Crawler-type hauler and load carrying device therefor

Abstract

A crawler-type transport vehicle and a carrying device thereof, the crawler-type transport vehicle comprising a machine body and a power device, a transmission mechanism, a walking device and a carrying device mounted on the machine body, the power device being mounted in the machine body, the walking device being arranged on both sides of the machine body and connected with the power device through the transmission mechanism, the carrying device being arranged on the upper part of the machine body, the carrying device comprising a slide rail mechanism, a horizontal positioning mechanism and a carrying table, the slide rail mechanism comprising a transverse slide rail and a longitudinal slide rail, the longitudinal slide rail being mounted on the transverse slide rail and moving along the transverse slide rail, the horizontal positioning mechanism comprising a support and a universal roller, the universal roller being mounted on the longitudinal slide rail through the support and moving along the longitudinal slide rail, and the carrying table being mounted on the horizontal positioning mechanism. The present application can adjust the position of the gravity center of the whole machine in real time according to the current terrain and the carrying weight, improve the performance of driving on slopes and realize stable transportation of materials in orchards on hills and mountains.

Description

Technical Field

[0001] This invention relates to agricultural transportation equipment, and in particular to a tracked transport vehicle and its carrying device suitable for orchards in hilly and mountainous areas. Background Technology

[0002] my country is the world's largest producer and consumer of fruit. Fruit production in hilly and mountainous areas is a crucial component of my country's fruit industry. The transportation of agricultural materials and the transshipment of fruit during production require a significant labor force. With the increasing urbanization in China, the rural labor force is decreasing year by year, while production costs are increasing, leading to a significant decline in the economic benefits for fruit farmers. Therefore, developing transportation machinery suitable for hilly and mountainous orchards is of great significance for the further development of my country's fruit industry.

[0003] Due to the characteristics of mountain orchards, such as small plots, complex terrain, and narrow farm roads, traditional wheeled agricultural machinery chassis used in field operations are prone to tipping over and slipping when operating in mountain orchards, posing significant safety hazards. Tracked chassis, with their advantages of low ground pressure, high load capacity, large traction, and good terrain adaptability, are a preferred solution for power chassis in mountain orchards.

[0004] Existing tracked orchard transport vehicles mostly complete orchard transport operations by installing a fruit carrying platform on a regular tracked chassis. Although they have better terrain passability than ordinary wheeled chassis and can adapt to mountain orchard operating conditions to a certain extent, these orchard transport vehicles are not specifically designed for the actual terrain features and sloping driving environment of mountain orchards, nor do they consider the impact of the weight of the fruit carried on the chassis on the actual driving performance. There is still considerable room for improvement and optimization in terms of stability on slopes and obstacle clearance. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to address the above-mentioned deficiencies of the prior art by providing a tracked transport vehicle and its carrying device suitable for orchards in hilly and mountainous areas.

[0006] To achieve the above objectives, the present invention provides a carrying device for a tracked transport vehicle, comprising:

[0007] A slide rail mechanism includes a transverse slide rail and a longitudinal slide rail, wherein the longitudinal slide rail is mounted on the transverse slide rail and moves along the transverse slide rail;

[0008] A horizontal positioning mechanism includes a bracket and omnidirectional rollers, the omnidirectional rollers being mounted on a longitudinal slide rail via the bracket and moving along the longitudinal slide rail; and

[0009] The platform is mounted on the horizontal positioning mechanism.

[0010] The aforementioned tracked transport vehicle's carrying device further includes:

[0011] A follow-up anti-tipping mechanism is used to limit the pitch, roll, and torsion of the platform to provide anti-tipping protection for the platform. The follow-up anti-tipping mechanism includes a box-type slider, an optical shaft, pulleys, and C-shaped grooves. The C-shaped grooves are installed at the lower ends of both ends of the platform through fixing plates. The pulleys are embedded in the C-shaped grooves and roll laterally along the C-shaped grooves. The shaft head of the optical shaft is connected to the pulley. The box-type slider is installed at the four corners of both sides of the tracked transport vehicle. The optical shaft is correspondingly installed in the box-type slider and slides longitudinally along the box-type slider.

[0012] The aforementioned tracked transport vehicle's carrying device further includes:

[0013] The pressure measuring mechanism includes a universal ball bearing and a pressure sensor. The bottom of the universal ball bearing is mounted on the pressure sensor, and the top of the universal ball bearing contacts the bottom surface of the platform and supports the entire weight of the platform. The pressure sensor is mounted on the four corners of both sides of the tracked transport vehicle and is used to collect the real-time axial pressure of the platform on the universal ball bearing.

