Grain harvester capable of adjusting posture with multiple degrees of freedom and control method thereof

Abstract

The invention discloses a grain harvester capable of adjusting postures in multiple degrees of freedom and a control method of the grain harvester. A platform comprises a vehicle body, a chassis, a walking mechanism, a posture adjusting mechanism and a controller, and the posture adjusting mechanism is connected between the vehicle body and the chassis; the posture adjusting mechanism comprises a rotation assembly, a first swing assembly and a second swing assembly which are sequentially arranged from bottom to top. The first swing assembly is provided with a base connected with the top of the rotation assembly and a first swing seat capable of rotating around a first horizontal shaft relative to the base. The first swinging seat is matched with the base through an arc-shaped surface, and the relative movement of the first swinging seat and the base is driven by a first driving part to operate; the second swing assembly comprises a second swing seat capable of rotating around a second horizontal shaft relative to the first swing seat; the second swing seat and the first swing seat are matched through an arc-shaped surface, and the relative movement of the two is driven by a second driving part to operate; the controller is connected with the posture adjusting mechanism and can detect the pitch angle and the roll angle of the vehicle body in real time through the posture detecting unit.

Description

Technical Field

[0001] This invention relates to the field of harvester technology, and in particular to a grain harvester with multi-degree-of-freedom attitude adjustment and its control method. Background Technology

[0002] As a key agricultural piece of equipment that integrates harvesting, threshing, and cleaning, the combine harvester's operational stability and terrain adaptability directly affect harvesting efficiency, grain loss rate, and overall quality. Traditional combine harvesters typically use a rigid connection between the body and chassis, passively following the terrain's undulations. While this performs adequately on flat terrain, it reveals significant technical limitations in complex terrains with longitudinal, lateral, or combined slopes, such as hills, mountains, and terraced fields:

[0003] First, the vehicle's posture cannot be actively adjusted. Due to the rigid connection between the vehicle body and the chassis, the header cannot always maintain a parallel or preset optimal angle with the undulating ground, resulting in uneven stubble height, missed cuts, or the header scooping up soil, which seriously affects the harvesting quality and increases grain loss; driver comfort and operational safety decrease, and precision systems such as threshing and cleaning are also adversely affected, shortening the service life of the implements.

[0004] Secondly, existing attitude adjustment mechanisms suffer from a severe lack of freedom. Some solutions (such as patent CN 117616978 A) attempt to introduce a relative motion mechanism between the vehicle body and the chassis, such as superimposing a translation mechanism on a single-axle slewing bearing, to achieve yaw rotation or unidirectional translation of the vehicle body around a vertical axis. However, such solutions have limited adjustment dimensions and are difficult to meet the adjustment requirements of special working conditions.

[0005] Third, when the vehicle body actively adjusts its posture, the center of gravity shifts accordingly. If the effective support range of the chassis cannot expand synchronously, it will lead to the risk of rollover or longitudinal instability. Existing wheel-track hybrid travel solutions (such as the wheel-track quick-switching platform disclosed in CN113460179A) have achieved travel mode switching through hydraulic cylinder lifting wheel mechanisms, improving the chassis's ability to pass on different road surfaces. However, their design focus is concentrated on the travel mode itself, making it difficult to provide effective anti-rollover support during posture adjustment. Summary of the Invention

[0006] Purpose of the invention: In order to overcome the shortcomings of the prior art, the present invention provides a grain harvester and its control method that can meet the posture adjustment requirements of the harvester under complex working conditions and prevent the vehicle body from overturning due to center of gravity shift.

[0007] Technical solution: To achieve the above objectives, the present invention provides a grain harvester with multi-degree-of-freedom attitude adjustment, comprising a body, a chassis, a walking mechanism, an attitude adjustment mechanism, and a controller. The attitude adjustment mechanism is connected between the body and the chassis and is used to drive the body to perform three-dimensional attitude adjustment relative to the chassis.

[0008] The posture adjustment mechanism includes a rotary component, a first swing component, and a second swing component arranged sequentially from bottom to top;

[0009] The first swing assembly has a base connected to the top of the rotary assembly and a first swing seat that can rotate relative to the base about a first horizontal axis; the first swing seat and the base are engaged by an arc-shaped surface, and their relative movement is driven by a first driving component; specifically, the contact surface of the first swing seat facing the base is a convex arc surface, and the contact surface of the base facing the first swing seat is a concave arc surface that engages with the convex arc surface.

