Distributed electric drive automatic leveling tracked chassis

Abstract

The application discloses a kind of distributed electric drive automatic leveling track chassis, belong to agricultural machinery technical field.It include frame, subframe, electric drive triangular track assembly, servo electric cylinder, push rod suspension and control box;Subframe is fixed with frame, and the left and right sides of front and rear subframe are respectively installed electric drive triangular track assembly by push rod suspension, and servo electric cylinder drives assembly vertical lifting;Push rod suspension includes double wishbone structure, and the frame side and track side of double wishbone structure are respectively hinged with subframe and assembly, and double wishbone structure constitutes parallelogram structure on working plane, so that electric drive triangular track assembly can only vertically ground up and down movement.The application can not only realize the level of frame when driving on cross slope (heading angle is 0 °) and longitudinal slope (heading angle is 90 °), but also can realize the level of frame when heading angle is between 0 ° and 90 °, so as to prevent the side overturning of chassis and improve the safety of chassis.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural machinery technology, in particular to a distributed electric drive automatic leveling track chassis. BACKGROUND

[0002] Hilly land accounts for about 35% of the total cultivated land area in China, and is an important base for grain, oil, sugar, vegetables, and fruit and tea production. The hilly area not only has ups and downs in the ground, but also has a certain slope, and the land is small and irregular in shape, with many ridges, resulting in low mechanization level and slow mechanization progress in the hilly area. The traditional wheeled chassis has poor obstacle crossing ability when working in the hilly area, and is not suitable for ditching and deep loosening, etc. which require large torque. The traditional track chassis is prone to rollover when driving and working on the slope, affecting production safety. Chinese patent 2023114253508 discloses a two-layer frame track leveling tractor, which realizes leveling of the tractor body by hinging the upper frame containing the tractor body and the lower frame containing the track chassis. However, this patent can only level left and right, and cannot realize omnidirectional leveling. Chinese patent 2024102816802 discloses a four-wheel independent steering and active leveling chassis suitable for hilly areas. The chassis can realize four-wheel independent steering and automatic leveling of the chassis by installing steering and leveling mechanisms above each triangular track. However, the chassis directly installs an extension frame above the triangular track, resulting in a high chassis height, poor passability, and easy rollover. Therefore, it is of great significance to design a leveling track chassis that is powerful, adaptable, and has high passability. SUMMARY

[0003] In view of the above shortcomings, the present application provides a distributed electric drive automatic leveling track chassis. The present application adopts a distributed drive form, which has stronger climbing ability and passability. Each independently driven track assembly in the present application can be leveled individually, realizing decoupling of driving and leveling, and having omnidirectional leveling capability. Moreover, the chassis has compact structure and strong applicability to orchards and greenhouses in hilly areas.

[0004] To achieve the above scheme, the technical scheme adopted by the present application is as follows:

[0005] A distributed electric drive automatic leveling track chassis, comprising a frame, a sub-frame, an electric drive triangular track assembly, a servo cylinder, a push rod suspension and a control box; the control box is installed on the frame, the sub-frame is fixedly connected to the front and rear sides of the frame, and the left and right sides of each sub-frame are respectively provided with an electric drive triangular track assembly through a push rod suspension; the servo cylinder drives the push rod suspension to vertically lift the electric drive triangular track assembly under the control of the control box.

[0006] The push rod suspension comprises a rocker, a shock absorber, a Y-shaped transverse arm and an H-shaped transverse arm; the Y-shaped transverse arm and the H-shaped transverse arm constitute a double transverse arm structure, the frame side of the double transverse arm structure is hinged to a subframe, and the track side of the double transverse arm structure is hinged to an electric drive triangular track assembly; the rocker is provided with three hinged parts, a first hinged part is hinged to the subframe, a second hinged part is hinged to the extension end of a servo cylinder, and a third hinged part is hinged to one end of the shock absorber, the other end of the shock absorber is hinged to the double transverse arm structure, and the double transverse arm structure can be driven to rotate around the hinged end of the double transverse arm structure to the subframe; the double transverse arm structure constitutes a parallelogram structure on a working plane, so that the electric drive triangular track assembly can only move up and down vertically to the ground.

