Small corn harvester suitable for self-adaptive leveling of vehicle body in hilly and mountainous regions

Abstract

The utility model discloses a small corn harvester suitable for self-adaptive leveling of a vehicle body in hills and mountains, which comprises a chassis main body, the chassis main body is provided with a vehicle frame, the vehicle frame is connected with a master control box and a corn harvesting device, and a control system is arranged in the master control box; a front wheel profiling device is arranged at the front end of the frame, a lower connecting rod of the front wheel profiling device and an upper connecting rod of the profiling device are arranged in parallel, and the centers are hinged to the frame. A rear wheel posture adjusting device is arranged at the rear end of the frame, a tilt angle sensor of the rear wheel posture adjusting device is installed on a frame body, and a PID control module calculates the height difference value, needing to be adjusted, of a rear wheel according to signals of the tilt angle sensor, controls an electromagnetic valve to act and drives a hydraulic cylinder to adjust the height of the rear wheel. By means of the rear wheel posture adjusting device and the front wheel profiling device, it can be guaranteed that the machine body is always kept horizontal and stable in the complex and changeable terrain, and therefore the operation efficiency and safety are greatly improved.

Description

Technical Field

[0001] This utility model relates to the field of agricultural machinery technology, and in particular to a small corn harvester with adaptive vehicle leveling suitable for hilly and mountainous terrain. Background Technology

[0002] The complex and varied terrain of hilly and mountainous areas, with small, irregularly shaped fields and undulating slopes, presents significant challenges for agricultural machinery operations. Traditional corn harvesters are often not adequately designed for these complex terrains. Consequently, when operating in hilly and mountainous areas, problems such as instability and machine tilting frequently lead to low efficiency, inconsistent harvest quality, and in extreme cases, machine damage, increasing farmers' maintenance costs and operational risks. Therefore, a small, single-row corn harvester with adaptive posture adjustment capabilities is needed to address the harvesting challenges in hilly and mountainous terrain.

[0003] For example, Chinese invention patent CN117378363A discloses a leveling chassis for a small corn harvester in mountainous and hilly areas that combines active and passive leveling. To overcome the problems of traditional corn harvesters being unable to operate in small mountainous areas, or even if they do operate, the internal threshing and cleaning system's performance deteriorates when the vehicle is tilted, potentially leading to rollover risks, the chassis includes an upper frame, a lower frame, a front leveling assembly, a rear leveling assembly, and a rear wheel (14) tilting steering assembly. This harvester chassis has both active and passive leveling systems. When encountering small potholes, the passive leveling system operates quickly and requires no control. When encountering long, steep slopes, the three-support-point active leveling system starts working, leveling the harvester body through the extension and retraction of pistons in the pneumatic and hydraulic cylinders. Its problems include:

[0004] 1. The leveling mechanism has limitations. Although it can handle small potholes and long slopes, it is difficult to meet the operational requirements when dealing with extreme terrain conditions such as overly steep or unstable ground.

[0005] 2. Passive leveling relies on gas damping and damping springs, which has a slow response speed and limited adjustment accuracy; active leveling requires the action of hydraulic cylinders and air cylinders, which has a longer response time. Utility Model Content

[0006] To solve the above-mentioned technical problems, this utility model designs a small corn harvester with adaptive leveling of the machine body suitable for hilly and mountainous terrain. Through the rear wheel attitude adjustment device and the front wheel contouring device, it can ensure that the machine body always maintains horizontal stability in complex and ever-changing terrain, thereby greatly improving operating efficiency and safety.

[0007] A small corn harvester with adaptive leveling for hilly terrain includes a chassis body, a frame on the chassis body, and a main control box and a corn harvesting device connected to the frame.

[0008] The main control box is connected to the vehicle frame by welding, and the corn harvesting device is connected to the vehicle frame by bolts. The main control box contains a control system.

