CN113576781A

CN113576781A - Flat ground walking method of mobile mechanical platform

Info

Publication number: CN113576781A
Application number: CN202110910064.5A
Authority: CN
Inventors: 肖善华; 段鑫; 陈琪
Original assignee: Yibin Vocational and Technical College
Current assignee: Yibin Vocational and Technical College
Priority date: 2021-08-09
Filing date: 2021-08-09
Publication date: 2021-11-02
Anticipated expiration: 2041-08-09
Also published as: CN113576781B

Abstract

The invention discloses a flat ground walking method of a mobile mechanical platform, which is characterized in that when the ground flatness is low, a crawler device below the mobile mechanical platform is controlled to be lowered, so that a crawler is in contact with the ground and supports the mobile mechanical platform to run; when the ground flatness is high, the crawler device below is controlled to lift upwards, so that the land leveling wheels at the front end and the rear end of the crawler are in contact with the ground and support the equipment to run. The invention has the advantages of better controlling the equipment to adapt to different flatness conditions to walk on the ground, reducing the loss of the crawler belt and prolonging the service life.

Description

Flat ground walking method of mobile mechanical platform

Technical Field

The invention relates to crawler traveling equipment comprising a wheelchair, in particular to a flat ground traveling method for a mobile mechanical platform.

Background

The wheelchair or the mobile wheelchair refers to a movable chair specially used for the elderly or people with inconvenient legs and feet, and the lower end of the chair is provided with wheels to replace walking. A pair of large walking wheels is arranged at the lower ends of two sides of a common movable wheelchair, and then a pair of small auxiliary wheels is arranged at two sides of the front of the common movable wheelchair.

In the prior art, wheelchairs partially using a crawler belt to replace a walking wheel as a walking mechanism exist. A tracked power-assisted wheelchair such as that disclosed in CN 201420594373.1; CN201820333270.8 discloses a transformable crawler wheelchair; CN202021230877.7 discloses a tracked wheelchair for orthopedic patients; patents such as the crawler-type wheelchair with a retractable storage function disclosed in CN202021092616.3 are all the same as the above-mentioned configuration.

The wheel chair adopting the crawler belt as the walking mechanism is more convenient to use when going up and down stairs, and meanwhile, when walking on flat ground, the walking stability of the wheel chair can be greatly improved by the crawler belt when the road surface is not flat. However, when the wheelchair travels on a very flat ground, the crawler belt is continuously adopted, so that the traveling speed of the wheelchair is reduced, the loss of a crawler belt mechanism is accelerated, and the service life of the wheelchair is shortened.

Disclosure of Invention

Aiming at the defects of the prior art, the technical problems to be solved by the invention are as follows: the flat ground walking method of the mobile mechanical platform can better control equipment to adapt to walking on the ground under different flatness conditions, reduce the loss of a crawler belt and prolong the service life.

In order to solve the technical problems, the invention adopts the following technical scheme:

a flat ground walking method of a mobile mechanical platform is characterized in that when the ground flatness is low, a crawler device below the mobile mechanical platform is controlled to be lowered, so that a crawler is in contact with the ground and supports the mobile mechanical platform to run; when the ground flatness is high, the crawler device below is controlled to lift upwards, so that the land leveling wheels at the front end and the rear end of the crawler are in contact with the ground and support the equipment to run.

The mobile mechanical platform can be a wheelchair or a mobile mechanical platform comprising mechanical categories such as an agricultural harvester, a pesticide spraying machine, a seeder and the like which move by adopting crawler walking. Followed by an example of a wheelchair. In this scheme, through carrying out lifting control to crawler attachment, when the road surface is not at ordinary times, lean on the track to transfer and support the walking, greatly improve the stationarity of wheelchair walking, improve the personnel's travelling comfort of taking. When the road surface is level, the track rises and supports the walking by the flat ground wheels arranged at the front end and the rear end of the track, so that the walking portability is improved, the wheelchair is better controlled to move forwards, the track is prevented from reducing the walking speed and abrasion, the walking noise of the track is reduced, and the service life of the wheelchair is prolonged. Whether the road surface is flat or not can be controlled after being observed and judged by a passenger, and also can be automatically controlled by detecting feedback through a vibration sensor arranged on the wheelchair, when the wheelchair detects that the vibration is large in the ground driving process, the road surface is judged to be uneven, and when the vibration is small, the road surface is judged to be flat. The specific control threshold may be adjusted according to the comfort of the user.

Further, when the ground inclination is larger, the crawler device below the mobile mechanical platform is controlled to be lowered, so that the crawler is in contact with the ground and supports the mobile mechanical platform to run.

Therefore, when the wheelchair travels on the ground, the ground inclination is judged firstly, and when the inclination is larger, the crawler belt is controlled to be lowered and is in contact with the ground to support the wheelchair to travel, so that the stability of the wheelchair traveling control is improved better. When the ground inclination is smaller, control is carried out according to the ground flatness. The ground running control of the wheelchair is more reliable and stable. The ground inclination can be controlled after being observed and judged by a passenger, and can also be automatically controlled by detecting feedback through a wheelchair inclination angle detection device arranged on the wheelchair.

Further, the method is realized by means of a crawler lifting wheelchair, the wheelchair comprises a base frame, a seat is mounted on the base frame, a crawler device is mounted below the base frame, a pair of land leveling wheels are mounted at the front end and the rear end of the crawler device respectively, the lower surface of the land leveling wheels is higher than the lower surface of a crawler when the wheelchair is in a normal running state (running supported by the crawler), and a crawler lifting control mechanism is further mounted between the base frame and the crawler device and can control the crawler to lift upwards and enable the lower surface of the crawler to be higher than the lower surface of the land leveling wheels.

The structure of the wheelchair device with the liftable crawler can better realize the method.

Further, the bed frame includes two preceding support arms and two back support arms that control the setting side by side, and the preceding support arm rear end and the back support arm front end tilt up of homonymy and link to each other and constitute triangle-shaped, still has horizontally connecting means between two preceding support arms and/or between two back support arms (when implementing, connecting means includes back support arm connecting plate and preceding support arm connecting plate) and connects into a whole, preceding support arm length is less than back support arm length, the seat is installed on the back support arm first half section.

Such bed frame has simple structure, and the focus is stable, makes things convenient for advantages such as the steady adjustment control of seat.

Further, crawler attachment includes bilateral symmetry and follows the two pairs of track mounting panels that set up around, on the track mounting panel to outside horizontal installation have a row of track shaft, install the athey wheel on the track shaft, the track is installed in the outer winding of athey wheel, and form bilateral symmetry and along the two pairs of tracks that set up around, a pair of track mounting panel rear end in the place ahead and a pair of track mounting panel front end in the place ahead articulate simultaneously in a promotion pivot that sets up along the left and right sides direction level, a pair of track mounting panel front portion in the place ahead respectively with corresponding front boom front end rotatable coupling, a pair of track mounting panel rear portion in the place behind respectively with corresponding rear boom rear end rotatable coupling, a pair of track mounting panel front end in the place ahead still installs forward and is provided with a pair of land leveling wheel, a pair of track mounting panel rear end in the place behind also installs backward and is provided with a pair of land leveling wheel.

