CN113576781B

CN113576781B - Land leveling walking method of mobile mechanical platform

Info

Publication number: CN113576781B
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: 2024-02-09
Anticipated expiration: 2041-08-09
Also published as: CN118001031A; CN113576781A

Abstract

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

Description

Land leveling walking method of mobile mechanical platform

Technical Field

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

Background

The wheelchair or the movable wheelchair is a movable chair special for the old or people with inconvenient legs and feet, and the lower end of the movable chair is provided with wheels to replace walking. A common movable wheelchair is provided with a pair of relatively large walking wheels at the lower ends of two sides and a pair of relatively small auxiliary wheels at the two sides in front, and the wheelchair is relatively convenient to walk on a flat ground but inconvenient for climbing stairs.

In the prior art, wheel chairs exist in which part of the wheel chair takes a track instead of a travelling wheel as a travelling mechanism. A tracked booster wheelchair such as that disclosed in CN 201420594373.1; CN201820333270.8 discloses a deformable crawler chair; CN202021230877.7 discloses a crawler wheelchair for orthopedics patient; and patents such as a crawler wheelchair with telescopic storage function disclosed in CN202021092616.3, which belong to the condition of the structural scheme.

The wheelchair adopting the crawler belt as the travelling mechanism is more convenient to use when ascending and descending stairs, and meanwhile, when the road surface is uneven, the travelling stability of the wheelchair can be greatly improved by the crawler belt. However, when walking on the condition that the ground is very flat, the crawler belt is continuously adopted, so that the walking speed of the wheelchair can be reduced, the loss of the crawler belt mechanism is accelerated, and the service life of the wheelchair is shortened.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to solve the technical problems that: how to provide a flat ground walking method of a mobile mechanical platform, which can better control equipment to adapt to walking on the ground under different flatness conditions, reduce crawler belt loss and prolong service life.

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

the flat ground walking method of the 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 the crawler is contacted with the ground and supports the mobile mechanical platform to run; when the ground flatness is high, the crawler device below the control is lifted upwards, so that the land wheels at the front end and the rear end of the crawler are contacted with the ground and support equipment to run.

The mobile mechanical platform can be a wheelchair or a mobile mechanical platform comprising mechanical types such as an agricultural harvester, a pesticide spraying machine, a seeder and the like which adopt crawler travel. The wheelchair will be described later as an example. In this scheme, through carrying out lifting control to crawler attachment, when the road surface is not usual, support the walking by the track is transferred down, greatly improves the stationarity of wheelchair walking, improves the personnel travelling comfort of taking. When the road surface is level, the track rises and relies on the land leveling wheel support walking of installing both ends around the track to improve the portability of walking, control the wheelchair forward better, avoid the track to reduce walking speed and wearing and tearing, reduce track walking noise, extension wheelchair life. Whether the road surface is smooth or not can be controlled after the observation and judgment of passengers, and also can be controlled automatically by detecting feedback of a vibration sensor arranged on the wheelchair, and the wheelchair is judged to be uneven when the wheelchair detects larger vibration in the ground running process, and the wheelchair is judged to be smooth when the vibration is smaller. The specific control threshold may be adjusted based on user comfort.

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

Therefore, when the wheelchair walks on the ground, the ground inclination is firstly judged, and when the inclination is larger, the crawler belt is controlled to descend and the ground is contacted with the support to run, so that the stability of wheelchair running control is better improved. When the ground inclination is smaller, the control is performed according to the ground flatness. The ground running control of the wheelchair is more reliable and stable. The ground inclination can be controlled by observing and judging by passengers, and can also be automatically controlled by detecting feedback by virtue of a wheelchair inclination angle detection device arranged on the wheelchair.

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

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

Further, the base frame comprises two front support arms and two rear support arms which are arranged in parallel left and right, the rear ends of the front support arms and the front ends of the rear support arms on the same side are inclined upwards and are connected to form a triangle, horizontal connecting members (when in implementation, the connecting members comprise a rear support arm connecting plate and a front support arm connecting plate) are arranged between the two front support arms and/or between the two rear support arms and are connected into a whole, the length of the front support arm is smaller than that of the rear support arm, and the seat is arranged on the front half section of the rear support arm.

The base frame has the advantages of simple structure, stable gravity center, convenience in stable adjustment and control of the seat and the like.

Further, the crawler device comprises two pairs of crawler mounting plates which are bilaterally symmetrical and are arranged along the front and rear directions, a row of crawler wheel shafts are horizontally arranged on the crawler mounting plates to the outside, crawler wheels are arranged on the crawler wheel shafts, the crawler wheels are externally wound and provided with crawler tracks, two pairs of crawler tracks which are bilaterally symmetrical and are arranged along the front and rear directions are formed, the rear ends of the front pairs of crawler mounting plates and the front ends of the rear pairs of crawler mounting plates are simultaneously hinged on a lifting rotating shaft which is horizontally arranged along the left and right directions, the front parts of the front pairs of crawler mounting plates are respectively and rotatably connected with the front ends of corresponding front support arms, the rear parts of the rear pairs of crawler mounting plates are respectively and rotatably connected with the rear ends of corresponding rear support arms, the front ends of the front pairs of crawler mounting plates are also provided with a pair of land leveling wheels in a forward direction, and the rear ends of the rear pairs of crawler mounting plates are also provided with a pair of land leveling wheels in a backward direction.

