Soybean harvesting and threshing all-in-one machine and control method thereof

Abstract

The invention relates to the technical field of agricultural machinery, and particularly discloses a soybean harvesting and threshing all-in-one machine and a control method thereof. The soybean harvesting and threshing all-in-one machine comprises a trailer frame, a transfer mechanism, a harvesting and threshing mechanism, a charging storage cabin, a main control operation table, a lifting conveyor and a material frame; the transfer mechanism is arranged outside the trailer frame; the harvesting and threshing mechanism is arranged outside the trailer frame and located on the right side of the transfer mechanism, a harvesting component is arranged in the harvesting and threshing mechanism, and the harvesting component can achieve integrated efficient operation of soybean harvesting and threshing; the charging storage cabin is installed on the right side of the top of the trailer frame. According to the soybean harvesting and threshing all-in-one machine and the control method thereof, unmanned automatic design is adopted, the overall size of equipment is reduced, the operation flexibility on complex terrains and small land parcels is improved, working parameters can be automatically adjusted to optimize efficiency, the harvesting function, the threshing function, the cleaning function and the storage function are divided into independent parts to be combined, and the working efficiency is improved. And the applicability of the equipment is further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to a soybean harvester and threshing machine and a control method thereof. Background Art

[0002] With the development of agricultural mechanization, soybean harvester and thresher has a wide range of application prospects in modern agriculture. Soybean harvester and thresher is a kind of agricultural machinery specially designed for harvesting and threshing soybeans. Its main function is to harvest soybean plants growing in the field and separate soybean grains from the plants by mechanized means. It not only improves the efficiency and quality of soybean harvesting, but also promotes the modernization and large-scale development of agricultural production. In the prior art, current soybean harvesting and threshing integrated equipment is a large machine. This results in a large size, making it difficult to operate on narrow or irregular plots. Furthermore, the large turning radius of large equipment makes it less efficient in small plots or complex terrain, increasing the difficulty and time consumption of operation. Furthermore, the soybean harvesting and threshing integrated equipment contains a soybean seed storage structure, which further increases the size of the soybean harvesting and threshing integrated equipment. Furthermore, the existing equipment is not effective in reducing soybean losses during operation. Some mechanical harvesting can cause scattered seeds and damaged plants, resulting in yield losses. The threshing process is crude, and seeds are damaged due to excessive squeezing and collision, affecting their quality and value. The impurity separation in the cleaning process is not thorough, reducing the purity of soybeans and making them unsuitable for storage and sales. During material transportation, leakage causes soybean losses. Therefore, developing a machine that can flexibly operate in complex terrain and small plots while effectively reducing soybean losses during the harvesting and threshing process has become an important issue that needs to be addressed in the current field of agricultural machinery technology. Summary of the Invention

[0003] The object of the present invention is to provide a soybean harvester and threshing machine and a control method thereof, so as to solve the problems mentioned in the above background technology.

[0004] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a soybean harvesting and threshing machine, a trailer frame, a transfer mechanism, a harvesting and threshing mechanism, a charging and storing cabin, a main control console, a lifting conveyor and a material rack; the transfer mechanism is arranged on the outside of the trailer frame; the harvesting and threshing mechanism is arranged on the outside of the trailer frame and is located on the right side of the transfer mechanism, and a harvesting component is provided inside the harvesting and threshing mechanism, and the harvesting component can realize the integrated and efficient operation of soybean harvesting and separation; the charging and storing cabin is installed on the top right side of the trailer frame; the main control console is installed on the right front side of the charging and storing cabin, and the charging and storing cabin and the main control console are electrically connected; the lifting conveyor is installed on the left side of the top of the trailer frame, and the lifting conveyor and the main control console are electrically connected; the material rack is arranged on the left side of the trailer frame and is located below the discharge port of the lifting conveyor.

[0005] Preferably, the transfer mechanism includes: a first frame, a first electric drive wheel, a first sub-control module, a first battery module, a first sensor, an electric lift, a base frame, a material box and a first electric telescopic rod; the first frame is arranged on the outside of the trailer frame; the number of the first electric drive wheels is four, and the four first electric drive wheels are respectively installed at the four corners of the outside of the first frame; the first sub-control module is installed on the left side of the first frame, the first electric drive wheel and the main control console are remotely connected to the network, and the first sub-control module and the first electric drive wheel are electrically connected; the first battery module is installed on the left side of the first frame, the first electric drive wheel and the main control console are remotely connected to the network, and the first battery module and the first A sub-control module is electrically connected; there are two first sensors, and the two first sensors are respectively installed on the front sides of the first sub-control module and the first battery module; the electric lift is installed at the top of the first frame, and the electric lift and the first sub-control module are electrically connected; the base frame is installed on the top of the lifting end of the electric lift; the material box is rotatably connected to the inner side of the first electric telescopic rod through a rotating shaft; there are two first electric telescopic rods, and the two first electric telescopic rods are respectively rotatably connected to the left and right sides of the front end of the base frame through a rotating shaft, and the telescopic ends of the two first electric telescopic rods are respectively rotatably connected to the left and right sides of the material box through a rotating shaft, and the first electric telescopic rod and the first sub-control module are electrically connected.

[0006] Preferably, the harvesting and threshing mechanism includes: a second frame, a second electric drive wheel, a second sub-control module, a second battery module, a second sensor and a harvesting component; the second frame is arranged outside the transfer mechanism; the number of the second electric drive wheels is four, and the four second electric drive wheels are respectively installed at the four outer corners of the first frame; the second sub-control module is installed on the left side of the second frame, the second electric drive wheel and the main control console are remotely connected to the network, and the second sub-control module and the second electric drive wheel are electrically connected; the second battery module is installed on the left side of the second frame, the second electric drive wheel and the main control console are remotely connected to the network, and the second battery module and the second sub-control module are electrically connected; the number of the second sensor is two, and the two second sensors are respectively installed on the front sides of the second sub-control module and the second battery module; the harvesting component is installed on the front side of the second frame.

[0007] Preferably, the harvesting components include: a trough shell, support wheels, a threshing mechanism, a header unit, a screening unit and a discharge unit; the trough shell is installed on the front side of the second frame along the front-to-back direction; the number of the support wheels is two, and the two support wheels are respectively installed on the left and right sides of the bottom end of the trough shell; the threshing mechanism is arranged at the top of the inner cavity of the trough shell; the header unit is arranged at the bottom of the front side of the trough shell; the screening unit is arranged at the bottom of the inner cavity of the trough shell; and the discharge unit is arranged on the rear side of the inner cavity of the trough shell.