Like this, a pair of track and rotatable coupling setting are respectively installed around the crawler attachment, make its simple structure, and the track installation is reliable and stable, and the promotion pivot that conveniently rotates the junction through the front and back track realizes crawler attachment's promotion control simultaneously. In the crawler belt device lifting control process, the front crawler belt and the rear crawler belt are made to form included angles, the crawler belt device can be further applied to going upstairs and downstairs, and the stair climbing performance of the wheelchair is conveniently improved. Preferably, the front track mounting plate and track length are less than the rear track mounting plate and track length. Make the focus that the whole wheelchair can be supported independently to the rear track like this, the control that realizes around the track angle change better when conveniently climbing stair to keep the focus stable better in control process.

Furthermore, the crawler lifting control mechanism comprises a lifting screw rod which is obliquely arranged, the lower end of the lifting screw rod is rotatably connected to the middle position of the lifting rotating shaft, the upper end of the lifting screw rod obliquely extends backwards and upwards and penetrates through a rear support arm connecting plate which is connected between two rear support arms, a screw rod abdicating hole for the lifting screw rod to penetrate out is formed in the rear support arm connecting plate, nut seat mounting lugs are arranged on two sides of the screw rod abdicating hole, a nut seat is hinged to the nut seat mounting lugs, a lifting nut which is in threaded screwing fit with the lifting screw rod is mounted on the nut seat, and a lifting motor which is in transmission connection with the lifting nut is further mounted on the nut seat; the rear end of the front support arm is rotatably connected with the front end of the rear support arm. Furthermore, the lifting motor is a stepping motor, and is more convenient and accurate to control.

Like this, during the ground walking, when the lower crawler-belt walking state that needs of ground flatness, two pairs of track mounting panels and two pairs of tracks in front and back are the horizontality. When the ground flatness is high, the lifting track is required to be converted into a mode of supporting and walking by virtue of the land leveling wheels, the lifting nut is controlled to rotate by virtue of the lifting motor, the lifting lead screw is driven by the lead screw nut transmission mechanism to lift upwards, the lifting lead screw is depended on, the front and rear track mounting plates and the connecting rod transmission pair formed between the front and rear support arms, so that when the connecting positions of the two pairs of track mounting plates lift upwards, the two pairs of land leveling wheels at the front and rear ends of the track can tilt downwards and contact with the ground, and the purpose of supporting and running by virtue of the land leveling wheels to the wheelchair can be realized. Therefore, the structure has the advantages of simple structure, convenient control, stable and reliable state conversion, accurate control of the lifting height and the like.

Meanwhile, the structure can also be beneficial to the auxiliary control of the wheelchair to go up and down stairs. The wheelchair stairs ascending and descending method is realized based on the crawler device and the crawler lifting control mechanism, specifically, when the wheelchair needs to ascend stairs (the front part of the stairs is in a crawler supporting and walking state), after the front end of a front crawler contacts with the lowest step of the stairs, the front end of a front crawler mounting plate is enabled to tilt upwards (the gravity center of the wheelchair can be kept stable when the rear arm is longer) after the lifting screw extends downwards (because the rear arm is longer) and the lifting screw is controlled to stop moving; the seat is controlled and driven to move forward continuously, and after the whole crawler in front is contacted with the stair steps, the seat is controlled to move forward while the lifting screw rod is controlled to reset reversely. And climbing the stairs obliquely upwards after the front crawler belt and the rear crawler belt are restored to be along the same straight line direction. Climbing stair surpass the top one-level step to the place ahead track front end after, can control the promotion lead screw and upwards promote for form ascending inclination between place ahead track and the rear track, make things convenient for the place ahead track front end to contact stair upper end ground downwards in advance and improve support stability, after the rear track surpassed the top one-level step of stair, control promotes the reverse reset of lead screw, and the front and back track resumes to the horizontality and supports and travel. When going down stairs, the control process is operated reversely, and the control can be realized by the same principle. Therefore, the wheelchair can be very stable and reliable in the process of going upstairs and downstairs, particularly in the connection transition stage between the stair steps for going in and out and the upper and lower flat lands, the supporting contact points of the wheelchair, the ground and the steps can be better increased, and the stability of the wheelchair passing through the connection transition position of the step ground is greatly improved. Therefore, the ability and the stability of the wheelchair for climbing stairs can be greatly improved.

Furthermore, a crawler traveling motor is further mounted on the crawler mounting plate and is in transmission connection with the crawler wheel, and a land leveling wheel traveling motor is further arranged and is in transmission connection with the land leveling wheel. Therefore, the crawler belt and the flat land wheel are respectively controlled by the corresponding motors, and the flexibility and the reliability of control can be conveniently improved.

Furthermore, an automatic control system is further installed on the base frame and comprises a control center, the lifting motor, the crawler traveling motor and the land leveling wheel motor are respectively connected with the control center, the automatic control system further comprises a vibration sensor and a wheelchair inclination angle detection device which are installed on the base frame, and the vibration sensor and the wheelchair inclination angle detection device are respectively connected with the control center. When the wheelchair inclination angle detection device is implemented, the wheelchair inclination angle detection device can be implemented by adopting an inclination angle sensor or a gyroscope. When the gyroscope is adopted for realizing, the acceleration condition of the wheelchair can be detected simultaneously, and the auxiliary control can be better realized.

Thus, the control center can be provided with a ground walking automatic control program, the detection and control of the state of the wheelchair are realized by the aid of the vibration sensor and the wheelchair inclination angle detection device, when the detection value of the wheelchair inclination angle detection device is larger than a control threshold value, the situation that the ground inclination is larger is judged to be in a slope state, the control crawler belt is lowered to the whole body to be in a front-back straight line state and to be in contact with the ground, and the wheelchair is supported by the crawler belt to run; when the wheelchair inclination angle detection device detects that the value is smaller than the control threshold value, the state that the ground inclination is smaller is judged, the value of the vibration sensor is detected again, when the value of the vibration sensor is smaller than the control threshold value, the ground is judged to be a flat state, the crawler is controlled to ascend and is supported by the flat wheels arranged at the front end and the rear end of the crawler to walk in a contact mode, when the value of the vibration sensor is larger than the control threshold value, the ground is judged to be an uneven state, and the crawler is controlled to descend and is supported by the ground in a contact mode to walk. Therefore, the automatic control system can realize automatic detection and automatic switching control of the driving state of the wheelchair under various conditions such as inclined ground conditions (ascending and descending), horizontal ground conditions, flat ground conditions and uneven ground conditions in the horizontal ground. Greatly improving the running stability of the wheelchair. When the method is implemented, a main control chip of a control center can adopt an STM32 series 32-bit Flash microcontroller based on an ARM Cortex multi-M processor, and can provide a new development degree of freedom for MCU users. The digital signal processing circuit comprises a series of 32-bit products, integrates the characteristics of high performance, real-time function, digital signal processing, low power consumption, low voltage operation and the like, and simultaneously keeps the characteristics of high integration level and easiness in development. In addition, when the system is implemented, the control center can be in communication connection with the mobile phone, and part of the control program and the operation interface are installed on the mobile phone, so that a user can control and operate the system more conveniently.

