Multi-layer segmentation/stalk cutter device for first season of double-crop rice and control method, and combine harvester for first season of double-crop rice

A multi-layer segmentation/stalk cutter device for a first season of double-crop rice and a control method, and a combine harvester for a first season of double-crop rice, the multi-layer segmentation/stalk cutter device comprising: a cutting platform, a segmenting cutter and a stalk cutter, at least one segmenting cutter being disposed at a lower rear portion of the cutting platform, the segmenting cutter being hinged on a moving chassis, and a second execution mechanism controlling the cutting height of the segmenting cutter; the stalk cutter being disposed at a lower rear portion of the segmenting cutter, the stalk cutter being hinged on the moving chassis, and a third execution mechanism controlling the cutting height of the stalk cutter.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a U.S. National Phase filing under 35 U.S.C. § 371 of International Application PCT/CN2019/126814, filed Dec. 20, 2019. PCT/CN2019/126814 claims priority from Chinese Patent Application Number 201811609392.6, filed Dec. 27, 2018, and Chinese Patent Application Number 201811607909.8, filed Dec. 27, 2018, and Chinese Patent Application Number 201910899203.1, filed Sep. 23, 2019. The entire contents of each of these applications are hereby expressly incorporated herein by reference.

TECHNICAL FIELD

The present invention relates to the field of agricultural machinery or the field of ratoon rice machinery, in particular to a multi-layer segmented-stubble cutter device for the first season ratoon rice and control method thereof and a combined harvester for the first season ratoon rice.

BACKGROUND ART

Ratoon rice is a special rice planting mode, suitable for areas where sunlight and heat are not enough to plant double-season rice, but are surplus for a single-season rice cultivation, and has advantages of saving labor, seed, water, fertilizer, medicine, seedlings, etc., thus is an important measure to increase the land multiple cropping index and ensure food security in China, and has great prospects for promotion in China. The harvest period of ratoon rice is divided into two seasons. When the first season rice is harvested, the lower third of the plant (rice stubble and root system) must be retained. After fertilization and cultivation, it can grow another season rice. At present, the harvest of the first season of ratoon rice mainly depends on manual harvesting or the use of existing harvesters. The main problems are: manual harvesting is time-consuming and labor-consuming, while the existing harvesters have the problems such as high rolling rate (40% -50%) and large damage to rice stubble during harvesting, which have severely restricted the popularization of ratoon rice.

Chinese patent discloses a four-drive low-roller ratoon rice harvester, which includes a high-gap four-drive chassis, a header, a conveying part, a threshing part and a grain box. Although this invention reduces the rolling rate and the damage to the rice stubble by the paddy narrow wheel and the high-gap four-drive chassis, the work efficiency is low; Chinese patent discloses a ratoon rice harvester with variable-pitch driving wheels, which includes a chassis. The front end of the chassis is provided with a pair of front wheels, and the rear end of the chassis is provided with a pair of rear wheels. Telescopic mechanisms for controlling the lateral movement of the corresponding front wheels are provided on both sides of the bottom of the front end of the chassis. A header and a threshing device are provided on the front end of the chassis. Although this invention realizes the avoidance of the rice stubble by adjusting the driving wheels, the work efficiency is low as it cannot meet the needs of various production situations due to the use of ordinary walking wheels and the machine is not provided with a grain box.

CONTENTS OF THE INVENTION

In view of the shortcomings in the prior art, the present invention provides a multi-layer segmented-stubble cutter device for first season ratoon rice and control method thereof and a combined harvester for first season ratoon rice, which can well adapt to the harvesting requirements of ratoon rice by a header, a segmenting cutter and a stubble cutter, realize the harvesting of ears with only a few stalks, and ensure the height of rice stubble, which can greatly reduce the sizes of the combine harvester header, the auger and the conveying groove, to enable miniaturization and lightweight design of the combined harvester.

The present invention achieves the above technical objectives through the following technical means.

A multi-layer segmented-stubble cutter device for first season ratoon rice includes a header, a segmenting cutter and a stubble cutter. The header is used to cut the ear of the ratoon rice, and at least one segmenting cutter is located at the lower rear of the header, and the segmenting cutter is hinged on a walking chassis. The cutting height of the segmenting cutter is controlled by a second actuator, for cutting the returning field stalks and returning the same to the field after reducing their length. The stubble cutter is located at the lower rear of the segmenting cutter, and the stubble cutter is hinged on the walking chassis. The cutting height of the stubble cutter is controlled by a third actuator for cutting the stalks above the stubbles.

