Four-wheel drive lifting type agricultural universal chassis with adjustable wheel tread

Abstract

The invention discloses a four-wheel drive lifting type agricultural universal chassis with an adjustable wheel tread. The four-wheel drive lifting type agricultural universal chassis comprises a frame and four groups of leg-wheel assemblies, the vehicle leg-wheel assembly comprises a vehicle leg assembly, the vehicle leg assembly comprises a vehicle leg support and a wheel assembly, and a lifting adjusting mechanism is arranged between the vehicle leg support and a wheel; the vehicle leg support is in running fit with the vehicle frame through a fixed shaft, wheel track adjusting driving mechanisms are arranged on the vehicle frame in one-to-one correspondence with the vehicle leg assemblies, and the wheel track adjusting driving mechanisms are used for adjusting the wheel track between the wheel assemblies; the lifting adjusting mechanism comprises an electric cylinder and a sliding square tube guide structure, the sliding square tube guide structure comprises an outer square tube fixedly connected to the vehicle leg support and an inner square tube capable of sliding in the outer square tube, one end of the electric cylinder is connected with the vehicle leg support, and the other end of the electric cylinder is connected with a welding plate integrally welded with the inner square tube; a steering execution mechanism is arranged in the inner square tube; the wheel assembly comprises a wheel support and wheels installed on the wheel support, and hub motors are integrated in the wheels to achieve four-wheel independent driving.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to a four-wheel drive lifting universal agricultural chassis with adjustable wheelbase. Background Art

[0002] As a key support platform for agricultural equipment, agricultural chassis are widely used in a variety of agricultural scenarios, including orchard management, field operations, and hilly transportation. With the modernization of agriculture and the increasing demand for precision operations, agricultural chassis are gradually developing towards multifunctionality, high mobility, and strong adaptability. However, existing chassis structures still have significant technical limitations in the following aspects.

[0003] First, regarding wheelbase adjustment, most current agricultural chassis utilize fixed wheelbase designs or rely on sliding tracks, telescopic brackets, and other structures for wheelbase adjustment. These structures typically require the entire vehicle to be lifted or locked stationary for adjustment, resulting in a cumbersome process and low adjustment efficiency. Furthermore, due to the complex field environment, factors such as mud, sand, and corrosion can easily cause sliding parts to wear, become stuck, or even fail. This leads to poor reliability and difficult maintenance, making it difficult to meet the demands of multiple row spacing switching and frequent adjustments in farmland.

[0004] Secondly, in terms of terrain adaptability and posture control capabilities, traditional chassis are mostly fixed-height structures or integral lift designs, lacking the ability to independently lift or lower individual or multiple wheels. On uneven terrain, such as hills, slopes, and orchards, the vehicle can tilt severely, resulting in poor stability and difficulty maintaining a level working platform, severely impacting operational precision, safety, and efficiency. While some existing products have some lifting capabilities, they generally lack dynamic leveling and closed-loop control, lacking intelligent adjustment mechanisms linked to sensors, and are unable to meet the terrain adaptability and platform stability requirements of modern precision agriculture.

[0005] Thirdly, regarding the structural integration and protection capabilities of the drive and steering systems, existing chassis generally use traditional mechanical linkage. This results in severe structural coupling between the drive and steering systems, complex layout, and slow response, making it difficult to achieve high maneuverability requirements such as tight turning radii or turning on the spot. Furthermore, the steering and drive devices are often exposed to the exterior of the vehicle, with poor protection against dust, water, and mud. These devices are susceptible to damage and failure in harsh environments such as farmland, where high humidity, dust, and mud are common, impacting the lifespan and operational reliability of the vehicle.

[0006] In addition, in terms of functional expansion and platform versatility, most existing chassis are custom designs, lack a standardized module mounting structure, do not support rapid replacement of operating components, and find it difficult to achieve a "platform + module" operating mode, limiting the application and promotion of agricultural chassis in multiple tasks and multiple working conditions.

[0007] To sum up, the existing technology still has many shortcomings in terms of wheelbase adjustment flexibility, terrain adaptability, system integration and platform scalability. There is an urgent need for a new agricultural chassis structure with a simple structure, reliable adjustment, intelligent control and high modularity to meet the comprehensive needs of modern agriculture for high efficiency, versatility and intelligent operation capabilities. Summary of the Invention

[0008] In view of this, the purpose of the present invention is to provide a four-wheel drive lifting agricultural universal chassis with adjustable wheelbase, which can solve the technical problems of existing agricultural chassis in terms of complex wheelbase adjustment mechanism and insufficient terrain adaptability, and improve the versatility, maneuverability and intelligence level of agricultural machinery in complex working environments.

