Side balance adjustment system for a crawler-type sugarcane harvester

Abstract

The application discloses a side balance adjusting system of a crawler-type sugarcane harvester, which comprises a chassis balance mechanism, a hydraulic system and a control system; the chassis balance mechanism is used for leveling work, the hydraulic system is used for driving the work of the chassis balance mechanism, and the control system is used for controlling the work of the hydraulic system; the chassis balance mechanism comprises: a walking mechanism, which comprises two crawler-type walking mechanisms; a leveling mechanism, which is arranged on each crawler-type walking mechanism; each leveling mechanism comprises: a roller groove, which is internally provided with a roller group capable of moving forward and backward; a ball sliding block mechanism, which is arranged in the roller groove, so that the roller groove can slide left and right; and a crank driving mechanism, which comprises two cranks and two hydraulic cylinders, and is used for driving the roller groove to move up and down; a rack, which is arranged between the two roller grooves; and a cab; the side balance adjusting system has the advantages of large middle space, automatic leveling and difficulty in side turning.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural machinery technology, in particular to a side balance adjusting system of a tracked sugarcane harvester. BACKGROUND

[0002] The hilly area accounts for a large area in China, and the planting and harvesting technology of crops in the hilly area is very important. Most of the agricultural machinery tools currently popular at home and abroad are only suitable for operation in plain areas, and the development of agricultural machinery tools in hilly areas is a difficulty.

[0003] The tracked sugarcane harvester is widely used in hilly sugarcane harvesting operation due to its good walking stability in the mountain, good climbing performance, and small ground pressure. Sugarcane is generally planted along the contour line in hilly areas, and the sugarcane ridge is high on one side and low on the other side, and the sugarcane planting row spacing is narrow. Unlike the planting terrain of other crops in the hilly area on the ladder flat ground, sugarcane is planted on a slope. Due to the limitations of standard sugarcane planting row spacing and machine part height distribution, the tracked sugarcane harvester has a narrow transverse width and a high center of gravity, and there is a risk of rollover when the tracked sugarcane harvester operates on the transverse slope of the hilly sugarcane field. The lateral stability of the tracked sugarcane harvester is very important, which is a very important performance index to ensure the safety of the staff and the machine. The lateral stability of the tracked sugarcane harvester refers to the index of resisting sliding and reducing the risk of rollover during driving. The characteristics of the sugarcane planting terrain are analyzed, and factors such as the narrow transverse width of the tracked sugarcane harvester, the high center of gravity, and the small space available due to the sugarcane conveying channel in the middle of the machine are considered. It is urgent to research a tracked sugarcane harvester chassis balance leveling system suitable for hilly areas, which has very important significance for improving the stability and safety of the tracked sugarcane harvester in slope operation and promoting the development of agricultural mechanization in mountainous areas. SUMMARY

[0004] The purpose of the present application is to provide a side balance adjusting system of a tracked sugarcane harvester, so as to overcome the shortcomings of the prior art that the tracked sugarcane harvester needs to set a sugarcane conveying channel, resulting in small space available, unable to automatically level, and easy to rollover.

[0005] In order to achieve the above object, the application provides a side balance adjusting system of a tracked sugarcane harvester, which comprises a chassis balance mechanism, a hydraulic system and a control system; the chassis balance mechanism is used for leveling the tracked sugarcane harvester, the hydraulic system is used for driving the work of the chassis balance mechanism, and the control system is used for controlling the work of the hydraulic system; wherein the chassis balance mechanism comprises: a walking mechanism, which comprises two left and right opposite tracked walking mechanisms; a leveling mechanism, one leveling mechanism is arranged on each tracked walking mechanism, and the two leveling mechanisms are arranged symmetrically left and right; wherein each leveling mechanism comprises: a roller groove, which is located above the tracked walking mechanism, at least two roller groups are arranged in each roller groove, each roller group is movable forward and backward along the roller groove; the inner side wall of the roller groove is provided with a strip-shaped hole with a length distributed in the front and back directions, each roller group is provided with an axle, the inner end of the axle passes through the strip-shaped hole and extends inward; a ball slide mechanism, which is arranged in the roller groove and located at the top of the roller group, the roller groove can slide left and right relative to the roller group through the ball slide mechanism; and a crank driving mechanism, which comprises two cranks and two hydraulic cylinders, the inner end of each axle is hinged to the upper end of one crank, the lower end of each crank is hinged to the wheel frame of the tracked walking mechanism, and each crank is inclined backward from top to bottom; the crank and the hydraulic cylinder correspond to each other, the upper end of each hydraulic cylinder is hinged to the middle part of the corresponding crank, and the lower end of each hydraulic cylinder is hinged to the wheel frame of the tracked walking mechanism; wherein a moving gap is left between the roller groove and the crank; a rack, which is erected between the two roller grooves, and the rack is hinged to the roller groove in a manner that can rotate left and right; and a cab, which is installed on the rack.

[0006] Preferably, in the above technical solution, the ball slide mechanism comprises a guide rail, a ball slide and a guide groove plate, the guide rail is fixedly installed on the top surface inside the roller groove, and the length of the guide rail is distributed in the left and right directions; the ball slide is slidably connected with the guide rail, and the top surface of the guide groove plate is fixedly connected with the bottom surface of the ball slide; the bottom surface of the guide groove plate is recessed corresponding to the roller group.

