Self-leveling chassis for engineering machinery and working method and application of self-leveling chassis

Abstract

The invention belongs to the technical field of engineering machinery, and particularly belongs to a self-leveling chassis for engineering machinery and a working method and application of the self-leveling chassis. The invention discloses a self-leveling chassis for engineering machinery. A driving device and a crawler belt are mounted on two sides of the chassis; comprising a chassis body, an oil cylinder, a lower plate and an upper plate. The front side of the chassis body is rotationally connected with a front leveling oil cylinder, and a cylinder rod of the front leveling oil cylinder is rotationally connected to the lower plate. The other side of the chassis main body is hinged with the other side of the lower plate; the side face of the lower plate is rotationally connected with a side leveling oil cylinder, and a cylinder rod of the side leveling oil cylinder is rotationally connected to the upper plate. The other side of the lower plate is hinged with the other side of the upper plate; a horizontal sensor is installed on the upper plate. The invention further provides a working method and application of the self-leveling chassis for the engineering machinery. The self-leveling chassis has the beneficial effects that the self-leveling chassis is used in engineering machinery, the trafficability and the stability of a whole machine can be improved, the whole machine can be stably lifted on an uneven terrain, and the safety of a people standing platform is guaranteed to the maximum extent.

Description

Technical Field

[0001] The invention belongs to the technical field of engineering machinery, and in particular to a self-leveling chassis for engineering machinery and a working method and application thereof. Background Art

[0002] Crawler chassis are often used in large-scale construction machinery. The working areas are mostly relatively rugged roads, such as common loose soil roads, gravel roads, etc. Sometimes they need to cross roads with large slopes. In order to increase the passability and stability of crawler chassis, the industry has adaptively developed and made a chassis structure that can automatically level. However, the automatic leveling chassis structure in the existing technology still has some technical defects, as follows: 1. Although it can achieve the effect of automatic leveling, the leveling angle is small; Second, the stability is poor; for example, Chinese patent document CN115285241A discloses an obstacle-crossing all-terrain self-leveling vehicle chassis, which relates to the field of vehicle chassis technology, including a chassis device, the chassis device includes a drive assembly, a chassis frame, a working platform and an adjustable connection structure, the drive assembly is arranged on both sides of the bottom of the chassis frame; the top of the chassis frame is connected to the working platform, and the bottom of the chassis frame is hingedly connected with an adjustable connection structure. The present invention can effectively solve the problem that other mechanisms or materials carried by the vehicle chassis are always in a horizontal state when climbing in parallel, climbing in an inclined manner, passing through obstacles, etc.; it can adapt to very harsh road surfaces, and at the same time, other mechanisms carried by it can effectively work according to the parameters of the original design, and can adaptively adjust the track gauge and height during use, and under the action of gravity, the drive wheel or the drive track is in an adaptive mode, no external force intervention is required, and it is always in surface contact with the ground, which is suitable for promotion and use. Its technology has the following defects: 1. Two outrigger cylinders are needed on the left and right sides to support the machine. When tilting left or right, the two cylinders will be linked and the whole machine will swing left or right. When the two cylinders move at the same time, the required hydraulic oil flow is large, which means high power consumption. In addition, during the leveling process, three cylinders need to be controlled to move at the same time for leveling, and the control logic is relatively complicated. 2. During the leveling process, the relative distance between the left and right tracks will change, which will change the stability of the whole machine and easily cause safety hazards. At the same time, during the leveling process, the tracks will extend to both sides or move inward, which will cause sliding friction with the ground. Since most of the tracks are made of rubber, sliding friction will greatly increase the wear of the tracks and reduce their service life. When the tracks are subjected to side friction, they are prone to derailment and even deformation of the sprocket or track beam.

[0003] It can be seen that there are still technical problems to be solved in the automatic leveling chassis in the prior art. Summary of the invention

[0004] The present invention provides a self-leveling chassis for engineering machinery, so as to increase the leveling angle, thereby improving the passability of the chassis and enhancing the stability performance.

[0005] At the same time, the present invention also provides a working method and application of the self-leveling chassis for engineering machinery.

