Agricultural machine working platform and distributed independent walking steering device thereof

Abstract

The utility model relates to an agricultural machine working platform and a distributed independent walking steering device thereof, the agricultural machine working platform comprises the distributed independent walking steering device, the device comprises a steering mechanism, the steering mechanism comprises a rotating vertical shaft, an upper rotary support and a lower rotary support, and the rotating vertical shaft is installed between the upper rotary support and the lower rotary support and freely rotates around the axis of the rotating vertical shaft; the steering range extending mechanism is mounted below the lower rotary support and synchronously rotates with the rotary vertical shaft; the walking driving mechanism is connected with the steering range extending mechanism through a suspension mechanism, and the height of wheels of the walking driving mechanism in the vertical direction is adjusted through the suspension mechanism; one end of the reciprocating type steering driving oil cylinder is connected with the steering range extending mechanism; the reciprocating type steering driving oil cylinder controls the steering range extending mechanism to drive the walking driving mechanism to rotate around the rotating vertical shaft to conduct steering and / or running mode switching.

Description

Technical Field

[0001] This utility model relates to an agricultural machine, and more particularly to a large-span, wide-width agricultural machinery operating platform and its distributed independent walking and steering device. Background Technology

[0002] In existing agricultural machinery, wheel steering during movement is typically achieved using axle steering or a distributed independent steering mechanism. Axles generally employ a steering trapezoidal principle, with steering cylinders and linkages controlling the left and right wheels. This provides flexible, rapid, and efficient steering, but the left and right wheels are not independent, and the steering angle is limited by the trapezoidal structure, allowing only a small range of wheel rotation for adjusting the machinery's direction. Distributed independent steering mechanisms typically include several structural forms such as swing cylinder direct-drive steering, motor-driven rotary reducer steering, and reciprocating cylinder-driven steering. Swing cylinder direct-drive steering is suitable for applications with low steering resistance torque, a large steering angle range, and low steering speed; motor-driven rotary reducer steering is suitable for applications with high steering resistance torque, a large steering angle range, and low steering speed; and reciprocating cylinder-driven steering is suitable for applications with high steering resistance torque, a small steering angle range, and high steering speed. Considering the structural characteristics and functional requirements of wide-width agricultural machinery operating platforms, a distributed steering mechanism suitable for high steering resistance torque, steering angles up to 180 degrees, and high steering speeds is required. Utility Model Content

[0003] The technical problem to be solved by this utility model is to address the above-mentioned deficiencies of the prior art by providing an agricultural machinery operating platform and its distributed independent walking and steering device, so as to solve the problem of difficulty in steering and switching between horizontal and vertical modes of a large-span, wide-width operating platform, and to achieve efficient and smooth switching between horizontal and vertical modes of the agricultural machinery platform.

[0004] To achieve the above objectives, this utility model provides a distributed independent walking and steering device, comprising:

[0005] The steering mechanism includes a rotating vertical shaft, an upper slewing support, and a lower slewing support. The rotating vertical shaft is installed between the upper slewing support and the lower slewing support and can rotate freely around its own axis.

[0006] A steering range extender mechanism is installed below the lower slewing support and rotates synchronously with the rotating vertical shaft;

[0007] The travel drive mechanism is connected to the steering range extender mechanism via a suspension mechanism, and the vertical height of the wheels of the travel drive mechanism is adjusted via the suspension mechanism; and

[0008] A reciprocating steering drive cylinder is connected at one end to the steering range extender mechanism; the reciprocating steering drive cylinder controls the steering range extender mechanism to drive the travel drive mechanism to rotate around the rotating vertical axis to perform steering and / or driving mode switching.

[0009] The aforementioned distributed independent walking and steering device, wherein the steering range extension mechanism includes:

[0010] A slewing bracket is hinged to the lower slewing support; the slewing bracket is provided with a slide rail and a slide path, the slide path being provided corresponding to the slide rail and perpendicular to the slide rail; a first limiting point and a second limiting point are respectively provided at both ends of the slide rail;

[0011] A steering drive slider is disposed in the slide rail and connected to one end of the reciprocating steering drive cylinder.

