Self-adaptive chassis leveling device of plateau mountain rice and wheat harvester

Abstract

The invention relates to a self-adaptive chassis leveling device of a plateau mountain rice and wheat harvester. The first swing mechanism is connected with the wheel on one side and used for driving the wheel to ascend or descend after swinging so as to adapt to the road surface of the wheel on the side, the second swing mechanism is connected with the wheel on the other side and used for driving the wheel to ascend or descend after swinging so as to adapt to the road surface of the wheel on the side, and the driving mechanism is installed on the frame. The driving mechanism is used for driving the first swing mechanism and the second swing mechanism, so that the vehicle frame adapts to leveling of non-flat road sections after inclining, the driving mechanism drives the first swing mechanism and the second swing mechanism, the dynamic leveling capacity is achieved, and the leveling capacity can adapt to low-angle slope cropland; the chassis leveling device can adapt to irregular concave-convex, transverse inclination, longitudinal gradient and other topographic conditions, stable driving and operation under different topographies are achieved, the chassis leveling device needs to reduce damage to soil and vegetation as much as possible while improving stability, cultivated land resources and environment are protected, and the influence on an ecological system is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of agricultural production equipment, and in particular to an adaptive chassis leveling device for a plateau mountain rice and wheat harvester. Background Art

[0002] my country is a mountainous country, with hills and mountains accounting for about 2 / 3 of the country's total land area. According to relevant statistics, the grain output in mountainous areas accounts for about 51.4% of the country's total. Therefore, the development of agricultural production in mountainous areas will directly affect the overall development trend of my country's agriculture. However, in recent years, the development of agricultural production in mountainous areas has been affected by factors such as geographical conditions, road transportation, and operational safety, and there are still many problems: (1) Geographical conditions: Hilly and mountainous areas have complex terrain, rugged mountain roads, small and discontinuous plots of land, and difficulty in transporting and turning agricultural machinery. Growing crops such as rice and wheat in such an environment presents unique challenges.

[0003] (2) Road transportation: The roads in hilly and mountainous areas are narrow, steep, and rugged, making it difficult for large and medium-sized agricultural machinery to pass through.

[0004] (3) Operational safety: The terrain in hilly and mountainous areas is mostly irregular roads and steep slopes, creating a complex operating environment. When traditional machinery is driving or operating on steep slopes, the driver's perspective and field of vision are poor due to the large pitch angle of the chassis, which reduces the driver's ability to judge the surrounding environment, resulting in low operating efficiency, poor off-road performance and stability, and poor safety. Serious safety accidents such as rollover and rollover may occur due to the unstable center of mass position.

[0005] Due to these problems existing in hilly and mountainous areas, there is an urgent need to develop and design an adaptive chassis leveling device suitable for rice and wheat harvesters in plateau mountains to ensure good stability during operation. Summary of the invention

[0006] In order to solve or partially solve the problems existing in the related technology, the present application drives the first swing mechanism and the second swing mechanism through a driving mechanism, and has dynamic leveling capability. The leveling capability can adapt to low-angle sloping farmland, irregular bumps, lateral inclinations, longitudinal slopes and other terrain conditions, and achieve stable driving and operation under different terrains. While improving stability, the chassis leveling device needs to minimize damage to soil and vegetation as much as possible, protect cultivated land resources and the environment, and reduce the impact on the ecosystem.

[0007] The first aspect of the present application provides an adaptive chassis leveling device for a plateau mountain rice and wheat harvester, comprising: Frame, A connecting frame, the connecting frame is installed on the front side of the frame, and a universal wheel is installed on the connecting frame; A first swing mechanism, the first swing mechanism is connected to one side of the wheel and is used to swing the rear drive wheel to lift or move downward to adapt to the road surface of the wheel on this side; A second swing mechanism, the second swing mechanism is connected to the wheel on the other side and is used to swing the rear drive wheel to lift or move downward to adapt to the road surface of the wheel on this side; A driving mechanism is installed on the frame and is used to drive the first swing mechanism and the second swing mechanism so that the frame can be leveled on a non-flat road section after being tilted.

[0008] Optionally, in some embodiments of the first aspect, the driving mechanism includes A hydraulic cylinder, the hydraulic cylinder being hingedly mounted on one side of the frame; A rotating shaft, the rotating shaft is rotatably mounted on the frame; A driving arm, one end of which is fixedly connected to the rotating shaft, and the other end of which is hinged to the hydraulic cylinder.

