Lift-off detection device and harvester

Abstract

A lift-off detection device, applied to a harvester, characterized in that it comprises: a frame and a walking mechanism, wherein the walking mechanism can be movably arranged on the frame, and the walking mechanism has a first position and a second position relative to the frame, and when the walking mechanism is in the first position, the harvester stops working; when the walking mechanism is in the second position, the state of the harvester remains unchanged. The walking mechanism of the lift-off detection device described in the present application has the first position and the second position relative to the frame, and when the walking mechanism is in the first position, the harvester stops working when the walking mechanism is in an abnormal state, thereby avoiding safety accidents when using the harvester and improving the safety of the harvester in a working state.

Description

Technical Field

[0001] The present application relates to the technical field of automatic detection, and particularly relates to a ground clearance detection device and a harvester. Background Art

[0002] With the increase in the types of harvesters, the harvesters on the market are more uneven. How to improve the safety of harvesters in the working state has become a technical problem to be solved. Summary of the Invention

[0003] The purpose of the present application is to provide a ground clearance detection device and a harvester to solve the technical problem of how to improve the safety of harvesters in the working state.

[0004] In a first aspect, the present application provides a ground clearance detection device applied to a harvester, including:

[0005] A frame;

[0006] A traveling mechanism, the traveling mechanism is movably arranged on the frame, the traveling mechanism has a first position and a second position relative to the frame. When the traveling mechanism is in the first position, the harvester stops working; when the traveling mechanism is in the second position, the state of the harvester remains unchanged.

[0007] Wherein, the traveling mechanism includes a sliding component and a traveling component. The sliding component is slidably arranged on the frame, and the sliding component has the first position and the second position relative to the frame; the traveling component is rotatably connected to the sliding component; when the sliding component is in the first position, the harvester stops working; when the sliding component is in the second position, the state of the harvester remains unchanged.

[0008] Wherein, the traveling component includes a connecting piece and a traveling wheel. The connecting piece is rotatably connected to the sliding component, and one end of the connecting piece away from the sliding component is movably connected to the traveling wheel.

[0009] Wherein, the traveling component includes a first traveling component and a second traveling component. The first traveling component and the second traveling component are respectively arranged on opposite sides of the sliding component. When the first traveling component moves relative to the sliding component towards the second position, and the second traveling component moves relative to the sliding component towards the first position, so that the traveling wheels of the first traveling component and the traveling wheels of the second traveling component are both in contact with the traveling road surface, and the sliding component is in a third position, the harvester maintains the working state, wherein the third position is located between the first position and the second position.

[0010] Wherein, the sliding assembly includes a slider and a rotating shaft, the rotating shaft is connected to the slider, and the rotating shaft is rotatably connected to the traveling assembly so that the traveling assembly can rotate relative to the sliding assembly.

[0011] Wherein, the ground clearance detection device further includes a buffer assembly, the buffer assembly is fixed to the frame, and the buffer assembly is connected to the connecting member to buffer the impact received by the traveling mechanism;

[0012] The buffer assembly includes a buffer mounting member and an elastic member, the buffer mounting member connects the frame and the elastic member, the elastic member connects the connecting member, and the elastic member is used to buffer the impact received by the traveling mechanism.

[0013] Wherein, the frame has a sliding space, the sliding space extends along the arrangement direction of the first position and the second position, the slider is slidably disposed in the sliding space and can slide between the first position and the second position.

[0014] Wherein, the ground clearance detection device further includes a sensor and a controller, the sensor is electrically connected to the controller, the sensor is used to emit a first signal when the traveling mechanism is in the first position, and the controller is used to control the harvester to stop working according to the first signal.

[0015] Wherein, the traveling wheel includes a hub motor and a tire, the hub motor has an outer peripheral surface and at least one protruding portion located on the outer peripheral surface, the tire has an inner peripheral surface and at least one groove located on the inner peripheral surface; the tire is sleeved on the outer peripheral surface of the hub motor, and the protruding portion is clamped in the groove.

[0016] In a second aspect, the present application provides a harvester, which is characterized in that it includes the ground clearance detection device and a cutter head assembly, the cutter head assembly is installed on the frame, and the cutter head assembly is used for harvesting.

