Mountain agricultural machine chassis attitude adjusting device and inclination angle simulation test platform

Abstract

The utility model discloses a mountain agricultural machinery chassis attitude adjusting device and an inclination angle simulation test platform, the adjusting device comprises a vehicle body supporting platform, attitude adjusting support legs and a bearing support, two ends of the vehicle body supporting platform are respectively hinged with the bearing support through hinge connecting pieces; one end of the sliding rod is connected with the hinged connecting piece through a sliding connecting part; a connecting beam of the bearing support is connected with two hinged connecting pieces arranged in a spaced mode, the bottom end of a swing supporting column of the bearing support is connected with a bearing vertical sliding block in a hinged mode through a bearing rotating shaft, and the bearing vertical sliding block is in sliding fit with a bearing sliding groove. The test platform comprises a slope angle simulation device and a vehicle body posture adjustment device, and a first slope angle simulation module and a second slope angle simulation module of the slope angle simulation device are vertically arranged in the vertical direction. The adjusting device can realize the posture adjustment of the vehicle under the condition of complex sloping fields. The test platform provides a research platform for stable operation of the agricultural machine in a complex terrain so as to carry out theoretical verification.

Description

Technical Field

[0001] This utility model relates to the field of agricultural machinery and equipment, and in particular to a mountain agricultural machinery chassis attitude adjustment device and tilt angle simulation test platform. Background Technology

[0002] Hilly and mountainous terrain constitutes a significant portion of my country's vast territory, and its complex and varied topography poses a severe challenge to mechanized agricultural operations. Traditional agricultural machinery often suffers from low efficiency, poor riding comfort, and safety hazards when operating in hilly and mountainous areas, seriously hindering the modernization of agricultural production.

[0003] In terms of tilt angle simulation devices, existing technologies mostly focus on simulating slope changes in a single direction, falling short when dealing with complex slopes that simultaneously exhibit forward and backward tilts as well as left and right tilts. This limitation makes it difficult to comprehensively and realistically simulate the various complex terrains that agricultural machinery may encounter in actual operation during the research and development and testing phases, thus affecting the accuracy and reliability of agricultural machinery design. Therefore, developing a tilt angle simulation device capable of accurately simulating complex slope conditions is of great significance for improving the efficiency of agricultural machinery research and development and ensuring the stable operation of agricultural machinery in complex terrain.

[0004] In the field of vehicle body posture adjustment devices, the omnidirectional adjustment capability of the vehicle body posture is crucial for achieving stable operation of agricultural machinery in complex terrain. For example, Jiang Yu, Sun Zeyu, and Wang Ruochen, "Design and Performance Test of Omnidirectional Leveling System for Tracked Workers in Hilly and Mountainous Areas" [J]. Transactions of the Chinese Society of Agricultural Engineering, 2023, 39(18):64-73, adopted a double-layer structure to achieve this goal. The double-layer structure not only increases the complexity of the system and the manufacturing cost, but also, in contrast, the single-layer structure of the vehicle body posture adjustment device has the advantages of simple structure, low cost, and easy installation and maintenance. Utility Model Content

[0005] To overcome the aforementioned problems, this utility model provides a chassis attitude adjustment device for mountain agricultural machinery and a tilt angle simulation test platform. This chassis attitude adjustment device enables vehicle attitude adjustment under complex slope conditions. Furthermore, this utility model provides an attitude adjustment test platform, organically combining the tilt angle simulation device with the vehicle attitude adjustment device, providing a research platform for the stable operation of agricultural machinery in complex terrain, and enabling theoretical verification.

[0006] The technical solution of this utility model is as follows:

[0007] A mountain agricultural machinery chassis attitude adjustment device includes a vehicle body support platform, attitude adjustment feet, and load-bearing brackets.

[0008] Both ends of the vehicle body support platform are respectively hinged to the load-bearing bracket via hinged connectors. One end of the vehicle body support platform is connected to the hinged connector via a sliding connection component, which allows the vehicle body support platform to slide relative to the load-bearing bracket when subjected to force.

