Leveling crawler chassis of corn harvester in hilly and mountainous regions

Abstract

The utility model provides a leveling crawler chassis of a corn harvester in hills and mountains. The leveling crawler chassis comprises a frame, a walking crawler frame, a walking crawler, a left leveling hydraulic cylinder, a right leveling hydraulic cylinder and a rocker arm mechanism, the walking crawler belt is mounted on the walking crawler belt frame; the frame is a rectangular frame and is fixedly connected to the bottom of the corn harvester; two hydraulic cylinder upper supports are arranged on the inner end surfaces of two middle longitudinal beams of the frame; piston rod ends of the left leveling hydraulic cylinder and the right leveling hydraulic cylinder are hinged to two hydraulic cylinder upper supports of the frame, and cylinder body ends of the left leveling hydraulic cylinder and the right leveling hydraulic cylinder are hinged to two hydraulic cylinder lower supports fixedly connected to the upper end faces of two longitudinal beams of the walking crawler frame; and the two groups of rocker arm mechanisms are fixedly connected between the frame and the walking track frame at a certain interval along the longitudinal axis of the leveling track chassis.

Description

Technical Field

[0001] The utility model belongs to the technical field of agricultural machinery, and more specifically relates to a leveling crawler chassis of a corn harvester for hilly and mountainous areas. Background Art

[0002] Corn is one of the important grains in my country. China has a large corn planting area, which is stable at more than 600 million mu all year round, and corn production has also shown an upward trend year by year. In terms of planting area type, China's hilly and mountainous areas are widely distributed. Complex landforms such as plateaus, hills and mountains account for nearly 70% of my country's land area, with various types and forms. Although corn planting in hilly and mountainous areas is restricted by terrain conditions, it is still one of the important crops in many regions.

[0003] Traditional crawler corn harvester chassis generally use rigid brackets. When the harvester is operating on a slope, the harvester body cannot be level. When operating on soft ground such as paddy fields, it is also easy to cause the harvester body to sink, causing the body to tilt, ultimately affecting the normal operation of the harvester, reducing operating efficiency, and even causing rollover accidents due to center of gravity shift, endangering the life of the driver.

[0004] The Chinese utility model patent application publication number CN207427754U discloses a crawler chassis of a self-propelled garlic combine harvester, including a chassis bracket with two crawler wheels installed and two suspension rods arranged left and right fixed to the front end of the chassis bracket, and the crawler of the crawler wheel is a rubber belt. This crawler chassis can adapt to the requirements of various terrains, has strong climbing ability, small turning radius, and good steering performance, but it is difficult to achieve the stability of the vehicle body when the road surface is relatively complex. Summary of the invention

[0005] In view of the problems that the existing corn harvester chassis cannot operate normally on small plots in hilly and mountainous areas and the operation quality is poor, the purpose of the utility model is to provide a leveling crawler chassis for a hilly and mountainous corn harvester, which adopts a leveling hydraulic cylinder to ensure that the harvester body is level, thereby meeting the use requirements.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] A leveling crawler chassis of a hilly and mountainous corn harvester is arranged under the harvester and is used to maintain the horizontal posture of the harvester. The leveling crawler chassis includes a frame 1, a walking crawler frame 9, a walking crawler, a left leveling hydraulic cylinder 15, a right leveling hydraulic cylinder 14 and a rocker mechanism.

[0008] The walking crawler is installed on the walking crawler frame 9.

[0009] The frame 1 is a rectangular frame, which is fixed to the bottom of the corn harvester; two hydraulic cylinder upper supports 21 are provided on the inner end surfaces of the two middle longitudinal beams 20 of the frame 1.

[0010] The piston rod ends of the left leveling hydraulic cylinder 15 and the right leveling hydraulic cylinder 14 are hinged to the two hydraulic cylinder upper supports 21 of the frame 1, and the cylinder ends are hinged to the two hydraulic cylinder lower supports 22 fixed to the upper end surfaces of the two longitudinal beams of the walking crawler frame 9.

