Posture-adjustable crawler chassis and control method

Abstract

The invention belongs to the technical field of crawler agricultural mechanical equipment, and discloses a posture-adjustable crawler chassis and a control method.The posture-adjustable crawler chassis comprises a chassis frame, a driving transmission assembly, a posture adjusting assembly, a crawler walking wheel assembly and a posture detecting assembly; the output end of the track gauge auxiliary assembly is in universal transmission connection with the track walking wheel assemblies, the posture adjusting assembly is arranged below the chassis frame, one side of the posture adjusting assembly is connected with the track walking wheel assemblies, the posture detecting assembly is arranged on the chassis frame and the track walking wheel assemblies, and the two ends of the track gauge auxiliary assembly are installed on the track walking wheel assemblies on the two sides respectively. When the crawler encounters the situation that the road surface gradient is large or the road surface fluctuation is large, the posture position of the current chassis frame is detected through the posture detection assembly, and the ground clearance or the gravity center position of the chassis frame is adjusted by calculating and controlling the posture adjusting assembly. Meanwhile, the bottoms of the crawler walking wheel assemblies are always attached to the ground by driving the transmission assemblies, and the adhesive force of the crawler to the ground is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of crawler agricultural machinery and equipment, and in particular relates to a crawler chassis with adjustable posture and a control method. Background Art

[0002] The crawler chassis has outstanding advantages such as large ground contact area, small ground contact pressure, small turning radius, and flexible turning. Therefore, it has been widely used in paddy field operations in southern my country. The chassis of traditional crawler combine harvesters adopts a welded one-piece structure, and the upper frame of the chassis and the walking system are fixed by structures such as eight-shaped beams, resulting in the inability to adjust the body posture. The agricultural operation environment is mostly rugged and uneven roads, and it is easy to encounter obstacles such as ridges and subsidence. Therefore, it is difficult for the vehicle body and operating platform to remain level during driving, which increases the difficulty of the operator's operation; it is even easy to cause rollover accidents, seriously affecting the vehicle's driving reliability and operating efficiency.

[0003] Chinese patent CN117842223A proposes a crawler chassis suspension lifting mechanism, which uses sensors to determine the height at which the vehicle body needs to be lifted or lowered, and sets a double-acting oil cylinder to push the driven part, so that the height of the chassis is lifted straight up, making it less likely for the chassis to have a rigid collision. However, the straight-line lifting of the chassis makes the center of gravity of the crawler vehicle change in a single way, which is easy to cause the risk of imbalance of the center of gravity when driving on a slope, limiting the passability of the crawler vehicle.

[0004] Chinese patent CN118489427A proposes a leveling crawler chassis and control method for a corn harvester in hilly and mountainous areas. By real-time detection of the lateral angle of the leveling crawler chassis, the controller calculates the extension and contraction amount of the leveling hydraulic cylinder when the harvester body changes from the current tilted state to the horizontal state, thereby completing the leveling of the harvester body. However, the body leveling angle is single, and the leveling effect is not great when encountering complex terrain.

[0005] Chinese patent CN111688831A proposes a multi-point lifting chassis hydraulic automatic control system and working method, which detects the chassis inclination posture, calculates the extension and contraction amount required to be adjusted for each hydraulic cylinder and automatically controls the chassis multi-point lifting adjustment mechanism to achieve the leveling of the vehicle body. However, when driving horizontally on a road with a certain slope, the track wheels on both sides are not completely in contact with the road surface, and the load-bearing wheels are squeezed with the road surface at a certain angle, which is easy to damage the track and affects the life of the track wheel structure. Summary of the invention

[0006] The object of the present invention is to provide a crawler chassis with adjustable posture and a control method to solve the above-mentioned technical problems.

[0007] In order to solve the technical problem that the crawler rotary tiller cannot maintain a level body when driving on a rough road or encounters obstacles, and the crawler wheels cannot fully contact the ground, the specific technical solution of a crawler chassis with adjustable posture of the present invention is as follows: A posture-adjustable crawler chassis comprises a chassis frame, a drive transmission assembly, a posture adjustment assembly, a crawler running wheel assembly and a posture detection assembly, wherein the drive transmission assembly is fixedly mounted on the chassis frame, and an output end is universally connected to the crawler running wheel assembly for driving the crawler running wheel assembly to always move in close contact with the ground; the posture adjustment assembly is arranged below the chassis frame, and one side is connected to the crawler running wheel assembly for supporting and adjusting the horizontal and vertical positions of the chassis frame so that the chassis frame always remains horizontal during driving; the posture detection assembly is arranged on the chassis frame and the crawler running wheel assembly for detecting the current horizontal and vertical angles of the crawler frame and the crawler vehicle; the two ends of the gauge auxiliary assembly are respectively mounted on the crawler running wheel assemblies on both sides for ensuring that the distance between the crawler running wheel assemblies on both sides remains unchanged during driving of the crawler vehicle.

[0008] Furthermore, the drive transmission assembly includes a gearbox and two sets of universal transmission parts, the gearbox is fixedly connected to the chassis frame, and the two sets of universal transmission parts are symmetrically arranged along the axis of the length direction of the chassis frame.

[0009] Furthermore, the universal transmission component includes a power input shaft, an intermediate slide rail shaft, an intermediate sleeve shaft, a power output shaft and a cross bearing. The spline at one end of the power input shaft is coaxially fixedly connected to the output shaft of the gearbox, and the other end is provided with a universal joint fork, which is vertically installed with the universal joint fork at one end of the intermediate slide rail shaft through a cross bearing; the other end of the intermediate slide rail shaft is provided with a spline, and the outer periphery is sleeved with the sleeve at one end of the intermediate sleeve shaft, and can be telescopically slidable with each other; the other end of the intermediate sleeve shaft is a universal joint fork, which is vertically installed with the universal joint fork at one end of the power output shaft through a cross bearing; the other end of the power output shaft is provided with a spline sleeve, which is coaxially fixedly connected to the driving wheel shaft in the crawler walking wheel assembly. Through two sets of universal transmission components, the output shaft of the gearbox and the driving wheel shaft of the crawler walking wheel assembly can realize the angle and distance between the two shafts are frequently changed, and power can still be transmitted reliably.

