Rice harvester based on integration of harvesting and straw recycling

Abstract

The invention provides a rice harvester based on harvesting and straw recycling integration, which comprises a walking assembly, a cutting assembly, a crop gathering assembly, a first separating assembly, a second separating assembly, a stored grain collecting assembly and a straw processing assembly, and is characterized in that the cutting assembly and the crop gathering assembly are both arranged at the first end of the walking assembly; the first separation assembly and the second separation assembly are both arranged on the walking assembly, the straw treatment assembly is arranged at the second end of the walking assembly, after being cut by the cutting assembly, rice crops are gradually gathered through the crop gathering assembly and conveyed to the first separation assembly, and the separated rice falls into the stored grain collecting assembly; the residual straw without complete separation of the rice enters the second separation assembly, the second separation assembly can complete complete separation of the rice and the straw under the vibration effect, at the moment, the straw is vertically arranged under the vibration effect and enters the straw treatment assembly, and then grabbing compression and bundling treatment of the straw are completed.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to a rice harvester based on the integration of harvesting and straw recovery. Background Art

[0002] The traditional rice harvesting process includes cutting, threshing, cleaning, straw processing and other steps. However, the improvement of most rice harvesters currently lies in the harvesting of rice, while the processing of straw is often relatively extensive, usually directly crushing and returning it to the field or abandoning it in the field. This not only reduces the resource utilization rate of straw, but may also affect subsequent farming.

[0003] Chinese patent application CN 1090899525B discloses an automatic rice cutting machine comprising a rice-pulling device, a harvesting device, a chassis, a frame, a threshing device, a separating device, a discharge device, and a storage bin. The machine can automatically complete the rice harvesting process, effectively improving production efficiency and reducing the loss rate of rice after hulling, but does not process the generated rice straw.

[0004] Therefore, it is necessary to develop a rice harvester based on the integration of harvesting and straw recovery to achieve the integrated operation of efficient rice harvesting and automated straw recovery. Summary of the Invention

[0005] In response to the problems existing in the prior art, the present invention provides a rice harvester based on the integration of harvesting and straw recovery. It adopts a parallel mechanism to solve the problem that traditional rice harvesters cannot collect rice and recover straw simultaneously. On the basis of the traditional one, a straw processing component is added to integrate the rice harvesting and straw recovery functions into one, realizing synchronous operation, which can not only improve the working efficiency, reduce the number of round trips to the field, but also reduce time and energy consumption.

[0006] The present invention provides a rice harvester based on the integration of harvesting and straw recovery, which includes a walking assembly, a cutting assembly, a crop gathering assembly, a first separation assembly, a second separation assembly, a grain storage and collection assembly, and a straw processing assembly. The cutting assembly and the crop gathering assembly are both arranged at the first end of the walking assembly, and the cutting assembly includes a cutting connecting frame, a movable blade, a fixed blade, a cutting servo, a first servo rod, a second servo rod, and a cutting slider. The two ends of the fixed blade are respectively connected to the cutting connecting frame, the two ends of the movable blade are respectively connected to the cutting slider, the output shaft of the cutting servo is connected to the first end of the first servo rod, and the second end of the first servo rod is connected to the second servo The first end of the rod is connected, and the second end of the second servo rod is slidably connected to the cutting slider, and the cutting slider is slidably arranged on the middle slide groove of the cutting connecting frame; the crop gathering component includes a gathering motor, a first driving gear, a first driven gear, a first pair of gear sets, a second pair of gear sets and a second driven gear, the output shaft of the gathering motor is connected to the first driving gear, the first driven gear is coaxially connected to the second gear in the first pair of gear sets, the second driven gear is coaxially connected to the first gear in the second pair of gear sets, and the first driving gear, the first driven gear and the second driven gear are connected through a synchronous belt transmission; the first separation component and the second separation component are both arranged on the walking group On the component, the second separation component is located at the outlet side of the first separation component, the second separation component includes a filter bracket, a filter screen, a first vibration link, a second vibration link and a vibration motor, both ends of the filter screen are supported on the filter bracket through support springs, and the output shaft of the vibration motor is connected to the first end of the first vibration link, the second end of the first vibration link is connected to the first end of the second vibration link, and the second end of the second vibration link is connected to the bottom of the filter screen; the straw processing component is arranged at the second end of the walking component, and the straw processing component includes a three-degree-of-freedom mobile platform, a clamping claw and a baler, the clamping claw is arranged on the three-degree-of-freedom mobile platform, and the baler is arranged At the first end of the clamping claw, after the rice crop is cut by the cutting component, it is gathered by the crop gathering component and transported to the first separation component. The first separation component completes the preliminary separation of rice and straw under the action of the roller. After separation, the rice falls into the grain storage and collection component. After separation, the straw enters the second separation component. The second separation component completes the secondary separation of rice and straw under the vibration of the filter screen. At this time, the straw is arranged vertically under the vibration of the filter screen, and then the vertically arranged straw enters the straw processing component. The straw is gathered in the straw processing component and is grasped and compressed by the clamping claw. The grasped and compressed straw is baled through the baler.