Further, the rear end of the rear support arm is provided with extension arms extending horizontally backwards, and the control center is installed on a connecting plate between the extension arms. Therefore, the installation and the arrangement of the control part are convenient, the integral gravity center of the wheelchair is kept at a position relatively leaning backwards, and the rear crawler belt can support the weight of the wheelchair independently to facilitate the state conversion control.

Further, still be provided with track mounting panel horizontal docking mechanism between the track mounting panel of the track mounting panel in the place ahead and the track mounting panel at rear, track mounting panel horizontal docking mechanism includes the butt joint of horizontal fixed mounting in front track mounting panel rear end or rear track mounting panel front end and uses telescopic link device, still includes just to the grafting sleeve of setting on other end track mounting panel of telescopic link device for the butt joint.

Therefore, when the crawler mounting plates are used for being in contact with the ground to walk, the telescopic rods of the telescopic rod devices for butt joint can be controlled to extend out of the inserting sleeves inserted on the crawler mounting plates at the other end, and the front crawler mounting plates and the rear crawler mounting plates are fixedly connected into a whole along a straight line. Therefore, stable triangular supports are formed between the front and rear crawler mounting plates and the front and rear support arms, the influence of instability of the four-bar linkage on the driving stability of the wheelchair is avoided, the supporting pressure of the lifting screw rod can be released, and thread damage or seizure caused by overlarge axial pressure between the lifting screw rod and the lifting nut is avoided; the stable normal operation of the lifting control mechanism is ensured, and the service life of the device is prolonged. Wherein the butt joint is realized by preferably adopting an electric cylinder by using the telescopic rod device, and the control is more convenient.

Furthermore, the positions of the upper sides of the front and the rear two pairs of track mounting plates close to the outer ends (the front track mounting plate is close to the front end, and the rear track mounting plate is close to the rear end) are also provided with short connection fixed support arms (the short connection refers to the short connection is relatively short in length) which extend obliquely inwards and upwards (the rear upper part of the front track mounting plate and the front upper part of the rear track mounting plate), the track mounting plates are respectively rotatably connected with the front end of the front support arm and the rear end of the rear support arm by the upper ends of the short connection fixed support arms, the outer ends of the two pairs of crawler belt mounting plates in the front and back directions are respectively connected with a land leveling wheel mounting arm outwards, one end of the land leveling wheel mounting arm is vertically and rotatably connected with the end part of the crawler belt mounting plate, the other end of the land leveling wheel mounting arm is provided with a land leveling wheel, a land leveling wheel motor is arranged on the land leveling wheel mounting arm, and a flat land wheel mounting arm rotation control motor is further arranged on the crawler mounting plate and is in transmission connection with the flat land wheel mounting arm.

After optimizing like this, conveniently increase the rotatable angle control range between track mounting panel and the front and back support arm, also can be convenient for adjust the upper and lower height of land leveling wheel in a flexible way as required. Moreover, more importantly, the length and the inclination angle of the short connection fixed support arms can be set, so that when the lifting screw rod is lifted upwards and is changed into a ground wheel supporting and walking state, the front short connection fixed support arm and the rear short connection fixed support arm just rotate to a vertical state; at the moment, the rotation of the land wheel mounting arm is controlled to be in a vertical state only by the land wheel mounting arm rotation control motor, so that the land wheel can directly transmit the supporting force to the rotating shaft at the end part of the base frame upwards along the vertical direction through the vertical land wheel mounting arm and the short connection fixed support arm. In the process of the wheelchair walking by depending on the support of the land leveling wheels, the vertical pressure on the land leveling wheels can be offset by the rotating shaft which is right opposite to the land leveling wheels in the vertical direction. The phenomenon that the supporting pressure is too much acted on the lifting screw rod to cause that the axial pressure between the lifting screw rod and the lifting nut is too large to generate thread damage or seizure is avoided; the stable normal operation of the lifting control mechanism is ensured, and the service life of the device is prolonged.

Furthermore, the automatic control system also comprises a land leveling wheel pressure detection sensor arranged between the mounting shaft of the land leveling wheel and the land leveling wheel mounting arm, and crawler wheel pressure detection sensors arranged between the mounting shafts of the crawler wheels and the crawler mounting plates, wherein the land leveling wheel pressure detection sensor and the crawler wheel pressure detection sensors are respectively connected with the control center.

In the process of controlling the wheelchair to go up and down the stairs, automatic control can be realized by means of an automatic stair-climbing control program arranged in a control center, specifically, when the wheelchair travels on flat ground and a flat ground wheel at the front end touches steps of the stairs, a flat ground wheel pressure detection sensor detects a touch pressure signal and can start to control a lifting screw rod to extend downwards, so that the front end of a front crawler belt gradually tilts upwards to prepare for climbing the stairs; the running state of the wheelchair can be judged and controlled to be adjusted through the pressure change condition detected by each crawler wheel pressure detection sensor in the process of climbing stairs. Specifically, when climbing stairs, the wheelchair moves forwards at the same time and controls the front end of the front crawler belt to tilt upwards and gradually contact with the stair climbing steps, the pressure change condition of each crawler wheel on the front crawler belt is gradually increased from front to back, when the pressure detection sensors of each crawler wheel on the front crawler belt detect pressure balance, the front crawler belt is judged to completely enter the stair climbing steps, and the included angle between the front crawler belt and the rear crawler belt is consistent with the included angle of stair inclination; at the moment, the wheelchair is continuously controlled to move forwards and the lifting screw rod is controlled to gradually move upwards and reversely reset until the pressure of each crawler wheel on the rear crawler belt is recovered and the pressure of each crawler wheel on the front crawler belt is kept consistent; judging that the front and rear tracks enter the steps of the stairs; then controlling the lifting screw rod to stop moving and keeping the front and rear tracks in a linear state to climb the stairs; when the stairs are climbed, when the pressure of the crawler wheels on the front crawler belt is detected to be suddenly released from the front to the back, the wheelchair is judged to reach the upper end position of the stairs, and when the pressure of the crawler wheels on the front crawler belt is completely released, the wheelchair is controlled to stop; and then controlling the lifting screw rod to lift upwards to enable the front end of the front crawler to rotate downwards gradually, judging that the front crawler lands when the crawler wheels on the front crawler detect pressure again, controlling the wheelchair to move forwards and simultaneously controlling the lifting screw rod to reset downwards and reversely gradually, and judging that the wheelchair enters the horizontal ground above the stair steps until the pressures of the crawler wheels on the front crawler and the rear crawler are consistent, so that the stair step climbing control process is completed.

