Track chassis device with grounding specific pressure self-adaptive adjustment function and crawler-type combine harvester

Abstract

The invention relates to the technical field of chassis, and provides a track chassis device with self-adaptive ground pressure adjustment, the track chassis device is composed of a rack, a walking mechanism and a swing arm assembly, the walking mechanism comprises a driving wheel, a track and other parts to realize power transmission and support, and the swing arm assembly is composed of a front swing arm, a pull rod and the like. All the components are mutually connected, the driving wheel is connected with the rack and meshed with the crawler belt, the loading wheels are in limiting fit with the crawler belt after being connected in series, and the positions of the loading wheels can be adjusted through the swing arms and the pull rods. When facing different terrains or load changes, the swing arm assembly drives the loading wheel to dynamically adjust the position through the pull rod, the track grounding length and pressure distribution are automatically optimized, grounding specific pressure self-adaptive adjustment can be achieved without a complex control system, and the trafficability and stability of the track chassis device on the complex ground are improved; meanwhile, abrasion is reduced, and the service life is prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of chassis, in particular to a crawler chassis device with adaptively adjusted ground contact pressure ratio and a crawler-type combine harvester. Background Art

[0002] In current rice harvesting scenarios, rice combine harvesters generally utilize tracked chassis. This choice is primarily based on the unique mechanical advantages of tracked chassis, which offer a relatively low ground pressure. As the harvester traverses the paddy field, this low ground pressure effectively reduces the pressure per unit area on the paddy soil, significantly alleviating soil compaction and playing a positive role in protecting the soil structure. However, soil compaction in paddy fields cannot be ignored. With the continuous advancement of agricultural mechanization, long-term and frequent mechanical operations have had a profound impact on paddy soil. Repeated mechanical compaction has led to an increasingly dense arrangement of subsoil particles, exacerbating compaction. Data indicates that the thickness of the tillage layer is currently decreasing. Extensive field measurements indicate that the current thickness generally ranges from 11 to 17 centimeters, far below the ideal range for rice growth.

[0003] CN222692349U discloses a regenerated rice combine harvester chassis and a regenerated rice combine harvester. The chassis comprises a chassis frame, left and right travel wheel trains, rubber tracks, a travel gearbox, and a continuously variable transmission. The left and right travel wheel trains are mounted on either side of the chassis frame, and the two rubber tracks are sleeved onto the left and right travel wheel trains. The travel gearbox and the continuously variable transmission are mounted on the chassis frame. The width of the rubber tracks is less than the regenerated rice row spacing, and the center-to-center distance between the two rubber tracks is an integer multiple of the regenerated rice row spacing. The travel gearbox has a built-in differential steering module.

[0004] CN108496565A discloses a liftable crawler chassis for a combine harvester, comprising an upper chassis frame and a walking beam, wherein main drive wheels and supporting wheels are mounted on the upper chassis frame, and a lifting mechanism is provided between the upper chassis frame and the walking beam, wherein the lifting mechanism comprises a left front lifting mechanism, a right front lifting mechanism, a left rear lifting mechanism, and a right rear lifting mechanism, wherein the left front lifting mechanism, the right front lifting mechanism, the left rear lifting mechanism, and the right rear lifting mechanism cooperate with each other to adjust the position of the upper chassis frame relative to the walking beam.

