Agricultural machinery slope operation self-adaptive vehicle body leveling and electro-hydraulic suspension device

Abstract

The invention discloses a self-adaptive vehicle body leveling and electro-hydraulic suspension device for agricultural machinery slope operation, relates to the technical field of agricultural machinery vehicle body systems and suspension systems, and aims to solve the problem that an existing agricultural machinery vehicle body device and an existing suspension device cannot be self-adaptively adjusted according to a slope environment. Comprising a chassis, front wheels, rear wheels, a front axle, a rear axle, a suspension unit and a sloping field detection assembly, the front axle comprises an upper swing arm, two lower swing arms and two wheel carriers, and the wheel carriers, the lower swing arms, the chassis and the upper swing arm form a parallelogram connecting rod mechanism; the suspension unit comprises a suspension rack, a lifting arm assembly, a left pull rod and a right pull rod; the sloping field detection assembly comprises a vehicle body tilt angle sensor fixed to the upper swing arm and a farm tool tilt angle sensor fixed to the operation machine tool. The inclination angle of the upper swing arm is detected, the adjusting oil cylinder I and the adjusting oil cylinder II are started according to the inclination angle of the upper swing arm, and the inclination angle of the operation machine tool is adjusted, so that the operation machine tool adapts to the slope environment, and the operation quality is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery body systems and suspension systems, in particular to an agricultural machinery slope operation adaptive body leveling and electro-hydraulic suspension device. Background Art

[0002] The vehicle body leveling system is designed to solve the problems of poor stability, insufficient passability, and inability to perform equal-height operations when agricultural machinery in hilly and mountainous areas performs operations such as transportation, farming, and walking on slopes. The vehicle body leveling system can improve the overall safety of agricultural machinery in hilly and mountainous areas and ensure the quality of agricultural machinery operations in hilly areas. At the same time, if agricultural machinery in hilly and mountainous areas adopts the traditional method of connecting the suspension unit with the power chassis, the upper and lower pull rods cannot automatically adjust the height from the ground according to the changes in the terrain, and cannot effectively cooperate with the vehicle body leveling system, which will inevitably cause a large change in the position and posture between the agricultural implement and the ground, seriously affecting the quality of operation. Summary of the invention

[0003] The purpose of the present invention is to provide an adaptive body leveling and electro-hydraulic suspension device for agricultural machinery operating on slopes, which is used to solve the problem that the existing agricultural machinery suspension units cannot be adaptively adjusted according to the slope environment.

[0004] The technical solution adopted by the present invention to solve its technical problems is: an adaptive body leveling and electro-hydraulic suspension device for agricultural machinery slope operation, including a chassis, a front wheel, a rear wheel, a front axle, a rear axle, a suspension unit and a slope detection component, the front wheel is connected to the front end of the chassis through the front axle, the rear wheel is connected to the rear end of the chassis through the rear axle, the front axle includes an upper swing arm, two lower swing arms and two wheel frames, the middle part of the upper swing arm is rotatably connected to the chassis, the end of the upper swing arm is hinged to the upper end of the wheel frame on the corresponding side, one end of the lower swing arm is hinged to the chassis, and the other end of the lower swing arm is hinged to the lower end of the wheel frame on the corresponding side, and the wheel frame, the lower swing arm, the chassis and the upper swing arm constitute a parallelogram linkage mechanism; the rear axle has the same structure as the front axle, and the front wheel and the rear wheel are both installed on the wheel frame; The suspension unit comprises a suspension frame, a lifting arm assembly, a left tie rod and a right tie rod, the suspension frame is fixedly connected to the chassis, one end of the left tie rod and one end of the right tie rod are both hinged to the suspension frame, one end of the lifting arm assembly is hinged to the suspension frame, a lifting cylinder is provided between the lifting arm assembly and the suspension frame, an adjusting cylinder I is provided between the lifting arm assembly and the left tie rod, and an adjusting cylinder II is provided between the lifting arm assembly and the right tie rod; the lifting cylinder, adjusting cylinder I and adjusting cylinder II can work simultaneously or independently; the other end of the left tie rod and the other end of the right tie rod are connected to the working machine; The slope detection component includes a vehicle body inclination sensor fixed on the upper swing arm and an agricultural implement inclination sensor fixed on the working tool. The vehicle body inclination sensor is used to detect the inclination angle of the upper swing arm, and the agricultural implement inclination sensor is used to detect the inclination angle of the working tool. According to the inclination angle of the working tool detected by the agricultural implement inclination sensor, the adjusting cylinder I and the adjusting cylinder II are operated to adjust the height difference between the other end of the left pull rod and the other end of the right pull rod, so that the working tool can adapt to the slope environment.