[0012] A limit cylinder is mounted on the rotary bracket, and the extension and retraction direction of the limit cylinder is parallel to the slide rail; and

[0013] A limiting block is connected to the limiting cylinder, and the limiting cylinder drives the limiting block to move along the slide rail; the front end of the limiting block is provided with a limiting surface adapted to the steering drive slider.

[0014] In the aforementioned distributed independent walking and steering device, the steering drive slider is a trapezoidal structural component, and the limiting surface is an inclined surface adapted to the trapezoidal structural component.

[0015] In the aforementioned distributed independent walking and steering device, the suspension mechanism includes a cantilever bracket and a suspension adjustment cylinder. One end of the cantilever bracket is hinged to the range extender mechanism, and the other end of the cantilever bracket is connected to the walking drive mechanism. One end of the suspension adjustment cylinder is connected to the rotating vertical shaft, and the other end of the suspension adjustment cylinder is connected to the cantilever bracket.

[0016] In the aforementioned distributed independent walking and steering device, when the steering drive slider is located at the first limiting point, the steering angle of the wheel is α; when the steering drive slider is located at the second limiting point, the steering angle of the wheel is β, and the sum of α and β is 180°.

[0017] To better achieve the above objectives, this utility model also provides an agricultural machinery operation platform, including a frame and a walking and steering device mounted on the frame, wherein the walking and steering device is the aforementioned distributed independent walking and steering device.

[0018] In the aforementioned agricultural machinery operating platform, the frame is a rectangular structural component, and the distributed independent walking and steering device is installed at each of the four corners of the frame.

[0019] In the aforementioned agricultural machinery operating platform, the upper slewing support and the lower slewing support are respectively installed on the upper and lower end frames at the four corners of the vehicle frame.

[0020] In the aforementioned agricultural machinery operation platform, the distributed independent walking and steering device drives the frame to steer and / or switches between longitudinal driving mode for road transport and lateral driving mode for field operations.

[0021] In the aforementioned agricultural machinery operating platform, the other end of the reciprocating steering drive cylinder is connected to the vehicle frame.

[0022] The technical advantages of this utility model are as follows:

[0023] This invention utilizes a reciprocating steering cylinder to drive a steering range extender mechanism to rotate around a vertical axis, enabling adjustment of the steering angle during longitudinal or lateral movement of agricultural machinery. The steering range extender mechanism provides fixed limit points for both lateral and longitudinal modes for the reciprocating steering cylinder, allowing the cylinder to switch between these two limit points. This increases the wheel's turning angle range, enabling smooth transitions between lateral and longitudinal working modes during operation, thereby significantly improving work efficiency and enhancing the steering flexibility of wide-width work platforms.

[0024] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the present invention. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the longitudinal movement mode of a road transport system for an agricultural machinery operation platform according to an embodiment of the present invention;

[0026] Figure 2 This is a schematic diagram of the field working lateral mode of an agricultural machinery operation platform according to an embodiment of the present invention;

[0027] Figure 3A This is a side view of the longitudinal mode of an agricultural machinery operation platform according to an embodiment of the present invention;

[0028] Figure 3B for Figure 3A Enlarged sectional view of part I;

[0029] Figure 4 This is a side view of the agricultural machinery operation platform in horizontal mode according to an embodiment of the present invention;

[0030] Figure 5 This is a schematic diagram of the structure of a distributed independent walking and steering device according to an embodiment of the present invention;

[0031] Figure 6 This is a cross-sectional view of a steering range extender mechanism according to an embodiment of the present invention;

[0032] Figure 7 This is a schematic diagram of the installation of a steering range extender mechanism according to an embodiment of the present invention;

[0033] Figures 8A-8F This is a schematic diagram illustrating the working principle of the steering angle range extender according to an embodiment of the present invention.

