Wheat harvesting and crushing all-in-one machine and control method thereof

Abstract

The invention discloses a wheat harvesting and smashing all-in-one machine and a control method thereof, and relates to the technical field of wheat harvesting equipment, a cutter comprises a saw belt, the saw belt is wound on a driving wheel and a driven wheel, the driving wheel is arranged on the right side of a header, the driven wheel is arranged on the left side of the header, a driving part is used for driving the driving wheel to rotate, and a tensioning part is used for tensioning the saw belt; the multiple walking pieces walk on the bottom of the header in the left-right linear direction, each walking piece is provided with a height adjusting piece, the output end of each height adjusting piece is provided with a clamping base, and the clamping bases are connected with the saw belt in a sliding mode. The control method comprises the following steps that the control module compares measurement information of all the height measurement sensors in each height measurement assembly to obtain the highest value, the lowest value and the height difference, the control module controls each walking part to walk to the position of the in-place sensor corresponding to the highest value, the height adjusting part is controlled to increase the saw belt by the height of the height difference, and the saw belt is lifted by the height adjusting part. And meanwhile, the tensioning piece is controlled to maintain the tensioning force of the saw belt. The harvester can reduce miss cutting and improve the harvesting effect.

Description

Technical Field

[0001] This invention relates to the field of wheat harvesting equipment technology, specifically to a wheat harvesting and crushing integrated machine and its control method. Background Technology

[0002] Wheat harvesting equipment is a type of agricultural machinery used in agricultural production. It mainly includes components such as the header, threshing, and cleaning. Among these, the cutter, as the core component of the header, directly affects the harvesting quality and efficiency through its structure and performance.

[0003] Currently, most cutters are reciprocating cutters. A reciprocating cutter consists of a moving blade and a fixed blade. A crank-connecting rod mechanism drives the moving blade to reciprocate, creating a shearing action with the fixed blade. This type of cutter has a simple structure, but its adaptability to different terrain surfaces is relatively poor.

[0004] To adapt to different field conditions, some harvesters have adopted headers that can be raised and lowered as a whole, or use floating mechanisms to allow the header to undulate with the terrain within a certain range. However, these improvements mostly involve adjusting the overall height of the header, and cannot achieve independent and precise adjustment of the height of the cutter in specific areas. When there are uneven areas within the cutting range, the cutter still cannot completely conform to the surface contour, resulting in inconsistent stubble height, which can easily lead to missed cuts, crop waste, and reduced harvesting efficiency.

[0005] Therefore, how to reduce missed harvesting and improve harvesting results is a technical problem that needs to be solved. Summary of the Invention

[0006] To address the aforementioned shortcomings of existing technologies, this invention proposes an integrated wheat harvesting and crushing machine and its control method. This invention can reduce missed harvesting and improve harvesting efficiency.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A wheat harvester and crusher includes a header with a cutter located at the bottom front side. The cutter includes a saw blade, a drive wheel, a driven wheel, a drive unit, a tensioning unit, a traveling unit, and a height adjustment unit. The saw blade is wound around the drive wheel and the driven wheel. The drive wheel is located on the right side of the header, and the driven wheel is located on the left side of the header. The drive unit drives the drive wheel to rotate, and the tensioning unit tensions the saw blade. Multiple traveling units travel along a left-right straight line at the bottom of the header. Each traveling unit is equipped with a height adjustment unit, and the output end of the height adjustment unit is equipped with a clamping seat, which is slidably connected to the saw blade.

[0008] Furthermore, it also includes a control module, a height measurement component, and a positioning component; Multiple height measuring components are evenly arranged along the left-right straight line at the bottom of the cutting table, and multiple positioning components are evenly arranged along the left-right straight line at the bottom of the cutting table. The height measuring components, positioning components and the traveling components correspond one-to-one. Each height measurement component includes multiple height sensors evenly distributed along a left-right straight line. The height sensors are used to measure the vertical height reaching the ground and transmit the measurement information to the control module. Each positioning component includes multiple positioning sensors evenly distributed along a left-right straight line. Each positioning sensor corresponds to a height measuring sensor. The positioning sensors are used to detect whether the walking component has moved into position and transmit the detection information to the control module. The walking component, the height adjustment component, and the tensioning component are all electrically connected to the control module.

