Automatic stubble-supporting and combing device for regenerated rice and control method thereof

Abstract

The present invention provides an automatic stubble-supporting and combing device for regenerated rice and a control method thereof, which mainly includes a frame, a power system, a combing and guiding device, a stubble-supporting device, a clutch linkage switch and a height adjustment system; the frame can be fixed to the rear of a regenerated rice combine harvester, and the clutch linkage switch is located on a control panel; the combing and guiding device and the stubble-supporting device are both mounted on a height-adjustable bracket, and a lifting device is used to realize the lifting and lowering adjustment of the stubble-supporting device and the combing and guiding device, and three sections of dredging sections and two sections of stubble-supporting sections are alternately arranged, and the total length of the three sections of dredging sections and the two sections of stubble-supporting sections is equal to the width of the harvester header. The present invention can realize the integration of stubble-supporting and combing and the automatic height adjustment while harvesting regenerated rice, reduce the workload of manual stubble-supporting and combing, and help to increase the yield of regenerated rice in the regeneration season.

Description

Technical Field

[0001] The invention belongs to the technical field of regenerated rice combine harvesters, and in particular relates to an automatic stubble-supporting and combing device for regenerated rice and a control method thereof. Background Art

[0002] Raised rice is a rice variety that is sown once and harvested twice. It has the advantages of water saving, seed saving, labor saving, low production cost and high efficiency. At present, the development of regenerated rice has become an important innovation in the planting mode during the transformation of rice production in my country. With the continuous acceleration of agricultural mechanization, the operation technology of mechanized harvesting of regenerated rice is still relatively weak. During the first season of mechanized harvesting of regenerated rice, the crawler or wheel walking part of the harvester often crushes the stubble, making it difficult to regenerate and head, which seriously affects the yield of the regeneration season. At the same time, the stubble surface that is not crushed is prone to accumulation of residual stems, resulting in late germination and slow growth of regenerated seedlings, which restricts its secondary growth. The traditional straightening method of regenerated rice stubble and the combing method of the stubble surface are mostly manually assisted, with large workload and low operation efficiency, and are not suitable for large-scale planting. Therefore, realizing the straightening and combing of the stubble during the harvest of the first season of regenerated rice has become the core issue of improving the yield of regenerated rice in the regeneration season. Therefore, it is necessary to design a device that can realize the straightening and combing of the stubble during the harvest of the first season of regenerated rice, and can realize automatic adjustment of the height of the device according to the needs of the operation. Summary of the invention

[0003] The purpose of the present invention is to provide an automatic stubble supporting and combing device for regenerated rice, so as to solve the problem of realizing the integrated operation of stubble supporting and combing in the mechanized harvesting process of the current first-season regenerated rice, thereby increasing the yield of the regenerated rice in the regenerating season, and automatically adjusting the height according to the operation requirements, thereby reducing the driver's work intensity and improving efficiency.

[0004] The present invention achieves the above-mentioned purpose through the following technical solutions:

[0005] An automatic stubble-supporting and combing device for regenerated rice, characterized in that it mainly comprises a frame, a power system, a combing and guiding device, a stubble-supporting device, a clutch linkage switch and a height adjustment system; the frame can be fixed to the rear of a regenerated rice combine harvester, and the clutch linkage switch is located on a control panel;

[0006] The height adjustment system comprises a height adjustable bracket, a lifting device, a controller and an ultrasonic sensor; the height adjustable bracket is fixed on the frame, the end of the lifting device is connected to the height adjustable bracket, and is used to adjust the height of the height adjustable bracket, the ultrasonic sensor is installed at the lower part of the height adjustable bracket, and the ultrasonic sensor is connected to the controller, and is used to detect the height of the stubble supporting and combing device from the ground and transmit it to the controller;