[0014] The aforementioned tracked transport vehicle's carrying device further includes:

[0015] An angle sensor is installed inside the body of the tracked transport vehicle near the centroid to monitor changes in the body's pitch and roll angles in real time.

[0016] A center of gravity controller, connected to the angle and pressure sensors, calculates the weight and real-time center of gravity position of the platform based on the angle and pressure signals, and further calculates the weight and real-time center of gravity position of the tracked transport vehicle. Based on center of gravity control strategies under different terrain conditions, it sends control commands to achieve dynamic adjustment of the overall center of gravity position of the transport vehicle.

[0017] A stepper motor driver is connected to the center of gravity controller. According to the control commands sent by the center of gravity controller, the driver controls the movement of the transverse and longitudinal slide rails to drive the horizontal positioning mechanism to drag the platform to move laterally or longitudinally, so as to realize the real-time control of the center of gravity position of the vehicle.

[0018] The aforementioned tracked transport vehicle's carrying device includes a center of gravity control strategy comprising: when located on sloping terrain, the center of gravity controller adjusts the horizontal position of the platform based on sensor data, with the ground pressure of the two tracks of the tracked transport vehicle being approximately equal; when located on terrain with vertical obstacles, the center of gravity controller adjusts the horizontal position of the platform to its foremost position along the obstacle-crossing direction; and when located on trench terrain, the center of gravity controller adjusts the horizontal position of the platform with the vertical projection of the overall center of gravity position being close to the ground centroid of the chassis.

[0019] The aforementioned tracked transport vehicle's carrying device includes a longitudinal slide rail comprising a longitudinal stepper motor, a longitudinal slide rail, a longitudinal slide table, and a ball screw. The longitudinal stepper motor is connected to the ball screw. The longitudinal slide table is mounted on the longitudinal slide rail and connected to the ball screw. The horizontal positioning mechanism is mounted on the longitudinal slide table. The longitudinal stepper motor drives the ball screw to move the longitudinal slide table along the longitudinal slide rail. The horizontal positioning mechanism slides longitudinally with the longitudinal slide table.

[0020] The aforementioned tracked transport vehicle's carrying device includes a transverse slide rail comprising a transverse drive slide rail and a transverse support slide rail arranged in parallel. The transverse drive slide rail includes a transverse stepper motor, a first transverse slide rail, a first transverse slide table, and a transverse lead screw. The transverse stepper motor is connected to the transverse lead screw. The first transverse slide table is mounted on the first transverse slide rail and connected to the transverse lead screw. The transverse stepper motor drives the transverse lead screw to achieve transverse sliding of the horizontal positioning mechanism and the longitudinal slide rail. The transverse support slide rail includes a second transverse slide rail and a second transverse slide table. The second transverse slide table is mounted on the second transverse slide rail and is used to support the counterweight and the longitudinal slide rail.

[0021] The aforementioned tracked transport vehicle's carrying device includes a horizontal positioning bracket at the bottom of the loading platform. The horizontal positioning mechanism comprises six omnidirectional rollers. Two of the omnidirectional rollers are longitudinally mounted on the bracket and contact the horizontal positioning bracket for longitudinal positioning of the loading platform. The other four omnidirectional rollers are transversely mounted on the bracket and contact the horizontal positioning bracket for lateral positioning and torsional limiting of the loading platform.

[0022] To better achieve the above objectives, the present invention also provides a tracked transport vehicle suitable for transporting goods in hilly orchards, comprising a body and a power unit, a transmission mechanism, a walking device, and a load-bearing device mounted on the body. The power unit is mounted inside the body, the walking device is located on both sides of the body and connected to the power unit through the transmission mechanism, and the load-bearing device is located on the upper part of the body, wherein the load-bearing device is the aforementioned load-bearing device.

[0023] The tracked transport vehicle described above also includes a remote control device, which is connected to the power unit and the load-bearing device.

[0024] The technical advantages of this invention are as follows:

[0025] 1) The bearing device of the present invention can adjust the center of gravity of the vehicle in real time by changing the horizontal position of the movable platform according to different terrains, load state of the platform and pitch attitude of the machine body, thereby improving the stability, passability and extreme obstacle crossing ability of the tracked transport vehicle on slopes, and thus better adapting to the actual working environment of mountain orchards.

