Crawler chassis for agricultural machinery

Abstract

The invention relates to the technical field of agricultural machinery, in particular to a crawler chassis for agricultural machinery, which comprises a main body structure, connecting frames are symmetrically fixed on a cross beam of a bottom plate of the main body structure, an auxiliary structure is mounted between the two connecting frames, a driving wheel is independently driven by a double-shaft gear motor, and the crawler chassis and a crawler system work in parallel; providing additional traction force; the motor is driven by electric power, the instantaneous output torque is large, the motor and a main engine driving system are independent and do not interfere with each other, independent control can be achieved, the climbing power output efficiency is improved, one-way locking of the driving wheel is achieved through a ratchet wheel and pawl matched structure mechanism, when the agricultural machine slides down in a climbing mode, the ratchet wheel is instantly clamped, and rolling friction of the driving wheel is converted into sliding friction; the sliding resistance is increased, the agricultural machine is effectively prevented from sliding down, the climbing safety is improved, the device better adapts to complex terrains such as hills and mountains, and the trafficability and operation stability of the agricultural machine under the complex terrains are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural machinery technology, in particular to a track chassis for agricultural machinery. BACKGROUND

[0002] The track chassis for agricultural machinery is the core component of a combine harvester, a plant protection machine and the like to realize low ground pressure, high traction and good passability in complex scenes such as wetlands, hills and conservation tillage. In the process of climbing a slope, the existing track-type agricultural machinery generally relies on an electronic anti-skid system to adjust the torque of a driving wheel or hydraulic braking to realize anti-skid and parking functions. According to the search, the track chassis based on hilly and mountainous areas disclosed in the patent with the publication number CN117734844A includes a track, a driving wheel, a supporting wheel, a supporting frame, a tensioning device and a guide wheel. The driving wheel is arranged at the front end to transmit power of a driving motor to the track to drive the track to move forward. The guide wheel is arranged at the rear end to guide the track to rotate correctly. The tensioning device can adjust the position of the guide wheel to ensure that the track is not loose or falls off when walking. A plurality of supporting wheels are arranged to ensure that the track ground pressure is uniformly distributed. By analyzing and researching the key parameters of the main components such as the track, the driving wheel, the supporting wheel and the tensioning wheel, the main parameters of the track chassis are determined, so that the track chassis has good obstacle crossing and climbing ability.

[0003] In actual use, the existing anti-skid system relies on electronic sensors and hydraulic control. In complex terrain, the response may be delayed or not timely due to signal delay or operation, which cannot realize effective anti-skid in a short time. In addition, there is no mechanical reverse structure independent of the driving wheel electric control system in the prior art. During outdoor operation, the stability of the electric control hydraulic system is uncontrollable due to the complex agricultural operation environment. Once the electric control system fails, the whole machine will lose the anti-skid and parking ability, which may easily cause backward sliding, side sliding or even overturning accidents. Therefore, the reliability is insufficient. Based on this, the present application discloses a track chassis for agricultural machinery. SUMMARY

[0004] To solve the problems of the existing agricultural chassis lacking a mechanical anti-skid reverse structure, relying on electronic control with low reliability, the existing anti-skid system relying on electronic sensors and hydraulic control, the response being delayed or failed due to signal delay or failure in complex terrain, which cannot realize effective anti-skid in a short time, and the stability of the electric control hydraulic system being uncontrollable due to the complex environment during outdoor operation. Once the electric control system fails, the whole machine will lose the anti-skid and parking ability, which may easily cause backward sliding, side sliding or even overturning accidents, and the reliability is insufficient.

[0005] The application provides an agricultural machinery track chassis, which comprises a main body structure, and connecting frames are fixed symmetrically on the bottom plate beam of the main body structure; and an auxiliary structure is installed between the two connecting frames. The auxiliary structure comprises a swing shaft, two swing wheel frames are arranged in parallel on the middle part of the swing shaft, and a transmission shaft is installed transversely through the bottom of the two swing wheel frames. A ratchet wheel is arranged on the middle part of the transmission shaft, and ratchet wheel grooves are formed at equal intervals on the circumferential surface of the ratchet wheel. Mounting frames are fixed respectively on one end of the two swing wheel frames close to the ratchet wheel, a mounting shaft is rotatably installed between the two mounting frames, a pawl is fixed to the middle part of the mounting shaft, the bottom end of the pawl is located in one of the ratchet wheel grooves, drive wheels are arranged respectively at the two ends of the transmission shaft, and the drive wheels are located respectively on the outer sides of the two swing wheel frames. The bottom end of the pawl naturally drops and is always in sliding contact with the outer circumferential surface of the ratchet wheel, and the gravity center of the pawl is located on the side of the advancing rotation direction of the ratchet wheel. When the agricultural machine advances, the drive wheels drive the transmission shaft and the ratchet wheel to rotate synchronously in the advancing direction of the agricultural machine, the bottom end of the pawl slides along the tooth back of the ratchet wheel and is continuously lifted without falling into the ratchet wheel groove. At the moment when the agricultural machine reverses, the drive wheels drive the ratchet wheel to rotate in the reversing direction of the agricultural machine, the bottom end of the pawl slides from the tooth back to the tooth groove, and is embedded into the ratchet wheel groove under the action of gravity, the bottom end of the pawl is in contact with the two side walls of the ratchet wheel groove at the same time, mechanical limiting is formed, and the ratchet wheel is prevented from continuing to reverse.