[0009] The load-bearing bracket is T-shaped, with a connecting beam at its top connecting two spaced-apart hinged connectors. A swing support column is located at the center of the load-bearing bracket, and the bottom end of the swing support column is hinged to a load-bearing vertical slider via a load-bearing pivot. When the load-bearing bracket is under force, it swings around the load-bearing pivot, adjusting the height of both sides of the vehicle body support platform, thereby adjusting the vehicle body's tilt angle. The load-bearing vertical slider is located in a load-bearing groove, and the load-bearing vertical slider slides in cooperation with the load-bearing groove. When the load-bearing bracket is under force, the load-bearing vertical slider slides along the load-bearing groove, adjusting the height of both ends of the vehicle body support platform, thereby adjusting the tilt angle of the front and rear of the vehicle. The top of the load-bearing groove has a swing gap to accommodate the swing of the load-bearing bracket.

[0010] The posture adjustment support has four identical legs, one symmetrically arranged on each side of each load-bearing bracket. Each posture adjustment support is equipped with an upper posture adjustment link, a lower posture adjustment link, and an electric push rod. The upper posture adjustment link, lower posture adjustment link, and electric push rod are arranged in a V-shape. The top of the upper posture adjustment link is hinged to the connecting beam, and the bottom of the upper posture adjustment link is hinged to the top of the lower posture adjustment link and the top of the push rod of the electric push rod through the same hinge shaft. The bottom of the lower posture adjustment link and the bottom of the electric push rod are connected to the support component.

[0011] The four attitude adjustment feet are designated as: first attitude adjustment foot, second attitude adjustment foot, third attitude adjustment foot, and fourth attitude adjustment foot. Specifically, the first and third attitude adjustment feet are located on the left side of the vehicle support platform, while the second and fourth attitude adjustment feet are located on the right side of the vehicle support platform.

[0012] When the electric push rods on both sides of the load-bearing bracket extend the first and second posture adjustment legs and retract the third and fourth posture adjustment legs, the load-bearing bracket is subjected to force and swings around the load-bearing pivot at the bottom of the swing support column.

[0013] When the electric push rods of the first and third posture adjustment feet of the load-bearing brackets at both ends of the vehicle body support platform extend, and the electric push rods of the second and fourth posture adjustment feet retract, one end of the vehicle body support platform slides relative to the load-bearing brackets, creating a height difference between the two ends of the vehicle body support platform.

[0014] As a further improvement to this technical solution:

[0015] The top of the load-bearing slide has two opposing sides with swing notches.

[0016] By setting a swing notch, the swing amplitude of the load-bearing support accommodated by the load-bearing chute can be further increased.

[0017] The sliding connection component is a sliding groove with sliding fit. The bottom surface of the vehicle support platform is provided with a groove along the length direction, and a slider is provided in the groove. The slider is fixedly connected to the hinged connector.

[0018] A tilt simulation test platform with a mountain agricultural machinery chassis attitude adjustment device includes a slope angle simulation device, on which a vehicle attitude adjustment device is installed. The slope angle simulation device is equipped with a first slope angle simulation module and a second slope angle simulation module, which are arranged vertically and vertically. Each of the first and second slope angle simulation modules includes: an upper platform, a guide rail fixing plate, a circular arc gear, a gear fixing plate, a stepper motor, a drive gear, a platform support side plate, a circular arc guide rail, and a guide rail wheel.

[0019] The upper platform has platform support side plates at both ends of its bottom. The platform support side plates are arranged in a fan shape. The top surface of the platform support side plates is connected to the upper platform. The arc edge of the platform support side plates is connected to the guide rail fixing plate through arc guide rails and guide rail wheels. The guide rail fixing plate is connected and set on the module bracket.

[0020] A gear fixing plate is provided in the middle of the bottom of the upper platform. The gear fixing plate is arranged in a fan shape. The top surface of the gear fixing plate is connected to the upper platform. A circular arc gear is provided at the arc edge of the gear fixing plate. The circular arc gear is driven by a stepper motor. The rotation of the circular arc gear causes the gear fixing plate to drive the upper platform to rotate.