[0007] Preferably, a straw supporting component is also provided at the first end of the walking component, and the straw supporting component is located above the cutting component, a conveying component is provided between two adjacent straw dividing plates in the walking component, and the first end of the conveying component is provided above the crop gathering component, the second end of the conveying component is provided at the conveying material port in the first separation component, and the grain storage and collection component is provided below the first separation component and the second separation component.

[0008] Preferably, the first pair of gear groups and the second pair of gear groups are rotatably arranged at the first end of the frame in the traveling assembly and are located between two adjacent rice-dividing plates in the traveling assembly. The first pair of gear groups and the second pair of gear groups each include a plurality of mutually meshing gears, and the meshing direction of the two adjacent gears is the same as the moving direction of the cut rice crops. During the meshing process of the two adjacent gears, the rice crops are gradually driven to gather and enter the conveying assembly.

[0009] Furthermore, the first separation component includes a roller bracket, a roller body, a roller motor, a roller driving gear, a roller driven gear and a roller shaft. The roller bracket is arranged on the frame, the roller body is connected to the roller bracket, and a protective cover is provided on the upper part of the roller body, and a concave plate screen is provided at the lower part of the roller body. A material conveying port is provided between the protective cover and the concave plate screen, and a plurality of disengagement gear rods are evenly distributed on the roller shaft, and both ends of the roller shaft are supported on the roller bracket, the roller motor is arranged on the roller bracket, and the output shaft of the roller motor is connected to the roller driving gear, the roller driven gear is arranged at the first end of the roller shaft, and the roller driving gear and the roller driven gear are connected by a synchronous belt transmission.

[0010] Furthermore, the second separation component also includes a filter frame, a separation guide plate and a separation baffle assembly. The filter frame is symmetrically arranged at the first end and the second end of the filter screen surface, the separation guide plate is arranged at the third end of the filter screen surface, and a separation baffle assembly is provided between the separation guide plate and the filter screen surface.

[0011] Furthermore, the separation baffle assembly includes a baffle support frame, a lifting screw, a separation motor, a separation driving gear, a separation driven gear and a grain baffle. The lifting screw is supported on the baffle support frame, the separation motor is arranged at the second end of the filter bracket, and the output shaft of the separation motor is connected to the separation driving gear, the separation driven gear is connected to the first end of the lifting screw, the separation driving gear and the separation driven gear are connected by a synchronous belt transmission, a lifting nut is provided on the grain baffle, and the lifting nut is threadedly connected to the lifting screw.

[0012] Furthermore, the straw processing component also includes a base, a first bracket, a second bracket, a first horizontal moving component, a vertical moving component, a second horizontal moving component, a clamping drive and a baling drive. The first horizontal moving component, the vertical moving component and the second horizontal moving component together constitute a three-degree-of-freedom mobile platform, and the base is arranged at the second end of the frame in the walking component, the first horizontal moving component is arranged on the first bracket, the vertical moving component is arranged on the second bracket, and the second bracket is slidably arranged on the first bracket, the first end of the second bracket is connected to the first horizontal moving component, the second horizontal moving component is arranged on the base, the first bracket is slidably arranged on the base, and the first end of the first bracket is connected to the second horizontal moving component, the clamping claw is arranged on the vertical moving component, the clamping claw is connected to the vertical nut in the vertical moving component, the clamping drive is arranged on the clamping claw, the baler is arranged on the first bracket, and the baler is located on one side of the second bracket, and the baling drive is arranged on the baler.

[0013] Furthermore, the Fuhe assembly includes a Fuhe connecting frame, a Fuhe supporting frame, a Fuhe lifting arm, a Fuhe cylinder, a Fuhe wheel, a Fuhe wheel rotating shaft, a Fuhe motor, a Fuhe driving gear and a Fuhe driven gear. The Fuhe connecting frame is symmetrically arranged on both sides of the first end of the vehicle frame, and the first end of the Fuhe connecting frame is connected to the first end of the Fuhe supporting frame, the second end of the Fuhe supporting frame is rotatably connected to the first end of the Fuhe lifting arm, and the second end of the Fuhe connecting frame is rotatably connected to the first end of the Fuhe cylinder. The Fuhe wheel is arranged on the Fuhe wheel rotating shaft, both ends of the Fuhe wheel rotating shaft are supported on the Fuhe lifting arm, and the second end of the Fuhe lifting arm and the second end of the Fuhe cylinder are respectively rotatably connected to the Fuhe wheel rotating shaft, the Fuhe motor is arranged on the Fuhe lifting arm, and the output shaft of the Fuhe motor is connected to the Fuhe driving gear, the Fuhe driven gear is connected to the first end of the Fuhe wheel rotating shaft, and the Fuhe driving gear and the Fuhe driven gear are connected by a synchronous belt transmission.

