CN217477426U - Obstacle-crossing type all-terrain self-leveling vehicle chassis - Google Patents

Abstract

The utility model discloses an obstacle-crossing type all-terrain self-leveling vehicle chassis, which relates to the technical field of vehicle chassis and comprises a chassis device, wherein the chassis device comprises a driving assembly, a chassis frame, a working platform and an adjustable connecting structure, and the driving assembly is arranged at two sides of the bottom of the chassis frame; the top of the chassis frame is connected with the working platform, and the bottom of the chassis frame is hinged with an adjustable connecting structure, so that the utility model can effectively solve the problem that other mechanisms or materials carried on the vehicle chassis are always in a horizontal state under the conditions of parallel climbing, inclined climbing, passing through barriers and the like; the self-adaptive track-adjusting mechanism can adapt to very harsh roads, meanwhile, other carried mechanisms can effectively work according to original designed parameters, the track gauge and the height during use can be adjusted in a self-adaptive mode during use, and under the action of gravity, the driving wheels or the driving tracks are in a self-adaptive mode, do not need external force intervention, are in surface contact with the ground all the time, and are suitable for popularization and use.

Description

Obstacle-crossing type all-terrain self-leveling vehicle chassis

Technical Field

The utility model relates to a vehicle chassis technical field especially relates to a full topography of obstacle crossing is from leveling vehicle chassis.

Background

The conventional vehicle chassis is used by carrying mechanisms of different application occasions, and the common vehicle chassis mainly has application scenes such as carrying, climbing operation, assembling, routing inspection, rescue, mine clearance and the like. Can be applied to occasions such as factory indoor and outdoor places, field operation and the like.

Currently, in the vehicle chassis technology used, there are the following drawbacks:

(1) other mechanisms (such as a platform, the following cases are all taken as examples of the platform) carried by the chassis under the prior art are not horizontal or cannot be quickly adjusted to be horizontal, but the use working conditions mostly need to work under the platform horizontal condition, which is a defect of the prior art. Under the condition of the prior art, in order to meet the use requirements, most of the platforms need to be additionally provided with additional devices such as manual devices, electric devices, hydraulic devices and the like, and manual leveling is carried out again according to the needs during use. The leveling process not only requires more manpower, but also requires additional working time, which is very obvious for occasions with limited working time requirements. Taking a high-speed rail use scene as an example, when a device in the high-speed rail is overhauled, maintained or replaced by a chassis carrying scissor type ascending mechanism in the prior art during operation, the work is usually arranged to be completed before the next shift of trains passes, the time is very short (for example, 30 minutes), and the withdrawing is required to be very quick, otherwise, a serious disaster accident occurs. Under the condition of the prior art, certain time is consumed for the adjustment level before operation or the equipment recovery operation before withdrawal, the real operation time is very limited, some operations cannot be completed at all, the problem can be solved by adjusting the train dispatching plan, but the influence is very large. Through the chassis adopting the technology of the utility model, the platform carried under any condition is horizontal (including the walking process), corresponding work can be rapidly carried out as long as the chassis drives to the designated position where the work is required to be carried out, and the chassis can be evacuated rapidly without other adjustment after the work is finished; meanwhile, the horizontal adjustment under the prior art condition is not full-time and non-dynamic.

(2) The track gauge of the conventional chassis is not adjustable, and the road surface trafficability is not strong enough. Similarly, taking a high-speed rail application scenario as an example, the ground may be very complex under field working conditions, and various situations such as rails, rail sleepers, broken stones and the like may exist in a field needing work at the same time. The track gauge of the conventional chassis is fixed, and the situation that single-side wheels (or tracks) are blocked or are not supported by force can happen under many conditions, so that the vehicle is difficult to run to a working position at one time, even cannot reach a specified position at all, and extra manpower and time are required to be spent even if the vehicle runs to the specified position. The use requirement is difficult to achieve under the same prior art conditions when the vehicle runs on a particularly narrow road surface.

(3) The height of the chassis wheel (or the crawler belt) in the prior art cannot be adjusted. In special use cases (such as a steep slope or even a step on one side), the prior art does not meet the requirements.

(4) The chassis wheels (or the crawler belts) in the prior art have wheel edge (or crawler belt edge) force application under specific use conditions, so that the chassis is greatly damaged, and particularly, instability (line contact or even point contact) is easily generated when the chassis wheels (or the crawler belts) are stressed, so that the vehicle is easily overturned, and a large accident is caused.

