CN113228923A

CN113228923A - Soybean harvesting and threshing integrated machine and control method thereof

Info

Publication number: CN113228923A
Application number: CN202110717378.3A
Authority: CN
Inventors: 张勇; 杨新宇; 曹鹏飞; 管文武; 徐旭
Original assignee: Anhui Yunlong Grain Machinery Co ltd
Current assignee: Anhui Yunlong Grain Machinery Co ltd
Priority date: 2021-06-28
Filing date: 2021-06-28
Publication date: 2021-08-10
Anticipated expiration: 2041-06-28
Also published as: CN113228923B

Abstract

The invention belongs to the technical field of agricultural machinery, and particularly relates to a soybean harvesting and threshing integrated machine and a control method thereof. This harvesting machine includes: the machine body, the header, the conveying mechanism, the threshing mechanism, the first motor and the transmission mechanism thereof, the second motor and the transmission mechanism thereof, the displacement sensor, the weighing sensor, the water content sensor, the first rotating speed sensor, the second rotating speed sensor, the alarm module and the intelligent control module. The header is used for cutting, collecting and prepressing soybean plants; the header comprises a harvesting hopper, a reel, a chain cutter and a packing auger; the threshing mechanism comprises a threshing box, a crushing device and a filtering and separating net. The intelligent control module is connected with the hydraulic lifting mechanism, the first motor, the second motor, the displacement sensor, the weighing sensor and the water content sensor; the first rotating speed sensor, the second rotating speed sensor and the alarm module are electrically connected. The machine solves the problems of low harvesting efficiency, high failure rate and easy blockage of the traditional soybean harvester.

Description

Soybean harvesting and threshing integrated machine and control method thereof

Technical Field

The invention belongs to the technical field of agricultural machinery, and particularly relates to a soybean harvesting and threshing integrated machine and a control method thereof.

Background

Soybean is one of the non-grain crops with the largest planting area all over the world; soybean is also a major feed and is the most important source of vegetable protein for the breeding industry. In recent years, the soybean planting area of China is rapidly enlarged, and the mechanical, automatic and intelligent harvesting of soybeans becomes the technical key which is urgently needed to be solved at present.

The existing crop harvesting machines have various types, from large-scale to small-scale structures and different functions, but have a plurality of problems when being applied to harvesting soybeans. The soybean pods grow on the soybean rod part from top to bottom, the straws from the root part to the fruits are short, and the height of the cutting table of the traditional harvester cannot be adjusted in real time along with the terrain of the ridge. When the harvesting position of the header is too low, the header can be damaged; when the harvesting position is too high, the cutting knife can cut the pods during the harvesting process to generate pod frying. Causing severe harvest loss.

The field planted by the soybean crops has complex terrain, more weeds, moist crops and sparse and short crops. These all present difficulties in the mechanized harvesting of soybeans. For example, under complex conditions, if the rotation speed of a reel rotation shaft of the harvester cannot be adjusted in real time, bean seedling lumps on the header can be accumulated, and blockage can be caused. If the rotation speed of the stirring shaft of the threshing box cannot be adjusted in real time, the grain straws with high humidity can be firmly wound on the stirring shaft to cause blockage of the threshing box. In a word, the conventional soybean harvester cannot adjust the height of the cutting table, the rotating speed of the reel, the grain feeding amount, the conveying speed of the conveying device, the rotating speed of the stirring shaft of the threshing box and the like in real time along with the actual operation environment, so that the harvester frequently has blockage faults. In addition, the conventional soybean harvester also has the defect of low threshing efficiency, so that farmers are often required to supplement and harvest soybeans behind the harvester, and when the harvester is blocked, the harvester is required to be stopped to manually clean the header and the threshing box, so that the working efficiency of mechanized soybean harvesting is greatly reduced.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a soybean harvesting and threshing integrated machine which solves the problems of low harvesting efficiency, high failure rate and easiness in blockage of the traditional soybean harvester.

In order to achieve the purpose, the invention is realized by the following technical scheme:

a soybean harvesting and threshing integrated machine, the harvesting machine comprises: the machine body, the header, the conveying mechanism, the threshing mechanism, the first motor and the transmission mechanism thereof, the second motor and the transmission mechanism thereof, the displacement sensor, the weighing sensor, the water content sensor, the first rotating speed sensor, the second rotating speed sensor, the alarm module and the intelligent control module.

