CN110972672A - Potato combined harvester with self-adjusting balance system and application thereof - Google Patents
Potato combined harvester with self-adjusting balance system and application thereof Download PDFInfo
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- CN110972672A CN110972672A CN201911413146.8A CN201911413146A CN110972672A CN 110972672 A CN110972672 A CN 110972672A CN 201911413146 A CN201911413146 A CN 201911413146A CN 110972672 A CN110972672 A CN 110972672A
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- frame
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- combine harvester
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- 244000061456 Solanum tuberosum Species 0.000 title claims abstract description 49
- 235000002595 Solanum tuberosum Nutrition 0.000 title claims abstract description 49
- 238000006243 chemical reaction Methods 0.000 claims description 17
- 230000002457 bidirectional effect Effects 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 9
- 239000010720 hydraulic oil Substances 0.000 claims description 3
- 235000012015 potatoes Nutrition 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000003306 harvesting Methods 0.000 description 3
- 239000013078 crystal Substances 0.000 description 2
- 235000013305 food Nutrition 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 241000209140 Triticum Species 0.000 description 1
- 235000021307 Triticum Nutrition 0.000 description 1
- 240000008042 Zea mays Species 0.000 description 1
- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 description 1
- 235000002017 Zea mays subsp mays Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000005822 corn Nutrition 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D13/00—Diggers, e.g. potato ploughs
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D33/00—Accessories for digging harvesters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/06—Characteristics of dampers, e.g. mechanical dampers
- B60G17/08—Characteristics of fluid dampers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvester Elements (AREA)
Abstract
The invention relates to a potato combine harvester with a self-adjusting balance system and application thereof, wherein the potato combine harvester comprises a frame, a left land wheel and a right land wheel; the left land wheel is hinged with the bottom end of the left supporting frame through a left supporting cross beam, and the top end of the left supporting frame is hinged with the left side of the bottom of the frame; the right side land wheel is hinged with a piston rod of a frame lifting hydraulic cylinder through a right side supporting cross beam, a cylinder barrel of the frame lifting hydraulic cylinder is hinged to the right side of the bottom of a frame, and the electro-hydraulic valve group, the frame inclination angle sensor and the touch screen are respectively connected with a vehicle body balance controller; according to the invention, the self-adjusting balance system is added on the basis of the traditional potato combine harvester, when the potato combine harvester works on a rugged road surface, the inclination angle information of the frame is obtained through the frame inclination angle sensor, and the extension and retraction of the frame lifting hydraulic cylinder are adjusted by the vehicle body balance controller, so that the frame is kept in a relatively horizontal posture, the potatoes in the compartment are prevented from being transitionally stacked to one side, and the damage rate of the potatoes is reduced.
Description
Technical Field
The invention relates to a potato combine harvester with a self-adjusting balance system and application thereof, belonging to the technical field of agricultural mechanical equipment.
Background
At present, China starts a potato staple food strategy, and potatoes become another staple food except rice, wheat and corn. With the continuous expansion of potato planting scale in China, the mechanization degree of potato harvesting is continuously improved. The potato combine harvester can realize the operations of one-time digging, potato-soil separation, potato-seedling separation, centralized collection and conveying and the like, and has the advantages of high harvesting efficiency and no need of manual picking. However, the harvester is inclined due to the fluctuation of the ground during harvesting, so that the potato clusters are extruded towards one side, the breakage rate is increased, the space on the other side cannot be effectively utilized while the potato clusters are extruded towards one side, and the potato soil cannot be separated to the maximum degree in the backward conveying process.
The existing vehicle body balance technology is mainly applied to large cranes, pavers and heavy vehicles in the engineering field, radar vehicles and tanks in the military field, and the control system has a complex structure and occupies a large space. For example, chinese patent document CN106938597A discloses a vehicle body attitude adjusting device of a hilly mountain tractor, wherein an axle adjusting assembly of the adjusting device is symmetrically installed at the bottom of a vehicle body, and comprises an axle, an attitude adjusting hydraulic cylinder, an anchor rod and a variable linkage; the method comprises the steps that a posture adjusting hydraulic cylinder and a variable connecting rod group are symmetrically hinged between a vehicle body and an axle, the variable connecting rod group is composed of two variable connecting rods hinged between the vehicle body and the axle in an up-and-down parallel mode, a stabilizing rod is installed between the vehicle body and the axle, an electric control hydraulic system is composed of a sensor, an information acquisition unit, a posture controller and an electric control hydraulic valve in a signal connection mode in sequence, the electric control hydraulic valve controls the posture adjusting hydraulic cylinder, vehicle posture information detected by the sensor is sent to the posture controller through the information acquisition unit, then the electric control hydraulic valve is controlled to adjust the posture adjusting hydraulic cylinder, and finally self-adjustment of the posture of the. The invention realizes the real-time self-adjustment of the body posture of the wheeled vehicle and ensures the driving stability.
