CN211378711U - Automatic chassis attitude adjusting device of combine harvester - Google Patents
Automatic chassis attitude adjusting device of combine harvester Download PDFInfo
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- CN211378711U CN211378711U CN201922075591.XU CN201922075591U CN211378711U CN 211378711 U CN211378711 U CN 211378711U CN 201922075591 U CN201922075591 U CN 201922075591U CN 211378711 U CN211378711 U CN 211378711U
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Abstract
The utility model relates to a combine chassis gesture automatic regulating apparatus belongs to agricultural machine technical field. The device consists of an electronic control system, a chassis system and a hydraulic control system; the front part and the rear part of the side of the lower frame of the chassis system support the upper frame through a front lifting mechanism and a rear lifting mechanism respectively, and form a four-point support plane of a left front oil cylinder, a right front oil cylinder, a left rear oil cylinder and a right rear oil cylinder; the hydraulic control system comprises a hydraulic pump from an oil tank, the hydraulic pump is connected with four parallel three-position four-way electromagnetic directional valves through an oil outlet passage of a master control two-position three-way electromagnetic directional valve, and the four parallel three-position four-way electromagnetic directional valves are respectively connected with a left front oil cylinder, a right front oil cylinder, a left rear oil cylinder and a right rear oil cylinder. When the automatic control system works, the electronic control system determines the telescopic compensation parameters of the corresponding oil cylinders according to signals transmitted by the sensors, and then controls the telescopic action of each oil cylinder through the reversing valve, so that the automatic control of stable leveling of the working posture of the vehicle body is realized, and the problem of harvesting operation of muddy fields is solved.
Description
Technical Field
The utility model relates to a harvester part especially relates to a combine chassis gesture automatic regulating apparatus, belongs to agricultural machine technical field.
Background
In the harvest season of crops such as rice, wheat and the like, the cloudy and continuous rain in some areas often causes a lot of muddy 'rotten fields'. Although the high-ground clearance crawler-type points adopted by the traditional combine harvester or harvester have better trafficability, the ground clearance of the chassis is large, so that the gravity center of the vehicle body is moved upwards and the vehicle body is easy to incline. In addition, because of compact structure, the crawler-type combine harvester mostly adopts the structure of the grain tank on the left side and the right side of the threshing part, and in the harvesting process, the weight of the grain tank is continuously increased along with the harvesting, so that the left and the right gravity center of the vehicle body are deviated, and when the vehicle body operates in a rotten field, the gravity center is deviated to enable the vehicle body to be very easy to incline, so that the combine harvester cannot normally operate.
Disclosure of Invention
The utility model aims to provide a: aiming at the problems in the prior art, the automatic adjusting device for the chassis posture of the combine harvester can automatically adjust the posture according to the change of the gravity center and keep the stable posture, and meanwhile, a corresponding adjusting method is provided, so that the mechanical harvesting problem of crops in muddy fields is solved.
In order to achieve the above purpose, the basic technical scheme of the utility model is that: an automatic chassis attitude adjusting device of a combine harvester is composed of an electronic control system, a chassis system and a hydraulic control system;
the chassis system comprises a lower frame which is respectively supported on the left and right bogie wheels of the crawler travel device, and the front part and the rear part of the side of the lower frame respectively support an upper frame through a front lifting mechanism and a rear lifting mechanism; the lower end of a front crank arm of the front lifting mechanism is hinged to the lower frame, the upper end of the front crank arm is connected with a lower end of a front rocker arm hinged to the upper frame, and the upper end of the front rocker arm is hinged to the extending end of a piston of a front oil cylinder of which the cylinder body is hinged to the upper frame; the lower end of a rear crank arm of the rear lifting mechanism is hinged with the upper end of an auxiliary crank arm of which the lower end is hinged with the lower frame, the upper end of the rear crank arm is connected with a lower end of a rear rocker arm hinged with the upper frame, and the upper end of the rear rocker arm is hinged with a piston extending end of a rear oil cylinder of which the cylinder body is hinged with the upper frame; thereby forming four-point support planes of the left front oil cylinder, the right front oil cylinder, the left rear oil cylinder and the right rear oil cylinder;