[0017] The traveling mechanism of the ground clearance detection device of the present application has a first position and a second position relative to the frame, and when the traveling mechanism is in the first position, the harvester stops working when the traveling mechanism is in an abnormal state, avoiding safety accidents when using the harvester, and improving the safety of the harvester in the working state. Description of the Drawings

[0018] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0019] Figure 1 It is a schematic structural diagram of a harvester provided by an embodiment of the present application;

[0020] Figure 2 It is a schematic structural diagram of a ground clearance detection device provided by an embodiment of the present application Figure 1 ;

[0021] Figure 3 It is a schematic structural diagram of a ground clearance detection device provided by an embodiment of the present application Figure 2 ;

[0022] Figure 4 It is a schematic bottom structure diagram of a harvester provided by an embodiment of the present application;

[0023] Figure 5 It is a schematic structural diagram of a cutter head assembly provided by an embodiment of the present application;

[0024] Figure 6 It is a partial cross-sectional schematic diagram of the ground clearance detection device provided by an embodiment of the present application;

[0025] Figure 7 It is a partial structural schematic diagram of a traveling mechanism provided by an embodiment of the present application;

[0026] Figure 8 It is a schematic structural diagram of a traveling wheel provided by an embodiment of the present application.

[0027] Label description: Harvester - 1000, Ground clearance detection device - 1, Frame - 10, Frame body - 11, Guide - 12, Sliding space - 13, Traveling mechanism - 20, Sliding component - 21, Slide block - 211, Rotating shaft - 212, Traveling component - 22, First traveling component - 221, Second traveling component - 222, Connecting piece - 223, First connecting piece - 2231, Second connecting piece - 2232, Traveling wheel - 224, First traveling wheel - 2241, Second traveling wheel - 2242, Hub motor - 225, Motor main body - 2251, Hub cover - 2252, Tire - 226, Sensor - 30, Buffer component - 40, Mounting piece - 41, Elastic piece - 42, Cutter head assembly - 3, Blade - 31, Cutter head support - 32. Specific embodiments

[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0029] As used herein, the mention of "embodiment" or "implementation" means that a particular feature, structure, or characteristic described in connection with the embodiment or implementation may be included in at least one embodiment of the present application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein may be combined with other embodiments.

[0030] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion.

[0031] With the continuous increase of urban greening area, there are more and more lawns that need to be maintained. However, problems such as the aging of the population have led to the increasingly serious problem of labor shortage. In order to liberate the labor force, automatic lawn mowing harvesters will gradually become popular. For the working environment of the harvester on the grass, the following functions need to be satisfied: the grassland is uneven, and there are grass roots and various small stones, tree roots and other obstacles. It is necessary to enable the harvester to adapt to various different road conditions when running on the lawn to ensure passability. The harvester needs to have good off-road capabilities; when the harvester is mowing the lawn, the high-speed rotating cutter head needs to stop rotating in case of emergency. When the harvester may fall from the cross-section or be lifted off the ground by irrelevant personnel or other external forces, it is necessary to be able to detect this abnormal state and stop working to avoid safety accidents.

[0032] With the increase in the types of harvesters, the harvesters on the market are more uneven. Safety issues are the most important part. How to improve the safety of the harvester in the working state has become a technical problem to be solved.

[0033] Please refer to Figure 1 、 Figure 2 and Figure 4 . Figure 1 is a schematic structural diagram of a harvester provided by an implementation manner of the present application (the harvester 1000 mentioned later can all be referred to Figure 1 ), Figure 2 is a schematic structural diagram of a ground clearance detection device provided by an implementation manner of the present applicationFigure 1 , Figure 4 Figure 4 is a schematic diagram of the bottom structure of a harvester provided by an embodiment of the present application. The harvester 1000 provided by the present application includes the ground clearance detection device 1 and the cutter head assembly 3. The cutter head assembly 3 is installed on the harvester 1000, and the cutter head assembly 3 is used for harvesting. Optionally, the cutter head assembly 3 includes, but is not limited to, mowing, and the cutter head assembly 3 can also be used for harvesting other plants, such as rice, wheat, etc.

[0034] Please refer to Figure 5 , Figure 5 Figure 5 is a schematic diagram of the structure of a cutter head assembly provided by an embodiment of the present application. The cutter head assembly 3 further includes at least one blade 31 and a cutter head support 32, and the blade 31 is disposed on the outer peripheral edge of the cutter head support 32 and at least partially exposes the outer peripheral edge of the cutter head support 32.

[0035] The blade 31 is rotatably connected to the cutter head support 32, and when the cutter head support 32 rotates, the blade 31 is radially arranged under the action of centrifugal force. When the blade 31 touches a hard external object such as a stone during operation, since the blade 31 is rotatably connected to the cutter head support 32, the blade 31 can rotate to prevent the blade 31 from being severely damaged.

[0036] Please refer to again Figure 2 and Figure 4 , the ground clearance detection device 1 includes a frame 10 and a traveling mechanism 20. The traveling mechanism 20 is movably disposed on the frame 10. The traveling mechanism 20 has a first position and a second position relative to the frame 10. When the traveling mechanism 20 is in the first position, the harvester 1000 stops working; when the traveling mechanism 20 is in the second position, the state of the harvester 1000 remains unchanged.