[0034] Among them, the attached reference numerals

[0035] 1. Frame

[0036] 2. Walking and steering device

[0037] 21 Steering mechanism

[0038] 211 Rotating vertical shaft

[0039] 212 Upper slewing support

[0040] 213 Lower slewing support

[0041] 22 Steering range extender mechanism

[0042] 221 Rotary Support

[0043] 222 Limit Block

[0044] 223 Steering drive slider

[0045] 224 Limit Cylinder

[0046] 225 Slide

[0047] 226 slide rail

[0048] 227 First limiting site

[0049] 228 Second limiting site

[0050] 23 Walking drive mechanism

[0051] 24 Reciprocating Steering Drive Cylinders

[0052] 25 Suspension mechanism

[0053] 251 Cantilever Bracket

[0054] 252 Suspension Adjustment Cylinder

[0055] L longitudinal wheelbase

[0056] B. Horizontal wheelbase

[0057] C. Center of the wheel

[0058] R is the radius of rotation of the wheel. Detailed Implementation

[0059] The structural and working principles of this utility model will be described in detail below with reference to the accompanying drawings:

[0060] See Figures 1-4 , Figure 1 This is a schematic diagram of the longitudinal movement mode of a road transport system for an agricultural machinery operation platform according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the field working lateral movement mode of an agricultural machinery operation platform according to an embodiment of the present invention. Figure 3A This is a side view of the longitudinal mode of an agricultural machinery operating platform according to an embodiment of the present invention. Figure 3B for Figure 3A Enlarged sectional view of part I, Figure 4 This is a side view of the agricultural machinery operation platform in lateral mode according to an embodiment of the present invention. The agricultural machinery operation platform of the present invention includes an asymmetrical U-shaped frame 1 and a walking and steering device 2 mounted on the frame 1. The walking and steering device 2 is a distributed independent walking and steering device 2. Preferably, the frame 1 is a rectangular structure forming a stable frame with a longitudinal wheelbase of L, a lateral wheelbase of B, a wheel center of C, and a wheel rotation radius of R. The distributed independent walking and steering devices 2 are mounted at the four corners of the frame 1, and these devices drive the frame 1 to steer and / or switch between longitudinal travel (Z-axis) for road transport and lateral travel (H-axis) for field operations. This agricultural machinery operation platform uses a large-span gantry structure to mount modular implements for tilling, planting, management, and harvesting for wide-area field operations. The walking drive mechanism 23 can rotate around a rotating vertical shaft 211 via a reciprocating steering drive cylinder 24 during travel to achieve steering and mode switching.

[0061] The wide-span agricultural machinery operating platform is a special agricultural machine used in field operations. It adopts a gantry-type, large-span structure and a distributed independent steering system. Through coordinated control, the platform can travel longitudinally during road transport and laterally during field operations, seamlessly switching between these modes to adapt to varying operational needs. Different modular implements can be attached to achieve functions such as sowing, plant protection, and harvesting, depending on the operational requirements. The distributed independent walking and steering device 2 is used for distributed independent steering and extends the steering angle. Through the coordinated operation of the steering cylinder and the steering extension mechanism 22, the wheels can achieve a larger steering angle, ensuring platform stability and continuous movement during mode transitions, thereby improving operational efficiency and ease of operation.

[0062] See Figure 5 , Figure 5This is a schematic diagram of the structure of a distributed independent walking and steering device 2 according to an embodiment of the present invention. The distributed independent walking and steering device 2 of the present invention includes: a steering mechanism 21, comprising a rotating vertical shaft 211, an upper slewing support 212, and a lower slewing support 213; the rotating vertical shaft 211 is installed between the upper slewing support 212 and the lower slewing support 213 and rotates freely around its own axis; the upper slewing support 212 and the lower slewing support 213 are respectively installed on the upper and lower end frames at the four corners of the frame 1; a steering range extender mechanism 22 is installed below the lower slewing support 213 and rotates synchronously with the rotating vertical shaft 211; and a walking drive mechanism 23 is connected to the steering range extender mechanism 22 via a suspension mechanism 25. The suspension mechanism 25 adjusts the vertical height of the wheels of the walking drive mechanism 23; and a reciprocating steering drive cylinder 24, one end of which is connected to the steering range extender mechanism 22, and the other end of which is fixedly connected to the frame 1; the reciprocating steering drive cylinder 24 controls the steering range extender mechanism 22 to drive the walking drive mechanism 23 to rotate around the rotating vertical axis 211 to perform steering and / or driving mode switching, and the extension and retraction of the reciprocating steering drive cylinder 24 can adjust the angle of the steering range extender mechanism 22, thereby traction the walking drive mechanism 23 to rotate around the rotating vertical axis 211 within a certain range.