[0010] Furthermore, four groups of posture adjustment components are installed on the four corners of the chassis frame, and the posture adjustment components include a PRRR space linkage mechanism, a double-acting oil cylinder and a spring suspension. One end of the PRRR space linkage mechanism is fixedly installed at the bottom of a corner of the chassis frame, and the other end is fixed to the crawler walking wheel assembly. The posture adjustment of the chassis frame area is achieved through the movement of the PRRR space linkage mechanism; the cylinder barrel part of the double-acting oil cylinder is fixedly installed under the chassis frame, and the push rod part of the double-acting oil cylinder is fixedly connected to the PRRR space linkage mechanism, which is used to provide motive force for the movement of the PRRR space linkage mechanism; one end of the spring suspension is rotatably installed on the side of the chassis frame, and the other end is rotatably connected to the PRRR space linkage mechanism, which is used to reduce the vibration generated by the PRRR space linkage mechanism and the chassis frame when the PRRR space linkage mechanism is working.

[0011] Furthermore, the PRRR spatial linkage mechanism includes a slider guide rail, a slider, an intermediate connector, a posture support rod, a track wheel hinge seat and a limit block. The slide rail is fixedly installed under the chassis frame, and the slider is installed on the slide rail and can slide relative to each other. The slider is rotatably installed with an intermediate connector on the side, and the other end of the intermediate connector is rotatably hinged to one end of the posture support rod; the other end of the posture support rod is rotatably hinged to the track wheel hinge seat, and the track wheel hinge seat is fixedly connected to the track wheel frame of the crawler walking wheel assembly; there are two limit blocks, one is fixedly installed on the slide rail close to the double-acting cylinder, and the other is fixedly installed on the slide rail far from the double-acting cylinder.

[0012] Furthermore, the track wheel assembly includes a driving wheel, a driving wheel shaft, a driving wheel mounting seat, a guide wheel, a guide wheel mounting seat, a plurality of load-bearing wheels, a track wheel frame, a load-bearing wheel shaft, a tensioning wheel, a tensioning device mounting seat, a tensioning rod, a tensioning screw, a track roller, a track roller mounting seat and a triangular track strip; a tensioning device mounting seat is provided at the front end of the track wheel frame, a track roller mounting seat is provided at the front middle part of the top end, a driving wheel mounting seat is provided at the rear middle part of the top end, a guide wheel mounting seat is provided at the rear end, and a plurality of load-bearing wheel shafts are equidistantly spaced along the axial direction at the bottom end, the driving wheel is mounted on the driving wheel mounting seat through the driving wheel shaft, the load-bearing wheel is mounted on the load-bearing wheel shaft, the track roller is mounted on the track roller mounting seat, and the tensioning wheel is The tensioning rod and the tensioning screw are installed on the tensioning device mounting seat, and the tensioning screw and the tensioning rod are fixedly installed on the tensioning device mounting seat, the tensioning screw is fixedly connected to the tensioning rod, and the tensioning rod is fixedly connected to the wheel axle of the tensioning wheel. The tensioning screw is adjusted to change the extension and retraction of the tensioning rod, change the position of the tensioning wheel, and complete the tensioning adjustment; the triangular track strip is mounted on the driving wheel, the load-bearing wheel, the track roller and the tensioning wheel; the track wheel hinge seat of the PRRR spatial linkage mechanism is fixedly installed on the tensioning device mounting seat and the guide wheel mounting seat, completing the fixed connection between the posture adjustment assembly and the track walking wheel assembly to support its chassis frame, and the power output shaft in the universal transmission assembly is coaxially connected with the driving wheel shaft.

[0013] Furthermore, the movement direction of the triangular track strip is defined as the Y-axis, the axis of the driving wheel axle is defined as the X-axis, and the direction perpendicular to the ground is defined as the Z-axis; the posture detection component includes front and rear horizontal sensors, left and right horizontal sensors, a slope level sensor and a controller, the front and rear horizontal sensors are fixedly connected to the chassis frame for measuring the horizontal angle of the chassis frame in the X-axis direction, the left and right horizontal sensors are fixedly connected to the chassis frame for measuring the horizontal angle of the chassis frame in the Y-axis direction, the slope level sensor is fixedly connected to the track wheel assembly for measuring the slope of the road on which the tracked vehicle is located, the controller is fixedly connected to the chassis frame, the front and rear horizontal sensors, left and right horizontal sensors, slope level sensor and double-acting cylinder are all electrically connected to the controller, the front and rear horizontal sensors, left and right horizontal sensors, and slope level sensor output horizontal angle signals to the controller, and the controller responds to the horizontal signals output by the front and rear horizontal sensors, left and right horizontal sensors, and slope level sensor, thereby controlling the movement of the active end of the double-acting cylinder.

[0014] Furthermore, the gauge auxiliary component includes a movable push rod, a double-acting gauge control cylinder and a cylinder fixing seat. One side of the cylinder fixing seat is fixedly mounted on the track wheel frame, and the other side of the internal cavity is provided with a slideway. One side of the movable push rod is fixedly mounted on the track wheel frame on the other side, and the other side of the movable push rod is provided with a sliding rod. The sliding rod and the slideway on one side of the cylinder fixing seat can slide with each other. The fixed end of the double-acting gauge control cylinder is installed on the cylinder fixing seat, and the movable end is fixedly connected to the movable push rod.

