CN217011812U

CN217011812U - Liftoff detection device and harvester

Info

Publication number: CN217011812U
Application number: CN202220472917.1U
Authority: CN
Inventors: 徐远俊; 陈少杰; 李永清; 王奔
Original assignee: Agilex Robotics Shenzhen Lt
Current assignee: Agilex Robotics Shenzhen Lt
Priority date: 2022-03-04
Filing date: 2022-03-04
Publication date: 2022-07-22
Anticipated expiration: 2032-03-04

Abstract

A liftoff detection device is applied to a harvester, and is characterized by comprising: the harvester is characterized by comprising a rack and a travelling mechanism, wherein the travelling mechanism is movably arranged on the rack and is provided with a first position and a second position relative to the rack, and when the travelling mechanism is positioned at the first position, the harvester stops working; when the travelling mechanism is in the second position, the state of the harvester is kept unchanged. This application liftoff detection device the running gear have for the frame the primary importance reaches the second place, and when the running gear is in the primary importance, make the harvester is in stop work when the running gear is in abnormal condition avoids using emergence incident during the harvester improves the security of harvester under operating condition.

Description

Liftoff detection device and harvester

Technical Field

The application relates to the technical field of automatic detection, in particular to an off-ground detection device and a harvester.

Background

With the increase of the types of the harvesters, the harvesters on the market are more and more different, and how to improve the safety of the harvesters under the working state becomes a technical problem to be solved.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an liftoff detection device and harvester to solve the technical problem of how to improve the security of harvester under operating condition.

In a first aspect, the present application provides an off-ground detection device for a harvester, comprising:

a frame;

the walking mechanism is movably arranged on the rack and provided with a first position and a second position relative to the rack, and when the walking mechanism is located at the first position, the harvester stops working; when the travelling mechanism is at the second position, the state of the harvester is kept unchanged.

The travelling mechanism comprises a sliding assembly and a travelling assembly, the sliding assembly is arranged on the rack in a sliding mode, and the sliding assembly is provided with a first position and a second position relative to the rack; the walking assembly is rotatably connected to the sliding assembly; when the sliding assembly is in the first position, the harvester stops working; when the sliding assembly is in the second position, the state of the harvester remains unchanged.

The walking assembly comprises a connecting piece and a walking wheel, the connecting piece is rotatably connected with the sliding assembly, and one end of the connecting piece, which is far away from the sliding assembly, is movably connected with the walking wheel.

The walking assembly comprises a first walking assembly and a second walking assembly, the first walking assembly and the second walking assembly are respectively arranged on two opposite sides of the sliding assembly, when the first walking assembly is opposite to the sliding assembly and moves towards the second position, the second walking assembly is opposite to the sliding assembly and moves towards the first position, so that the walking wheels of the first walking assembly and the walking wheels of the second walking assembly are abutted against the walking road surface and are in the third position, the harvester keeps a working state, and the third position is located between the first position and the second position.

The sliding assembly comprises a sliding block and a rotating shaft, the rotating shaft is connected to the sliding block, and the rotating shaft is rotatably connected with the walking assembly so that the walking assembly can rotate relative to the sliding assembly.

The ground clearance detection device further comprises a buffer assembly, the buffer assembly is fixed on the rack and connected with the connecting piece so as to buffer the impact on the travelling mechanism;

the buffering assembly comprises a buffering mounting part and an elastic part, the buffering mounting part is connected with the rack and the elastic part, the elastic part is connected with the connecting piece, and the elastic part is used for buffering the impact received by the travelling mechanism.

The rack is provided with a sliding space, the sliding space extends along the arrangement direction of the first position and the second position, and the sliding block can be arranged in the sliding space in a sliding mode and can slide between the first position and the second position.

The ground clearance detection device further comprises a sensor and a controller, the sensor is electrically connected with the controller, the sensor is used for sending a first signal when the travelling mechanism is located at a first position, and the controller is used for controlling the harvester to stop working according to the first signal.

The road wheel comprises a hub motor and a tire, wherein the hub motor is provided with an outer peripheral surface and at least one protruding part positioned on the outer peripheral surface, and the tire is provided with an inner peripheral surface and at least one groove positioned on the inner peripheral surface; the tire is sleeved on the outer peripheral surface of the hub motor, and the protruding portion is clamped in the groove.

