Roller lifting connecting rod mechanism of agricultural harvester

Abstract

A link assembly for an agricultural harvester includes a rigid lower link, a bendable upper link, a linear actuator, and a stopper. The rigid lower link, the bendable upper link, and the linear actuator are configured to be pivotally connected to the drum toolbar and the harvester frame. The stopper is configured to be coupled to the harvester frame and the bendable upper link is configured to bend in response to engagement with the stopper so as to pitch the drum toolbar relative to the harvester frame. The linear actuator is configured to extend and retract to lift and lower the drum toolbar.

Description

Technical Field

[0001] The present disclosure generally relates to a roller lifting linkage mechanism for an agricultural harvester. Background Art

[0002] Agricultural harvesters are used to harvest agricultural products (such as cotton or other natural materials). For example, an agricultural harvester may include a cutting table with a roller configured to harvest agricultural products from a field. The agricultural harvester may also include a linkage assembly configured to raise and lower the cutting table for transportation. In addition, when the agricultural harvester traverses a field, the agricultural harvester may encounter obstacles such as tree branches or large rocks, and the linkage assembly can lift the cutting table to position the cutting table above these obstacles. Some linkage assemblies include a simple four-bar linkage mechanism configured to move the cutting table vertically between a working position and a raised position. Summary of the Invention

[0003] In some embodiments, a linkage assembly of an agricultural harvester includes a rigid lower link, a flexible upper link, a linear actuator, and a stop. The rigid lower link, the flexible upper link, and the linear actuator are configured to be pivotally connected to a roller toolbar and a harvester frame. The stop is configured to be coupled to the harvester frame, and the flexible upper link is configured to bend in response to engagement with the stop to pitch the roller toolbar relative to the harvester frame. The linear actuator is configured to extend and retract to raise and lower the roller toolbar. Brief Description of the Drawings

[0004] These and other features, aspects, and advantages of the present disclosure will be better understood when the following detailed description is read with reference to the accompanying drawings, in which like characters represent like parts throughout the drawings, where:

[0005] Figure 1 is a side view of one embodiment of an agricultural harvester having a roller lifting linkage assembly;

[0006] Figure 2 is a side view of one embodiment of a roller lifting linkage assembly having a flexible upper link, where the cutting table is in a lowered position;

[0007] Figure 3 is Figure 2 a side view of the roller lifting linkage assembly of, where the cutting table is in a raised and tilted position;

[0008] Figure 4 is a perspective view of one embodiment of a roller lifting linkage assembly having two stops;

[0009] Figure 5is a side view of an embodiment of a drum lift linkage assembly having a lift actuator and a tilt actuator communicatively coupled to a controller; and

[0010] Figure 6 is a perspective view of an embodiment of a drum lift linkage assembly having left and right lift actuators and left and right tilt actuators communicatively coupled to a controller. DETAILED DESCRIPTION

[0011] One or more specific embodiments of the present disclosure will now be described. To provide a concise description of these embodiments, not all features of an actual implementation may be described in the specification. It should be understood that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developer's specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another. Additionally, it should be understood that such development efforts may be complex and time-consuming, but would still be routine work for those of ordinary skill in the art who would benefit from the present disclosure in terms of design, fabrication, and manufacture.

[0012] When introducing elements of the various embodiments of the present disclosure, the articles "a", "the", and "said" are intended to mean that there is one or more elements. The terms "comprising", "including", and "having" are intended to be inclusive and mean that there may be additional elements other than the listed elements. Any examples of operating parameters and / or environmental conditions do not exclude other parameters / conditions of the disclosed embodiments.

[0013] Figure 1 is a side view of an embodiment of an agricultural harvester 10 having a drum lift linkage assembly 12. In the illustrated embodiment, the agricultural harvester 10 includes a header 14 having a drum 16 configured to harvest agricultural product (such as cotton) 18 from a field 20. The drum lift linkage assembly 12 is configured to adjust the height and pitch and, in some embodiments, is further configured to adjust the roll of the header 14.