[0006] A self-leveling chassis for engineering machinery, wherein a driving device and crawlers are installed on both sides of the chassis; the chassis comprises a chassis body, a cylinder, a lower plate, and an upper plate; The front side of the chassis body is rotatably connected to a front leveling cylinder, and the cylinder rod of the front leveling cylinder is rotatably connected to the lower plate; the other side of the chassis body is hinged to the other side of the lower plate; The side of the lower plate is rotatably connected to a side leveling cylinder, and the cylinder rod of the side leveling cylinder is rotatably connected to the upper plate; the other side of the lower plate is hinged to the other side of the upper plate; On the upper plate, a level sensor is installed.

[0007] Preferably, a base one is fixed on the upper side of the chassis body, an ear plate one is connected to the lower side of the lower plate, and the ear plate one and the base one are connected by a pin; a base two is connected to the upper side of the lower plate, an ear plate two is connected to the lower side of the upper plate, and the ear plate two and the base two are connected by a pin.

[0008] Preferably, the front leveling cylinder and the side leveling cylinder are respectively connected to a balancing valve.

[0009] Preferably, hydraulic locks are provided in the cylinder pipelines of the front leveling cylinder and the side leveling cylinder.

[0010] Preferably, the lower plate is fixedly formed by a rectangular tube; and an L-shaped bent plate is fixedly coated outside the rectangular tube.

[0011] Preferably, a level sensor is also installed on the chassis body.

[0012] The two level sensors are installed in the same direction. The level sensors are electrically connected to the ECU (electronic control unit). Also electrically connected to the ECU are the leveling cylinder control valve controller, pump motor, balance valve or hydraulic lock.

[0013] The working method of the self-leveling chassis for construction machinery comprises the following steps: In the automatic adjustment mode, the horizontal sensor transmits the detected angle data to the ECU; the upper board horizontal sensor detects an angle of a 1、 a2; a1 represents the angle of the upper plate in the front-to-back direction relative to the ground plane, and a2 represents the angle of the upper plate in the left-to-right direction relative to the ground plane; The angle adjustment range of the upper plate relative to the lower plate is ±x°; the angle adjustment range of the lower plate relative to the chassis body is ±x°; a 1、 When a2 is 0°, the upper plate is horizontal and no adjustment is required; When a1=0° and a2 is not 0° and less than x°, the ECU transmits a signal to the side leveling cylinder control valve controller, and the corresponding side leveling cylinder pump motor rotates to extend or retract the side leveling cylinder until the upper plate level sensor detects angle a. 1、 a2 is always 0°; when a1=0° and a2 is not 0° and is greater than x°, after the side leveling cylinder reaches the maximum adjustment capacity, the side leveling cylinder stops moving and maintains the status quo; the whole machine continues to work; When a1 is not 0° and less than x°, and a2=0°, the ECU transmits a signal to the front leveling cylinder control valve controller, and the corresponding front leveling cylinder pump motor rotates to extend or retract the front leveling cylinder until the upper plate level sensor detects angle a. 1、 a2 is always 0°; when a1 is not 0° and is greater than x°, when a2=0°; after the front leveling cylinder reaches the maximum adjustment capacity, the front leveling cylinder stops moving and maintains the status quo; the whole machine continues to work; a 1、 When a2 is not 0° and is less than x°, the ECU transmits a signal to the two leveling cylinder control valve controllers, and the two leveling cylinders extend or retract until the upper plate level sensor detects angle a. 1、 a2 is 0°; a 1、 When a2 is not 0° and is greater than x°, the ECU transmits signals to the two leveling cylinder control valve controllers. After the two leveling cylinders reach their maximum adjustment capacity, the two cylinders stop moving and maintain the status quo; the entire machine continues to work.

[0014] The working method of the self-leveling chassis for construction machinery further comprises the following steps: The chassis main body horizontal sensor detection angle is b 1、 b2; b1 represents the angle of the chassis body in the front-to-back direction relative to the ground plane, and b2 represents the angle of the chassis body in the left-to-right direction relative to the ground plane; b 1、 When b2 is not 0° and is greater than x°, the ECU transmits a signal to the two leveling cylinder control valve controllers. After the two leveling cylinders reach their maximum adjustment capacity, the two cylinders stop moving and maintain the status quo; the entire machine continues to work.

[0015] The working method of the self-leveling chassis for construction machinery further comprises the following steps: In manual adjustment mode: the front leveling cylinder and the side leveling cylinder are controlled separately. According to the confined space, the front leveling cylinder, the side leveling cylinder or the front leveling cylinder and the side leveling cylinder are manually selected for adjustment.

[0016] The above-mentioned self-leveling chassis for construction machinery is applied to: articulated boom aerial work platforms, excavators, and suction cup vehicles.

