High-ground-clearance chassis with terrain-imitating adjusting function for hills and mountains

Abstract

The invention discloses a high-ground-clearance chassis with a terrain-imitating adjusting function for hills and mountains. The high-ground-clearance chassis comprises a rack, the driving mechanism is mounted on the rack and adopts full-hydraulic four-wheel drive; the supporting leg mechanisms are correspondingly mounted on the rack respectively; the profiling control mechanism is connected with the driving mechanism and comprises a controller, a chassis tilt angle sensor, a plurality of profiling tilt angle sensors, a lifting oil cylinder and a profiling oil cylinder, the chassis tilt angle sensor, the profiling tilt angle sensors, the lifting oil cylinder and the profiling oil cylinder are connected with the controller, the chassis tilt angle sensor is installed on the rack, and the profiling tilt angle sensors are installed on the horizontal planes of the walking wheel clamping plates respectively; a lifting oil cylinder is mounted at the bottom of each supporting leg mechanism; the walking wheels are respectively arranged at the lower ends of the corresponding supporting leg mechanisms; one end of the profiling oil cylinder is connected with the walking wheel, and the other end of the profiling oil cylinder is connected with the supporting leg mechanism; the controller controls and adjusts front-back, left-right and overall lifting and walking wheel posture profiling at the same time, so that it is guaranteed that the chassis is horizontal under different terrain conditions, and walking wheels make full contact with the ground.

Description

Technical Field

[0001] The present invention relates to a general power chassis for agricultural machinery, in particular to a self-propelled high ground clearance chassis with a terrain-following adjustment function suitable for hilly and mountainous areas. Background Art

[0002] The terrain and landforms in hilly and mountainous areas are complex, with large slopes, small plots, and narrow headland spaces as the main features. For tall-stemmed crops such as tobacco and corn, during the later harvesting or field management operations, ordinary power equipment cannot enter the field due to the influence of the ground clearance height. When using the high ground clearance chassis technology, due to the influence of the crop planting row spacing, it is difficult to ensure the balance and stability performance of the chassis in the state of narrow wheelbase and high ground clearance, and situations such as tipping and skidding are likely to occur. The lack of applicable equipment is the main problem existing currently. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a high ground clearance chassis for hilly and mountainous areas with a terrain-following adjustment function in view of the above-mentioned defects of the prior art.

[0004] To achieve the above object, the present invention provides a high ground clearance chassis for hilly and mountainous areas with a terrain-following adjustment function, which includes:

[0005] A frame;

[0006] A driving mechanism, installed on the frame and adopting a full hydraulic four-wheel drive structure;

[0007] A plurality of leg mechanisms, respectively installed on the frame;

[0008] A profiling control mechanism, connected to the driving mechanism, including a controller, a chassis inclination sensor, a plurality of profiling inclination sensors, lifting oil cylinders, and profiling oil cylinders. The controller is respectively connected to the chassis inclination sensor, the plurality of profiling inclination sensors, the lifting oil cylinders, and the profiling oil cylinders. The chassis inclination sensor is installed on the frame, and the profiling inclination sensors are respectively installed on the horizontal plane of the walking wheel clamping plates; each bottom of the leg mechanisms is respectively installed with the lifting oil cylinders; and

[0009] A plurality of walking wheels, respectively arranged at the lower ends of the corresponding leg mechanisms for realizing in-situ steering and differential steering; one end of the profiling oil cylinder is connected to the walking wheel, and the other end of the profiling oil cylinder is connected to the leg mechanism;

[0010] Wherein, the controller adopts four-column independent lifting attitude adjustment, and simultaneously controls and adjusts the front and rear, left and right, overall lifting, and the profiling of the walking wheel attitude to ensure that the chassis is horizontal under different terrain conditions and the walking wheels are in full contact with the ground.

[0011] The above-mentioned high-clearance chassis for hilly and mountainous areas with terrain imitation adjustment function, wherein the controller adjusts the maximum climbing slope of the chassis ≥ 20°, and the lateral ultimate tipping angle ≥ 20°.