[0007] The power system includes a driving motor, a driving wheel, a driven wheel and a rotating shaft, wherein the driving motor is fixed on a frame, the rotating shaft is mounted on a height-adjustable bracket, the driving wheel is mounted on an output shaft of the driving motor, the driven wheel is mounted on the rotating shaft, and the driving wheel drives the driven wheel to rotate;

[0008] The stubble supporting device comprises a web plate, a stubble supporting rod, a stubble supporting tooth, a first web plate, a second web plate, a side web plate and a crank; the two web plates are fixed on a rotating shaft, and the distance between the two web plates is equal to the width of the crawler track, and several first web plates are evenly fixed on the two web plates in the circumferential direction; the two ends of the stubble supporting rod are rotatably mounted on the first web plates on the two web plates; the side web plates are eccentrically arranged with the web plates and rotatably mounted on the rotating shaft, and several second web plates are evenly fixed on the circumferential direction of the side web plates; the two ends of the crank are rotatably connected to the free ends of the first web plate and the second web plate, respectively, and one end is fixedly connected to the stubble supporting rod; the stubble supporting tooth on the stubble supporting rod rotated to the lower part always points to the rear end of the harvester, and the angle between its extension line and the ground is an acute angle; two stubble supporting devices are mounted on the rotating shaft and correspond to the positions behind the crawler track of the regenerated rice combine harvester respectively;

[0009] The combing and guiding device includes a combing and guiding rod, combing and guiding teeth and a mounting frame. The combing and guiding rod is fixed on a parallelogram hinged frame through the mounting frame. The combing and guiding rod is provided with three combing and guiding sections, and a plurality of combing and guiding teeth are evenly fixed on the combing and guiding sections. The three combing and guiding sections and the two stubble supporting sections are alternately arranged, and the total length of the three combing and guiding sections and the two stubble supporting sections is equal to the width of the harvester's cutting table.

[0010] Furthermore, the stubble-supporting teeth and the comb-guide teeth are both composed of a straight section and a curved section. The curved section of the stubble-supporting teeth is close to the stubble-supporting rod, and the curved section of the comb-guide teeth is close to the comb-guide rod; the bending directions of the stubble-supporting teeth and the comb-guide teeth are opposite, the tooth tip of the stubble-supporting teeth points to the rear of the harvester, and the angle between the extension line of the straight section of the stubble-supporting teeth and the ground is an acute angle.

[0011] Furthermore, the stubble-supporting and combing teeth and the combing guide teeth are both made of flexible materials such as rubber or nylon.

[0012] Furthermore, the lowest position of the stubble-supporting and removing teeth is 20 to 30 mm above the ground surface; the lowest position of the comb guide teeth is 30 to 60 mm below the stubble height.

[0013] Further, the lifting device is a hydraulic cylinder, the controller is a hydraulic controller, and the hydraulic cylinder is controlled by the hydraulic controller; or,

[0014] The lifting device is an electric push rod, the controller is an electric control unit, and the electric push rod is connected to the electric control unit.

[0015] Furthermore, the driving wheel and the driven wheel are driven by a belt; or,

[0016] The driving wheel and the driven wheel are gears or sprockets, and the driving wheel and the driven wheel are driven by a rack or chain.

[0017] Furthermore, the height-adjustable bracket is two parallelogram articulated frames, the first side frames of the two parallelogram articulated frames are fixed at both ends of the frame, one end of the lifting device is hinged to the first side frame, and the other end is hinged to the first upper frame adjacent to the first side frame; the ultrasonic sensor is installed in the lower part of the second side frame parallel to the first side frame in the parallelogram articulated frame; the two ends of the rotating shaft are installed on the second side frames of the two parallelogram articulated frames.

[0018] Furthermore, the two ends of the stubble supporting rod are mounted on the first plate through bearings; the crank is hingedly connected to the first plate and the second plate; the rotating shaft is connected to the parallelogram hinge frame through bearings, and the driven wheel is located in the middle of the rotating shaft.