[0017] Beneficial effects of the present invention: 1. The hinge points between the upper plate and the lower plate, and between the lower plate and the chassis main body crossbeam, are offset relative to the center position, which can keep the front leveling cylinder and the side leveling cylinder under pressure all the time, avoiding yielding due to fatigue and extending the service life of the cylinder.

[0018] 2. One front leveling cylinder and one side leveling cylinder are provided, so the front and rear adjustments and the left and right adjustments are independent of each other, avoiding linkage between the cylinders, simplifying the procedure, and making the leveling of the chassis more convenient to control.

[0019] 3. The self-leveling chassis for engineering machinery provided by the present invention, when used in engineering machinery, can improve the passability and stability of the whole machine. The whole machine can also be stably lifted on uneven terrain, thereby ensuring the safety of the standing platform to the greatest extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 It is a schematic diagram of the structure of the present invention from different viewing angles; Figure 3 It is a structural schematic diagram of another viewing angle of the present invention; Figure 4 It is a schematic diagram of the rear structure of the present invention; Figure 5 This is a schematic diagram of the structure of Example 4; Figure 6 Schematic diagram of angle measurement for a1; Figure 7 This is a schematic diagram of measuring angles of a2; In the figure: 1. driving device; 2. crawler track; 3. chassis body; 3.1. frame body 1; 3.2. base body 1; 4.1. front leveling cylinder; 4.2. side leveling cylinder; 5. lower plate; 5.1. ear plate 1; 5.2. frame body 2; 5.3. frame body 3; 5.4. base body 2; 5.5. rectangular tube; 5.6. L-shaped bending plate; 6. upper plate; 6.1. frame body 4; 6.2. ear plate 2; 7. balancing valve; 8. upper plate level sensor; 9. chassis body level sensor. DETAILED DESCRIPTION

[0021] The technical solution of the present invention is further explained below through specific implementation methods. Example 1

[0022] Referring to the accompanying drawings, the present invention provides a self-leveling chassis for engineering machinery, wherein a driving device 1 and a crawler 2 are installed on both sides of the chassis; the driving device 1 can be an electric motor or a hydraulic motor; the self-leveling chassis for engineering machinery includes a chassis body 3, a cylinder, a lower plate 5, and an upper plate 6; The front side of the chassis body 3 is rotatably connected to the front leveling cylinder 4.1, and the cylinder rod of the front leveling cylinder 4.1 is rotatably connected to the lower plate 5; when connected, a frame body 3.1 is installed on the chassis body 3, and the front leveling cylinder 4.1 is connected to the frame body 3.1 through a pin shaft 1, and the lower plate 5 is connected to a frame body 2 5.2, and a pin shaft 2 is connected to the frame body 2 5.2, and the cylinder rod of the front leveling cylinder 4.1 is connected to the pin shaft 2; the other side of the chassis body 3 is hinged to the other side of the lower plate 5; when hinged, the upper sides of the chassis body 3 are respectively fixed with a base 3.2, and the lower sides of the lower plate 5 are respectively connected with an ear plate 5.1, and the ear plate 5.1 is connected to the base 3.2 through a pin shaft 3; The side of the lower plate 5 is rotatably connected to a side leveling cylinder 4.2, and the cylinder rod of the side leveling cylinder 4.2 is rotatably connected to the upper plate 6; When connected, a frame body three 5.3 is installed on the lower plate 5, the side leveling cylinder 4.2 is connected to the frame body three 5.3 through a pin shaft four, the upper plate 6 is connected to a frame body four 6.1, a pin shaft five is connected to the frame body four 6.1, and the cylinder rod of the side leveling cylinder 4.2 is connected to the pin shaft five; the other side of the lower plate 5 is hinged to the other side of the upper plate 6; when hinged, the upper sides of the lower plate 5 are respectively connected to the base two 5.4, and the lower sides of the upper plate 6 are respectively connected to the ear plates two 6.2, and the ear plates two 6.2 are connected to the base two 5.4 through the pin shaft six.

[0023] Level sensors are installed on the upper plate 6 and the chassis body 3 respectively; a fully automatic leveling effect can be achieved through closed-loop control in the electrical system.

[0024] The lower plate 5 is fixedly formed by a rectangular tube 5.5; and an L-shaped bending plate 5.6 is fixedly coated outside the rectangular tube 5.5. The rectangular tube 5.5 has a strong bending resistance and is a profile, which is convenient for cutting and processing, saving time and cost; in order to increase the strength, a layer of L-shaped bending plate 5.6 is welded on the outside.