[0008] Preferably, the threshing mechanism includes: a first mesh concave plate, a cutting knife roller, a second mesh concave plate, a threshing roller, a first transmission belt, a second transmission belt, a first motor, a third transmission belt, a screen plate, a second motor, a separating roller and a fourth transmission belt; the first mesh concave plate is arranged on the front side of the inner cavity of the trough shell in the left and right directions; the cutting knife roller is rotatably connected to the inner cavity of the trough shell through a bearing in the left and right directions and is located on the inner side of the cutting knife roller, and the axis of the cutting knife roller extends out of the right side of the outside of the trough shell; the second mesh concave plate is arranged in the inner cavity of the trough shell in the left and right directions and is located on the front and back sides below the rear side of the first mesh concave plate; the number of the threshing rollers is two, and the two threshing rollers are respectively rotatably connected to the inner cavity of the trough shell in the left and right directions through bearings and are located at the front and back ends of the inner side of the second mesh concave plate, and the axis of the threshing roller extends out of the right side of the outside of the trough shell; the two ends of the first transmission belt are respectively connected to the right ends of the axes of the front and rear threshing rollers; one end of the second transmission belt is connected to the front threshing roller The right end of the axis of the granulating roller, the other end of the second transmission belt is connected to the right end of the axis of the cutting knife roller; the first motor is fixedly mounted on the right side of the top of the trough shell, and the first motor is electrically connected to the second sub-control module; one end of the third transmission belt is connected to the right end of the axis of the rear threshing roller, and the other end of the third transmission belt is connected to the rotating end of the first motor; the number of the screen plates is three, and the three screen plates are respectively mounted on the rear side of the inner cavity of the trough shell in the front-to-back direction and located below the rear side of the second mesh concave plate; the second motor is fixedly mounted in the middle of the rear side of the inner cavity of the trough shell, and the second motor is electrically connected to the second sub-control module; the number of the separating rollers is three, and the three separating rollers are respectively rotatably connected to the rear side of the inner cavity of the trough shell and the rotating end of the second motor in the front-to-back direction through bearings and are located on the inner side of the three screen plates; the number of the fourth transmission belts is two, and the two fourth transmission belts are respectively connected to the front ends of the axes of the left and right separating rollers and the front and rear sides of the front end of the axis of the middle separation roller.

[0009] Preferably, the cutting table unit includes: a cutting table shell, a cutting blade, a third motor, a conveying roller, a sowing roller and a fifth transmission belt; the cutting table shell is arranged on the front side of the trough shell in the left and right directions and communicates with the inner cavity of the trough shell; the cutting blade is installed at the bottom of the inner cavity of the cutting table shell in the left and right directions; the third motor is installed on the right side of the cutting table shell, and the third motor is electrically connected to the second sub-control module; the conveying roller is rotatably connected to the inner cavity of the cutting table shell through a bearing in the left and right directions and is located above the rear side of the cutting blade, and the axis of the conveying roller extends out of the left and right sides of the outside of the cutting table shell, and the rotating end of the third motor is connected to the axis of the conveying roller; the sowing roller is rotatably connected to the upper front side of the inner cavity of the cutting table shell through a bearing in the left and right directions; one end of the fifth transmission belt is connected to the left end of the axis of the sowing roller, and the other end of the fifth transmission belt is connected to the left end of the axis of the conveying roller.

[0010] Preferably, the screening unit includes: a vibrating screen, a guide plate, a horizontal conveying cylinder shell, a fourth motor, a first spiral conveying rod, an inclined conveying cylinder shell, a fifth motor and a second spiral conveying rod; the vibrating screen is arranged in the inner cavity of the trough shell along the front-to-back direction and is located below the second mesh concave plate and the screen plate, and the vibrating screen is electrically connected to the second sub-control module; the guide plate is arranged below the vibrating screen in the inner cavity of the trough shell along the front-to-back direction; the horizontal conveying cylinder shell is arranged in the front side of the guide plate along the left-right direction; the fourth motor is installed on the left side of the horizontal conveying cylinder shell, and the fourth motor The rotating end of the horizontal conveying cylinder extends into the inner cavity of the horizontal conveying cylinder shell, and the fourth motor is electrically connected to the second sub-control module; the first spiral conveying rod is installed at the rotating end of the fourth motor along the left and right directions; the inclined conveying cylinder shell is installed on the outer right side of the trough shell through the bracket, and the inclined conveying cylinder shell and the horizontal conveying cylinder shell are connected; the fifth motor is installed at the bottom end of the inclined conveying cylinder shell, and the rotating end of the fifth motor extends into the inner cavity of the inclined conveying cylinder shell, and the fifth motor is electrically connected to the second sub-control module; the second spiral conveying rod is installed at the rotating end of the fifth motor.

[0011] Preferably, the discharge unit includes: a screen frame, a cutting mesh plate, a cutting blade, a gear assembly, a trough conveying cylinder shell, a sixth motor, a third spiral conveying rod, a sixth transmission belt, a discharge pipe and a fan; the screen frame is arranged in the inner cavity of the trough shell along the left and right directions and is located below the rear side of the screen plate, and the screen frame is located below the rear discharge port of the vibrating screen; the cutting mesh plate is arranged in the left and right directions on the inner side below the screen frame; the number of the cutting blades is two, and the two cutting blades are respectively connected to the front and rear sides of the bottom of the screen frame through the bearing seat in the left and right directions, and the cutting blade passes through the inside of the cutting mesh plate; the two ends of the gear assembly are respectively connected to the right ends of the axes of the front and rear cutting blades; the trough The outer shell of the trough conveying cylinder is installed at the bottom end of the front side of the screen frame in the left-right direction and is located on the front side of the screen frame; the sixth motor is installed on the left side of the outer shell of the trough conveying cylinder, and the sixth motor is electrically connected to the second sub-control module; the third spiral conveying rod is installed at the rotating end of the sixth motor in the left-right direction and is located on the inner side of the outer shell of the trough conveying cylinder; one end of the sixth transmission belt is connected to the left side of the axis of the third spiral conveying rod, and the other end of the sixth transmission belt is connected to the left end of the axis of the front cutting blade; the discharge pipe is installed on the right side of the outer wall of the trough body shell, and the discharge pipe is connected to the outer shell of the trough body conveying cylinder; the fan is installed at the top end of the rear side of the inner cavity of the discharge pipe, and the fan is electrically connected to the second sub-control module.

[0012] Compared with the prior art, the present invention has the following beneficial effects: 1. The second electric drive wheel is used to push the harvesting component to move along the farming area in cooperation with the second frame. The third motor drives the conveyor roller to rotate and drives the reed roller to rotate synchronously under the transmission action of the fifth transmission belt. The soybean plants are continuously fed into the first mesh concave plate under the action of the rotating force of the conveyor roller. The first motor drives the rear threshing roller to rotate under the transmission action of the third transmission belt. Under the transmission action of the first transmission belt and the second transmission belt, the front threshing roller and the cutting knife roller rotate synchronously. The soybean plants inside the first mesh concave plate are cut into segments by the cutting knife roller and are fed into the inside of the second mesh concave plate under the action of the rotating force of the cutting knife roller. The soybean plants inside the second mesh concave plate are separated by the threshing roller. The separated soybean grains pass through the mesh holes inside the second mesh concave plate and fall onto the surface of the vibrating screen below. The remaining unseparated bean stalks enter the three-side screen plates respectively along the second mesh concave plate. The three-side separation rollers rotate synchronously inside the three screen plates, further crushing the soybean plants into smaller bean stalk structures. The bean stalk impurities on the surface of the screen frame pass through the mesh holes inside the screen frame and fall into the surface of the cutting screen plate. The sixth motor drives the third spiral conveying rod to rotate inside the outer shell of the trough conveying cylinder, and drives the front cutting blade to rotate under the transmission of the sixth transmission belt, and drives the rear cutting blade to rotate synchronously under the transmission of the gear assembly. The front and rear cutting blades cut the bean stalk impurities on the surface of the cutting screen plate and crush them into fine chips. After entering the inner shell of the trough conveying cylinder, they enter the inner cavity of the discharge pipe under the rotation force of the third spiral conveying rod. The fan blows the fine chips in the inner cavity of the discharge pipe along the discharge pipe to the outside for discharge. The screen inside the vibrating screen vibrates to further separate the soybean grains and bean stalks. The soybean grains enter the inner part of the guide plate below and enter the inner shell of the horizontal conveying cylinder along the guide plate.

