All-terrain wheel-track interchangeable chassis for agricultural machinery

Abstract

The utility model relates to an all-terrain wheel-track interchangeable chassis for agricultural machinery. The all-terrain wheel-track interchangeable chassis for the agricultural machinery comprises a chassis main body, a walking mechanism, a control mechanism, a mechanical carrying platform, a guide wheel control system and a lifting and leveling hydraulic mechanism, a motor is installed on the chassis body, the walking mechanism is in driving connection with the motor, the control mechanism is installed on the chassis body, the mechanical carrying platform is connected with and controls the lifting leveling hydraulic mechanism fixed to the upper portion of the chassis body, and the guide wheel control system is installed at the front end of the chassis body and is in transmission connection with the walking mechanism. The control mechanism is electrically connected with the guide wheel control system and the lifting leveling hydraulic mechanism. The wheel-track interchangeable chassis is adopted, so that the chassis can be well adapted to different terrains and different forms; the laser radar is matched with the attitude sensor to recognize front terrain information and carrying plane attitude information, adjustment is carried out in real time, and it is guaranteed that the carried machine works stably all the time.

Description

Technical Field

[0001] This application relates to the technical field of agricultural machinery, and particularly relates to an all-terrain wheel-track interchangeable chassis for agricultural machinery. Background Art

[0002] China is not only the largest agricultural producer in the world, but also one of the major grain producers. With the acceleration of the urbanization process, the loss of rural labor is serious. Agricultural mechanization can alleviate the problem of labor shortage and improve agricultural production efficiency. However, the mechanization rate in China's agricultural production is relatively low, and the current mechanical adaptability is poor, and the phenomenon of dedicated machines for specific purposes is widespread, resulting in a relatively high cost of agricultural mechanization.

[0003] The existing chassis walking methods are mainly divided into two types: wheel (tire) type and crawler type. Among them, the wheel type walking method has the advantages of fast driving speed, flexibility, etc., but there are problems such as a relatively small ground contact area and insufficient adaptability to uneven road conditions such as hilly and mountainous areas; the crawler type walking method has the advantages of strong load-bearing capacity, large traction force, wide terrain adaptability, etc., but has disadvantages such as low driving speed, large overall machine mass, and high energy consumption. In order to combine the advantages of the above two walking methods, the wheel-track interchange technology has been studied and developed. Through the wheel-track interchange technology, the wheel type or crawler type walking method can be replaced according to different road conditions, so as to ensure that the vehicle has the advantages of fast wheel type driving speed, flexibility, low energy consumption, large crawler type ground contact area, strong environmental adaptability, and large load-bearing capacity, and can better adapt to various terrains in China for agricultural operations.

[0004] However, the current chassis on the market can only operate on one type of terrain, namely flat land and hilly and mountainous areas, and it is difficult to ensure the stable operation of the mounted working implements when operating on the rough hilly and mountainous terrain. Therefore, a wheel-track interchange crawler chassis with a small volume, strong terrain adaptability, wide adaptability of mounted implements, convenient operation is an urgent problem to be solved by those skilled in the art. Utility Model Content

[0005] To solve or partially solve the problems existing in the related technologies, this application provides an all-terrain wheel-track interchangeable chassis for agricultural machinery, which can enable the chassis to quickly drive and operate on flat land and flexibly operate on hilly and mountainous terrain by the operator's selection of whether to install the crawler.

[0006] This application provides an all-terrain wheel-track interchangeable chassis for agricultural machinery, which includes a chassis main body 1, a traveling mechanism 2, a control mechanism 3, a mechanical mounting platform 4, a steering wheel control system 5, and a lifting and leveling hydraulic mechanism 6. An electric motor is installed on the chassis main body 1. The traveling mechanism 2 is drivingly connected to the electric motor. The control mechanism 3 is installed on the chassis main body 1. The mechanical mounting platform 4 is connected and controlled by the lifting and leveling hydraulic mechanism 6 fixed above the chassis main body 1. The steering wheel control system 5 is installed at the front end of the chassis main body 1 and is in transmission connection with the traveling mechanism 2. The control mechanism 3 is electrically connected to the steering wheel control system 5 and the lifting and leveling hydraulic mechanism 6 respectively.