[0006] As a further improvement of the technical scheme, fixed plates are fixed to the middle parts of the two swing wheel frames, double-shaft reduction motors are installed on the bottom sides of the fixed plates, drive gears are arranged respectively on the two shaft ends of the double-shaft reduction motors through key matching, two transmission gears are arranged on the middle part of the transmission shaft through key matching, the two transmission gears are located respectively on the two sides of the ratchet wheel groove, and the transmission gear on one side is meshed with the drive gear on the same side.

[0007] As a further improvement of the technical scheme, a pushing hydraulic cylinder is arranged between the two connecting frames, a connecting shaft is fixed to the middle part of the outer shell of the pushing hydraulic cylinder, the connecting shaft is installed in the middle part of the connecting frame through bearing matching, connecting ears are fixed on the fixed plates, and the bottom end of the hydraulic rod of the pushing hydraulic cylinder is connected to the connecting ears on the fixed plates through a rotating pin.

[0008] As a further improvement of the technical solution, the main body structure comprises two bottom plate cross beams, the two ends of the two bottom plate cross beams are provided with expansion holes, expansion arms are slidably assembled in the expansion holes, the outer wall of the expansion arm is connected with the wall of the expansion hole through gap fit, the end surface of the bottom plate cross beam is welded with a fixing seat, the end surface of the expansion arm is fixed with a pushing lug, the fixing seat and the pushing lug are located on the same side, the fixing seat is assembled with an expansion hydraulic cylinder, and the hydraulic rod end of the expansion hydraulic cylinder is fixed on the pushing lug.

[0009] As a further improvement of the technical solution, the end of the expansion arm is fixed with a first connecting seat, the first connecting seat is connected with connecting rib plates through bolt fit, and the two same side connecting rib plates are welded with matching wheel frames.

[0010] As a further improvement of the technical solution, the two sides of the main body structure are provided with track structures, the track structure comprises a matching wheel frame, the matching wheel frame is a door type structure, the middle part of the matching wheel frame is provided with a wheel shaft mounting groove, the matching wheel is mounted in the matching wheel frame, and the wheel shaft of the matching wheel frame is mounted in the wheel shaft mounting groove in the middle part of the matching wheel frame.

[0011] As a further improvement of the technical solution, the expansion arms located on the same side are welded with support longitudinal beams, the support longitudinal beams are perpendicular to the expansion arms, the support longitudinal beams are welded and fixed above the expansion arms, one end of the support longitudinal beam is fixed with a second connecting seat, and the other end of the support longitudinal beam is fixed with a first mounting seat.

[0012] As a further improvement of the technical solution, the inner side of the first mounting seat is assembled with a liquid pump motor, a driving gear shaft is rotatably assembled in the first mounting seat, the output shaft of the liquid pump motor is connected with the driving gear shaft, a driving primary wheel is assembled on the driving gear shaft, a matching gear shaft is rotatably assembled in the second connecting seat, and a driving secondary wheel is assembled on the matching gear shaft.

[0013] As a further improvement of the technical solution, the driving primary wheel and the driving secondary wheel are assembled with tracks, two inner tooth belts are arranged side by side on the inner side of the track, the teeth of the inner tooth belts are uniformly meshed with the teeth of the driving primary wheel and the driving secondary wheel, the matching wheel is located between the two inner tooth belts, and the track and the inner tooth belt are of an integrated structure.

[0014] As a further improvement of the technical solution, a support frame is welded and fixed above the support longitudinal beam, a hydraulic pump is assembled on the support frame, the hydraulic pump is driven by a farm machine engine, a hydraulic control valve is arranged on the pipeline of the hydraulic pump, and the hydraulic control valve is used for hydraulic control of the liquid pump motor, the expansion hydraulic cylinder and the pushing hydraulic cylinder.