[0010] The second swing assembly includes a second swing seat capable of rotating relative to the first swing seat about a second horizontal axis; the second swing seat and the first swing seat are engaged by an arc-shaped surface, and their relative movement is driven by a second driving component; the contact surface of the second swing seat facing the first swing seat is a convex arc surface, and the contact surface of the first swing seat facing the second swing seat is a concave arc surface that engages with the corresponding convex arc surface; the first horizontal axis and the second horizontal axis are perpendicular to each other; thus, the attitude adjustment mechanism can realize the continuous rotational movement of the vehicle body about a vertical axis, the pitch swing about a first horizontal axis, and the lateral swing about a second horizontal axis;

[0011] The controller is connected to the attitude adjustment mechanism and can detect the pitch and roll angles of the vehicle body in real time through the attitude detection unit. The controller is configured to control the attitude adjustment mechanism based on preset control logic according to the pitch and roll angles to adjust the attitude of the vehicle body. In this solution, the first horizontal axis is in the left-right direction, and the operation of the first swing component can change the pitch angle of the vehicle body; the second horizontal axis is in the front-back direction, and the operation of the second swing component can change the roll angle of the vehicle body.

[0012] Furthermore, the traveling mechanism includes tracked traveling mechanisms located on the left and right sides of the vehicle body, and wheeled traveling mechanisms located on the front and rear sides of the vehicle body; the wheeled traveling mechanism includes a traveling wheel mechanism and an adjustment mechanism; the adjustment mechanism can drive the traveling wheel mechanism to rise and fall, and can also drive the traveling wheel mechanism to move laterally.

[0013] The controller can detect the ground clearance of the wheels in the walking wheel mechanism or the swing angle of the support arm through the height detection unit;

[0014] The controller can control the walking wheel mechanism to provide auxiliary support to the front, rear, or sides of the chassis based on the posture of the vehicle body.

[0015] Furthermore, the first driving component includes a first arc-shaped rack fixed on the first swing seat, a first worm gear rotatably mounted on the base, and a first drive motor that drives the first worm gear to rotate; the first worm gear and the first arc-shaped rack form a worm gear transmission pair; in order to achieve a circular arc-shaped mating surface, the base is characterized by being thick in the middle and thin on the left and right sides, and the first arc-shaped rack is part of a complete circular worm gear. Since it forms a worm gear transmission pair with the first worm gear, the first drive motor can be installed in the thicker part of the middle of the front or rear side of the base, which is convenient and firm to install.

[0016] The second driving component has the same structure as the first driving component, including a second arc-shaped rack fixed on the second swing seat, a second worm wheel rotatably mounted on the first swing seat, and a second driving motor that drives the second worm wheel to rotate; the second worm wheel and the second arc-shaped rack constitute a worm gear transmission pair.

[0017] Furthermore, the adjustment mechanism includes: a transverse guide rail arranged at the front or rear end of the chassis and extending in the left-right direction; a hinge block slider capable of sliding along the transverse guide rail; and a transverse drive assembly for driving the hinge block slider to reciprocate on the transverse guide rail; the adjustment mechanism also includes a support arm and a lifting hydraulic cylinder; one end of the support arm is hinged to the hinge block slider, and the other end is connected to the traveling wheel mechanism; the cylinder body end and the piston rod end of the lifting hydraulic cylinder are respectively hinged to the middle positions of the hinge block slider and the support arm. The support arm branches from a single column at the base to the end, forming a Y-shape. The single column end serves as a hinge and is mounted on the hinge block slider, while the forked end supports the walking wheel mechanism. The travel space of the single column portion of the support arm is located in the middle area between the two sets of track walking mechanisms, ensuring that the chassis does not become additionally wider in the lateral direction due to the arrangement of the adjustment mechanism. When the lifting hydraulic cylinder extends or retracts, the support arm rotates around its hinge point with the hinge block slider, driving the walking wheel mechanism to switch between the two extreme states of downward swing contact with the ground and upward swing off the ground.

[0018] Furthermore, the tracked wheel mechanism includes a support frame located in the middle, with a wheel arranged on each of the left and right sides of the support frame, and each wheel connected to the support frame via a shock absorber. In the supported state where the wheels are lowered and in contact with the ground, the shock absorber absorbs the vertical excitation from the ground, ensuring that the tracked tracked mechanism maintains contact with the ground.

[0019] Control methods for grain harvesters with multi-degree-of-freedom orientation adjustment as described above include:

[0020] Step S1: The controller collects the current pitch angle and roll angle of the vehicle body in real time through the attitude detection unit;

[0021] Step S2: The controller compares the collected pitch angle and roll angle with the preset target values ​​respectively, calculates the attitude deviation in each direction, and calculates the target amount of movement required for the first swing component and the second swing component in the attitude adjustment mechanism.