[0015] The present invention also discloses a control method for a crawler chassis with adjustable posture, comprising the following steps: Sensor detection step: when the crawler vehicle is traveling, the slope level sensor measures the slope of the road surface on which the crawler vehicle is located, the front and rear level sensors measure the horizontal angle of the chassis frame in the X-axis direction, the left and right level sensors measure the horizontal angle of the chassis frame in the Y-axis direction, and output respective level signals to the controller; Transverse slope adjustment steps: when the crawler vehicle is traveling on a transverse slope road, the left and right horizontal sensors measure the horizontal angle of the chassis frame in the Y-axis direction, and output signals to the controller, so that the controller detects that the crawler vehicle is on the transverse slope, controls the double-acting cylinder on the same side to extend, and the double-acting cylinder on the other side to contract, driving the PRRR spatial connecting rod mechanism on the same side to push the chassis frame on the same side to rise; driving the PRRR spatial connecting rod mechanism on the other side to pull the chassis frame on the same side to lower, and after the left and right horizontal sensors detect that the chassis frame is in a horizontal position, the controller stops controlling the double-acting cylinder to keep the chassis frame horizontal; Uphill and downhill adjustment steps: when the crawler vehicle is traveling uphill, the slope level sensor measures the slope of the road surface on which the crawler vehicle is located, and the front and rear level sensors measure the inclination angle of the chassis frame in the X-axis direction, and output a signal to the controller, so that the controller detects that the crawler vehicle is on an uphill slope, controls the rear double-acting cylinder to extend, and the front double-acting cylinder to contract, and the rear PRRR space link mechanism pushes the rear chassis frame to rise, and the front PRRR space link mechanism pulls back the front chassis frame to descend, and the controller stops controlling the double-acting cylinder after the front and rear level sensors detect that the chassis frame is horizontal, so that the vehicle body remains horizontal; when the crawler vehicle is traveling downhill, the same applies in reverse; Uneven road adjustment steps: When the crawler vehicle travels to an uneven road surface, the controller responds to the three horizontal signals of the posture detection component, and the controller controls the movable ends of the double-acting oil cylinders in four directions to move, and the movable ends of the double-acting oil cylinders in four directions extend forward to different lengths, and drive the PRRR space connecting rod mechanisms in four directions to work, and the PRRR space connecting rod mechanisms push the chassis frame to rise and fall at different heights in four directions, thereby changing the posture of the crawler vehicle; Universal adjustment steps: When the gearbox follows the movement of the chassis frame, the plane where the output shaft axis is located changes, and the universal transmission assembly transmits power steering to the driving wheel shaft in the track wheel assembly through the universal transmission structure, so that the track wheel assembly does not adjust with the adjustment of the chassis frame posture, and the crawler at the bottom of the track wheel assembly is always in maximum contact with the road surface.

[0016] Furthermore, it also includes: Track gauge adjustment steps: During the adjustment of the attitude adjustment assembly, the driver determines the spacing between the track wheel assemblies on both sides, controls the extension and retraction of the double-acting track gauge control cylinder, and drives the movable push rod to push out or pull back one side of the track wheel assembly for parallel movement, ensuring that the distance between the track wheel assemblies on both sides remains unchanged during the driving of the crawler vehicle.

[0017] The crawler chassis with adjustable posture and the control method of the present invention have the following advantages: 1. The crawler chassis with adjustable posture of the present invention detects the horizontal positions of the front, rear, left, right and right sides of the chassis frame and the slope of the ground through the posture detection component, controls the posture adjustment component to adjust the height of the chassis frame on both sides or the front and rear, and can adjust the height of the chassis according to the unevenness of the terrain, thereby ensuring the continuity and efficiency of the crawler vehicle and improving the working efficiency; the crawler chassis can adjust the chassis posture and change the center of gravity position 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 posture adjustment component can maintain the appropriate contact state between the tool and the ground by adjusting the posture position of the chassis frame, thereby improving the working quality and reducing residue and loss.

[0018] 2. The present invention uses a universal transmission assembly to ensure that the output shaft of the gearbox and the driving wheel shaft can still transmit power reliably when the angle and distance between the two shafts are frequently changed. During the adjustment of the attitude of the tracked vehicle frame, the gearbox can still transmit power to the driving wheel shaft in the tracked wheel assembly when the plane where the axis of the output shaft is located changes. Therefore, the crawler at the bottom of the tracked wheel assembly always has maximum contact with the road surface, ensuring that the ground contact area of ​​the crawler vehicle remains unchanged, increasing the service life of the triangular track strips and the track wheels, and improving the driving stability of the crawler vehicle.

[0019] 3. The tracked chassis has better stability. In hilly and mountainous areas, the tracked chassis has higher stability, which can reduce the risk of vehicle rollover or sinking; the tracked chassis has greater traction. Since the tracked chassis has a larger contact area, it is usually more advantageous than a wheeled chassis when additional traction is required. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of an embodiment of the present application; Figure 2It is intended to illustrate the rear view of a crawler vehicle when traveling on a cross slope; Figure 3 It is a schematic diagram of a local structure intended to illustrate a drive transmission assembly; Figure 4 is a schematic diagram intended to illustrate the structure of the attitude adjustment assembly; Figure 5 is a schematic diagram intended to illustrate the location of attitude adjustment components; Figure 6 It is a left view intended to illustrate a crawler vehicle going uphill; Figure 7 It is a structural diagram intended to illustrate the PRRR spatial linkage mechanism; Figure 8 It is a schematic diagram for explaining the structure of the crawler wheel assembly; Fig. 9 is a schematic diagram intended to illustrate the structure of the posture detection component; Fig.10 It is a schematic diagram intended to illustrate the structure of the gauge auxiliary component.

