Leveling electric track power chassis and leveling method thereof

Abstract

The invention relates to the technical field of agricultural crawler-type power chassis in hills and mountains, and discloses an electric crawler-type power chassis capable of being leveled and a leveling method thereof.The electric crawler-type power chassis capable of being leveled comprises a chassis supporting frame and a walking crawler belt, an upper-layer supporting frame is fixedly installed on the upper portion of the chassis supporting frame, and a lifting platform is installed on the upper portion of the upper-layer supporting frame; two groups of vertical electric push rods are arranged on each of the front side and the rear side of the upper-layer supporting frame in the advancing direction of the walking crawler belt; according to the electric track power chassis capable of being leveled and the leveling method of the electric track power chassis, four sets of vertical electric push rods are arranged on the peripheral side of the chassis supporting frame, a supporting seat formed by matching a spherical groove with a universal ball head is arranged, the lifting platform can be leveled through matching of the four sets of vertical electric push rods, and meanwhile through matching of a connecting pipe and a fixing pipe, the lifting platform can be leveled; the horizontal positions of the vertical electric push rods can be adjusted, and the four sets of vertical electric push rods are matched for supporting, so that the overall stability of the orchard picking vehicle can be effectively improved, and the risk that operators operate on the lifting platform is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural crawler-type power chassis for hilly and mountainous areas, in particular to a levelable electric crawler-type power chassis and a leveling method thereof. Background Art

[0002] Hilly and mountainous agricultural crawler power chassis is an agricultural machinery used for tillage, field management, harvesting and other operations in hilly and mountainous agricultural production. It is mainly composed of a power chassis and a lifting platform or working tools. The power chassis includes wheeled and crawler types to adapt to different terrains and planting environments. Among them, the electric crawler chassis uses electricity as the power source and is more suitable for complex terrains, such as hills or slopes, to ensure that the operating platform can reach the operating area stably and safely. With the help of the power chassis, operators can move more conveniently in the orchard and efficiently complete operations such as picking and pruning fruits and vegetables.

[0003] When using a hilly and mountainous agricultural crawler power chassis, it is necessary to ensure the stability of the vehicle body and the levelness of the operating platform to facilitate operators to work on the operating platform. The existing orchard picking vehicle has the function of platform leveling, but after the platform is leveled and raised, the center of gravity of the vehicle body increases, and the overall stability of the vehicle body will decrease. People working on the platform will have certain operating risks. There are certain safety hazards in the use of orchard picking vehicles. On the other hand, the platform leveling of existing orchard picking vehicles is generally manually controlled by operators, and the leveling effect is difficult to control. When the platform leveling effect is not good, there will be certain safety hazards in platform operation. Summary of the invention

[0004] In order to solve the problem that the overall stability of the existing orchard picking vehicle is not high after the platform is leveled and raised, the orchard picking vehicle will have certain safety hazards when in use, and the existing orchard picking vehicle platform leveling effect is difficult to control. When the platform leveling effect is not good, there will be certain safety hazards in the platform operation, the present invention is achieved through the following technical solutions: a levelable electric crawler power chassis, including a chassis support frame and a walking crawler, an upper support frame is fixedly installed on the upper part of the chassis support frame, a lifting platform is installed on the upper part of the upper support frame, and two groups of vertical electric push rods are provided on both sides of the upper support frame along the travel direction of the walking crawler, and the four groups of vertical electric push rods are distributed in a rectangular shape;

[0005] A universal ball head is fixedly arranged at the bottom end of the vertical electric push rod, a support seat is arranged at the lower part of the universal ball head, and the universal ball head is matched with a spherical groove opened inside the support seat.

[0006] Furthermore, the upper support frame is fixedly installed with fixing pipes on both sides of the front and rear sides along the travel of the walking crawler, the fixing pipes are perpendicular to the travel direction of the walking crawler, and a plurality of plug holes are axially opened on the surface of the fixing pipes;

[0007] A connecting pipe is fixedly arranged on the surface of the cylinder body of the vertical electric push rod. The connecting pipe is inserted into the fixed pipe. A second plug hole is opened on the surface of the connecting pipe. The second plug hole is connected to one of the first plug holes through a latch.

