CN117944762A

CN117944762A - Self-propelled agricultural chassis and sprayer with same

Info

Publication number: CN117944762A
Application number: CN202211282270.7A
Authority: CN
Inventors: 陈雨; 胡宸玮; 张硕; 陈军; 曹佳宇; 路力权; 张烁
Original assignee: Northwest A&F University
Current assignee: Northwest A&F University
Priority date: 2022-10-19
Filing date: 2022-10-19
Publication date: 2024-04-30

Abstract

The invention relates to the field of agricultural machinery, and discloses a self-propelled agricultural chassis and a sprayer with the self-propelled agricultural chassis, which comprise a swing frame beam assembly (1), a plurality of travelling wheel assemblies (2) and a frame (3) which are arranged on the swing frame beam assembly, wherein the swing frame beam assembly (1) comprises a pair of swing frame beams (11) which are oppositely arranged at intervals, an intermediate shaft (12) which extends through the swing frame beams, an intermediate shaft left end connecting piece (13) and an intermediate shaft right end connecting piece (14) which are respectively connected to two ends of the intermediate shaft, a first wheel track adjusting push rod (15) and a second wheel track adjusting push rod (16), the first wheel track adjusting push rod and the second wheel track adjusting push rod can be telescopic to enable the swing frame beams to have different intervals, and the swing frame beams can swing longitudinally around the intermediate shaft. When the chassis runs to an uneven road surface, the swing frame beam rotates around the intermediate shaft in a small amplitude, and the frame is hinged to the swing frame beam due to the frame connecting mechanism, and meanwhile, the whole frame can be kept horizontal under the supporting and damping effects of the suspension.

Description

Self-propelled agricultural chassis and sprayer with same

Technical Field

The invention relates to farm machinery, in particular to a self-propelled farm chassis. On the basis, the invention also relates to a sprayer with the self-propelled agricultural chassis.

Background

At present, the use of liquid pesticides/fertilizers to spray pesticides or foliar fertilizers on crops is a main way for ensuring the normal development and growth of crops. The current main spraying modes comprise knapsack sprayer, stretcher type sprayer, self-propelled sprayer, plant protection unmanned aerial vehicle and the like.

The self-propelled sprayer is widely used by virtue of the characteristics of high operation efficiency, capability of greatly reducing labor cost and the like. However, when the sprayer works in the field, the sprayer is limited by the chassis structure, and the problems of large physical damage to crops, inflexibility in work, narrow terrain adaptation range and the like still exist. Therefore, there is a need to design a self-propelled agricultural chassis that can be used in an agricultural sprayer to accommodate more complex and variable operating conditions.

Disclosure of Invention

The invention aims to solve the problem that agricultural machinery such as a sprayer cannot well adapt to complex and variable working conditions when walking in farmlands in the prior art, and provides a self-propelled agricultural chassis, which improves the passing capacity of the agricultural machinery such as the sprayer by means of adjustable wheel track, independent driving and steering of wheels, a swinging type frame and the like, and effectively enhances the working stability and the working range.

To achieve the above object, an aspect of the present invention provides a self-propelled agricultural chassis, comprising:

The swing frame beam assembly comprises a pair of swing frame beams which are oppositely arranged at intervals, an intermediate shaft which penetrates through the swing frame beams to extend, an intermediate shaft left end connecting piece and an intermediate shaft right end connecting piece which are respectively connected to two ends of the intermediate shaft, a first wheel track adjusting push rod which is respectively connected between the intermediate shaft left end connecting piece and one of the swing frame beams through a joint bearing, and a second wheel track adjusting push rod which is connected between the intermediate shaft right end connecting piece and the other swing frame beam, wherein the first wheel track adjusting push rod and the second wheel track adjusting push rod can be telescopic to enable the swing frame beams to have different intervals, and the swing frame beams can swing longitudinally around the intermediate shaft;

A plurality of traveling wheel assemblies, each of which is correspondingly connected to an end of the swing frame beam and has a wheel mounted with an in-wheel motor and a steering driving mechanism for driving the wheel to steer; and the frame is correspondingly supported at the end part of the swing frame beam through a plurality of suspensions, and is respectively provided with frame connecting mechanisms correspondingly hinged to the left end connecting piece of the intermediate shaft and the right end connecting piece of the intermediate shaft at two sides.