[0007] Preferably, in the above technical solution, in each roller groove, the ball slide mechanism and the roller group are arranged one by one.

[0008] Preferably, in the above technical solution, the roller groove is provided with a rotating shaft with an axis distributed in the front and back directions at both ends, and the rack is provided with a sliding bearing matched with the rotating shaft at a position corresponding to each rotating shaft.

[0009] Preferably, in the technical scheme, each roller set comprises a roller frame and two rollers, the two rollers are arranged in front of and behind each other and are rotatably mounted on the roller frame; and the wheel shaft is rotatably connected with the roller frame.

[0010] Preferably, in the technical scheme, the crawler traveling mechanism comprises the wheel frame, a crawler belt, a drive wheel, a road wheel, a carrier roller and a tension roller, the drive wheel, the road wheel, the carrier roller and the tension roller are all mounted on the wheel frame, and the crawler belt is arranged around the drive wheel, the road wheel, the carrier roller and the tension roller; and the drive wheel is driven to rotate by a hydraulic motor.

[0011] Preferably, in the technical scheme, the hydraulic system is mounted on a machine frame; wherein the hydraulic system comprises an oil tank, a filter with an inlet communicating with the oil tank, a hydraulic pump with an inlet communicating with an outlet of the filter, an overflow valve connected to an outlet of the hydraulic pump,

[0012] two three-position four-way electromagnetic valves, oil inlets of the two three-position four-way electromagnetic valves are in communication with an outlet of the hydraulic pump, and oil outlets of the two three-position four-way electromagnetic valves are in communication with the oil tank; wherein the three-position four-way electromagnetic valves correspond to the leveling mechanisms one by one, two synchronous motors, oil inlets of the two synchronous motors are in communication with one of working oil inlets of the three-position four-way electromagnetic valves, and two hydraulic locks, oil inlets of the two hydraulic locks are in communication with oil outlets of the synchronous motors; working oil inlets of each hydraulic lock are in communication with rodless chambers of the two hydraulic cylinders of the corresponding leveling mechanism, and rod chambers of the two hydraulic cylinders of each leveling mechanism are in communication with the other working oil inlets of the corresponding three-position four-way electromagnetic valves.

[0013] Preferably, in the technical scheme, the hydraulic system further comprises throttle valves, and each of the two working oil inlets of the three-position four-way electromagnetic valve is provided with a throttle valve.

[0014] Preferably, in the technical scheme, the control system comprises a first inclination sensor mounted on a wheel frame of the crawler traveling mechanism for detecting inclination information a of the crawler traveling mechanism relative to the ground, a second inclination sensor mounted on a bottom surface of the cab for detecting inclination information b of the cab relative to the ground, a pressure sensor mounted on an oil circuit of each hydraulic cylinder for detecting pressure information of the corresponding hydraulic cylinder in real time, and a development board mounted in the cab, wherein the first inclination sensor, the second inclination sensor, the pressure sensor and the hydraulic system are in data connection with the development board, the development board is used for receiving information of each sensor and controlling work of the hydraulic system according to the information.

[0015] Preferably, in the above technical solution, the control system further comprises laser ranging sensors, one of which is arranged on each of the left and right sides of the frame to detect distance information between the left and right sides of the frame and the ground; and the laser ranging sensors are in data connection with the development board.

[0016] Compared with the prior art, the present application has the following beneficial effects:

[0017] 1. The side balance adjustment system of the present application can perform real-time leveling work on the vehicle body through the leveling mechanisms on the left and right sides, further improving the safety and stability of the tracked harvester when driving on a transversely sloping sugarcane planting field, reducing the risk of rollover, promoting the development of agricultural machinery in hilly areas, further improving the automation level of agricultural machinery, thereby improving the quality and efficiency of crop harvesting in hilly areas, and further improving production output, reducing labor costs, and promoting the development of the agricultural economy.

[0018] 2. Compared with the existing transverse leveling method using a hydraulic differential height device, the structure of the chassis balance system of the present application is more practical, which can reduce the situation that the bending moment of the hydraulic cylinder is too large when the hydraulic differential height device directly lifts the frame with a hydraulic cylinder, further reducing the damage to the hydraulic cylinder when lifting the frame, thereby improving the service life of the hydraulic cylinder. Compared with the existing leveling method using a parallelogram mechanism, the chassis balance system of the present application is connected with the roller set at one end of the crank, and the roller set slides in the roller groove during adjustment, which is equivalent to changing the connection point between the upper end of the crank and the frame during the adjustment process, so that the position of the center of gravity of the vehicle body does not shift forward and backward, avoiding the situation that the existing parallelogram mechanism moves the supporting wheel forward and backward under the drive of the parallelogram suspension during attitude adjustment, causing the center of gravity to deviate and leading to rollover. Moreover, the contact mode between the tracked walking mechanism and the working sloping ground does not change during leveling adjustment, i.e., the tracked plane and the ground are in close contact, and the track does not deform, which does not damage the working ground, and the overall device size does not change too much.

[0019] 3. The side balance adjustment system of the present application considers the space limitation factor of the sugarcane conveying channel in structure, and uses two left-right symmetrical leveling mechanisms to connect the frame and the wheel frame of the tracked walking mechanism, which can reserve enough installation space for the sugarcane conveying channel, making the structure more compact. Compared with the multi-layer frame leveling method, the center of gravity height is not increased due to the design of the leveling mechanism, making the whole machine more stable.

