Soybean harvesting and threshing integrated machine and control method thereof

Abstract

The application relates to the technical field of agricultural machinery, and particularly discloses a soybean harvesting and threshing integrated machine and a control method thereof, a trailer frame, a transfer mechanism, a harvesting and threshing mechanism, a charging and storage cabin, a main control operation table, a lifting conveyor and a material rack; the transfer mechanism is arranged outside the trailer frame; the harvesting and threshing mechanism is arranged outside the trailer frame and located at the right side of the transfer mechanism, the harvesting and threshing mechanism is internally provided with a harvesting component, the harvesting component can realize integrated and efficient operation of soybean harvesting and threshing; and the charging and storage cabin is installed at the top right side of the trailer frame. The soybean harvesting and threshing integrated machine and the control method thereof are designed in an unmanned and automatic mode, the overall volume of the equipment is reduced, the operation flexibility on complex terrains and small plots is improved, the working parameters can be automatically adjusted to optimize the efficiency, and the harvesting, threshing, cleaning and storage functions are combined into independent parts, so that the applicability of the equipment is further improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural machinery, in particular to a soybean harvesting and threshing integrated machine and a control method thereof. BACKGROUND

[0002] With the development of agricultural mechanization, soybean harvesting and threshing machines have a wide application prospect in modern agriculture. The soybean harvesting and threshing machine is a kind of agricultural machinery designed for harvesting and threshing soybeans. Its main function is to harvest soybean plants in the field by mechanical means and separate soybean seeds from the plants. It not only improves the efficiency and quality of soybean harvesting, but also promotes the modernization and large-scale development of agricultural production.

[0003] In the prior art, the current soybean harvesting and threshing integrated equipment is a large machine, which leads to a large size of the soybean harvesting and threshing integrated equipment, making it difficult to operate in narrow or irregular plots. Moreover, the large equipment has a large turning radius, which reduces the efficiency in small plots or complex terrain, increases the operation difficulty and time consumption, and further increases the size of the soybean harvesting and threshing integrated equipment due to the storage structure of soybean seeds. On the other hand, the existing equipment has poor damage reduction effect on soybeans during operation. Partial mechanical harvesting may cause seed scattering and plant damage, resulting in yield loss. The threshing process is rough, and the seeds are damaged due to excessive squeezing and collision, affecting the quality and value. The impurity separation in the cleaning process is not complete, which reduces the purity of soybeans and is not conducive to storage and sales. During material conveying, the spilling problem leads to soybean loss. Therefore, it is an important task in the current agricultural machinery field to develop a soybean harvesting and threshing integrated machine that can operate flexibly in complex terrain and small plots while effectively reducing soybean loss during harvesting and threshing. SUMMARY

[0004] The present application aims to provide a soybean harvesting and threshing integrated machine and a control method thereof to solve the problems mentioned in the background.

[0005] In order to achieve the above object, the present application provides the following technical scheme: a soybean harvesting and threshing integrated machine, a trailer frame, a transfer mechanism, a harvesting and threshing mechanism, a charging storage cabin, a main control console, a lifting conveyor and a material rack; the transfer mechanism is arranged outside the trailer frame; the harvesting and threshing mechanism is arranged outside the trailer frame and located at the right side of the transfer mechanism, the inside of the harvesting and threshing mechanism is provided with a harvesting component, and the harvesting component can realize integrated and efficient operation of soybean harvesting and threshing; the charging storage cabin is installed at the top right side of the trailer frame; the main control console is installed at the right front of the charging storage cabin, and the charging storage cabin and the main control console are electrically connected; the lifting conveyor is installed at the top left side of the trailer frame, and the lifting conveyor and the main control console are electrically connected; the material rack is arranged at the left side of the trailer frame and located below the discharge port of the lifting conveyor.

[0006] Preferably, the transfer mechanism comprises: a first frame, a first electric drive wheel, a first sub-control module, a first battery module, a first sensor, an electric elevator, a base frame, a material box and a first electric telescopic rod; the first frame is arranged outside 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 outside the first frame; the first sub-control module is installed at the left side of the first frame, the first electric drive wheels and the main control console are remotely connected, and the first sub-control module and the first electric drive wheels are electrically connected; the first battery module is installed at the left side of the first frame, the first electric drive wheels and the main control console are remotely connected, and the first battery module and the first sub-control module are electrically connected; the number of the first sensors is two, and the two first sensors are respectively installed at the front sides of the first sub-control module and the first battery module; the electric elevator is installed at the top end of the first frame, and the electric elevator and the first sub-control module are electrically connected; the base frame is installed at the top of the lifting end of the electric elevator; the material box is rotatably connected to the inside of the first electric telescopic rod through a rotating shaft; the number of the first electric telescopic rods is two, and the two first electric telescopic rods are respectively rotatably connected to the front ends of the left and right sides of the base frame through rotating shafts, the extension ends of the two first electric telescopic rods are respectively rotatably connected to the left and right sides of the material box through rotating shafts, and the first electric telescopic rods and the first sub-control module are electrically connected.

[0007] Preferably, the harvesting and threshing mechanism comprises a second frame, four second electric drive wheels, a second sub-control module, a second battery module, two second sensors, and a harvesting component; the second frame is arranged outside the transfer mechanism; the four second electric drive wheels are respectively arranged at the four corners of the first frame; the second sub-control module is arranged on the left side of the second frame; the second electric drive wheels and the main control console are remotely connected by network; the second sub-control module and the second electric drive wheels are electrically connected; the second battery module is arranged on the left side of the second frame; the second electric drive wheels and the main control console are remotely connected by network; the second battery module and the second sub-control module are electrically connected; the two second sensors are respectively arranged on the front sides of the second sub-control module and the second battery module; and the harvesting component is arranged on the front side of the second frame.

[0008] Preferably, the harvesting component comprises a groove shell, two support wheels, a threshing mechanism, a header unit, a screening unit, and a discharge unit; the groove shell is arranged on the front side of the second frame in the front-rear direction; the two support wheels are respectively arranged on the left and right sides of the bottom end of the groove shell; the threshing mechanism is arranged at the top of the inner cavity of the groove shell; the header unit is arranged at the bottom of the front side of the groove shell; the screening unit is arranged at the bottom of the inner cavity of the groove shell; and the discharge unit is arranged at the rear side of the inner cavity of the groove shell.