[0037] Specifically, when the ground clearance detection device 1 is applied to the harvester 1000 and the harvester 1000 is placed on the road surface, the first position is a position close to the road surface, and the second position is a position far from the road surface.

[0038] Among them, specifically, the first position and the second position are spaced apart by a certain distance. The first position is located on one side of the frame 10 close to the bottom of the frame 10, and the second position is located on one side of the frame 10 close to the top of the frame 10.

[0039] Optionally, referring to Figure 2 and Figure 3, when the harvester 1000 is located on a horizontal walking surface, the direction from the first position to the second position on the frame 10 is the first direction.

[0040] Optionally, the horizontal walking surface includes, but is not limited to, a horizontal ground, a horizontal tabletop, or other environments.

[0041] Among them, when the traveling mechanism 20 is in the first position of the frame 10, the harvester 1000 in the working state stops working, and the harvester 1000 in the stopped working state continues to stop working. When the traveling mechanism 20 is in the second position, the state of the harvester 1000 remains unchanged. It should be noted that when the harvester 1000 is in the stopped working state and the traveling mechanism 20 is in the second position of the frame 10, the harvester 1000 is still in the stopped working state; when the harvester 1000 is in the working state and the traveling mechanism 20 is in the second position, the harvester 1000 is still in the working state.

[0042] It can be explained that, optionally, the harvester 1000 being in the working state includes, but is not limited to, the cutter head assembly 3 being in the working state, and the cutter head assembly 3 being in the working state includes, but is not limited to, the cutter head support 32 or the blade 31 being in a rotating state.

[0043] Specifically, in one embodiment, when the traveling mechanism 20 of the harvester 1000 travels on the horizontal walking surface, the horizontal walking surface provides a supporting force to the traveling mechanism 20, the structure of the traveling mechanism 20 is relatively stable, and the height of the traveling mechanism 20 relative to the horizontal walking surface remains unchanged. The frame 10 is movably connected to the traveling mechanism 20. Therefore, the frame 10 will move in the direction close to the horizontal walking surface due to its own gravity, causing the traveling mechanism 20 to move towards the second position of the frame 10. Until the traveling mechanism 20 is in the second position, the positional relationship between the frame 10 and the traveling mechanism 20 is relatively stable, that is, the height and structure of the harvester 1000 along the first direction are relatively stable.

[0044] In one embodiment, when the traveling mechanism 20 of the harvester 1000 travels to a height section similar to a step and the traveling mechanism 20 is in a suspended state, the traveling mechanism 20 moves in the direction of the walking surface relative to the frame 10 due to its own gravity, and the traveling mechanism 20 moves towards the first position of the frame 10. Until the traveling mechanism 20 is in the first position, the harvester 1000 stops working.

[0045] Optionally, the walking surface includes, but is not limited to, a stepped section, a deep pit on the ground, etc.

[0046] In another embodiment, when the harvester 1000 is lifted by an operator in the working state, the frame 10 is subjected to a pulling force provided by the operator and moves in a direction away from the horizontal walking surface, so that the traveling mechanism 20 moves toward the first position. When the traveling mechanism 20 reaches the first position, the harvester 1000 stops working. It should be noted that, in one embodiment, when the operator lifts the harvester 1000 in the working state, when the traveling mechanism 20 leaves the horizontal walking surface and is suspended, the traveling mechanism 20 moves to the first position of the frame 10 to stop the harvester 1000 from working. In another embodiment, when the operator lifts the harvester 1000 in the working state, the traveling mechanism 20 does not leave the horizontal walking surface, but the traveling mechanism 20 also moves to the first position of the frame 10 and stops the harvester 1000 from working.

[0047] The traveling mechanism 20 of the ground clearance detection device 1 of the present application has a first position and a second position relative to the frame 10. When the traveling mechanism 20 is in the first position, the harvester 1000 stops working when the traveling mechanism 20 is in an abnormal state, avoiding safety accidents when using the harvester 1000 and improving the safety of the harvester 1000 in the working state.

[0048] Optionally, the number of the traveling mechanisms 20 in the harvester 1000 includes, but is not limited to, 1, 2, 3 or other numbers. In one embodiment, the number of the traveling mechanisms 20 in the harvester 1000 is 2, and the two traveling mechanisms 20 are spaced apart at opposite ends of the frame 10.

