Crawler-type agricultural machine universal chassis capable of being automatically leveled

Abstract

The utility model discloses a crawler-type agricultural machine universal chassis capable of being automatically leveled, which comprises a chassis main body capable of being automatically leveled, an independent suspension device and a moving device, and is characterized in that the chassis main body capable of being automatically leveled is connected with the moving device through the independent suspension device and a damping device; the tilt angle sensor detects and starts to enable the chassis leveling device to control the hydraulic rod to level, so that automatic leveling of the chassis is realized; according to the crawler-type agricultural machine universal chassis capable of being automatically leveled, any machine tool can be carried, so that all agricultural machine tools can meet the special requirement for achieving horizontal operation under non-horizontal terrains; meanwhile, the independent suspension device and the damping device are arranged, so that the ground impact force can be obviously reduced, the durability and the controllability of the equipment are improved, and the special agricultural operation requirements in hilly and mountainous areas can be met.

Description

TECHNICAL FIELD

[0001] The utility model relates to agricultural machinery technical field, concretely relates to a track type agricultural machinery universal chassis that can automatic leveling. BACKGROUND

[0002] Hilly areas have the characteristics of complex terrain, scattered farmland, irregular land, steep slope and the like due to natural conditions restrictions, which brings great challenge to the operation of traditional agricultural machinery. These adverse conditions not only make it difficult for mechanical equipment to effectively operate, but also make the operation process inefficient and increase the labor intensity of the operating personnel. In particular, on steep slopes and uneven land, traditional machinery is prone to unstable operation, and even the risk of overturning, which affects the safety and continuity of agricultural production. In addition, when traditional machinery operates in these areas, frequent manual adjustment and assistance are usually required, and different mechanical equipment needs to be constantly replaced for different operation tasks. If the mechanical equipment does not have the operation task in the complex environment, the labor cost will be further increased.

[0003] In agricultural machinery equipment, a universal chassis with good damping performance can conveniently replace any implement and improve operation efficiency and reduce cost without using professional related implements; an agricultural machinery chassis with good damping and self-balancing functions can efficiently complete operation tasks on slopes and ridges in hilly areas, can maintain stability on uneven terrain, reduce the risk of overturning, improve the stability and safety of the operation vehicle, and has important significance.

[0004] Therefore, in order to solve the above technical problems, the utility model provides a track type agricultural machinery universal chassis that can automatically level. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing a track type agricultural machinery universal chassis that can automatically level and flexibly carry different implements, adapt to complex terrain conditions in hilly areas, and solve the problem of low operation efficiency of traditional agricultural machinery equipment due to lack of self-balancing function in the operation process.

[0006] In order to achieve the above technical effects, the utility model is implemented by the following technical scheme: a track type agricultural machinery universal chassis that can automatically level, comprising an automatically leveling chassis main body, an independent suspension device and a moving device, characterized in that the automatically leveling chassis main body is connected with the moving device through the independent suspension device and a damping device; the automatically leveling chassis main body comprises a chassis, a damping device installed at the lower end of the chassis, a chassis leveling device connecting the chassis and the independent suspension device, a longitudinal force transmission rod slidingly connected at both ends of the chassis and the moving device, and an inclination sensor installed on the chassis.

[0007] The independent suspension device comprises an upper fork arm and a lower vertical arm, the lower vertical arm is installed below the upper fork arm, the upper fork arm and the lower vertical arm are connected to the chassis at one end and connected to the moving device at the other end; the upper fork arm and the lower vertical arm are connected to the chassis and the moving device by pin connection;

[0008] The moving device is a conventional track type moving mechanism, and the whole device is driven to move forward by a driving wheel.

[0009] Further, the chassis leveling device is installed on the middle independent suspension device and located on both sides of the chassis.

[0010] Further, the damping device comprises a shock absorber and a damping spring; the damping spring is connected around the shock absorber in an external connection manner, and the upper and lower ends are fixed on the spring seat of the shock absorber; the upper end and the lower end of the shock absorber are fixed by pin connection, the upper end of the shock absorber is connected to the chassis, and the lower end of the shock absorber is connected to the lower vertical arm.