[0020] 4. The side balance adjustment system of the present application considers the risk of side overturning of the sugarcane harvester in hilly areas during operation, and provides two leveling mechanisms, each with a three-position four-way electromagnetic valve, a synchronous motor and a hydraulic lock, and corresponding inclination sensors and laser ranging sensors in the control system, which can select the single-sided adaptive leveling control scheme or the double-sided adaptive leveling control scheme according to the needs, to ensure the safety of the operator and the machine and reduce the risk of side overturning. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a structural schematic diagram of the side balance adjustment system of the tracked sugarcane harvester according to the present application.

[0022] Figure 2 is a connection structure schematic diagram of the leveling mechanism, tracked walking mechanism and roller groove according to the present application.

[0023] Figure 3 is a connection structure schematic diagram of the roller set, roller groove and ball sliding block mechanism according to the present application.

[0024] Figure 4 is a cross-sectional schematic diagram of the connection structure of the roller set, roller groove and ball sliding block mechanism according to the present application.

[0025] Figure 5 is a connection structure schematic diagram of the guide groove plate and ball sliding block according to the present application.

[0026] Figure 6 is a connection structure schematic diagram of the machine frame and roller groove according to the present application.

[0027] Figure 7 is a structural schematic diagram of the tracked walking mechanism according to the present application.

[0028] Figure 8 is a single-sided lifting process schematic diagram of the side balance adjustment system of the tracked sugarcane harvester according to the present application.

[0029] Figure 9 is a leveling process schematic diagram of the side balance adjustment system of the tracked sugarcane harvester according to the present application.

[0030] Figure 10 is a connection structure schematic diagram of the hydraulic system according to the present application.

[0031] Figure 11 is a single-sided adaptive leveling control flowchart of the side balance adjustment system of the tracked sugarcane harvester according to the present application.

[0032] Figure 12is a double-side self-adaptive leveling control flow chart of a side balance adjustment system of a tracked sugarcane harvester according to the present application.

[0033] Explanation of reference numerals:

[0034] 1 - frame, 2 - crank driving mechanism, 201 - crank, 202 - roller, 203 - hydraulic cylinder, 204 - support, 205 - wheel axle, 206 - support axle, 3 - tracked walking mechanism, 301 - track, 302 - tension wheel, 303 - carrier wheel, 304 - road wheel, 305 - driving wheel, 4 - roller groove, 5 - ball sliding block mechanism, 501 - ball sliding block, 502 - guide rail, 503 - guide groove plate, 6 - sliding bearing, 7 - filter, 8 - hydraulic pump, 9 - overflow valve, 10 - three-position four-way electromagnetic valve, 11 - throttle valve, 12 - synchronous motor, 13 - hydraulic lock, 14 - first inclination sensor, 15 - second inclination sensor. DETAILED DESCRIPTION

[0035] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings, but it should be understood that the scope of protection of the present application is not limited by the specific embodiments.

[0036] Unless otherwise clearly indicated, throughout the specification and claims, the term "comprise" or variations such as "comprises" or "comprising" will be understood to imply the inclusion of a stated element or group of elements but not the exclusion of any other element or group of elements.

[0037] Figures 1 to 12 A structure diagram of a side balance adjustment system of a tracked sugarcane harvester according to the preferred embodiment of the present application is shown, which includes a chassis balance mechanism, a hydraulic system and a control system. The chassis balance mechanism is used to level the tracked sugarcane harvester, the hydraulic system is used to drive the work of the chassis balance mechanism, and the control system is used to control the work of the hydraulic system. In the drawings, the X-axis direction is the front-rear direction, the Y-axis direction is the left-right direction, and the Z-axis direction is the up-down direction.