In a second aspect, the present application provides a harvester, characterized in that, include liftoff detection device and cutterhead assembly, cutterhead assembly install in the frame, cutterhead assembly is used for reaping.

The application liftoff detection device running gear have for the frame the primary importance reaches the second place, and when running gear is in the primary importance, make the harvester is in stop work when running gear is in abnormal condition avoids using emergence incident during the harvester, improves the security of harvester under operating condition.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic view of a harvester according to an embodiment of the present disclosure;

fig. 2 is a first schematic structural diagram of an off-ground detection apparatus provided in the present embodiment;

fig. 3 is a second schematic structural diagram of an off-ground detection apparatus according to an embodiment of the present disclosure;

FIG. 4 is a schematic bottom structure view of a harvester according to an embodiment of the present disclosure;

FIG. 5 is a schematic structural diagram of a cutter head assembly provided by an embodiment of the application;

fig. 6 is a schematic partial cross-sectional view of a lift-off detection apparatus provided in an embodiment of the present application;

FIG. 7 is a partial schematic structural view of a traveling mechanism provided in an embodiment of the present application;

fig. 8 is a schematic structural diagram of a traveling wheel provided in an embodiment of the present application.

Description of reference numerals: a harvester-1000, an off-ground detection device-1, a frame-10, a frame body-11, a guide piece-12, a sliding space-13, a walking mechanism-20, a sliding component-21, a sliding block-211, a rotating shaft-212, a walking component-22, a first walking component-221, a second walking component-222, a connecting piece-223 and a first connecting piece-2231, the wheel hub comprises a second connecting piece-2232, a road wheel-224, a first road wheel-2241, a second road wheel-2242, a hub motor-225, a motor main body-2251, a hub cover-2252, a tire-226, a sensor-30, a buffer assembly-40, a mounting piece-41, an elastic piece-42, a cutter head assembly-3, a blade-31 and a cutter head bracket-32.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without any inventive step are within the scope of protection of the present application.

Reference herein to "an embodiment" or "an implementation" means that a particular feature, structure, or characteristic described in connection with the embodiment or implementation can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein may be combined with other embodiments.

It should be noted that the terms "first", "second", and the like in the description and claims of the present application and in the above-described drawings are used for distinguishing different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions.

With the increasing of urban greening area, more and more lawns need to be maintained, but the problem of insufficient labor force caused by the problems of aging population and the like becomes more serious, and in order to liberate labor force, harvesters for automatically trimming lawns are gradually popularized. To the working environment of the harvester on the grassland, the following functions need to be satisfied: the lawn is rugged, and has obstacles such as grass roots, various small stone tree roots and the like, so that the harvester can adapt to various different road conditions when running on the lawn, the trafficability is ensured, and the harvester needs to have good cross-country capacity; when the harvester is used for trimming lawns, the cutter disc rotating at high speed needs to stop rotating in an emergency, and when the harvester possibly falls from a section or is lifted off the ground by irrelevant personnel or other external force, the abnormal state needs to be detected to stop working so as to avoid safety accidents.

With the increase of the types of the harvesters, the harvesters appearing on the market are more and more different in quality, the safety problem belongs to the most important part, and how to improve the safety of the harvesters in a working state becomes a technical problem to be solved.

Please refer to fig. 1, fig. 2 and fig. 4. Fig. 1 is a schematic structural diagram of a harvester according to an embodiment of the present disclosure (hereinafter, a harvester 1000 may refer to fig. 1), fig. 2 is a first structural diagram of an off-ground detection device according to an embodiment of the present disclosure, and fig. 4 is a schematic structural diagram of a bottom surface of a harvester according to an embodiment of the present disclosure. The application provides harvester 1000 includes liftoff detection device 1 and cutterhead assembly 3, cutterhead assembly 3 install in on harvester 1000, cutterhead assembly 3 is used for reaping. Optionally, the cutterhead assembly 3 includes, but is not limited to, being used for mowing grass, and the cutterhead assembly 3 may also be used for harvesting other plants, such as rice, wheat, etc.

Referring to fig. 5, fig. 5 is a schematic structural diagram of a cutter head assembly according to an embodiment of the present disclosure. Cutterhead assembly 3 still includes at least one blade 31 and cutterhead support 32, just blade 31 set up in on the outer peripheral edge of cutterhead support 32, and at least part exposes the outer peripheral edge of cutterhead support 32.

