Intelligent leveling chassis

Abstract

The invention discloses an intelligent leveling chassis, and belongs to the technical field of agriculture and forestry machinery. The device comprises a platform, a mounting frame, a longitudinal leveling mechanism, a transverse leveling mechanism, a vehicle frame, a driving mechanism, a gravity center stabilizing mechanism, a control system and an inclination angle detection device, the mounting frame is located below the platform, the front end and the rear end of the platform are connected with the mounting frame through the transverse leveling mechanism, and the driving mechanism is mounted at the bottom of the vehicle frame; the driving mechanism drives the intelligent leveling chassis to move, the gravity center stabilizing mechanism is arranged at the bottom of the platform, the transverse leveling mechanism is in communication connection with the control system, the inclination angle detecting device is installed on the platform and is in communication connection with the control system, and the gravity center stabilizing mechanism is in communication connection with the control system. Intelligent automatic multi-gradient leveling of the platform can be achieved, the agricultural and forestry machinery can keep a stable and stable working state in a complex terrain environment, the working efficiency of the agricultural and forestry machinery is improved, and the safety risk of the agricultural and forestry machinery is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural and forestry machinery and relates to an intelligent leveling chassis. Background Art

[0002] Agricultural and forestry machinery, also known as agricultural machinery, is a general term for all machinery in agriculture, animal husbandry, forestry and fishery. It refers to various types of machinery used in the production process of crop planting, animal husbandry or fishery.

[0003] The working environment of agricultural and forestry machinery is mainly concentrated in hilly and mountainous environments, and the terrain of hilly and mountainous areas is relatively complex, uneven, and the slope is relatively large. Vehicle-type agricultural and forestry machinery usually installs operating parts and carriages on the chassis, and drives the entire machinery to move through the chassis, so that the machinery moves to different positions for operation. During the movement of the machinery, due to the large terrain fluctuations in hilly and mountainous environments, the agricultural and forestry machinery will tilt as a whole, which is easy to cause accidents such as dumping and rollover of agricultural and forestry machinery, thereby affecting the normal operation of agricultural and forestry machinery and causing safety accidents. In addition, the automatic leveling system of agricultural and forestry machinery is mostly developed for a specific mechanical structure and application scenario. The automatic leveling system suitable for complex operations in different scenarios such as hilly and mountainous areas is relatively rare, which is not conducive to reducing the cost of agricultural machinery research and development and maintaining high accuracy during operation. In the future, the automatic leveling system of agricultural machinery in hilly and mountainous areas will develop from a single applicable scenario to multiple applicable scenarios, and its structural form will develop from a dedicated integrated type to a modular type, so as to achieve high efficiency, high quality and high precision of agricultural machinery operations.

[0004] Therefore, it is necessary to provide an intelligent leveling chassis. During the movement of vehicle-type agricultural and forestry machinery, intelligent leveling measures can be taken on the chassis according to the specific tilt angle to ensure the smooth movement and operation of the vehicle-type agricultural and forestry machinery and avoid the overall tipping of the agricultural and forestry machinery, thereby improving the operational adaptability of the vehicle-type agricultural and forestry machinery, and further improving the operating efficiency and quality of the agricultural and forestry machinery. Summary of the invention

[0005] In order to overcome the problems in the background technology, the present invention detects the tilt state of the agricultural and forestry machinery in real time through an inclination detection device, and transmits the detection result signal to the control system through the inclination detection device. The control system controls the longitudinal leveling mechanism, the transverse leveling mechanism, and the center of gravity stabilizing mechanism according to the received signal, and adjusts the platform of the agricultural and forestry machinery to a stable state, so that the components on the platform are adjusted from a tilted state to a stable state, and at the same time stabilizes the center of gravity of the agricultural and forestry machinery to keep the agricultural and forestry machinery stable as a whole.

[0006] In order to achieve the above object, the present invention is implemented by the following technical solutions:

[0007] The intelligent leveling chassis includes a platform 1, an installation frame 2, a longitudinal leveling mechanism 3, a transverse leveling mechanism 4, a frame 5, a driving mechanism 6, a center of gravity stabilizing mechanism 7, a control system, and an inclination detection device 8. The installation frame 2 is located below the platform 1, and the front and rear ends of the platform 1 are connected to the installation frame 2 through the transverse leveling mechanism 4. The driving mechanism 6 is installed at the bottom of the frame 5, and the driving mechanism 6 drives the intelligent leveling chassis to move. The center of gravity stabilizing mechanism 7 is arranged at the bottom of the platform 1, and the transverse leveling mechanism 4 is communicatively connected to the control system. The inclination detection device 8 is installed on the platform 1, and the inclination detection device 8 is communicatively connected to the control system. The center of gravity stabilizing mechanism 7 is communicatively connected to the control system.