[0005] Furthermore, the chassis is a triangular structure, a first vertex position of the chassis is rotationally connected to the upper swing arm via a rotating shaft, and the remaining two vertex positions of the chassis are hingedly connected to the lower swing arm.

[0006] Furthermore, the lifting arm assembly is a triangular structure comprising three sides, each two adjacent sides of the lifting arm assembly are hingedly connected, the first vertex of the lifting arm assembly is hingedly connected to the suspension frame, the lifting cylinder is located between the second vertex of the lifting arm assembly and the suspension frame, the adjusting cylinder I is located between the third vertex of the lifting arm assembly and the left pull rod, and the adjusting cylinder II is located between the third vertex of the lifting arm assembly and the right pull rod.

[0007] Furthermore, the three sides of the lifting arm assembly are respectively a first rod, a second rod and a third rod, one end of the third rod is a straight-line structure, the other end of the third rod is a U-shaped structure, one end of the third rod is hinged to the second rod, one end of the first rod extends into the other end of the third rod and the two are hinged.

[0008] Furthermore, one end of the first rod has a fan-shaped detection ruler, and the suspension frame has a lifting arm position sensor that contacts the arc-shaped outer wall of the detection ruler; when the position of the lifting arm assembly relative to the suspension frame is different, the lifting arm position sensor contacts different positions of the detection ruler.

[0009] Furthermore, it also includes a hydraulic control system, which includes a hydraulic pump, which is connected to the lifting cylinder through a first oil circuit, and the first oil circuit has valve I and valve II. The hydraulic pump is connected to the regulating cylinder I and regulating cylinder II through a second oil circuit, and the second oil circuit has valve I and valve III. Both valve I and valve III are three-way valves, the inlet of valve I is connected to the hydraulic pump, the first outlet of valve I is connected to valve II, and the second outlet of valve I is connected to the inlet of valve III; the first outlet of valve III is connected to regulating cylinder I, and the second outlet of valve III is connected to regulating cylinder II.

[0010] Furthermore, it also includes a ground wheel, and the other end of the left pull rod and the other end of the right pull rod each have a ground wheel.

[0011] Furthermore, it also includes a tillage depth sensor for an agricultural implement, which is used to detect the relative position of the ground wheel and thus sense the tillage depth of the working implement.