[0022] In step S3, the controller drives the attitude adjustment mechanism to operate, so that the attitude of the vehicle body is adjusted towards the target value; at the same time, the controller determines whether it is necessary to drive the wheeled walking mechanism in the walking mechanism to provide auxiliary support based on the current attitude deviation direction of the vehicle body, and drives the corresponding wheeled walking mechanism to adjust its position and lower it when needed, thereby expanding the effective support range of the chassis.

[0023] Furthermore, in step S3, when the roll angle of the vehicle body exceeds a preset roll threshold, the controller drives the wheeled walking mechanism on the side corresponding to the tilt direction to move laterally to the same side as the vehicle body tilt. The amount of lateral movement is proportional to the offset of the roll angle, and the walking wheel mechanism is lowered to make the wheels touch the ground, thereby expanding the effective lateral support width of the chassis. When the roll angle returns to within the threshold, the controller drives the walking wheel mechanism to lift and move laterally back to the initial position.

[0024] Furthermore, when the pitch angle of the vehicle body exceeds a preset pitch threshold, the controller drives the wheeled walking mechanism at the corresponding end of the vehicle body in the forward or backward tilting direction to lower to the ground, thereby expanding the effective support length of the chassis in the longitudinal direction and providing longitudinal auxiliary support; when the pitch angle returns to within the threshold, the controller drives the walking wheel mechanism at the corresponding end to rise to the storage position.

[0025] Furthermore, it also includes a road relocation step: when a road relocation command is received, the controller first drives the attitude adjustment mechanism to reset the vehicle body to a horizontal reference attitude where both the pitch angle and roll angle are zero, and drives the wheeled walking mechanism, which has already moved laterally, to move laterally back to its initial position; then the walking wheel mechanism is lowered to touch the ground, and the tracked walking mechanism is raised to lift it off the ground, switching to wheeled walking mode.

[0026] Beneficial effects: The grain harvester and its control method with multi-degree-of-freedom attitude adjustment of the present invention have the following beneficial effects:

[0027] (1) In this invention, by setting an attitude adjustment mechanism between the vehicle body and the chassis, and forming a closed-loop control system with the attitude detection unit and the controller, the vehicle body can actively adjust its attitude in the three dimensions of pitch, roll and yaw, overcoming the problems of poor ground contact of the cutting platform and unstable operation quality caused by the rigid connection between the vehicle body and the chassis, and effectively improving the harvester's adaptability and harvesting quality on slopes and complex plots.

[0028] (2) The worm gear drives the first swing seat and the second swing seat to move. By utilizing the reverse self-locking characteristic, the swing seat can still maintain the relative position with the mating parts after the power is cut off, which improves the safety of the posture adjustment mechanism under the condition of accidental power failure.

[0029] (3) The adjustment mechanism of the wheeled walking mechanism can drive the walking wheel mechanism to move independently in the two directions of lifting and lateral movement, so that the controller can actively control the position of the walking wheel mechanism according to the vehicle body posture. When the center of gravity shifts due to posture adjustment, the effective support range of the chassis can be expanded in the corresponding direction in time to achieve anti-overturning collaborative support. The wheeled walking mechanism can play a role in both field operations and highway transfer scenarios, improving the utilization rate.

[0030] (4) The control method of the present invention integrates the vehicle posture adjustment and chassis auxiliary support into the same control process, so that the posture adjustment mechanism and the wheel walking mechanism work together, avoiding the decrease in stability caused by the center of gravity shift when adjusting the vehicle posture separately, and improving the overall safety and posture adjustment accuracy of the harvester in complex terrain. Attached Figure Description

[0031] Figure 1 A three-dimensional structural diagram of a grain harvester with multi-degree-of-freedom orientation adjustment in its first state;

[0032] Figure 2 This is a side view of the first state of a grain harvester with multi-degree-of-freedom orientation adjustment.

[0033] Figure 3 This is a structural diagram of the attitude adjustment mechanism;

[0034] Figure 4 This is a perspective view of the attitude adjustment mechanism.

[0035] Figure 5 This is a bottom structural diagram of the chassis and running gear;

[0036] Figure 6 This is a diagram showing the lower half of the harvester during a relocation process.

[0037] Figure 7 A side view of the lower half of the harvester when the wheeled walking mechanism is being supported;

[0038] Figure 8A bottom-view diagram of the lower half of the harvester when the wheeled walking mechanism is being supported.