[0009] Preferably, the threshing mechanism comprises: a first mesh concave, a cutting knife roller, a second mesh concave, 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 is arranged on the front side of the inner cavity of the groove body shell along the left-right direction; the cutting knife roller is rotatably connected to the inner cavity of the groove body shell through a bearing along the left-right direction and is located on the inner side of the cutting knife roller, and the shaft center of the cutting knife roller extends out of the right side of the groove body shell; the second mesh concave is arranged on the inner cavity of the groove body shell along the left-right direction and is located on the front and back sides below the rear side of the first mesh concave; the number of the threshing rollers is two, and the two threshing rollers are rotatably connected to the inner cavity of the groove body shell through bearings along the left-right direction and are located on the front and back ends of the inner side of the second mesh concave, and the shaft centers of the threshing rollers extend out of the right side of the groove body shell; the two ends of the first transmission belt are respectively connected to the right ends of the shaft centers of the front and back threshing rollers; one end of the second transmission belt is connected to the right end of the shaft center of the front threshing roller, and the other end of the second transmission belt is connected to the right end of the shaft center of the cutting knife roller; the first motor is fixedly installed on the right side of the top end of the groove body shell, and the first motor is electrically connected with the second control module; one end of the third transmission belt is connected to the right end of the shaft center 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 installed on the rear side of the inner cavity of the groove body shell along the front and back directions and are located below the rear side of the second mesh concave; the second motor is fixedly installed on the rear side of the inner cavity of the groove body shell, and the second motor is electrically connected with the second control module; the number of the separating rollers is three, and the three separating rollers are rotatably connected to the rear side of the inner cavity of the groove body shell and the rotating end of the second motor through bearings along the front and back directions 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 shaft centers of the left and right separating rollers and the front and back sides of the front ends of the shaft centers of the middle separating rollers.

[0010] Preferably, the cutting platform unit comprises: a cutting platform shell, a cutting knife plate, a third motor, a conveying roller, a sweeping roller and a fifth transmission belt; the cutting platform shell is arranged on the front side of the groove body shell along the left-right direction and communicates with the inner cavity of the groove body shell; the cutting knife plate is installed on the bottom of the inner cavity of the cutting platform shell along the left-right direction; the third motor is installed on the right side of the cutting platform shell, and the third motor is electrically connected with the second control module; the conveying roller is rotatably connected to the inner cavity of the cutting platform shell through a bearing along the left-right direction and is located above the rear side of the cutting knife plate, the shaft center of the conveying roller extends out of the left and right sides of the cutting platform shell, and the rotating end of the third motor is connected with the shaft center of the conveying roller; the sweeping roller is rotatably connected to the front side of the inner cavity of the cutting platform shell along the left-right direction; one end of the fifth transmission belt is connected to the left end of the shaft center of the sweeping roller, and the other end of the fifth transmission belt is connected to the left end of the shaft center of the conveying roller.

[0011] Preferably, the screening unit comprises 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 groove shell in the front-rear direction and below the second mesh concave plate and the screen plate, and the vibrating screen is electrically connected with the second control module; the guide plate is arranged below the vibrating screen in the inner cavity of the groove shell in the front-rear direction; the horizontal conveying cylinder shell is arranged on the front side of the guide plate in the left-right direction; the fourth motor is installed on the left side of the horizontal conveying cylinder shell, the rotating end of the fourth motor extends into the inner cavity of the horizontal conveying cylinder shell, and the fourth motor is electrically connected with the second control module; the first spiral conveying rod is installed on the rotating end of the fourth motor in the left-right direction; the inclined conveying cylinder shell is installed on the outer right side of the groove shell through a support, and the inclined conveying cylinder shell is connected with the horizontal conveying cylinder shell; the fifth motor is installed on the bottom end of the inclined conveying cylinder shell, 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 with the second control module; and the second spiral conveying rod is installed on the rotating end of the fifth motor.

[0012] Preferably, the discharging unit comprises a screen frame, a cutting net plate, cutting blades, a gear assembly, a groove conveying cylinder shell, a sixth motor, a third spiral conveying rod, a sixth transmission belt, a discharge pipeline and a fan; the screen frame is arranged in the inner cavity of the groove shell in the left-right direction and below the rear side of the screen plate, and the screen frame is below the rear discharge port of the vibrating screen; the cutting net plate is arranged below the inner side of the screen frame in the left-right direction; the cutting blades are two in number, and the two cutting blades are respectively rotatably connected to the lower front and rear sides of the screen frame through bearing seats in the left-right direction, and the cutting blades pass through the inside of the cutting net plate; the gear assembly is connected to the right ends of the shafts of the front and rear cutting blades; the groove conveying cylinder shell is installed on the front side bottom end of the screen frame in the left-right direction and is located in front of the screen frame; the sixth motor is installed on the left side of the groove conveying cylinder shell, and the sixth motor is electrically connected with the second control module; the third spiral conveying rod is installed on the rotating end of the sixth motor in the left-right direction and is located on the inner side of the groove conveying cylinder shell; one end of the sixth transmission belt is connected to the left side of the shaft of the third spiral conveying rod, and the other end of the sixth transmission belt is connected with the left end of the shaft of the front cutting blade; the discharge pipeline is installed on the right side of the outer wall of the groove shell, and the discharge pipeline is connected with the groove conveying cylinder shell; and the fan is installed on the inner cavity rear side top end of the discharge pipeline, and the fan is electrically connected with the second control module.

