Leveling chassis system

Abstract

The embodiment of the invention provides a leveling chassis system which comprises a leveling device and a transmission device, the leveling device is detachably connected with the transmission device, and the transmission device is provided with driving wheels used for driving the leveling chassis system to move; the leveling device comprises a front side leveling mechanism and a rear side leveling mechanism, and the front side leveling mechanism and the rear side leveling mechanism are detachably and rotatably connected; the front side leveling mechanism is provided with a plurality of front supporting legs which are symmetrically arranged, the rear side leveling mechanism is provided with a plurality of rear supporting legs which are symmetrically arranged, and the front supporting legs and the rear supporting legs are configured to adjust the extending lengths of the front supporting legs and the rear supporting legs so as to adjust the horizontal state of the leveling chassis system. According to the leveling chassis system, modular configuration is achieved, and all the modules can be detached into a mine and assembled in the mine; according to the leveling chassis system, the trafficability requirement in a complex mine tunnel can be met through steering; and the leveling requirement of the engineering machinery can be met by adjusting the extension length of the supporting legs.

Description

Technical Field

[0001] The present application relates to the field of mining construction equipment, and in particular to a leveling chassis system. Background Art

[0002] When construction machinery is in construction, the center of gravity of the whole machine will change greatly due to the change in the working range of its working device. Construction machinery usually needs to work in a horizontal state to ensure the positioning accuracy of the working device and the stability of the whole machine. Therefore, it is necessary to level the construction machinery through vertical outriggers to keep the construction machinery in a horizontal state. In this way, the force on each outrigger is balanced, which can better ensure the stability of the construction machinery.

[0003] However, mine tunnels are relatively narrow and the environment is complex. Existing engineering machinery chassis with leveling function are difficult to pass through mine tunnels due to their large size, resulting in the inability of engineering machinery to enter the work site for construction. Summary of the invention

[0004] The embodiment of the present application provides a leveling chassis system to solve the problem that the existing engineering machinery chassis with a leveling function is difficult to pass through a mine tunnel due to its large size, resulting in the engineering machinery being unable to enter the work site for construction.

[0005] The embodiment of the present application provides a leveling chassis system, the leveling chassis system comprising a leveling device and a transmission device, the leveling device and the transmission device are detachably connected, the transmission device is provided with a driving wheel, and the driving wheel is used to drive the leveling chassis system to move;

[0006] The leveling device comprises a front leveling mechanism and a rear leveling mechanism connected front and back, and the front leveling mechanism is detachably and rotatably connected to the rear leveling mechanism;

[0007] The front leveling mechanism is provided with a plurality of symmetrically arranged front legs, and the rear leveling mechanism is provided with a plurality of symmetrically arranged rear legs. The front legs and the rear legs are configured to adjust the extension lengths of the front legs and the rear legs to adjust the horizontal state of the leveling chassis system.

[0008] In a possible design, the leveling device is further provided with a steering angle sensor, and the steering angle sensor is used to detect a steering angle of the front leveling mechanism relative to the rear leveling mechanism.

[0009] In a possible design, the front leveling mechanism is connected to the rear leveling mechanism via a steering drive mechanism, and the steering drive mechanism is used to drive the front leveling mechanism to turn relative to the rear leveling mechanism.

[0010] In a possible design, the steering drive mechanism includes a steering cylinder, one end of which is connected to the front leveling mechanism, and the other end of which is connected to the rear leveling mechanism. The steering cylinder is configured to drive the piston rod of the steering cylinder to extend and retract to drive the front leveling mechanism to steer relative to the rear leveling mechanism.

[0011] In a possible design, the leveling device is further provided with a camera detection device, the camera detection device includes a camera, and the camera detection device is used to:

[0012] Acquire image data of the side of the leveling chassis system and image data of the front legs through the camera;

[0013] determining a collision risk of the leveling chassis system according to the image data of the side;

[0014] The rollover risk of the leveling chassis system is determined according to the image data of the front legs.

