Amphibious reed combine harvester chassis device and control method and harvester

Abstract

The present invention provides an amphibious reed combine harvester chassis device and control method and a harvester, comprising a left outer crawler mechanism, a left inner crawler mechanism, a right inner crawler mechanism, a right outer crawler mechanism, a crawler chassis connecting bracket, an airbag, an impeller, a detection mechanism and a control unit; the airbag is installed on the inner side of the crawler chassis connecting bracket, and the impeller is installed on the inner side of the crawler chassis connecting bracket and is located below the airbag; the detection mechanism is used to detect the distance from the outer crawler mechanism and the inner crawler mechanism to the original ground, and transmit it to the control unit; the left outer crawler mechanism and the right outer crawler mechanism are respectively provided with a lifting mechanism; the control unit calculates the sinking depth, compares the sinking depth with a preset value, and controls the lifting mechanism to adjust the lifting of the left outer crawler mechanism and the right outer crawler mechanism according to the comparison structure. The present invention can realize the harvesting of reeds in different environments such as river beaches, swamps, and dry land, and improve the environmental adaptability and passability of the harvester.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery and equipment, and in particular relates to an amphibious reed combine harvester chassis device and a control method and a harvester. Background Art

[0002] There are nine major reed producing areas in China: 1. Baiyangdian reed producing area; 2. Xinjiang Bosteng reed producing area; 3. Northeast Songnen Plain reed producing area; 4. Heilongjiang Sanjiang Plain area; 5. Inner Mongolia Wuliangsuhai reed producing area; 6. Liaoning Panjin reed producing area; 7. Jiangsu Yancheng producing area, Sheyang coastal producing area, and reed fields near the estuary; 8. Dongting Lake and Honghu reed fields; 9. Poyang Lake reed producing area. Most of them are dryland reeds and swamp reeds. Except for dry land, most planting areas have a high moisture content. If common crawler equipment is used, the crawler will sink under the gravity of the body and the crops in the material box, making it impossible to continue to pass. The existing crawler devices are generally suitable for dry land or mud with low moisture content, not for mud with high moisture content, swamps and river beaches, such as the public number CN 220883959U discloses a crawler that can be used on land and water, which is composed of a single-sided crawler and a middle water storage cavity. It can be used in dry land, muddy land with low water content, and river beaches, but it is easy to sink in muddy land and swamps with high water content, resulting in difficulty in moving. The disclosure number is CN114683785A, which discloses a reed harvester for water and wetlands. However, spiral rollers are arranged at the bottom of both sides of the hull as a walking mechanism, but the contact area between the rollers and the ground is too small (especially when harvesting on hard ground), which will also aggravate the sinking degree of the equipment. In addition, the supporting force of the entire chassis system of this harvester is too small, and it is not suitable to add equipment for subsequent processing of reeds, such as knotters and stacking and baling boxes, to the hull. Therefore, it is necessary to design a reed combine harvester chassis device with good versatility, suitable for multiple environments, and can be used for amphibious purposes. Summary of the invention

[0003] In view of the above technical problems, the present invention provides an amphibious reed combine harvester chassis device, which can realize the harvesting of reeds in different environments such as river beaches, swamps, and dry lands, and improve the environmental adaptability and passability of the harvester.

[0004] The invention also provides a control method for the chassis device of an amphibious reed combine harvester.

[0005] The present invention can select a single crawler or a double crawler according to the terrain environment. When encountering a deep river beach, the impeller and the air bag can be opened to increase the buoyancy of the harvester, avoid excessive sinking, and improve the passability of the reed harvester.

[0006] The present invention also provides a reed harvester comprising the amphibious reed combine harvester chassis device.

[0007] Note that the description of these objectives does not prevent the existence of other objectives. One embodiment of the present invention does not need to achieve all of the above objectives. Objectives other than the above objectives can be extracted from the description of the specification, drawings, and claims.

[0008] The present invention achieves the above technical objectives through the following technical means.

[0009] A chassis device of an amphibious reed combine harvester comprises a left outer crawler mechanism, a left inner crawler mechanism, a right inner crawler mechanism, a right outer crawler mechanism, a crawler chassis connecting bracket, an airbag, an impeller, a detection mechanism and a control unit; the left outer crawler mechanism and the left inner crawler mechanism are located on the left side of the crawler chassis connecting bracket, and the right inner crawler mechanism and the right outer crawler mechanism are located on the right side of the crawler chassis connecting bracket; the airbag is installed on the inner side of the crawler chassis connecting bracket, and the impeller is installed on the inner side of the crawler chassis connecting bracket and is located below the airbag; the detection mechanism is used to detect at least the distance from the left outer crawler mechanism, the left inner crawler mechanism, the right inner crawler mechanism and the right outer crawler mechanism to the original ground, and transmit it to the control unit; the left outer crawler mechanism and the right outer crawler mechanism are respectively provided with a lifting mechanism; the control unit is respectively connected to the detection mechanism, the lifting mechanism and the impeller, the control unit calculates the sinking depth, compares the sinking depth with a preset value, and controls the lifting mechanism to adjust the lifting of the left outer crawler mechanism and the right outer crawler mechanism according to the comparison structure.