[0008] The longitudinal leveling mechanism 3 includes four longitudinal leveling units. On the left and right sides of the mounting frame 2, each side is connected to the frame 5 through two longitudinal leveling units. The longitudinal leveling unit includes a leveling drive mechanism 301 and a support arm 302. The leveling drive mechanism 301 is installed on the frame 5. One end of the support arm 302 is fixedly connected to the mounting frame 2, and the other end of the support arm 302 is hinged to the frame 5. The support arm 302 located on the same side of the mounting frame 2 forms an inverted isosceles triangle structure with the mounting frame 2. The leveling drive mechanism 301 drives the support arm 302 to rotate around the hinge point between the support arm 302 and the frame 5. The leveling drive mechanism 301 is communicatively connected to the control system.

[0009] Preferably, the leveling drive mechanism 301 includes a slide rail 3011, a first slider 3012, a motor 3013, a gear 3014, a rack 3015, and a second slider 3016. The slide rail 3011 is fixedly mounted on the frame 5, the first slider 3012 slides on the slide rail 3011, the motor 3013 is fixedly mounted on the first slider 3012, the output end of the motor 3013 passes through the first slider 3012 and is fixedly connected to the gear 3014, the rack 3015 is fixedly mounted on the inner wall of the slide rail 3011, the gear 3014 is meshed with the rack 3015, the second slider 3016 is slidably mounted on the bottom surface of the support arm 302, the second slider 3016 is hinged to one end of the shaft, the other end of the shaft is fixedly connected to the first slider 3012, and the motor 3013 is communicatively connected to the control system.

[0010] Preferably, the lateral leveling mechanism 4 includes two lateral leveling units, one lateral leveling unit is arranged at each of the front and rear ends of the platform 1, and the lateral leveling unit includes a first electric telescopic rod 401, a second electric telescopic rod 402, and a hinged plate 403. The hinged plate 403 is arranged in the middle position between the front and rear ends of the platform 1, and the hinged plate 403 is hinged to the mounting frame 2. The first electric telescopic rod 401 and the second electric telescopic rod 402 are respectively arranged on both sides of the hinged plate 403. One end of the first electric telescopic rod 401 and the second electric telescopic rod 402 are hinged to the platform 1, and the other end is hinged to the mounting frame 2. The first electric telescopic rod 401 and the second electric telescopic rod 402 are both communicatively connected to the control system.

[0011] Preferably, the hinged plate 403 is an inverted isosceles triangle structure, and its top corner is hinged to the installation frame 2 .

[0012] Preferably, the first electric telescopic rod 401, the second electric telescopic rod 402, the platform 1, and the installation frame 2 form an inverted trapezoidal structure.

[0013] Preferably, the driving mechanism 6 includes a wheel 601 , and the wheel 601 is installed at the bottom of the frame 5 .

[0014] Preferably, the wheel 601 is a track-type wheel.

[0015] Preferably, the driving mechanism 6 further comprises a buffer 602, the crawler wheel is hinged to the frame 5, a mounting plate 603 is arranged inside the crawler wheel, one end of the buffer 602 is hinged to the mounting plate 603, and the other end is hinged to the frame 5. The structure of the buffer 602 is the same as that of the shock absorber.

[0016] Preferably, the center of gravity stabilizing mechanism 7 includes a water tank 701 and a water pump 702. There are four water tanks 701, all of which are fixedly installed at the bottom of the platform 1. The four water tanks 701 are respectively located around the platform 1. The water tanks 701 on the left and right sides of the platform 1 are connected by pipes, and the water pump 702 is installed on the connecting pipes. The water tanks 701 at the front and rear ends of the platform 1 are connected by pipes, and the water pump 702 is installed on the connecting pipes. The water pump 702 is communicatively connected to the control system.

[0017] Preferably, the inclination detection device 8 adopts an accelerometer 802 , or an inclination sensor 801 and an accelerometer 802 .