[0013] Compared with the prior art, the present application has the following advantages:

[0014] 1、the second electric drive wheel in the second frame under the cooperation of the push harvesting components along the cultivated area to move, the third motor drive conveying roller rotation, and under the transmission effect of the fifth transmission belt drive prong roller synchronous rotation, soybean plants in the conveying roller rotation force under the continuous sent into the first mesh concave inside, the first motor under the transmission of the third transmission belt drive rear side of the cylinder rotation, under the transmission effect of the first transmission belt and the second transmission belt, front side of the cylinder and cutting knife roller synchronous rotation, the first mesh concave inside soybean plants are cut into segments by cutting knife roller, and under the rotation force of cutting knife roller sent to the second mesh concave inside, the second mesh concave inside soybean plants are separated by cylinder, after separation of soybean seeds through the second mesh concave inside mesh fall into the lower surface of the vibrating screen screen, the remaining unseparated bean stalk along the second mesh concave respectively into three side screen plate inside, the second motor drive, three side separation roller in three screen plate inside synchronous rotation, further broken will be soybean plants cut into smaller bean stalk structure, screen frame surface bean stalk impurities through the screen frame inside mesh fall into the cutting screen plate surface, the sixth motor drive third screw conveying rod in the groove conveying cylinder shell inside rotation, and under the transmission of the sixth transmission belt drive front side cutting blade rotation, under the transmission of the gear assembly drive rear side cutting blade synchronous rotation, front and rear cutting blade on cutting screen plate surface bean stalk impurities are cut to make them broken into fine after entering into the groove conveying cylinder shell inside, and under the rotation force of third screw conveying rod into the discharge pipe lumen, the fan will discharge pipe lumen fine blowing along the discharge pipe to the outside to discharge, vibrating screen inside screen vibration further separate soybean seeds and bean stalk, soybean seeds into the lower guide plate inside, and along the guide plate into the horizontal conveying cylinder shell inside.

[0015] 2、the first electric drive wheel in the second frame under the cooperation of the move to the inclined conveying cylinder shell discharge port below the position, and make the transfer mechanism follow the harvesting and threshing mechanism to move, the fourth motor drive first screw conveying rod in the horizontal conveying cylinder shell inside rotation, make the horizontal conveying cylinder shell inside soybean seeds in the first screw conveying rod rotation force under the conveying to the inclined conveying cylinder shell inside, the fifth motor drive second screw conveying rod in the inclined conveying cylinder shell inside rotation, make the inclined conveying cylinder shell inside soybean seeds in the second screw conveying rod rotation force under the upward lifting after by the inclined conveying cylinder shell discharge port discharge to the material box inside, the material box inside full of soybean seeds, the first sensor guide first battery module moves to make the transfer mechanism to move to the lifting conveyor front side position, electric lift drive base frame to the specified height position, the first electric telescopic rod extension drive material box in the base frame inside upward rotation and its inside soybean seeds pour into the lifting conveyor inside, the lifting conveyor will itself inside soybean seeds lifting after pouring into the material rack inside container lumen realize sub packaging operation.

[0016] 3. The header unit is designed for precise cutting of soybean plants. The reeling roller presses the soybean plant down onto the cutter plate, which precisely cuts the rootstock, preventing soybean seeds from falling off or plants from being torn apart due to improper harvesting operations, thus reducing losses during harvesting. The threshing mechanism, through the coordinated operation of the cutting roller and the threshing roller, segments and threshes the soybean plant. After the cutting roller cuts the plant into segments, it is fed into the second mesh concave plate. During rotation, the threshing roller separates the seeds through friction and impact. This orderly threshing method reduces seed damage caused by excessive squeezing or collision, ensuring the soybeans are harvested safely. To maintain the integrity of the soybean grains and reduce losses during threshing, the screening unit employs a vibrating screen combined with a screw conveyor, effectively separating soybean grains from stalk impurities. The vibrating screen further separates the grains, resulting in purer soybeans, reducing impurity contamination, and improving soybean quality. During material conveying, from the horizontal conveyor cylinder shell to the inclined conveyor cylinder shell, and then to the material box and lifting conveyor, all conveying components work closely together. The screw conveyor stably conveys the soybean grains, reducing spillage during conveying and ensuring that the harvested soybeans are collected to the maximum extent, minimizing losses during the conveying process.

[0017] In summary, this invention adopts an unmanned automated design, reduces the overall size of the equipment, improves operational flexibility in complex terrain and small plots, can automatically adjust working parameters to optimize efficiency, and further improves the applicability of the equipment by combining harvesting, threshing, cleaning and storage functions into independent parts, while effectively reducing losses during the harvesting and threshing process. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the present invention;

[0019] Figure 2 for Figure 1 Exploded view of the transfer mechanism;

[0020] Figure 3 for Figure 1 Exploded view of the harvesting and threshing mechanism;

[0021] Figure 4 for Figure 3 Exploded view of the harvesting components;

[0022] Figure 5 for Figure 4 Exploded view of the threshing mechanism;

[0023] Figure 6 for Figure 4 Enlarged view of the cutter unit at point A;

[0024] Figure 7 for Figure 4 Enlarged view of the screening unit at point B;

[0025] Figure 8 For Figure 4 Exhaust pipe enlarged view at C of

[0026] 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 component; 41, groove 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, separation roller; 512, fourth transmission belt; 6, header unit; 61, header shell; 62, cutting knife plate; 63, third motor; 64, conveying roller; 65, sweeping roller; 66, fifth transmission belt; 7, screening unit; 71, vibrating screen; 72, guide plate; 73, horizontal conveying cylinder shell; 74, fourth motor; 75, first spiral conveying rod; 76, inclined conveying cylinder shell; 77, fifth motor; 78, second spiral conveying rod; 8, discharge unit; 81, screen frame; 82, cutting screen plate; 83, cutting blade; 84, gear assembly; 85, groove conveying cylinder shell; 86, sixth motor; 87, third spiral conveying rod; 88, sixth transmission belt; 89, discharge pipe; 810, fan; 9, charging storage cabin; 10, main control console; 11, lifting conveyor; 12, material frame. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0028] Please refer to Figures 1-8The application provides a technical scheme: a soybean harvesting and threshing integrated machine, characterized in that a trailer frame 1, a transfer mechanism 2, a harvesting and threshing mechanism 3, a charging storage cabin 9, a main control operation table 10, a lifting conveyor 11 and a material rack 12 are arranged; the transfer mechanism 2 is arranged outside the trailer frame 1; the harvesting and threshing mechanism 3 is arranged outside the trailer frame 1 and located at the right side of the transfer mechanism 2, and the harvesting and threshing mechanism 3 is internally provided with a harvesting component 4, which can realize integrated and efficient operation of soybean harvesting and threshing; the charging storage cabin 9 is installed at the top right side of the trailer frame 1; the main control operation table 10 is installed at the right front of the charging storage cabin 9, the charging storage cabin 9 and the main control operation table 10 are electrically connected, the charging storage cabin 9 is controlled by the main control operation table 10, and the charging storage cabin 9 and the first battery module 24 can be connected to charge the second battery module 34; the lifting conveyor 11 is installed at the top left side of the trailer frame 1, the lifting conveyor 11 and the main control operation table 10 are electrically connected, the lifting conveyor 11 is controlled by the main control operation table 10, and the lifting conveyor 11 can lift soybean seeds in the lifting conveyor 11 and pour them into the inner cavity of a container placed in the material rack 12 to realize subpackaging operation; and the material rack 12 is arranged at the left side of the trailer frame 1 and located below the discharge port of the lifting conveyor 11, and a plurality of containers can be stored in the material rack 12.

