阅读说明：本技术 一种三角履带再生稻收获机 (Triangular crawler harvester for ratooning rice ) 是由 扈凯 张文毅 祁兵 李坤 严伟 王云霞 纪要 刘宏俊 胡敏娟 夏倩倩 于 2021-07-02 设计创作，主要内容包括：一种三角履带再生稻收获机,后履带驱动变量泵通过后履带驱动变量马达一、减速机三驱动后履带一,还通过后履带驱动变量马达二、减速机四驱动后履带二；前履带驱动变量泵通过前履带驱动变量马达一、减速机一驱动前履带一,还通过前履带驱动变量马达二、减速机二驱动前履带二；定量泵通过液压转向器分别为前履带转向液压缸和后履带转向液压缸提供动力油液,还通过单向稳定分流阀与蓄能器连接,还通过两位两通换向阀一为前履带驱动回路补油,通过两位两通换向阀二为后履带驱动回路补油；变量泵分别为拨禾轮驱动马达、切割器驱动马达和割台升降液压缸提供动力油液。该收获机可有效降低作业人员的劳动强度,且能便于实现高地隙、低碾压的作业过程。(A triangular crawler renewable rice harvester is characterized in that a rear crawler driving variable pump drives a first rear crawler through a first rear crawler driving variable motor and a third speed reducer, and drives a second rear crawler through a second rear crawler driving variable motor and a fourth speed reducer; the front crawler belt driving variable pump drives a first variable motor and a first speed reducer to drive a first front crawler belt through the front crawler belt, and also drives a second variable motor and a second speed reducer to drive a second front crawler belt through the front crawler belt; the quantitative pump respectively provides power oil for the front crawler steering hydraulic cylinder and the rear crawler steering hydraulic cylinder through the hydraulic steering gear, is also connected with the energy accumulator through the one-way stable flow dividing valve, supplements oil for the front crawler driving loop through the two-position two-way reversing valve I, and supplements oil for the rear crawler driving loop through the two-position two-way reversing valve II; the variable pump respectively provides power oil for the reel wheel driving motor, the cutter driving motor and the header lifting hydraulic cylinder. The harvester can effectively reduce the labor intensity of operators, and can be convenient for realizing the operation process of high ground clearance and low rolling.)

1. A triangular crawler regenerative rice harvester comprises an engine (1) and a transfer case (3), wherein an output shaft of the engine (1) is connected with an input shaft of the transfer case (3) through a first clutch (2); the hydraulic control system is characterized by further comprising a rear track driving variable motor I (19), a rear track driving variable motor II (22), a one-way valve I (15), a one-way valve II (16), a one-way valve III (17), a one-way valve IV (18), a front track steering hydraulic cylinder (39) and a rear track steering hydraulic cylinder (40);

a first output shaft of the transfer case (3) is connected with one end of a transmission shaft in the rear crawler belt driving variable pump (5) through a first coupling (4), and the other end of the transmission shaft in the rear crawler belt driving variable pump (5) is connected with a transmission shaft in the front crawler belt driving variable pump (7) through a second clutch (6); a second output shaft of the transfer case (3) is connected with a transmission shaft of the fixed displacement pump (28) through a second coupling (27), and a third output shaft of the transfer case (3) is connected with a transmission shaft of the variable displacement pump (42) through a third coupling (41);

the port A and the port B of the rear track driving variable pump (5) are respectively connected with the port A and the port B of a rear track driving variable motor I (19), the port A and the port B of the rear track driving variable pump (5) are also respectively connected with the port A and the port B of a rear track driving variable motor II (22), the port A and the port B of the rear track driving variable pump (5) are also respectively connected with a pressure sensor III (26) and a pressure sensor II (25), the output shaft of the rear track driving variable motor I (19) is connected with a rear track I (21) through a speed reducer III (20), and the output shaft of the rear track driving variable motor II (22) is connected with a rear track II (24) through a speed reducer IV (23); the port A and the port B of the front track driving variable pump (7) are respectively connected with the port B and the port A of a front track driving variable motor I (9), the port A and the port B of the front track driving variable pump (7) are also respectively connected with the port B and the port A of a front track driving variable motor II (12), the port A and the port B of the front track driving variable pump (7) are also respectively connected with a pressure sensor V (55) and a pressure sensor I (8), the output shaft of the front track driving variable motor I (9) is connected with a front track I (11) through a speed reducer I (10), and the output shaft of the front track driving variable motor II (12) is connected with a front track II (14) through a speed reducer II (13); an oil inlet of the one-way valve I (15) and an oil inlet of the one-way valve II (16) are both connected with a port B of the two-position two-way reversing valve I (33), and an oil outlet of the one-way valve I (15) and an oil outlet of the one-way valve II (16) are respectively connected with a port B and a port A of the front crawler belt driving variable pump (7); an oil inlet of the check valve III (17) and an oil inlet of the check valve IV (18) are both connected with a port B of the two-position two-way reversing valve II (34), and an oil outlet of the check valve III (17) and an oil outlet of the check valve IV (18) are respectively connected with a port B and a port A of the rear crawler belt driven variable pump (5); an oil suction port of the fixed displacement pump (28) is connected with an oil tank (35), and an oil discharge port of the fixed displacement pump is connected with the oil tank (35) through a safety valve I (29);

