Omnidirectional attitude gravity center self-adaptive regulation and control test platform for chassis of agricultural machinery in hilly and mountainous regions

Abstract

An omni-directional attitude gravity center self-adaptive regulation and control test platform for a hilly and mountainous region agricultural machine chassis comprises a simulation vehicle body box groove, a control box, a gravity center determining device, a gravity center adjusting device, a transverse inclination angle simulation device and a longitudinal inclination angle simulation device. The simulated vehicle body tank is provided with a double-shaft tilt angle sensor, and the simulated vehicle body tank is arranged on the gravity center determining device; the gravity center determining device is provided with a spoke type pressure sensor and a supporting frame. The gravity center determining device is connected with the gravity center adjusting device; the gravity center adjusting device is provided with a transverse sliding table module, a longitudinal sliding table module, a transverse ultrasonic ranging module and a longitudinal ultrasonic ranging module. The gravity center adjusting device is connected with the transverse inclination angle simulation device; the transverse inclination simulation device and the longitudinal inclination simulation device are respectively provided with a transverse electric push rod and a longitudinal electric push rod. The utility model provides necessary theoretical support for the stability and the climbing ability of the mountain agricultural machinery, and has the advantages of being simulatable in omnidirectional inclination angle, determinable in gravity center position, measurable in gravity center adjustment amount, good in working stability and the like.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of hillside hill farmland chassis omnidirectional attitude gravity self-adaptive control test platform, belong to the technical field of agricultural machinery. BACKGROUND

[0002] The farmland plot of hilly mountainous area is small and irregular, and there are many rugged and uneven slopes. The uneven terrain makes the traditional mechanical equipment prone to side slip or even overturning. The reason is that the center of gravity position changes easily during the operation of hillside hill farmland chassis or the transfer of field plot, which leads to instability or even overturning. The development of hillside hill farmland chassis omnidirectional attitude gravity self-adaptive control test platform can provide necessary experimental data support for the stability and climbing ability of hillside hill farmland chassis.

[0003] CN107421758A discloses a miniature hillside tracked chassis test platform, which includes a main controller, a communication system and an upper computer. The main controller collects motion information of the tracked chassis through a sensor and sends the collected information to the communication system as a car kinematics state data frame. After receiving the state data frame from the communication system, the upper computer can obtain acceleration, speed, angular velocity and displacement information of the tracked chassis during driving by processing the data. By analyzing the motion curve through an analysis program, the steering performance indicators of the tracked chassis can be obtained. At the same time, a dynamic display program can display the motion state of the tracked chassis on a display screen. The test platform is used to test the steering ability of the hillside tracked chassis.

[0004] Currently, there is no report on the general experimental platform for hillside hill farmland chassis gravity self-adaptive control, which leads to harsh test conditions and incomplete experimental data collection, limiting the verification and upgrading of hillside hill farmland chassis gravity adjustment. Therefore, there is an urgent need for a hillside hill farmland chassis gravity self-adaptive control test platform to conduct in-depth research and provide a test platform for the development of hillside hill farmland chassis stability and climbing ability. UTILITY MODEL CONTENTS

[0005] To solve the problem of instability or even overturning caused by the change of center of gravity position during the operation of hillside hill farmland chassis and the transfer of field plot, the utility model provides a hillside hill farmland chassis omnidirectional attitude gravity self-adaptive control test platform, which provides necessary theoretical support for the stability and climbing ability of hillside hill farmland chassis. The platform has the advantages of omnidirectional inclination angle simulation, center of gravity position determination, center of gravity adjustment amount measurement and good work stability.

[0006] To achieve the above purpose, the utility model adopts the following technical solutions.

[0007] A hillside hill farmland chassis omnidirectional attitude gravity self-adaptive control test platform, comprising a simulation vehicle body box groove, a control box,

[0008] The test platform also includes a center of gravity determination device, a center of gravity adjustment device, a lateral tilt angle simulation device, and a longitudinal tilt angle simulation device;

[0009] A dual-axis tilt sensor is installed at the bottom of the simulated vehicle body box, which is used to detect different tilt angle data; the simulated vehicle body box is set on the center of gravity determining device;

[0010] The center of gravity determination device includes spoke-type pressure sensors and a support frame. The support frame houses four spoke-type pressure sensors, which support the simulated vehicle body compartment and measure the pressure generated within it. A limiting component on the support frame prevents the simulated vehicle body compartment from sliding. The center of gravity determination device is connected to a center of gravity adjustment device. The support frame is constructed from multiple aluminum profiles to form a frame that can hold the simulated vehicle body compartment. Two spoke-type pressure sensors are symmetrically mounted on the support frame, one horizontally and one vertically. The bottom of the simulated vehicle body compartment makes point contact with the force-bearing ends of the four spoke-type pressure sensors on the center of gravity adjustment device to ensure accurate pressure measurement.

