CN112208660A - Wheel-track combined chassis for mountain land operation - Google Patents

Abstract

Translated fromChinese

本发明公开了一种用于山地作业的轮履组合式底盘包括转向装置、支撑装置、履带装置和驱动控制件，其中转向装置设有转向轮，转向轮通过转向牵拉件的移动实现转动；支撑装置与转向装置连接；履带装置与支撑装置连接，履带装置基于三角履带和倒梯型履带的结构设置；驱动控制件设置于支撑装置上。本发明提供的一种用于山地作业的轮履组合式底盘可完成在山区小地块农业用地的农业自动化种植工作，通过底盘的工作模式和运输模式自动转换，实现高效率的工作与运输。本发明满足经济性和作业环境局限性，越障碍能力强、转向灵活、对土壤破坏作用小，更加适合在山区小地块农业用地工作，适于广泛推广。

The invention discloses a wheel-track combined chassis for mountain operations, comprising a steering device, a supporting device, a crawler device and a drive control part, wherein the steering device is provided with a steering wheel, and the steering wheel is rotated through the movement of a steering pulling member; The support device is connected with the steering device; the crawler device is connected with the support device, and the crawler device is arranged based on the structure of the triangle crawler and the inverted ladder crawler; the drive control part is arranged on the support device. The wheel-track combined chassis for mountain operation provided by the invention can complete the agricultural automation planting work on small agricultural land in mountainous areas, and realizes high-efficiency work and transportation through automatic conversion of the working mode and the transportation mode of the chassis. The invention meets the limitations of economy and operating environment, has strong ability to overcome obstacles, is flexible in turning, and has little effect on soil damage, is more suitable for working on small agricultural land in mountainous areas, and is suitable for wide popularization.

Description

Wheel-track combined chassis for mountain land operation

Technical Field

The invention relates to the technical field of agricultural automation equipment, in particular to a wheel-track combined chassis for mountain land operation.

Background

China is a big agricultural planting country, the area of a mountain area accounts for half of the national soil area of China, and the cultivated land area of the mountain area accounts for thirty percent of the cultivated land area of China, so that the agricultural economy of the mountain area has huge development potential. With the development of agricultural mechanization in China, various agricultural machines play an important role in various agricultural production links in various regions. However, the agricultural mechanization degree of the mountainous area is low due to the influence of complicated terrain and a plurality of winding and bumpy road sections in the mountainous area, and the operation is carried out by the traditional manpower and animal power. Especially on irregular road sections, the transport of agricultural machines is inconvenient and can even lead to tipping of the machine.

In order to overcome the difficulty in transportation of existing small-sized mountain agricultural products, most of the existing small-sized mountain agricultural products select a crawler-type chassis as a walking device of agricultural machinery. However, in an actual working environment, the crawler belt has a large contact area with the ground, and traveling and turning of the crawler belt may cause a certain damage to the agricultural land. And because the electric crawler-type chassis is driven by independent control of the double motors, the differential steering of the crawler can be realized only by controlling the differential of the motors with high precision, so that the cost is greatly improved.

Aiming at the problems, the equipment is designed for solving the problems that the operation efficiency of the mountain agricultural equipment is low, the cultivated land is damaged due to difficult steering and the cost is increased due to high precision of a steering motor in the prior art, so that the mechanization and automation of mountain agriculture are realized, and the development of mountain agricultural economy is improved.

Disclosure of Invention

In view of the above-mentioned defects, the technical problem to be solved by the present invention is to provide a wheel-track combined chassis for mountain land operation, so as to solve the problems of low operation efficiency of mountain land agricultural equipment, difficult turning, damaged cultivated land, high precision of a turning motor, and increased cost in the prior art.

The invention provides a wheel-track combined chassis for mountain land operation, which comprises:

the steering device is provided with a steering wheel, and the steering wheel rotates through the movement of the steering traction piece;

the supporting device is connected with the steering device;

the crawler device is connected with the supporting device and is arranged based on the structures of the triangular crawler and the inverted trapezoidal crawler;

and the driving control piece is arranged on the supporting device and is respectively connected with and controls the supporting device, the steering device and the crawler device.