Then, the automatic control process of the steps of going downstairs is that when the pressure of each crawler wheel on the front crawler belt is suddenly released from front to back, the upper end edge of the steps of going downstairs is judged to have entered, when the pressure of each crawler wheel on the front crawler belt is released, the wheelchair is controlled to stop firstly, then the lifting screw rod is controlled to lift upwards, the front end of the front crawler belt rotates downwards, when the pressure of each crawler wheel on the front crawler belt is recovered, the front crawler belt is judged to have contacted with the steps of going downstairs, and at the moment, the wheelchair is controlled to continue to move forwards and then the lifting screw rod is controlled to reset reversely; until the pressure of each crawler wheel on the rear crawler belt is recovered and the pressure of each crawler wheel on the front crawler belt is kept consistent; judging that the front and rear tracks enter the downstairs steps; then controlling the lifting screw rod to stop moving and keeping the front and rear tracks in a linear state to go downstairs; when the flat ground wheels at the front end suddenly detect a touched pressure signal when going downstairs, the front-end crawler belt is judged to reach the ground below the downstairs, the lifting screw rod is gradually controlled to extend downwards, the front crawler belt is tilted upwards, the front resistance is reduced, the pressure of each crawler wheel on the rear crawler belt is kept consistent and the crawler belt continues to move forwards, when the pressure of the front-end crawler wheel on the rear crawler belt is suddenly increased, the rear crawler belt is judged to start to enter the ground below the downstairs, the lifting screw rod is controlled to reset upwards at the moment until the rear crawler belt completely enters the ground below the downstairs, the lifting screw rod is stopped to move all the time under the pressure of the crawler wheels on the front and rear crawler belts, the front and rear crawler belts keep running linearly, and the automatic control of the downstairs is completed. Therefore, the wheelchair can be operated and controlled to go up and down stairs stably and reliably. In the automatic control process, the control on the inclined state of the wheelchair can be realized by the aid of a wheelchair inclination angle detection device in an automatic control system, and the reliability of judgment on the inclined state of the wheelchair and the stability of control are improved.

Further, the front end of the seat is provided with a step extending in a forward downward curved manner. Thus being more convenient for people to take.

Further, a seat adjusting device is arranged between the seat and the base frame, and the seat adjusting device comprises a seat rotation adjusting mechanism and a seat front-back adjusting mechanism which are arranged between the seat and the base frame.

Therefore, the fore-and-aft movement adjustment and the rotation adjustment of the seat are conveniently realized, and the passengers can get on and off the wheelchair conveniently.

Further, the seat rotation adjusting mechanism comprises a pair of seat supporting lug plates which are oppositely arranged left and right and are arranged on the left and right sides of the base frame, and further comprises a pair of seat mounting plates which are positioned on the inner sides of the seat supporting lug plates, the seat is mounted between the seat mounting plates, the upper end positions of the seat mounting plates on the two sides and the seat supporting lug plates between the seat mounting plates on the two sides are respectively in rotatable connection with the seat rotating shaft in the left and right directions, an arc-shaped groove is further formed below the outer side of each seat mounting plate, the lower surface of the groove is a section of inner gear which takes the seat rotating shaft as the center of a circle, an outer gear meshed with the inner gear is mounted on each seat supporting lug plate, a seat rotation control motor is further mounted on each seat supporting lug plate, and the seat rotation control motor is in transmission connection with the outer gear.

Like this, seat rotation adjustment mechanism can rely on seat rotation control motor, and the control external gear rotates to drive the seat mounting panel through the meshing of external gear and internal gear and rotate along the seat pivot, realize the rotation regulation control to the seat, have simple structure, control convenient and reliable's advantage.

Further, the seat front and back adjusting mechanism comprises the seat mounting plates, the lower ends of the two seat mounting plates are horizontally and fixedly connected and form a U-shaped component which is integrally U-shaped, front and back slide rails are arranged at the bottom of the U-shaped component along the front and back direction, the lower end of the seat is slidably matched with the front and back slide rails, a seat front and back adjusting expansion device arranged along the front and back direction is further arranged on the U-shaped component, and the execution end of the seat front and back adjusting expansion device is connected with the seat.

Therefore, the seat can be controlled to slide back and forth on the front and back sliding rails which drive the U-shaped component by controlling the extension or retraction of the executing end of the seat front and back adjusting telescopic device, so that the adjustment of the front and back direction positions of the seat is realized. Therefore, the front and back adjusting mechanism of the seat has the advantages of simple structure and convenient and reliable control. Meanwhile, the seat front-back adjusting mechanism is integrated on the basis of the seat rotation adjusting mechanism, so that the seat can be adjusted back and forth while being adjusted and controlled in a rotation mode, the position of the seat can be adjusted conveniently when a passenger gets on or off the seat, and the upper seat and the lower seat can be more smoothly and stably.

Furthermore, the seat front-back adjustment telescopic device comprises a seat front-back adjustment stepping motor arranged on the U-shaped component, and the seat front-back adjustment stepping motor is connected with the seat through a seat front-back adjustment screw nut transmission mechanism and can control the seat to move forwards and backwards.

Therefore, the seat is adjusted and controlled in a forward-and-backward movement mode through the lead screw nut mechanism by adopting the stepping motor, and the seat has the advantages of accurate and controllable control, good stability and the like. In addition, the scheme of the invention relates to that all motors and electrical equipment can be connected with a control center and can be conveniently controlled.

Therefore, through the control process of the seat adjusting device, the invention essentially also discloses a control method for getting on and off the wheelchair, when a passenger needs to use the wheelchair, the seat is controlled to move to the foremost end along the front-back direction, and then the seat is controlled to rotate forwards, so that the front end of the seat is inclined downwards (particularly the pedal position at the front end of the seat is contacted with the ground downwards), and the user can conveniently climb on the seat; after the user climbs the seat, the seat is controlled to rotate backwards to reset, and then the seat moves backwards to reset, so that the user is in a normal riding position, the whole gravity center of the wheelchair is adjusted to lean against the back, and the wheelchair is more stable and reliable in the use and driving process.