[0015] In a possible design, the front leveling mechanism includes a front support frame and a front frame connected front and rear, the front support frame is detachably rotatably connected to the front frame, and the front frame is detachably rotatably connected to the rear leveling mechanism;

[0016] The front support frame is provided with a plurality of symmetrically arranged front legs, and the front legs are configured to adjust the horizontal state of the front support frame in the left-right direction by adjusting the extension length of the front legs;

[0017] The front support frame is configured to be flipped in a height direction of the front frame.

[0018] In a possible design, the front support frame is connected to the front frame via a flipping drive mechanism, and the flipping drive mechanism is used to drive the front support frame to flip in the height direction of the front frame.

[0019] In a possible design, the flipping drive mechanism includes a flipping cylinder, one end of which is connected to the front support frame, and the other end of which is connected to the front frame. The flipping cylinder is configured to drive the piston rod of the flipping cylinder to extend and retract to drive the front support frame to flip in the height direction of the front frame.

[0020] In a possible design, the front support frame is provided with a flip angle sensor, and the flip angle sensor is used to detect the flip angle of the front support frame in the height direction of the front frame, and the position status of the front support frame.

[0021] In a possible design, the front support frame is provided with an inclinometer, which is used to:

[0022] The horizontal state of the front support frame in the left-right direction and the horizontal state of the front support frame in the front-back direction are detected.

[0023] In a possible design, the leveling device is further provided with a first stroke sensor and a first pressure sensor, wherein the first stroke sensor is used to detect the extension length of the front supporting leg, and the first pressure sensor is used to detect the pressure borne by the front supporting leg.

[0024] In a possible design, the rear leveling mechanism includes a rear frame, a second travel sensor, and a second pressure sensor, and the rear frame is provided with a plurality of symmetrically arranged rear legs;

[0025] The second travel sensor is used to detect the extension length of the rear supporting leg, and the second pressure sensor is used to detect the pressure borne by the rear supporting leg.

[0026] The leveling chassis system provided in the embodiment of the present application has the following technical effects:

[0027] The leveling device of the leveling chassis system is detachably connected to the transmission device, and the front leveling mechanism and the rear leveling mechanism of the leveling device are also detachably connected. Therefore, the leveling chassis system realizes modular configuration, and each module can be disassembled down to the mine and assembled in the mine; the front leveling mechanism can be turned relative to the rear leveling mechanism, so that the leveling chassis system can meet the passability requirements in complex mine tunnels; by adjusting the extension length of the legs, the leveling chassis system can be kept in a horizontal state in the mine, meeting the construction requirements of engineering machinery. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0029] Figure 1 A schematic diagram of a leveling chassis system provided in an embodiment of the present application;

[0030] Figure 2 A schematic diagram of a transmission device provided in an embodiment of the present application;

[0031] Figure 3 A schematic diagram of the horizontal tunnel face leg support provided in an embodiment of the present application;

[0032] Figure 4 A schematic diagram of the steering and walking of the leveling chassis system provided in an embodiment of the present application;

[0033] Figure 5 A schematic diagram of a front support frame provided in an embodiment of the present application;

[0034] Figure 6 A schematic diagram of a front frame provided in an embodiment of the present application;

[0035] Figure 7 A schematic diagram of a rear leveling mechanism provided in an embodiment of the present application;

[0036] Figure 8 A schematic diagram of a tunnel face support leg having a slope in the front and rear directions provided in an embodiment of the present application;

[0037] Fig. 9 A schematic diagram of the support legs for a tunnel face with a slope in the left and right directions provided in an embodiment of the present application.

[0038] Reference numerals:

[0039] 100-leveling device;

[0040] 110-front leveling mechanism;

[0041] 111-front support frame;

[0042] 112-front frame;

[0043] 120-Rear leveling mechanism;

[0044] 121-rear frame;

[0045] 200-transmission device;

[0046] 210-driving wheel;

[0047] 300-front outrigger;

[0048] 400-rear outrigger;

[0049] 500-Turning cylinder;

[0050] 600- flip angle sensor;

[0051] 700 - inclinometer;

[0052] 800- first stroke sensor;

[0053] 900-Working device mounting seat;

[0054] 1000-steering angle sensor;

[0055] 1100- Video detection equipment;

[0056] 1200-Steering cylinder.