Preferably, the steering driving mechanism comprises a steering gear motor arranged above the swing frame beam and a steering transmission rod connected to the steering gear motor and extending through the swing frame beam, and the wheels are connected to the steering transmission rod in a transmission way through a ground clearance adjusting mechanism so as to be capable of steering under the driving action of the steering gear motor.

Preferably, the ground clearance adjustment mechanism includes a first mounting plate connected to the bottom end of the steering transmission rod, a second mounting plate connected to the wheel, and a ground clearance adjustment push rod and a ground clearance adjustment guide rod connected between the first mounting plate and the second mounting plate and extending parallel to each other.

Preferably, the steering transmission rod extends obliquely to the vertical direction and can be driven to rotate at least 360 ° by the steering reduction motor.

Preferably, a rotating sleeve is arranged at the longitudinal center position of the swing frame beam, the intermediate shaft extends through the rotating sleeve, and the intermediate shaft and the first wheel track adjusting push rod and the second wheel track adjusting push rod are positioned on the same horizontal plane.

Preferably, the first track adjusting push rod and the second track adjusting push rod respectively pass through one swing frame beam and are connected to the other swing frame beam.

Preferably, both ends of the swing frame beam are respectively provided with a short beam extending transversely, and the traveling wheel assembly and the suspension are respectively connected to the short beams.

Preferably, a battery carrier for carrying the power battery is connected to the frame.

Preferably, a middle cross beam is connected between the frame connecting mechanisms at the left side and the right side of the frame.

A second aspect of the invention provides a sprayer having a self-propelled agricultural chassis as described above.

Through the technical scheme, the self-propelled agricultural chassis provided by the invention realizes four-wheel independent drive and four-wheel steering functions by utilizing the hub motor and the steering driving mechanism which are integrated on the wheels, and can ensure that the vehicle body part of the sprayer is always kept parallel to the ground when the sprayer passes through a larger bumpy road surface by utilizing the swinging type swinging frame beams which can swing independently on the two sides of the chassis, so that the stability of spraying medicine is ensured. The wheel distance can be adjusted through the first wheel distance adjusting push rod and the second wheel distance adjusting push rod aiming at different crop planting gaps, so that the trafficability and the flexibility of agricultural machinery can be effectively improved, and the agricultural machinery can stably spray medicines and has a large operation range. In the preferred scheme of the invention, the ground clearance of the chassis can be adjusted by utilizing the ground clearance adjusting mechanism according to different heights of crops, so that the high-ground clearance chassis is formed, and the application range is enlarged.

Drawings

FIG. 1 is a schematic overall isometric view of a self-propelled agricultural chassis in accordance with a preferred embodiment of the present invention;

FIG. 2 is a schematic view of the frame of the self-propelled agricultural chassis of FIG. 1;

FIG. 3 is a schematic view of the swing frame beam assembly of the self-propelled agricultural chassis of FIG. 1;

FIG. 4 is a schematic diagram of an assembled configuration of the road wheel assembly of the self-propelled agricultural chassis of FIG. 1;

FIG. 5 is a schematic view of the self-propelled agricultural chassis of FIG. 1 with the frame removed;

FIG. 6 is a front view of the self-propelled agricultural chassis of FIG. 5 with the frame removed;

FIG. 7 is a top view of the self-propelled agricultural chassis of FIG. 5 with the frame removed, adjusted to a wide track condition;

fig. 8 is a top view of the self-propelled agricultural chassis of fig. 5 with the frame removed, adjusted to a narrow track condition.