[0015] Compared with the prior art, the present application has the following advantages: In the case, the one-way locking of the driving wheel is realized through the cooperation structure mechanism of the ratchet and the pawl, when the agricultural machine slides down on the slope, the independent operation can be realized, the ratchet is clamped instantaneously under the cooperation of the pawl, the rolling friction of the driving wheel is converted into the sliding friction, the sliding resistance is increased, the sliding of the agricultural machine is effectively prevented, the safety of climbing the slope is improved, the mechanical anti-skid locking of the agricultural machine can be realized independently and timely, the anti-skid failure or the untimely anti-skid caused by the hysteresis or failure of the electric control anti-skid is effectively made up, and the safety of the agricultural machine in the slope is improved; The lifting adjustment of the driving wheel is realized through the pushing of the hydraulic cylinder to lower the swing wheel frame, the ground is actively pressed when climbing the slope, the adhesion is enhanced, the driving wheel can be retracted in the non-climbing state, invalid friction and energy consumption are avoided, the driving wheel is independently driven by the double-shaft reduction motor, and the driving wheel works in parallel with the track system to provide additional traction; the motor is driven by electricity, the instantaneous output torque is large, and the motor is independent of the main machine driving system and does not interfere with each other, can be independently controlled, the climbing power output efficiency is improved, the danger caused by the sliding and falling back of the agricultural machine when climbing the slope is reduced by improving the climbing power output; The extension arm is pushed through the extension hydraulic cylinder, the interval between the two sides of the track can be adjusted, the supporting surface is expanded when climbing the slope, the risk of overturning is reduced, the complex terrain such as hills and mountains is adapted, the overall chassis structure has the width adjustable, auxiliary driving, anti-skid check, and better adapts to the complex terrain such as hills and mountains, and the passability and operation stability of the agricultural machine in the complex terrain are improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall main body structure of the application; Figure 2 It is a schematic diagram of the overall bottom structure of the application; Figure 3 It is a schematic diagram of the combination of the main body structure and the track structure of the application; Figure 4 It is a schematic diagram of the combination of the main body structure and the auxiliary structure of the application; Figure 5 It is a schematic diagram of the combination of the main body structure and the auxiliary structure of the application; Figure 6 It is a sectional view of the main body structure of the application; Figure 7 It is a half-sectional view of the auxiliary structure of the application; Figure 8 It is a combination structure diagram of the pawl and the ratchet of the application; Figure 9 It is a positional relationship structure diagram of the transmission shaft, the transmission gear, the driving wheel and the ratchet of the application.

[0017] The meanings of the various reference numerals in the drawings are as follows: 1, main structure; 2, support frame; 3, track structure; 4, auxiliary structure; 6, connecting frame; 101, bottom plate beam; 102, fixing seat; 103, telescopic hydraulic cylinder; 104, pushing ear; 105, telescopic arm; 106, first connecting seat; 107, connecting rib plate; 401, swing wheel frame; 402, pushing hydraulic cylinder; 403, swing shaft; 404, fixed plate; 405, double-shaft reduction motor; 406, drive gear; 407, transmission shaft; 408, transmission gear; 409, drive wheel; 410, mounting frame; 411, mounting shaft; 412, pawl; 413, ratchet wheel; 414, ratchet wheel groove; 31, first mounting seat; 32, drive main wheel; 33, matching wheel frame; 34, matching wheel; 35, track; 36, inner tooth belt; 37, drive secondary wheel; 38, support longitudinal beam; 39, liquid pump motor; 310, second connecting seat. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0019] In the process of climbing a slope, the existing track-type agricultural machinery generally relies on an electronic anti-skid system to adjust the torque of the drive wheel or hydraulic braking to realize the anti-skid and parking functions. Therefore, the present application provides a track chassis for agricultural machinery, as shown in Figure 4 , Figure 7 The main structure 1 is provided with a connecting frame 6 fixed symmetrically on the bottom plate beam 101, and an auxiliary structure 4 is installed between the two connecting frames 6. The auxiliary structure 4 comprises a swing shaft 403, and two swing wheel frames 401 are assembled in parallel at the middle part of the swing shaft 403, and a transmission shaft 407 is installed transversely at the bottom of the two swing wheel frames 401. The transmission shaft 407 is assembled with a ratchet wheel 413 at the middle part, and ratchet wheel grooves 414 are equally spaced on the circumferential surface of the ratchet wheel 413. As shown in Figure 8 , mounting frames 410 are respectively fixed on one end of the two swing wheel frames 401 close to the ratchet wheel 413, a mounting shaft 411 is rotatably installed between the two mounting frames 410, a pawl 412 is fixed at the middle part of the mounting shaft 411, the bottom end of the pawl 412 is located in one of the ratchet wheel grooves 414, drive wheels 409 are respectively assembled at the two ends of the transmission shaft 407, and the drive wheels 409 are respectively located outside the two swing wheel frames 401. The bottom end of the pawl 412 naturally droops and is always in sliding contact with the outer peripheral surface of the ratchet wheel 413, and the center of gravity of the pawl 412 is located on the side of the advancing rotation direction of the ratchet wheel 413; When the agricultural machine advances, the driving wheel 409 drives the transmission shaft 407 and the ratchet wheel 413 to synchronously rotate in the advancing direction of the agricultural machine, the bottom end of the pawl 412 slides along the tooth back of the ratchet wheel 413 and is continuously lifted without falling into the ratchet wheel groove 414; At the moment when the agricultural machine reverses, the driving wheel 409 drives the ratchet wheel 413 to rotate in the reversing direction of the agricultural machine, the bottom end of the pawl 412 slides from the tooth back to the tooth groove, and is embedded into the ratchet wheel groove 414 under the action of gravity, the bottom end of the pawl 412 is in contact with the two side walls of the ratchet wheel groove 414 at the same time, forming mechanical limiting to prevent the ratchet wheel 413 from continuing to reverse.