[0011] The center of gravity adjustment device is equipped with a horizontal slide module and a vertical slide module; the movement directions are set perpendicular to each other, the vertical slide module is set on the horizontal slide module, the vertical slide module is connected to the drive center of gravity determination device, the horizontal slide module and the vertical slide module are respectively equipped with a horizontal ultrasonic ranging module and a vertical ultrasonic ranging module; the center of gravity adjustment device is connected to the horizontal tilt angle simulation device.

[0012] The transverse ultrasonic ranging module is mounted on the bearing plate of the transverse slide module and is used to measure the transverse offset; the longitudinal ultrasonic ranging module is mounted on the bearing plate of the longitudinal slide module and is used to measure the longitudinal offset.

[0013] The lateral tilt angle simulation device is equipped with a lateral electric push rod, and the center of gravity adjustment device is connected to the drive end of the lateral electric push rod to rotate and adjust the lateral tilt angle; the lateral tilt angle simulation device is connected to the longitudinal tilt angle simulation device.

[0014] The longitudinal tilt angle simulation device is equipped with a longitudinal electric push rod, and the transverse tilt angle simulation device is connected to the drive end of the longitudinal electric push rod to rotate and adjust the tilt angle in the longitudinal direction. The rotation of the transverse tilt angle simulation device drives the center of gravity adjustment device to rotate and adjust the tilt angle in the longitudinal direction.

[0015] The control box is electrically connected to the dual-axis tilt sensor, the spoke-type pressure sensor, the transverse ultrasonic ranging module, the longitudinal ultrasonic ranging module, the transverse electric actuator, and the longitudinal electric actuator.

[0016] As a further improvement to this technical solution:

[0017] The limiting components include limiting posts and limiting plates. A limiting post is vertically connected to each of the four corners of the support frame to restrict the longitudinal displacement of the simulated vehicle body compartment; limiting plates are installed on the limiting posts to restrict the lateral displacement of the simulated vehicle body compartment. The limiting plates are longitudinally bolted to the top of each limiting post.

[0018] The center of gravity determining device is connected to the connecting slider bolt via a support frame.

[0019] The center of gravity adjustment device includes two horizontal slide modules, and a vertical slide module is bolted to the sliders on the two horizontal slide modules. The vertical slide module and the two horizontal slide modules are arranged in an "I" shape. Two horizontal drive stepper motors are respectively bolted to the horizontal slide modules, driving their respective connecting sliders to move the vertical slide module horizontally. The vertical drive stepper motor is bolted to the vertical slide module, driving its connecting slider to move vertically. The connecting slider is connected to the center of gravity determining device, and the movement of the connecting slider causes the center of gravity determining device to move. The control box is electrically connected to the two horizontal drive stepper motors and the vertical drive stepper motor to control their operation.

[0020] The lateral tilt angle simulation device includes a lateral movable hinge and a first-layer frame. One end of the first-layer frame is connected to a second-layer frame via the lateral movable hinge. The other end of the first-layer frame is hinged to the drive end of a lateral electric push rod. The cylinder of the lateral electric push rod is hinged to the longitudinal tilt angle simulation device. The operation of the lateral electric push rod drives the first-layer frame to rotate along the lateral movable hinge, changing the lateral tilt angle. Two lateral movable hinges and two lateral electric push rods are provided. The center of gravity adjustment device is connected to the first-layer frame via the bottom of two lateral sliding table modules.

[0021] The longitudinal tilt angle simulation device includes a longitudinal movable hinge and a second-layer frame. One longitudinal end of the second-layer frame is connected to a third-layer frame via two longitudinal movable hinges. The other longitudinal end of the second-layer frame is hinged to the drive end of a longitudinal electric push rod. The cylinder of the longitudinal electric push rod is hinged to the third-layer frame. The longitudinal electric push rod drives the second-layer frame to rotate around the longitudinal movable hinge to change the longitudinal tilt angle. Two longitudinal movable hinges and two longitudinal electric push rods are provided. A transverse electric push rod is installed on each of the left and right supports of the second-layer frame. The fixed end of the transverse electric push rod is connected to the second-layer frame via a fixed U-shaped frame, and the support end of the transverse electric push rod is connected to the first-layer frame via a fixed U-shaped frame. The second-layer frame is connected to the third-layer frame, and a longitudinal electric push rod is installed at each of the front and rear ends of the third-layer frame. The fixed end of the longitudinal electric push rod is connected to the third-layer frame via a fixed U-shaped frame.