the port A of the two-position two-way reversing valve I (33) and the port A of the two-position two-way reversing valve II (34) are communicated with each other and then are connected with a working oil port of an energy accumulator (32), the working oil port of the energy accumulator (32) is connected with a pressure sensor IV (36), the pressure sensor IV is also connected with the port B of the one-way stable flow dividing valve (30) through a stop valve (31), the port P of the one-way stable flow dividing valve (30) is connected with an oil discharge port of a fixed displacement pump (28), and the port A of the one-way stable flow dividing valve (30) is connected with the port P of a hydraulic steering gear (37);

the front crawler steering hydraulic cylinder (39) and the rear crawler steering hydraulic cylinder (40) are both single-piston double-rod hydraulic cylinders; the port B of the front crawler steering hydraulic cylinder (39) is connected with the port A of the rear crawler steering hydraulic cylinder (40) through a pipeline; the port A of the front crawler steering hydraulic cylinder (39) and the port B of the rear crawler steering hydraulic cylinder (40) are respectively connected with the port L and the port R of the hydraulic steering gear (37); the transmission end of the hydraulic steering gear (37) is connected with a steering wheel (38) through a transmission shaft;

an oil suction port of the variable pump (42) is connected with an oil tank (35), an oil discharge port of the variable pump is respectively connected with a port P of a safety valve II (43), a port A of a constant-difference pressure reducing valve I (44), a port A of a constant-difference pressure reducing valve II (47) and a port A of a constant-difference pressure reducing valve III (50), a port B of the constant-difference pressure reducing valve I (44), a port B of the constant-difference pressure reducing valve II (47) and a port B of the constant-difference pressure reducing valve III (50) are respectively connected with a port A of a proportional throttle valve I (45), a port A of a proportional throttle valve II (48) and a port P of a three-position four-way reversing valve (51), a port B of the proportional throttle valve I (45) is respectively connected with a port A of a reel driving motor (46) and an port X of the constant-difference pressure reducing valve I (44), a port B of the proportional throttle valve II (48) is respectively connected with a port A of a driving motor (49) and a port X of the constant-difference pressure reducing valve II (47), and a port B of the four-way reversing valve II (51) are respectively connected with a lifting hydraulic cylinder (53) 54) The rodless cavity is connected with the rod cavity; the port A and the port B of the three-position four-way reversing valve (51) are respectively connected with the two comparison input ports of the shuttle valve (52); the header lifting hydraulic cylinder (54) is a single-piston single-rod hydraulic cylinder; the output port of the shuttle valve (52) is connected with the X port of the constant-differential-pressure relief valve III (50); a port B of the reel wheel driving motor (46), a port B of the cutter driving motor (49), a port T of the three-position four-way reversing valve (51) and a port T of the safety valve II (43) are connected with the oil tank (35);

the rear crawler belt I (21), the rear crawler belt II (24), the front crawler belt I (11) and the front crawler belt II (14) are all triangular crawler belts.

2. The triangular crawler regenerative rice harvester of claim 1, wherein the first rear crawler (21), the second rear crawler (24), the first front crawler (11) and the second front crawler (14) are all composed of a triangular support mechanism and a crawler (63) wound outside the triangular support mechanism;

the triangular support mechanism is composed of a connecting frame (56) positioned in the middle of the lower portion, a front guide wheel (57) and a rear guide wheel (58) which are rotatably assembled on the front side and the rear side of the connecting frame (56), a vertical triangular connecting plate (59) fixedly connected to the middle of the upper end of the connecting frame (56), a plurality of bearing wheels (60) which are uniformly distributed in the front-rear direction and rotatably assembled on the lower portion of the connecting frame (56), a speed reducing mechanism (61) assembled on the upper end of the triangular connecting plate (59), and a driving wheel (62) assembled on an output shaft of the speed reducing mechanism (61).

3. The triangular crawler belt ratooning rice harvester according to claim 1 or 2, wherein the three-position four-way directional control valve (51) is an electromagnetic directional control valve, when the three-position four-way directional control valve is electrically operated at the left position, the oil path between the port P and the port A is communicated, the oil path between the port T and the port B is communicated, when the three-position four-way directional control valve is electrically operated at the middle position, the port P, the port A, the port T and the port B are all cut off, when the three-position four-way directional control valve is electrically operated at the right position, the oil path between the port P and the port B is communicated, and the oil path between the port T and the port A is communicated.

4. The triangular crawler harvester of claim 3, further comprising a controller;

the controller is respectively connected with a three-position four-way reversing valve (51), a rear track driving variable pump (5), a front track driving variable pump (7), a rear track driving variable motor I (19), a rear track driving variable motor II (22), a front track driving variable motor I (9), a front track driving variable motor II (12), a pressure sensor I (8), a pressure sensor V (55), a pressure sensor II (25), a pressure sensor III (26), a pressure sensor IV (36), a stop valve (31), a two-position two-way reversing valve I (33), a two-position two-way reversing valve II (34), a reel driving motor (46), a cutter driving motor (49), a proportion throttle valve I (45) and a proportion throttle valve II (48).

