Chassis leveling device and chassis leveling method for agricultural equipment

Abstract

The invention discloses a chassis leveling device and method for agricultural equipment. A chassis comprises a frame and two sets of walking mechanisms. The walking mechanism is provided with a mechanism base and a walking assembly. Two groups of height adjusting mechanisms are connected between the frame and each group of walking components; the height adjusting mechanism comprises an oil cylinder and a connecting rod; two ends of the connecting rod are respectively connected with a telescopic rod of the oil cylinder and the mechanism seat body; the chassis leveling device further comprises an oil cylinder control system, and the oil cylinder control system comprises a first electromagnetic valve connected with the left lifting oil cylinder and a second electromagnetic valve connected with the right lifting oil cylinder. According to the invention, the oil cylinder control system has two modes of manual adjustment and automatic adjustment, and one-key switching can be realized. The oil cylinder control system can compensate the left-right height difference generated by an inclined or uneven road surface by controlling the telescopic movement of the left lifting oil cylinder and the right lifting oil cylinder, so that the frame is in a basically horizontal state, and the influence of the road surface condition on machine tool operation is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to a chassis leveling device and a chassis leveling method for an agricultural implement. Background Art

[0002] Agricultural mechanization plays a vital role in modern agricultural production, and the performance and operation quality of agricultural machinery directly affect agricultural production efficiency and crop yields. When traditional agricultural machinery is operating in the field, it is often affected by changes in ground height, such as the slope of the field, gullies or uneven surfaces, etc. These factors will cause the chassis of the machinery to tilt, thereby affecting the working effect of the operating equipment carried by the machinery (such as headers, seeders, etc.), and may even cause operation failure or equipment damage.

[0003] In the prior art, the chassis with leveling function shown in patents CN115353043A and CN110667716A, etc., uses a cross-axis connection mechanism to connect the chassis body and the upper platform. This method requires a large modification of the machine and is costly, and is not suitable for large-scale improvement of agricultural machines. In addition, the use mode of the chassis with leveling function in the prior art is single, and height compensation cannot be performed as required. Summary of the invention

[0004] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a chassis leveling device and a chassis leveling method for agricultural machinery that are easy to modify, can perform height compensation as needed, and reduce the impact of field height on machinery operations.

[0005] Technical solution: To achieve the above-mentioned purpose, the chassis leveling device of the agricultural implement of the present invention comprises a chassis including a frame and two sets of walking mechanisms disposed on the left and right sides of the frame; the walking mechanism comprises a mechanism base and a walking assembly mounted on the mechanism base;

[0006] Two groups of height adjustment mechanisms are connected between the frame and the traveling components of each group of the traveling mechanisms; the height adjustment mechanism includes a cylinder and a connecting rod, and the cylinders located on the left and right sides of the frame are respectively a left lifting cylinder and a right lifting cylinder; the middle part of the connecting rod is hingedly connected relative to the frame, and the two ends of the connecting rod are respectively connected to the telescopic rod of the cylinder and the mechanism base; in the two groups of traveling mechanisms corresponding to the same mechanism base, the two hinge points between the two connecting rods and the frame and the two hinge points between the two connecting rods and the mechanism base form a parallelogram.

[0007] The chassis leveling device also includes a cylinder control system, which includes a first solenoid valve connected to the left lifting cylinder and a second solenoid valve connected to the right lifting cylinder; the first solenoid valve and the second solenoid valve are both connected to a control unit.

[0008] Furthermore, the cylinder control system also includes a mode switching module, a manual control module and an inclination acquisition module; when the mode switching module sets the control mode to manual mode, the control unit controls each of the cylinders based on the control instructions generated by the manual control module; when the mode switching module sets the control mode to automatic mode, the control unit automatically controls the operation of each of the cylinders based on the data collected by the inclination acquisition module.

[0009] Furthermore, the mode switching module is a three-position self-locking paddle switch having three gear positions, namely a manual control gear, a neutral gear and an automatic control gear.

[0010] Furthermore, the manual control module is a control handle having self-reset buttons corresponding to left side raising, left side lowering, right side raising, and right side lowering respectively.