The machine body is used as a walking carrying platform of the soybean harvesting and threshing integrated machine and is used for installing a related mechanism for harvesting and threshing the soybeans.

The header is used for cutting, collecting and prepressing soybean plants; the header is arranged in front of the machine body through a hydraulic lifting mechanism, and the hydraulic lifting mechanism is used for adjusting the horizontal height of the whole header; the header comprises a harvesting hopper, a reel, a chain cutter and a packing auger; the harvesting bucket is in a bucket shape with the bottom surface at the front end being a horizontal plane; the chain cutter is arranged in front of the harvesting bucket and is flush with the bottom surface of the harvesting bucket, the reel is arranged under the bucket, and the reel is fixedly connected to the harvesting bucket through an installation guide rail; the mounting guide rails are positioned at two sides of the harvesting hopper; the mounting guide rail is obliquely arranged so that the lowest position of the reel arranged on the mounting guide rail is close to but not contacted with the upper part of the chain cutter; the packing auger is arranged in the harvesting hopper and is positioned behind the chain cutter along the harvesting operation direction; one side of the harvesting hopper close to the tail end of the material conveying direction when the packing auger rotates is provided with a first feeding opening.

The conveying mechanism is used for conveying the materials in the header to the threshing mechanism at a high position; the conveying mechanism is obliquely arranged upwards, the bottom of the conveying mechanism is connected with a first feeding opening in the header, and the top of the conveying mechanism is connected with a second feeding opening in the rear-section threshing mechanism; the conveying mechanism is fixedly connected with the machine body through a bracket.

The threshing mechanism is used for receiving the mixture of the soybeans and the straws conveyed by the conveying mechanism, crushing pods and separating the straws from the soybeans; the threshing mechanism comprises a threshing box, a crushing device and a filtering and separating net; the upper part of the threshing box is provided with a second feeding opening; the two sides of the threshing box are provided with a straw outlet and a soybean outlet; the straw outlet and the soybean outlet are both provided with openable baffles.

The first motor and the transmission mechanism thereof are used for simultaneously driving the reel, the chain cutter and the packing auger in the header to run so as to complete the harvesting action of the soybean straws.

The second motor and the transmission mechanism thereof are used for driving the conveying mechanism and the threshing mechanism to operate simultaneously so as to complete the threshing and separating actions of the soybeans and the straws.

The displacement sensor is installed in the header bottom for detect the apart from the ground height of header.

The weighing sensor is arranged in the threshing mechanism and used for detecting the total mass of the threshing box and the materials in the threshing box.

The moisture content sensor is arranged in the threshing mechanism and used for detecting the comprehensive moisture content of the straws and the soybeans in the threshing box.

The first rotation speed sensor is installed on the first motor and used for detecting the output rotation speed of the first motor.

The second rotation speed sensor is installed on the second motor and used for detecting the output rotation speed of the second motor.

The alarm module is used for sending corresponding alarm signals to operators when various overrun behaviors or faults occur in the operation process of the soybean harvesting and threshing integrated machine.

The intelligent control module is connected with the hydraulic lifting mechanism, the first motor, the second motor, the displacement sensor, the weighing sensor and the water content sensor; the first rotating speed sensor, the second rotating speed sensor and the alarm module are electrically connected; the intelligent control module is used for sending control instructions to the hydraulic lifting mechanism, the first motor, the second motor and the alarm module according to the received detection results of the displacement sensor, the weighing sensor, the water content sensor, the first rotating speed sensor and the second rotating speed sensor, and adjusting the operation parameters of the soybean harvesting and threshing integrated machine.

In the invention, the reel comprises a long shaft, a hub, a reel shaft and a reel comb; the long axis is parallel to the plane of the cutting table and is vertical to the harvesting advancing direction of the cutting table; the number of the hubs is two, and the hubs are fixedly arranged at two ends of the long shaft respectively; the reel is a circular hub with a cross, the length of a rod body of the cross in the hub structure is larger than the diameter of the circular structure, the number of reel shafts is four, and the reel shafts are respectively and rotatably connected between corresponding end points on the cross structures in the two hubs; the reel shaft is parallel to the long shaft; each reel shaft is fixedly connected with a plurality of long rods which are parallel to each other, the long rods are vertically connected to the reel shafts at equal intervals, and the long rods form a reel comb structure; the reel is connected with the mounting guide rail through a mounting slide block, and the mounting slide block is rotatably connected with a long shaft of the reel through a bearing; the installation slide block is also sleeved on the installation guide rail, so that the reel can slide along the inclined installation guide rail, and the vertical height of the reel is adjusted.