[0039] In the diagram: 1-Body; 2-Chassis; 3-Traveling mechanism; 31-Crawler traveling mechanism; 32-Wheel traveling mechanism; 321-Traveling wheel mechanism; 322-Adjusting mechanism; 32a-Transverse guide rail; 32b-Hinge block slider; 32c-Transverse drive assembly; 32d-Lifting hydraulic cylinder; 32e-Support arm; 32f-Support frame; 32g-Wheel; 32h-Shock absorber; 32i-Electronic differential; 32j-Telescopic universal joint; 32k-Drive shaft; 4-Attitude adjustment mechanism; 41-Slewing assembly; 42-First swing assembly; 421-Base; 422-First swing seat; 423-First arc rack; 424-First worm gear; 425-First drive motor; 43-Second swing assembly; 431-Second swing seat; 432-Second worm gear; 433-Second arc rack; 434-Second drive motor. Detailed Implementation

[0040] The invention will now be further described with reference to the accompanying drawings.

[0041] like Figure 1 and Figure 2 The grain harvester shown is capable of multi-degree-of-freedom attitude adjustment and includes a body 1, a chassis 2, a walking mechanism 3, an attitude adjustment mechanism 4, and a controller. The attitude adjustment mechanism 4 is connected between the body 1 and the chassis 2 and is used to drive the body 1 to perform three-dimensional attitude adjustment relative to the chassis 2.

[0042] like Figure 3 and Figure 4 The posture adjustment mechanism 4 shown includes a rotary component 41, a first swing component 42, and a second swing component 43 arranged sequentially from bottom to top;

[0043] The first swing assembly 42 has a base 421 connected to the top of the rotary assembly 41 and a first swing seat 422 that can rotate relative to the base 421 about a first horizontal axis; the first swing seat 422 and the base 421 are engaged by an arc-shaped surface, and their relative movement is driven by a first driving component; specifically, the contact surface of the first swing seat 422 facing the base 421 is a convex arc surface, and the contact surface of the base 421 facing the first swing seat 422 is a concave arc surface that engages with the convex arc surface.

[0044] The second swing assembly 43 includes a second swing seat 431 that can rotate relative to the first swing seat 422 about a second horizontal axis; the second swing seat 431 and the first swing seat 422 are engaged by an arc-shaped surface, and their relative movement is driven by a second driving component. The contact surface of the second swing seat 431 facing the first swing seat 422 is a convex arc surface, and the contact surface of the first swing seat 422 facing the second swing seat 431 is a concave arc surface that engages with the corresponding convex arc surface; the first horizontal axis and the second horizontal axis are perpendicular to each other; thus, the attitude adjustment mechanism 4 can realize the continuous rotational movement of the vehicle body 1 about the vertical axis, the pitch swing about the first horizontal axis, and the lateral swing about the second horizontal axis;

[0045] The controller is connected to the attitude adjustment mechanism 4 and can detect the pitch angle and roll angle of the vehicle body 1 in real time through the attitude detection unit. The controller is configured to control the operation of the attitude adjustment mechanism 4 based on the pitch angle and roll angle and a preset control logic to adjust the attitude of the vehicle body 1.

[0046] In this embodiment, the first horizontal axis is in the left-right direction, and the operation of the first swing component 42 can change the pitch angle of the vehicle body 1; the second horizontal axis is in the front-back direction, and the operation of the second swing component 43 can change the roll angle of the vehicle body 1. The pitch swing angle range of the vehicle body 1 around the first horizontal axis is ±15°, and the roll swing angle range around the second horizontal axis is ±8°. The attitude detection unit uses an industrial-grade dual-axis MEMS (Micro-Electro-Mechanical Systems) inertial measurement unit (IMU), which integrates a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer. This IMU is installed in a protective box near the center of gravity of the six main beams of the vehicle body to reduce vibration interference. It outputs the fused pitch and roll angle data to the controller at a frequency of 100 Hz via RS485 or CAN bus, with a static accuracy better than 0.1° and dynamic response performance meeting the vehicle motion requirements.

[0047] The controller employs an embedded control system based on an automotive-grade microprocessor. Its core hardware includes: a main control MCU, multiple CAN bus interfaces, analog input modules, digital input / output modules, and a power drive module for driving servo motors and proportional valves. All circuit designs meet the vibration, temperature, dustproof, and waterproof requirements of agricultural machinery.

[0048] This invention, by setting an attitude adjustment mechanism 4 between the vehicle body 1 and the chassis 2, and forming a closed-loop control system with an attitude detection unit and a controller, enables the vehicle body 1 to actively adjust its attitude in three dimensions: pitch, roll, and yaw. This overcomes the problems of poor ground contact of the cutter and unstable operation quality caused by the rigid connection between the vehicle body and the chassis, and effectively improves the harvester's adaptability and harvesting quality on slopes and complex terrain.