[0011] Two sets of rocker arm mechanisms are fixedly connected between the frame 1 and the walking track frame 9 at a certain distance along the longitudinal axis of the leveling crawler chassis; the rocker arm mechanism includes an upper rocker arm 16, a lower rocker arm 17, a rocker arm shaft 18 and a sliding bearing 13.

[0012] The upper end of the upper rocker arm 16 is fixedly connected to the lower end surface of the frame 1 through two fixed triangle plates 19, and a pair of sliding bearings 13 are fixedly connected to the upper end surface of the walking track frame 9; the front and rear ends of the rocker arm shaft 18 arranged along the longitudinal axis of the leveling crawler chassis are installed on the two sliding bearings 13; the lower end of the upper rocker arm 16 is fixedly connected to the upper end of the lower rocker arm 17, and the lower end of the lower rocker arm 17 is fixedly connected to the middle part of the rocker arm shaft 18.

[0013] The walking crawler comprises a driving wheel 2 , a supporting wheel 3 , a support wheel 4 , a tensioning wheel 7 , a crawler 8 , a driving motor 11 and a reducer 10 .

[0014] A pair of driving wheel mounting seats 26 are provided on the left and right sides of the front end of the walking crawler frame 9, a pair of track roller mounting seats 25 are provided on the left and right sides of the middle of the top, a pair of tensioning device mounting seats 24 are provided on the left and right sides of the rear end, and multiple supporting wheel shafts 12 are provided on the left and right sides of the bottom end at equal intervals along the axial direction; a driving device mounting seat 23 is provided on the inner side of each of the two driving wheel mounting seats 26.

[0015] The driving wheel 2 is installed on the driving wheel mounting seat 26, the supporting wheel 3 is installed on the supporting wheel shaft 12, the track roller 4 is installed on the track roller mounting seat 25, the tensioning wheel 7 is installed on the tensioning device mounting seat 24 through the tensioning rod 6 and the tensioning bolt 5, and the crawler 8 is mounted on the driving wheel 2, the supporting wheel 3, the track roller 4 and the tensioning wheel 7.

[0016] The two sets of driving motors 11 and reducers 10 are fixedly connected to the driving device mounting seat 23 in a bilaterally symmetrical manner. The power output shaft of the driving motor 11 and the rotating shaft of the driving wheel 2 are connected to the input end and the output end of the reducer 10 respectively.

[0017] A plurality of reinforcing ribs are welded on the walking crawler frame 9 .

[0018] The left leveling hydraulic cylinder 15 and the right leveling hydraulic cylinder 14 are located on the transverse axis of the machine.

[0019] The leveling crawler chassis further includes a hydraulic system connected to the left leveling hydraulic cylinder 15 and the right leveling hydraulic cylinder 14; the hydraulic system includes a first one-way throttle valve 27, a first hydraulically controlled one-way valve 28, a first solenoid reversing valve 29, a second one-way throttle valve 30, a second hydraulically controlled one-way valve 31, a second solenoid reversing valve 32, a relief valve 33, a filter 34, a hydraulic oil pump 35 and a hydraulic oil tank 36.

[0020] The oil inlet of the hydraulic oil pump 35 is connected to the hydraulic oil tank 36 through the filter 34; the oil outlet of the hydraulic oil pump 35 is respectively connected to the oil inlets of the relief valve 33, the first electromagnetic reversing valve 29 and the second electromagnetic reversing valve 32; the oil return port of the relief valve 33 is connected to the hydraulic oil tank 36; the first oil outlet of the first electromagnetic reversing valve 29 is connected to the rodless chamber of the left leveling hydraulic cylinder 15 through the first hydraulically controlled one-way valve 28 and the first one-way throttle valve 27 in turn, and the first electromagnetic reversing valve 29 is connected to the rodless chamber of the left leveling hydraulic cylinder 15 through the first hydraulically controlled one-way valve 28 and the first one-way throttle valve 27. The second oil outlet of the valve 29 is connected to the rod chamber of the left leveling hydraulic cylinder 15, and the oil return port of the first solenoid reversing valve 29 is connected to the hydraulic oil tank 36; the first oil outlet of the second solenoid reversing valve 32 is connected to the rodless chamber of the right leveling hydraulic cylinder 14 via the second hydraulically controlled one-way valve 31 and the second one-way throttle valve 30 in sequence, the second oil outlet of the second solenoid reversing valve 32 is connected to the rod chamber of the right leveling hydraulic cylinder 14, and the oil return port of the second solenoid reversing valve 32 is connected to the hydraulic oil tank 36.