[0012] The above-mentioned high-clearance chassis for hilly and mountainous areas with terrain imitation adjustment function, wherein the controller detects the chassis state in real time through the chassis inclination sensor, and realizes the front-back, left-right and overall lifting adjustment of the chassis by controlling the telescopic movement of the lifting oil cylinder, so as to keep the chassis horizontal longitudinally and laterally under different terrain conditions.

[0013] The above-mentioned high-clearance chassis for hilly and mountainous areas with terrain imitation adjustment function, wherein the chassis inclination value detected by the chassis inclination sensor is used as the profiling adjustment target value to adjust the telescopic movement of the corresponding profiling oil cylinder; and the profiling adjustment result is verified through the profiling inclination sensor to realize the profiling adjustment of the walking posture of the walking wheels, ensuring the full-contact walking of the walking wheels with the ground.

[0014] The above-mentioned high-clearance chassis for hilly and mountainous areas with terrain imitation adjustment function, wherein the frame is a rectangular frame, including an upper longitudinal beam, a lifting outer tube, an upper cross beam and an outer side longitudinal beam. The upper longitudinal beam is connected to the upper cross beam to form a rectangular frame. Both ends of the upper cross beam are respectively connected with the lifting outer tubes. The outer side longitudinal beams are parallel to the upper longitudinal beam, and both ends of the outer side longitudinal beams are respectively connected with the lifting outer tubes.

[0015] The above-mentioned high-clearance chassis for hilly and mountainous areas with terrain imitation adjustment function, wherein the outrigger mechanism includes support legs, inner tube slides, outer tube slides and slide block stoppers. The inner tube slides are installed at the upper end of the support legs and are in contact with the lifting outer tubes; the outer tube slides are connected with the lifting outer tubes and are in contact with the lifting inner tubes and the slide block stoppers; the slide block stoppers are installed on the lifting outer tubes.

[0016] The above-mentioned high-clearance chassis for hilly and mountainous areas with terrain imitation adjustment function, wherein the support legs include inner tube attaching plates, lifting inner tubes and support plates. The inner tube attaching plates are installed on the inner wall of the upper end of the lifting inner tubes, and the lower ends of the lifting inner tubes are installed on the support plates; the inner tube slides are respectively installed in the holes on the four sides of the upper end of the lifting inner tubes, and both sides of the inner tube slides are respectively in contact with the inner tube attaching plates and the lifting outer tubes; the outer tube slides are respectively installed in the holes on the four sides of the lower end of the lifting outer tubes, and both sides of the outer tube slides are respectively in contact with the lifting inner tubes and the slide block stoppers.

[0017] The above-mentioned high-clearance chassis for hilly and mountainous areas with terrain imitation adjustment function, wherein one end of the lifting oil cylinder is installed on the support plate through a pin, and the other end of the lifting oil cylinder is installed on the lifting outer tube through a pin.

[0018] The above-mentioned high-clearance chassis for hilly and mountainous areas with terrain imitation adjustment function, wherein the traveling wheels are narrow wheelbase rubber crawler traveling wheels.

[0019] The above-mentioned high-clearance chassis for hilly and mountainous areas with terrain imitation adjustment function, wherein the frame is further provided with a control platform, and the chassis is driven to travel through the control platform; or the chassis is driven to travel by intelligent remote control.

[0020] The technical effect of the present invention is as follows:

[0021] In view of the topographic and geomorphic characteristics of hilly and mountainous areas, the present invention adopts a high-clearance self-propelled chassis with terrain imitation adjustment function. The device has a narrow wheelbase and adjustable ground clearance, and is suitable for single-row operation in small plots in hilly and mountainous areas; it adopts four triangular crawlers for traveling, with good driving performance; the attitude of the chassis and the traveling crawlers can be adjusted according to the terrain to ensure the balance and stability performance of the chassis; the chassis can be connected with a tobacco harvesting device for layered tobacco harvesting operations in hilly and mountainous areas, and can also be used for field management operations of tall crops such as corn and vegetables in hilly and mountainous areas, providing a narrow wheelbase and high-clearance self-propelled power chassis.