Further, it includes a panicle layer image acquisition device, a cutter height detection component, and a cutter height control system;

The panicle layer image acquisition device is used to acquire an image of ratoon rice;

The cutter height detection component includes several sensors for detecting the cutting heights of the header, the segmenting cutter and the stubble cutter in real time, respectively;

The cutter height control system determines the ear cutting height by analyzing the image of ratoon rice; the stubble stalk height is determined manually, and the cutter height control system determines the cutting height of the returning field stalk based on the ear cutting height and the stubble stalk height; the cutter height control system controls the header, the segmenting cutter and the stubble cutter to reach the corresponding cutting height through the actuator.

Further, an anti-collision block is installed on the stubble cutter to prevent collision due to the small distance between the segmenting cutter and the stubble cutter.

Further, the several sensors are angle sensors for detecting the installation angles of the header, the segmenting cutter and the stubble cutter, respectively; the cutter height control system can determine the cutting heights of the header, the segmenting cutter and the stubble cutter, based on the installation angles of the header, the segmenting cutter and the stubble cutter and the turning radius of the header, the segmenting cutter and the stubble cutter.

A combined harvester for the first season of ratoon rice includes the multi-layer segmented-stubble cutter device.

Further, the combined harvester further includes a threshing and crushing drum and a disc throwing device. The threshing and crushing drum includes a feeding section, a threshing section and a crushing section; the threshing section is used to form a threshing chamber with a concave screen; the header is connected to the feeding section, for feeding ratoon rice to the threshing chamber. The crushing section is located at the tail of the threshing section, for crushing the stalks. The feeding section, threshing section and crushing section are coaxially installed on the drum shaft; the disc throwing device is located at the output end of the crushing section, for throwing the crushed grass to both sides of the threshing and crushing drum.

Further, the disc throwing device includes a throwing disc assembly, a throwing output shaft, a throwing input shaft, and a throwing rack; a throwing disc is provided on the throwing rack, and the throwing output shaft and the throwing input shaft of the throwing disc assembly are drive-connected, for rotating the throwing disc assembly around the throwing output shaft; the throwing input shaft is installed on the throwing rack.

Further, the throwing rack is equipped with two throwing disc assemblies which rotate in opposite directions; the throwing disc assembly includes a reinforcing rib, a throwing disc side plate, and a throwing disc, and the throwing disc is fixedly connected to the throwing output shaft; the throwing disc side plates are evenly arranged on the throwing disc, and the rib is provided on the throwing disc side plate; the throwing output shaft is engaged with the throwing input shaft through a bevel gear.

Further, the combined harvester further includes an adjustable top cover of a guide plate, the adjustable top cover of the guide plate includes a guide section and a fixed cutter section, the guide section includes a front flip plate and a guide adjustment plate; the front flip plate is located above the feeding section, for guiding the material into the threshing section; the guide adjustment plate is located above the threshing section, for guiding the material into the crushing section, and the angle between the guide adjustment plate and the axis of the threshing and crushing drum is changed by external force; the fixed cutter section includes a fixed cutter assembly, and the fixed cutter assembly and the grass moving cutter assembly are arranged in a staggered manner, for cutting the stalks with the grass moving cutter assembly.

Further, the guide adjustment plate includes guide plates, sliding plates, and adjustment plates; one end of each of the plurality of guide plates is hinged inside the housing of the adjustable top cover of the guide plate, and the other end of each of the plurality of guide plates is hinged with the sliding plate respectively; the sliding plate can be slidably installed in the housing of the adjustable top cover of the guide plate; the adjustment plate is connected to any one of the guide plates, and the adjustment plate is rotated by external force to change angle between the plurality of guide plates and the axis of the threshing and crushing drum.

Further, the combined harvester further includes a double-cylinder screen cleaning device, which includes a double-cylinder screen and a double-outlet cleaning fan. The lower air outlet of the double-outlet cleaning fan is located in the front of the double-cylinder screen, for blowing large residues out of the machine in conjunction with the double-cylinder screen; the upper air outlet of the double-outlet cleaning fan is located above the double-cylinder screen, for blowing the light residues discharged by the threshing device out of the machine directly.

Further, the combined harvester further includes a grain sliding plate and a shaking plate, which divide the cleaning chamber into an upper clearing area and a lower clearing area, and the upper clearing area is used to directly blow the light residues discharged by the threshing device out of the machine; the lower cleaning area is used to blow large residues out of the machine.

Further, the grain sliding plate and the shaking plate which form a funnel shape are provided between the double-cylinder screen and the threshing device; one end of the grain sliding plate is located below the upper air outlet of the cleaning fan, and the other end of the grain sliding plate extends to the edge of the double-cylinder screen; one end of the shaking plate is located below the other end of the threshing device, and the other end of the shaking plate is located above the double-cylinder screen; a vibrating mechanism is provided on one end of the shaking plate, for shaking the shaking plate in an angle between 10° and 25° with the horizontal plane.