[0009] The front end of the frame is equipped with a front wheel contouring device, which includes a front wheel, a lower contouring device link, an upper contouring device link, and an adjusting connector. The lower and upper contouring device links are arranged parallel to each other, and both ends of the lower and upper contouring device links are connected to the adjusting connector via pin hinges. The centers of the lower and upper contouring device links are respectively hinged to the frame. The front wheel is connected to the adjusting connector via the front wheel axle. The rear wheel is connected to the rear wheel attitude adjustment device via the rear wheel axle.

[0010] The rear end of the frame is equipped with a rear wheel attitude adjustment device, which includes a tilt sensor, a PID control module, a solenoid valve, and a hydraulic cylinder. The tilt sensor is mounted on the frame body to detect the vehicle's attitude in real time. The PID control module calculates the required height difference adjustment for the rear wheels based on the tilt sensor signal, controls the solenoid valve to actuate, and thus drives the hydraulic cylinder to adjust the height of the rear wheels. This improves the lateral stability of the implement when operating on slopes and prevents rollover.

[0011] When the front wheels encounter a slope, and the left and right front wheels are at different heights, the lower and upper links of the contouring device will rotate relative to the frame around their respective centers. This allows the front wheel contouring device to automatically adjust the angle between the two front wheels according to the terrain changes, achieving a smooth transition and avoiding frame bumps and rollovers.

[0012] The tilt sensor is a dual-axis tilt sensor capable of detecting the vehicle's roll angle, providing comprehensive vehicle attitude information to the PID control module. The PID control module can adjust the rear wheels based on real-time detected vehicle attitude and terrain changes, ensuring accurate and timely rear wheel leveling. The control system includes a fault self-diagnosis module that monitors the operating status of each component in real time and issues an alarm when a fault occurs, ensuring the safe operation of the equipment.

[0013] As a further improvement to this technical solution:

[0014] The hydraulic cylinder consists of a hydraulic cylinder push rod and a hydraulic cylinder barrel. The hydraulic cylinder push rod is connected to the vehicle frame via a pin hinge, and the hydraulic cylinder barrel is connected to the wheel rotation device via a pin hinge. The vehicle body tilt sensor is fixed to the vehicle frame by welding.

[0015] The control system is equipped with a remote monitoring module, which transmits data with a remote monitoring center via wireless communication. This setup enables remote monitoring, fault diagnosis, and parameter adjustment, thereby improving the machine's intelligence level.

[0016] The rear wheels are driven by a single-cylinder diesel engine.

[0017] The vehicle frame is provided with a front wheel frame and a rear wheel frame. The front wheel is connected to the bottom of the front wheel frame and the corn harvesting device is connected to the top of the front wheel frame from the front end to the rear end. The rear wheel is connected to the bottom of the rear wheel frame and the main control box is connected to the top of the rear wheel frame.

[0018] The rear wheel frame is equipped with a handrail on the rearward side, and the main control box is located on the side of the rear wheel frame facing the handrail.

[0019] Both the front and rear wheels are high-grip wheels. The chassis has a compact main structure and a low center of gravity design. The single-cylinder diesel engine is located on the rear side of the front wheel frame, which improves the machine's stability and passability in complex terrain.

[0020] It is made of welded steel pipes.

[0021] The front wheel contouring device, with its lower and upper connecting rods and two adjusting connectors, adopts a parallelogram mechanism design. It is mounted on the front of the chassis body via a central hinge of the lower and upper connecting rods. When the slope angles on the left and right front wheels are different, the terrain changes cause the lower and upper connecting rods to rotate around the center, thereby automatically adjusting the front wheel angle and realizing the slope contouring function, further enhancing the stability of the machine.

[0022] The control system integrates signals from the tilt sensor, PID control module, solenoid valve, and hydraulic cylinder to achieve precise control and ensure stable operation of the machine in complex terrain.

[0023] Compared with the prior art, the beneficial effects of the present invention are:

[0024] 1. The rear wheels adopt a rear wheel attitude adjustment device, which adjusts the attitude separately to better adapt to complex terrain and improve the stability of the operation process.

[0025] 2. The front wheel contouring device allows the front wheel to adjust and level as needed. During the rear wheel posture adjustment process, when the slope angles on both sides of the left and right front wheels are different, the terrain changes cause the lower and upper connecting rods of the contouring device to rotate around the center. As a result, the front wheel adjusts and levels itself according to the terrain changes. Both the front and rear wheels can be posture adjusted, improving the shape adjustment effect and increasing work efficiency.