[0010] In the above scheme, the structures of the left inner track mechanism and the right inner track mechanism are the same, and the right inner track mechanism includes a first driving wheel, a first driven wheel, a driven wheel connecting mechanism, a driving wheel connecting mechanism, and a plurality of first load-bearing wheels, a first load-bearing wheel connecting mechanism, a first track strip, a first driving wheel driving mechanism, and a first driven wheel rotating shaft; the first driving wheel and the first driven wheel are located at both ends of the first track strip, and a plurality of first load-bearing wheels are located between the first driving wheel and the first driven wheel and contact the inner side of the first track strip, the first driving wheel is connected to the first driving wheel driving mechanism, and the first driving wheel driving mechanism is connected to the track chassis connecting bracket through the driving wheel connecting mechanism; the first driving wheel is connected to the track chassis connecting bracket through the driven wheel connecting mechanism; the first load-bearing wheel is connected through the first load-bearing wheel fixing plate, and the first load-bearing wheel fixing plate is connected to the track chassis connecting bracket through the first load-bearing wheel connecting mechanism.

[0011] In the above scheme, the structure of the left outer crawler mechanism is the same as that of the right outer crawler mechanism, and the right outer crawler mechanism includes a second driving wheel, a driving wheel lifting mechanism, a second driving wheel connecting mechanism, a second driven wheel, a driven wheel lifting mechanism, a second driven wheel connecting mechanism, a plurality of second road wheels, a second road wheel connecting mechanism, a road wheel lifting mechanism, a second driving wheel driving mechanism, a second driven wheel rotating shaft and a second track strip;

[0012] In the above scheme, the second driving wheel and the second driven wheel are located at both ends of the second track strip, the second driving wheel is connected to the second driving wheel driving mechanism, the second driving wheel driving mechanism is connected to one end of the driving wheel lifting mechanism, the other end of the driving wheel lifting mechanism is connected to the second driving wheel connecting mechanism, the second driving wheel connecting mechanism is connected to the track chassis connecting bracket, the second driven wheel is connected to the second driven wheel rotating shaft, the second driven wheel rotating shaft is connected to one end of the driven wheel lifting mechanism, the other end of the driven wheel lifting mechanism is connected to the second driven wheel connecting mechanism, the second driven wheel connecting mechanism is connected to the track chassis connecting bracket, a plurality of second load-bearing wheels are connected to the second load-bearing wheel fixing plate, the second load-bearing wheel fixing plate is connected to one end of the load-bearing wheel lifting mechanism, the other end of the load-bearing wheel lifting mechanism is connected to the second load-bearing wheel connecting mechanism, and the second load-bearing wheel connecting mechanism is connected to the track chassis connecting bracket.

[0013] Furthermore, the right outer crawler mechanism also includes a supporting pulley, a pulley fixing plate, a pulley lifting mechanism, and a pulley connecting mechanism; the supporting pulley is connected to the pulley fixing plate, the pulley fixing plate is connected to one end of the pulley lifting mechanism, the other end of the pulley lifting mechanism is connected to the pulley connecting mechanism, and the pulley connecting mechanism is connected to the second road wheel fixing plate.

[0014] In the above scheme, the detection mechanism includes a first depth sensor, which is arranged on the first driven wheel shaft. The first depth sensor is used to measure the distance h from the center of the first driven wheel shaft to the original ground and transmits the signal to the control unit.

[0015] In the above scheme, the detection mechanism also includes a second depth sensor, a pulley depth sensor and a displacement sensor; the driving wheel lifting mechanism, the driven wheel lifting mechanism and the road wheel lifting mechanism are respectively installed with displacement sensors, the displacement sensor is used to detect the displacement of the road wheel lifting mechanism, the second driving wheel center is installed with a second depth sensor, the second depth sensor is used to detect the distance h1 from the center of the second driving wheel to the original ground, the supporting pulley center is installed with a pulley depth sensor, the pulley depth sensor is used to detect the distance h5 between the center of the supporting pulley and the ground.

[0016] A harvester comprises the amphibious reed combine harvester chassis device.