[0038] Reference Figures 1 to 10, the chassis balance mechanism comprises a walking mechanism, a leveling mechanism, a rack 1 and a cab. The walking mechanism comprises two left and right opposite distribution caterpillar walking mechanisms 3 for driving the whole machine to move. Each caterpillar walking mechanism 3 is provided with a leveling mechanism, and the two leveling mechanisms are symmetrically arranged left and right, for supporting the rack 1 and performing left and right leveling work. Each leveling mechanism comprises a roller groove 4, a ball block mechanism 5 and a crank driving mechanism 2. The roller groove 4 is located above the caterpillar walking mechanism 3, the length of the roller groove 4 is distributed along the front and back directions, at least two roller groups are arranged in each roller groove 4, and each roller group can move forward and backward along the roller groove 4. The inner side wall of the roller groove 4 is provided with a length along the front and back direction. Each roller group is provided with an axle 205, the inner end of the axle 205 passes through the strip hole and extends inwardly, so that the axle 205 can slide along the strip hole, and the roller group moves forward and backward along the roller groove 4. The ball block mechanism 5 is arranged in the roller groove 4 and located at the top of the roller group, and the roller groove 4 can slide left and right relative to the roller group through the ball block mechanism 5, so that the roller groove 4 can move left and right relative to the roller group during the leveling of the rack 1, the freedom degree of the mechanism is met, and the whole machine is prevented from being stuck during the leveling. The crank driving mechanism 2 comprises two cranks 201 and two hydraulic cylinders 203, the inner end of each axle 205 is hinged to the upper end of one crank 201, the lower end of each crank 201 is hinged to the wheel frame of the caterpillar walking mechanism 3 through a support shaft 206 and a support 204, and each crank 201 is inclined from top to bottom and rearward, so that the lower end of the crank 201 can rotate around the support shaft 206, so that the upper end of the crank 201 swings up and down, adjusts the height of the roller groove 4 in the up and down direction, and then the purpose of leveling the caterpillar sugarcane harvester is achieved. Because the crank 201 swings up and down during the process, the roller group slides forward and backward in the roller groove 4, so that the roller groove 4 can move up and down without moving forward and backward at the same time, so that the center of gravity of the whole machine will not shift forward and backward, and the phenomenon of rollover is avoided. The crank 201 corresponds to the hydraulic cylinder 203, the upper end of each hydraulic cylinder 203 is hinged to the middle part of the corresponding crank 201, the lower end of each hydraulic cylinder 203 is hinged to the wheel frame of the caterpillar walking mechanism 3, and each hydraulic cylinder 203 is inclined from top to bottom and forward. By the extension and contraction of the hydraulic cylinder 203, the crank 201 can be driven to swing up and down, and the height of the roller groove 4 can be adjusted. The height of the roller groove 4 is adjusted by the way that the hydraulic cylinder 203 drives the crank 201 to swing up and down, compared with the way that the hydraulic cylinder 203 directly lifts the rack, the damage of the hydraulic cylinder 203 can be further reduced, and the service life of the hydraulic cylinder 203 is improved. The moving gap B is left between the roller groove 4 and the crank 201, so that the crank 201 does not interfere with the left and right movement adjustment of the roller groove 4.The frame 1 is arranged between the two roller grooves 4, and the frame 1 is hingedly connected to the roller grooves 4 in a manner capable of rotating left and right, so that the frame 1 can rotate left and right around the roller grooves 4, thereby facilitating the leveling operation of the frame 1. The cab is installed on the frame 1. By using the side balance adjusting system, the whole machine can be leveled in real time through the leveling mechanisms on the left and right sides, further improving the safety and stability of the track-type harvester when driving on the lateral slope of the sugarcane planting field, and reducing the risk of rollover. The two left and right symmetrical leveling mechanisms are used to connect the frame 1 and the wheel frame of the track-type walking mechanism 3, which can reserve enough installation space for the sugarcane conveying channel, make the structure more compact, and the center of gravity height is not increased due to the design of the leveling mechanism, so that the whole machine is more stable.

[0039] Reference Figures 1 to 6 Preferably, the roller groove 4 is provided with a rotating shaft with an axis distributed in the front and rear directions at both ends, and the frame 1 is provided with a sliding bearing 6 matched with the rotating shaft at a position corresponding to each rotating shaft, so that the frame 1 can rotate left and right around the roller groove 4, thereby facilitating the subsequent leveling operation.

[0040] Reference Figure 9 When leveling, when the single-sided frame 1 is lifted by the movement of the one-side crank drive mechanism 2, the other-side crank drive mechanism 2 is controlled to be stationary, at this time, the frame 1 rotates around the other-side stationary roller groove 4, and the plane of the bottom of the frame 1 and the ground form an included angle, thereby realizing the leveling of the vehicle body on the slope. When the frame 1 rotates around the one-side roller groove 4, the installation distance L1 between the left and right sliding bearings 6 of the frame 1 is equivalent to the change of a straight side of a triangle into a hypotenuse, but since the left and right sliding bearings 6 of the frame 1 are fixedly installed on the frame 1, the installation distance L1 does not change on the frame 1; in order to meet the freedom of movement of the mechanism, the distance L2 between the two roller grooves 4 needs to be shortened. At this time, the designed ball slide mechanism 5 can make the frame 1 cooperatively installed roller groove 4 move relative to the roller group in the left and right directions, avoiding the mechanism from being stuck.

[0041] Reference Figures 2 to 5Preferably, the ball sliding mechanism 5 comprises a guide rail 502, a ball sliding block 501 and a guide groove plate 503. The guide rail 502 is fixedly installed on the top surface inside the roller groove 4, and the length of the guide rail 502 is distributed along the left-right direction. The ball sliding block 501 is slidably connected with the guide rail 502, and the top surface of the guide groove plate 503 is fixedly connected with the bottom surface of the ball sliding block 501. The bottom surface of the guide groove plate 503 is in a groove shape corresponding to the roller set. The guide groove plate 503 and the ball sliding block 501 can be locked on the top of the roller set, so as to facilitate the left-right movement of the roller groove 4. In order to avoid the situation that the guide groove plate 503 is excessively stressed in the middle due to the excessive length, it is further preferred that two ball sliding mechanisms 5 are arranged in each roller groove 4, and the ball sliding mechanisms 5 are arranged one by one corresponding to the roller set.

[0042] With reference to Figure 3 and Figure 4 , each roller set can be provided with one or more rollers 202. Preferably, each roller set comprises a roller frame and two rollers 202, and the two rollers 202 are arranged in front of and behind each other and are rotatably installed on the roller frame, so as to improve the stability of the roller groove 4. The wheel shaft 205 is rotatably connected with the roller frame, so as to facilitate the movement of the roller 202 along the roller groove 4 driven by the crank 201.

[0043] With reference to Figure 7 and Figure 8 , preferably, the track-type traveling mechanism 3 comprises a wheel frame, a track 301, a drive wheel 305, a carrier wheel 304, a belt wheel 303 and a tension wheel 302. The drive wheel 305, the carrier wheel 304, the belt wheel 303 and the tension wheel 302 are all installed on the wheel frame, and the track 301 is wound around the drive wheel 305, the carrier wheel 304, the belt wheel 303 and the tension wheel 302. The drive wheel 305 is driven to rotate by a hydraulic motor, so as to drive the track-type traveling mechanism 3 to move.