[0025] The two level sensors are installed in the same direction. The level sensors are electrically connected to the ECU (electronic control unit, i.e., on-board computer, which is composed of a microcontroller and peripheral circuits and is a mature technology in the prior art). The leveling cylinder control valve controller and pump motor are also electrically connected to the ECU. The outer sides of the cylinder barrels of the front leveling cylinder 4.1 and the side leveling cylinder 4.2 are respectively connected to a balancing valve 7. The function of the balancing valve 7 is to keep the cylinder rod of the leveling cylinder in its original position even when the pump does not supply oil to the leveling cylinder, thus playing a locking role. The balancing valve 7 can also be a hydraulic lock. Once the pipeline connected to the leveling cylinder leaks, the balancing valve 7 or the hydraulic lock can keep the cylinder rod of the leveling cylinder in a state to prevent the entire machine from tilting or tipping over.

[0026] The leveling cylinder control valve uses a full-proportional valve core with post-valve compensation. The post-valve compensation is to design a compensator on the rear side of the valve core. Its advantage is that during compound actions, the flow can be distributed according to the load size. Of course, pre-valve compensation can also be used. Example 2

[0027] The working method of the self-leveling chassis for engineering machinery in Example 1 comprises the following steps: In the automatic adjustment mode, the horizontal sensor transmits the detected angle data to the ECU; the upper plate horizontal sensor 8 detects an angle of a 1、 a2; wherein a1 represents the angle of the upper plate 6 in the front-to-back direction relative to the ground plane, and a2 represents the angle of the upper plate 6 in the left-to-right direction relative to the ground plane; The angle adjustment range of the upper plate 6 relative to the lower plate 5 is ±x°; the angle adjustment range of the lower plate 5 relative to the chassis body 3 is ±x°; a 1、 When a2 is 0°, the upper plate 6 is horizontal and does not need to be adjusted; When a1=0° and a2 is not 0° and is less than x°, the ECU transmits a signal to the control valve controller of the side leveling cylinder 4.2, and the corresponding pump motor of the side leveling cylinder 4.2 rotates to extend or retract the side leveling cylinder 4.2 until the upper plate level sensor 8 detects the angle a. 1、 a2 is always 0°; when a1=0° and a2 is not 0° and is greater than x°, after the side leveling cylinder 4.2 reaches the maximum adjustment capacity, the side leveling cylinder 4.2 stops moving and maintains the status quo; the whole machine continues to work; When a1 is not 0° and is less than x°, and a2=0°, the ECU transmits a signal to the control valve controller of the front leveling cylinder 4.1, and the corresponding pump motor of the front leveling cylinder 4.1 rotates to extend or retract the front leveling cylinder 4.1 until the upper plate level sensor 8 detects the angle a. 1、a2 is always 0°; when a1 is not 0° and is greater than x°, when a2=0°; after the front leveling cylinder 4.1 reaches the maximum adjustment capacity, the front leveling cylinder 4.1 stops moving and maintains the status quo; the whole machine continues to work; a 1、 When a2 is not 0° and is less than x°, the ECU transmits a signal to the two leveling cylinder control valve controllers, and the two leveling cylinders extend or retract until the upper plate level sensor 8 detects the angle a. 1、 a2 is 0°; a 1、 When a2 is not 0° and is greater than x°, the ECU transmits signals to the two leveling cylinder control valve controllers. After the two leveling cylinders reach their maximum adjustment capacity, the two cylinders stop moving and maintain the status quo; the entire machine continues to work.

[0028] The working method of the self-leveling chassis for construction machinery further comprises the following steps: The chassis main body level sensor 9 detects an angle of b 1、 b2; wherein b1 represents the angle of the front-to-back direction of the chassis body 3 relative to the ground plane, and b2 represents the angle of the left-to-right direction of the chassis body 3 relative to the ground plane; b 1、 When b2 is not 0° and is greater than x°, the ECU transmits a signal to the two leveling cylinder control valve controllers. After the two leveling cylinders reach their maximum adjustment capacity, the two cylinders stop moving and maintain the status quo; the entire machine continues to work.