[0057] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0058] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0059] When construction machinery is in construction, the center of gravity of the whole machine will change greatly due to the change of the working range of its working device. Construction machinery usually needs to work in a horizontal state to ensure the positioning accuracy of the working device and the stability of the whole machine. Therefore, it is necessary to level the construction machinery through vertical outriggers to keep the construction machinery in a horizontal state, so that the forces on each outrigger are balanced, which can better ensure the stability of the construction machinery. Outriggers are usually divided into fixed and movable support types. Fixed outriggers are directly connected to the construction machinery frame. The size of the support range is affected by the construction machinery frame and can be used for equipment with a small range of changes in the center of gravity. For movable support outriggers, including transverse telescopic or transverse deflection types and a combination of the two, the vertical outrigger is first connected to the transverse telescopic arm or transverse deflection arm, and the transverse telescopic arm or transverse deflection arm is connected to the frame. This can achieve a larger support range and a larger center of gravity change area. The appropriate transverse telescopic arm or transverse deflection arm can be selected according to the range of changes in the center of gravity position when the working device changes. Before the construction machinery works, first extend or deflect the lateral telescopic arm or lateral deflection arm to a suitable position, and then extend the vertical legs to support the entire equipment.

[0060] Various engineering machinery is often needed in mining operations. However, due to the narrowness and complex environment of mine tunnels, the existing chassis of engineering machinery with leveling function is difficult to pass through mine tunnels due to its large size, resulting in the inability of engineering machinery to enter the work site for construction. In response to this problem, the technical concept of this application is:

[0061] A construction machinery chassis system with a leveling function is designed. The leveling chassis system includes a leveling device and a transmission device. The leveling device and the transmission device are detachably connected. The transmission device has a driving wheel, and the driving wheel can drive the leveling chassis system to move. The leveling device includes a front leveling mechanism and a rear leveling mechanism. The front leveling mechanism and the rear leveling mechanism are detachably connected, and the front leveling mechanism can turn relative to the rear leveling mechanism. The front leveling mechanism and the rear leveling mechanism are both provided with a plurality of symmetrically arranged legs. The horizontal state of the leveling chassis system is adjusted by adjusting the extension length of the legs.

[0062] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0063] Embodiment 1

[0064] Figure 1 This is a schematic diagram of a leveling chassis system provided in an embodiment of the present application. The leveling chassis system can be applied to engineering machinery. Figure 1 As shown, the leveling chassis system includes a leveling device 100 and a transmission device 200. The leveling device 100 is used to realize the leveling function of the chassis system. The leveling device 100 and the transmission device 200 are detachably connected. The transmission device 200 is provided with a driving wheel 210, which is used to drive the leveling chassis system to move.

[0065] There are multiple connection methods for the leveling device 100 and the transmission device 200 to achieve detachable connection. For example, the leveling device 100 can be detachably connected to the transmission device 200 by bolt connection, pin connection, latch connection, etc.

[0066] Figure 2 A schematic diagram of a transmission device provided in an embodiment of the present application, such as Figure 2 As shown, the driving wheels 210 of the transmission device 200 may be symmetrically arranged wheels, and the leveling chassis system is driven to move by the rotation of the wheels. The transmission device 200 may also be a crawler transmission system, and the leveling chassis system is driven to move by the driving wheels 210 driving the crawlers. The transmission device 200 may include structures such as a clutch, a transmission, a drive shaft, a differential, a drive axle, and a universal joint to transmit the power of the engine to the driving wheels 210.