[0005] CN116369061A discloses a device and control method for adjusting a liftable chassis of a rice combine harvester, comprising: an upper chassis frame, a lower chassis frame, a front lifting mechanism, a rear lifting mechanism, a hydraulic system, and a control system; the lower chassis frame comprises supporting rollers, a tensioning wheel, and a rubber guide wheel; the front and rear ends of the lower chassis frame are supported by a front lifting mechanism and a rear lifting mechanism, respectively; the front and rear ends of the upper and lower chassis frames are connected by a front lifting arm and a rear lifting arm, respectively; The lower end of the front lifting arm is connected to the chassis lower frame via a support base rotating pair, and the chassis upper frame is connected to the upper end of the front upper rocker arm via a rotating pair; the lower end of the rear lifting arm is connected to the chassis upper frame via a support base rotating pair; the front upper rocker arm and the rear upper rocker arm are connected via a connecting rod; the upper ends of the front upper rocker arm and the upper ends of the rear upper rocker arm are hinged to the chassis upper frame via pneumatic cylinder I and pneumatic cylinder III; the upper end of the rear lifting arm is fixed with an angle adjustment rotating arm, and the upper end of the angle adjustment rotating arm is hinged to the piston extension end of pneumatic cylinder II; The rear end of the chassis frame is equipped with pneumatic cylinder I, pneumatic cylinder II, pneumatic cylinder III, and pneumatic cylinder IV, which drive pneumatic cylinder I, pneumatic cylinder II, pneumatic cylinder III, and pneumatic cylinder IV to directly lift the chassis frame; the pneumatic cylinder I, pneumatic cylinder II, pneumatic cylinder III, and pneumatic cylinder IV are controlled by a hydraulic control valve; the lifting chassis adjustment device of the rice combine harvester can realize automatic control and manual control, and the automatic control method of chassis lifting is: S1: use the hydraulic control valve to control the flow direction and flow of hydraulic oil, and the hydraulic control valve is controlled by the operator using a button; S2: start the hydraulic system, the attitude sensor detects the height and tilt angle of the chassis, and feeds back the chassis height and tilt angle to the control system; S3: the control system receives the information fed back by the attitude sensor, and adjusts the hydraulic control valve according to needs. When the chassis needs to rise, the inflow of hydraulic oil causes the pneumatic cylinder I, pneumatic cylinder II, pneumatic cylinder III, and pneumatic cylinder IV to extend, pushing the chassis to rise, and the chassis stops rising when it reaches a predetermined height; When the chassis needs to be lowered, the outflow of hydraulic oil causes the pneumatic cylinders I, II, III and IV to be retracted, the chassis descends, and when the chassis reaches a predetermined height, the chassis stops descending; S4: By dynamically monitoring and adjusting the flow direction and flow of the hydraulic oil, the control system can ensure that the chassis is always in a leveled state; the manual control method for chassis lifting is: when the left raising button is pressed, the left side of the chassis upper frame is raised and the right side is lowered; when the left lowering button is pressed, the chassis upper frame returns to its normal position or is lowered to be lower than the right side according to the designed control program; when the overall raising button is pressed, the chassis upper frame is raised as a whole, and the gap between the chassis upper frame and the chassis lower frame increases; when the overall lowering button is pressed, the chassis upper frame is lowered as a whole, the chassis gap is reduced, and the overall center of gravity is lowered; when the right raising button is pressed, the right side of the chassis upper frame is raised, presenting a state of right high and left low; when the right lowering button is pressed, the chassis upper frame returns to its original position or presents a state of right low and left high;When the front raising button or the front lowering button is pressed, the chassis upper frame is raised at the front or returns to the parallel position; when the rear raising button or the rear lowering button is pressed, the chassis upper frame is raised at the rear or returns to the parallel position.

[0006] Soil compaction makes it difficult for rice roots to penetrate the hard plow bottom layer, forcing them to concentrate in the shallow tillage layer. This severely hinders root growth and nutrient absorption, ultimately leading to reduced rice yield and quality. Rice fields are widely distributed, and the soil conditions vary greatly from region to region. A single standard for ground contact pressure is difficult to apply to all rice fields. In rice fields with low bearing capacity, excessive ground contact pressure not only increases the risk of soil compaction during combine harvester operation but also causes the track chassis to sink, thus affecting the machine's maneuverability. Summary of the Invention

[0007] Long-term practice has revealed that, in terms of soil compaction damage, rice combine harvesters are typically heavy, resulting in concentrated pressure from their various components on paddy soil during operation. This cumulative effect is particularly pronounced in areas with long-term, frequent mechanized operations. While the tracked chassis disperses some of this pressure, reducing the ground contact pressure, increasing operation frequency compresses the pores between soil particles, shrinking them and increasing soil bulk density, leading to a sharp deterioration in soil aeration and water permeability. This compromises the growth environment for rice roots, making it difficult for them to grow smoothly in the compacted soil. This in turn hinders their absorption of water and nutrients, and in severe cases, even obstructs their respiration, negatively impacting the healthy growth of the rice plants and ultimately their yield. Furthermore, during operations like turning and braking, the harvester experiences a sudden increase in pressure in localized areas, further exacerbating soil compaction and forming layers of varying depth and extent, destroying the relatively loose soil structure that is ideal for rice growth.

[0008] Rice fields are widely distributed, and their conditions vary greatly from region to region. Some low-lying rice fields often become muddy during the rice harvest season due to heavy rainfall and high soil moisture content. Under these conditions, the weight of a rice combine harvester and the pressure generated during operation can easily cause its chassis to become bogged down. Once stuck, not only can the harvester struggle to continue normal operation, but forced driving can further damage the soil and increase the wear and risk of mechanical component failure. Furthermore, the height, width, and slope of some rice field ridges are not fully designed to meet the requirements for harvester navigation. When crossing ridges, the harvester may be hindered by collisions or scrapes between the chassis and the ridges, potentially causing instability and posing a threat to the safety of the equipment and operators.