[0049] Preferably, the walking mechanism 3 includes tracked walking mechanisms 31 disposed on the left and right sides of the vehicle body 1, and wheeled walking mechanisms 32 disposed on the front and rear sides of the vehicle body 1; the wheeled walking mechanism 32 includes a walking wheel mechanism 321 and an adjustment mechanism 322; the adjustment mechanism 322 can drive the walking wheel mechanism 321 to rise and fall on the one hand, and drive the walking wheel mechanism 321 to move laterally on the other hand.

[0050] The controller can control the walking wheel mechanism 321 to provide auxiliary support to the front, rear or side of the chassis 2 based on the posture of the vehicle body 1.

[0051] The adjustment mechanism 322 of the wheeled walking mechanism 32 can drive the walking wheel mechanism 321 to move independently in both lifting and lateral directions, so that the controller can actively control the position of the walking wheel mechanism 321 according to the posture of the vehicle body 1. When the center of gravity shifts due to posture adjustment, the effective support range of the chassis 2 can be expanded in the corresponding direction in time to achieve anti-tipping collaborative support. The wheeled walking mechanism 32 can play a role in both field operations and highway transfer scenarios, improving utilization.

[0052] Preferably, the first driving component includes a first arc-shaped rack 423 fixed on the first swing seat 422, a first worm gear 424 rotatably mounted on the base 421, and a first drive motor 425 that drives the first worm gear 424 to rotate. The first worm gear 424 and the first arc-shaped rack 423 form a worm gear transmission pair. In order to achieve a circular arc-shaped mating surface, the base 421 has the characteristics of being thick in the middle and thin on the left and right sides. The first arc-shaped rack 423 is part of a complete circular worm gear. Since it forms a worm gear transmission pair with the first worm gear 424, the first drive motor 425 can be installed in the thicker part of the middle of the front or rear side of the base 421, which is convenient and firm to install.

[0053] The second driving component has the same structure as the first driving component, including a second arc-shaped rack 433 fixed on the second swing seat 431, a second worm gear 432 rotatably mounted on the first swing seat 422, and a second driving motor 434 that drives the second worm gear 432 to rotate; the second worm gear and the second arc-shaped rack 433 constitute a worm gear transmission pair, and the second worm gear and the second arc-shaped rack 433 can also be replaced by incomplete worm gears and worms respectively.

[0054] The aforementioned worm gear scheme has a reverse self-locking characteristic, which enables the swing seat to maintain its relative position with the mating parts after power failure, thereby improving the safety of the attitude adjustment mechanism 4 under unexpected power failure conditions.

[0055] like Figure 5As shown, the adjustment mechanism 322 includes: a transverse guide rail 32a arranged at the front or rear end of the chassis 2 and extending in the left-right direction; a hinge block slider 32b capable of sliding along the transverse guide rail 32a; and a transverse drive assembly 32c that drives the hinge block slider 32b to reciprocate on the transverse guide rail 32a; the adjustment mechanism 322 also includes a support arm 32e and a lifting hydraulic cylinder 32d; one end of the support arm 32e is hinged to the hinge block slider 32b, and the other end is connected to the traveling wheel mechanism 321; the cylinder end and the piston end of the lifting hydraulic cylinder 32d are respectively hinged to the middle positions of the hinge block slider 32b and the support arm 32e. The support arm 32e branches from a single column at the base to the end, forming a Y-shape. The single column end serves as a hinge end, which is attached to the hinge block slider 32b. The forked end supports the traveling wheel mechanism 321. The travel space of the single column portion of the support arm 32e is located in the middle area between the two sets of track traveling mechanisms 31, so that the chassis 2 is not additionally widened in the lateral direction due to the arrangement of the adjustment mechanism 322. When the lifting hydraulic cylinder 32d extends or retracts, the support arm 32e rotates around its hinge point with the hinge block slider 32b, driving the traveling wheel mechanism 321 to switch between the two extreme states of lowering to the ground and raising off the ground.

[0056] The hinge block slider 32b integrates the lateral movement and lifting drive units on the same mounting base. The lateral movement drive component 32c is responsible for horizontal displacement, and the lifting hydraulic cylinder 32d is responsible for vertical attitude change. The force paths of the two are independent and do not interfere with each other. The single column root of the Y-shaped support arm 32e passes between the two sets of track walking mechanisms 31, ensuring the load-bearing rigidity of the auxiliary support without increasing the lateral profile of the chassis 2.