[0009] Furthermore, a first reversing wheel group is provided on the bottom left side of the cutting table, and the driven wheel is located above the first reversing wheel group. The tensioning member includes a tensioning telescopic member and a tension measuring element. The output end of the tensioning telescopic member is provided with the driven wheel and the tension measuring element. The tension measuring element is used to measure the tension of the saw belt and transmit the tension information to the control module. The tensioning telescopic member is electrically connected to the control module.

[0010] Furthermore, a second reversing wheel assembly is provided at the bottom right side of the cutting platform, and the driving wheel is located above the second reversing wheel assembly. The second reversing wheel assembly includes two second reversing wheels, and the horizontal distance between the two second reversing wheels is greater than the vertical distance between the two second reversing wheels.

[0011] Furthermore, protective covers are provided on both the left and right sides of the cutting platform. The driven wheel, the tensioning member, and the first reversing wheel assembly are located inside the protective cover on the left side of the cutting platform, while the driving wheel, the driving member, and the second reversing wheel assembly are located inside the protective cover on the right side of the cutting platform. The bottom of the protective cover is open, and the saw blade passes through the open.

[0012] Furthermore, a guide pad is provided at the bottom front side of the cutting table, and the guide pad rests on the surface of the saw blade.

[0013] Furthermore, the rear side of the cutting platform is connected to the threshing machine via a first conveyor. A screening machine is located below the threshing machine, and a collection hopper is located below the screening machine. The collection hopper is connected to the peeling machine via an elevator. The peeling machine is connected to the crusher via a second conveyor. A ventilator is located at the front of the screening machine. The cutting platform, the first conveyor, the threshing machine, the screening machine, the collection hopper, the elevator, the peeling machine, the second conveyor, the crusher, and the ventilator are all mounted on a frame.

[0014] Furthermore, the air outlet of the ventilator is provided with a cleaning branch pipe, the end of which is located between the upper and lower layers of the saw blade.

[0015] A control method for a wheat harvester and pulverizer, based on the aforementioned wheat harvester and pulverizer, includes the following steps: S1. All the height measuring sensors in each group of height measuring components measure the vertical height reaching the ground and transmit the measurement information to the control module; S2. The control module compares the measurement information of each group of height measuring components to obtain the highest value, lowest value, and height difference between the highest and lowest values ​​of each group of height measuring components. S3. The control module controls each of the walking components to move to the position of the corresponding highest value positioning sensor; S4. After receiving the positioning information from the position sensor, the control module controls the height adjustment component to raise the saw band by a height difference based on the height difference. At the same time, the control module controls the tensioning component to keep the tension of the saw band within the threshold range. S5. The control module adjusts all height adjustment components to the same height according to the required stubble height, and at the same time, the control module controls the tensioning component to keep the tension of the saw blade within the threshold range.

[0016] Furthermore, when the control module controls the tensioning member to maintain the tension of the saw band within a threshold range, the control module adjusts the tension of the saw band by controlling the extension and retraction of the tensioning telescopic member.

[0017] The beneficial effects of this invention are as follows: 1. By setting multiple independently moving walking components and their height adjustment mechanisms, the height of the saw blade in the cutter can be independently adjusted at different positions, allowing the overall undulation curve of the saw blade in the cutter to adapt to the undulation of the current terrain. This enables it to adapt to uneven terrain, ensures consistent wheat cutting height, reduces missed cuts in the vertical direction, and improves harvesting efficiency.

[0018] Furthermore, the continuous structure of the saw blade eliminates gaps in the horizontal direction, reducing missed cuts and further improving harvesting efficiency.

[0019] 2. By setting up height measurement and positioning components and linking them with walking and height adjustment components, the system can automatically detect and adapt to the terrain undulations, reducing manual intervention and improving the accuracy and efficiency of harvesting operations.

[0020] 3. The tensioning element adopts a tensioning telescopic component in conjunction with a tension measuring element, which can realize real-time monitoring and automatic adjustment of the saw belt tension, maintain the optimal working tension, extend the saw belt life, and improve cutting stability and safety.

[0021] 4. The setting of the first and second reversing wheel sets can optimize the direction of the saw blade, reduce the occupation of horizontal space, make full use of vertical space, and help improve space utilization.