[0008] Further, the chassis support frame includes a central connecting rod, a transverse support tube and a longitudinal support tube;

[0009] The transverse support tube is fixedly connected to the central connecting rod, the longitudinal support tube is fixedly arranged at both ends of the transverse support tube, and the upper support frame is fixedly connected to the transverse support tube through the support rod;

[0010] A motor module is fixedly installed inside the chassis support frame, and the motor module is used to drive the walking track to move forward.

[0011] Further, the lifting platform includes a lower bracket, a telescopic frame and a supporting platform;

[0012] The lower bracket is fixedly mounted on the upper surface of the upper support frame, the telescopic frame is composed of a plurality of connecting rods distributed in an "X" shape and mounted on the upper part of the lower bracket, and the supporting platform is arranged on the top of the telescopic frame;

[0013] An adjusting hydraulic rod is installed between the two groups of telescopic frames, and the extension or contraction of the telescopic frames is adjusted by using the adjusting hydraulic rod.

[0014] Furthermore, a side support frame is arranged on the outer side of the walking track, a transverse hydraulic rod is arranged on the side surface of the central connecting rod, and a telescopic end of the transverse hydraulic rod is connected to the side support frame through a connecting piece.

[0015] Furthermore, a stabilizing tube is slidably inserted inside the transverse support tube, and the outer end of the stabilizing tube is fixedly connected to the side support frame. The stabilizing tube is distributed on both sides of the transverse hydraulic rod.

[0016] Furthermore, a hydraulic control system and a control box are installed in the chassis support frame, a main control unit is installed in the control box, and an inclination sensor is installed on the upper surface of the upper support frame;

[0017] The upper support frame, four groups of vertical electric push rods, a support seat, a hydraulic control system and a control box constitute a leveling system.

[0018] A leveling method for a levelable electric crawler power chassis comprises the following specific steps:

[0019] S1, the tilt sensor monitors the lateral tilt angle of the upper support frame and sends the data to the main control unit;

[0020] S2, the main control unit processes the received data and calculates the control amount of the vertical electric push rods on different sides;

[0021] S3, the main control unit sends a control signal to the motor in the vertical electric push rod on the corresponding side, and the motor in the vertical electric push rod rotates according to the control signal until the vertical electric push rod is extended or retracted to a corresponding control amount.

[0022] Furthermore, the control amount S of the vertical electric push rod is:

[0023]

[0024] Among them, S is the length of the vertical electric push rod, L is the horizontal distance between the two vertical electric push rods, M is the initial length of the vertical electric push rod, α 0 is the initial angle between the upper support frame and the horizontal plane, α is the ground slope, and σ is the rotation angle of the vertical electric push rod.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. The levelable electric crawler power chassis and the leveling method thereof are characterized by arranging four groups of vertical electric push rods on the peripheral side of the chassis support frame and arranging a support seat composed of a spherical groove and a universal ball head. The cooperation of the four groups of vertical electric push rods can be used to achieve the leveling of the lifting platform. At the same time, the horizontal position of the vertical electric push rods can be adjusted through the cooperation of the connecting pipe and the fixed pipe. In combination with the support of the four groups of vertical electric push rods, the overall stability of the orchard picking vehicle can be effectively improved, and the risk of operators working on the lifting platform can be reduced.

[0027] 2. The levelable electric crawler power chassis and the leveling method thereof are provided with a leveling system consisting of an upper support frame, four groups of vertical electric push rods, a support seat, a hydraulic control system and a control box, and the inclination sensor communicates with the main control unit. The main control unit is connected to the motor in the vertical electric push rod through control signal telecommunication. The leveling of the lifting platform can be automatically achieved according to the monitoring result of the inclination sensor. The leveling effect of the lifting platform is good, which is conducive to ensuring the safety of the operators working on the lifting platform.