[0009] Optionally, in some embodiments of the first aspect, the hydraulic cylinder is connected to an oil system, wherein the hydraulic cylinder is connected to an oil system, and the oil system comprises A fuel tank, the fuel tank being mounted on the vehicle frame; An oil pump, the oil pump is mounted on the vehicle frame and connected to the oil tank through a pipeline; A hydraulic valve is connected to the oil tank and the oil pump through a pipeline, and a liquid inlet and a liquid outlet of the hydraulic valve are respectively connected to a liquid inlet and a liquid outlet of the hydraulic cylinder.

[0010] Optionally, in some embodiments of the first aspect, the first swing mechanism includes A first swing arm, wherein the first swing arm is hingedly mounted on the rotating shaft; a first pull rod, the first pull rod being hinged to the first swing arm; A first wheel swing arm, wherein a frame shaft connecting hole is formed on the inner side of the first wheel swing arm, and the first pull rod is hinged to the frame shaft on the frame through the frame shaft connecting hole, and the first pull rod is hinged to the first wheel swing arm; A wheel axle is installed on the outer side of the swing arm of the first wheel body, and a wheel is installed on the wheel axle.

[0011] Optionally, in some embodiments of the first aspect, the second swing mechanism includes A second swing arm, the second swing arm is hingedly mounted on the rotating shaft, and the second swing arm is arranged along the radial direction of the rotating shaft, opposite to the setting direction of the first swing arm; a second pull rod, the second pull rod being hinged to the second swing arm; A second wheel swing arm, wherein a frame shaft connecting hole is formed on the inner side of the second wheel swing arm, the second wheel swing arm is hinged to the frame shaft on the frame through the frame shaft connecting hole, and the second pull rod is hinged to the second wheel swing arm; A wheel axle is installed on the outer side of the swing arm of the first wheel body, and a wheel is installed on the wheel axle.

[0012] Optionally, in some embodiments of the first aspect, when the frame is in a horizontal position, the first swing arm and the second swing arm are both rotated to a horizontal position, and the position where the first swing arm is horizontally hinged to the first pull rod points to the front of the frame, and the position where the second swing arm is horizontally hinged to the second pull rod points to the rear of the frame.

[0013] The technical solution provided by this application may have the following beneficial effects: This application has the function of adjusting the pitch angles of front and rear, left and right, and has dynamic leveling capabilities. It can adapt to terrain conditions such as irregular bumps, lateral inclinations, and longitudinal slopes, and achieve stable driving and operation under different terrains. In addition, this application controls the oil system by connecting to the PLC, so that the hydraulic cylinder has a fast response speed and accurate perception capabilities, ensuring the stability of the machine under different terrains and improving operating efficiency. While improving stability, the chassis leveling device needs to minimize damage to soil and vegetation, protect arable land resources and the environment, and reduce the impact on the ecosystem.

[0014] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The above and other objects, features and advantages of the present application will become more apparent through a more detailed description of exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0016] Figure 1 It is a schematic diagram of the left structure of the present invention; Figure 2 It is a schematic diagram of the right structure of the present invention; Figure 3 It is a schematic diagram of the overall swing mechanism of the present invention; Figure 4 It is a schematic diagram of the hydraulic cylinder driving the extension to shift right as a whole; Figure 5 This is a schematic diagram of the hydraulic cylinder driving and restoring the entire device to the left; Reference numerals: 1-frame, 2-connecting frame, 3-universal wheel, 4-rotating shaft, 5-hydraulic cylinder, 6-first swing arm, 7-second swing arm, 8-driving arm, 9-first pull rod, 10-second pull rod, 11-second wheel body swing arm, 12-first wheel body swing arm, 13-wheel axle, 14-frame axle connecting hole, 15-frame axle, 16-oil tank, 17-hydraulic valve, 18-oil pump. DETAILED DESCRIPTION

[0017] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0018] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0019] In the description of the present application, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0020] 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 an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0021] At present, the terrain in hilly and mountainous areas is mostly irregular roads and slopes with large angles, and the working environment is complex. When traditional machinery is driving or working on steep slopes, the chassis pitch angle is too large, the driver's perspective and field of vision are poor, and the judgment of the surrounding environment is reduced. The working efficiency is low, the off-road performance and stability are poor, and the safety is poor. Due to the unstable center of mass position, serious safety accidents such as rollover and rollover may occur.

[0022] In response to the above problems, the present application provides an adaptive chassis leveling device for a plateau mountain rice and wheat harvester. The present application has the function of adjusting the pitch angles of front and rear, left and right, and has dynamic leveling capabilities. It can adapt to irregular bumps, lateral inclinations, longitudinal slopes and other terrain conditions, and achieve stable driving and operation under different terrains. In addition, the present application controls the oil system by connecting to the PLC, so that the hydraulic cylinder has a fast response speed and accurate perception ability, ensuring the stability of the machine under different terrains and improving operating efficiency. While improving stability, the chassis leveling device needs to minimize damage to soil and vegetation, protect cultivated land resources and the environment, and reduce the impact on the ecosystem.