Therefore, the crawler belt device is provided with the pair of crawler belts in front and back and can be rotatably connected, so that the crawler belt device is simple in structure, stable and reliable in crawler belt installation, and meanwhile, lifting control on the crawler belt device is conveniently realized through the lifting rotating shafts at the front and back crawler belt rotating joints. In the lifting control process of the crawler belt device, the front crawler belt and the rear crawler belt form an included angle, so that the wheelchair can be further applied to climbing stairs, and the stair climbing performance of the wheelchair is conveniently improved. More preferably, the front track mounting plate and track length is less than the rear track mounting plate and track length. Therefore, the gravity center of the whole wheelchair can be independently supported by the rear crawler, the control of the front crawler and the rear crawler in angle conversion can be better realized when the stair is climbed conveniently, and the gravity center is better kept stable in the control process.

Further, the crawler belt 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 upwards backwards and obliquely and penetrates through a rear support arm connecting plate which is connected between two rear support arms, a screw rod abdication 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 abdication hole, a nut seat is hinged on the nut seat mounting lugs, a lifting nut which is in threaded connection with the lifting screw rod in a matched mode is arranged on the nut seat, and a lifting motor which is in transmission connection with the lifting nut is also arranged on the nut seat; the rear end of the front support arm is rotatably connected with the front end of the rear support arm. Further, the lifting motor is a stepping motor, so that the lifting motor is more convenient and accurate to control.

Thus, in the ground walking process, when the ground flatness is low and the crawler walking state is needed, the two pairs of crawler mounting plates and the front pair of crawler and the rear pair of crawler are both in a horizontal state. When the ground flatness is higher, the lifting crawler belt is required to be lifted to be supported and walked by the land wheels, the lifting nuts are controlled to rotate through the lifting motor, the lifting screw rod is driven to lift upwards through the formed screw rod nut transmission mechanism, and the lifting screw rod, the front and rear crawler belt mounting plates and the front and rear support arms are relied on to form a connecting rod transmission pair, so that when the connecting positions of the two pairs of crawler belt mounting plates are lifted upwards, the two pairs of the land wheels at the front and rear ends of the crawler belt can incline downwards and are in contact with the ground, and the wheelchair can be supported and walked by the land wheels. 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 be beneficial to the auxiliary control of the wheelchair to go up and down stairs. The invention also discloses a wheelchair ascending and descending stair method which 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 described as a crawler supporting and walking state), after the front end of the front crawler contacts with the lowest stair of the stairs, the lifting screw rod is controlled to extend downwards (due to the fact that a seat is arranged on the front half section of a rear support arm), the front end of a front crawler mounting plate is lifted upwards (due to the combined action of the connecting rod transmission pair), the center of gravity of the wheelchair is kept stable because of the longer rear support arm), and when the front end of the crawler mounting plate is lifted to be matched with the gradient of the stairs, the lifting screw rod is controlled to stop moving; and controlling the driving seat to continuously move forwards until the whole track in front contacts with the stair steps, and controlling the lifting screw rod to reversely reset while controlling the seat to move forwards. And after the front crawler belt and the rear crawler belt return to the same straight line direction, starting to climb the stairs obliquely upwards. After climbing stairs to the front crawler front end exceeds the first-stage step of the uppermost part, the lifting screw rod can be controlled to lift upwards, an upward inclination angle is formed between the front crawler and the rear crawler, the front crawler front end is convenient to contact the ground at the upper end of the stairs downwards in advance, the supporting stability is improved, and after the rear crawler exceeds the first-stage step of the uppermost part of the stairs, the lifting screw rod is controlled to reset reversely, and the front crawler and the rear crawler are restored to be in a horizontal state and support to run. When going down stairs, the control process can be controlled by the same principle by running reversely. Therefore, the wheelchair can be very stable and reliable in the process of going upstairs and downstairs, especially in the connection transition stage between going upstairs and downstairs, the supporting contact points of the wheelchair and the ground and the steps can be better increased, and the stability of the wheelchair in the connection transition position through the steps and the ground is greatly improved. So the capability and stability of the wheelchair for climbing stairs can be greatly improved.

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

Further, an automatic control system is further arranged on the base frame and comprises a control center, the lifting motor, the crawler travel motor and the land leveling wheel motor are respectively connected with the control center, and the automatic control system further comprises a vibration sensor and a wheelchair inclination angle detection device which are arranged on the base frame and are respectively connected with the control center. In the implementation process, the wheelchair inclination angle detection device can be realized by adopting an inclination angle sensor or a gyroscope. When the gyroscope is adopted, the wheelchair acceleration condition can be detected simultaneously, and auxiliary control is better realized.