Further, the seat adjusting device further comprises a seat up-down adjusting mechanism, the seat up-down adjusting mechanism comprises an upper sliding rail and a lower sliding rail, the upper sliding rail and the lower sliding rail are mounted on the upper surfaces of the rear supporting arms on the two sides of the base frame along the length direction, the lower ends of the seat supporting lug plates are slidably mounted on the upper sliding rail and the lower sliding rail in a matched mode, a seat up-down adjusting telescopic device arranged along the length direction of the rear supporting arms is fixedly mounted between the rear supporting arms on the two sides, and the executing end of the seat up-down adjusting telescopic device is connected with the seat supporting lug plates.

Therefore, the seat can be further controlled to extend out or retract by controlling the executing end of the seat up-down adjusting telescopic device, the seat is controlled to slide up and down obliquely along the upper surface of the rear support arm along with the seat support lug plate, the adjustment of the gravity center of the seat in the up-down direction is realized, so that a passenger can conveniently get on or off the seat, and the gravity center position is adjusted in the process of controlling the seat to go up and down stairs so as to keep balance and stability better. And the seat up-down adjusting mechanism has the characteristics of simple structure and reliable control. In addition, the upper and lower sliding rails are obliquely arranged in the structure, so that the sliding rail can be better matched with the base frame structure, and the stability of sliding control is improved; meanwhile, although the upper and lower sliding rails are obliquely arranged, the seat up-down adjusting mechanism only needs to be matched with the seat rotation adjusting mechanism and the seat front-back adjusting mechanism to be used simultaneously, and the adjustment of the gravity center height of the wheelchair can be realized while the front-back gravity center position of the wheelchair is not changed.

Specifically, when a user needs to use the wheelchair, the user can firstly control the seat to move forwards and upwards along the upper surface of the rear support arm to the topmost end through the seat up-down adjusting mechanism, then control the seat to move forwards along the horizontal direction and rotate forwards, so that the front end of the seat is inclined downwards (particularly the pedal position at the front end of the seat is contacted with the ground downwards), and the user can conveniently climb up the seat; after the user climbs the seat, earlier control the seat backward rotation and reset, move backward and reset the back again, further through the seat about adjustment mechanism control seat along the rear cantilever upper surface move backward the below and reset again, make the wheelchair focus lean on the back more and lean on down, make the wheelchair use travel in-process more steady reliable.

When the wheelchair is used for going up and down stairs, the seat can be controlled to move towards the rear lower part before the front crawler belt is lifted or in a suspended state, so that the whole gravity center of the wheelchair leans backwards. In the process of the wheelchair running on the stair steps, the seat can be controlled to move to the position below the seat through the seat up-down adjusting mechanism, and then the seat front-back adjusting mechanism moves to the position in front of the seat, so that the seat is in a lower position, the center of gravity of the seat is close to the middle of the wheelchair, and the stability of the wheelchair moving on the stair adjustment is conveniently improved.

Furthermore, a seat inclination angle detection device is further installed on the seat and connected with the control center.

Like this, can be when the wheelchair goes up and down stairs or go up and down the slope in-process, following automated inspection control can be realized to control center, relies on wheelchair inclination detection device to detect the wheelchair bed frame inclination, relies on seat inclination detection device to detect seat inclination when. When the two detection devices detect the angle change (at the moment, the wheelchair is judged to be in the inclined state of going up and down stairs or going up and down slopes), the seat is controlled to rotate through the seat rotation adjusting mechanism, so that the detection value of the seat inclination angle detection device is restored to the value of the horizontal ground walking state, and the comfort of passengers is ensured; meanwhile, the inclination angle of the wheelchair base frame is continuously monitored by the wheelchair inclination angle detection device so as to conveniently control the conversion of the lifting of the crawler belt in the process of going up and down the stairs of the wheelchair, and the comfort of taking a passenger and the stability of the seat passing through the stairs or a slope are better improved.

Furthermore, the seat up-down adjustment telescopic device comprises a seat up-down adjustment stepping motor arranged between the rear support arms on the two sides, and the seat up-down adjustment stepping motor is connected with the seat support lug plate through a seat up-down adjustment screw nut transmission mechanism and can control the seat support lug plate to move up and down.

Like this, adopt step motor to carry out seat through lead screw nut mechanism and reciprocate regulation control, have control accuracy controllable, stability advantage such as good.

In conclusion, the device has the advantages that the device can be better controlled to adapt to walking on the ground under different flatness conditions, the loss of the crawler belt is reduced, and the service life is prolonged.

Drawings

Fig. 1 is a perspective view of a wheelchair according to the present invention.

Fig. 2 is a schematic view of the structure of fig. 1 from a lower perspective.

Fig. 3 is a schematic view of the structure of fig. 1 from another angle.

Fig. 4 is a schematic view of the structure of the individual track device part in fig. 1.

Fig. 5 is a schematic view of the structure of the base frame of fig. 1 alone and the seat support ear plate and seat mounting plate thereon.

Fig. 6 is a schematic structural view of a horizontal docking mechanism of the single track mounting plate of the wheelchair of the invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

In the specific implementation: a flat ground walking method of a mobile mechanical platform is characterized in that when the ground flatness is low, a crawler device below the mobile mechanical platform is controlled to be lowered, so that a crawler is in contact with the ground and supports the mobile mechanical platform to run; when the ground flatness is high, the crawler device below is controlled to lift upwards, so that the land leveling wheels at the front end and the rear end of the crawler are in contact with the ground and support the equipment to run.

The mobile mechanical platform can be a wheelchair or a mobile mechanical platform comprising mechanical categories such as an agricultural harvester, a pesticide spraying machine, a seeder and the like which move by adopting crawler walking. The wheelchair is illustrated in this embodiment. Like this, through carrying out lifting control to crawler unit, when the road surface is not at ordinary times, lean on the track to transfer and support the walking, greatly improve the stationarity that the wheelchair walked, improve the personnel's of taking travelling comfort. When the road surface is level, the track rises and supports the walking by the flat ground wheels arranged at the front end and the rear end of the track, so that the walking portability is improved, the wheelchair is better controlled to move forwards, the track is prevented from reducing the walking speed and abrasion, the walking noise of the track is reduced, and the service life of the wheelchair is prolonged. Whether the road surface is flat or not can be controlled after being observed and judged by a passenger, and also can be automatically controlled by detecting feedback through a vibration sensor arranged on the wheelchair, when the wheelchair detects that the vibration is large in the ground driving process, the road surface is judged to be uneven, and when the vibration is small, the road surface is judged to be flat. The specific control threshold may be adjusted according to the comfort of the user.

When the ground inclination is larger, the crawler device below the mobile mechanical platform is controlled to be lowered, so that the crawler is in contact with the ground and supports the mobile mechanical platform to run.