Some functions of the chassis in the prior art can solve some of the above defects, but can not solve all the above defects at the same time; the technical advantage of the utility model is that solve all defects above simultaneously, for this reason we have designed a formula of hindering more all topography self-leveling vehicle chassis and have solved above problem.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the defects existing in the prior art and providing a barrier-crossing type all-terrain self-leveling vehicle chassis.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

an obstacle-crossing type all-terrain self-leveling vehicle chassis comprises a chassis device, wherein the chassis device comprises a driving assembly, a chassis frame, a working platform and an adjustable connecting structure, and the driving assembly is arranged on two sides of the bottom of the chassis frame;

the top of the chassis frame is connected with the working platform, the bottom of the chassis frame is hinged with an adjustable connecting structure, and the other end of the adjustable connecting structure is connected with the driving assembly;

the chassis frame can adjust the height difference between two sides of the working platform along the advancing direction of the chassis device;

the chassis frame can adjust the space between the two sides of the driving assembly, and can adjust the height difference between the two sides of the working platform perpendicular to the advancing direction of the chassis device.

Preferably, main support shafts are arranged on the inner sides of the driving assemblies on two sides, a first pin shaft is connected between one end of the adjustable connecting structure and the chassis frame, a second pin shaft is connected between the other end of the adjustable connecting structure and the main support shafts of the driving assemblies, a first oil cylinder is rotatably connected between one side of the middle part of the chassis frame and the main support shaft on one side, and a second oil cylinder is rotatably connected between one side of the middle part of the chassis frame and the main support shaft on the other side; the top of the chassis frame is connected with a working platform, and a pitching oil cylinder is detachably and rotatably connected between the front end of the chassis frame and the working platform.

Preferably, the driving assembly is composed of a main supporting shaft and a driving wheel, and the driving wheel is one of a wheel and a driving track.

Preferably, the adjustable connecting structure is four groups of parallelogram connecting mechanisms, two groups of parallelogram connecting mechanisms are respectively connected to two sides of the bottom of the chassis frame, one group of parallelogram connecting mechanism comprises two adjusting rods arranged in parallel, and two ends of the two adjusting rods are respectively hinged to the main supporting shaft and the chassis frame.

Preferably, the two adjusting rods are fixed rods or telescopic rods, and the telescopic rods are of an automatic telescopic structure of the air cylinder.

Preferably, the chassis frame comprises a first hinged part, a second hinged part and a chassis, the bottom of the first hinged part is fixedly connected with the chassis, the chassis frame is connected with the working platform through the second hinged part, the chassis frame is connected with an adjustable connecting structure through the chassis in a hinged mode, the top of the first hinged part is connected with the bottom of the second hinged part in a hinged mode, mounting clamping grooves are formed in two sides of the top of the second hinged part, and a connecting frame structure matched with the mounting clamping grooves is arranged at the bottom of the working platform.

Preferably, the chassis frame is fixedly connected with the working platform through a second hinge member, and the connection mode is one of welding or detachable connection.

Preferably, articulated shafts are respectively connected between the two ends of the pitching oil cylinder and the chassis frame and between the two ends of the pitching oil cylinder and the working platform.

Preferably, the control mode of the first oil cylinder and the second oil cylinder comprises single action or linkage.

Preferably, the chassis device is further provided with a motion controller, an inclination angle sensor and a level sensor, and the motion controller, the inclination angle sensor and the level sensor are in wireless connection with the electronic equipment through wireless signals.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the left and right parallelogram connecting mechanisms are connected with a first oil cylinder or a second oil cylinder; the universal working platform on the upper layer is connected with the pitching oil cylinder, according to the three-point leveling principle, when the universal working platform is used, the motion controller, the inclination angle sensor and the level sensor are connected with the electronic equipment through wireless signals, the electronic equipment is enabled to remotely and intelligently control the chassis device through wireless signals, signals fed back by the inclination angle sensors and the level sensor are combined, continuous operation can be carried out, and instructions are sent to the first oil cylinder, the second oil cylinder and the pitching oil cylinder to carry out dynamic adjustment, so that the universal working platform on the upper layer can be always kept in a horizontal state.