[0009] In order to achieve the above object, the present invention provides the following technical solutions: A four-wheel drive liftable agricultural universal chassis with adjustable wheelbase comprises a frame and four sets of leg-wheel assemblies mounted on the frame; the leg-wheel assemblies comprise leg assemblies, the leg assemblies comprise leg brackets and wheel assemblies, and a lifting adjustment mechanism is provided between the leg brackets and the wheel assemblies for adjusting the height of the wheel assemblies; The leg bracket is rotatably coupled to the frame via a fixed axis, and a wheelbase adjustment drive mechanism is provided on the frame corresponding to each leg assembly. The wheelbase adjustment drive mechanism is used to independently drive the corresponding leg assembly to rotate around the corresponding fixed axis to adjust the wheelbase between the wheel assemblies. The lifting and lowering adjustment mechanism includes an electric cylinder and a sliding square tube guide structure, wherein the sliding square tube guide structure includes an outer square tube fixedly connected to the leg bracket and an inner square tube that can slide within the outer square tube. One end of the electric cylinder is connected to the leg bracket, and the other end is connected to a welding plate welded to the inner square tube. A steering actuator for driving the wheel assembly to steer is provided in the inner square tube; the wheel assembly comprises a wheel bracket and a wheel mounted on the wheel bracket, and a hub motor is integrated in the wheel to achieve four-wheel independent drive.

[0010] Furthermore, the wheelbase adjustment drive mechanism includes a wheelbase adjustment motor assembly arranged in a one-to-one correspondence with the fixed shaft, and the wheelbase adjustment motor assembly is transmission-connected to the corresponding fixed shaft.

[0011] Furthermore, the wheelbase adjustment motor assembly includes an integrated wheelbase adjustment motor and a first reducer, a flange is fixedly mounted on the vehicle leg bracket, one end of the fixed shaft is transmission-connected to the wheelbase adjustment motor assembly, and the other end rotates synchronously with the flange.

[0012] Further, a bearing seat is sleeved on the fixed shaft, and a thrust bearing is arranged between the bearing seat and the fixed shaft.

[0013] Further, the steering actuator comprises a steering motor, a second speed reducer, a shaft coupling and a transmission shaft, the steering motor is arranged in the sealed cavity of the inner tube, the steering motor is in transmission connection with the second speed reducer, the output shaft of the second speed reducer is connected with the transmission shaft through the shaft coupling, and the transmission shaft is connected with the wheel support.

[0014] Further, a sleeve is sleeved on the transmission shaft, the sleeve is used for supporting and protecting the steering actuator, and forms a closed structure together with the steering motor, the second speed reducer, the shaft coupling and the transmission shaft, so as to have dustproof, waterproof and mud-proof capabilities.

[0015] Further, the frame comprises a square frame, a main frame is arranged above the square frame, and a lower mounting platform is arranged below the square frame, and four groups of the leg-wheel assemblies are respectively arranged at four diagonal positions of the square frame.

[0016] Further, a plurality of standard mounting holes and panel interfaces are arranged on the surface of the main frame, and are used for quickly mounting and replacing external agricultural operation modules.

[0017] Further, the lifting and leveling control system comprises: An inclination sensor is arranged at the middle region of the frame. A controller is arranged at the middle region of the frame. The inclination sensor is used for collecting real-time vehicle posture information and transmitting the real-time vehicle posture information to the controller. The controller controls the extension and retraction of the four electric cylinders according to the received vehicle posture information, so as to realize active leveling of the frame.

