CN-122009350-A - Cereal harvester with cooperatively adjustable pose and support and adjusting method thereof

CN122009350ACN 122009350 ACN122009350 ACN 122009350ACN-122009350-A

Abstract

The invention discloses a grain harvester with a cooperatively adjustable pose and support and an adjusting method thereof, wherein the grain harvester comprises a vehicle body, a chassis, crawler travelling mechanisms arranged on two sides of the chassis, wheel travelling mechanisms connected to the front end and the rear end of the chassis, a vehicle body pose plane adjusting mechanism and a controller, wherein the wheel travelling mechanisms are connected with the chassis through the wheel adjusting mechanisms, the wheel adjusting mechanism comprises a lifting driving unit and a transverse moving driving unit, the vehicle body pose plane adjusting mechanism is arranged between the chassis and the vehicle body and comprises two linear motion pairs for driving the vehicle body to transversely and longitudinally translate, and the controller is configured to synchronously drive at least one wheel adjusting mechanism to transversely drive the wheel travelling mechanism connected with the vehicle body pose plane adjusting mechanism to transversely translate towards the same side of the vehicle body and then descend, and synchronously drive the wheel adjusting mechanism at the same end in the moving direction to descend the wheel travelling mechanism at the corresponding end when the vehicle body pose plane adjusting mechanism drives the vehicle body to longitudinally move.

Inventors

Cao Guangqiao
GUAN ZHUOHUAI
XING LICHENG
LIU SAISAI
ZHOU YI
ZHANG MIN
JIANG TAO

Assignees

农业农村部南京农业机械化研究所
江苏沃得农业机械股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260403

Claims (10)

1. The grain harvester with the cooperatively adjustable pose and support is characterized by comprising a vehicle body (1), a chassis (2), crawler travelling mechanisms (3) arranged on two sides of the chassis (2), wheel travelling mechanisms (4) connected to the front end and the rear end of the chassis (2), a vehicle body pose plane adjusting mechanism (6) and a controller; The wheel type travelling mechanism (4) is connected with the chassis (2) through a wheel adjusting mechanism (5), the wheel adjusting mechanism (5) comprises a lifting driving unit for driving the wheel type travelling mechanism (4) to lift, and the wheel type travelling mechanism is characterized in that: the wheel adjusting mechanism (5) further comprises a transverse movement driving unit for driving the wheel type travelling mechanism (4) to transversely move; The vehicle body pose plane adjusting mechanism (6) is arranged between the chassis (2) and the vehicle body (1) and comprises a first linear motion pair and a second linear motion pair which drive the vehicle body (1) to horizontally and longitudinally translate; The controller is configured to synchronously drive the wheel adjusting mechanism (5) at least at one end to translate and then descend the wheel type travelling mechanism (4) connected with the wheel adjusting mechanism to the same side of the transverse movement of the vehicle body (1) when the vehicle body pose plane adjusting mechanism (6) drives the vehicle body (1) to transversely move, and synchronously drive the wheel adjusting mechanism (5) at the same end in the moving direction to descend the wheel type travelling mechanism (4) at the corresponding end when the vehicle body pose plane adjusting mechanism (6) drives the vehicle body (1) to longitudinally move.
2. The grain harvester with the cooperatively adjustable pose and support according to claim 1, characterized in that the traversing driving unit comprises a transverse guide rail (54) fixed at the front end and the rear end of the chassis (2), a hinged support sliding block (55) connected with the transverse guide rail (54) in a sliding way and a traversing screw mechanism (53) driving the hinged support sliding block (55) to move, and the lifting driving unit is hinged on the hinged support sliding block (55) so that the wheel type travelling mechanism (4) can synchronously and transversely move along with the hinged support sliding block (55).
3. The grain harvester with the cooperatively adjustable pose and support according to claim 2, characterized in that the lifting driving unit comprises a lifting hydraulic cylinder (51) and a supporting arm (52), one end of the supporting arm (52) is hinged to the hinged-support sliding block (55), the other end of the supporting arm is connected with the wheel type travelling mechanism (4), and two ends of the lifting hydraulic cylinder (51) are respectively hinged to the hinged-support sliding block (55) and the supporting arm (52).
4. The grain harvester with cooperatively adjustable pose and support according to claim 1, characterized in that the wheeled running mechanism (4) comprises a centrally placed support frame (43) and two wheels (46) distributed on both sides of the support frame (43), each wheel (46) being connected with the support frame (43) through a shock absorber (44).
5. The grain harvester of claim 1, wherein the first linear kinematic pair comprises a mounting base (61) and a first slide (62) movable in a transverse linear direction relative to the mounting base (61); The second linear motion pair comprises a second slide (63) capable of moving longitudinally relative to the first slide (62); The relative sliding of the first sliding seat (62) and the base (61) and the relative sliding of the second sliding seat (63) and the first sliding seat (62) are respectively driven to operate by a group of independent screw driving mechanisms (64).
6. The grain harvester of claim 5, wherein the body pose plane adjustment mechanism (6) further comprises a swivel assembly (65), the swivel assembly (65) connecting the base (61) and the chassis (2).
7. The grain harvester with cooperatively adjustable pose and support according to claim 5, characterized in that a sliding guide pair is formed by a trapezoidal boss and a trapezoidal groove which are mutually matched between the first sliding seat (62) and the base (61) and between the second sliding seat (63) and the first sliding seat (62), and the opening width of the trapezoidal groove is smaller than the groove bottom width of the trapezoidal groove.
8. Adjustment method for a grain harvester with co-adjustable pose and support according to any of claims 1 to 7, characterized in that it comprises: Step S1, when an instruction for driving the vehicle body (1) to transversely move is received, the controller synchronously or in advance drives the wheel adjusting mechanism (5) to operate, so that the wheel type travelling mechanism (4) transversely moves towards the same side of the vehicle body, the transverse movement amount is in a preset proportion with the transverse movement amount of the vehicle body, and the wheel type travelling mechanism (4) is lowered to enable the wheels to touch the ground; And step S2, when receiving an instruction for driving the vehicle body (1) to longitudinally move, the controller synchronously drives the wheel type travelling mechanism (4) at the same end in the forward moving direction or the backward moving direction to descend to a ground contact state so as to provide a longitudinal auxiliary support.
9. The adjustment method according to claim 8, further comprising a road transition mode control step, wherein when a road transition instruction is received, a controller controls the vehicle body pose plane adjustment mechanism (6) to adjust the vehicle body (1) to a transverse and longitudinal centering position, drives the wheel type travelling mechanism (4) to transversely move and reset, and lowers the wheel type travelling mechanism (4) to enable the crawler travelling mechanism (3) to leave the ground.
10. The adjustment method according to claim 8, characterized in that the controller detects the lateral offset of the vehicle body in real time, and when the offset exceeds a safety threshold, the controller limits the continuous operation of the vehicle body pose plane adjustment mechanism (6), and resumes the movement after the corresponding wheel-type travelling mechanism (4) completes the lateral translation supporting action.