[0021] The leveling crawler chassis further includes an angle sensor and a displacement sensor; the angle sensor is installed on the walking crawler frame 9 to detect the angle between the crawler chassis and the horizontal plane in real time; the displacement sensor is installed on the left leveling hydraulic cylinder 15 and the right leveling hydraulic cylinder 14 to detect the extension and contraction amount of each leveling hydraulic cylinder in real time.

[0022] Compared with the prior art, the beneficial effects of the utility model are:

[0023] 1. The leveling crawler chassis can automatically adjust the chassis height according to the unevenness of the terrain, ensuring the continuity and efficiency of the harvesting work and improving work efficiency; the harvester leveling chassis can automatically adjust the chassis height according to the ups and downs of different terrains, adapt to various complex field terrains, and improve the adaptability and flexibility of the machine. The harvester leveling chassis can automatically adjust the chassis height to maintain the appropriate contact state between the tool and the ground, which can improve the work quality and reduce residue and loss.

[0024] 2. The leveling crawler chassis has better stability. In hilly and mountainous areas, the crawler chassis has higher stability and can reduce the risk of vehicle rollover or sinking. The crawler chassis has greater traction. Since the crawler chassis has a larger contact area, the crawler chassis is usually more advantageous than the wheeled chassis when additional traction is required.

[0025] 3. The use of hydraulic cylinders for leveling can respond quickly. The hydraulic cylinder has the characteristics of quick response and can quickly adjust the horizontal state of the harvester to improve the stability and safety of the vehicle. The hydraulic cylinder has high adjustment accuracy and can achieve tiny adjustments to keep the harvester stable on different road surfaces and working conditions. The sliding bearing has good wear resistance, a long life, and good shock absorption performance. The use of rocker arm assemblies can effectively enhance the stability of the structure, reduce the deflection and deformation of the frame, and improve the overall rigidity and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the overall structure of the hilly and mountainous corn harvester of the utility model;

[0027] Figure 2 It is a side structural schematic diagram of the leveling crawler chassis of the utility model;

[0028] Figure 3 It is a front structural schematic diagram of the leveling crawler chassis of the utility model;

[0029] Figure 4 It is a structural schematic diagram of the leveling crawler chassis 9 of the utility model;

[0030] Figure 5 It is a structural schematic diagram of a frame 1 of the utility model;

[0031] Figure 6 It is a schematic diagram of the structure of the left leveling hydraulic cylinder 15 and the right leveling hydraulic cylinder 14 of the utility model;

[0032] Figure 7 It is a structural schematic diagram of the rocker arm mechanism of the utility model;

[0033] Figure 8 It is a structural schematic diagram of the hydraulic system of the utility model.

[0034] The accompanying drawings are denoted as follows:

[0035] 1. Frame 2. Driving wheel

[0036] 3. Support wheel 4. Support wheel

[0037] 5. Tension bolt 6. Tension rod

[0038] 7. Tensioner 8. Track

[0039] 9. Walking track frame 10. Speed ​​reducer

[0040] 11. Drive motor 12. Support axle

[0041] 13. Sliding bearing 14. Right leveling hydraulic cylinder

[0042] 15. Left leveling hydraulic cylinder 16. Upper rocker arm

[0043] 17. Lower rocker arm 18. Rocker arm shaft

[0044] 19. Fixed triangle plate 20. Middle longitudinal beam

[0045] 21. Hydraulic cylinder upper support 22. Hydraulic cylinder lower support

[0046] 23. Driving device mounting seat 24. Tensioning device mounting seat

[0047] 25. Support roller mounting seat 26. Driving wheel mounting seat

[0048] 27. First one-way throttle valve 28. First hydraulically controlled one-way valve