[0017] A control method for the amphibious reed combine harvester chassis device comprises the following steps:

[0018] When the reed harvester is operating on dry land or muddy land with low moisture content, a single crawler is used, the left inner crawler mechanism and the right inner crawler mechanism are in contact with the ground to support the machine body to move forward, the left outer crawler mechanism and the right outer crawler mechanism are lifted into a suspended state by the lifting mechanism, and the pulley lifting mechanism is controlled to descend to support the pulley in contact with the ground;

[0019] When the reed harvester is operating in a swamp or muddy ground with a high water content, the track sinks. When the sinking depth Z is greater than the preset value, a double track form is adopted, and the control unit controls the lifting mechanism to lower the second track strip, and the inner and outer tracks are kept at the same horizontal position. The road wheel lifting mechanism is controlled to lower the second road wheel, and the pulley lifting mechanism is controlled to lift the supporting pulley.

[0020] In the above scheme, when the reed harvester is operating in a swamp or muddy ground with a high moisture content, the crawler track sinks, and the first depth sensor detects the distance h from the center of the first driven wheel shaft to the original ground, and transmits a signal to the control unit. The sinking depth is Z, Z=Ch, C is the distance from the center of the first driven wheel shaft to the bottom of the crawler track. When the sinking depth Z is greater than the preset value, a double crawler track is adopted, and the second depth sensor detects the distance h1 from the center of the second driving wheel to the original ground, and the distance from the bottom of the outer crawler track to the original ground is h2=h1-C, and the control unit is The control unit controls the driven wheel lifting mechanism and the driving wheel lifting mechanism to make the second track strip descend to h3=h2+Z=h1-h, so that the inner and outer tracks are kept at the same horizontal position; the control unit controls the road wheel lifting mechanism to make the second road wheel descend to h4=h3-e, e is the vertical center distance between the second road wheel and the second driving wheel, and the displacement sensor detects the displacement of the road wheel lifting mechanism; the control unit controls the lifting of the supporting pulley, and stops lifting when the pulley depth sensor detects the distance between the center of the supporting pulley and the ground is h5=2R, and R is the radius of the supporting pulley.

[0021] The above scheme also includes the following steps:

[0022] When the reed harvester is harvesting reeds on the river beach, the water area submerges the tracks, the airbags are opened, and the control unit controls the rotation of the impeller.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The present invention adopts double crawlers to solve the problem that when a single crawler is used to harvest reeds in a swamp, the crawler sinks seriously, affecting normal movement and harvesting. The crawlers on the inner and outer sides are driven separately. When harvesting in dry land, the outer crawler can be raised and stopped to avoid power waste. At the same time, the contact between the supporting pulley and the ground is increased to support the outer crawler. When the present invention harvests reeds in a river beach and a ditch, the airbag is inflated to fill the middle gap, and the impeller starts to move and work, so that the reed harvesting equipment can float on the surface without sinking, completing the harvesting of reeds on the river beach. The present invention is suitable for harvesting reeds in dry land, swamps, and river beaches in my country, and has strong adaptability.

[0025] Note that the description of these effects does not prevent the existence of other effects. One embodiment of the present invention does not necessarily have all of the above effects. Effects other than the above can be clearly seen and extracted from the description of the specification, drawings, claims, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the overall structure of an amphibious reed combine harvester chassis device according to one embodiment of the present invention;

[0027] Figure 2 It is a schematic diagram of the right inner crawler structure of the chassis device of the amphibious reed combine harvester according to one embodiment of the present invention;

[0028] Figure 3 It is a schematic diagram of the right outer crawler structure of the chassis device of the amphibious reed combine harvester according to one embodiment of the present invention;

[0029] Figure 4 This is a schematic diagram of the positions of the inner and outer crawlers when the amphibious reed combine harvester chassis device according to one embodiment of the present invention is operating on dry land or muddy land with low moisture content;

[0030] Figure 5 This is a schematic diagram of the positions of the inner and outer crawlers when the amphibious reed combine harvester chassis device according to one embodiment of the present invention is operating in a swamp or muddy ground with a high moisture content;

[0031] Figure 6 The present invention is a schematic diagram of the inner and outer track lifting and lowering adjustment process when the amphibious reed combine harvester chassis device according to one embodiment of the present invention is operating in a swamp or muddy ground with a high moisture content.