[0049] Please refer to Figure 2 and Figure 6 , Figure 6 FIG. is a partial cross-sectional view of the ground clearance detection device provided by the embodiment of the present application. The frame 10 has a sliding space 13, and the sliding space 13 extends along the arrangement direction of the first position and the second position. At least a part of the traveling mechanism 20 is disposed in the sliding space 13, and at least a part of the traveling mechanism 20 can slide between the first position and the second position.

[0050] Specifically, please refer to again Figure 2, the frame 10 includes a frame body 11 and a guide member 12, and the guide member 12 extends along the direction from the first position to the second position. The frame body 11 and the guide member 12 enclose the sliding space 13, and the traveling mechanism 20 is movably disposed through the sliding space 13. The guide member 12 is configured to slide at least a part of the traveling mechanism 20 between the first position and the second position.

[0051] Among them, optionally, the guide member 12 includes, but is not limited to, a guide rod, a slide rail, or other sliding-type components.

[0052] In one embodiment, the number of the guide members 12 is 4. Optionally, the number of the guide members 12 can also be 1, 2, 3, 5, 10, or other numbers.

[0053] In one embodiment, the guide member 12 is a metal column. Optionally, the guide member 12 can also be a non-metallic material column, and the material of the guide member 12 includes, but is not limited to, plastic, synthetic rubber, synthetic fiber, or other types of materials.

[0054] It should be noted that the guide member 12 in the sliding space 13 is fixedly connected to the frame 10. At least a part of the traveling mechanism 20 can slide along the guide member 12 in the guide space. In other words, the frame 10 can also move relative to the traveling mechanism 20 towards the horizontal traveling road surface (i.e., the frame 10 drives the guide member 12 to move along the traveling mechanism 20 towards the horizontal traveling road surface).

[0055] Optionally, the manner of fixedly connecting the guide member 12 to the frame 10 includes, but is not limited to, threaded connection, snap connection, riveting, and other connection methods.

[0056] Specifically, the sliding space 13 provides a moving space for at least a part of the traveling mechanism 20, and the sliding space 13 extends along the arrangement direction of the first position and the second position, so as to facilitate the traveling mechanism 20 to move to the first position and the second position of the frame 10. The guide member 12 is disposed in the sliding space 13 to ensure that the traveling mechanism 20 moves in the extending direction of the guide member 12, and the guide member 12 extends along the direction from the first position to the second position, so as to facilitate the traveling mechanism 20 to move to the first position and the second position of the frame 10 along the guide member 12.

[0057] The settings of the sliding space 13 and the guiding member 12 both provide conditions for the traveling mechanism 20 to move to the first position and the second position, and provide a basis for the harvester 1000 to adjust its working state according to the position of the traveling mechanism 20.

[0058] Please refer to again Figure 2 , the traveling mechanism 20 includes a sliding component 21 and a traveling component 22. The sliding component 21 is slidably disposed on the frame 10, and the sliding component 21 has the first position and the second position relative to the frame 10; the traveling component 22 is rotatably connected to the sliding component 21; when the sliding component 21 is in the first position, the harvester 1000 stops working; when the sliding component 21 is in the second position, the state of the harvester 1000 remains unchanged.

[0059] Specifically, the sliding component 21 is at least part of the traveling mechanism 20 located in the sliding space 13. The sliding component 21 is connected to the traveling component 22. Due to gravity, the traveling component 22 in a suspended state will drive the sliding component 21 to slide from the second position towards the first position, and when the sliding component 21 is in the first position, the harvester 1000 stops working.

[0060] The traveling component 22 is rotatably connected to the sliding component 21. When the traveling mechanism 20 encounters an obstacle while traveling on the traveling road surface, the traveling component 22 abuts against the obstacle and rotates away from the traveling road surface, so that the traveling component 22 can straddle the obstacle. Optionally, the obstacle includes but is not limited to other objects such as grass roots, branches, stones on the ground.

[0061] Please refer to again Figure 2 , the traveling component 22 includes a connecting member 223 and a traveling wheel 224. The connecting member 223 is rotatably connected to the sliding component 21, and one end of the connecting member 223 away from the sliding component 21 is movably connected to the traveling wheel 224.

[0062] Specifically, when the traveling wheel 224 encounters an obstacle or is suspended during traveling, it will drive the connecting member 223 to move away from the traveling road surface, and the connecting member 223 rotates away from the traveling road surface relative to the sliding component 21.

[0063] It should be noted that, optionally, the sliding component 21 can be connected to at least one traveling component 22, and the sliding component 21 can also be connected to two, three or more traveling components 22.

[0064] Taking the connection of the sliding component 21 to the two walking components 22 as an example, the working process of the ground clearance detection device 1 will be introduced below, which should not be construed as a limitation to the ground clearance detection device 1 of the present application.