[0014] In addition, the agricultural harvester 10 further includes an air-assisted conveying system 22 configured to move the agricultural product 18 from the cylinder 16 of the cutterbar 14 to the accumulator. The agricultural harvester 10 further includes a conveying system configured to convey the agricultural product 18 from the accumulator into a baler 24 (such as an agricultural baler). The baler 24 is supported by and / or mounted within or on the harvester frame of the agricultural harvester 10. The baler 24 can form the agricultural product 18 into a round bale. However, in other embodiments, the baler 24 of the agricultural harvester 10 can form the agricultural product into a square bale, a polygonal bale, or a bale of other suitable shape. After forming the agricultural product 18 into a bale, the bale wrapping system of the agricultural harvester 10 can wrap the bale with a bale wrapper to secure the agricultural product 18 within the bale and generally maintain the shape of the bale.

[0015] As detailed below, the agricultural harvester 10 includes a cylinder lift link assembly 12. The cylinder lift link assembly 12 includes a flexible upper link, a rigid lower link, a linear actuator, and a stop. The rigid lower link is configured to be pivotally connected to the cylinder toolbar of the cutterbar 14 and the harvester frame of the agricultural harvester 10, the flexible upper link is configured to be pivotally connected to the cylinder toolbar and the harvester frame, and the linear actuator is configured to be pivotally connected to the cylinder toolbar and the harvester frame. The linear actuator is further configured to extend and retract to raise and lower the cylinder toolbar. The stop is configured to be coupled to the harvester frame, and the flexible upper link is configured to bend in response to engaging the stop so as to pitch the cylinder toolbar relative to the harvester frame. For example, when the linear actuator extends, the cutterbar 14 is raised. The lifting movement of the cutterbar 14 is controlled by the rigid lower link and the flexible upper link. When the cutterbar is raised by the linear actuator, the flexible upper link engages the stop, causing the cutterbar 14 to tilt (such as pitch), which increases the ground clearance between the cutterbar 14 (such as the cylinder 16 of the cutterbar 14) and the field 20. Thus, compared to a cutterbar pivotally connected to the harvester frame by a simple four-bar linkage that may only be able to adjust the height of the cutterbar, the cutterbar 14 can clear obstacles of greater height.

[0016] Figure 2is a side view of an embodiment of a header lift linkage assembly 12 having a flexible upper link 34, with the header 14 in the lowered position. In the illustrated embodiment, the header lift linkage assembly 12 includes a flexible upper link 34, a rigid lower link 36, a linear actuator 38, and a stop 40. Additionally, the header 14 further includes a cylinder toolbar 42 and at least one cylinder 16 coupled to the cylinder toolbar 42. The flexible upper link 34 is pivotally coupled to the cylinder toolbar 42 of the header 14 and the harvester frame 44 of the agricultural harvester 10. The rigid lower link 36 is pivotally coupled to the cylinder toolbar 42 and the harvester frame 44. Additionally, the linear actuator 38 is pivotally coupled to the rigid lower link 36 and the harvester frame 44. Although in the illustrated embodiment the linear actuator 38 is pivotally coupled to the rigid lower link 36, in other embodiments the linear actuator 38 may be pivotally coupled to the cylinder toolbar 42. Each pivot connection may be established by a corresponding pivot (e.g., including a shaft, bearing, bushing, fastener, other suitable components, or a combination thereof).

[0017] Additionally, the stop 40 is coupled to the harvester frame 44. The stop 40 may include any suitable structure configured to engage a portion of the flexible upper link 34 to prevent rotation of that portion and enable rotation of the remaining portion of the flexible upper link 34, thereby enabling the flexible upper link 34 to bend. In certain embodiments, the stop 40 is coupled to the harvester frame 44 via a suitable connection, such as a fastener connection, a weld connection, an adhesive connection, other suitable connection types, or a combination thereof. Additionally, in certain embodiments, the stop 40 may be integrally formed with the harvester frame 44 (e.g., the harvester frame and the stop may be formed from a single piece of material).