[0032] In the figure, 1. left outer crawler mechanism; 2. left inner crawler mechanism; 3. right inner crawler mechanism; 4. right outer crawler mechanism; 5. crawler chassis connecting bracket; 6. airbag; 7. first impeller, 8. second impeller; 9. third impeller; 10. cab control system; 301. first driving wheel; 302. first driven wheel; 303. driven wheel connecting mechanism; 304. driving wheel connecting mechanism; 305. first load-bearing wheel; 306. first load-bearing wheel connecting mechanism; 307. first crawler strip; 308. first driving wheel driving mechanism; 309. first driven wheel rotating shaft; 310. first depth sensor; 311. first load-bearing wheel fixing plate; 401 .The second driving wheel; 402. The driving wheel lifting mechanism; 403. The second driving wheel connecting mechanism; 404. The second driven wheel; 405. The driven wheel lifting mechanism; 406. The second driven wheel connecting mechanism; 407. A plurality of second road wheels; 408. The second road wheel connecting mechanism; 409. The road wheel lifting mechanism; 410. The supporting pulley; 411. The pulley fixing plate; 412. The pulley lifting mechanism; 413. The pulley connecting mechanism; 414. The second driving wheel driving mechanism; 415. The second driven wheel rotating shaft; 416. The second depth sensor; 417. The pulley depth sensor; 418. The displacement sensor; 419. The second track strip. DETAILED DESCRIPTION

[0033] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0034] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "front", "back", "left", "right", "up", "down", "axial", "radial", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined. In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] Example 1

[0036] Figure 1-3 The figure shows a preferred embodiment of the amphibious reed combine harvester chassis device of the present invention, wherein the amphibious reed combine harvester chassis device comprises a left outer track mechanism 1, a left inner track mechanism 2, a right inner track mechanism 3, a right outer track mechanism 4, a track chassis connecting bracket 5, an airbag 6, an impeller, a detection mechanism and a control unit.

[0037] The left outer crawler mechanism 1 and the left inner crawler mechanism 2 are located on the left side of the crawler chassis connecting bracket 5, and the right inner crawler mechanism 3 and the right outer crawler mechanism 4 are located on the right side of the crawler chassis connecting bracket 5; the airbag 6 is installed on the inner side of the crawler chassis connecting bracket 5, and the impeller is installed on the inner side of the crawler chassis connecting bracket 5 and is located below the airbag 6.

[0038] The detection mechanism is used to detect at least the distances from the left outer crawler mechanism 1, the left inner crawler mechanism 2, the right inner crawler mechanism 3, and the right outer crawler mechanism 4 to the original ground, and transmit the distances to the control unit.

[0039] The left outer crawler mechanism 1 and the right outer crawler mechanism 4 are respectively provided with a lifting mechanism.

[0040] The control unit is connected to the detection mechanism and the lifting mechanism respectively. The control unit calculates the sinking depth, compares the sinking depth with a preset value, and controls the lifting mechanism to adjust the lifting of the left outer crawler mechanism 1 and the right outer crawler mechanism 4 according to the comparison structure.

[0041] The detection mechanism includes a first depth sensor 310, a second depth sensor 416, a pulley depth sensor 417, and a displacement sensor 418; the first depth sensor 310, the second depth sensor 416, the pulley depth sensor 417, and the displacement sensor 418 are respectively connected to the control unit. Preferably, the detection mechanism is waterproofed.

[0042] like Figure 2 As shown, the left inner crawler mechanism 2 and the right inner crawler mechanism 3 have the same structure, and the right inner crawler mechanism 3 includes a first driving wheel 301, a first driven wheel 302, a driven wheel connecting mechanism 303, a driving wheel connecting mechanism 304, and a plurality of first load-bearing wheels 305, a first load-bearing wheel connecting mechanism 306, a first crawler strip 307, a first driving wheel driving mechanism 308, a first driven wheel rotating shaft 309, and a first depth sensor 310;

[0043] The first driving wheel 301 and the first driven wheel 302 are located at both ends of the first track strip 307, and the first driving wheel 301 and the first driven wheel 302 drive the first track strip 307 to move. A plurality of first load-bearing wheels 305 are located between the first driving wheel 301 and the first driven wheel 302 and are in contact with the inner side of the first track strip 307. The first driving wheel 301 is connected to a first driving wheel driving mechanism 308, and the first driving wheel driving mechanism 308 is connected to the crawler chassis connecting bracket 5 through a driving wheel connecting mechanism 304. The first driving wheel driving mechanism 308 drives The first driving wheel 301 is driven and the speed can be adjusted. The first driving wheel 301 is connected to the crawler chassis connecting bracket 5 through the driven wheel connecting mechanism 303; the first load-bearing wheel 305 is connected through the first load-bearing wheel fixing plate 311, and the first load-bearing wheel fixing plate 311 is connected to the crawler chassis connecting bracket 5 through the first load-bearing wheel connecting mechanism 306; a first depth sensor 310 is provided on the first driven wheel shaft 309; the first depth sensor 310 is used to detect the distance h from the center of the first driven wheel shaft 309 to the original ground, and transmit the signal to the control unit.