The blades 31 are rotatably connected with the cutter head support 32, and when the cutter head support 32 rotates, the blades 31 are radially arranged under the action of centrifugal force. When the blade 31 touches the external object with the great hardness of stone in the course of the work, because the blade 31 with the blade disc support 32 rotates to be connected, the blade 31 can rotate and prevent the blade 31 receives great damage.

Referring to fig. 2 and 4 again, the lift-off detection device 1 includes a frame 10 and a traveling mechanism 20, the traveling mechanism 20 is movably disposed on the frame 10, the traveling mechanism 20 has a first position and a second position relative to the frame 10, and when the traveling mechanism 20 is located at the first position, the harvester 1000 stops working; when the running gear 20 is in the second position, the state of the harvester 1000 remains unchanged.

Specifically, when the lift-off detection device 1 is applied to the harvester 1000, and the harvester 1000 is placed on a road surface, the first position is a position close to the road surface, and the second position is a position far from the road surface.

Specifically, the first position and the second position are separated by a certain distance, the first position is located on one side of the rack 10 close to the bottom of the rack 10, and the second position is located on one side of the rack 10 close to the top of the rack 10.

Alternatively, referring to fig. 2 and 3, when the harvester 1000 is located on a horizontal walking surface, the direction from the first position to the second position on the frame 10 is a first direction.

Optionally, the horizontal walking path includes, but is not limited to, a horizontal ground, a horizontal table, or other environments.

When the traveling mechanism 20 is located at the first position of the frame 10, the harvester 1000 in the working state stops working, and the harvester 1000 in the working state stops working continuously. When the running gear 20 is in the second position, the state of the harvester 1000 remains unchanged. When the harvester 1000 is in the stop state and the traveling mechanism 20 is at the second position of the frame 10, the harvester 1000 is still in the stop state; when the harvester 1000 is in the working state, the harvester 1000 is still in the working state when the traveling mechanism 20 is in the second position.

It can be stated that, optionally, the harvester 1000 is in an operating state including, but not limited to, the cutterhead assembly 3 being in an operating state, and the cutterhead assembly 3 being in an operating state including, but not limited to, the cutterhead bracket 32 or the blades 31 being in a rotating state.

Specifically, in one embodiment, when the travelling mechanism 20 of the harvester 1000 travels on the horizontal travelling road surface, the horizontal travelling road surface provides a supporting force for the travelling mechanism 20, the structure of the travelling mechanism 20 is relatively stable, and the height of the travelling mechanism 20 relative to the horizontal travelling road surface is not changed. The frame 10 is movably connected to the traveling mechanism 20, so that the frame 10 moves toward the direction close to the horizontal traveling road surface due to its own gravity, and the traveling mechanism 20 moves toward the second position of the frame 10. Until the travelling mechanism 20 is located at the second position, the positional relationship between the frame 10 and the travelling mechanism 20 is relatively stable, that is, the height and the structure of the harvester 1000 along the first direction are relatively stable.

In one embodiment, when the traveling mechanism 20 of the harvester 1000 travels to a height profile similar to a step and the traveling mechanism 20 is in a suspended state, the traveling mechanism 20 moves relative to the frame 10 toward a traveling road surface due to its own weight, and the traveling mechanism 20 moves toward the first position of the frame 10. The harvester 1000 stops working until the running gear 20 is in the first position.

Wherein, optionally, the walking road surface includes but is not limited to a step section, a pit on the ground, and the like.

In another embodiment, when the harvesting machine 1000 is lifted by an operator in an operating state, the frame 10 is pulled by the operator and moves away from the horizontal walking surface, so that the walking mechanism 20 moves towards the first position, and the harvesting machine 1000 stops working until the walking mechanism 20 is at the first position. In one embodiment, when the operator lifts the harvester 1000 in the working state and the traveling mechanism 20 is separated from the horizontal traveling road surface and suspended, the traveling mechanism 20 moves to the first position of the frame 10 to stop the operation of the harvester 1000. In another embodiment, when the operator lifts the harvester 1000 in the working state, the traveling mechanism 20 does not leave the horizontal traveling road surface, but the traveling mechanism 20 also moves to the first position of the frame 10 and stops the harvester 1000.

