Modular oat sowing, harvesting and thresher with intelligent front-end lifting chassis

Abstract

The invention discloses a chassis front end intelligent tilting type modular oat sowing, harvesting and thresher, belonging to the technical field of agricultural machinery, comprising a chassis, the chassis comprising a chassis frame, a rear wheel, a front wheel, a suspension mechanism, a left lifting mechanism and a right lifting mechanism, the rear wheel is arranged at the rear of the chassis frame, the front wheel is arranged at the front of the chassis frame through the suspension mechanism, and the left lifting mechanism and the right lifting mechanism are located on both sides of the front end of the chassis. The invention adds a lifting mechanism in the chassis, and the front end of the chassis can be raised to obtain a larger tilting, forming an acute angle with the ground, greatly solving the dilemma of insufficient chassis height that agricultural machinery may face in mountainous and hilly terrains, especially in conjunction with the suspension mechanism of the front wheel, so that the machine adopts four-wheel drive to climb steep slopes, has good terrain adaptability, changes the operation mode of mainly pure manual operation in mountainous and hilly areas, supplemented by semi-manual and semi-mechanical operation, realizes fully automatic mechanized operation in mountainous and hilly areas, not only improves production efficiency, but also solves the problem of relatively large loss rate of manual harvesting grains.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, in particular to an oat sowing, harvesting and thresher. Background Art

[0002] Oats belong to the Gramineae family. They are annual plants and are coarse grains. They mainly include naked oats, hulled (shelled) oats, wild oats and dormant oats. The oats grown in my country are mainly large-grain naked oats, accounting for 90% of the output, and are the raw materials for oat food and deep-processed products.

[0003] As a kind of coarse grain, oats are one of the main food crops in the northern alpine areas. They are also a kind of food with rich nutritional value and strong health effects. The main oat production areas are relatively concentrated, mainly distributed in the north and south of Yinshan Mountain in Inner Mongolia, Bashang and Yanshan areas in Hebei Province, Taihang and Luliang Mountain areas in Shanxi Province, the foothills of Liupan Mountain in Shaanxi, Gansu and Ningxia, and Daliang Mountain and Xiaoliang Mountain in Yunnan, Guizhou and Sichuan. The ecological environment conditions in these main production areas are poor, and the terrain is mainly mountainous and hilly.

[0004] For the sowing and harvesting of oats, the current penetration rate of mechanized production operations is low, and most of the existing agricultural machinery is designed for crops planted on large areas of plains. Therefore, this type of agricultural machinery is relatively large in size and lacks the ability to adapt to the terrain. It is not suitable for use in community farmlands in mountainous and hilly areas. The current small agricultural machinery for community farmlands in mountainous and hilly areas is basically limited to the stage of "two wheels, a human handle, and an actuator." The use of the above-mentioned operation mode not only has low production efficiency, but also has the problem of a relatively large grain loss rate during harvesting. Therefore, the development of small and efficient agricultural machinery suitable for mountainous and hilly terrains to improve the mechanization level of oat production is a problem that needs to be solved at present.

[0005] Especially for lodging oats, there is no special small agricultural machinery on the market that can effectively harvest lodging-resistant oats. When existing small agricultural machinery encounters partially lodging oats, oat stalks will be missed, which will increase the labor of manual intervention in the later stage; secondly, during the cutting and transportation process, oats will be damaged, causing oat grains on the oat stalks to fall off, thus affecting the oat harvest.

[0006] Existing oat sowing devices are mainly divided into the following three types: ① Plough sowing mechanism: The structural features of the plow sowing mechanism include: the plow tip and plow wall cut the soil and turn over the soil, the plow bottom plate supports and guides the plow body to ensure the uniform depth of the sowing furrow, and the plow wings increase the contact area between the seeds and the soil. The seed box is used to store seeds, the seed delivery system delivers seeds to the sowing furrow, and the adjustment device adjusts the sowing amount and spacing of seeds. The furrow opener includes a furrow wheel and a depth control mechanism for opening furrows and guiding seeds to fall into the furrows. The soil coverer includes a soil cover plate or a soil cover wheel and a compaction wheel for covering seeds and compacting the soil. These features make the plow sowing mechanism integrate multiple functions such as furrowing, sowing, covering, and compacting, and is suitable for large-scale mechanized sowing operations. ② Wheel sowing mechanism. The wheel design reduces soil compaction and is suitable for mechanized sowing of large areas of farmland. ③ Spot sowing mechanism: The structural features of the spot sowing mechanism include a precise spot sowing device to ensure uniform seed spacing. The overall structure is durable and easy to maintain. However, the existing oat sowing device has poor control ability over the oat sowing amount, especially when sowing on demand, which requires 2 to 3 oat sowing amounts each time, and the oat sowing device in the prior art has low control accuracy over the oat sowing amount each time when sowing on demand.

[0007] The existing oat straw threshing device has the following defects: first, the oat grains falling into the grain collecting bin contain broken straw, and due to the high impurity content, the storage capacity of the collected grains is reduced; second, after the threshing mechanism threshes the oat straw, oat grains still remain on the straw, so the threshing effect is not ideal and needs further improvement and enhancement; third, the mesh of the threshing mechanism is easily clogged, resulting in the accumulation of oat grains in the mesh cylinder, thereby affecting the normal threshing work. Summary of the invention

[0008] The purpose of the present invention is to provide a modular oat sowing, harvesting and thresher with an intelligently tilted front end chassis, which has the ability to raise or tilt the front end of the chassis to solve the problem of insufficient chassis height faced by agricultural machinery in mountainous and hilly terrains.

[0009] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0010] A modular oat sowing, harvesting and thresher with intelligent tilting type at the front end of the chassis comprises a chassis, wherein the chassis comprises a chassis frame, a rear wheel, a front wheel, a suspension mechanism, a left lifting mechanism and a right lifting mechanism, wherein the rear wheel is arranged at the rear part of the chassis frame, and the front wheel is arranged at the front part of the chassis frame through the suspension mechanism, the left lifting mechanism and the right lifting mechanism are located on both sides of the front end of the chassis, and the left lifting mechanism and the right lifting mechanism have the same structure, and the right lifting mechanism comprises a machine base, a lifting support leg, two racks, a ground wheel, a guide limit slider, a guide linear rail, a driving gear, a passive gear, a lifting driving gear, a lifting passive gear, a driving shaft, a passive shaft and a lifting motor, wherein the machine base is fixed to the right side of the front end of the chassis frame, the upper end of the lifting support leg passes upward through the vertical groove on the machine base, and the ground wheel is installed at the lifting support leg. At the lower end, two racks are fixed on the left and right sides of the lifting support legs, the driving shaft and the passive shaft are installed in the through vertical slot and are located on the left and right sides of the lifting support legs, the driving gear and the lifting driving gear are arranged on the driving shaft, the passive gear and the lifting passive gear are arranged on the passive shaft, the lifting motor is arranged on the base and the output shaft of the lifting motor is connected with the driving shaft, the driving gear is meshed with the passive gear, the lifting driving gear and the lifting passive gear are respectively meshed with the two racks, the guide rail is installed on the front side of the lifting support leg, the guide limit slider is arranged on the inner wall of the through vertical slot and installed on the guide rail; under the drive of the lifting motor, the base in the left lifting mechanism and the base in the right lifting mechanism are raised and lowered synchronously to drive the front end of the chassis frame to lift or fall.

[0011] Furthermore, the suspension mechanism includes a rigid coupling, a suspension fixing plate, an upper hinge, an upper suspension frame, a middle suspension fixing block, an upper suspension rear axle, an upper suspension front axle, an upper suspension support rod, a compression spring, a sliding seat, a rotating shaft, an upper suspension fixing block, a lower hinge, a lower suspension frame, a lower suspension shaft and a lower suspension fixing block. The rigid coupling connects the output shaft of the front wheel drive motor on the suspension fixing plate with the front wheel axle. One end of the lower suspension frame is hinged to the lower part of the suspension fixing plate through the lower hinge. The lower suspension fixing block is arranged on the lower suspension shaft. The lower suspension shaft is installed at the other end of the lower suspension frame through a bearing. One end of the upper suspension frame is connected to the suspension fixing plate through the upper hinge. The upper part is hinged, the middle suspension fixing block is arranged on the upper suspension front axle, the upper suspension front axle is installed on the other end of the upper suspension frame through a bearing, the upper suspension rear axle is installed on the rear part of the upper suspension frame through a bearing, one end of the upper suspension support rod is fixed on the upper suspension rear axle and is perpendicular to the upper suspension rear axle, the sliding hole of the sliding seat is installed on the upper suspension support rod through a linear bearing, the compression spring is sleeved on the upper suspension support rod, and the lower end surface of the sliding seat is pressed on the compression spring, the upper suspension fixing block is installed on the rotating shaft, and the rotating shaft is installed on the sliding seat, and the upper suspension fixing block, the middle suspension fixing block and the lower suspension fixing block are connected to the front of the chassis frame through screws.