[0022] 5. Because the horizontal distance between the two first reversing wheels in the first reversing wheel set is greater than the vertical distance, and the horizontal distance between the two second reversing wheels in the second reversing wheel set is greater than the vertical distance, the spacing of the saw blades changes during rotation. Specifically, the vertical spacing of the saw blades is smallest in the front part of the cutting table, and the spacing of the saw blades increases in the left and right parts of the cutting table. This not only accommodates the diameter of the drive and driven wheels, but also helps to dissipate heat from the saw blades, extending their service life and saving maintenance costs.

[0023] 6. The protective cover can enclose the transmission components, improve operational safety, prevent foreign objects from being drawn in, and improve operational reliability.

[0024] 7. The guide pad can cover the gap between the saw blade and the header, preventing wheat plants from getting stuck and further improving the reliability of equipment operation.

[0025] 8. By integrating the header, thresher, screening machine, peeling machine, crusher, and ventilator into the same frame, the harvesting, threshing, screening, peeling, and crushing are integrated into a continuous operation, which improves work efficiency and reduces material transfer losses.

[0026] 9. By extending a cleaning branch pipe from the exhaust end of the ventilator to blow clean the saw blade, blockage and slippage can be prevented, cutting efficiency can be maintained, and maintenance frequency can be reduced.

[0027] In addition, airflow can help reduce the temperature of the saw blade, extend its service life, and save on maintenance costs.

[0028] In addition, because the saw blade rotates continuously, the entire saw blade is cleaned, expanding the cleaning range and improving the cleaning effect.

[0029] 10. The control method provided by this invention can intelligently identify terrain undulations and automatically adjust the cutting height and tension to achieve precise and adaptive harvesting, thereby improving adaptability. Attached Figure Description

[0030] Figure 1 It is a three-dimensional wheat harvesting and crushing integrated machine Figure 1 ; Figure 2 It is a three-dimensional wheat harvesting and crushing integrated machine Figure 2 ; Figure 3 It is a three-dimensional wheat harvesting and crushing integrated machine Figure 3 ; Figure 4 This is a front view of a wheat harvesting and crushing integrated machine; Figure 5 This is a top view of a wheat harvesting and crushing integrated machine; Figure 6 This is a right view of a wheat harvesting and crushing integrated machine; Figure 7 It is a three-dimensional view of the frame, cutting table, cutter, first conveyor and ventilator; Figure 8 It is a three-dimensional assembly of the cutting table, cutter, first conveyor, and ventilator. Figure 1 ; Figure 9 It is a three-dimensional assembly of the cutting table, cutter, first conveyor, and ventilator. Figure 2 ; Figure 10 It is a three-dimensional assembly of the cutting table, cutter, first conveyor, and ventilator. Figure 3 ; Figure 11 It is a 3D diagram of the cutter; Figure 12 This is the front view of the cutter; Figure 13 It is a three-dimensional system consisting of walking components, height adjustment components, height measuring components, and positioning components. Figure 1 ; Figure 14 It is a three-dimensional system consisting of walking components, height adjustment components, height measuring components, and positioning components. Figure 2 ; Figure 15 It is a bottom view of the traveling component, height adjustment component, height measuring component, and positioning component; Figure 16 It is a 3D diagram of a ventilation fan; Figure 17 This is a three-dimensional view of the driven wheel and the tensioner. Figure 18 It is a 3D view of the driving component.

[0031] Explanation of reference numerals in the attached figures: 100-rack 200-cutting platform, 300-Cutter 301-saw band, 302-Drive wheel, 303 - Driven wheel, 304-Driver Components 305-Tensioning component, 3051-Tensioning telescopic component, 3052-Tension measuring element, 3053-Tensioning support base, 3054-Abutment wheel, 306 - Traveling component, 3061 - Traveling mount, 3062 - Traveling motor, 3063 - Traveling gear, 3064 - Traveling rack. 307-Height Adjustment Part 308-Connecting rod, 309-Clamping seat, 3091-Upper slide groove, 3092-Lower slide groove 310 - First reversing wheel assembly, 3101 - First reversing wheel, 311 - Second reversing wheel assembly, 3111 - Second reversing wheel 312-Protective Shield 313-Guide Pad, 314-Altitude measuring component, 3141-Altitude measuring sensor 315 - Positioning Component, 3151 - Positioning Sensor 400 - First Conveyor 500-Threshing Machine 600-screening machine 700-Collection Bucket, 800- Hoist 900-Peeling Machine 1000 - Second Conveyor 1100-Crusher 1200 - Ventilation fan, 1201 - Cleaning branch pipe. Detailed Implementation

[0032] To better understand the present invention, it will be further described below with reference to the accompanying drawings. It is worth noting that in the description of the present invention, terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0033] Example 1: See Figure 7 A wheat harvesting and crushing integrated machine includes a frame 100, a header 200, a cutter 300, and a control module.