[0011] Furthermore, the frame has a cross bar, and a connecting ear is fixed on the cross bar, and the connecting ear is rotatably connected to the middle part of the connecting rod; when the frame is in the lowest position, the cross bar is in contact with the mechanism seat or an elastic unit is provided between the two. During normal driving, the height adjustment mechanisms on the left and right sides are in a lowered state, so that the two ends of the cross bar are respectively placed on the left and right mechanism seats. In this way, the oil cylinder does not need to maintain pressure to maintain the normal driving of the chassis leveling device. The above-mentioned elastic unit can play a role in buffering and absorbing vibrations. The elastic unit can be a rubber pad or a spring-based shock absorbing mechanism. When the elastic unit is a shock absorbing mechanism, it can achieve elastic support for the frame under normal driving conditions.

[0012] Furthermore, the connecting rod is composed of a main rod portion and a secondary rod portion fixed to each other, and the two constitute an L-shaped structure; the two ends of the main rod portion are respectively connected to the connecting ear and the mechanism base. The use of this structure can reduce the manufacturing cost.

[0013] A chassis leveling method for an agricultural implement is based on the above-mentioned chassis leveling device. In an initial state, each of the oil cylinders is in a state of longest installation distance, and correspondingly, each height adjustment mechanism is in a low position. The method is implemented by the control unit, and the method includes the following steps S1)-S3):

[0014] Step S1), obtaining the mode state input by the mode switching module;

[0015] Step S2), when the mode state is manual mode, that is, the lifter of the three-position self-locking lift switch is shifted to the manual control gear, a control signal generated by the manual control module is received, the control signal includes four control signals of left side raising, left side lowering, right side raising and right side lowering generated by pressing a self-reset button, and the first solenoid valve or the second solenoid valve is controlled to act according to the control signal to adjust the telescopic direction and telescopic length of the left lifting cylinder and the right lifting cylinder; specifically, the left side raising, left side lowering, right side raising and right side lowering correspond to the actions of shortening the left lifting cylinder, extending the left lifting cylinder, shortening the right lifting cylinder and extending the right lifting cylinder respectively, and the action of the corresponding solenoid valve is triggered when the self-reset button is pressed, and when the self-reset button is released, the corresponding solenoid valve is reset and the action of the corresponding cylinder stops.

[0016] Step S3), when the mode state is automatic mode, that is, the lifter of the three-position self-locking lifter switch is turned to the automatic control gear, the inclination data collected by the inclination acquisition module is received, and the target adjustment parameters are obtained according to the inclination data, and the first solenoid valve and the second solenoid valve are controlled to operate according to the target adjustment parameters to adjust the telescopic direction and telescopic length of the left lifting cylinder and the right lifting cylinder.

[0017] Beneficial effects: The chassis leveling device and chassis leveling method of the agricultural implement of the present invention have the following beneficial effects:

[0018] (1) The cylinder control system can compensate for the left-right height difference caused by an inclined or uneven road surface by controlling the telescopic movement of the left and right lifting cylinders, so that the frame is in a basically flat state, reducing the impact of road conditions on machine operations.

[0019] (2) It is easy to modify traditional machines at a low cost. The modification can be achieved by simply adding a connecting rod mechanism and a hydraulic cylinder between the frame and the track module, and the modification cost is low.

[0020] (3) The user can switch between manual leveling mode and automatic leveling mode as needed. In manual mode, the user can make manual adjustments at specific times to avoid unnecessary adjustments. For example, when working on a slope, the header needs to be parallel to the slope. Only when the ground has obvious depressions or protrusions, the uneven ground can be compensated manually to avoid unnecessary unilateral height compensation that causes the header to be non-parallel to the ground. In automatic mode, the control unit makes real-time adaptive adjustments based on the inclination of the frame to keep the frame at a basic level. In this way, the chassis leveling device can meet more usage needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1A side structural diagram of a chassis leveling device for an agricultural implement in a first state;

[0022] Figure 2 A side structural diagram of a chassis leveling device for an agricultural implement in a second state;

[0023] Figure 3 A top view of the structure of a chassis leveling device for an agricultural implement;

[0024] Figure 4 This is a working state diagram of the chassis leveling device of the agricultural implement;

[0025] Figure 5 It is a structural diagram of a chassis leveling device for agricultural implements in a preferred embodiment;

[0026] Figure 6 This is a diagram of the structure of the cylinder control system of the chassis leveling device of the agricultural machine.