[0012] Furthermore, it also includes an oat sowing module, which includes a sowing machine frame, an oat seed bin, an oat seed sorting mechanism, an oat seed grouping mechanism and a sowing tube, the sowing machine frame is arranged at the front of the chassis frame, the oat seed bin is arranged at the top of the sowing machine frame, the oat seeds in the oat seed bin fall into the oat seed sorting mechanism, the oat seed sorting mechanism is used to sort the oat seeds, the oat seeds discharged from the oat seed sorting mechanism fall into the oat seed grouping mechanism, the oat seed grouping mechanism The mechanism sends 2 to 3 oat seeds into the sowing tube as a group, and the sowing tube guides a group of oat seeds into the grooves of the field; the oat seed sorting mechanism includes an oat seed sorting tube, an oat seed sorting auger, a transmission mechanism A and a seed sorting drive motor, the oat seed sorting tube is fixed on the seeder frame and is located below the oat seed bin, the oat seed sorting auger is arranged in the oat seed sorting tube and is adapted to the inner diameter of the oat seed sorting tube, and the seed sorting drive motor drives the oat seed through the transmission mechanism A. The oat seed grain sorting auger rotates, and an oat seed grain inlet is provided near the top of one end of the oat seed grain sorting tube, and the oat seed grain inlet is connected with the discharge port at the lower end of the oat seed grain bin, and an oat seed grain discharge port is provided near the bottom of the other end of the oat seed grain sorting tube; the oat seed grain grouping mechanism includes an oat seed grain grouping chamber, an oat seed grain grouping axle, a transmission mechanism B and a seed grain grouping driving motor, and the seed grain inlet at the top of the oat seed grain grouping chamber is located below the oat seed grain discharge port of the oat seed grain sorting tube and The oat seed grouping chamber is connected to the oat seed discharge outlet of the oat seed sorting tube, and the seed outlet at the bottom of the oat seed grouping chamber is connected to the upper end of the sowing tube; the surface of the oat seed grouping axle is distributed with a plurality of oat seed grouping grooves along the circumferential direction, the oat seed grouping axle is arranged in the oat seed grouping chamber, the seed grouping driving motor drives the oat seed grouping axle to rotate through the transmission mechanism B, and the oat seed grouping axle throws a group of oat seeds in the oat seed grouping groove to the seed outlet at the bottom of the oat seed grouping chamber.

[0013] Furthermore, it also includes an oat harvesting module, which includes a harvester frame, a main cutting and conveying unit and an auxiliary cutting and conveying unit. The harvester frame is arranged at the front part of the chassis frame, and oat stalk storage blocks are provided on both sides of the left side of the harvester frame and at the oat stalk entrance. The oat stalk storage blocks are triangular structures with a low front end and a high rear end, and the oat stalk storage blocks are provided with a fallen oat stalk lifting mechanism; closing plates are provided on the front and rear sides of the harvester frame, the main cutting and conveying unit and the auxiliary cutting and conveying unit are arranged in the harvester frame, an oat stalk entrance is provided on the left side of the harvester frame, and an oat stalk outlet is provided on the right side of the harvester frame. The oat stalks enter the harvester frame from the oat stalk entrance through the oat stalk storage blocks, and are discharged from the oat stalk outlet in sequence through the main cutting and conveying unit and the auxiliary cutting and conveying unit.

[0014] Furthermore, the main cutting and conveying unit includes a main vertical axis A and a main vertical axis B, which are vertically mounted on the harvester frame, and the upper parts of the main vertical axis A and the main vertical axis B are respectively provided with a main soft conveying roller A and a main soft conveying roller B, and the main soft conveying roller A and the main soft conveying roller B cooperate with each other to collect and convey the oat stalks to the auxiliary cutting and conveying unit, and the lower parts of the main vertical axis A and the main vertical axis B are respectively provided with a main spiral blade A and a main spiral blade B, and the main spiral blade The blade A cooperates with the main spiral blade B to cut off the oat stalks, and the main vertical axis A and the main vertical axis B are driven by the main motor A and the main motor B respectively; the auxiliary cutting and conveying unit includes an auxiliary vertical axis A and an auxiliary vertical axis B, and the auxiliary vertical axis A and the auxiliary vertical axis B are vertically installed on the harvester frame, and the upper parts of the auxiliary vertical axis A and the auxiliary vertical axis B are respectively provided with auxiliary soft conveying rollers A and auxiliary soft conveying rollers B, and the auxiliary soft conveying rollers A and auxiliary soft conveying rollers B cooperate to collect and remove the oat stalks, and the lower parts of the auxiliary vertical axis A and the auxiliary vertical axis B are respectively provided with auxiliary spiral blades A and auxiliary spiral blades B, and the auxiliary spiral blades A and auxiliary spiral blades B cooperate to cut off the oat stalks, and the auxiliary vertical axis A and the auxiliary vertical axis B are driven by the auxiliary motor A and the auxiliary motor B respectively; the surfaces of the main soft conveying roller A, the main soft conveying roller B, the auxiliary soft conveying roller A and the auxiliary soft conveying roller B are distributed with strip-shaped protrusions along the circumferential direction; The main motor A, main motor B, auxiliary motor A and auxiliary motor B are brushless motors, and the main motor A, main motor B, auxiliary motor A and auxiliary motor B are arranged on the top of the harvester frame, and are respectively connected to the main vertical axis A, main vertical axis B, auxiliary vertical axis A and auxiliary vertical axis B through couplings; the rear end top of the oat stalk storage block is hinged to the harvester frame through a hinge, and the harvester frame is provided with a cylinder A, and the piston rod end of the cylinder A is hinged to the side wall of the oat stalk storage block.

[0015] Furthermore, the fallen oat stalk lifting mechanism includes a motor C, a cylinder B, a fallen oat lifting rod and an anti-rotation sleeve, one end of the fallen oat lifting rod is connected to the end of the piston rod of the cylinder B through a connecting piece, the cylinder body of the cylinder B is fixed on the output shaft of the motor C, and the motor C is arranged on the oat stalk storage block; the cross-section of the piston rod of the cylinder B is a non-circular structure, and the anti-rotation sleeve is provided with an anti-rotation through hole, the anti-rotation through hole is a non-circular structure, the anti-rotation sleeve is arranged on the end face of the cylinder body of the cylinder B, the piston rod passes through the anti-rotation through hole on the anti-rotation sleeve and is adapted to the anti-rotation through hole, and the anti-rotation sleeve is used to prevent the piston rod of the cylinder B from rotating; the upper surface of the oat stalk storage block is provided with an installation groove, and the motor C is arranged in the installation groove.

[0016] Furthermore, it also includes an oat straw threshing and screening module, which includes a threshing frame, a threshing mechanism, a screening mechanism and a grain collecting bin, the threshing mechanism, the screening mechanism and the grain collecting bin are installed on the threshing frame, the grain collecting bin is located below the screening mechanism, and the screening mechanism is located below the threshing mechanism; the threshing mechanism includes a net drum, a threshing rotor, a net drum driving mechanism and a rotor driving mechanism, the threshing rotor is located in the net drum, one end of the net drum is an oat straw entry end, and the other end is a straw discharge end, the net drum driving mechanism is used to drive the net drum to rotate, and the rotor driving mechanism is used to drive the threshing rotor to rotate and is opposite to the rotation direction of the net drum, the threshing rotor includes a main shaft, and a spiral auger and a rod-type drum are sequentially arranged on the main shaft; the rod-type drum includes a left supporting frame, a right supporting frame and a plurality of threshing rods, the center hole on the left supporting frame and the center hole on the right supporting frame are interspersed and fixed on the main shaft, and the left end of the threshing rod is fixed on the left On the support frame, the right end of the threshing rod is fixed on the right support frame, and multiple threshing rods are evenly distributed along the circumferential direction of the left support frame and the right support frame; threshing nails are distributed on the threshing rod and at a section away from the spiral auger; the rotor driving mechanism includes a pair of meshing gears and a rotor driving motor, and the rotor driving motor drives the main shaft of the threshing rotor to rotate through a pair of meshing gears; the net drum driving mechanism includes 4 friction rollers, 4 positioning wheels, a threshing active shaft, a threshing passive shaft and a net drum driving motor, wherein 2 friction rollers are installed on the threshing active shaft, and the other 2 friction rollers are installed on the threshing passive shaft, the threshing active shaft and the threshing passive shaft are installed on the threshing machine frame, the net drum is horizontally supported on the 4 friction rollers, and the 4 positioning wheels are installed on the top of the threshing machine frame and contact with the upper cylinder wall of the net drum, and the net drum driving motor is used to drive the threshing active shaft to rotate, the threshing active shaft drives the friction rollers, and the friction rollers drive the net drum to rotate.