[0063] The suspension mechanism 25 in this embodiment includes a cantilever bracket 251 and a suspension adjustment cylinder 252. One end of the cantilever bracket 251 is hinged to the range extender mechanism, and the other end is connected to the travel drive mechanism 23. One end of the suspension adjustment cylinder 252 is connected to the rotating shaft 211, and the other end is connected to the cantilever bracket 251. The vertical height of the wheels is adjusted by extending and retracting the suspension adjustment cylinder 252 to adapt to uneven road surfaces. The suspension mechanism 25 has an automatic leveling function. A height control sleeve is provided inside the rotating shaft 211. The sleeve dynamically adjusts the suspension mechanism 25 through hydraulic control of its lifting and lowering, and can independently control the lifting and lowering of each wheel to adapt to different road conditions. When the vehicle is traveling on an uneven road surface, the suspension mechanism 25 automatically lowers the wheel height to maintain the stability and comfort of the vehicle body. When driving at high speeds, the suspension mechanism 25 automatically adjusts to a stiff suspension mode, which provides better support, reduces body roll, and makes the vehicle more stable when driving at high speeds or making sharp turns, thereby improving the vehicle's handling and stability.

[0064] See Figure 6 and Figure 7 , Figure 6 This is a cross-sectional view of the steering range extender mechanism 22 according to an embodiment of the present invention. Figure 7This is a schematic diagram of the installation of the steering range extender mechanism 22 according to an embodiment of the present invention. The driving mode switching of the present invention is achieved by continuously adjusting the turning angle range of the steering range extender mechanism 22 during driving. Each set of steering range extender mechanisms 22 is independently controlled and can move synchronously in pairs or move independently to adapt to different steering and mode switching requirements. The steering range extender mechanism 22 in this embodiment includes: a slewing bracket 221, hinged to the lower slewing support 213, serving as the mechanical support structure for the steering range extender mechanism 22; a slide rail 226 and a slide path 225 are provided on the slewing bracket 221, the slide path 226 being corresponding to and perpendicular to the slide path 225; a first limiting point 227 and a second limiting point 228 are respectively provided at both ends of the slide path 225; a steering drive slider 223 is disposed within the slide path 225 and connected to one end of the reciprocating steering drive cylinder 24, capable of moving back and forth between the first limiting point 227 and the second limiting point 228 at both ends of the slide path 225; and a limiting cylinder 224 is mounted on the slewing bracket 221. The extension and retraction direction of the limiting cylinder 224 is parallel to the slide rail 226; and the limiting block 222 is used to lock the position of the slider. When the steering drive cylinder adjusts the angle of the steering extension mechanism 22, the limiting block 222 locks the position of the slider to ensure the stability of the steering drive cylinder. The limiting block 222 is connected to the limiting cylinder 224. The limiting cylinder 224 drives the limiting block 222 to slide along the slide rail 226 to fix and release the position of the steering drive slider 223. When the limiting cylinder 224 extends, the limiting block 222 locks the steering drive slider 223 at the limiting points at both ends of the slide rail 225. When the limiting cylinder 224 retracts, the steering drive slider 223 can move freely in the slide rail 225 with the extension and retraction of the reciprocating steering drive cylinder 24. The front end of the limiting block 222 is provided with a limiting surface adapted to the steering drive slider 223. The steering drive slider 223 is a trapezoidal structure, and the limiting surface is an inclined surface adapted to the trapezoidal structure. The steering drive slider 223 can slide along the slide rail 225 under the action of the reciprocating steering drive cylinder 24. When the limiting cylinder 224 extends, the limiting block 222 locks the position of the steering drive slider 223; when the limiting cylinder 224 retracts, the limiting block 222 releases the position lock of the steering drive slider 223. That is, the limiting block 222 acts as a locking component, moving back and forth with the extension and retraction of the limiting cylinder 224. When the limiting cylinder 224 extends, the limiting block 222 extends to fix the steering drive slider 223 at the first limiting point 227 or the second limiting point 228 at both ends of the slide rail 225; when the limiting cylinder 224 retracts, the limiting block 222 retracts, the steering drive slider 223 is released, and can slide along the slide rail 225 under the action of the reciprocating steering drive cylinder 24.