The traveling mechanism 20 of the ground clearance detecting device 1 has a first position and a second position relative to the frame 10, and when the traveling mechanism 20 is in the first position, the harvester 1000 is stopped when the traveling mechanism 20 is in an abnormal state, so that safety accidents during the use of the harvester 1000 are avoided, and the safety of the harvester 1000 in a working state is improved.

Optionally, the number of the traveling mechanisms 20 in the harvester 1000 includes, but is not limited to, 1, 2, 3 or other numbers. In one embodiment, the number of the traveling mechanisms 20 in the harvester 1000 is 2, and two traveling mechanisms 20 are disposed at two opposite ends of the frame 10 at intervals.

Referring to fig. 2 and 6, fig. 6 is a partial cross-sectional schematic view of a ground clearance detecting apparatus according to an embodiment of the present disclosure. The frame 10 has a sliding space 13, the sliding space 13 extends along the arrangement direction of the first position and the second position, the traveling mechanism 20 is at least partially disposed in the sliding space 13, and the traveling mechanism 20 is at least partially slidable between the first position and the second position.

Specifically, referring to fig. 2 again, the frame 10 includes a frame body 11 and a guiding element 12, and the guiding element 12 extends along a direction from the first position to the second position. The frame body 11 and the guide 12 enclose the sliding space 13, the traveling mechanism 20 is movably disposed through the sliding space 13, and the guide 12 is used for making at least part of the traveling mechanism 20 slide between the first position and the second position.

Wherein, optionally, the guiding element 12 includes, but is not limited to, a guiding rod, a sliding rail or other sliding type components.

In one embodiment, the number of guides 12 is 4. Alternatively, the number of the guide members 12 may be 1, 2, 3, 5, 10 or other numbers.

In one embodiment, the guide 12 is a metal post. Alternatively, the guide 12 may be a post of non-metallic material, and the material of the guide 12 includes, but is not limited to, plastic, synthetic rubber, synthetic fiber, or other types of materials.

It should be noted that the guide 12 in the sliding space 13 is fixedly connected to the frame 10. At least a part of the running gear 20 is slidable along the guide member 12 in the guide space, in other words, the frame 10 is also movable relative to the running gear 20 toward the horizontal running surface (i.e. the frame 10 carries the guide member 12 along the running gear 20 toward the horizontal running surface).

Optionally, the guide 12 is fixedly connected to the frame 10 by a screw connection, a snap connection, a rivet connection, or the like.

Specifically, the sliding space 13 provides a moving space for at least a part of the traveling mechanism 20, and the sliding space 13 extends along the arrangement direction of the first position and the second position, so that the traveling mechanism 20 can move to the first position and the second position of the rack 10. The guide 12 is disposed in the sliding space 13, and it is ensured that the traveling mechanism 20 moves in the extending direction of the guide 12, and the guide 12 extends along the direction from the first position to the second position, so that the traveling mechanism 20 moves along the guide 12 to the first position and the second position of the rack 10.

The arrangement of the sliding space 13 and the guide 12 provides conditions for the traveling mechanism 20 to move to the first position and the second position, and provides a basis for the harvester 1000 to adjust the working state of the harvester through the position of the traveling mechanism 20.

Referring to fig. 2 again, the traveling mechanism 20 includes a sliding component 21 and a traveling component 22, the sliding component 21 is slidably disposed on the frame 10, and the sliding component 21 has the first position and the second position relative to the frame 10; the walking assembly 22 is rotatably connected to the sliding assembly 21; when the sliding assembly 21 is in the first position, the harvester 1000 stops working; when the sliding assembly 21 is in the second position, the state of the harvester 1000 remains unchanged.

Specifically, the sliding assembly 21 is at least a part of the traveling mechanism 20 located in the sliding space 13. The sliding assembly 21 is connected with the walking assembly 22, the walking assembly 22 drives the sliding assembly 21 to slide from the second position to the first position under the suspension state due to the gravity, and when the sliding assembly 21 is located at the first position, the harvester 1000 stops working.

The walking assembly 22 is rotatably connected to the sliding assembly 21, and when the walking mechanism 20 encounters an obstacle during walking on the walking road surface, the walking assembly 22 abuts against the obstacle and deviates from the rotation of the walking road surface, so that the walking assembly 22 strides over the obstacle. Optionally, the obstacle includes, but is not limited to, grass roots, branches, stones, and other objects on the ground.