[0017] Furthermore, the screening mechanism includes a vibrating mesh screen, a screen bracket, a moving beam, a slider, a slide rod, a screening frame, a crank mechanism and a screening motor, the vibrating mesh screen is fixed on the screen bracket, the screen bracket is fixed on the moving beam, the two ends of the moving beam are respectively fixed on the two sliders, the two sliders are respectively arranged on the two slide rods, the two slide rods are horizontally installed on the screening frame, the screening motor drives the moving beam through the crank mechanism, and the moving beam drives the slider to move back and forth horizontally along the slide rod.

[0018] Furthermore, it also includes a control system, which includes a sensor, a camera and a microprocessor, the sensor is used to transmit the distance information between the front end of the chassis frame and the ground to the microprocessor, the camera transmits the image information in front of the chassis frame to the microprocessor, and the microprocessor regulates the lifting motors in the left lifting mechanism and the right lifting mechanism according to the distance information between the chassis frame and the ground and the image information in front of the chassis frame. When the image information shows an uphill or steep slope or when the distance information between the front end of the chassis frame and the ground is lower than a preset value, the microprocessor simultaneously starts the lifting motors in the left lifting mechanism and the right lifting mechanism to lift the front end of the chassis frame upward; when the image information shows a straight road surface, the microprocessor simultaneously starts the lifting motors in the left lifting mechanism and the right lifting mechanism to rotate in the opposite direction, so that the front end of the chassis frame falls back to its original state.

[0019] Furthermore, the camera also transmits the image information of the oat status in the field in front of the chassis frame to the microprocessor, and the microprocessor determines the status of the oat stalks according to the image information of the oat status. When the oat stalks are in a state of tilting toward the front, the left front, or the right front, the microprocessor starts the cylinder B of the mechanism for lifting the fallen oat stalks, and the cylinder B pushes the fallen oat lifting rod diagonally downward. After the pushing is completed, the cylinder B is closed and the motor C is started at the same time. The motor C drives the cylinder B to rotate 90º to drive the fallen oat lifting rod to rotate from an upright state to a horizontal state. The motor C is closed and the cylinder B is started at the same time. The cylinder B drives the fallen oat lifting rod to move in the opposite direction, and the fallen oat lifting rod moves diagonally upward to lift the oat stalks. After the oat stalks are lifted and sent into the oat harvesting module, the motor C is started to reverse and reverse the fallen oat lifting rod to an upright state.

[0020] The beneficial effects of the present invention are:

[0021] The present invention adds a lifting mechanism to the chassis, which can raise or tilt the front end of the chassis to obtain a larger tilt and form an acute angle with the ground, greatly solving the dilemma of insufficient chassis height that agricultural machinery may face in mountainous and hilly terrains. In particular, in conjunction with the suspension mechanism of the front wheels, the machine adopts four-wheel drive to climb steep slopes and has good terrain adaptability, changing the operation mode in mountainous and hilly areas that is mainly based on pure manual operation and supplemented by semi-manual and semi-mechanical operation, and realizing fully automatic mechanized operation in mountainous and hilly areas, which not only improves production efficiency, but also solves the problem of a relatively large loss rate of grains in manual harvesting.

[0022] The oat harvesting module of the present invention is additionally provided with a mechanism for lifting fallen oat stalks, which can automatically lift up fallen oats during harvesting, gently pull up the fallen oat stalks to ensure that they can be fed into the cutting device, thereby achieving effective harvesting of the oat stalks and avoiding damage to the oats and loss of grains.

[0023] The present invention adopts a modular design. The mobile chassis, oat sowing module, oat harvesting module and oat straw threshing and screening module can be selectively installed to produce three combinations: chassis + sowing, chassis + harvesting, chassis + harvesting + threshing. In the "chassis + harvesting + threshing" mode, the harvesting module can also be replaced by the sowing module. This flexibility allows the equipment to be adjusted according to specific needs and adapt to different operating scenarios.

[0024] The oat harvesting module of the present invention adopts the structural form of a main cutting and conveying unit and an auxiliary cutting and conveying unit. The auxiliary cutting and conveying unit can not only cut the oat stalks that have not been cut after passing through the main cutting and conveying unit, thereby solving the problem of missed cutting of oat stalks, ensuring that the oat stalks in the field are fully harvested, and reducing the labor of manual intervention, but also ensure the stability of the collection and transportation of the oat stalks. In particular, the mode of the vertical axis cutting and conveying mechanism can enable the oat stalks to be transported in a standing posture, which not only ensures the continuity and orderliness of the transportation, but also reduces or minimizes the falling of oat grains on the oat stalks during the cutting and conveying of the oat stalks, so as to improve the harvest of oats. In the main cutting and conveying unit and the auxiliary cutting and conveying unit of the present application, the vertical axis adopts the structural form of a soft conveying roller, which can prevent the oat stalks from being damaged under the premise of normal transportation, so as to further prevent the falling of oat grains on the oat stalks.

[0025] In the oat straw threshing and screening module of the present invention, a screening mechanism is added between the threshing mechanism and the grain collecting bin, and the oat grains and broken straw are separated by the screening mechanism, so that the oat grains falling into the grain collecting bin are purer, so as to increase the storage capacity of the oat grains. In particular, the threshing rotor in the threshing mechanism is arranged with a spiral auger and a rod-type drum, and threshing nails are added to the rod-type drum, so that a friction threshing area, a rod-type impact threshing area and a nail-type kneading threshing area are formed on the threshing rotor, so that the oat straw is subjected to friction threshing, impact extrusion threshing, and kneading threshing in turn, thereby greatly improving the threshing effect. The mesh drum in the threshing mechanism of the present application adopts a slow rotation mode driven by a motor, which can effectively prevent the blockage of the mesh, ensure that the oat grains can be discharged downward smoothly, and avoid the accumulation of oat grains in the mesh drum.

[0026] In the oat sowing module of the present invention, under the cooperation of the oat seed sorting mechanism and the oat seed grouping mechanism, the oat seeds are first sorted and then grouped, thereby achieving accurate control of the number of oat seeds sown and controlling the oat seeds sown on demand within the range of 2 to 3 seeds. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The present invention is further described with the aid of the accompanying drawings, but the embodiments in the accompanying drawings do not constitute any limitation to the present invention. A person skilled in the art can obtain other accompanying drawings according to the following drawings without creative work:

[0028] Figure 1 It is a structural schematic diagram of the present invention;

[0029] Figure 2 for Figure 1 The top view shown;

[0030] Figure 3 for Figure 1 A schematic diagram of the structure of the chassis shown;

[0031] Figure 4 for Figure 3 The structural schematic diagram of the right lifting mechanism shown;

[0032] Figure 5 for Figure 4 The top view shown;

[0033] Figure 6 for Figure 4 The stereogram shown;

[0034] Figure 7 for Figure 2 A structural schematic diagram of the suspension mechanism shown;

[0035] Figure 8 for Figure 7 A perspective view of the suspension mechanism shown;

[0036] Fig. 9 for Figure 1 The structural schematic diagram of the oat harvesting module shown;

[0037] Fig.10 for Fig. 9 Exploded view shown;

[0038] Fig.11 for Fig.10 The structural schematic diagram of the mechanism for lifting fallen oat stalks is shown;

[0039] Fig.12 for Figure 1 The structural schematic diagram of the oat straw threshing and screening module is shown;

[0040] Fig.13 It is a schematic diagram of the structure of the threshing rotor in the oat straw threshing and screening module;

[0041] Fig.14 for Fig.13 The schematic diagram of the assembly structure of the left support frame and the threshing rod is shown;

[0042] Fig.15 for Fig.12 The structural schematic diagram of the threshing mechanism shown;

[0043] Fig.16 for Fig.12 A schematic diagram of the structure of the screening mechanism shown;

[0044] Fig.17 for Fig.16 The top view shown;

[0045] Fig.18 for Figure 1 The structural schematic diagram of the oat sowing module shown;

[0046] Fig.19 for Fig.18 The stereogram shown;

[0047] Fig. 20 for Fig.18 The structural schematic diagram of the oat seed sorting mechanism shown;

[0048] Fig.21 for Fig. 20 The schematic diagram of the structure of the oat seed sorting auger shown in FIG.

[0049] Fig. 22 for Fig.18 The structural schematic diagram of the oat seed grouping mechanism shown;

[0050] Fig.23 for Fig. 22 The schematic diagram of the structure of the oat seed grouping axle shown;

[0051] Fig.24 It is a structural block diagram of the control system of the present invention.