[0049] 29. First electromagnetic reversing valve 30. Second one-way throttle valve

[0050] 31. Second hydraulically controlled one-way valve 32. Second electromagnetic reversing valve

[0051] 33. Overflow valve 34. Filter

[0052] 35. Hydraulic oil pump 36. Hydraulic oil tank DETAILED DESCRIPTION

[0053] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0054] like Figure 1 , Figure 2 and Figure 3 As shown, the utility model is a leveling crawler chassis of a hilly and mountainous corn harvester, which is arranged under the harvester and is used to maintain the horizontal posture of the harvester; the leveling crawler chassis includes a frame 1, a walking crawler frame 9, a driving wheel 2, a supporting wheel 3, a track roller 4, a tensioning wheel 7, a crawler 8, a driving motor 11, a reducer 10, a left leveling hydraulic cylinder 15, a right leveling hydraulic cylinder 14 and a rocker mechanism.

[0055] like Figure 4 As shown, a pair of driving wheel mounting seats 26 are provided on the left and right sides of the front end of the walking crawler frame 9, a pair of support roller mounting seats 25 are provided on the left and right sides of the middle of the top, a pair of tensioning device mounting seats 24 are provided on the left and right sides of the rear end, and multiple supporting wheel shafts 12 are provided at equal intervals along the axial direction on the left and right sides of the bottom end. A driving device mounting seat 23 is provided on the inner side of each of the two driving wheel mounting seats 26.

[0056] like Figure 2As shown, the driving wheel 2 is installed on the driving wheel mounting seat 26, the supporting wheel 3 is installed on the supporting wheel shaft 12, the track roller 4 is installed on the track roller mounting seat 25, the tensioning wheel 7 is installed on the tensioning device mounting seat 24 through the tensioning rod 6 and the tensioning bolt 5, and the track 8 is sleeved on the driving wheel 2, the supporting wheel 3, the track roller 4 and the tensioning wheel 7; the tensioning adjustment is completed by adjusting the tensioning bolt 5 to change the extension and retraction of the tensioning rod 7 and the position of the tensioning wheel 8.

[0057] like Figure 3 As shown, two sets of drive motors 11 and reducers 10 are fixedly connected to the drive device mounting seat 23 in a left-right symmetrical manner, and the power output shaft of the drive motor 11 and the rotating shaft of the driving wheel 2 are respectively connected to the input end and the output end of the reducer 10. When working, the reducer 10 reduces the speed output by the drive motor 11 and increases the output torque, outputs the power to the driving wheel 2, and then the driving wheel 2 drives the crawler 8 to move. The purpose of this setting is that the drive motor has a fast response speed and a stable torque output, so that the driver can better control the harvester and improve driving safety.

[0058] Preferably, a plurality of reinforcing ribs are welded on the walking crawler frame 9 to enhance its firmness. The purpose of such arrangement is that the crawler chassis has stronger passability, and the crawler chassis can more easily pass uneven, muddy or rugged terrain because its contact area is larger and the pressure distribution is more uniform; the crawler chassis has better stability, and in hilly and mountainous areas, the crawler chassis has higher stability, which can reduce the risk of vehicle rollover or entrapment; the crawler chassis has greater traction, and because the crawler chassis has a larger contact area, the crawler chassis is usually more advantageous than the wheeled chassis when additional traction is required.

[0059] like Figure 5 As shown, the frame 1 is a rectangular frame, which is fixed to the bottom of the corn harvester; two hydraulic cylinder upper supports 21 are provided on the inner end surfaces of the two middle longitudinal beams 20 of the frame 1.

[0060] like Figure 6 As shown, the piston rod ends of the left leveling hydraulic cylinder 15 and the right leveling hydraulic cylinder 14 are hinged to the two hydraulic cylinder upper supports 21 of the frame 1, and the cylinder body ends are hinged to the two hydraulic cylinder lower supports 22 fixed to the upper end surfaces of the two longitudinal beams of the walking crawler frame 9.