Preferably, the steering device further includes:

the steering driver is arranged on the supporting device and is electrically connected with the driving control piece;

the rotating assembly is respectively connected with the steering wheel and the steering traction piece and is used for realizing the rotation of the steering wheel;

and the shock absorption assembly is respectively connected with the supporting device and the rotating assembly.

Preferably, the shock absorbing assembly comprises:

the upper swing arm is respectively and rotatably connected with the supporting device and the rotating assembly;

the lower swing arm is respectively connected with the supporting device and the rotating assembly in a rotating mode, and the lower swing arm and the upper swing arm are matched to support the steering wheel;

and one end of the shock absorber is arranged on the lower swing arm, and the other end of the shock absorber is rotatably connected with the supporting device.

Preferably, the supporting means comprises:

the front axle bracket is connected with the steering device and is used for supporting the steering device;

the connecting frame is respectively connected with the front axle bracket and the crawler device, and the driving control piece is arranged on the connecting frame;

the operation support is arranged on the connecting frame and is used for being connected with the farming tool.

Preferably, the work support includes:

one end of the support frame is connected with the connecting frame;

the undercarriage is rotatably connected with the other end of the support frame;

the operation fixing frame is connected with the undercarriage;

the driving piece is arranged on the supporting frame and connected with the operation fixing frame, and the driving piece is electrically connected with the driving control piece and used for realizing displacement of the operation fixing frame.

Preferably, the crawler apparatus comprises:

the driving wheel is rotationally connected with the connecting frame and is controlled by the driving control piece;

a track connected to and driven by the drive wheel;

the tensioning assembly is respectively connected with the connecting frame and the crawler belt and is used for applying tensioning force to the crawler belt;

the thrust wheel set is connected with the tensioning assembly and is in rolling connection with the crawler belt, and the thrust wheel set plays a supporting role on the crawler belt;

and one end of the damping piece is connected with the tensioning assembly, and the other end of the damping piece is connected with the thrust wheel set.

Preferably, the tensioning assembly comprises:

the crawler support is arranged on the connecting frame and is respectively and rotatably connected with the damping piece and the thrust wheel set;

the tensioning positioning piece is connected with the crawler support in a sliding manner;

and the tensioning wheel is rotationally connected with the track and is connected with the tensioning positioning piece, and the tensioning positioning piece plays a role in supporting and positioning the tensioning wheel.

Preferably, a rack is arranged on the steering traction piece, a gear meshed with the rack is arranged on the steering driver, and the rack is controlled by the gear to move so as to realize the movement of the steering traction piece.

Preferably, the thrust wheel sets are provided in two groups, each group comprising two thrust wheels connected together by a suspension rocker arm.

Preferably, the rotating assembly includes:

the steering knuckle is arranged on the steering wheel and is rotationally connected with the damping assembly;

and the universal joint is respectively connected with the steering knuckle and the steering traction piece.

According to the scheme, the wheel-track combined chassis for mountain land operation can complete agricultural automatic planting work such as seeding, fertilizing and pesticide spraying of agricultural land in small plots of mountainous areas, and the steering device of the wheel-track combined chassis realizes steering of the whole chassis; the crawler device is a power source for driving the chassis to walk and transport, and the obstacle-crossing driving capacity and the climbing capacity of the whole chassis are improved. Through the automatic conversion of the working mode and the transportation mode on the chassis, the problem of avoiding turning to influences work efficiency, destroys and ploughs, avoids the poor influence conveying efficiency of simple wheel transportation adaptability, realizes efficient work and transportation, and this kind of turns to simple structure simultaneously, and is low to driving motor's requirement, and the practicality is higher. The invention meets the limitation of economy and operation environment, realizes the technical effects of strong obstacle-crossing capability, flexible steering and small damage effect on soil, is more suitable for working in small plots of agricultural land in mountainous areas, has obvious effect and is suitable for wide popularization.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic three-dimensional structure diagram of a wheel-track combined chassis for mountain work according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a steering device of a wheel-track combined chassis for mountain work according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a supporting device, a driving control member and a track device of a wheel-track combined chassis for mountain work according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a track device of a wheel-track combined chassis for mountain work according to an embodiment of the present invention.