[0011] Further, the chassis leveling device comprises a hydraulic rod, a hydraulic pump, a hydraulic oil tank and a magnetostrictive displacement sensor; the upper end of the hydraulic rod is connected to the chassis, and the lower end is installed at the middle position of the lower vertical arm; there are two groups of hydraulic rods, which are installed on both sides of the moving direction of the chassis, and are symmetrically arranged on the outer side of the chassis in the form of one on each side and located in the middle of the two groups of damping devices; the magnetostrictive displacement sensor is installed in the hydraulic rod; the hydraulic pump and the hydraulic oil tank are installed at the bottom of the chassis, and the hydraulic pump and the hydraulic oil tank are connected to the interface on the hydraulic rod through the pipeline.

[0012] Further, the two ends of the longitudinal force transmission rod are respectively connected to the sliding grooves of the chassis and the moving device; a self-locking mechanism is arranged on the longitudinal force transmission rod for fixing the longitudinal force transmission rod, which is used for transmitting the longitudinal force generated during the running of the automatic leveling track type agricultural universal chassis, for protecting the suspension device and the damping device from being damaged by excessive longitudinal force and reducing the service life; the longitudinal force transmission rod is connected to the chassis by vertical sliding groove connection. The connection mode is not limited to sliding groove connection, and any connection mode that can realize longitudinal force transmission and does not interfere with the connection of the whole chassis leveling device and other devices can be used.

[0013] Further, the independent suspension device comprises six groups, which are installed on both sides of the moving direction of the chassis, and are symmetrically arranged on the outer side of the chassis in the form of three on each side.

[0014] Further, the inclination sensor is mounted on the chassis, but is not limited to the inclination sensor, and sensors capable of detecting the inclination degree of the chassis can be used; the magnetostrictive displacement sensor is not limited to the magnetostrictive displacement sensor, and sensors capable of measuring the stroke of the hydraulic rod inside the hydraulic rod can be used.

[0015] The utility model discloses the beneficial effect is:

[0016] The track type agricultural machine universal chassis provided by the utility model can carry any machine tool, so that all agricultural machine tools can meet the special demand of realizing horizontal operation on non-horizontal terrain; in addition, when crossing hilly land, soil slope and other terrains, the independent suspension device and the damping device can significantly reduce the impact force of the ground on the universal chassis, improve the durability and controllability of the equipment, and make the equipment more suitable for special agricultural operation environments such as hilly areas. DRAWINGS

[0017] In order to more clearly illustrate the technical scheme of the embodiments of the utility model, the following will briefly introduce the drawings needed to be used in the embodiment description, and obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained according to these drawings without creative labor.

[0018] Figure 1 It is the structure schematic diagram of the track type agricultural machine universal chassis of the utility model can automatically level;

[0019] Figure 2 It is the front view and inclination sensor local enlarged view of the track type agricultural machine universal chassis of the utility model can automatically level;

[0020] Figure 3 It is the chassis leveling device local enlarged view and hydraulic rod internal sensor placement structure schematic diagram of the utility model;

[0021] Figure 4 It is the longitudinal force link and mobile device connection local enlarged schematic diagram of the utility model;

[0022] Figure 5 It is the schematic diagram of the track type agricultural machine universal chassis of the utility model can automatically level through the obstacle;

[0023] Figure 6 It is the schematic diagram of the track type agricultural machine universal chassis of the utility model can automatically level on the slope and complete leveling.

[0024] In the drawings, the component list represented by each sign is as follows:

[0025] 1, chassis; 101, sliding groove; 2, upper fork arm; 3, lower longitudinal arm; 4, damping device; 401, shock absorber; 402, shock absorbing spring; 5, chassis leveling device; 501, hydraulic rod; 502, hydraulic pump; 503, hydraulic oil tank; 504, magnetostrictive displacement sensor; 6, longitudinal force transmission rod; 7, moving device; 8, inclination sensor. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0027] Embodiment 1

[0028] As shown in Figure 1 and Figure 2 , an automatic leveling track type general chassis for agricultural machinery comprises an automatic leveling chassis body, an independent suspension device and a moving device 7.