Therefore, the control center can be provided with an automatic ground walking control program, the detection and control of the wheelchair state can be realized by means 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 the control threshold value, the condition that the ground inclination angle is larger is judged to be in a slope state, at the moment, the control crawler belt is lowered to be in a front-back straight line state integrally and is contacted with the ground, and the wheelchair runs by means of the crawler belt support; when the detection value of the wheelchair inclination angle detection device is smaller than the control threshold value, the ground inclination is judged to be in a flat ground state, 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 in a flat ground state, the control track rises and supports walking by means of flat ground wheels and ground contacts arranged at the front end and the rear end of the track, when the value of the vibration sensor is larger than the control threshold value, the ground is judged to be in an uneven ground state, and at the moment, the control track descends and supports walking with the ground contacts. Therefore, the automatic control system can realize automatic detection of various conditions and automatic switching control of controlling the running state of the wheelchair under the conditions of inclined ground (ascending and descending slopes) and horizontal ground, and the conditions of flat ground and uneven ground when the ground is horizontal. Greatly improves the running stability of the wheelchair. In the implementation process, a main control chip of the control center can adopt STM32 series 32-bit Flash microcontrollers based on ARM Cortex ™ -M processors, and can provide new development 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 maintains the characteristics of high integration level and easy development. In addition, during implementation, the control center can be in communication connection with the mobile phone, and part of control programs and operation interfaces are installed on the mobile phone, so that a user can control and operate more conveniently.

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

Further, a track mounting plate horizontal butt joint mechanism is further arranged between the front track mounting plate and the rear track mounting plate, and comprises a telescopic rod device for butt joint which is horizontally and fixedly mounted at the rear end of the front track mounting plate or the front end of the rear track mounting plate, and a splicing sleeve which is arranged on the other end of the track mounting plate and is opposite to the telescopic rod device for butt joint.

Therefore, when the crawler mounting plates and the ground are used for contact walking, the telescopic rods of the telescopic rod device for butt joint can be controlled to extend out and be inserted into the insertion sleeves 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 track mounting plates and the front and rear support arms, so that the influence of instability of the four-bar mechanism on the running stability of the wheelchair is avoided, the supporting pressure of the lifting screw rod can be relieved, and the screw thread damage or seizure caused by overlarge axial pressure between the lifting screw rod and the lifting nut is avoided; the stable and normal operation of the lifting control mechanism is ensured, and the service life of the device is prolonged. The telescopic rod device for butt joint is preferably realized by adopting an electric cylinder, so that the control is more convenient.

Further, the positions of the upper sides of the front and rear pairs of track mounting plates, which are close to the outer ends (the positions of the front track mounting plates, which are close to the front ends, the positions of the rear track mounting plates, which are close to the rear ends), are also provided with short-circuit fixing arms (short-circuit is relatively short in length) extending obliquely inwards and upwards (the positions of the rear upper sides of the front track mounting plates, which are close to the front upper sides of the rear track mounting plates, respectively, are rotatably connected with the front ends of the front support arms and the rear ends of the rear support arms by means of the upper ends of the short-circuit fixing arms, the outer ends of the front and rear pairs of track mounting plates are respectively and outwards connected with a land wheel mounting arm, one end of the land wheel mounting arm is vertically rotatably connected with the end of the track mounting plate, the other end of the land wheel is provided with a land wheel, a land wheel motor is mounted on the land wheel mounting arm rotation control motor, and the land wheel mounting arm rotation control motor is in driving connection with the land wheel mounting arm.

After the optimization, the adjustable angle adjusting range 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 conveniently and flexibly adjusted according to the needs. More importantly, the length and the inclination angle of the short-circuit fixed support arm can be set, so that when the lifting screw rod is lifted upwards and is converted into a land wheel supporting walking state, the front and rear short-circuit fixed support arms just rotate to a vertical state; at the moment, only the land leveling wheel mounting arm is controlled to rotate to be in a vertical state through the land leveling wheel mounting arm rotation control motor, so that the land leveling wheel can directly transmit supporting force to a rotating shaft at the end part of the base frame along the vertical direction through the vertical land leveling wheel mounting arm and the short-circuit fixing support arm. In the process of supporting and walking by the wheel chair by the land leveling wheels, the pressure in the vertical direction borne by the land leveling wheels can be counteracted by the rotating shafts facing in the vertical direction. The situation that the excessive supporting pressure acts on the lifting screw rod to cause thread damage or seizure due to the excessive axial pressure between the lifting screw rod and the lifting nut is avoided; the stable and normal operation of the lifting control mechanism is ensured, and the service life of the device is prolonged.

Further, the automatic control system further comprises land wheel pressure detection sensors arranged between the mounting shafts of the land wheels and the mounting arms of the land wheels, and track wheel pressure detection sensors arranged between the mounting shafts of the track wheels and the track mounting plates, wherein the land wheel pressure detection sensors and the track wheel pressure detection sensors are respectively connected with the control center.

