Leveling chassis system

Abstract

This application provides a leveling chassis system, which includes a leveling device and a transmission device. The leveling device and the transmission device are detachably connected. The transmission device is equipped with a drive wheel for driving the leveling chassis system. The leveling device includes a front leveling mechanism and a rear leveling mechanism, which are detachably and rotatably connected. The front leveling mechanism has multiple symmetrically arranged front outriggers, and the rear leveling mechanism has multiple symmetrically arranged rear outriggers. The front and rear outriggers are configured to adjust their extension lengths to adjust the leveling chassis system's horizontal state. This leveling chassis system achieves modular configuration, and each module can be disassembled and brought into the mine for assembly. The leveling chassis system can meet the passability requirements in complex mine tunnels through steering; and by adjusting the outrigger extension lengths, it can meet the leveling requirements of engineering machinery.

Description

Technical Field

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

[0002] During construction, the center of gravity of construction machinery changes significantly due to variations in the working range of its working devices. Since construction machinery typically needs to operate in a horizontal position to ensure the accuracy of the working device positioning and the stability of the entire machine, it is necessary to use vertical outriggers to level the machinery and keep it in a horizontal position. This ensures that the force on each outrigger is balanced, which better guarantees the stability of the construction machinery.

[0003] However, mine tunnels are narrow and the environment is complex. Existing engineering machinery chassis with leveling functions are too large to pass through mine tunnels, making it impossible for engineering machinery to enter the work site for construction. Summary of the Invention

[0004] This application provides a leveling chassis system to solve the problem that existing engineering machinery chassis with leveling functions are too large to pass through mining tunnels, thus preventing engineering machinery from entering the work site for construction.

[0005] This application provides a leveling chassis system, which includes a leveling device and a transmission device. The leveling device and the transmission device are detachably connected. The transmission device is provided with a drive wheel, which is used to drive the leveling chassis system to move.

[0006] The leveling device includes a front leveling mechanism and a rear leveling mechanism connected front to back, and the front leveling mechanism and the rear leveling mechanism are detachably and rotatably connected.

[0007] The front leveling mechanism has multiple symmetrically arranged front support legs, and the rear leveling mechanism has multiple symmetrically arranged rear support legs. The front support legs and the rear support legs are configured to adjust the extension length of the front support legs and the rear support legs to adjust the leveling chassis system.

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

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

[0010] In one 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 or retract, thereby driving the front leveling mechanism to steer relative to the rear leveling mechanism.

[0011] In one possible design, the leveling device further includes a camera detection device, which comprises a camera and is used for:

[0012] The camera acquires image data of the side of the leveling chassis system and image data of the front outrigger.

[0013] Based on the image data from the side, determine the collision risk of the leveling chassis system;

[0014] Based on the image data of the front outriggers, the risk of rollover of the leveling chassis system is determined.

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

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

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

[0018] In one possible design, the front support frame is connected to the front frame via a tilting drive mechanism, which drives the front support frame to tilt in the height direction of the front frame.

[0019] In one possible design, the tilting drive mechanism includes a tilting 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 tilting cylinder is configured to drive the piston rod of the tilting cylinder to extend or retract, thereby driving the front support frame to tilt in the height direction of the front frame.

[0020] In one possible design, the front support frame is equipped with a flip angle sensor, which is used to detect the angle at which the front support frame flips in the height direction of the front frame, as well as the positional state of the front support frame.

[0021] In one possible design, the front support frame is equipped with a tilting device, which is used for:

[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 one possible design, the leveling device is further provided with a first stroke sensor and a first pressure sensor. The first stroke sensor is used to detect the extension length of the front outrigger, and the first pressure sensor is used to detect the pressure borne by the front outrigger.