Further, a first guide strip is provided on the grain sliding plate, for guiding materials accumulated on both sides of the grain sliding plate to the middle; and a second guide strip is provided on the shaking plate, for making the blanking amount of the shaking plate uniform in width.

Further, the second guide strip divides the blanking opening of the shaking plate into a first blanking opening and a second blanking opening; a width ratio of the first blanking opening and the second blanking opening is 3:2-2:1; the angle between the second guide strip and the horizontal direction is 20°-40°.

Further, the header is provided with an anti-forward tilting reel, and the anti-forward tilting reel includes a wheel shaft, a pentagonal wheel frame and a reel element for first stubble; the several pentagonal wheel frames are evenly installed on the wheel shaft; the reel element for first stubble includes a reel rod, a reel board and a reel rake teeth, and the several reel rods are connected between adjacent pentagonal wheel frames; the several reel rake teeth are evenly distributed along the axial direction below the reel rod, and the reel board is fixed on the reel rod in the radial direction, for preventing the forward tilting of the first stubble after cutting.

Further, the walking chassis is a crawler-type walking chassis, and a crawler body of the crawler-type walking chassis is provided with a narrow pattern having a width smaller than that of the crawler body.

Further, the narrow pattern is located in the middle of the crawler body, and the narrow pattern divides the rice stubble low-loss crawler body into a rolling section and a low-loss section in the width direction, and the rolling section is used to provide traction; the low-loss section is used to reduce the ground specific pressure;

Further, the width of the low-loss crawler body is in the range of 300-400 mm; the ratio of the length of the rolling section to the length of the low-loss section is not less than 7:3.

Further, the combined harvester further includes a grass stick, which is adjustable in height and installed on the walking chassis, for dropping the stalk that fell on the stubble to the ground after cutting, in order to prevent it from affecting the growth of rice in the regeneration season.

A control method of a multi-layer segmented-stubble cutter device includes the following steps:Acquiring a ratoon rice image, and determining an ear cutting height b1according to the ratoon rice image based on the image processing method;Determining the height b3of the stubble stalk by sampling on site and measuring the average height of the second section of the ratoon rice;Determining the cutting height b2of the returning field stalk according to the ear cutting height b1and the height b3of the stubble stalk;Controlling the header to the ear cutting height b1by the first actuator and several sensors;Controlling the segmenting cutter to the cutting height b2of the returning field stalk by the second actuator and several sensors;Controlling the stubble cutter to the height b3of the stubble stalk by the third actuator and several sensors.