2. The left and right parallelogram connecting mechanisms are connected with a first oil cylinder or a second oil cylinder, and the first oil cylinder and the second oil cylinder can be independently operated or linked; when one oil cylinder extends out, the first oil cylinder or the second oil cylinder drives the corresponding adjustable connecting structure to move, and meanwhile, because the adjustable connecting structure is four groups of parallelogram connecting mechanisms which are in hinged connection with the driving assembly, the corresponding driving assembly expands outwards, so that the track gauge of the whole chassis frame is increased; similarly, when a certain oil cylinder retracts, the track gauge is correspondingly reduced. According to the field requirement, the track gauge can be adjusted on a single side and can also be adjusted at the same time.

3. When the left ground and the right ground have height difference, the first oil cylinder or the second oil cylinder can be respectively operated singly or linked. This may be required to be either high end down or low end up, or both. When one oil cylinder extends out, the oil cylinder drives the corresponding parallelogram mechanism to move, and simultaneously, because the quadrilateral mechanism is hinged with the driving assembly, the corresponding driving assembly expands outwards, so that the end is lifted. Similarly, when a certain oil cylinder retracts, the end correspondingly descends, and the height of the left wheel and the right wheel (or the crawler belt) of the chassis under the technical condition can be independently adjusted in a one-key mode.

4. The height of a driving wheel or a driving crawler belt is adjusted independently and the height of the whole chassis frame is adjusted: wherein, drive wheel or drive track guarantee with ground full time face contact: because the main supporting shaft is added, under the action of gravity, the driving wheels or the driving tracks are in a self-adaptive mode, do not need external force intervention, are self-adaptive within a parameter allowable range and are in surface contact with the ground all the time.

Drawings

Fig. 1 is a schematic structural view of an obstacle-crossing all-terrain self-leveling vehicle chassis provided by the present invention;

fig. 2 is a front view of an obstacle crossing type all-terrain self-leveling vehicle chassis proposed by the present invention;

fig. 3 is a side view of an obstacle crossing type all-terrain self-leveling vehicle chassis according to the present invention;

fig. 4 is a schematic structural view of a chassis frame of an obstacle-crossing all-terrain self-leveling vehicle chassis provided by the present invention;

fig. 5 is a structural diagram of the chassis frame and the connecting frame structure according to the second embodiment of the present invention.

In the figure: the device comprises a driving assembly 1, anadjustable connecting structure 2, a working platform 3, afirst oil cylinder 4, apitching oil cylinder 5, a main supportingshaft 6, achassis frame 7, a first articulatedpiece 701, a second articulatedpiece 702, achassis 703, asecond oil cylinder 8, a connectingframe structure 9, amounting clamping groove 10 and adriving wheel 11.

Detailed Description

In order to make the technical means, the creation features, the achievement purposes and the functions of the present invention easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below by combining with the drawings in the embodiments of the present invention, and obviously, the described embodiments are only some embodiments of the present invention, not all embodiments.

Referring to fig. 1-5, the obstacle-crossing type all-terrain self-leveling vehicle chassis comprises a chassis device, wherein the chassis device comprises a driving assembly 1, achassis frame 7, a working platform 3 and anadjustable connecting structure 2, and the driving assembly 1 is arranged on two sides of the bottom of thechassis frame 7;

thechassis frame 7 comprises afirst hinge part 701, asecond hinge part 702 and abase frame 703, thesecond hinge part 702 is hinged with thefirst hinge part 701, the bottom of thefirst hinge part 701 is fixedly connected with thebase frame 703, thechassis frame 7 is connected with the working platform 3 through thesecond hinge part 702, thechassis frame 7 is hinged with theadjustable connecting structure 2 through thebase frame 703, and the other end of theadjustable connecting structure 2 is connected with the driving assembly 1;

thechassis frame 7 can adjust the height difference between two sides of the working platform 3 along the advancing direction of the chassis device; thechassis frame 7 can adjust the space between the two sides of the driving assembly 1 and can adjust the height difference between the two sides of the working platform 3 in the direction perpendicular to the traveling direction of the chassis device; the driving assembly 1 is composed of a main supportingshaft 6 and adriving wheel 11, wherein thedriving wheel 11 is one of a wheel and a driving track;