[0012] The beneficial effect of the present invention is that the present invention can not only realize the adaptive leveling of the agricultural machinery body, but also realize the adaptive leveling of the suspension unit. The front axle and the rear axle of the present invention are both parallelogram linkage mechanisms. When traveling on a slope, one side of the wheels on both sides is high and the other side is low, while the chassis and the body remain in a horizontal state; by detecting the inclination angle of the upper swing arm, and starting the adjustment cylinder I and the adjustment cylinder II according to the inclination angle of the upper swing arm, the inclination angle of the working tool is adjusted, so that the working tool can adapt to the slope environment to ensure the quality of operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a front view of the present invention; Figure 2 It is a front view of the chassis of the present invention; Figure 3 It is a right side view of the suspension unit of the present invention; Figure 4 This is a state diagram of agricultural machinery and working equipment walking on a slope in traditional technology; Figure 5 This is a state diagram of the agricultural machine of the present invention when traveling on a slope; Figure 6 It is a right view of the lifting process of the suspension unit of the present invention; Figure 7 This is a schematic diagram of adjusting the height of the left and right pull rods according to the slope environment; Figure 8 It is a diagram of the hydraulic control system of the present invention; In the figure: 1 front wheel, 11 front wheel axle, 2 rear wheel, 21 rear wheel axle, 3 chassis, 31 upper swing arm, 32 lower swing arm, 33 rotating shaft, 34 vehicle body inclination sensor, 4 wheel frame, 5 left tie rod, 5' right tie rod, 6 suspension frame, 7 lifting cylinder, 7' adjustment cylinder I, 7" adjustment cylinder II, 8 lifting arm assembly, 81 first rod, 82 second rod, 83 third rod, 84 detection ruler, 85 lifting arm position sensor, 9 working machine, 91 agricultural implement inclination sensor, 10 slope. DETAILED DESCRIPTION

[0014] like Figures 1 to 8 As shown, the present invention includes front wheels 1, rear wheels 2, chassis 3, front axles, rear axles, suspension units, slope detection components, lifting arm position sensors 85 and agricultural implement deep tillage sensors. The structure and working principle of the present invention are described in detail below in conjunction with the accompanying drawings.

[0015] like Figures 1 to 7As shown, the agricultural machinery slope operation adaptive body leveling and electro-hydraulic suspension device includes a chassis 3, a front wheel 1, a rear wheel 2, a front axle, a rear axle, a suspension unit and a slope detection component. The front wheel 1 is connected to the front end of the chassis 3 through the front axle, and the rear wheel 2 is connected to the rear end of the chassis 3 through the rear axle. Specifically, Figure 1 to Figure 2 As shown, the diameter of the front wheel 1 is smaller than that of the rear wheel 2. The front wheel 1 has a front wheel axle 11, and the rear wheel 2 has a rear wheel axle 21. The rear wheel 2 is a driving wheel. The front axle includes an upper swing arm 31, two lower swing arms 32, and two wheel frames 4. The middle part of the upper swing arm 31 is rotatably connected to the chassis 3, and the end of the upper swing arm 31 is hinged to the upper end of the wheel frame 4 on the corresponding side. One end of the lower swing arm 32 is hinged to the chassis 3, and the other end of the lower swing arm 32 is hinged to the lower end of the wheel frame 4 on the corresponding side. The rear axle has the same structure as the front axle, and the front wheel 1 and the rear wheel 2 are both installed on the wheel frame 4. The chassis 3 is an equilateral triangle structure. The first vertex position of the chassis 3 is rotatably connected to the upper swing arm 31 through a rotating shaft 33, and the other two vertex positions of the chassis 3 are hinged to the lower swing arm 32. The wheel frame 4, the lower swing arm 32, the chassis 3 and the upper swing arm 31 constitute a parallelogram linkage mechanism. In this way, when the upper swing arm 31 rotates relative to the chassis 3, the lower swing arm 32 rotates accordingly, the wheel frame 4 moves up and down accordingly and maintains a fixed posture, and the front wheel 1 and the rear wheel 2 move up and down accordingly.

[0016] The front and rear axles of the present invention adopt a parallelogram linkage mechanism, and the wheels on both sides of the vehicle body (front wheel 1 and rear wheel 2) move synchronously in opposite directions. Figure 4 As shown, when the existing agricultural machine travels on a slope 10, the inclination angle of the body and chassis is consistent with the slope. Figure 5 As shown, when the present invention moves from a flat road surface to a slope 10, the upper swing arm 31 swings relative to the chassis 3. At this time, the wheels on both sides of the vehicle body are high on one side and low on the other side, while the vehicle body and the chassis 3 maintain a horizontal posture.