[0061] Two sets of rocker arm mechanisms are fixedly connected between the frame 1 and the walking crawler frame 9 at a certain distance along the longitudinal axis of the leveling crawler chassis. Figure 7 As shown, the rocker arm mechanism includes an upper rocker arm 16, a lower rocker arm 17, a rocker arm shaft 18 and a sliding bearing 13;

[0062] The upper end of the upper rocker arm 16 is fixed to the lower end surface of the vehicle frame 1 through two fixed triangle plates 19, and a pair of sliding bearings 13 are fixed to the upper end surface of the walking crawler frame 9; the front and rear ends of the rocker arm shaft 18 arranged along the longitudinal axis of the leveling crawler chassis are installed on the two sliding bearings 13; the lower end of the upper rocker arm 16 is fixed to the upper end of the lower rocker arm 17, and the lower end of the lower rocker arm 17 is fixed to the middle of the rocker arm shaft 18. When the leveling operation is performed, the left leveling hydraulic cylinder 15 and the right leveling hydraulic cylinder 14 are contracted, and the vehicle frame 1 will rotate around the two sets of rocker arm shafts 18, thereby completing the leveling of the vehicle body. The purpose of this setting is that the use of hydraulic cylinder leveling can respond quickly. The hydraulic cylinder has the characteristics of fast response, which can quickly adjust the horizontal state of the harvester and improve the stability and safety of the vehicle; the hydraulic cylinder has high adjustment accuracy and can achieve tiny adjustments to keep the harvester stable on different road surfaces and working conditions; the sliding bearing has good wear resistance, a long life, and good shock absorption performance; the use of rocker arm assembly can effectively enhance the stability of the structure, reduce the deflection and deformation of the frame, and improve the overall rigidity and stability.

[0063] like Figure 8 As shown, further, the leveling crawler chassis further includes a hydraulic system connected to the left leveling hydraulic cylinder 15 and the right leveling hydraulic cylinder 14; the hydraulic system includes a first one-way throttle valve 27, a first hydraulically controlled one-way valve 28, a first electromagnetic reversing valve 29, a second one-way throttle valve 30, a second hydraulically controlled one-way valve 31, a second electromagnetic reversing valve 32, a relief valve 33, a filter 34, a hydraulic oil pump 35 and a hydraulic oil tank 36;

[0064] The oil inlet of the hydraulic oil pump 35 is connected to the hydraulic oil tank 36 through the filter 34; the oil outlet of the hydraulic oil pump 35 is respectively connected to the oil inlets of the relief valve 33, the first electromagnetic reversing valve 29 and the second electromagnetic reversing valve 32; the oil return port of the relief valve 33 is connected to the hydraulic oil tank 36; the first oil outlet of the first electromagnetic reversing valve 29 is connected to the rodless chamber of the left leveling hydraulic cylinder 15 through the first hydraulically controlled one-way valve 28 and the first one-way throttle valve 27 in turn, and the first electromagnetic reversing valve 29 is connected to the rodless chamber of the left leveling hydraulic cylinder 15 through the first hydraulically controlled one-way valve 28 and the first one-way throttle valve 27. The second oil outlet of the valve 29 is connected to the rod chamber of the left leveling hydraulic cylinder 15, and the oil return port of the first solenoid reversing valve 29 is connected to the hydraulic oil tank 36; the first oil outlet of the second solenoid reversing valve 32 is connected to the rodless chamber of the right leveling hydraulic cylinder 14 via the second hydraulically controlled one-way valve 31 and the second one-way throttle valve 30 in sequence, the second oil outlet of the second solenoid reversing valve 32 is connected to the rod chamber of the right leveling hydraulic cylinder 14, and the oil return port of the second solenoid reversing valve 32 is connected to the hydraulic oil tank 36.

