) includes two sets of synchronously driven cleaning rods (32), and the two sets of cleaning rods (32) are staggered. The rod body of the cleaning rod (32) moves through the cleaning chassis (2), and each cleaning rod (32) has multiple sets of cleaning blades (34) connected to its rod body located below the cleaning chassis (2). The land preparation component (4) includes two synchronously driven land preparation rotating rods (41). Each land preparation rotating rod (41) is connected to multiple sets of land preparation blades (44). The land preparation blades (44) connected to the two land preparation rotating rods (41) are arranged in a staggered manner.

2. The forest land clearing and leveling machine with automatic obstacle avoidance function according to claim 1, characterized in that: The upper part of the outer frame (1) is fixedly connected to a base plate (11), and radar brackets (12) are evenly distributed in a parallel pattern on the base plate (11). The detection radars (13) are connected one-to-one to the radar brackets (12).

3. The forest land clearing and leveling machine with automatic obstacle avoidance function according to claim 2, characterized in that: A battery (14) and a central controller (15) are also fixedly connected to the base plate (11). The battery (14) is electrically connected to each electrical component, and the central controller (15) is signal connected to each electrical component. Drive track wheels (16) are connected to both sides of the frame of the outer frame (1).

4. The forest land clearing and leveling machine with automatic obstacle avoidance function according to claim 1, characterized in that: Both ends of the cleaning chassis (2) are rotatably connected to diagonal bracing rods (21). The other end of the diagonal bracing rods (21) is rotatably connected to the inner frame of the outer frame (1). The movable end of the electric telescopic rod (22) is rotatably connected to the middle part of the rear end of the cleaning chassis (2) in the forward direction, and the fixed end of the electric telescopic rod (22) is rotatably connected to the inner frame of the outer frame (1). The cleaning chassis (2) is horizontally lifted backward and upward by the retraction of the electric telescopic rod (22).

5. The forest land clearing and leveling machine with automatic obstacle avoidance function according to claim 4, characterized in that: The cleaning chassis (2) has a through hole (24) for a rotating rod and a through hole (25) for a belt, and an outer cover (23) is fixedly connected to the top of the cleaning chassis (2).

6. The forest land clearing and leveling machine with automatic obstacle avoidance function according to claim 5, characterized in that: The cleaning drive rod (31) of the cleaning assembly (3) is rotatably connected inside the outer cover (23). The cleaning rotating rod (32) of the cleaning assembly (3) is movably connected through the rotating rod through hole (24). The cleaning rotating rod (32) is fitted with a rotating bearing (36) on its rod body inside the rotating rod through hole (24). The upper end of the cleaning rotating rod (32) is coaxially fixedly connected with a driven bevel gear (37). The rod body of the cleaning drive rod (31) is coaxially fixedly connected with multiple driving bevel gears (38). The driving bevel gears (38) and the driven bevel gears (37) are meshed one-to-one. The cleaning rotating rod (32) is fixedly fitted with several layered cleaning blade seats (33) on its rod body below the cleaning chassis (2). Each cleaning blade seat (33) is fixedly connected with cleaning blades (34) evenly distributed along the circumference.

7. The forest land clearing and leveling machine with automatic obstacle avoidance function according to claim 6, characterized in that: The cleaning assembly (3) also includes a cleaning motor (35) disposed inside the outer cover (23). The body of the cleaning motor (35) is fixedly connected to the cleaning chassis (2). The motor shaft of the cleaning motor (35) is coaxially fixedly connected to two cleaning drive wheels (39). Each cleaning drive rod (31) is coaxially fixedly connected to a cleaning driven wheel (310). A cleaning transmission belt (311) is connected between the cleaning drive wheel (39) and the corresponding cleaning driven wheel (310).

8. The forest land clearing and leveling machine with automatic obstacle avoidance function according to claim 5, characterized in that: The two grounding rotating rods (41) of the grounding component (4) are arranged in parallel below the grounding chassis (2). The two ends of the grounding rotating rods (41) are rotatably connected to the connecting support rods (42), and the upper end of the connecting support rods (42) is fixedly connected to the two sides of the grounding chassis (2). Several equally spaced grounding blade seats (43) are fixedly sleeved on the body of each grounding rotating rod (41), and each grounding blade seat (43) is fixedly connected to a grounding blade (44) evenly distributed along the circumference.

9. The forest land clearing and leveling machine with automatic obstacle avoidance function according to claim 1, characterized in that: The grounding assembly (4) also includes a grounding motor (45) installed inside the outer casing (23). The body of the grounding motor (45) is fixedly connected to the grounding chassis (2). The motor shaft of the grounding motor (45) is coaxially fixedly connected to a grounding drive wheel (46). Both grounding rods (41) are coaxially fixedly connected to grounding driven wheels (47). A grounding drive belt (48) is connected between the grounding drive wheel (46) and the two grounding driven wheels (47). The grounding drive belt (48) moves through the belt perforation (25).

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