[0009] In view of this, the present invention aims to provide a crawler chassis device with adaptive adjustment of ground contact pressure. The crawler chassis device with adaptive ground contact pressure adjustment includes: a frame, a traveling mechanism, and a swing arm assembly; the frame can be connected to the traveling mechanism through the swing arm assembly; The walking mechanism includes a driving wheel, a crawler track, a road wheel, a first connecting rod, a second connecting rod, an idler wheel, and a track-supporting roller; the swing arm assembly includes a front swing arm, a first pull rod, a rear swing arm, a second pull rod, and a rear lower swing arm; the driving wheel is connected to the frame, and the driving wheel is meshed with the crawler track, and multiple road wheels can be connected in series through the first connecting rod and then connected to the crawler track with limiting cooperation; one end of the road wheel can be connected to the idler wheel through the second connecting rod; the end of the road wheel close to the idler wheel can be connected in series with one end of the first pull rod through the rear lower swing arm and the rear swing arm; the other end of the first pull rod can be connected to the end of the road wheel away from the idler wheel through the front swing arm; the end of the first pull rod connected to the rear swing arm is connected to one end of the second pull rod, and the other end of the second pull rod is connected to the frame.

[0010] Preferably, the frame includes a base plate and a support plate, and the base plate and the support plate can be connected via a plurality of pneumatic cylinder assemblies.

[0011] Preferably, the multiple pneumatic cylinder assemblies include at least a first pneumatic cylinder assembly, a second pneumatic cylinder assembly, and a third pneumatic cylinder assembly. The first pneumatic cylinder assembly, the second pneumatic cylinder assembly, and the third pneumatic cylinder assembly are fixedly arranged in parallel between the base plate and the support plate, and one end of the piston rod of the first pneumatic cylinder assembly, the second pneumatic cylinder assembly, and the third pneumatic cylinder assembly is fixedly connected to the support plate.

[0012] Preferably, a guide return mechanism is further provided between the base plate and the support plate, wherein one end of the guide return mechanism is connected to the base plate, and the other end is connected to the support plate.

[0013] Preferably, the walking mechanism further includes a track roller, the track roller is fixedly connected to the support plate, and the track roller is connected to the crawler track in a rolling support.

[0014] Preferably, the crawler chassis device with adaptive ground pressure ratio adjustment also includes a driving device, which is fixedly connected to the frame; the driving device includes a power source and a reduction gearbox, the power source includes an internal combustion engine and / or an electric motor, and the power source output shaft and the reduction gearbox power input shaft can be connected through a coupling; the reduction gearbox power output shaft can be connected to the driving wheel power through a coupling.

[0015] Preferably, the crawler chassis device with adaptive ground contact pressure adjustment further includes a control device, which includes a power supply, multiple sensors, and a control module; The sensor is electrically connected to the control module, and the power supply is electrically connected to the sensor and the control module; the sensor can collect signals and transmit them to the control module through an A / D converter; the sensor includes at least a pressure sensor, and the pressure sensor can be fixedly embedded in the track.

[0016] The present invention also discloses a crawler-type combine harvester, which includes the crawler chassis device with adaptively adjusted ground contact pressure as described above.

[0017] This tracked combine harvester automatically adapts to muddy, soft, or undulating field terrain through the linkage of its swing arm assembly and traveling mechanism. Dynamically adjusting the track ground pressure prevents the machine from sinking, reduces compaction damage to the cultivated land, and protects the soil structure. This improves driving stability in complex conditions such as ridges and ditches, minimizing bumps and crop losses during the harvesting process. The evenly distributed load design reduces wear on the track and chassis components, extending the machine's service life. With simplified maintenance and high reliability, it meets the demands of long-term field operations for agricultural operations, significantly improving the combine harvester's field maneuverability and operating efficiency.

[0018] The present invention also discloses a control method for the crawler chassis device with adaptive ground contact pressure adjustment as described above, the control method comprising: Step S1, obtaining environmental data through a plurality of sensors, and transmitting the obtained environmental data to a control module; wherein the sensors include at least a pressure sensor; In step S2, the control module makes a judgment based on preset conditions. If the environmental data meets the preset conditions, a control signal is sent to the actuator, and the actuator includes at least a plurality of pneumatic cylinder assemblies; the pneumatic cylinder assembly includes a control valve and a pneumatic cylinder for driving the pneumatic cylinder. After receiving the control signal, the control valve drives the pneumatic cylinder to work.

[0019] This control method uses sensors and pneumatic cylinder assemblies to collect environmental data in real time with the help of pressure sensors. The control module accurately determines the soil bearing capacity, terrain undulations, and other conditions. Once the preset conditions are met, it quickly sends a control signal to the pneumatic cylinder assembly. Driven by the control valve, the pneumatic cylinder responds quickly and can dynamically adjust the swing arm assembly or track tension so that the ground contact pressure matches the field conditions in real time. In muddy rice fields, the pressure ratio is reduced to reduce soil compaction. Its high-speed response characteristics effectively improve the chassis's passability. In ridge and ditch terrain, the pneumatic cylinder quickly adjusts the height of the road wheels to avoid getting stuck. Cooperating with the mechanical structure to achieve intelligent adaptive adjustment, it significantly improves the operating efficiency and reliability of the rice combine harvester, while taking into account soil protection and extending the life of the equipment.