[0014] Furthermore, the conveying assembly includes a conveying support frame, a first conveying motor, a second conveying motor, a first conveying pulley, a second conveying pulley and a conveying crawler. The conveying support frame is fixed to the vehicle frame, and the first conveying motor and the second conveying motor are respectively arranged at the first end and the second end of the conveying support frame, and the first conveying motor is connected to the first conveying pulley through a differential box, and the second conveying motor is connected to the second conveying pulley through a differential box, and the first conveying pulley and the second conveying pulley are connected through a conveying crawler transmission.

[0015] Furthermore, the grain storage collection component includes a grain storage box, a grain storage air pump, a grain storage cylinder, a grain storage guide plate, a grain storage push plate and a grain unloading port. The grain storage box is arranged on the vehicle frame, the grain storage air pump and the grain storage cylinder are arranged inside the first end of the grain storage box, the grain storage guide plate is arranged above the grain storage box, the grain storage push plate is arranged on one side of the grain storage guide plate, the first end of the grain storage cylinder is connected to the grain storage push plate, and the grain unloading port is arranged at the second end of the grain storage box.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. The rice harvester based on integrated harvesting and straw recovery provided by the present invention adds a straw processing component on the traditional basis, integrates the rice harvesting and straw recovery functions into one, and realizes synchronous operation, which can not only improve the operation efficiency, reduce the number of round trips to the field, but also reduce time and energy consumption.

[0017] 2. The rice harvester, which integrates harvesting and straw recovery, features gripping claws that can flexibly move in the X, Y, and Z directions, accurately positioning and gripping straw to accommodate various stacking configurations. This avoids the positional limitations of traditional fixed gripping devices, which can lead to missed harvests and inefficiencies. Furthermore, the recovered straw can be directly returned to the field or used for other purposes, improving resource utilization and reducing environmental pollution.

[0018] 3. The rice harvester based on integrated harvesting and straw recovery provided by the present invention has the function of multi-stage vibration separation by setting a first separation component 5 and a second separation component. Through the cooperation of the high-speed rotating separation cylinder and the screen, the harvested grains and the straw can be quickly and thoroughly separated, which significantly reduces the problem of high grain impurity rate caused by incomplete separation of traditional harvesters, ensures the cleanliness of the harvested grains, and reduces the burden of subsequent processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall structure of the rice harvester based on the integration of harvesting and straw recovery according to the present invention; Figure 2 It is a structural schematic diagram of the walking assembly of the present invention; Figure 3 A top view of the walking assembly of the present invention; Figure 4 It is a schematic structural diagram of the cutting assembly of the present invention; Figure 5 This is a schematic structural diagram of the Fuhe assembly of the present invention; Figure 6 It is a structural schematic diagram of the conveying assembly of the present invention; Figure 7 Schematic diagram of the structure of the first separation component of the present invention; Figure 8 Schematic diagram of the structure of the second separation component of the present invention; Figure 9 This is a structural diagram of the grain storage and collection assembly of the present invention; Figure 10 This is a schematic structural diagram of the straw processing assembly of the present invention; Figure 11 This is a first-person perspective photo of the rice harvester based on the integrated harvesting and straw recycling of the present invention; Figure 12 This is a second-view physical diagram of the rice harvester based on the integrated harvesting and straw recycling of the present invention; Figure 13 This is a physical picture of the cutting component and the supporting component of the present invention; Figure 14 This is a physical picture of the crop gathering component of the present invention; Figure 15 A first perspective physical diagram of the first separation component and the first separation component of the present invention; Figure 16 A second perspective physical diagram of the first separation component and the first separation component of the present invention; Figure 17 This is a first-perspective physical diagram of the straw processing assembly of the present invention; Figure 18 This is a real-life picture of the straw processing assembly of the present invention from a grabbing perspective; Figure 19 This is a real-life picture of the straw processing assembly of the present invention from a baling perspective.

[0020] Main reference numerals: Travel assembly 1; frame 101; travel wheel 102; straw dividing plate 103; crop gathering assembly 104; first driving gear 1041; first driven gear 1042; second driven gear 1043; first pair of gear sets 1044; second gear 10442; second pair of gear sets 1045; first gear 10451; crop detection camera 105; straw collection box 106; cutting assembly 2; cutting connecting frame 201; movable blade 202; fixed blade 203; cutting servo 204; first servo lever 205; first Second servo rod 206; cutting slider 207; supporting assembly 3; supporting connecting frame 301; supporting support frame 302; supporting lifting arm 303; supporting cylinder 304; supporting wheel 305; supporting wheel shaft 306; supporting motor 307; supporting driving gear 308; supporting driven gear 309; conveying assembly 4; conveying support frame 401; first conveying motor 402; second conveying motor 403; first conveyor pulley 404; second conveyor pulley 405; conveying track 406; differential case 407; first separation assembly 5; roller Bracket 501; drum body 502; protective cover 503; concave plate screen 504; feeding port 505; drum motor 506; drum driving gear 507; drum driven gear 508; drum shaft 509; disengagement gear rod 510; second separation assembly 6; filter bracket 601; filter frame 602; filter screen surface 603; support spring 604; separation guide plate 605; first vibration link 606; second vibration link 607; vibration motor 608; baffle support frame 609; lifting screw 610; separation motor 611 ; Separate the driving gear 612; Separate the driven gear 613; Grain baffle 614; Grain storage collecting assembly 7; Grain storage box 701; Grain storage air pump 702; Grain storage cylinder 703; Grain storage guide plate 704; Grain storage push plate 705; Grain unloading port 706; Straw processing assembly 8; Base 801; First bracket 802; Second bracket 803; First horizontal moving assembly 804; Vertical moving assembly 805; Second horizontal moving assembly 806; Clamping drive 807; Clamping claw 808; Baler 809; Baling drive 810. DETAILED DESCRIPTION