[0007] As a preferred embodiment of the present application, the subframe comprises a main support, a servo cylinder mounting support, a rocker mounting support and a frame side transverse arm mounting support which are mounted on the main support, the servo cylinder mounting support is located inside the main support, the bottom fixed end of the servo cylinder is hinged to the servo cylinder mounting support, and the servo cylinder can swing around the bottom hinged end; the top extension end of the servo cylinder is hinged to the second hinged part of the rocker; the rocker mounting support is located on the upper part of the main support, and the first hinged part of the rocker is hinged to the rocker mounting support; the frame side transverse arm mounting support is located on the side of the main support, and the frame side of the double transverse arm structure is hinged to the frame side transverse arm mounting support.

[0008] As a preferred embodiment of the present application, the Y-shaped transverse arm in the double transverse arm structure is located above the H-shaped transverse arm, the frame side of the Y-shaped transverse arm has two hinged parts, the track side of the Y-shaped transverse arm has one hinged part, the frame side and the track side of the H-shaped transverse arm each have two hinged parts, the midpoints of the two hinged parts of the frame side of the Y-shaped transverse arm, the hinged part of the track side of the Y-shaped transverse arm, the midpoints of the two hinged parts of the frame side of the H-shaped transverse arm, and the midpoints of the two hinged parts of the track side of the H-shaped transverse arm constitute a parallelogram which is perpendicular to the ground.

[0009] As a preferred embodiment of the present application, a shock absorber mounting support is fixedly connected to the Y-shaped transverse arm, and the other end of the shock absorber is hinged to the shock absorber mounting support, and the working plane of the shock absorber is coplanar with the parallelogram.

[0010] As a preferred embodiment of the present application, there is a certain distance between the working plane in which the second hinged part of the servo cylinder and the rocker is located and the working plane in which the third hinged part of the rocker and the shock absorber is located, so that a pair of servo cylinders on the left and right sides of each subframe can be installed in a staggered manner, and a pair of electric drive triangular track assemblies on the left and right sides of each subframe are symmetrical.

[0011] As a preferred embodiment of the present application, a limit switch is mounted on the subframe to prevent collision when the servo cylinder swings.

[0012] As the preferred of the present application, the electric drive triangular track assembly comprises wheel side motor, wheel side reducer, track side wishbone mounting bracket, triangular connecting plate, drive wheel, rubber track, track wheel and assembly plate; the track side wishbone mounting bracket is fixed on the frame side of the triangular connecting plate and is used for being hinged with the double wishbone structure;

[0013] One drive wheel and several track wheels are respectively installed on the upper side and the lower side of the assembly plate to form a triangular connecting structure, the rubber track is sleeved outside the triangular connecting structure, and the rubber track can advance or retreat under the drive of the drive wheel; the wheel side motor is connected with the wheel side reducer and is installed on the assembly plate through the triangular connecting plate, and the output shaft of the wheel side reducer is used for driving the drive wheel; the wheel side motors of the front pair of electric drive triangular track assemblies are towards the rear side, and the wheel side motors of the rear pair of electric drive triangular track assemblies are towards the front side.

[0014] As the preferred of the present application, the wheel side reducer is fixed on the triangular connecting plate through the flange plate, a bearing is arranged between the flange plate and the drive wheel, the inner ring of the bearing is in contact with the adapter disc fixed at the center of the drive wheel, the outer ring of the bearing is in contact with the flange plate, the output shaft of the wheel side reducer is in key connection with the adapter disc, and the torque of the output shaft of the wheel side reducer is transmitted to the drive wheel.

[0015] As the preferred of the present application, the width of the control box is less than the width of the frame, a battery, a wheel side motor controller, a servo cylinder controller and a chassis controller are installed in the control box, and the controllers are fixed through a controller mounting plate; the chassis controller calculates the height required to be adjusted of the four electric drive triangular track assemblies according to the inclination angle of the frame and generates corresponding electric signals input to the servo cylinder controller, the servo cylinder controller directly drives the servo cylinder to extend or retract until the frame is horizontal; the wheel side motor controller is used for driving the electric drive triangular track assembly to advance or retreat; and the battery is used for supplying power to the controllers.