[0052] In the figure: 1. harvester frame; 2. main cutting and conveying unit; 3. auxiliary cutting and conveying unit; 4. oat stalk storage block; 5. lodging oat stalk lifting mechanism; 6. cylinder B; 7. lodging oat lifting rod; 8. mounting groove; 9. oat stalk entrance; 10. hinge; 11. cylinder A; 12. main vertical axis A; 13. main vertical axis B; 14. main soft conveying roller A; 15. main soft conveying roller B; 16. main spiral blade A; 17. main spiral blade B; 18. main motor A; 19. main motor B; 20. auxiliary vertical axis A; 21. auxiliary vertical axis B; 22. auxiliary soft conveying roller A; 23. auxiliary soft conveying roller B; 24. auxiliary spiral blade A; 25. auxiliary spiral blade B; 26. auxiliary motor A; 27. auxiliary Motor B; 28, coupling; 29, strip-shaped protrusion; 31, connecting piece; 32, motor C; 33, anti-rotation sleeve; 34, anti-rotation through hole; 35, chassis; 36, oat harvesting module; 37, oat straw threshing and screening module; 38, oat sowing module; 39, four-wheel drive device; 40, chassis frame; 41, rear wheel; 42, front wheel; 43, suspension mechanism; 44, left lifting mechanism; 45, right lifting mechanism; 46, machine base; 47, lifting support leg; 48, rack; 49, ground wheel; 50, guide limit slider; 51, guide rail; 52, driving gear; 53, passive gear; 54, lifting driving gear; 55, lifting passive gear; 56, driving shaft; 57, passive shaft; 58, lifting motor; 5 9. Crossing vertical slot; 60. Rigid coupling; 61. Suspension fixing plate; 62. Upper hinge; 63. Upper suspension frame; 64. Middle suspension fixing block; 65. Upper suspension rear axle; 66. Upper suspension front axle; 67. Upper suspension support rod; 68. Compression spring; 69. Sliding seat; 70. Rotating shaft; 71. Upper suspension fixing block; 72. Lower hinge; 73. Lower suspension frame; 74. Lower suspension shaft; 75. Lower suspension fixing block; 76. Front wheel drive motor; 77. Front wheel shaft; 78. Mounting seat; 79. Oat conveying mechanism; 80. Thresher frame; 81. Thresher mechanism; 82. Screening mechanism; 83. Grain collecting bin; 84. Net cylinder; 85. Main shaft; 86. Screw auger; 87. Rod-type drum; 88. Left support frame; 89. Right support frame; 90, threshing rod; 91, threshing nail; 92, friction support wheel; 93, positioning wheel; 94, threshing active shaft; 95, threshing passive shaft; 96, net drum driving motor; 97, a pair of meshing gears; 98, rotor driving motor; 99, vibrating mesh screen; 100, screen bracket; 101, moving beam; 102, slider; 103, slider; 104, screening frame; 105, crank mechanism; 106, screening motor; 107, seed drill frame; 108, oat seed bin; 109, oat seed sorting mechanism; 110, oat seed grouping mechanism; 111, seeding tube; 112, oat seed sorting tube; 113, oat seed sorting auger; 114, transmission mechanism A; 115, seed sorting driving motor;116, oat seed inlet; 117, oat seed outlet; 118, oat seed grouping chamber; 119, oat seed grouping axle; 120, transmission mechanism B; 121, seed grouping drive motor; 122, seed inlet; 123, seed outlet; 124, oat seed grouping slot. ; DETAILED DESCRIPTION

[0053] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features therein can be combined with each other without conflict.

[0054] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper surface", "lower surface", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "forward", "reverse", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0055] like Figure 1 , 2 As shown in FIG. 18 , a modular oat sowing, harvesting and thresher with an intelligently tilted front end of the chassis includes a chassis 35, an oat harvesting module 36, an oat straw threshing and screening module 37, a spare oat sowing module 38 and a four-wheel drive device 39. The four-wheel drive device 39 drives the chassis 35 to move, and the oat harvesting module 36 and the oat straw threshing and screening module 37 are installed on the chassis 35; an oat conveying mechanism 79 is provided between the oat harvesting module 36 and the oat straw threshing and screening module 37.

[0056] The present invention adopts a modular design, and the mobile chassis, oat sowing module, oat harvesting module and oat straw threshing and screening module can be selectively installed to produce three combinations: chassis + sowing, chassis + harvesting, chassis + harvesting + threshing. In this embodiment, the "chassis + harvesting + threshing" mode is adopted. When sowing, the oat harvesting module 36 is replaced by the oat sowing module 38. The oat sowing module 38 and the oat harvesting module 36 are both installed at the front end of the chassis 35. Only one of them can be installed, and they can be interchanged according to actual needs.

[0057] like Figure 3As shown, the chassis 35 includes a chassis frame 40, a rear wheel 41, a front wheel 42, a suspension mechanism 43, a left lifting mechanism 44 and a right lifting mechanism 45. The rear wheel 41 is arranged at the rear of the chassis frame 40, and the front wheel 42 is arranged at the front of the chassis frame 40 through the suspension mechanism 43. The left lifting mechanism 44 and the right lifting mechanism 45 are located on both sides of the front end of the chassis 40, and the left lifting mechanism 44 and the right lifting mechanism 45 have the same structure.

[0058] like Figure 4 , 5 6, the right lifting mechanism 45 includes a base 46, a lifting support leg 47, two racks 48, a ground wheel 49, a guide limit slider 50, a guide rail 51, a driving gear 52, a driven gear 53, a lifting driving gear 54, a lifting driven gear 55, a driving shaft 56, a driven shaft 57 and a lifting motor 58. The base is fixed to the front right side of the chassis frame 40, the upper end of the lifting support leg 47 passes upward from the vertical groove 59 on the base 46, the ground wheel 49 is installed at the lower end of the lifting support leg 47, the two racks 48 are fixed on the left and right sides of the lifting support leg 47, the driving shaft 56 and the driven shaft 57 are horizontally installed in the vertical groove 59 and are located on the left and right sides of the lifting support leg 47, the driving gear 52 and The lifting active gear 54 is arranged on the active shaft 56, the passive gear 53 and the lifting passive gear 55 are arranged on the passive shaft 57, the lifting motor 58 is arranged on the machine base 46 and the output shaft of the lifting motor 58 is connected to the driving shaft 56, the driving gear 52 is meshed with the passive gear 53, the lifting active gear 54 and the lifting passive gear 55 are respectively meshed with the two racks 48, the guide rail 51 is installed on the front side of the lifting support leg 47, the guide limit slider 50 is fixed on the inner wall of the vertical groove 59 and is slidably installed on the guide rail 51; under the drive of the lifting motor 58, the machine base in the left lifting mechanism 44 and the machine base in the right lifting mechanism 45 are synchronously lifted and lowered to drive the front end of the chassis frame 40 to lift or fall.

[0059] like Figure 7 , 8As shown, the suspension mechanism 43 includes a rigid coupling 60, a suspension fixing plate 61, an upper hinge 62, an upper suspension frame 63, a middle suspension fixing block 64, an upper suspension rear axle 65, an upper suspension front axle 66, three upper suspension support rods 67, three compression springs 68, a sliding seat 69, a rotating shaft 70, an upper suspension fixing block 71, a lower hinge 72, a lower suspension frame 73, a lower suspension shaft 74 and a lower suspension fixing block 75. The rigid coupling 60 connects the output shaft of the front wheel drive motor 76 on the suspension fixing plate 61 with the front wheel shaft 77. One end of the lower suspension frame 73 is hinged to the lower part of the suspension fixing plate 61 through the lower hinge 72. The lower suspension fixing block 75 is arranged on the lower suspension shaft 74. The lower suspension shaft 74 is installed on the other end of the lower suspension frame 73 through a bearing. One end of the upper suspension frame 63 is connected to the upper part of the suspension fixing plate 61 through the upper hinge 62. The hinged middle suspension fixed block 64 is arranged on the upper suspension front axle 66, and the upper suspension front axle 66 is installed on the other end of the upper suspension frame 63 through a bearing. The upper suspension rear axle 65 is installed on the rear of the upper suspension frame 63 through a bearing. One end of the three upper suspension support rods 67 is fixed on the mounting seat 78 on the upper suspension rear axle 65 and is perpendicular to the upper suspension rear axle 65. The three sliding holes of the sliding seat 69 are respectively installed on the three upper suspension support rods 67 through linear bearings. The three compression springs 68 are respectively mounted on the three upper suspension support rods 67, and the lower end surface of the sliding seat 69 is pressed on the three compression springs 68. The upper suspension fixed block 71 is installed on the rotating shaft 70, and the rotating shaft 70 is installed on the sliding seat 69. The upper suspension fixed block 71, the middle suspension fixed block 64 and the lower suspension fixed block 75 are connected to the front of the chassis frame 40 through screws.