[0026] 2) The bearing device of the present invention can measure the weight of the movable platform and calculate the center of gravity position in real time based on the data collected by the pressure measuring device and the angle sensor, thereby obtaining the weight and center of gravity position of the entire vehicle. Since the pressure measuring device supports all the weight of the movable platform through universal ball bearings, the pressure sensor is not affected by radial force. Therefore, when the movable platform is tilted, the pressure sensor can still accurately measure the axial force, thereby providing effective and reliable data support for the weight measurement and center of gravity position calculation of the movable platform.

[0027] 3) The bearing device of the present invention moves the movable platform horizontally by dragging it through transverse and longitudinal slides and a horizontal positioning mechanism. This structure is simple, mature, and has low maintenance costs. The horizontal positioning mechanism consists of a bracket and universal ball bearings, which can achieve horizontal positioning and yaw limit of the movable platform while reserving a certain roll and pitch margin for the movable platform. This ensures that the pressure sensor does not affect the pressure measurement of the movable platform when the center of gravity of the vehicle is adjusted in real time.

[0028] 4) The bearing device of the present invention has good slope adaptability. When the terrain slope is the normal working slope, the optical shaft in the follow-up anti-tipping mechanism can slide longitudinally along the box-type slider and the roller can roll laterally along the C-shaped groove. This does not affect the horizontal movement of the movable platform in the bearing device and the pressure measurement of the pressure sensing device. If the current terrain slope is too large, the follow-up anti-tipping mechanism can realize the pitch, roll and torsion limit of the movable platform through the box-type slider-optical shaft and the roller-C-shaped groove, providing good anti-tipping protection for the movable platform.

[0029] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the present invention. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the structure of a tracked transport vehicle according to an embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram of the power device structure according to an embodiment of the present invention;

[0032] Figure 3 This is a schematic diagram of the transmission mechanism structure according to an embodiment of the present invention;

[0033] Figure 4 This is a schematic diagram of the walking device structure according to an embodiment of the present invention;

[0034] Figure 5 This is a schematic diagram of the installation of a support device according to an embodiment of the present invention;

[0035] Figure 6 This is a schematic diagram of a stage structure according to an embodiment of the present invention;

[0036] Figure 7 This is a schematic diagram of a horizontal positioning mechanism according to an embodiment of the present invention;

[0037] Figure 8 This is a schematic diagram of the follow-up anti-tipping mechanism according to an embodiment of the present invention;

[0038] Figure 9 This is a schematic diagram of the installation of a follow-up anti-tipping mechanism according to an embodiment of the present invention;

[0039] Figure 10 This is a schematic diagram of a slide rail mechanism according to an embodiment of the present invention;

[0040] Figure 11A-11D This is a schematic diagram illustrating the principle of center of gravity adjustment in this invention.

[0041] Among them, the attached reference numerals

[0042] 1. Body

[0043] 2 Walking device

[0044] 21 large tensioning reels

[0045] 22 small tensioners

[0046] 23 Load-bearing wheels

[0047] 24 drive wheels

[0048] 25 track rollers

[0049] 26-spring suspension

[0050] 27 tracks

[0051] 3. Bearing device

[0052] 31 Platform

[0053] 311 Horizontal Positioning Bracket

[0054] 32 Follow-up anti-rollover mechanism

[0055] 321 optical axes

[0056] 322 box-type slider

[0057] 323C type groove

[0058] 324 Fixing Plate

[0059] 325 pulley

[0060] 33 Slide Rail Mechanism

[0061] 331 longitudinal slide rail

[0062] 332 Lateral Drive Rail

[0063] 333 Lateral Support Slide Rail

[0064] 334 longitudinal stepper motor

[0065] 335 horizontal stepper motor

[0066] 336 longitudinal slide table

[0067] 337 longitudinal slide rail

[0068] 338 ball screw

[0069] 34 Horizontal Positioning Mechanism

[0070] 341 stent

[0071] 342 swivel casters

[0072] 35 Pressure measuring mechanism

[0073] 351 pressure sensor

[0074] 352 universal ball bearings

[0075] 4 Power Unit

[0076] 41 storage battery

[0077] 42 Power Management Module

[0078] 43 Walking Controller

[0079] 44 motors

[0080] 5. Transmission Mechanism

[0081] 51 reducer

[0082] 52 bearing housing

[0083] 53 Power Take-Off Shaft

[0084] 54 Chain Drive Mechanism Detailed Implementation

[0085] The structural and working principles of the present invention will be described in detail below with reference to the accompanying drawings:

