Adaptive posture electric chassis, hilly picking device and control method

Abstract

The present application relates to the technical field of agricultural machinery, and particularly relates to a self-adaptive posture electric chassis, hilly picking equipment and a control method, the electric chassis comprises a cooperative leveling system composed of multiple hydraulic cylinders and a rotation pair locking mechanism, wherein a single longitudinal leveling hydraulic cylinder realizes longitudinal leveling of a chassis pitching posture, two lateral leveling hydraulic cylinders cooperatively realize lateral leveling of a chassis roll posture, and the two lateral hydraulic cylinders are integrated with the rotation pair locking mechanism, can actively and reliably change the track spacing, so as to realize flexible conversion of the chassis configuration. The electric chassis provided by the present application can keep the horizontal stability of the upper-mounted working platform and transportation in real time on rugged slopes, and actively adapt to narrow rows, and fundamentally improves the terrain passability and working stability of the chassis.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to an adaptive electric chassis, a hill-harvesting device, and a control method. Background Technology

[0002] Transporting materials, handling equipment, and conducting agricultural operations in unstructured terrains such as mountains and mining areas place extremely demanding requirements on the mobility, stability, and maneuverability of transport platforms. Traditional tracked vehicles often have rigid chassis or limited suspension travel, resulting in poor self-adjustment of vehicle posture when operating on complex slopes, which can easily lead to rollover risks. They also cannot flexibly adjust the chassis configuration according to specific terrain and tasks.

[0003] With the development of electric drive technology, although the problems of transmission efficiency, independent drive and control have been solved, the chassis mechanical structure itself is mostly still fixed or semi-fixed. Even with a powerful electronic control system, if the chassis physical geometry and attitude cannot actively adapt to the terrain, its passability and stability still face insurmountable performance bottlenecks.

[0004] Therefore, it is necessary to provide an adaptive electric chassis, hill-harvesting equipment, and control method to solve technical problems such as power system electrification, chassis configuration, and attitude adjustment. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention proposes an adaptive attitude electric chassis, a hill-harvesting device, and a control method.

[0006] In a first aspect, the present invention provides an adaptive attitude electric chassis, comprising: A third-layer frame, a second-layer frame, and a first-layer frame are arranged vertically from top to bottom, wherein the second-layer frame and the third-layer frame are connected by hinge points located on their lateral sides; Bottom frame: The bottom frame includes a bottom crossbeam and a bottom longitudinal beam that are hinged to each other, and a lockable rotary joint locking mechanism is provided at the hinge; a rotating shaft is provided inside the bottom longitudinal beam, and a bearing is provided between the rotating shaft and the bottom longitudinal beam; the second layer frame is fixedly connected to the rotating shaft through a load-bearing beam; the first layer frame is fixedly installed on the bottom longitudinal beam; Tracks, with the bottom crossbeam connecting the tracks; A longitudinal leveling hydraulic cylinder is installed between the third-layer frame and the second-layer frame, and the axis of the longitudinal leveling hydraulic cylinder coincides with the longitudinal center axis of the bottom frame. The bottom longitudinal beam is equipped with a transverse leveling hydraulic cylinder on each side. The cylinder body end of the transverse leveling hydraulic cylinder is connected to the rotating shaft through a lockable hinge, and the piston end is fixedly connected to the inner side of the track. The longitudinal leveling hydraulic cylinder is used to achieve longitudinal pitch leveling of the chassis, and the rotary locking mechanism and the lateral leveling hydraulic cylinder work together to achieve lateral tilt leveling and chassis configuration transformation of the chassis.

[0007] Optionally, at least one hinge is provided at the hinge point between the second-layer frame and the third-layer frame, and the hinges on both sides are located at the midpoint of the lateral edge of the two-layer frame and are arranged symmetrically.

[0008] Optionally, the cylinder body end of the longitudinal leveling hydraulic cylinder is hinged to the second-layer frame, and its piston end is hinged to the third-layer frame.