[0018] Beneficial effects of the present invention:

[0019] 1. The present invention detects the inclination data of the platform in real time through the inclination detection device. Because before leveling, the plane where the wheels are located is parallel to the platform plane, and most of the working parts are installed on the platform, the inclination data of the platform can directly reflect the overall inclination of the agricultural and forestry machinery. The inclination detection device transmits the inclination data detected in real time to the control system, and the control system judges the received inclination detection data. If the platform needs to be adjusted, the control system controls the operation of the longitudinal leveling mechanism and the transverse leveling mechanism to adjust the platform back to a horizontal state, so that the working parts installed on the platform also restore to a stable state. By controlling the longitudinal leveling mechanism and the transverse leveling mechanism to cooperate with each other through the control system, the platform can be flexibly and quickly adjusted to a horizontal state, thereby improving the stability of the machinery on uneven terrain and the flexibility of operation. The platform and working parts can also be adjusted to a relatively stable state to avoid the overall tilt of the agricultural and forestry machinery.

[0020] 2. The operation of the longitudinal leveling mechanism and the transverse leveling mechanism of the present invention can adjust the platform to make the platform in a relatively stable state, while the driving mechanism itself does not adjust the inclination angle. The agricultural and forestry machinery as a whole relies on the driving mechanism to be supported on the ground, that is, if the agricultural and forestry machinery is in a tilted ground position, the driving mechanism itself remains in a tilted state. In addition, the overall structure of the working parts installed on the platform is not a regular shape. Therefore, the overall center of gravity of the agricultural and forestry machinery may shift. If its center of gravity shifts to a lower position on the inclined ground, it may still cause the agricultural and forestry machinery to tip over. Therefore, the control system controls the operation of the center of gravity stabilizing mechanism to adjust the center of gravity of the agricultural and forestry machinery to a relatively stable position, thereby further improving the movement and operation stability of the agricultural and forestry machinery.

[0021] 3. The present invention adopts crawler wheels, which have better off-road performance and adaptability in special terrains such as hills and mountains compared to ordinary wheels.

[0022] 4. During the movement of agricultural and forestry machinery, the inclination state, angle, etc. of the road surface will change. As the road surface state changes, the inclination state of the agricultural and forestry machinery will also change accordingly. If the inclination state of the agricultural and forestry machinery changes too quickly at an instant, inertia and other effects will easily cause the agricultural and forestry machinery to tip over. The present invention articulates the crawler wheels with the frame and provides a buffer to buffer the speed of change of the inclination state of the agricultural and forestry machinery when the inclination state of the agricultural and forestry machinery changes, thereby making the agricultural and forestry machinery more stable during the change of the inclination state and reducing the risk of toppling of the agricultural and forestry machinery due to the change of the inclination state.

[0023] 5. The present invention sets an inclination detection device and a control system. The control system makes a judgment based on the signal transmitted by the inclination detection device, and controls the operation of related components to adjust the platform and stabilize the center of gravity based on the judgment result, thereby realizing automatic control, adjusting the platform more accurately and timely, and saving labor costs to a certain extent.

[0024] 6. The present invention significantly improves the stability and operational flexibility of agricultural and forestry machinery on uneven terrain, allowing the vehicle to quickly adjust its posture according to changes in terrain, thereby enhancing its passability and safety.

[0025] 7. The center of gravity stabilizing mechanism of the present invention finely adjusts the center of gravity of the vehicle by changing the distribution of water in four independent water tanks, thereby further enhancing the stability of the vehicle on slopes and uneven ground.

[0026] 8. The intelligent leveling chassis of the present invention is not only suitable for agricultural and forestry machinery, but can also be widely used in various machinery and vehicles that need to maintain high stability and high maneuverability under different terrain conditions. For example, in the construction and prospecting industries, machinery needs to operate on unstable ground, and the use of the chassis design of the present invention can greatly improve work efficiency and safety. Similarly, military equipment such as tanks and other battlefield vehicles can also benefit from this chassis technology, especially when performing tasks under complex and extreme terrain conditions.

[0027] 9. The present invention provides a chassis design scheme applicable to a variety of technical fields through innovative chassis design, which can effectively cope with operational challenges under complex terrain conditions and has broad market application prospects and practical value. The implementation of the present invention can not only improve the performance of mechanical equipment, but also bring convenience and safety in operation. It is a technological advancement of great significance and can also realize the intelligent level of agricultural and forestry machinery chassis system, thereby improving the work efficiency of agricultural and forestry operations and promoting the development of mechanized agriculture in mountainous areas.