[0065] Please refer to Figure 2 and Figure 3 , Figure 3 which is a schematic structure of a ground clearance detection device provided by an embodiment of the present application. Figure 2 Specifically, the walking component 22 includes a first walking component 221 and a second walking component 222, and the first walking component 221 and the second walking component 222 are respectively arranged on opposite sides of the sliding component 21. The first walking component 221 includes a first connecting piece 2231 and a first walking wheel 2241, the second walking component 222 includes a second connecting piece 2232 and a second walking wheel 2242, and the first connecting piece 2231 and the second connecting piece 2232 are respectively connected to opposite sides of the sliding component 21.

[0066] In one embodiment, when both of the two walking components 22 of the walking mechanism 20 travel to a height section similar to a step and the first walking component 221 and the second walking component 222 are both in a suspended state, the first walking wheel 2241 and the second walking wheel 2242 move in the direction of the walking road surface relative to the frame 10 due to their own gravity, and drive the first connecting piece 2231 and the second connecting piece 2232 to move in the direction of the walking road surface, thereby driving the sliding component 21 to move in the direction of the walking road surface, that is, the sliding component 21 moves towards the first position. When the sliding component 21 is in the first position, the harvester 1000 stops working.

[0067] In another embodiment, when the second walking component 222 of the walking mechanism 20 travels to a height section similar to a step and the second walking component 222 is in a suspended state, the second walking wheel 2242 moves in the direction of the walking road surface relative to the frame 10 due to its own gravity, and drives the second connecting piece 2232 to move in the direction of the walking road surface, that is, the second walking component 222 moves relative to the sliding component 21 towards the first position; the first walking component 221 moves relative to the sliding component 21 towards the second position, so that the first walking wheel 2241 of the first walking component 221 and the second walking wheel 2242 of the second walking component 222 are both in contact with the walking road surface, and the sliding component 21 is in the third position. The harvester 1000 maintains a working state, where the third position is between the first position and the second position.

[0068] Optionally, in this embodiment, the first connecting member 2231 and the second connecting member 2232 are fixedly connected. In other embodiments, the first connecting member 2231 and the second connecting member 2232 include, but are not limited to, a rotational connection or other connection means.

[0069] Please refer to Figure 2 and Figure 7 , Figure 7 which is a partial structural schematic diagram of the traveling mechanism provided by the embodiment of the present application. The sliding assembly 21 includes a slider 211 and a rotating shaft 212. The slider 211 is slidably disposed in the sliding space 13 and can slide between the first position and the second position of the frame 10. The rotating shaft 212 is connected to the slider 211, and the rotating shaft 212 is rotatably connected to the traveling assembly 22, so that the traveling assembly 22 can rotate relative to the sliding assembly 21.

[0070] The rotating shaft 212 and the slider 211 are fixedly connected. Optionally, the fixed connection means between the rotating shaft 212 and the slider 211 include, but are not limited to, threaded connection, snap connection, riveting and other connection means.

[0071] Specifically, the rotating shaft 212 is rotatably connected to the traveling assembly 22. When the traveling assembly 22 is in a suspended state, it drives the rotating shaft 212 to move, thereby driving the slider 211 to slide along the guide member 12, and determining the required working state of the harvester 1000 according to the position of the slider 211.

[0072] The traveling assembly 22 drives the slider 211 to slide through the rotating shaft 212 connected thereto, so that when the harvester 1000 is in an abnormal working condition, the traveling assembly 22 can quickly drive the slider 211 to slide through the rotating shaft 212, and stop the work of the harvester 1000 according to the position of the slider 211. The slider 211 is used for slidably connecting with the guide member 12 to improve the smoothness of the position movement of the slider 211.

[0073] Please refer to again Figure 2 , the ground clearance detection device 1 further includes a sensor 30 and a controller (not shown). The sensor 30 is electrically connected to the controller. The sensor 30 is used to emit a first signal when the traveling mechanism 20 is in the first position, and the controller is used to control the harvester 1000 to stop working according to the first signal.

[0074] In this embodiment, the sensor 30 is disposed on one side of the frame 10 close to the first position, and the sensor 30 is used to sense the position of the slider 211 in the traveling mechanism 20.

[0075] Specifically, in one embodiment, when the harvester 1000 travels to a stepped height section, and both of the two traveling assemblies 22 of the traveling mechanism 20 are in a suspended state, the two traveling wheels 224 drive the corresponding connecting members 223 to move towards the traveling road surface, thereby driving the rotating shaft 212 and the slider 211 to move towards the traveling road surface. When the slider 211 slides to the first position, the sensor 30 detects the slider 211 and sends the first signal to the controller, and the controller controls the harvester 1000 to stop working according to the first signal.