[0021] The first slope angle simulation module is connected to the upper platform of the second slope angle simulation module via a module bracket, and the upper platform of the second slope angle simulation module is connected to the vehicle body posture adjustment device.

[0022] The stepper motor is connected and mounted on the motor mounting plate.

[0023] The second slope angle simulation module has rolling wheels at the four corners of the bottom of the module support. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0025] Figure 2 This is a schematic diagram of the structure of the single-layer tilt angle simulation device of this utility model.

[0026] Figure 3 A schematic diagram of the operation of a single-layer tilt angle simulation device provided in an embodiment of this utility model.

[0027] Figure 4This is a schematic diagram of the overall structure of the vehicle body posture adjustment device of this utility model.

[0028] Figure 5 This is a schematic diagram of the bottom structure of the vehicle body posture adjustment device of this utility model.

[0029] Figure 6 A schematic diagram of the vehicle body posture adjustment device provided in an embodiment of this utility model.

[0030] Figure 7 This is a perspective view of the swing notch of this utility model.

[0031] Figure 8 This is a structural schematic diagram of the load-bearing vertical slider and load-bearing rotating shaft of this utility model.

[0032] In the diagram: 1-Upper platform; 2-Guide rail fixing plate; 3-Circular arc gear; 4-Gear fixing plate; 5-Stepper motor; 6-Motor fixing plate; 7-Drive gear; 8-Platform support side plate; 9-Circular arc guide rail; 10-Guide rail wheel; 11-Vehicle support platform;

[0033] 12-Upper attitude adjustment link; 13-Lower attitude adjustment link; 14-Electric push rod; 15-Load-bearing bracket; 1501-Connecting beam; 1502-Swing support column; 16-Load-bearing slide groove; 1601-Swing notch; 17-Load-bearing vertical slider; 18-Load-bearing rotating shaft; 19-Hinged connector; 20-Slide groove; 21-First attitude adjustment foot; 22-Second attitude adjustment foot; 23-Third attitude adjustment foot; 24-Fourth attitude adjustment foot.

[0034] 25 - First slope angle simulation module, 26 - Second slope angle simulation module. Detailed Implementation

[0035] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] like Figures 4-8 As shown, the vehicle body posture adjustment device includes a vehicle body support platform 11, posture adjustment feet, and load-bearing bracket 15.

[0037] The two ends of the vehicle body support platform 11 are respectively hinged to the load-bearing bracket 15 through hinged connectors 19. The connection between one end of the vehicle body support platform 11 and the hinged connector 19 is through a sliding connection component. The sliding connection component allows the vehicle body support platform 11 to slide relative to the load-bearing bracket 15 when it is under force.

[0038] The load-bearing bracket 15 is T-shaped, with a connecting beam 1501 at its top connecting two spaced-apart hinged connectors 19. A swing support column 1502 is located at the center of the load-bearing bracket 15. The bottom end of the swing support column 1502 is hinged to the load-bearing vertical slider 17 via a load-bearing pivot 18. When the load-bearing bracket 15 is under force, it swings around the load-bearing pivot 18 to adjust the height of both sides of the vehicle body support platform 11, thereby adjusting the tilt angle of the vehicle body. The load-bearing vertical slider 17 is located in the load-bearing slide groove 16. The load-bearing vertical slider 17 slides in cooperation with the load-bearing slide groove 16. When the load-bearing bracket 15 is under force, the load-bearing vertical slider 17 slides along the load-bearing slide groove 16 to adjust the height of both ends of the vehicle body support platform 11, thereby adjusting the tilt angle of the front and rear of the vehicle.

[0039] The top of the load-bearing slide 16 is provided with a swing gap to accommodate the swing of the load-bearing bracket 15; the swing amplitude allowed by the load-bearing slide 16 is provided with two swing notches 1601 on the two opposite sides of the top of the load-bearing slide 16.

[0040] By setting the swing notch 1601, the swing amplitude of the load-bearing bracket 15 accommodated by the load-bearing groove 16 can be further increased.