[0022] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments, but it is not intended to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic structural diagram of an embodiment of the present invention;

[0024] Figure 2 It is a schematic structural diagram of the frame of an embodiment of the present invention;

[0025] Figure 3 It is a schematic installation diagram of the left rear leg mechanism and the traveling wheels of an embodiment of the present invention;

[0026] Figure 4 It is a sectional view of the leg mechanism of an embodiment of the present invention;

[0027] Figure 5 It is a schematic diagram of the chassis height adjustment and crawler profiling principle.

[0028] Among them, the reference numerals

[0029] 1 Frame

[0030] 11 Upper longitudinal beam

[0031] 12 Lifting outer tube

[0032] 13 Upper cross beam

[0033] 14 Outer longitudinal beam

[0034] 15 Battery rack

[0035] 16 Hydraulic valve fixing plate

[0036] 2 Driving mechanism

[0037] 21 Hydraulic oil tank

[0038] 22 Diesel fuel tank

[0039] 23 Hydraulic valve assembly

[0040] 24 Power component

[0041] 3 Traveling wheel

[0042] 4 Outrigger mechanism

[0043] 41 Support leg

[0044] 411 Inner pipe attaching plate

[0045] 412 Lifting inner pipe

[0046] 413 Support plate

[0047] 42 Inner pipe slide plate

[0048] 43 Outer pipe slide plate

[0049] 44 Slide plate stopper

[0050] 5 Profiling control mechanism

[0051] 51 Control platform

[0052] 52 Lifting oil cylinder

[0053] 53 Profiling oil cylinder

[0054] 6 Battery Detailed implementation mode

[0055] The structural principle and working principle of the present invention will be specifically described below with reference to the accompanying drawings:

[0056] See Figure 1 , Figure 1Schematic structural diagram of an embodiment of the present invention. The high-clearance chassis for hilly and mountainous areas with terrain imitation adjustment function of the present invention includes: a frame 1; a driving mechanism 2, installed on the frame 1 and adopting full-hydraulic four-wheel drive; a plurality of leg mechanisms 4, respectively installed on the frame 1; a profiling control mechanism 5, connected to the driving mechanism 2, including a controller, a chassis inclination sensor, a plurality of profiling inclination sensors, a lifting oil cylinder 52 and a profiling oil cylinder 53, the controller is respectively connected to the chassis inclination sensor, a plurality of profiling inclination sensors, the lifting hydraulic control valve of the lifting oil cylinder 52 and the profiling hydraulic control valve of the profiling oil cylinder 53, the chassis inclination sensor is installed on the frame 1, and the profiling inclination sensors are respectively installed on the clamping plate horizontal planes of the imitation traveling wheels 3; each bottom of the leg mechanisms 4 is respectively installed with the lifting oil cylinder 52; and a plurality of traveling wheels 3, respectively arranged at the lower ends of the corresponding leg mechanisms 4 for realizing in-situ steering and differential steering, the traveling wheels 3 are preferably narrow-track rubber crawler traveling wheels 3; one end of the profiling oil cylinder 53 is connected to the traveling wheels 3, and the other end of the profiling oil cylinder 53 is connected to the leg mechanism 4; wherein, the controller adopts four-column independent lifting attitude adjustment, and simultaneously controls and adjusts the front and rear, left and right, overall lifting and the attitude profiling of the traveling wheels 3 to ensure that the chassis is horizontal under different terrain conditions, and the traveling wheels 3 are in full contact with the ground. The controller adjusts the maximum climbing slope of the chassis ≥20°, and the lateral limit tipping angle ≥20°.

[0057] Wherein, the controller detects the chassis state in real time through the chassis inclination sensor, and realizes the front and rear, left and right, and overall lifting adjustment of the chassis by controlling the telescopic of the lifting oil cylinder 52, so as to keep the chassis horizontal longitudinally and laterally under different terrain conditions. The controller detects the chassis inclination value in real time through the chassis inclination sensor as the profiling adjustment target value, adjusts the telescopic of each profiling oil cylinder 53, and verifies the profiling adjustment result through the profiling inclination sensor, so as to realize the profiling adjustment of the traveling attitude of each traveling wheel 3 and ensure the full-contact walking of the traveling wheels 3 with the ground. This profiling adjustment is mainly used for the inclination adjustment of the traveling wheels 3 in the roll state to realize the full-contact walking of the traveling wheels 3.