5. The triangular crawler harvester of claim 4, wherein the controller is a PLC controller.

6. The triangular crawler recycling rice harvester according to claim 5, wherein the hydraulic control check valve group (53) is composed of a first hydraulic control check valve and a second hydraulic control check valve, an oil inlet and an oil outlet of the first hydraulic control check valve are respectively connected with an A port of the three-position four-way reversing valve (51) and a rodless cavity of the header lifting hydraulic cylinder (54), an oil inlet and an oil outlet of the second hydraulic control check valve are respectively connected with a B port of the three-position four-way reversing valve (51) and a rod cavity of the header lifting hydraulic cylinder (54), an oil inlet of the first hydraulic control check valve is connected with a hydraulic port of the second hydraulic control check valve, and an oil inlet of the second hydraulic control check valve is connected with a hydraulic port of the first hydraulic control check valve.

Technical Field

The invention belongs to the technical field of agricultural machinery, and particularly relates to a triangular crawler regenerative rice harvester.

Background

The regenerated rice is one-season short-growing-period rice which is harvested in the first season and then germinated into seedlings by using dormant buds on rice stakes and sprouted and fructified, has the remarkable characteristic of short growing period, has the advantages of saving seeds, saving labor, saving water, adjusting labor, being low in production cost, high in economic benefit and the like, and becomes an important cultivation system for planting rice in rice areas in the south.

The first season of present ratoon rice results and adopts artifical ear of grain head, follow-up threshing and cleaning or traditional combine harvester operation two kinds more, and the main problem that exists has: the manual harvesting wastes time and labor and has low efficiency; the traditional combine harvester has small ground clearance and large steering rolling, can not be effectively suitable for harvesting operation of the ratooning rice, leads to high rolling rate of stubble leaving, and is not beneficial to the regrowth of the ratooning rice in the second season. The problems restrict the popularization and planting of the ratoon rice and reduce the harvesting efficiency of the ratoon rice.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides the triangular crawler harvester for the ratooning rice, which can effectively solve the problems of time and labor waste and low efficiency of manual harvesting, can effectively reduce the labor load of operators, has large ground clearance and small steering and rolling, and can be suitable for harvesting the first stubble ratooning rice.

In order to achieve the purpose, the invention provides a triangular crawler regenerative rice harvester which comprises an engine, a transfer case, a rear crawler driving variable motor I, a rear crawler driving variable motor II, a one-way valve I, a one-way valve II, a one-way valve III, a one-way valve IV, a front crawler steering hydraulic cylinder and a rear crawler steering hydraulic cylinder, wherein the engine is connected with the transfer case through a transmission mechanism;

the output shaft of the engine is connected with the input shaft of the transfer case through a first clutch;

a first output shaft of the transfer case is connected with one end of a transmission shaft in the rear crawler belt driving variable pump through a first coupler, and the other end of the transmission shaft in the rear crawler belt driving variable pump is connected with a transmission shaft in the front crawler belt driving variable pump through a second clutch; a second output shaft of the transfer case is connected with a transmission shaft of the quantitative pump through a second coupler, and a third output shaft of the transfer case is connected with a transmission shaft of the variable pump through a third coupler;

the port A and the port B of the rear track driving variable pump are respectively connected with the port A and the port B of the rear track driving variable motor I, the port A and the port B of the rear track driving variable pump are also respectively connected with the port A and the port B of the rear track driving variable motor II, the port A and the port B of the rear track driving variable pump are also respectively connected with the pressure sensor III and the pressure sensor II, the output shaft of the rear track driving variable motor I is connected with the rear track I through the speed reducer III, and the output shaft of the rear track driving variable motor II is connected with the rear track II through the speed reducer IV; the port A and the port B of the front track driving variable pump are respectively connected with the port B and the port A of a front track driving variable motor I, the port A and the port B of the front track driving variable pump are also respectively connected with the port B and the port A of a front track driving variable motor II, the port A and the port B of the front track driving variable pump are also respectively connected with a pressure sensor V and a pressure sensor I, an output shaft of the front track driving variable motor I is connected with the front track I through a speed reducer I, and an output shaft of the front track driving variable motor II is connected with the front track II through a speed reducer II; an oil inlet of the first one-way valve and an oil inlet of the second one-way valve are both connected with a port B of the first two-position two-way reversing valve, and an oil outlet of the first one-way valve and an oil outlet of the second one-way valve are respectively connected with a port B and a port A of the front crawler belt driven variable pump; an oil inlet of the one-way valve III and an oil inlet of the one-way valve IV are both connected with a port B of the two-position two-way reversing valve II, and an oil outlet of the one-way valve III and an oil outlet of the one-way valve IV are respectively connected with a port B and a port A of the rear crawler belt driven variable pump; an oil suction port of the constant delivery pump is connected with the oil tank, and an oil discharge port of the constant delivery pump is connected with the oil tank through a first safety valve;