[0007] The traveling mechanism 2 includes a detachable track 201, a front driving wheel 202, a rear driving wheel 203, a supporting wheel 204, a supporting wheel bracket 205, a supporting wheel connecting shaft 207, a front driving wheel shaft 208, and a rear driving wheel shaft 209. The front driving wheel 202 is connected to the electric motor installed at the rear side of the chassis main body 1 through the front driving wheel shaft 208. The driving wheel 203 is connected to the electric motor installed at the front side of the chassis main body 1 through the rear driving wheel shaft 209. The supporting wheel bracket 205 is connected to the electric motor installed in the middle of the chassis main body 1 for controlling the retraction and extension of the supporting wheel 204 through the supporting wheel connecting shaft 207. The supporting wheel 204 is rotatably installed on the supporting wheel bracket 205. The steering wheel control system 5 includes a steering wheel 501, and the steering wheel 501 is adjustably installed at the front end of the chassis main body 1. The detachable track 201 is installed around and in transmission on the outer sides of the front driving wheel 202, the rear driving wheel 203, the supporting wheel 204, and the steering wheel 501.

[0008] Optionally, in some solutions, a track pattern 211 is provided in the middle of the inner circle of the detachable track 201, and track plain patterns 206 are provided on both sides. Tread patterns 210 matching the track pattern 211 are provided on the front driving wheel 202 and the rear driving wheel 203. The track pattern 211 and the tread patterns 210 are used for positioning the cooperation of the front driving wheel 202, the front driving wheel 202, and the detachable track 201. The supporting wheel 204 and the steering wheel 501 are in cooperative transmission by contacting the track plain patterns 206.

[0009] Optionally, in some solutions, the control mechanism 3 includes a front-mounted lidar 301, a main controller 302, an attitude monitoring device 303, and a hydraulic control device 304. The front-mounted lidar 301 is fixed on the front side of the mechanical mounting platform 4. The main controller 302 is fixed at the rear of the chassis main body 1. The attitude monitoring device 303 is installed at the bottom of the mechanical mounting platform 4. The hydraulic control device 304 is fixed on the chassis main body 1 and is electrically connected to the lifting and leveling hydraulic mechanism 6. The front-mounted lidar 301, the attitude monitoring device 303, and the hydraulic control device 304 are electrically connected to the main controller 302 respectively.

[0010] Optionally, in some solutions, the mechanical mounting platform 4 includes a mounting platform panel 401 and fixed connecting rods 402. The mounting platform panel 401 is connected to the lifting and leveling hydraulic mechanism 6 through the fixed connecting rods 402 symmetrically arranged on both sides of its bottom.

[0011] Optionally, in some solutions, the guide wheel control system 5 further includes a first hydraulic rod 502, a connecting rod 503, a guide wheel shaft 504, a connecting frame 505, a fixing member 506, a bearing 507, and a connecting block 508. The guide wheels 501 are installed at both ends of the guide wheel shaft 504 through the bearings 507. One end of the first hydraulic rod 502 is hinged to the upper part of the front end of the chassis main body 1 through the fixing member 506, and the other end is rotatably connected to the guide wheel shaft 504 through the connecting block 508. The connecting rod 503 is fixed to the lower part of the front end of the chassis main body 1, and both ends of the connecting frame 505 are respectively rotatably connected to the connecting rod 503 and the guide wheel shaft 504.

[0012] Optionally, in some solutions, the lifting and leveling hydraulic mechanism 6 includes a support connecting member 601, a fixed base 602, a second hydraulic rod 603, a fixed rod 604, a lower transmission rod 605, an upper transmission rod 606, and a hinge bearing 607. The fixed base 602 is fixed on the chassis main body 1. The lower transmission rods 605 are rotatably connected to the two ends of the fixed base 602 in a butt joint manner. The end of the lower transmission rod 605 is rotatably connected to one end of the fixed rod 604. The other end of the fixed rod 604 is rotatably connected to one end of the upper transmission rod 606. The other ends of the two upper transmission rods 606 are symmetrically rotatably connected to the bottom of the support connecting member 601. The top of the support connecting member 601 is rotatably connected to the middle of the fixed connecting rod 402. Both ends of the second hydraulic rod 603 are respectively connected to the middle parts of the two fixed rods 604. The support connecting member 601 and the upper transmission rod 606, the upper transmission rod 606 and the fixed rod 604, the fixed rod 604 and the lower transmission rod 605, and the lower transmission rod 605 and the fixed base 602 are all connected through the hinge bearings 607.