[0022] The control box is bolted with the mounting hole of the third layer rack horizontal plate; the four corners of the bottom of the third layer rack horizontal plate are bolted with the universal wheels respectively. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a three-dimensional view of the omnidirectional attitude gravity self-adaptive regulation and control test platform of the hilly and mountainous farmland machine chassis;

[0024] Figure 2 is a three-dimensional view of the gravity determination device;

[0025] Figure 3 is a side view of the gravity determination device;

[0026] Figure 4 is a three-dimensional view of the gravity adjustment device;

[0027] Figure 5 is a three-dimensional view of the cooperation of the transverse inclination angle simulation device and the longitudinal inclination angle simulation device;

[0028] Figure 6 is a working state schematic view of the omnidirectional attitude gravity self-adaptive regulation and control test platform of the hilly and mountainous farmland machine chassis.

[0029] BRIEF DESCRIPTION OF DRAWINGS: 1. Simulation vehicle body tank groove; 2. Gravity adjustment device; 3. Transverse inclination angle simulation device; 4. Longitudinal inclination angle simulation device; 5. Gravity determination device; 6. Control box; 7. Double-shaft inclination angle sensor; 8. Limiting plate; 9. Spoke type pressure sensor; 10. Profile support frame; 11. Transverse sliding table module; 12. Longitudinal sliding table module; 13. Transverse drive stepping motor; 14. Longitudinal drive stepping motor; 15. Longitudinal ultrasonic ranging module; 16. Transverse ultrasonic ranging module; 17. Connecting sliding block; 18. Transverse electric push rod; 19. Longitudinal electric push rod; 20. Fixed U-shaped frame; 21. Universal wheel; 22. Longitudinal movable hinge; 23. Transverse movable hinge; 24. First layer rack; 25. Second layer rack; 26. Third layer rack. DETAILED DESCRIPTION

[0030] The technical scheme of the utility model will be further described below with reference to the drawings.

[0031] Referring to Figures 1-6The utility model discloses a kind of hilly and mountainous terrain agricultural machine chassis omni-directional attitude gravity self-adaptive regulation and control test platform, including simulation vehicle body box groove 1, control box 6, the test platform further include gravity determination device 5, gravity adjustment device 2, lateral inclination simulation device 3, longitudinal inclination simulation device 4;The simulation vehicle body box groove 1 bottom is installed with a double-axis inclination sensor 7, double-axis inclination sensor 7 is used to detect different inclination data;Simulation vehicle body box groove 1 is arranged on gravity determination device 5;The gravity determination device 5 is equipped with spoke pressure sensor 9 and support frame 10;Support frame 10 is equipped with four spoke pressure sensors 9, four spoke pressure sensors 9 support simulation vehicle body box groove 1, and four spoke pressure sensors 9 measure the pressure generated by simulation vehicle body box groove 1;Limiting component is equipped on support frame 10 to prevent simulation vehicle body box groove 1 from sliding;Gravity determination device 5 is connected with gravity adjustment device 2;The gravity adjustment device 2 is by lateral slide platform module 11, longitudinal slide platform module 12;Motion direction is mutually perpendicular setting, longitudinal slide platform module 12 is arranged on lateral slide platform module 11, and longitudinal slide platform module 12 is connected to drive gravity determination device 5, and lateral slide platform module 11, longitudinal slide platform module 12 are equipped with lateral ultrasonic ranging module 16, longitudinal ultrasonic ranging module 15 respectively;Gravity adjustment device 2 is connected with lateral inclination simulation device 3;

[0032] The lateral inclination simulation device 3 is equipped with lateral electric push rod 18, and the gravity adjustment device 2 is connected to the driving end of the lateral electric push rod 18 to rotate and adjust the inclination in the lateral direction.

[0033] The longitudinal inclination simulation device 4 is equipped with longitudinal electric push rod 19, and the lateral inclination simulation device 3 is connected to the driving end of the longitudinal electric push rod 19 to rotate and adjust the inclination in the longitudinal direction.