[0020] Preferably, the preset condition includes a critical value of the soil ground pressure ratio. If the ground pressure ratio value calculated from the collected environmental data is greater than or equal to the critical value of the ground pressure ratio, a control signal is sent to the actuator so that the pneumatic cylinder is in the state of being pressed; The ground pressure ratio calculated by re-collecting the environmental data is stabilized if the ground pressure ratio value calculated by the collected environmental data is less than the ground pressure ratio critical value.

[0021] The crawler chassis device with adaptive ground contact pressure ratio adjustment disclosed in the present invention is composed of a frame, a traveling mechanism and a swing arm assembly, wherein the traveling mechanism includes components such as a driving wheel and a track to realize power transmission and support, and the swing arm assembly is composed of a front swing arm, a pull rod and the like. The various components are interconnected, the driving wheel is connected to the frame and engages the track, a plurality of road wheels are connected in series and cooperate with the track limiter, and the position of the road wheels can be adjusted by the swing arm and the pull rod. When faced with different terrains or load changes, the swing arm assembly drives the road wheels to dynamically adjust their positions through the pull rod, automatically optimizing the track ground contact length and pressure distribution, and realizing adaptive ground contact pressure ratio adjustment without the need for a complex control system, thereby improving the passability and stability of the crawler chassis device on complex ground, while reducing wear and extending the service life.

[0022] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings, which constitute part of the present invention, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings: Figure 1 A schematic diagram of a crawler chassis device with adaptive adjustment of ground contact pressure according to an embodiment of the present invention; Figure 2 This is a schematic side structural diagram of a crawler chassis device with adaptive adjustment of ground contact pressure according to an embodiment of the present invention; Figure 3 A partial cross-sectional view of a crawler chassis device with adaptive adjustment of ground contact pressure according to an embodiment of the present invention; Figure 4 A side sectional view of a crawler chassis device with adaptive adjustment of ground contact pressure according to an embodiment of the present invention; Figure 5 This is a three-dimensional diagram of a crawler chassis device with adaptive adjustment of ground contact pressure according to an embodiment of the present invention.

[0024] Description of reference numerals: 1. Frame; 2. Travel mechanism; 3. Swing arm assembly; 11. Bottom plate; 12. Support plate; 21. Driving wheel; 22. Track; 23. Road wheel; 24. First connecting rod; 25. Second connecting rod; 26. Inducer; 27. Track roller; 28. Bracket; 31. Front swing arm; 32. First pull rod; 33. Rear swing arm; 34. Second pull rod; 35. Rear lower swing arm; 37. First bearing; 38. Second bearing; 41. First pneumatic cylinder assembly; 42. Second pneumatic cylinder assembly; 43. Third pneumatic cylinder assembly; 44. Guide return mechanism. DETAILED DESCRIPTION

[0025] The following describes the specific embodiments of the present invention in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention and are not intended to limit the present invention.

[0026] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first," "second," "third," etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate to facilitate the embodiments of the present invention described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or are inherent to these processes, methods, products, or apparatuses.

[0028] In order to solve the technical problems existing in the prior art, the rice fields in some areas are low-lying, and during the rice harvest season, they are often in a relatively muddy state due to heavy rain and high soil moisture content. At this time, the deadweight of the rice combine harvester and the pressure generated during operation can easily cause its chassis to sink into the mud. Once trapped, not only will it be difficult for the harvester to continue normal operations, but forced driving will further aggravate the damage to the soil, while increasing the wear and failure risks of mechanical parts. In addition, the height, width and slope design of the ridges of some rice fields do not fully meet the passage requirements of the harvester. When crossing the ridges, the harvester may be obstructed by collisions and scratches between the chassis and the ridges, and may even cause instability of the fuselage, posing a threat to the safety of the equipment and operators. The present invention provides a crawler chassis device with adaptive adjustment of ground contact pressure, such as Figure 1-5 A schematic diagram of a crawler chassis device with adaptive ground contact pressure adjustment according to an embodiment of the present invention, wherein the crawler chassis device with adaptive ground contact pressure adjustment comprises: a frame 1, a walking mechanism 2, and a swing arm assembly 3; The frame 1 can be connected to the walking mechanism 2 through the swing arm assembly 3; The walking mechanism 2 includes a driving wheel 21, a crawler track 22, a road wheel 23, a first connecting rod 24, a second connecting rod 25, an idler wheel 26, and a track roller 27; The swing arm assembly 3 includes a front swing arm 31, a first pull rod 32, a rear swing arm 33, a second pull rod 34, and a rear lower swing arm 35; The driving wheel 21 is connected to the frame 1, and the driving wheel 21 is meshed with the crawler 22. A plurality of the road wheels 23 can be connected in series through the first connecting rod 24 and then connected to the crawler 22 in a limited manner; one end of the road wheel 23 can be connected to the inducer 26 through the second connecting rod 25; the end of the road wheel 23 close to the inducer 26 can be connected in series with one end of the first pull rod 32 through the rear lower swing arm 35 and the rear swing arm 33; the other end of the first pull rod 32 can be connected to the end of the road wheel 23 away from the inducer 26 through the front swing arm 31; One end of the first pull rod 32 connected to the rear swing arm 33 is connected to one end of the second pull rod 34 , and the other end of the second pull rod 34 is connected to the frame 1 .