[0013] The technical solutions provided by this application may include the following beneficial effects:

[0014] In the middle of the inner ring of the detachable track of this application, there are track patterns, and on both sides, there are track plain patterns. Different types of wheels can better drive the track forward. By adding a hydraulic leveling mechanism, the lifting of the mounting platform is realized to cope with more complex hilly and mountainous rough terrains. At the same time, the steering sensitivity, driving performance, and ground contact pressure are improved; the wheel-track interchangeable chassis can well adapt to different terrains and different forms; the lidar and the attitude sensor cooperate to identify the terrain information in front and the attitude information of the mounting plane, and make real-time adjustments to ensure that the mounted implements are always operating smoothly.

[0015] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and do not limit the present application. Description of the Drawings

[0016] By describing the exemplary embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other objects, features, and advantages of the present application will become more apparent. Among them, in the exemplary embodiments of the present application, the same reference numerals generally represent the same components.

[0017] Figure 1 is a schematic structural diagram of an all-terrain wheel-track interchangeable chassis for agricultural machinery shown in an embodiment of the present application;

[0018] Figure 2 is a schematic structural diagram of the bottom connection structure of a mechanical mounting platform shown in an embodiment of the present application;

[0019] Figure 3 is a front view structural diagram of an all-terrain wheel-track interchangeable chassis for agricultural machinery shown in an embodiment of the present application;

[0020] Figure 4 is a top view structural diagram of an all-terrain wheel-track interchangeable chassis for agricultural machinery shown in an embodiment of the present application;

[0021] Figure 5 is a schematic structural diagram of an all-terrain wheel-track interchangeable chassis for agricultural machinery without a mechanical mounting platform and detachable tracks installed, shown in an embodiment of the present application;

[0022] Figure 6 is a schematic structural diagram of a lifting and leveling hydraulic mechanism shown in an embodiment of the present application;

[0023] Figure 7 is a schematic structural diagram of an all-terrain wheel-track interchangeable chassis for agricultural machinery without detachable tracks installed, shown in an embodiment of the present application;

[0024] Figure 8 is a schematic structural diagram of a detachable track shown in an embodiment of the present application;

[0025] Figure 9 is a working schematic diagram of the device on an uneven ground in hilly and mountainous areas shown in an embodiment of the present application.

[0026] Reference Numerals:

[0027] 1 - Chassis main body, 2 - Traveling mechanism, 3 - Control mechanism, 4 - Mechanical mounting platform, 5 - Mechanical mounting platform, 6 - Lifting and leveling hydraulic mechanism;

[0028] 201 - Detachable crawler, 202 - Front drive sprocket, 203 - Front drive sprocket, 204 - Idler wheel, 205 - Idler wheel bracket, 206 - Crawler plain weave, 207 - Idler wheel connecting shaft, 208 - Front drive sprocket shaft, 209 - Rear drive sprocket shaft, 210 - Tread pattern, 211 - Crawler pattern;

[0029] 301 - Front laser radar, 302 - Main controller, 303 - Attitude monitoring device, 304 - Hydraulic control device;

[0030] 401 - Mounting platform panel, 402 - Fixed connecting rod;

[0031] 501 - Guide wheel, 502 - First hydraulic rod, 503 - Connecting rod, 504 - Guide wheel shaft, 505 - Connecting frame, 506 - Fixing piece, 507 - Bearing, 508 - Connecting block;

[0032] 601 - Support connecting piece, 602 - Fixed base, 603 - Second hydraulic rod, 604 - Fixed rod, 605 - Lower transmission rod, 606 - Upper transmission rod, 607 - Hinge bearing. Detailed implementation mode

[0033] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0034] It should be understood that although the terms "first", "second", "third", etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality" means two or more unless otherwise specifically defined.

