Chain drive lifting posture adjustable self-propelled agricultural chassis

Abstract

The utility model provides a kind of chain drive lifting posture adjustable self-propelled agricultural chassis, comprising: with base as foundation, two groups of driving mechanism are fixedly in base symmetrically, cooperate two sides chain drive system, same side two groups of walking mechanism can efficiently transmit drive force to gyro wheel, drive gyro wheel synchronous rotation.Four groups of adjusting mechanism are connected respectively base and corresponding walking mechanism, can independently or synchronously adjust the distance of gyro wheel and base;Leveling control system is electrically connected with adjusting mechanism, can accurately control adjusting mechanism, help chassis to adapt undulating terrain, keep working posture stable, improve operation accuracy.Base control system realizes chassis flexible advancing, retreating and turning by controlling the rotation direction and speed difference of driving mechanism;Power supply system supplies energy for each component continuously.Each mechanism cooperates, solves the problems of poor terrain adaptability, low operation accuracy, inflexible turning and other problems of traditional chassis, adapts to various fine agricultural operations, improves field operation efficiency and stability.

Description

Technical Field

[0001] This utility model relates to the field of agricultural chassis technology, specifically to a chain-driven self-propelled agricultural chassis with adjustable lifting posture. Background Technology

[0002] In the process of agricultural mechanization, traditional small agricultural chassis have obvious limitations: First, they are prone to slipping and sinking in soft, muddy, or uneven complex terrain, with insufficient traction and weak climbing ability; Second, when driving on potholes, the vehicle body is prone to tilting, causing the distance and angle between the mounted equipment and the ground to deviate from the preset value, affecting the accuracy of operation, reducing work efficiency, and potentially wasting resources such as pesticides and fertilizers, and even causing environmental pollution; Third, the complex structure of partially integrated chassis not only increases manufacturing costs but also reduces the reliability of equipment operation and increases the difficulty of later maintenance.

[0003] Chain-driven chassis, with their advantages of high cost-effectiveness, strong reliability, and good adaptability to complex terrain, have great potential in the field of agricultural chassis. However, existing chain-driven chassis generally lack effective lifting adjustment and attitude control functions, failing to meet the requirements of precision agricultural operations for chassis stability and adaptability. Therefore, developing a self-propelled agricultural chassis that combines the advantages of chain-driven chassis with flexible attitude adjustment capabilities has become a key requirement for solving current technical pain points.

[0004] Based on the above situation, there is an urgent need for a self-propelled agricultural chassis that combines the advantages of chain drive with flexible attitude adjustment capabilities to solve the problems in the existing technology. Utility Model Content

[0005] The main objective of this invention is to provide a chain-driven, adjustable lifting and posture self-propelled agricultural chassis, which at least solves the problem that existing chain-driven chassis lack effective lifting and posture control functions, making it difficult to meet the needs of refined agricultural operations in complex terrain.

[0006] To achieve the above objectives, this utility model provides a chain-driven, adjustable-lift, self-propelled agricultural chassis, characterized by comprising: a base; two sets of drive mechanisms, symmetrically fixed to the base for outputting driving force; a chain drive system symmetrically arranged on both sides of the base; the chain drive system includes four sets of walking mechanisms, the first ends of two sets of walking mechanisms on the same side being rotatably connected to the output shaft of the drive mechanism on the same side; the second ends of the two sets of walking mechanisms on the same side being connected to rollers; each set of walking mechanisms driving the corresponding connected rollers to rotate; and four sets of adjustment mechanisms, each set... The adjustment mechanism is connected to the base and a corresponding set of walking mechanisms, and each adjustment mechanism is used to adjust the distance between the corresponding roller and the base; the chassis control system is fixed on the base and is used to control the forward, backward and turning of the base by controlling the rotation direction and speed difference output by the two drive mechanisms; the leveling control system is set on the base and electrically connected to the four sets of adjustment mechanisms; the power supply system is electrically connected to the drive mechanism, the chain drive system, the adjustment mechanism, the chassis control system and the leveling control system.

[0007] Optionally, the base includes: The frame, with the top used to secure the working components; Chassis support plate, the chassis support plate being fixed to the vehicle frame; The two sets of drive mechanisms are symmetrically fixed to the bottom of the vehicle frame.