[0058] See Figure 2 , Figure 2 Schematic structural diagram of the frame 1 of an embodiment of the present invention. The frame 1 of this embodiment is a rectangular frame, including an upper longitudinal beam 11, a lifting outer tube 12, an upper cross beam 13 and an outer side longitudinal beam 14. The upper longitudinal beam 11 is connected to the upper cross beam 13 to form a rectangular frame. Both ends of the upper cross beam 13 are respectively connected with the lifting outer tube 12. The outer side longitudinal beam 14 is parallel to the upper longitudinal beam 11, and both ends of the outer side longitudinal beam 14 are respectively connected with the lifting outer tube 12.

[0059] See Figure 3 AndFigure 4 , Figure 3 Schematic diagram of the installation of the left rear outrigger mechanism 4 and the traveling wheels 3 according to an embodiment of the present invention Figure 4 Cross-sectional view of the outrigger mechanism 4 according to an embodiment of the present invention. In this embodiment, the outrigger mechanism 4 includes a support leg 41, an inner tube slide plate 42, an outer tube slide plate 43, and a slide plate stopper 44. The inner tube slide plate 42 is installed at the upper end of the support leg 41 and is in contact with the lifting outer tube 12. The outer tube slide plate 43 is connected to the lifting outer tube 12 and is in contact with the lifting inner tube 412 and the slide plate stopper 44. The slide plate stopper 44 is installed on the lifting outer tube 12. Among them, the support leg 41 includes an inner tube attaching plate 411, a lifting inner tube 412, and a support plate member 413. The inner tube attaching plate 411 is installed on the inner wall of the upper end of the lifting inner tube 412. The lower end of the lifting inner tube 412 is installed on the support plate member 413. The inner tube slide plates 42 are respectively installed in the holes on the four sides of the upper end of the lifting inner tube 412, and two sides of the inner tube slide plate 42 are respectively in contact with the inner tube attaching plate 411 and the lifting outer tube 12. The outer tube slide plates 43 are respectively installed in the holes on the four sides of the lower end of the lifting outer tube 12, and two sides of the outer tube slide plate 43 are respectively in contact with the lifting inner tube 412 and the slide plate stopper 44. One end of the lifting oil cylinder 52 is installed on the support plate member 413 through a pin, and the other end of the lifting oil cylinder 52 is installed on the lifting outer tube 12 through a pin.

[0060] In this embodiment, the frame 1 is further provided with a control platform 51, and the chassis can be driven to travel through the control platform 51; or the chassis can be driven to travel through intelligent remote control. The mechanical part of the control platform 51 is fastened to the frame 1 by bolts, and the electric control part is connected by quick-connect plugs. When driving and traveling, the control platform 51 is connected to the frame 1 by bolts and quick-connect plugs; when traveling by intelligent remote control, the control platform 51 can be removed and remotely and intelligently controlled to travel. Preferably, one end of 4 groups of outrigger mechanisms 4 is respectively installed on the rubber crawler traveling wheels 3, and the other end is respectively installed on the frame 1. One end of the profiling oil cylinder 53 is installed on the rubber crawler traveling wheels 3, and the other end is installed on the outrigger mechanism 4. The hydraulic oil tank 21 and the diesel tank 22 are respectively installed at the rear end of the frame 1. The control platform 51 is installed at the front end of the frame 1. The battery 6, the hydraulic valve assembly 23, and the power component 24 are respectively installed on the top of the frame 1 by bolts. The frame 1 includes an upper longitudinal beam 11, a lifting outer tube 12, an upper cross beam 13, an outer side longitudinal beam 14, a battery rack 15, and a hydraulic valve fixing plate 16. The upper longitudinal beam 11 is welded to the upper cross beam 13, the upper cross beam 13 is welded to the lifting outer tube 12, the outer side longitudinal beam 14 is welded to the lifting outer tube 12, the battery rack 15 is welded to the upper cross beam 13 at the front end, the hydraulic valve fixing plate 16 is welded to the 2 upper longitudinal beams 11, and the control platform 51 is installed at the front end of the frame 1.