Referring to fig. 2 again, the walking assembly 22 includes a connecting member 223 and a walking wheel 224, the connecting member 223 is rotatably connected to the sliding assembly 21, and one end of the connecting member 223 far away from the sliding assembly 21 is movably connected to the walking wheel 224.

Specifically, walking wheel 224 can drive when meetting the barrier or suspending the time at the in-process of walking connecting piece 223 orientation can deviate from walking road surface removes, connecting piece 223 for sliding assembly 21 orientation can deviate from walking road surface rotates.

It should be noted that, optionally, the sliding assembly 21 may be connected to at least one walking assembly 22, and the sliding assembly 21 may also be connected to two, three or more walking assemblies 22.

The following description will be given by taking the sliding assembly 21 as an example to connect the two walking assemblies 22, and the working process of the lift-off detection device 1 is not to be construed as a limitation to the lift-off detection device 1 of the present application.

Referring to fig. 2 and 3, fig. 3 is a second structural schematic diagram of an off-ground detection apparatus according to an embodiment of the present disclosure. Specifically, the walking assembly 22 includes a first walking assembly 221 and a second walking assembly 222, and the first walking assembly 221 and the second walking assembly 222 are respectively disposed on two opposite sides of the sliding assembly 21. First walking assembly 221 includes first connecting piece 2231 and first walking wheel 2241, second walking assembly 222 includes second connecting piece 2232 and second walking wheel 2242, first connecting piece 2231 with second connecting piece 2232 connects respectively the relative both sides of sliding assembly 21.

In one embodiment, when the two traveling assemblies 22 of the traveling mechanism 20 both travel to a height section similar to a step, and the first traveling assembly 221 and the second traveling assembly 222 are both in a suspended state, the first traveling wheel 2241 and the second traveling wheel 2242 move relative to the frame 10 toward the direction of the traveling road surface due to their own gravity, and drive the first connecting member 2231 and the second connecting member 2232 to move toward the direction of the traveling road surface, so as to drive the sliding assembly 21 to move toward the direction of the traveling road surface, that is, the sliding assembly 21 moves toward the first position, and until the sliding assembly 21 is in the first position, the harvester 1000 stops working.

In another embodiment, when the second traveling assembly 222 of the traveling mechanism 20 travels to a height section similar to a step and the second traveling assembly 222 is in a suspended state, the second traveling wheel 2242 moves towards the traveling road surface direction relative to the frame 10 due to its own weight, and drives the second connecting part 2232 to move towards the traveling road surface direction, that is, the second traveling assembly 222 moves towards the first position relative to the sliding assembly 21; the first traveling assembly 221 moves towards the second position relative to the sliding assembly 21, so that the first traveling wheel 2241 of the first traveling assembly 221 and the second traveling wheel 2242 of the second traveling assembly 222 abut against a traveling road surface, the sliding assembly 21 is located at a third position, and the harvester 1000 keeps a working state, wherein the third position is located between the first position and the second position.

Optionally, in this embodiment, the first connecting element 2231 and the second connecting element 2232 are fixedly connected, and in other embodiments, the first connecting element 2231 and the second connecting element 2232 include, but are not limited to, a rotating connection or other connection.

Referring to fig. 2 and 7, fig. 7 is a schematic partial structural view of a traveling mechanism according to an embodiment of the present disclosure. The sliding assembly 21 includes a sliding block 211 and a rotating shaft 212, wherein the sliding block 211 is slidably disposed in the sliding space 13 and can slide between the first position and the second position of the rack 10. The rotating shaft 212 is connected to the sliding block 211, and the rotating shaft 212 is rotatably connected to the walking assembly 22, so that the walking assembly 22 can rotate relative to the sliding assembly 21.

The rotating shaft 212 is fixedly connected with the sliding block 211, and optionally, the fixed connection mode of the rotating shaft 212 and the sliding block 211 includes, but is not limited to, a connection mode such as a threaded connection, a snap connection, and a riveting connection.

Specifically, the rotating shaft 212 is rotatably connected to the walking assembly 22, and the walking assembly 22 drives the rotating shaft 212 to move in a suspended state, so as to drive the sliding block 211 to slide along the guide 12, and determine a required working state of the harvester 1000 according to a position of the sliding block 211.