[0018] The adjustable wheel track four-wheel drive lifting agricultural universal chassis has the following advantages: The adjustable wheel track four-wheel drive lifting agricultural universal chassis has the following advantages: By integrating a lifting adjustment mechanism within the leg assembly, the distance between each wheel assembly and the corresponding leg bracket can be independently adjusted under the guidance of the sliding square tube guide structure. In other words, the height position of each wheel assembly relative to the frame can be independently adjusted. This allows for dynamic leveling of the frame during operation, significantly improving the chassis' operational stability and maneuverability in complex terrains such as slopes, hills, and orchards. By installing the steering actuator in the inner square tube, that is, the steering actuator is set in a one-to-one correspondence with each wheel assembly, the travel direction of each wheel assembly can be independently controlled. At the same time, the hub motor is integrated into the wheel to realize four-wheel independent drive, which can achieve a small turning radius and high maneuverability such as turning on the spot, and can improve the chassis's operational flexibility and environmental adaptability. In summary, the four-wheel drive lifting agricultural universal chassis with adjustable wheelbase of the present invention can solve the technical problems of existing agricultural chassis in terms of complex wheelbase adjustment mechanism and insufficient terrain adaptability, and improve the versatility, maneuverability and intelligence level of agricultural machinery in complex working environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to make the purpose, technical solutions and beneficial effects of the present invention more clear, the present invention provides the following drawings for illustration: Figure 1 This is a schematic structural diagram of an embodiment of a four-wheel drive lifting agricultural universal chassis with adjustable wheelbase according to the present invention; Figure 2 It is a structural schematic diagram of the wheelbase adjustment drive mechanism; Figure 3 Schematic diagram of the structure of the vehicle leg assembly; Figure 4 Schematic diagram of the structure of the four-wheel drive lifting agricultural universal chassis with adjustable wheelbase in different wheelbase states; Figure 5 It is a three-dimensional view of the four-wheel drive lifting agricultural universal chassis with adjustable wheelbase of this embodiment.

[0020] Description of reference numerals: 100-frame; 101-main frame, upper platform of the frame; 102-square bracket, the middle platform for installing the battery and wheelbase adjustment motor assembly; 103-lower mounting platform; 200-wheelbase adjustment drive mechanism; 201- wheelbase adjustment motor assembly, integrating the wheelbase adjustment motor and the first reducer and outputting torque; 202- Reducer fixing bracket, install the wheelbase adjustment motor assembly; 203-Bearing seat fixing bracket-install the bearing seat; 204-bearing seat, rotated with the fixed axis; 205-fixed shaft, drives the leg assembly to rotate; 206-flange, connected to the leg bracket and rotates synchronously with the fixed axis; 300-car leg assembly; 301-car leg bracket, welded to the outer square tube; 302-Electric cylinder, drives the wheel assembly up and down; 303-external square tube, lifting guide rail; 304-inner square tube, single degree of freedom sliding fit with outer square tube; 305-steering motor, controls the direction of the wheels; 306-second speed reducer, reducing speed and increasing torque; 307-coupling, connecting the transmission shaft to achieve power transmission; 308-drive shaft, power transmission; 309-sleeve, sleeved outside the transmission shaft for installation and protection; 310-wheel bracket, used to install wheels; 311-wheel, travel actuator; 312-welding plate, welded to the inner square tube, serving as the connecting support for the electric cylinder; 313-sleeve support, used to support the sleeve; 314-Fixed bracket for installing the steering motor. DETAILED DESCRIPTION

[0021] The present invention will be further described below with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it. However, the embodiments are not intended to limit the present invention.

[0022] like Figure 1 As shown, this embodiment of a four-wheel-drive, liftable agricultural universal chassis with adjustable wheelbase comprises a frame 100 and four leg-wheel assemblies mounted on the frame 100. The leg-wheel assemblies comprise leg assemblies 300, which in turn comprise leg brackets 301 and wheel assemblies. A lift adjustment mechanism for adjusting the wheel assembly's height is located between the leg brackets 301 and the wheel assemblies. Each leg assembly integrates a lift adjustment mechanism and a steering actuator, enabling the machine's high maneuverability and ability to adapt to complex terrain.

[0023] Specifically, in this embodiment, the frame includes a square frame 102, and a main frame 101 is provided above the square frame 102 and a lower mounting platform 103 is provided below the square frame 102. The square frame 102 is located in the central area of ​​the frame and is used to install four wheelbase adjustment drive mechanisms, batteries and other core components, provide a power source and installation space, and improve the structural centralization and layout rationality. Specifically, in this embodiment, four sets of leg-wheel assemblies are respectively installed at the four diagonal positions of the square frame 102. In this embodiment, a number of standard mounting holes and panel interfaces are preset on the surface of the main frame 101 for quickly mounting and replacing external agricultural operation modules, including but not limited to: fruit and vegetable picking robotic arms, precision spraying / fertilizing components, loosening components, etc.