[0009] Optionally, a reducer and a motor are provided on the inner side of the track.

[0010] Optionally, the first layer of the frame is used to install a power supply and hydraulic control system, wherein the hydraulic control system is used to control the piston end of the longitudinal leveling hydraulic cylinder or the lateral leveling hydraulic cylinder.

[0011] Optionally, the longitudinal leveling hydraulic cylinder is used to drive the third-layer frame to rotate around its hinge point with the second-layer frame, thereby achieving longitudinal pitch leveling of the chassis.

[0012] Optionally, the rotary locking mechanism locks the bottom crossbeam and bottom longitudinal beam, as well as the hinge between the lateral leveling hydraulic cylinder and the rotating shaft, and controls the lateral leveling hydraulic cylinders on both sides of the bottom longitudinal beam to drive the second and third layer frames to rotate around the axis of the rotating shaft, thereby achieving lateral tilt leveling of the chassis.

[0013] Optionally, the rotary joint locking mechanism can change the overall height of the bottom frame and other frames by releasing the locking of the bottom crossbeam, bottom longitudinal beam, and the lateral leveling hydraulic cylinder to the rotating shaft, and simultaneously controlling the extension and retraction of the lateral leveling hydraulic cylinders on both sides of the bottom longitudinal beam, thereby realizing the transformation of the chassis configuration.

[0014] Secondly, the present invention provides a hilly harvesting device, including the electric chassis as described above.

[0015] Thirdly, the present invention provides a leveling and configuration change control method for hilly harvesting equipment as described above, including longitudinal pitch leveling, lateral tilt leveling, and chassis configuration change of the hilly harvesting equipment based on the electric chassis, wherein: Longitudinal pitch attitude leveling: According to the pitch attitude of the hill picking equipment, control the extension and retraction of the piston end of the longitudinal leveling hydraulic cylinder to adjust the third layer frame to level; Lateral tilt leveling: Lock the hinge points of the bottom crossbeam and bottom longitudinal beam and the hinge between the lateral leveling hydraulic cylinder and the rotating shaft. According to the tilt posture of the hill picking equipment, differentially control the extension and retraction of the two lateral leveling hydraulic cylinders to adjust the second and third layer frames to level. Chassis configuration transformation: Release the locking of the bottom crossbeam and bottom longitudinal beam, as well as the horizontal leveling hydraulic cylinder and the rotating shaft. According to the working terrain requirements of the hilly picking equipment, synchronously and equally control the extension and retraction of the horizontal leveling hydraulic cylinders on both sides to lower or raise the overall working height of the hilly picking equipment.

[0016] The application of the technical solution of the present invention has at least the following beneficial effects: This invention provides an adaptive electric chassis. Through a multi-layered frame and articulated structure, combined with longitudinal and lateral leveling hydraulic cylinders, it achieves longitudinal pitch leveling, lateral roll leveling, and chassis configuration transformation. Specifically, the electric chassis of this invention is equipped with a collaborative leveling system consisting of multiple hydraulic cylinders and a rotary joint locking mechanism. A single longitudinal leveling hydraulic cylinder achieves longitudinal leveling of the electric chassis's pitch attitude, while the two lateral leveling hydraulic cylinders on both sides collaboratively achieve lateral leveling of the electric chassis's roll attitude. Furthermore, the two lateral hydraulic cylinders, through an integrated rotary joint locking device, can actively and reliably change the track spacing according to terrain conditions, thereby achieving chassis configuration transformation. Applying the electric chassis of this invention enables harvesting equipment in hilly areas to maintain the horizontal stability of the superstructure and transport platform in real time on rugged slopes, and actively adapt to narrow gaps, fundamentally improving the terrain passability and operational stability of the electric chassis. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the electric chassis in a preferred embodiment of the present invention; Figure 2 for Figure 1 A structural diagram of the mid-to-lower frame; Figure 3 for Figure 1 Structural cross-section of the bottom longitudinal beam; Figure 4 for Figure 1 Front view of the electric chassis; Among them, the third-layer frame 1, the second-layer frame 2, the track 3, the reducer 4, the first-layer frame 5, the bottom longitudinal beam 7, the bottom cross beam 8, the bearing 9, the longitudinal leveling hydraulic cylinder 10, the load-bearing beam 11, the transverse leveling hydraulic cylinder 12, and the rotary pair locking mechanism 13. Detailed Implementation