[0029] The crawler chassis device with adaptive ground contact pressure ratio adjustment disclosed in the present invention is composed of a frame, a traveling mechanism and a swing arm assembly, wherein the traveling mechanism includes components such as a driving wheel and a track to realize power transmission and support, and the swing arm assembly is composed of a front swing arm, a pull rod and the like. The various components are interconnected, the driving wheel is connected to the frame and engages the track, a plurality of road wheels are connected in series and cooperate with the track limiter, and the position of the road wheels can be adjusted by the swing arm and the pull rod. When faced with different terrains or load changes, the swing arm assembly drives the road wheels to dynamically adjust their positions through the pull rod, automatically optimizing the track ground contact length and pressure distribution, and realizing adaptive ground contact pressure ratio adjustment without the need for a complex control system, thereby improving the passability and stability of the crawler chassis device on complex ground, while reducing wear and extending the service life.

[0030] The reducer is bolted to the frame 1, ensuring rigid support and vibration resistance during transmission. Bolt mounting holes are machined into the bottom surface of the reducer housing, which is rigidly connected to the mounting bracket of the frame 1 via high-strength bolts. The driving wheel 21 is fixedly connected to the frame 1 via the reducer. The reducer's power output shaft is dynamically connected to the driving wheel 21 and can be connected via a coupling. When the ground is undulating, the road wheels 23 dynamically adjust their height via a multi-link mechanism consisting of a front swing arm 31, a first tie rod 32, a rear swing arm 33, a second tie rod 34, and a rear lower swing arm 35. This changes the track 22's ground contact length and pressure distribution, achieving adaptive ground contact pressure. The road wheels 23 are connected to the support plate 12 via a first bearing 37. The end of the road wheel 23 connected to the first bearing 37 is hinged to the front swing arm 31 via a shaft. The inducer 26 is connected to the support plate 12 via a second bearing 38. The end of the inducer 26 connected to the second bearing 38 is hinged to the rear swing arm 33.

[0031] Dynamic adjustment of height and posture is achieved through pneumatic cylinder assemblies in order to improve the operating performance and soil protection ability of crawler harvesters in complex rice field environments. In a more preferred embodiment of the present invention, the frame 1 includes a base plate 11 and a support plate 12, and the base plate 11 and the support plate 12 can be connected by multiple pneumatic cylinder assemblies. The base plate 11 is the bottom support component of the frame, installed parallel to the ground, usually a rectangular steel plate or a hollow square steel pipe, preferably with a thickness of 10 to 20 mm. The support plate 12 is the upper load-bearing platform of the frame, arranged vertically or obliquely, for installing equipment such as the engine and the cab, and the material is consistent with the base plate. There are multiple pneumatic cylinder assemblies, usually 2 to 4 pneumatic cylinders or hydraulic cylinders are evenly distributed between the base plate 11 and the support plate 12, as adjustable connectors. The bore of a single pneumatic cylinder or hydraulic cylinder is usually 63 mm to 100 mm, and the stroke is 100 mm to 500 mm. The pneumatic cylinder or the hydraulic cylinder changes the piston stroke by charging and discharging air, and adjusts the distance between the bottom plate 11 and the support plate 12 in real time, thereby changing the height of the rack.

[0032] In order to avoid the tilt of the frame caused by traditional single-point support and maintain the level of the fuselage. In order to achieve precise adjustment of the distance between the base plate and the support plate, a dynamic support foundation is provided for the ground pressure adaptation of the crawler chassis. In a more preferred case of the present invention, the multiple pneumatic cylinder assemblies include at least a first pneumatic cylinder assembly 41, a second pneumatic cylinder assembly 42, and a third pneumatic cylinder assembly 43. The first pneumatic cylinder assembly 41, the second pneumatic cylinder assembly 42, and the third pneumatic cylinder assembly 43 are fixedly arranged in parallel between the base plate 11 and the support plate 12, and one end of the piston rod of the first pneumatic cylinder assembly 41, the second pneumatic cylinder assembly 42, and the third pneumatic cylinder assembly 43 are fixedly connected to the support plate 12. When one cylinder body leaks or gets stuck, the remaining cylinder bodies can still maintain an adjustment capacity of 60% to 70%, ensuring that the equipment is not paralyzed. For example, if one cylinder in a three-cylinder system fails, the adjustable height range of the remaining two cylinders is 66% of the normal value.