[0016] The present application has the beneficial effects that: the double auxiliary frame structure is designed, the four independent electric drive triangular track assemblies are hinged to the front and rear auxiliary frames through the double wishbone structure, the chassis has better driving capacity. Through the four sets of independent push rod suspension structures, the four servo cylinders independently control the lifting of each track assembly, and the chassis can be actively leveled in all directions. Through the series connection of the shock absorber and the servo cylinder, the vibration and impact of the ground when the track walks can be effectively filtered, and the service life of the servo cylinder and the stability of the chassis are increased. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a schematic view of a distributed electric drive automatic leveling track chassis structure.

[0018] Figure 2 It is a schematic view of an active leveling suspension structure of a triangular track.

[0019] Figure 3 It is a schematic diagram of double wishbone structure.

[0020] Figure 4 It is a schematic diagram of electric drive triangular track assembly structure.

[0021] Figure 5 It is a schematic diagram of frame and subframe structure.

[0022] Figure 6 It is a front view of distributed electric drive automatic leveling track chassis.

[0023] Figure 7 It is an active leveling schematic diagram when the chassis heading angle is 0° on the slope.

[0024] Figure 8 It is an active leveling schematic diagram when the chassis heading angle is 90° on the slope.

[0025] Figure 9 It is an active leveling schematic diagram when the chassis heading angle is between 0° and 90° on the slope.

[0026] In the figure: 1-frame, 2-subframe, 3-electric drive triangular track assembly, 4-servo cylinder, 5-rocker, 6-shock absorber, 7-Y-type wishbone, 8-H-type wishbone, 9-control box, 201-servo cylinder mounting bracket, 202-rocker mounting bracket, 203-frame side wishbone mounting bracket, 204-first pin shaft, 205-third pin shaft, 206-fifth pin shaft, 207-limit switch, 301-wheel hub motor, 302-wheel hub reducer, 303-track side wishbone mounting bracket, 304-sixth pin shaft, 305-triangular connecting plate, 306-flange, 307-bearing, 308-driving wheel, 309-adaptor disc, 310-rubber track, 311-assembly plate, 312-triangular connecting plate fixing shaft, 313-track wheel, 401-servo cylinder body, 402-servo cylinder rod, 403-second pin shaft, 601-fourth pin shaft, 701-shock absorber mounting bracket, 901-battery, 902-wheel hub motor controller, 903-servo cylinder controller, 904-chassis controller, 905-controller mounting plate. DETAILED DESCRIPTION

[0027] The present application will be further described in detail below with the help of the accompanying drawings and specific embodiments.

[0028] In the description of the present application, it should be noted that the terms "upper side", "lower side", "left side", "right side" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0029] As shown in Figure 1 A distributed electric drive automatic leveling track chassis mainly composed of a frame 1, an auxiliary frame 2, a servo electric cylinder 4, a push rod suspension, a control box 9 and an electric drive triangular track assembly 3, the push rod suspension includes a rocker 5, a shock absorber 6, a Y-shaped arm 7 and an H-shaped arm 8. The Y-shaped arm 7 and the H-shaped arm 8 form a double wishbone structure.

[0030] In this embodiment, two auxiliary frames 2 are welded on the front side and the rear side of the frame 1, and the electric drive triangular track assembly is connected and installed on the servo electric cylinder 4 of the auxiliary frame 2 through the push rod suspension, wherein the frame side of the Y-shaped arm 7 and the H-shaped arm 8 in the push rod suspension is hinged with the auxiliary frame, and the track side of the Y-shaped arm 7 and the H-shaped arm 8 is hinged with the electric drive triangular track assembly, so that the electric drive triangular track assembly can move up and down along the vertical direction. The servo electric cylinder 4 is installed on the auxiliary frame 2 and hinged with the auxiliary frame 2 at the bottom, having a certain swing angle, and the extension end of the servo electric cylinder 4 controls the lifting of the electric drive triangular track assembly 3 through the rocker 5 and the shock absorber 6. Four independent electric drive triangular track assemblies 3 are driven by wheel edge motors 301, the wheel edge motor 301 of the front electric drive triangular track assembly 3 faces the rear side, and the wheel edge motor 301 of the rear electric drive triangular track assembly 3 faces the front, so as to reduce the length of the chassis.