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

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

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

[0027] The leveling chassis system's leveling device and transmission device are detachably connected. The front and rear leveling mechanisms of the leveling device are also detachably connected. Therefore, the leveling chassis system achieves modular configuration, and each module can be disassembled and taken down into the mine for assembly inside the mine. The front leveling mechanism can turn relative to the rear leveling mechanism, enabling the leveling chassis system to meet the passability requirements in complex mine tunnels. By adjusting the outrigger extension length, the leveling chassis system can be kept level in the mine, meeting the construction needs of engineering machinery. Attached Figure Description

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

[0029] Figure 1 This is a schematic diagram of the leveling chassis system provided in an embodiment of this application;

[0030] Figure 2 A schematic diagram of the transmission device provided in the embodiments of this application;

[0031] Figure 3 This is a schematic diagram of the horizontal tunnel surface outrigger support provided in an embodiment of this application;

[0032] Figure 4 This is a schematic diagram of the steering and walking of the leveling chassis system provided in the embodiments of this application;

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

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

[0035] Figure 7 A schematic diagram of the rear leveling mechanism provided in the embodiments of this application;

[0036] Figure 8 A schematic diagram of the outrigger support for a tunnel surface with a slope in the front and rear directions provided in this application embodiment;

[0037] Figure 9 This is a schematic diagram of the support legs for a tunnel surface with a slope in the left and right directions, provided in an embodiment of this application.

[0038] Figure label:

[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 - Drive wheel;

[0047] 300-front support leg;

[0048] 400-Rear support leg;

[0049] 500-Tilting Hydraulic Cylinder;

[0050] 600-Flip Angle Sensor;

[0051] 700- Inclinometer;

[0052] 800 - First Stroke Sensor;

[0053] 900 - Working device mounting base;

[0054] 1000 - Steering angle sensor;

[0055] 1100 - Camera inspection equipment;

[0056] 1200 - Steering cylinder.

[0057] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concepts of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0058] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0059] During construction, the center of gravity of engineering machinery shifts significantly due to changes in the working range of its working devices. Since engineering machinery typically needs to operate horizontally to ensure accurate positioning of the working devices and overall stability, vertical outriggers are required for leveling. This ensures the machinery remains horizontal, with balanced force distribution across the outriggers, thus enhancing stability. Outriggers are generally classified as fixed or movable. Fixed outriggers connect directly to the machinery's frame, and their support range is limited by the frame; they are suitable for equipment with relatively small center of gravity shifts. Movable outriggers, including lateral telescopic or lateral tilting outriggers and combinations thereof, involve connecting the vertical outrigger to the lateral telescopic or tilting arm, which in turn connects to the frame. This provides a larger support range and a wider center of gravity shift area. The appropriate lateral telescopic or tilting arm can be selected based on the range of center of gravity shifts caused by changes in the working devices. Before the construction machinery is put into operation, extend or deflect the horizontal telescopic boom or the horizontal swivel boom to a suitable position, and then extend the vertical outriggers to support the entire machine.

[0060] Various engineering machinery is frequently used in mining operations. However, due to the narrowness and complex environment of mine tunnels, the chassis of existing engineering machinery with leveling functions are too large to pass through mine tunnels, preventing the machinery from entering the work site for construction. To address this problem, the technical concept of this application is:

[0061] Design a leveling chassis system for engineering machinery. This system includes a leveling device and a transmission device, which are detachably connected. The transmission device has a drive wheel that can drive the leveling chassis system to move. The leveling device includes a front leveling mechanism and a rear leveling mechanism, which are detachably connected, and the front leveling mechanism can steer relative to the rear leveling mechanism. Both the front and rear leveling mechanisms have multiple symmetrically arranged outriggers, and the leveling state of the chassis system can be adjusted by adjusting the extension length of the outriggers.

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

[0063] Example 1

[0064] Figure 1 This is a schematic diagram of a leveling chassis system provided in an embodiment of this application. This leveling chassis system can be applied to construction 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 drive wheel 210, which is used to drive the leveling chassis system to move.

[0065] The leveling device 100 and the transmission device 200 can be connected in various ways to achieve a detachable connection. For example, the leveling device 100 can be detachably connected to the transmission device 200 by means of bolt connection, pin connection, or plug connection.