[0018] The linear actuator 38 may include any suitable type of actuator, such as a hydraulic cylinder, a pneumatic cylinder, an electric linear actuator, etc. In the illustrated embodiment, when the linear actuator 38 extends, the header 14 will be raised. The lifting movement of the header 14 is controlled by the rigid lower link 36 and the flexible upper link 34. When the header 14 is raised by the linear actuator 38, the flexible upper link 34 engages the stop 40, causing the header 14 to tilt (e.g., pitch), which increases the ground clearance between the header 14 (e.g., the cylinder 16) and the field. Thus, compared to a header coupled to the harvester frame by a simple four-bar linkage, the header 14 can clear obstacles of greater height.

[0019] Figure 3 is Figure 2 a side view of the header lift linkage assembly 12 with the header 14 in the raised and tilted position; in certain embodiments, such as Figure 3In the illustrated embodiment, the bendable upper link 34 includes a first section 54 and a second section 56 that are pivotally coupled to each other at the bendable upper link pivot 58. The first section 54 is pivotally coupled to the reel toolbar 42, and the second section 56 is pivotally coupled to the harvester frame 44. When the header 14 is lifted by the linear actuator 38, the sections move together due to the tensile force applied to the bendable upper link 34. When the second section 56 reaches the stop 40, the movement of the second section 56 is restricted, enabling the first section 54 to pivot about the bendable upper link pivot 58, causing the header 14 to tilt (e.g., pitch), as shown.

[0020] In some embodiments, the bendable upper link pivot 58 between the first section 54 and the second section 56 includes a damper 60. The damper 60 is configured to damp vibrations along the bendable upper link 34. The damper 60 can include any suitable device configured to damp vibrations, such as bushings, torsion springs, other suitable devices, or combinations thereof. Although in the illustrated embodiment, the bendable upper link 34 includes the damper 60, in other embodiments, the damper can be omitted. Additionally, in some embodiments, the bendable upper link can include three or more sections, where each section is pivotally coupled to an adjacent section. For example, in some embodiments, the bendable upper link can include a chain. When the header is lifted, the chain may remain taut due to the tension and bend in response to engagement with the stop.

[0021] In some embodiments, the reel lift link assembly 12 includes an adjustment assembly 62 that is configured to adjust the position of the stop 40 relative to the harvester frame 44. For example, the adjustment assembly 62 can include a manually adjustable device, such as a screw mechanism, a pin and hole assembly, a ratchet mechanism, or other suitable devices configured to facilitate adjustment of the position of the stop 40. Additionally, in some embodiments, the adjustment assembly 62 can include an actuator-adjustable device that includes an actuator, such as an electric linear actuator, a hydraulic cylinder, a pneumatic cylinder, an electric motor, a hydraulic motor, a pneumatic motor, etc., configured to adjust the position of the stop relative to the harvester frame. Adjusting the position of the stop 40 relative to the harvester frame 44 can control the pitch angle of the header as the height of the header changes.

[0022] Figure 4 is a perspective view of one embodiment of a reel lift link assembly 12' having two stops. In Figure 4In the illustrated embodiment, the drum lift link assembly 12' includes a second stop 72 that is laterally offset relative to the first stop 40. The drum lift link assembly 12' also includes a second flexible upper link 74 that is laterally offset relative to the first flexible upper link 34, a second rigid lower link 76 that is laterally offset relative to the first rigid lower link 36, and a second linear actuator 78 that is laterally offset relative to the first linear actuator 38. The second rigid lower link 76 is pivotally coupled to the drum toolbar 42 and the harvester frame 44, the second flexible upper link 74 is pivotally coupled to the drum toolbar 42 and the harvester frame 44, and the second linear actuator 78 is pivotally coupled to the second rigid lower link 76 and the harvester frame 44.

[0023] In the illustrated embodiment, the drum lift link assembly 12' includes a first adjustment assembly 62 for the first stop 40 and a second adjustment assembly 80 for the second stop 72, where the first and second adjustment assemblies can be adjusted independently of each other. Thus, in addition to height and pitch, the header 14 can also be adjusted for roll. For example, if an obstacle in the field blocks the right side of the header 14, the second stop 72 on the right side can be adjusted to a higher height than the first stop 40 on the left side, causing the header to roll as the linear actuator drives the header upward. Thus, the header 14 can continue to harvest the agricultural products on the side of the header 14 that is not affected by the obstacle, thereby increasing the yield.