[0019] The control method of the automatic stubble-supporting and combing device for regenerated rice is characterized in that:

[0020] When the controller detects that the clutch linkage switch is turned on, the controller controls the lifting device to work, drives the stubble supporting and combing device to descend to a preset initial working position, drives the motor to operate, and starts the stubble supporting and combing operation; if it is detected that the clutch linkage switch is not turned on, the controller controls the lifting device to work and drives the stubble supporting and combing device to be lifted to a preset initial position of the non-working state;

[0021] When the clutch linkage switch is on, the ultrasonic sensor detects the height from the ground and transmits it to the controller, which eliminates abnormal data and selects the minimum value of valid data. The controller calculates the height adjustment amount and adjusts the height of the stubble supporting and combing device by controlling the lifting device. The stubble supporting and combing device is lifted or lowered to the normal working range of the height from the ground.

[0022] Beneficial benefits of the present invention:

[0023] The present invention can realize the stubble support that has been crushed by the crawler or wheeled walking device while harvesting the first season regenerated rice, and synchronously comb out the stubble that has not been crushed but has debris accumulated on the surface, thereby effectively realizing the integration of regenerated rice harvesting, stubble support and combing, and further improving the regenerated rice yield in the regenerating season.

[0024] The present invention can adjust the lifting and lowering of the movable stubble combing and guiding device through a hydraulic cylinder according to the needs of the operation when no harvesting operation is carried out or obstacles such as ridges are crossed, so that the device does not affect the normal movement of the harvester and no manual disassembly and adjustment are required.

[0025] The present invention can automatically detect and adjust the height of the stubble supporting and combing guide device through ultrasonic array detection. The control method is simple and the operation is convenient. Compared with manual adjustment, it is more accurate and efficient. The adjustment method is flexible and maneuverable, which greatly reduces the labor intensity of the driver. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of the stubble supporting and combing device of the present invention;

[0027] Figure 2 A top view of the stubble-supporting and combing device of the present invention during its working process;

[0028] Figure 3 This is a schematic diagram of the principle of the stubble supporting device of the present invention;

[0029] Figure 4 (a) is a diagram showing the initial position of the automatic rice stubble guiding device of the present invention; (b) is a diagram showing the working position of the automatic rice stubble guiding device of the present invention;

[0030] Figure 5 This is a control flow chart of the height adjustment system.

[0031] Reference numerals:

[0032] 1. Frame; 2. Motor table; 3. Driving motor; 4. Driven wheel; 5. Belt; 6. Parallelogram articulated frame; 6-1. First side frame; 6-2. First upper frame; 6-3. Second side frame; 7. Comb guide device; 7-1. Comb guide rod; 7-2. Comb guide teeth; 7-3. Mounting frame; 8. Hydraulic cylinder; 9. Crop supporting device; 9-1. Web plate; 9-2. Crop supporting rod; 9-3. Crop supporting teeth; 9-4. First web plate; 9-5. Second web plate; 9-6. Side web plate; 9-7. Crank; 10. Driven wheel; 11. Ultrasonic sensor; 12. Clutch linkage switch; 13. Rotating shaft. DETAILED DESCRIPTION

[0033] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0034] Figure 1 The figure shows an embodiment of the automatic stubble-supporting and combing device for regenerated rice according to the present invention. Figure 1 The automatic stubble-supporting and combing-guiding device for regenerated rice comprises a frame 1, a motor stand 2, a driving motor 3, a driving wheel 4, a driven wheel 10, a belt 5, a parallelogram articulated frame 6, a combing-guiding device 7, a hydraulic cylinder 8, a stubble-supporting device 9, a clutch linkage switch 12, a hydraulic controller and an ultrasonic sensor 11.