[0033] The relative movement between the base plate 11 and the support plate 12 is limited to relative movement perpendicular to the ground. When the multiple pneumatic cylinder assemblies increase or decrease the distance between the base plate 11 and the support plate 12, they accumulate energy to restore the base plate 11 and the support plate 12 to their original state. To further maintain the relative stability of the base plate 11 and the support plate 12, in a more preferred embodiment of the present invention, a guide return mechanism 44 is provided between the base plate 11 and the support plate 12. One end of the guide return mechanism 44 is connected to the base plate 11, and the other end is connected to the support plate 12. For example, an elastic return component built into the guide mechanism, such as a return spring or hydraulic damper, can automatically return the rack to its initial height when the pneumatic system loses pressure.

[0034] In order to make the rolling support of the track roller 27 make the track tension more evenly distributed along the length direction, the track roller is optimized by tensioning, stable operation control and coordinated adjustment. In a more preferred case of the present invention, the walking mechanism 2 also includes a track roller 27, which is fixedly connected to the support plate 12, and the track roller 27 is connected to the track 22 with rolling support. The track roller 27 is fixedly connected to the support plate 12, usually using a cantilever bracket and bolts to apply a constant pressure to the upper branch of the track, which is about 1.2 to 1.5 times the weight of the track, so that the fluctuation of the track tension is controlled within ±5%. For example: when the track becomes loose due to the undulating terrain, the track roller automatically presses down to compensate to avoid the risk of track derailment.

[0035] To provide a better power source for operating in soft soil environments, the crawler chassis with adaptive ground pressure ratio adjustment further comprises a drive unit fixedly connected to the frame 1. The drive unit comprises a power source and a reduction gearbox. The power source may include an internal combustion engine and / or an electric motor. The power source output shaft and the reduction gearbox power input shaft can be connected via a coupling. The reduction gearbox power output shaft can be connected to the driving wheel 21 via a coupling. For example, agricultural operations often involve low-speed operations or soft soil environments. Electric motors, such as permanent magnet synchronous motors, with peak power of 30-50 kW, can be used. They can output high instantaneous torque and achieve a starting torque of 2-3 times the rated torque, reducing starting shock. Combined with ground pressure ratio adjustment, this achieves "low-speed, high-traction" operation. Internal combustion engines, such as diesel engines, with power of 50-100 kW are the main engines, providing continuous high torque, with a maximum torque of 300-600 N·m, making them suitable for long-distance field operations.

[0036] The control device achieves real-time adaptive adjustment of the ground contact pressure ratio through the precise sensing of the pressure sensor and the intelligent control algorithm. This significantly improves the tracked chassis's maneuverability, operating efficiency, and soil protection capabilities in complex field environments. In a more preferred embodiment of the present invention, the tracked chassis device with adaptive ground contact pressure ratio adjustment also includes a control device comprising a power supply, multiple sensors, and a control module. The sensor is electrically connected to the control module, and the power supply is electrically connected to the sensor and the control module. The sensor is capable of collecting signals and transmitting them to the control module via an A / D converter. The sensor includes at least a pressure sensor, which can be fixedly embedded in the track 22. The embedded pressure sensors have a range of 0-200 kPa and an accuracy of ±1.5% FS. They are distributed at intervals of 10-20 cm along the contact zone of the track 22 to monitor soil reaction forces in real time. For example, in soft soil areas of rice paddies, if sensor feedback indicates a ground contact pressure greater than 50 kPa, the control module immediately triggers the pneumatic cylinder adjustment program, raising the frame by 30 mm within 0.2 seconds to reduce the ground contact pressure to 35-40 kPa to prevent the vehicle from getting stuck. Based on the pressure sensor data and a preset soil bearing capacity threshold (e.g., 30-50 kPa for rice paddies), the control module dynamically adjusts the pneumatic cylinder stroke adjustment step by 0.5 mm using a PID algorithm, achieving closed-loop control of the ground contact pressure.

[0037] The present invention also discloses a crawler-type combine harvester, which includes the crawler chassis device with adaptively adjusted ground contact pressure as described above.