[0019] In response to the growing demand for highly stable mobile platforms in complex terrain, existing electric chassis have significant technical limitations. Their insufficient leveling capabilities, structural redundancy, and poor terrain adaptability severely restrict operational efficiency and transport stability. This embodiment proposes an electric chassis suitable for mountain transport with bidirectional leveling and variable configuration functions, enabling real-time high-precision leveling of the chassis attitude and flexible configuration changes, thereby significantly improving terrain adaptability and operational stability.

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0021] Example 1: like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, this embodiment provides an adaptive attitude electric chassis, including: The third frame 1, the second frame 2 and the first frame 5 are arranged vertically from top to bottom, wherein the second frame 2 and the third frame 1 are connected by hinge points located on their lateral sides. Bottom frame: The bottom frame includes a bottom crossbeam 8 and a bottom longitudinal beam 7 that are hinged to each other, and a lockable rotary joint locking mechanism 13 is provided at the hinge; a rotating shaft 6 is provided inside the bottom longitudinal beam 7, and a bearing 9 is provided between the rotating shaft 6 and the bottom longitudinal beam 7; the second layer frame 2 is fixedly connected to the rotating shaft 6 through a load-bearing beam 11; the first layer frame 5 is fixedly installed on the bottom longitudinal beam 7; Track 3, the bottom crossbeam connects to track 3; A longitudinal leveling hydraulic cylinder 10 is installed between the third-layer frame 1 and the second-layer frame 2, and the axis of the longitudinal leveling hydraulic cylinder 10 coincides with the longitudinal center axis of the bottom frame. The bottom longitudinal beam 7 is provided with a transverse leveling hydraulic cylinder 12 on both sides. The cylinder body end of the transverse leveling hydraulic cylinder 12 is connected to the rotating shaft 6 through a lockable hinge, and the piston end is fixedly connected to the inner side of the track 3. The longitudinal leveling hydraulic cylinder 10 is used to achieve longitudinal pitch leveling of the electric chassis, and the rotary locking mechanism 13 and the lateral leveling hydraulic cylinder 12 cooperate to achieve lateral tilt leveling and chassis configuration transformation of the chassis.

[0022] It should be noted that the rotary joint locking mechanism 13 in this embodiment is used to control the hinge point between the bottom crossbeam 8 and the bottom longitudinal beam 7.

[0023] In this embodiment, a hinge is provided at the hinge point between the second-layer frame 2 and the third-layer frame 1, and the hinges on both sides are located at the midpoint of the lateral edges of the two layers of frames and are symmetrically arranged. It should be noted that two hinge components are symmetrically arranged at the corresponding lateral midpoints of the second-layer frame 2 and the third-layer frame 1; the two ends of the hinge components are respectively hinged to the top surface of the second-layer frame 2 and the bottom surface of the third-layer frame 1. The two hinge components serve as the core hinge fulcrum for the relative rotation of the two layers of frames, and at the same time form symmetrical support, effectively improving the structural stability of the connection between the two layers of frames.

[0024] In this embodiment, the cylinder body of the longitudinal leveling hydraulic cylinder 10 is hinged to the second-layer frame 2, and its piston end is hinged to the third-layer frame 1. In this embodiment, by controlling the extension and retraction of the longitudinal leveling hydraulic cylinder 10, the pitch attitude of the third-layer frame 1 is adjusted, thereby achieving longitudinal leveling of the chassis.

