Combine harvester with adjustable inclination of straw walkers

A combine harvester comprising:

• a front shaft rotatable about a rotation axis and comprising at least one eccentric portion;
• a rear shaft rotatable about a rotation axis and comprising at least one eccentric portion;
• at least one straw walker extending in a longitudinal direction of the combine harvester and supported by the front shaft and rear shaft, the at least one straw walker rotatably mounted on the at least one eccentric portion of each of the front shaft and the rear shaft, so that simultaneous rotation of the front shaft and the rear shaft actuates a reciprocating motion of the straw walker;
• a pivot frame, wherein the front and rear shafts are connected to the pivot frame;
• and
• one or more actuators configured to adjust an angular position of the pivot frame by pivoting the pivot frame about a pivot axis oriented transversally to the longitudinal direction of the combine harvester,
• wherein the front shaft and the rear shaft are configured to rotate with respect to the pivot frame, so that an angular position of the pivot frame is adjustable while the straw walker undergoes the reciprocating motion;
• wherein the pivot frame is formed as a frame comprising lateral beams and a rear transversal beam, wherein the front and rear shafts are supported by bearings mounted in or in connection with the lateral beams, and wherein the one or more actuators are coupled to the rear beam.

A combine harvester comprising:

• a front shaft rotatable about a rotation axis and comprising at least one eccentric portion;
• a rear shaft rotatable about a rotation axis and comprising at least one eccentric portion;
• at least one straw walker extending in a longitudinal direction of the combine harvester and supported by the front shaft and rear shaft, the at least one straw walker rotatably mounted on the at least one eccentric portion of each of the front shaft and the rear shaft, so that simultaneous rotation of the front shaft and the rear shaft actuates a reciprocating motion of the straw walker;
• a pivot frame, wherein the front and rear shafts are connected to the pivot frame;
• and
• one or more actuators configured to adjust an angular position of the pivot frame by pivoting the pivot frame about a pivot axis oriented transversally to the longitudinal direction of the combine harvester,
• wherein the front shaft and the rear shaft are configured to rotate with respect to the pivot frame, so that an angular position of the pivot frame is adjustable while the straw walker undergoes the reciprocating motion;
• a control unit configured to:
• receive input signals representative of one or more parameters related to operation of the combine harvester;
• calculate the angular position of the pivot frame as a function of the input signals;
• and
• send a control signal to the one or more actuators commanding the actuators to move the pivot frame to the angular position based on the calculated angular position of the pivot frame;
• wherein the control unit is further configured to control a rotational speed of the front shaft and a rotational speed of the rear shaft on the basis of the one or more parameters.