[0026] 3. The tilt sensor is used to perceive the terrain, and PID automatic control is used to achieve adaptive attitude adjustment. Attached Figure Description

[0027] Figure 1 The overall structural diagram of a small corn harvester with adaptive leveling for hilly terrain;

[0028] Figure 2 A schematic diagram of the front wheel contouring device for a small corn harvester with adaptive leveling for hilly terrain;

[0029] Figure 3 The result of the rear wheel attitude adjustment device for a small corn harvester with adaptive leveling for hilly terrain is shown in the figure.

[0030] Figure 4 A schematic diagram illustrating the rear wheel attitude adjustment of a small corn harvester with adaptive leveling for hilly terrain.

[0031] Figure 5 Control flowchart for a small corn harvester with adaptive leveling for hilly terrain;

[0032] Explanation of reference numerals in the attached drawings: 1. Main control box; 2. Corn harvesting device; 3. Front wheel contouring device; 4. Front wheel axle; 5. Rear wheel attitude adjustment device; 6. Rear wheel axle; 7. Lower connecting rod of contouring device; 8. Upper connecting rod of contouring device; 9. Adjusting connector; 10. Front wheel; 11. Frame; 12. Hydraulic cylinder push rod; 13. Hydraulic cylinder barrel; 14. Rear wheel; 15. Vehicle body tilt sensor. Detailed Implementation

[0033] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings.

[0034] See Figure 1 This utility model discloses a small corn harvester with adaptive leveling for hilly and mountainous terrain, which consists of a chassis body, a frame 11 provided on the chassis body, and a main control box 1 and a corn harvesting device 2 connected to the frame 11.

[0035] The front end of the frame 11 is provided with a front wheel contouring device 3, and the rear end of the frame 11 is provided with a rear wheel attitude adjustment device 5.

[0036] The main control box 1 is connected to the frame 11 by welding, the corn harvesting device 4 is connected to the frame 11 by bolts, the corn harvesting device 2 is connected to the frame 11 by welding, and the main control box 1 is equipped with a control system.

[0037] See Figure 1 , Figure 2It is known that the front end of the frame 11 is provided with a front wheel contouring device 3, which includes a front wheel 10, a lower contouring device link 7, an upper contouring device link 8, and an adjusting connector 9. The lower contouring device link 7 and the upper contouring device link 8 are arranged in parallel. Both ends of the lower contouring device link 7 and the upper contouring device link 8 are connected to the adjusting connector 9 by means of pin hinges. The centers of the lower contouring device link 7 and the upper contouring device link 8 are respectively hinged to the frame 11. The front wheel 10 is connected to the adjusting connector 9 through the front wheel axle 4. The rear wheel 14 is connected to the rear wheel attitude adjustment device 5 through the rear wheel axle 6.

[0038] See Figure 1 , Figure 3 , Figure 4 It is known that the rear end of the frame 11 is equipped with a rear wheel attitude adjustment device 5. The rear wheel attitude adjustment device 5 includes a tilt sensor, a PID control module, a solenoid valve, and a hydraulic cylinder. The tilt sensor is installed on the main body of the frame 11 to detect the vehicle's attitude in real time. The PID control module calculates the height difference that the rear wheel 14 needs to be adjusted based on the signal from the tilt sensor, controls the solenoid valve to actuate, and thus drives the hydraulic cylinder to adjust the height of the rear wheel 14. This improves the lateral stability of the implement when working on slopes and prevents rollover.

[0039] When the left and right front wheels are at different heights, the lower connecting rod 7 and the upper connecting rod 8 of the contouring device will rotate relative to the frame 11 around their respective centers, so that the front wheel contouring device 3 can automatically adjust the angle between the two wheels of the front wheel 10 according to the terrain changes, achieve a smooth transition, and avoid the frame 11 from bumping and tipping over.