Therefore, in the process of controlling the wheelchair to climb up and down stairs, automatic control can be realized by means of an automatic stair climbing control program arranged in a control center, specifically, when the front end of the wheelchair is in flat ground walking, and a flat ground wheel touches a stair climbing step, a flat ground wheel pressure detection sensor detects a touching pressure signal, and the lifting screw rod can be controlled to extend downwards, so that the front end of the front crawler belt is gradually tilted upwards, and climbing is prepared; in the process of climbing stairs, the running condition of the wheelchair can be judged, controlled and regulated by detecting the pressure change condition through the pressure detection sensors of the crawler wheels. Specifically, when climbing stairs is started, the wheelchair moves forward and controls the front end of the front crawler belt to tilt upwards and gradually contact with stairs, the pressure change condition of each crawler wheel on the front crawler belt gradually increases from front to back, and when the pressure detection sensors of each crawler wheel on the front crawler belt detect that the pressure is balanced, the front crawler belt is judged to completely enter the stairs at the moment, and the included angle between the front crawler belt and the rear crawler belt is consistent with the included angle between the gradients of the stairs at the moment; at the moment, continuously controlling the wheelchair to move forwards and controlling the lifting screw rod to gradually reset upwards and 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; at the moment, judging that the front and rear tracks enter the stair climbing steps; then controlling the lifting screw rod to stop moving and keeping the front and rear tracks in a linear state to climb stairs; when climbing stairs, suddenly emptying the crawler wheel pressure on the front crawler belt from front to back, judging that the wheelchair reaches the upper end of the stairs, and controlling the wheelchair to stop after detecting that the crawler wheel pressure on the front crawler belt is completely emptying; and then, controlling the lifting screw rod to lift upwards, so that the front end of the front crawler belt gradually rotates downwards, judging that the front crawler belt is grounded when the crawler wheels on the front crawler belt detect the pressure again, controlling the wheelchair to move forwards at the moment, and simultaneously controlling the lifting screw rod to reversely reset downwards gradually until the pressure of the crawler wheels on the front crawler belt is consistent with that of the crawler wheels on the rear crawler belt, judging that the wheelchair enters the horizontal ground above the stair steps, and finishing the stair step climbing control process.

The automatic control process of the stair descending step comprises the steps that when the pressure of each crawler wheel on the front crawler belt starts to suddenly empty from front to back, the edge of the upper end of the stair descending step is judged to be entered, when the pressure of each crawler wheel on the front crawler belt is empty, a wheelchair is controlled to stop, then a 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 be contacted with the stair descending step, and at the moment, the wheelchair is controlled to continuously move forwards and then the lifting screw rod is controlled to reversely reset; until the pressure of each crawler wheel on the rear crawler belt is restored and the pressure of each crawler wheel on the front crawler belt is kept consistent; at the moment, judging that the front and rear tracks enter the stair descending step; then controlling the lifting screw rod to stop moving and keeping the front and rear tracks in a straight line state to descend the stairs; when the front-end land wheel suddenly detects a touch pressure signal during descending stairs, the front-end track is judged to have reached the ground below the stair descending step, at the moment, the lifting screw rod is gradually controlled to extend downwards, so that the front track is lifted upwards, the front resistance is reduced, the pressures of the track wheels on the rear track are kept consistent and continuously move forwards, when the pressure of the front-end track wheel on the rear track suddenly increases, the rear track is judged to start to enter the ground below the stair descending step, at the moment, the lifting screw rod is controlled to reset upwards until the rear track completely enters the ground below the stair descending step, the movement of the lifting screw rod is stopped when the pressure of the track wheels on the front track and the rear track are always kept straight, and the automatic control of the stair descending step is completed. Therefore, the wheelchair can be very stably and reliably controlled to go up and down stairs. The wheelchair inclination angle detection device in the automatic control system can be used for assisting in realizing control of the wheelchair inclination state, so that the reliability of judging the wheelchair inclination state and the stability of control are improved.

Further, a pedal is provided at the front end of the seat in a curved manner. Thus being more convenient for people to take.

Further, a seat adjusting device is further 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.

Thus, the back-and-forth movement adjustment and rotation adjustment of the seat are conveniently realized, and passengers can conveniently get on and off the wheelchair.

Further, the seat rotation adjusting mechanism comprises a pair of seat support lug plates which are oppositely arranged left and right and are arranged on the left side and the right side of the base frame, and further comprises a pair of seat mounting plates which are positioned on the inner sides of the seat support lug plates, the seat is arranged between the seat mounting plates, the upper end positions of the seat mounting plates on the two sides and the seat support lug plates are respectively rotatably connected by means of seat rotating shafts in the left-right direction, an arc-shaped groove is further formed in the lower portion of the outer side of the seat mounting plates, the lower surface of the groove is provided with a section of inner gear taking the seat rotating shaft as a circle center, an outer gear meshed with the inner gear is arranged on the seat support lug plates, and a seat rotation control motor is further arranged on the seat support lug plates and is in transmission connection with the outer gear.

Like this, seat rotation adjustment mechanism can rely on seat rotation control motor, controls the external gear and rotates to the meshing through external gear and internal gear drives the seat mounting panel and rotates along the seat pivot, realizes the rotation regulation control to the seat, has simple structure, the convenient reliable advantage of control.

Further, the seat front-rear adjusting mechanism comprises seat mounting plates, the lower ends of the two seat mounting plates are horizontally fixedly connected and form a U-shaped member which is integrally U-shaped, front and rear sliding rails are arranged at the bottom of the U-shaped member along the front and rear directions, the lower ends of the seats are slidably matched with the front and rear sliding rails, the telescopic devices for seat front-rear adjustment arranged along the front and rear directions are further arranged on the U-shaped member, and the execution ends of the telescopic devices for seat front-rear adjustment are connected with the seats.