Description of the reference numerals

1-A swing frame beam assembly; 11-a swing frame beam; 11 a-short beams; 12-an intermediate shaft; 13-a connecting piece at the left end of the intermediate shaft; 14-a right end connector of the intermediate shaft; 13a, 14 a-frame connection sleeve; 15-a first tread adjusting push rod; 16-a second track adjusting push rod; 17-rotating the sleeve; 18-installing a welding piece at the lower end of the suspension; 19-a track adjusting push rod mounting plate;

2-a road wheel assembly; 21-an in-wheel motor; 22-steering gear motor; 23-steering transmission rod; 24-ground clearance adjusting mechanism; 241-a first mounting plate; 242-a second mounting plate; 243-ground clearance adjustment push rod; 244-ground clearance adjustment guide bar; 244 a-guide inner rod; 244 b-a guide sleeve; 25-steering gear motor fixing plates;

3-a frame; 31-a frame connection mechanism; 311-welding parts of a frame middle support plate; 312-frame connection plates; 32-a battery carrier; 33-middle section cross beam; 34-installing a welding piece at the upper end of the suspension; 4-suspension.

Detailed Description

The following describes specific embodiments of the present invention in detail with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.

In the present invention, unless otherwise specified, terms such as "upper, lower, left, and right" and "upper, lower, left, and right" are used generically to refer to the upper, lower, left, and right illustrated in the drawings; "inner and outer" means inner and outer relative to the contour of the respective parts themselves. Further, the term "longitudinal" used refers to the front-rear direction (i.e., the up-down direction shown with reference to fig. 7 and 8) in which the agricultural machine normally walks, and "transverse" refers to the horizontal direction (i.e., the left-right direction shown with reference to fig. 7 and 8) perpendicular to the longitudinal direction.

Referring to fig. 1 to 8, a self-propelled agricultural chassis according to a preferred embodiment of the present invention, which includes a swing frame beam assembly 1, a plurality of traveling wheel assemblies 2 for carrying the swing frame beam assembly 1, and a frame 3 carried on the swing frame beam assembly 1, can be used in a sprayer to carry a spraying mechanism to travel in a farmland to accomplish a spraying operation of pesticides and fertilizers.

Wherein fig. 2 shows a specific structure of the frame 3, fig. 3 shows a specific structure of the swing frame beam assembly 1, and fig. 4 shows an assembled structure of a plurality of components of the road wheel assembly 2. In the self-propelled agricultural chassis, the swing frame beam assembly 1 includes a pair of swing frame beams 11 arranged to be spaced apart from each other, an intermediate shaft 12 extending through the pair of swing frame beams 11, intermediate shaft left and right end connectors 13 and 14 connected to both ends of the intermediate shaft 12, respectively, a first tread adjusting push rod 15 and a second tread adjusting push rod 16. Wherein the length direction of the swing frame beams 11 corresponds to the longitudinal direction of the self-propelled agricultural chassis, and the two swing frame beams 11 are arranged at intervals in the transverse direction. The intermediate shaft 12 horizontally extends along the transverse direction and passes through the swing frame beam 11, and the two ends are respectively connected with an intermediate shaft left end connecting piece 13 and an intermediate shaft right end connecting piece 14. The first track adjusting push rod 15 is connected between the intermediate shaft left end connecting piece 13 and one of the swing frame beams 11, and the second track adjusting push rod 16 is connected between the intermediate shaft right end connecting piece 14 and the other swing frame beam 11. Thus, by controlling the first tread adjusting push rod 15 and the second tread adjusting push rod 16 to be telescopic, different pitches can be provided between the two swing frame beams 11, as shown in fig. 7 and 8, respectively, whereby the road wheel assemblies 2 mounted on the different swing frame beams 11 take different tread states. When an agricultural machine such as a sprayer works in farmlands with different crop planting gaps, the self-walking agricultural chassis can be utilized to avoid physical damage to crops by adjusting the wheel track to be suitable for the corresponding crop planting gaps, and the trafficability and flexibility of the agricultural machine are effectively improved.