[0021] Explanation of the markings in the figure: 1. chassis frame; 2. drive transmission assembly; 21. gearbox; 22. universal transmission member; 221. power input shaft; 222. intermediate slide rail shaft; 223. intermediate sleeve shaft; 224. power output shaft; 225. cross bearing; 3. posture adjustment assembly; 31. PRRR space connecting rod mechanism; 32. double-acting cylinder; 311. slider guide rail; 312. slider; 313. intermediate connector; 314. posture support rod; 315. track wheel hinge seat; 316. limit block; 33. spring suspension; 4. track wheel assembly; 401. drive wheel; 402. drive wheel shaft ; 403, driving wheel mounting seat; 404, guide wheel; 405, guide wheel mounting seat; 406, load-bearing wheel; 407, track wheel frame; 408, load-bearing wheel axle; 409, tensioning wheel; 410, tensioning device mounting seat; 411, tensioning rod; 412, tensioning screw; 413, track roller; 414, track roller mounting seat; 415, triangular track strip; 5, posture detection component; 51, front and rear level sensors; 52, left and right level sensors; 53, slope level sensor; 54, controller; 6, gauge auxiliary component; 61, movable push rod; 62, double-acting gauge control cylinder; 63, cylinder fixing seat. DETAILED DESCRIPTION

[0022] In order to better understand the purpose, structure and function of the present invention, a posture-adjustable crawler chassis of the present invention is further described in detail below in conjunction with the accompanying drawings.

[0023] The present application embodiment discloses a crawler chassis with adjustable posture. Figure 1A crawler chassis with adjustable posture includes a chassis frame 1, a drive transmission component 2, a posture adjustment component 3, a track wheel assembly 4 and a posture detection component 5. The drive transmission component 2 is fixedly mounted on the chassis frame 1, and the output end is universally connected to the track wheel assembly 4, so as to drive the track wheel assembly 4 to always move in close contact with the ground; the posture adjustment component 3 is arranged below the chassis frame 1, and one side is connected to the track wheel assembly 4, so as to support and adjust the horizontal position and vertical position of the chassis frame 1, so that the chassis frame 1 always remains horizontal during driving; the posture detection component 5 is arranged on the chassis frame 1 and the track wheel assembly 4, so as to detect the current horizontal and vertical angles of the track frame 1 and the crawler vehicle; the two ends of the gauge auxiliary component 6 are respectively mounted on the track wheel assemblies 4 on both sides, so as to ensure that the distance between the track wheel assemblies 4 on both sides remains unchanged during the driving of the crawler vehicle.

[0024] When in use, the driving transmission component 2 drives the chassis frame 1 to drive the vehicle body to move. When encountering a large road slope or large undulations, the posture detection component 5 detects the current posture position of the chassis frame 1, and calculates and controls the posture adjustment component 3 to adjust the ground clearance or center of gravity position of the chassis frame 1. At the same time, under the action of the driving transmission component 2, the bottom of the crawler wheel assembly 4 is always in contact with the ground, which improves the adhesion of the crawler to the ground, thereby improving the passing ability and driving ability of the crawler chassis vehicle.

[0025] Reference Figure 2 , Figure 3 The drive transmission assembly 2 includes a gearbox 21 and two sets of universal transmission parts 22. The gearbox 21 is fixedly connected to the chassis frame 1. The two sets of universal transmission parts 22 are symmetrically arranged along the axis of the length direction of the chassis frame 1. The universal transmission part 22 includes a power input shaft 221, an intermediate slide rail shaft 222, an intermediate sleeve shaft 223, a power output shaft 224 and a cross bearing 225. The spline at one end of the power input shaft 221 is coaxially fixedly connected to the output shaft of the gearbox 21, and the other end is provided with a universal yoke fork, which is cross-mounted vertically with the universal yoke fork at one end of the intermediate slide rail shaft 222 through a cross bearing 225. The other end of the intermediate slide rail shaft 222 is provided with a spline, and the outer periphery is connected with the sleeve at one end of the intermediate sleeve shaft 223, and can slide and retract mutually. The other end of the intermediate sleeve shaft 223 is a universal yoke fork, which is cross-mounted vertically with the universal yoke fork at one end of the power output shaft 224 through a cross bearing 225. The other end of the power output shaft 224 is provided with a spline sleeve, which is coaxially fixedly connected to the driving wheel shaft 402 in the crawler walking wheel assembly 4. Through two sets of universal transmission parts 22, the output shaft of the gearbox 21 and the driving wheel shaft 402 of the crawler walking wheel assembly 4 can achieve reliable power transmission even when the angle and distance between the two shafts frequently change.

[0026] Reference Figure 4-7The posture adjustment assembly 3 includes a PRRR space linkage mechanism 31, a double-acting oil cylinder 32, and a spring suspension 33. One end of the PRRR space linkage mechanism 31 is fixedly installed at the bottom of a corner of the chassis frame 1, and the other end is fixed to the crawler walking wheel assembly 4. The posture adjustment of the area of ​​the chassis frame 1 is achieved through the movement of the PRRR space linkage mechanism 31. The cylinder barrel part of the double-acting oil cylinder 32 is fixedly installed under the chassis frame 1, and the push rod part of the double-acting oil cylinder 32 is fixedly connected to the PRRR space linkage mechanism 31, which is used to provide the original power for the movement of the PRRR space linkage mechanism 1. One end of the spring suspension 33 is rotatably installed on the side of the chassis frame 1, and the other end is rotatably connected to the PRRR space linkage mechanism 31, which is used to reduce the vibration generated by the PRRR space linkage mechanism 31 and the chassis frame 1 when the PRRR space linkage mechanism 31 is working. The PRRR spatial linkage mechanism 31 includes a slider rail 311, a slider 312, an intermediate connector 313, a posture support rod 314, a track wheel hinge seat 315 and a limit block 316. The slider rail 311 is fixedly installed below the chassis frame 1. The slider 312 is installed on the slider rail 311 and can slide relative to each other. The slider 312 is rotatably installed with an intermediate connector 313, and the other end of the intermediate connector 313 is rotatably hinged to one end of the posture support rod 314. The other end of the posture support rod 314 is rotatably hinged to the track wheel hinge seat 315, and the track wheel hinge seat 315 is fixedly connected to the track wheel frame 407 of the crawler walking wheel assembly 4. There are two limit blocks 316, one fixedly mounted on the slide rail 311 near the double-acting oil cylinder 32, and the other fixedly mounted on the slide rail 311 far from the double-acting oil cylinder 32. The slider guide rail 311, the slider 312, the middle connector 313, the attitude support rod 314 and the track wheel hinge seat 315 form a PRRR space link mechanism 31, which converts the horizontal force received by the slider 312 into a vertical force. When in use, four groups of attitude adjustment components 3 are installed on the four corners of the chassis frame 1. Taking the attitude adjustment component 3 on one corner as an example, the double-acting oil cylinder 32 extends (or contracts) to push (or pull) the PRRR space link mechanism 31 to work. The PRRR space link mechanism 31 converts the horizontal thrust (or pulling force) received into the vertical thrust (or pulling force), pushing the height of one corner of the chassis frame 1 to rise (or lower). The spring suspension 33 is used to absorb the impact caused by the rapid movement of the PRRR space link mechanism 31 to ensure the stability of the chassis frame 1.