[0023] The technical solution of the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0024] See also Figure 1-5 In the first aspect of the present application, there is provided an adaptive chassis leveling device for a plateau mountain rice and wheat harvester. In this embodiment, a connecting frame 2 is installed on the front side of a frame 1, and a universal wheel 3 is installed on the connecting frame 2; a first swing mechanism is connected to one side of the wheel, and is used to swing the rear drive wheel to lift or move downward, so as to adapt to the road surface of the wheel on this side; a second swing mechanism is connected to the other side of the wheel, and is used to swing the rear drive wheel to lift or move downward, so as to adapt to the road surface of the wheel on this side; a driving mechanism is installed on the frame 1, and is used to drive the first swing mechanism and the second swing mechanism, so that the frame 1 can be tilted to adapt to the leveling of the non-flat road section. In general, the chassis is installed with a power source (installed on the frame 1, driving the wheel). In this embodiment, on the basis of the universal wheel 3, in other embodiments, a steering mechanism in the prior art can be installed to cooperate with the power source for direction control.

[0025] In this embodiment, the driving mechanism includes a hydraulic cylinder 5, a rotating shaft 4, and a driving arm 8. Specifically, the hydraulic cylinder 5 is hingedly mounted on one side of the frame 1, the rotating shaft 4 is rotatably mounted on the frame 1, one end of the driving arm 8 is fixedly connected to the rotating shaft 4, and the other end is hinged on the hydraulic cylinder 5. Figure 1-3As shown, a transverse through hole is opened on the frame 1 to install the rotating shaft 4, so that the rotating shaft 4 can rotate relative to the frame 1 (in the specific installation process, it can be installed in conjunction with a bearing), and one side of the rotating shaft 4 is fixedly connected to a driving arm 8, and the driving arm 8 is hinged to the end of the piston rod of the hydraulic cylinder 5. By driving the hydraulic cylinder 5, the driving arm 8 can be driven, and then the rotating shaft 4 can be driven to rotate relative to the frame 1.

[0026] In this embodiment, the hydraulic cylinder 5 is connected to an oil system, and a rapid response is achieved by cooperating with the oil system. The oil system includes an oil tank 16, an oil pump 18, and a hydraulic valve 17. The oil tank 16 is installed on the frame 1, and the oil pump 18 is installed on the frame 1. The oil tank 16 is connected through a pipeline. The hydraulic valve 17 is connected to the oil tank 16 and the oil pump 18 through a pipeline. The inlet and outlet of the hydraulic valve 17 are respectively connected to the inlet and outlet of the hydraulic cylinder 5. On the basis of this embodiment, a PLC (not shown in the figure) is also required. During the assembly process, the PLC is equipped with a power supply. The PLC connects the oil pump 18 and the hydraulic valve 17. After the oil pump 18 is driven, the oil is supplied to the hydraulic cylinder 5 to drive the extension. After the hydraulic cylinder 5 needs to be restored, the PLC controls the hydraulic valve 17 to open, so that the oil in the hydraulic cylinder 5 flows back to the oil tank 16 through the hydraulic valve 17. During this period, the oil volume is accurately controlled according to the required stroke of the hydraulic cylinder 5. In this embodiment, the PLC controls the oil flow as follows: Q=V×A Where Q is the flow rate (L / min), V is the speed (m / min), and A is the effective area (m²) of the hydraulic cylinder 5. This formula is used to calculate the flow rate required by the hydraulic cylinder 5 at different speeds.

[0027] Pressure formula: F=p×A Where F is the force (kgf or N), p is the pressure (kgf / cm² or MPa), and A is the effective area (cm² or m²) of the hydraulic cylinder 5. This formula is used to calculate the output force of the hydraulic cylinder 5 at a given pressure.

[0028] The relevant frequency modulation formula calculation method is derived based on hydraulic formulas and principles for implementation.