[0017] like Figure 6 , Figure 7As shown, the suspension unit includes a suspension frame 6, a lifting arm assembly 8, a left tie rod 5 and a right tie rod 5'. The suspension frame 6 is fixedly connected to the rear end of the chassis 3. The left tie rod 5 and the right tie rod 5' are arranged on the left and right sides of the vehicle body. One end of the left tie rod 5 and one end of the right tie rod 5' are both hinged to the suspension frame 6, and the other end of the left tie rod 5 and the other end of the right tie rod 5' are used to connect with the working machine. One end of the lifting arm assembly 8 is hinged to the suspension frame 6, and a lifting cylinder 7 is provided between the lifting arm assembly 8 and the suspension frame 6. The lifting cylinder 7 is used to drive the lifting arm assembly 8 to swing relative to the suspension frame 6, thereby realizing the lifting and lowering of the lifting arm assembly 8. An adjusting cylinder I 7' is provided between the lifting arm assembly 8 and the left tie rod 5, and an adjusting cylinder II 7" is provided between the lifting arm assembly 8 and the right tie rod 5'. When the adjusting cylinder I 7' is in motion, it is used to drive the lifting and lowering of the left tie rod 5. When the adjusting cylinder II 7" is in motion, it is used to drive the lifting and lowering of the right tie rod 5'. The lifting cylinder 7, the adjusting cylinder I 7' and the adjusting cylinder II 7" can work simultaneously or independently. Specifically, the lifting arm assembly 8 is a triangular structure including three sides, and each two adjacent sides of the lifting arm assembly 8 are hingedly connected. The first vertex of the lifting arm assembly 8 is hingedly connected to the suspension frame 6, the lifting cylinder 7 is located between the second vertex of the lifting arm assembly 8 and the suspension frame 6, the adjusting cylinder I 7' is located between the third vertex of the lifting arm assembly 8 and the left tie rod 5, and the adjusting cylinder II 7" is located between the third vertex of the lifting arm assembly 8 and the right tie rod 5'. More specifically, the three sides of the lifting arm assembly 8 are the first rod 81, the second rod 82 and the third rod 83, and the first rod 81 and the second rod 82 are both straight rods. One end of the third rod 83 is a straight structure, and the other end of the third rod 83 is a U-shaped structure, and the entire third rod 83 is a Y-shaped structure. One end of the third rod 83 is hingedly connected to the second rod 82, and one end of the first rod 81 extends into the other end of the third rod 83 and the two are hingedly connected. The hinge point between the adjusting oil cylinder I 7' and the left tie rod 5 is located at the middle of the left tie rod 5, and the hinge point between the adjusting oil cylinder II 7" and the right tie rod 5' is located at the middle of the right tie rod 5'.

[0018] like Figure 6As shown, when the piston rod of the lifting cylinder 7 is extended, the lifting arm assembly 8 is driven to swing counterclockwise around the hinge point with the suspension frame 6. At this time, the adjusting cylinder I 7' and the adjusting cylinder II 7" are not in motion. The swing of the lifting arm assembly 8 pulls the left and right tie rods 5 and 5' to swing counterclockwise through the adjusting cylinders I 7' and II 7", thereby lifting the work tool at the other end of the left and right tie rods 5 and 5'. At this time, the other end of the left and right tie rods 5 and 5' are at the same height. On the contrary, when the piston rod of the lifting cylinder 7 is retracted, the lifting arm assembly 8 is driven to swing clockwise around the hinge point with the suspension frame 6. At this time, the adjusting cylinder I 7' and the adjusting cylinder II 7" are not in motion. The swing of the lifting arm assembly 8 pushes the left and right tie rods 5 and 5' to swing clockwise through the adjusting cylinders I 7' and II 7", thereby lowering the work tool at the other end of the left and right tie rods 5 and 5'.