[0027] Reference Figure 8The crawler walking wheel assembly 4 includes a driving wheel 401, a driving wheel shaft 402, a driving wheel mounting seat 403, a guide wheel 404, a guide wheel mounting seat 405, multiple load-bearing wheels 406, a track wheel frame 407, a load-bearing wheel shaft 408, a tensioning wheel 409, a tensioning device mounting seat 410, a tensioning rod 411, a tensioning screw 412, a track roller 413, a track roller mounting seat 414, and a triangular track strip 415; the front end of the track wheel frame 407 is provided with a tensioning device mounting seat 410, the front middle part of the top is provided with a track roller mounting seat 414, the rear middle part of the top is provided with a driving wheel mounting seat 403, the rear end is provided with a guide wheel mounting seat 405, and the bottom end is provided with multiple load-bearing wheel shafts 408 at equal intervals along the axial direction. The driving wheel 401 is mounted on the driving wheel mounting seat 403 through the driving wheel rotating shaft 402, the bearing wheel 406 is mounted on the bearing wheel shaft 408, the support roller 413 is mounted on the support roller mounting seat 414, and the tensioning wheel 409 is mounted on the tensioning device mounting seat 410 through the tensioning rod 411 and the tensioning screw 412. The tensioning screw 412 and the tensioning rod 411 are fixedly mounted on the tensioning device mounting seat 410. The tensioning screw 412 is fixedly connected to the tensioning rod 411, and the tensioning rod 411 is fixedly connected to the wheel axle of the tensioning wheel 409. By adjusting the tensioning screw 412, the extension and contraction of the tensioning rod 411 is changed, and the position of the tensioning wheel 409 is changed to complete the tensioning adjustment. The triangular track strip 415 is sleeved on the driving wheel 401, the bearing wheel 406, the support roller 413 and the tensioning wheel 409. The track wheel hinge seat 315 of the PRRR spatial linkage mechanism 31 is fixedly mounted on the tensioning device mounting seat 410 and the guide wheel mounting seat 405, completing the fixed connection between the posture adjustment assembly 3 and the track walking wheel assembly 4 to support its chassis frame 1, and the power output shaft 224 in the universal transmission assembly 22 is coaxially connected with the driving wheel shaft 402.

[0028] Reference Fig. 9, the movement direction of the triangular crawler strip 415 is defined as the Y axis, the axis of the axle of the driving wheel 401 is defined as the X axis, and the direction perpendicular to the ground is defined as the Z axis. The posture detection component 5 includes a front and rear horizontal sensor 51, a left and right horizontal sensor 52, a slope level sensor 53, and a controller 54. The front and rear horizontal sensor 51 is fixedly connected to the chassis frame 1 and is used to measure the horizontal angle of the chassis frame 1 in the X-axis direction. The left and right horizontal sensor 52 is fixedly connected to the chassis frame 1 and is used to measure the horizontal angle of the chassis frame 1 in the Y-axis direction. The slope level sensor 53 is fixedly connected to the crawler walking wheel assembly 4 and is used to measure the slope of the road surface on which the crawler vehicle is located. The controller 54 is fixedly connected to the chassis frame 1. The front and rear horizontal sensors 51, the left and right horizontal sensors 52, the slope level sensor 53, and the double-acting cylinder 32 are all electrically connected to the controller 54. The front and rear horizontal sensors 51, the left and right horizontal sensors 52, and the slope level sensor 53 output horizontal angle signals to the controller 54. The controller 54 responds to the horizontal signals output by the front and rear horizontal sensors 51, the left and right horizontal sensors 52, and the slope level sensor 53, thereby controlling the movement of the active end of the double-acting cylinder 32.

[0029] When in use, the slope level sensor 53 measures the slope of the road on which the tracked vehicle is located, the front and rear level sensors 51 measure the horizontal angle of the chassis frame 1 in the X-axis direction, the left and right level sensors 52 measure the horizontal angle of the chassis frame 1 in the Y-axis direction, and output a level signal to the controller 54. The controller 54 responds to the level signal output by the level sensor, and controls the movement of the active ends of the double-acting cylinders 32 in different directions. The active ends of the four double-acting cylinders 32 in different directions extend forward, and drive the slider 32 to lift the chassis frame 1 in four directions, thereby changing the posture of the tracked vehicle to ensure the driving stability and passability of the tracked vehicle.

[0030] Reference Fig.10 The track gauge auxiliary assembly 6 includes a movable push rod 61, a double-acting track gauge control oil cylinder 62, and an oil cylinder fixing seat 63. One side of the oil cylinder fixing seat 63 is fixedly mounted on the track wheel frame 407, and a slideway is provided in the inner cavity of the other side. One side of the movable push rod 61 is fixedly mounted on the track wheel frame 407 on the other side, and a slide bar is provided on the other side of the movable push rod 61. The slide bar and the slideway on one side of the oil cylinder fixing seat 63 cooperate to slide with each other. The fixed end of the double-acting track gauge control oil cylinder 62 is mounted on the oil cylinder fixing seat 63, and the movable end is fixedly connected to the movable push rod 61. When in use, the double-acting track gauge control oil cylinder 62 extends (or contracts), and the slideway end of the movable push rod 61 pushes out (or pulls back) one side of the track travel wheel assembly 4 along the slideway end of the oil cylinder fixing seat 63 to move outward (or inward) in parallel, thereby changing the track gauge of the crawler vehicle.