[0066] Figure 2 This is a schematic diagram of the transmission device provided in the embodiments of this application, such as... Figure 2 As shown, the drive wheels 210 of the transmission device 200 can be symmetrically arranged wheels, which drive the leveling chassis system to move by rotating the wheels. The transmission device 200 can also be a track drive system, which drives the leveling chassis system to move by the drive wheels 210 driving the tracks. The transmission device 200 may include structures such as a clutch, gearbox, drive shaft, differential, drive axle, and universal joint to transmit engine power to the drive 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 and rotatably connected. The function is to enable the front leveling mechanism 110 to turn relative to the rear leveling mechanism 120, so that the chassis system can pass through the complex environment of the mine tunnel. There are several 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, which allows for quick installation and disassembly. By pulling out the pin, the two parts can be easily separated. The front leveling mechanism 110 and the rear leveling mechanism 120 can be connected by a quick-release pin, which is designed for quick connection and disconnection. It usually has a spring locking device to ensure that it will not fall off accidentally during use and allows the two parts to rotate around the pin, while providing the ability to disassemble quickly. The front leveling mechanism 110 and the rear leveling mechanism 120 can be connected by a ball joint, which allows for rotation in multiple directions and provides greater flexibility. By using a detachable fixing device, the two parts 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. The steering drive mechanism drives the front leveling mechanism 110 to steer relative to the rear leveling mechanism 120. The steering drive mechanism can be implemented, for example, through the following structure:

[0069] Hydraulic steering system: A hydraulic steering system uses hydraulic cylinders or hydraulic motors to achieve steering motion. Hydraulic systems provide powerful force and precise control, making them suitable for heavy machinery. Hydraulic steering typically controls the steering angle by changing the flow and direction of the hydraulic fluid.

[0070] Electric power steering (ESP): ESP uses an electric motor to drive a gear or screw mechanism to achieve steering. The advantages of ESP are its ease of integration into electronic control systems, and it enables precise steering control and rapid response.

[0071] Figure 3 This is a schematic diagram of the horizontal tunnel surface outrigger support provided in an embodiment of this application, as shown below. Figure 1 , Figure 3As shown, the front leveling mechanism 110 has multiple symmetrically arranged front outriggers 300, and the rear leveling mechanism 120 has multiple symmetrically arranged rear outriggers 400. The front outriggers 300 and rear outriggers 400 are configured to adjust the extension length of the front outriggers 300 and rear outriggers 400 to adjust the leveling state of the chassis system. The front outriggers 300 and rear outriggers 400 can extend to support the chassis system, and the leveling state of the chassis system can be adjusted by adjusting the extension length of each of the front outriggers 300 and rear outriggers 400. Optionally, the front outriggers 300 and rear outriggers 400 can be extended and retracted by hydraulic cylinders.

[0072] Based on the above design, the leveling device 100 of the leveling chassis system is detachably connected to the transmission device 200. 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 achieves modular configuration, and each module can be disassembled and taken down into the mine for assembly inside the mine. The front leveling mechanism 110 can turn 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 outriggers, the leveling chassis system can be kept in 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; both the front leveling mechanism 110 and the rear leveling mechanism 120 can be integral frame structures. Figure 1 This is only one possible implementation of the front leveling mechanism 110 and the rear leveling mechanism 120 provided in the embodiments of this 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 rear. The front support frame 111 and the front frame 112 are detachably and rotatably connected, and the front frame 112 is detachably and 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 have multiple symmetrically arranged front support legs 300, so that the horizontal state of the front support frame 111 in the left and right directions can be adjusted by adjusting the extension length of the front support legs 300.

[0075] Specifically, the front support frame 111 can be designed with a large lateral and longitudinal dimension. This allows the front end of the chassis system to be supported after the front support frame 111 flips down and touches the ground, acting as a support structure. Compared to tires, the front support frame 111 obviously provides better stability and ensures greater stability for the construction machinery. The horizontal position of the front support frame 111 can be adjusted by adjusting the front outriggers 300 on both sides. For example, the horizontal position can be adjusted by controlling the extension of the lower outrigger 300 on the lower side of the front support frame 111. Furthermore, since the front support frame 111 can flip up at the height of the front frame 112, it can be flipped up while the construction machinery is in motion, allowing the machinery to pass through complex mining tunnels. Figure 4 This is a schematic diagram of the steering and walking of the leveling chassis system provided in the embodiments of this application, as shown below. Figure 4 As shown, after the front support frame 111 is flipped up, the chassis system can smoothly pass through the complex environment of the mining tunnel by the steering of the front frame 112 relative to the rear leveling mechanism 120.