[0019] like Figure 7 As shown, the piston rod of the lifting cylinder 7 extends, so that the working machine at the other end of the left tie rod 5 and the right tie rod 5' is lifted, and the adjusting cylinder I7' does not move, driving the piston rod of the adjusting cylinder II7" to extend. At this time, the right tie rod 5' swings downward at a certain angle relative to the left tie rod 5. At this time, a height difference h is generated between the other end of the left tie rod 5 and the other end of the right tie rod 5'. At this time, the working machine installed at the other end of the left tie rod 5 and the right tie rod 5' is tilted, and the left end of the working machine is higher and the right end is lower, so as to adapt to the slope environment with high left and low right. On the contrary, when the piston rod of the lifting cylinder 7 is extended, the working machine at the other end of the left tie rod 5 and the right tie rod 5' is lifted, and the adjusting cylinder II 7" does not move, driving the piston rod of the adjusting cylinder I 7' to extend. At this time, the left tie rod 5 swings downward at a certain angle relative to the right tie rod 5'. At this time, a height difference is generated between the other end of the left tie rod 5 and the other end of the right tie rod 5'. At this time, the working machine installed at the other end of the left tie rod 5 and the right tie rod 5' is tilted, and the left end of the working machine is low and the right end is high, so as to adapt to the slope environment with low left and high right.

[0020] In order to detect the position of the lifting arm assembly 8, that is, to detect the angle between the lifting arm assembly 8 and the horizontal plane, as shown in FIG. Figure 3 As shown, one end of the first rod 81 has a fan-shaped detection ruler 84, and the detection ruler 84 is fixedly connected to the first rod 81. When the first rod 81 swings around the hinge point with the suspension frame 6, it can drive the rotation of the detection ruler 84, and the rotation center is the hinge point between the first rod 81 and the suspension frame 6. The suspension frame 6 has a lifting arm position sensor 85 that contacts the arc-shaped outer wall of the detection ruler 84. When the position of the lifting arm assembly 8 relative to the suspension frame 6 is different, the lifting arm position sensor 85 contacts different positions of the detection ruler 84. That is, the position of the lifting arm assembly 8 relative to the suspension frame 6 and the contact position of the lifting arm position sensor 85 and the detection ruler 84 are in a one-to-one correspondence.

[0021] like Figures 1 to 3 As shown, the slope detection assembly includes a vehicle body tilt sensor 34 fixed on the upper swing arm 31 and an agricultural implement tilt sensor 91 fixed on the working tool 9. The vehicle body tilt sensor 34 is used to detect the tilt angle of the upper swing arm 31, and the agricultural implement tilt sensor 91 is used to detect the tilt angle of the working tool 9. The adjusting cylinder I7' is actuated to adjust the height of the other end of the left tie rod 5, and the adjusting cylinder II7" is actuated to adjust the height of the other end of the right tie rod 5', thereby adjusting the height difference between the other end of the left tie rod 5 and the other end of the right tie rod 5', so that the working tool 9 can adapt to the slope environment. The degree of action of the adjusting cylinder I7' and the adjusting cylinder II7" is mainly determined by the detection data of the vehicle body tilt sensor 34, that is, when the vehicle body tilt sensor 34 detects different slope angles, the adjusting cylinder I7' and the adjusting cylinder II7" are actuated to make the working tools on the left tie rod 5 and the right tie rod 5' tilt at different angles to adapt to different slope angles.