[0024] Although in the illustrated embodiment, the drum lift link assembly 12' includes two adjustment assemblies, in other embodiments, at least one adjustment assembly (e.g., both adjustment assemblies) can be omitted. Additionally, in some embodiments, at least one flexible upper link (e.g., two flexible upper links) can include a damper. The above reference Figure 3 The structures, features, functions, and variations of the disclosed rigid lower links, flexible upper links, linear actuators, stops, dampers, and adjustment assemblies can be applied to each of the Figure 4 disclosed rigid lower links, flexible upper links, linear actuators, stops, dampers, and adjustment assemblies. Further, although in the illustrated embodiment, the drum lift assembly 12' includes two rigid lower links, two flexible upper links, two linear actuators, two stops, and two adjustment assemblies, in some embodiments, the drum lift assembly can include more rigid lower links, more flexible upper links, more linear actuators, more stops, and more adjustment assemblies (e.g., 3, 4, 5, 6, or more).

[0025] Figure 5Is a side view of an embodiment of the drum lift link assembly 12'', which has a lift actuator 90 and a tilt actuator 92 communicatively coupled to a controller 94. The link assembly 12'' also includes a rigid lower link 36, which is pivotally coupled to the drum tool bar 42 and the harvester frame 44 of the agricultural harvester 10. The lift actuator 90 is pivotally coupled to the rigid lower link 36 and the harvester frame 44. Although in the illustrated embodiment, the lift actuator 90 is pivotally coupled to the rigid lower link 36, in other embodiments, the lift actuator 90 may be pivotally coupled to the drum tool bar 42. Additionally, the tilt actuator 92 is pivotally coupled to the drum tool bar 42 and the harvester frame 44. Each pivot connection may be established by a corresponding pivot (e.g., including an axle, bearings, bushings, fasteners, other suitable components, or a combination thereof).

[0026] In the illustrated embodiment, the controller 94 is part of a control system 96. The controller 94 includes a memory 98 and a processor 100, and the controller 94 is communicatively coupled to the lift actuator 90 and the tilt actuator 92. In certain embodiments, the controller 94 is configured to control the lift actuator 90 and the tilt actuator 92 in response to detecting an obstacle in the path of the agricultural harvester. For example, the controller may receive an input indicating the presence of an obstacle from an obstacle detection sensor, from an operator via a user interface, or from both the obstacle detection sensor and the user interface.

[0027] In certain embodiments, the controller 94 is an electronic controller, the circuitry of which is configured to control the lift actuator 90 and the tilt actuator 92 to adjust the height and pitch of the header 14. In the illustrated embodiment, the controller 94 includes a storage device 98 and a processor 100. The controller 94 may also include one or more storage devices and / or other suitable components. The processor 100 may be used to execute software, such as software for controlling the lift actuator 90 and the tilt actuator 92. Additionally, the processor 100 may include multiple microprocessors, one or more “general-purpose” microprocessors, one or more dedicated microprocessors, and / or one or more application specific integrated circuits (ASICs), or some combination thereof. For example, the processor 100 may include one or more reduced instruction set (RISC) processors.

[0028] The storage device 98 may include volatile memory, such as random access memory (RAM), and / or non-volatile memory, such as read-only memory (ROM). The storage device 98 can store various information and can be used for various purposes. For example, the storage device 98 can store processor-executable instructions (such as firmware or software) for execution by the processor 100, such as instructions for controlling the lift actuator 90 and the tilt actuator 92. The storage device (e.g., non-volatile memory) can include ROM, flash memory, a hard disk drive, or any other suitable optical, magnetic, or solid-state storage medium, or a combination thereof. The storage device can store data, instructions (such as software or firmware for controlling the lift actuator 90 and the tilt actuator 92), and any other suitable data.