In FIGS. 1-4:

1. a steering device; 2. a support device; 3. a crawler unit; 4. driving the control member; 11. a steering wheel; 12. a steering puller; 13. a steering driver; 14. a rotating assembly; 15. a shock absorbing assembly; 21. a front axle bracket; 22. a connecting frame; 23. an operation bracket; 31. a drive wheel; 32. a crawler belt; 33. a tension assembly; 34. a thrust wheel group; 35. a shock absorbing member; 41. a steering controller; 42. a battery pack; 43. a track controller; 44. a track drive; 141. a knuckle; 142. a universal joint; 151. an upper swing arm; 152. a lower swing arm; 153. a shock absorber; 231. a support frame; 232. a landing gear; 233. an operation fixing frame; 234. a drive member; 331. a track frame; 332. tensioning the positioning piece; 333. a tension wheel; 341. suspending a rocker arm; 342. and a thrust wheel.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 4, an embodiment of a wheel-track combined chassis for mountain work according to the present invention will be described. The wheel-track combined chassis for mountain land operation comprises asteering device 1, a supportingdevice 2, atrack device 3 and a drivingcontrol piece 4, wherein thesteering device 1 is provided with a steering wheel 11, and the steering wheel 11 rotates through the movement of a steering traction piece 12 so as to realize the steering of the whole chassis; the supportingdevice 2 is connected with thesteering device 1; thecrawler device 3 is connected with the supportingdevice 2, and thecrawler device 3 is arranged on the basis of the structures of the triangular crawler and the inverted ladder-shaped crawler; the drivingcontrol piece 4 is arranged on the supportingdevice 2, and the drivingcontrol piece 4 is respectively connected with and controls the supportingdevice 2, thesteering device 1 and thecrawler device 3.

The chassis for operation in the agricultural working process of a small plot area is frequently steered, the terrain of the agricultural land is relatively gentle, obstacle-crossing climbing actions are less, the chassis is in a working mode, the end of thesteering device 1 is located in the front, the end of thecrawler device 3 is located in the rear, a front-wheel rear crawler type movement mode is realized, and therefore steering movement is controlled better; in the transportation process of a mountainous area, the terrain is steep, climbing and obstacle crossing are frequent, the chassis is in a transportation mode, the end of thecrawler belt device 3 is located in the front, the end of thesteering device 1 is located at the back, almost no steering action is generated in the obstacle crossing process, the steering wheel 11 always moves forwards, the transverse friction force received by the steering wheel 11 is almost 0, the friction force of the whole vehicle is small, and obstacle crossing and climbing movement of thecrawler belt device 3 is facilitated.

Thesteering device 1 is provided with two independent steering wheels 11, a steering traction piece 12 is arranged between the two steering wheels 11, the steering traction piece 12 can realize the left-right movement through a rack-and-pinion structure, and further realize the left-right steering of the steering wheels 11, so that the steering of the whole chassis is controlled; the supportingdevice 2 is connected with thesteering device 1 and thecrawler device 3, provides support for thesteering device 1, thecrawler device 3 and the drivingcontrol piece 4, and is simultaneously connected with farming tools to complete agricultural operation; the structure of thecrawler device 3 combines the advantages of the triangular crawler and the inverted trapezoidal crawler, the structural shape of the triangular crawler is kept, the approaching angle and the departing angle are arranged at the departing end of thecrawler device 3, and the obstacle crossing driving capability and the climbing capability of thecrawler device 3 are improved; thedrive control 4 powers the movement of the support means 2, the steering means 1 and the track means 3.