[0008] Optionally, the drive mechanism includes: A motor mounting plate, which is fixed to the bottom of the vehicle frame; An electric motor, which is fixed to the motor mounting plate by bolts; The motor's output shaft is equipped with a double-row sprocket, which is connected to the walking mechanism located on the same side.

[0009] Optionally, the walking mechanism includes: A drive chain, the first end of which engages with one sprocket of a double-row sprocket; A drive shaft is rotatably mounted on the bottom of the frame, and a primary sprocket and a secondary sprocket are fixedly mounted on both ends of the drive shaft, respectively; the second end of the drive chain meshes with the primary sprocket. A passive chain, wherein the first end of the passive chain meshes with the secondary sprocket, the second end of the passive chain meshes with the passive sprocket, and the passive sprocket is fixedly mounted on the tire axle of the roller.

[0010] Optionally, the adjustment mechanism includes: A cantilever, the first end of which is rotatably mounted on the drive wheel axle; the second end of which is rotatably mounted on the tire wheel axle; An electric actuator, wherein the fixed end of the electric actuator is disposed on the cantilever; A support base is fixed to the bottom of the base and is hinged to the telescopic end of the electric push rod.

[0011] Optionally, the leveling control system includes: Four tilt sensors are respectively installed at the four corners of the chassis support plate to collect the tilt angle data of the vehicle body; A leveling controller is mounted on the chassis support plate. The leveling controller is electrically connected to the four tilt sensors and the four electric push rods. The leveling controller is used to control the extension and retraction length of the four electric push rods according to the tilt data to level the vehicle body.

[0012] Optionally, the power supply system includes: A storage battery is disposed in the middle of the chassis support plate.

[0013] This utility model discloses a chain-driven, adjustable-lift, self-propelled agricultural chassis, comprising: a base; two sets of drive mechanisms symmetrically fixed on the base for outputting driving force; a chain drive system symmetrically arranged on both sides of the base; the chain drive system includes four sets of walking mechanisms, the first ends of two sets of walking mechanisms on the same side being rotatably connected to the output shaft of the drive mechanism on the same side; the second ends of the two sets of walking mechanisms on the same side being connected to rollers; each set of walking mechanisms driving the corresponding connected rollers to rotate; and four sets of adjustment mechanisms, each set of adjustment mechanisms being... The system includes a base and a corresponding set of walking mechanisms, each adjustment mechanism used to adjust the distance between the corresponding roller and the base; a chassis control system fixed to the base, used to control the forward, backward, and turning of the base by controlling the rotation direction and speed difference output by the two drive mechanisms; a leveling control system mounted on the base and electrically connected to the four sets of adjustment mechanisms; and a power supply system electrically connected to the drive mechanisms, the chain drive system, the adjustment mechanisms, the chassis control system, and the leveling control system. Thus, the four sets of adjustment mechanisms can independently or synchronously adjust the distance between the roller and the base, adapting to terrain and working height; the chassis control system controls the steering and speed difference of the drive mechanisms for flexible movement; and the leveling control system precisely regulates the adjustment mechanisms, ensuring stable operation in complex terrain, adapting to various field scenarios, and offering high practicality and reliability. Attached Figure Description

[0014] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. In the drawings: Figure 1 This is an isometric schematic diagram of a chain-driven, adjustable lifting posture self-propelled agricultural chassis structure, which is an optional embodiment of the present utility model. Figure 2 This is a schematic diagram of a chain-driven, adjustable lifting posture self-propelled agricultural chassis walking mechanism, which is optional according to an embodiment of the present utility model. Figure 3 This is a schematic diagram of an optional transmission wheel shaft installation according to an embodiment of the present utility model; Figure 4 This is a schematic diagram of the lifting and adjustment of a self-propelled agricultural chassis with adjustable lifting posture via a chain drive, according to an embodiment of the present utility model. Figure 5 This is a schematic diagram of the attitude adjustment of a self-propelled agricultural chassis with adjustable lifting posture via a chain drive, according to an embodiment of the present invention.