[0067] like Figure 1As shown, the leveling device 100 includes a front leveling mechanism 110 and a rear leveling mechanism 120 connected front to back. The front leveling mechanism 110 and the rear leveling mechanism 120 are detachably rotatably connected to achieve the steering of the front leveling mechanism 110 relative to the rear leveling mechanism 120, so that the chassis system can pass through a mine tunnel with a complex environment. There are a variety of ways to achieve a detachable rotatable connection between the front leveling mechanism 110 and the rear leveling mechanism 120. For example, the front leveling mechanism 110 and the rear leveling mechanism 120 can be connected by a hinge pin. This connection method allows quick installation and disassembly. The two components can be easily separated by pulling out the pin; the front leveling mechanism 110 and the rear leveling mechanism 120 can be connected by a quick release pin. This pin is designed for quick connection and disconnection and is usually equipped with a spring locking device to ensure that it does not accidentally fall off during use, and allows the two components to rotate around the pin while providing the ability to quickly disassemble; the front leveling mechanism 110 and the rear leveling mechanism 120 can be connected by a ball joint. The ball joint allows multi-directional rotation and provides greater flexibility. By using a detachable fixing device, the two components can be quickly connected and disconnected.

[0068] The front leveling mechanism 110 can be connected to the rear leveling mechanism 120 via a steering drive mechanism, and the steering drive mechanism is used to drive the front leveling mechanism 110 to turn relative to the rear leveling mechanism 120. The steering drive mechanism can be implemented, for example, by the following structure:

[0069] Hydraulic steering system: Hydraulic steering system uses hydraulic cylinders or hydraulic motors to achieve steering movement. Hydraulic systems can provide strong force and precise control, suitable for heavy machinery and equipment. Hydraulic steering usually controls the steering angle by changing the flow and direction of hydraulic oil.

[0070] Electric steering system: The electric steering system uses an electric motor to drive a gear or screw mechanism to achieve steering. The advantages of the electric steering system are that it is easy to integrate into the electronic control system, and can achieve precise steering control and fast response.

[0071] Figure 3 A schematic diagram of the horizontal tunnel face leg support provided in the embodiment of the present application is shown in FIG. Figure 1 , Figure 3As shown, the front leveling mechanism 110 is provided with a plurality of symmetrically arranged front legs 300, and the rear leveling mechanism 120 is provided with a plurality of symmetrically arranged rear legs 400. The front legs 300 and the rear legs 400 are configured to adjust the horizontal state of the leveling chassis system by adjusting the extension length of the front legs 300 and the rear legs 400. The front legs 300 and the rear legs 400 can prop up the chassis system by extending, and the horizontal state of the chassis system can be adjusted by adjusting the extension length of the front legs 300 and the rear legs 400. Optionally, the front legs 300 and the rear legs 400 can be extended and retracted by a hydraulic cylinder.

[0072] Based on the above design, the leveling device 100 of the leveling chassis system is detachably connected to the transmission device 200, and the front leveling mechanism 110 and the rear leveling mechanism 120 of the leveling device 100 are also detachably connected. Therefore, the leveling chassis system realizes modular configuration, and each module can be disassembled down to the mine and assembled in the mine; the front leveling mechanism 110 can be turned relative to the rear leveling mechanism 120, so that the leveling chassis system can meet the passability requirements in complex mine tunnels; by adjusting the extension length of the legs, the leveling chassis system can maintain a horizontal state in the mine, meeting the construction requirements of engineering machinery.

[0073] It should be noted that Figure 1 The specific structures of the front leveling mechanism 110 and the rear leveling mechanism 120 are not limited. The front leveling mechanism 110 and the rear leveling mechanism 120 may both be integral vehicle frame structures. Figure 1 This is only a possible implementation form of the front leveling mechanism 110 and the rear leveling mechanism 120 provided in the embodiment of the present application.

[0074] like Figure 1 As shown, the front leveling mechanism 110 may include a front support frame 111 and a front frame 112 connected front to back, the front support frame 111 and the front frame 112 are detachably rotatably connected, and the front frame 112 is detachably rotatably connected to the rear leveling mechanism 120. The front support frame 111 may be configured to flip in the height direction of the front frame 112, and the front support frame 111 may be provided with a plurality of symmetrically arranged front legs 300, so as to adjust the horizontal state of the front support frame 111 in the left and right directions by adjusting the extension length of the front legs 300.