[0028] 10. The present invention can not only provide the control system with tilt state related detection results by using an accelerometer, but also provide the control system with mechanical center of gravity detection results, so that the control system can judge which components should be controlled to operate according to different results. In addition, the present invention uses an accelerometer and an inclinometer sensor at the same time to further enrich the signals received by the control system, so that the control system can make a more accurate judgment on the actual situation of the machine, thereby issuing more precise control instructions, which helps to improve the accuracy of intelligent adjustment of the machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the intelligent leveling chassis of the present invention;

[0030] Figure 2This is a schematic diagram of the front view structure of the intelligent leveling chassis of the present invention;

[0031] Figure 3 This is a schematic diagram of the side structure of the intelligent leveling chassis of the present invention;

[0032] Figure 4 It is a schematic diagram of the three-dimensional structure of the longitudinal leveling mechanism of the present invention;

[0033] Figure 5 It is a schematic diagram of the three-dimensional structure of the lateral leveling mechanism of the present invention;

[0034] Figure 6 It is a schematic diagram of the three-dimensional structure of the leveling drive mechanism of the present invention.

[0035] Figure 7 It is a schematic diagram of the pipeline structure of the present invention.

[0036] In the figure, 1-platform, 2-installation frame, 3-longitudinal leveling mechanism, 301-leveling drive mechanism, 3011-slide rail, 3012-first slider, 3013-motor, 3014-gear, 3015-rack, 3016-second slider, 302-support arm, 4-lateral leveling mechanism, 401-first electric telescopic rod, 402-second electric telescopic rod, 403-hinge plate, 5-frame, 6-drive mechanism, 601-wheel, 602-buffer, 603-installation plate, 7-center of gravity stabilizing mechanism, 701-water tank, 702-water pump, 8-inclination detection device, 801-inclination sensor, 802-accelerometer. DETAILED DESCRIPTION

[0037] The present invention is further described in detail below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited to the described contents.

[0038] like Figure 1-6 As shown, the intelligent leveling chassis includes a platform 1, an installation frame 2, a longitudinal leveling mechanism 3, a transverse leveling mechanism 4, a frame 5, a driving mechanism 6, a center of gravity stabilizing mechanism 7, a control system, and an inclination detection device 8. The installation frame 2 is located below the platform 1, and the front and rear ends of the platform 1 are connected to the installation frame 2 through the transverse leveling mechanism 4. The driving mechanism 6 is installed at the bottom of the frame 5, and the driving mechanism 6 drives the intelligent leveling chassis to move. The center of gravity stabilizing mechanism 7 is arranged at the bottom of the platform 1, and the transverse leveling mechanism 4 is communicatively connected to the control system. The inclination detection device 8 is installed on the platform 1, and the inclination detection device 8 is communicatively connected to the control system. The center of gravity stabilizing mechanism 7 is communicatively connected to the control system.

[0039] The longitudinal leveling mechanism 3 includes four longitudinal leveling units. On the left and right sides of the mounting frame 2, each side is connected to the frame 5 through two longitudinal leveling units. The longitudinal leveling unit includes a leveling drive mechanism 301 and a support arm 302. The leveling drive mechanism 301 is installed on the frame 5. One end of the support arm 302 is fixedly connected to the mounting frame 2, and the other end of the support arm 302 is hinged to the frame 5. The support arm 302 located on the same side of the mounting frame 2 forms an inverted isosceles triangle structure with the mounting frame 2. The leveling drive mechanism 301 drives the support arm 302 to rotate around the hinge point between the support arm 302 and the frame 5. The leveling drive mechanism 301 is communicatively connected to the control system.