Through retrieval, at present, less body balance adjusting systems are applied to the potato combine harvester, so that a self-adjusting balance system needs to be designed and installed on the potato combine harvester, the improved potato combine harvester can self-adjust the posture of a vehicle body on a rugged road surface, the relatively horizontal posture of the vehicle body is further kept, and the potato is prevented from being extruded and damaged.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a potato combine harvester with a self-adjusting balance system.
The invention also provides a working method of the potato combine harvester with the self-adjusting balance system.
The technical scheme of the invention is as follows:
a potato combine harvester comprises a frame, a left land wheel and a right land wheel;
the left land wheel is hinged with the bottom end of the left supporting frame through a left supporting cross beam, and the top end of the left supporting frame is hinged with the left side of the bottom of the frame; the right side land wheel is hinged with a piston rod of a frame lifting hydraulic cylinder through a right side supporting beam, a cylinder barrel of the frame lifting hydraulic cylinder is hinged to the right side of the bottom of the frame, one end of the right side supporting beam is further hinged with a right side supporting frame, and the top end of the right side supporting frame is hinged to the right side of the bottom of the frame;
the frame is provided with a frame inclination angle sensor, a vehicle body balance controller, a touch screen and an electro-hydraulic valve group, and the electro-hydraulic valve group, the frame inclination angle sensor and the touch screen are respectively connected with the vehicle body balance controller;
the electro-hydraulic valve group comprises 1 bidirectional proportional solenoid valve and 2 electro-hydraulic switch valves, the bidirectional proportional solenoid valve and the electro-hydraulic switch valves are arranged on a hydraulic oil path of the frame lifting hydraulic cylinder, and the bidirectional proportional solenoid valve and the electro-hydraulic switch valves are connected and controlled through a vehicle body balance controller.
Preferably, the rear end of the right supporting beam is provided with a land wheel shaft head which is connected with a right land wheel through the land wheel shaft head; the front end of the right supporting beam is connected with the right supporting frame through a circular tube.
Preferably, the front end and the rear end of the left supporting cross beam are respectively hinged with the front end and the rear end of the bottom of the frame through a left supporting frame.
Preferably, the left and right supporting beams have a length of 1190mm, a width of 120mm and a height of 200 mm.
Preferably, a cylinder barrel of the frame lifting hydraulic cylinder is connected with the bottom of the frame through an upper pin shaft, and the end of a piston rod is connected with the rear end of the right supporting cross beam through a lower pin shaft.
Preferably, the vehicle frame inclination angle sensor is an LCA310T single-shaft voltage output type inclination angle sensor, and the angle range is +/-30 degrees.
Preferably, the frame inclination angle sensor is arranged on the upper surface of the frame and is positioned right above the frame lifting hydraulic cylinder.
Preferably, the vehicle body balance controller comprises a power module, a proportion conversion module, a level conversion module, a control algorithm module and an electro-hydraulic valve bank control module; the proportion conversion module is connected with the frame inclination angle sensor and sends the acquired frame inclination information to the control algorithm module; the level conversion module is respectively connected with the control algorithm module and the electro-hydraulic valve bank control module and converts a control signal output by the control algorithm module into a control signal required by the electro-hydraulic valve bank control module; the electro-hydraulic valve bank control module is connected with the electro-hydraulic valve bank; and the power supply module is used for providing power supply voltage required by each module.
A working method of a potato combine harvester comprises the following steps:
in the operation process of the potato combine harvester, when the frame inclines due to the fact that the rugged road surface exists, the frame inclination angle sensor collects the inclination angle information of the frame and transmits the information to the vehicle body balance controller, and the vehicle body balance controller sends an instruction to control the operation of the electro-hydraulic valve group after analyzing the angle information, so that the stretching of the frame lifting hydraulic cylinder is adjusted, and the frame is kept in a relatively horizontal posture.
The invention has the beneficial effects that:
according to the potato combine harvester, the self-adjusting balance system is added on the basis of the traditional potato combine harvester, so that when the improved potato combine harvester works on a rugged road surface, the inclination angle information of the frame can be obtained through the frame inclination angle sensor, and the electro-hydraulic valve group is controlled to adjust the extension and retraction of the frame lifting hydraulic cylinder after data analysis and operation are carried out by the vehicle body balance controller, so that the frame is kept in a relatively horizontal posture, the potatoes in a carriage are prevented from being excessively accumulated to one side, and the damage rate of the potatoes is reduced.