[0035] In the description of the present application, it should be understood that the orientation or positional relationship indicated by terms such as "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0036] Unless otherwise clearly specified and defined, terms such as "installation", "connection", "connection", "fixation", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0037] In view of the above problems, the embodiment of the present application provides an all-terrain wheel-track interchangeable chassis for agricultural machinery, which can enable the chassis to quickly travel and operate on flat ground and flexibly operate on hilly and mountainous terrains by an operator's selection of whether to install the tracks.

[0038] The technical solutions of the embodiments of the present application will be described in detail below with reference to the drawings.

[0039] See Figure 1 、 3 As shown in FIGS. 6, 7, the all-terrain wheel-track interchangeable chassis for agricultural machinery includes a chassis main body 1, a traveling mechanism 2, a control mechanism 3, a mechanical mounting platform 4, a guide wheel control system 5, and a lifting and leveling hydraulic mechanism 6; a motor is installed on the chassis main body 1, the traveling mechanism 2 is drivingly connected to the motor, the control mechanism 3 is installed on the chassis main body 1, the mechanical mounting platform 4 is connected and controlled by the lifting and leveling hydraulic mechanism 6 fixed above the chassis main body 1, the guide wheel control system 5 is installed at the front end of the chassis main body 1 and is in transmission connection with the traveling mechanism 2, and the control mechanism 3 is electrically connected to the guide wheel control system 5 and the lifting and leveling hydraulic mechanism 6 respectively.

[0040] The walking mechanism 2 includes a detachable crawler track 201, a front driving wheel 202, a rear driving wheel 203, a support wheel 204, a support wheel bracket 205, a support wheel connecting shaft 207, a front driving wheel shaft 208, and a rear driving wheel shaft 209. The front driving wheel 202 is connected to the motor installed on the rear side of the chassis body 1 through the front driving wheel shaft 208, and the driving wheel 203 is connected to the motor installed on the front side of the chassis body 1 through the rear driving wheel shaft 209. The support wheel bracket 205 is connected to the motor installed in the middle part of the chassis body 1 for controlling the retraction and extension of the support wheel 204 through the support wheel connecting shaft 207. The support wheel 204 is rotatably installed on the support wheel bracket 205. The guide wheel control system 5 includes a guide wheel 501, which is adjustably installed at the front end of the chassis body 1. The detachable crawler track 201 is installed around the transmission on the outside of the front driving wheel 202, the rear driving wheel 203, the support wheel 204 and the guide wheel 501.

[0041] When working, the front driving wheel 202 and the rear driving wheel 203 are connected to the four motors, and the steering and speed of the four motors are controlled by the control mechanism 3 respectively. The travel route is sent to the control system of the walking mechanism 2 through the control mechanism 3, so that the chassis can move forward, backward, turn, and turn around; there is a quick installation and disassembly port on the detachable crawler 201, which is convenient and quick to disassemble and install the detachable crawler 201. Since the guide wheel 501 is retractable, the guide wheel 501 shrinks during installation. After the detachable crawler 201 is installed, the extension of the guide wheel 501 can be used as a tensioning mechanism to ensure that the detachable crawler 201 is tight after installation; one end of the connecting piece of the support wheel 204 is connected to the support wheel 204, and the other end is connected to the motor to realize the retraction and extension of the support wheel 204. The two support wheel brackets 205 are of different sizes and match each other, so that the support wheel 204 will not get stuck when it is retracted and extended; the other end of the support wheel bracket 205 has a fixing rod to ensure that the spacing between the support wheels 204 remains unchanged; the lifting and leveling hydraulic mechanism 6 controls the machine The height of the mechanical carrying platform 4, the two chassis forms correspond to different lifting heights, and the two heights can be changed by the operating panel of the control mechanism 3 to switch the chassis form; when operating in the crawler form, the mechanical carrying platform 4 is raised to give the crawler more installation space, and in the wheeled operation form, the mechanical carrying platform 4 is lowered to make the carried machinery more stable; the mechanism is fixed on the chassis body 1, and the contact area with the chassis body 1 is large, so that the force distribution acting on the chassis body 1 is more uniform, and heavier machinery can be carried; the left and right lifting and leveling hydraulic mechanisms 6 are respectively controlled by the control mechanism 3, and can be extended and retracted to different degrees. Since the uneven terrain mostly occurs in hilly and mountainous terrain, the operation here is in the crawler form, so in the crawler form, the lifting and leveling hydraulic mechanism 6 also serves as the adaptive leveling mechanism of the mechanical carrying platform 4, controlling the lifting and leveling hydraulic mechanism 6 to rise and fall differently, so as to achieve different left and right heights of the mechanical carrying platform 4 to offset the imbalance caused by the different left and right heights of the terrain.