[0029] In this embodiment, the first swing mechanism includes a first swing arm 6, a first tie rod 9, a first wheel swing arm 12, and a wheel axle 13. The first swing arm 6 is hingedly mounted on the rotating shaft 4. The first tie rod 9 is hingedly connected to the first swing arm 6. A frame shaft connecting hole 14 is provided inside the first wheel swing arm 12, and the frame shaft 15 on the frame 1 is hingedly connected through the frame shaft connecting hole 14. The first tie rod 9 is hingedly connected to the first wheel swing arm 12. The wheel axle 13 is mounted on the outer side of the first wheel swing arm 12, and a wheel is mounted on the wheel axle 13. Figure 1-3As shown, a frame shaft 15 is installed on the frame 1, and the first wheel body swing arm 12 is hinged to the frame shaft 15 through the frame shaft connecting hole 14. The first wheel body swing arm 12 can rotate relative to the frame shaft 15. By driving the hydraulic cylinder 5, the driving arm 8 can be driven, and then the rotating shaft 4 can be driven to rotate relative to the frame 1. After the rotating shaft 4 rotates, it drives the first swing arm 6 to rotate, and then the first wheel body swing arm 12 is driven to rotate relative to the frame shaft 15 through the first pull rod 9, so as to lift or move down the wheel on this side.

[0030] In this embodiment, the second swing mechanism includes a second swing arm 7, a second tie rod 10, a second wheel swing arm 11, and a wheel axle 13. The second swing arm 7 is hingedly mounted on the rotating shaft 4. The second tie rod 10 is hingedly mounted to the second swing arm 7. A frame shaft connecting hole 14 is provided inside the second wheel swing arm 11. The frame shaft connecting hole 14 is hingedly mounted to the frame shaft 15 on the frame 1. The second tie rod 10 is hingedly mounted to the second wheel swing arm 11. The wheel axle 13 is mounted on the outer side of the second wheel swing arm 11. The wheel axle 13 is mounted on the wheel axle 13. Figure 1-3 As shown, a frame shaft 15 is installed on the frame 1, and the second wheel body swing arm 11 is hinged to the frame shaft 15 through the frame shaft connecting hole 14. The second wheel body swing arm 11 can rotate relative to the frame shaft 15. By driving the hydraulic cylinder 5, the driving arm 8 can be driven, and then the rotating shaft 4 can be driven to rotate relative to the frame 1. After the rotating shaft 4 rotates, it drives the second swing arm 7 to rotate, and then the second wheel body swing arm 11 is driven to rotate relative to the frame shaft 15 through the second pull rod 10, so as to lift or move down the wheel on this side.

[0031] In this embodiment, specifically Figure 1-3 As shown, when the frame 1 is in a horizontal position, the first swing arm 6 and the second swing arm 7 are both rotated to a horizontal position, and the position where the first swing arm 6 is horizontally hinged to the first pull rod 9 points to the front of the frame 1, and the position where the second swing arm 7 is horizontally hinged to the second pull rod 10 points to the rear of the frame 1.

[0032] like Figure 4 As shown, by driving the hydraulic cylinder 5 to extend, the driving arm 8 can be driven along Figure 3 The position shown in the figure rotates counterclockwise, thereby driving the rotating shaft 4 to rotate counterclockwise relative to the frame 1. After the rotating shaft 4 rotates, it drives the first swing arm 6 to rotate counterclockwise, and then drives it to be lifted upward by the first pull rod 9. After the first pull rod 9 is pulled up, it drives the first wheel body swing arm 12 to rotate counterclockwise relative to the frame shaft 15. After the first pull rod 9 is lifted, the side wheel is driven to be lifted. Similarly, because the second swing mechanism is connected to the rotating shaft 4, it has a linkage effect. After the rotating shaft 4 rotates, it drives the second swing arm 7 to rotate clockwise, and then drives it downward through the second pull rod 10. After the second pull rod 10 is pushed downward, it drives the second wheel body swing arm 11 to rotate clockwise relative to the frame shaft 15. After the second pull rod 10 is pushed downward, the side wheel is driven to move downward, thereby forming Figure 4 In the shape shown, the entire body is offset to the right.

[0033] like Figure 5 As shown, by driving the hydraulic cylinder 5 to return, the driving arm 8 can be driven along Figure 3 The position shown in the figure rotates clockwise, thereby driving the rotating shaft 4 to rotate clockwise relative to the frame 1. After the rotating shaft 4 rotates, it drives the first swing arm 6 to rotate clockwise, and then drives downward through the first pull rod 9. After the first pull rod 9 is pushed downward, it drives the first wheel body swing arm 12 to rotate clockwise relative to the frame shaft 15. After the first pull rod 9 is pushed downward, the side wheel is driven to move downward. Similarly, because the second swing mechanism is connected to the rotating shaft 4, it has a linkage effect. After the rotating shaft 4 rotates, it drives the second swing arm 7 to rotate counterclockwise, and then drives upward by the second pull rod 10. After the second pull rod 10 is pulled up, it drives the second wheel body swing arm 11 to rotate counterclockwise relative to the frame shaft 15. After the second pull rod 10 is lifted, the side wheel is lifted, thereby forming Figure 5 In the configuration shown, the entire vehicle body is offset to the left.