[0020] In the existing agricultural machine, due to the particularity of the terrain, when climbing on the hill, due to the heavy quality of the agricultural machine itself and the inclination of the hill, the agricultural machine is easy to slip during climbing, which leads to the sliding of the agricultural machine. In order to improve the stability of the agricultural machine climbing on the hill, During the climbing process of the agricultural machine, the driving wheel 409 is driven to work, which can work synchronously with the two side tracks of the agricultural machine and assist the climbing work of the agricultural machine. During the synchronous rotation of the driving wheel 409, the driving ratchet wheel 413 is driven to rotate synchronously, and during the advancing rotation of the ratchet wheel 413, the bottom end of the pawl 412 will not be clamped into the ratchet wheel groove 414 because the pawl 412 is located on the side of the advancing rotation of the ratchet wheel 413. When the agricultural machine slides down the hill, the driving wheel 409 is driven to rotate backward due to the friction inertia, and the bottom end of the pawl 412 will be clamped into the ratchet wheel groove 414 of the ratchet wheel 413 during the backward rotation of the driving wheel 409, which can generate clamping resistance to the ratchet wheel 413, effectively prevent the reverse rotation of the ratchet wheel 413, and ensure the reverse rotation of the driving wheel 409. The friction state between the driving wheel 409 and the ground is adjusted from rolling friction to sliding friction, which can increase the sliding friction of the agricultural machine and improve the safety of the agricultural machine climbing on the hill.

[0021] As shown in Figure 7 , Figure 9 The middle part of the two swing wheel frames 401 is fixed with a fixed plate 404, the bottom side of the fixed plate 404 is installed with a double-shaft reduction motor 405, the two shaft ends of the double-shaft reduction motor 405 are respectively assembled with driving gears 406 through key matching, the middle part of the transmission shaft 407 is assembled with two transmission gears 408 through key matching, and the two transmission gears 408 are respectively located on the two sides of the ratchet wheel groove 414. The single transmission gear 408 is meshed with the single driving gear 406. When working, the double-shaft reduction motor 405 is operated in the auxiliary driving process, which can drive the two driving gears 406 on both sides to rotate synchronously, and the two driving gears 406 on both sides act on the two transmission gears 408, which can realize coaxial driving of the transmission shaft 407, and drive the two driving wheels 409 to rotate. The driving wheels 409 can provide auxiliary power for the agricultural machinery during climbing to increase the climbing power of the agricultural machinery. At the same time, the double-shaft reduction motor 405 is driven by electricity, and the instantaneous output torque is larger. The driving structure of the agricultural machinery is independent, can assist each other, and will not interfere with each other. It can be independently controlled according to the preset program, so that the rotating speed of the driving wheel 409 and the rotating speed of the two sides of the track are better matched, and a better driving effect of the agricultural machinery is achieved.

[0022] As shown in Figure 7 , a pushing hydraulic cylinder 402 is arranged between the two connecting frames 6, a connecting shaft is fixed in the middle of the outer shell of the pushing hydraulic cylinder 402, the connecting shaft is installed in the middle of the connecting frame 6 through bearing cooperation, a connecting lug is fixed on the fixed plate 404, and the bottom end of the hydraulic rod of the pushing hydraulic cylinder 402 is connected with the connecting lug on the fixed plate 404 through a rotating pin.

[0023] When working, when the agricultural machinery climbs in the hilly area, the pushing hydraulic cylinder 402 is pressurized, so that the hydraulic rod acts on the connecting lug on the fixed plate 404. Since the fixed plate 404 and the swing wheel frame 401 are combined as a whole, the bottom end of the fixed plate 404 rotates around the axis line of the swing shaft 403, so that the bottom end of the swing wheel frame 401 swings down, so that the driving wheel 409 at the bottom end of the swing wheel frame 401 descends. During the extension of the pushing hydraulic cylinder 402, the tread of the driving wheel 409 contacts the ground, and the driving wheel 409 is driven to realize auxiliary power for the climbing of the agricultural machinery.