[0057] The controller can detect the ground clearance of the wheel 32g or the swing angle of the support arm 32e through a height detection unit. In this embodiment, a wire-type displacement sensor is installed near the rotation hinge point of each support arm 32e as a height detection unit. The sensor body is fixed to the bracket of the chassis 2, and the wire end is connected to a specific hole in the support arm 32e. When the hydraulic rod drives the support arm 32e to rotate, the wire is pulled out or retracted, thereby accurately measuring the relative displacement between the hinge points and converting it into the ground clearance of the wheel 32g through geometric relationships. The sensor resolution can reach 0.05 mm, the linearity accuracy is ±0.1%, and the signal is output in 4-20mA analog form.

[0058] Preferably, the tracked vehicle mechanism 321 includes a support frame 32f located in the middle, with a wheel 32g arranged on each of the left and right sides of the support frame 32f. Each wheel 32g is connected to the support frame 32f via a shock absorber 32h. When the wheels 32g are in a supported state with their contact with the ground, the shock absorbers 32h absorb the vertical excitation from the ground, maintaining the tracked vehicle mechanism 31 in contact with the ground. The shock absorbers 32h absorb the instantaneous vertical impact received by the wheels 32g with elastic displacement, preventing the impact force from being directly transmitted to the chassis 2 via the support frame 32f, and preventing the tracked vehicle mechanism 31 from being suspended in the air and the traction force from being interrupted when the chassis 2 is briefly lifted.

[0059] The chassis 2 has a built-in power distribution switching device. This device establishes power transmission connections with both the tracked walking mechanism 31 and the wheeled walking mechanism 32, and can switch power on / off between them. When the harvester is in field operation mode, the power distribution switching device directs driving force only to the tracked walking mechanism 31. At this time, the wheel mechanism 321, which is in a lowered, ground-contact state, does not receive driving input, and its wheels 32g passively follow the movement of the implement. When the harvester switches to a road transport mode, the wheel mechanism 321 lowers its support, the tracked walking mechanism 31 rises off the ground, and the power distribution switching device disconnects the power link with the tracked walking mechanism 31, instead outputting driving force to the wheeled walking mechanism 32. The power distribution switching device achieves mutually exclusive power output between the tracked walking mechanism 31 and the wheeled walking mechanism 32, avoiding transmission interference caused by simultaneous output.

[0060] The wheeled walking mechanism 32 also includes an electronic differential 32i. The input end of the electronic differential 32i is connected to the power distribution switching device via a telescopic universal joint 32j, and its two output ends are respectively connected to the left and right wheels 32g of the same group via a drive shaft 32k. The controller outputs a differential signal to the electronic differential 32i, causing a speed difference between the left and right wheels 32g, thereby realizing steering and turning actions during the transfer process. The telescopic universal joint 32j is set to compensate for the relative displacement changes between the walking wheel mechanism 321 and the power distribution switching device when the lifting hydraulic cylinder 32d is activated.

[0061] Control methods for grain harvesters with multi-degree-of-freedom orientation adjustment as described above include:

[0062] In step S1, the controller acquires the current pitch angle α and roll angle β of the vehicle body 1 in real time through the attitude detection unit; in addition, the controller also acquires the height data of the wheel 32g through the height detection unit; subsequently, the raw data is digitally filtered (e.g., using a first-order low-pass filter or a Kalman filter) to suppress high-frequency noise and short-term impact interference, thereby obtaining a stable attitude signal α for control. f ,β f And altitude signals.

[0063] Step S2, the controller compares the collected pitch angle α and roll angle β with the preset target value α. target and β target Compare them separately and calculate the attitude deviation e in each direction. α = α f - α target and e β = β f - β target And based on this, calculate the target amount of motion required for each of the first swing component 42 and the second swing component 43 in the posture adjustment mechanism 4; specifically, if |e α |or| e β If the deviation exceeds the dead zone threshold (e.g., 0.3°), the adjustment process begins. Based on the magnitude and rate of change of the deviation, the controller uses a PID control algorithm to calculate the theoretical adjustment ΔX required for the first oscillation component 42 (X-axis) and the second oscillation component 43 (Y-axis). cmd ΔY cmd .

[0064] In step S3, the controller drives the attitude adjustment mechanism 4 to operate, so that the attitude of the vehicle body 1 is adjusted towards the target value; at the same time, the controller determines whether it is necessary to drive the wheeled walking mechanism 32 in the walking mechanism 3 for auxiliary support based on the current attitude deviation direction of the vehicle body 1, and drives the corresponding wheeled walking mechanism 32 to adjust its position and lower it when needed, thereby expanding the effective support range of the chassis 2.