the hydraulic control system comprises a hydraulic pump, the hydraulic pump is connected with four parallel three-position four-way electromagnetic directional valves through an oil outlet passage of a master control two-position three-way electromagnetic directional valve, and the four parallel three-position four-way electromagnetic directional valves are respectively connected with a left front oil cylinder, a right front oil cylinder, a left rear oil cylinder and a right rear oil cylinder;
the piston extending ends of the left front oil cylinder, the right front oil cylinder, the left rear oil cylinder and the right rear oil cylinder are respectively connected with left front displacement sensors, right front displacement sensors, left rear displacement sensors and right rear displacement sensors through a transmission mechanism, and the middle part of the upper frame is provided with an attitude sensor with a vertical gyroscope; the signal output ends of the sensors are respectively connected with the signal input end of the electronic control system and are used for respectively transmitting the left front, right front, left back and right back follow-up height changes of the chassis and the transverse and longitudinal inclination angles of the chassis; and the control signal output end of the electronic control system is respectively connected with the controlled ends of reversing valves for controlling the oil inlet directions of the left front oil cylinder, the right front oil cylinder, the left rear oil cylinder and the right rear oil cylinder, and is used for controlling the oil cylinders to finish leveling and lifting actions after the actually required height increment is obtained according to the sensing signals.
When the automatic control system works, the electronic control system ECU can determine the telescopic compensation parameters of the corresponding oil cylinders according to the vehicle body inclination signals transmitted by the attitude sensors and the signals which are transmitted by the displacement sensors and reflect the front and back ground clearance of the two sides of the vehicle body, and then controls the telescopic action of each oil cylinder through the corresponding reversing valve, so that the automatic regulation and control of the working attitude of the vehicle body are realized, and the problem of harvesting operation in muddy fields is solved.
Realize the utility model discloses corresponding regulation method does, electronic control system operation step is as follows:
firstly, reading follow-up height change data of each displacement sensor, and solving the sum of the initial ground clearance of the center of gravity and the average value of the follow-up height change data to obtain the current ground clearance of the center of gravity;
secondly, reading the transverse and longitudinal inclination angles of the chassis measured by the attitude sensor;
thirdly, calculating the actual height increment of the left front cylinder, the right front cylinder, the left rear cylinder and the right rear cylinder in the leveling process according to the read follow-up height change data and the transverse and longitudinal inclination angles;
fourthly, judging whether the actual height increment exceeds a preset threshold value or not; if not, keeping the current situation and carrying out the next step; if so, correspondingly outputting control signals for controlling each oil cylinder to drive the lifting action, and then carrying out the next step;
and fifthly, returning to the first step.
The utility model discloses a further perfection is, the piston stretches out the end and articulates through the one end of connecting rod with the rocker, the other end and the hinge of rocker are even epaxial in the displacement sensor who puts on the shelf. Therefore, the displacement of the piston can be converted into a corner, and the device is favorable for improving the reliability, simplifying the structure and adapting to severe working conditions.
The utility model is further perfected in that the upper end of the front crank arm is fixedly sleeved on the spline section of a front spline shaft hinged on the upper frame, and the other end of the front spline shaft is fixedly clamped with a clamping sleeve at the lower end of the front rocker arm; the upper end of the rear crank arm is sleeved and fixed on a spline section of a rear spline shaft hinged to the upper frame, and the other end of the rear spline shaft is fixedly clamped with a clamping sleeve at the lower end of the rear rocker arm. The structure is convenient for adjusting the initial angle phase of the crank arm and the rocker arm as required during assembly, thereby adjusting the initial ground clearance of the center of gravity.
The utility model discloses further perfect again, tribit four-way solenoid directional valve connects corresponding hydro-cylinder through the balanced valve, therefore can form the backpressure at the sensitive end of hydro-cylinder load, prevents to lead to hydro-cylinder falling speed too fast because of the action of gravity.
The utility model discloses a further improvement is again, the oil outlet passage of two-position three way solenoid directional valve is parallelly connected with the overflow valve. This prevents the hydraulic line pressure from becoming too high as the ram reaches the limit position.