[0035] The parallelogram articulated frame 6, the hydraulic cylinder 8, the hydraulic controller and the ultrasonic sensor constitute a height adjustment system. In the present embodiment, the parallelogram articulated frame 6 is used as a height adjustable bracket, the hydraulic cylinder 8 serves as a lifting device, and the hydraulic controller serves as a controller for controlling the hydraulic cylinder 8. The first side frames 6-1 of the two parallelogram articulated frames 6 are fixed at both ends of the frame 1, one end of the hydraulic cylinder 8 is hinged to the first side frame 6-1, and the other end is hinged to the first upper frame 6-2 adjacent to the first side frame 6-1. The ultrasonic sensor 11 is installed at the lower part of the second side frame 6-3 parallel to the first side frame 6-1 in the parallelogram articulated frame 6. The ultrasonic sensor 11 is connected to the hydraulic controller to detect the height of the device from the ground and transmit it to the hydraulic controller. There are multiple ultrasonic sensors 11, and the multiple ultrasonic sensors 11 on the two parallelogram articulated frames 6 are arranged in an array.

[0036] The driving motor 3, belt 5, driving wheel 4, driven wheel 10 and rotating shaft 13 constitute a power system. The driving motor 3 is arranged on the motor stand 2, and the motor stand 2 is welded to the frame 1. The frame 1 is welded to the tail of the regenerated rice combine harvester, and the clutch linkage switch 12 is located on the operating console. The driving wheel 4 is mounted on the output shaft of the driving motor 3, and the driven wheel 10 is mounted on the rotating shaft 13. The two ends of the rotating shaft 13 are mounted on the second side frames 6-3 of the two parallelogram articulated frames 6. The rotating shaft 13 is connected to the parallelogram articulated frame 6 through a bearing, and the driven wheel 10 is located in the middle of the rotating shaft 13. The driving wheel 4 drives the driven wheel 10 to rotate, and is connected through the belt 5.

[0037] The combing guide device 7 and the stubble supporting device 9 are both mounted on the parallelogram articulated frame 6. The hydraulic cylinder 8 is extended and retracted to allow the parallelogram articulated frame 6 to drive the stubble supporting device 9 and the combing guide device 7 to be raised and lowered. The device only changes the longitudinal height and does not tilt. The automatic stubble supporting device is divided into 3 sections of combing guide teeth and 2 sections of stubble supporting segments, which are arranged alternately. The total length is equal to the width of the harvester's cutting table, and the stubble supporting segments correspond to the width of the crawler tracks on both sides of the combine harvester. Figure 2 shown.

[0038] The stubble supporting device 9 includes a web plate 9-1, a stubble supporting rod 9-2, a stubble supporting teeth 9-3, a first web plate 9-4, a second web plate 9-5, a side web plate 9-6 and a crank 9-7. The two web plates 9-1 are fixed on the rotating shaft 13, and the distance between the two web plates 9-1 is equal to the track width. Several first web plates 9-4 are evenly fixed on the two web plates 9-1 in the circumferential direction; the two ends of the stubble supporting rod 9-2 are rotatably mounted on the first web plates 9-4 on the two web plates 9-1. The side web plate 9-6 is eccentrically arranged with the web plate 9-1 and rotatably mounted on the rotating shaft 13, and several second web plates 9-5 are evenly fixed on the side web plate 9-6 in the circumferential direction; the two ends of the crank 9-7 are rotatably connected to the free ends of the first web plate 9-4 and the second web plate 9-5, and one end is fixedly connected to the stubble supporting rod 9-2. The stubble-supporting teeth 9-3 on the stubble-supporting rod 9-2 rotated to the bottom always point to the rear end of the harvester, and the angle between its extension line and the ground is an acute angle. Two stubble-supporting devices 9 are installed on the rotating shaft 13 and correspond to the positions behind the crawler of the regenerated rice combine harvester. A single stubble-supporting device 9 corresponds to a stubble-supporting section, and its length is the same as the width of the crawler on one side of the harvester.