[0029] The automatic leveling chassis body comprises a chassis 1, a damping device 4, a chassis leveling device 5, a longitudinal force transmission rod 6 and an inclination sensor 8.

[0030] The independent suspension device comprises an upper fork arm 2 and a lower longitudinal arm 3. One end of the upper fork arm 2 is connected to the chassis 1, and the other end is connected to the moving device 7. The lower longitudinal arm 3 is installed below the upper fork arm 2 in general, and one end is installed on the chassis 1, and the other end is connected to the moving device 7. The upper fork arm 2 and the lower longitudinal arm 3 are connected to the chassis 1 and the moving device 7 by pin connection at the same time, which plays a role in connecting the moving device 7 and fixing the moving device 7 to move up and down during walking. The independent suspension device has six groups, which are installed on both sides of the chassis 1 in the direction of movement, and three on each side are symmetrically arranged on the outside of the chassis 1.

[0031] The damping device 4 has four groups in total, which are located on both sides of the vehicle body, and two groups of damping devices are installed on each side, which are biased towards the front end and the rear end of the vehicle body. The chassis leveling device 5 is installed in the middle of the damping device 4. The longitudinal force transmission rod 6 is connected to the chassis 1 and the moving device 7 in the form of a sliding groove at both ends. The inclination sensor 8 is installed on the chassis 1.

[0032] As shown in Figure 2As shown, the shock absorption device 4 includes a shock absorber 401 and a shock absorption spring 402. The shock absorption spring 402 is externally connected around the shock absorber 401, and its upper and lower ends are respectively fixed to the spring seats of the shock absorber 401. The shock absorption device 4 is fixed to the general chassis by means of pin connection between the upper and lower ends of the shock absorber 401. The upper end of the shock absorber 401 is connected to the chassis 1, and the lower end of the shock absorber 401 is connected to the lower longitudinal arm 3.

[0033] like Figure 3 As shown, the chassis leveling device 5 includes a hydraulic rod 501, a hydraulic pump 502, a hydraulic oil tank 503, and a magnetostrictive displacement sensor 504. The upper end of the hydraulic rod 501 is connected to the chassis 1, and the lower end is also connected to the lower longitudinal arm 3. There are two sets of hydraulic rods, which are installed on both sides of the chassis 1 in the direction of travel, with one on each side symmetrically arranged on the outer side of the chassis 1 and located in the middle of the two sets of shock absorption devices 4. The magnetostrictive displacement sensor 504 is installed inside the hydraulic rod 501. The hydraulic pump 502 and the hydraulic oil tank 503 are installed at the bottom of the chassis 1 and are connected to the interface on the hydraulic rod 501 through pipes or other means.

[0034] As shown in this embodiment, the self-leveling tracked agricultural machinery chassis can be used for high-speed movement in non-working conditions such as movement between conventional terrains and work sites. At this time, the hydraulic rod 501 in the chassis leveling device 5 is in its initial state and has a large margin, and there is a large demand for the shock absorption device 4. The shock absorption device 4 needs to protect the hydraulic rod 501 in the chassis leveling device 5. When the chassis leveling device 5 starts to function in the working condition, there is a large amount of hydraulic oil in the hydraulic chamber of the hydraulic rod 501, resulting in a low margin in the hydraulic rod 501. This stretches or compresses the shock absorption device 4, so the shock absorption device 4 does not play a large shock absorption role. However, because agricultural operations need to be completed, the movement speed of the self-leveling tracked agricultural machinery chassis is relatively low. At the same time, the site conditions in the working scenario can also reduce the demand for the shock absorption device 4. Therefore, the shock absorption effect will be reduced due to the reduced demand, so that the independent suspension device alone can meet the needs in the working condition.