[0022] The present invention is also provided with a hydraulic control system for controlling the working states of the lifting cylinder 7, the regulating cylinder I 7' and the regulating cylinder II 7". Figure 8 As shown, the hydraulic control system includes a hydraulic pump, which is connected to the lifting cylinder 7 through a first oil circuit, and the first oil circuit is provided with valves I and II. The hydraulic pump is connected to the regulating cylinder I 7′ and the regulating cylinder II 7″ through a second oil circuit, and the second oil circuit is provided with valves I and III, and both valves I and III are three-way valves, the inlet of valve I is connected to the hydraulic pump, the first outlet of valve I is connected to valve II, and the second outlet of valve I is connected to the inlet of valve III. The first outlet of valve III is connected to the regulating cylinder I 7′, and the second outlet of valve III is connected to the regulating cylinder II 7″. When valves I and II are opened, the hydraulic pump injects oil into the lifting cylinder 7 through the first oil circuit, so that the piston rod of the lifting cylinder 7 extends; or extracts oil in the lifting cylinder 7 through the first oil circuit, so that the piston rod of the lifting cylinder 7 retracts. When valves Ⅰ and Ⅲ are opened, the hydraulic pump injects oil into regulating cylinder Ⅰ7′ or regulating cylinder Ⅱ7″ through the second oil circuit, so that the piston rod of regulating cylinder Ⅰ7′ or regulating cylinder Ⅱ7″ extends; or the oil in regulating cylinder Ⅰ7′ or regulating cylinder Ⅱ7″ is extracted through the second oil circuit, so that the piston rod of regulating cylinder Ⅰ7′ or regulating cylinder Ⅱ7″ retracts. Through valve Ⅲ, the oil from the hydraulic pump can enter regulating cylinder Ⅰ7′, the oil from the hydraulic pump can enter regulating cylinder Ⅱ7″, or the oil from the hydraulic pump can enter both regulating cylinder Ⅰ7′ and regulating cylinder Ⅱ7″, and the ratio of the oil entering regulating cylinder Ⅰ7′ and regulating cylinder Ⅱ7″ can be adjusted. The second oil circuit can also be cut off through valve Ⅲ.

[0023] The present invention can also be provided with a ground wheel, and a ground wheel is provided at the other end of the left tie rod 5 and the right tie rod 5'. A tillage depth sensor for agricultural implements is provided, and the tillage depth sensor for agricultural implements is used to detect the relative position of the ground wheel and then sense the tillage depth of the working implement. Through the detection of the tillage depth sensor for agricultural implements, when the tillage depth of the working implement does not meet the requirement, the height of the left tie rod 5 can be adjusted by adjusting the oil cylinder I 7', or the height of the right tie rod 5' can be adjusted by adjusting the oil cylinder II 7", so as to increase or decrease the tillage depth until the requirement is met.

[0024] The present invention can not only realize the adaptive leveling of the agricultural machinery body, but also realize the adaptive leveling of the suspension unit. The front axle and the rear axle of the present invention are both parallelogram linkage mechanisms. When traveling on a slope, one side of the wheels on both sides is high and the other side is low, while the chassis and the body remain in a horizontal state; by detecting the inclination angle of the upper swing arm, and starting the adjustment cylinder I and the adjustment cylinder II according to the inclination angle of the upper swing arm, the inclination angle of the working tool is adjusted, so that the working tool can adapt to the slope environment to ensure the quality of operation.

Claims

1. An adaptive body leveling and electro-hydraulic suspension device for agricultural machinery operating on slopes, comprising a chassis, front wheels, rear wheels, a front axle, a rear axle, a suspension unit and a slope detection component, wherein the front wheels are connected to the front end of the chassis through the front axle, and the rear wheels are connected to the rear end of the chassis through the rear axle, and characterized in that: The front axle comprises an upper swing arm, two lower swing arms and two wheel frames, the middle part of the upper swing arm is rotatably connected to the chassis, the end of the upper swing arm is hinged to the upper end of the wheel frame on the corresponding side, one end of the lower swing arm is hinged to the chassis, and the other end of the lower swing arm is hinged to the lower end of the wheel frame on the corresponding side, and the wheel frame, the lower swing arm, the chassis and the upper swing arm constitute a parallelogram linkage mechanism; the rear axle has the same structure as the front axle, and the front wheels and the rear wheels are both mounted on the wheel frames; The suspension unit comprises a suspension frame, a lifting arm assembly, a left tie rod and a right tie rod, the suspension frame is fixedly connected to the chassis, one end of the left tie rod and one end of the right tie rod are both hinged to the suspension frame, one end of the lifting arm assembly is hinged to the suspension frame, a lifting cylinder is provided between the lifting arm assembly and the suspension frame, an adjusting cylinder I is provided between the lifting arm assembly and the left tie rod, and an adjusting cylinder II is provided between the lifting arm assembly and the right tie rod; the lifting cylinder, adjusting cylinder I and adjusting cylinder II can work simultaneously or independently; the other end of the left tie rod and the other end of the right tie rod are connected to the working machine; The slope detection component includes a vehicle body inclination sensor fixed on the upper swing arm and an agricultural implement inclination sensor fixed on the working tool. The vehicle body inclination sensor is used to detect the inclination angle of the upper swing arm, and the agricultural implement inclination sensor is used to detect the inclination angle of the working tool. According to the inclination angle of the working tool detected by the agricultural implement inclination sensor, the adjusting cylinder I and the adjusting cylinder II are operated to adjust the height difference between the other end of the left pull rod and the other end of the right pull rod, so that the working tool can adapt to the slope environment.