Further, the chain cutter comprises a fixed cutter edge component and a movable cutter edge component; the fixed cutter edge assembly comprises a strip-shaped cover plate, and the direction of the cover plate close to the front of the header is defined as the front end; the front end of the cover plate is horizontal, and the rear section of the cover plate is bent upwards; the bending part is connected with an auger in the harvesting hopper, and a plurality of fixed cutters with cutting edges on one side are uniformly distributed on the front side of the cover plate; the left side and the right side of the cover plate are respectively provided with a first rotating shaft through hole and a second rotating shaft through hole; the movable cutter edge assembly is positioned below the fixed cutter edge assembly and comprises a first single-row chain wheel, a second single-row chain wheel and a cutter chain connected to the first single-row chain wheel and the second single-row chain wheel, and a plurality of rotary cutters with blades on one sides are uniformly arranged in the cutter chain; the first single-row chain wheel and the second single-row chain wheel are respectively connected with a first driving shaft and a second driving shaft, and the first driving shaft and the second driving shaft respectively drive the first single-row chain wheel and the second single-row chain wheel to rotate; when the fixed blade assembly and the movable blade assembly are assembled, the upper parts of the first driving shaft and the second driving shaft respectively penetrate out along the first rotating shaft through hole and the second rotating shaft through hole; the cutting edges of the fixed cutting knife and the rotary cutting knife are opposite, and when the movable blade component rotates, the fixed blade component and the movable blade component form a shearing structure.

The first motor and the transmission mechanism thereof have the following structure and connection relationship:

the output shaft of the first motor is connected with a first belt pulley; a second belt pulley and a third single-row chain wheel which are coaxially connected are arranged at one end of the packing auger, which is at the same side as the first belt pulley; the first belt pulley and the second belt pulley are in transmission connection through a first belt; a transmission transverse shaft for driving the chain cutting knife to run is also arranged in the harvesting hopper; the transmission transverse shaft is parallel to the installation direction of the chain cutter; two bevel gears are respectively arranged on the transmission transverse shaft, and the positions of the two bevel gears on the transmission transverse shaft respectively correspond to the positions of a first driving shaft and a second driving shaft in the movable knife edge assembly; the end parts of the first driving shaft and the second driving shaft are also provided with matched bevel gears, and the bevel gears on the first driving shaft and the second driving shaft are respectively meshed with the two bevel gears on the transmission transverse shaft for transmission, so that the rotating state of the transmission transverse shaft is converted into the rotating state of the first driving shaft and the second driving shaft; one end of the transmission cross shaft, which is on the same side as the first belt pulley, is connected with a first double-row chain wheel, and one of the first double-row chain wheels is in transmission connection with a third single-row chain wheel through a first chain; a fourth single-row chain wheel is arranged at one end of the long shaft of the reel, which is on the same side with the first belt pulley; the fourth single-row chain wheel is in transmission connection with the other row of chain wheels in the first double-row chain wheel through a second chain; one ends of the long shaft and the auger, which are connected with the transmission mechanism, penetrate through the side wall of the harvesting hopper, and the long shaft and the auger are connected with the side wall of the harvesting hopper through bearings; related components in the transmission mechanism are positioned outside the harvesting hopper.

In the invention, a separation filter screen arranged in a threshing box of a threshing mechanism is in a bent shape of a semi-cylindrical surface, a plurality of filter holes are uniformly distributed on the separation filter screen, and the diameter of each filter hole is larger than that of the harvested soybeans; the inner cavity of the threshing box is divided into a threshing chamber at the upper half part and a soybean collecting chamber at the lower half part by the filtering and separating net; a crushing device is arranged in a threshing chamber of the threshing box, and comprises a stirring shaft and stirring blades; two ends of the stirring shaft penetrate through the side surface of the threshing box, and the stirring shaft is connected with the side wall of the threshing box through a bearing; a plurality of stirring blades are uniformly arranged on the stirring shaft along the shaft body direction, and the stirring blades are used for extruding and crushing the soybean straws and the bean pods; the motion trail of the outer side of the stirring blade is matched with the profile of the bent part of the separation filter screen; a straw outlet is arranged on one side surface of the threshing box connected with the stirring shaft; the bottom of the soybean collection chamber in the threshing box is funnel-shaped, the bottom of the funnel-shaped structure is provided with a soybean outlet, and the soybean outlet extends to the other side of the threshing box opposite to the straw outlet through an inclined downward slideway.