[0027] In the figure: 1-frame; 11-cross bar; 12-connecting ear; 2-travel mechanism; 21-mechanism base; 21a-vertical rod; 22-travel assembly; 22a-track wheel; 3-height adjustment mechanism; 31-cylinder; 3a-left lifting cylinder; 3b-right lifting cylinder; 32-connecting rod; 32a-main rod; 32b-auxiliary rod; 33-slide seat; 34-rod; 35-slider; 4-cylinder control system; 41-first solenoid valve; 42-second solenoid valve; 43-control unit; 44-mode switching module; 45-manual control module; 45a, 45b, 45c, 45d-self-reset button; 46-inclination acquisition module. DETAILED DESCRIPTION

[0028] The present invention will be further described below in conjunction with the accompanying drawings.

[0029] like Figure 1 The chassis leveling device of the agricultural implement shown in the figure comprises a chassis including a frame 1 and two sets of traveling mechanisms 2 disposed on the left and right sides of the frame 1; the traveling mechanism 2 comprises a mechanism base 21 and a traveling assembly 22 mounted on the mechanism base 21. In this embodiment, the traveling assembly 22 comprises a plurality of crawler wheels 22a and also comprises crawler tracks (not shown in the figure) disposed around all crawler wheels 22a;

[0030] Two groups of height adjustment mechanisms 3 are connected between the frame 1 and the traveling components 22 of each group of the traveling mechanisms 2; the height adjustment mechanisms 3 include cylinders 31 and connecting rods 32, and the cylinders 31 located on the left and right sides of the frame 1 are respectively the left lifting cylinder 3a and the right lifting cylinder 3b; the middle part of the connecting rod 32 is hingedly connected relative to the frame 1, and the two ends of the connecting rod 32 are respectively connected to the telescopic rod of the cylinder 31 and the mechanism base 21; in the two groups of traveling mechanisms 2 corresponding to the same mechanism base 21, the two hinge points between the two connecting rods 32 and the frame 1 and the two hinge points between the two connecting rods 32 and the mechanism base 21 form a parallelogram.

[0031] The chassis leveling device also includes a cylinder control system 4, such as Figure 5 As shown, the cylinder control system 4 includes a first solenoid valve 41 connected to the left lifting cylinder 3 a and a second solenoid valve 42 connected to the right lifting cylinder; the first solenoid valve 41 and the second solenoid valve 42 are both connected to a control unit 43 .

[0032] By adopting the above structure, the cylinder control system 4 can compensate for the left-right height difference caused by the inclined road surface or uneven road surface by controlling the telescopic movement of the left lifting cylinder 3a and the left lifting cylinder 3a, so that the frame 1 is in a basically flat state, reducing the impact of road conditions on the operation of the equipment.

[0033] Preferably, the cylinder control system 4 also includes a mode switching module 44, a manual control module 45 and an inclination acquisition module 46; when the mode switching module 44 sets the control mode to the manual mode, the control unit 43 controls each of the cylinders 31 based on the control instructions generated by the manual control module 45; when the mode switching module 44 sets the control mode to the automatic mode, the control unit 43 automatically controls the operation of each of the cylinders 31 based on the data collected by the inclination acquisition module 46.

[0034] By using the oil cylinder control system 4, the user can switch between the manual leveling mode and the automatic leveling mode as needed. In the manual mode, the user can make manual adjustments at specific times to avoid unnecessary adjustments. For example, when working on a slope, the cutting table needs to be parallel to the slope. Only when the ground has obvious depressions or protrusions, the uneven ground can be compensated manually to avoid unnecessary unilateral height compensation that causes the cutting table to be non-parallel to the ground. In the automatic mode, the control unit 43 performs real-time adaptive adjustments according to the inclination of the frame 1 to keep the frame at a basic level. In this way, the chassis leveling device can meet more usage needs. Figure 4 The figure shows the state that the height adjustment mechanism 3 on the left side is working to lift the left side of the frame 1 so that the frame 1 is placed horizontally. At this time, the state of the height adjustment mechanism 3 on the left side is as follows: Figure 2 shown.