[0040] When agricultural and forestry machinery moves in the operation scene and passes through a terrain with a large undulating slope, the whole machinery tilts. At this time, the inclination detection device 8 detects the mechanical inclination angle, and the inclination detection device 8 transmits the detection result to the control system. After receiving the detection result, the control system compares the detection result with the threshold value preset in the control system. If the detection result exceeds the preset threshold value, it means that the machinery tilts too much and the platform 1 needs to be adjusted. Then the control system controls the longitudinal leveling mechanism 3, the lateral leveling mechanism 4, and the center of gravity stabilizing mechanism 7 to operate. Figure 3 Take the following as an example to explain the working process of the longitudinal leveling mechanism 3:

[0041] Figure 3 In the figure, the left side of the picture is used as the front end of the intelligent leveling chassis, and the right side of the picture is used as the rear end of the intelligent leveling chassis. If the intelligent leveling chassis is currently moved from flat ground to a downhill road, the agricultural and forestry machinery will tilt forward, and the inclination detection device 8 will transmit the detection result signal to the control system. The control system compares the received detection result signal with the preset threshold value. When the inclination exceeds the preset threshold value range, the control system determines that the agricultural and forestry machinery is tilted too much and there is a risk of tipping over. Then the control system controls the longitudinal leveling mechanism 3 to operate. In the longitudinal leveling mechanism 3, one end of the support arm 302 is fixedly connected to the mounting frame 2, and the other end of the support arm 302 is hinged to the frame 5, and the platform 1 is connected to the mounting frame 2 through the transverse leveling mechanism 4. When the control system controls the leveling drive mechanism 301 to drive the support arm 302 to rotate around the hinge point between the support arm 302 and the frame 5, the front end of the mounting frame 2 can be raised and the rear end can be lowered. Obviously, the front end can also be lowered and the rear end can be raised. Since the front and rear ends of the platform 1 are connected to the mounting frame 2 through the transverse leveling mechanism 4, the front and rear ends of the platform 1 will not move relative to the mounting frame 2, and the movement of the platform 1 is consistent with that of the mounting frame 2. If the agricultural and forestry machinery is in a forward tilting state, the control system controls the leveling drive mechanism 301 to drive the support arm 302 to rotate clockwise around the hinge point. The clockwise and counterclockwise rotation of the platform 1 is Figure 3Take the example for determination. At this time, the front end of the mounting frame 2 rises and the rear end lowers. Similarly, the front end of the platform 1 rises and the rear end lowers, so that the platform 1 that is tilted forward can be restored to a horizontal state. During the operation of the longitudinal leveling mechanism 3 controlled by the control system, the inclination detection device 8 still keeps transmitting signals to the control system. The control system can judge whether the platform 1 is adjusted in place according to the signal transmitted by the inclination detection device 8. When it is adjusted in place, the control system controls the longitudinal leveling mechanism 3 to stop running, so that the platform 1 remains in a stable state, and the longitudinal leveling mechanism 3 completes the adjustment work. The overall process of the control system controlling the operation of the lateral leveling mechanism 4 is similar to the overall process of its control of the longitudinal leveling mechanism 3. Both judge what control method the control system adopts to control what leveling mechanism based on the detection result signal of the inclination detection device 8, and judge whether the adjustment is completed.

[0042] like Figure 6 As shown, the leveling drive mechanism 301 includes a slide rail 3011, a first slider 3012, a motor 3013, a gear 3014, a rack 3015, and a second slider 3016. The slide rail 3011 is fixedly installed on the frame 5, the first slider 3012 slides on the slide rail 3011, the motor 3013 is fixedly installed on the first slider 3012, the output end of the motor 3013 passes through the first slider 3012 and is fixedly connected to the gear 3014, the rack 3015 is fixedly installed on the inner wall of the slide rail 3011, the gear 3014 is meshed with the rack 3015, the second slider 3016 is slidably installed on the bottom surface of the support arm 302, the second slider 3016 is hinged to one end of the shaft, the other end of the shaft is fixedly connected to the first slider 3012, and the motor 3013 is communicatively connected to the control system.

[0043] When the control system controls the motor 3013 to work, the output end of the motor 3013 rotates, driving the gear 3014 to rotate, and the gear 3014 meshes with the rack 3015, so that the gear 3014 rotates, which can make the gear 3014 move on the rack 3015, and the movement of the gear 3014 drives the motor 3013 to move, and the motor 3013 is fixedly installed on the first slider 3012, so the first slider 3012 can slide on the slide rail 3011, and the second slider 3016 is connected to the first slider 3012 through the shaft, so that the first slider 3012 slides on the slide rail 3011, which can drive the second slider 3016 to slide on the bottom surface of the support arm 302, and the second slider 3016 supports the support arm 302. Function: when the second slider 3016 does not move, the supporting point of the second slider 3016 supporting the supporting arm 302 remains unchanged, and the supporting arm 302 remains stable and does not rotate around the hinge point. Since the supporting arm 302 and the mounting frame 2 form an inverted triangle structure, the supporting arm 302 is the waist and is in an inclined state. Therefore, as the second slider 3016 moves, the supporting point position of the supporting arm 302 also moves accordingly. The movement of the supporting point can make the supporting arm 302 rotate around the hinge point, and the supporting arm 302 can drive the mounting frame 2 to rotate together. During the rotation of the mounting frame 2, the front and rear ends of the mounting frame 2 will rise or fall, and the platform 1 will also rise or fall at the front and rear ends driven by the mounting frame 2.