In a word, the automatic chassis attitude adjusting system of the combine harvester can convert the displacement signals of the oil cylinders into the follow-up height change data of the left front supporting point, the left rear supporting point, the right front supporting point and the right rear supporting point (such as the center of the upper frame bearing pedestal) through the geometrical relation of the chassis structure when the chassis inclines, and then the average value and the initial ground clearance of the chassis gravity center (or geometric center) are used for solving the current ground clearance, then the data are comprehensively processed and calculated to obtain the actual required height increment of each supporting point for chassis leveling and respectively controlled lifting, finally a control signal is output to control each reversing valve to enable the corresponding oil cylinder to stretch and retract as required, and each lifting mechanism is driven to realize the required full lifting, front lifting and back lifting, left lifting and right lifting or left lifting and right lifting, so that the vehicle body posture is automatically adjusted according to the field condition, the chassis is kept at the leveling position, and the adaptability and the passing capability of the combine harvester are greatly improved.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
Fig. 2 is a schematic perspective view of fig. 1.
Fig. 3 is a schematic perspective exploded view of fig. 1.
FIG. 4 is a schematic diagram of the hydraulic actuation system of the embodiment of FIG. 1.
Fig. 5 is a schematic view of the control handle of the embodiment of fig. 1.
FIG. 6 is a schematic diagram of the control circuit of the embodiment of FIG. 1.
Fig. 7 is a flow chart of a manual operation of the embodiment of fig. 1.
Fig. 8 is an automatic control flow diagram of the embodiment of fig. 1.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
Example one
In the automatic chassis attitude adjusting device of the combine harvester of the embodiment, as shown in fig. 1, the crawler belts 3 on both sides of the crawler belt advancing device respectively encircle a plurality of bogie wheels 8 at the bottom, driving wheels 4, tension wheels 9 at both ends and a carrier wheel 2 at the upper part. The left lower frame 6 and the right lower frame 6 which are separated from each other are respectively supported and supported on the loading wheels 8 at two sides, and the front part and the rear part of the two lower frames 6 respectively support the upper frame 1 through the front lifting mechanism 5 and the rear lifting mechanism 7. The upper frame 1 is an integral frame structure, supports the driving wheel 4 and the belt supporting wheel 2, and the tension wheel 9 is arranged at one end of the lower frame 6 through a tension mechanism.
As shown in fig. 2 and 3, the front lifting mechanism 5 has a front crank arm 502 hinged to the lower frame through a lower frame bearing block 501 at the lower end, the upper end of the front crank arm 502 is sleeved and fixed on a spline section of a front spline shaft 503 hinged to the upper frame 1 through an upper frame bearing block 504, and the other end of the front spline shaft 503 is clamped and fixedly connected with a clamping sleeve at the lower end of a front rocker 505, so that a shaft connecting structure is formed between the upper end of the front crank arm and the lower end of the front rocker hinged to the upper frame, which facilitates the adjustment of the angular position as required. The upper end of the front rocker arm 505 is hinged with a fork opening at the piston extending end of a front oil cylinder 506 of which the cylinder body is hinged on the upper frame 1. The rear lifting mechanism 7 is provided with an auxiliary crank arm 702, the lower end of which is hinged on the lower frame 6 through another lower frame bearing seat 701, the upper end of the auxiliary crank arm 702 is hinged with the lower end of a rear crank arm 703, the upper end of the rear crank arm 703 is sleeved and fixed on a spline section of a rear spline shaft hinged on the upper frame 1 through another upper frame bearing seat 704, and the other end of the rear spline shaft is clamped and fixedly connected with a clamping sleeve at the lower end of a rear rocker 705, so that a rear crank arm upper end and rear rocker lower end connecting shaft structure hinged on the upper frame, which is convenient for adjusting the angular position according to requirements, is formed. The upper end of the rear rocker 705 is hinged with a fork port of a piston extending end of a rear oil cylinder 706 of which the cylinder body is hinged on the upper frame 1.