[0065] The positions of the steering drive slider 223 at both ends of the slide rail 225 correspond to the lateral and longitudinal modes of the agricultural machinery, respectively. When the steering drive slider 223 is located at the first limiting point 227, the range of the wheel's rotatable steering angle is α; when the steering drive slider 223 is located at the second limiting point 228, the range of the wheel's rotatable steering angle is β. The sum of α and β is a rotation range of 180°, thus extending the steering angle. The steering range extension mechanism 22 controls the position of the steering drive slider 223 through the limiting cylinder 224 and the limiting stop 222, thereby achieving dynamic adjustment of the wheel's steering angle. The extension and retraction of the limiting cylinder 224 can quickly switch the steering mode, while the reciprocating steering drive cylinder 24 is responsible for pushing or pulling the steering drive slider 223 to move within the slide rail 225, achieving continuous adjustment of the wheel's steering angle.

[0066] See Figures 8A-8F , Figures 8A-8F This is a schematic diagram illustrating the steering working principle of an embodiment of the present invention. Figure 8A When the limit cylinder 224 is extended to its maximum value and the steering drive slider 223 is locked at the first limit point 227 by the limit block 222, the travel drive mechanism 23 is at the limit angle. At this position, the reciprocating steering drive cylinder 24 retracts, pulling the steering range extender mechanism 22 to rotate. Figure 8B When the reciprocating steering drive cylinder 24 retracts to its limit position, the travel drive mechanism 23 rotates through an angle α. Figure 8C The limit cylinder 224 retracts, allowing the steering drive slider 223 to move freely in the slide rail 225; Figure 8D The reciprocating steering drive cylinder 24 extends to push the drive slider from the first limit point 227 to the second limit point 228; Figure 8E The limit cylinder 224 extends, so that the limit block 222 locks the steering drive slider 223 at the second limit point 228 again; Figure 8FWhen the reciprocating steering drive cylinder 24 retracts to its limit position, the travel drive mechanism 23 rotates by an angle β under the action of the steering range extender mechanism 22. The reciprocating steering drive cylinder 24 achieves its extension and retraction action through hydraulic control, pushing the steering drive slider 223 to move between the first limit point 227 and the second limit point 228, thereby achieving wheel steering. During driving, by controlling the extension and retraction speed and stroke of the cylinder, continuous adjustment of the wheel steering angle can be achieved, avoiding slippage caused by sudden changes in steering angle. The steering range extender module controls the position of the steering drive slider 223 through the limit cylinder 224 and the limit stop 222, thereby switching the wheel steering angle range. When switching between lateral and longitudinal driving modes, the extension and retraction action of the reciprocating steering drive cylinder 24 pushes or pulls the steering drive slider 223 to move along the slide rail 225, switching between the first limit point 227 and the second limit point 228, thereby changing the wheel steering angle range and achieving dynamic adjustment of the wheel steering angle. During mode switching, the coordinated operation of the steering range extender 22 and the reciprocating steering drive cylinder 24 ensures a smooth transition of steering angle, avoiding platform instability caused by sudden changes in steering angle.

[0067] During operation, in the initial state: the limit cylinder 224 extends, the limit block 222 locks the steering drive slider 223 at the first limit point 227, and the wheel steering angle range is α;

[0068] Mode switching preparation: The reciprocating steering drive cylinder 24 retracts to its limit position, pulling the steering range extender module to rotate, so that the wheel steering angle reaches α; the limit cylinder 224 retracts, releasing the steering drive slider 223, allowing it to move freely in the slide rail 225;

[0069] Steering angle switching: The reciprocating steering drive cylinder 24 extends, pushing the steering drive slider 223 from the first limit point 227 to the second limit point 228; the limit cylinder 224 extends again, locking the steering drive slider 223 at the second limit point 228, and the wheel steering angle range is switched to β;

[0070] Mode switching completed: The reciprocating steering drive cylinder 24 retracts to its limit position, traction steering range extender module rotates, so that the wheel steering angle reaches β, and the platform completes the switch from lateral mode to longitudinal mode.