[0024] As shown in Figure 1 , Figure 2 , Figure 5 , the main body structure 1 comprises two bottom plate beams 101, two bottom plate beams 101 are provided with telescopic holes at both ends, and telescopic arms 105 are slidably assembled in the telescopic holes. The outer wall of the telescopic arm 105 is connected with the wall of the telescopic hole through gap cooperation, the end surface side of the bottom plate beam 101 is welded with a fixed seat 102, the end surface side of the telescopic arm 105 is fixed with a pushing lug 104, the fixed seat 102 and the pushing lug 104 are located on the same side, the fixed seat 102 is assembled with a telescopic hydraulic cylinder 103, and the end of the hydraulic rod of the telescopic hydraulic cylinder 103 is fixed on the pushing lug 104.

[0025] In work, the chassis main body of the agricultural machine is supported by the bottom beam 101 as a basic support structure. Two telescopic hydraulic cylinders 103 are respectively installed on both ends of the bottom beam 101. During the climbing process of the agricultural machine, the distance between the two side tracks can be expanded, the supporting surface at the bottom is increased, and the stability of the agricultural machine climbing is improved. When expanding the distance between the two side tracks, the telescopic hydraulic cylinders 103 at both ends of the bottom beam 101 are operated. Under the cooperation of the extension operation of the telescopic hydraulic cylinders 103, the telescopic arms 105 are extended out of the telescopic holes at both ends of the bottom beam 101, so that the combined length of the bottom beam 101 and the two telescopic arms 105 is increased, and the purpose of expanding the distance between the two side tracks is achieved. As shown in Figure 6 , the end of the telescopic arm 105 is fixed with a first connecting seat 106. The first connecting seat 106 is connected with a connecting rib plate 107 through bolt cooperation. Two same side connecting rib plates 107 are welded with cooperating wheel frames 33. When expanding the distance between the two side tracks, the telescopic hydraulic cylinders 103 are extended, the telescopic arms 105 at both ends of the bottom beam 101 are extended, and the distance between the cooperating wheel frames 33 in the track structure 3 is expanded under the cooperation of the first connecting seat 106 and the connecting rib plate 107.

[0026] As shown in Figure 6 , both sides of the main body structure 1 are provided with a track structure 3. The track structure 3 includes cooperating wheel frames 33. The cooperating wheel frames 33 are door type structures. The middle part of the cooperating wheel frames 33 is provided with an axle mounting slot. The cooperating wheels 34 are installed in the cooperating wheel frames 33, and the axles of the cooperating wheel frames 33 are assembled in the axle mounting slots in the middle part of the cooperating wheel frames 33.

[0027] In work, the cooperating wheels 34 are installed in the cooperating wheel frames 33. The cooperating wheels 34 serve as track support structures. The cooperating wheels 34 are installed in the cooperating wheel frames 33 through axle cooperation, which can provide stable support for the track. As shown in Figure 3 , the same side telescopic arms 105 are welded with support stringers 38. The support stringers 38 are perpendicular to the telescopic arms 105. The support stringers 38 are welded above the telescopic arms 105. One end of the support stringer 38 is fixed with a second connecting seat 310. The other end of the support stringer 38 is fixed with a first mounting seat 31.

[0028] In work, the chassis support main body of the agricultural machine is composed of the bottom beam 101 and the support stringers 38. The support stringers 38 are welded on the telescopic arms 105. During the extension of the telescopic arms 105, the distance between the two support stringers 38 is adjusted. In the process of extending the telescopic arm 105, the matching wheel 34 and the support stringer 38 are synchronized to expand outward. In the process of expanding the track outward, the support stringer 38 is synchronized to expand outward at the first mounting seat 31 and the second connecting seat 310 at both ends.

[0029] As shown in Figure 3 , the inner side of the first mounting seat 31 is equipped with a liquid pump motor 39, and the first mounting seat 31 is rotatably equipped with a driving gear shaft, wherein the output shaft of the liquid pump motor 39 is connected with the driving gear shaft, and the driving master wheel 32 is equipped on the rotating gear shaft, and the second connecting seat 310 is rotatably equipped with a matching gear shaft, and the driving slave wheel 37 is equipped on the matching gear shaft; The driving master wheel 32 and the driving slave wheel 37 are equipped with a track 35, and the inner side of the track 35 is provided with two inner tooth belts 36 in parallel, and the teeth of the inner tooth belts 36 are uniformly engaged with the teeth of the driving master wheel 32 and the driving slave wheel 37. The matching wheel 34 is located between the two inner tooth belts 36, and the track 35 and the inner tooth belt 36 are of an integrated structure.