[0024] In this embodiment, the leg bracket 301 rotates with the frame via a fixed axis 205, and a wheelbase adjustment drive mechanism 200 is provided on the frame corresponding to each leg assembly. The wheelbase adjustment drive mechanism 200 is used to independently drive the corresponding leg assembly to rotate around the corresponding fixed axis 205, so that different angles are formed between the leg assembly and the frame, thereby achieving the technical purpose of adjusting the wheelbase between the wheel assemblies to expand or contract. Figure 2 As shown, in this embodiment, the wheelbase adjustment drive mechanism 200 includes a wheelbase adjustment motor assembly 201 that is arranged in a one-to-one correspondence with the fixed shaft 205, and the wheelbase adjustment motor assembly 201 is transmission-connected to the corresponding fixed shaft 205. In this embodiment, the wheelbase adjustment motor assembly 201 includes a wheelbase adjustment motor and a first reducer that are integrated into one. A flange 206 is fixedly mounted on the vehicle leg bracket 201. One end of the fixed shaft 205 is transmission-connected to the wheelbase adjustment motor assembly 201, and the other end rotates synchronously with the flange 206. In this embodiment, the flange 206 and the vehicle leg bracket 301 are rigidly locked by bolts and nuts. The wheelbase adjustment drive mechanism of this embodiment eliminates the guide rail device and locking mechanism in the traditional slide rail / telescopic structure, and does not require external force assistance or lifting of the vehicle body. Specifically, as Figure 4 As shown, the wheelbase adjustment driving mechanism of this embodiment can complete the wheelbase adjustment by only driving the fixed shaft 205 to rotate to drive the vehicle leg bracket 301 to rotate, and has the advantages of reliable structure, rapid adjustment, and a wide range of adaptability.

[0025] In a preferred embodiment of this embodiment, a bearing seat 204 is mounted on the vehicle frame and sleeved around a fixed shaft 205. A thrust bearing is provided between the bearing seat 204 and the fixed shaft 205. To securely mount the wheelbase adjustment motor assembly 201, a reducer mounting bracket 202 is provided on the vehicle frame. Below the reducer mounting bracket 202 is a bearing seat mounting bracket 203, to which the bearing seat 204 is fixedly mounted.

[0026] In this embodiment, each leg assembly is provided with a lifting and adjusting mechanism for controlling the height and posture of the vehicle body under different terrains, thereby improving the stability and terrain adaptability of the vehicle. Figure 3 As shown, in this embodiment, the lifting and lowering mechanism includes an electric cylinder 302 and a sliding square tube guide structure. Specifically, the sliding square tube guide structure comprises an outer square tube 303 fixedly connected to the leg support 301 and an inner square tube 304 that slides within the outer square tube 303. One end of the electric cylinder 302 is connected to the leg support 301, and the other end is connected to a welding plate 312 that is welded to the inner square tube 304.

[0027] In this embodiment, a steering actuator for driving the wheel assembly to steer is provided in the inner square tube 304. The wheel assembly in this embodiment includes a wheel bracket 310 and a wheel 311 mounted on the wheel bracket 310. The wheel 311 is integrated with a hub motor to achieve four-wheel independent drive.

[0028] In this embodiment, the steering actuator includes a steering motor 305, a second speed reducer 306, a coupling 307, and a drive shaft 308. The steering motor 305 is disposed within the sealed cavity of the inner square tube 304. The steering motor 305 is in driving connection with the second speed reducer 306. The output shaft of the second speed reducer 306 is connected to the drive shaft 308 via the coupling 307, and the drive shaft 308 is connected to the wheel bracket 310. In a preferred embodiment of this embodiment, a sleeve 309 is provided around the drive shaft 308. The sleeve 309 supports and protects the steering actuator and, together with the steering motor 305, the second speed reducer 306, the coupling 307, and the drive shaft 308, forms a closed structure that is dustproof, waterproof, and mudproof. In this embodiment, a fixing bracket 314 for securing the steering motor 305 and a sleeve support 313 for supporting the sleeve 309 are provided within the inner square tube 304.

[0029] The four-wheel drive lifting agricultural universal chassis with adjustable wheelbase in this embodiment also includes a lifting and leveling control system, which includes: an inclination sensor installed in the middle area of ​​the frame; and a controller installed in the middle area of ​​the frame. In this embodiment, the inclination sensor and the controller are both installed on the square frame 102. Specifically, the inclination sensor is used to collect vehicle posture information in real time and transmit it to the controller; the controller controls the extension and retraction of the four electric cylinders based on the received vehicle posture information to achieve active leveling of the frame. In this way, the four-wheel drive lifting agricultural universal chassis with adjustable wheelbase in this embodiment can achieve: Real-time controllable adjustment of vehicle height and posture; Each wheel 311 has independent lifting and lowering control to adapt to irregular terrain; The lifting adjustment mechanism works in conjunction with the wheelbase adjustment drive mechanism to provide free adjustment in both horizontal and vertical dimensions. Modular design, easy to maintain, replace and expand.