Compared with the prior art, thesteering device 1 of the wheel-track combined chassis for mountain land operation realizes steering of the whole chassis; thecrawler device 3 is a power source for driving the chassis to walk and transport, and the obstacle-crossing driving capacity and the climbing capacity of the whole chassis are improved. Through the mode and the transportation mode automatic switching on chassis, avoid turning to the problem and influence work efficiency, destroy and plough, avoid the poor influence conveying efficiency of wheel transportation adaptability of simple, realize efficient work and transportation, this kind of turns to simple structure simultaneously, and is small in size, and the transportation is convenient, and is low to driving motor's requirement, very is fit for working in the little regional operation environment in mountain region, and the practicality is higher. This kind of wheel-track combination formula chassis for mountain region operation effectively solves the mountain area agricultural equipment operating efficiency that prior art exists and is low, turns to the difficulty and leads to ploughing to receive destruction, turns to the problem that leads to the cost to improve with motor precision height, and it satisfies economic nature and operation environment limitation, has realized that obstacle-surmounting ability is strong, turns to in a flexible way, to the little technological effect of soil destruction effect, is fit for working at mountain area plot agricultural land more, and the effect is showing, is suitable for extensive popularization.

In the present embodiment, the drivingcontrol member 4 includes asteering controller 41, abattery pack 42, atrack controller 43 and atrack driver 44, wherein thebattery pack 42 is disposed on the connectingframe 22 to provide a power source for thesteering driver 13, the drivingmember 234 and thetrack driver 44; steeringcontroller 41 andtrack controller 43 are used to control the forward, reverse and drive torques of steeringactuator 13 andtrack actuator 44, respectively; thetrack drive 44 may be a motor coupled to thetrack assembly 3 for providing a driving force to thetrack assembly 3. The steering wheel 11 comprises a tyre and a hub and the steering puller 12 may be a tie rod. The driving and steering of the wheel-track combined chassis for mountain land operation is formed by two groups of independent motor systems, so that the control system is simpler, errors caused by a synchronous double-motor control system are avoided, and the wheel-track combined chassis is simple in structure and small in size. It is within the scope of the present document to achieve the above-mentioned performance functions relating to thedrive control 4, the steering wheel 11 and the steering puller 12.

In the present embodiment, thesteering device 1 further includes asteering actuator 13, a rotatingassembly 14 and a dampingassembly 15, wherein thesteering actuator 13 is disposed on the supportingdevice 2 and electrically connected to the drivingcontrol member 4; the rotatingassembly 14 is respectively connected with the steering wheel 11 and the steering traction piece 12 in a rotating way and is used for realizing the free rotation of the steering wheel 11; thedamper assembly 15 is connected to thesupport device 2 and therotation assembly 14, respectively. The steeringdriver 13 can be a motor and is fixed on the front axle bracket 21, the steeringdriver 13 drives the steering traction piece 12 to move, the steering traction piece 12 drives the steering wheel 11 to rotate through the rotatingcomponent 14, the steering of the whole chassis is realized, and therotating component 14 is connected with the hub of the steering wheel 11, so that the steering wheel 11 can rotate.

In the present embodiment, theshock absorbing assembly 15 comprises anupper swing arm 151, alower swing arm 152 and ashock absorber 153, wherein theupper swing arm 151 is respectively rotatably connected with the supportingdevice 2 and the rotatingassembly 14; thelower swing arm 152 is respectively connected with the supportingdevice 2 and the rotatingassembly 14 in a rotating manner, and thelower swing arm 152 and theupper swing arm 151 are matched to support the steering wheel 11; one end of thedamper 153 is disposed on thelower swing arm 152, and the other end is rotatably connected to thesupport device 2. Go upswing arm 151 andlower swing arm 152 longitudinal symmetry and set up,damper 15 is equipped with two sets ofly and with directive wheel 11 one-to-one,damper 15 is two fork arm suspension damping structure, goes upswing arm 151 andlower swing arm 152 and connects rotatingassembly 14, andshock absorber 153 can be the spring, and its one end is articulated withlower swing arm 152 for realize reciprocating of directive wheel 11, reach the damping effect.