[0021] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0022] The present invention is a rice harvester based on the integration of harvesting and straw recovery, such as Figure 1As shown, the walking assembly 1, the cutting assembly 2, the crop gathering assembly 104, the first separation assembly 5, the second separation assembly 6, the grain storage and collection assembly 7, and the straw processing assembly 8. The cutting assembly 2 and the crop gathering assembly 104 are both arranged at the first end of the walking assembly 1, the first separation assembly 5 and the second separation assembly 6 are both arranged on the walking assembly 1, the second separation assembly 6 is located at the outlet side of the first separation assembly 5, and the straw processing assembly 8 is arranged at the second end of the walking assembly 1. After the rice crop is cut by the cutting component 2, it is gathered by the crop gathering component 104 and transported to the first separation component 5. The first separation component 5 completes the preliminary separation of rice and straw under the action of the roller. After separation, the rice falls into the grain storage and collection component 7. After separation, the straw enters the second separation component 6. The second separation component 6 completes the secondary separation of rice and straw under the vibration of the filter screen 603. At this time, the straw is arranged vertically under the vibration of the filter screen 603, and then the vertically arranged straw enters the straw processing component 8. The straw is gathered in the straw processing component 8 and is grasped and compressed by the clamping claw 808. The grasped and compressed straw is baled through the baler 809.

[0023] In a preferred embodiment, a straw supporting component 3 is further provided at the first end of the walking component 1, and the straw supporting component 3 is located above the cutting component 2, a conveying component 4 is provided between two adjacent straw dividing plates 103 in the walking component 1, and the first end of the conveying component 4 is provided above the crop gathering component 104, the second end of the conveying component 4 is provided at the conveying port 505 in the first separation component 5, and the grain storage and collection component 7 is provided below the first separation component 5 and the second separation component 6.

[0024] like Figure 2 As shown, the traveling component 1 includes a frame 101, traveling wheels 102, a straw separating plate 103, a crop gathering component 104, a crop detection camera 105 and a straw collection box 106. Traveling wheels 102 are provided on the first end, the middle part and both sides of the second end of the frame 101. The first end of the frame 101 is provided with multiple straw separating plates 103, and a crop gathering component 104 is provided below the straw separating plate 104, a crop detection camera 105 is provided above the straw separating plate 104, and a straw collection box 106 is provided at the second end of the frame 101.

[0025] like Figure 2 and Figure 3As shown, the crop gathering assembly 104 includes two pairs of gear sets, a gathering motor, a first driving gear 1041, a first driven gear 1042, and a second driven gear 1043. The two pairs of gear sets are rotatably mounted at the first end of the frame 101 and located between two adjacent rice-dividing plates 103. Each gear set includes four intermeshing gears. The gathering motor is mounted on the frame 101. The output shaft of the gathering motor is connected to the first driving gear 1041. The first driven gear 1042 is coaxially connected to the second gear 10442 in the first pair of gear sets 1044. The second driven gear 1043 is coaxially connected to the first gear 10451 in the second pair of gear sets 1045. The first driving gear 1041, the first driven gear 1042, and the second driven gear 1043 are connected by a synchronous belt drive. The meshing direction of the two adjacent gears in each gear set is the same as the direction of movement of the cut rice crops. During the meshing process of the two adjacent gears, the rice crops are gradually brought together and enter the conveying assembly 4.

[0026] like Figure 4 As shown, the cutting assembly 2 includes a cutting connecting frame 201, a movable blade 202, a fixed blade 203, a cutting servo 204, a first servo rod 205, a second servo rod 206 and a cutting slider 207. The cutting connecting frame 201 is symmetrically arranged on both sides of the first end of the frame 101. The movable blade 202 and the fixed blade 203 are both arranged above the cutting connecting frame 201. The fixed blade 203 is located above the movable blade 202, and the two ends of the fixed blade 203 are respectively connected to the cutting connecting frame 201, and the two ends of the movable blade 202 are respectively connected to the cutting slider 207. The cutting servo 204 is arranged on the cutting connecting frame 201, and the output shaft of the cutting servo 204 is connected to the first end of the first servo rod 205, the second end of the first servo rod 205 is connected to the first end of the second servo rod 206, and the second end of the second servo rod 206 is slidably connected to the cutting slider 207, and the cutting slider 207 is slidably arranged on the middle slide groove of the cutting connecting frame 201.