Therefore, the actuating end of the telescopic device for adjusting the front and back of the seat can be controlled to extend or retract, the seat is controlled to slide back and forth on the front and back sliding rail driving the U-shaped member, and the position of the seat in the front and back direction is adjusted. Therefore, the seat front-rear adjusting mechanism has the advantages of simple structure and convenient and reliable control. Meanwhile, the seat front-rear adjusting mechanism is integrally arranged on the seat rotation adjusting mechanism, so that the seat can be adjusted in a front-rear moving manner while being controlled in a rotation adjusting manner, the seat position can be adjusted when a passenger gets on or off the seat conveniently, and the seat can be more smoothly and stably moved on or off the seat.

Further, the telescopic device for adjusting the front and the back of the seat comprises a stepping motor for adjusting the front and the back of the seat, which is arranged on the U-shaped component, and the stepping motor for adjusting the front and the back of the seat is connected with the seat through a screw nut transmission mechanism for adjusting the front and the back of the seat and can control the front and the back of the seat to move.

Therefore, the stepping motor is adopted to carry out the adjustment control of the front and back movement of the seat through the screw nut mechanism, and the device has the advantages of accurate and controllable control, good stability and the like. In addition, the scheme of the invention relates to the fact that all motors and electric equipment can be connected with a control center and control is conveniently realized.

Therefore, through the control process of the seat adjusting device, the invention essentially discloses an up-down wheelchair control method, when a passenger needs to use the wheelchair, the seat is controlled to move to the forefront end in the front-back direction, and then the seat is controlled to rotate forward, so that the front end of the seat is inclined downwards (particularly, the pedal position of the front end of the seat is downwards contacted with the ground), and a user can conveniently climb up the seat; after the user climbs the seat, the seat is controlled to rotate backwards to reset, and then moves backwards to reset, so that the user is in a normal riding position, and the whole gravity center of the wheelchair is regulated to be back, so that the wheelchair is more stable and reliable in the running process.

Further, the seat adjusting device further comprises a seat up-down adjusting mechanism, the seat up-down adjusting mechanism comprises an up-down sliding rail which is arranged on the upper surfaces of the rear support 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 up-down sliding rail, a seat up-down adjusting telescopic device which is arranged along the length direction of the rear support arms is fixedly arranged between the rear support arms on the two sides, and the execution ends of the seat up-down adjusting telescopic device are connected with the seat supporting lug plates.

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

Specifically, when a passenger needs to use the wheelchair, the seat can be controlled to move forward and upward to the topmost end along the upper surface of the rear support arm through the seat up-down adjusting mechanism, then the seat is controlled to move forward along the horizontal direction and rotate forward, so that the front end of the seat is inclined downwards (particularly, the pedal position of the front end of the seat is downwards contacted with the ground), and the user can conveniently climb up the seat; after a user climbs up the seat, the seat is controlled to rotate backwards and reset, then moves backwards and resets, and then further controls the seat to move backwards and downwards along the upper surface of the rear support arm through the seat up-down adjusting mechanism, so that the gravity center of the wheelchair is more backward and downward, and the wheelchair is more stable and reliable in the running process.

In the process of using the wheelchair to climb up and down stairs, before the front crawler belt is lifted or in a suspended state, the seat can be controlled to move backward and downward, so that the whole gravity center of the wheelchair is positioned backward. In the process of the wheelchair running on the stair steps, the seat can be controlled to move to a lower position through the seat up-down adjusting mechanism, and then the seat moves to a front position through the seat front-back adjusting mechanism, so that the seat is positioned at a lower position, the gravity center of the seat is close to the middle of the wheelchair, and the stability of moving on the stair adjustment is conveniently improved.

Further, a seat inclination angle detection device is also arranged on the seat and is connected with the control center.

Therefore, the control center can realize the following automatic detection control in the process of ascending and descending stairs or ascending and descending slopes of the wheelchair, and the seat inclination angle is detected by the seat inclination angle detection device while the inclination angle of the wheelchair base frame is detected by the wheelchair inclination angle detection device. When the two are detected to change in angle (the wheelchair is judged to be in an inclined state of ascending and descending stairs or an inclined state of ascending and descending 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 that the conversion control on the lifting of the crawler belt in the process of ascending and descending the wheelchair is facilitated, and the riding comfort of passengers and the stability of the seat through stairs or slopes are better improved.

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

Therefore, the up-and-down movement adjustment control of the seat is carried out by adopting the stepping motor through the screw nut mechanism, and the device has the advantages of accurate and controllable control, good stability and the like.

In conclusion, the invention has the advantages of better controlling the equipment to walk on the ground in different flatness conditions, reducing the crawler belt loss and prolonging the service life.

Drawings

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

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

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

Fig. 4 is a schematic view of the construction of the individual crawler sections of fig. 1.

Fig. 5 is a schematic view of the structure of the individual base frames and the seat support lugs and seat mounting plate thereon of fig. 1.

FIG. 6 is a schematic structural view of a single track mount horizontal docking mechanism of the wheelchair of the present invention.