[0076] Optionally, the sensor 30 includes, but is not limited to, contact sensors, infrared sensors, photoelectric sensors, or other types of sensors. In one embodiment, the sensor 30 is a microswitch (contact sensor).

[0077] Please refer to Figure 2 、 Figure 6 and Figure 7 , in one embodiment, the sliding assembly 21 is provided with a mounting hole, and the guiding member 12 is inserted into the mounting hole. The guiding member 12 can be configured as a columnar structure. The diameter of the mounting hole is larger than the diameter of the guiding member 12, so that there is a gap between the outer wall of the guiding member 12 and the inner wall of the mounting hole, so that the sliding assembly 21 can move along the extending direction of the guiding member 12 and can also deflect relative to the guiding member 12. The sensor 30 is arranged on the side of the sliding assembly 21 close to the cutter head assembly 3. Specifically, mounting holes are respectively formed in the side of the slider 211 close to the cutter head assembly 3 and the side away from the cutter head assembly 3, and the guiding member 12 is inserted into the mounting holes. The slider 211 can deflect relative to the guiding member 12. The sensor 30 is arranged on the side of the slider 211 close to the cutter head assembly 3.

[0078] It can be understood that in some cases, when the front end of the harvester 1000 is lifted by an external force, the rear end of the harvester 1000 is not lifted, or the rear end of the harvester 1000 is lifted but the sensor 30 is not triggered, the cutter head assembly 3 of the harvester 1000 can still be in a working state and no safety accident will occur. Among them, the front end of the harvester 1000 can be the side of the harvester 1000 corresponding to the sliding assembly 21 away from the cutter head assembly 3, and the rear end of the harvester 1000 can be the side of the harvester 1000 corresponding to the sliding assembly 21 close to the cutter head assembly 3. For example, when the harvester 1000 is turning, the front end of the harvester 1000 touches an obstacle and is lifted. When the harvester 1000 continues to turn, the front end of the harvester 1000 will separate from the obstacle. At this time, the obstacle will not affect the safe use of the harvester 1000, that is, in this case, the sensor 30 does not need to be triggered. In this embodiment, the sensor 30 is arranged on the side of the slider 211 close to the cutter head assembly 3. When the front end of the harvester 1000 is lifted and the rear end is not lifted, the frame 10 will deflect relative to the traveling mechanism 20, that is, the guiding member 12 deflects relative to the sliding assembly 21. The distance between the side of the frame 10 away from the cutter head assembly 3 and the sliding assembly 21 decreases, and the distance between the side of the frame 10 close to the cutter head assembly 3 and the sliding assembly 21 does not meet the triggering condition of the sensor 30; or rather, the distance between the side of the slider 211 away from the cutter head assembly 3 and the frame 10 decreases, the side of the slider 211 close to the cutter head assembly 3 abuts against one end of the guiding member 12, and the distance between the side of the slider 211 close to the cutter head assembly 3 and the frame 10 does not meet the triggering condition of the sensor 30, and the sensor 30 is not triggered, so as to ensure the safe use of the harvester 1000 while avoiding affecting the normal operation of the harvester 1000.

[0079] In some cases, the rear end of the harvester 1000 is lifted due to external force. For example, when the harvester 1000 is moving, the rear end of the harvester 1000 touches an obstacle, and the rear end of the harvester 1000 is lifted by the obstacle. At this time, when the harvester 1000 continues to move, the obstacle will come into contact with the cutter head assembly 3 and cause a safety accident. Therefore, the harvester 1000 needs to stop working. In this embodiment, the sensor 30 is arranged on the side of the slider 211 close to the cutter head assembly 3. When the rear end of the harvester 1000 is lifted, the frame 10 will move along the guide member 12 towards the sliding assembly 21. After the distance between the side of the slider 211 close to the cutter head assembly 3 and the frame 10 meets the triggering condition of the sensor 30, the sensor 30 is triggered, and then the harvester 1000 stops working, avoiding a safety accident of the harvester 1000.

[0080] In this way, the sensor 30 is arranged on the side of the slider 211 close to the cutter head assembly 3, which can not only ensure the safe use of the harvester 1000, but also avoid the sensor 30 being accidentally triggered, thereby improving the detection accuracy of the ground clearance detection device 1 and the working efficiency of the harvester 1000.

[0081] Moreover, when the traveling mechanism 20 of the harvester 1000 travels to a height section similar to a step, when at least half of the contact surface of the traveling wheel 224 with the traveling road surface is suspended, the slider 211 slides to the first position, and the sensor 30 detects the slider 211 and sends the first signal to the controller. The controller controls the harvester 1000 to stop working according to the first signal.