[0044] With reference to Figure 10, preferably, the hydraulic system is installed on the frame 1 for driving the chassis balance mechanism to work. The hydraulic system comprises an oil tank, a filter 7, a hydraulic pump 8, an overflow valve 9, two three-position four-way electromagnetic valves 10, two synchronous motors 12 and two hydraulic locks 13. The oil tank is used to provide hydraulic oil for the hydraulic system. The inlet of the filter 7 communicates with the oil tank to filter the contaminants that may invade the valve elements. The inlet of the hydraulic pump 8 communicates with the outlet of the filter 7 for pumping hydraulic oil into the hydraulic system. The overflow valve 9 is connected to the outlet of the hydraulic pump 8 and communicates with the oil tank for adjusting and balancing the pressure of the hydraulic system and the flow of the hydraulic oil. The two three-position four-way electromagnetic valves 10 have their oil inlets communicating with the outlet of the hydraulic pump 8 and their oil outlets communicating with the oil tank for controlling the opening, closing or changing the flow direction of the hydraulic oil. Among them, the three-position four-way electromagnetic valve 10 corresponds to the leveling mechanism one by one, and one three-position four-way electromagnetic valve 10 controls the work of one leveling mechanism. The oil inlets of the two synchronous motors 12 each communicate with one of the working oil inlets of one of the three-position four-way electromagnetic valves 10 for realizing the synchronous movement of the two hydraulic cylinders 203 on the same side. The oil inlets of the two hydraulic locks 13 each communicate with the oil outlet of one of the synchronous motors 12, and the working oil inlets of each hydraulic lock 13 communicate with the rodless chambers of the two hydraulic cylinders 203 of the corresponding leveling mechanism. The rod chambers of the two hydraulic cylinders 203 of each leveling mechanism each communicate with the other working oil inlet of the corresponding three-position four-way electromagnetic valve 10. When the vehicle body is in a balanced state, the hydraulic lock 13 spool is in the middle position, ensuring that the hydraulic cylinder is in a static state under the action of the hydraulic lock, preventing the hydraulic cylinder from extending and retracting to cause the vehicle body to be unbalanced. Among them, the three-position four-way electromagnetic valve 10 is a three-position four-way O-type electromagnetic valve. Through the action of the three-position four-way electromagnetic valve 10, the hydraulic cylinder 203 of the corresponding leveling mechanism can be driven to elongate, contract or maintain a specified length, thereby realizing the function of unilateral leveling or bilateral leveling. When the three-position four-way electromagnetic valve 10 is in the left position, the rodless chamber is filled with oil and the rod chamber is drained, and the hydraulic cylinder 203 is elongated; when the three-position four-way electromagnetic valve 10 is in the middle position, neither the rodless chamber nor the rod chamber is filled with oil, and the position of the hydraulic cylinder 203 is unchanged; when the three-position four-way electromagnetic valve 10 is in the right position, the rod chamber is filled with oil and the rodless chamber is drained, and the hydraulic cylinder 203 is retracted.

[0045] Reference Figure 10 , preferably, the hydraulic system further comprises a throttle valve 11, and one throttle valve 11 is arranged at each of the two working oil inlets of each three-position four-way electromagnetic valve 10 for limiting the flow and speed of the hydraulic oil in the oil circuit, thereby adjusting the extension and retraction speed of the hydraulic cylinder 203.

[0046] Reference Figures 1 to 10, preferably, the control system comprises the first inclination sensor 14, the second inclination sensor 15, the pressure sensor, and the development board. The first inclination sensor 14 is installed on the wheel frame of the crawler traveling mechanism 3 and is used to detect the inclination information a of the crawler traveling mechanism 3 relative to the ground. When the first inclination sensor 14 detects a value, it indicates that the crawler traveling mechanism 3 has tilted. When a>0, the vehicle body tilts to the right, i.e., the left side of the vehicle body is lower than the right side; when a<0, the vehicle body tilts to the left, i.e., the left side of the vehicle body is higher than the right side. The second inclination sensor 15 is installed on the bottom surface of the cab and is used to detect the inclination information b of the cab relative to the ground. When the inclination sensor b=0, the cab and the frame 1 reach balance, i.e., the vehicle body reaches balance. A pressure sensor is installed on the oil circuit of each hydraulic cylinder 203 and is used to detect the pressure information of the corresponding hydraulic cylinder 203 in real time; when the pressure value reaches a specified range, an alarm is given and the operation is stopped to prevent damage to the hydraulic cylinder 203 and the vehicle. The development board is installed in the cab, and the first inclination sensor 14, the second inclination sensor 15, the pressure sensor, and the hydraulic system are all in data connection with the development board, which is used to receive information from the sensors and control the operation of the hydraulic system according to the information. Further preferably, the model of the development board is STM32F103ZET6. The control system further comprises a display screen, which is installed in the cab and is in data connection with the development board.

[0047] With reference to Figures 1 to 10 , preferably, the control system further comprises a laser ranging sensor. One laser ranging sensor is arranged on each of the left and right sides of the frame 1 and is used to detect the distance information between the left and right sides of the frame 1 and the ground; the laser ranging sensors are in data connection with the development board. The laser ranging sensors are used to monitor the position of the left and right sides of the frame 1 from the ground in real time during the bilateral leveling process and ensure that the frame 1 returns to the lowest position after leveling.