[0076] Furthermore, to enable the front support frame 111 to tilt in the height direction of the front frame 112, the front support frame 111 can be connected to the front frame 112 via a tilting drive mechanism. The tilting drive mechanism is used to drive the front support frame 111 to tilt in the height direction of the front frame 112. The tilting drive mechanism can be implemented, for example, through the following structure:

[0077] Hydraulic cylinders: Hydraulic cylinders provide powerful force and precise control. They use hydraulic oil pressure to push a piston rod, which in turn drives the front support frame 111 to tilt. The advantages of hydraulic systems are their ability to withstand heavy loads and provide smooth movement.

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

[0079] Rack and pinion mechanism: This mechanism achieves linear motion through the meshing of gears and racks, thereby driving the support frame to rotate. Rack and pinion mechanisms can provide high-precision motion control.

[0080] Worm gear mechanism: The worm gear mechanism is used to convert rotary motion into torsional motion and has a self-locking function, which can maintain the position when stopped.

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

[0082] Example 2

[0083] Currently, in most mining machinery, such as tunneling trolleys and wet shotcrete machines, outriggers need to be deployed before operation to keep the machinery level. Outrigger support control relies entirely on manual operation, and leveling is determined visually. This method is cumbersome, inaccurate, heavily reliant on manual labor, and wastes construction time, especially hindering unmanned, intelligent, and remote control capabilities. If the machinery is not level, it not only affects its stability during operation but also increases the risk of accidents, particularly on uneven surfaces. Furthermore, to achieve better stability and anti-tipping capabilities, four outriggers are typically installed on both sides of the chassis. This complex structure lacks effective ground contact detection, often resulting in one or two weak outriggers, leading to poor support and leveling performance.

[0084] To address the aforementioned issues, this embodiment, building upon Example 1, enhances the intelligence and automation of the chassis system by incorporating a variety of sensors.

[0085] Figure 5 This is a schematic diagram of the front support frame provided in an embodiment of this application, as shown below. Figure 5 As shown, the front support frame 111 is equipped with a working device mounting base 900 for mounting the working device of construction machinery, such as the robotic arm of an excavator. The front support frame 111 is equipped with a tilt angle sensor 600, which detects the tilt angle of the front support frame 111 in the height direction of the front frame 112, as well as the position of the front support frame 111. The front support frame 111 is equipped with an inclinometer 700, which detects 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. Specifically, the leveling device 100 may include a first stroke sensor 800 and a first pressure sensor on the front support frame 111. The first stroke sensor 800 detects the extension length of the front outrigger 300, and the first pressure sensor detects the pressure borne by the front outrigger 300. The first pressure sensor may be located inside the front outrigger 300.

[0086] By setting the tilt angle sensor 600, the tilt angle of the front support frame 111 can be precisely controlled; by using the inclinometer 700, the horizontal state of the front support frame 111 in the front-rear-left-right directions can be detected, and based on the detected horizontal state of the front support frame 111 in the front-rear-left-right directions, the horizontal state of the chassis system can be adjusted by adjusting the extension length of the front outrigger 300 and the rear outrigger 400. At the same time, the first stroke sensor 800 can detect the extension length of the front outrigger 300, thereby achieving precise control of the extension length of the front outrigger 300. The first pressure sensor can detect the pressure borne by the front outrigger 300 to avoid the front outrigger 300 from being falsely supported.