[0075] Specifically, the front support frame 111 can be designed to have larger horizontal and vertical dimensions, so that after the front support frame 111 flips over and touches the ground, the front end of the chassis system can be propped up by the front support frame 111, and the front support frame 111 plays the role of a bracket. Compared with the tire, the front support frame 111 can obviously have better stability and better ensure the stability of the engineering machinery. At this time, the horizontal state of the front support frame 111 in the left and right directions can be adjusted by adjusting the front legs 300 on both sides of the front support frame 111. For example, the horizontal state can be adjusted by controlling the extension of the front legs 300 on the lower side of the front support frame 111. And because the front support frame 111 can be flipped in the height direction of the front frame 112, the front support frame 111 can be flipped up when the engineering machinery is driving, so that the engineering machinery can pass through the mine tunnel with a complex environment. Figure 4 A schematic diagram of the steering and walking of the leveling chassis system provided in the embodiment of the present application is shown in FIG. Figure 4 As shown, after the front support frame 111 is flipped up, the front frame 112 can be turned relative to the rear leveling mechanism 120 to ensure that the chassis system can smoothly pass through a mine tunnel with a complex environment.

[0076] Furthermore, in order to drive the front support frame 111 to flip in the height direction of the front frame 112, the front support frame 111 can be connected to the front frame 112 via a flip driving mechanism, and the flip driving mechanism is used to drive the front support frame 111 to flip in the height direction of the front frame 112. The flip driving mechanism can be implemented, for example, by the following structure:

[0077] Hydraulic cylinder: The hydraulic cylinder can provide strong force and precise control. The hydraulic cylinder pushes the piston rod through the pressure of the hydraulic oil, thereby driving the front support frame 111 to flip. The advantage of the hydraulic system is that it can withstand heavy loads and provide smooth movement.

[0078] Electric actuator: Electric actuator uses an electric motor to drive a screw or gear mechanism to achieve linear or rotary motion. The advantage of electric actuator is that it is easy to integrate into electronic control systems.

[0079] Gear rack mechanism: This mechanism achieves linear motion through the meshing of gears and racks, thereby driving the support frame to flip. The gear rack mechanism can provide high-precision motion control.

[0080] Worm gear mechanism: Worm gear mechanism is used to convert rotational motion into tilting motion. It has a self-locking function and can maintain the position when stopped.

[0081] Optional, such as Figure 1As shown, the flipping drive mechanism may include a flipping cylinder 500, one end of which is connected to the front support frame 111, and the other end of the flipping cylinder 500 is connected to the front frame 112. The flipping cylinder 500 is configured to drive the piston rod of the flipping cylinder 500 to extend and retract to drive the front support frame 111 to flip in the height direction of the front frame 112.

[0082] Embodiment 2

[0083] At present, in most mining machinery and equipment, such as tunneling trolleys and wet spraying machines, the outriggers need to be unfolded before operation to keep the construction machinery in a horizontal state. The outrigger support control is completely dependent on manual operation, and whether the support device is leveled or not is also dependent on naked eye observation. This method has the problems of cumbersome operation, low precision, high dependence on manual labor, and delays in construction time, especially the inability to achieve unmanned, intelligent and remote control. If the construction machinery is not kept in a horizontal state, it will not only affect the stability of the construction machinery during operation, but also easily cause accidents during the operation of the construction machinery, especially when the construction machinery is operating on an uneven road surface, the possibility and risk of accidents will be greatly increased. At the same time, in order to obtain better stability and anti-overturning ability, construction machinery usually installs four outriggers on both sides of its chassis. The structure is relatively complex, and there is no good ground contact detection device, which often leads to one or two virtual legs in the four leveling outriggers, resulting in poor support and leveling effects.

[0084] To solve the above problems, based on the first embodiment, this embodiment increases the intelligence and automation of the chassis system by providing a variety of sensors.