[0015] Figure label: 10. Base; 11. Chassis support plate; 12. Frame; 20. Drive mechanism; 21. Motor mounting plate; 22. Motor; 23. Double row sprocket; 30. Walking mechanism; 31. Drive chain; 32. Drive wheel axle; 33. Passive chain; 34. First-stage sprocket; 35. Second-stage sprocket; 36. Passive sprocket; 40. Adjustment mechanism; 41. Cantilever; 42. Electric push rod; 43. Support seat; 50. Chassis control system; 60. Leveling control system; 61. Tire sensor; 62. Leveling controller; 70. Power supply system; 71. Battery; 80. Roller; 81. Tire; 82. Tire axle. Detailed Implementation

[0016] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0017] like Figures 1-5As shown, a chain-driven, adjustable-lift, self-propelled agricultural base 10 includes: a base 10; two sets of drive mechanisms 20, symmetrically fixed on the base 10 for outputting driving force; a chain drive system symmetrically arranged on both sides of the base 10; the chain drive system includes four sets of walking mechanisms 30, the first ends of two sets of walking mechanisms 30 on the same side are rotatably connected to the output shaft of the drive mechanism 20 on the same side; the second ends of two sets of walking mechanisms 30 on the same side are connected to rollers 80; each set of walking mechanisms 30 drives the corresponding connected rollers 80 to rotate; and four sets of adjustment mechanisms 40, each set of adjustment mechanisms 40 is respectively connected to the base. The base 10 includes a set of corresponding walking mechanisms 30, each of the adjusting mechanisms 40 being used to adjust the distance between the corresponding roller 80 and the base 10; a base control system 50, fixed on the base 10, used to control the forward, backward, and turning movements of the base 10 by controlling the rotation direction and speed difference output by the two driving mechanisms 20; a leveling control system 60, disposed on the base 10 and electrically connected to the four sets of adjusting mechanisms 40; and a power supply system 70, electrically connected to the driving mechanism 20, the chain drive system, the adjusting mechanism 40, the base control system 50, and the leveling control system.

[0018] Specifically, the base 10 is the basic load-bearing frame of the agricultural chassis, providing installation support for the drive mechanism 20, chain drive system, adjustment mechanism 40, chassis control system 50, leveling control system 60 and power supply system 70, ensuring that each component maintains a relatively stable positional relationship during operation. At the same time, it can directly carry precision agricultural operation equipment such as thinning, pollination and spraying, and is the basic platform for realizing various functions.

[0019] Two sets of drive mechanisms 20 are fixed on both sides of the base 10 to output rotational driving force. The speed and direction of the two sets of drive motors 22 can be controlled independently. The base 10 can be steered by the difference in speed, and moved forward or backward by the same direction and speed. When the chassis needs to move forward or backward in a straight line, the two sets of drive motors 22 maintain the same rotation direction (both clockwise or both counterclockwise) and the speed is exactly the same. At this time, the chain drive system on both sides drives the corresponding rollers 80 to rotate synchronously in the same direction, and the chassis travels along a preset straight trajectory. The rotation direction directly determines the forward or backward direction. When the chassis needs to turn, the two sets of drive motors 22 have a speed difference. This can be achieved by increasing the speed of one side and decreasing the speed of the other side, or by rotating one side and stopping the other side. The rollers 80 on both sides generate a speed difference due to the different speeds. The chassis generates a steering torque under the unbalanced driving force on both sides, thereby completing the steering action. The differential steering design does not require additional complex steering mechanisms, which simplifies the chassis structure and allows for flexible adjustment of the steering radius. It can meet the steering needs of narrow areas and complex paths in the field and is suitable for driving scenarios of precision agricultural operations. The chain drive system is symmetrically installed on both sides of the base 10, consisting of four sets of walking mechanisms 30 and four rollers 80. The first end of each of the two sets of walking mechanisms 30 on the same side of the base 10 is connected to the output shaft of the drive mechanism 20 on the same side, and the second end is connected to the corresponding roller 80. During power transmission, the driving force output by the drive mechanism 20 is first transmitted to the walking mechanism 30 on the same side. After being transmitted through the walking mechanism 30, it ultimately drives the roller 80 to rotate, thus realizing the chassis's walking motion. The chain drive has strong anti-slip performance, effectively reducing power loss and ensuring stable power transmission when facing soft, muddy field terrain.