[0042] In some embodiments, seeFigure 8 , a tread pattern 211 is provided in the middle of the inner ring of the detachable crawler 201, tread flats 206 are provided on both sides, and tread patterns 210 matching the tread pattern 211 are provided on the front driving wheel 202 and the rear driving wheel 203. The tread pattern 211 and the tread pattern 210 cooperate to position the front driving wheel 202, the front driving wheel 202, and the detachable crawler 201, and the supporting wheels 204 and the guiding wheels 501 are in cooperative transmission by contacting the tread flats 206.

[0043] During operation, the "V" - shaped patterns on the front driving wheel 202 and the rear driving wheel 203 cooperate with the notches left on the crawler to ensure that the power of the front driving wheel 202 and the rear driving wheel 203 is transmitted to the detachable crawler 201 in real - time. Moreover, the detachable crawler 201 also has a non - patterned area, and the width of the non - patterned area is the same as the widths of the supporting wheels 204 and the guiding wheels 501, which ensures the transmission of the guiding wheels 501 while ensuring the transmission of the driving wheels 202 as much as possible.

[0044] In some embodiments, refer to Figures 2-4 , the control mechanism 3 includes a front - mounted lidar 301, a main controller 302, an attitude monitoring device 303, and a hydraulic control device 304. The front - mounted lidar 301 is fixed to the front side of the mechanical mounting platform 4, the main controller 302 is fixed to the rear of the chassis main body 1, the attitude monitoring device 303 is installed at the bottom of the mechanical mounting platform 4, the hydraulic control device 304 is fixed to the chassis main body 1 and is electrically connected to the lifting and leveling hydraulic mechanism 6. The front - mounted lidar 301, the attitude monitoring device 303, and the hydraulic control device 304 are respectively electrically connected to the main controller 302.

[0045] During operation, the front - mounted lidar 301 is fixed in front of the mechanical mounting platform 4 and connected to the main controller 302, the attitude monitoring device 303 is installed under the panel of the mechanical mounting platform 4, the main controller 302 is installed at the rear of the chassis main body 1, and the hydraulic control device 304 is installed above the chassis main body 1; both the front - mounted lidar 301 and the attitude monitoring device 303 are connected to the main controller 302 and transmit data to the main controller 302 uniformly. The main controller 302 analyzes the data and controls the operation of each module.

[0046] In some embodiments, refer to Figure 2 , the mechanical mounting platform 4 includes a mounting platform panel 401 and fixed connecting rods 402. The mounting platform panel 401 is connected to the lifting and leveling hydraulic mechanism 6 through the fixed connecting rods 402 symmetrically arranged on both sides of its bottom.

[0047] During operation, the mounting platform panel 401 is smooth and can be equipped with various fixing devices to adapt to different working tools, with strong adaptability.

[0048] In some embodiments, refer to Figure 5 , the guide wheel control system 5 further includes a first hydraulic rod 502, a connecting rod 503, a guide wheel shaft 504, a connecting frame 505, a fixing member 506, a bearing 507, and a connecting block 508. The guide wheels 501 are installed at both ends of the guide wheel shaft 504 through the bearings 507. One end of the first hydraulic rod 502 is hinged to the upper front part of the chassis main body 1 through the fixing member 506, and the other end is rotatably connected to the guide wheel shaft 504 through the connecting block 508. The connecting rod 503 is fixed to the lower front part of the chassis main body 1, and both ends of the connecting frame 505 are respectively rotatably connected to the connecting rod 503 and the guide wheel shaft 504.

[0049] During operation, the connecting rod 503 connecting the two guide wheels 501 is simultaneously connected to the two first hydraulic rods 502. The contraction of the guide wheels 501 can be controlled by the telescopic movement of the first hydraulic rods 502. Since the angle in front of the detachable track 201 is controlled by the extended length of the guide wheels 501, on ground with different slopes, the angle of the detachable track 201 can be adjusted by controlling the telescopic movement of the guide wheels 501 to ensure that the contact area between the detachable track 201 and the ground is the largest, so as to have the best climbing performance; the guide wheels 501 are non-powered input wheels and are only used to adjust the angle between the front of the detachable track 201 and the ground, enabling the chassis to have better climbing performance.