[0013] 2. The first electric drive wheel moves to the position below the discharge port of the inclined conveying cylinder shell under the cooperation of the second frame, and the transfer mechanism moves with the harvesting and threshing mechanism, and the fourth motor drives the first spiral conveying rod to rotate inside the horizontal conveying cylinder shell, so that the soybean grains inside the horizontal conveying cylinder shell are transported to the inside of the inclined conveying cylinder shell under the action of the rotating force of the first spiral conveying rod, and the fifth motor drives the second spiral conveying rod to rotate inside the inclined conveying cylinder shell, so that the soybean grains inside the inclined conveying cylinder shell are lifted upward under the action of the rotating force of the second spiral conveying rod and then discharged into the material box through the discharge port of the inclined conveying cylinder shell. After the material box is full of soybean grains, the first sensor guides the movement of the first battery module to move the transfer mechanism to the front position of the lifting conveyor, the electric lift drives the base frame to rise to the specified height position, the first electric telescopic rod extends to drive the material box to rotate upward on the inside of the base frame and pours the soybean grains inside it into the lifting conveyor, and the lifting conveyor lifts the soybean seeds inside it and pours them into the inner cavity of the container placed inside the material rack to realize the packaging operation.

[0014] 3. The design of the harvesting unit can accurately cut soybean plants. The reed roller presses the soybean plants down to the cutting plate, and the cutting plate accurately cuts the rhizomes, which can avoid the soybean grains falling and the plants being torn and broken due to improper harvesting operation, thereby reducing losses in the harvesting process. The threshing mechanism segments and thres the soybean plants through the coordinated operation of the cutting roller and the threshing roller. The cutting roller cuts the plants into segments and sends them to the second mesh concave plate. The threshing roller separates the grains through friction and impact during the rotation process. This orderly threshing method can reduce the damage of grains caused by excessive squeezing or collision, ensuring the quality of soybeans. In order to maintain the integrity of the seeds and reduce the loss in the threshing process, the screening unit adopts a design of a vibrating screen combined with a spiral conveyor rod, which can effectively separate the soybean seeds and soybean stalk impurities. The vibrating screen further vibrates and separates, making the soybean seeds purer, reducing the mixing of impurities, and improving the quality of soybeans. In the material conveying process, from the horizontal conveying cylinder shell to the inclined conveying cylinder shell, and then to the material box and the lifting conveyor, each conveying component cooperates closely, and the spiral conveyor rod can stably convey the soybean seeds, reduce leakage during the conveying process, ensure that the harvested soybeans can be collected to the greatest extent, and reduce losses in the conveying link.

[0015] In summary, the present invention adopts an unmanned automated design, which reduces the overall volume of the equipment, improves operational flexibility on complex terrain and small plots, can automatically adjust working parameters to optimize efficiency, and divides the harvesting, threshing, cleaning and storage functions into independent parts for combination, further improving the applicability of the equipment, while being able to effectively reduce losses during the harvesting and threshing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 for Figure 1 Exploded diagram of the transfer mechanism; Figure 3 for Figure 1 Exploded diagram of the harvesting and threshing mechanism; Figure 4 for Figure 3 Exploded diagram of the harvesting components; Figure 5 for Figure 4 Exploded diagram of threshing mechanism; Figure 6 for Figure 4 A magnified view of the header unit at point A; Figure 7 for Figure 4 Enlarged view of the screening unit at B; Figure 8 for Figure 4 Enlarged view of the discharge pipe at point C.

[0017] In the figure: 1. trailer frame; 2. transfer mechanism; 21. first frame; 22. first electric drive wheel; 23. first sub-control module; 24. first battery module; 25. first sensor; 26. electric lift; 27. base frame; 28. material box; 29. ​​first electric telescopic rod; 3. harvesting and threshing mechanism; 31. second frame; 32. second electric drive wheel; 33. second sub-control module; 34. second battery module; 35. second sensor; 4. harvesting parts; 41. trough shell; 42. support wheel; 5. threshing mechanism; 51. first mesh concave plate; 52. cutting knife roller; 53. second mesh concave plate; 54. threshing roller; 55. first transmission belt; 56. second transmission belt; 57. first motor; 58. third transmission belt; 59. screen plate; 510. second motor; 511. sub-control module Separator roller; 512, fourth transmission belt; 6, header unit; 61, header housing; 62, cutting plate; 63, third motor; 64, conveyor roller; 65, reed roller; 66, fifth transmission belt; 7, screening unit; 71, vibrating screen; 72, guide plate; 73, horizontal conveying cylinder housing; 74, fourth motor; 75, first spiral conveying rod; 76, inclined conveying cylinder housing; 77, fifth motor; 78, second spiral conveying rod; 8, discharge unit; 81, screen frame; 82, cutting mesh plate; 83, cutting blade; 84, gear assembly; 85, trough conveying cylinder housing; 86, sixth motor; 87, third spiral conveying rod; 88, sixth transmission belt; 89, discharge pipe; 810, fan; 9, charging storage compartment; 10, main control console; 11, lifting conveyor; 12, material rack. DETAILED DESCRIPTION

[0018] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0019] See also Figures 1-8The present invention provides a technical solution: a soybean harvester and threshing machine, characterized in that it includes a trailer frame 1, a transfer mechanism 2, a harvester and threshing mechanism 3, a charging and storing cabin 9, a main control console 10, a lifting conveyor 11 and a material rack 12; the transfer mechanism 2 is arranged on the outside of the trailer frame 1; the harvester and threshing mechanism 3 is arranged on the outside of the trailer frame 1 and on the right side of the transfer mechanism 2, and a harvester component 4 is arranged inside the harvester and threshing mechanism 3, which can realize the integrated and efficient operation of soybean harvesting and separation; the charging and storing cabin 9 is installed on the top right side of the trailer frame 1; the main control console 10 is installed on the right front of the charging and storing cabin 9, and the charging and storing cabin 9 and the main control console are connected. The control console 10 is electrically connected, and the charging storage cabin 9 is controlled by the main control console 10. The second battery module 34 can be charged through the charging storage cabin 9 and the first battery module 24; the lifting conveyor 11 is installed on the left side of the top of the trailer frame 1, and the lifting conveyor 11 is electrically connected to the main control console 10. The lifting conveyor 11 is controlled by the main control console 10. The lifting conveyor 11 can lift the soybean seeds inside itself and pour them into the inner cavity of the container placed inside the material rack 12 to realize the packaging operation; the material rack 12 is set on the left side of the trailer frame 1 and is located below the discharge port of the lifting conveyor 11. Multiple containers can be stored inside the material rack 12.