the port A of the two-position two-way reversing valve I and the port A of the two-position two-way reversing valve II are communicated with each other and then are connected with a working oil port of an energy accumulator, the working oil port of the energy accumulator is connected with a pressure sensor IV and is also connected with a port B of a one-way stable flow dividing valve through a stop valve, a port P of the one-way stable flow dividing valve is connected with an oil discharge port of a constant delivery pump, and the port A of the one-way stable flow dividing valve is connected with a port P of a hydraulic steering gear;

the front crawler steering hydraulic cylinder and the rear crawler steering hydraulic cylinder are both single-piston double-rod hydraulic cylinders; the port B of the front crawler steering hydraulic cylinder is connected with the port A of the rear crawler steering hydraulic cylinder through a pipeline; the port A of the front crawler steering hydraulic cylinder and the port B of the rear crawler steering hydraulic cylinder are respectively connected with the port L and the port R of the hydraulic steering gear; the transmission end of the hydraulic steering gear is connected with a steering wheel through a transmission shaft;

an oil suction port of the variable pump is connected with an oil tank, an oil discharge port of the variable pump is respectively connected with a port P of a second safety valve, a port A of a first constant-difference pressure reducing valve, a port A of a second constant-difference pressure reducing valve and a port A of a third constant-difference pressure reducing valve, a port B of the first constant-difference pressure reducing valve, a port B of the second constant-difference pressure reducing valve and a port B of the third constant-difference pressure reducing valve are respectively connected with a port A of a first proportional throttle valve, a port A of a second proportional throttle valve and a port P of a three-position four-way reversing valve, a port B of the first proportional throttle valve is respectively connected with a port A of a first cutter driving motor and a port X of the second constant-difference pressure reducing valve, and a port A and a port B of the three-position four-way reversing valve are respectively connected with a rodless cavity and a rod cavity of a header lifting hydraulic cylinder through a hydraulic control one-way valve group; the port A and the port B of the three-position four-way reversing valve are respectively connected with two comparison input ports of the shuttle valve; the header lifting hydraulic cylinder is a single-piston single-rod hydraulic cylinder; the output port of the shuttle valve is connected with the X port of the fixed-differential pressure-reducing valve III; the port B of the reel driving motor, the port B of the cutter driving motor, the port T of the three-position four-way reversing valve and the port T of the safety valve II are connected with an oil tank;

the rear crawler belt I, the rear crawler belt II, the front crawler belt I and the front crawler belt II are all triangular crawler belts.

Further, in order to improve the ground clearance, the rear crawler belt I, the rear crawler belt II, the front crawler belt I and the front crawler belt II are respectively composed of a triangular support mechanism and a crawler belt wound outside the triangular support mechanism;

the triangular support mechanism is arranged on a connecting frame in the middle of the lower portion, a front guide wheel and a rear guide wheel which are rotatably assembled on the front side and the rear side of the connecting frame, a vertical triangular connecting plate which is fixedly connected to the middle of the upper end of the connecting frame, a plurality of bearing wheels which are uniformly distributed in the front-rear direction and rotatably assembled on the lower portion of the connecting frame, a speed reducing mechanism assembled on the upper end of the triangular connecting plate and a driving wheel assembled on an output shaft of the speed reducing mechanism.

Preferably, the three-position four-way reversing valve is an electromagnetic reversing valve, when the three-position four-way reversing valve works in a left position by electrifying, an oil path between the port P and the port A is communicated, an oil path between the port T and the port B is communicated, when the three-position four-way reversing valve works in a middle position by losing electricity, the port P, the port A, the port T and the port B are all cut off, when the three-position four-way reversing valve works in a right position by electrifying, the oil path between the port P and the port B is communicated, and the oil path between the port T and the port A is communicated.

Furthermore, in order to realize automatic control conveniently, the system also comprises a controller;

the controller is respectively connected with the three-position four-way reversing valve, the rear track driving variable pump, the front track driving variable pump, the rear track driving variable motor I, the rear track driving variable motor II, the front track driving variable motor I, the front track driving variable motor II, the pressure sensor I, the pressure sensor V, the pressure sensor II, the pressure sensor III, the pressure sensor IV, the stop valve, the two-position two-way reversing valve I, the two-position two-way reversing valve II, the reel driving motor, the cutter driving motor, the proportional throttle valve I and the proportional throttle valve II.

Preferably, the controller is a PLC controller.

The hydraulic control one-way valve group is composed of a first hydraulic control one-way valve and a second hydraulic control one-way valve, an oil inlet and an oil outlet of the first hydraulic control one-way valve are respectively connected with an A port of the three-position four-way reversing valve and a rodless cavity of the header lifting hydraulic cylinder, an oil inlet and an oil outlet of the second hydraulic control one-way valve are respectively connected with a B port of the three-position four-way reversing valve and a rod cavity of the header lifting hydraulic cylinder, an oil inlet of the first hydraulic control one-way valve is connected with a hydraulic control port of the second hydraulic control one-way valve, and an oil inlet of the second hydraulic control one-way valve is connected with a hydraulic control port of the first hydraulic control one-way valve.