[0044] like Figure 3As shown, the left outer crawler mechanism 1 has the same structure as the right outer crawler mechanism 4, and the right outer crawler mechanism 4 includes a second driving wheel 401, a driving wheel lifting mechanism 402, a second driving wheel connecting mechanism 403, a second driven wheel 404, a driven wheel lifting mechanism 405, a second driven wheel connecting mechanism 406, a plurality of second load-bearing wheels 407, a second load-bearing wheel connecting mechanism 408, a load-bearing wheel lifting mechanism 409, a supporting pulley 410, a pulley fixing plate 411, a pulley lifting mechanism 412, a pulley connecting mechanism 413, a second driving wheel driving mechanism 414, a second driven wheel rotating shaft 415, a second depth sensor 416, a pulley depth sensor 417, a displacement sensor 418 and a second track strip 419;

[0045] The second driving wheel 401 and the second driven wheel 404 are located at both ends of the second track strip 419, the second driving wheel 401 is connected to the second driving wheel driving mechanism 414, the second driving wheel driving mechanism 414 is connected to one end of the driving wheel lifting mechanism 402, the other end of the driving wheel lifting mechanism 402 is connected to the second driving wheel connecting mechanism 403, the second driving wheel connecting mechanism 403 is connected to the crawler chassis connecting bracket 5, the second driven wheel 404 is connected to the second driven wheel rotating shaft 415, the second driven wheel rotating shaft 415 is connected to one end of the driven wheel lifting mechanism 405, the other end of the driven wheel lifting mechanism 405 is connected to the second driven wheel connecting mechanism 406, and the second driven wheel connecting mechanism 406 is connected to the second driven wheel rotating shaft 415. The driving wheel connecting mechanism 406 is connected to the track chassis connecting bracket 5, a plurality of second road wheels 407 are connected to the second road wheel fixing plate 420, the second road wheel fixing plate 420 is connected to one end of the road wheel lifting mechanism 409, the other end of the road wheel lifting mechanism 409 is connected to the second road wheel connecting mechanism 408, the second road wheel connecting mechanism 408 is connected to the track chassis connecting bracket 5, the supporting pulley 410 is connected to the pulley fixing plate 411, the pulley fixing plate 411 is connected to one end of the pulley lifting mechanism 412, the other end of the pulley lifting mechanism 412 is connected to the pulley connecting mechanism 413, the pulley connecting mechanism 413 is connected to the second road wheel fixing plate 420,

[0046] The driving wheel lifting mechanism 402, the driven wheel lifting mechanism 405 and the road wheel lifting mechanism 409 are respectively installed with displacement sensors 418, and the displacement sensor 418 is used to detect the displacement of the road wheel lifting mechanism 409. A second depth sensor 416 is installed at the center of the second driving wheel 401, and the second depth sensor 416 is used to detect the distance h1 from the center of the second driving wheel 401 to the original ground. A pulley depth sensor 417 is installed at the center of the supporting pulley 410, and the pulley depth sensor 417 is used to detect the distance h5 between the center of the supporting pulley 410 and the ground. The second driving wheel 401 and the second driven wheel 404 drive the second track strip 419 to move.

[0047] Preferably, the control unit may be installed in the cab control system 10 .

[0048] The working process of the inner and outer crawlers is as follows: when the reed harvester is harvesting reeds in dry land or muddy land with low water content, only the inner crawler mechanisms on the left and right sides are in contact with the ground to support the machine body to move forward, and the outer crawler mechanisms on both sides are lifted to a certain height without contacting the ground under the joint action of the driving wheel lifting mechanism 402, the driven wheel lifting mechanism 405, and the road wheel lifting mechanism 409, because the crawlers are not easy to sink in dry land and muddy land with low water content. At this time, only the inner crawler mechanism is needed to meet the requirements of moving and harvesting, and only power needs to be provided to the first driving wheel driving mechanism 309 of the inner crawler mechanism to drive the crawler to move forward;

[0049] After the outer crawler is lifted to a certain height, the crawler support pulley 410 is extended downward under the action of the pulley lifting mechanism 412 until the pulley contacts the ground. The entire support pulley 410 can provide support for the outer crawler, making the machine more stable as a whole. The support pulley 410 can also slide on the ground.

[0050] When the reed harvester is harvesting reeds in a swamp or muddy ground with high water content, it only relies on the support and movement of the inner crawler mechanism. The crawler is easy to sink under the action of the machine body and the material box. If the sinking depth is too deep, the harvester cannot move forward and the machine will also wear faster. Therefore, in this case, the inner and outer crawlers are used to move at the same time to reduce the ground pressure on the one hand and prevent the crawler from sinking too deep and failing to work on the other hand.

[0051] When the reed harvester is harvesting reeds in a swamp or mud with a high water content, the outer track mechanism is lowered to a certain height to contact the ground. This height is based on the installation height of the inner track to ensure that the bottom and top surfaces of the inner and outer tracks are in the same plane, thereby ensuring the stability of the harvester's movement. At the same time, the support pulley 410 is retracted upward under the action of the lifting mechanism until the pulley is no longer in contact with the ground. At this time, the driving wheels of the inner and outer tracks are driven by a power source to ensure that the two tracks move at the same speed.