[0020] As a preferred solution, further, Figure 2As shown, the transfer mechanism 2 includes: a first frame 21, a first electric drive wheel 22, a first sub-control module 23, a first battery module 24, a first sensor 25, an electric lift 26, a base frame 27, a material box 28 and a first electric telescopic rod 29; the first frame 21 is arranged on the outside of the trailer frame 1; there are four first electric drive wheels 22, which are respectively installed at the four corners of the outside of the first frame 21, and the first electric drive wheels 22 are controlled by the first sub-control module 23. The first electric drive wheels 22 are internally provided with a steering module and a shock absorption module; the first sub-control module 23 is installed on the left side of the first frame 21. The first electric drive wheel 22 is remotely connected to the main control console 10 via a network, the first sub-control module 23 is electrically connected to the first electric drive wheel 22, and a preset program is provided inside the first sub-control module 23, which can be remotely controlled and started by the main control console 10; the first battery module 24 is installed on the left side of the first frame 21, the first electric drive wheel 22 is remotely connected to the main control console 10 via a network, the first battery module 24 is electrically connected to the first sub-control module 23, and the first battery module 24 can power the internal electrical components of the transfer mechanism 2; there are two first sensors 25, and the two first sensors 25 are respectively installed in the first sub-control module 23. On the front side of the first battery module 24, the first sensor 25 is controlled by the first sub-control module 23. The first sensor 25 can collect external image data and plan the movement path, and send the data to the inside of the first sub-control module 23; the electric lift 26 is installed at the top of the first frame 21, the electric lift 26 is electrically connected to the first sub-control module 23, and the electric lift 26 is controlled by the first sub-control module 23. The electric lift 26 can drive the base frame 27 to rise and fall to a specified height position; the base frame 27 is installed at the top of the lifting end of the electric lift 26; the material box 28 is rotatably connected to the first electric telescopic rod 29 through a rotating shaft. The inner side of the first electric telescopic rod 29 is two in number, and the two first electric telescopic rods 29 are respectively connected to the left and right sides of the front end of the base frame 27 through a rotating shaft, and the telescopic ends of the two first electric telescopic rods 29 are respectively connected to the left and right sides of the material box 28 through a rotating shaft. The first electric telescopic rod 29 is electrically connected to the first sub-control module 23, and the first electric telescopic rod 29 is controlled by the first sub-control module 23. The first electric telescopic rod 29 drives the base frame 27 to rotate upward or downward by its own extension and shortening. During the extension and shortening process of the first electric telescopic rod 29 itself, it can rotate upward or downward with the axis of the connection with the rotating shaft of the base frame 27 as the axis.

[0021] As a preferred solution, further, Figure 3As shown, the harvesting and threshing mechanism 3 includes: a second frame 31, a second electric drive wheel 32, a second sub-control module 33, a second battery module 34, a second sensor 35 and a harvesting component 4; the second frame 31 is arranged on the outside of the transfer mechanism 2; the number of the second electric drive wheels 32 is four, and the four second electric drive wheels 32 are respectively installed at the four corners of the outer side of the first frame 21, and the second electric drive wheels 32 are controlled by the second sub-control module 33, and the second electric drive wheels 32 are internally provided with a steering module and a shock absorption module; the second sub-control module 33 is installed on the left side of the second frame 31, and the second electric drive wheel 32 is remotely connected to the main control console 10 through a network, and the second sub-control module 33 is electrically connected to the second electric drive wheel 32, and the second sub-control module 33 is internally provided with a preset program The sequence can be remotely controlled and started by the main control console 10; the second battery module 34 is installed on the left side of the second frame 31, the second electric drive wheel 32 and the main control console 10 are remotely connected via the network, the second battery module 34 is electrically connected to the second sub-control module 33, and the second battery module 34 can power the electrical components inside the harvesting and threshing mechanism 3; the second sensor 35 is two in number, and the two second sensors 35 are respectively installed on the front sides of the second sub-control module 33 and the second battery module 34; the harvesting component 4 is installed on the front side of the second frame 31, and the second sensor 35 is controlled by the second sub-control module 33. The second sensor 35 can collect external image data and plan the moving path, and send the data to the inside of the second sub-control module 33.

[0022] As a preferred solution, further, Figure 4 As shown, the harvesting component 4 includes: a trough shell 41, support wheels 42, a threshing mechanism 5, a header unit 6, a screening unit 7 and a discharge unit 8; the trough shell 41 is installed on the front side of the second frame 31 along the front-to-back direction; there are two support wheels 42, and the two support wheels 42 are respectively installed on the left and right sides of the bottom end of the trough shell 41; the threshing mechanism 5 is arranged at the top of the inner cavity of the trough shell 41; the header unit 6 is arranged at the front bottom of the trough shell 41; the screening unit 7 is arranged at the bottom of the inner cavity of the trough shell 41; and the discharge unit 8 is arranged on the rear side of the inner cavity of the trough shell 41.

[0023] As a preferred solution, further, Figure 5As shown, the threshing mechanism 5 includes: a first mesh concave plate 51, a cutting knife roller 52, a second mesh concave plate 53, a threshing roller 54, a first transmission belt 55, a second transmission belt 56, a first motor 57, a third transmission belt 58, a screen plate 59, a second motor 510, a separating roller 511 and a fourth transmission belt 512; the first mesh concave plate 51 is arranged on the front side of the inner cavity of the trough shell 41 along the left-right direction; the cutting knife roller 52 is connected to the inner cavity of the trough shell 41 through a bearing in the left-right direction and is located on the inner side of the cutting knife roller 52, and the axis of the cutting knife roller 52 extends out of the right side of the outside of the trough shell 41, and the cutting knife roller 52 can cut the soybean plants on the surface of the first mesh concave plate 51; the second mesh concave plate 53 is arranged outside the trough body 41 along the left-right direction. The inner cavity of the shell 41 is located at the front and rear sides of the lower rear side of the first mesh concave plate 51; there are two threshing rollers 54, and the two threshing rollers 54 are respectively connected to the inner cavity of the trough shell 41 through bearings in the left and right directions and are located at the front and rear ends of the inner side of the second mesh concave plate 53, and the axis of the threshing roller 54 extends out of the right side of the outside of the trough shell 41; the two ends of the first transmission belt 55 are respectively connected to the right ends of the axis of the front and rear threshing rollers 54, and the first transmission belt 55 can play a transmission role between the front and rear threshing rollers 54; one end of the second transmission belt 56 is connected to the right end of the axis of the front threshing roller 54, and the other end of the second transmission belt 56 is connected to the right end of the axis of the cutting knife roller 52, and the second transmission belt 56 can play a role in transmitting the cutting knife roller 52 and the front threshing roller 54; the first motor 57 is fixedly mounted on the right side of the top of the trough shell 41, the first motor 57 is electrically connected to the second sub-control module 33, the first motor 57 is controlled by the second sub-control module 33, and the first motor 57 can drive the pulley at one end of the third transmission belt 58 to rotate; one end of the third transmission belt 58 is connected to the right end of the axis of the rear threshing roller 54, and the other end of the third transmission belt 58 is connected to the rotating end of the first motor 57, and the third transmission belt 58 can play a transmission role between the first motor 57 and the rear threshing roller 54; the number of screen plates 59 is three, and the three screen plates 59 are respectively mounted on the rear side of the inner cavity of the trough shell 41 along the front and rear directions and are located below the rear side of the second mesh concave plate 53; the second motor 510 is fixed It is fixedly installed in the middle of the rear side of the inner cavity of the trough shell 41, the second motor 510 is electrically connected to the second sub-control module 33, the second motor 510 is controlled by the second sub-control module 33, and the second motor 510 can drive the middle separation roller 511 to rotate; the number of separation rollers 511 is three, and the three separation rollers 511 are respectively connected to the rear side of the inner cavity of the trough shell 41 and the rotating end of the second motor 510 through bearings in the front and rear directions and are located on the inner side of the three screen plates 59; the number of fourth transmission belts 512 is two, and the two fourth transmission belts 512 are respectively connected to the front end of the axis of the left and right separation rollers 511 and the front and rear sides of the front end of the axis of the middle separation roller 511, and the fourth transmission belt 512 can play a transmission role between the three separation rollers 511.