[0030] When working, the liquid pump motor 39 can drive the driving gear shaft to rotate, thereby realizing the driving operation of the driving master wheel 32; under the driving action of the driving master wheel 32, the inner tooth belt 36 can be acted on; Among them, the second connecting seat 310 is equipped with the driving slave wheel 37 through the matching gear shaft, wherein the teeth of the driving slave wheel 37 are engaged with the inner tooth belt 36, and under the driving operation of the driving master wheel 32 on the inner tooth belt 36, under the cooperation of the driving slave wheel 37, the rolling advance of the track 35 can be realized, which provides driving force for the agricultural machine and realizes the walking of the agricultural machine; Among them, the matching wheel 34 rolls between the two inner tooth belts 36, which can cooperate with the support in the rolling process of the track 35, achieving the effect of the agricultural machine walking.

[0031] As shown in Figure 1 , Figure 2 , the support frame 2 is welded and fixed above the support stringer 38, and the hydraulic pump is equipped on the support frame 2, which is driven by the agricultural machine engine, and the pipeline of the hydraulic pump is provided with a hydraulic control valve, which is used for hydraulic control of the liquid pump motor 39, the telescopic hydraulic cylinder 103 and the pushing hydraulic cylinder 402; The main walking power of the agricultural machine comes from the agricultural machine engine, which drives the hydraulic pump of the agricultural machine to provide walking power for the liquid pump motor 39, wherein through the regulation of the hydraulic control valve, different hydraulic pressures can be allocated to different liquid pump motors 39, thereby realizing the steering operation of the agricultural machine walking; Secondly, when the agricultural machine needs to climb the slope with the help of auxiliary force, the extension and retraction of the telescopic hydraulic cylinder 103 are controlled to adjust the ground clearance of the driving wheel 409 to cooperate with the climbing process of the agricultural machine to assist the operation; When the agricultural machine works in the hilly environment, the spacing between the two sides of the track is adjusted by controlling the extension and retraction of the pushing hydraulic cylinder 402, the bottom supporting surface is expanded, and the walking stability of the agricultural machine is improved, so as to better adapt to the walking of complex terrain.