[0027] like Figure 5As shown, the supporting assembly 3 includes a supporting connection frame 301, a supporting support frame 302, a supporting lifting arm 303, a supporting cylinder 304, a supporting wheel 305, a supporting wheel rotating shaft 306, a supporting motor 307, a supporting driving gear 308 and a supporting driven gear 309. The supporting connection frame 301 is symmetrically arranged on both sides of the first end of the frame 101, and the first end of the supporting connection frame 301 is connected to the first end of the supporting support frame 302, the second end of the supporting support frame 302 is rotatably connected to the first end of the supporting lifting arm 303, and the second end of the supporting connection frame 301 is rotatably connected to the supporting cylinder 30 4, the first end of the supporting wheel 305 is rotatably connected to the supporting wheel shaft 306, both ends of the supporting wheel shaft 306 are supported on the supporting lifting arm 303, and the second end of the supporting lifting arm 303 and the second end of the supporting cylinder 304 are rotatably connected to the supporting wheel shaft 306, a supporting motor 307 is provided on the supporting lifting arm 303, and the output shaft of the supporting motor 307 is connected to the supporting driving gear 308, the supporting driven gear 309 is connected to the first end of the supporting wheel shaft 306, and the supporting driving gear 308 and the supporting driven gear 309 are connected through a synchronous belt transmission.

[0028] like Figure 6 As shown, the conveying assembly 4 includes a conveying support frame 401, a first conveying motor 402, a second conveying motor 403, a first conveying pulley 404, a second conveying pulley 405 and a conveying crawler 406. The conveying support frame 401 is fixed to the vehicle frame 101, and the first conveying motor 402 and the second conveying motor 403 are respectively arranged at the first end and the second end of the conveying support frame 401, and the first conveying motor 402 is connected to the first conveying pulley 404 through a differential box 407, and the second conveying motor 403 is connected to the second conveying pulley 405 through the differential box 407, and the first conveying pulley 404 and the second conveying pulley 405 are connected by a conveying crawler 406.

[0029] like Figure 7 As shown, the first separation component 5 includes a roller bracket 501, a roller body 502, a roller motor 506, a roller driving gear 507, a roller driven gear 508 and a roller shaft 509. The roller bracket 501 is arranged on the frame 101, the roller body 502 is connected to the roller bracket 501, and a protective cover 503 is provided on the upper part of the roller body 502, a concave plate screen 504 is provided on the lower part of the roller body 502, and a conveying port 505 is provided between the protective cover 503 and the concave plate screen 504, a plurality of disengagement gear rods 510 are evenly distributed on the roller shaft 509, and both ends of the roller shaft 509 are supported on the roller bracket 501, the roller motor 506 is arranged on the roller bracket 501, and the output shaft of the roller motor 506 is connected to the roller driving gear 507, the roller driven gear 508 is provided at the first end of the roller shaft 509, and the roller driving gear 507 and the roller driven gear 508 are connected by a synchronous belt transmission.

[0030] like Figure 8 As shown, the second separation component 6 includes a filter bracket 601, a filter frame 602, a filter screen surface 603, a support spring 604, a separation guide plate 605, a first vibration link 606, a second vibration link 607, a vibration motor 608 and a separation baffle assembly. The filter bracket 601 is symmetrically arranged on the frame 101, the filter frame 602 is symmetrically arranged at the first end and the second end of the filter screen surface 603, and the two ends of the filter screen surface 603 are supported on the filter bracket 6 by the support spring 604. 01, the vibration motor 608 is arranged at the first end of the filter bracket 601, and the output shaft of the vibration motor 608 is connected to the first end of the first vibration link 606, the second end of the first vibration link 606 is connected to the first end of the second vibration link 607, and the second end of the second vibration link 607 is connected to the bottom of the filter screen surface 603, the separation guide plate 605 is arranged at the third end of the filter screen surface 603, and a separation baffle assembly is provided between the separation guide plate 605 and the filter screen surface 603.

[0031] like Figure 8 As shown, the separation baffle assembly includes a baffle support frame 609, a lifting screw 610, a separation motor 611, a separation driving gear 612, a separation driven gear 613 and a grain baffle 614. The lifting screw 610 is supported on the baffle support frame 609, the separation motor 611 is arranged at the second end of the filter bracket 601, and the output shaft of the separation motor 611 is connected to the separation driving gear 612, the separation driven gear 613 is connected to the first end of the lifting screw 610, the separation driving gear 612 and the separation driven gear 613 are connected by a synchronous belt transmission, and a lifting nut is provided on the grain baffle 614, and the lifting nut is threadedly connected to the lifting screw 610.

[0032] like Figure 9 As shown, the grain storage collection component 7 includes a grain storage box 701, a grain storage air pump 702, a grain storage cylinder 703, a grain storage guide plate 704, a grain storage push plate 705 and a grain unloading port 706. The grain storage box 701 is arranged on the frame 101, the grain storage air pump 702 and the grain storage cylinder 703 are arranged inside the first end of the grain storage box 701, and the grain storage guide plate 704 is arranged above the grain storage box 701, the grain storage push plate 705 is arranged on one side of the grain storage guide plate 704, the first end of the grain storage cylinder 703 is connected to the grain storage push plate 705, and the grain unloading port 706 is arranged at the second end of the grain storage box 701.