[0020] Four sets of adjustment mechanisms 40 are respectively connected to the base 10 and the corresponding walking mechanism 30, adjusting the distance between the roller 80 and the base 10, i.e., the height of the base 10. By individually controlling the action of a certain set of adjustment mechanisms 40, the corresponding roller 80 can be raised and lowered independently, thereby adjusting the chassis posture to adapt to uneven field terrain and avoid vehicle tilting. By synchronously controlling the four sets of adjustment mechanisms 40, the overall chassis height can be changed, which can not only meet the installation requirements of equipment with different heights, but also reduce the chassis height when operating in narrow spaces, reduce the turning radius, improve operational flexibility, and solve the problems of fixed chassis height and poor terrain adaptability of traditional chassis.

[0021] The chassis control system 50 is fixed on the base 10 and connected to two sets of drive mechanisms 20 via electrical signals. It can receive operator commands and convert them into control signals to control the rotation direction and speed difference of the two sets of drive mechanisms 20. This system can quickly respond to operational needs, ensuring the precise execution of the forward, backward, and turning movements of the base 10, avoiding errors from manual control, and improving operational efficiency in the field. The leveling control system 60 is mounted on the base 10 and electrically connected to four sets of adjustment mechanisms 40. By monitoring the chassis posture in real time, it calculates the required adjustment amount for each adjustment mechanism 40, and then sends control signals to the corresponding adjustment mechanism 40 to drive it to adjust the distance between the roller 80 and the base 10, thereby achieving chassis posture leveling. This prevents the distance and angle between the mounted equipment and the ground from deviating from preset values ​​due to terrain tilt, ensuring operational accuracy, reducing waste of pesticides, fertilizers, and other resources, and improving safety during operation. The power supply system 70 is electrically connected to the drive mechanism 20, the chain drive system, the adjustment mechanism 40, the chassis control system 50, and the leveling control system 60 via wires, providing continuous and stable power to each component and ensuring the energy supply for the normal operation of the base 10.

[0022] This self-propelled agricultural chassis is based on the base 10. It achieves stable movement through two sets of drive mechanisms 20 and a chain drive system. With the help of four sets of adjustment mechanisms 40 and a leveling control system 60, it can adapt to complex terrain and ensure operational accuracy. The chassis control system 50 is responsible for driving control, and the power supply system 70 provides energy support. All mechanisms work together to effectively solve the problems of poor terrain adaptability, low operational accuracy, and inflexible steering of traditional agricultural chassis. It can meet the needs of various precision agricultural operations and improve the efficiency and stability of field operations.

[0023] In one possible implementation, the base 10 includes: Frame 12, top for securing working components; Chassis support plate 11, the chassis support plate 11 is fixed on the vehicle frame 12; The two sets of drive mechanisms are symmetrically fixed to the bottom of the vehicle frame.

[0024] Specifically, the base 10 includes a chassis support plate 11 and a frame 12. The working components are fixed to the top of the frame 12 by welding or bolts. The chassis support plate 11 is welded to the frame 12 to form a rigid frame. The leveling control system 60 and the power supply system 70 are installed and fixed on the chassis support plate 11. Two sets of drive mechanisms 20 are symmetrically fixed to the bottom of the chassis support plate 11, ensuring precise docking with the transmission system on the same side for efficient force transmission, balancing the driving force on both sides, avoiding driving deviation, and improving the stability of field operations.

[0025] In one possible implementation, the drive mechanism 20 includes: a motor mounting plate 21, which is fixed to the bottom of the base 10; a motor 22, which is fixed to the motor mounting plate 21 by bolts; wherein, a double row of sprockets 23 are mounted on the output shaft of the motor 22, and the double row of sprockets 23 are respectively connected to the walking mechanism 30 located on the same side.

[0026] Specifically, the motor mounting plate 21 is welded and fixed to the bottom of the frame 12, serving as the mounting carrier for the motor 22 and providing stable support for it. The frame 12 is divided into upper and lower parts. The top of the upper part is used to install the working components. The motor mounting plate 21 is welded and fixed to the end face of the lower part of the frame 12 in the width direction. The motor 22 is set in the space of the lower part of the frame 12, and the motor 22 is tightly connected to the motor mounting plate 21 by bolts, which can effectively prevent the motor 22 from shifting due to vibration and bumps during operation, ensuring stable power output. The double-row sprockets 23 installed on the output shaft of the motor 22 establish a transmission relationship with the two sets of walking mechanisms 30 on the same side of the base 10, synchronously transmitting the driving force output by the motor 22 to the two sets of walking mechanisms 30 on the same side, thereby driving the corresponding rollers 80 to rotate, providing power for the chassis to move, while ensuring consistent power transmission between the two sets of walking mechanisms 30 on the same side.