According to the invention, the rear crawler belt I, the rear crawler belt II, the front crawler belt I and the front crawler belt II are all triangular crawler belts, so that the ground clearance can be greatly improved, and rolling of first-stubble ratooning rice is avoided. The second clutch is arranged between the rear track driving variable pump and the front track driving variable pump, so that the walking driving system can be switched between the rear track driving mode and the four track driving mode, the adaptability and the trafficability of the whole machine to paddy fields are greatly improved, and the difficulty-escaping capability of the whole machine can be enhanced when the whole machine is trapped in paddy field soil. Through the setting by relief valve three and four, can guarantee the safe and stable operation of back walking return circuit, through the setting of check valve three and four to make it be connected with two-way switching-over valves two, can mend oil to back walking return circuit, ensure that hydraulic oil can not reduce in the return circuit. Through the setting by relief valve one and two, can guarantee the safe and stable operation of preceding walking return circuit, through the setting of check valve one and two to make it be connected with two-way switching-over valves one, can mend oil to preceding walking return circuit, ensure that hydraulic oil can not reduce in the return circuit. The action driving system is driven by a hydraulic closed loop, can realize stepless speed regulation of forward and backward, and has a large speed regulation range and strong load adaptability. The triangular crawler belts are adopted as the walking parts at the front part and the rear part of the whole machine, so that the center distance between the front crawler belts and the center distance between the rear crawler belts are completely consistent, the front crawler belts and the rear crawler belts can be ensured to turn to the same track in the steering process, the four crawler belts can be conveniently turned to the same track, the rolling of the first stubble ratooning rice is reduced, meanwhile, the differential steering can be conveniently realized, the steering action of any radius can be realized, and the steering flexibility is greatly improved. The constant-differential pressure reducing valve and the proportional throttle valve are combined to form a speed regulating loop with pressure compensation, so that oil passing through the proportional throttle valve is only related to the opening degree of the proportional throttle valve and is not influenced by other factors, the linear matching of the rotating speed and the walking speed of the reel driving motor and the cutter driving motor can be realized conveniently, the pressure supplement control can be realized conveniently, and the improvement of control precision and intelligent level is facilitated. Through the setting of shuttle valve, can be convenient with the higher operating pressure feedback of executive component to the fixed differential pressure relief valve three to can ensure that the fluid that passes through three-position four-way reversing valve only is relevant rather than other influences with its aperture.

Drawings

FIG. 1 is a hydraulic schematic of the present invention;

FIG. 2 is a schematic structural view of a rear track I or a rear track II or a front track I or a front track II in the present invention;

fig. 3 is a perspective view of fig. 2.

In the figure: 1. an engine, 2, a clutch I, 3, a transfer case, 4, a coupling I, 5, a rear track driving variable pump, 6, a clutch II, 7, a front track driving variable pump, 8, a pressure sensor I, 9, a front track driving variable motor I, 10, a speed reducer I, 11, a front track I, 12, a front track driving variable motor II, 13, a speed reducer II, 14, a front track II, 15, a one-way valve I, 16, a one-way valve II, 17, a one-way valve III, 18, a one-way valve IV, 19, a rear track driving variable motor I, 20, a speed reducer III, 21, a rear track I, 22, a rear track driving variable motor II, 23, a speed reducer IV, 24, a rear track II, 25, a pressure sensor II, 26, a pressure sensor III, 27, a coupling II, 28, a constant delivery pump, 29, a safety valve I, 30, a one-way stable flow dividing valve 31, a stop valve, 32 and an energy accumulator, 33. the device comprises two-position two-way reversing valves I, 34, two-position two-way reversing valves II, 35, an oil tank, 36, pressure sensors IV, 37, a hydraulic steering gear 38, a steering wheel 39, a front crawler steering hydraulic cylinder 40, a rear crawler steering hydraulic cylinder 41, a coupler III, 42, a variable pump 43, a safety valve II, 44, a constant-difference pressure reducing valve I, 45, a proportional throttle valve I, 46, a reel wheel driving motor 47, a constant-difference pressure reducing valve II, 48, a proportional throttle valve II, 49, a cutter driving motor 50, a constant-difference pressure reducing valve III, 51, a three-position four-way reversing valve, 52, a shuttle valve 53, a hydraulic control one-way valve group, 54, a header lifting hydraulic cylinder 55, a pressure sensor V, 56, a connecting frame, 57, a front guide wheel, 58, a rear guide wheel, 59, a triangular connecting plate, 60, a bearing wheel, 61, a speed reducing mechanism, 62, driving wheels, 63 and a crawler.

Detailed Description

The present invention will be further explained below.