In the rocker beam assembly 1, the intermediate shaft 12 extends through the rocker beam 11, and when the first tread adjusting push rod 15 and the second tread adjusting push rod 16 are extended and retracted, the rocker beam 11 can be pushed or pulled to slide along the intermediate shaft 12 to form different tread. In addition, in the circumferential direction around the intermediate shaft 12, the rocker beam 11 can freely rotate (longitudinally swing) relative to the intermediate shaft 12, and therefore, when a large bumpy road surface passes, the rocker beam 11 can be allowed to longitudinally swing around the intermediate shaft 12 along with the fluctuation of the ground, so that the vehicle body part and the ground are always kept in a parallel state, and the stability of a working mechanism such as spraying and the like is ensured.

In the illustrated preferred embodiment, the first track adjustment push rod 15 is connected at one end remote from the intermediate shaft left end connection 13 to the relatively right-hand swing frame beam 11, i.e. through one of the swing frame beams 11 to the relatively further side of the other swing frame beam 11; the second track adjusting push rod 16 is also connected. In an alternative embodiment, the first track adjusting push rod 15 and the second track adjusting push rod 16 can also be connected to the respective rocker beams 11 in each case in a nearby manner, as well as the two rocker beams 11 can be driven with different spacing by telescoping. By connecting the first tread adjusting push rod 15 and the second tread adjusting push rod 16 to one rocker beam 11 on the relatively far side through the other rocker beam 11, it is possible to cause the two rocker beams 11 to oscillate longitudinally at relatively uniform oscillation amplitudes while passing over a bumpy road surface, which is advantageous in maintaining the stability of the vehicle body.

In the self-propelled agricultural chassis of the illustrated preferred embodiment, four traveling wheel assemblies 2 are mounted on the swing frame beam assembly 1, two of which are respectively mounted at the longitudinal ends of one swing frame beam 11, and the other two of which are respectively mounted at the longitudinal ends of the other swing frame beam 11, and the corresponding traveling wheel assemblies 2 can be adjusted to have different wheel pitches by adjusting the spacing between the swing frame beams 11. Wherein each road wheel assembly 2 has a wheel mounted with an in-wheel motor 21 and a steering driving mechanism for driving the wheel to steer, respectively, whereby the self-propelled agricultural chassis has four-wheel independent driving and four-wheel steering functions, which not only facilitates the aforementioned tread adjustment, but also enables flexible walking under complex terrain conditions through appropriate control.

The frame 3 is correspondingly supported at the end of the swing frame beam 11 through a plurality of suspensions 4, and the supporting position corresponds to the installation position of the walking wheel assembly 2, so that the load of the frame 3 is conducted to the walking wheel assembly 2 through the swing frame beam 11, and the influence on the track adjustment and pitching action of the swing frame beam assembly 1 is reduced. The suspension 4 is used for supporting the frame 3, so that the vibration of the frame 3 during walking on an uneven road surface can be relieved, and the damage of an operation mechanism can be effectively avoided. In addition to the suspension 4, the frame 3 is provided on both lateral sides with frame connection means 31 hinged to the left and right intermediate shaft connection members 13 and 14, respectively, which allows the frame 3 to be stably supported on the swing frame rail assembly 1 and prevents the frame 3 from being unstable during the swing of the swing frame rail 11.

Swing frame beam assembly 1

As previously described, the swing frame beam assembly 1 includes a pair of swing frame beams 11 oppositely disposed at laterally spaced intervals. To facilitate the mounting and arrangement of the road wheel assembly 2 and the frame 3, the swing frame beam 11 may be provided at both ends with laterally extending short beams 11a, respectively, whereby the road wheel assembly 2 may be connected to the short beams 11a, thereby avoiding the arrangement of components such as the ground clearance adjustment mechanism 24 in the road wheel assembly 2 as described later; likewise, the suspension 4 may also be connected at the lower end to the short beam 11a, for which purpose a suspension lower end mounting weldment 18 may be provided on the short beam 11 a. By providing the short beam 11a, the frame 3 can have a relatively large width, facilitating the arrangement of the working mechanism.