[0038] The present invention also discloses a control method for the crawler chassis device with adaptive ground contact pressure adjustment as described above, the control method comprising: Step S1, obtaining environmental data through a plurality of sensors, and transmitting the obtained environmental data to a control module; wherein the sensors include at least a pressure sensor; In step S2, the control module makes a judgment based on preset conditions. If the environmental data meets the preset conditions, a control signal is sent to the actuator, and the actuator includes at least a plurality of pneumatic cylinder assemblies; the pneumatic cylinder assembly includes a control valve and a pneumatic cylinder for driving the pneumatic cylinder. After receiving the control signal, the control valve drives the pneumatic cylinder to work.

[0039] This control method uses sensors and pneumatic cylinder assemblies to collect environmental data in real time with the help of pressure sensors. The control module accurately determines the soil bearing capacity, terrain undulations, and other conditions. Once the preset conditions are met, it quickly sends a control signal to the pneumatic cylinder assembly. Driven by the control valve, the pneumatic cylinder responds quickly and can dynamically adjust the swing arm assembly or track tension so that the ground contact pressure matches the field conditions in real time. In muddy rice fields, the pressure ratio is reduced to reduce soil compaction. Its high-speed response characteristics effectively improve the chassis's passability. In ridge and ditch terrain, the pneumatic cylinder quickly adjusts the height of the road wheels to avoid getting stuck. Cooperating with the mechanical structure to achieve intelligent adaptive adjustment, it significantly improves the operating efficiency and reliability of the rice combine harvester, while taking into account soil protection and extending the life of the equipment.

[0040] In order to achieve the precise control capability of the ground pressure adaptive adjustment system in actual operation, through real-time monitoring and dynamic adjustment, the dual optimization of soil protection and operation efficiency is achieved. In a more preferred embodiment of the present invention, the preset condition includes a critical value of the ground pressure of the soil. If the ground pressure value calculated from the collected environmental data is greater than or equal to the critical value of the ground pressure, a control signal is sent to the actuator so that the pneumatic cylinder is in the state of being pressed; The ground contact pressure is calculated based on the environmental data. If the ground contact pressure calculated from the collected environmental data is less than the ground contact pressure threshold, the piston position in the pneumatic cylinder is stabilized. Soil data is collected in real time via a pressure sensor and transmitted to the control module. When the calculated ground contact pressure is greater than or equal to a preset threshold, the control module sends a signal to the pneumatic cylinder assembly to retract the piston by a distance d, increasing the track contact area and reducing the ground contact pressure. Data is then recollected for verification. If the ground contact pressure is less than the threshold, the piston position is locked, forming a closed-loop control mechanism. This mechanism precisely controls ground contact pressure fluctuations within ±3 kPa, reducing soil compaction depth from 80 mm to below 50 mm in rice field operations and reducing track slip by 70%. Furthermore, the coordinated operation of the pneumatic cylinder and the swing arm assembly improves the chassis's maneuverability over complex terrain such as ridges and ditches, while reducing energy consumption by 60% compared to traditional systems, achieving both soil protection and operational efficiency. For example, in a rice field where rice is at maturity, the soil moisture content is 45%, resulting in weak bearing capacity. The agricultural machinery used is a tracked combine harvester. Its ground contact pressure adaptive adjustment system has a preset threshold of 45 kPa, which is suitable for the paddy field soil type and prevents excessive compaction that can make later tillage difficult. When the harvester is unloaded, the track contact length is 2.2 meters, the contact area is 0.88 square meters, and the track width is 0.4 meters. Pressure sensors monitor soil reaction forces in real time. The control module calculates the ground contact pressure to be 42 kPa (less than the critical value), and the system maintains the position of the pneumatic cylinder. When the harvester is fully loaded with rice (the load increases by 3,000 kg), pressure sensor feedback indicates that the ground contact pressure rises to 47 kPa (greater than or equal to the critical value). The control module immediately sends a signal to the pneumatic cylinder actuator, causing the piston to retract 15 mm (d = 15 mm). This retraction reduces the gap between the base plate and the support plate, increasing track tension, increasing the ground contact length to 2.4 meters, and the contact area to 1.0 square meters.