In the present embodiment, thesupport device 2 includes a front axle bracket 21, a connectingbracket 22 and a workingbracket 23, wherein the front axle bracket 21 is connected with thesteering device 1 for supporting thesteering device 1; the connectingframe 22 is respectively connected with the front axle bracket 21 and thecrawler belt device 3, and the drivingcontrol piece 4 is arranged on the connectingframe 22; theoperation bracket 23 is arranged on the connectingframe 22 and is used for being connected with the farming tools. The steering column 12 is connected to the front axle bracket 21 in a sliding manner. The connectingframe 22 comprises a frame and a supporting plate, wherein one end of the frame is connected with the front axle bracket 21, and the other end of the frame is connected with thecrawler belt device 3, so that the function of connecting thesteering device 1 and thecrawler belt device 3 is achieved; the support plate is connected with the frame, is used for supporting the drivingcontrol member 4 and the like, and is a carrier for placing the drivingcontrol member 4 and theoperation bracket 23.

In the present embodiment, the workingbracket 23 includes asupport frame 231, alanding gear 232, a workingfixing frame 233 and anactuating member 234, wherein one end of thesupport frame 231 is connected with the connectingframe 22; thelanding gear 232 is rotatably connected with the other end of thesupport frame 231; theoperation fixing frame 233 is connected with theundercarriage 232; the drivingmember 234 is disposed on the supportingframe 231 and connected to theoperation fixing frame 233, and the drivingmember 234 is electrically connected to the drivingcontrol member 4 for realizing displacement of theoperation fixing frame 233. The drivingmember 234 may be an electric push rod, one end of which is a fixed end and is rotatably connected to the supportingframe 231, and the other end of which is a movable end and is rotatably connected to theoperation fixing frame 233. The lifting of theundercarriage 232 is controlled according to different agricultural work contents, theundercarriage 232 fixes thework fixing frame 233, and theundercarriage 232 rotates by stretching and contracting of thedriving piece 234, so that thework fixing frame 233 moves in a plane, and the lifting of the agricultural machine is realized. Thelanding gear 232 is connected with one end of thedriving piece 234, when the drivingpiece 234 is stretched, thelanding gear 232 rotates clockwise, and theoperation fixing frame 233 moves upwards in a translation mode; when theactuator 234 retracts, thelanding gear 232 rotates counterclockwise and thework mount 233 translates downward. The workingframe 23 can be used in conjunction with various small agricultural machines, such as a seeder and a pesticide sprayer, and the lifting of the workingholder 233 is adjusted according to the working state. During transportation, theundercarriage 232 is raised and the agricultural machine is separated from the ground, thereby preventing the agricultural machine from being damaged.

In the present embodiment, thecrawler device 3 comprises adriving wheel 31, acrawler 32, a tensioning assembly 33, a set oftrack wheels 34 and ashock absorber 35, wherein thedriving wheel 31 is rotatably connected with the connectingframe 22 and controlled by the drivingcontrol member 4; thecrawler belt 32 is connected to thedrive wheel 31 and driven by thedrive wheel 31; a tensioning assembly 33 is connected to the connectingframe 22 and thetrack 32, respectively, for applying a tensioning force to thetrack 32; the thrust wheel set 34 is connected with the tensioning assembly 33 and is in rolling connection with thecrawler belt 32, and the thrust wheel set 34 plays a supporting role on thecrawler belt 32; thedamper 35 has one end connected to the tension assembly 33 and the other end connected to the bogie wheel set 34. The wheel train arrangement ofcrawler attachment 3 adopts the structure that triangle-shaped formula and the formula of falling the ladder track combine, adopts elasticity mode cooperationthrust wheel group 34 to supporttrack 32 simultaneously, realizes transportation and climbing function. When thecrawler belt device 3 is behind and thesteering device 1 is in front, the advantages of the triangular crawler belt are exerted, the trafficability characteristic is high, the movement is stable, and the agricultural work is completed; when thecrawler device 3 is in the front and thesteering device 1 is in the rear, thecrawler 32 has an approaching angle and a departing angle, the obstacle crossing performance is higher, and the transportation work in mountainous areas is completed.