[0031] The present application provides a method for controlling a crawler chassis with adjustable posture, comprising the following steps: Power driving steps: the output shaft of the gearbox 21 drives the driving wheel 401 to rotate through the universal transmission assembly 22, the driving wheel 401 cooperates with the tensioning wheel 409 and the guide wheel 404, the driving wheel 401 drives the triangular track strip 415 to rotate, the triangular track strip 415 drives the load-bearing wheel 406 to rotate, the load-bearing wheel 406 moves along the track wheel frame 407, and the triangular track strip 415 drives the supporting roller 413 to rotate at the same time, the tensioning wheel 409, the guide wheel 404, the supporting roller 413 cooperate with the driving wheel 401 to tighten the triangular track strip 415; Sensor detection steps: When the tracked vehicle is traveling, the slope level sensor 53 measures the slope of the road on which the tracked vehicle is located, the front and rear level sensors 51 measure the horizontal angle of the chassis frame 1 in the X-axis direction, and the left and right level sensors 52 measure the horizontal angle of the chassis frame 1 in the Y-axis direction, and output various level signals to the controller 54.

[0032] Transverse slope adjustment steps: When the crawler vehicle is traveling on a transverse slope road, the left and right horizontal sensors 52 measure the horizontal angle of the chassis frame 1 in the Y-axis direction and output a signal to the controller 54, so that the controller 54 detects that the crawler vehicle is on a transverse slope, controls the double-acting cylinder 32 on the same side to extend, and the double-acting cylinder 32 on the other side to retract, driving the PRRR spatial link mechanism 31 on the same side (such as Figure 5 31A and 31B in the figure) push the chassis frame 1 on the same side to rise; drive the PRRR spatial link mechanism 31 on the other side (such as Figure 5 31C and 31D) in the figure pull the chassis frame 1 on the same side to lower. After the left and right level sensors 52 detect that the chassis frame 1 is in a horizontal position, the controller 54 stops controlling the double-acting cylinder 32 to keep the chassis frame 1 horizontal.

[0033] Uphill and downhill adjustment steps: When the crawler vehicle is traveling uphill, the slope level sensor 53 measures the slope of the road where the crawler vehicle is located, and the front and rear level sensors 51 measure the inclination angle of the chassis frame 1 in the X-axis direction, and output a signal to the controller 54, so that the controller 54 detects that the crawler vehicle is on an uphill slope, controls the rear double-acting cylinder 32 to extend, and the front double-acting cylinder 32 to retract, corresponding to the rear PRRR space link mechanism 31 (such as Figure 6 31B and 31C) push the rear chassis frame 1 to rise, and the front PRRR space link mechanism 31 (such as Figure 6 31A and 31D) in the figure pull back the front chassis frame 1 to descend, and after the front and rear level sensors 51 detect that the chassis frame 1 is level, the controller 54 stops controlling the double-acting cylinder 32, so that the vehicle body remains level; when the tracked vehicle travels downhill, the opposite is true.

[0034] Adjustment steps for uneven road surface: When the tracked vehicle travels to an uneven road surface, the controller 54 responds to the three horizontal signals of the posture detection component 5, and the controller 54 controls the movement of the active ends of the double-acting cylinders 32 in four directions. The active ends of the double-acting cylinders 32 in four directions extend forward to different lengths, and drive the PRRR spatial linkage mechanisms 31 in four directions to work. The PRRR spatial linkage mechanisms 31 push the chassis frame 1 to rise and fall at different heights in four directions, thereby changing the posture of the tracked vehicle.

[0035] Track gauge adjustment steps: During the adjustment of the posture adjustment component 3, the driver determines the spacing between the crawler running wheel assemblies 4 on both sides, controls the extension and retraction of the double-acting track gauge control cylinder 62, and drives the movable push rod 61 to push out (or pull back) one side of the crawler running wheel assembly 4 to move in parallel, ensuring that the distance between the crawler running wheel assemblies 4 on both sides remains unchanged during the driving of the crawler vehicle.

[0036] Universal adjustment steps: When the gearbox 21 moves with the chassis frame 1, the plane where the output shaft axis is located changes, and the universal transmission assembly 22 transmits the power steering to the driving wheel shaft 402 in the crawler running wheel assembly 4 through the universal transmission structure, so that the crawler running wheel assembly 4 is not adjusted with the adjustment of the posture of the chassis frame 1, and the crawler at the bottom of the crawler running wheel assembly 2 is always in maximum contact with the road surface, ensuring that the ground contact area of ​​the crawler vehicle remains unchanged.

[0037] It is to be understood that the present invention is described by some embodiments, and it is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the scope of protection of the present invention.

Claims

1. A crawler chassis with adjustable posture, comprising a chassis frame (1), a drive transmission assembly (2), a posture adjustment assembly (3), a crawler wheel assembly (4) and a posture detection assembly (5), characterized in that: The driving transmission assembly (2) is fixedly mounted on the chassis frame (1), and the output end is universally connected to the crawler running wheel assembly (4) for driving the crawler running wheel assembly (4) to always move in close contact with the ground; the attitude adjustment assembly (3) is arranged below the chassis frame (1), and one side is connected to the crawler running wheel assembly (4) for supporting and adjusting the horizontal position and vertical position of the chassis frame (1) so that the chassis frame (1) always remains horizontal during driving; the attitude detection assembly (5) is arranged on the chassis frame (1) and the crawler running wheel assembly (4) for detecting the current horizontal and vertical angles of the crawler frame and the crawler vehicle; and the two ends of the track gauge auxiliary assembly are respectively mounted on the crawler running wheel assemblies (4) on both sides for ensuring that the distance between the crawler running wheel assemblies (4) on both sides remains unchanged during driving of the crawler vehicle.

2. The attitude-adjustable crawler chassis according to claim 1, characterized in that: The drive transmission assembly (2) comprises a gearbox (21) and two sets of universal transmission members (22); the gearbox (21) is fixedly connected to the chassis frame (1); and the two sets of universal transmission members (22) are symmetrically arranged along an axis in the length direction of the chassis frame (1).