[0034] See Figure 7 The cutting table 200 is fixedly installed on the front side of the frame 100.

[0035] See Figure 7 The cutting device 300 is located at the bottom front side of the cutting table 200.

[0036] See Figure 11and Figure 12 The cutter 300 includes a saw blade 301, a drive wheel 302, a driven wheel 303, a drive component 304, a tensioning component 305, a traveling component 306, and a height adjustment component 307.

[0037] See Figure 12 The saw blade 301 is wound around the driving wheel 302 and the driven wheel 303. (See also...) Figure 8 The drive wheel 302 is located on the right side of the cutting table 200, and the driven wheel 303 is located on the left side of the cutting table 200.

[0038] See Figure 10 and Figure 18 The drive component 304 (such as a geared motor) is fixedly installed on the right side of the header 200. The drive component 304 is used to drive the drive wheel 302 to rotate. Through the rotation of the drive wheel 302, the saw blade 301 is driven to rotate, so that the saw blade 301 cuts the wheat located in front of the header 200.

[0039] See Figure 14 Multiple traveling components 306 are arranged along a left-right linear direction at the bottom of the cutting table 200. Each traveling component 306 includes a traveling base 3061, a traveling motor 3062, and a traveling gear 3063. The traveling base 3061 is slidably connected to the frame 100 via a slider guide pair, and the traveling base 3061 slides in a left-right linear direction. The traveling motor 3062 is fixedly mounted on the traveling base 3061. The traveling gear 3063 is fixedly mounted on the output shaft of the traveling motor 3062, and the traveling gear 3063 meshes with a traveling rack 3064 fixedly mounted on the frame 100, thereby realizing the movement of the traveling base 3061 in a left-right linear direction.

[0040] See Figure 13 Each traveling component 306 has a height adjustment component 307 fixedly installed on its traveling seat 3061. The height adjustment component 307 can be a cylinder, an electric push rod, or a hydraulic cylinder. A connecting rod 308 is fixedly installed at the output end of the height adjustment component 307, and a clamping seat 309 is fixedly installed at the other end of the connecting rod 308.

[0041] See Figure 14 The clamping seat 309 is provided with an upper sliding groove 3091 and a lower sliding groove 3092. See also Figure 8 The upper layer of the saw band 301 is slidably engaged with the upper sliding groove 3091, and the lower layer is slidably engaged with the lower sliding groove 3092. The clamping seat 309 can guide and support the saw band 301, maintain the distance between the upper and lower layers of the saw band 301, and does not hinder the rotational movement of the saw band 301; in addition, it can also prevent friction between the upper and lower layers of the saw band 301 and reduce wear.

[0042] In the initial state, all height adjustment parts 307 are in the longest extension state, all clamping seats 309 are in the lowest height state, and the saw band 301 is in the lowest overall height state.

[0043] See Figure 11 A first reversing wheel set 310 is fixedly installed on the bottom left side of the cutting table 200, and the driven wheel 303 is located above the first reversing wheel set 310. This arrangement optimizes the transmission direction of the saw blade 301 on the left side of the cutting table 200. Specifically, it allows the left side of the saw blade 301 to change direction after passing through the first reversing wheel set 310, turning the saw blade 301 from a horizontal direction to a vertical direction. After the left side of the saw blade 301 turns to a vertical direction, it provides a vertical space basis for the tensioning member 305 to adjust its tension by adjusting the height of the saw blade 301, which is beneficial to improving space utilization.