Thetrack 32 may be a rubber track; theshock absorbing members 35 may be springs, so that thetrack 32 has better obstacle crossing performance; thedriving wheel 31 is connected with thetrack driver 44 through a chain wheel chain to generate driving torque, the transmission mode saves space and has better transmission effect, and the tensioning assembly 33 achieves tensioning of thetrack 32. Thetrack 32 forms a quadrangle by the force of thedriving wheel 31, thetension wheel 333 and thethrust wheel 342, wherein thedriving wheel 31 and thethrust wheel 342 based on the triangular track arrangement form a triangle, and thetension wheel 333 based on the inverted trapezoidal track arrangement supports one side of the triangular track to form a quadrangle.

In the embodiment, the tensioning assembly 33 includes atrack frame 331, atensioning positioning member 332 and atensioning wheel 333, wherein thetrack frame 331 is disposed on the connectingframe 22 and is respectively rotatably connected with the dampingmember 35 and the set oftrack wheels 34; thetensioning positioner 332 is slidably connected to thetrack frame 331; thetensioning wheel 333 is rotatably connected to thetrack 32 and to thetensioning positioning member 332, and thetensioning positioning member 332 supports and positions thetensioning wheel 333. The thrust wheel sets 34 are provided with two groups, each group of thrust wheel sets 34 comprises two thrustwheels 342 which are connected together through asuspension rocker 341, the center of thesuspension rocker 341 is connected with a dampingpiece 35, the supporting and damping effect on thecrawler belt 32 is realized, and the suspension has larger stroke when the chassis encounters a larger obstacle. Theidler 333 provides sufficient tension to thetrack 32. Thetensioning positioning piece 332 is connected with thetrack support 331 through a bolt set, the bolt set comprises a bolt and a nut, the position of the bolt set is adjusted to drive thetensioning wheel 333 to move, and then the tensioning force of thetensioning wheel 333 on thetrack 32 is adjusted to achieve tensioning.

In this embodiment, the steering pulling member 12 is provided with a rack, the steeringactuator 13 is provided with a gear engaged with the rack, and the movement of the steering pulling member 12 is realized by controlling the movement of the rack by the gear. The rotatingassembly 14 comprises asteering knuckle 141 and auniversal joint 142, wherein thesteering knuckle 141 is arranged on the steering wheel 11 and is rotatably connected with theshock absorption assembly 15; theuniversal joint 142 is connected to theknuckle 141 and the steering puller 12, respectively. The end that turns to tractive spare 12 anduniversal joint 142 is connected is equipped with the elastic component, and the elastic component makes universal joint 142 can be along with directive wheel 11 up-and-down motion, keeps being connected with the tractive spare 12 that turns to simultaneously, has certain shock attenuation effect in addition, and the elastic component can be the spring.

The steering of the chassis is driven by a gear and rack structure, when the gear is fixed to rotate, a rack matched with the gear can move left and right, the rack is connected with the steering traction piece 12, the steering traction piece 12 is provided with auniversal joint 142, and theuniversal joint 142 is connected with a steering joint 141. When the rack moves to the left, the steering and pulling member 12 pulls theuniversal joint 142 of the right steering wheel 11 to turn to the left, and pushes theuniversal joint 142 of the left steering wheel 11 to turn to the left, and both steering wheels 11 are shifted to the left, so that thesteering apparatus 1 moves to the left. Theuniversal joint 142 has both up-and-down suspension vibration and left-and-right steering motion, and a spherical universal joint can be adopted to realize the spatial motion of the steering wheel 11. It should be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that thesteering device 1, thesupport device 2, thetrack device 3, and components thereof must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. Details which are not described in detail in the embodiments of the invention belong to the prior art which is known to the person skilled in the art.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