Drawings
FIG. 1 is a block diagram of a self-adjusting balancing system according to the present invention;
FIG. 2 is a rear view of the vehicle body in a horizontal state in accordance with the present invention;
FIG. 3 is a rear view of the vehicle body in a state in which the vehicle body is inclined toward the left side on a horizontal ground in the present invention;
FIG. 4 is a rear view of the vehicle body in a state where the horizontal ground is inclined toward the right side in the present invention;
FIG. 5 is a block diagram of the body balance controller of the potato combine of the present invention;
FIG. 6 is a wiring diagram of the self-adjusting balancing system of the present invention;
wherein: 1. a frame tilt angle sensor; 2. a frame of the potato combine harvester; 3. a frame lifting hydraulic cylinder; 4. a right ground wheel; 5. a right side support beam; 6. a touch screen; 7. a vehicle body balance controller; 8. a right side support frame; 9. an electro-hydraulic valve bank; 10. a left side support frame; 11. a left ground wheel; 12. a left side support beam; 100. a power supply module; 200. a ratio conversion module; 300. a control algorithm module; 400. a level conversion module; 500. an electro-hydraulic valve bank control module; 501. an active crystal oscillator; 502. a frequency divider; 503. and a power driving module. 901. A bidirectional proportional solenoid valve; 902. an electro-hydraulic switch valve.
Detailed Description
The present invention will be further described by way of examples, but not limited thereto, with reference to the accompanying drawings.
Example 1:
as shown in FIGS. 1-6, the present embodiment provides a potato combine harvester, which comprises a frame 2, a left side land wheel 11 and a right side land wheel 4; the other components of the potato combine harvester are the prior art, and the improved potato combine harvester is mainly provided with a self-adjusting balance system on the frame 2, the left land wheel 11 and the right land wheel 4;
the left land wheel 11 is hinged with the bottom end of a left supporting frame 10 through a left supporting beam 12, and the top end of the left supporting frame 10 is hinged with the left side of the bottom of the frame 2; the right side land wheel 4 is hinged with a piston rod of a frame lifting hydraulic cylinder 3 through a right side supporting beam 5, a cylinder barrel of the frame lifting hydraulic cylinder 3 is hinged with the right side of the bottom of the frame 2, one end of the right side supporting beam 5 is also hinged with a right side supporting frame 8, and the top end of the right side supporting frame 8 is hinged with the right side of the bottom of the frame 2;
the frame 2 is provided with a frame inclination angle sensor 1, a frame balance controller 7, a touch screen 6 and an electro-hydraulic valve group 9, wherein the electro-hydraulic valve group 9, the frame inclination angle sensor 1 and the touch screen 6 are respectively connected with the frame balance controller 7;
the electro-hydraulic valve group 9 comprises 1 bidirectional proportional solenoid valve 901 and 2 electro-hydraulic switch valves 902, the bidirectional proportional solenoid valve 901 and the electro-hydraulic switch valves 902 are connected to a hydraulic oil path of the frame lifting hydraulic cylinder 3, and the bidirectional proportional solenoid valve 901 and the electro-hydraulic switch valves 902 are connected and controlled through the vehicle body balance controller 7.
The rear end of the right supporting beam 5 is provided with a land wheel shaft head which is connected with a right land wheel 4 through the land wheel shaft head; the front end of the right supporting beam 5 is connected with a right supporting frame 8 through a circular tube.
The rear end of the left supporting beam 12 is provided with a land wheel shaft head which is fixedly connected with a left land wheel 11, the front end and the rear end of the left supporting beam 12 are respectively hinged with two left supporting frames 10, and the upper ends of the two left supporting frames 10 are respectively hinged with the front end and the rear end of the bottom of the potato combine harvester frame 2; when the frame is in a horizontal posture, the left side support cross member 12 and the right side support cross member 5 are in a symmetrical relationship.
Right side supporting beam 5 is a cuboid, and the rear end is connected and articulated frame hydraulic cylinder 3 with right side land wheel 4, and the front end is articulated with 8 bottoms of right side support frame, and the length of right side supporting beam 5 and left side supporting beam 12 is 1190mm, and the width is 120mm, highly is 200 mm.
The cylinder barrel of the frame lifting hydraulic cylinder 3 is connected with the bottom of the frame 2 through an upper pin shaft, and the end head of the piston rod is connected with the rear end of the right supporting beam 5 through a lower pin shaft.