The intermediate shaft 12 may extend through a longitudinal central position of the rocker beam 11, and the rocker beam 11 may be provided with a swivel sleeve 17 at this position. In addition, the intermediate shaft 12 may be located on the same horizontal plane as the first tread adjusting push rod 15 and the second tread adjusting push rod 16. Specifically, the intermediate shaft 12 passes through the rotating sleeves 17 of the two side swing frame beams 11, and the swing frame beams 11 can move axially along the intermediate shaft 12 under the telescopic action of the first track adjusting push rod 15 and the second track adjusting push rod 16 and are respectively arranged on the same horizontal plane with the intermediate shaft 12.

The left end connecting piece 13 of the intermediate shaft and the right end connecting piece 14 of the intermediate shaft can be respectively provided as welding pieces, and are formed by welding three plates, and the whole is respectively welded at the left end and the right end of the intermediate shaft 12, wherein the upper plate and the lower plate of each welding piece are respectively subjected to drilling treatment. The two ends of the first wheel track adjusting push rod 15 and the second wheel track adjusting push rod 16 are respectively provided with a joint bearing (fish-eye bearing), one end of the joint bearing is hinged with a drilling hole on the connecting piece 13 at the left end of the intermediate shaft or the connecting piece 14 at the right end of the intermediate shaft, and the other end of the joint bearing is hinged with a drilling hole on the wheel track adjusting push rod mounting plate 19 on the swing frame beam 11. The front ends of the left end connecting piece 13 or the right end connecting piece 14 of the intermediate shaft may be welded with frame connecting sleeves 13a, 14a, respectively, for hinging with the frame connecting mechanism 31 of the frame 3.

Walking wheel assembly 2

The steering drive mechanism of the road wheel assembly 2 includes a steering gear motor 22 provided above the bogie beam 11 and a steering transmission rod 23 connected to the steering gear motor 22 and extending through the bogie beam 11. The wheels are drivingly connected to the steering transmission rod 23 through a ground clearance adjustment mechanism 24 so as to be capable of steering under the drive of a steering reduction motor 22. The ground clearance adjustment mechanism 24 may include a first mounting plate 241 connected to the bottom end of the steering transmission rod 23, a second mounting plate 242 connected to the wheel, and a ground clearance adjustment push rod 243 and a ground clearance adjustment guide rod 244 connected between the first mounting plate 241 and the second mounting plate 242 and extending parallel to each other.

The upper part of the ground clearance adjusting push rod 243 can be fixed on the first mounting plate 241 at the bottom end of the steering transmission rod 23 through bolts, the lower part is fixed on the second mounting plate 242 of the wheel through the matching of the threads of the lower part and nuts, and the ground clearance adjusting push rod 243 adjusts the ground clearance height of the chassis through the telescopic function of the ground clearance adjusting push rod 243. The ground clearance adjustment push rod 243 is assembled in parallel with the ground clearance adjustment guide rod 244, and the ground clearance adjustment guide rod 244 may have a guide sleeve 244b extending from the first mounting plate 241 and a guide inner rod 244a fixed to the second mounting plate 242 in a shaft hole-fitted state with the guide sleeve 244 b. The guide sleeve 244b may be provided with a grease injection port.

The steering transmission rod 23 may be installed to extend obliquely to the vertical direction, for example, to have an inclination angle of 8 ° with respect to the normal direction of the upper plane of the swing frame beam 11, and the output shaft of the steering gear motor 22 is fitted to the inner shaft hole of the steering transmission rod 23 and performs power transmission through a key connection. The steering gear motor 22 may be fixed at the front and rear short beams 11a of the swing frame beam 11 by a steering gear motor fixing plate 25. The steering gear lever 23 can be driven to be rotatable 360 ° around its axial direction.