[0061] Among them, the outrigger mechanism 4 includes support legs 41, inner tube sliders 42, outer tube sliders 43 and slider stoppers 44. The support leg 41 includes an inner tube attachment plate 411, a lifting inner tube 412 and a support plate member 413. The inner tube attachment plate 411 is welded to the inner wall of the upper end of the lifting inner tube 412, and the lower end of the lifting inner tube 412 is welded to the support plate member 413. Four inner tube sliders 42 are respectively installed in the holes on the four sides of the upper end of the lifting inner tube 412, one side is in contact with the inner tube attachment plate 411, and one side is in contact with the inner wall of the lifting outer tube 12. Four outer tube sliders 43 are respectively installed in the holes on the four sides of the lower end of the lifting outer tube 12, one side is in contact with the lifting inner tube 412, and one side is in contact with the slider stopper 44. The slider stopper 44 is installed on the lifting outer tube 12 by bolts. One end of the lifting oil cylinder 52 is installed on the support plate member 413 by a pin, and one end is installed on the lifting outer tube 12 by a pin. The inner tube sliders 42 and the outer tube sliders 43 play a role in positioning and guiding the relative movement of the lifting outer tube 12 and the lifting inner tube 412.

[0062] The high-clearance chassis for hilly and mountainous areas with terrain imitation adjustment function is fully hydraulically driven. The power component 24 is placed on top, and the hydraulic oil tank 21 and the diesel tank 22 are placed at the rear. It can be driven and walked through the control platform 51, or the control platform 51 can be removed for intelligent remote control walking. The 4 rubber crawler wheels 3 adopt a narrow wheelbase structure, with good passability between rows. It can achieve in-situ steering and differential steering of the chassis. Due to the ability to achieve in-situ steering and differential steering, compared with wheeled chassis, the turning radius is smaller; because the crawler chassis has a larger contact area with the ground than the wheeled chassis, the soil compaction is smaller than that of the wheeled chassis.

[0063] For the high-clearance chassis for hilly and mountainous areas with terrain imitation adjustment function of the present invention, its controller is equipped with a four-column independent lifting attitude adjustment unit to control the telescopic movement of the lifting oil cylinder 52; the telescopic movement of the lifting oil cylinder 52 drives the lifting of the lifting outer tube 12. The 4 groups of lifting oil cylinders 52 cooperate to adjust to achieve the front-back, left-right and overall lifting adjustment of the chassis, which can meet the maximum climbing slope ≥20° and the lateral ultimate tipping angle ≥20°, and achieve the horizontal state of the chassis in both the longitudinal and lateral directions under different terrain conditions. The corresponding hydraulic control valve controls the lifting oil cylinder 52 and can simultaneously control the movement of the profiling oil cylinder 53. The profiling oil cylinder 53 expands and contracts to adjust the relative angle between the rubber crawler wheel 3 and the lifting outer tube 12, realizing the profiling adjustment of the rubber crawler walking attitude and ensuring the full-contact walking of the rubber crawler wheel 3 with the ground.

[0064] See Figure 5 , Figure 5It is a schematic diagram of the chassis height adjustment and track profiling principle. During operation, the chassis inclination sensor is used to detect the chassis state. When the front / rear two wheels of the walking wheel 3 encounter a ground cage arm or a step, causing the front / rear end of the frame 1 to rise and the chassis to become uneven, after the detected chassis inclination value exceeds the set duration and inclination range value, the lifting hydraulic control valve controls the lifting cylinder 52 in the corresponding leg mechanism 4 at the front / rear end of the frame 1 to contract, adjusting the chassis inclination value to within the inclination set range and maintaining the state; when the left / right two wheels of the walking wheel 3 encounter a ground cage arm or a step, causing the left / right side of the frame 1 to rise and the chassis to become uneven, after the detected chassis inclination value exceeds the set duration and inclination range value, the lifting hydraulic control valve controls the lifting cylinder 52 in the corresponding leg mechanism 4 on the left / right side of the frame 1 to contract, adjusting the chassis inclination value to within the inclination set range and maintaining the state.