[0085] Figure 5 A schematic diagram of the front support frame provided in the embodiment of the present application, such as Figure 5 As shown, a working device mounting seat 900 is provided on the front support frame 111 for mounting a working device of an engineering machine, such as a mechanical arm of an excavator. A flip angle sensor 600 is provided on the front support frame 111, and the flip angle sensor 600 is used to detect the flip angle of the front support frame 111 in the height direction of the front frame 112, and the position state of the front support frame 111. An inclinometer 700 is provided on the front support frame 111, and the inclinometer 700 is used to detect the horizontal state of the front support frame 111 in the left and right directions, and the horizontal state of the front support frame 111 in the front and rear directions. The leveling device 100 can specifically be provided with a first stroke sensor 800 and a first pressure sensor on the front support frame 111, and the first stroke sensor 800 is used to detect the extension length of the front support leg 300, and the first pressure sensor is used to detect the pressure borne by the front support leg 300, and the first pressure sensor can be arranged inside the front support leg 300.

[0086] By setting up the flip angle sensor 600, the flip angle of the front support frame 111 can be accurately controlled; by using the inclinometer 700, the horizontal state of the front support frame 111 in the front, rear, left and right directions can be detected, and based on the horizontal state of the front support frame 111 in the front, rear, left and right directions, the horizontal state of the chassis system can be adjusted by adjusting the extended lengths of the front legs 300 and the rear legs 400. At the same time, the first stroke sensor 800 can detect the extended length of the front legs 300, thereby achieving accurate control of the extended length of the front legs 300, and the first pressure sensor can avoid virtual support of the front legs 300 by detecting the pressure on the front legs 300.

[0087] Figure 6 A schematic diagram of a front frame provided in an embodiment of the present application, Figure 7 A schematic diagram of the rear leveling mechanism provided in an embodiment of the present application is shown in FIG. Figure 6 , Figure 7 As shown, the leveling device 100 is further provided with a steering angle sensor 1000, and the steering angle sensor 1000 is used to detect the steering angle of the front leveling mechanism 110 relative to the rear leveling mechanism 120. Optionally, when the front leveling mechanism 110 and the rear leveling mechanism 120 are detachably connected by a hinge pin, the steering angle sensor 1000 can detect the steering angle of the front leveling mechanism 110 relative to the rear leveling mechanism 120 by detecting the rotation angle of the hinge pin at the connection between the front leveling mechanism 110 and the rear leveling mechanism 120. By providing the steering angle sensor 1000, the engineering machinery can be assisted to pass through the mine tunnel by detecting the steering angle of the front leveling mechanism 110 relative to the rear leveling mechanism 120 during the driving process of the engineering machinery. In particular, in the process of remote control or unmanned control of the engineering machinery, the subsequent steering of the front leveling mechanism 110 can be controlled by detecting the steering angle of the front leveling mechanism 110 relative to the rear leveling mechanism 120.

[0088] like Figure 7 As shown, the rear leveling mechanism 120 includes a rear frame 121, a second stroke sensor, and a second pressure sensor. The rear frame 121 is provided with a plurality of symmetrically arranged rear legs 400. The second stroke sensor is used to detect the extended length of the rear legs 400, and the second pressure sensor is used to detect the pressure borne by the rear legs 400. The second pressure sensor can be arranged inside the rear legs 400. By arranging the second stroke sensor, the extended length of the rear legs 400 can be accurately controlled to adjust the horizontal state of the chassis system, and the second pressure sensor can prevent the rear legs 400 from being falsely supported by detecting the pressure borne by the rear legs 400.

[0089] like Figure 7As shown, the rear leveling mechanism 120 can be connected to the front frame 112 via a steering cylinder 1200. Optionally, the steering cylinder 1200 can be symmetrically arranged, with the cylinder body of the steering cylinder 1200 connected to the rear frame 121, and the piston rod of the steering cylinder 1200 connected to the front frame 112. By driving the piston rods of the steering cylinders 1200 on both sides to extend and retract, the front frame 112 can be controlled to achieve steering relative to the rear frame 121.

[0090] like Figure 7 As shown, the leveling device 100 is further provided with a camera detection device 1100, which includes a camera. The camera detection device 1100 is used to:

[0091] Acquire image data of the side of the leveling chassis system and image data of the front legs 300 through a camera;

[0092] Based on the image data from the side, the collision risk of the leveling chassis system is determined;

[0093] The rollover risk of the leveling chassis system is determined based on the image data of the front legs 300 .