[0035] Figure 6 In the embodiment, the mode switching module 44 is a three-position self-locking tilting switch having three gear positions, namely, manual control gear, neutral gear and automatic control gear. The manual control module 45 is a control handle having self-reset buttons 45a, 45b, 45c and 45d corresponding to left side up, left side down, right side up and right side down, respectively.

[0036] Preferably, if Figure 1 As shown, the frame 1 has a cross bar 11, and a connecting ear 12 is fixed on the cross bar 11, and the connecting ear 12 is rotatably connected to the middle part of the connecting rod 32; when the frame 1 is at the lowest position, the cross bar 11 is in contact with the mechanism base 21 or an elastic unit is provided between the two. Figure 1 and Figure 4 The right side shows the situation where the cross bar 11 is in contact with the mechanism seat 21. During normal driving, the height adjustment mechanisms 3 on both sides are in a lowered state, so that the two ends of the cross bar 11 are placed on the left and right mechanism seats 21 respectively. In this way, the oil cylinder 31 does not need to maintain pressure to maintain the normal driving of the chassis leveling device. The above-mentioned elastic unit can play a role in buffering and absorbing vibrations. The elastic unit can be a rubber pad or a spring-based shock absorbing mechanism. When the elastic unit is a shock absorbing mechanism, it can achieve elastic support for the frame 1 under normal driving conditions.

[0037] Preferably, the connecting rod 32 is composed of a main rod portion 32a and a secondary rod portion 32b fixed to each other, and the two form an L-shaped structure; the two ends of the main rod portion 32a are respectively connected to the connecting ear 12 and the mechanism base 21. The use of this structure can reduce the manufacturing cost.

[0038] Since the unilateral height compensation will cause the mechanism base 21 to be displaced relative to the frame 1 in the front-rear direction, in order to prevent the influence on the cab and other functional components of the machine, in the preferred embodiment, Figure 6As shown, the cylinder bodies of the two oil cylinders 31 included in each height adjustment mechanism 3 are hinged on a slide seat 33 that can be slidably installed relative to the frame 1, and a herringbone rod group is connected between the frame 1 and the mechanism base 21, and the rod group is composed of two equal-length rods 34, and the first ends of the two rods 34 are respectively rotatably connected to the frame 1 and the mechanism base 21; the mechanism base 21 has a vertical rod portion 21a, and a slider 35 that can slide vertically is installed on the vertical rod portion 21a, and the second ends of the two rods 34 are both rotatably connected to the slider 35. In this way, during the height compensation process of the height adjustment mechanism 3, the mechanism composed of the herringbone rod group, the slider 35, and the vertical rod portion 21a can perform adaptive front and rear compensation, so that the front and rear positions between the frame 1 and the mechanism base 21 remain relatively unchanged, and the phenomenon of the tool twisting in situ during unilateral height compensation is prevented, which affects the operation of the harvesting parts and other parts installed on the frame 1.

[0039] A chassis leveling method for an agricultural implement is provided, which is based on the above-mentioned chassis leveling device. In an initial state, each of the oil cylinders 31 is in a state of longest installation distance, and correspondingly, each height adjustment mechanism 3 is in a low position. The method is implemented by the control unit 43, and the method includes the following steps S1-S3:

[0040] Step S1, obtaining the mode state input by the mode switching module 44;

[0041] Step S2, when the mode state is manual mode, that is, the lifter of the three-position self-locking lift switch is shifted to the manual control gear, the control signal generated by the manual control module 45 is received, and the control signal includes four control signals of left side rise, left side fall, right side rise, and right side fall generated by pressing the self-reset button, and the first solenoid valve 41 or the second solenoid valve 42 is controlled to operate according to the control signal to adjust the telescopic direction and telescopic length of the left lifting cylinder 3a and the right lifting cylinder 3b; specifically, the left side rise, left side fall, right side rise, and right side fall correspond to the actions of shortening the left lifting cylinder 3a, extending the left lifting cylinder 3a, shortening the right lifting cylinder 3b, and extending the right lifting cylinder 3b, respectively, and the action of the corresponding solenoid valve is triggered when the self-reset button is pressed. When the self-reset button is released, the corresponding solenoid valve is reset, and the action of the corresponding cylinder 31 stops.