Furthermore, the other end of the stirring shaft opposite to the straw outlet side is also provided with a fan blade, the fan blade is positioned in the threshing chamber, and when the fan blade rotates along with the stirring shaft, the airflow direction generated around the fan blade points to the straw outlet side.

In the invention, the structure and connection relationship of the second motor and the transmission mechanism thereof are as follows:

the output shaft of the second motor is connected with a fifth single-row chain wheel, the end part of the stirring shaft, which is on the same side as the fifth single-row chain wheel, is connected with a sixth single-row chain wheel, and the fifth single-row chain wheel and the sixth single-row chain wheel are in transmission connection through a third chain; the other end of the stirring shaft is connected with a seventh single-row chain wheel; the conveying belt of the conveying mechanism is driven by a conveying shaft, the end part of the conveying shaft is connected with an eighth single-row chain wheel, and the eighth single-row chain wheel is in transmission connection with a seventh single-row chain wheel through a fourth chain.

Furthermore, the threshing box disclosed by the invention adopts a detachable split structure, and is divided into an upper shell and a lower shell along the mounting surface of the separation filter screen.

Furthermore, the soybean harvesting and threshing all-in-one machine further comprises a display module, the display module is electrically connected with the intelligent control module, and the intelligent automatic control module displays the man-machine interaction content of the operation process on the display module.

The invention also provides a control method of the soybean harvesting and threshing integrated machine, which is applied to the soybean harvesting and threshing integrated machine and is completed and realized by controlling other actuating mechanisms in the soybean harvesting and threshing integrated machine by the intelligent control module; the intelligent control module makes the following judgment and decision in the operation process of the soybean harvesting and threshing integrated machine:

s1: the intelligent control module acquires detection results of the first rotating speed sensor and the second rotating speed sensor, and the detection results are used as a basis for judging the current rotating speeds of the first motor and the second motor; in an initial state, the first motor and the second motor both run at a standard rotating speed;

s2: the intelligent control module acquires the detection result of the displacement sensor and adjusts the height of the header through the hydraulic lifting mechanism according to the detection result; the decision to adjust the process is as follows:

(1) when the actual ground height detected by the displacement sensor is smaller than the lower threshold h1 of the header height, the header height is raised through the hydraulic lifting device;

(2) when the actual ground height detected by the displacement sensor is greater than the header height upper limit h2, the header height is lowered through the hydraulic lifting device;

(3) when the actual ground clearance height detected by the displacement sensor is within a header height threshold interval (h1, h 2); the hydraulic lifting device is not adjusted;

s3: the intelligent control module collects the moisture content of the straws or the soybeans through the moisture content sensor, and the decision of the adjustment process on the speed of the harvesting action and the threshing action based on the moisture content of the straws or the soybeans is as follows:

(1) when the actual water content is larger than the water content threshold value W0, judging that the soybeans and the straws are wet at the moment, and keeping the first motor and the second motor to operate at a low-speed module;

(2) when the actual water content is less than or equal to the water content threshold value W0, judging that the soybeans and the straws are dry at the moment, and keeping the first motor and the second motor to operate in a high-speed mode;

s4: the intelligent control module calculates the mass acceleration rate of the materials in the threshing box in unit time through the weighing sensor, so as to judge the sparsity of soybean crops in the field and adjust the harvesting speed of the soybeans according to the sparsity of the soybean crops; the decision to adjust the process is as follows:

(1) when the mass acceleration of the threshing box is larger than a threshold value mv0, judging that the soybean crops are densely planted at the moment, reducing the rotating speed of the first motor and keeping the first motor to operate in a low rotating speed mode;

(2) when the mass acceleration of the threshing box is less than or equal to a threshold value mv0, judging that the soybean crops are sparsely planted at the moment, increasing the rotating speed of the first motor, and keeping the first motor to operate in a high rotating speed mode;

s5: the intelligent control module acquires the actual mass of the threshing box through the weighing sensor, and adjusts the speed of harvesting action and threshing action when the mass of the threshing box reaches a maximum threshold value; the decision to adjust the process is as follows:

(1) when the mass of the threshing box is larger than a threshold value M0, judging that the threshing box reaches or approaches the maximum processing tolerance at the moment, reducing the rotating speed of the first motor and simultaneously increasing the rotating speed of the second motor;

(2) when the mass of the threshing box is less than or equal to the threshold value M0, judging that the threshing box does not reach the maximum processing tolerance at the moment, and maintaining the first motor and the second motor to run at the standard rotating speed.