[0028] 3. The levelable electric crawler power chassis and the leveling method thereof can assist in increasing the chassis width of the orchard picking vehicle by setting a transverse hydraulic rod, a side support frame and a stabilizing tube. When the moving crawler tracks are moving, the orchard picking vehicle can be prevented from rolling over to ensure the safety of the orchard picking vehicle when moving. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 The orchard picking vehicle of the present invention is a three-dimensional overall structure Figure 1 ;

[0030] Figure 2 The orchard picking vehicle of the present invention is a three-dimensional overall structure Figure 2 ;

[0031] Figure 3 It is a three-dimensional diagram of the vehicle chassis structure of the present invention;

[0032] Figure 4 This is a cross-sectional view of the chassis structure of the vehicle body of the present invention;

[0033] Figure 5 It is a cross-sectional view of the vertical electric push rod structure of the present invention;

[0034] Figure 6 It is a cross-sectional view of the transverse hydraulic rod structure of the present invention;

[0035] Figure 7 This is a cross-sectional view of the stabilizing tube structure of the present invention;

[0036] Figure 8 It is a schematic diagram of the posture adjustment state of the orchard picking vehicle of the present invention.

[0037] In the figure: 1. chassis support frame; 101. center connecting rod; 102. horizontal support tube; 103. longitudinal support tube; 2. walking track; 201. motor module; 3. side support frame; 301. stabilizing tube; 302. connecting piece; 303. horizontal hydraulic rod; 4. upper support frame; 401. support rod; 402. fixing tube; 403. socket one; 5. vertical electric push rod; 501. connecting tube; 502. socket two; 503. universal ball head; 6. support seat; 601. spherical groove; 7. lower bracket; 701. telescopic frame; 702. support platform; 8. adjusting hydraulic rod. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] The embodiments of the electric crawler lifting platform and the leveling method are as follows:

[0040] See also Figure 1-Figure 7A levelable electric crawler power chassis, namely an orchard picking vehicle, comprises a chassis support frame 1 and a walking crawler 2. A motor module 201 is fixedly installed inside the chassis support frame 1. The output end of the motor module 201 is connected to the driving wheel of the walking crawler 2. The motor module 201 is used to drive the walking crawler 2 to move forward. The running state of the walking crawler 2 is controlled by controlling the speed and direction of the motor module 201.

[0041] On this basis, an upper support frame 4 is fixedly installed on the upper part of the chassis support frame 1, wherein the chassis support frame 1 includes a central connecting rod 101, a transverse support tube 102 and a longitudinal support tube 103; the transverse support tube 102 is fixedly connected to the central connecting rod 101 for providing transverse support force, and the longitudinal support tube 103 is fixedly arranged at both ends of the transverse support tube 102 for providing longitudinal support force, and the upper support frame 4 is fixedly connected to the transverse support tube 102 through the support rod 401.

[0042] A lifting platform is installed on the upper part of the upper support frame 4. Two groups of vertical electric push rods 5 are provided on the front and rear sides of the upper support frame 4 along the travel direction of the walking track 2. The four groups of vertical electric push rods 5 are distributed in a rectangular shape. The vertical electric push rods 5 on the left and right sides of the travel direction of the walking track 2 are driven by independent motors. The upper support frame 4 is kept in a horizontal state by controlling the length of the vertical electric push rods 5 on the corresponding side.

[0043] A universal ball head 503 is fixedly provided at the bottom end of the vertical electric push rod 5, and a support seat 6 is provided at the lower part of the universal ball head 503. The universal ball head 503 is adapted to a spherical groove 601 opened inside the support seat 6. The universal ball head 503 cooperates with the spherical groove 601 to enable the vertical electric push rod 5 to rotate, and at the same time, the lower surface of the support seat 6 can always fit with the ground.