[0060] The present invention adds a lifting mechanism to the chassis, which can raise the front end of the chassis to obtain a larger upward angle and form an acute angle with the ground, greatly solving the dilemma of insufficient chassis height that agricultural machinery may face in mountainous and hilly terrains. In particular, in cooperation with the suspension mechanism of the front wheels, the machine adopts four-wheel drive to climb steep slopes and has good terrain adaptability. It changes the operation mode of mainly pure manual operation and supplemented by semi-manual and semi-mechanical operation in mountainous and hilly terrains, and realizes fully automatic mechanized operation in mountainous and hilly terrains, which not only improves production efficiency, but also solves the problem of relatively large grain loss rate in manual harvesting.

[0061] like Fig. 9 , 10As shown, the oat harvesting module 36 includes a harvester frame 1, a main cutting and conveying unit 2, an auxiliary cutting and conveying unit 3, and an oat stalk storage block 4. The oat stalk storage block 4 is provided with a mechanism 5 for lifting the fallen oat stalks. The oat stalk storage block 4 is arranged on the left side of the harvester frame 1 and on both sides of the oat stalk entrance 9. The front and rear sides of the harvester frame 1 are provided with a closing plate, the left side of the harvester frame is provided with an oat stalk entrance 9, and the right side of the harvester frame 1 is provided with an oat stalk outlet. The oat stalks pass through the oat stalk entrance 9 and are sequentially discharged from the oat stalk outlet through the main cutting and conveying unit 2 and the auxiliary cutting and conveying unit 3. The present application adds a mechanism for lifting the fallen oat stalks, which can automatically lift the fallen oats during harvesting, gently pull up the fallen oat stalks, ensure that they can be fed into the cutting device, and realize effective harvesting of the oat stalks to avoid damage to the oats and loss of grains.

[0062] This embodiment adopts the structural form of a main cutting and conveying unit and an auxiliary cutting and conveying unit. The auxiliary cutting and conveying unit can not only cut the uncut oat stalks after passing through the main cutting and conveying unit, solving the problem of missed cutting of oat stalks, ensuring that the oat stalks in the field are fully harvested and reducing the labor of manual intervention, but also ensure the stability of oat stalk collection and transportation.

[0063] The oat stalk storage block 4 is a triangular structure with a low front end and a high rear end. The top of the rear end of the oat stalk storage block 4 is hinged to the harvester frame 1 through a hinge 10. The harvester frame 1 is provided with a cylinder A11, and the piston rod end of the cylinder A11 is hinged to the side wall of the oat stalk storage block 4. The oat stalk storage block 4 is designed to be a structure that can be lifted and moved, which greatly facilitates the maintenance of the main cutting and conveying unit 2 and the auxiliary cutting and conveying unit 3. The oat harvesting module of the present invention is additionally provided with a mechanism for lifting the fallen oats, which can automatically lift up the fallen oats during harvesting, and gently pull up the fallen oat stalks to ensure that they can be fed into the cutting device, thereby achieving effective harvesting of the oat stalks to avoid damage to the oats and loss of grains.

[0064] The main cutting and conveying unit 2 includes a main vertical axis A12 and a main vertical axis B13, which are vertically mounted on the harvester frame 1. The upper parts of the main vertical axis A12 and the main vertical axis B13 are respectively provided with a main soft conveying roller A14 and a main soft conveying roller B15, which cooperate with each other to collect the oat stalks and convey them to the auxiliary cutting and conveying unit 3. The lower parts of the main vertical axis A12 and the main vertical axis B13 are respectively provided with a main spiral blade A16 and a main spiral blade B17, which cooperate with each other to cut the oat stalks. The main vertical axis A12 and the main vertical axis B13 are driven by a main motor A18 and a main motor B19 respectively.

[0065] The auxiliary cutting and conveying unit 3 includes an auxiliary vertical shaft A20 and an auxiliary vertical shaft B21, which are vertically installed on the harvester frame 1. The upper parts of the auxiliary vertical shaft A20 and the auxiliary vertical shaft B21 are respectively provided with auxiliary soft conveying rollers A22 and auxiliary soft conveying rollers B23, which cooperate with the auxiliary soft conveying rollers A22 and B23 to collect and remove the oat stalks. The lower parts of the auxiliary vertical shaft A20 and the auxiliary vertical shaft B21 are respectively provided with auxiliary spiral blades A24 and auxiliary spiral blades B25, which cooperate with the auxiliary spiral blades B25 to cut off the oat stalks. The auxiliary vertical shaft A20 and the auxiliary vertical shaft B21 are driven by auxiliary motors A26 and auxiliary motors B27 respectively.

[0066] The main motor A, main motor B, auxiliary motor A and auxiliary motor B are brushless motors. The main motor A18, main motor B19, auxiliary motor A26 and auxiliary motor B27 are arranged on the top of the harvester frame 1 and are respectively connected to the main vertical axis A12, main vertical axis B13, auxiliary vertical axis A20 and auxiliary vertical axis B21 through a coupling 28.

[0067] The surfaces of the main soft conveying roller A14, the main soft conveying roller B15, the auxiliary soft conveying roller A22 and the auxiliary soft conveying roller B23 are all provided with strip-shaped protrusions 29 along the circumferential direction. The structural form of the soft conveying roller can prevent the oat stalks from being damaged under the premise of normal conveying, so as to further prevent the oat grains from falling off the oat stalks.

[0068] The oat harvesting module of the present application is specially designed for the lodging phenomenon of oat stalks. The vertical roller spiral blade anti-lodging oat harvesting device of the present application is installed on the walking mechanism when in use. During the harvesting process, when it finds lodged oat stalks, it adjusts the position and angle of the lodged oat lifting rod 7 in the lodged oat stalk lifting mechanism 5, which is more conducive to lifting the oat stalks.

[0069] like Fig.11As shown, the mechanism 5 for raising the fallen oat stalks includes a motor C32, a cylinder B6, a rod 7 for raising the fallen oats, and an anti-rotation sleeve 33. One end of the rod 7 for raising the fallen oats is connected to the end of the piston rod of the cylinder B6 through a connector 31. The cylinder body of the cylinder B6 is fixed on the output shaft of the motor C32. The motor C32 is arranged on the oat stalk storage block 4. The upper surface of the oat stalk storage block 4 is provided with a mounting groove 8. The motor C32 is arranged in the mounting groove 8. The cross section of the piston rod of the cylinder B6 is a non-circular structure. The anti-rotation sleeve 33 is provided with an anti-rotation through hole 34. The anti-rotation through hole 34 is a non-circular structure. The anti-rotation sleeve 33 is arranged on the end surface of the cylinder body of the cylinder B. The piston rod passes through the anti-rotation through hole 34 on the anti-rotation sleeve 33 and is adapted to the anti-rotation through hole 34. The anti-rotation sleeve 33 is used to prevent the piston rod of the cylinder B6 from rotating.

[0070] like Fig.12 As shown, the oat straw threshing and screening module 37 includes a threshing frame 80, a threshing mechanism 81, a screening mechanism 82 and a grain collecting bin 83. The threshing mechanism 81, the screening mechanism 82 and the grain collecting bin 83 are mounted on the threshing frame 80. The grain collecting bin 83 is located below the screening mechanism 82, and the screening mechanism 82 is located below the threshing mechanism 81. In this embodiment, a screening mechanism is added between the threshing mechanism and the grain collecting bin, and the oat grains and the broken straw are separated by the screening mechanism, so that the oat grains falling into the grain collecting bin are purer, so as to increase the storage capacity of the oat grains.

[0071] like Fig.13 , 14As shown in FIG. 15 , the threshing mechanism 81 includes a net drum 84, a threshing rotor, a net drum driving mechanism and a rotor driving mechanism. The threshing rotor is located in the net drum 84. One end of the net drum 84 is an oat straw entry end, and the other end is a straw discharge end. The net drum driving mechanism is used to drive the net drum to rotate, and the rotor driving mechanism is used to drive the threshing rotor to rotate in the opposite direction to the rotation direction of the net drum. The threshing rotor includes a main shaft 85, on which a spiral auger 86 and a rod-type roller 87 are sequentially arranged. The rod-type roller 87 includes a left support frame 88, a right support frame 89 and a plurality of threshing rods 90. The center holes on the left support frame 88 and the center holes on the right support frame 89 are fixed on the main shaft 85. The left end of the threshing rod 90 is fixed on the left support frame 88, and the right end of the threshing rod 90 is fixed on the right support frame 89. The plurality of threshing rods 90 are evenly distributed along the circumferential direction of the left support frame 88 and the right support frame 89. Threshing nails 91 are distributed on the threshing rod 90 and at a section away from the spiral auger. The threshing nails 91 are perpendicular to the threshing rod 90. In this embodiment, the spiral auger and the rod-type roller are arranged on the threshing rotor, and the threshing nails are added to the rod-type roller, so that the friction threshing area, the rod-type impact threshing area and the nail-type kneading threshing area are formed on the threshing rotor, so that the oat stalks are subjected to friction threshing, impact extrusion threshing and kneading threshing in sequence, thereby greatly improving the threshing effect.