[0039] In this embodiment, the number of the first webs 9-4 on the two webs 9-1 and the second webs 9-5 on the side webs 9-6 are both 8. The webs 9-1, the first webs 9-4, the side webs 9-6, the second webs 9-5 and the crank 9-7 are actually several parallelogram connecting rods, so that the stubble supporting and shifting teeth 9-3 can always maintain their installation angle when the stubble supporting device 9 rotates, and its motion trajectory is a cycloid, such as Figure 3 As shown, the crushed stubble is pushed backwards, which helps to straighten the stubble.

[0040] The combing guide device 7 includes a combing guide rod 7-1, combing guide teeth 7-2 and a mounting frame 7-3. The combing guide rod 7-1 is fixed to the parallelogram hinge frame 6 through the mounting frame 7-3, and the mounting frame 7-3 is fixed to the second side frame 6-3 of the parallelogram hinge frame 6. The combing guide rod 7-1 is provided with three combing guide sections, and the combing guide sections are evenly fixed with more combing guide teeth 7-2. The three combing guide sections are alternately arranged with the two stubble supporting sections, and the total length of the three combing guide sections and the two stubble supporting sections is equal to the width of the harvester header.

[0041] The stubble-pushing teeth 9-3 and the comb-guide teeth 7-2 are plastic components made of plastic flexible materials. The stubble-pushing teeth 9-3 and the comb-guide teeth 7-2 are both composed of straight segments and curved segments. The curved segment of the stubble-pushing teeth 9-3 is close to the stubble-pushing rod 9-2, and the curved segment of the comb-guide teeth 7-2 is close to the comb-guide rod 7-1. The bending directions of the stubble-pushing teeth 9-3 and the comb-guide teeth 7-2 are opposite, the tooth tips of the stubble-pushing teeth 9-3 point to the rear of the harvester, and the angle between the extension line of the straight segment of the stubble-pushing teeth 9-3 and the ground is an acute angle.

[0042] In addition, as another embodiment of the present invention, the lifting device can also use an electric push rod, the controller is an electric control unit, and the electric push rod is connected to the electric control unit. The driving wheel 4 and the driven wheel 10 are gears or sprockets, and the driving wheel 4 and the driven wheel 10 are driven by a rack or chain.

[0043] like Figure 4 As shown, the automatic stubble guiding and combing device is in a non-working position when not in operation, and the device descends from the non-working position to the initial working position when in operation. In the working position, the stubble guiding and combing teeth 9-3 used for straightening the stubble after the crawler tracks are rolled are at their lowest position 20 to 30 mm above the horizontal ground; the combing and guiding teeth 7-2 used for combing the unrolled stubble between the crawlers on both sides are at their lowest position 30 to 60 mm below the stubble height.

[0044] The control method of the automatic stubble-supporting and combing device for regenerated rice of the present invention is as follows: Figure 5 As shown, when the controller detects that the clutch linkage switch 12 is turned on, the controller controls the lifting device to work, drives the stubble supporting and combing device to descend to a preset working initial position, drives the motor to run, and starts the stubble supporting and combing operation; if it is detected that the clutch linkage switch 12 is not turned on, the controller controls the lifting device to work and drives the stubble supporting and combing device to rise to a preset non-working initial position, such as Figure 4 .

[0045] When the clutch linkage switch 12 is turned on, the ultrasonic sensor detects the height above the ground and transmits it to the controller, which eliminates abnormal data and selects the minimum value of valid data. The controller calculates the height adjustment amount and adjusts the height of the stubble supporting and combing device by controlling the lifting device. The stubble supporting and combing device is lifted or lowered to the normal working range of the height above the ground.

[0046] The non-working position and the initial working position of the automatic stubble guiding device are set. The distance between the center of the stubble guiding device and the ground is used as the standard. The distance in the non-working state is set to L1, and the distance in the initial working state is set to L′1. When the harvester is moving at a speed v, when the clutch linkage switch 12 is detected to be turned on, the stubble guiding device is driven by the hydraulic cylinder to descend to the initial working position, and the driving motor drives the stubble guiding device to rotate at an angular velocity ω to start the stubble guiding operation. The array-distributed ultrasonic sensors 11 detect the height from the ground, and the hydraulic controller removes abnormal data and selects the minimum value of valid data. When the clutch linkage switch 12 continues to be turned on, the height that needs to be adjusted is calculated, and the height is adjusted by controlling the hydraulic cylinder, and then the detection continues.