[0040] The tilt sensor is a dual-axis tilt sensor capable of detecting the vehicle's roll angle, providing comprehensive vehicle attitude information to the PID control module. The PID control module can adjust the rear wheels 14 based on real-time detected vehicle attitude and terrain changes, ensuring the accuracy and timeliness of rear wheel leveling. The control system includes a fault self-diagnosis module that monitors the operating status of each component in real time and issues an alarm when a fault occurs, ensuring the safe operation of the equipment.

[0041] The hydraulic cylinder includes a hydraulic cylinder push rod 12 and a hydraulic cylinder barrel 13. The hydraulic cylinder push rod 12 is connected to the vehicle frame 11 by a pin hinge, and the hydraulic cylinder barrel 13 is connected to the wheel rotation device by a pin hinge. The vehicle body tilt sensor 15 is fixed to the vehicle frame 11 by welding.

[0042] The control system is equipped with a remote monitoring module, which transmits data with a remote monitoring center via wireless communication. This setup enables remote monitoring, fault diagnosis, and parameter adjustment, thereby improving the machine's intelligence level.

[0043] The rear wheel 14 is driven by a single-cylinder diesel engine.

[0044] The frame 11 is provided with a front wheel frame and a rear wheel frame. The bottom of the front wheel frame is connected to the front wheel 10, and the top of the front wheel frame is connected to the corn harvesting device 2 from the front end to the rear end. The bottom of the rear wheel frame is connected to the rear wheel 14, and the top of the rear wheel frame is connected to the main control box 1.

[0045] The rear wheel frame is provided with a handrail on the rear side, and the main control box 1 is located on the side of the rear wheel frame facing the handrail.

[0046] Both the front wheel 10 and the rear wheel 14 are high-grip wheels. The main chassis structure is compact and adopts a low center of gravity design. The single-cylinder diesel engine is placed on the rear side of the front wheel frame to improve the stability and passability of the machine in complex terrain.

[0047] It is made of welded steel pipes.

[0048] The front wheel contouring device 3, the lower connecting rod 7 and the upper connecting rod 8 of the contouring device, and the two adjusting connecting parts 9 adopt a parallelogram mechanism design. They are installed at the front of the chassis body through the central hinge of the lower connecting rod 7 and the upper connecting rod 8 of the contouring device. When the slope angles on both sides of the left and right front wheels are different, the terrain changes cause the lower connecting rod 7 and the upper connecting rod 8 of the contouring device to rotate around the center, thereby automatically adjusting the angle of the front wheel 10, realizing the slope contouring function, and further enhancing the stability of the machine.

[0049] The control system integrates signals from the tilt sensor, PID control module, solenoid valve, and hydraulic cylinder to achieve precise control and ensure stable operation of the machine in complex terrain.

[0050] Working principle:

[0051] See Figures 1-5 As can be seen, in the above embodiment, during operation, the tilt angle data of the machine body is first monitored in real time by a tilt sensor. When the machine body travels on complex terrain such as hills and mountains, the tilt angle sensor transmits the data to the PID control module. The PID control module processes the data according to the algorithm to determine the height that the rear wheel 14 needs to be adjusted, and sends a command to the solenoid valve. After receiving the command, the solenoid valve controls the extension and retraction of the hydraulic cylinder, thereby adjusting the height of the rear wheel 14. Through the combined action of the rear wheel 14 height adjustment device and the front wheel contouring device 3, the harvester body can maintain horizontal stability, improving operating efficiency and safety.

[0052] Through the above steps, the design and installation of the chassis for the small corn harvester for hilly and mountainous terrain are completed. During actual operation, the machine can automatically adjust the height of the rear wheels 14 and the angle of the front wheels 10 according to changes in terrain, maintaining a level and stable state, thus improving operating efficiency and safety.

[0053] The beneficial effects of the above embodiments are:

[0054] 1. The rear wheel 14 adopts a rear wheel attitude adjustment device, which adjusts the attitude in a separate leveling manner to better adapt to complex terrain and improve the stability of the operation process.