[0025] In a more specific implementation, the longitudinal leveling hydraulic cylinder 10 is assembled through two sets of hinge assemblies: the cylinder end of the longitudinal leveling hydraulic cylinder 10 is connected to the top surface of the second-layer frame 2 through a hinge, and the piston end is connected to the bottom surface of the third-layer frame 1 through a hinge; and the mounting axis of the longitudinal leveling hydraulic cylinder 10 is completely coincident with the longitudinal center axis of the second-layer frame 2 and the third-layer frame 1. When longitudinal leveling of the chassis pitch is required, this arrangement can make the leveling driving force evenly transmitted along the center axis of the frame, avoid force deviation during longitudinal leveling, and ensure the stability and accuracy of the longitudinal leveling action.

[0026] In this embodiment, a reducer 4 is provided on the inner side of the track 3. It should be noted that the reducer 4 is fixedly installed on the inner side of the track 3, and a planetary gear reducer is selected. Its output torque is 507.5 Nm, and the calculated driving force is 5089.7 N. With the cooperation of the two motors, it can meet the requirement of climbing angle greater than or equal to 35°.

[0027] In this embodiment, the first layer frame 5 is used to install a power supply and hydraulic control system, and the hydraulic control system is used to control the piston end of the longitudinal leveling hydraulic cylinder 10 or the lateral leveling hydraulic cylinder 12.

[0028] In this embodiment, the longitudinal leveling hydraulic cylinder 10 is used to drive the third-layer frame 1 to rotate around its hinge point with the second-layer frame, thereby achieving longitudinal pitch leveling of the chassis.

[0029] In this embodiment, the rotary locking mechanism 13 locks the hinge between the bottom crossbeam 8, the bottom longitudinal beam 7, the lateral leveling hydraulic cylinder 12, and the rotating shaft 6, and controls the lateral leveling hydraulic cylinders 12 on both sides of the bottom longitudinal beam 7 to drive the second-layer frame 2 and the third-layer frame 1 to rotate around the axis of the rotating shaft 6, thereby achieving lateral tilt leveling of the chassis.

[0030] Furthermore, the principle of lateral tilt leveling of the electric chassis in this embodiment is as follows: The bottom longitudinal beam 7 is equipped with a rotating shaft 6 and a bearing 9. Two lateral leveling hydraulic cylinders 12 are arranged along both sides of the bottom longitudinal beam 7. The second-layer frame 2 is fixed to the rotating shaft 6 of the bottom longitudinal beam 7 via a load-bearing beam 11. The cylinder end of the lateral leveling hydraulic cylinder 12 is connected to the rotating shaft 6 via a hinge. A rotary joint locking mechanism 13 is provided at the hinge. The piston end of the lateral leveling hydraulic cylinder 12 is fixed to the inside of the track 3. When lateral leveling of the chassis tilt posture is required, the rotary joint locking mechanism 13 locks the hinge between the bottom crossbeam 8 and the bottom longitudinal beam 7, as well as the hinge at the joint between the lateral leveling hydraulic cylinder 12 and the bottom longitudinal beam 7. The hydraulic control system controls the operation of the lateral leveling hydraulic cylinder 12. By independently controlling the extension and retraction of the two lateral leveling hydraulic cylinders 12, the second-layer frame 2 is driven to rotate around the longitudinal axis of the rotating shaft 6, thereby changing the tilt angle and realizing lateral leveling of the tilt posture.

[0031] In this embodiment, the rotary locking mechanism 13 releases the locking of the bottom crossbeam 8 and bottom longitudinal beam 7, as well as the lateral leveling hydraulic cylinder 12, from the rotating shaft 6, and simultaneously controls the extension and retraction of the lateral leveling hydraulic cylinders 12 on both sides of the bottom longitudinal beam 7, thereby changing the overall height of the bottom frame and other frames and realizing the transformation of the chassis configuration.