[0024] As a preferred solution, further, Figure 6 As shown, the cutting platform unit 6 includes: a cutting platform shell 61, a cutting blade 62, a third motor 63, a conveying roller 64, a reed roller 65 and a fifth transmission belt 66; the cutting platform shell 61 is arranged on the front side of the trough shell 41 along the left-right direction and communicates with the inner cavity of the trough shell 41; the cutting blade 62 is installed at the bottom of the inner cavity of the cutting platform shell 61 along the left-right direction; the third motor 63 is installed on the right side of the cutting platform shell 61, the third motor 63 is electrically connected to the second sub-control module 33, the third motor 63 is controlled by the second sub-control module 33, and the third motor 63 can drive the conveying roller 64 to rotate; the conveying roller 64 is installed along the left-right direction It is rotatably connected to the inner cavity of the cutting table shell 61 through bearings in the left and right directions and is located above the rear side of the cutting plate 62. The axis of the conveying roller 64 extends to the left and right sides of the outside of the cutting table shell 61, and the rotating end of the third motor 63 is connected to the axis of the conveying roller 64; the sowing roller 65 is rotatably connected to the upper front side of the inner cavity of the cutting table shell 61 through bearings in the left and right directions; one end of the fifth transmission belt 66 is connected to the left end of the axis of the sowing roller 65, and the other end of the fifth transmission belt 66 is connected to the left end of the axis of the conveying roller 64. The fifth transmission belt 66 can play a transmission role between the conveying roller 64 and the sowing roller 65.

[0025] As a preferred solution, further, Figure 7As shown, the screening unit 7 includes: a vibrating screen 71, a guide plate 72, a horizontal conveying cylinder shell 73, a fourth motor 74, a first screw conveying rod 75, an inclined conveying cylinder shell 76, a fifth motor 77 and a second screw conveying rod 78; the vibrating screen 71 is arranged in the inner cavity of the trough shell 41 along the front-to-back direction and is located below the second mesh concave plate 53 and the screen plate 59, the vibrating screen 71 is electrically connected to the second sub-control module 33, the vibrating screen 71 is controlled by the second sub-control module 33, and the internal screen of the vibrating screen 71 can vibrate to further separate the soybean grains and soybean stalks; the guide plate 72 is arranged in the front-to-back direction below the vibrating screen 71 in the inner cavity of the trough shell 41; the horizontal conveying cylinder shell 73 is arranged on the front side of the guide plate 72 in the left-right direction; the fourth motor 74 is installed on the left side of the horizontal conveying cylinder shell 73, and the rotating end of the fourth motor 74 extends into the horizontal conveying cylinder The inner cavity of the body shell 73, the fourth motor 74 is electrically connected to the second sub-control module 33, the fourth motor 74 is controlled by the second sub-control module 33, and the fourth motor 74 can drive the first spiral conveying rod 75 to rotate; the first spiral conveying rod 75 is installed at the rotating end of the fourth motor 74 along the left and right directions; the inclined conveying cylinder shell 76 is installed on the outer right side of the trough shell 41 through the bracket, and the inclined conveying cylinder shell 76 and the horizontal conveying cylinder shell 73 are connected; the fifth motor 77 is installed at the bottom end of the inclined conveying cylinder shell 76, and the rotating end of the fifth motor 77 extends into the inner cavity of the inclined conveying cylinder shell 76, the fifth motor 77 is electrically connected to the second sub-control module 33, the fifth motor 77 is controlled by the second sub-control module 33, and the fifth motor 77 can drive the second spiral conveying rod 78 to rotate; the second spiral conveying rod 78 is installed at the rotating end of the fifth motor 77.

[0026] As a preferred solution, further, Figure 8As shown, the discharge unit 8 includes: a screen frame 81, a cutting mesh plate 82, a cutting blade 83, a gear assembly 84, a trough conveying cylinder shell 85, a sixth motor 86, a third spiral conveying rod 87, a sixth transmission belt 88, a discharge pipe 89 and a fan 810; the screen frame 81 is arranged in the inner cavity of the trough shell 41 along the left-right direction and is located at the rear side and lower part of the screen plate 59, and the screen frame 81 is located below the rear discharge port of the vibrating screen 71; the cutting mesh plate 82 is arranged in the left-right direction on the inner side and lower part of the screen frame 81; the cutting blade 83 cutting blade 83 is two in number, and the two cutting blades 83 are respectively connected to the front and rear sides of the bottom of the screen frame 81 through the bearing seat in the left-right direction, and the cutting blade 83 passes through the inside of the cutting mesh plate 82; the two ends of the gear assembly 84 are respectively connected to the right end of the axis of the front and rear cutting blades 83, and the gear assembly 84 can play a transmission role between the front and rear cutting blades 83; the trough conveying cylinder shell 85 is installed in the left-right direction on the screen frame 8 1 and is located at the front side bottom end of the screen frame 81; the sixth motor 86 is installed on the left side of the trough conveying cylinder shell 85, the sixth motor 86 is electrically connected to the second sub-control module 33, the sixth motor 86 is controlled by the second sub-control module 33, and the sixth motor 86 can drive the third screw conveying rod 87 to rotate; the third screw conveying rod 87 is installed at the rotating end of the sixth motor 86 in the left and right directions and is located on the inner side of the trough conveying cylinder shell 85; one end of the sixth transmission belt 88 is connected to the left side of the axis of the third screw conveying rod 87, and the other end of the sixth transmission belt 88 is connected to the left end of the axis of the front cutting blade 83, and the sixth transmission belt 88 can play a transmission role between the third screw conveying rod 87 and the front cutting blade 83; the discharge pipe 89 is installed on the right side of the outer wall of the trough shell 41, and the discharge pipe 89 is connected to the trough conveying cylinder shell 85; the fan 810 is installed at the top end of the rear side of the inner cavity of the discharge pipe 89, and the fan 810 is electrically connected to the second sub-control module 33.