[0042] Step S3, when the mode state is automatic mode, that is, the lifter of the three-position self-locking lifter switch is turned to the automatic control gear, the inclination data collected by the inclination acquisition module 46 is received, and the target adjustment parameters are obtained according to the inclination data, and the first solenoid valve 41 and the second solenoid valve 42 are controlled to operate according to the target adjustment parameters to adjust the telescopic direction and telescopic length of the left lifting cylinder 3a and the right lifting cylinder 3b.

[0043] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A chassis leveling device for an agricultural implement, the chassis comprising a frame (1) and two sets of running mechanisms (2) disposed on the left and right sides of the frame (1); the running mechanisms (2) comprising a mechanism base (21) and a running assembly (22) mounted on the mechanism base (21); the characteristics are: Two sets of height adjustment mechanisms (3) are connected between the vehicle frame (1) and the travel assembly (22) of each set of the travel mechanism (2); the height adjustment mechanism (3) comprises a cylinder (31) and a connecting rod (32); the cylinders (31) located on the left and right sides of the vehicle frame (1) are respectively a left lifting cylinder (3a) and a right lifting cylinder (3b); the middle part of the connecting rod (32) is hingedly connected relative to the vehicle frame (1), and the two ends of the connecting rod (32) are respectively connected to the telescopic rod of the cylinder (31) and the mechanism base (21); The chassis leveling device also includes a cylinder control system (4), wherein the cylinder control system (4) includes a first solenoid valve (41) connected to the left lifting cylinder (3a) and a second solenoid valve (42) connected to the right lifting cylinder; the first solenoid valve (41) and the second solenoid valve (42) are both connected to a control unit (43).

2. The chassis leveling device for agricultural implements according to claim 1, characterized in that: The oil cylinder control system (4) further comprises a mode switching module (44), a manual control module (45) and an inclination acquisition module (46); when the mode switching module (44) sets the control mode to the manual mode, the control unit (43) controls each of the oil cylinders (31) based on the control instructions generated by the manual control module (45); when the mode switching module (44) sets the control mode to the automatic mode, the control unit (43) automatically controls the operation of each of the oil cylinders (31) based on the data collected by the inclination acquisition module (46).

3. The chassis leveling device for agricultural implements according to claim 2, characterized in that: The mode switching module (44) is a three-position self-locking paddle switch having three gear positions, namely a manual control gear, a neutral gear and an automatic control gear.

4. The chassis leveling device for agricultural implements according to claim 2, characterized in that: The manual control module (45) is a control handle having self-reset buttons (45a, 45b, 45c, 45d) corresponding to left side raising, left side lowering, right side raising, and right side lowering, respectively.

5. The chassis leveling device for agricultural implements according to claim 1, characterized in that: The frame (1) has a cross bar (11), a connecting ear (12) is fixed on the cross bar (11), and the connecting ear (12) is rotatably connected to the middle part of the connecting rod (32); when the frame (1) is in the lowest position, the cross bar (11) is in contact with the mechanism base (21) or an elastic unit is provided between the two.

6. The chassis leveling device for agricultural implements according to claim 5, characterized in that: The connecting rod (32) is composed of a main rod portion (32a) and a secondary rod portion (32b) which are fixed to each other, and the two constitute an L-shaped structure; the two ends of the main rod portion (32a) are respectively connected to the connecting ear (12) and the mechanism base (21).

7. A method for leveling the chassis of an agricultural implement, based on the chassis leveling device according to claim 2, characterized in that: In the initial state, each of the oil cylinders (31) is in the longest installation distance state; the method is implemented by the control unit (43), and the method comprises the following steps S1)-S3): Step S1), obtaining the mode state input by the mode switching module (44); Step S2), when the mode state is the manual mode, receiving the control signal generated by the manual control module (45), and controlling the first solenoid valve (41) or the second solenoid valve (42) to operate according to the control signal to adjust the telescopic direction and telescopic length of the left lifting cylinder (3a) and the right lifting cylinder (3b); Step S3), when the mode state is the automatic mode, the inclination data collected by the inclination collection module (46) is received, and a target adjustment parameter is obtained according to the inclination data, and the first solenoid valve (41) and the second solenoid valve (42) are controlled to operate according to the target adjustment parameter to adjust the telescopic direction and telescopic length of the left lifting cylinder (3a) and the right lifting cylinder (3b).

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