[0086] See Figure 1 , Figure 1 This is a schematic diagram of a tracked transport vehicle according to an embodiment of the present invention. The tracked transport vehicle of the present invention is suitable for transporting goods in hilly orchards. It includes a body 1 and a power unit 4, a transmission mechanism 5, a walking device 2, and a carrying device 3 mounted on the body 1. The power unit 4 is installed inside the body 1. The walking device 2 is located on both sides of the body 1 and connected to the power unit 4 through the transmission mechanism 5. The carrying device 3 is located on the upper part of the body 1. This embodiment may also include a remote control device (not shown), which may include a remote controller and a signal receiver; the remote control device is connected to the power unit 4 and the carrying device 3. The operator sends the transport vehicle's walking control signal and center of gravity control strategy signal through the remote controller. The signal receiver transmits the received remote control signals to the walking controller and the center of gravity controller respectively, thereby realizing the walking control of the transport vehicle and the overall center of gravity control of the vehicle under different terrain conditions.

[0087] See Figure 2 , Figure 2 This is a schematic diagram of the power unit 4 according to an embodiment of the present invention. The power unit 4 in this embodiment includes a battery 41, a power management module 42, a travel controller 43, a motor 44 driver, and a motor 44. The battery 41 supplies power to the entire vehicle. The power management module 42 provides charging management and overvoltage, overcurrent, overtemperature, and short-circuit protection for the battery 41. The travel controller 43 sends travel control commands to the motor driver based on the received remote control signal and a communication protocol. The motor driver responds to the commands from the travel controller 43, controlling the start, stop, and speed of the motor 44, and providing overload, short-circuit, and undervoltage protection for the motor 44. The motor 44 provides driving power for the vehicle's movement. The power unit 4 is located inside the body 1. Preferably, there are two motors 44, which provide driving power to the transmission mechanisms 5 and the travel device 2 on both sides of the body 1, respectively.

[0088] See Figure 3 , Figure 3 This is a schematic diagram of the transmission mechanism 5 according to an embodiment of the present invention. The transmission mechanism 5 in this embodiment includes a reducer 51, a power output shaft 53, and a chain drive mechanism 54. The reducer 51 is installed inside the machine body 1. The motor 44 is connected to the input end of the reducer 51. The power output shaft 53 is connected to the output end of the reducer 51 and is mounted on the side wall of the machine body 1 via a bearing seat 52. The chain drive mechanism 54 is located outside the machine body 1. The power output shaft 53 is connected to the chain drive mechanism 54, which is connected to the drive wheel 24 of the walking device 2. The rotation of the power output shaft 53 drives the corresponding walking device 2 to perform walking actions.

[0089] See Figure 4 , Figure 4 This is a schematic diagram of the walking device 2 according to an embodiment of the present invention. The walking device 2 of this embodiment includes a drive wheel 24, a load-bearing wheel 23, a track support wheel 25, a large tension wheel 21, a small tension wheel 22, a spring suspension 26, and a track 27. The spring suspension 26 is mounted on both sides of the body 1 via a fixed shaft. The drive wheel 24, the load-bearing wheel 23, the track support wheel 25, the large tension wheel 21, and the small tension wheel 22 are mounted on the spring suspension 26. The drive wheel 24 is located near the rear of the body 1 and is connected to the power output shaft 53 via a chain drive mechanism 54, providing driving force for the movement of the walking device 2. The load-bearing wheel 23 is located near the bottom of the body 1 and bears most of the weight of the tracked transport vehicle. The large tension wheel 21 and the small tension wheel 22 are located near the front of the body 1 and provide tension for the track 27. The track support wheel 25 is located near the top of the body 1 and supports the track 27.

[0090] See Figure 5 , Figure 5 This is a schematic diagram of the installation of the support device 3 according to an embodiment of the present invention. The support device 3 of this embodiment includes: a slide rail mechanism 33, including a transverse slide rail and a longitudinal slide rail 331, wherein the longitudinal slide rail 331 is mounted on the transverse slide rail and moves along the transverse slide rail; a horizontal positioning mechanism 34, including a bracket 341 and universal rollers 342, wherein the universal rollers 342 are mounted on the longitudinal slide rail 331 through the bracket 341 and move along the longitudinal slide rail 331; and a platform 31, mounted on the horizontal positioning mechanism 34.