[0035] like Figure 4 As shown, the longitudinal force transmission rod 6 and the moving device 7 are connected by a horizontal sliding groove, and a self-locking mechanism is provided to fix the longitudinal force transmission rod 6. Its function is to transmit the longitudinal force generated by the tracked agricultural machinery chassis that can be automatically leveled during the driving process. Similarly, the longitudinal force transmission rod 6 and the chassis 1 are connected by the same and similar sliding groove, only the direction of the sliding groove is changed from horizontal to vertical. A self-locking mechanism is also provided to fix the longitudinal force transmission rod 6.

[0036] like Figure 5As shown, when the automatic leveling track-type agricultural machine universal chassis is used for agricultural work on the land, and encounters obstacles such as stones and clods that are higher than the ground, the shock-absorbing device 4 can absorb a certain impact force, and plays a certain protective role on the chassis leveling device 5. At the same time, the obstacles higher than the ground will generate a force on the moving device 7, driving the entire moving device 7 to move upward by a certain displacement, causing the lower longitudinal arm 3 to move upward and compress the shock absorber 401 in the shock-absorbing device 4 to shrink, thereby reducing the vibration impact on the chassis 1 and the chassis leveling device 5 when passing through the obstacles, and allowing the chassis 1 to maintain a horizontal state during movement. When walking on a horizontal ground, whether encountering obstacles higher or lower than the ground, the independent suspension device and the moving device 7 can ensure that the chassis 1 can maintain a stable and horizontal state, without the need for frequent leveling of the chassis leveling device 5, and ensuring the service life of the hydraulic rod 501 and other devices in the chassis leveling device 5.

[0037] As shown in FIG. 1, the automatic leveling track-type agricultural machine universal chassis according to the embodiment of the present application comprises a chassis 1, a chassis leveling device 5, a shock-absorbing device 4, a moving device 7, and an inclination sensor 8. Figure 6 As shown, when the automatic leveling track-type agricultural machine universal chassis according to the embodiment of the present application is driven on a slope, for example, inclined to the right, the moving device 7 at the higher position will be compressed, causing the moving device 7 to move upward, thereby driving the lower longitudinal arm 3 to move and compress the shock absorber 401, and the moving device 7 on the other side will be pulled downward due to gravity, causing the lower longitudinal arm 3 to stretch the shock absorber 401.

[0038] When the chassis 1 is inclined, the inclination sensor 8 located below the chassis 1 detects the generation of the inclination of the chassis 1, and starts to send instructions to the controller, and the hydraulic pump 502 starts to pressurize and add oil from the hydraulic oil tank 503. The control hydraulic oil flows into the rodless cavity of the right hydraulic rod 501, pushing the piston rod to extend; at the same time, it enters the rod cavity of the left hydraulic rod 501, pushing the piston rod to retract. In this process, the hydraulic oil in the rodless cavity of the right hydraulic rod 501 and the rod cavity of the left hydraulic rod 501 returns to the hydraulic oil tank 503 through the control valve.

[0039] In the leveling process of the two hydraulic rods 501, the magnetostrictive displacement sensor 504 is used to detect the extension and retraction amount of the hydraulic rod 501 in real time, and compare it with the preset extension and retraction value, to accurately complete the leveling task.

[0040] Embodiment 2

[0041] The present embodiment describes a leveling method for an automatic leveling track-type agricultural machine universal chassis, comprising the following steps:

[0042] (1) the inclination sensor 8 is installed on the chassis 1, when entering the slope, the chassis 1 is inclined, the inclination sensor 8 obtains the inclination information, inputs the information into the controller and carries out the denoising analysis, and compares the denoised input information with the threshold value, if the absolute value of the input information is less than the threshold value, it is considered as jolt, and leveling is not carried out; if the absolute value of the input information is greater than the threshold value, it is considered that the chassis is walking on the slope, and the leveling is started.

[0043] (2) the input information is analyzed again, because the inclination sensor 8 can output positive and negative values after setting the coordinate system, it can be set that when the value is negative, the chassis 1 is inclined to the left; if the value is positive, the chassis 1 is inclined to the right; according to the angle of inclination, the contraction value or the elongation value of the hydraulic rod 501 is calculated in the controller as the preset value of the chassis leveling device 5.