[0050] In some embodiments, refer to Figure 6 , 9 , the lifting and leveling hydraulic mechanism 6 includes a support connecting member 601, a fixed base 602, a second hydraulic rod 603, a fixed rod 604, a lower transmission rod 605, an upper transmission rod 606, and a hinge bearing 607. The fixed base 602 is fixed on the chassis main body 1. The lower transmission rod 605 is rotatably connected to both ends of the fixed base 602 in a butt joint manner. The end of the lower transmission rod 605 is rotatably connected to one end of the fixed rod 604. The other end of the fixed rod 604 is rotatably connected to one end of the upper transmission rod 606. The other ends of the two upper transmission rods 606 are symmetrically rotatably connected to the bottom of the support connecting member 601. The top of the support connecting member 601 is rotatably connected to the middle part of the fixed connecting rod 402. Both ends of the second hydraulic rod 603 are respectively connected to the middle parts of the two fixed rods 604. The support connecting member 601 and the upper transmission rod 606, the upper transmission rod 606 and the fixed rod 604, the fixed rod 604 and the lower transmission rod 605, and the lower transmission rod 605 and the fixed base 602 are all connected through the hinge bearings 607.

[0051] During operation, the left and right lifting and leveling hydraulic mechanisms 6 are respectively controlled by the control mechanism 3 and can be extended and retracted to different degrees. Through the scanning of the terrain structure by the front-mounted lidar 301, the main controller 302 analyzes the information and transmits the corresponding adjustment information to the hydraulic mechanism. When the terrain in the front is higher on the left and lower on the right, the second hydraulic rod 603 on the left extends, the left device descends, the second hydraulic rod 603 on the right shortens, and the right device extends, making the mechanical mounting platform 4 lower on the left and higher on the right to offset the instability of the mounting device caused by the rugged terrain. In the lifting and leveling hydraulic mechanism 6, the whole is fixed on the chassis main body 1 through the fixed base 602. The fixed base 602 has a large contact area with the chassis main body 1, and the force is more balanced and uniform. The front and rear ends of the second hydraulic rod 603 are fixed to the fixed rod 604. When the second hydraulic rod 603 contracts, the angle between the two lower transmission rods 605 and the two upper transmission rods 606 is reduced by driving the fixed rod 604. Similarly, when the second hydraulic rod 603 extends, the angle is increased.

[0052] The working process of this application:

[0053] Before the operation starts, the attitude monitoring device 303 first monitors the angle of the mounting platform 4 and transmits the angle information to the main controller 302. The main controller 302 outputs the telescopic information of the hydraulic rods in the lifting and leveling hydraulic mechanism 6 to the hydraulic control device 304, and the hydraulic control device 304 controls the corresponding second hydraulic rod 603 to make adjustments.

[0054] During each form switch, the chassis power output is only the four driving wheels connected by four motors. The supporting wheels 204 and the guiding wheels 501 are not used as power input shafts. The motor connected to the supporting wheels 204 only provides power for the retraction and extension of the supporting wheels 204. The supporting wheels 204 mainly provide support for the detachable crawler 201, and the guiding wheels 501 mainly adjust the front angle of the detachable crawler 201 to increase the contact area between the detachable crawler 201 and the ground. The left and right turns of the chassis are controlled by the driving motors on both sides, and the steering is completed by controlling the wheels on both sides to rotate in different directions through the electronic control steering mechanism.

[0055] The application scenarios of the wheeled working mode are mostly flat ground and large flat terrains. Therefore, in the wheeled working mode, the front-mounted lidar 301 is only used to identify the road ahead, avoid obstacles and plan the path, and does not identify the site information. The lifting and leveling hydraulic mechanism 6 is also only lowered to a fixed position without performing adaptive leveling of the mechanical mounting platform 4 to ensure a faster traveling speed of the chassis.