[0044] See Figure 17 The tensioning element 305 includes a tensioning telescopic element 3051 and a tension measuring element 3052. The tensioning telescopic element 3051 is fixedly installed on the left side of the cutting table 200. The tensioning telescopic element 3051 can be a cylinder, an electric push rod, or a hydraulic cylinder. A tensioning support seat 3053 is fixedly installed at the output end of the tensioning telescopic element 3051. A driven wheel 303 is rotatably mounted on the tensioning support seat 3053 via a rotating shaft. An abutment wheel 3054 is also fixedly installed on the tensioning support seat 3053, located to the right of the driven wheel 303. The tension measuring element 3052 is fixedly installed on the surface of the abutment wheel 3054. A pressure sensor can be used as the tension measuring element 3052 to measure the tension of the saw blade 301. The tension measuring element 3052 transmits the tension information to the control module. The control module adjusts the tension of the saw blade 301 by controlling the extension and retraction of the tensioning telescopic element 3051, keeping it within a threshold range. A limit wheel is also fixedly installed on the tensioning support seat 3053. The limit wheel is located on the left side of the driven wheel 303 to reduce the risk of the saw blade 301 falling off the driven wheel 303.

[0045] See Figure 12 A second reversing wheel set 311 is fixedly installed on the bottom right side of the cutting table 200, and the drive wheel 302 is located above the second reversing wheel set 311. This allows the right side of the saw blade 301 to change direction after passing through the second reversing wheel set 311, turning the saw blade 301 from the horizontal direction to the vertical direction, reducing the space occupied in the horizontal direction and improving space utilization.

[0046] See Figure 12The first reversing wheel assembly 310 includes two first reversing wheels 3101, with the horizontal distance between them greater than their vertical distance. The second reversing wheel assembly 311 includes two second reversing wheels 3111, with the horizontal distance between them greater than their vertical distance. This arrangement causes the spacing of the saw blade 301 to change during rotation. Specifically, the vertical spacing of the saw blade 301 is smallest on the front side of the cutting table 200, while the spacing increases on the left and right sides of the cutting table 200. This arrangement can accommodate the diameters of the drive wheel 302 and the driven wheel 303. Furthermore, the increased spacing increases the contact area between the saw blade 301 and the surrounding air, aiding in heat dissipation, extending the lifespan of the saw blade 301, and reducing maintenance costs.

[0047] See Figure 12 The vertical spacing between the two second reversing wheels 3111 is the same as the vertical spacing between the two first reversing wheels 3101, so that the upper and lower layers of the saw blade 301 in front of the cutting table 200 have the same spacing, so as to ensure that the saw blade 301 is subjected to symmetrical force on the left and right sides.

[0048] See Figure 4 Protective covers 312 are fixedly installed on both the left and right sides of the cutting table 200. The driven wheel 303, tensioner 305, and first reversing wheel set 310 are located inside the left protective cover 312. The drive wheel 302, drive unit 304, and second reversing wheel set 311 are located inside the right protective cover 312. The bottom of the protective cover 312 has an opening for the saw blade 301 to extend out.

[0049] See Figure 7 A guide pad 313 is fixedly installed on the front bottom of the header 200. The guide pad 313 is laid on the surface of the saw blade 301 to cover the gap between the saw blade 301 and the header 200, reducing the risk of wheat plants getting stuck.

[0050] See Figure 15 The integrated machine also includes a height measuring component 314 and a positioning component 315. Multiple height measuring components 314 and positioning components 315 are evenly distributed along a left-right straight line at the bottom of the cutting table 200, and each corresponds one-to-one with a traveling component 306. In this embodiment, there are five traveling components 306, and five height measuring components 314 and five positioning components 315.

[0051] See Figure 15 Each height measurement component 314 includes five height measurement sensors 3141 (such as infrared range sensors) evenly distributed along a left-right straight line, used to measure the vertical height reaching the ground and transmit the measurement information to the control module.

[0052] See Figure 15Each positioning component 315 includes five positioning sensors 3151 (such as photoelectric switches or micro switches) evenly distributed along the left-right straight direction, which correspond one-to-one with the height measuring sensor 3141. They are used to detect whether the walking component 306 has walked to the position of the corresponding height measuring sensor 3141 and transmit the detection information to the control module.

[0053] The walking component 306, the height adjustment component 307, and the drive component 304 are also electrically connected to the control module.

[0054] Example 2: This embodiment 2 supplements the structure of a wheat harvesting and crushing integrated machine of embodiment 1.

[0055] See Figures 1 to 18 A wheat harvesting and crushing integrated machine also includes a first conveyor 400, a thresher 500, a screening machine 600, a collecting hopper 700, an elevator 800, a peeling machine 900, a second conveyor 1000, a crusher 1100, and a ventilator 1200.