[0034] The control box 6 is electrically connected with the double-axis inclination sensor 7, the spoke pressure sensor 9, the lateral ultrasonic ranging module 16, the longitudinal ultrasonic ranging module 15, the lateral electric push rod 18 and the longitudinal electric push rod 19.

[0035] As shown in Figure 2 The structure of the support frame 10 is composed of multiple aluminum profiles combined into a frame body that can hold the simulation vehicle body box groove 1. The spoke pressure sensors 9 are symmetrically installed in both the lateral and longitudinal directions on the support frame 10.

[0036] As shown in Figure 3 The bottom of the simulation vehicle body box groove 1 and the four spoke pressure sensors 9 on the gravity adjustment device 2 achieve point contact at the force receiving end to ensure the measurement of the pressure received.

[0037] As shown in Figure 4As shown, the transverse ultrasonic ranging module 16 is mounted on the bearing plate of the transverse slide module 11 and is used to measure the transverse offset; the longitudinal ultrasonic ranging module 15 is mounted on the bearing plate of the longitudinal slide module 12 and is used to measure the longitudinal offset.

[0038] like Figures 1-3 As shown, the limiting component consists of limiting posts and limiting plates 8. A limiting post is vertically connected to each of the four corners of the support frame 10 to restrict the longitudinal displacement of the simulated vehicle body box 1; the limiting posts are equipped with limiting plates 8 to restrict the lateral displacement of the simulated vehicle body box 1. The limiting plates 8 are longitudinally bolted to the top of each limiting post.

[0039] like Figure 1 , Figure 4 As shown, the center of gravity determining device 5 is bolted to the connecting slider 17 via the support frame 10.

[0040] The center of gravity adjustment device 2 has two horizontal slide modules 11, and a vertical slide module 12 is bolted to the sliders on the two horizontal slide modules 11. The vertical slide module 12 and the two horizontal slide modules 11 are arranged in an "I" shape. Two horizontal drive stepper motors 13 are respectively fixed to the horizontal slide modules 11 by bolts, driving their respective connecting sliders to move the vertical slide module 12 horizontally. A vertical drive stepper motor 14 is fixed to the vertical slide module 12 by bolts, driving its connecting slider 17 to move vertically. The connecting slider 17 is connected to the center of gravity determining device 5, and the movement of the connecting slider 17 causes the center of gravity determining device 5 to move. The control box 6 is electrically connected to the two horizontal drive stepper motors 13 and the vertical drive stepper motor 14 to control the operation of the two horizontal drive stepper motors 13 and the vertical drive stepper motor 14.

[0041] like Figure 5 As shown, the lateral tilt angle simulation device 3 is equipped with a lateral movable hinge 23 and a first-layer frame 24. One end of the first-layer frame 24 is connected to the second-layer frame 25 via the lateral movable hinge 23. The other end of the first-layer frame 24 is hinged to the drive end of the lateral electric push rod 18. The cylinder of the lateral electric push rod 18 is hinged to the longitudinal tilt angle simulation device 4. The operation of the lateral electric push rod 18 drives the first-layer frame 24 to rotate along the lateral movable hinge 23, changing the lateral tilt angle. There are two lateral movable hinges 23 and two lateral electric push rods 18. The center of gravity adjustment device 2 is connected to the first-layer frame 24 via the bottom of two lateral slide modules 11.

[0042] like Figure 5As shown, the longitudinal inclination simulation device 4 is provided with longitudinal movable hinges 22 and a second layer rack 25. One end of the longitudinal direction of the second layer rack 25 is connected with the third layer rack 26 through two longitudinal movable hinges 22. The other end of the longitudinal direction of the second layer rack 25 is hingedly connected with the driving end of the longitudinal electric push rod 19. The cylinder body of the longitudinal electric push rod 19 is hingedly connected with the third layer rack 26. The longitudinal electric push rod 19 drives the second layer rack 25 to rotate around the longitudinal movable hinge 22 to change the longitudinal inclination. The longitudinal movable hinge 22 and the longitudinal electric push rod 19 are both provided with two.

[0043] The second layer rack 25 is connected on the third layer rack 26. The third layer rack 26 is provided with one longitudinal electric push rod 19 at each of the front and rear ends. The fixed end of the longitudinal electric push rod 19 is connected with the third layer rack 26 through a fixed U-shaped frame 20.