[0094] Optional, such as Figure 7 As shown, the camera detection device 1100 can be arranged on both sides of the rear frame 121, so as to detect the collision risk between the side of the engineering machinery and the tunnel in real time during the driving of the engineering machinery. The camera detection device 1100 can realize this function through a built-in algorithm, or it can shoot the above image data and send the above image data remotely to a server, and the server realizes this function through a corresponding detection algorithm.

[0095] Figure 8 A schematic diagram of a tunnel face support with a slope in the front and rear directions provided in an embodiment of the present application. Fig. 9 The schematic diagram of the leg support for the tunnel surface with a slope in the left and right directions provided in the embodiment of the present application. Figure 3 , Figure 8 , Fig. 9 , the working process of the leveling chassis system provided in this embodiment is explained.

[0096] In a mine tunnel, when a certain working surface needs to be operated, the construction machinery enters the site. At this time, the chassis system drives the front support frame 111 to flip to the highest position through the flip drive mechanism. At this time, the departure angle of the construction machinery meets the passability requirements. The turning of the construction machinery can be achieved by controlling the steering drive mechanism. The steering angle sensor 1000 at the hinge pin connecting the front frame 112 and the rear leveling mechanism 120 can detect the steering angle of the chassis system, so that the construction machinery can run to the working area. The two-side camera detection equipment 1100 can realize the side detection of the construction machinery, ensure the safety of the construction machinery, and prevent the construction machinery from colliding with the tunnel wall and being damaged.

[0097] When the construction machinery runs to the working area, the flip driving mechanism drives the front support frame 111 to flip downward, and the flip angle sensor 600 can detect and control the deflection angle and position state of the front support frame 111 at this time. The front support frame 111 deflects to the lowest position. At this time, the front support frame 111 is equivalent to the support leg that keeps the front part of the chassis system propped up. The inclinometer 700 detects whether the front part of the chassis is in a horizontal state. If it is not horizontal, according to the detected inclination angle of the front support frame 111, the lower side of the front support leg 300 on the left and right sides of the front support frame 111 is controlled to extend. The first pressure sensor in the front support leg 300 can ensure that the front support leg 300 has touched the ground to avoid false support. When the inclinometer 700 detects that the front support frame 111 is horizontal, the front support leg 300 stops extending. The camera detection device 1100 always detects the state of the front support frame 111 and the front support leg 300 throughout the whole process to avoid accidents such as rollover.

[0098] After the horizontal adjustment of the front support frame 111 is completed, the rear support leg 400 is extended, and the second stroke sensor of the rear support leg 400 detects the extension length of the rear support leg 400 cylinder and provides feedback. When the second pressure sensor of the rear support leg 400 feedbacks that the pressure is greater than a certain standard value, it means that the rear support leg 400 begins to support the ground, and the rear end of the chassis system is propped up. At this time, the extension length of the rear support leg 400 can be controlled according to the inclination angle of the inclinometer 700 in the front and rear directions. When the inclinometer 700 detects that the front support frame 111 remains horizontal, the rear support leg 400 stops extending. At this time, the engineering machinery is in a horizontal state, and then the operation can be started, and this cycle is repeated.

[0099] When the inclinometer 700 of the construction machinery alarms that the tilt angle is greater than the standard value, it indicates that the construction area is not suitable for construction at this time, the construction machinery cannot be leveled, and the site needs to be leveled. When the inclinometer 700 detects that the tilt angle is lower than the standard value, the front outrigger 300 or the rear outrigger 400 has used up all its travel and has been fully extended, but it cannot be leveled, indicating that the unevenness of the support position is high and there are low potholes, so it is necessary to level the site before construction.

[0100] The control functions in the above workflow can be implemented by setting a processor on the engineering machinery to execute the corresponding control algorithm, or by remotely communicating with the server and implementing the control algorithm in the server. By setting a variety of sensors, the leveling chassis system provided in the embodiment of the present application can achieve automatic and intelligent high-precision leveling, overcoming the corresponding defects of the prior art.