[0034] The device should be able to achieve an angle adjustment function of ±15 degrees pitch forward and backward and ±15 degrees tilt left and right. It should have dynamic leveling capabilities and the leveling capability should be able to adapt to sloping farmland with an angle of less than 15 degrees.

[0035] It should be able to adapt to irregular bumps, lateral inclinations, longitudinal slopes and other terrain conditions, and achieve stable driving and operation under different terrains. The body inclination angle can be controlled within ±3° at normal driving speed, and the swing angle difference of the swing mechanism can be controlled within ±5°.

[0036] While improving stability, the chassis leveling device needs to minimize damage to soil and vegetation, protect arable land resources and the environment, reduce the impact on the ecosystem, have high reliability and durability, be able to maintain stability and performance during long-term operations, reduce maintenance costs, and extend the service life of the machine.

[0037] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. An adaptive chassis leveling device for a plateau mountain rice and wheat harvester, characterized in that: include Frame, A connecting frame, the connecting frame is installed on the front side of the frame, and a universal wheel is installed on the connecting frame; A first swing mechanism, the first swing mechanism is connected to one side of the wheel and is used to swing the rear drive wheel to lift or move downward to adapt to the road surface of the wheel on the side; A second swing mechanism, the second swing mechanism is connected to the wheel on the other side and is used to swing the rear drive wheel to lift or move downward to adapt to the road surface of the wheel on this side; A driving mechanism is installed on the frame and is used to drive the first swing mechanism and the second swing mechanism so that the frame can be leveled on a non-flat road section after being tilted.

2. The self-adaptive chassis leveling device for plateau and mountainous rice and wheat harvesters according to claim 1 is characterized by: The driving mechanism comprises A hydraulic cylinder, the hydraulic cylinder being hingedly mounted on one side of the frame; A rotating shaft, the rotating shaft is rotatably mounted on the frame; A driving arm, one end of which is fixedly connected to the rotating shaft, and the other end of which is hinged to the hydraulic cylinder.

3. The self-adaptive chassis leveling device for a plateau and mountainous rice and wheat harvester according to claim 2 is characterized by: The hydraulic cylinder is connected to an oil system, and the oil system includes A fuel tank, the fuel tank being mounted on the vehicle frame; An oil pump, the oil pump is mounted on the vehicle frame and connected to the oil tank through a pipeline; A hydraulic valve is connected to the oil tank and the oil pump through a pipeline, and a liquid inlet and a liquid outlet of the hydraulic valve are respectively connected to a liquid inlet and a liquid outlet of the hydraulic cylinder.

4. The self-adaptive chassis leveling device for a plateau mountain rice and wheat harvester according to claim 2 or 3, characterized in that: The first swing mechanism comprises A first swing arm, wherein the first swing arm is hingedly mounted on the rotating shaft; a first pull rod, the first pull rod being hinged to the first swing arm; A first wheel swing arm, wherein a frame shaft connecting hole is formed on the inner side of the first wheel swing arm, and the first pull rod is hinged to the frame shaft on the frame through the frame shaft connecting hole, and the first pull rod is hinged to the first wheel swing arm; A wheel axle is installed on the outer side of the swing arm of the first wheel body, and a wheel is installed on the wheel axle.

5. The self-adaptive chassis leveling device for a plateau and mountainous rice and wheat harvester according to claim 4 is characterized in that: The second swing mechanism includes A second swing arm, the second swing arm is hingedly mounted on the rotating shaft, and the second swing arm is arranged along the radial direction of the rotating shaft in a direction opposite to that of the first swing arm; a second pull rod, the second pull rod being hinged to the second swing arm; A second wheel swing arm, wherein a frame shaft connecting hole is formed on the inner side of the second wheel swing arm, the second wheel swing arm is hinged to the frame shaft on the frame through the frame shaft connecting hole, and the second pull rod is hinged to the second wheel swing arm; A wheel axle is installed on the outer side of the swing arm of the first wheel body, and a wheel is installed on the wheel axle.

6. The self-adaptive chassis leveling device for a plateau and mountainous rice and wheat harvester according to claim 5 is characterized by: When the frame is in a horizontal position, the first swing arm and the second swing arm are both rotated to a horizontal position, and the position where the first swing arm is horizontally hinged to the first pull rod points to the front of the frame, and the position where the second swing arm is horizontally hinged to the second pull rod points to the rear of the frame.

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