[0044] (3) the controller controls the chassis leveling device 5 to level, and simultaneously reads the displacement of the magnetostrictive displacement sensor 504 in real time, to ensure the accuracy of the displacement of the hydraulic rod 501; when the hydraulic rod 501 is displaced by 90% of the total stroke, the controller sends a command to gradually reduce the leveling speed of the hydraulic rod 501, to prevent the actual displacement from exceeding the preset value; when the hydraulic rod 501 completes the leveling, the inclination sensor 8 detects the chassis 1 again and feeds back the inclination angle of the leveled chassis 1; when the absolute value is less than the threshold value, it is considered that the leveling is completed, and a closed-loop leveling process is completed; if the input absolute value is still greater than the threshold value, the above steps are repeated to level again.

[0045] Finally, it should be explained that the above embodiments are only used to illustrate the technical solutions of the present application, and are not limited to the protection scope of the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced by equivalents without departing from the essence and scope of the technical solutions of the present application.

Claims

1. An automatically levelable tracked agricultural machine universal chassis comprising an automatically levelable chassis body, an independent suspension device and a moving device, characterized in that, The automatic leveling chassis body is connected with the moving device through independent suspension device and damping device; the automatic leveling chassis body comprises a chassis, damping devices installed at the lower end of the chassis, chassis leveling devices connecting the chassis and the independent suspension device, longitudinal force transmission rods slidably connected at both ends of the chassis and the moving device respectively, and inclination sensors installed on the chassis; The independent suspension device comprises upper fork arms and lower longitudinal arms, the lower longitudinal arms are installed below the upper fork arms, the upper fork arms and the lower longitudinal arms are connected at one end with the chassis and at the other end with the moving device; the upper fork arms and the lower longitudinal arms are connected with the chassis and the moving device through pin connection; The moving device is a conventional tracked moving mechanism, which is driven by driving wheels to move forward.

2. The self-leveling tracked utility chassis for farm machines of claim 1, wherein, The chassis leveling devices are installed on the middle independent suspension device and located at both sides of the chassis.

3. The self-leveling tracked utility chassis for farm machinery of claim 1, wherein, The damping device comprises dampers and damping springs; the damping springs are connected around the dampers in an external connection manner, and the upper and lower ends of the damping springs are fixed on the spring seats of the dampers; the upper and lower ends of the dampers are fixed through pin connection, the upper end of the damper is connected with the chassis, and the lower end of the damper is connected with the lower longitudinal arm.

4. The self-leveling tracked utility chassis for farm machinery of claim 1, wherein, The chassis leveling device comprises hydraulic rods, hydraulic pumps, hydraulic oil tanks and magnetostrictive displacement sensors; the upper end of the hydraulic rod is connected with the chassis, and the lower end of the hydraulic rod is installed at the middle position of the lower longitudinal arm; there are two groups of hydraulic rods, which are installed at both sides of the moving direction of the chassis, and are symmetrically arranged on the outside of the chassis in the form of one on each side and located between the two groups of damping devices; the magnetostrictive displacement sensor is installed inside the hydraulic rod; the hydraulic pump and the hydraulic oil tank are installed at the bottom of the chassis, and the hydraulic pump and the hydraulic oil tank are connected with the interface on the hydraulic rod through pipelines.

5. The self-leveling tracked utility chassis for farm machinery of claim 1, wherein, The longitudinal force transmission rods are slidably connected at both ends with the sliding grooves of the chassis and the moving device respectively; the longitudinal force transmission rods are provided with self-locking mechanisms for fixing the longitudinal force transmission rods; the longitudinal force transmission rods are connected with the chassis through vertical sliding groove connection.

6. The self-leveling tracked utility chassis for farm machinery of claim 1, wherein, There are six groups of independent suspension devices, which are installed at both sides of the moving direction of the chassis, and are symmetrically arranged on the outside of the chassis in the form of three on each side.

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