As shown in fig. 1 to 3, a triangular crawler regenerative rice harvester comprises an engine 1, a transfer case 3, a rear crawler driving variable motor I19, a rear crawler driving variable motor II 22, a one-way valve I15, a one-way valve II 16, a one-way valve III 17, a one-way valve IV 18, a front crawler steering hydraulic cylinder 39 and a rear crawler steering hydraulic cylinder 40;

an output shaft of the engine 1 is connected with an input shaft of the transfer case 3 through a first clutch 2;

a first output shaft of the transfer case 3 is connected with one end of a transmission shaft in the rear crawler belt driving variable pump 5 through a first coupling 4, and the other end of the transmission shaft in the rear crawler belt driving variable pump 5 is connected with a transmission shaft in the front crawler belt driving variable pump 7 through a second clutch 6; a second output shaft of the transfer case 3 is connected with a transmission shaft of the constant delivery pump 28 through a second coupling 27, and a third output shaft of the transfer case 3 is connected with a transmission shaft of the variable delivery pump 42 through a third coupling 41;

the port A and the port B of the rear track driving variable pump 5 are respectively connected with the port A and the port B of the rear track driving variable motor I19, the port A and the port B of the rear track driving variable pump 5 are also respectively connected with the port A and the port B of the rear track driving variable motor II 22, the port A and the port B of the rear track driving variable pump 5 are also respectively connected with the pressure sensor III 26 and the pressure sensor II 25, the output shaft of the rear track driving variable motor I19 is connected with the rear track I21 through the speed reducer III 20, and the output shaft of the rear track driving variable motor II 22 is connected with the rear track II 24 through the speed reducer IV 23; the port A and the port B of the front track driving variable pump 7 are respectively connected with the port B and the port A of a front track driving variable motor I9, the port A and the port B of the front track driving variable pump 7 are also respectively connected with the port B and the port A of a front track driving variable motor II 12, the port A and the port B of the front track driving variable pump 7 are also respectively connected with a pressure sensor V55 and a pressure sensor I8, an output shaft of the front track driving variable motor I9 is connected with a front track I11 through a speed reducer I10, and an output shaft of the front track driving variable motor II 12 is connected with a front track II 14 through a speed reducer II 13; an oil inlet of the first check valve 15 and an oil inlet of the second check valve 16 are both connected with a port B of the two-position two-way reversing valve 33, and an oil outlet of the first check valve 15 and an oil outlet of the second check valve 16 are respectively connected with a port B and a port A of the front crawler drive variable pump 7; an oil inlet of the check valve III 17 and an oil inlet of the check valve IV 18 are both connected with a port B of the two-position two-way reversing valve II 34, and an oil outlet of the check valve III 17 and an oil outlet of the check valve IV 18 are respectively connected with a port B and a port A of the rear crawler belt driving variable pump 5; the oil suction port of the fixed displacement pump 28 is connected with the oil tank 35, and the oil discharge port of the fixed displacement pump is connected with the oil tank 35 through a safety valve I29;

preferably, the two-position two-way reversing valve I33 is an electromagnetic reversing valve, works at an upper position when being electrified, and works at a lower position when being electrified, and the oil way between the port A and the port B is disconnected; the second two-position two-way reversing valve 34 is an electromagnetic reversing valve, works in the lower position when being electrified, an oil way between the port A and the port B is communicated, works in the upper position when being electrified, and an oil way between the port A and the port B is disconnected;

the port A of the two-position two-way reversing valve I33 and the port A of the two-position two-way reversing valve II 34 are communicated with each other and then are connected with a working oil port of the energy accumulator 32, the working oil port of the energy accumulator 32 is connected with a pressure sensor IV 36 and is also connected with the port B of the one-way stable flow dividing valve 30 through the stop valve 31, the port P of the one-way stable flow dividing valve 30 is connected with an oil discharge port of the constant delivery pump 28, and the port A of the one-way stable flow dividing valve 30 is connected with the port P of the hydraulic steering gear 37; the one-way stable flow dividing valve 30 is composed of a throttle valve and a pressure reducing valve, wherein an oil inlet of the throttle valve and an oil inlet of the safety valve five are mutually communicated to serve as a P port of the one-way stable flow dividing valve 30, an oil outlet of the throttle valve serves as an A port of the one-way stable flow dividing valve 30, an oil outlet of the pressure reducing valve serves as a B port of the one-way stable flow dividing valve 30, and a spring cavity of the pressure reducing valve is communicated with the oil outlet of the throttle valve through a pipeline. The front track steering hydraulic cylinder 39 and the rear track steering hydraulic cylinder 40 are both single-piston double-rod hydraulic cylinders; the port B of the front track steering hydraulic cylinder 39 and the port A of the rear track steering hydraulic cylinder 40 are connected through a pipeline; the port a of the front track steering cylinder 39 and the port B of the rear track steering cylinder 40 are connected to the port L and the port R of the hydraulic steering gear 37, respectively; the transmission end of the hydraulic steering gear 37 is connected with a steering wheel 38 through a transmission shaft;