[0087] Figure 6 This is a schematic diagram of the front frame provided in an embodiment of this application. Figure 7 This is a schematic diagram of the rear leveling mechanism provided in an embodiment of this application, as shown below. Figure 6 , Figure 7 As shown, the leveling device 100 also includes a steering angle sensor 1000, which 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 rotatably 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 setting the steering angle sensor 1000, the steering angle of the front leveling mechanism 110 relative to the rear leveling mechanism 120 can be detected during the operation of the construction machinery, assisting the construction machinery in passing through mining tunnels. Especially in the process of remotely controlling or unmanned controlling construction 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 has multiple symmetrically arranged rear outriggers 400. The second stroke sensor is used to detect the extension length of the rear outriggers 400, and the second pressure sensor is used to detect the pressure borne by the rear outriggers 400. The second pressure sensor can be located inside the rear outriggers 400. By setting the second stroke sensor, the extension length of the rear outriggers 400 can be precisely controlled to adjust the levelness of the chassis system. The second pressure sensor can prevent the rear outriggers 400 from being improperly supported by detecting the pressure borne by the rear outriggers 400.

[0089] like Figure 7As shown, the rear leveling mechanism 120 can be connected to the front frame 112 via the steering cylinder 1200. Optionally, the steering cylinders 1200 can be symmetrically arranged. The cylinder body of the steering cylinder 1200 is connected to the rear frame 121, and the piston rod of the steering cylinder 1200 is connected to the front frame 112. By driving the piston rods of the two steering cylinders 1200 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 also equipped with a camera detection device 1100, which includes a camera and is used for:

[0091] The camera acquires image data of the side of the leveling chassis system and image data of the front outriggers 300.

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

[0093] Based on the image data of the front outrigger 300, the risk of rollover of the leveling chassis system is assessed.

[0094] Optional, such as Figure 7 As shown, the camera detection device 1100 can be installed on both sides of the rear frame 121 to detect the risk of collision between the side of the construction machinery and the tunnel in real time during the operation of the construction machinery. The camera detection device 1100 can achieve this function through a built-in algorithm, or it can capture the above-mentioned image data and remotely transmit the image data to a server, where the server will implement the function through a corresponding detection algorithm.

[0095] Figure 8 This is a schematic diagram of a tunnel face support with a slope in the front and rear directions, provided as an embodiment of this application. Figure 9 This is a schematic diagram of a tunnel face support with a sloping left and right direction, provided as an embodiment of this application. Now, in conjunction with... Figure 3 , Figure 8 , Figure 9 The working process of the leveling chassis system provided in this embodiment will be described.

[0096] In a mining tunnel, when work is required at a certain working face, construction machinery enters the site. At this time, the chassis system drives the front support frame 111 to its highest position via a tilting drive mechanism. At this point, the departure angle of the construction machinery meets the passability requirements. By controlling the steering drive mechanism, the construction machinery can turn. 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, allowing the construction machinery to move to the working area. Side-mounted camera detection devices 1100 can perform side detection of the construction machinery, ensuring its safety and preventing damage from collisions with the tunnel walls.

[0097] When the construction machinery moves into the work area, the tilting drive mechanism drives the front support frame 111 to tilt downwards. The tilting angle sensor 600 can detect and control the deflection angle and position of the front support frame 111 at this time. When the front support frame 111 tilts to its lowest position, it acts as an outrigger, keeping the front of the chassis system in a supported state. The inclinometer 700 detects whether the front of the chassis is horizontal. If it is not horizontal, based on the detected tilt angle of the front support frame 111, it controls the lower outrigger of the front outriggers 300 on both sides of the front support frame 111 to extend. The first pressure sensor in the front outrigger 300 ensures that the front outrigger 300 is in contact with the ground, avoiding false support. When the inclinometer 700 detects that the front support frame 111 is horizontal, the front outrigger 300 stops extending. The camera detection device 1100 continuously monitors the status of the front support frame 111 and the front outriggers 300 throughout the entire process to prevent accidents such as rollover.