[0052] like Figure 4 As shown, when the reed harvester is operating on dry land or muddy land with low moisture content, the track is not easy to sink, and only a single track is needed for operation. At this time, the inner track is in contact with the ground to support the machine body forward, and the outer track is lifted to a certain height to a suspended state under the action of various lifting mechanisms. At the same time, the pulley support mechanism descends until the pulley contacts the ground, which supports the outer track and improves the operation stability of the machine.

[0053] Combination Figure 4 , 5As shown in 6, a control method of the amphibious reed combine harvester chassis device comprises the following steps:

[0054] When the reed harvester is operating on dry land or muddy land with low moisture content, the crawler is not easy to sink. A single crawler is adopted. The left inner crawler mechanism 2 and the right inner crawler mechanism 3 are in contact with the ground to support the machine body to move forward. The left outer crawler mechanism 1 and the right outer crawler mechanism 4 are lifted into a suspended state by the lifting mechanism. The pulley lifting mechanism 412 descends to support the pulley 410 to contact the ground, which plays a supporting role for the outer crawler and improves the operation stability of the machine.

[0055] When the reed harvester is operating in a swamp or muddy ground with a high water content, the track sinks. When the sinking depth Z is greater than a preset value, a double track form is adopted, and the control unit controls the lifting mechanism to lower the second track strip 419, and the inner and outer tracks are kept at the same horizontal position. The road wheel lifting mechanism 409 is controlled to lower the second road wheel 407, and the pulley lifting mechanism 412 is controlled to lift the supporting pulley 410.

[0056] Preferably, when the reed harvester is operating in a swamp or muddy ground with a high moisture content, the track is too deep, affecting normal driving. The first depth sensor 310 detects the distance h from the center of the first driven wheel shaft 309 to the original ground, and transmits a signal to the control unit. The sinking depth is Z, Z=Ch, C is the distance from the center of the first driven wheel shaft 309 to the bottom of the track. When the sinking depth Z is greater than the preset value, a double track form is adopted. The second depth sensor 416 detects the distance h1 from the center of the second driving wheel 401 to the original ground, and the distance from the bottom of the outer track to the original ground is h2=h1-C. The control unit controls the driven wheel lift. The control unit controls the lifting mechanism 405 and the driving wheel lifting mechanism 402 to make the second track strip 419 descend to h3=h2+Z=h1-h, so that the inner and outer tracks are kept at the same horizontal position; the control unit controls the road wheel lifting mechanism 409 to make the second road wheel 407 descend to h4=h3-e, where e is the vertical center distance between the second road wheel 407 and the second driving wheel 401, and the displacement sensor 418 detects the displacement of the road wheel lifting mechanism 409; the control unit controls the lifting of the supporting pulley 410, and stops lifting when the pulley depth sensor 417 detects the distance between the center of the supporting pulley 410 and the ground is h5=2R, where R is the radius of the supporting pulley 410.

[0057] When the reed harvester is harvesting reeds on the river beach, the water area submerges the crawler tracks, and it is unrealistic to use the crawler tracks to walk on the river beach. It is necessary to open the airbag 6 and fill the airbag 6 with gas through the inflation tank. The airbag 6 fills the middle gap of the crawler chassis connecting bracket 5 to provide buoyancy for the harvester so that it can float on the water surface without sinking. The control unit controls the rotation of the impeller. There can be multiple impellers. In a specific embodiment of the present invention, the impellers include a first impeller 7, a second impeller 8, and a third impeller 9. The rotation of the three impellers can provide power for the harvester to move forward, thereby ensuring the passability of the harvester when operating on the river beach.

[0058] The invention can realize the harvesting of reeds in different environments such as river beaches, swamps, dry lands, etc., and improve the environmental adaptability and passability of the harvester.

[0059] Example 2

[0060] A harvester includes the amphibious reed combine harvester chassis device described in Example 1, so it has the beneficial effects of Example 1 and will not be repeated here.