The beneficial effects of the present invention are:1. The multi-layer segmented-stubble cutter device for the first season ratoon rice according to the present invention uses a header, a segmenting cutter and a stubble cutter, the header cuts the ear of the ratoon rice, the segmenting cutter cuts the returning field stalk, and the stubble cutter cuts stalk above the stubble, which can achieve the harvesting of the ears with only a few stalks, while ensuring the height of the stubble of the rice.2. The multi-layer segmented-stubble cutter device for the first season ratoon rice according to the present invention obtains the image of the ratoon rice through the panicle layer image acquisition device, the cutter height detection component detects the corresponding cutting height of the header, the segmenting cutter and the stubble cutter, and the cutter height control system controls the corresponding cutting position of the header, the segmenting cutter and the stubble cutter.3. The multi-layer segmented-stubble cutter device for the first season ratoon rice according to the present invention, the segmenting cutter and the stubble cutter are installed on a walking chassis, which has high stability, high reliability and function of fast installation and disassembly, and can realize the common harvesting use of ordinary rice harvester and ratoon rice harvester.4. The multi-layer segmented-stubble cutter device for the first season ratoon rice according to the present invention controls the operation heights of the header, the segmenting cutter and the stubble cutter separately through the actuators, and the cutting operations do not interfere and influence with each other. And during the harvesting operation, the height of the stubble of the first season ratoon rice can be determined and adjusted according to the different varieties of ratoon rice and the different harvest conditions of the field.5. The combined harvester for the first season ratoon rice according to the present invention adopts a multi-layer segmented-stubble cutter device for the first season ratoon rice, a conveying groove, a threshing and throwing integrated device, a double-cylinder screen cleaning device, a walking chassis, a grass stick, a gearbox and a cab, which can realize the processes of cutting, threshing and cleaning for only a few ears, and at the same time, it is easy for stubble and the returning field stalk will not be too long, thus this not only saves power consumption, but also makes the whole machine to develop towards miniaturization and lightweight.6. The combined harvester for the first season ratoon rice according to the present invention greatly increases the rice yield in the regeneration season through a cutting range of 2-2.6 m of a header, a width range of 400-300 mm of a crawler, reducing the rolling rate to 35-23%, and reducing the rolling rate by 15-25% relative to the ordinary harvester.7. The combined harvester for the first season ratoon rice according to the present invention, the header is designed for the operation of the ear with only a few stalks. The small-diameter auger and the anti-forward tilting reel are small in size, and the work efficiency is high.8. The threshing and throwing integrated device according to the present invention adopts the adjustable top cover of the guide plate to cooperate with the threshing and crushing drum, and function sections thereof are clear, which improves the threshing process of the ratoon rice. The moving cutter is added to the threshing and crushing drum, the fixed cutter is added to the adjustable top cover of the guide plate, and the moving cutter and the fixed cutter are operated together, which has a good cutting effect on the small stalks of the harvesting ear only; while adjusting the angle between the guide plate and the axis of the threshing and crushing drum can adapt to different threshing environments to achieve better threshing results, and at the same time, make the material better enter the fixed cutter section.9. The threshing and throwing integrated device according to the present invention makes the stalks crushed by the threshing device to be evenly thrown among the fields by the disc throwing device, to ensure that the stalks do not accumulate on the rice stubble of ratoon rice, which improves the quality of living environment of ratoon rice, and thereby improves the secondary growth effect of ratoon rice, and at the same time achieves a better effect for returning stalks to the field, increases soil fertility, and has an important effect on increasing the yield of ratoon rice.10. The double-cylinder screen selecting device according to the present invention makes full use of the limited vertical space between the threshing device and the selecting mechanism for preliminary air selection through the double-outlet selecting fan, which can reduce the design power of the cylindrical screen and reasonably use the fan to blow the light residues out of the machine directly, without throwing through a cylindrical screen.11. The double-cylinder screen cleaning device according to the present invention, the grain distribution of the threshed mixtures from the longitudinal axial flow threshing device is that the grain content gradually decreases from front to rear, and the grains are easy to accumulate in the front ⅔ part of the machine housing. The angle between the gain sliding plate and the horizontal plane is larger than the internal friction angle of the rice grains, which can ensure that the grains smoothly slide into the front cylinder screen. The grain distribution of the threshed mixtures from the longitudinal axial flow threshing device is that the grain content gradually increases from the middle to the both sides. By providing a first guide strip on the upper surface of the grain sliding plate, the threshed mixtures can be evenly fallen on the front cylindrical screen, which can reduce the cleaning load and improve the cleaning effect.12. The combined harvester for the first season ratoon rice according to the present invention, the vertical space between the threshing drum and the cleaning screen is small, and the double-outlet cleaning fan, the grain sliding plate and the shaking plate divide the cleaning chamber into two areas, i.e. the upper and lower areas, and the rear half of the housing adopts the shaking plate to shake the threshed mixtures to the front cylindrical screen within a limited inclination angle, and leaves more vertical space. The gap between the shaking plate and the concave screen forms an air outlet, and in the process of falling off along the grain sliding plate and the shaking plate into the front cylinder screen, the threshed mixtures first passed through an air selection on the air outlet of the cleaning fan, so that the material is cleaned twice in a limited space, which improves the cleaning quality.13. The control method of the multi-layered segmented-stubble cutter device according to the present invention has sensitive crop induction, is more accurate and efficient relative to the manual judgment, and has a flexible adjustment way, which greatly reduces the technical requirements for the operator and reduces the labor.

IN THE DRAWINGS

EMBODIMENTS

The present invention is further described below with reference to the drawings and embodiments, but the protection scope of the present invention is not limited thereto.

As shown inFIG.1andFIG.5, the multi-layer segmented-stubble cutter device for the first season ratoon rice according to the present invention includes a header1, a segmenting cutter2-1and a stubble cutter2-2. The header1is used to cut the ear of the ratoon rice. At least one segmenting cutter2-1is located at the lower rear of the header1and the segmenting cutter2-1is hinged on a walking chassis9. The cutting height of the segmenting cutter2-1is controlled by a second actuator, for cutting the returning field stalk; the stubble cutter2-2is located at the lower rear of the segmenting cutter2-1, and the stubble cutter2-2is hinged on the walking chassis9and the cutting height of the stubble cutter2-2is controlled by a third actuator, for cutting the stalk above the stubble. An anti-collision block2-3is installed on the stubble cutter2-2, to prevent collision due to the small distance between the segmenting cutter2-1and the stubble cutter2-2.