[0048] With reference to Figure 11 and Figure 12 , the side balance adjustment system of the present application can select the control scheme of unilateral adaptive leveling of the frame 1 or the control scheme of bilateral adaptive leveling according to needs, to ensure the safety of the staff and the machine and reduce the risk of rollover.

[0049] With reference to Figure 11 , when the unilateral adaptive leveling control scheme is used for leveling, the information of the first inclination sensor 14, the second inclination sensor 15, and the pressure sensor is obtained by the development board and displayed on the display screen in the cab. The unilateral adaptive leveling control scheme includes the following four leveling modes:

[0050] Right tilt leveling process: When the first inclination sensor 14 detects right tilt of the crawler traveling mechanism 3 (i.e., a > 0), the development board controls the hydraulic pump 8 to start, the three-position four-way electromagnetic valve 10 corresponding to the left leveling mechanism is opened and located in the left position, the rodless cavity is filled with oil, the rod cavity is discharged, and the left two hydraulic cylinders 203 are synchronously elongated under the action of the synchronous motor 12. In this process, the pressure sensor continuously monitors the pressure data and the second inclination sensor 15 monitors the vehicle body angle data in real time, ensuring that the hydraulic cylinders 203 are within the pressure safety range to make the vehicle body reach the adaptive balance state (i.e., b = 0). When b = 0, the vehicle body reaches the adaptive balance, at which time the three-position four-way electromagnetic valve 10 on the left side is switched to the middle position.

[0051] Right tilt to left tilt leveling process: As the vehicle body changes from right tilt to left tilt (i.e., a > 0 changes to a < 0), the three-position four-way electromagnetic valve 10 corresponding to the left leveling mechanism is first opened and located in the right position, the rod cavity is filled with oil, the rodless cavity is discharged, and the left two hydraulic cylinders 203 are synchronously lowered under the action of the synchronous motor 12. When the left two hydraulic cylinders 203 are lowered to the lowest position, the three-position four-way electromagnetic valve 10 on the left side is controlled to be in the middle position. The three-position four-way electromagnetic valve 10 corresponding to the right leveling mechanism is opened and located in the left position, the rodless cavity is filled with oil, the rod cavity is discharged, and the right two hydraulic cylinders 203 are synchronously elongated under the action of the synchronous motor 12 until the vehicle body reaches the balance state (i.e., b = 0). In this process, the pressure sensor continuously monitors the pressure data to ensure that the hydraulic cylinders 203 are within the pressure safety range. When b = 0, the vehicle body reaches the adaptive balance, at which time the three-position four-way electromagnetic valves 10 on both sides are in the middle position.

[0052] Left tilt leveling process: When the first inclination sensor 14 detects left tilt of the vehicle body (i.e., a < 0), the development board controls the hydraulic pump 8 to start, the three-position four-way electromagnetic valve 10 corresponding to the right leveling mechanism is opened and located in the left position, the rodless cavity is filled with oil, the rod cavity is discharged, and the right two hydraulic cylinders 203 are synchronously elongated under the action of the synchronous motor 12. In this process, the pressure sensor continuously monitors the pressure data and the second inclination sensor 15 monitors the vehicle body angle data in real time, ensuring that the hydraulic cylinders 203 are within the pressure safety range to make the vehicle body reach the adaptive balance (i.e., b = 0). When b = 0, the vehicle body reaches the adaptive balance, at which time the three-position four-way electromagnetic valve 10 on the right side is in the middle position.

[0053] Right to left tilt leveling process: when the vehicle body is tilted from right to left (i.e. a < 0 to a > 0), the three-position four-way solenoid valve 10 corresponding to the right leveling mechanism is opened and positioned at the right position, the oil enters the rod cavity, and the oil exits the rod cavity, so that the two hydraulic cylinders 203 on the right are lowered synchronously under the action of the synchronous motor 12. When the right hydraulic cylinder 203 reaches the lowest position, the three-position four-way solenoid valve 10 corresponding to the right is positioned at the middle position. The three-position four-way solenoid valve 10 corresponding to the left leveling mechanism is opened and positioned at the left position, the oil enters the rod cavity, and the oil exits the rod cavity, so that the two hydraulic cylinders 203 on the left are extended synchronously until the vehicle body reaches the balanced state (b = 0). In this process, the pressure sensor continuously monitors the pressure data to ensure that the hydraulic cylinder 203 is within the safe pressure range. When b = 0, the vehicle body reaches adaptive balance, and the three-position four-way solenoid valve 10 on both sides is positioned at the middle position.

[0054] Reference Figure 12 When leveling is performed using the bilateral adaptive leveling control scheme, the information of the first inclination sensor 14, the second inclination sensor 15, the pressure sensor, and the laser ranging sensor is obtained through the development board, and displayed on the display screen in the cab. The control scheme of bilateral adaptive leveling includes the following four leveling modes:

[0055] Right tilt leveling process: when the first inclination sensor 14 detects that the vehicle body is tilted to the right (i.e. a > 0), the hydraulic pump 8 is started through the development board control, the three-position four-way solenoid valve 10 corresponding to the left leveling mechanism is opened and positioned at the left position, the oil enters the rod cavity, and the oil exits the rod cavity, so that the two hydraulic cylinders 203 on the left are extended synchronously under the action of the synchronous motor 12; at the same time, the three-position four-way solenoid valve 10 corresponding to the right leveling mechanism is opened and positioned at the right position, the oil enters the rod cavity, and the oil exits the rod cavity, so that the two hydraulic cylinders 203 on the right are retracted synchronously. In this process, the pressure sensor continuously monitors the pressure data and the second inclination sensor 15 monitors the vehicle body angle data in real time to ensure that the hydraulic cylinder 203 is within the safe pressure range, so that the vehicle body reaches adaptive balance (i.e. b = 0). When b = 0, the vehicle body reaches adaptive balance, and the three-position four-way solenoid valve 10 on the left is positioned at the middle position.