[0091] The supporting device 3 in this embodiment may further include: preferably four pressure measuring mechanisms 35, each pressure measuring mechanism 35 including a universal ball bearing 352 and a pressure sensor 351. The bottom of the universal ball bearing 352 is threaded onto the pressure sensor 351 for bottom fixation. The top of the universal ball bearing 352 contacts the bottom surface of the platform 31 for supporting the entire weight of the platform 31. The pressure sensor 351 is mounted on the four corners of the body 1 of the tracked transport vehicle through brackets for collecting the real-time axial pressure of the platform 31 on the pressure measuring device.

[0092] The carrying device 3 in this embodiment may further include: an angle sensor (not shown), installed inside the body 1 of the tracked transport vehicle near the centroid, for real-time monitoring of the pitch and roll angle changes of the body 1; and a center of gravity controller, located inside the body 1 and connected to the angle sensor and pressure sensor 351, for real-time receiving data collected by the pressure sensor 351 and the angle sensor, as well as center of gravity control strategy signals sent by the operator, calculating the weight and real-time center of gravity position of the platform 31 based on the angle and pressure signals, and further calculating the center of gravity of the tracked transport vehicle. The weight and real-time center of gravity position are controlled by a center of gravity control strategy based on different terrain conditions. Control commands are sent to the stepper motor driver to achieve dynamic adjustment of the center of gravity position of the entire transport vehicle. The stepper motor driver, located inside the body 1, preferably has two units, and is connected to the center of gravity controller. It responds to the control commands sent by the center of gravity controller and controls the horizontal stepper motor 335 and the vertical stepper motor 334 to perform rotational actions, thereby driving the horizontal positioning mechanism 34 to drag the platform 31 to move laterally or longitudinally, so as to achieve real-time adjustment of the center of gravity position of the entire vehicle.

[0093] The center of gravity control strategy may include: when located on sloping terrain, the center of gravity controller adjusts the horizontal position of the platform 31 based on sensor data, with the ground pressure of the two tracks 27 of the tracked transport vehicle being approximately the same; when located on terrain with vertical obstacles, the center of gravity controller adjusts the horizontal position of the platform 31 to the foremost position along the obstacle crossing direction; when located on trench terrain, the center of gravity controller adjusts the horizontal position of the platform 31 with the vertical projection of the overall center of gravity position being close to the ground centroid of the chassis as the control strategy.

[0094] When the bearing device 3 starts adjusting the center of gravity position of the whole machine, if the current terrain slope is a normal operating slope, the optical shaft 321 in the follow-up anti-tipping mechanism 32 can slide longitudinally along the box-type slider 322, and the roller can roll laterally along the C-shaped groove 323, without affecting the horizontal movement of the movable platform 31 in the bearing device 3 and the pressure measurement of the pressure sensor; if the current terrain slope is too large, the follow-up anti-tipping mechanism 32 can realize the pitch, roll and torsion limit of the movable platform 31 through the box-type slider 322-optical shaft 321 and the pulley 325-C-shaped groove 323, providing good anti-tipping protection for the movable platform 31.

[0095] See Figure 6 and Figure 7 , Figure 6 This is a schematic diagram of the stage 31 according to an embodiment of the present invention. Figure 7This is a schematic diagram of the horizontal positioning mechanism 34 according to an embodiment of the present invention. The platform 31 is located on the upper part of the machine body 1, and there is one platform, which serves to support materials. A horizontal positioning bracket 311 is provided at the bottom of the platform 31 for horizontal positioning. The horizontal positioning mechanism 34 includes six universal rollers 342. Two of the universal rollers 342 are longitudinally mounted on the bracket 341 and contact the horizontal positioning bracket 311 for longitudinal positioning of the platform 31. Four of the universal rollers 342 are transversely mounted on the bracket 341 and contact the horizontal positioning bracket 311 for transverse positioning and torsional limiting of the platform 31.