[0033] like Figure 10As shown, the straw processing assembly 8 includes a base 801, a first bracket 802, a second bracket 803, a first horizontal moving assembly 804, a vertical moving assembly 805, a second horizontal moving assembly 806, a clamping drive 807, a clamping claw 808, a baler 809 and a baling drive 810. The first horizontal moving assembly 804, the vertical moving assembly 805 and the second horizontal moving assembly 806 together constitute a three-degree-of-freedom mobile platform. The base 801 is provided at the second end of the frame 101, the first horizontal moving assembly 804 is provided at the second end of the frame 101, the first horizontal moving assembly 805 is provided at the second end of the frame 101, the first horizontal moving assembly 806 ... 804 is arranged on the first bracket 802, the vertical moving component 805 is arranged on the second bracket 803, and the second bracket 803 is slidably arranged on the first bracket 802, the first end of the second bracket 803 is connected to the first nut 811 in the first horizontal moving component 804, and the first horizontal moving component 804 is connected by a screw nut transmission connection. Under the transmission of the screw nut, the first horizontal moving component 804 can drive the second bracket 803 to move in the horizontal direction. The second horizontal moving component 806 is arranged on the base 801. The bracket 802 is slidably arranged on the base 801, and the first end of the first bracket 802 is connected to the second nut 812 in the second horizontal moving component 806, and the second horizontal moving component 806 is connected by a screw nut transmission. Under the transmission of the screw nut, the second horizontal moving component 806 can drive the first bracket 802 to move in the horizontal direction. The clamping claw 808 is arranged on the vertical moving component 805, and the clamping claw 808 is connected to the vertical nut 813 in the vertical moving component 805. The vertical moving component 805 adopts a screw nut transmission connection. The female transmission connection is used, and the vertical moving component 805 can drive the clamping claw 808 to move in the vertical direction under the transmission of the screw nut. The clamping driver 807 is provided on the clamping claw 808, and the clamping driver 807 can drive the clamping claw 808 to realize the gathering and clamping of the straw. The baler 809 is provided on the first bracket 802, and the baler 809 is located on one side of the second bracket 803. The baling driver 810 is provided on the baler 809, and the baling driver 810 can drive the baler 809 to realize the packaging and bundling of the straw.

[0034] like Figure 11 and Figure 12 As shown, during operation, the rice harvester, which integrates harvesting and straw recovery, moves to a pre-designated harvesting location in the rice field. Upon reaching the designated location, the crop detection camera 105 detects signals indicating rice plant height and density and transmits this critical data to the control terminal in the form of a high-speed, stable signal. Upon receiving the signal, the control terminal accurately transmits the command to the cutting assembly 2.

[0035] like Figure 13As shown, the movable blade 202 and the fixed blade 203 in the cutting assembly 2 start to work together. The movable blade 202 moves back and forth under the drive of the cutting servo 204. The position and motion parameters of the movable blade 202 are adjusted in real time according to the instructions of the control terminal. With the cooperation of the movable blade 202 and the fixed blade 203, low stubble cutting is completed.

[0036] like Figures 13 to 15 As shown, the crop-supporting cylinder 304 in the rice-supporting assembly 3 is actuated, adjusting the position of the crop-supporting wheel 305 according to the height of the rice plants. The cut rice plants are then transferred to the conveyor belt 406 of the conveyor assembly 4 via the crop gathering assembly 104 on the traveling assembly 1. Driven by the first conveyor motor 402 and the second conveyor motor 403, the conveyor belt 406 transports the rice plants to the first separation assembly 5 at a stable speed. The drum motor 506 of the first separation assembly 5 begins to rotate at high speed, driving the separation gear 510 for efficient threshing. The shape and arrangement of the separation gear 510 ensures full contact with the rice plants, separating the rice grains from the straw through impact and friction. The first separation assembly 5 is also equipped with a concave screen 504. The rice grains and some impurities fall through the sieve holes of the concave screen 504, while the threshed straw and unseparated rice grains are transported to subsequent processing steps as the threshing gear 510 rotates.

[0037] like Figure 15 and Figure 16 As shown, the threshed straw and the unseparated rice then enter the second separation component 6. The filter screen surface 603 of the second separation component 6 is screened by the vibration mechanism composed of the first vibration connecting rod 606, the second vibration connecting rod 607 and the vibration motor 608 and the support spring 604. The support spring 604 plays a buffering and supporting role, and can automatically adjust its elasticity according to the vibration of the screen surface. The screened rice finally falls into the grain storage collection component 7. The grain storage guide plate 704 in the grain storage collection component 7 plays a guiding role, so that the rice is evenly distributed in the grain storage box 701, avoiding local accumulation. When the rice in the grain storage box 701 reaches the preset capacity, the grain storage air pump 702 starts working, generating gas to enable the grain storage push plate 705 to automatically unload the rice into the external container through the grain unloading port 706. At the same time, the separation baffle assembly on one side of the second separation assembly 6 moves, causing the grain baffle 614 at the third end of the filter screen 603 to move downward, so that the straw is collected in the separation guide plate 605. At this time, the straw processing assembly 8 is started to process the straw.