[0065] In addition, the operator can manually adjust the position and posture of the vehicle body 1 through the human-machine interface. The controller reads the target pitch angle, roll angle or slewing angle set on the human-machine interface and directly calculates it into the target position command of each drive component.

[0066] Controller 8 according to motion control command (ΔX) cmd ΔY cmd The signal is sent to the corresponding servo motor driver via the CAN bus. The driver controls the precise movement of the motor, which in turn drives the attitude adjustment mechanism 4.

[0067] The control method of the present invention integrates the attitude adjustment of the vehicle body 1 and the auxiliary support of the chassis 2 into the same control process, so that the attitude adjustment mechanism 4 and the wheel walking mechanism 32 work together, avoiding the decrease in stability caused by the center of gravity shift when adjusting the attitude of the vehicle body 1 alone, and improving the overall safety and attitude adjustment accuracy of the harvester in complex terrain.

[0068] Preferably, in step S3, when the roll angle of the vehicle body 1 exceeds a preset roll threshold, the controller drives the wheeled walking mechanism 32 on the side corresponding to the tilt direction to move laterally to the same side as the vehicle body 1, the amount of lateral movement being proportional to the offset of the roll angle, and lowers the walking wheel mechanism 321 so that the wheels 32g touch the ground, thereby expanding the effective lateral support width of the chassis 2, such as... Figure 7 and Figure 8 As shown; when the tilt angle recovers to within the threshold, the controller drives the walking wheel mechanism 321 to lift and move laterally back to the initial position.

[0069] Preferably, when the pitch angle of the vehicle body 1 exceeds a preset pitch threshold, the controller drives the wheeled walking mechanism 32 at the corresponding end of the vehicle body 1 in the forward or backward tilting direction to lower to the ground, so as to expand the effective support length of the chassis 2 in the longitudinal direction and provide longitudinal auxiliary support; when the pitch angle returns to within the threshold, the controller drives the walking wheel mechanism 321 at the corresponding end to rise to the storage position.

[0070] Preferably, the system also includes a road relocation step: upon receiving a road relocation command, the controller first drives the attitude adjustment mechanism 4 to reset the vehicle body 1 to a horizontal reference posture where both the pitch and roll angles are zero, and drives the wheeled walking mechanism 32, which has already undergone lateral movement, to laterally move back to its initial position; then, the walking wheel mechanism 321 is lowered to touch the ground, and the tracked walking mechanism 31 is raised to lift it off the ground, switching to wheeled walking mode, as shown below. Figure 6 As shown.

[0071] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A grain harvester with multi-degree-of-freedom attitude adjustment, comprising a body (1), a chassis (2), a walking mechanism (3), an attitude adjustment mechanism (4), and a controller, wherein the attitude adjustment mechanism (4) is connected between the body (1) and the chassis (2); characterized in that: The posture adjustment mechanism (4) includes a rotary component (41), a first swing component (42), and a second swing component (43) arranged sequentially from bottom to top. The first swing assembly (42) has a base (421) connected to the top of the rotary assembly (41) and a first swing seat (422) that can rotate relative to the base (421) about a first horizontal axis; the first swing seat (422) and the base (421) are engaged by an arc surface, and their relative movement is driven by a first driving component. The second swing assembly (43) includes a second swing seat (431) that can rotate about a second horizontal axis relative to the first swing seat (422); the second swing seat (431) and the first swing seat (422) are engaged by an arc-shaped surface, and their relative movement is driven by a second driving component; the first horizontal axis and the second horizontal axis are perpendicular to each other; The controller is connected to the attitude adjustment mechanism (4) and can detect the pitch angle and roll angle of the vehicle body (1) in real time through the attitude detection unit; the controller is configured to control the operation of the attitude adjustment mechanism (4) based on the pitch angle and roll angle and a preset control logic to adjust the attitude of the vehicle body (1).

2. The grain harvester with multi-degree-of-freedom attitude adjustment according to claim 1, characterized in that, The walking mechanism (3) includes tracked walking mechanisms (31) located on the left and right sides of the vehicle body (1) and wheeled walking mechanisms (32) located on the front and rear sides of the vehicle body (1); the wheeled walking mechanism (32) includes a walking wheel mechanism (321) and an adjustment mechanism (322); the adjustment mechanism (322) can drive the walking wheel mechanism (321) to rise and fall on the one hand, and drive the walking wheel mechanism (321) to move laterally on the other hand. The controller can detect the ground clearance of the wheel (32g) or the swing angle of the support arm (32e) in the walking wheel mechanism (321) through the height detection unit; The controller can control the walking wheel mechanism (321) to provide auxiliary support to the front, rear or side of the chassis (2) based on the posture of the vehicle body (1).