The inclination angle sensor 1 of the frame is an LCA310T single-shaft voltage output type inclination angle sensor, and the angle range is +/-30 degrees. The frame inclination angle sensor 1 is arranged on the upper surface of the frame 2 and is positioned right above the frame lifting hydraulic cylinder 3. After the information of the inclination angle of the frame is obtained, the expansion amount of the frame lifting hydraulic cylinder 3 can be more accurately adjusted, and the adjustment accuracy is ensured.
As shown in fig. 5 and 6, the body balance controller 7 includes a power module 100, a proportional conversion module 200, a level conversion module 400, a control algorithm module 300, and an electrohydraulic valve bank control module 500; the proportion conversion module 200 is connected with the frame inclination angle sensor 1 and sends the acquired frame inclination information to the control algorithm module 300; the level conversion module 400 is respectively connected with the control algorithm module 300 and the electrohydraulic valve bank control module 500, and converts the control signal output by the control algorithm module 300 into a control signal required by the electrohydraulic valve bank control module 500; the electrohydraulic valve bank control module 500 is connected with the electrohydraulic valve bank 9; and a power module 100 for providing a power supply voltage required by each module.
The circuit connection relationship of the self-adjusting balancing system is shown in fig. 6. The electrohydraulic valve group control module 500 comprises an active crystal oscillator 501, a frequency divider 502 and a power driving module 503, and is connected with 1 bidirectional proportional solenoid valve 901, 2 electrohydraulic switch valves 902, a frame inclination sensor 1, a touch screen 6 and a vehicle body balance controller 7.
Example 2:
referring to fig. 6, the working method of the potato combine harvester according to example 1 comprises the following steps:
in the operation process of the potato combine harvester, when the frame inclines due to the fact that the road is rugged, the frame inclination angle sensor 1 collects the inclination angle information of the frame and transmits the inclination angle information to the proportion conversion module 200, the proportion conversion module 200 is used for collecting the inclination angle information of the frame and transmitting the inclination angle information to the control algorithm module 300, and the control algorithm module 300 calculates the expansion amount of the frame lifting hydraulic cylinder 3 to be adjusted according to the inclination angle information of the frame; the control algorithm module 300 transmits the command to the power driving module 503 through the level conversion module 400, and the power driving module 503 controls 1 bidirectional proportional solenoid valve 901 and 2 electro-hydraulic switch valves 902, so as to finally adjust the telescopic amount of the frame lifting hydraulic cylinder 3, so that the frame maintains a relatively horizontal posture.
Claims (9)
1. A potato combine harvester is characterized by comprising a frame, a left land wheel and a right land wheel;
the left land wheel is hinged with the bottom end of the left supporting frame through a left supporting cross beam, and the top end of the left supporting frame is hinged with the left side of the bottom of the frame; the right side land wheel is hinged with a piston rod of a frame lifting hydraulic cylinder through a right side supporting beam, a cylinder barrel of the frame lifting hydraulic cylinder is hinged to the right side of the bottom of the frame, one end of the right side supporting beam is further hinged with a right side supporting frame, and the top end of the right side supporting frame is hinged to the right side of the bottom of the frame;
the frame is provided with a frame inclination angle sensor, a vehicle body balance controller, a touch screen and an electro-hydraulic valve group, and the electro-hydraulic valve group, the frame inclination angle sensor and the touch screen are respectively connected with the vehicle body balance controller;
the electro-hydraulic valve group comprises 1 bidirectional proportional solenoid valve and 2 electro-hydraulic switch valves, the bidirectional proportional solenoid valve and the electro-hydraulic switch valves are arranged on a hydraulic oil path of the frame lifting hydraulic cylinder, and the bidirectional proportional solenoid valve and the electro-hydraulic switch valves are connected and controlled through a vehicle body balance controller.
2. The potato combine harvester of claim 1, wherein the rear end of the right support beam is provided with a ground wheel spindle head, and the ground wheel spindle head is connected with a right ground wheel; the front end of the right supporting beam is connected with the right supporting frame through a circular tube.
3. The potato combine harvester of claim 1, wherein the left side support beam is hinged at its front and rear ends to the front and rear ends of the bottom of the frame by a left side support frame.
4. The potato combine harvester of claim 1, wherein the left and right support beams are 1190mm in length, 120mm in width and 200mm in height.
5. The potato combine harvester of claim 1, wherein the cylinder of the frame lifting hydraulic cylinder is connected to the bottom of the frame by an upper pin, and the end of the piston rod is connected to the rear end of the right support beam by a lower pin.
6. The potato combine harvester of claim 1, wherein the frame tilt sensor is an LCA310T single axis voltage output type tilt sensor with an angle range of ± 30 °.