[0038] like Figures 17 to 19As shown, the first horizontal moving assembly 804, vertical moving assembly 805, and second horizontal moving assembly 806 are finally activated, driving the clamping claw 808 to the appropriate position. The clamping actuator 807 then drives the clamping claw 808 to precisely grasp the straw. The clamped straw is then transported to the baler 809, where the baler actuator 810 compresses the straw to form bales of a desired diameter. The compressed straw bales are then collected by the straw clamp and placed in the straw collection box 106. The rice harvester has now completed its rice harvesting and straw recovery operations.

[0039] The embodiments described above are merely descriptions of preferred implementations of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the scope of protection determined by the claims of the present invention.

Claims

1. A rice harvester based on integrated harvesting and straw recovery, characterized by: It includes a walking component, a cutting component, a crop gathering component, a first separation component, a second separation component, a grain storage and collection component and a straw processing component. The cutting assembly and the crop gathering assembly are both arranged at the first end of the walking assembly, and the cutting assembly includes a cutting connecting frame, a movable blade, a fixed blade, a cutting servo, a first servo rod, a second servo rod and a cutting slider. The two ends of the fixed blade are respectively connected to the cutting connecting frame, and the two ends of the movable blade are respectively connected to the cutting slider. The output shaft of the cutting servo is connected to the first end of the first servo rod, the second end of the first servo rod is connected to the first end of the second servo rod, and the second end of the second servo rod is slidably connected to the cutting slider. The cutting slider is slidably arranged on the middle slide groove of the cutting connecting frame. The crop gathering assembly includes a gathering motor, a first driving gear, a first driven gear, a first pair of gear sets, a second pair of gear sets, and a second driven gear. The output shaft of the gathering motor is connected to the first driving gear, the first driven gear is coaxially connected to the second gear in the first pair of gear sets, the second driven gear is coaxially connected to the first gear in the second pair of gear sets, and the first driving gear, the first driven gear, and the second driven gear are connected by a synchronous belt transmission. The first separation assembly and the second separation assembly are both arranged on the walking assembly, the second separation assembly is located on the outlet side of the first separation assembly, the second separation assembly includes a filter bracket, a filter screen surface, a first vibration connecting rod, a second vibration connecting rod and a vibration motor, both ends of the filter screen surface are supported on the filter bracket by support springs, and the output shaft of the vibration motor is connected to the first end of the first vibration connecting rod, the second end of the first vibration connecting rod is connected to the first end of the second vibration connecting rod, and the second end of the second vibration connecting rod is connected to the bottom of the filter screen surface; The straw processing component is arranged at the second end of the walking component, and the straw processing component includes a three-degree-of-freedom mobile platform, a clamping claw and a baler. The clamping claw is arranged on the three-degree-of-freedom mobile platform, and the baler is arranged at the first end of the clamping claw. After the rice crop is cut by the cutting component, it is gathered by the crop gathering component and transported to the first separation component. The first separation component completes the initial separation of rice and straw under the action of the roller. After separation, the rice falls into the grain storage and collection component. After separation, the straw enters the second separation component. The second separation component completes the secondary separation of rice and straw under the vibration of the filter screen surface. At this time, the straw is arranged vertically under the vibration of the filter screen surface, and then the vertically arranged straw enters the straw processing component. The straw gathers in the straw processing component and is grabbed and compressed by the clamping claw. The grabbed and compressed straw is baled by the baler.

2. The rice harvester based on integrated harvesting and straw recovery according to claim 1, characterized in that: A crop supporting component is also provided at the first end of the walking component, and the crop supporting component is located above the cutting component. A conveying component is provided between two adjacent crop separating plates in the walking component, and the first end of the conveying component is provided above the crop gathering component, the second end of the conveying component is provided at the conveying port in the first separation component, and the grain storage and collection component is provided below the first separation component and the second separation component.

3. The rice harvester based on integrated harvesting and straw recovery according to claim 1, characterized in that: The first pair of gear sets and the second pair of gear sets are rotatably arranged at the first end of the frame in the traveling assembly and are located between two adjacent rice-dividing plates in the traveling assembly. The first pair of gear sets and the second pair of gear sets both include a plurality of mutually meshing gears, and the meshing direction of the two adjacent gears is the same as the moving direction of the cut rice crops. During the meshing process of the two adjacent gears, the rice crops are gradually driven to gather and enter the conveying assembly.