3. The grain harvester with multi-degree-of-freedom attitude adjustment according to claim 1, characterized in that, The first driving component includes a first arc-shaped rack (423) fixed on the first swing seat (422), a first worm gear (424) rotatably mounted on the base (421), and a first drive motor (425) that drives the first worm gear (424) to rotate; the first worm gear (424) and the first arc-shaped rack (423) constitute a worm gear transmission pair; The second driving component includes a second arc-shaped rack (433) fixed on the second swing seat (431), a second worm gear rotatably mounted on the first swing seat (422), and a second drive motor (434) that drives the second worm gear to rotate; the second worm gear and the second arc-shaped rack (433) constitute a worm gear transmission pair.

4. The grain harvester with multi-degree-of-freedom attitude adjustment according to claim 2, characterized in that, The adjustment mechanism (322) includes: a transverse guide rail (32a) arranged at the front or rear end of the chassis (2) and extending in the left-right direction; a hinge block slider (32b) capable of sliding along the transverse guide rail (32a); and a transverse drive assembly (32c) that drives the hinge block slider (32b) to reciprocate on the transverse guide rail (32a); the adjustment mechanism (322) also includes a support arm (32e) and a lifting hydraulic cylinder (32d); one end of the support arm (32e) is hinged to the hinge block slider (32b), and the other end is connected to the walking wheel mechanism (321); the cylinder end and the piston end of the lifting hydraulic cylinder (32d) are respectively hinged to the middle position of the hinge block slider (32b) and the support arm (32e).

5. The grain harvester with multi-degree-of-freedom attitude adjustment according to claim 2, characterized in that, The walking wheel mechanism (321) includes a support frame (32f) located in the middle, and a wheel (32g) is arranged on each of the left and right sides of the support frame (32f). Each wheel (32g) is connected to the support frame (32f) via a shock absorber (32h).

6. A control method for a grain harvester with multi-degree-of-freedom attitude adjustment as described in any one of claims 1 to 5, characterized in that, include: Step S1, the controller collects the current pitch angle and roll angle of the vehicle body (1) in real time through the attitude detection unit; Step S2, the controller compares the collected pitch angle and roll angle with the preset target values ​​respectively, calculates the attitude deviation in each direction, and calculates the target amount of movement required for the first swing component (42) and the second swing component (43) in the attitude adjustment mechanism (4); Step S3, the controller drives the attitude adjustment mechanism (4) to operate, so that the attitude of the vehicle body (1) is adjusted toward the target value; At the same time, the controller determines whether it is necessary to drive the wheeled walking mechanism (32) in the walking mechanism (3) for auxiliary support based on the current posture deviation direction of the vehicle body (1), and drives the corresponding wheeled walking mechanism (32) to adjust its position and lower it when needed, thereby expanding the effective support range of the chassis (2).

7. The control method according to claim 6, characterized in that, In step S3, when the roll angle of the vehicle body (1) exceeds the preset roll threshold, the controller drives the wheeled walking mechanism (32) on the side corresponding to the tilt direction to move laterally to the same side of the vehicle body (1) tilted. The amount of lateral movement is proportional to the offset of the roll angle, and the walking wheel mechanism (321) is lowered so that the wheels (3212) touch the ground to expand the effective lateral support width of the chassis (2). When the roll angle returns to within the threshold, the controller drives the walking wheel mechanism (321) to lift and move laterally back to the initial position.

8. The control method according to claim 6, characterized in that, When the pitch angle of the vehicle body (1) exceeds the preset pitch threshold, the controller drives the wheeled walking mechanism (32) at the corresponding end of the vehicle body (1) to lower to the ground state in order to expand the effective support length of the chassis (2) in the longitudinal direction and provide longitudinal auxiliary support; when the pitch angle returns to within the threshold, the controller drives the walking wheel mechanism (321) at the corresponding end to rise to the storage position.

9. The control method for a grain harvester with multi-degree-of-freedom attitude adjustment according to claim 6, characterized in that, It also includes a road relocation step: when a road relocation command is received, the controller first drives the attitude adjustment mechanism (4) to reset the vehicle body (1) to a horizontal reference attitude where both the pitch angle and roll angle are zero, and drives the wheeled walking mechanism (32) that has already moved laterally to move laterally back to the initial position; then the walking wheel mechanism (321) is lowered to touch the ground, and the tracked walking mechanism (31) is raised to lift it off the ground and switch to wheeled walking state.

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