[0044] The control box 6 is bolted with the mounting hole of the horizontal plate of the third layer rack 26. The four corners of the bottom of the horizontal plate of the third layer rack 26 are bolted with the universal wheels 21 respectively.

[0045] The working principle of the embodiment is as follows:

[0046] Firstly, the lateral inclination simulation of the test platform is performed. The lateral electric push rod 18 works to push the first layer rack 24 to rotate around the lateral movable hinge 23 to change the lateral inclination.

[0047] Secondly, the longitudinal inclination simulation of the test platform is performed. The longitudinal electric push rod 19 drives the second layer rack 25 to rotate around the longitudinal movable hinge 22 to change the longitudinal inclination.

[0048] Thirdly, the oblique inclination simulation of the test platform is performed. The two lateral electric push rods 18 and the two longitudinal electric push rods 19 work simultaneously to simulate the oblique inclination of the test platform.

[0049] Fourthly, the position of the gravity center of the test platform is adjusted. The lateral sliding table module 11 works to adjust the position of the gravity center in the lateral direction. The longitudinal sliding table module 12 works to adjust the position of the gravity center in the longitudinal direction. The lateral sliding table module 11 and the longitudinal sliding table module 12 work simultaneously to adjust the position of the gravity center in the oblique direction. Figure 6 As shown, Figure 6 Fig. A in the figure is the lateral gravity center adjustment state of the test platform, Figure 6 Fig. B in the figure is the longitudinal adjustment state of the test platform, Figure 6 Fig. C in the figure is the oblique gravity center adjustment state of the test platform.

[0050] The working process of the embodiment is as follows:

[0051] The extension of the transverse electric push rod 18 and / or the longitudinal electric push rod 19 telescopic rod changes the inclination angle, the experimental platform simulates the slope terrain, the biaxial inclination sensor 7 and the spoke pressure sensor 9 detect the data in real time, and transmit the information to the control box 6, through algorithm processing, determine the position of the center of gravity and control the transverse stepping motor 13 and / or the longitudinal stepping motor 14 work, adjust and compensate the center of gravity of the simulated vehicle body box groove 1 in the inclination state, the data measured by the transverse ultrasonic ranging module 16 and the longitudinal ultrasonic ranging module 15 is transmitted to the control box 6.

[0052] The structure and working principle of the utility model are described above with specific embodiments, and the utility model is not limited to the above embodiments, according to the above description, any modification, equivalent replacement and improvement, etc. made on the basis of the spirit and principles of the utility model should be included in the protection scope of the utility model.

Claims

1. A hilly and mountainous terrain agricultural machinery chassis omnidirectional attitude gravity center self-adaptive regulation test platform, comprising a simulated vehicle body tank (1) and a control box (6), characterized in that: the test platform further comprises a gravity center determination device (5), a gravity center adjustment device (2), a lateral inclination simulation device (3) and a longitudinal inclination simulation device (4); the bottom of the simulated vehicle body tank (1) is provided with a double-axis inclination sensor (7) for detecting different inclination data; the simulated vehicle body tank (1) is arranged on the gravity center determination device (5); the gravity center determination device (5) is provided with spoke pressure sensors (9) and a support frame (10); the support frame (10) is provided with four spoke pressure sensors (9) for supporting the simulated vehicle body tank (1) and measuring the pressure generated by the simulated vehicle body tank (1); the support frame (10) is provided with a limiting component to prevent the simulated vehicle body tank (1) from sliding; the gravity center determination device (5) is connected with the gravity center adjustment device (2); the gravity center adjustment device (2) is provided with a lateral sliding table module (11) and a longitudinal sliding table module (12); the movement directions of the lateral sliding table module (11) and the longitudinal sliding table module (12) are perpendicular to each other; the longitudinal sliding table module (12) is arranged on the lateral sliding table module (11) and is connected with the gravity center determination device (5) to drive the gravity center determination device (5); the lateral sliding table module (11) and the longitudinal sliding table module (12) are respectively provided with a lateral ultrasonic distance measuring module (16) and a longitudinal ultrasonic distance measuring module (15); the gravity center adjustment device (2) is connected with the lateral inclination simulation device (3); the lateral inclination simulation device (3) is provided with a lateral electric push rod (18); the gravity center adjustment device (2) is connected with the driving end of the lateral electric push rod (18) to rotate and adjust the lateral inclination; the lateral inclination simulation device (3) is connected with the longitudinal inclination simulation device (4); the longitudinal inclination simulation device (4) is provided with a longitudinal electric push rod (19); the lateral inclination simulation device (3) is connected with the driving end of the longitudinal electric push rod (19) to rotate and adjust the longitudinal inclination; the rotation of the lateral inclination simulation device (3) drives the rotation of the gravity center adjustment device (2) to adjust the longitudinal inclination; the control box (6) is electrically connected with the double-axis inclination sensor (7), the spoke pressure sensor (9), the lateral ultrasonic distance measuring module (16), the longitudinal ultrasonic distance measuring module (15), the lateral electric push rod (18) and the longitudinal electric push rod (19).