[0098] After the front support frame 111 is leveled, the rear outrigger 400 extends. The second stroke sensor of the rear outrigger 400 detects the extension length of the hydraulic cylinder and provides feedback. When the second pressure sensor of the rear outrigger 400 reports pressure greater than a certain standard value, it indicates that the rear outrigger 400 has started to support the ground, and the rear of the chassis system is supported. At this time, the extension length of the rear outrigger 400 can be controlled according to the tilt angle of the inclinometer 700 in the front-rear direction. When the inclinometer 700 detects that the front support frame 111 is in a horizontal state, the rear outrigger 400 stops extending. At this time, the construction machinery is in a horizontal state and can start working. This cycle repeats.

[0099] When the inclinometer 700 alarms and the tilt angle exceeds the standard value, it indicates that the construction area is unsuitable for construction, the machinery cannot be leveled, and the site needs to be leveled. When the inclinometer 700 detects a tilt angle below the standard value, and the front outriggers (300mm) or rear outriggers (400mm) are fully extended and their travel is complete, yet leveling is still impossible, it indicates significant unevenness at the support position, with low-lying pits or holes. In this case, the site must be leveled before construction can proceed.

[0100] The control functions in the above-described workflow can be implemented by setting a processor on the engineering machinery to execute corresponding control algorithms, or by having the control algorithms in the server communicate remotely. By setting up multiple sensors, the leveling chassis system provided in this application embodiment can achieve automated, intelligent, and high-precision leveling, overcoming the corresponding shortcomings of the prior art.

[0101] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A leveling chassis system, characterized in that, The leveling chassis system includes a leveling device (100) and a transmission device (200). The leveling device (100) and the transmission device (200) are detachably connected. The transmission device (200) is provided with a drive wheel (210), which is used to drive the leveling chassis system to move. The leveling device (100) includes a front leveling mechanism (110) and a rear leveling mechanism (120) connected front to back, and the front leveling mechanism (110) and the rear leveling mechanism (120) are detachably and rotatably connected. The front leveling mechanism (110) is provided with a plurality of symmetrically arranged front support legs (300), and the rear leveling mechanism (120) is provided with a plurality of symmetrically arranged rear support legs (400). The front support legs (300) and the rear support legs (400) are configured to adjust the extension length of the front support legs (300) and the rear support legs (400) to adjust the leveling state of the leveling chassis system. The leveling device (100) is further provided with a camera detection device (1100), which includes a camera and is used for: The camera acquires image data of the side of the leveling chassis system and image data of the front outrigger (300). Based on the image data from the side, determine the collision risk of the leveling chassis system; Based on the image data of the front outrigger (300), the rollover risk of the leveling chassis system is determined; The front leveling mechanism (110) includes 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 and rotatably connected. The front frame (112) and the rear leveling mechanism (120) are detachably and 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 extension length of the front legs (300) to adjust the horizontal state of the front support frame (111) in the left and right directions. The front support frame (111) is configured to flip in the height direction of the front frame (112).

2. The leveling chassis system according to claim 1, characterized in that, The leveling device (100) is also provided with a steering angle sensor (1000), which 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. 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 front support frame (111) is connected to the front frame (112) via a flipping drive mechanism, which drives the front support frame (111) to flip in the height direction of the front frame (112).

5. The leveling chassis system according to claim 1, characterized in that, The front support frame (111) is equipped with a flip angle sensor (600), which is used to detect the angle at which the front support frame (111) flips in the height direction of the front frame (112), as well as the position state of the front support frame (111).

6. The leveling chassis system according to claim 1, characterized in that, The front support frame (111) is equipped with an inclinometer (700), which is used for: 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.

7. The leveling chassis system according to any one of claims 1-6, characterized in that, The leveling device (100) is also provided with a first stroke sensor (800) and a first pressure sensor. The first stroke sensor (800) is used to detect the extension length of the front outrigger (300), and the first pressure sensor is used to detect the pressure borne by the front outrigger (300).

8. The leveling chassis system according to any one of claims 1-6, characterized in that, 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 support legs (400). The second stroke sensor is used to detect the extension length of the rear outrigger (400), and the second pressure sensor is used to detect the pressure borne by the rear outrigger (400).

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