the inner sides of the two-side driving assemblies 1 are respectively provided with a main supportingshaft 6, a first pin shaft is connected between one end of each adjustable connectingstructure 2 and thechassis frame 7, a second pin shaft is connected between the other end of each adjustable connectingstructure 2 and the main supportingshaft 6 of the driving assembly 1, eachadjustable connecting structure 2 is four groups of parallelogram connecting mechanisms, two groups of parallelogram connecting mechanisms are respectively connected to two sides of the bottom of thechassis frame 7, each group of parallelogram connecting mechanisms comprises two adjusting rods which are arranged in parallel, two ends of each adjusting rod are respectively hinged with the main supportingshaft 6 and thechassis frame 7, each adjusting rod is a fixed rod or a telescopic rod, and each telescopic rod is an automatic telescopic cylinder structure;

afirst oil cylinder 4 is rotatably connected between one side of the middle part of thechassis frame 7 and the main supportingshaft 6 at one side, and asecond oil cylinder 8 is rotatably connected between one side of the middle part of thechassis frame 7 and the main supportingshaft 6 at the other side; the control mode of thefirst oil cylinder 4 and thesecond oil cylinder 8 comprises single action or linkage;

the top of thechassis frame 7 is connected with the working platform 3, thepitching cylinder 5 can be detachably and rotatably connected between the front end of thechassis frame 7 and the working platform 3, and the two ends of thepitching cylinder 5 are respectively connected with the hinge shafts between thechassis frame 7 and the working platform 3.

Example one

In this embodiment, referring to fig. 1 to 4, thechassis frame 7 is fixedly connected to the working platform 3 through thesecond hinge member 702, wherein the connection manner is welding, and it should be noted that the chassis in this embodiment can carry the whole set of equipment of any other device; complete equipment such as a climbing machine, a carrier loader, an inspection robot, a fire-fighting robot, a search and rescue robot, a mine clearance robot and the like.

When the device is assembled, two sides of the four groups of parallelogram connecting mechanisms are respectively hinged with the chassis frame 7 and the main supporting shaft 6 of the driving assembly 1; wherein, the chassis frame 7 comprises a first articulated element 701, a second articulated element 702 and a chassis 703, the bottom of the first articulated element 701 is fixedly connected with the chassis 703, the chassis frame 7 is connected with the working platform 3 through the second articulated element 702, the chassis frame 7 is connected with the top of the first articulated element 701 of the adjustable connecting structure 2 and the bottom of the second articulated element 702 through the chassis 703 in an articulated manner, both sides of the top of the second articulated element 702 are provided with mounting clamping grooves 10, the bottom of the working platform 3 is provided with connecting frame structures 9 matched with the mounting clamping grooves 10, so when the working platform 3 is welded, firstly, the two connecting frame structures 9 are arranged in the mounting clamping grooves 10 for welding connection, then the working platform 3 is arranged at the top of the connecting frame structures 9, the top of the connecting frame structures 9 is welded with the bottom of the working platform 3, when welding, the top of the connecting frame structures 9 and the top of the second articulated element 702 are positioned on the same horizontal line, meanwhile, the top of the pitching oil cylinder 5 is fixedly connected with the bottom of the working platform 3 through a hinge shaft in a welding manner;

more specifically, the chassis device is also provided with a motion controller, an inclination angle sensor and a horizontal sensor, and the motion controller, the inclination angle sensor and the horizontal sensor are all arranged on thechassis frame 7 and used for monitoring the motion state of the working platform 3 in the motion process of the working platform 3; wherein, the model of the motion controller can be DATA-7311.

In the embodiment, the left and right parallelogram connecting mechanisms are connected with thefirst oil cylinder 4 or thesecond oil cylinder 8; the upper layer general working platform 3 and the pitchingoil cylinder 5 are connected, and thefirst oil cylinder 4 and thesecond oil cylinder 8 can be independently moved or linked according to a three-point leveling principle; when a certain oil cylinder extends out, thefirst oil cylinder 4 or thesecond oil cylinder 8 drives the corresponding adjustable connectingstructure 2 to move, meanwhile, because the adjustable connectingstructure 2 is four groups of parallelogram connecting mechanisms, the four groups of parallelogram connecting mechanisms are in hinged relation with the driving assembly 1, the corresponding driving assembly 1 expands outwards, and thus the track distance of thewhole chassis frame 7 is increased. Similarly, when a certain oil cylinder retracts, the track gauge is correspondingly reduced. According to the requirement of the site road, the track gauge can be adjusted on a single side, and can also be adjusted at the same time.