[0096] See Figure 8 , Figure 9 , Figure 8 This is a schematic diagram of the follow-up anti-tipping mechanism 32 according to an embodiment of the present invention. Figure 9 This is a schematic diagram of the installation of the follow-up anti-tipping mechanism 32 according to an embodiment of the present invention. The carrying device 3 in this embodiment further includes: a follow-up anti-tipping mechanism 32, located on the upper part of the body 1, preferably one set, used for pitch, roll and torsion limit of the platform 31 to provide anti-tipping protection for the platform 31. The follow-up anti-tipping mechanism 32 includes a box-type slider 322, an optical shaft 321, pulleys 325 and C-shaped grooves 323. The C-shaped grooves 323 are installed at the lower part of both ends of the platform 31 by fixing plates 324, and there are two of them. The pulleys 325 are embedded in the C-shaped grooves 323 and roll laterally along the C-shaped grooves 323. There are four pulleys 325, which are installed on the shaft head of the optical shaft 321. There are preferably four box-type sliders 322, which are respectively installed at the four corners of both sides of the body 1 of the tracked transport vehicle. There are four optical shafts 321, which are correspondingly installed in the box-type sliders 322 and slide longitudinally along the box-type sliders 322.

[0097] See Figure 10 , Figure 10This is a schematic diagram of the slide rail mechanism 33 according to an embodiment of the present invention. The longitudinal slide rail 331 is mounted on the slide table of the transverse slide rail via a connecting plate, and includes a longitudinal stepper motor 334, a longitudinal slide rail 337, a longitudinal slide table 336, and a ball screw 338. The longitudinal stepper motor 334 is connected to the ball screw 338. The longitudinal slide table 336 is mounted on the longitudinal slide rail 337 and connected to the ball screw 338. The horizontal positioning mechanism 34 is mounted on the longitudinal slide table 336. The longitudinal stepper motor 334 drives the ball screw 338 to move the longitudinal slide table 336 along the longitudinal slide rail 337. The horizontal positioning mechanism 34 slides longitudinally with the longitudinal slide table 336, thereby dragging the movable platform 31 to move longitudinally. The transverse slide rail includes a parallel transverse drive slide rail 332 and a transverse support slide rail 333, which are installed in the internal bracket 341 of the machine body 1. The transverse drive slide rail 332 includes a transverse stepper motor 335, a first transverse slide rail, a first transverse slide table, and a transverse lead screw. The transverse stepper motor 335 is connected to the transverse lead screw. The first transverse slide table is installed on the first transverse slide rail and connected to the transverse lead screw. The transverse stepper motor 335 drives the transverse lead screw to realize the transverse sliding of the horizontal positioning mechanism 34 and the longitudinal slide rail 331. The horizontal positioning mechanism 34 then drags the movable platform 31 to move laterally. The transverse support slide rail 333 includes a second transverse slide rail and a second transverse slide table. The second transverse slide table is installed on the second transverse slide rail and is used to support the counterweight and the longitudinal slide rail 331 to prevent the single transverse slide rail from being overloaded and to improve the overall service life of the mechanism.

[0098] Before the tracked transport vehicle begins operation, the operator can place a fruit basket filled with fruit into the movable platform 31 and secure it with ropes. When the tracked transport vehicle is performing its movement task, the operator sends a movement control signal to the transport vehicle via a remote control. The movement controller 43, based on the movement control signal received by the signal receiver, sends motor control commands to the driver via a communication protocol, thereby controlling the start, stop, and rotation of the left and right motors 44 of the tracked transport vehicle. The left and right motors 44 provide rotational driving force to the drive wheels 24 of the left and right walking devices 2 through the reducer 51, power output shaft 53, and chain drive mechanism 54, thus enabling the walking device 2 to perform the movement of the transport vehicle.

[0099] During operation, the angle sensor in the bearing device 3 detects the pitch and roll of the tracked transport vehicle in real time and transmits the angle signal to the center of gravity controller. The four pressure sensors 351 of the pressure measuring mechanism 35 detect the axial pressure of the movable platform 31 in real time and transmit the pressure signal to the center of gravity controller. Based on the principles of force balance and torque balance in theoretical mechanics, the center of gravity controller can calculate the weight and real-time center of gravity position of the movable platform 31 according to the angle and pressure signals. Since the weight and dimensions of the transport vehicle body, the weight of the slide rail mechanism 33 and the horizontal positioning mechanism 34 in the bearing device 3 are known, and the position of the movable platform 31 is known, the weight and real-time center of gravity position of the entire transport vehicle (including the load of the platform 31) can be calculated based on the above data.