Because the lower frame (equivalent to a frame), the front crank arm (equivalent to a front side link), the auxiliary crank arm (equivalent to a rear side link), the rear crank arm and the upper frame (equivalent to a connecting rod) form a lower connecting rod mechanism, the front crank arm and the front rocker arm which are rigidly connected, the front rocker arm which is hinged with the front oil cylinder piston, the rear crank arm and the rear rocker arm which are rigidly connected and the rear rocker arm which is hinged with the rear oil cylinder piston form an upper bidirectional telescopic adjusting mechanism, the two mechanisms are organically combined to form a composite mechanism with adjustable supporting angles of the front crank arm, the rear crank arm and the auxiliary crank arm, therefore, after the chassis adopting the composite mechanism bears the vehicle body of the harvester or the harvester, the extension and the retraction of the corresponding oil cylinder can be controlled according to the condition when the gravity center of the vehicle body inclines, thereby realizing various lifting actions of left front, right front, left back, right back, left side and right side by the lifting mechanism, and keeping the body posture of the harvester in a horizontal state all the time; and the adjusting link is positioned on the upper frame, is not directly influenced by the ground, is convenient to ensure the adjusting reliability, and has a compact structure because the oil cylinder can always keep a basically horizontal state.
The extending ends of the pistons of the front oil cylinder 506 and the rear oil cylinder 706 are respectively hinged with one end of a corresponding rocker through connecting rods 507 and 707, and the other end of the rocker is connected with corresponding displacement sensors 508 and 708 which are hinged on the upper frame 1, so that the displacement of the pistons can be converted into a corner signal. An attitude sensor 10 (Shenzhen Weite Intelligent company, SINDT type inclination angle sensor) with a vertical gyroscope is arranged in the middle of the upper frame 1, and can sense the inclination conditions of front and back, left and right.
In addition, the chassis is provided with an electronic control system 11, an operation panel 12, a display 13 and a hydraulic control system 15.
The automatic chassis attitude adjusting device of the combine harvester of the embodiment can realize two leveling control states of semi-automatic and full-automatic by means of the operation panel 12 shown in fig. 5. The operation panel 12 includes a posture adjustment handle 121, a lateral sensitivity adjustment knob 122, a longitudinal sensitivity adjustment knob 124, a lateral adjustment lock button 123, a longitudinal adjustment lock button 125, a mode switching button 125, and a chassis lifting handle 127. The posture adjusting handle is pushed forwards to realize the descending of the front part and the ascending of the back part of the vehicle body; the front part of the vehicle body is lifted and the rear part is lowered by pushing backwards; the left face of the vehicle body descends and the right face of the vehicle body ascends leftwards; the right side of the vehicle body descends and the left side of the vehicle body ascends by pushing to the right. The chassis lifting knob is pushed forwards to realize the overall descending of the vehicle body; pushing backward realizes the overall rising of the vehicle body. The horizontal sensitivity knob is realized, the sensitivity of clockwise horizontal leveling is increased, and the sensitivity of counterclockwise horizontal leveling is decreased. The longitudinal sensitivity knob is realized, the clockwise longitudinal leveling sensitivity is increased, and the anticlockwise sensitivity is reduced. The transverse leveling locking button realizes pressing down transverse leveling locking, bouncing up and transverse leveling opening. And the longitudinal leveling locking button realizes pressing down longitudinal leveling locking and bouncing up longitudinal leveling opening. And the mode switching button realizes that the full-automatic leveling subprogram is called by pressing and the semi-automatic leveling subprogram is called by popping up.