[0071] In the initial state, the limiting cylinder 224 is in the extended state, and the limiting block 222 at its end locks the steering drive slider 223 at the first limiting point 227 of the slide rail 225. The steering drive slider 223 is fixed and cannot move, and the reciprocating steering drive cylinder 24 is in the retracted state. The travel drive assembly is at its limit angle, and the wheel can rotate within an angle range of α. In the initial state, the reciprocating steering drive cylinder 24 begins to retract, pulling the steering range extender module to rotate. At this time, the travel drive assembly rotates through an angle α under the traction of the cylinder, and the wheel steering angle reaches α. When the reciprocating steering drive cylinder 24 retracts to its limit position, the limiting cylinder 224 begins to retract. The limiting block 222 moves with the retraction of the limiting cylinder 224, releasing the lock on the steering drive slider 223. At this time, the steering drive slider 223 can move freely in the slide rail 225. The reciprocating steering drive cylinder 24 begins its extension movement, pushing the steering drive slider 223 from the first limit point 227 to the second limit point 228 of the slide rail 225. The steering drive slider 223 moves along the slide rail 225. When the steering drive slider 223 reaches the second limit point 228, the limiting cylinder 224 extends again. The limiting stop 222 moves along with the extension of the limiting cylinder 224, locking the steering drive slider 223 at the second limit point 228. At this time, the steering drive slider 223 is fixed and cannot move, providing stable support for the next steering action. The reciprocating steering drive cylinder 24 then retracts, pulling the steering range extender module to rotate. At this time, the travel drive assembly rotates by an angle β under the action of the steering range extender module. Throughout the process, the steering angle range of the wheels increases from the initial angle α to angle β through the synergistic effect of the steering range extender module.

[0072] In this embodiment, when turning, the limiting cylinder 224 retracts, releasing the steering drive slider 223; the reciprocating steering drive cylinder 24 dynamically extends and retracts according to the turning requirements, pushing or pulling the steering drive slider 223 to move within the slide rail 225; the wheel steering angle continuously changes between α and β, achieving a smooth turn; when making a U-turn, the reciprocating steering drive cylinder 24 retracts to its limit position, pulling the wheel to its limit steering angle; the reciprocating steering drive cylinder 24 extends, pushing the wheel to turn in the opposite direction; the limiting cylinder 224 locks the vehicle when needed. The steering angle is adjusted to ensure stability during the U-turn. When switching from the longitudinal driving mode of road transport to the lateral driving mode of field operations, the steering angle switching steps include: the activation of the limit cylinder 224, which retracts to release the steering drive slider 223; the activation of the reciprocating steering drive cylinder 24, which extends to push the steering drive slider 223 from the first limit point 227 (corresponding to a smaller steering angle α) to the second limit point 228 (corresponding to a larger steering angle β); the limit cylinder 22... 4. Locking: The limiting cylinder 224 extends again, locking the steering drive slider 223 at the second limiting point 228, completing the switching of the steering angle. The wheel steering angle is β. Next, the work platform posture adjustment step includes a gantry structure adjustment step. The agricultural machinery work platform, by mounting modular work implements on a large-span gantry structure, is adjusted to a lateral work posture. The distributed independent walking steering devices 2 are symmetrically distributed in the lateral mode to ensure the stability of the work platform. When switching from the lateral travel mode for field operations to the longitudinal travel mode for road transport... First, the steering angle switching step includes: the limit cylinder 224 actuates, retracting to release the steering drive slider 223; the reciprocating steering drive cylinder 24 actuates, retracting to pull the steering drive slider 223 from the second limit point 228 back to the first limit point 227; the limit cylinder 224 locks, extending again to lock the steering drive slider 223 at the first limit point 227, and the wheel steering angle is switched to α, suitable for straight-line driving. Second, the work platform posture adjustment step includes: adjusting the agricultural machinery work platform to a longitudinal transport posture, storing or adjusting the modular work implements to a transport state.

[0073] This invention enables large-angle steering and longitudinal and lateral travel functions of a large-span, wide-width agricultural machinery operating platform, and efficiently and smoothly achieves the interchange of agricultural machinery platform transportation mode and working mode. The four independent distributed independent walking and steering devices 2 are respectively set at the four ends of the frame 1, front, rear, left, and right. Their steering and mode switching are all independently driven. Through different coordination between the actions of each cylinder, the four sets of steering range extenders 22 can realize the switching of steering and driving modes. During the adjustment process of the walking drive mechanism 23 from road walking mode to field work mode and from field work mode to road walking mode, the driving angle is changed to achieve flexible switching, and the tires are basically not affected by static friction. This enables the agricultural machinery operation platform to turn around in the field and switch between road transport mode and field work mode. When driving on uneven road surface, the suspension mechanism 25 enables the wheels of the four sets of walking drive mechanisms 23 to automatically raise and lower according to the road surface conditions to maintain the balance of the entire machine frame 1. The agricultural machinery operation platform can continuously adjust the wheel angle during driving without slipping, which effectively reduces the damage to the soil structure of the cultivated land during the operation of the agricultural machinery in the field, thereby protecting the soil cultivation quality, reducing the negative impact on the crop growth environment, and helping to reduce the risk of crop yield reduction.