[0027] In one possible implementation, the walking mechanism 30 includes: a drive chain 31, the first end of which engages with one sprocket of a double-row sprocket 23; a drive shaft 32, rotatably mounted on the bottom of the frame 12, with a primary sprocket 34 and a secondary sprocket 35 fixedly mounted at both ends of the drive shaft 32; a second end of the drive chain 31 engaging with the primary sprocket 34; and a passive chain 33, the first end of which engages with the secondary sprocket 35, and the second end of which engages with a passive sprocket 36, which is fixedly sleeved on the tire axle 82 of the roller 80.

[0028] Specifically, the two sets of traveling mechanisms 30 on the same side of the base 10 are symmetrically distributed in a figure-eight shape with the corresponding drive mechanism 20 as the center. The driving chains 31 of the two sets of traveling mechanisms 30 are cross-shaped and respectively sleeved on the two independent sprockets of the double-row sprockets 23 arranged axially along the transmission wheel shaft 32. Each set of traveling mechanisms 30 consists of a driving chain 31, a transmission wheel shaft 32, a driven chain 33, and a driven sprocket 36. Among them, the two crossbeams symmetrically arranged on both sides of the width of the frame 12 extend along the length direction of the movement. The two ends of the crossbeams are provided with shaft holes, and each transmission wheel shaft 32 is rotatably inserted into the corresponding shaft hole. One end of the driving chain 31 meshes with a single sprocket of the double-row sprocket 23, and the other end meshes with a primary sprocket 34 fixed to one end of the drive shaft 32 via a key. The key connection ensures that the power transmitted by the driving chain 31 stably drives the drive shaft 32 to rotate synchronously. A secondary sprocket 35 is also fixed to the other end of the drive shaft 32 via a key. The secondary sprocket 35 meshes with one end of the driven chain 33, and the other end of the driven chain 33 meshes with the driven sprocket. The roller 80 includes a tire axle 82, a tire 81, and a hub flange. The hub flange is mounted on the tire axle 82, and the tire is mounted on the hub flange. The driven sprocket 36 is fixedly sleeved on the tire axle 82 via a key, and the tire axle 82 is bolted to the hub flange. Throughout the transmission process, the power of the drive mechanism 20 is transmitted sequentially to the tire axle 82 via the drive chain 31, drive wheel axle 32, driven chain 33, and driven sprocket 36, and finally drives the tire 81 to rotate through the bolt connection between the tire axle 82 and the wheel hub flange.

[0029] The rigid connection of the shaft key and the tightening effect of the bolts not only prevent slippage or power loss in the power transmission link, but also ensure that the power distribution of the two sets of walking mechanisms on the same side is even, so that the rollers on both sides rotate at the same speed. This effectively avoids chassis deviation caused by power imbalance on one side. At the same time, the stability of the multi-stage transmission also makes the chassis walk more smoothly in soft and undulating field terrain, further improving the reliability of operation in complex environments.

[0030] In one possible implementation, the adjustment mechanism 40 includes: a cantilever 41, the first end of which is rotatably mounted on the transmission wheel axle 32; the second end of which is rotatably mounted on the tire wheel axle 82; an electric push rod 42, the fixed end of which is disposed on the cantilever 41; and a support base 43, which is fixed to the bottom of the base 10 and is hinged to the telescopic end of the electric push rod 42.