[0041] There are four attitude adjustment legs with the same structure, one on each side of each load-bearing bracket 15. Each attitude adjustment leg is equipped with an upper attitude adjustment link 12, a lower attitude adjustment link 13, and an electric push rod 14. The upper attitude adjustment link 12, the lower attitude adjustment link 13, and the electric push rod 14 are arranged in a V-shape. The top of the upper attitude adjustment link 12 is hinged to the connecting beam 1501, and the bottom of the upper attitude adjustment link 12 is hinged to the top of the lower attitude adjustment link 13 and the top of the push rod of the electric push rod 14 through the same hinge shaft. The bottom of the lower attitude adjustment link 13 and the bottom of the electric push rod 14 are connected to the support component.

[0042] like Figure 4 As shown, the four attitude adjustment feet are: first attitude adjustment foot 21, second attitude adjustment foot 22, third attitude adjustment foot 23, and fourth attitude adjustment foot 24. Among them, the first attitude adjustment foot 21 and the third attitude adjustment foot 23 are on the left side of the vehicle body support platform 11, and the second attitude adjustment foot 22 and the fourth attitude adjustment foot 24 are on the right side of the vehicle body support platform 11.

[0043] When the electric push rods 14 on both sides of the load-bearing bracket 15 are extended, the electric push rods 14 of the first posture adjustment foot 21 and the second posture adjustment foot 22 are extended, and the electric push rods 14 of the third posture adjustment foot 23 and the fourth posture adjustment foot 24 are retracted, the load-bearing bracket 15 is subjected to force and swings around the load-bearing pivot 18 at the bottom of the swing support column 1502.

[0044] When the electric push rods 14 of the first posture adjustment foot 21 and the third posture adjustment foot 23 of the load-bearing brackets 15 at both ends of the vehicle body support platform 11 are extended, and the electric push rods 14 of the second posture adjustment foot 22 and the fourth posture adjustment foot 24 are retracted, one end of the vehicle body support platform 11 slides relative to the load-bearing bracket 15, and a height difference is generated between the two ends of the vehicle body support platform 11.

[0045] like Figures 1-3 As shown, a mountain agricultural machinery chassis attitude adjustment device and tilt angle simulation test platform include a slope angle simulation device, on which a vehicle attitude adjustment device is installed.

[0046] The slope angle simulation device is equipped with a first slope angle simulation module 25 and a second slope angle simulation module 26, which are arranged vertically and vertically. The first slope angle simulation module 25 and the second slope angle simulation module 26 each include: an upper platform 1, a guide rail fixing plate 2, a circular arc gear 3, a gear fixing plate 4, a stepper motor 5, a motor fixing plate 6, a drive gear 7, a platform support side plate 8, a circular arc guide rail 9, and a guide rail wheel 10.

[0047] Platform support side plates 8 are provided at both ends of the bottom of the upper platform 1. The platform support side plates 8 are arranged in a fan shape. The top surface of the platform support side plates 8 is connected to the upper platform 1. The arc edge of the platform support side plates 8 is connected to the guide rail fixing plate 2 through the arc guide rail 9 and the guide rail wheel 10. The guide rail fixing plate 2 is connected and set on the module bracket.

[0048] A gear fixing plate 4 is provided in the middle of the bottom of the upper platform 1. The gear fixing plate 4 is arranged in a fan shape. The top surface of the gear fixing plate 4 is connected to the upper platform 1. A circular arc gear 3 is provided at the arc edge of the gear fixing plate 4. The circular arc gear 3 is driven by a stepper motor 5. The rotation of the circular arc gear 3 causes the gear fixing plate 4 to drive the upper platform 1 to rotate.

[0049] The first slope angle simulation module 25 is connected to the upper platform 1 of the second slope angle simulation module 26 via a module bracket, and the upper platform 1 of the second slope angle simulation module 26 is connected to a vehicle body posture adjustment device.

[0050] The platform support side plate 8 and guide rail fixing plate 2 provide rotational support. The arc guide rail 9 and guide rail wheel 10 reduce rotational resistance.

[0051] The stepper motor 5 provides the driving force, enabling the upper platform 1 to move precisely to the specified angle.