the oil suction port of the variable pump 42 is connected with the oil tank 35, the oil discharge port thereof is respectively connected with the port P of the second safety valve 43, the port A of the first constant-difference pressure reducing valve 44, the port A of the second constant-difference pressure reducing valve 47 and the port A of the third constant-difference pressure reducing valve 50, the port B of the first constant-difference pressure reducing valve 44, the port B of the second constant-differential pressure reducing valve 47 and the port B of the third constant-differential pressure reducing valve 50 are respectively connected with the port A of the first proportional throttle valve 45, the port A of the second proportional throttle valve 48 and the port P of the three-position four-way reversing valve 51, the port B of the first proportional throttle valve 45 is respectively connected with the port A of the reel driving motor 46 and the port X of the first constant-differential pressure reducing valve 44, the port B of the second proportional throttle valve 48 is respectively connected with the port A of the cutter driving motor 49 and the port X of the second constant-differential pressure reducing valve 47, and the port A and the port B of the three-position four-way reversing valve 51 are respectively connected with a rodless cavity and a rod cavity of the header lifting hydraulic cylinder 54 through a hydraulic control check valve group 53; the port A and the port B of the three-position four-way reversing valve 51 are respectively connected with two comparison input ports of the shuttle valve 52; the header lifting hydraulic cylinder 54 is a single-piston single-rod hydraulic cylinder; the output port of the shuttle valve 52 is connected with the port X of the third fixed differential pressure reducing valve 50; the port B of the reel driving motor 46, the port B of the cutter driving motor 49, the port T of the three-position four-way reversing valve 51 and the port T of the safety valve II 43 are connected with the oil tank 35;

the first rear crawler belt 21, the second rear crawler belt 24, the first front crawler belt 11 and the second front crawler belt 14 are all triangular crawler belts.

In order to improve the ground clearance, the first rear crawler 21, the second rear crawler 24, the first front crawler 11 and the second front crawler 14 are all composed of a triangular support mechanism and a crawler 63 wound outside the triangular support mechanism;

the triangular support mechanism comprises a connecting frame 56 positioned in the middle of the lower part, a front guide wheel 57 and a rear guide wheel 58 which are rotatably assembled on the front side and the rear side of the connecting frame 56, a vertical triangular connecting plate 59 fixedly connected to the middle of the upper end of the connecting frame 56, a plurality of bearing wheels 60 which are uniformly distributed in the front-rear direction and rotatably assembled on the lower part of the connecting frame 56, a speed reducing mechanism 61 assembled on the upper end of the triangular connecting plate 59 and a driving wheel 62 assembled on an output shaft of the speed reducing mechanism 61, wherein the driving wheel 62 is meshed with a crawler 63. Preferably, the triangular connecting plate 59 is a vertically extending strip-shaped structure, the size of which gradually increases from the upper end to the lower end, and the whole triangular connecting plate is formed;

preferably, the three-position four-way directional valve 51 is an electromagnetic directional valve, when the three-position four-way directional valve is powered on and operated at the left position, the oil passages between the port P and the port a are communicated, the oil passages between the port T and the port B are communicated, when the three-position four-way directional valve is powered off and operated at the middle position, the port P, the port a, the port T and the port B are all cut off, when the three-position four-way directional valve is powered on and operated at the right position, the oil passages between the port P and the port B are communicated, and the oil passages between the port T and the port a are communicated.

In order to realize automatic control conveniently, the system also comprises a controller;

the controller is respectively connected with a three-position four-way reversing valve 51, a rear track driving variable pump 5, a front track driving variable pump 7, a rear track driving variable motor 19, a rear track driving variable motor 22, a front track driving variable motor 9, a front track driving variable motor 12, a pressure sensor 8, a pressure sensor five 55, a pressure sensor two 25, a pressure sensor three 26, a pressure sensor four 36, a stop valve 31, a two-position two-way reversing valve 33, a two-position two-way reversing valve two 34, a reel driving motor 46, a cutter driving motor 49, a proportional throttle valve 45 and a proportional throttle valve two 48.

Preferably, the controller is a PLC controller.

The hydraulic control one-way valve group 53 is composed of a first hydraulic control one-way valve and a second hydraulic control one-way valve, an oil inlet and an oil outlet of the first hydraulic control one-way valve are respectively connected with an A port of the three-position four-way reversing valve 51 and a rodless cavity of the header lifting hydraulic cylinder 54, an oil inlet and an oil outlet of the second hydraulic control one-way valve are respectively connected with a B port of the three-position four-way reversing valve 51 and a rod cavity of the header lifting hydraulic cylinder 54, an oil inlet of the first hydraulic control one-way valve is connected with a hydraulic control port of the second hydraulic control one-way valve, and an oil inlet of the second hydraulic control one-way valve is connected with a hydraulic control port of the first hydraulic control one-way valve.