4. The rice harvester based on integrated harvesting and straw recovery according to claim 1, characterized in that: The first separation component includes a roller bracket, a roller body, a roller motor, a roller driving gear, a roller driven gear and a roller shaft. The roller bracket is arranged on the frame, the roller body is connected to the roller bracket, and a protective cover is provided on the upper part of the roller body, a concave plate screen is provided on the lower part of the roller body, and a material conveying port is provided between the protective cover and the concave plate screen. A plurality of disengagement gear rods are evenly distributed on the roller shaft, and both ends of the roller shaft are supported on the roller bracket. The roller motor is arranged on the roller bracket, and the output shaft of the roller motor is connected to the roller driving gear, the roller driven gear is arranged at the first end of the roller shaft, and the roller driving gear and the roller driven gear are connected by a synchronous belt transmission.

5. The rice harvester based on integrated harvesting and straw recovery according to claim 1, characterized in that: The second separation assembly also includes a filter frame, a separation guide plate and a separation baffle assembly. The filter frame is symmetrically arranged at the first end and the second end of the filter screen surface, the separation guide plate is arranged at the third end of the filter screen surface, and a separation baffle assembly is arranged between the separation guide plate and the filter screen surface.

6. The rice harvester based on integrated harvesting and straw recovery according to claim 5, characterized in that: The separation baffle assembly includes a baffle support frame, a lifting screw, a separation motor, a separation driving gear, a separation driven gear and a grain baffle. The lifting screw is supported on the baffle support frame, the separation motor is arranged at the second end of the filter bracket, and the output shaft of the separation motor is connected to the separation driving gear, the separation driven gear is connected to the first end of the lifting screw, the separation driving gear and the separation driven gear are connected by a synchronous belt transmission, a lifting nut is provided on the grain baffle, and the lifting nut is threadedly connected to the lifting screw.

7. The rice harvester based on integrated harvesting and straw recovery according to claim 1, characterized in that: The straw processing component also includes a base, a first bracket, a second bracket, a first horizontal moving component, a vertical moving component, a second horizontal moving component, a clamping drive and a baling drive. The first horizontal moving component, the vertical moving component and the second horizontal moving component together constitute a three-degree-of-freedom mobile platform, and the base is arranged at the second end of the frame in the walking component, the first horizontal moving component is arranged on the first bracket, the vertical moving component is arranged on the second bracket, and the second bracket is slidably arranged on the first bracket, the first end of the second bracket is connected to the first horizontal moving component, the second horizontal moving component is arranged on the base, the first bracket is slidably arranged on the base, and the first end of the first bracket is connected to the second horizontal moving component, the clamping claw is arranged on the vertical moving component, the clamping claw is connected to the vertical nut in the vertical moving component, the clamping drive is arranged on the clamping claw, the baler is arranged on the first bracket, and the baler is located on one side of the second bracket, and the baling drive is arranged on the baler.

8. The rice harvester based on integrated harvesting and straw recovery according to claim 2, characterized in that: The lifting arm is fixed to the cam frame, and the lifting arm is fixed to the cam frame. The lifting arm is fixed to the cam frame, and the lifting arm is fixed to the cam frame. The lifting arm is fixed to the cam frame, and the lifting arm is fixed to the cam frame. The lifting arm is fixed to the cam frame, and the lifting arm is fixed to the cam frame. The lifting arm is fixed to the cam frame, and the lifting arm is fixed to the cam frame. The lifting arm is fixed to the cam frame, and the lifting arm is fixed to the cam frame. The lifting arm is fixed to the cam frame, and the lifting arm is fixed to the cam frame. The lifting arm is fixed to the cam frame, and the lifting arm is fixed to the cam frame. The lifting arm is fixed to the cam frame, and the lifting arm is fixed to the cam frame. The lifting arm is fixed to the cam frame, and the lifting arm is fixed to the cam frame. The lifting arm is fixed to the cam frame, and the lifting arm is fixed to the cam frame. The lifting arm is fixed to the cam frame, and the lifting arm is fixed to the cam frame. The lifting arm is fixed to the cam frame, and the lifting arm is fixed to the cam frame. The lifting arm is fixed to the cam frame, and the lifting arm is fixed to the cam frame.

9. The rice harvester based on integrated harvesting and straw recovery according to claim 2, characterized in that: The conveying assembly includes a conveying support frame, a first conveying motor, a second conveying motor, a first conveying pulley, a second conveying pulley and a conveying crawler. The conveying support frame is fixed to the vehicle frame. The first conveying motor and the second conveying motor are respectively arranged at the first end and the second end of the conveying support frame. The first conveying motor is connected to the first conveying pulley through a differential box, and the second conveying motor is connected to the second conveying pulley through a differential box. The first conveying pulley and the second conveying pulley are connected through a conveying crawler transmission.

10. The rice harvester based on integrated harvesting and straw recovery according to claim 2, characterized in that: The grain storage collection component includes a grain storage box, a grain storage air pump, a grain storage cylinder, a grain storage guide plate, a grain storage push plate and a grain unloading port. The grain storage box is arranged on the frame, the grain storage air pump and the grain storage cylinder are arranged inside the first end of the grain storage box, the grain storage guide plate is arranged above the grain storage box, the grain storage push plate is arranged on one side of the grain storage guide plate, the first end of the grain storage cylinder is connected to the grain storage push plate, and the grain unloading port is arranged at the second end of the grain storage box.

Images