[0072] In this embodiment, the left support frame 88 and the right support frame 89 are cross-shaped structures, and there are four threshing rods 90. The net drum driving mechanism includes four friction rollers 92, four positioning wheels 93, a threshing active shaft 94, a threshing passive shaft 95 and a net drum driving motor 96, wherein two friction rollers 92 are mounted on the threshing active shaft 94, and the other two friction rollers 92 are mounted on the threshing passive shaft 95. The threshing active shaft 94 and the threshing passive shaft 95 are mounted on the threshing frame 80. The net drum 84 is horizontally supported on the four friction rollers 92, and the four positioning wheels 93 are mounted on the top of the threshing frame 80 and contact the upper wall of the net drum 84. The net drum driving motor 96 is used to drive the threshing active shaft 94 to rotate, and the threshing active shaft 94 drives the friction rollers 92, and the friction rollers 92 drive the net drum 84 to rotate. The net cylinder 84 is driven by the motor to rotate slowly, which can effectively prevent the mesh from being blocked, ensure that the oat grains can be discharged smoothly downward, and avoid the accumulation of oat grains in the net cylinder. The rotor driving mechanism includes a pair of meshing gears 97 and a rotor driving motor 98, and the rotor driving motor 98 drives the main shaft 85 of the threshing rotor to rotate through a pair of meshing gears 97.

[0073] like Fig.16 , 17As shown, the screening mechanism 82 includes a vibrating mesh screen 99, a screen support 100, a moving beam 101, a slider 102, a slide bar 103, a screening frame 104, a crank mechanism 105 and a screening motor 106. The vibrating mesh screen 99 is fixed on the screen support 100, and the screen support 100 is fixed on the moving beam 101. The two ends of the moving beam 101 are respectively fixed on the two sliders 102, and the two sliders 102 are respectively arranged on the two slide bars 103. The two slide bars 103 are horizontally installed on the screening frame 104. The screening motor 106 drives the moving beam 101 through the crank mechanism 105, and the moving beam 101 drives the slider 102 to move reciprocatingly along the slide bar 103, thereby driving the vibrating mesh screen 99 to move reciprocatingly horizontally. The vibrating mesh screen 99 is obliquely installed on the screen support 100. The screening mechanism of this embodiment adopts the sliding block and slide bar moving guide mode, so that the operation of the screening mechanism is more stable and the work is safer and more reliable. The oat straw is transported to the oat straw entry end of the net cylinder 84 via a conveyor belt, and the spiral auger 86 at the oat straw entry end pushes the oat straw into the net cylinder 84. In the net cylinder 84, the oat straw is separated from the straw by the friction between the net cylinder 84 and the spiral auger 86, and the oat grains and broken straw fall onto the vibrating mesh screen 99 below through the net cylinder 84. The remaining straw moves along the net cylinder 84 and passes through the rod-type roller 87. The rod-type roller 87 thres the oat straw again. When the straw moves to the threshing nail 91, the threshing nail 91 rubs the straw to further improve the threshing quality. The threshed straw is discharged from the straw discharge port. The vibrating mesh screen 99 separates the oat grains and broken straw. The broken straw moves along the lowest end of the vibrating mesh screen 99, and the oat grains pass through the vibrating mesh screen 99 and fall downward into the grain collection bin 83.

[0074] like Fig.18 , 19 As shown, the oat sowing module 38 includes a sowing machine frame 107, an oat grain bin 108, an oat grain sorting mechanism 109, an oat grain grouping mechanism 110 and a sowing tube 111. The oat grain bin 108 is arranged on the top of the sowing machine frame 107. The oat grains in the oat grain bin 108 fall into the oat grain sorting mechanism 109. The oat grain sorting mechanism 109 is used to sort the oat grains. The oat grains discharged from the oat grain sorting mechanism 109 fall into the oat grain grouping mechanism 110. The oat grain grouping mechanism 110 sends 2 to 3 oat grains as a group into the sowing tube 111. The sowing tube 111 guides a group of oat grains into the grooves of the field.

[0075] like Fig.18 , 20As shown in , 21, the oat grain sorting mechanism 109 includes an oat grain sorting tube 112, an oat grain sorting auger 113, a transmission mechanism A114 and a grain sorting drive motor 115. The oat grain sorting tube 112 is fixed on the seeding machine frame 107 and is located below the oat grain bin 108. The oat grain sorting auger 113 is arranged in the oat grain sorting tube 112 and is adapted to the inner diameter of the oat grain sorting tube 112. The grain sorting drive motor 115 drives the oat grain sorting auger 113 to rotate through the transmission mechanism A114. An oat grain inlet 116 is provided at the top near one end of the oat grain sorting tube 112. The oat grain inlet 116 is connected to the discharge port at the lower end of the oat grain bin 108. An oat grain discharge port 117 is provided at the bottom near the other end of the oat grain sorting tube 112.

[0076] like Fig.18 , 22 As shown in Figures 23, the oat seed grouping mechanism 110 includes an oat seed grouping chamber 118, an oat seed grouping axle 119, a transmission mechanism B120 and a seed grouping driving motor 121. The seed inlet 122 at the top of the oat seed grouping chamber 118 is located below the oat seed discharge outlet 117 of the oat seed sorting tube 112 and communicates with the oat seed discharge outlet 117 of the oat seed sorting tube. The seed outlet 123 at the bottom of the oat seed grouping chamber 118 is communicated with the upper end of the sowing tube 111. A plurality of oat seed grouping grooves 124 are distributed along the circumferential direction on the surface of the oat seed grouping axle 119, and the oat seed grouping grooves 124 are arc groove structures. The oat seed grouping axle 119 is arranged in the oat seed grouping chamber 118, and the seed grouping driving motor 121 drives the oat seed grouping axle 119 to rotate through the transmission mechanism B120, and the oat seed grouping axle 119 throws a group of oat seeds in the oat seed grouping slot 124 to the seed outlet 123 at the bottom of the oat seed grouping chamber. The seed grouping driving motor and the seed sorting driving motor are servo motors.

[0077] like Fig.24 As shown, a chassis front-end intelligent tilting modular oat sowing, harvesting and thresher also includes a control system, which includes a data acquisition unit, a microprocessor and a communication module. In this control system, there are two microprocessors, one is a Raspberry Pi running Linux, which serves as the brain core of the system; the other is an STM32F407 processor, which serves as an actuator to execute motion instructions. In addition, a communication module is also provided, which uses Bluetooth and WiFi communication methods to achieve multi-joint and collaborative unmanned operations under a local area network.

[0078] The data acquisition unit includes a sensor, a radar and a camera. The sensor is used to transmit the distance information between the front end of the chassis frame and the ground to the microprocessor (STM32F407). The camera transmits the image information in front of the chassis frame to the microprocessor. The microprocessor regulates the lifting motors in the left lifting mechanism and the right lifting mechanism according to the distance information between the chassis frame and the ground and the image information in front of the chassis frame. When the image information shows an uphill or steep slope or when the distance information between the front end of the chassis frame and the ground is lower than a preset value, the microprocessor simultaneously starts the lifting motors in the left lifting mechanism and the right lifting mechanism to lift the front end of the chassis frame upward; when the image information shows a straight road surface, the microprocessor simultaneously starts the lifting motors in the left lifting mechanism and the right lifting mechanism to rotate in the opposite direction to make the front end of the chassis frame fall back to its original state.

[0079] In addition, the camera also transmits the oat status image information in the field in front of the chassis frame to the microprocessor (STM32F407), and the microprocessor determines the status of the oat stalks according to the oat status image information. When the oat stalks are in a state of tilting toward the front, the left front, or the right front, the microprocessor starts the cylinder B of the fallen oat stalk lifting mechanism, and the cylinder B pushes the fallen oat lifting rod diagonally downward. After the pushing is completed, the cylinder B is closed and the motor C is started at the same time. The motor C drives the cylinder B to rotate 90º to drive the fallen oat lifting rod to rotate from an upright state to a horizontal state. The motor C is closed and the cylinder B is started at the same time. The cylinder B drives the fallen oat lifting rod to move in the opposite direction, and the fallen oat lifting rod moves diagonally upward to lift the oat stalks. After the oat stalks are lifted and sent into the oat harvesting module, the motor C is started to reverse and reverse the fallen oat lifting rod to an upright state.