3. The attitude-adjustable crawler chassis according to claim 2, characterized in that: The universal transmission member (22) comprises a power input shaft (221), an intermediate slide rail shaft (222), an intermediate sleeve shaft (223), a power output shaft (224) and a cross bearing (225); a spline at one end of the power input shaft (221) is coaxially fixedly connected to the output shaft of the gearbox (21); a universal joint fork is provided at the other end, and is cross-mounted vertically with the universal joint fork at one end of the intermediate slide rail shaft (222) via a cross bearing (225); a spline is provided at the other end of the intermediate slide rail shaft (222), and the outer periphery is sleeved with the sleeve at one end of the intermediate sleeve shaft (223), so as to be able to rotate relative to each other. The intermediate sleeve shaft (223) is telescopically slidable with each other; the other end of the intermediate sleeve shaft (223) is a universal joint fork, which is cross-mounted vertically with the universal joint fork at one end of the power output shaft (224) through a cross bearing (225); the other end of the power output shaft (224) is provided with a spline sleeve, which is coaxially fixedly connected to the driving wheel rotating shaft (402) in the crawler walking wheel assembly (4), and the two sets of universal transmission parts (22) enable the output shaft of the gearbox (21) and the driving wheel rotating shaft (402) of the crawler walking wheel assembly (4) to achieve reliable power transmission even when the angle and distance between the two shafts are frequently changed.

4. The attitude-adjustable crawler chassis according to claim 1, characterized in that: Four groups of posture adjustment components (3) are installed on the four corners of the chassis frame (1). The posture adjustment components (3) include a PRRR spatial link mechanism (31), a double-acting oil cylinder (32) and a spring suspension (33). One end of the PRRR spatial link mechanism (31) is fixedly installed at the bottom of a corner of the chassis frame (1), and the other end is fixed to the crawler walking wheel assembly (4). The posture adjustment of the area of ​​the chassis frame (1) is achieved through the movement of the PRRR spatial link mechanism (31); the double-acting oil cylinder (32) and the spring suspension (33) are connected to the chassis frame (1). The cylinder barrel portion of the oil cylinder (32) is fixedly mounted below the chassis frame (1); the push rod portion of the double-acting oil cylinder (32) is fixedly connected to the PRRR spatial link mechanism (31) and is used to provide a motive force for the movement of the PRRR spatial link mechanism (31); one end of the spring suspension (33) is rotatably mounted on the side of the chassis frame (1) and the other end is rotatably connected to the PRRR spatial link mechanism (31) and is used to reduce the vibration generated by the PRRR spatial link mechanism (31) and the chassis frame (1) when the PRRR spatial link mechanism (31) is in operation.

5. The attitude-adjustable crawler chassis according to claim 4, characterized in that: The PRRR spatial linkage mechanism (31) comprises a slider rail (311), a slider (312), an intermediate connector (313), a posture support rod (314), a track wheel hinge seat (315) and a limit block (316); the slider rail is fixedly mounted below the chassis frame (1); the slider (312) is mounted on the slider rail and can slide relative to each other; the slider (312) is rotatably mounted laterally with an intermediate connector (313); the intermediate connector The other end of the head (313) is rotatably hinged to one end of the posture support rod (314); the other end of the posture support rod (314) is rotatably hinged to the track wheel hinge seat (315), and the track wheel hinge seat (315) is fixedly connected to the track wheel frame (407) of the track travel wheel assembly (4); the limit block (316) has two blocks, one of which is fixedly installed on the slide rail near the double-acting oil cylinder (32), and the other is fixedly installed on the slide rail far from the double-acting oil cylinder (32).

6. The attitude-adjustable crawler chassis according to claim 5, characterized in that: The crawler wheel assembly (4) comprises a driving wheel (401), a driving wheel rotating shaft (402), a driving wheel mounting seat (403), a guide wheel (404), a guide wheel mounting seat (405), a plurality of load-bearing wheels (406), a crawler wheel frame (407), a load-bearing wheel shaft (408), a tensioning wheel (409), a tensioning device mounting seat (410), a tensioning rod (411), a tensioning screw (412), a track roller (413), a track roller mounting seat (414) and a triangular crawler bar (415); the front end of the crawler wheel frame (407) is provided with A tensioning device mounting seat (410) is provided, a belt-supporting roller mounting seat (414) is provided at the front middle of the top end, a driving wheel mounting seat (403) is provided at the rear middle of the top end, a guide wheel mounting seat (405) is provided at the rear end, and a plurality of load-bearing wheel shafts (408) are provided at equal intervals along the axial direction of the bottom end, the driving wheel (401) is mounted on the driving wheel mounting seat (403) via the driving wheel rotating shaft (402), the load-bearing wheel (406) is mounted on the load-bearing wheel shaft (408), the belt-supporting roller (413) is mounted on the belt-supporting roller mounting seat (414), and the tensioning wheel (409) is installed on the tensioning device mounting seat (410) through a tensioning rod (411) and a tensioning screw (412); the tensioning screw (412) and the tensioning rod (411) are fixedly installed on the tensioning device mounting seat (410); the tensioning screw (412) is fixedly connected to the tensioning rod (411); the tensioning rod (411) is fixedly connected to the axle of the tensioning wheel (409); the tensioning adjustment is completed by adjusting the tensioning screw (412) to change the extension and retraction of the tensioning rod (411) and change the position of the tensioning wheel (409); the three The angle track strip (415) is sleeved on the driving wheel (401), the load-bearing wheel (406), the track support wheel (413) and the tensioning wheel (409); the track wheel hinge seat (315) of the PRRR spatial linkage mechanism (31) is fixedly mounted on the tensioning device mounting seat (410) and the guide wheel mounting seat (405), completing the fixed connection between the posture adjustment component (3) and the track travel wheel component (4) to support its chassis frame (1); the power output shaft (224) in the universal transmission component is coaxially connected with the driving wheel rotating shaft (402).