[0074] Of course, there may be other embodiments of this utility model. Without departing from the spirit and essence of this utility model, those skilled in the art can make various corresponding changes and modifications based on this utility model, but these corresponding changes and modifications should all fall within the protection scope of the appended claims of this utility model.

Claims

1. A distributed independent walking and steering device, characterized by, The application relates to a distributed independent walking and steering device. The device comprises a steering mechanism, a steering range-extending mechanism, a walking driving mechanism and a reciprocating steering driving oil cylinder. The steering mechanism comprises a rotating vertical shaft, an upper rotary support and a lower rotary support. The rotating vertical shaft is installed between the upper rotary support and the lower rotary support and can rotate freely around its axis. The steering range-extending mechanism is installed below the lower rotary support and rotates synchronously with the rotating vertical shaft. The walking driving mechanism is connected with the steering range-extending mechanism through a suspension mechanism and the height of the wheels of the walking driving mechanism in the vertical direction is adjusted through the suspension mechanism.

2. The distributed independent walk steering device of claim 1, wherein, The reciprocating steering driving oil cylinder is connected with the steering range-extending mechanism at one end. The reciprocating steering driving oil cylinder drives the walking driving mechanism to rotate around the rotating vertical shaft to realize steering and / or mode switching between road transportation and field operation. The steering range-extending mechanism comprises a rotary support, a steering driving sliding block, a limiting oil cylinder and a limiting block. The rotary support is hinged with the lower rotary support. The rotary support is provided with a sliding way and a sliding rail.

3. The distributed independent walk steering apparatus of claim 2, wherein The sliding rail is perpendicular to the sliding way.

4. The distributed independent walk steering device of claim 1, wherein The two ends of the sliding way are respectively provided with a first limiting point and a second limiting point.

5. The distributed independent walk steering apparatus of claim 2, wherein The steering driving sliding block is arranged in the sliding way and connected with one end of the reciprocating steering driving oil cylinder.

6. An agricultural work platform comprising a vehicle frame and a travel steering arrangement mounted on the vehicle frame, characterised in that, The limiting oil cylinder is installed on the rotary support and its extending direction is parallel to the sliding rail.

7. The agricultural work platform of claim 6, wherein, The limiting block is connected with the limiting oil cylinder and driven by the limiting oil cylinder to move along the sliding rail.

8. The agricultural work platform of claim 7, wherein, The front end of the limiting block is provided with a limiting surface matched with the steering driving sliding block.

9. The agricultural work platform of claim 7, wherein, The steering driving sliding block is a trapezoidal structure and the limiting surface is an inclined surface matched with the trapezoidal structure.

10. The agricultural work platform of claim 6, wherein, The suspension mechanism comprises a cantilever support and a suspension adjusting oil cylinder. One end of the cantilever support is hinged with the range-extending mechanism and the other end of the cantilever support is connected with the walking driving mechanism. One end of the suspension adjusting oil cylinder is connected with the rotating vertical shaft and the other end of the suspension adjusting oil cylinder is connected with the cantilever support. When the steering driving sliding block is located at the first limiting point, the steering angle of the wheels is alpha. When the steering driving sliding block is located at the second limiting point, the steering angle of the wheels is beta. The sum of alpha and beta is 180 degrees. The walking and steering device is the distributed independent walking and steering device as claimed in any one of claims 1-5. The frame is a rectangular structure and the four corners of the frame are respectively provided with the distributed independent walking and steering device. The upper rotary support and the lower rotary support are respectively installed on the upper end frame and the lower end frame of the four corners of the frame. The distributed independent walking and steering device drives the frame to steer and / or switch between the road transportation and the field operation. The other end of the reciprocating steering driving oil cylinder is connected with the frame.

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