[0080] The chassis adopts four-wheel independent drive, and the ADRC chassis control system is used to control the four wheels of the chassis. DRC (Active Disturbance Rejection Control) is a control method based on the principle of active disturbance rejection, which aims to achieve precise control of the system by estimating and suppressing the disturbance of the system. In small smart agricultural machinery, the application of ADRC control can improve the robustness and stability of the system and adapt to the complex and changeable agricultural environment. Based on the disturbance estimation of the active disturbance observer, the ADRC controller is designed, combined with the PID controller and the disturbance compensator to achieve precise control of the system.

[0081] The control system also includes an automatic cruise module, which includes the radar, inertial measurement module (inertial odometer), Beidou navigation and positioning module, path planner and path tracker. The local inertial navigation and Beidou global positioning are combined, and the radar feedback local map and path planner are used to achieve automatic cruise while avoiding obstacles. The inertial measurement module is also combined with a laser radar to improve the accuracy and reliability of navigation and obstacle avoidance. In addition, in order to improve the fault tolerance and flexibility of the system, the inertial measurement module also has fault diagnosis and processing functions to ensure that it can automatically switch to a backup sensor or adopt other safety strategies in abnormal situations. The radar has two functions, one is to assist the camera and microprocessor in the control system to determine whether the road surface is a steep slope; the other is to play an obstacle avoidance role in the automatic cruise of this application. The combination of radar, navigation system and wireless communication module allows it to operate autonomously, interact with multiple machines, and implement clustered unmanned operations. This clustered unmanned operation method can improve the efficiency and quality of agricultural production, reduce labor costs and risks, and adapt to different terrains and crops. Small modular automatic oat farming machinery has potential broad application prospects in cluster operations on slopes, hills and plains.

[0082] In addition, those skilled in the art may combine and combine the different embodiments or examples and the features of the different embodiments or examples described in this specification without contradiction. Although the embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. Those skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A modular oat sowing, harvesting and thresher with intelligently tilted chassis front end, characterized in that: The invention comprises a chassis, wherein the chassis comprises a chassis frame, a rear wheel, a front wheel, a suspension mechanism, a left lifting mechanism and a right lifting mechanism, the rear wheel is arranged at the rear part of the chassis frame, the front wheel is arranged at the front part of the chassis frame through the suspension mechanism, the left lifting mechanism and the right lifting mechanism are located on both sides of the front end of the chassis, the left lifting mechanism and the right lifting mechanism have the same structure, the right lifting mechanism comprises a machine base, a lifting support leg, two racks, a ground wheel, a guide limiting slider, a guide linear rail, a driving gear, a passive gear, a lifting driving gear, a lifting passive gear, a driving shaft, a passive shaft and a lifting motor, the machine base is fixed to the front right side of the chassis frame, the upper end of the lifting support leg passes upward from the vertical groove on the machine base, the ground wheel is installed at the lower end of the lifting support leg, the two racks are fixed to the lifting The left and right sides of the lifting support leg, the driving shaft and the passive shaft are installed in the through vertical slot and are located on the left and right sides of the lifting support leg, the driving gear and the lifting driving gear are arranged on the driving shaft, the passive gear and the lifting passive gear are arranged on the passive shaft, the lifting motor is arranged on the machine base and the output shaft of the lifting motor is connected with the driving shaft, the driving gear is meshed with the passive gear, the lifting driving gear and the lifting passive gear are respectively meshed with two racks, the guide rail is installed on the front side of the lifting support leg, the guide limit slider is arranged on the inner wall of the through vertical slot and installed on the guide rail; under the drive of the lifting motor, the machine base in the left lifting mechanism and the machine base in the right lifting mechanism are synchronously lifted and lowered to drive the front end of the chassis frame to lift or fall; The suspension mechanism includes a rigid coupling, a suspension fixing plate, an upper hinge, an upper suspension frame, a middle suspension fixing block, an upper suspension rear axle, an upper suspension front axle, an upper suspension support rod, a compression spring, a sliding seat, a rotating shaft, an upper suspension fixing block, a lower hinge, a lower suspension frame, a lower suspension shaft and a lower suspension fixing block. The rigid coupling connects the output shaft of the front wheel drive motor on the suspension fixing plate with the front wheel axle. One end of the lower suspension frame is hinged to the lower part of the suspension fixing plate through the lower hinge. The lower suspension fixing block is arranged on the lower suspension shaft. The lower suspension shaft is installed at the other end of the lower suspension frame through a bearing. One end of the upper suspension frame is connected to the upper part of the suspension fixing plate through the upper hinge. The upper suspension fixing block is hinged, the upper suspension front axle is installed on the other end of the upper suspension frame through a bearing, the upper suspension rear axle is installed on the rear part of the upper suspension frame through a bearing, one end of the upper suspension support rod is fixed on the upper suspension rear axle and is perpendicular to the upper suspension rear axle, the sliding hole of the sliding seat is installed on the upper suspension support rod through a linear bearing, the compression spring is sleeved on the upper suspension support rod, and the lower end surface of the sliding seat is pressed on the compression spring, the upper suspension fixing block is installed on the rotating shaft, and the rotating shaft is installed on the sliding seat, the upper suspension fixing block, the middle suspension fixing block and the lower suspension fixing block are connected to the front of the chassis frame through screws.

2. The chassis front end intelligent tilting modular oat sowing, harvesting and thresher according to claim 1 is characterized by: The invention also comprises an oat sowing module, which comprises a sowing machine frame, an oat seed bin, an oat seed sorting mechanism, an oat seed grouping mechanism and a sowing tube. The sowing machine frame is arranged at the front of the chassis frame, the oat seed bin is arranged at the top of the sowing machine frame, the oat seeds in the oat seed bin fall into the oat seed sorting mechanism, the oat seed sorting mechanism is used to sort the oat seeds, the oat seeds discharged from the oat seed sorting mechanism fall into the oat seed grouping mechanism, the oat seed grouping mechanism is arranged in 2 Up to 3 oat grains are sent into the sowing tube as a group, and the sowing tube guides a group of oat grains into the grooves of the field; the oat grain sorting mechanism includes an oat grain sorting tube, an oat grain sorting auger, a transmission mechanism A and a grain sorting drive motor, the oat grain sorting tube is fixed on the sowing machine frame and is located below the oat grain bin, the oat grain sorting auger is arranged in the oat grain sorting tube and is adapted to the inner diameter of the oat grain sorting tube, and the grain sorting drive motor drives the oat grains through the transmission mechanism A The sorting auger rotates, and an oat seed inlet is provided near the top of one end of the oat seed sorting tube, and the oat seed inlet is connected to the discharge port at the lower end of the oat seed bin, and an oat seed discharge port is provided near the bottom of the other end of the oat seed sorting tube; the oat seed grouping mechanism includes an oat seed grouping chamber, an oat seed grouping axle, a transmission mechanism B and a seed grouping driving motor, the seed inlet at the top of the oat seed grouping chamber is located below the oat seed discharge port of the oat seed sorting tube and connected to the oat seed bin. The oat seed grain discharge outlet of the oat seed grain sorting tube is connected, and the seed grain outlet at the bottom of the oat seed grain grouping chamber is connected to the upper end of the sowing tube; the surface of the oat seed grain grouping axle is distributed with a plurality of oat seed grain grouping grooves along the circumferential direction, the oat seed grain grouping axle is arranged in the oat seed grain grouping chamber, and the seed grain grouping driving motor drives the oat seed grain grouping axle to rotate through the transmission mechanism B, and the oat seed grain grouping axle throws a group of oat grains in the oat seed grain grouping groove to the seed grain outlet at the bottom of the oat seed grain grouping chamber.

3. The chassis front end intelligent tilting modular oat sowing, harvesting and thresher according to claim 1 is characterized by: It also includes an oat harvesting module, which includes a harvester frame, a main cutting and conveying unit and an auxiliary cutting and conveying unit. The harvester frame is arranged at the front of the chassis frame, and oat stalk storage blocks are provided on both sides of the left side of the harvester frame and at the oat stalk entrance. The oat stalk storage blocks are triangular structures with a low front end and a high rear end, and a fallen oat stalk lifting mechanism is provided on the oat stalk storage blocks; closing plates are provided on the front and rear sides of the harvester frame, the main cutting and conveying unit and the auxiliary cutting and conveying unit are arranged in the harvester frame, an oat stalk entrance is provided on the left side of the harvester frame, and an oat stalk outlet is provided on the right side of the harvester frame. The oat stalks enter the harvester frame from the oat stalk entrance through the oat stalk storage blocks, and are discharged from the oat stalk outlet through the main cutting and conveying unit and the auxiliary cutting and conveying unit in turn.