[0044] It should be noted that the upper support frame 4 is fixedly installed with fixed pipes 402 on both sides of the front and rear along the travel track 2. The fixed pipes 402 are perpendicular to the travel direction of the travel track 2, and a plurality of jacks 403 are axially opened on the surface of the fixed pipes 402.

[0045] A connecting pipe 501 is fixedly provided on the cylinder surface of the vertical electric push rod 5. The connecting pipe 501 is inserted into the fixed pipe 402. A second plug hole 502 is opened on the surface of the connecting pipe 501. The second plug hole 502 is connected to one of the first plug holes 403 through a pin.

[0046] By matching the second socket 502 with a different first socket 403, the horizontal distance between the two groups of vertical electric push rods 5 at corresponding positions on both sides of the chassis support frame 1 can be adjusted, which is beneficial to improving the stability of the orchard picking vehicle after leveling.

[0047] It should be noted that the lifting platform includes a lower bracket 7, a telescopic frame 701 and a support platform 702; the lower bracket 7 is fixedly mounted on the upper surface of the upper support frame 4, the telescopic frame 701 is composed of a number of groups of connecting rods distributed in an "X" shape and installed on the upper part of the lower bracket 7, and the support platform 702 is arranged on the top of the telescopic frame 701; an adjusting hydraulic rod 8 is installed between the two groups of telescopic frames 701, and the adjusting hydraulic rod 8 is used to adjust the extension or contraction of the telescopic frame 701.

[0048] On this basis, a side support frame 3 is arranged on the outer side of the walking track 2, and the side support frame 3 is designed to be distributed along the direction of the walking track 2. A transverse hydraulic rod 303 is arranged on the side surface of the central connecting rod 101, and the telescopic end of the transverse hydraulic rod 303 is connected to the side support frame 3 through a connecting piece 302. When it is necessary to prevent the orchard picking vehicle from rolling over, the transverse hydraulic rod 303 is used to push the side support frame 3 outward, and the side support frames 3 on both sides of the chassis support frame 1 extend outward to increase the overall width of the orchard picking vehicle, thereby improving the stability of the orchard picking vehicle and preventing the orchard picking vehicle from rolling over.

[0049] It should be further explained that a stabilizing tube 301 is slidably inserted inside the transverse support tube 102, and the outer end of the stabilizing tube 301 is fixedly connected to the side support frame 3. The stabilizing tube 301 is distributed on both sides of the transverse hydraulic rod 303. By arranging the stabilizing tube 301 on both sides of the transverse hydraulic rod 303, the supporting stability of the side support frame 3 is increased.

[0050] On this basis, a hydraulic control system and a control box are installed in the chassis support frame 1, a main control unit is installed in the control box, and an inclination sensor is installed on the upper surface of the upper support frame 4; the function of the inclination sensor is to measure the rolling angle between the upper support frame 4 and the horizontal plane, thereby reflecting the inclination of the orchard picking vehicle. The upper support frame 4, four groups of vertical electric push rods 5, the support seat 6, the hydraulic control system and the control box constitute a leveling system, and the lifting platform is automatically leveled by the leveling system. In the leveling system, the main control unit communicates with the inclination sensor to obtain the body status signal of the orchard picking vehicle in real time. After these signals are transmitted to the main control unit, the main control unit outputs corresponding control signals to drive the vertical electric push rods 5 to perform corresponding actions.

[0051] The four sets of vertical electric push rods 5 in the leveling system are used to adjust the lateral tilt state of the orchard picking vehicle body when preparing to pick fruits. By controlling the extension and retraction of the vertical electric push rods 5 on the corresponding side, the leveling system can effectively adjust the tilt angle of the orchard picking vehicle body to keep it within a safe and stable range.

[0052] On this basis, see Figure 8A leveling method for a levelable electric crawler power chassis is implemented, wherein the main control unit uses a SIM32F405RGT6 chip, the inclination sensor uses an MPU6050 inclination sensor, the power supply uses a KP-5000SDR series lithium battery, and the leveling system uses a PID control method. The leveling system is controlled by adjusting the weight coefficients of the three links of proportion (P), integration (I), and differentiation (D). The algorithm standard of the PID control method is:

[0053]

[0054] Among them, u(t) is the control output, e(t) is the system deviation, k p is the proportionality coefficient, k i is the integration constant, k d is the differential coefficient.