[0056] Right to left tilt leveling process: when the vehicle body is tilted from right to left (i.e. a> 0 to a< 0), the left leveling mechanism corresponding three-way four-way solenoid valve 10 is opened and located in the right position, the rod cavity is filled with oil, and the rod cavity is discharged. The left two hydraulic cylinders 203 are synchronously lowered under the action of the synchronous motor 12; at the same time, the right leveling mechanism corresponding three-way four-way solenoid valve 10 is opened and located in the left position, the rod cavity is filled with oil, and the rod cavity is discharged. The right two hydraulic cylinders 203 are synchronously elongated under the action of the synchronous motor 12, until the vehicle body reaches the balanced state (b=0), at which time the three-way four-way solenoid valve 10 on both sides is in the middle position. During the leveling process, the pressure sensor continuously monitors the pressure data to ensure that the hydraulic cylinder 203 is within the safe pressure range. When b=0, the laser ranging sensor feeds back the ground clearance information of the cab on both sides, and the vehicle body returns to the lowest position. Record the value of the laser ranging sensor at this time as k0 when the sugarcane harvester is in the initial position (i.e. b=0, a=0). When the sugarcane harvester passes through a slope and self-adapts to the leveling (i.e. b=0 at this time), record the ranging sensor value at this time as k i . Determine the value of k i -k0. If the value of k i -k0 is greater than the specified value, the development board controls the hydraulic cylinders of the left and right leveling mechanisms to synchronously descend until the value of k i -k0 is less than the specified value, indicating that the vehicle body has returned to the lowest position, and the development board controls the extension and contraction of the hydraulic cylinders of the left and right leveling mechanisms.

[0057] Left tilt leveling process: when the first inclination sensor 14 detects that the vehicle body is tilted to the left (i.e. a< 0), the hydraulic pump 8 is started by the development board control, the right leveling mechanism corresponding three-way four-way solenoid valve 10 is opened and located in the left position, the rod cavity is filled with oil, and the rod cavity is discharged. The right two hydraulic cylinders 203 are synchronously elongated under the action of the synchronous motor 12; at the same time, the left leveling mechanism corresponding three-way four-way solenoid valve 10 is opened and located in the right position, the rod cavity is filled with oil, and the rod cavity is discharged. The left two hydraulic cylinders 203 are simultaneously retracted. During this process, the pressure sensor continuously monitors the pressure data and the second inclination sensor 15 real-time monitors the vehicle body angle data to ensure that the hydraulic cylinder 203 is within the safe pressure range, and the vehicle body reaches the self-adaptive balance (i.e. b=0). When b=0, the vehicle body reaches the self-adaptive balance, at which time the right three-way four-way solenoid valve 10 is in the middle position.

[0058] Right tilt leveling process: when the vehicle body is tilted from left to right (i.e. a < 0 to a > 0), the three-position four-way solenoid valve 10 corresponding to the right leveling mechanism is opened and stays in the right position, the oil enters the rod cavity and the oil exits the rod cavity, so that the two hydraulic cylinders 203 on the right side are lowered synchronously under the action of the synchronous motor 12; at the same time, the three-position four-way solenoid valve 10 corresponding to the left leveling mechanism is opened and stays in the left position, the oil enters the rod cavity and the oil exits the rod cavity, so that the two hydraulic cylinders 203 on the left side are extended synchronously, until the vehicle body reaches the balanced state (b = 0), at this time the three-position four-way solenoid valves 10 on both sides stay in the middle position. In the leveling process, the pressure sensor continuously monitors the pressure data to ensure that the hydraulic cylinder 203 is within the safe pressure range. When b = 0, the laser ranging sensor feeds back the information of the ground clearance of the cab on both sides, and the vehicle body returns to the lowest position.

[0059] The foregoing description of specific exemplary embodiments of the application is intended to be illustrative only and is not intended to limit the application to the precise forms described. Many modifications and variations are possible in light of the above teachings without departing from the spirit or essential characteristics of the present application. The exemplary embodiments were chosen and described in order to explain the principles of the application and its practical application and to allow others skilled in the art to understand the application for various exemplary embodiments with various modifications being applicable. The scope of the application is intended to be defined by the claims and their equivalents.