Detailed Description

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

The specific implementation method comprises the following steps: the flat ground walking method of the 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 the crawler is contacted with the ground and supports the mobile mechanical platform to run; when the ground flatness is high, the crawler device below the control is lifted upwards, so that the land wheels at the front end and the rear end of the crawler are contacted with the ground and support equipment to run.

The mobile mechanical platform can be a wheelchair or a mobile mechanical platform comprising mechanical types such as an agricultural harvester, a pesticide spraying machine, a seeder and the like which adopt crawler travel. The wheelchair is only used for illustration in this embodiment. Thus, through carrying out lifting control on the crawler belt device, when the road surface is uneven, the wheelchair is supported and walked by being lowered by the crawler belt, so that the walking stability of the wheelchair is greatly improved, and the comfort of passengers is improved. When the road surface is level, the track rises and relies on the land leveling wheel support walking of installing both ends around the track to improve the portability of walking, control the wheelchair forward better, avoid the track to reduce walking speed and wearing and tearing, reduce track walking noise, extension wheelchair life. Whether the road surface is smooth or not can be controlled after the observation and judgment of passengers, and also can be controlled automatically by detecting feedback of a vibration sensor arranged on the wheelchair, and the wheelchair is judged to be uneven when the wheelchair detects larger vibration in the ground running process, and the wheelchair is judged to be smooth when the vibration is smaller. The specific control threshold may be adjusted based on user comfort.

The method further comprises the following control process, when the ground inclination is large, the crawler device below the mobile mechanical platform is controlled to be lowered, so that the crawler is contacted with the ground and supports the mobile mechanical platform to run.

When the method is implemented, the wheelchair is realized by means of the crawler liftable wheelchair shown in fig. 1 to 6, the wheelchair comprises a base frame, a seat 1 is arranged on the base frame, a crawler device is arranged below the base frame, a pair of land leveling wheels 2 are respectively arranged at the front end and the rear end of the crawler device, the lower surface of each land leveling wheel 2 is higher than the lower surface of the crawler in a normal running state (running through a crawler support), and a crawler lifting control mechanism is further arranged 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 each land leveling wheel.

The base frame comprises two front support arms 3 and two rear support arms 4 which are arranged in parallel left and right, the rear ends of the front support arms and the front ends of the rear support arms on the same side are inclined upwards and connected to form a triangle, horizontal connecting members (in implementation, the connecting members comprise a rear support arm connecting plate 5 and a front support arm connecting plate 6) are arranged between the two front support arms 3 and/or between the two rear support arms 4 and are connected into a whole, the length of the front support arms 3 is smaller than that of the rear support arms 4, and the seat 1 is arranged on the front half section of the rear support arms.

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

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

The crawler belt mounting plate is further provided with a crawler belt walking motor 14, the crawler belt walking motor 14 is in transmission connection with the crawler belt wheel 8, the crawler belt mounting plate is further provided with a land wheel walking motor 15, and the land wheel walking motor 15 and the land wheel 2 are in transmission connection. Therefore, the caterpillar tracks and the land wheels are controlled by the corresponding motors respectively, and the flexibility and the reliability of control can be conveniently improved.

Wherein, still install automatic control system on the bed frame, automatic control system includes a control center 16, and lifting motor and track walking motor 14 and land leveling wheel motor 15 link to each other with control center 16 respectively, and automatic control system still includes vibration sensor and wheelchair inclination detection device (not shown in the figure) of installing on the bed frame, and vibration sensor and wheelchair inclination detection device link to each other with control center 16 respectively. In the implementation process, the wheelchair inclination angle detection device can be realized by adopting an inclination angle sensor or a gyroscope. When the gyroscope is adopted, the wheelchair acceleration condition can be detected simultaneously, and auxiliary control is better realized.

Wherein the rear end of the rear arm 4 is provided with an extension arm 17 extending horizontally and 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 whole gravity center of the wheelchair is kept at a relatively back position, and the rear crawler belt can independently support the weight of the wheelchair, so that the state conversion control is convenient.

Wherein, still be provided with track mounting panel level docking mechanism between the track mounting panel of place ahead and the track mounting panel of rear, track mounting panel level docking mechanism includes that level fixed mounting is at the telescopic link device 18 for the butt joint of place ahead track mounting panel rear end or rear track mounting panel front end, still includes just to the telescopic link device for the butt joint setting grafting sleeve 19 on the other end track mounting panel.

The front and rear pairs of track mounting plates are provided with a short-circuit fixing support arm 20 (short-circuit means relatively short in length) extending 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 are referred to as a front track mounting plate is referred to as a front end, the upper sides of the front and rear pairs of track mounting plates are close to the outer ends), the track mounting plates 7 are rotatably connected with the front end of the front support arm and the rear end of the rear support arm respectively by means of the upper ends of the short-circuit fixing support arm, the outer ends of the front and rear pairs of track mounting plates 7 are respectively and outwards connected with a land wheel mounting arm 21, one end of the land wheel mounting arm 21 is vertically rotatably connected to the end of the track mounting plate, the other end of the land wheel mounting arm 2 is mounted on the land wheel mounting arm 21, the land wheel motor 15 is mounted on the land wheel mounting arm 21, and the track mounting plate 7 is further provided with a land wheel mounting arm rotation control motor 22 in transmission connection with the land wheel mounting arm 21.