[0031] As shown in Figure 2As shown, the auxiliary frame 2 includes servo cylinder mounting bracket 201, rocker bracket 202, frame side control arm mounting bracket 203, which are respectively fixed to the inside, upper side and right side of the auxiliary frame 2, servo cylinder 4 includes servo cylinder body 401 and servo cylinder rod 402, the servo cylinder body 401 is hinged to the servo cylinder mounting bracket 201 through the first pin shaft 204, the servo cylinder rod 402 is hinged to the second hinge part of the rocker 5 through the second pin shaft 403. The first hinge part of the rocker 5 is hinged to the rocker bracket 202 through the third pin shaft 205, and the third hinge part of the rocker 5 is hinged to the upper end of the shock absorber 6 through the fourth pin shaft 601. The lower end of the shock absorber 6 is hinged to the shock absorber mounting bracket 701 fixed on the Y-shaped transverse arm 7 through the fourth pin shaft 601, and the Y-shaped transverse arm 7 and the H-shaped transverse arm 8 are hinged to the frame side transverse arm mounting bracket 203 and the track side transverse arm mounting bracket 303 through the fifth pin shaft 206 and the sixth pin shaft 304, respectively, so that the electric drive triangular track assembly 3 can be vertically lifted. The servo cylinder rod 402 is extended and retracted, pushing the rocker 5 to rotate around the third pin shaft 205, further driving the shock absorber 6 to push the Y-shaped transverse arm 7 to rotate around the fifth pin shaft 206, and under the constraint of the H-shaped transverse arm 8, the electric drive triangular track assembly 3 is vertically lifted.

[0032] The working plane where the second hinge part of the servo cylinder 4 and the rocker 5 is located and the working plane where the third hinge part of the rocker 5 and the shock absorber 6 are located are a certain distance apart, so that a pair of servo cylinders 4 on the left and right sides of each auxiliary frame 2 can be installed in staggered positions, and a pair of electric drive triangular track assemblies 3 on the left and right sides of each auxiliary frame 2 are symmetrical.

[0033] As shown in Figure 3 The double wishbone structure forms a parallelogram structure on the working plane, so that the electric drive triangular track assembly 3 can only move vertically above the ground. The Y-shaped transverse arm 7 in the double wishbone structure is located above the H-shaped transverse arm 8, the Y-shaped transverse arm 7 has two hinge parts on the frame side and one hinge part on the track side, the H-shaped transverse arm 8 has two hinge parts on the frame side and two hinge parts on the track side, the midpoints of the two hinge parts of the Y-shaped transverse arm 7 on the frame side, the hinge part of the Y-shaped transverse arm 7 on the track side, the midpoints of the two hinge parts of the H-shaped transverse arm 8 on the frame side, and the midpoints of the two hinge parts of the H-shaped transverse arm 8 on the track side form a parallelogram perpendicular to the ground. The Y-shaped transverse arm 7 is fixed with a shock absorber mounting bracket 701, the other end of the shock absorber 6 is hinged to the shock absorber mounting bracket 701, and the working plane of the shock absorber is coplanar with the parallelogram.

[0034] As shown in Figure 4As shown, the electric drive triangular track assembly 3 includes a wheel-side motor 301, a wheel-side reducer 302, a track-side crossarm mounting bracket 303, a sixth pin 304, a triangular connecting plate 305, a flange 306, a bearing 307, a drive wheel 308, an adapter plate 309, a rubber track 310, an assembly plate 311, a triangular connecting plate fixing shaft 312, and a track wheel 313; the three track-side crossarm mounting brackets 303 are respectively fixedly connected to the triangular connecting plate 305. The wheel-side motor 301 is fixedly connected to the wheel-side reducer 302 by bolts, and the wheel-side reducer 302 housing, the triangular connecting plate 305, and the flange 306 are fixedly connected together by screws. The triangular connecting plate 305 is fixedly connected to the assembly plate 311 via the triangular connecting plate fixing shaft 312. The track wheels 313 are connected to the assembly plate 311 via their respective shafts, thereby allowing the weight of the chassis, wheel-side motor 301, and wheel-side reducer 302 to be transmitted to the ground. The output shaft of the wheel-side reducer 302 is fixedly connected to the adapter plate 309 via a flat key. The adapter plate 309 is fixedly connected to the drive wheel 308 via bolts. The inner ring of the bearing 307 is connected to the adapter plate 309, and the outer ring is connected to the flange 306, thereby allowing the torque of the wheel-side reducer 302 to be transmitted to the drive wheel 308. The rubber track 310 is installed on the outside of the drive wheel 308 and the track wheels 313.