[0052] The stepper motor 5 is connected and mounted on the motor mounting plate 6.

[0053] The second slope angle simulation module 26 has rolling wheels at the four corners of the bottom of the module support.

[0054] The guide rail fixing plate 2, the arc guide rail 9, the guide rail wheel 10, and the platform support side plate 8 constitute the support structure of the tilt angle simulation device, which ensures that the system moves along the arc path. In actual operation, the tilt angle simulation device operates in coordination between the upper and lower tilt angle simulation units. The control system sends an angle setting command to the stepper motor 5, which drives the drive gear 7 to rotate. The drive gear 7 meshes with the arc gear 3, causing the upper platform 1 to move along the path of the arc guide rail 9, thereby realizing the tilting action of the upper platform 1 around the corresponding axis.

[0055] When simulating a unidirectional tilt angle, such as simulating the front and rear slopes or side slopes of a vehicle, only one stepper motor 5 in the first slope angle simulation module 25 and the second slope angle simulation module 26 needs to be activated to complete the single-axis tilt angle adjustment in the corresponding direction, while the other platform remains stationary.

[0056] When simulating complex slopes or terrain scenarios, the first slope angle simulation module 25 and the second slope angle simulation module 26 are activated simultaneously, each rotating around its corresponding axis. The platform's dual-axis linkage adjustment is achieved through the coordinated control of two sets of stepper motors. This composite motion can realize attitude changes in any direction in space, thereby accurately simulating the attitude states that agricultural machinery may face on actual irregular slopes.

[0057] The vehicle body attitude adjustment device works on the following principle for adjusting the attitude of a vehicle under different slope conditions: When the vehicle body is going uphill or downhill, the attitude of the vehicle body is adjusted by adjusting the height difference between the load-bearing brackets 15 at both ends of the vehicle body support platform 11. When the electric push rods 14 of the first attitude adjustment foot 21 and the third attitude adjustment foot 23 are extended, and the electric push rods 14 of the second attitude adjustment foot 22 and the fourth attitude adjustment foot 24 are retracted, one end of the vehicle body support platform 11 slides relative to the load-bearing bracket 15, creating a height difference between the two ends of the vehicle body support platform 11, causing the vehicle body to pitch. During pitch attitude adjustment, the height difference between the two sides of the device is generated.

[0058] When the ground heights on both sides of the vehicle body are different, the vehicle body posture can be adjusted by changing the height difference between the two sides of the connecting beam 1501. When the electric push rods 14 of the first posture adjustment foot 21 and the second posture adjustment foot 22 are extended, and the electric push rods 14 of the third posture adjustment foot 23 and the fourth posture adjustment foot 24 are retracted, the load-bearing bracket 15 is subjected to force and swings around the load-bearing pivot 18 at the bottom of the swing support column 1502; thereby adjusting the roll angle on both sides of the vehicle body.

[0059] The above description is only a preferred embodiment of the present utility model and does not limit the scope of the present utility model. All equivalent structural changes made based on the content of the present utility model specification and drawings are included within the scope of the present utility model.