[0027] Here’s how it works: Step 1: The staff drives the vehicle to tow the trailer frame 1 to the designated location, and controls the main control console 10 to stop the connection between the charging storage cabin 9 and the first battery module 24 to charge the second battery module 34, and takes out the transfer mechanism 2 and the harvesting and threshing mechanism 3 that are being charged inside the charging storage cabin 9, and prepares for operation; Step 2: Under the guidance of the route planning of the second sensor 35, the second electric drive wheel 32, in cooperation with the second frame 31, pushes the harvesting unit 4 to move along the cultivated area. The third motor 63 drives the conveyor roller 64 to rotate, and drives the reed roller 65 to rotate synchronously under the transmission action of the fifth transmission belt 66. The reed roller 65 moves the soybean plants downward and presses them onto the surface of the cutting plate 62. The cutting plate 62 cuts the roots of the soybean plants under the thrust and then cuts the entire soybean plant. The soybean plants are continuously fed into the first mesh concave plate 51 under the action of the rotational force of the conveyor roller 64. Step 3: The first motor 57 drives the rear threshing roller 54 to rotate under the transmission of the third transmission belt 58. Under the transmission action of the first transmission belt 55 and the second transmission belt 56, the front threshing roller 54 and the cutting knife roller 52 rotate synchronously. The soybean plants inside the first mesh concave plate 51 are cut into segments by the cutting knife roller 52 and are sent to the inside of the second mesh concave plate 53 under the action of the rotational force of the cutting knife roller 52. During the rotation of the threshing roller 54, the soybean plants inside the second mesh concave plate 53 are separated from the soybean grains by friction and collision with the second mesh concave plate 53. The separated soybean grains pass through the mesh inside the second mesh concave plate 53 and fall onto the screen surface of the vibrating screen 71 below. The remaining unseparated soybean stalks enter the inside of the three side screen plates 59 along the second mesh concave plate 53 respectively. Step 4: The second motor 510 drives the middle separation roller 511 to rotate, and under the drive of the fourth transmission belts 512 on the left and right sides, the three-side separation rollers 511 rotate synchronously inside the three screen plates 59, and then the soybean plants are cut into smaller bean stalk structures through further crushing, so as to separate the soybean grains from the bean stalks. The soybean grains pass through the internal mesh holes of the screen plate 59 and fall onto the screen surface of the vibrating screen 71 below. The remaining bean stalk impurities enter the surface of the screen frame 81 along the inner side of the screen plate 59. The bean stalk impurities on the surface of the screen frame 81 pass through the internal mesh holes of the screen frame 81 and fall onto the surface of the cutting mesh plate 82. Step 5: The sixth motor 86 drives the third screw conveyor rod 87 to rotate inside the trough conveying cylinder housing 85, and drives the front cutting blade 83 to rotate under the transmission of the sixth transmission belt 88. The rear cutting blade 83 is driven to rotate synchronously under the transmission of the gear assembly 84. The front and rear cutting blades 83 cut the bean stalk impurities on the surface of the cutting screen 82 and crush them into fine chips. The chips then enter the interior of the trough conveying cylinder housing 85 and enter the inner cavity of the discharge pipe 89 under the transmission of the rotational force of the third screw conveyor rod 87. Step 6: The fan 810 blows the fine dust in the discharge pipe 89 out along the discharge pipe 89 to the outside for discharge. The screen inside the vibrating screen 71 vibrates to further separate the soybean kernels and soybean stalks. The soybean kernels enter the lower guide plate 72 and then enter the horizontal conveying cylinder shell 73 along the guide plate 72. Step 7: Under the guidance of the route planning of the first sensor 25, the first electric drive wheel 22 moves to a position below the discharge port of the inclined conveying cylinder shell 76 in cooperation with the second frame 31, and the transfer mechanism 2 moves following the harvesting and threshing mechanism 3; Step 8: The fourth motor 74 drives the first screw conveying rod 75 to rotate inside the horizontal conveying cylinder shell 73, so that the soybean grains inside the horizontal conveying cylinder shell 73 are conveyed to the inside of the inclined conveying cylinder shell 76 under the action of the rotational force of the first screw conveying rod 75. The fifth motor 77 drives the second screw conveying rod 78 to rotate inside the inclined conveying cylinder shell 76, so that the soybean grains inside the inclined conveying cylinder shell 76 are lifted upward under the action of the rotational force of the second screw conveying rod 78 and are discharged from the discharge port of the inclined conveying cylinder shell 76 into the material box 28. Step nine: After the material box 28 is filled with soybean seeds, the first sensor 25 guides the first battery module 24 to move to the transfer mechanism 2 and move to the front position of the lifting conveyor 11. The electric lift 26 drives the base frame 27 to rise to the specified height position. The first electric telescopic rod 29 extends to drive the material box 28 to rotate upward on the inside of the base frame 27 and pour the soybean seeds inside itself into the lifting conveyor 11. The lifting conveyor 11 lifts the soybean seeds inside itself and pours them into the inner cavity of the container placed inside the material rack 12 to realize the packaging operation.

[0028] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A soybean harvester and threshing machine, characterized in that: include: trailer frame (1); A transfer mechanism (2) is arranged outside the trailer frame (1); A harvesting and threshing mechanism (3) is arranged outside the trailer frame (1) and on the right side of the transfer mechanism (2); a harvesting component (4) is arranged inside the harvesting and threshing mechanism (3); the harvesting component (4) can realize an integrated and efficient operation of harvesting and separating soybeans; A charging storage compartment (9) is mounted on the top right side of the trailer frame (1); A main control console (10) is installed in the front right of the charging storage compartment (9), and the charging storage compartment (9) and the main control console (10) are electrically connected; A lifting conveyor (11) is installed on the left side of the top end of the trailer frame (1), and the lifting conveyor (11) is electrically connected to the main control console (10); A material rack (12) is arranged on the left side of the trailer frame (1) and is located below the discharge port of the lifting conveyor (11).

2. A soybean harvester and threshing machine according to claim 1, characterized in that: The transfer mechanism (2) comprises: A first frame (21) is arranged on the outside of the trailer frame (1); First electric drive wheels (22), the number of the first electric drive wheels (22) is four, and the four first electric drive wheels (22) are respectively installed at the four outer corners of the first frame (21); A first sub-control module (23) is installed on the left side of the first frame (21), the first electric drive wheel (22) and the main control console (10) are remotely connected via a network, and the first sub-control module (23) and the first electric drive wheel (22) are electrically connected; A first battery module (24) is installed on the left side of the first frame (21), the first electric drive wheel (22) is remotely connected to the main control console (10) via a network, and the first battery module (24) is electrically connected to the first sub-control module (23); A first sensor (25), wherein the number of the first sensors (25) is two, and the two first sensors (25) are respectively installed on the front side of the first sub-control module (23) and the first battery module (24); An electric lift (26) is installed on the top of the first frame (21), and the electric lift (26) is electrically connected to the first sub-control module (23); A base frame (27) is mounted on the top of the lifting end of the electric lift (26); A material box (28) is rotatably connected to the inner side of the first electric telescopic rod (29) via a rotating shaft; A first electric telescopic rod (29), the number of the first electric telescopic rod (29) is two, the two first electric telescopic rods (29) are respectively connected to the left and right sides of the front end of the base frame (27) through a rotating shaft, the telescopic ends of the two first electric telescopic rods (29) are respectively connected to the left and right sides of the material box (28) through a rotating shaft, and the first electric telescopic rod (29) is electrically connected to the first sub-control module (23).