[0029] In order to ensure the coordination of the whole machine and achieve a larger leveling angle, in this embodiment, the maximum front and rear leveling angle is ±15.6°, which is the leveling angle of the lower plate 5; the maximum left and right leveling angle is ±15.6°, which is the leveling angle of the upper plate 6; the distance between the upper end surface of the upper plate 6 and the upper end surface of the chassis body 3 is between 550mm-680mm, and the coordination and stability of the whole machine are good, achieving the maximum climbing ability, and can climb a slope of 45%. Compared with the same type of products, it has a stronger climbing ability because it can achieve leveling of the part above the chassis body 3 during the climbing process, thereby increasing stability.

[0030] When the detection angle a1=5°, a2=-3°; since the upper plate 6 is always level with the chassis body 3 and the ground during walking, at this moment b1=5°, b2=-3°; a1 and a2 are both less than x=15.6°, therefore, the front leveling cylinder 4.1 and the side leveling cylinder 4.2 need to be activated and adjusted to a1=0°, a2=0°; at this moment, b1=5°, b2=-3°; When the detection angle a1=20°, a2=-3°, since the upper plate 6 is always level with the chassis body 3 and the ground during walking, at this moment b1=20°, b2=-3°; a1>15.6°, a2<15.6° Therefore, the side leveling cylinder 4.2 is controlled to a2=0°, and the front leveling cylinder 4.1 is controlled to the maximum distance of the cylinder extension, and the two cylinders stop moving; at this moment b1=20°, b2=-3°; In practice, when the chassis is in an unleveled state, i.e. a 1、 When a2 is not equal to 0°, if the staff accidentally misoperates, a safety accident may occur during the operation; in order to increase safety, a lifting enable button is added. First, at a 1、 When a2 is not equal to 0°, if the structure above the chassis body 3 is moved, the system will issue an alarm and restrict the movement; at this time, turn on the lift enable button and continue to operate the structure above the chassis body 3. The system will first control the chassis to the leveling state, that is, when a1=0° and a2=0°, and then control the movement of other structures.

[0031] During the leveling process, if the front leveling cylinder 4.1 and the side leveling cylinder 4.2 are actuated at the same time, the required hydraulic flow is relatively large. In order to ensure the speed of each action, the speed of the pump motor needs to be increased.

[0032] During the walking and leveling process, the main arm cylinder and the folding arm cylinder cannot be extended, that is, the boom cannot be unfolded. Of course, for the flexibility and safety of operation, the upper controller uses a wireless controller. The upper controller works with the receiver, and the receiver transmits signals with the ECU to remotely control the entire vehicle; it avoids the situation where the operator stands on the platform to drive, and it is safer to operate on the ground. Example 3

[0033] The working method of the self-leveling chassis for engineering machinery in Example 1 further includes the following steps: In manual adjustment mode: the front leveling cylinder 4.1 and the side leveling cylinder 4.2 are controlled separately. According to the restricted space, the front leveling cylinder 4.1, the side leveling cylinder 4.2 or the front leveling cylinder 4.1 and the side leveling cylinder 4.2 are manually adjusted to allow the whole machine to pass through the space. Example 4

[0034] The self-leveling chassis for engineering machinery provided by the present invention is used for articulated boom type aerial work platforms, excavators, and suction cup vehicle engineering machinery.

Claims

1. A self-leveling chassis for construction machinery, wherein a drive device (1) and a crawler track (2) are mounted on both sides of the chassis; wherein: It comprises a chassis body (3), a cylinder, a lower plate (5), and an upper plate (6); The front side of the chassis body (3) is rotatably connected to a front leveling cylinder (4.1), and the cylinder rod of the front leveling cylinder (4.1) is rotatably connected to the lower plate (5); the other side of the chassis body (3) is hinged to the other side of the lower plate (5); The side of the lower plate (5) is rotatably connected to a side leveling cylinder (4.2), and the cylinder rod of the side leveling cylinder (4.2) is rotatably connected to the upper plate (6); the other side of the lower plate (5) is hinged to the other side of the upper plate (6); A level sensor is mounted on the upper plate (6).

2. The self-leveling chassis for construction machinery according to claim 1, characterized in that: A base 1 (3.2) is fixed on the upper side of the chassis body (3); an ear plate 1 (5.1) is connected to the lower side of the lower plate (5); the ear plate 1 (5.1) and the base 1 (3.2) are connected via a pin shaft; a base 2 (5.4) is connected to the upper side of the lower plate (5); an ear plate 2 (6.2) is connected to the lower side of the upper plate (6); the ear plate 2 (6.2) and the base 2 (5.4) are connected via a pin shaft.