[0065] Furthermore, the leveling crawler chassis further includes an angle sensor, a displacement sensor and a controller. The angle sensor is installed on the walking crawler frame 9, detects the angle between the crawler chassis and the horizontal plane in real time, and inputs the measured signal to the controller. The displacement sensor is installed on the left leveling hydraulic cylinder 15 and the right leveling hydraulic cylinder 14, detects the extension and contraction of each leveling hydraulic cylinder in real time, and inputs the measured signal to the controller. The controller receives the signal input by the sensor, controls the extension and contraction of each leveling hydraulic cylinder according to the signal, and then completes the leveling of the harvester body. The purpose of this setting is that the leveling crawler chassis can automatically adjust the chassis height according to the unevenness of the terrain, ensure the continuity and efficiency of the harvesting work, and improve the work efficiency; the leveling crawler chassis can automatically adjust the chassis height according to the ups and downs of different terrains, adapt to various complex field terrains, and improve the adaptability and flexibility of the machine. The harvester leveling chassis automatically adjusts the chassis height to maintain the appropriate contact state between the cutter and the ground, which can improve the work quality and reduce residue and loss.

[0066] The extension and retraction of each leveling hydraulic cylinder can be controlled according to the detection data of the angle sensor and the displacement sensor. The specific control principle can adopt the existing disclosed technology. For example, the Chinese invention patent application with application publication number CN116472854A discloses a control method based on fuzzy PID algorithm to control the on-off time of the solenoid valve, which is used to realize the automatic leveling of the chassis of the rice combine harvester. When the angle sensor detects that the chassis plane is not in a horizontal state, the electronic control unit (ECU) uses the fuzzy PID algorithm to calculate the leg lifting amount required to make the chassis plane horizontal. Then, the leg lifting amount is converted into the elongation of the hydraulic cylinder, and the elongation is converted into the power-on time of the solenoid valve. The hydraulic cylinder elongation sensor continuously provides data to correct the control time to achieve a closed-loop automatic control effect. This invention does not require a proportional valve or other flow control valve to control the flow, and the response speed is faster, which is suitable for scenes with high requirements for response speed. Of course, other control methods can also be used.

[0067] Although the present invention has been disclosed as a preferred embodiment, it is not intended to limit the present invention. Any technician familiar with the art can make many possible changes and modifications to the technical solution of the present invention by using the technical content disclosed above without departing from the scope of the technical solution of the present invention. Therefore, any modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the scope of protection of the technical solution of the present invention.

Claims

1. A leveling crawler chassis for a corn harvester for hilly areas, arranged under the harvester to maintain the harvester in a horizontal position, characterized in that: The leveling crawler chassis comprises a frame (1), a walking crawler frame (9), a walking crawler, a left leveling hydraulic cylinder (15), a right leveling hydraulic cylinder (14) and a rocker mechanism; The walking crawler is installed on the walking crawler frame (9); The frame (1) is a rectangular frame fixedly connected to the bottom of the corn harvester; the inner end surfaces of the two middle longitudinal beams (20) of the frame (1) are provided with two hydraulic cylinder upper supports (21); The piston rod ends of the left leveling hydraulic cylinder (15) and the right leveling hydraulic cylinder (14) are hinged to two hydraulic cylinder upper supports (21) of the vehicle frame (1), and the cylinder ends are hinged to two hydraulic cylinder lower supports (22) fixed to the upper end surfaces of two longitudinal beams of the walking crawler frame (9); Two sets of rocker arm mechanisms are fixedly connected between the vehicle frame (1) and the walking crawler frame (9) at a certain distance along the longitudinal axis of the leveling crawler chassis; the rocker arm mechanism comprises an upper rocker arm (16), a lower rocker arm (17), a rocker arm shaft (18) and a sliding bearing (13); The upper end of the upper rocker arm (16) is fixedly connected to the lower end surface of the frame (1) through two fixed triangle plates (19), and a pair of sliding bearings (13) are fixedly connected to the upper end surface of the walking track frame (9); the front and rear ends of the rocker arm shaft (18) arranged along the longitudinal axis of the leveling crawler chassis are installed on the two sliding bearings (13); the lower end of the upper rocker arm (16) is fixedly connected to the upper end of the lower rocker arm (17), and the lower end of the lower rocker arm (17) is fixedly connected to the middle part of the rocker arm shaft (18).