[0030] The above-described embodiments are merely preferred embodiments of the present application and are not intended to limit the present application. Any equivalent alternatives or modifications of the present application made by those skilled in the art based upon the technical spirits of the present application shall fall within the scope of the present application. The scope of the present application is defined by the claims.

Claims

1. A four-wheel drive lifting agricultural universal chassis with adjustable wheelbase, characterized by: The vehicle comprises a frame and four sets of leg-wheel assemblies mounted on the frame; the leg-wheel assembly comprises a leg assembly, the leg assembly comprises a leg bracket and a wheel assembly, and a lifting adjustment mechanism for adjusting the height of the wheel assembly is provided between the leg bracket and the wheel assembly; The leg bracket is rotatably coupled to the frame via a fixed axis, and a wheelbase adjustment drive mechanism is provided on the frame corresponding to each leg assembly. The wheelbase adjustment drive mechanism is used to independently drive the corresponding leg assembly to rotate around the corresponding fixed axis to adjust the wheelbase between the wheel assemblies. The lifting and lowering adjustment mechanism includes an electric cylinder and a sliding square tube guide structure, wherein the sliding square tube guide structure includes an outer square tube fixedly connected to the leg bracket and an inner square tube that can slide within the outer square tube. One end of the electric cylinder is connected to the leg bracket, and the other end is connected to a welding plate welded to the inner square tube. A steering actuator for driving the wheel assembly to steer is provided in the inner square tube; the wheel assembly comprises a wheel bracket and a wheel mounted on the wheel bracket, and a hub motor is integrated in the wheel to achieve four-wheel independent drive.

2. The four-wheel drive lifting agricultural universal chassis with adjustable wheelbase according to claim 1, characterized in that: The wheelbase adjustment drive mechanism includes a wheelbase adjustment motor assembly arranged in a one-to-one correspondence with the fixed shaft, and the wheelbase adjustment motor assembly is transmission-connected to the corresponding fixed shaft.

3. The four-wheel drive lifting agricultural universal chassis with adjustable wheelbase according to claim 2 is characterized in that: The wheelbase adjustment motor assembly includes an integrated wheelbase adjustment motor and a first reducer. A flange is fixedly mounted on the vehicle leg bracket. One end of the fixed shaft is transmission-connected to the wheelbase adjustment motor assembly, and the other end rotates synchronously with the flange.

4. The four-wheel drive lifting agricultural universal chassis with adjustable wheelbase according to claim 3 is characterized by: A bearing seat sleeved outside the fixed shaft is installed on the frame, and a thrust bearing is provided between the bearing seat and the fixed shaft.

5. The four-wheel drive lifting agricultural universal chassis with adjustable wheelbase according to claim 1 is characterized by: The steering actuator includes a steering motor, a second reducer, a coupling and a transmission shaft. The steering motor is arranged in the sealed cavity of the inner square tube. The steering motor is connected to the second reducer in a transmission manner. The output shaft of the second reducer is connected to the transmission shaft through the coupling, and the transmission shaft is connected to the wheel bracket.

6. The four-wheel drive lifting agricultural universal chassis with adjustable wheelbase according to claim 5, characterized in that: The transmission shaft outer shell is provided with a sleeve, which is used to support and protect the steering actuator, and together with the steering motor, the second reducer, the coupling and the transmission shaft form a closed structure with dustproof, waterproof and mudproof capabilities.

7. The four-wheel drive lifting agricultural universal chassis with adjustable wheelbase according to claim 1 is characterized by: The frame includes a square frame, a main frame is provided above the square frame, and a lower mounting platform is provided below the square frame; the four sets of leg-wheel assemblies are respectively installed at four diagonal positions of the square frame.

8. The four-wheel drive lifting agricultural universal chassis with adjustable wheelbase according to claim 7 is characterized in that: The main frame surface is preset with a number of standard mounting holes and panel interfaces for quick mounting and replacement of external agricultural operation modules.

9. The four-wheel drive lifting agricultural universal chassis with adjustable wheelbase according to any one of claims 1 to 8, characterized in that: It also includes a lifting and leveling control system, which includes: a tilt sensor, mounted in a middle region of the vehicle frame; a controller mounted in a middle region of the vehicle frame; The tilt sensor is used to collect vehicle posture information in real time and transmit it to the controller; The controller controls the extension and contraction of the four electric cylinders according to the received vehicle body posture information, thereby achieving active leveling of the vehicle frame.

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