2. The hilly and mountainous farmland machine chassis omnidirectional attitude gravity center self-adaptive regulation and control test platform according to claim 1, characterized in that: the limiting component comprises a limiting column and a limiting plate (8); the support frame (10) is vertically connected with a limiting column at each corner to limit the longitudinal displacement of the simulated vehicle body tank (1); the limiting column is provided with a limiting plate (8) to limit the lateral displacement of the simulated vehicle body tank (1).

3. The hilly and mountainous farmland machine chassis omnidirectional attitude gravity center self-adaptive regulation and control test platform according to claim 1, characterized in that: the gravity center determination device (5) is bolted with a connecting sliding block (17) through the support frame (10).

4. The hilly and mountainous farmland machine chassis omnidirectional attitude gravity center self-adaptive regulation and control test platform according to claim 1, characterized in that: The center of gravity adjustment device (2) is provided with two horizontal slide modules (11), and the vertical slide module (12) is bolted to the sliders on the two horizontal slide modules (11). The vertical slide module (12) and the two horizontal slide modules (11) are arranged in an "I" shape. Two horizontal drive stepper motors (13) are respectively fixed on the horizontal slide module (11) by bolts and drive their respective connecting sliders to drive the vertical slide module (12) to move horizontally. The vertical drive stepper motor (14) is fixed on the vertical slide module (12) by bolts and drives the connecting slider (17) set thereon to move vertically. The connecting slider (17) is connected to the center of gravity determination device (5). The driving motion of the connecting slider (17) drives the center of gravity determination device (5) to move.

5. The hilly and mountainous farmland machine chassis omnidirectional attitude gravity center self-adaptive regulation and control test platform according to claim 1, characterized in that: The lateral tilt angle simulation device (3) is provided with a lateral movable hinge (23) and a first layer frame (24); one end of the first layer frame (24) is connected to the second layer frame (25) through the lateral movable hinge (23); the other end of the first layer frame (24) is hinged to the drive end of the lateral electric push rod (18), and the cylinder of the lateral electric push rod (18) is hinged to the longitudinal tilt angle simulation device (4). The lateral electric push rod (18) works to push the first layer frame (24) to rotate along the lateral movable hinge (23) to change the lateral tilt angle.

6. The hilly and mountainous farmland machine chassis omnidirectional attitude gravity center self-adaptive regulation and control test platform according to claim 1, characterized in that: The longitudinal tilt angle simulation device (4) is provided with a longitudinal movable hinge (22) and a second-layer frame (25); one end of the longitudinal part of the second-layer frame (25) is connected to the third-layer frame (26) through two longitudinal movable hinges (22); the other end of the longitudinal part of the second-layer frame (25) is hinged to the drive end of the longitudinal electric push rod (19), the cylinder of the longitudinal electric push rod (19) is hinged to the third-layer frame (26), and the longitudinal electric push rod (19) drives the second-layer frame (25) to rotate around the longitudinal movable hinge (22) to change the longitudinal tilt angle.

7. The hilly and mountainous farmland machine chassis omnidirectional attitude gravity center self-adaptive regulation and control test platform according to claim 6, characterized in that: The second-layer frame (25) is connected to the third-layer frame (26). A longitudinal electric push rod (19) is installed at the front and rear ends of the third-layer frame (26). The fixed end of the longitudinal electric push rod (19) is connected to the third-layer frame (26) through a fixed U-shaped frame (20).

8. The hilly and mountainous farmland machine chassis omnidirectional attitude gravity center self-adaptive regulation and control test platform according to claim 7, characterized in that: The control box (6) is bolted to the mounting holes of the horizontal plate of the third layer frame (26); the four corners of the bottom of the horizontal plate of the third layer frame (26) are bolted to the casters (21).

Images