[0029] As a preferred scheme, further, Figure 2As shown, the transfer mechanism 2 comprises: a first frame 21, four first electric drive wheels 22, a first sub-control module 23, a first battery module 24, a first sensor 25, an electric elevator 26, a base frame 27, a material box 28, and a first electric telescopic rod 29; the first frame 21 is arranged on the outer side of the trailer frame 1; the four first electric drive wheels 22 are respectively arranged at the four corners of the outer side of the first frame 21, and the first electric drive wheels 22 are controlled by the first sub-control module 23, and the first electric drive wheels 22 are internally provided with a steering module and a damping module; the first sub-control module 23 is arranged on the left side of the first frame 21, the first electric drive wheels 22 and the main control console 10 are remotely connected, the first sub-control module 23 and the first electric drive wheels 22 are electrically connected, the first sub-control module 23 is internally provided with a preset program which can be remotely controlled and started by the main control console 10; the first battery module 24 is arranged on the left side of the first frame 21, the first electric drive wheels 22 and the main control console 10 are remotely connected, the first battery module 24 and the first sub-control module 23 are electrically connected, and the first battery module 24 can supply power to the electrical devices inside the transfer mechanism 2; the two first sensors 25 are respectively arranged on the front sides of the first sub-control module 23 and 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 a moving path, and send the data to the inside of the first sub-control module 23; the electric elevator 26 is arranged at the top of the first frame 21, the electric elevator 26 and the first sub-control module 23 are electrically connected, the electric elevator 26 is controlled by the first sub-control module 23, and the electric elevator 26 can drive the base frame 27 to rise to a specified height; the base frame 27 is arranged at the top of the lifting end of the electric elevator 26; the material box 28 is rotatably connected to the inside of the first electric telescopic rod 29 through a rotating shaft; the two first electric telescopic rods 29 are respectively rotatably connected to the left and right sides of the front end of the base frame 27 through rotating shafts, the extension ends of the two first electric telescopic rods 29 are respectively rotatably connected to the left and right sides of the material box 28 through rotating shafts, the first electric telescopic rod 29 and the first sub-control module 23 are electrically connected, the first electric telescopic rod 29 is controlled by the first sub-control module 23, and the first electric telescopic rod 29 drives the base frame 27 to rotate upward or downward by elongating or shortening itself, and the first electric telescopic rod 29 can rotate upward or downward around the shaft at the connection between the base frame 27 and the rotating shaft during the elongation or shortening process.

[0030] As a preferred solution, further, Figure 3As shown, the harvesting and threshing mechanism 3 comprises a second frame 31, four second electric drive wheels 32, a second sub-control module 33, a second battery module 34, two second sensors 35, and a harvesting component 4; the second frame 31 is arranged outside the transfer mechanism 2; the four second electric drive wheels 32 are respectively arranged at the four corners of the outer side of the first frame 21, and are controlled by the second sub-control module 33, and are internally provided with a steering module and a damping module; the second sub-control module 33 is arranged at the left side of the second frame 31, and is remotely connected with the main control console 10 in network, and is electrically connected with the second electric drive wheels 32, and is internally provided with a preset program which can be remotely controlled and started by the main control console 10; the second battery module 34 is arranged at the left side of the second frame 31, and is remotely connected with the main control console 10 in network, and is electrically connected with the second sub-control module 33, and can supply power to the electrical devices inside the harvesting and threshing mechanism 3; the two second sensors 35 are respectively arranged at the front sides of the second sub-control module 33 and the second battery module 34; the harvesting component 4 is arranged at the front side of the second frame 31, and is controlled by the second sub-control module 33, and can collect external image data and plan a moving path, and send the data to the inside of the second sub-control module 33.

[0031] As a preferred solution, further, as shown in Figure 4 As shown, the harvesting component 4 comprises a groove housing 41, two support wheels 42, a threshing mechanism 5, a header unit 6, a screening unit 7, and a discharge unit 8; the groove housing 41 is arranged at the front side of the second frame 31 along the front-rear direction; the two support wheels 42 are respectively arranged at the left and right sides of the bottom end of the groove housing 41; the threshing mechanism 5 is arranged at the top of the inner cavity of the groove housing 41; the header unit 6 is arranged at the bottom of the front side of the groove housing 41; the screening unit 7 is arranged at the bottom of the inner cavity of the groove housing 41; and the discharge unit 8 is arranged at the rear side of the inner cavity of the groove housing 41.