Frame 3

The vehicle frame 3 has a main body frame extending in a substantially horizontal plane, and to both lateral sides thereof are respectively connected frame connection mechanisms 31 for hinging to the swing frame beam assembly 1, and the frame connection mechanisms 31 may include a frame middle support plate weldment 311 welded to the main body frame and a frame connection plate 312 welded to a lower end of the frame middle support plate weldment 311, and hinged to a frame connection sleeve 13a of the intermediate shaft left end connector 13 or a frame connection sleeve 14a of the intermediate shaft right end connector 14 through the frame connection plate 312. A middle cross member 33 may be connected between the frame connection mechanisms 31 on the left and right sides.

The frame 3 may be provided with a battery carrier 32 which may be mounted on the front of the main body frame. The upper end of the suspension 4 may be fixed to a suspension upper end mounting weldment 34 provided to the main body frame.

The invention uses the wheel hub motor 21 to drive four wheels independently, and uses the steering gear motor 22 to output torque to steer four wheels independently when working. When the road surface jolts, the swing frame beams 11 utilize the shaft hole matching relationship of the rotating sleeve 17 and the intermediate shaft 12, so that the swing frame beams 11 on two sides can passively swing by a small extent by taking the intermediate shaft 12 as a rotation center according to the road surface condition, and the horizontal state of the vehicle body part is ensured at any time. The left end connecting piece 13 of the intermediate shaft and the right end connecting piece 14 of the intermediate shaft are formed by welding three plates, and the whole connecting piece is welded on the left end and the right end of the intermediate shaft 11, wherein the upper plate and the lower plate of each welded piece are drilled, so that the first wheel track adjusting push rod 15 and the second wheel track adjusting push rod 16 are convenient to install; the first wheel track adjusting push rod 15 and the second wheel track adjusting push rod 16 are installed at the front and the rear of the intermediate shaft 12 in a central symmetry state, the first wheel track adjusting push rod 15 positioned in front of the intermediate shaft 12 is hinged at the left end at a punching position on the connecting piece 13 at the left end of the intermediate shaft, and is installed at the right end on the wheel track adjusting push rod installation plate 19 welded on the swing frame beam 11 at the right side. The length of the intermediate shaft 12 is unchanged, so that the left end installation position of the first wheel track adjusting push rod 15 is fixed, and the swing frame beam 11 on the right side of the first wheel track adjusting push rod can be driven to move on the intermediate shaft 12 along the axial direction of the push rod under the telescopic action of the first wheel track adjusting push rod; similarly, the second track adjusting push rod 16 located behind the intermediate shaft 12 is hinged at the left end to the track adjusting push rod mounting plate 19 welded on the left swing frame beam 11, and is mounted at the right end to the punching position on the intermediate shaft right end connecting piece 14, and since the length of the intermediate shaft 12 is unchanged, the right end mounting position of the second track adjusting push rod 16 is fixed, and the left swing frame beam 11 can be driven to move on the intermediate shaft 12 along the axial direction of the push rod under the telescopic action. In the chassis advancing process, the two wheel track adjusting push rods stretch together to realize the wheel track adjusting function of the chassis, and the friction resistance during adjustment is properly reduced due to the wheel track adjustment during advancing. When the chassis runs on an uneven road surface, the swing frame beam 11 rotates around the intermediate shaft 12 by a small extent, and the frame 3 is kept horizontal as a whole under the supporting and damping effects of the suspension 4 because the frame connecting sleeves 13a, 14a are hinged with the frame connecting mechanism 31 through a rotating pin. When crops at different heights or different types are operated, the swing frame beam 10 is driven to lift up integrally through the telescopic action of the ground clearance adjusting push rod 243, so that the ground clearance height of the chassis is changed.

The invention provides a high-clearance self-propelled agricultural electric chassis, four wheels can independently steer, drive and damp, the steering radius is reduced, and the flexibility of the sprayer in narrow-area work is improved; simultaneously, the ground clearance and the wheel tread of the chassis can be adjusted according to the specific planting condition of crops, so that the applicability of the sprayer is greatly improved; the swing frame beams at two sides can swing around the middle shaft in a small amplitude, so that the running stability is improved. On the basis, the invention also provides a sprayer with the self-propelled agricultural chassis.