[0056] See Figure 1 The rear of the header 200 is connected to the thresher 500 via a first conveyor 400 (such as a chain rake conveyor). A screening machine 600 is located below the thresher 500, and a collection hopper 700 is located below the screening machine 600. The collection hopper 700 is connected to the peeling machine 900 via an elevator 800. The peeling machine 900 is connected to the crusher 1100 via a second conveyor 1000 (such as a screw conveyor). A ventilator 1200 is located at the front of the screening machine 600. All the above components are fixedly mounted on the frame 100, forming an integrated harvesting and crushing device.

[0057] Among them, see Figure 16 A cleaning branch pipe 1201 is installed at the air outlet of the ventilator 1200, see [link / reference]. Figure 8 and Figure 10 The end of the cleaning branch pipe 1201 is located between the upper and lower layers of the saw blade 301. It is used to blow away straw cutting debris and dust and other dirt from the surface of the saw blade 301. The dirt blown off falls to the ground through the opening at the bottom of the protective cover 312.

[0058] The cleaning of the saw blade 301 via the cleaning branch pipe 1201 prevents clogging and slippage, maintains cutting efficiency, and reduces maintenance frequency. Furthermore, the airflow helps lower the temperature of the saw blade 301, extending its service life and saving maintenance costs. In addition, because the saw blade 301 rotates continuously, the entire blade is cleaned, expanding the cleaning area and improving the cleaning effect.

[0059] Example 3: A control method for a wheat harvester and crusher, based on an integrated wheat harvester and crusher of Example 2, includes the following steps: S1. All height sensors 3141 in each set of height measuring components 314 measure the vertical height reaching the ground and transmit the measurement information to the control module.

[0060] S2. The control module compares the measurement information of each set of height measuring components 314 to obtain the highest value, lowest value and height difference between the highest and lowest values ​​for each set of height measuring components 314.

[0061] S3. The control module controls each walking component 306 to move in a straight line in the left and right directions until it reaches the position of the positioning sensor 3151 corresponding to the height measuring sensor 3141 with the highest value.

[0062] S4. After receiving the positioning information from the position sensor 3151, the control module controls the height adjustment component 307 to raise the saw blade 301 by a height difference based on the height difference calculated in step S2, so that the overall undulation curve of the saw blade 301 located on the front side of the cutting table 200 can adapt to the current undulation state of the ground.

[0063] While the height adjustment component 307 is activated, the control module controls the tensioning component 305 to maintain the tension of the saw band 301 within the threshold range based on feedback information from the tension measuring element 3052. Specifically, when the height adjustment component 307 raises the height of the saw band 301, the length of the saw band 301 at the front of the cutting table 200 increases, gradually increasing the tension of the saw band 301. When the upper limit of the threshold is reached, the tensioning extension component 3051 is shortened, reducing the length of the saw band 301 on the left side of the cutting table 200 to accommodate the increased length of the saw band 301 at the front of the cutting table 200, thereby reducing the tension of the saw band 301 to within the threshold range.

[0064] S5. The control module adjusts all the height adjustment parts 307 to the same height according to the required stubble height, that is, the saw band 301 is raised as a whole while maintaining the undulating curve of step S4, so as to meet the stubble height requirement.

[0065] While the height adjustment component 307 is in motion, the control module controls the tensioning component 305 to maintain the tension of the saw band 301 within the threshold range based on the feedback information from the tension measuring element 3052.

[0066] S6. The control module controls the drive component 304 to drive the drive wheel 302 to rotate, which in turn drives the saw blade 301 to rotate for cutting. During the cutting process, the cleaning branch pipe 1201 blows away straw cutting debris and dust and other dirt from the surface of the saw blade 301. The dirt blown off falls to the ground through the opening at the bottom of the protective cover 312.

[0067] After being cut, the wheat is collected by the header 200 and then conveyed by the first conveyor 400 to the threshing machine 500 for threshing. The mixture of threshed wheat kernels, gravel, straw fragments, etc., enters the screening machine 600 for screening. Lighter impurities such as straw fragments, weeds, and dust are blown away by the airflow provided by the ventilator 1200. The wheat kernels fall into the collection hopper 700 after passing through the screen of the screening machine 600. The wheat kernels in the collection hopper 700 are then lifted by the elevator 800 to the dehulling machine 900 for dehulling. The dehulled material is then conveyed by the second conveyor 1000 to the crusher 1100 for crushing, realizing the integrated operation of wheat harvesting and crushing.