[0056] When the working terrain is hilly and uneven, the passing performance of the chassis is highly tested, and it is necessary to switch to the crawler working mode. The operator only needs to select the crawler mode on the operation panel of the control mechanism 3, and the hydraulic control device 304 controls the lifting and leveling hydraulic mechanism 6 to drive the mechanical carrying platform 4 to rise, leaving enough space for the walking part of the chassis. After the operator aligns and installs the crawler and matches the wheel pattern with the crawler groove, the hydraulic control device 304 controls the first hydraulic rod 502 to extend, and the crawler is tensioned, and the switching is completed.

[0057] In the crawler working mode, due to the uneven road surface, the chassis will shake severely. To ensure that the equipment carried above is not affected during the chassis movement, the lidar 301 monitors the terrain ahead in real time and sends the terrain height information to the main controller 302. The main controller 302 analyzes the terrain information and sends the corresponding adjustment method to the hydraulic control device 304. The hydraulic control device 304 controls the telescopic state of the two second hydraulic rods 603 in the lifting and leveling hydraulic mechanism 6 respectively, thereby adjusting the balance of the mechanical carrying platform 4.

[0058] Taking the terrain with the left side higher and the right side lower as an example: the main controller 302 analyzes the terrain information of the left side higher and the right side lower and outputs the corresponding adjustment information to the hydraulic control device 304. The hydraulic control device 304 controls the left second hydraulic rod 603 to extend, thereby increasing the angle between the two lower transmission rods 605 and the two upper transmission rods 606 on the left side, reducing the height of the left device, and shortening the right second hydraulic rod 603, thereby reducing the angle between the two lower transmission rods 605 and the two upper transmission rods 606 on the right side, and extending the right device, making the carrying plane lower on the left and higher on the right to offset the instability of the carrying device caused by the rugged terrain.

[0059] The lidar 301 identifies the site information in real time, and the attitude monitoring device 303 monitors the situation of the carrying platform 4 in real time and adjusts it in real time to ensure that the carrying platform 4 is always parallel to the ground.

[0060] The angle between the crawler and the ground is adjusted by controlling the angle of the idler wheel to change the contact area between the crawler and the ground. When the lidar 301 identifies that the ground slope ahead is relatively large, the height information is transmitted to the main controller 302, and the main controller 302 transmits a signal to the hydraulic control device 304 to control the hydraulic rod 502 to retract, making the angle between the idler wheel 501 and the ground larger, driving the front angle of the crawler to become larger, and the power acting on the ground better.

[0061] Finally, it should also be noted that in this text, relationships such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "including", "comprising" or any other variants are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0062] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed over multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0063] The embodiments of the present application have been described above. The above description is exemplary and not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations are obvious to those of ordinary skill in the art in the technical field without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, the practical application or the improvement of the technology in the market, or to enable other ordinary skill in the art in the technical field to understand the embodiments disclosed herein.

Claims

1. An all-terrain wheel-track interchangeable chassis for agricultural machinery, characterized in that: The all-terrain wheel-track interchangeable chassis for agricultural machinery comprises a chassis body (1), a walking mechanism (2), a control mechanism (3), a machine carrying platform (4), a guide wheel control system (5) and a lifting and leveling hydraulic mechanism (6); a motor is installed on the chassis body (1), the walking mechanism (2) is connected to the motor driving, the control mechanism (3) is installed on the chassis body (1), the machine carrying platform (4) is connected and controlled by the lifting and leveling hydraulic mechanism (6) fixed above the chassis body (1), the guide wheel control system (5) is installed at the front end of the chassis body (1) and is transmission-connected to the walking mechanism (2), and the control mechanism (3) is electrically connected to the guide wheel control system (5) and the lifting and leveling hydraulic mechanism (6) respectively; The walking mechanism (2) comprises a detachable crawler (201), a front driving wheel (202), a rear driving wheel (203), a supporting wheel (204), a supporting wheel bracket (205), a supporting wheel connecting shaft (207), a front driving wheel shaft (208), and a rear driving wheel shaft (209); the front driving wheel (202) is connected to a motor installed on the rear side of the chassis body (1) via the front driving wheel shaft (208); the driving wheel (203) is connected to a motor installed on the front side of the chassis body (1) via the rear driving wheel shaft (209); and the supporting wheel bracket is connected to a front driving wheel shaft (204). (205) is connected to a motor installed in the middle of the chassis body (1) through a support wheel connecting shaft (207) for controlling the retraction and extension of the support wheel (204), and the support wheel (204) is rotatably installed on the support wheel bracket (205). The guide wheel control system (5) includes a guide wheel (501), which is adjustably installed at the front end of the chassis body (1), and a detachable crawler track (201) is installed around the outer sides of the front driving wheel (202), the rear driving wheel (203), the support wheel (204) and the guide wheel (501).