In this embodiment, more specifically, the height of the driving wheel 11 (wheel or driving track) is adjusted individually and the height of thechassis frame 7 is adjusted as a whole: wherein the driving wheel 11 (wheel or driving track) is guaranteed to be in full-time surface contact with the ground: because the main supportingshaft 6 is added, under the action of gravity, the driving wheel 11 (wheels or driving tracks) is in a self-adaptive mode, does not need external force intervention, is self-adaptive within a parameter allowable range and is always in surface contact with the ground;

when the left ground and the right ground have height difference, thefirst oil cylinder 4 or thesecond oil cylinder 8 can be singly moved or linked respectively. This may require high end descent or low end ascent, or both. When a certain oil cylinder extends out, theoil cylinder 4 drives thecorresponding parallelogram mechanism 2 to move, and simultaneously, because theparallelogram mechanism 2 is hinged with the driving assembly 1, the corresponding driving assembly 1 expands outwards, so that the end is lifted. Similarly, when one oil cylinder retracts, the end correspondingly descends. According to the field requirement, when the device is used, the motion controller, the inclination angle sensor and the level sensor are connected with the electronic equipment through wireless signals, the electronic equipment remotely and intelligently controls the chassis device through wireless signals, the motion controller can continuously calculate and send instructions to thefirst oil cylinder 4, thesecond oil cylinder 8 and the pitchingoil cylinder 5 to dynamically adjust according to the algorithm and the signals fed back by the inclination angle sensors and the level sensor, so that the upper-layer general working platform can be always kept in a horizontal state, and can intelligently and automatically adjust instantly without human intervention in a remote intelligent mode.

Example two

In this embodiment, referring to fig. 5, the device body provided in this embodiment has substantially the same structure as the device body provided in embodiment 1, except that thechassis frame 7 is fixedly connected to the working platform 3 through thesecond hinge member 702, wherein the connection mode is detachable connection, and it should be noted that the chassis in this solution can carry the whole set of equipment of any other device; complete equipment such as a climbing machine, a carrier loader, an inspection robot, a fire-fighting robot, a search and rescue robot, a mine clearance robot and the like;

the detachable connection mode can realize flexible detachment and replacement of any other carried devices, and during assembly, two sides of the four groups of parallelogram connection mechanisms are respectively hinged with the chassis frame 7 and the main support shaft 6 of the driving assembly 1; wherein, the chassis frame 7 comprises a first hinge part 701 and a second hinge part 702, the top of the first hinge part 701 is hinged with the bottom of the second hinge part 702, both sides of the top of the second hinge part 702 are provided with installation clamping grooves 10, the bottom of the working platform 3 is provided with a connecting frame structure 9 matched with the installation clamping grooves 10, so that when the working platform 3 (any one of complete equipment such as a climbing machine, a carrier loader, an inspection robot, a fire-fighting robot, a search and rescue robot, a mine-clearing robot and the like) is connected, firstly, fixing holes are arranged on the two connecting frame structures 9 at positions corresponding to the bottoms of the installation clamping grooves 10, the two connecting frame structures 9 are fixedly connected with the bottom of the working platform 3 (any one of complete equipment such as the climbing machine, the carrier loader, the inspection robot, the fire-fighting robot, the search and rescue robot, the mine-clearing robot and the like), and then, the two connecting frame structures 9 are inlaid in the installation clamping grooves 10 and fixedly connected through the fixing holes matched with each other Install fitting pin fixed connection, thereby can fixed mounting work platform 3, when needs are changed the work platform 3 at 7 tops of base frame, direct dismantle the fitting pin that lets between two link structures 9 and the installation slot 10, after that let the bottom welded fastening of two link structures 9 and another kind of work platform 3 (machine of ascending a height, the carrier loader, patrol and examine the robot, the fire-fighting robot, the search and rescue robot, in complete sets such as mine clearance robot other arbitrary one) be connected, then let two link structures 9 inlay and install fitting pin fixed connection through the fixed orifices of looks adaptation in installation slot 10 is inside, thereby can change another kind of work platform 3 of installation.