4. The chassis front end intelligent tilting modular oat sowing, harvesting and thresher according to claim 3 is characterized by: The main cutting and conveying unit includes a main vertical axis A and a main vertical axis B, which are vertically installed on the harvester frame, and the upper parts of the main vertical axis A and the main vertical axis B are respectively provided with a main soft conveying roller A and a main soft conveying roller B, and the main soft conveying roller A and the main soft conveying roller B cooperate with each other to collect the oat stalks and convey them to the auxiliary cutting and conveying unit, and the lower parts of the main vertical axis A and the main vertical axis B are respectively provided with a main spiral blade A and a main spiral blade B, and the main spiral blade A and the main spiral blade B cooperate with each other to cut the oat stalks, and the main vertical axis A and the main vertical axis B are driven by a main motor A and a main motor B respectively; the auxiliary cutting and conveying unit includes an auxiliary vertical axis A and an auxiliary vertical axis B, and the auxiliary vertical axis A and The auxiliary vertical shaft B is vertically installed on the harvester frame, and the upper parts of the auxiliary vertical shaft A and the auxiliary vertical shaft B are respectively provided with auxiliary soft conveying rollers A and auxiliary soft conveying rollers B, and the auxiliary soft conveying rollers A and auxiliary soft conveying rollers B cooperate with each other to collect and remove the oat stalks, and the lower parts of the auxiliary vertical shaft A and the auxiliary vertical shaft B are respectively provided with auxiliary spiral blades A and auxiliary spiral blades B, and the auxiliary spiral blades A and auxiliary spiral blades B cooperate with each other to cut off the oat stalks, and the auxiliary vertical shaft A and the auxiliary vertical shaft B are respectively driven by auxiliary motors A and auxiliary motors B; the surfaces of the main soft conveying roller A, the main soft conveying roller B, the auxiliary soft conveying roller A and the auxiliary soft conveying roller B are all distributed with strip-shaped protrusions along the circumferential direction; The main motor A, main motor B, auxiliary motor A and auxiliary motor B are brushless motors, and the main motor A, main motor B, auxiliary motor A and auxiliary motor B are arranged on the top of the harvester frame, and are respectively connected to the main vertical axis A, main vertical axis B, auxiliary vertical axis A and auxiliary vertical axis B through couplings; the rear end top of the oat stalk storage block is hinged to the harvester frame through a hinge, and the harvester frame is provided with a cylinder A, and the piston rod end of the cylinder A is hinged to the side wall of the oat stalk storage block.

5. The chassis front end intelligent tilting modular oat sowing, harvesting and thresher according to claim 4 is characterized by: The mechanism for lifting up the fallen oat stalks includes a motor C, a cylinder B, a fallen oat lifting rod and an anti-rotation sleeve, one end of the fallen oat lifting rod is connected to the end of the piston rod of the cylinder B through a connecting piece, the cylinder body of the cylinder B is fixed on the output shaft of the motor C, and the motor C is arranged on the oat stalk storage block; the cross-section of the piston rod of the cylinder B is a non-circular structure, the anti-rotation sleeve is provided with an anti-rotation through hole, the anti-rotation through hole is a non-circular structure, the anti-rotation sleeve is arranged on the end surface of the cylinder body of the cylinder B, the piston rod passes through the anti-rotation through hole on the anti-rotation sleeve and is adapted to the anti-rotation through hole, and the anti-rotation sleeve is used to prevent the piston rod of the cylinder B from rotating; the upper surface of the oat stalk storage block is provided with an installation groove, and the motor C is arranged in the installation groove.

6. The chassis front end intelligent tilting modular oat sowing, harvesting and thresher according to claim 5 is characterized by: It also includes an oat straw threshing and screening module, which includes a threshing frame, a threshing mechanism, a screening mechanism and a grain collecting bin, the threshing mechanism, the screening mechanism and the grain collecting bin are installed on the threshing frame, the grain collecting bin is located below the screening mechanism, and the screening mechanism is located below the threshing mechanism; the threshing mechanism includes a net drum, a threshing rotor, a net drum driving mechanism and a rotor driving mechanism, the threshing rotor is located in the net drum, one end of the net drum is an oat straw entry end, and the other end is a straw discharge end, the net drum driving mechanism is used to drive the net drum to rotate, and the rotor driving mechanism is used to drive the threshing rotor to rotate and is opposite to the rotation direction of the net drum, the threshing rotor includes a main shaft, and a spiral auger and a rod-type drum are sequentially arranged on the main shaft; the rod-type drum includes a left support frame, a right support frame and a plurality of threshing rods, the center hole on the left support frame and the center hole on the right support frame are interspersed and fixed on the main shaft, and the left end of the threshing rod is fixed on the left support frame The right end of the threshing rod is fixed on the right supporting frame, and a plurality of threshing rods are evenly distributed along the circumferential direction of the left supporting frame and the right supporting frame; threshing nails are distributed on the threshing rod and at a section away from the spiral auger; the rotor driving mechanism comprises a pair of meshing gears and a rotor driving motor, and the rotor driving motor drives the main shaft of the threshing rotor to rotate through a pair of meshing gears; the net drum driving mechanism comprises 4 friction rollers, 4 positioning wheels, a threshing active shaft, a threshing passive shaft and a net drum driving motor, wherein 2 friction rollers are mounted on the threshing active shaft, and the other 2 friction rollers are mounted on the threshing passive shaft, the threshing active shaft and the threshing passive shaft are mounted on the threshing frame, the net drum is horizontally supported on the 4 friction rollers, and the 4 positioning wheels are mounted on the top of the threshing frame and contact with the upper cylinder wall of the net drum, and the net drum driving motor is used to drive the threshing active shaft to rotate, the threshing active shaft drives the friction rollers, and the friction rollers drive the net drum to rotate.

7. The chassis front end intelligent tilting modular oat sowing, harvesting and thresher according to claim 6, characterized in that: The screening mechanism includes a vibrating mesh screen, a screen bracket, a moving beam, a slider, a slide bar, a screening frame, a crank mechanism and a screening motor. The vibrating mesh screen is fixed on the screen bracket, the screen bracket is fixed on the moving beam, both ends of the moving beam are respectively fixed on the two sliders, the two sliders are respectively arranged on the two slide bars, the two slide bars are horizontally installed on the screening frame, the screening motor drives the moving beam through the crank mechanism, and the moving beam drives the slider to move back and forth horizontally along the slide bar.

8. The chassis front end intelligent tilting modular oat sowing, harvesting and thresher according to claim 7 is characterized by: The control system also includes a control system, which includes a sensor, a camera and a microprocessor. The sensor is used to transmit the distance information between the front end of the chassis frame and the ground to the microprocessor, and the camera transmits the image information in front of the chassis frame to the microprocessor. The microprocessor regulates the lifting motors in the left lifting mechanism and the right lifting mechanism according to the distance information between the chassis frame and the ground and the image information in front of the chassis frame. When the image information shows an uphill or steep slope or when the distance information between the front end of the chassis frame and the ground is lower than a preset value, the microprocessor simultaneously starts the lifting motors in the left lifting mechanism and the right lifting mechanism to lift the front end of the chassis frame upward; when the image information shows a straight road surface, the microprocessor simultaneously starts the lifting motors in the left lifting mechanism and the right lifting mechanism to rotate in the opposite direction to make the front end of the chassis frame fall back to its original state.

9. The chassis front end intelligent tilting modular oat sowing, harvesting and thresher according to claim 8, characterized in that: The camera also transmits the image information of the oat status in the field in front of the chassis frame to the microprocessor, and the microprocessor determines the status of the oat stalks according to the image information of the oat status. When the oat stalks are in a state of tilting toward the front, the left front, or the right front, the microprocessor starts the cylinder B of the mechanism for lifting the fallen oat stalks, and the cylinder B pushes the fallen oat lifting rod diagonally downward. After the pushing is completed, the cylinder B is closed and the motor C is started at the same time. The motor C drives the cylinder B to rotate 90º to drive the fallen oat lifting rod to rotate from an upright state to a horizontal state. The motor C is closed and the cylinder B is started at the same time. The cylinder B drives the fallen oat lifting rod to move in the opposite direction, and the fallen oat lifting rod moves diagonally upward to lift the oat stalks. After the oat stalks are lifted and sent into the oat harvesting module, the motor C is started to reverse and reverse the fallen oat lifting rod to an upright state.

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