[0082] The sensor 30 is arranged on one side of the frame body 11 close to the cutter head assembly 3, so that the harvester 1000 can stop working at a preset height, avoiding the harvester 1000 stopping working easily during actual work.

[0083] This application does not limit the specific value of the preset height. The preset height can be adjusted according to the volume or model of the harvester 1000. For example, the preset height can be 5 cm, or 10 cm, or 20 cm, or 30 cm, or other values.

[0084] Please refer to Figure 2 、 Figure 4 、 Figure 6 and Figure 7, in one embodiment, the chassis corresponding to the position of the sliding assembly 21 in the harvester 1000 is inclined, and the height of the chassis on the side away from the cutter head assembly 3 relative to the traveling road surface is greater than the height of the side close to the cutter head assembly 3 relative to the traveling road surface. Wherein, the frame 10 is fixedly connected to the chassis. When the harvester 1000 encounters an obstacle, the side of the chassis away from the cutter head assembly 3 abuts against the obstacle first. At this time, the frame 10 will deflect relative to the traveling mechanism 20, and the sensor 30 is not triggered. When the side of the chassis close to the cutter head assembly 3 abuts against the obstacle, the chassis will drive the sliding assembly 21 to move in a direction away from the traveling road surface, so that the sliding assembly 21 moves along the guide member 12 to the second position P2, and the sensor 30 will be triggered. In this way, the sensor 30 can be triggered only when the side of the chassis close to the cutter head assembly 3 abuts against the obstacle, so as to ensure the safe use of the harvester 1000 and avoid the sensor 30 from being accidentally triggered, thereby improving the detection accuracy of the ground clearance detection device 1 and the working efficiency of the harvester 1000.

[0085] Please refer to again Figure 2 , the ground clearance detection device 1 further includes a buffer assembly 40. The buffer assembly 40 is fixed on the frame 10, and the buffer assembly 40 is connected to the connecting member 223 to buffer the impact received by the traveling mechanism 20. It should be noted that the number of the buffer assemblies 40 and the number of the traveling assemblies 22 may be the same or different. Wherein, in this embodiment, the number of the buffer assemblies 40 is equal to the number of the traveling assemblies 22.

[0086] The buffer assembly 40 abuts against the connecting member 223 and can provide a downward acting force on the traveling mechanism 20 to prevent the connecting member 223 from swinging in a direction away from the traveling road surface when the traveling mechanism 20 crosses the obstacle.

[0087] The buffer assembly 40 includes a buffer mounting member 41 and an elastic member 42. The buffer mounting member 41 connects the frame 10 and the elastic member 42, and the elastic member 42 connects the connecting member 223. The elastic member 42 is used to buffer the impact received by the traveling mechanism 20.

[0088] It should be noted that, in the present embodiment, the elastic member 42 abuts against the connecting member 223. When the harvester 1000 is working on the horizontal walking surface, the frame 10 moves toward the horizontal walking surface due to its own gravity, and the walking mechanism 20 moves to the second position relative to the frame 10. The elastic member 42 undergoes elastic deformation and generates an elastic force on the buffer mounting member 41 that deviates from the horizontal walking surface, so as to prevent the frame 10 from continuing to move toward the horizontal walking surface relative to the walking mechanism 20, and to avoid a collision between the frame 10 and the walking mechanism 20 that may damage the harvester 1000. Specifically, when the walking mechanism 20 is in the second position, the elastic force of the elastic member 42 and the downward force generated by the frame 10 at the sliding assembly 21 are balanced, and the positional relationship between the frame 10 and the walking mechanism 20 is relatively stable, that is, the height and structure of the harvester 1000 along the first direction are relatively stable.

[0089] Optionally, the elastic member 42 may be, but is not limited to, a spring, an elastic sleeve (such as a silicone sleeve, a rubber sleeve, etc.), an elastic block, or other elastically deformable component.

[0090] Please refer to Figure 2 and Figure 8 , Figure 8 This is a schematic diagram of the structure of the running wheel provided in the embodiment of the present application. Each running wheel 224 includes a hub motor 225 and a tire 226. That is, the harvester 1000 is four-wheel drive, and multiple hub motors 225 provide greater power for the harvester 1000, thereby improving the off-road capability of the harvester 1000.

[0091] The wheel hub motor 225 has an outer circumferential surface and at least one protrusion located on the outer circumferential surface, and the tire 226 has an inner circumferential surface and at least one groove located on the inner circumferential surface; the tire 226 is sleeved on the outer circumferential surface of the wheel hub motor 225, and the protrusion is clamped in the groove.