[0032] Furthermore, the principle of configuration transformation of the electric chassis in this embodiment is as follows: When the chassis configuration needs to be adjusted, firstly, the locking mechanism 13 of the rotary joint at the hinge of the lateral leveling hydraulic cylinder 12 and the rotating shaft 6 is released, and the locking mechanism 13 of the rotary joint at the hinge of the bottom crossbeam 8 and the bottom longitudinal beam 7 is also released, releasing the freedom of the joints. Subsequently, the two lateral leveling hydraulic cylinders 12 are simultaneously controlled to extend and retract by equal amounts. Since the hinge points are unlocked, the change in the length of the lateral leveling hydraulic cylinder 12 will directly translate into a change in the vertical height of the electric chassis, thereby raising or lowering the chassis working height. By changing the overall chassis height, it can actively adapt to ground obstacles or slope differences. In steep terrain, timely reduction of the chassis height can effectively lower the center of gravity of the entire machine, significantly improving anti-rollover capability and driving stability.

[0033] Example 2: This embodiment provides a hilly harvesting device, including the electric chassis as described in Embodiment 1. In this embodiment, the tracks 3 drive the bottom frame to move across hilly terrain. When encountering rugged or uneven terrain or slopes, multiple hydraulic cylinders work together to level the bottom frame. When the hilly harvesting device needs to turn, the electric chassis uses multiple hydraulic cylinders to achieve lateral and longitudinal leveling, ensuring the vehicle remains level at all times. This provides good stability, avoids the safety hazard of tipping over, and effectively improves operational safety.

[0034] Example 3: This embodiment provides a leveling and configuration change control method for a hilly harvesting equipment as described in Embodiment 2, including longitudinal pitch leveling, lateral tilt leveling, and chassis configuration change based on the electric chassis, wherein: Longitudinal pitch attitude leveling: According to the pitch attitude of the hill picking equipment, control the extension and retraction of the piston end of the longitudinal leveling hydraulic cylinder 10 to adjust the third layer frame 1 to be horizontal; Lateral tilt leveling: Lock the hinge points of the bottom crossbeam 8 and the bottom longitudinal beam 7 and the hinge between the lateral leveling hydraulic cylinder 12 and the rotating shaft 6. According to the tilt posture of the hill picking equipment, differentially control the extension and retraction of the two lateral leveling hydraulic cylinders 12 to adjust the second layer frame 2 and the third layer frame 1 to level. Chassis configuration transformation: Release the locking of the bottom crossbeam 8 and bottom longitudinal beam 7, as well as the horizontal leveling hydraulic cylinder 12 and the rotating shaft 6. According to the working terrain requirements of the hilly picking equipment, synchronously and equally control the extension and retraction of the horizontal leveling hydraulic cylinders 12 on both sides to lower or raise the overall working height of the hilly picking equipment.

[0035] The above description is only a preferred embodiment of the present invention and does not limit the scope of the present invention. All equivalent structural transformations made under the inventive concept of the present invention using the contents of the present invention specification and drawings, or direct / indirect applications in other related technical fields, are included within the protection scope of the present invention.