[0032] As a preferred solution, further, as shown in Figure 5As shown, the threshing mechanism 5 comprises: 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 separation 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 groove shell 41 along the left-right direction; the cutting knife roller 52 is rotatably connected to the inner cavity of the groove shell 41 through a bearing along the left-right direction and is located on the inner side of the cutting knife roller 52, the shaft center of the cutting knife roller 52 extends out of the right side of the outer part of the groove 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 on the inner cavity of the groove shell 41 along the left-right direction and is located on the front and back sides below the rear side of the first mesh concave plate 51; the number of the threshing rollers 54 is two, and the two threshing rollers 54 are rotatably connected to the inner cavity of the groove shell 41 through bearings along the left-right direction and are located on the inner side of the front and back ends of the second mesh concave plate 53, the shaft centers of the threshing rollers 54 extend out of the right side of the outer part of the groove shell 41; the two ends of the first transmission belt 55 are respectively connected to the right ends of the shaft centers of the front and back two threshing rollers 54, and the first transmission belt 55 can play a transmission role between the front and back two threshing rollers 54; one end of the second transmission belt 56 is connected to the right end of the shaft center of the front threshing roller 54, and the other end of the second transmission belt 56 is connected to the right end of the shaft center of the cutting knife roller 52, and the second transmission belt 56 can play a transmission role between the cutting knife roller 52 and the front threshing roller 54; the first motor 57 is fixedly installed on the right side of the top end of the groove shell 41, the first motor 57 and the second sub-control module 33 are electrically connected, the first motor 57 is controlled by the second sub-control module 33, and the first motor 57 can drive the one end pulley of the third transmission belt 58 to rotate; one end of the third transmission belt 58 is connected to the right end of the shaft center 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 the screen plates 59 is three, and the three screen plates 59 are respectively installed on the rear side of the inner cavity of the groove shell 41 along the front and back direction and are located below the rear side of the second mesh concave plate 53; the second motor 510 is fixedly installed on the rear side of the inner cavity of the groove shell 41, the second motor 510 and the second sub-control module 33 are electrically connected, 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 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 groove shell 41 and the rotating end of the second motor 510 along the front and back direction and are located on the inner side of the three screen plates 59; 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 shaft centers of the left and right two separation rollers 511 and the front and back sides of the front end of the shaft center of the middle separation roller 511, and the fourth transmission belt 512 can play a transmission role between the three separation rollers 511.

[0033] As a preferred solution, further, as shown in Figure 6 The cutting platform unit 6 comprises a cutting platform shell 61, a cutting knife plate 62, a third motor 63, a conveying roller 64, a sweeping roller 65 and a fifth transmission belt 66. The cutting platform shell 61 is arranged at the front side of the trench shell 41 along the left-right direction and communicates with the inner cavity of the trench shell 41. The cutting knife plate 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 at the right side of the cutting platform shell 61. The third motor 63 is electrically connected with the second sub-control module 33 and is controlled by the second sub-control module 33. The third motor 63 can drive the conveying roller 64 to rotate. The conveying roller 64 is rotatably connected to the inner cavity of the cutting platform shell 61 through a bearing along the left-right direction and is located at the upper rear side of the cutting knife plate 62. The shaft of the conveying roller 64 extends out of the left and right sides of the cutting platform shell 61. The rotating end of the third motor 63 is connected with the shaft of the conveying roller 64. The sweeping roller 65 is rotatably connected to the front upper side of the inner cavity of the cutting platform shell 61 through a bearing along the left-right direction. One end of the fifth transmission belt 66 is connected with the left end of the shaft of the sweeping roller 65. The other end of the fifth transmission belt 66 is connected with the left end of the shaft of the conveying roller 64. The fifth transmission belt 66 can play a transmission role between the conveying roller 64 and the sweeping roller 65.

[0034] As a preferred solution, further, as shown in Figure 7As shown, the screening unit 7 comprises: 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 tank shell 41 along the front-rear direction and below the second mesh concave plate 53 and the screen plate 59, the vibrating screen 71 is electrically connected with the second control module 33, the vibrating screen 71 is controlled by the second control module 33, the vibrating screen 71 can further separate soybean seeds and stems by vibrating the screen inside; the guide plate 72 is arranged below the vibrating screen 71 in the inner cavity of the tank shell 41 along the front-rear direction; the horizontal conveying cylinder shell 73 is arranged on the front side of the guide plate 72 along the left-right direction; the fourth motor 74 is installed on the left side of the horizontal conveying cylinder shell 73, the rotating end of the fourth motor 74 extends into the inner cavity of the horizontal conveying cylinder shell 73, the fourth motor 74 is electrically connected with the second control module 33, the fourth motor 74 is controlled by the second control module 33, and the fourth motor 74 can drive the first screw conveying rod 75 to rotate; the first screw conveying rod 75 is installed on the rotating end of the fourth motor 74 along the left-right direction; the inclined conveying cylinder shell 76 is installed on the outer right side of the tank shell 41 through a support, and the inclined conveying cylinder shell 76 is connected with the horizontal conveying cylinder shell 73; the fifth motor 77 is installed on the bottom end of the inclined conveying cylinder shell 76, 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 with the second control module 33, the fifth motor 77 is controlled by the second control module 33, and the fifth motor 77 can drive the second screw conveying rod 78 to rotate; and the second screw conveying rod 78 is installed on the rotating end of the fifth motor 77.

[0035] As a preferred solution, further, as Figure 8As shown, the discharge unit 8 comprises: a screen frame 81, a cutting net plate 82, cutting blades 83, a gear assembly 84, a groove conveying cylinder shell 85, a sixth motor 86, a third spiral conveying rod 87, a sixth transmission belt 88, a discharge pipeline 89 and a fan 810; the screen frame 81 is arranged in the inner cavity of the groove shell 41 along the left-right direction and below the rear side of the screen plate 59, and the screen frame 81 is below the rear discharge port of the vibrating screen 71; the cutting net plate 82 is arranged below the inner side of the screen frame 81 along the left-right direction; the two cutting blades 83 are respectively rotatably connected to the lower front and rear sides of the screen frame 81 along the left-right direction through bearing seats, and the cutting blades 83 pass through the inside of the cutting net plate 82; the gear assembly 84 is connected to the right ends of the shafts of the front and rear cutting blades 83, and the gear assembly 84 can drive the front and rear cutting blades 83; the groove conveying cylinder shell 85 is installed at the front bottom end of the screen frame 81 along the left-right direction and is located in front of the screen frame 81; the sixth motor 86 is installed on the left side of the groove conveying cylinder shell 85, and the sixth motor 86 and the second control module 33 are electrically connected, the sixth motor 86 is controlled by the second control module 33, and the sixth motor 86 can drive the third spiral conveying rod 87 to rotate; the third spiral conveying rod 87 is installed at the rotating end of the sixth motor 86 along the left-right direction and is located inside the groove conveying cylinder shell 85; one end of the sixth transmission belt 88 is connected to the left side of the shaft of the third spiral conveying rod 87, and the other end of the sixth transmission belt 88 is connected to the left end of the shaft of the front cutting blade 83, and the sixth transmission belt 88 can drive the third spiral conveying rod 87 and the front cutting blade 83; the discharge pipeline 89 is installed on the right side of the outer wall of the groove shell 41, and the discharge pipeline 89 and the groove conveying cylinder shell 85 are connected; the fan 810 is installed at the inner cavity of the discharge pipeline 89, and the fan 810 and the second control module 33 are electrically connected.