Claims

1. A side balance adjustment system for a tracked sugarcane harvester, characterized in that, The system includes a chassis balancing mechanism, a hydraulic system, and a control system. The chassis balancing mechanism is used to level a tracked sugarcane harvester, the hydraulic system is used to drive the operation of the chassis balancing mechanism, and the control system is used to control the operation of the hydraulic system. The chassis balancing mechanism includes: The traveling mechanism includes two tracked traveling mechanisms distributed opposite each other on the left and right sides; A leveling mechanism is provided on each of the tracked walking mechanisms, and two leveling mechanisms are arranged symmetrically on the left and right sides; wherein, each leveling mechanism includes: A roller groove is located above the tracked walking mechanism. Each roller groove has at least two roller sets arranged at intervals. Each roller set can move back and forth along the roller groove. The inner sidewall of the roller groove has a strip-shaped hole with its length distributed in the front-back direction. Each roller set has a wheel axle. The inner end of the wheel axle moves inward through the strip-shaped hole and extends inward. A ball-slider mechanism is disposed within the roller groove and located at the top of the roller assembly; the roller groove is slidable left and right relative to the roller assembly via the ball-slider mechanism. A crank drive mechanism includes two cranks and two hydraulic cylinders. The inner end of each axle is hinged to the upper end of one of the cranks, and the lower end of each crank is hinged to the wheel frame of the tracked walking mechanism. Each crank is inclined backward from top to bottom. The cranks and hydraulic cylinders correspond one-to-one. The upper end of each hydraulic cylinder is hinged to the middle of the corresponding crank, and the lower end of each hydraulic cylinder is hinged to the wheel frame of the tracked walking mechanism. A clearance is provided between the roller groove and the crank. A frame, which is mounted between the two roller grooves, and the frame is hinged to the roller grooves in a manner that allows it to rotate left and right; and The driver's cab is mounted on the frame.

2. The side balance adjustment system of the tracked sugarcane harvester according to claim 1, characterized in that, The ball-slider mechanism includes a guide rail, a ball-slider, and a guide groove plate. The guide rail is fixedly installed on the top surface inside the roller groove, and the length of the guide rail is distributed along the left and right direction. The ball-slider is slidably connected to the guide rail in the left and right directions. The top surface of the guide groove plate is fixedly connected to the bottom surface of the ball-slider. The bottom surface of the guide groove plate is a groove shape corresponding to the roller assembly.

3. The side balance adjustment system of the tracked sugarcane harvester according to claim 2, characterized in that, In each of the roller grooves, the ball-slider mechanism is arranged in a one-to-one correspondence with the roller group.

4. The side balance adjustment system of the tracked sugarcane harvester according to claim 1, characterized in that, Both ends of the roller groove are provided with rotating shafts whose axes are distributed along the front-back direction, and the frame is provided with sliding bearings that cooperate with and connect to each rotating shaft at the position corresponding to each rotating shaft.

5. The side balance adjustment system of the tracked sugarcane harvester according to claim 1, characterized in that, Each roller assembly includes a roller frame and two rollers, the two rollers being spaced apart from each other and rotatably mounted on the roller frame; the axle is rotatably connected to the roller frame.

6. The side balance adjustment system of the tracked sugarcane harvester according to claim 1, characterized in that, The tracked walking mechanism includes a wheel frame, track, drive wheel, support roller, track roller, and tension roller. The drive wheel, support roller, track roller, and tension roller are all mounted on the wheel frame, and the track is wound around the drive wheel, support roller, track roller, and tension roller. The drive wheel is driven to rotate by a hydraulic motor.

7. The side balance adjustment system for a tracked sugarcane harvester according to claim 1, characterized in that, The hydraulic system is mounted on the frame; wherein, the hydraulic system includes: tank; The filter has its inlet connected to the oil tank; A hydraulic pump, the inlet of which is connected to the outlet of the filter; An overflow valve is connected to the outlet of the hydraulic pump; Two three-position four-way solenoid valves, the oil inlet of both three-position four-way solenoid valves is connected to the outlet of the hydraulic pump, and the oil return port of both three-position four-way solenoid valves is connected to the oil tank; wherein, each three-position four-way solenoid valve corresponds to the leveling mechanism. Two synchronous motors, each with its oil inlet connected to one of the working ports of one of the three-position four-way solenoid valves; and Two hydraulic locks, each with its inlet port connected to the outlet port of one of the synchronous motors; the working port of each hydraulic lock is connected to the rodless chamber of the two hydraulic cylinders of the corresponding leveling mechanism; and the working chambers of the two hydraulic cylinders of each leveling mechanism are connected to the other working port of the corresponding three-position four-way solenoid valve.

8. The side balance adjustment system of the tracked sugarcane harvester according to claim 7, characterized in that, The hydraulic system also includes throttle valves, with each of the two working ports of the three-position four-way solenoid valve having a throttle valve.

9. The side balance adjustment system of the tracked sugarcane harvester according to claim 1, characterized in that, The control system includes: The first tilt sensor is mounted on the wheel frame of the tracked walking mechanism and is used to detect the tilt angle information α of the tracked walking mechanism relative to the ground. The second tilt sensor is installed on the bottom surface of the cab and is used to detect the tilt angle information b of the cab relative to the ground; Pressure sensors are installed in the oil circuit of each hydraulic cylinder to detect the pressure information of the corresponding hydraulic cylinder in real time; and The development board is installed in the driver's cab. The first tilt sensor, the second tilt sensor, the pressure sensor, and the hydraulic system are all connected to the development board. The development board is used to receive information from each sensor and control the operation of the hydraulic system based on this information.

10. The side balance adjustment system of the tracked sugarcane harvester according to claim 9, characterized in that, The control system also includes laser rangefinders, with one laser rangefinder on each of the left and right sides of the rack, used to detect the distance information between the left and right sides of the rack and the ground; wherein, the laser rangefinders are connected to the development board.

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