As shown inFIG.2, the header1includes a rack1-1, a small diameter auger1-2, an ear cutter1-3, a swing arm driving device1-4, dividers1-5, and an anti-forward tilting reel1-6. The small diameter auger1-2is installed inside the rack1-1, and the ear cutter1-3is located at the front of the rack1-1and is driven by the swing arm driving device1-4installed on the side of the rack1-1, the dividers1-5are symmetrically installed on both sides of the front end of the rack1-1, and the anti-forward tilting reel1-6is installed above the rack1-1. The header1has a cutting width of 2-2.6 m and is installed with the symmetry plane of the conveying groove6as the neutral plane. Correspondingly, the cutting width of each of the segmenting cutter2-1and the stubble cutter2-2is the same as that of the header1. When the segmenting cutter2-1is in a horizontal position, it is 650-400 mm away from the ground, to meet the uniform segmentation of stalks with different lengths; when the stubble cutter2-2is in a horizontal position, it is 450-350 mm from the ground, to meet the height requirements of different varieties of the first season stubble of the ratoon rice. The ear cutter1-3and the section-stubble cutter assembly2are staggered from top to bottom and from front to rear, and a rectangular anti-collision tube2-3is welded to the stubble cutter2-2, to prevent collision due to the small distance between the segmenting cutter2-1and the stubble cutter2-2.

As shown inFIG.1andFIG.5, the multi-layer segmented-stubble cutter device for the first season ratoon rice according to the present invention further includes a panicle layer image acquisition device3, a cutter height detection component4and a cutter height control system5;

The panicle layer image acquisition device3is installed at the front end of the cab12, and the panicle layer image acquisition device3is configured to acquire an image of the ratoon rice;

The cutter height detection component4includes several sensors for detecting the cutting heights of the header1, the segmenting cutter2-1and the stubble cutter2-2in real time respectively; in order to measure conveniently, the several sensors are angle sensors, for detecting the installation angles of the header1, the segmenting cutter2-1and the stubble cutter2-2respectively; the first angle sensor4-1is installed at the hinge point of the conveying groove6and the threshing and throwing integrated device7, the second angle sensor4-2is installed at the hinge point of the segmenting cutter2-1and the walking chassis9; the third angle sensor4-3is installed at the hinge point of the stubble cutter2-2and the walking chassis9.

The cutter height control system5determines the ear cutting height by analyzing the image of the ratoon rice; the stubble stalk height is determined manually, and the cutter height control system5determines the cutting height of the returning field stalk according to the ear cutting height and the stubble stalk height; the cutter height control system5controls the header1, the segmenting cutter2-1and the stubble cutter2-2to reach the corresponding cutting height through the actuator. The first hydraulic cylinder13is used to rotate the header1around the hinge point of the conveying groove6and the threshing and throwing integrated device7, and the second hydraulic cylinder14is used to rotate the segmenting cutter2-1around the hinge point of the segmenting cutter2-1and the walking chassis9, and the third hydraulic cylinder15is used to rotate the stubble cutter2-2around the hinge point of the stubble cutter2-2and the walking chassis9.

As shown inFIG.1, the combined harvester for the first season ratoon rice according to the present invention includes a header1, a segment-stubble cutter device2, a panicle layer image acquisition device3, a cutter height detection component4, a cutter height control system5, a conveying groove6, a threshing and throwing integrated device7, a double-cylinder screen cleaning device8, a walking chassis9, a grass stick10, a gearbox11and a cab12. The forward direction of the harvester is as the front, and the header1is located at the forefront of the combined harvester. The segment-stubble cutter device2is installed below the conveying groove6and hinged at the front end of the walking chassis9. The panicle layer image acquisition device3is installed at the front end of the cab12. The cutter height detection component4is installed at the hinge point of each cutter. The conveying groove6is connected to the header1. The threshing and crushing integrated device7is connected to the conveying groove6. The double-cylinder screen cleaning device8is located directly below the threshing and crushing integrated device7; the grass stick10is installed at the rear end of the walking chassis9, and the double-cylinder screen cleaning device8, the gearbox11and the cab12are disposed directly above the walking chassis9.

As shown inFIG.8, it includes a threshing and crushing drum7-1, a concave screen7-2, a grass guide plate7-3, a disc throwing device7-4, and an adjustable top cover7-5of guide plate. The threshing and crushing drum7-1includes a feeding section7-1-1, a threshing section7-1-2, and a crushing section7-1-3; the concave screen7-2is located directly below the threshing and threshing section7-1-2, the adjustable top cover7-5of guide plate is located above the threshing and crushing drum7-1, the threshing section7-1-2, the adjustable top cover7-5of guide plate and the concave screen7-2constitutes a threshing chamber; the concave screen7-2is a grid-type concave plate, and the header1is connected with the feeding section7-1-1by a conveying groove6for feeding the ratoon rice to the threshing chamber; the feeding section7-1-1is used to feed the ratoon rice to the threshing chamber; the crushing section7-1-3is located at the tail of the threshing section7-1-2, for crushing stalks; the feeding section7-1-1, the threshing section7-1-2and the crushing section7-1-3are coaxially installed on the drum shaft7-1-8; the grass guide plate3is fixedly installed at the end of the concave screen7-2, and is located directly below the crushing section7-1-3of the threshing and crushing drum. The disc throwing device7-4is located at the output of the crushing section7-1-3, to throw the crushed grass to both sides of the threshing and crushing drum7-1. In order to facilitate the crushed stalks to enter the disc throwing device7-4better, the grass guide plate7-3is inclined to the axis of the threshing and crushing drum7-1, and the inclination angle is greater than 45°.