[0044] The lateral leveling mechanism 4 includes two lateral leveling units, one lateral leveling unit is respectively arranged at the front and rear ends of the platform 1, and the lateral leveling unit includes a first electric telescopic rod 401, a second electric telescopic rod 402, and a hinged plate 403. The hinged plate 403 is arranged in the middle position between the front and rear ends of the platform 1, and the hinged plate 403 is hinged to the installation frame 2. The first electric telescopic rod 401 and the second electric telescopic rod 402 are respectively arranged on both sides of the hinged plate 403. One end of the first electric telescopic rod 401 and the second electric telescopic rod 402 are hinged to the platform 1, and the other end is hinged to the installation frame 2. The first electric telescopic rod 401 and the second electric telescopic rod 402 are both communicatively connected to the control system.

[0045] The hinged plate 403 is an inverted isosceles triangle structure, and its top corner is hinged to the installation frame 2 .

[0046] The first electric telescopic rod 401, the second electric telescopic rod 402, the platform 1, and the installation frame 2 form an inverted trapezoidal structure.

[0047] by Figure 3 Take the following as an example to explain the working process of the longitudinal leveling mechanism 3:

[0048] Figure 2In the figure, the left side of the picture is taken as the left side of the intelligent leveling chassis, and the right side of the picture is taken as the right side of the intelligent leveling chassis. If the agricultural and forestry machinery moves to a road surface with a lower left and a higher right side, the agricultural and forestry machinery will be lower on the left side and higher on the right side. The inclination detection device 8 transmits the detection result to the control system. The control system determines that the agricultural and forestry machinery is tilted to the left and there is a risk of tipping over to the left. Then the control system controls the lateral leveling mechanism 4 to operate. The control system controls the first electric telescopic rod 401 to extend and controls the second electric telescopic rod 402 to shorten. Since the platform 1 is hinged to the mounting frame 2 through the hinge plate 403, the left side of the platform 1 is pushed up and the right side is pulled down. When the platform 1 returns to a horizontal state, the control system controls the lateral leveling mechanism 4 to stop working, and the first electric telescopic rod 401 and the second electric telescopic rod 402 are no longer extended or shortened, so as to support the platform 1 and keep the platform 1 in a stable state.

[0049] The driving mechanism 6 includes wheels 601, which are mounted at the bottom of the frame 5. The wheels 601 roll on the ground, driving the frame 5 to move, and also driving the platform 1 and the working parts mounted on the platform 1 to move.

[0050] The wheels 601 are track-type wheels, which enhance the adaptability of the wheels to complex terrain.

[0051] The driving mechanism 6 further includes a buffer 602 . The crawler wheel is hinged to the frame 5 . A mounting plate 603 is arranged inside the crawler wheel. One end of the buffer 602 is hinged to the mounting plate 603 , and the other end is hinged to the frame 5 .

[0052] by Figure 3 Take the working process of the above-mentioned driving mechanism 6 as an example:

[0053] Figure 3 In the figure, the left side of the picture is the front end of the intelligent leveling chassis, and the right side of the picture is the rear end of the intelligent leveling chassis. If the agricultural and forestry machinery is currently moving from flat ground to uphill ground, the front crawler wheel will rotate clockwise around the hinge point with the frame 5 during the process of moving to the uphill road. Figure 3 For example, to adapt to the inclined state of the road surface, during the clockwise rotation of the crawler wheel, the buffer 602 is compressed and slowly shortened, so that the clockwise rotation speed of the crawler wheel can be reduced to avoid sudden state changes, which will reduce the stability of the agricultural and forestry machinery. If it moves to a downhill road, the crawler wheel rotates counterclockwise around the hinge point with the frame 5, and the buffer 602 is slowly stretched.