[0035] like Figure 5 As shown, the subframe 2 includes a main support and servo cylinder mounting brackets 201, rocker arm mounting brackets 202, and side crossarm mounting brackets 203 mounted on the main support. The servo cylinder mounting brackets 201 are fixed inside the subframe 2 and are used to mount four servo cylinders 4. Four side crossarm mounting brackets 203 are fixed to each side of the subframe 2 for mounting Y-type control arms 7 and H-type control arms 8. Two rocker arm mounting brackets 202 are fixed to the upper side of the subframe for mounting rockers 5. Two limit switches 207 are fixed opposite each other on the upper side of the subframe to prevent the servo cylinders 4 from colliding with the subframe 2 during their swing around the first pivot 204. The internal width of the frame 1 is b. A control box 9 is welded from steel plates inside the frame 1. The length and height of the control box 9 are the same as the frame, and its width is a. The width a of the control box is less than the width b of the frame, which is to reduce the distance between the wheel-side motors on both sides of the chassis, thus reducing the width of the chassis and increasing its passability. A battery 901 is installed at the bottom of the control box 9. Above the battery 901, a controller mounting plate 905 is fixed to the wall of the control box 9 with screws. The wheel-side motor controller 902, the servo cylinder controller 903, and the chassis controller 904 are fixed to the controller mounting plate 905. The chassis controller 904 generates control signals based on the tilt angle of the chassis and sends them to the servo cylinder controller, which directly controls the movement of the four servo cylinders until the chassis is level. In this embodiment, the tilt angle of the chassis can be directly measured by an IMU sensor.

[0036] As shown in Figure 6 , the wheel-side motor 301 and the wheel-side reducer 302 of the front triangular track assembly 3 are towards the rear side, and the wheel-side motor 301 and the wheel-side reducer 302 of the rear triangular track assembly 3 are towards the front side, so as to reduce the chassis length, reduce the turning radius, and increase the passability.

[0037] As shown in Figure 7 , when the distributed electric drive automatic leveling chassis is running on a slope with an angle of a, the heading angle (the direction of the chassis speed x b and the earth coordinate x g ) ψ = 0°, due to the height difference between the two sides of the track, the frame will be tilted left and right, and the risk of rollover will easily occur. At this time, the chassis needs to be transversely leveled. The specific implementation process is as follows: the servo cylinders 4 of the two tracks on the left side are controlled to be elongated, the rocker arms 5 are pushed to rotate outward, the shock absorbers 6 are further pushed to move downward, the Y-shaped control arms 7 are further pushed to rotate downward, and the two electric drive triangular track assemblies 3 on the left side are pushed to descend, so that the chassis on the left side is lifted. Conversely, the servo cylinders 4 of the two electric drive triangular track assemblies 3 on the right side of the chassis are shortened, the two electric drive triangular track assemblies 3 on the right side of the chassis are raised, and the frame 1 on the right side of the chassis is lowered. The two tracks on the left side and the two tracks on the right side cooperate with each other, and finally the frame 1 is leveled.

[0038] As shown in Figure 8 , when the distributed electric drive automatic leveling chassis is running on a slope with an angle of a, the heading angle (the direction of the chassis speed x b and the earth coordinate x g ) 90°, the frame 1 is parallel to the slope, at this time the front and rear directions of the frame 1 are inclined relative to the horizontal plane, and the chassis needs to be longitudinally leveled. The specific implementation process is as follows: the servo cylinders 4 of the two electric drive triangular track assemblies 3 on the front side are controlled to be shortened, the rocker arms 5 are pushed to rotate inward, the shock absorbers 6 are driven to move upward, the Y-shaped control arms 7 are further driven to rotate upward, the two tracks on the front side are driven to rise, and the chassis is lowered relative to the ground. Conversely, the servo cylinders 4 of the two tracks on the rear side are elongated, the two tracks on the rear side are pushed to descend, and the chassis is raised relative to the ground. The two tracks on the front side and the two tracks on the rear side cooperate with each other, and finally the frame 1 is leveled.