Description

Cereal harvester with cooperatively adjustable pose and support and adjusting method thereof Technical Field The invention relates to the technical field, in particular to a grain harvester with a cooperatively adjustable pose and support and an adjusting method thereof. Background The combine harvester is used as key equipment for integrated harvesting operation, and the maneuverability and terrain adaptability of the combine harvester directly determine the operation efficiency and the application range. The body and the chassis of most of the existing combine harvesters are fixedly connected, and the pose of the body is completely dependent on the walking state of the chassis. When the field side land angle and the crop row spacing are uneven or the obstacle is required to be precisely avoided, the whole vehicle is often required to be frequently moved and turned around in a large range, and the operation is tedious and the efficiency is low. The proposal disclosed in the prior art as patent document CN117616978A only realizes the translation and rotation of the vehicle body in the direction of a single linear rail, has limited adjustment freedom, and the problem that the machine tool is easy to be unstable and overturned due to the gravity center deviation of the machine tool after the posture of the vehicle body is adjusted. In addition, the combine harvester travelling system is mainly divided into a wheel type travelling system and a crawler type travelling system. The wheel type travelling mechanism has the advantages of high road transfer speed and low energy consumption, but is easy to sink into or slip due to insufficient trafficability and traction in muddy, soft or uneven fields. The crawler-type travelling mechanism has the advantages of small ground specific pressure, excellent cross-country trafficability and stability, particular suitability for wet and soft fields, but low travelling speed on a hardened road surface, inflexible steering, damage to the road surface and low transfer efficiency. In the prior art, although there are schemes that attempt to combine advantages of the two, for example, patent documents CN113460179a and CN113460178a disclose a universal agricultural moving platform capable of quickly switching wheel tracks, and mode switching is realized by a hydraulic cylinder lifting wheel type mechanism, the design focus is on the switching function of a walking chassis itself, and the problem of cooperative adjustment of an upper operation vehicle body and a complex field operation posture is not considered. Disclosure of Invention The invention aims to overcome the defects in the prior art, and provides a grain harvester with a coordinated adjustable pose and support and an adjusting method thereof, which aim to solve the problem that the barycenter is easy to topple after the pose of a vehicle body is adjusted. In order to achieve the aim, the grain harvester with the co-adjustable pose and support comprises a vehicle body, a chassis, crawler travelling mechanisms arranged on two sides of the chassis, wheel travelling mechanisms connected to the front end and the rear end of the chassis, a vehicle body pose plane adjusting mechanism and a controller, wherein the crawler travelling mechanisms are arranged on the front end and the rear end of the chassis; The crawler belt running mechanism is used as a main running mechanism for field soft and wet ground operation and provides good ground specific pressure and traction. The wheel type travelling mechanism is connected with the chassis through a wheel adjusting mechanism, and the wheel adjusting mechanism comprises a lifting driving unit for driving the wheel type travelling mechanism to lift; The wheel adjusting mechanism further comprises a transverse moving driving unit for driving the wheel type travelling mechanism to transversely move, and the transverse moving driving unit and the lifting driving unit are mutually independent. The vehicle body pose plane adjusting mechanism is arranged between the chassis and the vehicle body and comprises a first linear motion pair and a second linear motion pair which drive the vehicle body to transversely and longitudinally translate; The controller is configured to synchronously drive the wheel-type travelling mechanism connected with the wheel-type travelling mechanism at least to translate towards the same side of the transverse movement of the vehicle body and then descend when the vehicle body pose plane adjusting mechanism drives the vehicle body to transversely move, wheels of the wheel-type travelling mechanism and wheels of the crawler travelling mechanism are in contact with the ground, and wheels of one side of the wheel-type travelling mechanism transversely exceed the outer side of the crawler travelling mechanism. When the vehicle body pose plane adjusting mechanism drives the vehicle body to longitudinally move, the wheel adjusting mechanism synchronously drives the whe