2. The all-terrain wheel-track interchangeable chassis for agricultural machinery according to claim 1, characterized in that: The detachable crawler (201) is provided with a crawler pattern (211) in the middle of the inner circle, and crawler plain patterns (206) are provided on both sides. The front driving wheel (202) and the rear driving wheel (203) are provided with tread patterns (210) matching the crawler pattern (211). The crawler pattern (211) and the tread pattern (210) cooperate to position the front driving wheel (202), the front driving wheel (202), and the detachable crawler (201). The support wheel (204) and the guide wheel (501) cooperate to transmit by contacting with the crawler plain patterns (206).

3. The all-terrain wheel-track interchangeable chassis for agricultural machinery according to claim 1 or 2, characterized in that: The control mechanism (3) comprises a front laser radar (301), a main controller (302), a posture monitoring device (303) and a hydraulic control device (304); the front laser radar (301) is fixed on the front side of the mechanical mounting platform (4); the main controller (302) is fixed on the rear of the chassis body (1); the posture monitoring device (303) is installed on the bottom of the mechanical mounting platform (4); the hydraulic control device (304) is fixed on the chassis body (1) and is electrically connected to the lifting and leveling hydraulic mechanism (6); the front laser radar (301), the posture monitoring device (303) and the hydraulic control device (304) are electrically connected to the main controller (302) respectively.

4. The all-terrain wheel-track interchangeable chassis for agricultural machinery according to claim 3, characterized in that: The mechanical carrying platform (4) comprises a carrying platform panel (401) and fixed connecting rods (402); the carrying platform panel (401) is connected to the lifting and leveling hydraulic mechanism (6) via the fixed connecting rods (402) symmetrically arranged on both sides of the bottom thereof.

5. The all-terrain wheel-track interchangeable chassis for agricultural machinery according to claim 4, characterized in that: The guide wheel control system (5) also includes a first hydraulic rod (502), a connecting rod (503), a guide wheel shaft (504), a connecting frame (505), a fixing member (506), a bearing (507), and a connecting block (508). The guide wheel (501) is installed at both ends of the guide wheel shaft (504) through the bearing (507). One end of the first hydraulic rod (502) is hinged to the upper front end of the chassis body (1) through the fixing member (506), and the other end is rotatably connected to the guide wheel shaft (504) through the connecting block (508). The connecting rod (503) is fixed to the lower front end of the chassis body (1), and the two ends of the connecting frame (505) are respectively rotatably connected to the connecting rod (503) and the guide wheel shaft (504).

6. The all-terrain wheel-track interchangeable chassis for agricultural machinery according to claim 5, characterized in that: The lifting and leveling hydraulic mechanism (6) comprises a supporting connection member (601), a fixed base (602), a second hydraulic rod (603), a fixed rod (604), a lower transmission rod (605), an upper transmission rod (606), and an articulated bearing (607). The fixed base (602) is fixed on the chassis body (1). The two ends of the fixed base (602) are rotatably connected to the lower transmission rod (605). The end of the lower transmission rod (605) is rotatably connected to one end of the fixed rod (604). The other end of the fixed rod (604) is rotatably connected to one end of the upper transmission rod (606). The other end of the upper transmission rod (606) is symmetrically connected to the bottom of the supporting connecting member (601) for rotation, the top of the supporting connecting member (601) is connected to the middle of the fixed connecting rod (402) for rotation, the two ends of the second hydraulic rod (603) are respectively connected to the middle of the two fixed rods (604), the supporting connecting member (601) and the upper transmission rod (606), the upper transmission rod (606) and the fixed rod (604), the fixed rod (604) and the lower transmission rod (605), and the lower transmission rod (605) and the fixed base (602) are all connected via hinged bearings (607).

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