[0039] As shown in Figure 9 , when the distributed electric drive automatic leveling chassis is running on a slope with an angle of a, the heading angle (the direction of the chassis speed x b and the earth coordinate x gWhen the angle (the included angle between the two sides of the vehicle body) ψ is between 0° and 90°, the vehicle body is inclined, and the chassis needs to be leveled, but it cannot be leveled simply by horizontal or vertical leveling. The specific implementation process is as follows: since the right front electric drive triangular track assembly 3 is located at the highest point of the slope, the servo cylinder 4 controlling the electric drive triangular track assembly 3 needs to be retracted to the shortest, so that the right front electric drive triangular track assembly 3 is the highest, and the right upper side of the vehicle frame is the lowest. The servo cylinder 4 corresponding to the left rear electric drive triangular track assembly 3 located at the lowest point of the slope needs to be extended to the longest, so that the electric drive triangular track assembly 3 is the lowest, and the left lower side of the vehicle frame 1 is the highest. At this time, the positions of the other electric drive triangular track assemblies 3 are between the highest point and the lowest point, and the two electric drive triangular track assemblies 3 need to be adjusted to the appropriate positions, so that the vehicle frame 1 is leveled.

[0040] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connecting" should be understood in a broad sense, for example, it can be fixedly connected or integrally connected, or it can be mechanically connected. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0041] For those skilled in the art, according to the teachings of the present application, changes, modifications, replacements and variations of the embodiments without departing from the principles and spirits of the present application still fall within the protection scope of the present application.

Claims

1. A distributed electric drive automatic leveling tracked chassis, characterized in that: It includes a frame (1), a subframe (2), an electric drive triangular track assembly (3), a servo cylinder (4), a push rod suspension, and a control box (9); the control box (9) is mounted on the frame (1), the subframe (2) is fixed to the front and rear sides of the frame (1), and the electric drive triangular track assembly (3) is mounted on the left and right sides of each subframe (2) through the push rod suspension. The servo cylinder (4) pushes the push rod suspension under the control of the control box (9), thereby driving the electric drive triangular track assembly (3) to rise and fall vertically; The pushrod suspension includes a rocker arm (5), a shock absorber (6), a Y-shaped horizontal arm (7), and an H-shaped horizontal arm (8); the Y-shaped horizontal arm (7) and the H-shaped horizontal arm (8) form a double horizontal arm structure, the frame side of the double horizontal arm structure is hinged to the subframe (2), and the track side of the double horizontal arm structure is hinged to the electric drive triangular track assembly (3); the rocker arm (5) is provided with three hinge parts, the first hinge part is hinged to the subframe, the second hinge part is hinged to the telescopic end of the servo cylinder (4), and the third hinge part is hinged to one end of the shock absorber (6), and the other end of the shock absorber (6) is hinged to the double horizontal arm structure, which can drive the double horizontal arm structure to rotate around its hinge end with the subframe (2); the double horizontal arm structure forms a parallelogram structure on the working plane, so that the electric drive triangular track assembly (3) can only move vertically up and down on the ground; The Y-shaped crossarm (7) in the double crossarm structure is located above the H-shaped crossarm (8). The Y-shaped crossarm (7) has two hinges on the frame side and one hinge on the track side. The H-shaped crossarm (8) has two hinges on both the frame side and the track side. The midpoints of the two hinges on the frame side of the Y-shaped crossarm (7), the hinge on the track side of the Y-shaped crossarm (7), the midpoints of the two hinges on the frame side of the H-shaped crossarm (8), and the midpoints of the two hinges on the track side of the H-shaped crossarm (8) form a parallelogram perpendicular to the ground.