[0041] It should be noted that for the aforementioned method embodiments, for simplicity of description, they are all expressed as a series of action combinations. However, those skilled in the art should be aware that the present invention is not limited by the order of the actions described, because according to the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0042] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0043] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0044] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A crawler chassis device with adaptive ground contact pressure adjustment, characterized in that: The crawler chassis device with adaptive ground contact pressure adjustment comprises: a frame (1), a walking mechanism (2), and a swing arm assembly (3); The frame (1) can be connected to the walking mechanism (2) via the swing arm assembly (3); The walking mechanism (2) includes a driving wheel (21), a crawler track (22), a road wheel (23), a first connecting rod (24), a second connecting rod (25), an inducer wheel (26), and a track roller (27); The swing arm assembly (3) comprises a front swing arm (31), a first pull rod (32), a rear swing arm (33), a second pull rod (34), and a rear lower swing arm (35); The driving wheel (21) is connected to the frame (1), the driving wheel (21) is meshedly connected to the crawler (22), and a plurality of the road wheels (23) can be connected in series through the first connecting rod (24) and then connected to the crawler (22) in a limited manner; one end of the road wheel (23) and the inducer (26) can be connected through the second connecting rod (25); one end of the road wheel (23) close to the inducer (26) can be connected in series through the rear lower swing arm (35) and the rear swing arm (33) and then connected to one end of the first pull rod (32); the other end of the first pull rod (32) can be connected to one end of the road wheel (23) away from the inducer (26) through the front swing arm (31); One end of the first pull rod (32) connected to the rear swing arm (33) is connected to one end of the second pull rod (34), and the other end of the second pull rod (34) is connected to the frame (1).

2. The crawler chassis device with adaptive ground contact pressure adjustment according to claim 1, characterized in that: The frame (1) comprises a base plate (11) and a support plate (12); the base plate (11) and the support plate (12) can be connected via a plurality of pneumatic cylinder assemblies.

3. The crawler chassis device with adaptive ground contact pressure adjustment according to claim 2, characterized in that: The plurality of pneumatic cylinder assemblies at least include a first pneumatic cylinder assembly (41), a second pneumatic cylinder assembly (42), and a third pneumatic cylinder assembly (43); the first pneumatic cylinder assembly (41), the second pneumatic cylinder assembly (42), and the third pneumatic cylinder assembly (43) are fixedly arranged in parallel between the base plate (11) and the support plate (12); and one end of the piston rod of the first pneumatic cylinder assembly (41), the second pneumatic cylinder assembly (42), and the third pneumatic cylinder assembly (43) is fixedly connected to the support plate (12).

4. The crawler chassis device with adaptive ground contact pressure adjustment according to claim 3, characterized in that: A guide return mechanism (44) is further provided between the bottom plate (11) and the support plate (12); one end of the guide return mechanism (44) is connected to the bottom plate (11), and the other end is connected to the support plate (12).

5. The crawler chassis device with adaptive ground contact pressure adjustment according to claim 1, characterized in that: The walking mechanism (2) further comprises a track roller (27), wherein the track roller (27) is fixedly connected to the support plate (12), and the track roller (27) is connected to the crawler (22) in a rolling support manner.

6. The crawler chassis device with adaptive ground contact pressure adjustment according to any one of claims 1 to 5, characterized in that: The crawler chassis device with adaptive ground contact pressure ratio adjustment also includes a driving device, which is fixedly connected to the frame (1); the driving device includes a power source and a reduction gearbox, the power source includes an internal combustion engine and / or an electric motor, the power source output shaft and the reduction gearbox power input shaft can be connected through a coupling; the reduction gearbox power output shaft can be connected to the driving wheel (21) through a coupling.

7. The crawler chassis device with adaptive ground contact pressure adjustment according to claim 6, characterized in that: The crawler chassis device with adaptive ground contact pressure adjustment further includes a control device, which includes a power supply, multiple sensors, and a control module; The sensor is electrically connected to the control module, and the power supply is electrically connected to the sensor and the control module; the sensor can collect signals and transmit them to the control module through an A / D converter; the sensor at least includes a pressure sensor, and the pressure sensor can be fixedly embedded in the crawler (22).

8. A crawler-type combine harvester, characterized in that: The crawler-type combine harvester includes a crawler chassis device with adaptively adjusted ground contact pressure as described in any one of claims 1 to 7.

9. A control method for a crawler chassis device with adaptive ground contact pressure adjustment according to any one of claims 1 to 7, characterized in that: The control method includes: Step S1, obtaining environmental data through a plurality of sensors, and transmitting the obtained environmental data to a control module; wherein the sensors include at least a pressure sensor; In step S2, the control module makes a judgment based on preset conditions. If the environmental data meets the preset conditions, a control signal is sent to the actuator, and the actuator includes at least a plurality of pneumatic cylinder assemblies; the pneumatic cylinder assembly includes a control valve and a pneumatic cylinder for driving the pneumatic cylinder. After receiving the control signal, the control valve drives the pneumatic cylinder to work.

10. The control method according to claim 9, characterized in that: The preset condition includes a critical value of the soil ground pressure ratio. If the ground pressure ratio value calculated from the collected environmental data is greater than or equal to the critical value, a control signal is sent to the actuator so that the pneumatic cylinder is pressed; The ground pressure ratio calculated by re-collecting the environmental data is stabilized if the ground pressure ratio value calculated by the collected environmental data is less than the ground pressure ratio critical value.

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