As shown inFIG.9, the feeding section7-1-1is a spiral feeding head7-1-4; the drum shaft7-1-8is coaxially installed with the spiral feeding head7-1-4, an intermediate web7-1-9and a rear web7-1-12respectively; the threshing section7-1-2includes threshing rack bar assemblies7-1-5, and the several threshing rack assemblies7-1-5are radially and evenly distributed between the intermediate web7-1-1and the spiral feeding head7-1-4; a front web7-1-7is provided between the intermediate web7-1-9and the spiral feeding head7-1-4, to support the threshing rack bar assemblies7-1-5; nail teeth7-1-6are provided on any one of the threshing rack assemblies7-1-5; the crushing section7-1-3includes the grass rack bar assemblies7-1-10, and the several grass rack bar assemblies7-1-10are radially and evenly distributed between the intermediate web7-1-9and the rear web7-1-12; a grass moving cutter assembly7-1-11is provided on any one of the grass rack bar assemblies7-1-10. For better threshing and crushing the stalks, the radial angle between the nail teeth7-1-6, the grass moving cutter assembly7-1-11and the threshing and crushing drum7-1is not greater than 12°.

As shown inFIG.10, the disc throwing device7-4includes a throwing disc assembly7-4-1, a throwing output shaft7-4-2, a throwing input shaft7-4-3and a throwing rack7-4-4, the throwing disc assembly7-4-1and the throwing output shaft7-4-2are welded and installed above the throwing rack7-4-4, and the throwing input shaft7-4-3is installed below the throwing rack7-4-4and is driven with the throwing output shaft7-4-2by a bevel gear. The throwing disc assembly7-4-1also includes a reinforcing rib7-4-5, and a throwing disc side plate7-4-6, and a throwing disc7-4-7, wherein the number of throwing disc assembly7-4-1is two on the left and right, the rotating directions thereof are opposite and the rotation speeds thereof are equal, and each rotation speed is 300 rpm, and the bending direction of the throwing disc side plate7-4-6is the same as the direction of rotation. The line connecting the centers of both of the left and right throwing disc assemblies7-4-1is perpendicular to the drum shaft7-1-8.

As shown inFIG.11,FIG.16andFIG.17, the adjustable top cover7-5of guide plate includes a guide section7-5-1and a fixed cutter section7-5-2, and the guide section7-5-1includes a front flip plate7-5-3and a guide adjustment plate7-5-4; the front flip plate7-5-3is welded to the inside of the top cover housing7-5-5, and the front flip plate7-5-3is located above the feeding section7-1-1; the guide adjustment plate7-5-4is located above the threshing section7-1-2, to guide the material into the crushing section7-1-3. The angle between the guide adjustment plate7-5-4and the axis of the threshing and crashing drum7-1is changed by the external force; the guide section7-5-1includes a fixed cutter assembly7-5-6, and the fixed cutter assembly7-5-6and the grass moving cutter assembly7-1-11are arranged in a staggered manner, for cutting the stalks together with the grass moving cutter assembly7-1-11. The guide adjustment plate7-5-4includes guide plates7-5-9, a sliding plate7-5-8and an adjustment plate7-5-7; one end of several guide plates7-5-9is hinged to the inside of the housing of the adjustable top cover7-5of guide plate, the other end of the several guide plates7-5-9is hinged to the sliding plate7-5-8respectively; the sliding plate7-5-8can be slidably installed inside the housing of the adjustable top cover7-5of guide plate; the adjustment plate7-5-7is connected with any one of the guide plates7-5-9through a pin shaft7-5-10, and the adjustment plate7-5-7is installed on the outside of the top cover housing7-5-5; by rotating the adjustment plate7-5-7through external force, the angle between the several guide plates7-5-9and the axis of the threshing and crashing drum7-1is changed. The minimum gap between the guide plate7-5-9and the nail teeth7-1-6is 10 mm. The front flip plate7-5-3and the guide plate7-5-9are inclined to the axis of the threshing and crushing drum7-1, and the inclined direction is related to the rotation direction of the threshing and crushing drum7-1. The feeding end is as the front direction. Viewing from front to rear, when the threshing and crashing drum7-1rotates clockwise, the angle β is an acute angle, so that the material is finally guided to the fixed cutter section7-5-2. By rotating the adjustment plate7-5-7to drive the pin shaft7-5-10to rotate, the guide plate7-5-9is rotated around the pin shaft7-5-10, so that the angle β between the guide plate7-5-9and the axis of the threshing and crushing drum7-1is changed. Finally, the angle of the whole guide plate assembly7-5-4is adjusted by the sliding plate7-5-8.