7. The potato combine harvester of claim 1, wherein the frame tilt sensor is mounted on the upper surface of the frame directly above the frame lift cylinder.
8. The potato combine harvester of claim 1, wherein the body balance controller comprises a power module, a proportional conversion module, a level conversion module, a control algorithm module, and an electro-hydraulic valve bank control module; the proportion conversion module is connected with the frame inclination angle sensor and sends the acquired frame inclination information to the control algorithm module; the level conversion module is respectively connected with the control algorithm module and the electro-hydraulic valve bank control module and converts a control signal output by the control algorithm module into a control signal required by the electro-hydraulic valve bank control module; the electro-hydraulic valve bank control module is connected with the electro-hydraulic valve bank; and the power supply module is used for providing power supply voltage required by each module.
9. A method of operating a potato combine harvester according to any one of the claims 1-8, comprising the steps of:
in the operation process of the potato combine harvester, when the frame inclines due to the fact that the rugged road surface exists, the frame inclination angle sensor collects the inclination angle information of the frame and transmits the information to the vehicle body balance controller, and the vehicle body balance controller sends an instruction to control the operation of the electro-hydraulic valve group after analyzing the angle information, so that the stretching of the frame lifting hydraulic cylinder is adjusted, and the frame is kept in a relatively horizontal posture.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911413146.8A CN110972672B (en) | 2019-12-31 | 2019-12-31 | Potato combine harvester with self-adjusting balance system and application thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911413146.8A CN110972672B (en) | 2019-12-31 | 2019-12-31 | Potato combine harvester with self-adjusting balance system and application thereof |
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| Publication Number | Publication Date |
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| CN110972672A true CN110972672A (en) | 2020-04-10 |
| CN110972672B CN110972672B (en) | 2024-04-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911413146.8A Active CN110972672B (en) | 2019-12-31 | 2019-12-31 | Potato combine harvester with self-adjusting balance system and application thereof |
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| Country | Link |
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| CN (1) | CN110972672B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112810729A (en) * | 2021-02-09 | 2021-05-18 | 益阳富佳科技有限公司 | Self-adjusting device for body posture of crawler tractor |
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| WO2014075433A1 (en) * | 2012-11-15 | 2014-05-22 | 莱恩农业装备有限公司 | Dual-purpose frame of field operating vehicle |
| JP2016086696A (en) * | 2014-10-31 | 2016-05-23 | 古河ユニック株式会社 | Harvesting work machine |
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| CN106938597A (en) * | 2017-02-24 | 2017-07-11 | 吉林大学 | A kind of hilly and mountainous land tractor body device for adjusting posture and method of adjustment |
| CN108974158A (en) * | 2018-08-13 | 2018-12-11 | 张祝 | A kind of control method using electro-hydraulic adjusting crawler body level and elevating function |
| CN211509833U (en) * | 2019-12-31 | 2020-09-18 | 山东大学 | Potato combine harvester with self-adjusting balance system |
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2019
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5920777A (en) * | 1982-07-24 | 1984-02-02 | Furukawa Mining Co Ltd | Transport vehicle |
| JPH03117424A (en) * | 1989-09-29 | 1991-05-20 | Iseki & Co Ltd | Vehicle-height controlling apparatus of combine and the like |
| JPH04306181A (en) * | 1991-04-03 | 1992-10-28 | Takaoka Electric Mfg Co Ltd | Moving truck for rough terrain |
| JPH06344944A (en) * | 1993-06-14 | 1994-12-20 | Ratsuku Syst:Kk | Traveling vehicle for slope |
| WO2014075433A1 (en) * | 2012-11-15 | 2014-05-22 | 莱恩农业装备有限公司 | Dual-purpose frame of field operating vehicle |
| CN203259879U (en) * | 2013-05-29 | 2013-10-30 | 西北农林科技大学 | Automatic leveling controlling system of mountain agricultural robot body |
| JP2016086696A (en) * | 2014-10-31 | 2016-05-23 | 古河ユニック株式会社 | Harvesting work machine |
| CN106508245A (en) * | 2016-10-28 | 2017-03-22 | 农业部南京农业机械化研究所 | Harvest attitude control system of peanut combined harvester |
| CN106508284A (en) * | 2017-01-04 | 2017-03-22 | 山东农业大学 | Self-propelled orchard picking platform |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112810729A (en) * | 2021-02-09 | 2021-05-18 | 益阳富佳科技有限公司 | Self-adjusting device for body posture of crawler tractor |
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| Publication number | Publication date |
|---|---|
| CN110972672B (en) | 2024-04-02 |
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