2. The adaptive vehicle body leveling and electro-hydraulic suspension device for agricultural machinery operating on slopes according to claim 1 is characterized in that: The chassis is a triangular structure, the first vertex position of the chassis is rotatably connected to the upper swing arm via a rotating shaft, and the remaining two vertex positions of the chassis are hingedly connected to the lower swing arm.

3. The adaptive vehicle body leveling and electro-hydraulic suspension device for agricultural machinery operating on slopes according to claim 1 is characterized in that: The lifting arm assembly is a triangular structure with three sides, each two adjacent sides of the lifting arm assembly are hingedly connected, the first vertex of the lifting arm assembly is hingedly connected to the suspension frame, the lifting cylinder is located between the second vertex of the lifting arm assembly and the suspension frame, the adjusting cylinder I is located between the third vertex of the lifting arm assembly and the left tie rod, and the adjusting cylinder II is located between the third vertex of the lifting arm assembly and the right tie rod.

4. The adaptive body leveling and electro-hydraulic suspension device for agricultural machinery operating on slopes according to claim 3 is characterized in that: The three sides of the lifting arm assembly are respectively a first rod, a second rod and a third rod, one end of the third rod is a straight-line structure, the other end of the third rod is a U-shaped structure, one end of the third rod is hinged to the second rod, one end of the first rod extends into the other end of the third rod and the two are hinged.

5. The adaptive vehicle body leveling and electro-hydraulic suspension device for agricultural machinery operating on slopes according to claim 4 is characterized in that: One end of the first rod has a fan-shaped detection ruler, and the suspension frame has a lifting arm position sensor that contacts the arc-shaped outer wall of the detection ruler; when the position of the lifting arm assembly relative to the suspension frame is different, the lifting arm position sensor contacts different positions of the detection ruler.

6. The adaptive body leveling and electro-hydraulic suspension device for agricultural machinery operating on slopes according to claim 1, characterized in that: It also includes a hydraulic control system, which includes a hydraulic pump, which is connected to the lifting cylinder through a first oil circuit, and the first oil circuit has valves I and II. The hydraulic pump is connected to the regulating cylinder I and regulating cylinder II through a second oil circuit, and the second oil circuit has valves I and III. Both valves I and III are three-way valves, the inlet of valve I is connected to the hydraulic pump, the first outlet of valve I is connected to valve II, and the second outlet of valve I is connected to the inlet of valve III; the first outlet of valve III is connected to regulating cylinder I, and the second outlet of valve III is connected to regulating cylinder II.

7. The self-adaptive body leveling and electro-hydraulic suspension device for agricultural machinery operating on slopes according to claim 1, characterized in that: It also includes a ground wheel, and the other end of the left pull rod and the other end of the right pull rod are each provided with a ground wheel.

8. The self-adaptive body leveling and electro-hydraulic suspension device for agricultural machinery operating on slopes according to claim 7, characterized in that: It also includes a tillage depth sensor for an agricultural implement, which is used to detect the relative position of the ground wheel and thus sense the tillage depth of the working implement.

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