Based on the above description, the utility model discloses the advantage lies in: through the product of development among this technical scheme, can effectively solve vehicle chassis and be in the horizontality all the time at other mechanisms or materials that carry on under the circumstances such as parallel climbing, slope climbing, passing through the barrier. The chassis can adapt to very harsh pavements, can adapt to complex work site requirements, and can solve the application problem which can not be solved by most similar products. Meanwhile, other mechanisms carried by the device can effectively work according to the parameters of the original design (if the device is not horizontal, the use of a plurality of mechanisms is seriously limited). If the general platform is only loaded with materials, the mechanism can also exert the optimal performance compared with the similar products when strict requirements are imposed on the horizontal direction, such as glass, ceramic and the like.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and for simplicity of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that various changes and modifications may be made without departing from the spirit and scope of the invention, and all such changes and modifications are intended to fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (10)

1. An obstacle-crossing type all-terrain self-leveling vehicle chassis comprises a chassis device and is characterized in that the chassis device comprises a driving assembly (1), a chassis frame (7), a working platform (3) and an adjustable connecting structure (2), wherein the driving assembly (1) is arranged on two sides of the bottom of the chassis frame (7);

the top of the chassis frame (7) is connected with the working platform (3), the bottom of the chassis frame (7) is hinged with an adjustable connecting structure (2), and the other end of the adjustable connecting structure (2) is connected with the driving assembly (1);

the chassis frame (7) can adjust the height difference between two sides of the working platform (3) along the advancing direction of the chassis device;

the chassis frame (7) can adjust the distance between two sides of the driving assembly (1) and can adjust the height difference between two sides of the working platform (3) perpendicular to the advancing direction of the chassis device.

2. The obstacle crossing type all-terrain self-leveling vehicle chassis is characterized in that main supporting shafts (6) are arranged on the inner sides of the driving assemblies (1) on two sides, a first pin shaft is connected between one end of the adjustable connecting structure (2) and the chassis frame (7), a second pin shaft is connected between the other end of the adjustable connecting structure (2) and the main supporting shafts (6) of the driving assemblies (1), a first oil cylinder (4) is rotatably connected between one side of the middle of the chassis frame (7) and the main supporting shaft (6) on one side, and a second oil cylinder (8) is rotatably connected between one side of the middle of the chassis frame (7) and the main supporting shaft (6) on the other side; the top of the chassis frame (7) is connected with a working platform (3), and a pitching oil cylinder (5) can be detachably and rotatably connected between the front end of the chassis frame (7) and the working platform (3).

3. An all terrain self-levelling vehicle chassis of the over-the-obstacle type according to claim 2, characterised in that the drive assembly (1) is formed by a main support shaft (6) and a drive wheel (11), the drive wheel (11) being one of a wheel and a drive track.

4. The obstacle-crossing all-terrain self-leveling vehicle chassis as claimed in claim 2, wherein the adjustable connecting structures (2) are four sets of parallelogram connecting mechanisms, two sets of parallelogram connecting mechanisms are respectively connected to two sides of the bottom of the chassis frame (7), one set of parallelogram connecting mechanism comprises two adjusting rods which are arranged in parallel, and two ends of the two adjusting rods are respectively hinged with the main supporting shaft (6) and the chassis frame (7).

5. The chassis of claim 4, wherein the two adjusting rods are one of fixed rods and telescopic rods, and the telescopic rods are of cylinder automatic telescopic structures.

6. The obstacle crossing all-terrain self-leveling vehicle chassis according to claim 1, characterized in that the chassis frame (7) comprises a first articulated piece (701), a second articulated piece (702) and a bottom frame (703), the bottom of the first articulated piece (701) is fixedly connected with the bottom frame (703), the chassis frame (7) is connected with the work platform (3) through the second articulated piece (702), the chassis frame (7) is connected with an adjustable connecting structure (2) through the bottom frame (703) in an articulated manner, the top of the first articulated piece (701) is connected with the bottom of the second articulated piece (702) in an articulated manner, mounting clamping grooves (10) are formed in two sides of the top of the second articulated piece (702), and a connecting frame structure (9) matched with the mounting clamping grooves (10) is formed in the bottom of the work platform (3).

7. An all terrain self-levelling vehicle chassis according to claim 6 in which the chassis frame (7) is fixedly connected to the work platform (3) by a second hinge (702), the connection being one of welded or releasable.

8. The chassis of the obstacle crossing type all-terrain self-leveling vehicle as claimed in claim 2, wherein hinged shafts are respectively connected between two ends of the pitching cylinder (5) and the chassis frame (7) and the working platform (3).

9. An obstacle crossing all terrain self-levelling vehicle chassis according to claim 2 in which the control of the first (4) and second (8) cylinders comprises a single action or a linkage.

10. The chassis of claim 1, wherein the chassis device is further provided with a motion controller, an inclination sensor and a level sensor, and the motion controller, the inclination sensor and the level sensor are wirelessly connected with electronic equipment through wireless signals.

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