[0055] The main parameters of the orchard picking vehicle are shown in Table 1:

[0056] Table 1

[0057]

[0058]

[0059] The vertical electric push rod 5 is a DC electric push rod, and a transfer function model of the DC electric push rod is established:

[0060] The principle of DC electric linear actuator is to gradually convert the input voltage U(t) into current I(t), torque T(t), angle θ(t) and displacement X(t). The matrix form of the relationship equation is:

[0061]

[0062] Among them, R is the DC motor resistance, L is the inductance, k m is the electronic torque and current coefficient, t is the time variable;

[0063] Rewriting the above equations as state-space equations, using the state vector x(t) and the input vector u(t):

[0064]

[0065] in:

[0066]

[0067] Extract the output equations from the state-space equations:

[0068] y(t)=Cx(t)+Du(t);

[0069] in:

[0070] y(t)=X(t), C=[0 0 1], D=[0];

[0071] The transfer function is calculated as:

[0072]

[0073] Among them, H(s) is the transfer function, X(s) is the system output, Y(s) and U(s) are the Laplace transforms of the system output and input respectively; s is the variable of the transfer function; A is the state transfer matrix of the system; B is the input matrix of the system; C is the output matrix; D is the direct transfer matrix; I is the unit matrix; the form of (sI-A) can be understood as the operation of Laplace transform on A, which allows the system dynamic equation to be written in frequency domain form. By calculating the determinant or inversion of the matrix (sI-A), the transfer function of the system can be obtained. The expression of the transfer function of the vertical electric push rod 5 is:

[0074]

[0075] The input U(s) passes through the transfer function H(s) to obtain the system output X(s). The denominator (sL+R) of the transfer function H(s) represents a first-order inertia link.

[0076] The leveling method includes the following specific steps:

[0077] In the first step, when the orchard picking vehicle tilts laterally, the tilt sensor monitors the lateral tilt angle of the upper support frame (4) and sends the data to the main control unit;

[0078] In the second step, after receiving the data sent by the inclination sensor, the main control unit processes the received data using the control program and calculates the control amount of the vertical electric push rod 5 on different sides;

[0079] Specifically,

[0080]

[0081] Among them, S is the length of the vertical electric push rod 5, E is the horizontal distance between the two vertical electric push rods 5, M is the initial length of the vertical electric push rod, α 0 is the initial angle between the upper support frame 4 and the horizontal plane, α is the ground slope, and σ is the rotation angle of the vertical electric push rod.

[0082] In the third step, the main control unit sends a control signal to the motor in the vertical electric push rod 5 on the corresponding side, and the motor in the vertical electric push rod 5 rotates according to the control signal until the vertical electric push rod 5 is extended and retracted to the corresponding control amount to achieve the horizontality of the lifting platform. At this time, the operator can pick the fruit through the lifting platform.

[0083] While the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that many changes, modifications, substitutions and variations can be made to the embodiments without departing from the principles and spirit of the invention.

Claims

1. A levelable electric crawler power chassis, comprising a chassis support frame (1) and a walking crawler (2), characterized in that: An upper support frame (4) is fixedly mounted on the upper part of the chassis support frame (1), a lifting platform is mounted on the upper part of the upper support frame (4), and two groups of vertical electric push rods (5) are arranged on both sides of the upper support frame (4) along the travel direction of the walking crawler (2), and the four groups of vertical electric push rods (5) are distributed in a rectangular shape; A universal ball head (503) is fixedly arranged at the bottom end of the vertical electric push rod (5), a support seat (6) is arranged at the lower part of the universal ball head (503), and the universal ball head (503) is adapted to a spherical groove (601) provided inside the support seat (6).