3. A soybean harvester and threshing machine according to claim 2, characterized in that: The harvesting and threshing mechanism (3) comprises: a second frame (31) disposed outside the transfer mechanism (2); Second electric drive wheels (32), the number of the second electric drive wheels (32) is four, and the four second electric drive wheels (32) are respectively installed at the four outer corners of the first frame (21); A second sub-control module (33) is installed on the left side of the second frame (31), the second electric drive wheel (32) and the main control console (10) are remotely connected via a network, and the second sub-control module (33) and the second electric drive wheel (32) are electrically connected; A second battery module (34) is installed on the left side of the second frame (31), the second electric drive wheel (32) is remotely connected to the main control console (10) via a network, and the second battery module (34) is electrically connected to the second sub-control module (33); A second sensor (35), wherein the number of the second sensors (35) is two, and the two second sensors (35) are respectively installed on the front side of the second sub-control module (33) and the second battery module (34); A harvesting component (4) is mounted on the front side of the second frame (31).

4. A soybean harvester and threshing machine according to claim 3, characterized in that: The harvesting component (4) comprises: A tank shell (41) is mounted on the front side of the second frame (31) along the front-to-back direction; Support wheels (42), the number of the support wheels (42) is two, and the two support wheels (42) are respectively installed on the left and right sides of the bottom end of the tank shell (41); A threshing mechanism (5) is arranged at the top of the inner cavity of the tank shell (41); A header unit (6) is arranged at the front bottom of the tank shell (41); A screening unit (7) is arranged at the bottom of the inner cavity of the tank shell (41); The discharge unit (8) is arranged at the rear side of the inner cavity of the tank shell (41).

5. The soybean harvester and threshing machine according to claim 4, characterized in that: The threshing mechanism (5) comprises: A first mesh concave plate (51) is arranged on the front side of the inner cavity of the tank shell (41) along the left-right direction; A cutting knife roller (52) is rotatably connected to the inner cavity of the tank shell (41) via a bearing in the left-right direction and is located on the inner side of the cutting knife roller (52), and the axis of the cutting knife roller (52) extends out of the right side of the outer surface of the tank shell (41); A second mesh concave plate (53) is arranged in the inner cavity of the tank shell (41) along the left-right direction and is located at the front and rear sides below the rear side of the first mesh concave plate (51); Threshing rollers (54), the number of the threshing rollers (54) is two, the two threshing rollers (54) are respectively connected to the inner cavity of the tank shell (41) through bearings in the left and right directions and are located at the front and rear ends of the inner side of the second mesh concave plate (53), and the axis of the threshing rollers (54) extends out of the right side of the outer side of the tank shell (41); a first transmission belt (55), wherein both ends of the first transmission belt (55) are respectively connected to the right ends of the axes of the front and rear threshing rollers (54); a second transmission belt (56), one end of the second transmission belt (56) being connected to the right end of the axis of the front threshing roller (54), and the other end of the second transmission belt (56) being connected to the right end of the axis of the cutting roller (52); A first motor (57) is fixedly mounted on the right side of the top end of the tank housing (41), and the first motor (57) is electrically connected to the second sub-control module (33); a third transmission belt (58), one end of the third transmission belt (58) being connected to the right end of the axis of the rear threshing roller (54), and the other end of the third transmission belt (58) being connected to the rotating end of the first motor (57); Screen plates (59), the number of the screen plates (59) being three, the three screen plates (59) being respectively installed on the rear side of the inner cavity of the tank shell (41) along the front-to-back direction and located below the rear side of the second mesh concave plate (53); A second motor (510) is fixedly mounted in the middle of the rear side of the inner cavity of the tank housing (41), and the second motor (510) is electrically connected to the second sub-control module (33); Separation rollers (511), the number of the separation rollers (511) is three, and the three separation rollers (511) are rotatably connected to the rear side of the inner cavity of the tank shell (41) and the rotating end of the second motor (510) in the front-to-back direction through bearings and are located on the inner sides of the three screen plates (59); A fourth transmission belt (512), wherein the number of the fourth transmission belts (512) is two, and the two fourth transmission belts (512) are respectively connected to the front ends of the axis of the left and right separation rollers (511) and the front and rear sides of the front end of the axis of the middle separation roller (511).

6. The soybean harvester and threshing machine according to claim 5, characterized in that: The header unit (6) comprises: A header housing (61) is arranged on the front side of the tank housing (41) in the left-right direction and communicates with the inner cavity of the tank housing (41); A cutting plate (62) is mounted on the bottom of the inner cavity of the cutting platform housing (61) in the left-right direction; A third motor (63) is installed on the right side of the header housing (61), and the third motor (63) is electrically connected to the second sub-control module (33); The conveying roller (64) is rotatably connected to the inner cavity of the cutting platform shell (61) through a bearing in the left-right direction and is located above the rear side of the cutting plate (62). The axis of the conveying roller (64) extends to the left and right sides of the outside of the cutting platform shell (61). The rotating end of the third motor (63) is connected to the axis of the conveying roller (64); A reed roller (65) is rotatably connected to the upper front side of the inner cavity of the header housing (61) via a bearing in the left-right direction; A fifth transmission belt (66), one end of the fifth transmission belt (66) is connected to the left end of the axis of the reed roller (65), and the other end of the fifth transmission belt (66) is connected to the left end of the axis of the conveying roller (64).

7. The soybean harvester and threshing machine according to claim 6, characterized in that: The screening unit (7) comprises: a vibrating screen (71) disposed in the inner cavity of the tank shell (41) along the front-to-back direction and located below the second mesh concave plate (53) and the screen plate (59); the vibrating screen (71) is electrically connected to the second sub-control module (33); A guide plate (72) is arranged below the inner cavity vibrating screen (71) of the tank shell (41) along the front-to-back direction; A horizontal conveying cylinder shell (73) is arranged on the front side of the guide plate (72) in the left-right direction; a fourth motor (74) mounted on the left side of the horizontal conveying cylinder housing (73), a rotating end of the fourth motor (74) extending into the inner cavity of the horizontal conveying cylinder housing (73), and the fourth motor (74) being electrically connected to the second sub-control module (33); A first spiral conveying rod (75) is mounted on the rotating end of the fourth motor (74) in the left-right direction; An inclined conveying cylinder shell (76) is mounted on the right side of the outside of the trough shell (41) via a bracket, and the inclined conveying cylinder shell (76) is connected to the horizontal conveying cylinder shell (73); a fifth motor (77) mounted at the bottom end of the inclined conveying cylinder housing (76), a rotating end of the fifth motor (77) extending into the inner cavity of the inclined conveying cylinder housing (76), and the fifth motor (77) being electrically connected to the second sub-control module (33); The second spiral conveying rod (78) is mounted on the rotating end of the fifth motor (77).