[0068] Through the above control process, it can be seen that the integrated wheat harvester and crusher has the following advantages: First, by setting multiple independently movable walking components 306 and their height adjustment components 307, the height of the saw blade 301 in the cutter 300 can be independently adjusted at different positions, allowing the overall undulating curve of the saw blade 301 in the cutter 300 to adapt to the undulating state of the current terrain. That is, it can adapt to uneven terrain, ensure the consistency of wheat cutting height, reduce missed cuts in the height direction, and improve the harvesting effect.

[0069] Furthermore, the continuous structure of the saw band 301 ensures that there are no gaps in the horizontal direction, which reduces missed cuts in the horizontal direction and helps to further improve the harvesting effect.

[0070] Secondly, by setting up the height measuring component 314 and the positioning component 315 and linking them with the walking component 306 and the height adjustment component 307, the automatic detection and adaptive adjustment of the terrain undulation height can be realized, reducing manual intervention and improving the accuracy and efficiency of harvesting operations.

[0071] Third, the tensioning element 305 uses a tensioning telescopic element 3051 in conjunction with a tension measuring element 3052 to realize real-time monitoring and automatic adjustment of the tension of the saw blade 301, maintain the best working tension, extend the life of the saw blade 301, and improve cutting stability and safety.

[0072] Fourth, the arrangement of the first reversing wheel group 310 and the second reversing wheel group 311 can optimize the direction of the saw blade 301, reduce the occupation of horizontal space, make full use of vertical space, and help improve space utilization.

[0073] Fifth, because the horizontal spacing between the two first reversing wheels 3101 in the first reversing wheel set 310 is greater than the vertical spacing, and the horizontal spacing between the two second reversing wheels 3111 in the second reversing wheel set 311 is greater than the vertical spacing, the spacing of the saw blade 301 changes during rotation. Specifically, the vertical spacing of the saw blade 301 is smallest in the front part of the cutting table 200, and the spacing of the saw blade 301 is increased in the left and right parts of the cutting table 200. This not only accommodates the wheel diameter of the driving wheel 302 and the driven wheel 303, but also helps the saw blade 301 dissipate heat after the spacing is increased, extending the service life of the saw blade 301 and saving maintenance costs.

[0074] Sixth, the protective cover 312 can enclose the transmission components, improve operational safety, prevent foreign objects from being drawn in, and improve operational reliability.

[0075] Seventh, the guide pad 313 can cover the gap between the saw blade 301 and the header 200 to prevent wheat plants from getting stuck, further improving the reliability of equipment operation.

[0076] Eighth, by integrating the header 200, thresher 500, screening machine 600, peeling machine 900, crusher 1100, and ventilator 1200 into the same frame 100, the harvesting, threshing, screening, peeling, and crushing are integrated into a continuous operation, which improves the efficiency of operation and reduces material transfer losses.

[0077] Ninth, by extending a cleaning branch pipe 1201 from the air outlet of the ventilator 1200 to blow and clean the saw blade 301, blockage and slippage can be prevented, cutting efficiency can be maintained, and maintenance frequency can be reduced.

[0078] In addition, airflow can help reduce the temperature of the saw band 301, extend its service life, and save maintenance costs.

[0079] Furthermore, because the saw blade 301 rotates continuously, the entire saw blade 301 is cleaned, expanding the cleaning range and improving the cleaning effect.

[0080] Tenth, the control method provided in this embodiment can intelligently identify terrain undulations and automatically adjust the cutting height and tension to achieve precise and adaptive harvesting, thereby improving adaptability.

[0081] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A wheat harvester and crusher integrated machine, comprising a header, wherein a cutter is provided at the bottom front side of the header, characterized in that, The cutter includes a saw blade, a drive wheel, a driven wheel, a drive unit, a tensioning unit, a traveling unit, and a height adjustment unit. The saw blade is wound around the drive wheel and the driven wheel. The drive wheel is located on the right side of the cutting table, and the driven wheel is located on the left side of the cutting table. The drive unit is used to drive the drive wheel to rotate, and the tensioning unit is used to tension the saw blade. Multiple traveling units travel along a straight left-right direction at the bottom of the cutting table. Each traveling unit is equipped with a height adjustment unit, and the output end of the height adjustment unit is equipped with a clamping seat, which is slidably connected to the saw blade.