Specifically, as shown in fig. 4, the hydraulic control system of the controlled electronic control system ECU includes a hydraulic pump 16 from the oil tank 17, which is connected to four three-position four-way electromagnetic directional valves 152 connected in parallel via an oil outlet passage of a master control two-position three-way electromagnetic directional valve 151 of the hydraulic control system 15, and is connected to a front left oil cylinder 506-1, a front right oil cylinder 506-2, a rear left oil cylinder 706-1, and a rear right oil cylinder 706-2 via corresponding four balance valves 153. An oil return passage of the two-position three-way electromagnetic directional valve 151 is returned to the oil tank 17 through the filter 18, and an oil outlet passage of the two-position three-way electromagnetic directional valve 151 is connected in parallel with an overflow valve 154. The two-position three-way electromagnetic directional valve realizes the 'enabling' of the hydraulic control system, can control hydraulic unloading, and guides high-pressure oil into an oil tank when the hydraulic control system is in a non-working state, thereby ensuring the safety of a hydraulic pipeline. The three-position four-way electromagnetic directional valve is used for controlling the motion direction and the state of the corresponding oil cylinder. The balance valve can form back pressure at the sensitive end of the oil cylinder load, and the phenomenon that the oil cylinder descends too fast due to the action of gravity is prevented. The overflow valve can play a role in protecting the hydraulic pipeline, and the overhigh pressure of the hydraulic pipeline caused by the fact that the oil cylinder reaches the limit position is prevented. The hydraulic control system has the adjusting process that after an oil outlet passage of the master control electromagnetic valve 151 is communicated, high-pressure oil enters each three-position four-way electromagnetic reversing valve 152, and the reversing valves can be respectively controlled to enable rodless cavities of the left front oil cylinder 506-1, the right front oil cylinder 506-2, the left rear oil cylinder 706-1 and the right rear oil cylinder 706-2 to feed oil and return oil with rod cavities or vice versa, so that various actions required by chassis upper frame leveling are realized through each lifting mechanism.
As shown in fig. 6, the signal output ends of the attitude sensor and each displacement sensor are respectively connected to the signal input end of an Electronic Control system (such as Electronic Control Unit for vehicle such as BOSCH16 ECU series can be selected), and the Control signal output ends of the Electronic Control system are respectively connected to the controlled solenoid coils of the oil inlet direction switching solenoid valve of the Control main Control solenoid valve 151 and the left front, right front, left rear and right rear oil cylinders in the hydraulic Control system.
The operation steps of the ECU including the intelligent device according to the operation panel command and the sensor signal to realize the semi-automatic control in this embodiment are shown in fig. 7:
step one, reading a panel handle instruction
Step two, judging whether the specific instruction is one of working instructions of closing an ascending button, closing a descending button, closing a front ascending button, closing a rear ascending button, closing a left ascending button and closing a right ascending button;
step three, if not, the next step is carried out; if yes, respectively outputting signals for controlling full lifting, full lowering, front lifting and rear lifting, left lifting and right lifting and left lifting and right lifting of the left front oil cylinder, the right front oil cylinder, the left rear oil cylinder and the right rear oil cylinder according to the instructions, and then carrying out the next step;
and step four, finishing the reading operation.
The basic operation steps of the ECU implementing the full automatic control according to the operation panel command and the sensor signal in the present embodiment are shown in fig. 8:
firstly, reading the follow-up height change data of the displacement sensors at the front left, the front right, the back left and the back right, and calculating the current ground clearance of the gravity center according to the following formula
H=HB+（H1+H2+H3+H4）/4
In the formula H-current clearance of center of gravity, HBInitial ground clearance of center of gravity, H1、H2、H3、H4Respectively are left front, right front, left back and right back follow-up height change data;
firstly, reading follow-up height change data of each displacement sensor, and solving the sum of the initial ground clearance of the center of gravity and the average value of the follow-up height change data to obtain the current ground clearance of the center of gravity;
secondly, reading a posture sensor to obtain transverse and longitudinal inclination angles alpha and beta of the chassis;
thirdly, calculating the actual height increment delta H of the left front leveling, the right front leveling, the left back leveling and the right back leveling which need to be lifted respectively according to the read follow-up height change data and the transverse and longitudinal inclination angles1、ΔH2、ΔH3、ΔH4；
Fourthly, judging whether the actual height increment exceeds a threshold value by 5 millimeters; if not, keeping the current situation and carrying out the next step; if so, correspondingly outputting and controlling signals of full lifting, full lowering, full lifting, front lifting and rear lowering, front lifting and rear lifting, left lifting and right lowering or left lifting and right lifting of the left front oil cylinder, the right front oil cylinder, the left rear oil cylinder and the right rear oil cylinder, and then carrying out the next step;
and fifthly, returning to the first step.