Translated fromChinese

1.一种用于山地作业的轮履组合式底盘，其特征在于，包括：1. a wheel-track combined chassis for mountain operation, is characterized in that, comprises:转向装置(1)，设有转向轮(11)，所述转向轮(11)通过转向牵拉件(12)的移动实现转动；A steering device (1) is provided with a steering wheel (11), and the steering wheel (11) is rotated through the movement of the steering pulling member (12);支撑装置(2)，与所述转向装置(1)连接；a support device (2), connected with the steering device (1);履带装置(3)，与所述支撑装置(2)连接，所述履带装置(3)基于三角履带和倒梯型履带的结构设置；A crawler device (3), connected with the support device (2), the crawler device (3) is set based on the structure of the triangle crawler and the inverted ladder crawler;驱动控制件(4)，设置于所述支撑装置(2)上，所述驱动控制件(4)分别连接并控制所述支撑装置(2)、所述转向装置(1)和所述履带装置(3)。A drive control member (4) is provided on the support device (2), and the drive control member (4) is respectively connected to and controls the support device (2), the steering device (1) and the crawler device (3).2.根据权利要求1所述的一种用于山地作业的轮履组合式底盘，其特征在于，所述转向装置(1)还包括：2. A wheel-track combined chassis for mountain operations according to claim 1, wherein the steering device (1) further comprises:转向驱动器(13)，设置于所述支撑装置(2)上、且与所述驱动控制件(4)电连接；A steering driver (13), arranged on the support device (2) and electrically connected to the drive control member (4);转动组件(14)，分别与所述转向轮(11)和所述转向牵拉件(12)连接，用于实现所述转向轮(11)的转动；a rotating assembly (14), which is respectively connected with the steering wheel (11) and the steering pulling member (12), and is used to realize the rotation of the steering wheel (11);减震组件(15)，分别与所述支撑装置(2)和所述转动组件(14)连接。A shock absorber assembly (15) is respectively connected with the support device (2) and the rotation assembly (14).3.根据权利要求2所述的一种用于山地作业的轮履组合式底盘，其特征在于，所述减震组件(15)包括：3. The wheel-track combined chassis for mountain work according to claim 2, wherein the shock absorber assembly (15) comprises:上摆臂(151)，分别与所述支撑装置(2)和所述转动组件(14)转动连接；an upper swing arm (151), respectively rotatably connected with the support device (2) and the rotating assembly (14);下摆臂(152)，分别与所述支撑装置(2)和所述转动组件(14)转动连接，所述下摆臂(152)与所述上摆臂(151)配合对所述转向轮(11)起支撑作用；A lower swing arm (152) is rotatably connected to the support device (2) and the rotating assembly (14) respectively, and the lower swing arm (152) cooperates with the upper swing arm (151) to face the steering wheel (11). ) play a supporting role;减振器(153)，一端设置于所述下摆臂(152)上，另一端与所述支撑装置(2)转动连接。A shock absorber (153), one end is arranged on the lower swing arm (152), and the other end is rotatably connected with the support device (2).4.根据权利要求1所述的一种用于山地作业的轮履组合式底盘，其特征在于，所述支撑装置(2)包括：4. A wheel-track combined chassis for mountain operations according to claim 1, wherein the supporting device (2) comprises:前桥支架(21)，与所述转向装置(1)连接，用于对所述转向装置(1)进行支撑；a front axle bracket (21), connected with the steering device (1), for supporting the steering device (1);连接架(22)，分别与所述前桥支架(21)和所述履带装置(3)连接，所述驱动控制件(4)设置于所述连接架(22)上；a connecting frame (22), which is respectively connected with the front axle support (21) and the crawler device (3), and the driving control member (4) is arranged on the connecting frame (22);作业支架(23)，设置于所述连接架(22)上，用于与农耕用具连接。The working bracket (23) is arranged on the connecting frame (22) and is used for connecting with the farming implement.5.根据权利要求4所述的一种用于山地作业的轮履组合式底盘，其特征在于，所述作业支架(23)包括：5. The wheel-track combined chassis for mountain work according to claim 4, wherein the work support (23) comprises:支撑架(231)，一端与所述连接架(22)连接；a support frame (231), one end of which is connected to the connection frame (22);起落架(232)，与所述支撑架(231)的另一端转动连接；a landing gear (232), rotatably connected with the other end of the support frame (231);作业固定架(233)，与所述起落架(232)连接；a work fixing frame (233), connected with the landing gear (232);驱动件(234)，设置于所述支撑架(231)上、且与所述作业固定架(233)连接，所述驱动件(234)与所述驱动控制件(4)电连接，用于实现所述作业固定架(233)的位移。