2. The wheat harvesting and crushing integrated machine according to claim 1, characterized in that, It also includes a control module, a height measurement component, and a positioning component; Multiple height measuring components are evenly arranged along the left-right straight line at the bottom of the cutting table, and multiple positioning components are evenly arranged along the left-right straight line at the bottom of the cutting table. The height measuring components, positioning components and the traveling components correspond one-to-one. Each height measurement component includes multiple height sensors evenly distributed along a left-right straight line. The height sensors are used to measure the vertical height reaching the ground and transmit the measurement information to the control module. Each positioning component includes multiple positioning sensors evenly distributed along a left-right straight line. Each positioning sensor corresponds to a height measuring sensor. The positioning sensors are used to detect whether the walking component has moved into position and transmit the detection information to the control module. The walking component, the height adjustment component, and the tensioning component are all electrically connected to the control module.

3. The wheat harvesting and crushing integrated machine according to claim 2, characterized in that, The bottom left side of the cutting table is provided with a first reversing wheel group, and the driven wheel is located above the first reversing wheel group. The tensioning member includes a tensioning telescopic member and a tension measuring element. The output end of the tensioning telescopic member is provided with the driven wheel and the tension measuring element. The tension measuring element is used to measure the tension of the saw belt and transmit the tension information to the control module. The tensioning telescopic member is electrically connected to the control module.

4. The wheat harvesting and crushing integrated machine according to claim 3, characterized in that, The cutting platform has a second reversing wheel assembly on its right bottom side. The driving wheel is located above the second reversing wheel assembly. The second reversing wheel assembly includes two second reversing wheels. The horizontal distance between the two second reversing wheels is greater than the vertical distance between the two second reversing wheels.

5. A wheat harvesting and crushing integrated machine according to claim 4, characterized in that, The cutting platform is equipped with protective covers on both the left and right sides. The driven wheel, the tensioning member and the first reversing wheel assembly are located inside the protective cover on the left side of the cutting platform, and the driving wheel, the driving member and the second reversing wheel assembly are located inside the protective cover on the right side of the cutting platform. The bottom of the protective cover is open, and the saw blade passes through the open.

6. A wheat harvesting and crushing integrated machine according to claim 5, characterized in that, The front bottom of the cutting table is provided with a guide pad, which is placed on the surface of the saw blade.

7. A wheat harvesting and crushing integrated machine according to claim 3, characterized in that, The rear side of the cutting platform is connected to the threshing machine via a first conveyor. A screening machine is located below the threshing machine, and a collection hopper is located below the screening machine. The collection hopper is connected to the peeling machine via an elevator. The peeling machine is connected to the crusher via a second conveyor. A ventilator is located at the front of the screening machine. The cutting platform, the first conveyor, the threshing machine, the screening machine, the collection hopper, the elevator, the peeling machine, the second conveyor, the crusher, and the ventilator are all mounted on a frame.

8. A wheat harvesting and crushing integrated machine according to claim 7, characterized in that, The ventilator has a cleaning branch pipe at its outlet, and the end of the cleaning branch pipe is located between the upper and lower layers of the saw blade.

9. A control method for a wheat harvester and crusher integrated machine, characterized in that, A wheat harvesting and crushing integrated machine according to any one of claims 3-8 includes the following steps: S1. All the height measuring sensors in each group of height measuring components measure the vertical height reaching the ground and transmit the measurement information to the control module; S2. The control module compares the measurement information of each group of height measuring components to obtain the highest value, lowest value, and height difference between the highest and lowest values ​​of each group of height measuring components. S3. The control module controls each of the walking components to move to the position of the corresponding highest value positioning sensor; S4. After receiving the positioning information from the position sensor, the control module controls the height adjustment component to raise the saw band by a height difference based on the height difference. At the same time, the control module controls the tensioning component to keep the tension of the saw band within the threshold range. S5. The control module adjusts all height adjustment components to the same height according to the required stubble height, and at the same time, the control module controls the tensioning component to keep the tension of the saw blade within the threshold range.

10. The control method for a wheat harvester and crusher as described in claim 9, characterized in that, When the control module controls the tensioning member to keep the tension of the saw band within a threshold range, the control module adjusts the tension of the saw band by controlling the extension and retraction of the tensioning telescopic member.

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