The walking assembly 22 drives the sliding block 211 to slide through the rotating shaft 212 connected with the walking assembly 22, so that when the harvester 1000 works under an abnormal condition, the walking assembly 22 can rapidly drive the sliding block 211 to slide through the rotating shaft 212, and stop the harvester 1000 according to the position of the sliding block 211. The slider 211 is used to be slidably connected to the guide 12, and the smoothness of the slider 211 when moving the position is improved.

Referring to fig. 2 again, the lift-off detection device 1 further includes a sensor 30 and a controller (not shown), the sensor 30 is electrically connected to the controller, the sensor 30 is configured to send a first signal when the traveling mechanism 20 is at the first position, and the controller is configured to control the harvester 1000 to stop working according to the first signal.

In the present embodiment, the sensor 30 is disposed on a side of the frame 10 close to the first position, and the sensor 30 is used for sensing the position of the slider 211 in the traveling mechanism 20.

Specifically, in an embodiment, when the harvester 1000 runs to a height section similar to a step, and the two traveling assemblies 22 of the traveling mechanism 20 are both in a suspended state, the two traveling wheels 224 drive the corresponding connecting pieces 223 to move towards the direction of the traveling road surface, so as to drive the rotating shaft 212 and the sliding blocks 211 to move towards the direction of the traveling road surface, and when the sliding blocks 211 slide to the first position, the sensor 30 detects that the sliding blocks 211 send the first signal to the controller, and the controller controls the harvester 1000 to stop working according to the first signal.

Optionally, the sensor 30 includes, but is not limited to, a contact-type sensor, an infrared sensor, a photoelectric sensor, or other type of sensor. In one embodiment, the sensor 30 is a micro switch (contact type sensor).

Referring to fig. 2 again, the lift-off detection apparatus 1 further includes a buffering assembly 40, the buffering assembly 40 is fixed on the frame 10, and the buffering assembly 40 is connected to the connecting member 223 to buffer the impact applied to the traveling mechanism 20. It should be noted that the number of the buffering assemblies 40 may be the same as or different from the number of the walking assemblies 22, wherein the number of the buffering assemblies 40 is equal to the number of the walking assemblies 22 in this embodiment.

The buffer assembly 40 abuts against the connecting piece 223 and can provide downward acting force to the travelling mechanism 20, and when the travelling mechanism 20 passes over the obstacle, the connecting piece 223 is prevented from swinging towards the direction departing from the travelling road surface.

The buffer assembly 40 includes a buffer mounting member 41 and an elastic member 42, the buffer mounting member 41 is connected to the frame 10 and the elastic member 42, the elastic member 42 is connected to the connecting member 223, and the elastic member 42 is used for buffering the impact received by the traveling mechanism 20.

In the present embodiment, the elastic member 42 abuts against the connecting member 223. Harvester 1000 is in when the work of horizontal walking road surface, frame 10 moves because of self gravity orientation the horizontal walking road surface removes, running gear 20 for frame 10 moves to the second position, elastic component 42 takes place elastic deformation and produces one to cushion mounting spare 41 and deviates from the elastic force on horizontal walking road surface, in order to prevent frame 10 for running gear 20 continues to move towards the horizontal walking road surface removes, avoids frame 10 with running gear 20 bumps and leads to harvester 1000 damages. Specifically, when the running mechanism 20 is in the second position, at this time, the elastic force of the elastic member 42 and the descending force generated by the frame 10 at the sliding assembly 21 are balanced, and the positional relationship between the frame 10 and the running mechanism 20 is relatively stable, that is, the height and the structure of the harvester 1000 in the first direction are relatively stable.

Alternatively, the elastic member 42 may be, but is not limited to, a spring, an elastic sleeve (such as a silicone sleeve, a rubber sleeve, etc.), an elastic block, etc. which can elastically deform.

Referring to fig. 2 and 8, fig. 8 is a schematic structural view of a road wheel provided in an embodiment of the present application. Each of the road wheels 224 includes a hub motor 225 and a tire 226. That is, the harvester 1000 is driven by four wheels, and the plurality of hub motors 225 provide greater power for the harvester 1000, thereby improving the off-road capability of the harvester 1000.