[0029] In the illustrated embodiment, the control system 96 includes an obstacle detection sensor 102 communicatively coupled to the controller 94. The obstacle detection sensor 102 is configured to output a signal indicating the presence of an obstacle in the path of the agricultural harvester. The obstacle detection sensor 102 can include any suitable type of sensor device configured to detect obstacles, such as a lidar sensor, a radar sensor, a camera, an infrared sensor, an ultrasonic sensor, other suitable types of sensor devices, or a combination thereof. The controller 94 is configured to control the lift actuator 90 and the tilt actuator 92 to position the cutting table 14 above the obstacle.

[0030] In the illustrated embodiment, the control system 96 includes a user interface 104 communicatively coupled to the controller 94. The user interface 104 is configured to receive input from an operator and provide information to the operator. The user interface 104 can include any suitable input device for receiving input, such as a keyboard, a mouse, buttons, switches, knobs, other suitable input devices, or a combination thereof. Additionally, the user interface 104 can also include any suitable output device for providing information to the operator, such as a speaker, an indicator light, other suitable output devices, or a combination thereof. In the illustrated embodiment, the user interface 104 includes a display 106 configured to display visual information to the operator. In some embodiments, the display 106 can include a touchscreen interface configured to receive input from the operator.

[0031] In some embodiments, the user interface 104 is configured to receive input of a command from an operator to move the header. The controller 94 is configured to control the lift actuator 90 and the tilt actuator 92 in accordance with the command. For example, the operator may command the header 14 to be raised or lowered, and / or the operator may command the header 14 to be tilted. Additionally, in some embodiments, the operator may also command the header 14 to establish a ground clearance sufficient to avoid obstacles. In response, the controller 94 may control the lift and tilt actuators to raise and tilt the header, thereby establishing a greater ground clearance than raising the header alone.

[0032] Each of the lift actuator 90 and the tilt actuator 92 may include any suitable type of actuator, such as a hydraulic cylinder, a pneumatic cylinder, an electric linear actuator, etc. In embodiments where at least one of the lift and tilt actuators includes a hydraulic cylinder or a pneumatic cylinder, the controller 94 is communicatively coupled to the cylinder via a valve assembly 108 of the control system 96. The valve assembly 108 may include any suitable number and any suitable type of valves. Additionally, the control system 96 may include any suitable number of valve assemblies (e.g., a single valve assembly fluidly coupled to each cylinder, one valve assembly per cylinder, etc.). The controller 94 is configured to output a control signal to each valve assembly, and each valve assembly is configured to regulate the fluid flow (e.g., fluid pressure, fluid flow rate, etc.) to the respective cylinder fluidly coupled to the valve assembly. Thus, the controller 94 is configured to control the cylinder via the valve assembly.

[0033] Figure 6is a perspective view of an embodiment of the drum lift linkage assembly 12''', having a left lift actuator 120, a right lift actuator 122, a left tilt actuator 124, and a right tilt actuator 126 communicatively coupled to a controller 94. The left lift actuator 120 is pivotally connected to the left side of the harvester frame 44 and the left side of the header 14 (e.g., pivotally connected to the drum toolbar 42 of the header 14 via a rigid link 36), the right lift actuator 122 is pivotally connected to the right side of the harvester frame 44 and the right side of the header 14 (e.g., pivotally connected to the drum toolbar 42 of the header 14 via a rigid link 36), the left tilt actuator 124 is pivotally connected to the left side of the harvester frame 44 and the left side of the header 14 (e.g., the drum toolbar 42 of the header 14), and the right tilt actuator 126 is pivotally connected to the right side of the harvester frame 44 and the right side of the header 14 (e.g., the drum toolbar 42 of the header 14). Additionally, the header 14 (e.g., the drum toolbar 42 of the header 14) is coupled to the harvester frame 44 of the agricultural harvester 10 via one or more rigid links 36, and the rigid links 36 are pivotally coupled to the harvester frame 44 and the header 14 (e.g., the drum toolbar 42 of the header 14). Each pivotal connection can be established by a corresponding pivot (e.g., including an axle, bearings, bushings, fasteners, other suitable components, or a combination thereof).