[0061] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0062] The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present invention. They are not intended to limit the scope of protection of the present invention. All equivalent embodiments or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. An amphibious reed combine harvester chassis device, characterized in that: It comprises a left outer crawler mechanism (1), a left inner crawler mechanism (2), a right inner crawler mechanism (3), a right outer crawler mechanism (4), a crawler chassis connecting bracket (5), an air bag (6), an impeller, a detection mechanism and a control unit; The left outer crawler mechanism (1) and the left inner crawler mechanism (2) are located on the left side of the crawler chassis connecting bracket (5), and the right inner crawler mechanism (3) and the right outer crawler mechanism (4) are located on the right side of the crawler chassis connecting bracket (5); the airbag (6) is installed on the inner side of the crawler chassis connecting bracket (5), and the impeller is installed on the inner side of the crawler chassis connecting bracket (5) and is located below the airbag (6); The detection mechanism is used to detect at least the distance between the left outer crawler mechanism (1), the left inner crawler mechanism (2), the right inner crawler mechanism (3), and the right outer crawler mechanism (4) and the original ground, and transmit the distance to the control unit; The left outer crawler mechanism (1) and the right outer crawler mechanism (4) are respectively provided with a lifting mechanism; The control unit is connected to the detection mechanism, the lifting mechanism, and the impeller respectively, and the control unit calculates the sinking depth, compares the sinking depth with a preset value, and controls the lifting mechanism to adjust the lifting of the left outer crawler mechanism (1) and the right outer crawler mechanism (4) according to the comparison structure; The left outer crawler mechanism (1) has the same structure as the right outer crawler mechanism (4), and the right outer crawler mechanism (4) comprises a second driving wheel (401), a driving wheel lifting mechanism (402), a second driving wheel connecting mechanism (403), a second driven wheel (404), a driven wheel lifting mechanism (405), a second driven wheel connecting mechanism (406), a plurality of second load-bearing wheels (407), a second load-bearing wheel connecting mechanism (408), a load-bearing wheel lifting mechanism (409), a second driving wheel driving mechanism (414), a second driven wheel rotating shaft (415), and a second crawler strip (419); The right outer crawler mechanism (4) further comprises a supporting pulley (410), a pulley fixing plate (411), a pulley lifting mechanism (412), and a pulley connecting mechanism (413); When the reed harvester is operating on dry land or muddy land with a low moisture content, a single crawler is used, the left inner crawler mechanism (2) and the right inner crawler mechanism (3) are in contact with the ground to support the machine body to move forward, the left outer crawler mechanism (1) and the right outer crawler mechanism (4) are lifted into a suspended state by the lifting mechanism, and the pulley lifting mechanism (412) is controlled to descend to support the pulley (410) in contact with the ground; When the reed harvester is operating in a swamp or muddy ground with a high moisture content, the crawler track sinks. When the sinking depth Z is greater than a preset value, a double crawler track is adopted, and the control unit controls the lifting mechanism to lower the second crawler track strip (419), and the inner and outer crawlers are kept at the same horizontal position, controls the road wheel lifting mechanism (409) to lower the second road wheel (407), and controls the pulley lifting mechanism (412) to lift the supporting pulley (410).

2. The amphibious reed combine harvester chassis device according to claim 1, characterized in that: The left inner crawler mechanism (2) and the right inner crawler mechanism (3) have the same structure, and the right inner crawler mechanism (3) comprises a first driving wheel (301), a first driven wheel (302), a driven wheel connecting mechanism (303), a driving wheel connecting mechanism (304), and a plurality of first load-bearing wheels (305), a first load-bearing wheel connecting mechanism (306), a first crawler strip (307), a first driving wheel driving mechanism (308), and a first driven wheel rotating shaft (309); The first driving wheel (301) and the first driven wheel (302) are located at both ends of the first track strip (307); a plurality of first road wheels (305) are located between the first driving wheel (301) and the first driven wheel (302) and are in contact with the inner side of the first track strip (307); the first driving wheel (301) is connected to a first driving wheel driving mechanism (308); the first driving wheel driving mechanism (308) is connected to a track chassis connecting bracket (5) via a driving wheel connecting mechanism (304); the first driving wheel (301) is connected to a track chassis connecting bracket (5) via a driven wheel connecting mechanism (303); the first road wheel (305) is connected via a first road wheel fixing plate (311); the first road wheel fixing plate (311) is connected to the track chassis connecting bracket (5) via a first road wheel connecting mechanism (306).

3. The amphibious reed combine harvester chassis device according to claim 1, characterized in that: The second driving wheel (401) and the second driven wheel (404) are located at both ends of the second crawler strip (419); the second driving wheel (401) is connected to the second driving wheel driving mechanism (414); the second driving wheel driving mechanism (414) is connected to one end of the driving wheel lifting mechanism (402); the other end of the driving wheel lifting mechanism (402) is connected to the second driving wheel connecting mechanism (403); the second driving wheel connecting mechanism (403) is connected to the crawler chassis connecting bracket (5); the second driven wheel (404) is connected to the second driven wheel rotating shaft (415); the second driven wheel rotating shaft (415) is connected to the driven wheel One end of the driven wheel lifting mechanism (405) is connected, the other end of the driven wheel lifting mechanism (405) is connected to the second driven wheel connecting mechanism (406), the second driven wheel connecting mechanism (406) is connected to the crawler chassis connecting bracket (5), a plurality of second road wheels (407) are connected to the second road wheel fixing plate (420), the second road wheel fixing plate (420) is connected to one end of the road wheel lifting mechanism (409), the other end of the road wheel lifting mechanism (409) is connected to the second road wheel connecting mechanism (408), and the second road wheel connecting mechanism (408) is connected to the crawler chassis connecting bracket (5).