In the technical scheme, a rear track driving variable pump 5, a rear track driving variable motor I19, a rear track driving variable motor II 22, a one-way valve III 17, a one-way valve IV 18, a front track driving variable pump 7, a front track driving variable motor I9, a front track driving variable motor II 12, a one-way valve I15 and a one-way valve I16 form a walking driving system; the rear track driving variable pump 5 synchronously drives the rear track driving variable motor I19 and the rear track driving variable motor II 22, preferably, the rear track driving variable motor I19, the rear track driving variable motor II 22, the front track driving variable motor I9 and the front track driving variable motor II 12 are variable motors, and are used for low-speed and high-torque operation of the whole machine in a large displacement state and used for high-speed and low-torque operation of the whole machine in a small displacement state. The rear track driving variable pump 5 and the front track driving variable pump 7 are completely the same and are swash plate type proportional variable pumps. The third check valve 17 and the fourth check valve 18 are used for supplementing oil to the rear track driving circuit, and the first check valve 15 and the first check valve 16 are used for supplementing oil to the front track driving circuit and are mainly used for supplementing internal leakage of closed system elements to ensure that hydraulic oil in the circuit cannot be reduced. The first speed reducer 10, the second speed reducer 13, the third speed reducer 20 and the fourth speed reducer 23 are used for reducing speed and increasing torque, so that the hydraulic motor is ensured to work in a high-efficiency interval, and the phenomenon of creeping when the hydraulic motor is driven at a low speed is avoided. The second clutch 6 is arranged, so that the rear track driving variable pump 5 and the front track driving variable pump 7 can be conveniently isolated and can also be coordinated to act. Thus, in the normal running state, the second clutch 6 is disengaged, and only the rear crawler drive variable pump 5 drives the first rear crawler drive variable motor 19 and the second rear crawler drive variable motor 22, which is the rear crawler two-drive mode. When the driving road condition is poor or the whole machine falls into a paddy field, the second clutch 6 is engaged, and the four-track driving mode is switched. When the pressure fed back by the pressure sensor 8 or 55 exceeds the controller set pressure, the displacement of the hydraulic pump 7 is reduced to prevent the danger of the pressure being too high. When the pressure fed back by the second or third pressure sensor 25 or 26 exceeds the set pressure of the controller, the displacement of the track driving variable displacement pump 5 is reduced after control, so that the danger of overhigh pressure is prevented.

The one-way stable flow dividing valve 30 can ensure the stability of hydraulic oil of a steering loop and ensure the sensitivity of a steering system; the front crawler steering hydraulic cylinder 39 and the rear crawler steering hydraulic cylinder 40 are connected in series and are hydraulic cylinders of the same type, the front crawler steering hydraulic cylinder and the rear crawler steering hydraulic cylinder have the same stroke, meanwhile, triangular crawlers are adopted at the front part and the rear part of the whole machine as walking parts, so that the center distance between the front crawler steering hydraulic cylinder and the rear crawler steering hydraulic cylinder is completely consistent, the front crawler steering hydraulic cylinder and the rear crawler steering hydraulic cylinder can be ensured to steer to the same track in the steering process, and the steering mode with low rolling compaction rate is provided, so that the rolling compaction of the regenerated rice is reduced. Meanwhile, the ground clearance is convenient to lift, and rolling of first-stubble ratooning rice is avoided.

When the pressure sensor four 36 is lower than the set pressure, the control stop valve 31 is opened, the oil port B of the single-phase stable flow divider valve 30 charges the accumulator 32, and when the pressure sensor four 36 is higher than the set pressure, the control stop valve 31 is closed. When the rear crawler belt is in a two-drive mode, the two-position two-way reversing valve II 34 is opened, the two-position two-way reversing valve I33 is closed, and the energy accumulator 32 jacks the one-way valve III 17 or IV 18 to supply oil to the low-pressure side. In the four-track drive mode, the two-position two-way reversing valves one 33 and two 34 are opened, the accumulator 32 jacks the check valve three 17 or four 18, and the check valve one 15 or two 16 to supply oil to the low-pressure side. The oil supplement is mainly used for supplementing internal leakage of closed system elements and ensuring that hydraulic oil in a loop cannot be reduced.

The first constant-pressure-difference pressure-reducing valve 44 and the first proportional throttle valve 45 form a speed regulating circuit with pressure compensation, and the oil passing through the first proportional throttle valve 45 is ensured to be only related to the opening degree of the first proportional throttle valve and not influenced by other factors. The second constant-pressure-difference pressure-reducing valve 47 and the second proportional throttle valve 48 form a speed regulating circuit with pressure compensation, and the oil passing through the second proportional throttle valve 48 is ensured to be only related to the opening degree of the second proportional throttle valve 48 and not influenced by other factors. The reel wheel driving motor 46 and the cutter driving motor 49 both require linear matching of the rotating speed and the traveling speed, the matching proportion can be set by a controller, and the controller controls the opening of a first proportional throttle valve 45 and a second proportional throttle valve 48 based on the traveling speed measured by an encoder arranged on the crawler belt, and then controls the rotating speed of the reel wheel driving motor 46 and the rotating speed of the cutter driving motor 49 to be adaptive in real time.

The three constant-differential pressure reducing valve 50, the three-position four-way reversing valve 51 and the shuttle valve 52 jointly form a speed-regulating reversing loop with pressure compensation, and the oil passing through the three-position four-way reversing valve 51 is ensured to be only related to the opening degree of the oil and not influenced by other factors. A pilot operated check valve set 53 is used to lock the position of the header hoist cylinder 54. The height of the header is adjusted by a header lifting hydraulic cylinder because the growing heights of the ratoon rice in different fields are different.