[0032] Working principle: when the agricultural machine climbs in the hilly area, the pushing hydraulic cylinder 402 is pressurized, so that the hydraulic rod acts on the connecting lug on the fixed plate 404. Since the fixed plate 404 and the swing wheel carrier 401 are combined as a whole, the bottom end of the fixed plate 404 rotates around the axis of the swing shaft 403, so that the bottom end of the swing wheel carrier 401 swings down, thereby realizing the descent of the drive wheel 409 at the bottom end of the swing wheel carrier 401. During the extension of the pushing hydraulic cylinder 402, the tread of the drive wheel 409 is in contact with the ground, and the drive wheel 409 is driven to realize the auxiliary power for the climbing of the agricultural machine; During the auxiliary driving process, the double-shaft reduction motor 405 is operated to drive the two sides of the drive gear 406 to rotate synchronously. The two sides of the drive gear 406 act on the two sides of the transmission gear 408 respectively, which can realize coaxial driving of the transmission shaft 407 and drive the two sides of the drive wheel 409 to rotate. During the rotation of the drive wheel 409, auxiliary power can be provided for the climbing agricultural machine to increase the climbing power of the agricultural machine. At the same time, the double-shaft reduction motor 405 is driven by electricity, and the instantaneous output torque is larger. The driving structure of the agricultural machine is independent, which can assist each other without interference, and can be independently controlled according to the preset program to better match the rotation speed of the drive wheel 409 with the rotation speed of the two sides of the track, so as to achieve better driving effect of the agricultural machine; The existing agricultural machine in the hilly and hilly operation process, due to the particularity of the terrain, in the climbing process, due to the heavy quality of the agricultural machine itself and the inclination of the hilly, the agricultural machine is easy to slip in the climbing process, which leads to the sliding of the agricultural machine. In order to improve the stability of the agricultural machine climbing; During the climbing process of the agricultural machine, the drive wheel 409 is driven to work synchronously with the two sides of the track of the agricultural machine, which can assist the climbing operation of the agricultural machine; When the drive wheel 409 rotates forward to assist driving, the drive ratchet 413 rotates synchronously during the synchronous rotation of the transmission shaft 407. During the forward rotation of the ratchet 413, the bottom end of the pawl 412 does not enter the ratchet groove 414 during the forward rotation of the ratchet 413, so as to form the clamping resistance of the ratchet 413. When the agricultural machine slides down the slope, the driving wheel 409 rotates backward under the friction inertia. Since the pawl 412 is located on the side of the ratchet groove 414 where the ratchet wheel 413 rotates forward, the bottom end of the pawl 412 is clamped into the ratchet groove 414 of the ratchet wheel 413 during the backward movement of the driving wheel 409, which can generate clamping resistance to the ratchet wheel 413, effectively prevent the reverse rotation of the ratchet wheel 413, and ensure the reverse rotation of the driving wheel 409. The friction state between the driving wheel 409 and the ground is adjusted from rolling friction to sliding friction, which can increase the sliding friction of the agricultural machine and improve the safety of the agricultural machine climbing the slope. The chassis support body of the agricultural machine is composed of a bottom beam 101 and support longitudinal beams 38. The support longitudinal beams 38 are welded and fixed on the telescopic arms 105. During the extension of the telescopic arms 105, the spacing between the two support longitudinal beams 38 can be adjusted. During the extension of the telescopic arms 105, the cooperating wheels 34 and the support longitudinal beams 38 are synchronously expanded. During the expansion of the track, the first mounting seat 31 and the second connecting seat 310 at both ends of the support longitudinal beams 38 are synchronously expanded. The telescopic hydraulic cylinders 103 are installed at both ends of the bottom beam 101. During the climbing of the agricultural machine, the spacing between the two tracks on both sides of the agricultural machine can be expanded, the supporting surface at the bottom can be increased, and the stability of the agricultural machine climbing the slope can be improved. During the expansion of the spacing between the two tracks, the telescopic hydraulic cylinders 103 at both ends of the bottom beam 101 are operated, and the telescopic arms 105 are extended out of the telescopic holes at both ends of the bottom beam 101 under the extension operation of the telescopic hydraulic cylinders 103. The combined length of the bottom beam 101 and the two telescopic arms 105 is expanded, which can achieve the purpose of expanding the spacing between the two tracks. During the walking process, the liquid pump motor 39 is operated to drive the driving gear shaft to rotate, thereby achieving the driving operation of the driving wheel 32. Under the driving action of the driving wheel 32, the inner tooth belt 36 can be driven. The driving secondary wheel 37 is installed on the second connecting seat 310 through the cooperating gear shaft. The teeth of the driving secondary wheel 37 are engaged with the inner tooth belt 36. Under the driving operation of the driving wheel 32 on the inner tooth belt 36, the driving secondary wheel 37 can be cooperated to achieve the rolling forward of the track 35, thereby providing driving force for the agricultural machine and realizing the walking of the agricultural machine. The cooperating wheels 34 roll between the two inner tooth belts 36, which can cooperate with the support to achieve the walking effect of the agricultural machine.

[0033] Although the embodiments of the present application have been shown and described, it should be understood by those skilled in the art that various changes, modifications, replacements and modifications can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. An agricultural track undercarriage characterized by: Including the main body structure (1), the bottom plate crossbeam (101) of the main body structure (1) is fixed with the connecting frame (6) on symmetry, and the auxiliary structure (4) is installed between the two connecting frames (6); The auxiliary structure (4) includes a swing shaft (403), and the middle part of the swing shaft (403) is equipped with two swing wheel frames (401) in parallel; the bottom of the two swing wheel frames (401) is transversely penetrated and installed with a transmission shaft (407); The middle part of the transmission shaft (407) is equipped with a ratchet wheel (413), and the circumferential surface of the ratchet wheel (413) is equally spaced and provided with ratchet wheel grooves (414); The end of the two swing wheel frames (401) close to the ratchet wheel (413) is respectively fixed with a mounting frame (410), and the two mounting frames (410) are rotatably installed with a mounting shaft (411); the middle part of the mounting shaft (411) is fixed with a pawl (412), and the bottom end of the pawl (412) is located in one of the ratchet wheel grooves (414); the two ends of the transmission shaft (407) are respectively equipped with drive wheels (409), and the drive wheels (409) are respectively located outside the two swing wheel frames (401); The bottom end of the pawl (412) naturally droops and always slides with the outer circumferential surface of the ratchet wheel (413), and the gravity center of the pawl (412) is located on the side of the ratchet wheel (413) in the forward rotation direction; When the agricultural machine advances, the drive wheels (409) drive the transmission shaft (407) and the ratchet wheel (413) to synchronously rotate in the advancing direction of the agricultural machine, the bottom end of the pawl (412) slides along the tooth back of the ratchet wheel (413) and is continuously lifted without falling into the ratchet wheel groove (414); At the moment when the agricultural machine reverses, the drive wheels (409) drive the ratchet wheel (413) to rotate in the reversing direction of the agricultural machine, the bottom end of the pawl (412) slides from the tooth back to the tooth groove, and is embedded into the ratchet wheel groove (414) under the action of gravity, the bottom end of the pawl (412) is in contact with the two side walls of the ratchet wheel groove (414) at the same time, and mechanical limiting is formed to prevent the ratchet wheel (413) from continuously reversing.