2. The distributed electric drive automatic leveling tracked chassis as described in claim 1, characterized in that, The subframe (2) includes a main frame and a servo cylinder mounting bracket (201), a rocker arm mounting bracket (202), and a frame side crossarm mounting bracket (203) mounted on the main frame. The servo cylinder mounting bracket (201) is located inside the main frame. The bottom fixed end of the servo cylinder (4) is hinged to the servo cylinder mounting bracket (201), and the servo cylinder (4) can swing around the bottom hinge end. The top telescopic end of the servo cylinder (4) is hinged to the second hinge part of the rocker arm (5). The rocker arm mounting bracket (202) is located on the upper part of the main frame, and the first hinge part of the rocker arm (5) is hinged to the rocker arm mounting bracket (202). The frame side crossarm mounting bracket (203) is located on the side of the main frame, and the frame side of the double crossarm structure is hinged to the frame side crossarm mounting bracket (203).

3. The distributed electric drive automatic leveling tracked chassis as described in claim 1, characterized in that, The Y-shaped crossarm (7) is fixedly connected to the shock absorber mounting bracket (701), and the other end of the shock absorber (6) is hinged to the shock absorber mounting bracket (701). The working plane of the shock absorber is coplanar with the parallelogram.

4. A distributed electric drive automatic leveling tracked chassis as described in claim 1 or 3, characterized in that, There is a distance between the working plane where the second hinge of the servo electric cylinder (4) and the rocker arm (5) is located and the working plane where the third hinge of the shock absorber (6) and the rocker arm (5) is located, so that a pair of servo electric cylinders (4) on the left and right sides of each subframe (2) can be installed in a staggered manner, and a pair of electric drive triangular track assemblies (3) on the left and right sides of each subframe (2) are symmetrical.

5. A distributed electric drive automatic leveling tracked chassis as described in claim 2, characterized in that, The subframe (2) is equipped with a limit switch (207) to prevent collisions when the servo cylinder (4) swings.

6. The distributed electric drive automatic leveling tracked chassis as described in claim 1, characterized in that, The electric drive triangular track assembly (3) includes a wheel-side motor (301), a wheel-side reducer (302), a track-side crossarm mounting bracket (303), a triangular connecting plate (305), a drive wheel (308), a rubber track (310), a track wheel (313), and an assembly plate (311); the track-side crossarm mounting bracket (303) is fixed to the frame side of the triangular connecting plate (305) and is used to hinge with the double crossarm structure; A drive wheel (308) and several track wheels (313) are respectively installed on the upper and lower sides of the assembly plate (311) to form a triangular connection structure. The rubber track (310) is sleeved on the outside of the triangular connection structure. The rubber track (310) can move forward or backward under the drive of the drive wheel (308). The wheel-side motor (301) is connected to the wheel-side reducer (302) and is installed on the assembly plate (311) through the triangular connection plate (305). The output shaft of the wheel-side reducer (302) is used to drive the drive wheel (308). The wheel-side motors (301) of the pair of electric drive triangular track assemblies (3) on the front side face the rear side, and the wheel-side motors (301) of the pair of electric drive triangular track assemblies (3) on the rear side face the front side.

7. A distributed electric drive automatic leveling tracked chassis according to claim 6, characterized in that, The wheel-side reducer (302) is fixed on the triangular connecting plate (305) by a flange (306). A bearing (307) is provided between the flange (306) and the drive wheel (308). The inner ring of the bearing (307) contacts the adapter plate (309) fixed to the center of the drive wheel (308), and the outer ring contacts the flange (306). The output shaft of the wheel-side reducer (302) is keyed to the adapter plate (309), so that the torque of the output shaft of the wheel-side reducer (302) is transmitted to the drive wheel (308).

8. A distributed electric drive automatic leveling tracked chassis according to claim 1, characterized in that, The width of the control box (9) is smaller than the width of the frame (1). The control box (9) contains a battery (901), a wheel-side motor controller (902), a servo cylinder controller (903), and a chassis controller (904). Each controller is fixed by a controller mounting plate (905). The chassis controller (904) calculates the height that the four electric drive triangular track assemblies (3) need to be adjusted according to the tilt angle of the frame and generates a corresponding electrical signal input to the servo cylinder controller (903). The servo cylinder controller (903) directly drives the servo cylinder to extend and retract until the frame is horizontal. The wheel-side motor controller (902) is used to drive the electric drive triangular track assembly (3) forward or backward. The battery (901) is used to power the controller.

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