[0100] The operator sends a terrain mode signal to the transport vehicle via a remote control. The center of gravity controller calculates the center of gravity based on the terrain mode signal received by the signal receiver, the overall weight of the machine, and the real-time center of gravity position. Based on the center of gravity control strategy under different terrain conditions, the controller controls the longitudinal stepper motor 334 and the transverse stepper motor 335 to start, stop, and rotate via the stepper motor driver. Then, the horizontal positioning mechanism 34 drags the movable platform 31 to move horizontally, thereby achieving dynamic adjustment of the center of gravity position of the transport vehicle to adapt to complex terrain environments.

[0101] When the terrain mode is a slope, based on the calculated weight of the entire machine and the real-time center of gravity position, and based on the principles of force and torque balance in theoretical mechanics, the control strategy is to ensure that the ground pressure of both tracks 27 is approximately the same. The center of gravity controller controls the movable platform 31 to adjust the center of gravity of the entire machine along the uphill direction through the transverse and longitudinal motor drivers. Figure 11A As shown in Figure 11B, after the center of gravity of the machine is adjusted by the bearing device 3, the ground pressure of the tracks 27 on both sides is close to the same, which can effectively avoid the phenomenon of slippage of the track 27 on one side or the slippage of the track 27 in a part, improve the maximum traction of the track 27, and thus improve the passability of the tracked transport vehicle in complex terrain. At the same time, after the center of gravity of the machine is adjusted by the bearing device 3, the extreme climbing ability and anti-rollover ability of the machine are effectively improved because the center of gravity of the machine moves along the uphill direction.

[0102] When the terrain mode is vertical obstacle, the center of gravity controller controls the movable platform 31 to move to the foremost position along the obstacle-crossing direction via the horizontal and vertical motor drivers, such as... Figure 11C As shown, after the center of gravity of the whole machine is adjusted by the bearing device 3, the center of gravity of the whole machine is more likely to overcome vertical obstacles, thus effectively improving the extreme obstacle-crossing ability of the whole machine compared with the original.

[0103] When the terrain mode is trench, based on the overall weight and real-time center of gravity position calculation results, and based on the overall spatial geometric model, the control strategy is to make the vertical projection of the overall center of gravity position close to the ground centroid of the chassis. The center of gravity controller controls the movable platform 31 to adjust the overall center of gravity position along the uphill direction through the horizontal and vertical motor drivers. Figure 11D As shown, after the center of gravity of the whole machine is adjusted by the bearing device 3, the vertical projection of the center of gravity of the whole machine is close to the ground centroid of the chassis. Compared with the original adjustment, the ultimate trench crossing capability of the whole machine is effectively reduced and less affected by the terrain slope.

[0104] The tracked transport vehicle of the present invention uses a remote control device to set the walking and center of gravity control strategies of the transport vehicle. The power unit 4, transmission mechanism 5, and walking device 2 realize the walking action of the transport vehicle. While transporting fruit, the carrying device 3 adjusts the horizontal position of the movable platform 31 in real time according to the current terrain and the load weight to adjust the center of gravity of the whole machine in real time, thereby improving the vehicle's performance on slopes. It can carry out fruit transportation operations in hilly orchards, achieve stable material transportation, and has good performance in complex road conditions.

[0105] Of course, the present invention may have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding changes and modifications should all fall within the protection scope of the appended claims.