In the implementation, the method is realized by the aid of the crawler belt lifting wheelchair shown in fig. 1 to 6, the wheelchair comprises a base frame, a seat 1 is mounted on the base frame, a crawler belt device is mounted below the base frame, a pair of land leveling wheels 2 are mounted at the front end and the rear end of the crawler belt device respectively, the lower surfaces of the land leveling wheels 2 are higher than the lower surfaces of the crawler belts in a normal driving state (driving is supported by the crawler belts), and a crawler belt lifting control mechanism is further mounted between the base frame and the crawler belt device and can control the crawler belts to lift upwards and enable the lower surfaces of the crawler belts to be higher than the lower surfaces of the land leveling wheels.

Wherein, the bed frame is including controlling two preceding support arms 3 and two back support arms 4 that set up side by side, and the preceding support arm rear end and the back support arm front end tilt up of homonymy and link to each other and constitute triangle-shaped, and between two preceding support arms 3 and/or between two back support arms 4 still have horizontally connecting element (when implementing, connecting element includes back support arm connecting plate 5 and preceding support arm connecting plate 6) and connect into a whole, 3 length of preceding support arm are less than 4 length of back support arm, seat 1 installs on the first half section of back support arm.

Wherein the crawler device comprises two pairs of crawler mounting plates 7 which are bilaterally symmetrical and are arranged along the front and the back, a row of crawler wheel shafts are horizontally arranged on the crawler mounting plates 7 to the outside, crawler wheels 8 are arranged on the crawler wheel shafts, a crawler 9 is wound outside the crawler wheels, and two pairs of tracks 9 which are bilaterally symmetrical and are arranged along the front and the back are formed, the rear ends of the pair of track mounting plates in the front and the front ends of the pair of track mounting plates in the back are simultaneously hinged on a lifting rotating shaft 10 which is horizontally arranged along the left and right direction, the front parts of the pair of track mounting plates in the front are respectively and rotatably connected with the front ends of the corresponding front support arms 3, the rear parts of the pair of track mounting plates in the back are respectively and rotatably connected with the rear ends of the corresponding rear support arms 4, a pair of land wheels 2 are also arranged at the front ends of the pair of track mounting plates in the front in a forward mounting mode, and a pair of land wheels 2 are also arranged at the rear ends of the pair of track mounting plates in the back in a backward mounting mode.

The crawler lifting control mechanism comprises a lifting lead screw 11 which is obliquely arranged, the lower end of the lifting lead screw 11 is rotatably connected to the middle position of a lifting rotating shaft 10, the upper end of the lifting lead screw 11 obliquely extends towards the back upper side and penetrates through a rear support arm connecting plate 6 connected between two rear support arms, a lead screw abdicating hole 12 for the lifting lead screw to penetrate out is formed in the rear support arm connecting plate, nut seat mounting lugs are arranged on two sides of the lead screw abdicating hole, a nut seat 13 is hinged to the nut seat mounting lugs, a lifting nut matched with the lifting lead screw in a threaded connection mode is mounted on the nut seat 13, and a lifting motor in transmission connection with the lifting nut is further mounted on the nut seat; the rear end of the front support arm is rotatably connected with the front end of the rear support arm. Furthermore, the lifting motor is a stepping motor, and is more convenient and accurate to control.

Wherein, still install crawler travel motor 14 on the crawler mounting panel, crawler travel motor 14 and athey wheel 8 transmission are connected, still are provided with land leveling wheel walking motor 15, land leveling wheel walking motor 15 and land leveling wheel 2 transmission are connected. Therefore, the crawler belt and the flat land wheel are respectively controlled by the corresponding motors, and the flexibility and the reliability of control can be conveniently improved.

Wherein, the base frame is also provided with an automatic control system, the automatic control system comprises a control center 16, the lifting motor, the crawler traveling motor 14 and the land leveling wheel motor 15 are respectively connected with the control center 16, the automatic control system also comprises a vibration sensor and a wheelchair inclination angle detection device (not shown in the figure) which are arranged on the base frame, and the vibration sensor and the wheelchair inclination angle detection device are respectively connected with the control center 16. When the wheelchair inclination angle detection device is implemented, the wheelchair inclination angle detection device can be implemented by adopting an inclination angle sensor or a gyroscope. When the gyroscope is adopted for realizing, the acceleration condition of the wheelchair can be detected simultaneously, and the auxiliary control can be better realized.

Wherein, the rear end of the rear arm 4 is provided with extension arms 17 extending horizontally backwards, and the control center 16 is arranged on a connecting plate between the extension arms 17. Therefore, the installation and the arrangement of the control part are convenient, the integral gravity center of the wheelchair is kept at a position relatively leaning backwards, and the rear crawler belt can support the weight of the wheelchair independently to facilitate the state conversion control.

The horizontal butt joint mechanism of the crawler mounting plates comprises a telescopic rod device 18 which is horizontally and fixedly mounted at the rear end of the crawler mounting plates at the front end or the front end of the crawler mounting plates at the rear end and is used for butt joint, and a plug-in sleeve 19 which is arranged on the crawler mounting plate at the other end and is used for butt joint is further arranged between the crawler mounting plates at the front side and the crawler mounting plates at the rear side.

Wherein, the positions of the upper sides of the front and the back two pairs of track mounting plates near the outer ends (the front track mounting plate is near the front end, the back track mounting plate is near the back end) are also provided with short circuit fixed support arms 20 (the short circuit is relatively short in length) which extend obliquely to the inner upper side (the back upper side of the front track mounting plate and the front upper side of the back track mounting plate), the track mounting plate 7 depends on the short circuit fixed support arms to be respectively rotatably connected with the front end of the front support arm and the back end of the back support arm, the outer ends of the front and the back two pairs of track mounting plates 7 are respectively and externally connected with a land leveling wheel mounting arm 21, one end of the land leveling wheel mounting arm 21 is vertically and rotatably connected with the end part of the track mounting plate, the other end is provided with a land leveling wheel 2, the land leveling wheel motor 15 is mounted on the land leveling wheel mounting arm 21, the track mounting plate 7 is also provided with a land leveling wheel mounting arm rotation control motor 22, the land wheel mounting arm rotation control motor 22 is in transmission connection with the land wheel mounting arm 21.

Therefore, the adjustment range of the rotatable angle between the crawler mounting plate and the front and rear support arms is conveniently enlarged, and the upper and lower heights of the land leveling wheels can be flexibly adjusted according to requirements. Moreover, more importantly, the length and the inclination angle of the short connection fixed support arms can be set, so that when the lifting screw rod is lifted upwards and is changed into a ground wheel supporting and walking state, the front short connection fixed support arm and the rear short connection fixed support arm just rotate to a vertical state; at the moment, the rotation of the land wheel mounting arm is controlled to be in a vertical state only by the land wheel mounting arm rotation control motor, so that the land wheel can directly transmit the supporting force to the rotating shaft at the end part of the base frame upwards along the vertical direction through the vertical land wheel mounting arm and the short connection fixed support arm. In the process of the wheelchair walking by depending on the support of the land leveling wheels, the vertical pressure on the land leveling wheels can be offset by the rotating shaft which is right opposite to the land leveling wheels in the vertical direction. The phenomenon that the supporting pressure is too much acted on the lifting screw rod to cause that the axial pressure between the lifting screw rod and the lifting nut is too large to generate thread damage or seizure is avoided; the stable normal operation of the lifting control mechanism is ensured, and the service life of the device is prolonged.