[0034] The controller 94 is communicatively coupled to the left lift actuator 120, the right lift actuator 122, the left tilt actuator 124, and the right tilt actuator 126. The controller 94 is configured to control the left lift actuator 120, the right lift actuator 122, the left tilt actuator 124, and the right tilt actuator 126 to adjust the height of the header 14 relative to the harvester frame 44, adjust the pitch of the header 14 relative to the harvester frame 44, and adjust the roll of the header 14 relative to the harvester frame 44. For example, if an obstacle in the field obstructs the left side of the header 14, the controller 94 can control the left lift actuator 120, the right lift actuator 122, the left tilt actuator 124, and the right tilt actuator 126 independently of each other to raise the left side of the header, thereby causing the header to roll. Thus, the header 14 can continue to harvest the agricultural products on the side of the header 14 that is not affected by the obstacle, thereby increasing the yield.

[0035] As described above, the control system 96 includes an obstacle detection sensor 102 communicatively coupled to the controller 94. The obstacle detection sensor 102 is configured to output a signal indicating the presence of an obstacle in the path of the agricultural harvester. The controller 94 is configured to control the left lift actuator 120, the right lift actuator 122, the left tilt actuator 124, and the right tilt actuator 126, or a combination of these actuators, to position at least a portion of the header 14 above the obstacle. For example, if an obstacle in the field obstructs both sides of the header 14, the obstacle detection sensor 102 can output a signal indicating the presence of the obstacle. In response to feedback from the obstacle detection sensor 102, the controller 94 can control the two lift actuators and the two tilt actuators to raise and tilt the header 14, thereby establishing a ground clearance sufficient to avoid the obstacle. The tilt actuators, in combination with the lift actuators, can adjust the pitch of the header 14 relative to the harvester frame 44, thereby increasing the ground clearance. Thus, the header 14 can clear obstacles of greater height compared to a header coupled to the harvester frame by a simple four-bar linkage. Additionally, if an obstacle obstructs the left side of the header 14, the obstacle detection sensor 102 can output a signal indicating the presence of the obstacle. In response to feedback from the obstacle detection sensor 102, the controller 94 can control the left lift actuator 120, the right lift actuator 122, the left tilt actuator 124, and the right tilt actuator 126 independently of each other to raise the left side of the header, causing the header to roll. Thus, the header 14 can continue to harvest agricultural products on the side of the header 14 that is not affected by the obstacle, thereby increasing the yield.

[0036] As described above, control system 96 includes a user interface 104 communicatively coupled to controller 94. The user interface is configured to receive input of a command from an operator to move the header. Controller 94 is configured to control left lift actuator 120, right lift actuator 122, left tilt actuator 124, right tilt actuator 126, or a combination thereof, in accordance with the command. For example, the operator can command the header 14 to be raised or lowered, tilted, and / or rolled. Additionally, in some embodiments, the operator can also command the header 14 to establish a ground clearance sufficient to avoid an obstacle. In response, controller 94 can control the lift actuator(s) and / or tilt actuator(s) to raise and / or tilt the header so as to establish a suitable ground clearance. Further, in some embodiments, the operator can also command the header 14 to establish a ground clearance sufficient to avoid an obstacle that may obstruct one side of the header. In response, controller 94 can control left lift actuator 120, right lift actuator 122, left tilt actuator 124, and right tilt actuator 126 independently of each other to raise, tilt, and roll the header so as to establish a ground clearance on the side of the header 14 proximate to the obstacle. Thus, the header 14 can continue to harvest agricultural products on the side of the header 14 away from the obstacle, thereby increasing yield.