2. The leveling crawler chassis according to claim 1, characterized in that: The walking crawler comprises a driving wheel (2), a supporting wheel (3), a track-supporting wheel (4), a tensioning wheel (7), a crawler (8), a driving motor (11) and a reducer (10); The front end of the walking crawler frame (9) is provided with a pair of driving wheel mounting seats (26) on the left and right sides, the middle of the top is provided with a pair of track roller mounting seats (25) on the left and right sides, the rear end is provided with a pair of tensioning device mounting seats (24) on the left and right sides, and the bottom is provided with a plurality of supporting wheel shafts (12) at equal intervals along the axial direction on the left and right sides; a driving device mounting seat (23) is provided on the inner side of each of the two driving wheel mounting seats (26); The driving wheel (2) is mounted on a driving wheel mounting seat (26), the supporting wheel (3) is mounted on a supporting wheel shaft (12), the supporting wheel (4) is mounted on a supporting wheel mounting seat (25), the tensioning wheel (7) is mounted on a tensioning device mounting seat (24) via a tensioning rod (6) and a tensioning bolt (5), and the crawler (8) is sleeved on the driving wheel (2), the supporting wheel (3), the supporting wheel (4) and the tensioning wheel (7); Two sets of driving motors (11) and reducers (10) are fixedly connected to a driving device mounting seat (23) in a left-right symmetrical manner. The power output shaft of the driving motor (11) and the rotating shaft of the driving wheel (2) are respectively connected to the input end and the output end of the reducer (10).

3. The leveling crawler chassis according to claim 1, characterized in that: A plurality of reinforcing ribs are welded on the walking crawler frame (9).

4. The leveling crawler chassis according to claim 1, characterized in that: The left leveling hydraulic cylinder (15) and the right leveling hydraulic cylinder (14) are located on the transverse axis of the machine.

5. The leveling crawler chassis according to claim 1, characterized in that: The leveling crawler chassis further comprises a hydraulic system connected to the left leveling hydraulic cylinder (15) and the right leveling hydraulic cylinder (14); the hydraulic system comprises a first one-way throttle valve (27), a first hydraulically controlled one-way valve (28), a first electromagnetic reversing valve (29), a second one-way throttle valve (30), a second hydraulically controlled one-way valve (31), a second electromagnetic reversing valve (32), a relief valve (33), a filter (34), a hydraulic oil pump (35) and a hydraulic oil tank (36); The oil inlet of the hydraulic oil pump (35) is connected to the hydraulic oil tank (36) via a filter (34); the oil outlet of the hydraulic oil pump (35) is respectively connected to the oil inlets of the overflow valve (33), the first electromagnetic reversing valve (29) and the second electromagnetic reversing valve (32); the oil return port of the overflow valve (33) is connected to the hydraulic oil tank (36); the first oil outlet of the first electromagnetic reversing valve (29) is connected to the rodless chamber of the left leveling hydraulic cylinder (15) via a first hydraulically controlled one-way valve (28) and a first one-way throttle valve (27). The second oil outlet of the directional valve (29) is connected to the rod chamber of the left leveling hydraulic cylinder (15), and the oil return port of the first electromagnetic reversing valve (29) is connected to the hydraulic oil tank (36); the first oil outlet of the second electromagnetic reversing valve (32) is connected to the rodless chamber of the right leveling hydraulic cylinder (14) via the second hydraulically controlled one-way valve (31) and the second one-way throttle valve (30) in sequence, the second oil outlet of the second electromagnetic reversing valve (32) is connected to the rod chamber of the right leveling hydraulic cylinder (14), and the oil return port of the second electromagnetic reversing valve (32) is connected to the hydraulic oil tank (36).

6. The leveling crawler chassis according to claim 1, characterized in that: The leveling crawler chassis further comprises an angle sensor and a displacement sensor; the angle sensor is mounted on the walking crawler frame (9) to detect the angle between the crawler chassis and the horizontal plane in real time; the displacement sensor is mounted on the left leveling hydraulic cylinder (15) and the right leveling hydraulic cylinder (14) to detect the extension and contraction amount of each leveling hydraulic cylinder in real time.

Images