[0031] Specifically, the first end of the cantilever 41 is connected to the transmission wheel shaft 32 via a bearing. The bearing allows the cantilever 41 and the transmission wheel shaft 32 to rotate rotatably, and reduces the frictional resistance when the cantilever 41 rotates around the transmission wheel shaft 32, ensuring smooth rotation. The second end of the cantilever 41 is also rotatably mounted on the tire wheel shaft 82 via a bearing, allowing the cantilever 41 to make stable arc movements with the transmission wheel shaft 32 as the fulcrum, thereby synchronously driving the roller 80 to adjust its position. The four electric push rods 42 are arranged in a rectangular shape, with the fixed end of each electric push rod 42 set on the corresponding cantilever 41, and can move synchronously with the rotation of the cantilever 41. The support base 43 is fixed to the bottom of the base 10, serving as the fixed support point for the electric push rod 42, and the support base 43 and the telescopic end of the electric push rod 42 are hinged. This connection method can flexibly adapt to the angle changes during the extension and retraction of the electric push rod 42, avoiding rigid stress between components. When the electric actuator 42 extends or retracts, it applies a pushing or pulling force to the cantilever 41, causing the cantilever 41 to rotate smoothly around the transmission wheel shaft 32, thus moving the roller 80. This allows for adjustment of the wheelbase L of the roller 80 on the same side and the chassis height H. By controlling the synchronous extension and retraction of the four electric actuators 42, the wheelbase L is adjusted to change the chassis height H, enabling chassis lifting and attitude adjustment to adapt to operations in confined spaces and turning around. Figure 3 and Figure 4 As shown, L0 is the wheelbase of the front roller 80, H0 is the chassis height before adjustment, L1 is the wheelbase of the rear roller 80, and H1 is the chassis height after adjustment. Individual control of a specific adjustment mechanism 40 allows for adjustment of the chassis's local posture to adapt to undulating terrain.

[0032] In one possible implementation, the leveling control system 60 includes: four tilt sensors 61, respectively disposed at the four corners of the chassis support plate 11, for collecting tilt angle data of the vehicle body; and a leveling controller 62, which is mounted on the chassis support plate 11 and electrically connected to the four tilt sensors 61 and the four electric push rods 42. The leveling controller 62 is used to control the extension and retraction lengths of the four electric push rods 42 according to the tilt angle data to level the vehicle body.

[0033] Specifically, the leveling control system 60 consists of four tilt sensors 61 and a leveling controller 62. These components work together to achieve precise leveling of the chassis attitude. The four tilt sensors 61 are respectively installed at the four corners of the chassis support plate 11, enabling real-time and comprehensive acquisition of the vehicle's lateral and longitudinal tilt angle data. This ensures that the acquired base 10 attitude information is comprehensive and accurately reflects the impact of terrain undulations on the vehicle. The leveling controller 62 is installed at the center of one end of the chassis support plate 11, and the chassis control system 50 is also installed at the center of one end of the chassis support plate 11. The leveling controller 62 establishes signal transmission and control links with the four tilt sensors 61 and four electric push rods 42 via electrical connections. The leveling process relies on the coordinated operation of the four sets of electric push rods 42, the four tilt sensors 61, and the leveling controller 62. The four tilt sensors 61 continuously acquire the lateral and longitudinal tilt angle data of the base 10 and transmit it to the leveling controller 62 in real time. Among them, the tilt sensor 61 is one of the following series: LVT4XXT, LVT5XXT, SVT6XXT, HVT8XXT, AVT2XXT, and AVT4000T.

[0034] Four tilt sensors 61 are installed at the four corners of the chassis support plate 11, each containing a built-in MEMS accelerometer and other gravity sensing elements. By sensing changes in the gravitational component when the vehicle body tilts, they convert the physical tilt into lateral (left-right) and longitudinal (front-back) tilt angle electrical signals. Since the vehicle body is fixed to the top of the frame, when the terrain undulates and the vehicle body tilts, the height positions of the four corners differ (e.g., left higher than right, front higher than rear). Therefore, the data measured by the four tilt sensors 61 are usually different: in the lateral dimension, the difference in data between the left and right corners reflects the degree of left-right tilt (e.g., left corner +3°, right corner -1° represents left tilt); in the longitudinal dimension, the difference in data between the front and rear corners reflects the degree of front-back tilt (e.g., front corner +2°, rear corner -0.5° represents forward tilt). By comparing the data from the four corners and fitting the overall plane, the controller can eliminate errors from a single sensor, accurately obtain the true tilt state of the vehicle body, and avoid misjudgments caused by single-point data deviations.

[0035] Four tilt sensors 61 transmit real-time tilt angle data to the leveling controller. The controller compares this data with a preset "horizontal target threshold" (e.g., 0° ± 0.2°) to calculate the lateral and longitudinal tilt angle deviations and the tilt direction. Next, combining structural parameters such as cantilever length and wheelbase, a geometric algorithm allocates the extension / retraction displacement of each electric actuator (e.g., for a 2.5° left tilt, the left actuator needs to extend by 5mm and the right actuator by 4.8mm to compensate for the deviation). Subsequently, the controller uses a fuzzy adaptive PID algorithm to compare the "desired displacement" with the actual displacement of the electric actuator (feedback from the built-in encoder) and dynamically adjusts the control signal: if the actual displacement is insufficient, the current is increased to accelerate extension / retraction; when approaching the target, the current is reduced to prevent overshoot. Finally, the electric actuators perform the extension / retraction action, changing the roller height; simultaneously, the sensors continuously provide tilt angle data. If the deviation does not meet the target, the above steps are repeated until the vehicle body tilt angle meets the threshold, completing the leveling process.