A driving member (234) is disposed on the support frame (231) and connected to the work fixing frame (233), and the driving member (234) is electrically connected to the driving control member (4) for use in The displacement of the work fixing frame (233) is realized.6.根据权利要求5所述的一种用于山地作业的轮履组合式底盘，其特征在于，所述履带装置(3)包括：6. A wheel-track combined chassis for mountain operations according to claim 5, wherein the crawler device (3) comprises:驱动轮(31)，与所述连接架(22)转动连接、且由所述驱动控制件(4)控制；a driving wheel (31), rotatably connected with the connecting frame (22) and controlled by the driving control member (4);履带(32)，与所述驱动轮(31)连接、且由所述驱动轮(31)驱动；A crawler belt (32), connected with the driving wheel (31) and driven by the driving wheel (31);张紧组件(33)，分别与所述连接架(22)和所述履带(32)连接，用于对所述履带(32)施加张紧力；A tensioning assembly (33) is connected to the connecting frame (22) and the crawler track (32) respectively, and is used for applying a tension force to the crawler track (32);支重轮组(34)，与所述张紧组件(33)连接、且与所述履带(32)滚动连接，所述支重轮组(34)对所述履带(32)起支撑作用；a roller group (34), connected with the tensioning assembly (33) and in rolling connection with the crawler track (32), the roller group (34) supporting the crawler track (32);减震件(35)，一端与所述张紧组件(33)连接，另一端与所述支重轮组(34)连接。One end of the damping member (35) is connected with the tensioning assembly (33), and the other end is connected with the roller set (34).7.根据权利要求6所述的一种用于山地作业的轮履组合式底盘，其特征在于，所述张紧组件(33)包括：7. The wheel-track combined chassis for mountain work according to claim 6, wherein the tensioning assembly (33) comprises:履带支架(331)，设置于所述连接架(22)上、且分别与所述减震件(35)和所述支重轮组(34)转动连接；A crawler support (331), which is arranged on the connecting frame (22), and is respectively rotatably connected with the shock absorbing member (35) and the roller group (34);张紧定位件(332)，与所述履带支架(331)滑动连接；The tensioning positioning member (332) is slidably connected with the crawler support (331);张紧轮(333)，与所述履带(32)转动连接、且与所述张紧定位件(332)连接，所述张紧定位件(332)对所述张紧轮(333)起支撑与定位的作用。A tensioning wheel (333) is rotatably connected with the crawler track (32) and is connected with the tensioning positioning member (332), and the tensioning positioning member (332) supports the tensioning wheel (333) and positioning.8.根据权利要求2所述的一种用于山地作业的轮履组合式底盘，其特征在于，所述转向牵拉件(12)上设有齿条，所述转向驱动器(13)上设有与所述齿条啮合的齿轮，通过所述齿轮控制所述齿条运动来实现转向牵拉件(12)的移动。8 . The wheel-track combined chassis for mountain operations according to claim 2 , wherein a rack is provided on the steering puller (12), and a steering driver (13) is provided with a rack. 9 . There is a gear meshed with the rack, and the movement of the rack is controlled by the gear to realize the movement of the steering pulling member (12).9.根据权利要求6所述的一种用于山地作业的轮履组合式底盘，其特征在于，所述支重轮组(34)设有两组，每组所述支重轮组(34)包括通过悬挂摇臂(341)连接到一起的两个支重轮(342)。9. The wheel-track combined chassis for mountain operations according to claim 6, wherein the roller group (34) is provided with two groups, and each group of the roller group (34) is provided with two groups. ) includes two rollers (342) connected together by a suspension rocker arm (341).10.根据权利要求2所述的一种用于山地作业的轮履组合式底盘，其特征在于，所述转动组件(14)包括：10. The wheel-track combined chassis for mountain work according to claim 2, wherein the rotating assembly (14) comprises:转向节(141)，设置于所述转向轮(11)上、且与所述减震组件(15)转动连接；A steering knuckle (141), arranged on the steering wheel (11) and rotatably connected with the shock absorber assembly (15);万向节(142)，分别与所述转向节(141)和所述转向牵拉件(12)连接。A universal joint (142) is respectively connected with the steering knuckle (141) and the steering pulling member (12).

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