[0036] The working principle is as follows:

[0037] Step one: the staff drives the vehicle to pull the trailer frame 1 to the designated position, controls the main control console 10 to stop the connection of the charging storage cabin 9 and the first battery module 24 to the second battery module 34 for charging, and takes out the transfer mechanism 2 and the harvesting and threshing mechanism 3 inside the charging storage cabin 9 for operation;

[0038] Step two: under the route planning guidance of the second sensor 35, the second electric drive wheel 32 pushes the harvesting component 4 to move along the plowing area under the cooperation of the second frame 31, the third motor 63 drives the conveying roller 64 to rotate, and drives the sweeping roller 65 to rotate synchronously under the transmission of the fifth transmission belt 66, the sweeping roller 65 sweeps the soybean plants to press down onto the surface of the cutter plate 62, the cutter plate 62 cuts the rhizome of the soybean plants under the pushing force, and then cuts off the whole soybean plants, the soybean plants are continuously sent into the inside of the first mesh concave plate 51 under the rotating force of the conveying roller 64;

[0039] Step three: the first motor 57 drives the rear threshing roller 54 to rotate under the transmission of the third transmission belt 58, the front threshing roller 54 and the cutting knife roller 52 rotate synchronously under the transmission of the first transmission belt 55 and the second transmission belt 56, the soybean plants inside the first mesh concave plate 51 are cut into segments by the cutting knife roller 52, and are sent into the inside of the second mesh concave plate 53 under the rotating force of the cutting knife roller 52, the soybean plants inside the second mesh concave plate 53 are separated from the plants by friction and impact with the second mesh concave plate 53 in the rotating process of the threshing roller 54, the separated soybean seeds pass through the internal mesh of the second mesh concave plate 53 and fall onto the surface of the lower vibrating screen 71, and the remaining unseparated bean stems enter the inside of the three side screen plates 59 respectively along the second mesh concave plate 53;

[0040] Step four: the second motor 510 drives the middle separating roller 511 to rotate, and the three side separating rollers 511 rotate synchronously inside the three screen plates 59 under the transmission of the left and right fourth transmission belts 512, so as to further crush the soybean plants into smaller bean stem structures, realize the separation of soybean seeds and bean stems, and the soybean seeds pass through the internal mesh of the screen plate 59 and fall onto the surface of the lower vibrating screen 71, and the remaining bean stem impurities enter the surface of the screen frame 81 along the inside of the screen plate 59, and the bean stem 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;

[0041] Step five: the sixth motor 86 drives the third screw conveying rod 87 to rotate inside the groove 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, the front and rear cutting blades 83 cut the bean stem impurities on the surface of the cutting screen plate 82 into fine particles, which enter the inside of the groove conveying cylinder shell 85, and are conveyed into the inner cavity of the discharge pipeline 89 under the rotating force of the third screw conveying rod 87;

[0042] Step six: the fan 810 blows the fine particles in the inner cavity of the exhaust pipe 89 along the exhaust pipe 89 to the outside for exhaust, the inside screen of the vibrating screen 71 vibrates to further separate soybean seeds and bean stems, the soybean seeds enter the inside of the lower guide plate 72 and enter the inside of the horizontal conveying cylinder shell 73 along the guide plate 72;

[0043] Step seven: the first electric drive wheel 22 moves to a position below the discharge port of the inclined conveying cylinder shell 76 under the cooperation of the second frame 31 under the route planning guidance of the first sensor 25, and the transfer mechanism 2 moves with the harvesting and threshing mechanism 3;

[0044] Step eight: the fourth motor 74 drives the first spiral conveying rod 75 to rotate in the horizontal conveying cylinder shell 73, so that the soybean seeds in the horizontal conveying cylinder shell 73 are conveyed to the inside of the inclined conveying cylinder shell 76 under the action of the rotating force of the first spiral conveying rod 75, and the fifth motor 77 drives the second spiral conveying rod 78 to rotate in the inclined conveying cylinder shell 76, so that the soybean seeds in the inclined conveying cylinder shell 76 are lifted upwards under the action of the rotating force of the second spiral conveying rod 78 and then discharged from the discharge port of the inclined conveying cylinder shell 76 to the inside of the material box 28;

[0045] 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 position where the transfer mechanism 2 moves to the front side of the lifting conveyor 11, the electric elevator 26 drives the base frame 27 to rise to a specified height position, the first electric telescopic rod 29 is extended to drive the material box 28 to rotate upwards inside the base frame 27 and pour the soybean seeds inside itself into the inside of the lifting conveyor 11, and the lifting conveyor 11 pours the soybean seeds inside itself into the container cavity placed in the material frame 12 to realize the sub-packaging operation.