The in-wheel motor 225 has an outer peripheral surface and at least one protrusion located on the outer peripheral surface, and the tire 226 has an inner peripheral surface and at least one groove located on the inner peripheral surface; the tire 226 is sleeved on the outer peripheral surface of the hub motor 225, and the protruding portion is clamped in the groove.

Specifically, in one embodiment, the grooves may engage the protrusions to prevent relative rotation between the in-wheel motor 225 and the tire 226. The engagement of the protrusions and the grooves secures the tire 226 to the in-wheel motor 225, preventing the tire 226 from being displaced relative to the in-wheel motor 225.

The hub motor 225 includes a motor body 2251 and a hub cover 2252, the motor body 2251 is movably connected to the hub cover 2252, and a baffle is disposed on the hub cover 2252 and is used to prevent the tire 226 from shifting relative to the motor body 2251. Specifically, the road wheel 224 is installed by sleeving the motor body 2251 in the tire 226, and then connecting the hub cover 2252 to the motor body 2251, wherein the baffle of the hub cover 2252 and the baffle of the hub motor 225 are respectively engaged with and abutted against the tire 226, so that the tire 226 cannot be shifted relative to the motor body 2251. Optionally, the hub cover 2252 includes, but is not limited to, a threaded connection with the motor body 2251.

While the foregoing is directed to embodiments of the present application, it will be appreciated by those skilled in the art that various changes and modifications may be made without departing from the principles of the application, and it is intended that such changes and modifications be covered by the scope of the application.

Claims

1. A lift-off detection device applied to a harvester is characterized by comprising:

a frame;

2. The lift-off detection apparatus of claim 1, wherein the traveling mechanism comprises a sliding assembly and a traveling assembly, the sliding assembly being slidably disposed on the frame, the sliding assembly having the first position and the second position relative to the frame; the walking assembly is rotatably connected to the sliding assembly; when the sliding assembly is in the first position, the harvester stops working; when the sliding assembly is in the second position, the state of the harvester remains unchanged.

3. The lift-off detection device of claim 2, wherein the walking assembly comprises a connecting piece and a walking wheel, the connecting piece is rotatably connected with the sliding assembly, and one end of the connecting piece, which is far away from the sliding assembly, is movably connected with the walking wheel.

4. The lift-off detection device of claim 3, wherein the walking assembly comprises a first walking assembly and a second walking assembly, the first walking assembly and the second walking assembly are respectively arranged on two opposite sides of the sliding assembly, when the first walking assembly moves towards the second position relative to the sliding assembly, the second walking assembly moves towards the first position relative to the sliding assembly, so that the walking wheels of the first walking assembly and the walking wheels of the second walking assembly are abutted to a walking road surface, the sliding assembly is located at a third position, and the harvester is kept in a working state, wherein the third position is located between the first position and the second position.

5. The lift-off detection device of claim 2, wherein the sliding assembly comprises a slider and a rotating shaft, the rotating shaft is connected to the slider, and the rotating shaft is rotatably connected to the walking assembly, so that the walking assembly can rotate relative to the sliding assembly.

6. The lift-off detection device of claim 3, further comprising a buffer assembly, wherein the buffer assembly is fixed on the frame and connected to the connecting member to buffer the impact on the traveling mechanism;

the buffer assembly comprises a buffer mounting part and an elastic part, the buffer mounting part is connected with the frame and the elastic part, the elastic part is connected with the connecting piece, and the elastic part is used for buffering the impact received by the walking mechanism.

7. The lift-off detection device according to claim 2, wherein the housing has a sliding space extending along an arrangement direction of the first position and the second position, and a slider is slidably provided in the sliding space and is slidable between the first position and the second position.

8. The lift-off detection device of claim 2, further comprising a sensor and a controller, wherein the sensor is electrically connected to the controller, the sensor is configured to send a first signal when the travelling mechanism is in the first position, and the controller is configured to control the harvester to stop working according to the first signal.

9. The lift-off detection device of claim 3, wherein the road wheel comprises a hub motor and a tire, the hub motor having an outer peripheral surface and at least one protrusion on the outer peripheral surface, the tire having an inner peripheral surface and at least one groove on the inner peripheral surface; the tire is sleeved on the outer peripheral surface of the hub motor, and the protruding portion is clamped in the groove.

10. A harvester, comprising:

an off-ground detection apparatus as set forth in any one of claims 1-9; and

the cutter head assembly is installed on the rack and used for harvesting.