[0054] The center of gravity stabilizing mechanism 7 includes a water tank 701 and a water pump 702. There are four water tanks 701, all of which are fixedly installed at the bottom of the platform 1. The four water tanks 701 are respectively located around the platform 1. The water tanks 701 on the left and right sides of the platform 1 are connected by pipes, and the water pump 702 is installed on the connecting pipes. The water tanks 701 at the front and rear ends of the platform 1 are connected by pipes, and the water pump 702 is installed on the connecting pipes. The water pump 702 is communicatively connected to the control system.

[0055] The control system receives the signal transmitted by the inclination detection device 8 and determines that the center of gravity of the agricultural and forestry machinery has shifted. Figure 2 Take the example to explain the working process of the center of gravity stabilizing mechanism 7:

[0056] Figure 2 In the figure, the left side of the picture is used as the left side of the intelligent leveling chassis, and the right side of the picture is used as the right side of the intelligent leveling chassis. If the agricultural and forestry machinery is currently on a road surface with a low left side and a high right side, the center of gravity of the agricultural and forestry machinery needs to be shifted to the right. The road surface on the right side is high, and the center of gravity is on the right side, so the agricultural and forestry machinery is less likely to tip over. The control system controls the water pump 702 on the pipe 701 connecting the left and right sides of the platform 1 to start, and controls the water pump 702 to extract the water in the water tank 701 on the left side of the platform 1 and pump it to the water tank 701 on the right side of the platform 1, increase the weight on the right side of the agricultural and forestry machinery, and move the center of gravity of the agricultural and forestry machinery to the right side, so as to further improve the stability of the agricultural and forestry machinery during operation. The adjustment of the center of gravity at the front and rear ends of the platform 1 is the same as that on the left and right sides. When the center of gravity of the agricultural and forestry machinery is adjusted to a suitable position, the control system receives the signal transmitted by the inclination detection device 8, and judges that no further center of gravity adjustment is required based on the received signal, and then the control system controls the water pump 702 to stop working.

[0057] The inclination detection device 8 uses an accelerometer 802 , or an inclination sensor 801 and an accelerometer 802 .

[0058] The accelerometer 802 can not only detect the tilt of the agricultural and forestry machinery, but also detect the center of gravity deviation of the agricultural and forestry machinery, providing a basis for the control system to judge the subsequent control work. The use of the inclination sensor 801 and the accelerometer 802 to detect the tilt state of the agricultural and forestry machinery at the same time can improve the accuracy of the detection results, so that the detection results received by the control system are more accurate, and the control system can make more accurate judgments on the actual situation of the agricultural and forestry machinery, and can perform more precise control.

[0059] The working process of the intelligent leveling chassis of the present invention is as follows: when the agricultural and forestry machinery is on an inclined ground, the inclination detection device detects the degree of inclination of the agricultural and forestry machinery, and transmits the detection result signal to the control system. The control system determines the subsequent control method and the components that need to be controlled according to the received signal. After the control system completes the judgment work, it controls the corresponding components to perform the leveling work of the platform 1 according to the judgment result. The control system can simultaneously control the longitudinal leveling mechanism, the lateral leveling mechanism, and the center of gravity stabilization mechanism to operate.

[0060] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made in form and details without departing from the scope defined by the claims of the present invention.

Claims

1. An intelligent leveling chassis, characterized in that: The intelligent leveling chassis comprises a platform (1), a mounting frame (2), a longitudinal leveling mechanism (3), a transverse leveling mechanism (4), a frame (5), a driving mechanism (6), a center of gravity stabilizing mechanism (7), a control system, and an inclination detection device (8); the mounting frame (2) is located below the platform (1); the front and rear ends of the platform (1) are connected to the mounting frame (2) via the transverse leveling mechanism (4); the driving mechanism (6) is installed at the bottom of the frame (5); the driving mechanism (6) drives the intelligent leveling chassis to move; the center of gravity stabilizing mechanism (7) is arranged at the bottom of the platform (1); the transverse leveling mechanism (4) is in communication connection with the control system; the inclination detection device (8) is installed on the platform (1); the inclination detection device (8) is in communication connection with the control system; and the center of gravity stabilizing mechanism (7) is in communication connection with the control system; The longitudinal leveling mechanism (3) comprises four longitudinal leveling units. On the left and right sides of the installation frame (2), each side is connected to the vehicle frame (5) via two longitudinal leveling units. The longitudinal leveling units comprise a leveling drive mechanism (301) and a support arm (302). The leveling drive mechanism (301) is installed on the vehicle frame (5). One end of the support arm (302) is fixedly connected to the installation frame (2), and the other end of the support arm (302) is hinged to the vehicle frame (5). The support arm (302) located on the same side of the installation frame (2) and the installation frame (2) form an inverted isosceles triangle structure. The leveling drive mechanism (301) drives the support arm (302) to rotate around a hinge point between the support arm (302) and the vehicle frame (5). The leveling drive mechanism (301) is communicatively connected to a control system.