As shown inFIG.12andFIG.13, the double-cylinder screen cleaning device8includes a double-cylinder screen8-3and a double-outlet cleaning fan8-1. The lower air outlet of the double-outlet cleaning fan8-1is located in front of the double-cylinder screen8-3, for cooperating with the double-cylinder screen8-3to blow large residues out of the machine; the upper air outlet of the double-outlet cleaning fan8-1is located above the double-cylinder screen8-3, for blowing the light residues discharged from the threshing device out of the machine directly. The double-outlet cleaning fan8-1makes full use of the limited vertical space between the threshing device and the cleaning mechanism for preliminary air selection, which can reduce the design power of the cylindrical screen, use the fan reasonably and blow light residues directly out of the machine, without throwing through a cylindrical screen. The grain sliding plate4and the shaking plate6divide the cleaning room into an upper cleaning area and a lower cleaning area, and the upper cleaning area is used to directly blow the light residues discharged by the threshing device out of the machine; the lower clearing area is used to blow large residues out of the machine. A grain sliding plate8-4and a shaking plate8-6which form a funnel shape are provided between the double-cylinder screen8-3and the concave screen of the threshing device; the upper air outlet of the double-outlet cleaning fan8-1is located above the grain sliding plate8-4. One end of the grain sliding plate8-4is located below the air outlet of the cleaning fan8-1, and the other end of the grain sliding plate8-4extends to the edge of the double-cylinder screen8-3; the angle between the plane formed by the end edge of the grain sliding plate8-4and the axis of the screen axis of the double-cylinder screen8-3and the horizontal plane is greater than 45°; the angle between the grain sliding plate8-4and the horizontal plane is greater than the internal friction angle of the threshed grain. Because the grain distribution of the threshed mixtures of the longitudinal axial flow threshing device is that the grain content gradually decreases from front to rear, and the grain is easy to accumulate in the front ⅔ part of the machine housing, and the angle between the gain sliding plate and the horizontal plane is larger than the internal friction angle of the rice grains, which can ensure that the grains smoothly slide into the front cylinder screen. One end of the shaking plate8-6is located below the other end of the threshing device, and the other end of the shaking plate8-6is located above the double-cylinder screen8-3; a vibrating mechanism is provided at one end of the shaking plate8-6, for shaking the shaking plate8-6between an angle of 10° to 25° with the horizontal plane. A first guide strip is provided on the grain sliding plate8-4, to guide the material accumulated on both sides of the grain sliding plate8-4to the middle; a second guide strip8-6-1is provided on the shaking plate8-6, to make blanking amount of the shaking plate8-6uniform in width. The second guide strip8-6-1divides the blanking opening of the shaking plate8-6into a first blanking opening and a second blanking opening; the width ratio of the first blanking opening and the second blanking opening is between 3:2 to 2:1; the angle between the second guide strip8-6-1and the horizontal direction is 20°-40°.

As shown inFIG.3andFIG.4, the header1is provided with an anti-forward tilting reel1-6. The anti-forward tilting reel1-6includes a wheel shaft1-6-1and pentagonal wheel frames1-6-2and reel element1-6-4for first stubble; the several pentagon wheel frames1-6-2are evenly installed on the wheel shaft1-6-1; the reel element1-6-4for first stubble includes a reel rod1-6-4-1, a reel board1-6-4-2, and a crop-mowing rake teeth1-6-4-3, and the several crop-mowing rods1-6-4-1are connected between the adjacent pentagonal wheel frames1-6-2; the several reel rake teeth1-6-4-3are evenly distributed along the axial direction below the crop-mowing rods1-6-4-1. The reel board1-6-4-2is fixed to the reel rod1-6-4-1in the radial direction, to prevent the forward tilting of the first stubble after cutting. Wherein the reel board1-6-4-2is an iron plate with a width of 50 mm and a thickness of 1 mm, and the lower end thereof is close to the outer circle of the reel rod1-6-4-1. The reel board1-6-4-2can effectively prevent the forward tilting of the first stubble after cutting. The combination of reel rods1-6-4-1, reel boards1-6-4-2and reel rake teeth1-6-4-3can simultaneously support the fallen crops, ensure the cutting force and ensure that the crop does not tilt forward, and turn the cut crop to the auger of the header.