[0101] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A leveling chassis system, characterized in that: The leveling chassis system comprises a leveling device (100) and a transmission device (200); the leveling device (100) is detachably connected to the transmission device (200); the transmission device (200) is provided with a driving wheel (210); the driving wheel (210) is used to drive the leveling chassis system to move; The leveling device (100) comprises a front leveling mechanism (110) and a rear leveling mechanism (120) connected front to back, wherein the front leveling mechanism (110) and the rear leveling mechanism (120) are detachably rotatably connected; The front leveling mechanism (110) is provided with a plurality of symmetrically arranged front legs (300), and the rear leveling mechanism (120) is provided with a plurality of symmetrically arranged rear legs (400), and the front legs (300) and the rear legs (400) are configured to adjust the extension lengths of the front legs (300) and the rear legs (400) to adjust the horizontal state of the leveling chassis system.

2. The leveling chassis system according to claim 1, characterized in that: The leveling device (100) is further provided with a steering angle sensor (1000), and the steering angle sensor (1000) is used to detect the steering angle of the front leveling mechanism (110) relative to the rear leveling mechanism (120).

3. The leveling chassis system according to claim 1, characterized in that: The front leveling mechanism (110) is connected to the rear leveling mechanism (120) via a steering drive mechanism, and the steering drive mechanism is used to drive the front leveling mechanism (110) to turn relative to the rear leveling mechanism (120).

4. The leveling chassis system according to claim 1, characterized in that: The leveling device (100) is further provided with a video detection device (1100), wherein the video detection device (1100) comprises a camera, and the video detection device (1100) is used to: Acquiring image data of the side of the leveling chassis system and image data of the front legs (300) through the camera; determining a collision risk of the leveling chassis system according to the image data of the side; The rollover risk of the leveling chassis system is determined based on the image data of the front legs (300).

5. The leveling chassis system according to claim 1, characterized in that: The front leveling mechanism (110) comprises a front support frame (111) and a front frame (112) connected front to back, the front support frame (111) and the front frame (112) being detachably rotatably connected, and the front frame (112) and the rear leveling mechanism (120) being detachably rotatably connected; The front support frame (111) is provided with a plurality of symmetrically arranged front legs (300), and the front legs (300) are configured to adjust the horizontal state of the front support frame (111) in the left-right direction by adjusting the extension length of the front legs (300); The front support frame (111) is configured to flip in the height direction of the front vehicle frame (112).

6. The leveling chassis system according to claim 5, characterized in that: The front support frame (111) is connected to the front vehicle frame (112) via a flipping drive mechanism, and the flipping drive mechanism is used to drive the front support frame (111) to flip in a height direction of the front vehicle frame (112).

7. The leveling chassis system according to claim 5, characterized in that: The front support frame (111) is provided with a flip angle sensor (600), and the flip angle sensor (600) is used to detect the flip angle of the front support frame (111) in the height direction of the front vehicle frame (112), and the position state of the front support frame (111).

8. The leveling chassis system according to claim 5, characterized in that: The front support frame (111) is provided with an inclinometer (700), and the inclinometer (700) is used to: The horizontal state of the front support frame (111) in the left-right direction and the horizontal state of the front support frame (111) in the front-back direction are detected.

9. The leveling chassis system according to any one of claims 1 to 8, characterized in that: The leveling device (100) is further provided with a first stroke sensor (800) and a first pressure sensor; the first stroke sensor (800) is used to detect the extended length of the front supporting leg (300); and the first pressure sensor is used to detect the pressure borne by the front supporting leg (300).

10. The leveling chassis system according to any one of claims 1 to 8, characterized in that: The rear side leveling mechanism (120) comprises a rear frame (121), a second travel sensor, and a second pressure sensor; the rear frame (121) is provided with a plurality of symmetrically arranged rear legs (400); The second travel sensor is used to detect the extension length of the rear support leg (400), and the second pressure sensor is used to detect the pressure borne by the rear support leg (400).

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