The invention provides a soybean harvesting and threshing integrated machine which has the following beneficial effects:

1. the machine is an integrated combined harvesting machine and can simultaneously complete the harvesting and threshing of soybeans. The structural design of equipment is ingenious, and has miniaturized characteristics, has high degree of automation and intellectuality simultaneously, has reduced the technical requirement to the operative hand, is fit for being applied to most operation topography, has high popularization and application and worth.

2. The machine can adjust the height of the cutting table and the height of the reel according to the terrain characteristics and the height of plants, and when soybean is well harvested, soybean seed pods are not easy to burst during harvesting, so that the harvesting loss rate can be reduced; simultaneously, when the soybean plants are cut at a lower height, the failure rate of the header colliding with the ground is reduced.

3. The harvesting machine provided by the invention can automatically match the harvesting and threshing speed according to the running condition of the equipment, prevent the mode equipment from overloading and blocking, and improve the running stability and the working efficiency of the equipment.

4. The machine provided by the invention can adjust the harvesting speed of the equipment according to the dryness of the soybean straws, and adopts a low-speed harvesting mode when the straws are wet, so that the damage to the soybeans is reduced while the harvesting and threshing effects are ensured. Meanwhile, a high-speed harvesting mode is adopted when the straws are dry, so that the harvesting efficiency is improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic view of the overall structure of a soybean harvesting and threshing integrated machine in embodiment 1 of the present invention;

fig. 2 is a schematic structural diagram of a header and a conveying mechanism in embodiment 1 of the present invention;

fig. 3 is a schematic structural view of a reel in embodiment 1 of the present invention;

fig. 4 is a schematic structural view of a movable blade assembly in the chain cutter of embodiment 1 of the present invention;

fig. 5 is a schematic structural view of a fixed blade assembly in the chain cutter of embodiment 1 of the present invention;

FIG. 6 is a schematic structural view of a reel, a chain cutter, an auger, a first motor and a transmission assembly thereof in embodiment 1 of the present invention;

fig. 7 is a schematic structural view of the soybean harvesting-threshing integrated machine in the right side view in embodiment 1 of the present invention;

FIG. 8 is a schematic structural view of the soybean harvesting-threshing integrated machine in the rear view according to embodiment 1 of the present invention;

fig. 9 is a schematic structural view of a threshing mechanism in which an upper shell of a threshing box is opened according to embodiment 1 of the present invention;

FIG. 10 is a schematic diagram showing the connection of the modules of the control part of the integrated harvesting and threshing machine for soybean according to embodiment 1 of the present invention;

fig. 11 is a decision flow chart of the intelligent control module for header height adjustment in embodiment 2 of the present invention;

FIG. 12 is a decision flow chart of the intelligent control module for adjusting the motor rotation speed based on the moisture content of the straw or the soybean in embodiment 2 of the invention;

FIG. 13 is a decision flow chart of the intelligent control module for adjusting the motor rotation speed based on the threshing box mass acceleration in embodiment 2 of the invention;

FIG. 14 is a decision flow chart of the intelligent control module for adjusting the motor rotation speed based on the material quality in the threshing box in embodiment 2 of the invention;

labeled as:

1. a body; 2. a header; 3. a conveying mechanism; 4. a threshing mechanism; 5. a first motor; 6. a second motor; 7. a hydraulic lifting mechanism; 8. a displacement sensor; 9. a weighing sensor; 10. a water content sensor; 11. a first rotational speed sensor; 12. a second rotational speed sensor; 13. an alarm module; 14. a display module; 20. a fourth single row sprocket; 21. a harvesting hopper; 22. a reel; 23. a chain cutter; 24. a packing auger; 25. installing a guide rail; 26. a transmission cross shaft; 30. an eighth single row sprocket; 31. a conveyor belt; 41. a threshing box; 43. a filtration separation net; 51. a first pulley; 52. a first belt; 53. a first chain; 54. a second chain; 61. a fifth single row sprocket; 62. a third chain; 63. a fourth chain; 100. an intelligent control module; 210. a first feed opening; 221. a long axis; 222. a hub; 223. a reel shaft; 224. a reel comb; 225. installing a sliding block; 241. a third single row of sprockets; 242. a second pulley; 260. a first double sprocket; 261. a bevel gear; 411. a second feeding opening; 412. a straw outlet; 413. soybean export; 421. a stirring shaft; 422. a stirring blade; 423. a fan blade; 2311. a cover plate; 2312. fixing a cutting knife; 2313. a first shaft through hole; 2314. a second shaft through hole; 2321. a first single row of sprockets; 2322. a second single row of sprockets; 2323. a cutter chain; 2324. rotating a cutter; 2325. a first drive shaft; 2326. a second drive shaft; 4211. a seventh single row sprocket; 4212. and a sixth single row of sprockets.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Example 1