2. An undercarriage for an agricultural machine as claimed in claim 1, characterized in that: The middle part of the two swing wheel frames (401) is fixed with a fixed plate (404), the bottom side of the fixed plate (404) is installed with a double-shaft reduction motor (405), the two shaft ends of the double-shaft reduction motor (405) are respectively equipped with drive gears (406) through key matching, the middle part of the transmission shaft (407) is equipped with two transmission gears (408) through key matching, and the two transmission gears (408) are respectively located on the two sides of the ratchet wheel groove (414); the transmission gear (408) on one side is in mesh with the drive gear (406) on one side.

3. An undercarriage for an agricultural machine as claimed in claim 2, characterized in that: The two connecting frames (6) are provided with a pushing hydraulic cylinder (402), the middle part of the outer shell of the pushing hydraulic cylinder (402) is fixed with a connecting shaft, the connecting shaft is installed in the middle part of the connecting frame (6) through bearing cooperation, the fixed plate (404) is fixed with a connecting lug, and the bottom end of the hydraulic rod of the pushing hydraulic cylinder (402) is connected with the connecting lug on the fixed plate (404) through a rotating pin.

4. The track undercarriage for an agricultural machine of claim 1, wherein: The main body structure (1) includes two bottom plate cross beams (101), the two ends of the two bottom plate cross beams (101) are provided with telescopic holes, telescopic arms (105) are slidably arranged in the telescopic holes, the outer wall of the telescopic arm (105) is connected with the wall of the telescopic hole through gap fit, the end surface of the bottom plate cross beam (101) is welded with a fixing seat (102), the end surface of the telescopic arm (105) is fixed with a pushing lug (104), the fixing seat (102) and the pushing lug (104) are located on the same side, the fixing seat (102) is provided with a telescopic hydraulic cylinder (103), and the hydraulic rod end of the telescopic hydraulic cylinder (103) is fixed on the pushing lug (104).

5. An undercarriage for an agricultural machine as claimed in claim 4, characterized in that: The end of the telescopic arm (105) is fixed with a first connecting seat (106), the first connecting seat (106) is connected with connecting rib plates (107) through bolt fit, and the two same side connecting rib plates (107) are welded with cooperating wheel frames (33).

6. An undercarriage for an agricultural machine as claimed in claim 1, characterized in that: The two sides of the main body structure (1) are provided with track structures (3), the track structure (3) comprises the cooperating wheel frames (33), the cooperating wheel frames (33) are door-shaped structures, the middle parts of the cooperating wheel frames (33) are provided with wheel shaft mounting grooves, and the cooperating wheels (34) are mounted in the cooperating wheel frames (33), and the wheel shafts of the cooperating wheel frames (33) are arranged in the wheel shaft mounting grooves in the middle parts of the cooperating wheel frames (33).

7. An undercarriage for an agricultural machine as claimed in claim 4, characterized in that: The same side telescopic arms (105) are welded with support longitudinal beams (38), the support longitudinal beams (38) are arranged perpendicularly to the telescopic arms (105), the support longitudinal beams (38) are welded above the telescopic arms (105), one end of the support longitudinal beam (38) is fixed with a second connecting seat (310), and the other end of the support longitudinal beam (38) is fixed with a first mounting seat (31).

8. An undercarriage for an agricultural machine as claimed in claim 7, characterized in that: The inner side of the first mounting seat (31) is provided with a liquid pump motor (39), the first mounting seat (31) is rotatably provided with a driving gear shaft, the output shaft of the liquid pump motor (39) is connected with the driving gear shaft, a driving main wheel (32) is arranged on the driving gear shaft, the second connecting seat (310) is rotatably provided with a cooperating gear shaft, and a driving secondary wheel (37) is arranged on the cooperating gear shaft.

9. An undercarriage for an agricultural machine as claimed in claim 8, characterized in that: The driving main wheel (32) and the driving secondary wheel (37) are provided with tracks (35), the inner side of the track (35) is provided with two inner toothed belts (36) in parallel, the teeth of the inner toothed belts (36) are uniformly meshed with the teeth of the driving main wheel (32) and the driving secondary wheel (37), the cooperating wheel (34) is located between the two inner toothed belts (36), and the track (35) and the inner toothed belt (36) are of an integrated structure.

10. The track undercarriage for an agricultural machine of claim 7, wherein: The support longitudinal beam (38) is welded with a support frame (2) above, the support frame (2) is provided with a hydraulic pump, and a hydraulic control valve is arranged on the pipeline of the hydraulic pump.

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