Therefore, the adjustable range of the rotatable angle between the track 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 conveniently and flexibly adjusted according to the needs. More importantly, the length and the inclination angle of the short-circuit fixed support arm can be set, so that when the lifting screw rod is lifted upwards and is converted into a land wheel supporting walking state, the front and rear short-circuit fixed support arms just rotate to a vertical state; at the moment, only the land leveling wheel mounting arm is controlled to rotate to be in a vertical state through the land leveling wheel mounting arm rotation control motor, so that the land leveling wheel can directly transmit supporting force to a rotating shaft at the end part of the base frame along the vertical direction through the vertical land leveling wheel mounting arm and the short-circuit fixing support arm. In the process of supporting and walking by the wheel chair by the land leveling wheels, the pressure in the vertical direction borne by the land leveling wheels can be counteracted by the rotating shafts facing in the vertical direction. The situation that the excessive supporting pressure acts on the lifting screw rod to cause thread damage or seizure due to the excessive axial pressure between the lifting screw rod and the lifting nut is avoided; the stable and normal operation of the lifting control mechanism is ensured, and the service life of the device is prolonged.

The automatic control system further includes land wheel pressure detection sensors (not shown) mounted between the mounting shafts of the land wheels and the land wheel mounting arms, and track wheel pressure detection sensors (not shown) mounted between the mounting shafts of the respective track wheels and the track mounting plates, the land wheel pressure detection sensors and the track wheel pressure detection sensors being connected to the control center 16, respectively.

Wherein, the front end of the seat 1 is provided with a pedal 23 extending downward and forward in a bending manner. Thus being more convenient for people to take.

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.

The seat rotation adjusting mechanism comprises a pair of seat support lug plates 24 which are oppositely arranged left and right and are arranged on the left side and the right side of the base frame, a pair of seat mounting plates 25 which are positioned on the inner sides of the seat support lug plates 24, a seat 1 is arranged between the seat mounting plates 25, the upper end positions of the seat mounting plates 25 on the two sides and the seat support lug plates 24 are respectively rotatably connected by means of seat rotating shafts in the left-right direction, an arc-shaped groove 26 is formed in the lower portion of the outer side of the seat mounting plates 25, an inner gear section taking the seat rotating shaft as a circle center is arranged on the lower surface of the groove 26, an outer gear (not shown) meshed with the inner gear is arranged on the seat support lug plates, a seat rotation control motor 27 is further arranged on the seat support lug plates, and the seat rotation control motor 27 is connected with the outer gear in a transmission mode.

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

The seat back-and-forth adjusting telescopic device comprises a seat back-and-forth adjusting stepping motor arranged on the U-shaped component, and the seat back-and-forth adjusting stepping motor is connected with the seat through a seat back-and-forth adjusting 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 up-down sliding rail 29 which is arranged on the upper surfaces of the rear support 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 up-down 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 support arms is fixedly arranged between the rear support arms on the two sides, and the execution ends of the seat up-down adjusting telescopic device are connected with the seat supporting lug plates.

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

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

Therefore, the up-and-down movement adjustment control of the seat is carried out by adopting the stepping motor through the screw nut mechanism, and the device has the advantages of accurate and controllable control, good stability and the like. In the scheme, motors matched with the screw nut mechanism are stepping motors. The stepper motor is used because the angle of rotation of the stepper motor is positive to the number of pulses, with maximum torque when the motor is stalled. 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. The reliability is high because of the absence of brushes, so the life of the motor depends only on the life of the bearings. The response of the stepper motor is determined only by the digital input pulses, so that an open loop control can be used, which allows a relatively simple construction of the motor and control costs. Only the direct connection of the load to the motor shaft allows for very low speed synchronous rotation. Since the speed is proportional to the pulse frequency, there is a relatively wide range of speeds. The output pulse can control the stepping motor, the stepping motor makes rotation angle movement, and the moving distance and the moving speed can be controlled by utilizing the wire rod.

Claims

1. The flat ground walking method of the 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 the crawler is contacted with the ground and supports the mobile mechanical platform to run; when the ground flatness is high, the crawler device below the crawler device is controlled to rise upwards, so that the land wheels at the front end and the rear end of the crawler are contacted with the ground and support equipment to run;

the method is realized by means of the crawler liftable wheelchair, the wheelchair comprises a base frame, a seat is arranged on the base frame, a crawler device is arranged below the base frame, a pair of land leveling wheels are respectively arranged at the front end and the rear end of the crawler device, the lower surface of each land leveling wheel is higher than the lower surface of each crawler in a normal running state, a crawler lifting control mechanism is also arranged between the base frame and the crawler device, and the crawler lifting control mechanism can control the crawler to lift upwards and enable the lower surface of the crawler to be higher than the lower surface of each land leveling wheel;

the base frame comprises two front support arms and two rear support arms which are arranged in parallel left and right, the rear ends of the front support arms and the front ends of the rear support arms on the same side are inclined upwards and connected to form a triangle, horizontal connecting members are arranged between the two front support arms and between the two rear support arms, each connecting member comprises a rear support arm connecting plate and a front support arm connecting plate, the length of each front support arm is smaller than that of each rear support arm, and the seat is arranged on the front half section of each rear support arm;