Claims

1. An adaptive stance electric chassis, characterized by, include: The third-layer frame (1), the second-layer frame (2) and the first-layer frame (5) are arranged vertically from top to bottom, wherein: the second-layer frame (2) and the third-layer frame (1) are connected by hinge points located on their lateral sides; Bottom frame: The bottom frame includes a bottom crossbeam (8) and a bottom longitudinal beam (7) that are hinged to each other, and a lockable rotary joint locking mechanism (13) is provided at the hinge; a rotating shaft (6) is provided inside the bottom longitudinal beam (7), and a bearing (9) is provided between the rotating shaft (6) and the bottom longitudinal beam (7); the second layer frame (2) is fixedly connected to the rotating shaft (6) through a load-bearing beam (11); the first layer frame (5) is fixedly installed on the bottom longitudinal beam (7); Track (3), the bottom crossbeam is connected to the track (3); A longitudinal leveling hydraulic cylinder (10) is installed between the third-layer frame (1) and the second-layer frame (2), and the axis of the longitudinal leveling hydraulic cylinder (10) coincides with the longitudinal center axis of the bottom frame. The bottom longitudinal beam (7) is provided with a horizontal leveling hydraulic cylinder (12) on both sides. The cylinder body end of the horizontal leveling hydraulic cylinder (12) is connected to the rotating shaft (6) through a lockable hinge, and the piston end is fixedly connected to the inner side of the track (3). The longitudinal leveling hydraulic cylinder (10) is used to achieve longitudinal pitch leveling of the electric chassis, and the rotary locking mechanism (13) and the lateral leveling hydraulic cylinder (12) work together to achieve lateral tilt leveling and chassis configuration transformation of the chassis. The rotary locking mechanism (13) locks the hinge between the bottom crossbeam (8) and the bottom longitudinal beam (7) and the lateral leveling hydraulic cylinder (12) and the rotating shaft (6), and controls the lateral leveling hydraulic cylinders (12) on both sides of the bottom longitudinal beam (7) to drive the second layer frame (2) and the third layer frame (1) to rotate around the axis of the rotating shaft (6), thereby achieving lateral tilt leveling of the chassis. The rotary locking mechanism (13) releases the locking of the bottom crossbeam (8) and bottom longitudinal beam (7) and the horizontal leveling hydraulic cylinder (12) and the rotating shaft (6), and simultaneously controls the extension and retraction of the horizontal leveling hydraulic cylinders (12) on both sides of the bottom longitudinal beam (7) to change the overall height of the bottom frame and other frames, thereby realizing the transformation of the chassis configuration.

2. The electric chassis according to claim 1, characterized in that At least one hinge is provided at the hinge point between the second-layer frame (2) and the third-layer frame (1), and the hinges on both sides are located at the midpoint of the lateral edge of the two-layer frame and are symmetrically arranged.

3. The electric chassis according to claim 1, characterized in that, The cylinder end of the longitudinal leveling hydraulic cylinder (10) is hinged to the second-layer frame (2), and its piston end is hinged to the third-layer frame (1).

4. The electric chassis according to claim 1, characterized in that, A speed reducer (4) is provided on the inner side of the track (3).

5. The electric chassis according to claim 1, characterized in that, The first layer frame (5) is used to install the power supply and hydraulic control system, which is used to control the piston end of the longitudinal leveling hydraulic cylinder (10) or the lateral leveling hydraulic cylinder (12).

6. The electric chassis according to claim 1, characterized in that, The longitudinal leveling hydraulic cylinder (10) is used to drive the third-layer frame (1) to rotate around its hinge point with the second-layer frame, thereby achieving longitudinal pitch leveling of the chassis.

7. A harvesting device for hilly areas, characterized in that, Includes the electric chassis as described in any one of claims 1 to 6.

8. A method for leveling and variable configuration control of the hill harvesting equipment as described in claim 7, characterized in that, This includes achieving longitudinal pitch leveling, lateral tilt leveling, and chassis configuration transformation of the hill-harvesting equipment based on the electric chassis, wherein: Longitudinal pitch attitude leveling: According to the pitch attitude of the hill picking equipment, control the piston end of the longitudinal leveling hydraulic cylinder (10) to extend and retract, and adjust the third layer frame (1) to be horizontal; Lateral tilt leveling: Lock the hinge points of the bottom crossbeam (8) and bottom longitudinal beam (7) and the hinge between the lateral leveling hydraulic cylinder (12) and the rotating shaft (6). According to the tilt posture of the hill picking equipment, differentially control the extension and retraction of the two lateral leveling hydraulic cylinders (12) to adjust the second layer frame (2) and the third layer frame (1) to level. Chassis configuration change: Release the locking of the bottom crossbeam (8) and bottom longitudinal beam (7) as well as the horizontal leveling hydraulic cylinder (12) and the rotating shaft (6), and according to the working terrain requirements of the hill picking equipment, synchronously and equally control the extension and retraction of the horizontal leveling hydraulic cylinder (12) on both sides to lower or raise the overall working height of the hill picking equipment.

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