[0047] During the stubble supporting and combing operation, the array-distributed ultrasonic sensors 11 detect the height above the ground in real time. Before determining whether the height above the ground needs to be adjusted, if it is detected that the clutch linkage switch is no longer conducting, the drive motor will stop running immediately and the device will be lifted to the non-working position by the hydraulic cylinder to avoid affecting the normal driving of the harvester.

[0048] The embodiments are preferred implementations of the present invention, but the present invention is not limited to the above-mentioned implementations. Any obvious improvements, substitutions or modifications that can be made by those skilled in the art without departing from the essential content of the present invention belong to the protection scope of the present invention.

Claims

1. An automatic stubble-supporting and combing device for regenerated rice, It is characterized in that It mainly comprises a frame (1), a power system, a combing and guiding device (7), a stubble supporting device (9), a clutch linkage switch (12) and a height adjustment system; the frame (1) can be fixed to the rear of a regenerated rice combine harvester, and the clutch linkage switch (12) is located on a control panel; The height adjustment system comprises a height adjustable bracket, a lifting device, a controller and an ultrasonic sensor (11); the height adjustable bracket is fixed to the frame (1), the end of the lifting device is connected to the height adjustable bracket and is used to adjust the height of the height adjustable bracket, the ultrasonic sensor (11) is installed at the bottom of the height adjustable bracket, and the ultrasonic sensor (11) is connected to the controller and is used to detect the height of the stubble combing device from the ground and transmit it to the controller; The power system comprises a driving motor (3), a driving wheel (4), a driven wheel (10) and a rotating shaft (13), wherein the driving motor (3) is fixed on a frame (1), the rotating shaft (13) is mounted on a height-adjustable bracket, the driving wheel (4) is mounted on an output shaft of the driving motor (3), the driven wheel (10) is mounted on the rotating shaft (13), and the driving wheel (4) drives the driven wheel (10) to rotate; The height-adjustable brackets are two parallelogram articulated frames (6); the first side frames (6-1) of the two parallelogram articulated frames (6) are fixed to the two ends of the frame (1); one end of the lifting device is hinged to the first side frame (6-1), and the other end is hinged to the first upper frame (6-2) adjacent to the first side frame (6-1); the ultrasonic sensor (11) is mounted on the lower part of the second side frame (6-3) of the parallelogram articulated frame (6) and parallel to the first side frame (6-1); the two ends of the rotating shaft (13) are mounted on the second side frames (6-3) of the two parallelogram articulated frames (6); The stubble supporting device (9) comprises a web plate (9-1), a stubble supporting rod (9-2), a stubble supporting shifting tooth (9-3), a first web plate (9-4), a second web plate (9-5), a side web plate (9-6) and a crank (9-7); the two web plates (9-1) are fixed on a rotating shaft (13), and the distance between the two web plates (9-1) is equal to the track width; a plurality of first web plates (9-4) are evenly fixed on the circumferential direction of the two web plates (9-1); the two ends of the stubble supporting rod (9-2) are rotatably mounted on the first web plates (9-4) on the two web plates (9-1); the side web plates (9-6) and the web plates (9-1) are connected to each other. ) is eccentrically arranged and rotatably mounted on a rotating shaft (13), and a plurality of second plates (9-5) are evenly fixed on the circumferential direction of the side plate (9-6); the two ends of the crank (9-7) are rotatably connected to the free ends of the first plate (9-4) and the second plate (9-5), respectively, and one end is fixedly connected to the stubble supporting rod (9-2); the stubble supporting teeth (9-3) on the stubble supporting rod (9-2) rotated to the bottom always point to the rear end of the harvester, and the angle between the extended line and the ground is an acute angle; two stubble supporting devices (9) are mounted on the rotating shaft (13) and correspond to the positions behind the crawler of the regenerated rice combine harvester; The combing guide device (7) comprises a combing guide rod (7-1), combing guide teeth (7-2) and a mounting frame (7-3); the combing guide rod (7-1) is fixed to a parallelogram hinge frame (6) via the mounting frame (7-3); three combing guide sections are provided on the combing guide rod (7-1); a plurality of combing guide teeth (7-2) are evenly fixed on the combing guide sections; the three combing guide sections and the two stubble supporting sections are alternately arranged; the total length of the three combing guide sections and the two stubble supporting sections is equal to the width of the harvester cutting table; The stubble-supporting and pulling teeth (9-3) and the combing guide teeth (7-2) are both composed of a straight section and a curved section, the curved section of the stubble-supporting and pulling teeth (9-3) is close to the stubble-supporting rod (9-2), and the curved section of the combing guide teeth (7-2) is close to the combing guide rod (7-1); the bending directions of the stubble-supporting and pulling teeth (9-3) and the combing guide teeth (7-2) are opposite, the tooth tip of the stubble-supporting and pulling teeth (9-3) points to the rear of the harvester, and the angle between the extension line of the straight section of the stubble-supporting and pulling teeth (9-3) and the ground is an acute angle.