[0055] 2. The front wheel contouring device 3 enables the front wheel to adjust and level accordingly. During the posture adjustment of the rear wheel 14, when the slope angles on both sides of the left and right front wheels are different, the terrain changes cause the lower connecting rod 7 and the upper connecting rod 8 of the contouring device to rotate around the center. Thus, the front wheel changes and levels with the terrain. Both the front and rear wheels can adjust their posture, which improves the effect of shape adjustment and increases work efficiency.

[0056] 3. The tilt sensor is used to perceive the terrain, and PID automatic control is used to achieve adaptive attitude adjustment.

[0057] The structure and working principle of this utility model have been described above with specific embodiments. This utility model is not limited to the above embodiments. Based on the above description, any modifications, equivalent substitutions and improvements made on the basis of the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A small corn harvester suitable for hilly and mountainous terrain vehicle body self-adaptive leveling, comprising a chassis body provided with a frame (11), the frame (11) is connected with a general control box (1) and a corn harvesting device (2), characterized in that: the general control box (1) is connected with the frame (11), the corn harvesting device (2) is connected with the frame (11), and the general control box (1) is provided with a control system; the front end of the frame (11) is provided with a front wheel profiling device (3), the front wheel profiling device (3) comprises a front wheel (10), a profiling device lower connecting rod (7), a profiling device upper connecting rod (8) and an adjusting connecting piece (9); the profiling device lower connecting rod (7) and the profiling device upper connecting rod (8) are arranged in parallel, and the two ends of the profiling device lower connecting rod (7) and the profiling device upper connecting rod (8) are connected with the adjusting connecting piece (9) through pin shaft hinging; the centers of the profiling device lower connecting rod (7) and the profiling device upper connecting rod (8) are hingedly connected with the frame (11); the front wheel (10) is connected with the adjusting connecting piece (9) through a front wheel axle (4); and a rear wheel (14) is connected with a rear wheel posture adjusting device (5) through a rear wheel axle (6); the rear end of the frame (11) is provided with the rear wheel posture adjusting device (5), the rear wheel posture adjusting device (5) comprises an inclination sensor, a PID control module, an electromagnetic valve and a hydraulic cylinder, the inclination sensor is installed on the frame (11) body and is used for real-time detection of the vehicle body posture, the PID control module calculates the height difference value required for adjustment of the rear wheel (14) according to the signal of the inclination sensor, controls the electromagnetic valve to act, and drives the hydraulic cylinder to adjust the height of the rear wheel (14).

2. The small-sized corn harvester suitable for the body self-adaptive leveling of hilly and mountainous land according to claim 1, characterized in that: the hydraulic cylinder is provided with a hydraulic cylinder push rod (12) and a hydraulic cylinder barrel (13), the hydraulic cylinder push rod (12) is connected with the frame (11) through pin shaft hinging, and the hydraulic cylinder barrel (13) is connected with a wheel rotating device through pin shaft hinging; and a vehicle body inclination sensor (15) is fixedly connected on the frame (11).

3. The small-sized corn harvester suitable for the body self-adaptive leveling of hilly and mountainous land according to claim 1, characterized in that: the control system is provided with a remote monitoring module, the remote monitoring module performs data transmission with a remote monitoring center through wireless communication.

4. The small corn harvester suitable for hilly and mountainous terrain vehicle body self-adaptive leveling according to claim 1, characterized in that: the rear wheel (14) is driven by a single-lever diesel engine.

5. The small corn harvester suitable for hilly and mountainous terrain vehicle body self-adaptive leveling according to claim 1, characterized in that: the frame (11) is provided with a front wheel frame body and a rear wheel frame body, the bottom end of the front wheel frame body is connected with the front wheel (10), the top of the front wheel frame body is connected with the corn harvesting device (2) from the front end to the rear end, the bottom end of the rear wheel frame body is connected with the rear wheel (14), and the top end of the rear wheel frame body is connected with the general control box (1).

6. The small corn harvester suitable for hilly and mountainous terrain vehicle body self-adaptive leveling according to claim 5, characterized in that: one side of the rear wheel frame body towards the back is provided with a handrail, and the general control box (1) is arranged on the side of the rear wheel frame body towards the handrail.

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