[0046] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A soybean harvesting and threshing machine, characterized by comprising: Include: Trailer frame (1); Transfer mechanism (2) is arranged outside the trailer frame (1); Harvesting and threshing mechanism (3) is arranged outside the trailer frame (1) and located at the right side of the transfer mechanism (2), the inside of the harvesting and threshing mechanism (3) is provided with harvesting components (4), and the harvesting components (4) can realize integrated and efficient operation of soybean harvesting and threshing; Charging storage cabin (9) is installed at the top right side of the trailer frame (1); The main control console (10) is installed at the right front of the charging storage cabin (9), and the charging storage cabin (9) and the main control console (10) are electrically connected; The lifting conveyor (11) is installed at the top left side of the trailer frame (1), and the lifting conveyor (11) and the main control console (10) are electrically connected; Material shelf (12) is arranged at the left side of the trailer frame (1) and below the discharge port of the lifting conveyor (11); The harvesting and threshing mechanism (3) comprises: Second frame (31) is arranged outside the transfer mechanism (2); Harvesting components (4) are installed on the front side of the second frame (31); The harvesting components (4) comprise: Groove shell (41) is installed on the front side of the second frame (31) in the front-rear direction; Support wheel (42), the number of the support wheel (42) is two, and the two support wheels (42) are respectively installed on the bottom end of the groove shell (41) left and right sides; Threshing mechanism (5) is arranged at the top of the inner cavity of the groove shell (41); Header unit (6) is arranged at the bottom of the front side of the groove shell (41); Screening unit (7) is arranged at the bottom of the inner cavity of the groove shell (41); Discharge unit (8) is arranged at the rear side of the inner cavity of the groove shell (41); The threshing mechanism (5) comprises: First mesh concave plate (51) is arranged at the front side of the inner cavity of the groove shell (41) in the left-right direction; Cutting knife roller (52) is rotatably connected to the inner cavity of the groove shell (41) in the left-right direction and located inside the cutting knife roller (52), and the shaft of the cutting knife roller (52) extends out of the right side of the groove shell (41); Second mesh concave plate (53) is arranged in the inner cavity of the groove shell (41) in the left-right direction and located below the rear side of the first mesh concave plate (51) front and rear; Threshing roller (54), the number of the threshing roller (54) is two, and the two threshing rollers (54) are respectively rotatably connected in the inner cavity of the groove shell (41) in the left-right direction and located at the front and rear ends of the inner side of the second mesh concave plate (53), and the shaft of the threshing roller (54) extends out of the right side of the groove shell (41); First transmission belt (55), the two ends of the first transmission belt (55) are respectively connected to the right end of the shaft of the front and rear two threshing rollers (54); Second transmission belt (56), one end of the second transmission belt (56) is connected to the right end of the shaft of the front threshing roller (54), and the other end of the second transmission belt (56) is connected to the right end of the shaft of the cutting knife roller (52); A first motor (57) is fixedly installed at the top right side of the groove shell (41), and the first motor (57) is electrically connected with the second control module (33); A third transmission belt (58) is connected at one end of the shaft right end 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); Three screen plates (59) are installed at the rear side of the inner cavity of the groove shell (41) and below the rear side of the second mesh concave plate (53) along the front-rear direction; A second motor (510) is fixedly installed at the rear middle part of the inner cavity of the groove shell (41), and the second motor (510) is electrically connected with the second control module (33); Three separation rollers (511) are rotatably connected by bearings at the rear side of the inner cavity of the groove shell (41) and the rotating end of the second motor (510) along the front-rear direction and inside the three screen plates (59); Two fourth transmission belts (512) are connected at the shaft front end of the left and right two separation rollers (511) and the shaft front end of the middle separation roller (511) on both sides.

2. The soybean harvesting and threshing machine of claim 1, wherein The transfer mechanism (2) comprises: A first frame (21) is arranged outside the trailer frame (1); Four first electric drive wheels (22) are arranged at the four corners of the outer side of the first frame (21); A first control module (23) is installed on the left side of the first frame (21), the first electric drive wheels (22) are remotely connected with the main control console (10), and the first control module (23) is electrically connected with the first electric drive wheels (22); A first battery module (24) is installed on the left side of the first frame (21), the first electric drive wheels (22) are remotely connected with the main control console (10), and the first battery module (24) is electrically connected with the first control module (23); Two first sensors (25) are installed on the front side of the first control module (23) and the first battery module (24); An electric elevator (26) is installed at the top end of the first frame (21), and the electric elevator (26) is electrically connected with the first control module (23); A base frame (27) is installed at the top of the lifting end of the electric elevator (26); A material box (28) is rotatably connected to the inner side of the first electric telescopic rod (29) through a rotating shaft; A first electric telescopic rod (29) is provided in two, 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, and the first electric telescopic rod (29) is electrically connected with the first sub-control module (23).

3. The combine harvester of claim 2, wherein The harvesting and threshing mechanism (3) further comprises: A second electric drive wheel (32) is provided in four, and the four second electric drive wheels (32) are respectively installed on the outer four corners of the second frame (31); 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, 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) and the main control console (10) are remotely connected, and the second battery module (34) and the second sub-control module (33) are electrically connected; Two second sensors (35) are respectively installed on the front side of the second sub-control module (33) and the second battery module (34).

4. The combine harvester of claim 3, wherein The cutter unit (6) comprises: A cutter housing (61) is arranged on the front side of the groove housing (41) in the left-right direction and communicates with the inner cavity of the groove housing (41); A cutter plate (62) is installed in the inner cavity of the cutter housing (61) in the left-right direction; A third motor (63) is installed on the right side of the cutter housing (61), and the third motor (63) and the second sub-control module (33) are electrically connected; A conveying roller (64) is rotatably connected in the inner cavity of the cutter housing (61) above the rear side of the cutter plate (62) in the left-right direction, the shaft of the conveying roller (64) extends out of the left and right sides of the cutter housing (61), and the rotating end of the third motor (63) is connected with the shaft of the conveying roller (64); A sweeping roller (65) is rotatably connected in the inner cavity of the cutter housing (61) above the front side in the left-right direction; A fifth transmission belt (66) is connected at one end to the left end of the shaft of the sweeping roller (65), and the other end of the fifth transmission belt (66) is connected to the left end of the shaft of the conveying roller (64).

5. The combine harvester of claim 4, wherein, The screening unit (7) comprises: A vibrating screen (71) is arranged in the inner cavity of the groove housing (41) below the second mesh concave plate (53) and the screen plate (59) in the front-rear direction, and the vibrating screen (71) and the second sub-control module (33) are electrically connected; A guide plate (72) is arranged below the vibrating screen (71) in the inner cavity of the groove housing (41) in the front-rear direction; A horizontal conveying cylinder housing (73) is arranged on the front side of the guide plate (72) in the left-right direction; A fourth motor (74) is installed on the left side of the horizontal conveying cylinder shell (73), the rotating end of the fourth motor (74) extends into the inner cavity of the horizontal conveying cylinder shell (73), and the fourth motor (74) is electrically connected with the second sub-control module (33); A first spiral conveying rod (75) is installed on the rotating end of the fourth motor (74) along the left-right direction; An inclined conveying cylinder shell (76) is installed on the outer right side of the groove shell (41) through a support, and the inclined conveying cylinder shell (76) is connected with the horizontal conveying cylinder shell (73); A fifth motor (77) is installed at the bottom end of the inclined conveying cylinder shell (76), the rotating end of the fifth motor (77) extends into the inner cavity of the inclined conveying cylinder shell (76), and the fifth motor (77) is electrically connected with the second sub-control module (33); A second spiral conveying rod (78) is installed on the rotating end of the fifth motor (77).