Claims

1. A load-bearing device for a tracked transport vehicle, characterized in that, include: A slide rail mechanism includes a transverse slide rail and a longitudinal slide rail, wherein the longitudinal slide rail is mounted on the transverse slide rail and moves along the transverse slide rail; A horizontal positioning mechanism includes a bracket and omnidirectional rollers. The omnidirectional rollers are mounted on the longitudinal slide rail via the bracket and move along the longitudinal slide rail. A stage is mounted on the horizontal positioning mechanism; A follow-up anti-tipping mechanism is used to limit the pitch, roll, and torsion of the platform to provide anti-tipping protection for the platform. The follow-up anti-tipping mechanism includes a box-type slider, an optical shaft, pulleys, and C-shaped grooves. The C-shaped grooves are installed at the lower ends of both ends of the platform through fixing plates. The pulleys are embedded in the C-shaped grooves and roll laterally along the C-shaped grooves. The shaft head of the optical shaft is connected to the pulleys. The box-type sliders are installed at the four corners of both sides of the tracked transport vehicle. The optical shafts are correspondingly installed in the box-type sliders and slide longitudinally along the box-type sliders. The pressure measuring mechanism includes a universal ball bearing and a pressure sensor. The bottom of the universal ball bearing is mounted on the pressure sensor, and the top of the universal ball bearing contacts the bottom surface of the platform and supports the entire weight of the platform. The pressure sensor is mounted on the four corners of both sides of the tracked transport vehicle and is used to collect the real-time axial pressure of the platform on the universal ball bearing. An angle sensor is installed inside the body of the tracked transport vehicle near the centroid to monitor changes in the body's pitch and roll angles in real time. The center of gravity controller is connected to the angle sensor and pressure sensor. It calculates the weight and real-time center of gravity position of the platform based on the angle signal and pressure signal, and further calculates the weight and real-time center of gravity position of the tracked transport vehicle. Based on the center of gravity control strategy under different terrain conditions, it sends control commands to realize the dynamic adjustment of the center of gravity position of the entire transport vehicle. as well as A stepper motor driver is connected to the center of gravity controller. According to the control commands sent by the center of gravity controller, the driver controls the movement of the transverse and longitudinal slide rails to drive the horizontal positioning mechanism to drag the platform to move laterally or longitudinally, so as to realize the real-time control of the center of gravity position of the vehicle.

2. The carrying device of the tracked transport vehicle as described in claim 1, characterized in that, The center of gravity control strategy includes: when located on sloping terrain, the center of gravity controller adjusts the horizontal position of the platform based on sensor data, with the ground pressure of the two tracks of the tracked transport vehicle being approximately the same; when located on terrain with vertical obstacles, the center of gravity controller adjusts the horizontal position of the platform to the foremost position along the obstacle crossing direction; when located on trench terrain, the center of gravity controller adjusts the horizontal position of the platform with the vertical projection of the overall center of gravity position being close to the ground centroid of the chassis as the control strategy.

3. The carrying device of the tracked transport vehicle as described in claim 1, characterized in that, The longitudinal slide rail includes a longitudinal stepper motor, a longitudinal slide rail, a longitudinal slide table, and a ball screw. The longitudinal stepper motor is connected to the ball screw. The longitudinal slide table is mounted on the longitudinal slide rail and connected to the ball screw. The horizontal positioning mechanism is mounted on the longitudinal slide table. The longitudinal stepper motor drives the ball screw to move the longitudinal slide table along the longitudinal slide rail. The horizontal positioning mechanism slides longitudinally with the longitudinal slide table.

4. The carrying device of the tracked transport vehicle as described in claim 3, characterized in that, The transverse slide rail includes a transverse drive slide rail and a transverse support slide rail arranged in parallel. The transverse drive slide rail includes a transverse stepper motor, a first transverse slide rail, a first transverse slide table, and a transverse lead screw. The transverse stepper motor is connected to the transverse lead screw. The first transverse slide table is mounted on the first transverse slide rail and connected to the transverse lead screw. The transverse stepper motor drives the transverse lead screw to realize the transverse sliding of the horizontal positioning mechanism and the longitudinal slide rail. The transverse support slide rail includes a second transverse slide rail and a second transverse slide table. The second transverse slide table is mounted on the second transverse slide rail and is used to support the counterweight and the longitudinal slide rail.

5. The carrying device of the tracked transport vehicle as described in claim 1, characterized in that, The bottom of the platform is provided with a horizontal positioning bracket. The horizontal positioning mechanism includes six omnidirectional rollers. Two of the omnidirectional rollers are longitudinally mounted on the bracket and in contact with the horizontal positioning bracket for longitudinal positioning of the platform. The other four omnidirectional rollers are transversely mounted on the bracket and in contact with the horizontal positioning bracket for lateral positioning and torsional limiting of the platform.

6. A tracked transport vehicle suitable for transporting goods in hilly orchards, comprising a body and a power unit, a transmission mechanism, a walking device, and a load-bearing device mounted on the body, wherein the power unit is mounted inside the body, the walking device is disposed on both sides of the body and connected to the power unit through the transmission mechanism, and the load-bearing device is disposed on the upper part of the body, characterized in that... The supporting device is the supporting device according to any one of claims 1-5.

7. The tracked transport vehicle as described in claim 6, characterized in that, It also includes a remote control device, which is connected to the power unit and the load-bearing device.

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