The crawler device comprises two pairs of crawler mounting plates which are bilaterally symmetrical and are arranged along the front and the rear, a row of crawler wheel shafts are horizontally arranged on the crawler mounting plates to the outside, crawler wheels are arranged on the crawler wheel shafts, crawler wheels are externally wound and arranged, two pairs of crawler wheels which are bilaterally symmetrical and are arranged along the front and the rear are formed, the rear ends of the front pairs of crawler mounting plates and the front ends of the rear pairs of crawler mounting plates are simultaneously hinged on a lifting rotating shaft which is horizontally arranged along the left and the right, the front parts of the front pairs of crawler mounting plates are respectively and rotatably connected with the front ends of corresponding front support arms, the rear parts of the rear pairs of crawler mounting plates are respectively and rotatably connected with the rear ends of corresponding rear support arms, a pair of land leveling wheels are further arranged at the front ends of the front pairs of crawler mounting plates, and a pair of land leveling wheels are also arranged at the rear ends of the rear pairs of crawler mounting plates;

the crawler belt 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 a 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 connected between two rear support arms, a screw rod abdicating hole for the lifting screw rod to penetrate through 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 connection with the lifting screw rod in a matched mode is arranged on the nut seat, and a lifting motor which is in transmission connection with the lifting nut is further arranged 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 horizontal docking mechanism of the track mounting plate is further arranged between the front track mounting plate and the rear track mounting plate, comprises a telescopic rod device for docking which is horizontally and fixedly arranged at the rear end of the front track mounting plate or the front end of the rear track mounting plate, and further comprises a plugging sleeve which is arranged on the other end track mounting plate and is opposite to the telescopic rod device for docking.

2. The method of walking on a level ground of a mobile machine platform according to claim 1, wherein when the inclination of the ground is large, the crawler device under the mobile machine platform is controlled to be put down so that the crawler contacts the ground and supports the mobile machine platform for running.

3. The land leveling method of the mobile mechanical platform of claim 1, wherein a track running motor is further mounted on the track mounting plate, the track running motor is in driving connection with the track wheel, and a land leveling wheel running motor is further provided, and the land leveling wheel running motor is in driving connection with the land leveling wheel.

4. The land leveling method of the mobile mechanical platform as set forth in claim 1, wherein the base frame is further provided with an automatic control system, the automatic control system comprises a control center, the lifting motor and the crawler travel motor as well as 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;

The rear end of the rear support arm is provided with an extension arm which extends horizontally and backwards, and the control center is arranged on a connecting plate between the extension arms.

5. The flat ground walking method of a mobile mechanical platform according to claim 1, wherein the positions, close to the outer ends, of the upper sides of the front and rear pairs of track mounting plates are further provided with short-circuit fixing arms extending obliquely inwards and upwards, the track mounting plates are rotatably connected with the front ends of the front support arms and the rear ends of the rear support arms respectively by means of the upper ends of the short-circuit fixing arms, the outer ends of the front and rear pairs of track mounting plates are respectively and outwards connected with a flat ground wheel mounting arm, one end of each flat ground wheel mounting arm is vertically and rotatably connected with the end part of the track mounting plate, the other end of each flat ground wheel mounting arm is provided with a flat ground wheel, a flat ground wheel motor is mounted on the flat ground wheel mounting arm, and the flat ground wheel mounting arm rotation control motor and the flat ground wheel mounting arm are in transmission connection.

6. The land leveling method of the mobile machine platform as set forth in claim 4 or 5, wherein the automatic control system further comprises a land wheel pressure detecting sensor installed between the installation shaft of the land wheel and the installation arm of the land wheel, and a track wheel pressure detecting sensor installed between the installation shaft of each track wheel and the track installation plate, the land wheel pressure detecting sensor and the track wheel pressure detecting sensor being connected to the control center, respectively.

7. The walking method of mobile machinery platform on level ground according to claim 6, wherein the front end of the platform is provided with a pedal extending in a bending manner in a forward and downward direction;

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 left and right and are arranged on the left side and the right side of the base frame, a pair of seat mounting plates positioned on the inner sides of the seat support lug plates, a seat is arranged between the seat mounting plates, the upper end positions of the seat mounting plates on the two sides and the seat support lug plates are respectively rotatably connected by means of seat rotating shafts in the left-right direction, an arc-shaped groove is further formed in the lower portion of the outer side of the seat mounting plates, the lower surface of the groove is provided with a section of inner gear taking the seat rotating shaft as the center of a circle, an outer gear meshed with the inner gear is arranged on the seat support lug plates, and a seat rotation control motor is further arranged on the seat support lug plates and is in transmission connection with the outer gear;

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

The seat adjusting device also comprises a seat up-down adjusting mechanism, the seat up-down adjusting mechanism comprises an up-down sliding rail which is arranged on the upper surfaces of the rear support arms at 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 up-down sliding rail, a telescopic device for seat up-down adjustment which is arranged along the length direction of the rear support arms is fixedly arranged between the rear support arms at the two sides, and the execution ends of the telescopic device for seat up-down adjustment are 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;

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