3. The self-leveling chassis for construction machinery according to claim 1, characterized in that: The front leveling oil cylinder (4.1) and the side leveling oil cylinder (4.2) are respectively connected to a balancing valve (7).

4. The self-leveling chassis for construction machinery according to claim 1, characterized in that: The front leveling oil cylinder (4.1) and the side leveling oil cylinder (4.2) are respectively provided with hydraulic locks in the oil cylinder pipelines.

5. The self-leveling chassis for construction machinery according to claim 1, characterized in that: The lower plate (5) is composed of a rectangular tube (5.5) fixed thereto; and an L-shaped bent plate (5.6) is fixed outside the rectangular tube (5.5).

6. The self-leveling chassis for construction machinery according to claim 1, characterized in that: A level sensor is also installed on the chassis body (3).

7. A method for operating the self-leveling chassis for construction machinery according to claim 1, characterized in that: The steps include: In the automatic adjustment mode, the horizontal sensor transmits the detected angle data to the ECU; the upper plate horizontal sensor (8) detects an angle of a 1、 a2; wherein a1 represents the angle of the upper plate (6) in the front-to-back direction relative to the ground plane, and a2 represents the angle of the upper plate (6) in the left-to-right direction relative to the ground plane; The angle adjustment range of the upper plate (6) relative to the lower plate (5) is ±x°; the angle adjustment range of the lower plate (5) relative to the chassis body (3) is ±x°; a 1、 When a2 is 0°, the upper plate (6) is horizontal and does not need to be adjusted; When a1=0° and a2 is not 0° and is less than x°, the ECU transmits a signal to the control valve controller of the side leveling cylinder (4.2), and the corresponding pump motor of the side leveling cylinder (4.2) rotates to extend or retract the side leveling cylinder (4.2) until the upper plate level sensor (8) detects the angle a. 1、 a2 is always 0°; when a1=0° and a2 is not 0° and is greater than x°, after the side leveling cylinder (4.2) reaches the maximum adjustment capacity, the side leveling cylinder (4.2) stops moving and maintains the status quo; the whole machine continues to work; When a1 is not 0° and is less than x°, and a2=0°, the ECU transmits a signal to the front leveling cylinder (4.1) control valve controller, and the corresponding front leveling cylinder (4.1) pump motor rotates to extend or retract the front leveling cylinder (4.1) until the upper plate level sensor (8) detects angle a. 1、 a2 is always 0°; when a1 is not 0° and is greater than x°, when a2=0°; after the front leveling cylinder (4.1) reaches the maximum adjustment capacity, the front leveling cylinder (4.1) stops moving and maintains the status quo; the whole machine continues to work; a 1、 When a2 is not 0° and is less than x°, the ECU transmits a signal to the two leveling cylinder control valve controllers, and the two leveling cylinders extend or retract until the upper plate level sensor (8) detects angle a. 1、 a2 is 0°; a 1、 When a2 is not 0° and is greater than x°, the ECU transmits signals to the two leveling cylinder control valve controllers. After the two leveling cylinders reach their maximum adjustment capacity, the two cylinders stop moving and maintain the status quo; the entire machine continues to work.

8. The method for operating the self-leveling chassis for construction machinery according to claim 7, characterized in that: The following steps are also included: The chassis main body level sensor (9) detects an angle of b 1、 b2; wherein b1 represents the angle of the chassis body (3) in the front-to-back direction relative to the ground plane, and b2 represents the angle of the chassis body (3) in the left-to-right direction relative to the ground plane; b 1、 When b2 is not 0° and is greater than x°, the ECU transmits a signal to the two leveling cylinder control valve controllers. After the two leveling cylinders reach their maximum adjustment capacity, the two cylinders stop moving and maintain the status quo; the entire machine continues to work.

9. The working method of the self-leveling chassis for construction machinery according to claim 7, characterized in that: The following steps are also included: In the manual adjustment mode: the front leveling cylinder (4.1) and the side leveling cylinder (4.2) are controlled separately, and the front leveling cylinder (4.1), the side leveling cylinder (4.2) or the front leveling cylinder (4.1) and the side leveling cylinder (4.2) are manually adjusted according to the restricted space.

10. Application of the self-leveling chassis for construction machinery according to claim 1 in articulated boom aerial work platforms, excavators, and suction cup vehicles.

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