2. The levelable electric crawler power chassis according to claim 1, characterized in that: The upper support frame (4) is fixedly installed with fixed pipes (402) on both the front and rear sides along the travel track (2), the fixed pipes (402) are perpendicular to the travel direction of the travel track (2), and a plurality of insertion holes (403) are axially opened on the surface of the fixed pipe (402); A connecting pipe (501) is fixedly arranged on the surface of the cylinder body of the vertical electric push rod (5), and the connecting pipe (501) is inserted into the interior of the fixed pipe (402). A second plug hole (502) is opened on the surface of the connecting pipe (501), and the second plug hole (502) is connected to one of the first plug holes (403) by means of a latch.

3. The levelable electric crawler power chassis according to claim 2, characterized in that: The chassis support frame (1) comprises a central connecting rod (101), a transverse support tube (102) and a longitudinal support tube (103); The transverse support tube (102) is fixedly connected to the central connecting rod (101), the longitudinal support tube (103) is fixedly arranged at both ends of the transverse support tube (102), and the upper support frame (4) is fixedly connected to the transverse support tube (102) via the support rod (401); A motor module (201) is fixedly installed inside the chassis support frame (1), and the motor module (201) is used to drive the walking track (2) to move forward.

4. The levelable electric crawler power chassis according to claim 3 is characterized in that: The lifting platform comprises a lower bracket (7), a telescopic frame (701) and a supporting platform (702); The lower bracket (7) is fixedly mounted on the upper surface of the upper support frame (4); the telescopic frame (701) is composed of a plurality of connecting rods distributed in an "X" shape and is mounted on the upper part of the lower bracket (7); and the supporting platform (702) is arranged on the top of the telescopic frame (701); An adjusting hydraulic rod (8) is installed between the two groups of telescopic frames (701), and the extension or contraction of the telescopic frames (701) is adjusted by using the adjusting hydraulic rod (8).

5. The levelable electric crawler power chassis according to claim 4, characterized in that: A side support frame (3) is arranged on the outer side of the walking crawler (2), a transverse hydraulic rod (303) is arranged on the side surface of the central connecting rod (101), and the telescopic end of the transverse hydraulic rod (303) is connected to the side support frame (3) through a connecting piece (302).

6. The levelable electric crawler power chassis according to claim 5, characterized in that: A stabilizing tube (301) is slidably inserted inside the transverse support tube (102), the outer end of the stabilizing tube (301) is fixedly connected to the side support frame (3), and the stabilizing tube (301) is distributed on both sides of the transverse hydraulic rod (303).

7. The levelable electric crawler power chassis according to claim 6, characterized in that: A hydraulic control system and a control box are installed in the chassis support frame (1), a main control unit is installed in the control box, and an inclination sensor is installed on the upper surface of the upper support frame (4); The upper support frame (4), four groups of vertical electric push rods (5), a support seat (6), a hydraulic control system and a control box constitute a leveling system.

8. A method for leveling a levelable electric crawler powered chassis, using the electric crawler lifting platform as claimed in claim 7, characterized in that: The specific steps include: S1, using a tilt sensor to monitor the lateral tilt angle of the upper support frame (4) and send the data to a main control unit; S2, the main control unit processes the received data and calculates the control amount of the vertical electric push rods (5) on different sides; S3, the main control unit sends a control signal to the motor in the vertical electric push rod (5) on the corresponding side, and the motor in the vertical electric push rod (5) rotates according to the control signal until the vertical electric push rod (5) is extended or retracted to a corresponding control amount.

9. The leveling method of the levelable electric crawler power chassis according to claim 8, characterized in that: The control quantity S of the vertical electric push rod (5) is: Wherein, S is the length of the vertical electric push rod (5), L is the horizontal distance between two lateral vertical electric push rods (5), M is the initial length of the vertical electric push rod, α0 is the initial angle between the upper support frame (4) and the horizontal plane, α is the ground slope, and σ is the rotation angle of the vertical electric push rod.

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