2. The intelligent leveling chassis according to claim 1, characterized in that: The leveling drive mechanism (301) comprises a slide rail (3011), a first slider (3012), a motor (3013), a gear (3014), a rack (3015), and a second slider (3016); the slide rail (3011) is fixedly mounted on the vehicle frame (5); the first slider (3012) slides on the slide rail (3011); the motor (3013) is fixedly mounted on the first slider (3012); an output end of the motor (3013) passes through the second slider (3016); A slider (3012) is fixedly connected to a gear (3014), the rack (3015) is fixedly mounted on the inner wall of the slide rail (3011), the gear (3014) and the rack (3015) are meshed, a second slider (3016) is slidably mounted on the bottom surface of the support arm (302), the second slider (3016) is hinged to one end of the shaft, the other end of the shaft is fixedly connected to the first slider (3012), and the motor (3013) is communicatively connected to a control system.

3. The intelligent leveling chassis according to claim 1, characterized in that: The lateral leveling mechanism (4) comprises two lateral leveling units, one lateral leveling unit is respectively arranged at the front and rear ends of the platform (1), and the lateral leveling unit comprises a first electric telescopic rod (401), a second electric telescopic rod (402), and a hinged plate (403), wherein the hinged plate (403) is arranged at a middle position between the front and rear ends of the platform (1), the hinged plate (403) is hinged to the installation frame (2), and the first electric telescopic rod (401) and the second electric telescopic rod (402) are respectively arranged on both sides of the hinged plate (403), one end of the first electric telescopic rod (401) and the second electric telescopic rod (402) are hinged to the platform (1), and the other end is hinged to the installation frame (2), and the first electric telescopic rod (401) and the second electric telescopic rod (402) are both connected to the control system for communication.

4. The intelligent leveling chassis according to claim 3, characterized in that: The hinged plate (403) is an inverted isosceles triangle structure, and its top corner is hinged to the installation frame (2).

5. The intelligent leveling chassis according to claim 3, characterized in that: The first electric telescopic rod (401), the second electric telescopic rod (402), the platform (1), and the mounting frame (2) form an inverted trapezoidal structure.

6. The intelligent leveling chassis according to claim 1, characterized in that: The driving mechanism (6) comprises a wheel (601), and the wheel (601) is mounted on the bottom of the frame (5).

7. The intelligent leveling chassis according to claim 6, characterized in that: The wheel (601) is a track-type wheel.

8. The intelligent leveling chassis according to claim 7, characterized in that: The driving mechanism (6) further comprises a buffer member (602), the crawler wheel is hinged to the vehicle frame (5), a mounting plate (603) is arranged inside the crawler wheel, one end of the buffer member (602) is hinged to the mounting plate (603), and the other end is hinged to the vehicle frame (5).

9. The intelligent leveling chassis according to claim 1, characterized in that: The center of gravity stabilizing mechanism (7) comprises a water tank (701) and a water pump (702). There are four water tanks (701), all of which are fixedly mounted at the bottom of the platform (1). The four water tanks (701) are respectively located around the platform (1). The water tanks (701) on the left and right sides of the platform (1) are connected via a pipeline, and the water pump (702) is installed on the connecting pipeline. The water tanks (701) at the front and rear ends of the platform (1) are connected via a pipeline, and the water pump (702) is installed on the connecting pipeline. The water pump (702) is connected to the control system for communication.

10. An intelligent leveling chassis according to any one of claims 1 to 9, characterized in that: The inclination detection device (8) adopts an accelerometer (802), or an inclination sensor (801) and an accelerometer (802).

Images