4. The amphibious reed combine harvester chassis device according to claim 3 is characterized in that: The supporting pulley (410) is connected to the pulley fixing plate (411), the pulley fixing plate (411) is connected to one end of the pulley lifting mechanism (412), the other end of the pulley lifting mechanism (412) is connected to the pulley connecting mechanism (413), and the pulley connecting mechanism (413) is connected to the second load-bearing wheel fixing plate (420).

5. The amphibious reed combine harvester chassis device according to claim 2, characterized in that: The detection mechanism comprises a first depth sensor (310), the first depth sensor (310) being arranged on the first driven wheel rotating shaft (309), the first depth sensor (310) being used to measure the distance h from the center of the first driven wheel rotating shaft (309) to the original ground, and transmitting a signal to the control unit.

6. The amphibious reed combine harvester chassis device according to claim 5, characterized in that: The detection mechanism further comprises a second depth sensor (416), a pulley depth sensor (417) and a displacement sensor (418); The driving wheel lifting mechanism (402), the driven wheel lifting mechanism (405), and the road wheel lifting mechanism (409) are respectively installed with displacement sensors (418), the displacement sensor (418) is used to detect the displacement of the road wheel lifting mechanism (409), the second driving wheel (401) is installed at the center of the second driving wheel (401), the second depth sensor (416) is used to detect the distance h1 from the center of the second driving wheel (401) to the original ground, and the support pulley (410) is installed with a pulley depth sensor (417), the pulley depth sensor (417) is used to detect the distance h5 between the center of the support pulley (410) and the ground.

7. A harvester, characterized in that: The invention comprises an amphibious reed combine harvester chassis device as described in any one of claims 1 to 6.

8. A control method for the chassis device of the amphibious reed combine harvester according to claim 6, characterized in that: The following steps are involved: When the reed harvester is operating on dry land or muddy land with a low moisture content, a single crawler is used, the left inner crawler mechanism (2) and the right inner crawler mechanism (3) are in contact with the ground to support the machine body to move forward, the left outer crawler mechanism (1) and the right outer crawler mechanism (4) are lifted into a suspended state by the lifting mechanism, and the pulley lifting mechanism (412) is controlled to descend to support the pulley (410) in contact with the ground; When the reed harvester is operating in a swamp or muddy ground with a high moisture content, the crawler track sinks. When the sinking depth Z is greater than a preset value, a double crawler track is adopted, and the control unit controls the lifting mechanism to lower the second crawler track strip (419), and the inner and outer crawlers are kept at the same horizontal position, controls the road wheel lifting mechanism (409) to lower the second road wheel (407), and controls the pulley lifting mechanism (412) to lift the supporting pulley (410).

9. The control method of the amphibious reed combine harvester chassis device according to claim 8, characterized in that: When the reed harvester is operating in a swamp or on muddy ground with a high moisture content, the crawler track sinks, and the first depth sensor (310) detects the distance h from the center of the first driven wheel shaft (309) to the original ground, and transmits a signal to the control unit. The sinking depth is Z, Z=Ch, and C is the distance from the center of the first driven wheel shaft (309) to the bottom surface of the crawler track. When the sinking depth Z is greater than a preset value, a double crawler track is used, and the second depth sensor (416) detects the distance h1 from the center of the second driving wheel (401) to the original ground. The distance from the bottom surface of the outer crawler track to the original ground is h2=h1-C. The control unit controls the driven wheel lifting mechanism (405) and the driving wheel lifting mechanism. (402) causes the second crawler strip (419) to descend to h3=h2+Z=h1-h, so that the inner and outer crawlers are kept at the same horizontal position; the control unit controls the road wheel lifting mechanism (409) to cause the second road wheel (407) to descend to h4=h3-e, where e is the vertical center distance between the second road wheel (407) and the second driving wheel (401), and the displacement sensor (418) detects the displacement of the road wheel lifting mechanism (409); the control unit controls the support pulley (410) to rise, and stops rising when the pulley depth sensor (417) detects that the distance between the center of the support pulley (410) and the ground is h5=2R, where R is the radius of the support pulley (410).

10. The control method of the amphibious reed combine harvester chassis device according to claim 8, characterized in that: The following steps are also included: When the reed harvester is harvesting reeds in a riverbank, the water area submerges the crawler track, the airbag (6) is opened, and the control unit controls the impeller to rotate.

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