[0036] The specific adjustment process is as follows: When the base 10 travels to complex terrain such as undulations and potholes, the change in terrain slope will directly cause the body tilt angle to change. This change triggers the leveling system to start and enters the leveling process. Tilt sensors 61 installed at the four corners of the chassis support plate 11 detect the lateral and longitudinal tilt data of the vehicle body in real time, accurately capture the degree and direction of the vehicle body tilt, and ensure that the data can fully reflect the current posture of the base 10. After receiving the tilt angle data transmitted by the tilt angle sensor 61, the leveling controller 62 calculates the amount of displacement that each electric push rod 42 needs to extend or retract according to the preset algorithm, and clarifies the adjustment target of each electric push rod 42. The leveling controller 62 compares the calculated "desired displacement" with the actual extension and retraction displacement of the electric push rod 42, and dynamically adjusts the control signal through fuzzy adaptive PID control. Fuzzy adaptive PID control can optimize the proportional (P), integral (I), and derivative (D) parameters in real time according to the magnitude and trend of displacement deviation, avoiding the overshoot and lag problems that are easy to occur in traditional PID control, and ensuring a smooth and accurate adjustment process. Based on the optimized signal output by the fuzzy adaptive PID control, further compensation calculations are performed (correcting errors caused by factors such as mechanical backlash and load changes). Then, control commands are sent to the corresponding electric push rod 42 to drive the electric push rod 42 to perform extension and retraction actions. By changing the arc motion trajectory of the cantilever 41 around the transmission wheel shaft 32, the wheelbase and the height of the base 10 are adjusted, and the body tilt angle is gradually corrected. While the electric push rod 42 is performing the leveling action, its actual displacement data is collected in real time and fed back to the leveling controller 62. The controller determines whether the actual displacement has reached the expected displacement (i.e., whether the vehicle body tilt angle has returned to the preset horizontal range): if it has not reached the expected displacement, it returns to the "electric push rod 42 displacement calculation" step, recalculates the displacement and adjusts the control signal, and repeats the above process; if it has reached the expected displacement, the leveling is completed, the system returns to the real-time monitoring state, and waits for the next terrain change to trigger the leveling.

[0037] In one possible implementation, the power supply system 70 includes a battery 71 disposed in the middle of the chassis support plate 11.

[0038] Specifically, the battery 71 is fixed to the center of the chassis support plate 11 by bolts through the battery box 71. This central arrangement can keep the center of gravity of the whole machine in the center of the base 10, effectively avoiding the problem of the base 10 tilting or unstable posture caused by the shift of the center of gravity. Especially when working in complex field terrain, it can reduce the shaking of the vehicle body and improve the stability of driving and operation.

[0039] In summary, this application has the following beneficial effects: Strong terrain adaptability: The chain drive system, combined with the cantilever 41 mechanism that can rotate around the drive wheel axle 32, can effectively optimize the passability of the base 10 in soft, muddy and undulating terrain, while enhancing traction and climbing ability, reducing the risk of slipping and sinking of the base 10 in complex field terrain, and ensuring stable operation.

[0040] Flexible and precise attitude adjustment: Four rectangularly distributed electric push rods 42 can achieve independent lifting of the four wheels and work in conjunction with the leveling control system 60. The tilt sensor 61 monitors the lateral and longitudinal tilt angles of the vehicle body in real time. The leveling controller 62 combines a preset algorithm to accurately calculate the required extension and retraction displacement of the electric push rods 42, and then dynamically corrects the control signal through a fuzzy adaptive PID controller to achieve rapid and precise leveling of the base 10, ensuring the stability of the vehicle body attitude during operation and improving the accuracy of agricultural operations.