2. The automatic stubble guiding and combing device for regenerated rice according to claim 1, It is characterized in that The stubble-supporting and -pulling teeth (9-3) and the combing guide teeth (7-2) are both made of rubber or nylon.

3. The automatic stubble guiding and combing device for regenerated rice according to claim 1, It is characterized in that The lowest position of the stubble-supporting and removing teeth (9-3) is 20 mm above the ground surface; the lowest position of the combing guide teeth (7-2) is 60 mm below the stubble height.

4. The automatic stubble-supporting and combing device for regenerated rice according to claim 1, It is characterized in that The lifting device is a hydraulic cylinder (8), the controller is a hydraulic controller, and the hydraulic cylinder (8) is controlled by the hydraulic controller; or, The lifting device is an electric push rod, the controller is an electric control unit, and the electric push rod is connected to the electric control unit.

5. The automatic stubble-supporting and combing device for regenerated rice according to claim 1, It is characterized in that The driving wheel (4) and the driven wheel (10) are driven by a belt (5); or, The driving wheel (4) and the driven wheel (10) are gears or sprockets, and the driving wheel (4) and the driven wheel (10) are driven by a rack or a chain.

6. The automatic stubble-supporting and combing device for regenerated rice according to claim 1, It is characterized in that Both ends of the stubble supporting rod (9-2) are mounted on the first plate (9-4) via bearings; the crank (9-7) is hingedly connected to the first plate (9-4) and the second plate (9-5).

7. The automatic stubble-supporting and combing device for regenerated rice according to claim 1, It is characterized in that The rotating shaft (13) is connected to the parallelogram hinge frame (6) via a bearing, and the driven wheel (10) is located in the middle of the rotating shaft.

8. The control method of the automatic stubble guiding device for regenerated rice according to claim 1, It is characterized in that When the controller detects that the clutch linkage switch (12) is turned on, the controller controls the lifting device to operate, drives the stubble supporting and combing device to descend to a preset initial working position, drives the motor to operate, and starts the stubble supporting and combing operation; if it is detected that the clutch linkage switch (12) is not turned on, the controller controls the lifting device to operate, drives the stubble supporting and combing device to be raised to a preset initial position of a non-working state; When the clutch linkage switch (12) is in the on state, the ultrasonic sensor detects the height above the ground and transmits it to the controller, which removes abnormal data and selects the minimum value of valid data; the controller calculates the height adjustment amount and controls the lifting device to adjust the height of the stubble-supporting and combing device, so that the stubble-supporting and combing device is lifted or lowered to a normal working range of the height above the ground.

Images