6. The combine harvester of claim 5, wherein, The discharging unit (8) comprises: A screen frame (81) is arranged in the inner cavity of the groove shell (41) and below the rear side of the screen plate (59) along the left-right direction, and the screen frame (81) is below the rear side discharge port of the vibrating screen (71); A cutting net plate (82) is arranged below the inner side of the screen frame (81) along the left-right direction; Two cutting blades (83) are arranged on the front and rear sides of the screen frame (81) below the screen frame (81) along the left-right direction, and the cutting blades (83) pass through the inside of the cutting net plate (82); A gear assembly (84) is connected to the right end of the shaft of the front and rear cutting blades (83); A groove conveying cylinder shell (85) is installed on the front side bottom end of the screen frame (81) along the left-right direction and is located in front of the screen frame (81); A sixth motor (86) is installed on the left side of the groove conveying cylinder shell (85), and the sixth motor (86) is electrically connected with the second sub-control module (33); A third spiral conveying rod (87) is installed on the rotating end of the sixth motor (86) along the left-right direction and is located on the inner side of the groove conveying cylinder shell (85); A sixth transmission belt (88) is connected to the left side of the shaft of the third spiral conveying rod (87), and the other end of the sixth transmission belt (88) is connected to the left end of the shaft of the front cutting blade (83); A discharge pipeline (89) is installed on the right side of the outer wall of the groove shell (41), and the discharge pipeline (89) is connected with the groove conveying cylinder shell (85); A fan (810) is installed on the inner cavity rear side top end of the discharge pipeline (89), and the fan (810) is electrically connected with the second sub-control module (33).

7. The control method of the soybean harvesting and threshing integrated machine, which is applied to the soybean harvesting and threshing integrated machine of claim 6, characterized in that, The method comprises the following steps: Step one: the staff drives the vehicle to pull the trailer frame (1) to the designated location, controls the main control console (10) to stop the connection of the charging storage cabin (9) and the first battery module (24) to the second battery module (34) for charging, and takes out the transfer mechanism (2) and the harvesting and threshing mechanism (3) inside the charging storage cabin (9) for preparation for operation; Step two: under the route planning guidance of the second sensor (35), the second electric drive wheel (32) pushes the harvesting component (4) to move along the cultivation area under the cooperation of the second frame (31), the third motor (63) drives the conveying roller (64) to rotate, and under the transmission action of the fifth transmission belt (66), the sweeping roller (65) rotates synchronously, the sweeping roller (65) sweeps the soybean plants to press them down onto the surface of the cutter plate (62), the cutter plate (62) cuts the roots and stems of the soybean plants under the pushing force and then cuts off the whole soybean plants, and the soybean plants are continuously sent into the first mesh concave plate (51) under the rotating force of the conveying roller (64); Step three: the first motor (57) drives the rear side threshing roller (54) to rotate under the transmission of the third transmission belt (58), and under the transmission action of the first transmission belt (55) and the second transmission belt (56), the front side 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 rotating force of the cutting knife roller (52), the soybean plants inside the second mesh concave plate (53) are separated from the plants by friction and impact with the second mesh concave plate (53) in the rotating process of the threshing roller (54), the separated soybean seeds pass through the internal mesh of the second mesh concave plate (53) and fall onto the surface of the lower vibrating screen (71), and the remaining unseparated bean stems enter the inside of the three side screen plates (59) along the second mesh concave plate (53); Step four: the second motor (510) drives the middle separation roller (511) to rotate, and under the transmission 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), thereby further crushing the soybean plants into smaller bean stem structures, realizing the separation of soybean seeds and bean stems, the soybean seeds pass through the internal mesh of the screen plate (59) and fall onto the surface of the lower vibrating screen (71), and the remaining bean stems and impurities enter the surface of the screen frame (81) along the inside of the screen plate (59), and the bean stems and 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 five: the sixth motor (86) drives the third screw rod (87) to rotate inside the groove 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), the front and rear cutting blades (83) cut the bean stalk impurities on the surface of the cutting net plate (82) to make them into fine particles, which enter the inside of the groove conveying cylinder shell (85), and are conveyed into the inside of the discharge pipeline (89) under the rotation force of the third screw rod (87); Step six: the fan (810) blows the fine particles in the inside of the discharge pipeline (89) along the discharge pipeline (89) to the outside for discharge, the inside screen of the vibrating screen (71) vibrates to further separate soybean seeds and bean stalks, the soybean seeds enter the inside of the lower guide plate (72), and enter the inside of the horizontal conveying cylinder shell (73) along the guide plate (72); Step seven: the first electric drive wheel (22) moves to the position below the discharge port of the inclined conveying cylinder shell (76) under the cooperation of the second frame (31) under the route planning guidance of the first sensor (25), and the transfer mechanism (2) moves with the harvesting and threshing mechanism (3); Step eight: the fourth motor (74) drives the first screw rod (75) to rotate inside the horizontal conveying cylinder shell (73), so that the soybean seeds in the horizontal conveying cylinder shell (73) are conveyed to the inside of the inclined conveying cylinder shell (76) under the rotation force of the first screw rod (75), and the fifth motor (77) drives the second screw rod (78) to rotate inside the inclined conveying cylinder shell (76), so that the soybean seeds in the inclined conveying cylinder shell (76) are lifted upward under the rotation force of the second screw rod (78) and discharged from the discharge port of the inclined conveying cylinder shell (76) to the inside of 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 position where the transfer mechanism (2) moves to the front side of the elevator conveyor (11), the electric elevator (26) drives the base frame (27) to rise to a specified height position, the first electric telescopic rod (29) is elongated to drive the material box (28) to rotate upward inside the base frame (27) and pour the soybean seeds in the inside of the material box (28) into the inside of the elevator conveyor (11), and the elevator conveyor (11) pours the soybean seeds in the inside into the container in the material rack (12) to realize the sub-packaging operation.

Images