[0065] In this embodiment, a profiling inclination sensor is arranged on the horizontal plane of the clamping plate of the walking wheel 3. After the chassis inclination value detected by the chassis inclination sensor in real time exceeds the set duration and inclination value, the measured inclination value is the target value for profiling adjustment, and the corresponding profiling cylinder 53 is controlled to expand and contract, and the walking wheel 3 gradually increases the contact area with the ground until it fits the ground, and the profiling inclination sensor verifies whether the profiling attitude adjustment of the corresponding walking wheel 3 is in place; after the profiling inclination sensor detects that the profiling attitude angle reaches the profiling adjustment value, the profiling adjustment of the corresponding walking wheel 3 ends and it maintains this attitude to walk.

[0066] Each time the chassis profiling and leveling includes: the chassis is initially in a horizontal state. After the chassis inclination value detected by the chassis inclination sensor exceeds the set duration and inclination range value, the profiling cylinder 53 expands and contracts to adjust the profiling attitude of the walking wheel 3. After the adjustment is in place, the walking wheel 3 maintains this profiling state to walk; the lifting cylinder 52 in the leg mechanism 4 expands and contracts to adjust the chassis to be horizontal. After the chassis is leveled, this profiling and leveling ends, and it maintains this state for operation; after the chassis walks or operates for a certain duration, when the chassis inclination sensor detects that the chassis inclination value exceeds the set duration and inclination value, the next chassis profiling and leveling is performed. During the profiling and leveling process, the walking wheel 3 can be adjusted for profiling individually or multiple wheels can be adjusted for profiling synchronously; the profiling adjustment of the walking path 3 and the leveling of the chassis can be carried out sequentially or synchronously.

[0067] The present invention is a high-performance general power platform applicable to hilly and mountainous areas. It adopts full hydraulic drive, can be driven manually or controlled intelligently to move; it can be adjusted for front-back, left-right, and overall lifting, and can ensure the horizontal attitude of the chassis longitudinally and laterally under different terrain conditions; during horizontal adjustment, attitude profiling adjustment can be carried out synchronously to ensure full contact between the rubber crawler wheels 3 and the ground; it has the characteristics of narrow wheelbase, high ground clearance, good driving performance, good maneuverability, small turning radius, high adaptability, and multi-function. It can be connected with a tobacco harvesting device for tobacco layered harvesting operations in hilly and mountainous areas; it can also be connected with weeding and pesticide application components for field management operations of high-stalk crops such as corn and vegetables in hilly and mountainous areas, providing technical support for field operation machinery in hilly and mountainous areas under complex ground and working conditions.

[0068] Certainly, the present invention can also have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and deformations according to the present invention, but these corresponding changes and deformations should all fall within the protection scope of the appended claims of the present invention.

Claims

1. A high-clearance chassis for hilly and mountainous areas with terrain-mimicking adjustment function, characterized in that, Comprising: A frame; A driving mechanism, installed on the frame and adopting a full hydraulic four-wheel drive structure; A plurality of leg mechanisms, respectively installed on the frame; A profiling control mechanism, connected to the driving mechanism, including a controller, a chassis inclination sensor, a plurality of profiling inclination sensors, a lifting oil cylinder and a profiling oil cylinder. The controller is respectively connected to the chassis inclination sensor, the plurality of profiling inclination sensors, the lifting oil cylinder and the profiling oil cylinder. The chassis inclination sensor is installed on the frame, and the plurality of profiling inclination sensors are respectively installed on the horizontal plane of the walking wheel clamping plate; Each bottom of the leg mechanism is respectively installed with the lifting oil cylinder; And A plurality of walking wheels, respectively arranged at the lower ends of the corresponding leg mechanisms for realizing in-situ steering and differential steering; One end of the profiling oil cylinder is connected to the walking wheel, and the other end of the profiling oil cylinder is connected to the leg mechanism; Wherein, the controller adopts four-column independent lifting attitude adjustment, and simultaneously controls and adjusts the front and rear, left and right, overall lifting and the profiling of the walking wheel attitude to ensure that the chassis is horizontal under different terrain conditions and the walking wheels are in full contact with the ground.