[0092] Specifically, in one embodiment, the groove may engage with the protrusion to prevent the wheel hub motor 225 and the tire 226 from rotating relative to each other. The cooperation between the protrusion and the groove fixes the tire 226 to the wheel hub motor 225 to prevent the tire 226 from being displaced relative to the wheel hub motor 225.

[0093] Among them, the in-wheel motor 225 includes a motor main body 2251 and a wheel hub cover 2252. A movable connection is provided between the motor main body 2251 and the wheel hub cover 2252. A baffle is provided on the wheel hub cover 2252, and the baffle is used to prevent the tire 226 from shifting relative to the motor main body 2251. Specifically, the installation sequence of the traveling wheel 224 is to first sleeved the motor main body 2251 inside the tire 226, and then connect the wheel hub cover 2252 to the motor main body 2251. The baffle of the wheel hub cover 2252 and the baffle of the in-wheel motor 225 respectively engage and abut against the tire 226, so that the tire 226 cannot shift relative to the motor main body 2251. Optionally, the connection between the wheel hub cover 2252 and the motor main body 2251 includes but is not limited to a threaded connection.

[0094] The above are some embodiments of the present application. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present application, several improvements and refinements can be made, and these improvements and refinements are also regarded as the protection scope of the present application.

Claims

1. A ground-lift detection device, applied to a harvester, characterized in that: include: frame; A walking mechanism, wherein the walking mechanism is movably arranged on the frame, and the walking mechanism has a first position and a second position relative to the frame, and when the walking mechanism is in the first position, the harvester stops working; When the walking mechanism is in the second position, the state of the harvester remains unchanged; The walking mechanism comprises a sliding assembly and a walking assembly, wherein the sliding assembly is slidably disposed on the frame, and the sliding assembly has the first position and the second position relative to the frame; the walking assembly is rotatably connected to the sliding assembly; When the sliding assembly is in the first position, the harvester stops working; when the sliding assembly is in the second position, the state of the harvester remains unchanged; the walking assembly includes a first walking assembly and a second walking assembly, and the first walking assembly and the second walking assembly are respectively arranged on opposite sides of the sliding assembly, and when the first walking assembly moves toward the second position relative to the sliding assembly, the second walking assembly moves toward the first position relative to the sliding assembly, so that the walking wheels of the first walking assembly and the walking wheels of the second walking assembly are both in contact with the walking surface.

2. The ground-lift detection device according to claim 1, characterized in that: The walking assembly comprises a connecting piece and a walking wheel. The connecting piece is rotatably connected to the sliding assembly, and one end of the connecting piece away from the sliding assembly can be movably connected to the walking wheel.

3. The ground-lift detection device according to claim 1, characterized in that: When the first walking component moves toward the second position relative to the sliding component, the second walking component moves toward the first position relative to the sliding component, so that the walking wheels of the first walking component and the walking wheels of the second walking component are both in contact with the walking surface, and the sliding component is in the third position, and the harvester remains in a working state, wherein the third position is located between the first position and the second position.

4. The ground-lift detection device according to claim 1, characterized in that: The sliding assembly includes a slider and a rotating shaft, wherein the rotating shaft is connected to the slider, and the rotating shaft is rotatably connected to the walking assembly, so that the walking assembly can rotate relative to the sliding assembly.

5. The ground-lift detection device according to claim 2, characterized in that: The ground-lift detection device further includes a buffer assembly, which is fixed on the frame and connected to the connecting member to buffer the impact on the walking mechanism; The buffer assembly includes a buffer mounting member and an elastic member, the buffer mounting member is connected to the frame and the elastic member, the elastic member is connected to the connecting member, and the elastic member is used to buffer the impact on the walking mechanism.

6. The ground-lift detection device according to claim 1, characterized in that: The frame has a sliding space extending along the arrangement direction of the first position and the second position. The slider is slidably disposed in the sliding space and can slide between the first position and the second position.

7. The ground-lift detection device according to claim 1, characterized in that: The ground-lift detection device also includes a sensor and a controller. The sensor is electrically connected to the controller. The sensor is used to send a first signal when the walking mechanism is in a first position. The controller is used to control the harvester to stop working according to the first signal.

8. The ground-lift detection device according to claim 1, characterized in that: The walking wheel includes a hub motor and a tire. The hub motor has an outer circumferential surface and at least one protrusion located on the outer circumferential surface. The tire has an inner circumferential surface and at least one groove located on the inner circumferential surface. The tire is sleeved on the outer circumferential surface of the hub motor, and the protrusion is clamped in the groove.

9. A harvester, characterized in that: include: The lift-off detection device according to any one of claims 1 to 8; as well as A knife disc assembly is installed on the frame and is used for harvesting.

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