8. The soybean harvester and threshing machine according to claim 7, characterized in that: The discharge unit (8) comprises: A screen frame (81) is arranged in the inner cavity of the tank shell (41) along the left-right direction and is located below the rear side of the screen plate (59). The screen frame (81) is located below the rear discharge port of the vibrating screen (71); A cutting mesh plate (82) is arranged below the inner side of the screen frame (81) along the left-right direction; Cutting blades (83), the number of the cutting blades (83) is two, and the two cutting blades (83) are respectively connected to the front and rear sides of the bottom of the screen frame (81) through the bearing seat in the left and right directions, and the cutting blades (83) pass through the inside of the cutting mesh plate (82); A gear assembly (84), wherein both ends of the gear assembly (84) are respectively connected to the right ends of the axes of the front and rear cutting blades (83); A trough conveying cylinder housing (85) is mounted on the front bottom end of the screen frame (81) in the left-right direction and is located on the front side of the screen frame (81); A sixth motor (86) is installed on the left side of the tank conveying cylinder housing (85), and the sixth motor (86) is electrically connected to the second sub-control module (33); A third spiral conveying rod (87) is installed at the rotating end of the sixth motor (86) in the left-right direction and is located inside the outer shell (85) of the trough conveying cylinder; a sixth transmission belt (88), one end of which is connected to the left side of the axis of the third spiral conveying rod (87), and the other end of which is connected to the left end of the axis of the front cutting blade (83); A discharge pipe (89) is installed on the right side of the outer wall of the tank shell (41), and the discharge pipe (89) is connected to the tank conveying cylinder shell (85); A fan (810) is installed at the top end of the rear side of the inner cavity of the exhaust pipe (89), and the fan (810) is electrically connected to the second sub-control module (33).

9. A control method for a soybean harvester and threshing machine, applied to the soybean harvester and threshing machine according to claim 8, characterized in that: The steps include: Step 1: The staff drives the vehicle to tow the trailer frame (1) to the designated location, and controls the main control console (10) to stop the connection between the charging storage cabin (9) and the first battery module (24) to charge the second battery module (34), and takes out the transfer mechanism (2) and the harvesting and threshing mechanism (3) that are charged inside the charging storage cabin (9) to prepare for operation; Step 2: Under the guidance of the route planning of the second sensor (35), the second electric drive wheel (32) pushes the harvesting component (4) to move along the cultivation area in cooperation with the second frame (31), the third motor (63) drives the conveying roller (64) to rotate, and drives the reed roller (65) to rotate synchronously under the transmission action of the fifth transmission belt (66), the reed roller (65) moves the soybean plant downward to press it into the surface of the cutting plate (62), the cutting plate (62) cuts the rhizome of the soybean plant under the thrust action and then cuts the whole soybean plant, and the soybean plant is continuously fed into the first mesh concave plate (51) under the action of the rotation force of the conveying roller (64); Step 3: The first motor (57) drives the rear threshing roller (54) to rotate under the transmission of the third transmission belt (58). Under the transmission action of the first transmission belt (55) and the second transmission belt (56), the front threshing roller (54) and the cutting knife roller (52) rotate synchronously. The soybean plants inside the first mesh concave plate (51) are cut into segments by the cutting knife roller (52) and are sent to the inside of the second mesh concave plate (53) under the action of the rotation force of the cutting knife roller (52). During the rotation process of the threshing roller (54), the soybean plants inside the second mesh concave plate (53) are separated from the soybean grains by friction and collision with the second mesh concave plate (53). The separated soybean grains pass through the mesh inside the second mesh concave plate (53) and fall onto the screen surface of the vibrating screen (71) below. The remaining unseparated soybean stalks enter the inside of the three side screen plates (59) along the second mesh concave plate (53); Step 4: The second motor (510) drives the middle separation roller (511) to rotate, and under the drive of the fourth transmission belt (512) on the left and right sides, the three side separation rollers (511) rotate synchronously inside the three screen plates (59), and then the soybean plants are cut into smaller bean stalk structures through further crushing, so as to separate the soybean grains from the bean stalks. The soybean grains pass through the internal mesh of the screen plate (59) and fall onto the surface of the vibrating screen (71) below. The remaining bean stalk impurities enter the surface of the screen frame (81) along the inner side of the screen plate (59). The bean stalk impurities on the surface of the screen frame (81) pass through the internal mesh of the screen frame (81) and fall onto the surface of the cutting screen plate (82); Step 5: The sixth motor (86) drives the third spiral conveying rod (87) to rotate inside the trough conveying cylinder shell (85), and drives the front cutting blade (83) to rotate under the transmission of the sixth transmission belt (88), and drives the rear cutting blade (83) to rotate synchronously under the transmission of the gear assembly (84), and the front and rear cutting blades (83) cut the bean stalk impurities on the surface of the cutting screen (82) and crush them into fine chips, which then enter the inside of the trough conveying cylinder shell (85) and enter the inner cavity of the discharge pipe (89) under the transmission of the rotation force of the third spiral conveying rod (87); Step 6: The fan (810) blows the fine dust in the inner cavity of the discharge pipe (89) out along the discharge pipe (89) to the outside for discharge, and the internal screen of the vibrating screen (71) vibrates to further separate the soybean seeds and soybean stalks. The soybean seeds enter the interior of the lower guide plate (72) and enter the interior of the horizontal conveying cylinder shell (73) along the guide plate (72); Step 7: Under the guidance of the route planning of the first sensor (25), the first electric drive wheel (22) moves to a position below the discharge port of the inclined conveying cylinder shell (76) in cooperation with the second frame (31), and the transfer mechanism (2) moves following the harvesting and threshing mechanism (3); Step eight: the fourth motor (74) drives the first spiral conveying rod (75) to rotate inside the horizontal conveying cylinder shell (73), so that the soybean grains inside the horizontal conveying cylinder shell (73) are transported to the inside of the inclined conveying cylinder shell (76) under the action of the rotational force of the first spiral conveying rod (75), and the fifth motor (77) drives the second spiral conveying rod (78) to rotate inside the inclined conveying cylinder shell (76), so that the soybean grains inside the inclined conveying cylinder shell (76) are lifted upward under the action of the rotational force of the second spiral conveying rod (78) and are discharged from the discharge port of the inclined conveying cylinder shell (76) to the inside of the material box (28); Step 9: After the material box (28) is filled with soybean seeds, the first sensor (25) guides the first battery module (24) to move to the transfer mechanism (2) and to the front side of the lifting conveyor (11). The electric lift (26) drives the base frame (27) to rise to a specified height. The first electric telescopic rod (29) extends and drives the material box (28) to rotate upward inside the base frame (27) and pour the soybean seeds inside itself into the lifting conveyor (11). The lifting conveyor (11) lifts the soybean seeds inside itself and pours them into the inner cavity of the container placed inside the material rack (12) to realize the packaging operation.

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