2. The high-clearance chassis for hilly and mountainous areas with terrain-mimicking adjustment function according to claim 1, characterized in that, The controller adjusts the maximum climbing gradient of the chassis ≥20°, and the lateral limit tipping angle ≥20°.

3. The high-clearance chassis for hilly and mountainous areas with a terrain-mimicking adjustment function as described in claim 1, wherein, The controller detects the chassis state in real time through the chassis inclination sensor, and realizes the front and rear, left and right, and overall lifting adjustment of the chassis by controlling the telescopic of the lifting oil cylinder, so as to keep the chassis horizontal longitudinally and laterally under different terrain conditions.

4. The high-clearance chassis for hilly and mountainous areas with terrain-mimicking adjustment function as claimed in claim 1, wherein, The chassis inclination value detected by the chassis inclination sensor is used as the profiling adjustment target value to adjust the telescopic of the corresponding profiling oil cylinder; And the profiling adjustment result is verified through the profiling inclination sensor to realize the profiling adjustment of the walking wheel walking attitude and ensure the full contact walking of the walking wheel with the ground.

5. The high-clearance chassis for hilly and mountainous areas with terrain-mimicking adjustment function as claimed in claim 1, wherein, The frame is a rectangular frame, including an upper longitudinal beam, a lifting outer tube, an upper cross beam and an outer side longitudinal beam. The upper longitudinal beam is connected to the upper cross beam to form a rectangular frame. Both ends of the upper cross beam are respectively connected with the lifting outer tube. The outer side longitudinal beam is parallel to the upper longitudinal beam, and both ends of the outer side longitudinal beam are respectively connected with the lifting outer tube.

6. The high-clearance chassis for hilly and mountainous areas with terrain-mimicking adjustment function as claimed in claim 5, wherein, The leg mechanism includes a support leg, an inner tube slide plate, an outer tube slide plate and a slide plate stopper. The inner tube slide plate is installed at the upper end of the support leg and contacts with the lifting outer tube; The outer tube slide plate is connected to the lifting outer tube and contacts with the lifting inner tube and the slide plate stopper; The slide plate stopper is installed on the lifting outer tube.

7. The high-clearance chassis for hilly and mountainous areas with terrain-simulating adjustment function according to claim 6, characterized in that, The support leg includes an inner tube attaching plate, a lifting inner tube and a support plate member. The inner tube attaching plate is installed on the inner wall of the upper end of the lifting inner tube, and the lower end of the lifting inner tube is installed on the support plate member; The inner tube slide plates are respectively installed in the holes on the four sides of the upper end of the lifting inner tube, and both sides of the inner tube slide plate respectively contact with the inner tube attaching plate and the lifting outer tube; The outer tube slide plates are respectively installed in the holes on the four sides of the lower end of the lifting outer tube, and both sides of the outer tube slide plate respectively contact with the lifting inner tube and the slide plate stopper.

8. The high-clearance chassis for hilly and mountainous areas with a terrain-mimicking adjustment function as claimed in claim 7, wherein One end of the lifting oil cylinder is installed on the support plate member through a pin, and the other end of the lifting oil cylinder is installed on the lifting outer tube through a pin.

9. The high-clearance chassis for hilly and mountainous areas with terrain-mimicking adjustment function as claimed in claim 1, wherein, The walking wheels are narrow wheelbase rubber crawler walking wheels.

10. The high-clearance chassis for hilly and mountainous areas with a terrain-mimicking adjustment function as described in claim 1, wherein, The frame is further provided with a control platform, and the chassis is driven to walk through the control platform; or the chassis is driven to walk by intelligent remote control.

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