[0037] Left lift actuator 120, right lift actuator 122, left tilt actuator 124, and right tilt actuator 126 can each include any suitable type of actuator, such as a hydraulic cylinder, a pneumatic cylinder, an electric linear actuator, etc. In embodiments where at least one of the lift and tilt actuators includes a hydraulic cylinder or a pneumatic cylinder, controller 94 is communicatively coupled to the cylinder via valve assembly 108 of control system 96. Valve assembly 108 can include any suitable number of valves and any suitable type of valves. Additionally, control system 96 can include any suitable number of valve assemblies (e.g., a single valve assembly fluidly coupled to each cylinder, one valve assembly per cylinder, etc.). Controller 94 is configured to output control signals to each valve assembly, and each valve assembly is configured to regulate the fluid flow (e.g., fluid pressure, fluid flow rate, etc.) to the corresponding cylinder fluidly coupled to the valve assembly. Thus, controller 94 is configured to control the cylinders via the valve assemblies.

[0038] Although only certain features have been illustrated and described herein, many modifications and variations will occur to those skilled in the art. Accordingly, it is to be understood that the appended claims are intended to cover all such modifications and variations that fall within the true spirit of the present disclosure.

[0039] The technology claimed and proposed herein is cited and applied to specific examples of physical objects and practical properties, which significantly improve the present technical field and are thus not abstract, intangible, or purely theoretical. Additionally, if any claim appended at the end of this specification contains one or more elements designated as "means for [performing]... [function]" or "steps for [performing]... [function]", it is intended that such elements will be construed in accordance with 35 U.S.C. 112(f). However, for any claim containing elements designated in any other manner, it is intended that they will not be construed in accordance with 35 U.S.C. 112(f).

Claims

1. A connecting rod assembly for an agricultural harvester, comprising: a rigid lower link configured to be pivotally connected to the drum toolbar and the harvester frame; a bendable upper link configured to be pivotally connected to the drum toolbar and the harvester frame; a linear actuator configured to be pivotally connected to the rigid lower link and the harvester frame, wherein the linear actuator is configured to extend and retract to raise and lower the drum toolbar; as well as A stop is configured to be coupled to the harvester frame, wherein the bendable upper link is configured to bend in response to engagement with the stop to cause the drum toolbar to pitch relative to the harvester frame.

2. The linkage assembly of claim 1 , wherein the bendable upper link comprises a first section and a second section pivotally connected to each other, the first section being configured to be pivotally coupled to the drum toolbar, and the second section being configured to be pivotally coupled to the harvester frame. 3 . The linkage assembly of claim 2 , wherein the bendable upper link includes a damper coupled to the first section and the second section, the damper being configured to damp vibration. 4 . The linkage assembly of claim 2 , wherein the second section of the bendable upper link is configured to engage the stop. 5 . The linkage assembly of claim 1 , comprising an adjustment assembly configured to adjust a position of the stop relative to the harvester frame.

6. The connecting rod assembly according to claim 1, comprising: a second rigid lower link configured to be pivotally connected to the drum toolbar and the harvester frame, wherein the second rigid lower link is laterally offset relative to the rigid lower link; a second bendable upper link configured to be pivotally connected to the drum toolbar and the harvester frame, wherein the second bendable upper link is laterally offset relative to the bendable upper link; a second linear actuator configured to be pivotally connected to the second rigid lower link and the harvester frame, wherein the second linear actuator is configured to extend and retract to raise and lower the drum toolbar, and the second linear actuator is laterally offset relative to the linear actuator; as well as A second stop configured to be coupled to the harvester frame, wherein the second bendable upper link is configured to bend in response to engagement with the second stop so as to pitch the drum toolbar relative to the harvester frame, and the second stop is laterally offset relative to the stop. 7 . The linkage assembly of claim 6 , wherein the second stop is configured to be coupled to the harvester frame at a different height than the stop.

8. An agricultural harvester comprising: Harvester frame; a roller toolbar configured to support a roller; as well as A linkage assembly coupled to the harvester frame and the drum tool bar and configured to lift and pitch the drum tool bar, wherein the linkage assembly comprises: a bendable upper link pivotally connected to the drum toolbar and the harvester frame; a rigid lower link pivotally connected to the drum toolbar and the harvester frame; a linear actuator pivotally connected to the rigid lower link and the harvester frame, wherein the linear actuator is configured to extend and retract to raise and lower the drum toolbar; and A stop is coupled to the harvester frame, wherein the bendable upper link is configured to bend in response to engagement with the stop to cause the drum toolbar to pitch relative to the harvester frame.