Because each displacement sensor is actually used for feedback control of the vertical displacement information of the corresponding upper frame bearing seat, the above cycle control process actually forms a rectangular plane by the centers of the four upper frame bearing seats in the front and rear lifting mechanisms, when the lower frame of the chassis inclines, the rectangular plane inclines along with the chassis, and the calculated delta H is obtained1、ΔH2、ΔH3、ΔH4The vertical compensation distance from the centers of the four upper frame bearing seats to the geometric center of the rectangular plane (the optimal design is coincident with the gravity center or positioned on the vertical line of the gravity center), and the compensation distance is eliminated by controlling the stretching of each oil cylinder to drive each lifting mechanism to act, so that the aim of leveling the upper frame of the chassis can be fulfilled due to the leveling of the rectangular plane. The experimental surface takes 5mm as a threshold value and circulates the control process about twenty times per second, so that the oil cylinder can be ensured to stop in time after being in place, overshoot and oscillation are prevented,the control effect is ideal.
The following is the ECU control process for one experiment: first step read HBIs 200, H1、H2、H3、H430mm, 20mm, 40mm, 10mm, respectively, H =200+ (30 +20+40+ 10)/4 =225mm, a second reading of α =12 °, β =10 °, a third step of Lx =630, Ly =880, determined by geometric equations pre-derived from actual design parameters and chassis system structural design
Determination of Δ H1=-288.4754、ΔH2=80.1382、ΔH3=-80.1382、ΔH4= 288.4754; and the fourth step controls the left front lift 288.4754, the right front lift 80.1382, the left rear lift 80.1382 and the right rear lift 288.4754, namely the leveling of the posture of the vehicle body is completed.
In addition, when the transverse adjustment locking button 123 and the longitudinal adjustment locking button 125 of the operation panel 12 of the present embodiment are in an unlocked state, the fully automatic control operation step of the ECU further includes a sensitivity adjustment and control step, that is, after the second step, it is determined whether the transverse inclination angle and the longitudinal inclination angle of the chassis are respectively smaller than the threshold values set by the transverse sensitivity adjustment knob 122 and the longitudinal sensitivity adjustment knob 124, if so, the corresponding inclination angle is considered to be 0, otherwise, the next step is performed. Therefore, the instability caused by allergy of the automatic adjusting device can be avoided, and the transverse and longitudinal sensitivity thresholds can be set within the range of 0.5-3 degrees according to the longitudinal and transverse jolt and tilt amplitudes of the combine harvester during traveling and can be respectively regulated and controlled, so that the posture of the chassis of the combine harvester can be kept more favorably. For example, when the transverse and longitudinal adjustment locking buttons are in an unlocked state, the transverse and longitudinal sensitivity thresholds are set to be 1.5 degrees and 2 degrees respectively, and when the transverse and longitudinal inclination angles reflected by the attitude sensor are 1.8 degrees and 1.9 degrees respectively, only transverse leveling is triggered, and longitudinal leveling is not adjusted; when the horizontal and vertical inclination angles reflected by the attitude sensor are 1.4 degrees and 2.5 degrees respectively, the horizontal and vertical inclination angles are adjusted; this is more consistent with the actual need to allow for greater longitudinal than lateral fluctuations as the combine travels.
In addition to the above embodiments, the present invention may have other embodiments. All the technical solutions formed by adopting equivalent substitutions or equivalent transformations fall within the protection scope claimed by the present invention.