[0041] Reasonable structural layout: The battery 71 is centrally fixed to the middle of the chassis support plate 11 through the battery 71 box, so that the center of gravity of the whole machine is kept in the center and stable, reducing the shaking of the vehicle body during driving and operation; the chassis control system 50 and the leveling controller 62 are respectively installed in the middle of both ends of the chassis support plate 11, forming a partitioned layout, which not only facilitates the daily operation and later maintenance of operators, but also simplifies the overall structure, improves the reliability of equipment operation, and reduces manufacturing costs and maintenance difficulty.

[0042] Wide functional adaptability: The base 10 can be partially adjusted in complex terrain by independently adjusting a single electric push rod 42; it can also be simultaneously controlled to extend and retract four electric push rods 42 to adjust the wheel axle distance and change the height of the base 10, meeting the needs of operation in narrow areas and turning around. It can be adapted to various precision agricultural operation scenarios such as thinning flowers, pollinating, applying pesticides, and weeding in the field, and has a wide range of applications.

[0043] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A chain-driven, adjustable-lift, self-propelled agricultural chassis, characterized in that, include: Base; Two sets of drive mechanisms are symmetrically fixed on the base for outputting drive force. A chain drive system is symmetrically arranged on both sides of the base; the chain drive system includes four sets of walking mechanisms, the first ends of the two sets of walking mechanisms on the same side are rotatably connected to the output shaft of the drive mechanism on the same side; the second ends of the two sets of walking mechanisms on the same side are connected to rollers; each set of walking mechanisms drives the corresponding connected rollers to rotate. Four sets of adjustment mechanisms, each set of adjustment mechanisms is connected to the base and a corresponding set of walking mechanisms, and each adjustment mechanism is used to adjust the distance between the corresponding roller and the base; A chassis control system, fixed to the base, is used to control the forward, backward and turning of the base by controlling the rotation direction and speed difference output by the two drive mechanisms; A leveling control system is mounted on the base and electrically connected to the four sets of adjustment mechanisms. The power supply system is electrically connected to the drive mechanism, the chain drive system, the adjustment mechanism, the chassis control system, and the leveling control system.

2. The chain-driven, adjustable lifting posture self-propelled agricultural chassis according to claim 1, characterized in that, The base includes: The frame, with the top used to secure the working components; Chassis support plate, the chassis support plate being fixed to the vehicle frame; The two sets of drive mechanisms are symmetrically fixed to the bottom of the vehicle frame.

3. The chain-driven, adjustable lifting posture self-propelled agricultural chassis according to claim 2, characterized in that, The drive mechanism includes: A motor mounting plate, which is fixed to the bottom of the vehicle frame; An electric motor, which is fixed to the motor mounting plate by bolts; The motor's output shaft is equipped with a double-row sprocket, which is connected to the walking mechanism located on the same side.

4. The chain-driven, adjustable lifting posture self-propelled agricultural chassis according to claim 3, characterized in that, The walking mechanism includes: A drive chain, the first end of which engages with one sprocket of a double-row sprocket; A drive shaft is rotatably mounted on the bottom of the frame, and a primary sprocket and a secondary sprocket are fixedly mounted on both ends of the drive shaft, respectively; the second end of the drive chain meshes with the primary sprocket. A passive chain, wherein the first end of the passive chain meshes with the secondary sprocket, the second end of the passive chain meshes with the passive sprocket, and the passive sprocket is fixedly mounted on the tire axle of the roller.

5. The chain-driven, adjustable lifting posture self-propelled agricultural chassis according to claim 4, characterized in that, The adjustment mechanism includes: A cantilever, the first end of which is rotatably mounted on the drive wheel axle; the second end of which is rotatably mounted on the tire wheel axle; An electric actuator, wherein the fixed end of the electric actuator is disposed on the cantilever; A support base is fixed to the bottom of the base and is hinged to the telescopic end of the electric push rod.

6. The chain-driven, adjustable lifting posture self-propelled agricultural chassis according to claim 5, characterized in that, The leveling control system includes: Four tilt sensors are respectively installed at the four corners of the chassis support plate to collect the tilt angle data of the vehicle body; A leveling controller is mounted on the chassis support plate. The leveling controller is electrically connected to the four tilt sensors and the four electric push rods. The leveling controller is used to control the extension and retraction length of the four electric push rods according to the tilt data to level the vehicle body.

7. The chain-driven, adjustable lifting posture self-propelled agricultural chassis according to claim 2, characterized in that, The power supply system includes: A storage battery is disposed in the middle of the chassis support plate.

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