9. An agricultural harvester according to claim 8, wherein the bendable upper link includes a first section and a second section pivotally connected to each other, the first section being configured to be pivotally connected to the drum toolbar and the second section being configured to be pivotally connected to the harvester frame. 10 . The agricultural harvester of claim 9 , wherein the bendable upper link includes a damper coupled to the first section and the second section, the damper configured to damp vibrations.

11. The agricultural harvester of claim 9, wherein the second section of the bendable upper link is configured to engage the stop.

12. The agricultural harvester of claim 8, wherein the stop is integrally coupled to the harvester frame.

13. The agricultural harvester of claim 8, wherein the linkage assembly includes an adjustment assembly configured to adjust a position of the stop relative to the harvester frame.

14. The agricultural harvester of claim 8, wherein the linkage assembly comprises: a second rigid lower link pivotally connected to the drum toolbar and the harvester frame, wherein the second rigid lower link is laterally offset relative to the rigid lower link; a second bendable upper link pivotally connected to the drum toolbar and the harvester frame, wherein the second bendable upper link is laterally offset relative to the bendable upper link; a second linear actuator pivotally connected to the second rigid lower link and the harvester frame, wherein the second linear actuator is configured to extend and retract to raise and lower the drum toolbar and the second linear actuator is laterally offset relative to the linear actuator; as well as A second stop is coupled to the harvester frame, wherein the second bendable upper link is configured to bend in response to engagement with the second stop so as to pitch the drum toolbar relative to the harvester frame, and the second stop is laterally offset relative to the stop.

15. The agricultural harvester of claim 14, wherein the second stop is coupled to the harvester frame at a different height than the stop.

16. A control system for a harvesting platform of an agricultural harvester, comprising: a controller comprising a memory and a processor, wherein the controller is configured to control a left lift actuator, a right lift actuator, a left tilt actuator, and a right tilt actuator to adjust a height of the header relative to a harvester frame of the agricultural harvester, to adjust a pitch of the header relative to a harvester frame of the agricultural harvester, and to adjust a roll of the header relative to a harvester frame of the agricultural harvester; wherein the left lift actuator is configured to be pivotally connected to the left side of the harvester frame and the left side of the header, the right lift actuator is configured to be pivotally connected to the right side of the harvester frame and the right side of the header, the left tilt actuator is configured to be pivotally connected to the left side of the harvester frame and the left side of the header, the right tilt actuator is configured to be pivotally connected to the right side of the harvester frame and the right side of the header, and the header is configured to be coupled to the harvester frame of the agricultural harvester via a rigid link, and the rigid link is configured to be pivotally connected to the harvester frame and the header.

17. The control system of claim 16, comprising an obstacle detection sensor communicatively coupled to the controller, wherein the obstacle detection sensor is configured to output a signal indicating the presence of an obstacle in a path of the agricultural harvester, the controller being configured to control the left lift actuator, the right lift actuator, the left tilt actuator, the right tilt actuator, or a combination thereof to position at least a portion of the harvesting platform above the obstacle.

18. The control system of claim 16, comprising a user interface communicatively coupled to the controller, wherein the user interface is configured to receive input from an operator instructing a command to move the harvesting header, and the controller is configured to control the left lift actuator, the right lift actuator, the left tilt actuator, the right tilt actuator, or a combination thereof based on the command.

19. The control system of claim 16, comprising a valve assembly, wherein each of the left lift actuator and the right lift actuator comprises a hydraulic cylinder configured to be fluidly coupled to the valve assembly, and the controller is configured to control the valve assembly to independently control each hydraulic cylinder.

20. The control system of claim 16, comprising a valve assembly, wherein each of the left tilt actuator and the right tilt actuator comprises a hydraulic cylinder configured to be fluidly coupled to the valve assembly, and the controller is configured to control the valve assembly to independently control each hydraulic cylinder.

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