The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto. Within the scope of the technical idea of the invention, a number of simple variants of the technical solution of the invention are possible, including combinations of individual specific technical features in any suitable way. The various possible combinations of the invention are not described in detail in order to avoid unnecessary repetition. Such simple variations and combinations are likewise to be regarded as being within the scope of the present disclosure.

Claims

1. A self-propelled agricultural chassis, comprising:

A swing frame beam assembly (1), the swing frame beam assembly (1) comprises a pair of swing frame beams (11) which are oppositely arranged at intervals, an intermediate shaft (12) which extends through the swing frame beams (11), an intermediate shaft left end connecting piece (13) and an intermediate shaft right end connecting piece (14) which are respectively connected to two ends of the intermediate shaft (12), a first wheel tread adjusting push rod (15) which is respectively connected between the intermediate shaft left end connecting piece (13) and one of the swing frame beams (11) through a joint bearing, and a second wheel tread adjusting push rod (16) which is connected between the intermediate shaft right end connecting piece (14) and the other swing frame beam (11), wherein the first wheel tread adjusting push rod (15) and the second wheel tread adjusting push rod (16) can be telescopic to enable the swing frame beams (11) to have different intervals, and the swing frame beams (11) can swing longitudinally around the intermediate shaft (12);

A plurality of road wheel assemblies (2), each road wheel assembly (2) is correspondingly connected to the end part of the swing frame beam (11) and is provided with a wheel provided with a hub motor (21) and a steering driving mechanism for driving the wheel to steer; and

The frame (3) is correspondingly supported at the end part of the swing frame beam (11) through a plurality of suspensions (4), and the two sides of the frame (3) are respectively provided with frame connecting mechanisms (31) correspondingly hinged to the left end connecting piece (13) of the intermediate shaft and the right end connecting piece (14) of the intermediate shaft.

2. The self-propelled agricultural chassis of claim 1, wherein the steering drive mechanism includes a steering gear motor (22) disposed above the swing frame beam (11) and a steering transmission rod (23) connected to the steering gear motor (22) and extending through the swing frame beam (11), the wheels being drivingly connected to the steering transmission rod (23) through a ground clearance adjustment mechanism (24) so as to be capable of steering under the drive of the steering gear motor (22).

3. The self-propelled agricultural chassis of claim 2, wherein the ground clearance adjustment mechanism (24) includes a first mounting plate (241) connected to a bottom end of the steering drive rod (23), a second mounting plate (242) connected to the wheel, and a ground clearance adjustment push rod (243) and a ground clearance adjustment guide rod (244) connected between the first mounting plate (241) and the second mounting plate (242) and extending parallel to each other.

4. The self-propelled agricultural chassis of claim 2, wherein the steering transmission rod (23) extends obliquely to the vertical and can be driven to rotate at least 360 ° by the steering gear motor (22).

5. The self-propelled agricultural chassis of claim 1, wherein a rotating sleeve (17) is provided at a longitudinal center position of the rocker beam (11), the intermediate shaft (12) extends through the rotating sleeve (17), and the intermediate shaft (12) is located on the same horizontal plane as the first tread adjusting push rod (15) and the second tread adjusting push rod (16).

6. The self-propelled agricultural chassis of claim 1, wherein the first track adjusting push rod (15) and the second track adjusting push rod (16) are respectively connected to one of the swing frame beams (11) through the other swing frame beam (11), respectively.

7. Self-propelled agricultural chassis according to claim 1, characterized in that the swing frame beams (11) are provided with laterally extending short beams (11 a) at each end, the travelling wheel assemblies (2) and the suspensions (4) being connected to the short beams (11 a), respectively.

8. Self-propelled agricultural chassis according to claim 1, characterized in that the frame (3) is connected with a battery carrier (32) for carrying a power battery.

9. The self-propelled agricultural chassis of claim 1, wherein a middle cross member (33) is connected between the frame connection mechanisms (31) located on the left and right sides of the frame (3).

10. A sprayer, characterized in that it has a self-propelled agricultural chassis according to any one of claims 1 to 9.