As shown inFIG.5, the walking chassis9includes a chassis frame9-1and a rice low-loss crawler9-2. The chassis frame9-1is installed with two rice low-loss crawlers9-2. The rice low-loss crawler9-2includes a crawler body9-2-1, and the outer surface of the crawler body9-2-1is equidistantly provided with narrow pattern9-2-2along the length of the crawler body9-2-1.

As shown inFIG.14, the narrow pattern9-2-2is centered in the width direction of the rice low-loss crawler body9-2-1, and divides the crawler body9-2-1into a rolling section9-3-1and a low-loss section9-3-2in a width direction of the crawler body9-2-1. The rolling section9-3-1provides traction for the walking of the harvester. The low-loss section9-3-2can reduce the ground specific pressure of the harvester, and the damage to the rice stubble is effectively reduced. The width of the crawler body9-2-1is in the range of 400-300 mm, the ratio of the length of the rolling section9-3-1to the low-loss section9-3-2is not less than 7:3.

As shown inFIG.15, the grass sticks10are installed on the rear of the walking chassis9symmetrically with the neutral surface of the header1. The grass stick frames10-1are two rectangular tubes welded to the rear of the walking chassis9; a U-shaped groove is provided on the height adjustment rod10-2to adjust the operating height; the length of the straw moving pipe10-3is increased by 20 mm on the basis of the cutting width of the header to ensure the straw moving effect, and the straw moving pipe10-3is in fastening connection with height adjustment rod10-2by bolt wherein the operating height thereof is in range of 200-400 mm.

When the first season rice stalk is too long, there can be two segmenting cutters2-1to shorten the length of stalk for returning field; the section-stubble cutter device2can be installed on the front of the walking chassis9and below the conveying groove, or can be installed separately: the position of the segmenting cutter2-1remains unchanged, and the stubble cutter2-2is installed at the rear of the walking chassis9and behind the rice low-loss crawler9-2.

The air flow parameters in the cylindrical screen cleaning device8should be set according to the composition of the product threshed from ratoon rice. At the same time, air flow type, air screen type, and air cleaning barrel type cleaning devices can be used.

As shown inFIG.5,FIG.6andFIG.7, the control method of the multi-layer segmented-stubble cutter device according to the present invention includes the following steps:S1: The line passing the hinge point of the stubble cutter2-2and perpendicular to the horizontal ground intersects with the horizontal ground, and the intersected point is the origin O and a coordinate system is established. The forward direction of the machine is the positive direction of the X axis, and the direction passing the hinge point of the stubble cutter2-2is the positive direction of the Y axis. The coordinates of the header1are x1and y1; the coordinates of the segmenting cutter2-1are x2and y2; the coordinates of the stubble cutter2-2are x3and y3. The rotating radii of the header1, the segmenting cutter2-1and the stubble cutter2-2are R1, R2, and R3respectively; the angles of the header1, the segmenting cutter2-1and the stubble cutter2-2with the horizontal plane are α1, α2, and α3respectively; the height of the header1, the segmenting cutter2-1and the stubble cutter2-2from the ground are H1, H2, and H3respectively; the horizontal distance between the header1and the stubble cutter2-2and the horizontal distance between the segmenting cutter and the stubble cutter2-22-2are L1and L2respectively, and each angle α1, α2, and α3is obtained through the first angle sensor4-1, the second angle sensor4-2, and the third angle sensor4-3, and the following equations are used to calculate the coordinate values of each cutter.

Let matrix A

S2: Let matrix B

Wherein, b1is the ear cutting height, b2is the segmented position, and b3is the stubble height.

The height of the stubble is determined by sampling on site and measuring the average height of the second to last rice node of ratoon rice and recorded as b3.

S3: The panicle layer image acquisition device3installed at the front end of the cab12acquires an image of unharvested rice in front of the harvester, and the ear cutting height is determined by an image processing method, and recorded as b1.

S4: In order to make the stalk between the ear and the stubble be not too long, the segmenting cutter2-1should be located at the half position between the ear cutter1-3of the header1and the stubble cutter2-2, then b2is calculated as:

S5: Let y1=b1, y2=b2and y3=b3, and the angle of each cutter is controlled by controlling the extension rods of the first hydraulic cylinder13, the second hydraulic cylinder14and the third hydraulic cylinder15respectively, to achieve the automatic control of each cutter; if the operator intervenes manually, the cutter height control system exits directly, otherwise it returns to S1.

The above examples are preferred embodiments of the present invention, but the present invention is not limited to the above-mentioned embodiments. Without departing from the essence of the present invention, any obvious improvement, replacement, or modification made by the person skilled in the art should all belong to the protection scope of the present invention.