The automatic control system further includes a land wheel pressure detecting sensor (not shown) installed between the mounting shaft of the land wheel and the land wheel mounting arm, and a crawler wheel pressure detecting sensor (not shown) installed between the mounting shaft of each crawler wheel and the crawler mounting plate, wherein the land wheel pressure detecting sensor and the crawler wheel pressure detecting sensor are respectively connected to the control center 16.

The front end of the seat 1 is provided with a step 23 extending in a forward and downward curved manner. Thus being more convenient for people to take.

Wherein, a seat adjusting device is also arranged between the seat and the base frame, and the seat adjusting device comprises a seat rotation adjusting mechanism and a seat front-back adjusting mechanism which are arranged between the seat and the base frame.

Wherein, the seat rotates adjustment mechanism includes that a pair of left and right sides sets up relatively and installs the seat support otic placode 24 at the bed frame left and right sides, still include a pair of seat mounting panel 25 that is located the inboard seat support otic placode 24, seat 1 installs between seat mounting panel 25, upper end position between seat mounting panel 25 of both sides and the seat support otic placode 24 relies on the seat pivot of left and right directions separately to realize rotatable coupling, seat mounting panel 25 outside below still has an arcuate recess 26, the lower surface of recess 26 is for using the seat pivot as a section internal gear of centre of a circle, install on the seat support otic placode with the meshing of internal gear external gear (not shown), still install seat rotation control motor 27 on the seat support otic placode, seat rotation control motor 27 and external gear transmission are connected.

The seat front-back adjusting mechanism comprises the seat mounting plates 25, wherein the lower ends of the two seat mounting plates 25 are horizontally and fixedly connected and form a U-shaped component which is integrally U-shaped, a front slide rail 28 and a rear slide rail 28 are arranged at the bottom of the U-shaped component along the front-back direction, the lower end of the seat 1 can be slidably matched on the front-back slide rail 28, a seat front-back adjusting telescopic device (not shown in the figure) arranged along the front-back direction is further arranged on the U-shaped component, and the execution end of the seat front-back adjusting telescopic device is connected with the seat.

The seat front-back adjustment telescopic device comprises a seat front-back adjustment stepping motor arranged on a U-shaped component, and the seat front-back adjustment stepping motor is connected with the seat through a seat front-back adjustment screw nut transmission mechanism and can control the seat to move back and forth.

The seat adjusting device further comprises a seat up-down adjusting mechanism, the seat up-down adjusting mechanism comprises an upper sliding rail 29 and a lower sliding rail 29 which are arranged on the upper surfaces of the rear supporting arms on the two sides of the base frame along the length direction, the lower ends of the seat supporting lug plates are slidably matched and arranged on the upper sliding rail 29 and the lower sliding rail 29, a seat up-down adjusting telescopic device (not shown in the figure) which is arranged along the length direction of the rear supporting arms is fixedly arranged between the rear supporting arms on the two sides, and the executing end of the seat up-down adjusting telescopic device is connected with the seat supporting lug plates.

Wherein, a seat inclination angle detection device (not shown in the figure) is also arranged on the seat and is connected with the control center.

The seat up-and-down adjustment telescopic device comprises a seat up-and-down adjustment stepping motor arranged between the rear support arms on the two sides, and the seat up-and-down adjustment stepping motor is connected with the seat support lug plate through a seat up-and-down adjustment screw nut transmission mechanism and can control the seat support lug plate to move up and down.

Like this, adopt step motor to carry out seat through lead screw nut mechanism and reciprocate regulation control, have control accuracy controllable, stability advantage such as good. In the scheme, the motors matched with the screw rod and nut mechanisms all adopt stepping motors. The stepping motor is used because the angle of rotation of the stepping motor is directly proportional to the number of pulses, and the motor has the greatest torque when it is stopped. The precision of the stepping motor is three to five percent, and the error of one step is not accumulated to the next step, so that the stepping motor has better position precision and motion repeatability and excellent start-stop and reverse response. Because of the absence of brushes, reliability is high and the life of the motor is therefore dependent only on the life of the bearings. The response of the stepping motor is determined only by the digital input pulses, and thus open-loop control can be adopted, which allows the structure of the motor to be relatively simple and control costs. Synchronous rotation at extremely low speed is also possible by simply connecting the load directly to the rotating shaft of the motor. Since the speed is proportional to the pulse frequency, there is a relatively wide range of rotational speeds. The output pulse can control the stepping motor, the stepping motor makes the movement of the rotation angle, and the movement distance and the movement speed can be controlled by utilizing the screw rod.

Claims

1. A flat ground walking method of a mobile mechanical platform is characterized in that when the ground flatness is low, a crawler device below the mobile mechanical platform is controlled to be lowered, so that a crawler is in contact with the ground and supports the mobile mechanical platform to run; when the ground flatness is high, the crawler device below is controlled to lift upwards, so that the land leveling wheels at the front end and the rear end of the crawler are in contact with the ground and support the equipment to run.

2. The method of walking a mobile machine platform on flat ground according to claim 1, wherein when the ground inclination is large, the crawler means under the mobile machine platform is controlled to be lowered so that the crawler is in contact with the ground and supports the mobile machine platform to travel.

3. The method for flat ground traveling of a mobile machine platform according to claim 1 or 2, wherein the method is implemented by means of a crawler elevating wheelchair comprising a base frame, a seat is mounted on the base frame, a crawler unit is mounted under the base frame, a pair of flat ground wheels are mounted at front and rear ends of the crawler unit, respectively, the lower surface of the flat ground wheels is higher than the lower surface of the crawler during normal traveling, and a crawler elevating control mechanism is mounted between the base frame and the crawler unit, and the crawler elevating control mechanism can control the crawler to ascend upwards and make the lower surface of the crawler higher than the lower surface of the flat ground wheels.

4. The method for walking on flat ground on a mobile mechanical platform according to claim 3, wherein the base frame comprises two front arms and two rear arms juxtaposed to each other at left and right sides, rear ends of the front arms and front ends of the rear arms on the same side are inclined upward and connected to form a triangle, horizontal connecting members are further provided between the two front arms and between the two rear arms, the connecting members comprise rear arm connecting plates and front arm connecting plates, the length of the front arms is smaller than that of the rear arms, and the seat is mounted on a front half section of the rear arms.