Claims (5)
1. An automatic chassis attitude adjusting device of a combine harvester is composed of an electronic control system, a chassis system and a hydraulic control system; the method is characterized in that:
the chassis system comprises a lower frame which is respectively supported on the left and right bogie wheels of the crawler travel device, and the front part and the rear part of the side of the lower frame respectively support an upper frame through a front lifting mechanism and a rear lifting mechanism; the lower end of a front crank arm of the front lifting mechanism is hinged to the lower frame, the upper end of the front crank arm is connected with a lower end of a front rocker arm hinged to the upper frame, and the upper end of the front rocker arm is hinged to the extending end of a piston of a front oil cylinder of which the cylinder body is hinged to the upper frame; the lower end of a rear crank arm of the rear lifting mechanism is hinged with the upper end of an auxiliary crank arm of which the lower end is hinged with the lower frame, the upper end of the rear crank arm is connected with a lower end of a rear rocker arm hinged with the upper frame, and the upper end of the rear rocker arm is hinged with a piston extending end of a rear oil cylinder of which the cylinder body is hinged with the upper frame; thereby forming four-point support planes of the left front oil cylinder, the right front oil cylinder, the left rear oil cylinder and the right rear oil cylinder;
the hydraulic control system comprises a hydraulic pump, the hydraulic pump is connected with four parallel three-position four-way electromagnetic directional valves through an oil outlet passage of a master control two-position three-way electromagnetic directional valve, and the four parallel three-position four-way electromagnetic directional valves are respectively connected with a left front oil cylinder, a right front oil cylinder, a left rear oil cylinder and a right rear oil cylinder;
the piston extending ends of the left front oil cylinder, the right front oil cylinder, the left rear oil cylinder and the right rear oil cylinder are respectively connected with left front displacement sensors, right front displacement sensors, left rear displacement sensors and right rear displacement sensors through a transmission mechanism, and the middle part of the upper frame is provided with an attitude sensor with a vertical gyroscope; the signal output ends of the sensors are respectively connected with the signal input end of the electronic control system and are used for respectively transmitting the left front, right front, left back and right back follow-up height changes of the chassis and the transverse and longitudinal inclination angles of the chassis; and the control signal output end of the electronic control system is respectively connected with the controlled ends of reversing valves for controlling the oil inlet directions of the left front oil cylinder, the right front oil cylinder, the left rear oil cylinder and the right rear oil cylinder, and is used for controlling the oil cylinders to finish leveling and lifting actions after the actually required height increment is obtained according to the sensing signals.
2. The automatic chassis attitude adjustment device for a combine harvester according to claim 1, characterized in that: the extending end of the piston is hinged with one end of a rocker through a connecting rod, and the other end of the rocker is connected with a displacement sensor connecting shaft hinged on the upper frame.
3. The automatic chassis attitude adjustment device for a combine harvester according to claim 2, characterized in that: the upper end of the front crank arm is fixedly sleeved on a spline section of a front spline shaft hinged to the upper frame, and the other end of the front spline shaft is fixedly clamped with a clamping sleeve at the lower end of the front rocker arm; the upper end of the rear crank arm is sleeved and fixed on a spline section of a rear spline shaft hinged to the upper frame, and the other end of the rear spline shaft is fixedly clamped with a clamping sleeve at the lower end of the rear rocker arm.
4. The automatic chassis attitude adjustment device for a combine harvester according to claim 3, characterized in that: and the three-position four-way electromagnetic directional valve is connected with the corresponding oil cylinder through a balance valve.
5. The combine harvester chassis attitude automatic adjusting device of claim 4, characterized in that: and an oil outlet passage of the two-position three-way electromagnetic directional valve is connected with an overflow valve in parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922075591.XU CN211378711U (en) | 2019-11-27 | 2019-11-27 | Automatic chassis attitude adjusting device of combine harvester |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922075591.XU CN211378711U (en) | 2019-11-27 | 2019-11-27 | Automatic chassis attitude adjusting device of combine harvester |
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| CN211378711U true CN211378711U (en) | 2020-09-01 |
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| CN201922075591.XU Active CN211378711U (en) | 2019-11-27 | 2019-11-27 | Automatic chassis attitude adjusting device of combine harvester |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110933965A (en) * | 2019-11-27 | 2020-03-31 | 农业农村部南京农业机械化研究所 | Automatic adjusting device and adjusting method for chassis attitude of combine harvester |
| CN117842223A (en) * | 2024-03-07 | 2024-04-09 | 襄垣县仁达机电设备有限公司 | Suspension type lifting mechanism of crawler chassis |
-
2019
- 2019-11-27 CN CN201922075591.XU patent/CN211378711U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110933965A (en) * | 2019-11-27 | 2020-03-31 | 农业农村部南京农业机械化研究所 | Automatic adjusting device and adjusting method for chassis attitude of combine harvester |
| CN117842223A (en) * | 2024-03-07 | 2024-04-09 | 襄垣县仁达机电设备有限公司 | Suspension type lifting mechanism of crawler chassis |
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