Claims

1. A mountain agricultural machinery chassis attitude adjustment device, comprising a vehicle support platform (11), attitude adjustment feet, and a load-bearing bracket (15), characterized in that: The two ends of the vehicle body support platform (11) are respectively hinged to the load-bearing bracket (15) through hinged connectors (19). The connection between one end of the vehicle body support platform (11) and the hinged connector (19) is through a sliding connection component. The sliding connection component allows the vehicle body support platform (11) to slide relative to the load-bearing bracket (15) when it is under force. The load-bearing bracket (15) is T-shaped, and its top connecting beam (1501) connects two spaced hinged connectors (19). The center of the load-bearing bracket (15) is provided with a swing support column (1502). The bottom end of the swing support column (1502) is hinged to the load-bearing vertical slider (17) through the load-bearing pivot (18). The load-bearing bracket (15) swings around the load-bearing pivot (18) under force, adjusting the height of both sides of the vehicle body support platform (11), thereby adjusting the side tilt angle of the vehicle body. The load-bearing vertical slider (17) is set in the load-bearing slide groove (16). The load-bearing vertical slider (17) and the load-bearing slide groove (16) slide together. The load-bearing bracket (15) is under force, and the load-bearing vertical slider (17) slides along the load-bearing slide groove (16), adjusting the height of both ends of the vehicle body support platform (11), thereby adjusting the tilt angle of the front and rear of the vehicle. The top of the load-bearing slide groove (16) is provided with a swing gap to accommodate the swing of the load-bearing bracket (15). The posture adjustment support is provided with four identical structures, one of which is symmetrically arranged on each side of each load-bearing bracket (15). Each posture adjustment support is provided with an upper posture adjustment link (12), a lower posture adjustment link (13), and an electric push rod (14). The upper posture adjustment link (12), the lower posture adjustment link (13), and the electric push rod (14) are arranged in a V-shape. The top of the upper posture adjustment link (12) is hinged to the connecting beam (1501), and the bottom of the upper posture adjustment link (12) is hinged to the top of the lower posture adjustment link (13) and the top of the push rod of the electric push rod (14) through the same hinge shaft. The bottom of the lower posture adjustment link (13) and the bottom of the electric push rod (14) are connected to the support component.

2. The mountain agricultural machinery chassis attitude adjustment device according to claim 1, characterized in that: The top of the load-bearing slide (16) has two opposing sides with swing notches (1601).

3. The mountain agricultural machinery chassis attitude adjustment device according to claim 1, characterized in that: The sliding connection component is a sliding groove (20) with sliding fit. The bottom surface of the vehicle support platform (11) is provided with a groove (20) arranged along the length direction. A slider is provided in the groove (20), and the slider is fixedly connected to the hinged connector (19).

4. A tilt angle simulation test platform with the attitude adjustment device for mountain agricultural machinery chassis as described in any one of claims 1-3, comprising a slope angle simulation device, wherein the vehicle attitude adjustment device is mounted on the slope angle simulation device, characterized in that: The slope angle simulation device is equipped with a first slope angle simulation module (25) and a second slope angle simulation module (26). The first slope angle simulation module (25) and the second slope angle simulation module (26) are set up vertically and in a vertical direction. The first slope angle simulation module (25) and the second slope angle simulation module (26) each include: an upper platform (1), a guide rail fixing plate (2), a circular arc gear (3), a gear fixing plate (4), a stepper motor (5), a drive gear (7), a platform support side plate (8), a circular arc guide rail (9), and a guide rail wheel (10). The upper platform (1) has platform support side plates (8) at both ends of its bottom. The platform support side plates (8) are fan-shaped. The top surface of the platform support side plates (8) is connected to the upper platform (1). The arc edge of the platform support side plates (8) is connected to the guide rail fixing plate (2) through the arc guide rail (9) and the guide rail wheel (10). The guide rail fixing plate (2) is connected to the module bracket. The upper platform (1) has a gear fixing plate (4) at the bottom center. The gear fixing plate (4) is fan-shaped. The top surface of the gear fixing plate (4) is connected to the upper platform (1). The arc edge of the gear fixing plate (4) is provided with an arc gear (3). The arc gear (3) is driven by a stepper motor (5). The rotation of the arc gear (3) causes the gear fixing plate (4) to drive the upper platform (1) to rotate. The first slope angle simulation module (25) is connected to the upper platform (1) of the second slope angle simulation module (26) via a module bracket, and the upper platform (1) of the second slope angle simulation module (26) is connected to the vehicle body posture adjustment device.

5. The tilt angle simulation test platform for the mountain agricultural machinery chassis attitude adjustment device according to claim 4, characterized in that: The attitude adjustment test platform of the mountain agricultural machinery chassis attitude adjustment device, wherein the stepper motor (5) is connected and mounted on the motor fixing plate (6).

6. The tilt angle simulation test platform for the mountain agricultural machinery chassis attitude adjustment device according to claim 4, characterized in that: Rolling wheels are provided at the four corners of the bottom end of the module support of the second slope angle simulation module (26).

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