5. The method for traveling on flat ground on a mobile mechanical platform according to claim 4, the crawler device comprises two pairs of crawler mounting plates which are bilaterally symmetrical and are arranged along the front and the back, a row of crawler wheel shafts are horizontally arranged on the crawler mounting plates to the outer sides, crawler wheels are arranged on the crawler wheel shafts, a crawler is wound outside the crawler wheels, the two pairs of tracks are bilaterally symmetrical and are arranged along the front and the back, the rear ends of the pair of track mounting plates in front and the front ends of the pair of track mounting plates in back are hinged to a lifting rotating shaft horizontally arranged along the left and right directions, the front portions of the pair of track mounting plates in front are respectively and rotatably connected with the front ends of the corresponding front support arms, the rear portions of the pair of track mounting plates in back are respectively and rotatably connected with the rear ends of the corresponding rear support arms, a pair of ground leveling wheels are further arranged at the front ends of the pair of track mounting plates in front, and a pair of ground leveling wheels are also arranged at the rear ends of the pair of track mounting plates in back.

6. The method for walking on flat ground by using a mobile mechanical platform according to claim 5, wherein the track lifting control mechanism comprises a lifting screw rod which is obliquely arranged, the lower end of the lifting screw rod is rotatably connected to the middle position of the lifting rotating shaft, the upper end of the lifting screw rod extends obliquely backwards and upwards and penetrates through a rear arm connecting plate which is connected between two rear arms, a screw rod abdicating hole for the lifting screw rod to penetrate through is formed in the rear arm connecting plate, nut seat mounting lugs are arranged on two sides of the screw rod abdicating hole, a nut seat is hinged and mounted on the nut seat mounting lugs, a lifting nut which is screwed and matched with the lifting screw rod is mounted on the nut seat, and a lifting motor which is in transmission connection with the lifting nut is further mounted on the nut seat; the rear end of the front support arm is rotatably connected with the front end of the rear support arm;

the crawler mounting plate is also provided with a crawler traveling motor, the crawler traveling motor is in transmission connection with the crawler wheel, and the land leveling wheel traveling motor is also arranged and is in transmission connection with the land leveling wheel.

7. The method for traveling on flat ground by using a mobile mechanical platform according to claim 6, wherein an automatic control system is further installed on the base frame, the automatic control system comprises a control center, the lifting motor and the crawler traveling motor are connected to the control center, respectively, and the automatic control system further comprises a vibration sensor and a wheelchair inclination angle detection device installed on the base frame, the vibration sensor and the wheelchair inclination angle detection device are connected to the control center, respectively;

the rear end of the rear support arm is provided with extension arms extending horizontally backwards, and the control center is installed on a connecting plate between the extension arms.

8. The method for traveling on flat ground on a mobile machine platform according to claim 6, wherein a horizontal docking mechanism for the crawler mounting plates is further provided between the front crawler mounting plate and the rear crawler mounting plate, the horizontal docking mechanism for the crawler mounting plates comprises a docking telescopic rod device horizontally and fixedly installed at the rear end of the front crawler mounting plate or at the front end of the rear crawler mounting plate, and further comprises an insertion sleeve provided on the crawler mounting plate at the other end opposite to the docking telescopic rod device;

the position that two pairs of track mounting panels upside in front and back are close to the outer end still has the short circuit fixed support arm that inside top slant extends, and the track mounting panel relies on short circuit fixed support arm upper end respectively with preceding support arm front end and rear support arm rear end rotatable coupling, two pairs of track mounting panel outer ends of fore-and-aft direction are outwards connected with a level land wheel installation arm separately, but level land wheel installation arm one end vertical rotation ground is connected at track mounting panel tip, and level land wheel is installed to the other end, and level land wheel motor installs on level land wheel installation arm, still be provided with level land wheel installation arm rotation control motor on the track mounting panel, level land wheel installation arm rotation control motor and level land wheel installation arm transmission are connected.

9. The method of traversing a flat ground on a mobile machine platform according to claim 7 or 8, wherein the automatic control system further comprises a flat wheel pressure detecting sensor installed between a mounting shaft of the flat ground wheel and the flat ground wheel mounting arm, and a crawler wheel pressure detecting sensor installed between the mounting shaft of each crawler wheel and the crawler mounting plate, the flat wheel pressure detecting sensor and the crawler wheel pressure detecting sensor being connected to the control center, respectively.

10. The method for walking on flat ground on a mobile mechanical platform according to claim 9, wherein the front end of the platform is provided with a pedal extending forward and downward in a curved manner;

a seat adjusting device is also arranged between the seat and the base frame, and comprises a seat rotation adjusting mechanism and a seat front-back adjusting mechanism which are arranged between the seat and the base frame;

the seat rotation adjusting mechanism comprises a pair of seat support lug plates which are oppositely arranged at the left side and the right side and are arranged at the left side and the right side of the base frame, and also comprises a pair of seat mounting plates which are positioned at the inner sides of the seat support lug plates, the seat is mounted between the seat mounting plates, the upper ends of the seat mounting plates at the two sides and the seat support lug plates are respectively rotatably connected by virtue of seat rotating shafts in the left direction and the right direction, an arc-shaped groove is further arranged below the outer side of the seat mounting plate, the lower surface of the groove is an inner gear which takes the seat rotating shaft as the center of a circle, an outer gear which is meshed with the inner gear is mounted on the seat support lug plates, a seat rotation control motor is further mounted on the seat support lug plates, and the seat rotation control motor is in transmission connection with the outer gear;

the seat front-back adjusting mechanism comprises the seat mounting plates, the lower ends of the two seat mounting plates are horizontally and fixedly connected and form a U-shaped component which is integrally U-shaped, front and back slide rails are arranged at the bottom of the U-shaped component along the front-back direction, the lower end of the seat is slidably matched with the front and back slide rails, a seat front-back adjusting telescopic device arranged along the front-back direction is further arranged on the U-shaped component, and an execution end of the seat front-back adjusting telescopic device is connected with the seat; the seat front-back adjustment telescopic device comprises a seat front-back adjustment stepping motor arranged on a U-shaped component, and the seat front-back adjustment stepping motor is connected with the seat through a seat front-back adjustment screw nut transmission mechanism and can control the seat to move back and forth;

the seat adjusting device also comprises a seat up-down adjusting mechanism, the seat up-down adjusting mechanism comprises an upper slide rail and a lower slide rail, the upper surfaces of the rear supporting arms on the two sides of the base frame are mounted along the length direction, the lower ends of the seat supporting lug plates are slidably mounted on the upper slide rail and the lower slide rail in a matching manner, a seat up-down adjusting telescopic device arranged along the length direction of the rear supporting arms is fixedly mounted between the rear supporting arms on the two sides, and the executing end of the seat up-down adjusting telescopic device is connected with the seat supporting lug plates;

the seat is also provided with a seat inclination angle detection device which is connected with the control center;