7. The attitude-adjustable crawler chassis according to claim 6, characterized in that: The movement direction of the triangular crawler strip (415) is defined as the Y axis, the axis of the wheel axle of the driving wheel (401) is defined as the X axis, and the direction perpendicular to the ground is defined as the Z axis; the posture detection component (5) comprises a front and rear horizontal sensor (51), a left and right horizontal sensor (52), a slope level sensor (53) and a controller (54); the front and rear horizontal sensor (51) is fixedly connected to the chassis frame (1) and is used to measure the horizontal angle of the chassis frame (1) in the X axis direction; the left and right horizontal sensor (52) is fixedly connected to the chassis frame (1) and is used to measure the horizontal angle of the chassis frame (1) in the Y axis direction; the slope level sensor (53) is fixedly connected to the crawler walking wheel component (4) is used to measure the slope of the road surface on which the crawler vehicle is located. The controller (54) is fixedly connected to the chassis frame (1). The front and rear horizontal sensors (51), the left and right horizontal sensors (52), the slope level sensor (53) and the double-acting oil cylinder (32) are all electrically connected to the controller (54). The front and rear horizontal sensors (51), the left and right horizontal sensors (52) and the slope level sensor (53) output horizontal angle signals to the controller (54). The controller (54) responds to the horizontal signals output by the front and rear horizontal sensors (51), the left and right horizontal sensors (52) and the slope level sensor (53), thereby controlling the movement of the movable end of the double-acting oil cylinder (32).

8. The attitude-adjustable crawler chassis according to claim 6, characterized in that: The track gauge auxiliary component (6) comprises a movable push rod (61), a double-acting track gauge control oil cylinder (62) and an oil cylinder fixing seat (63); one side of the oil cylinder fixing seat (63) is fixedly mounted on the track wheel frame (407), and the other side of the internal cavity is provided with a slideway; one side of the movable push rod (61) is fixedly mounted on the track wheel frame (407) on the other side; the other side of the movable push rod (61) is provided with a slide bar; the slide bar and the slideway on one side of the oil cylinder fixing seat (63) cooperate to slide with each other; the fixed end of the double-acting track gauge control oil cylinder (62) is mounted on the oil cylinder fixing seat (63), and the movable end is fixedly connected to the movable push rod (61).

9. A method for controlling a crawler chassis with adjustable posture as claimed in any one of claims 1 to 8, characterized in that: The steps include: Sensor detection step: when the crawler vehicle is traveling, the slope level sensor (53) measures the slope of the road surface on which the crawler vehicle is located, the front and rear level sensors (51) measure the horizontal angle of the chassis frame (1) in the X-axis direction, and the left and right level sensors (52) measure the horizontal angle of the chassis frame (1) in the Y-axis direction, and output respective level signals to the controller (54); The lateral slope adjustment step is as follows: when the crawler vehicle is traveling on a lateral slope road, the left and right horizontal sensors (52) measure the horizontal angle of the chassis frame (1) in the Y-axis direction and output a signal to the controller (54), so that the controller (54) detects that the crawler vehicle is on the lateral slope, controls the double-acting cylinder (32) on the same side to extend, and controls the double-acting cylinder (32) on the other side to retract, thereby driving the PRRR spatial connecting rod mechanism (31) on the same side to push the chassis frame (1) on the same side to rise; and drives the PRRR spatial connecting rod mechanism (31) on the other side to pull the chassis frame (1) on the same side to lower. After the left and right horizontal sensors (52) detect that the chassis frame (1) is in a horizontal position, the controller (54) stops controlling the double-acting cylinder (32) to keep the chassis frame (1) horizontal. Uphill and downhill adjustment steps: when the crawler vehicle is traveling uphill, the slope level sensor (53) measures the slope of the road surface on which the crawler vehicle is located, and the front and rear level sensors (51) measure the inclination angle of the chassis frame (1) in the X-axis direction, and output a signal to the controller (54), so that the controller (54) detects that the crawler vehicle is traveling uphill, controls the rear double-acting cylinder (32) to extend, and the front double-acting cylinder (32) to retract, and the rear PRRR spatial link mechanism (31) pushes the rear chassis frame (1) to rise, and the front PRRR spatial link mechanism (31) pulls the front chassis frame (1) back to descend, and after the front and rear level sensors (51) detect that the chassis frame (1) is horizontal, the controller (54) stops controlling the double-acting cylinder (32), so that the vehicle body remains horizontal; when the crawler vehicle is traveling downhill, the same principle applies in reverse; Uneven road adjustment steps: when the tracked vehicle travels to an uneven road surface, the controller (54) responds to the three horizontal signals of the posture detection component (5), and the controller (54) controls the movable ends of the double-acting oil cylinders (32) in four directions to move, and the movable ends of the double-acting oil cylinders (32) in four directions extend forward to different lengths, and drive the PRRR spatial link mechanisms (31) in four directions to work, and the PRRR spatial link mechanisms (31) push the chassis frame (1) to rise and fall at different heights in four directions, thereby changing the posture of the tracked vehicle; Universal adjustment step: When the gearbox (21) moves with the chassis frame (1), the plane where the output shaft axis is located changes, and the universal transmission assembly transmits power steering to the drive wheel shaft (402) in the crawler running wheel assembly (4) through the universal transmission structure, so that the crawler running wheel assembly (4) is not adjusted along with the adjustment of the posture of the chassis frame (1), and the crawler at the bottom of the crawler running wheel assembly (4) is always in maximum contact with the road surface.

10. The control method according to claim 9, characterized in that: Also includes: Track gauge adjustment steps: During the adjustment of the attitude adjustment assembly (3), the driver determines the distance between the crawler running wheel assemblies (4) on both sides, controls the extension and retraction of the double-acting track gauge control cylinder, and drives the movable push rod to push out or pull back one side of the crawler running wheel assembly (4) to move in parallel, thereby ensuring that the distance between the crawler running wheel assemblies (4) on both sides remains unchanged during the driving of the crawler vehicle.

Images