As shown in fig. 1, the present embodiment provides a soybean harvesting and threshing integrated machine, which includes: the machine body 1, the header 2, the conveying mechanism 3, the threshing mechanism 4, the first motor 5 and the transmission mechanism thereof, the second motor 6 and the transmission mechanism thereof, the displacement sensor 8, the weighing sensor 9, the water content sensor 10, the first rotating speed sensor 11, the second rotating speed sensor 12, the alarm module 13 and the intelligent control module 100.

The machine body 1 is used as a walking carrying platform of the soybean harvesting and threshing integrated machine and is used for installing relevant mechanisms for harvesting and threshing soybeans.

As shown in fig. 2, the header 2 is used for cutting, collecting and pre-pressing soybean plants; the header 2 is arranged in front of the machine body 1 through a hydraulic lifting mechanism 7, and the hydraulic lifting mechanism 7 is used for adjusting the overall horizontal height of the header 2; the header 2 comprises a harvesting hopper 21, a reel 22, a chain cutter 23 and a packing auger 24; the harvesting bucket 21 is in a bucket shape with the bottom surface at the front end being a horizontal plane; the chain cutter 23 is arranged in front of the harvesting bucket 21 and is flush with the bottom surface of the harvesting bucket 21, the reel 22 is arranged under the bucket, and the reel 22 is fixedly connected to the harvesting bucket 21 through the mounting guide rail 25; the mounting guide rails 25 are positioned at both sides of the harvesting hopper 21; the mounting rail 25 is obliquely arranged so that the lowest position of the reel 22 mounted thereon is close to but not in contact with the upper part on the chain cutter 23; the packing auger 24 is arranged inside the harvesting hopper 21 and is positioned behind the chain cutter 23 along the harvesting operation direction; a first feeding opening 210 is arranged at one side of the harvesting hopper 21 close to the tail end of the material conveying direction when the packing auger 24 rotates.

The conveying mechanism 3 is used for conveying the materials in the header 2 to the threshing mechanism 4 at a high position; the conveying mechanism 3 is arranged obliquely upwards, the bottom of the conveying mechanism 3 is connected with a first feeding opening 210 in the header 2, and the top of the conveying mechanism 3 is connected with a second feeding opening 411 in the rear-section threshing mechanism 4; the conveying mechanism 3 is fixedly connected with the machine body 1 through a bracket.

The threshing mechanism 4 is used for receiving the mixture of the soybeans and the straws conveyed by the conveying mechanism 3, crushing pods and separating the straws from the soybeans; the threshing mechanism 4 comprises a threshing box 41, a crushing device and a filtering and separating net 43; the upper part of the threshing box 41 is provided with a second feeding opening 411; a straw outlet 412 and a soybean outlet 413 are arranged at two sides of the threshing box 41; the straw outlet 412 and the soybean outlet 413 are both provided with openable baffles.

The first motor 5 and the transmission mechanism thereof are used for simultaneously driving the reel 22, the chain cutter 23 and the packing auger 24 in the header 2 to run so as to complete the harvesting action of the soybean straws.

The second motor 6 and the transmission mechanism thereof are used for driving the conveying mechanism 3 and the threshing mechanism 4 to operate simultaneously so as to complete the threshing and separating actions of the soybeans and the straws.

Displacement sensor 8 installs in header 2 bottom for detect header 2's apart from the ground height.

A weighing sensor 9 is mounted in the threshing mechanism 4 for detecting the total mass of the threshing box 41 and the material therein.

The moisture content sensor 10 is installed in the threshing mechanism 4 and is used for detecting the comprehensive moisture content of the straws and the soybeans in the threshing box 41.

A first rotation speed sensor 11 is mounted on the first motor 5 for detecting the output rotation speed of the first motor 5.

A second rotation speed sensor 12 is mounted on the second motor 6 for detecting the output rotation speed of the second motor 6.

The alarm module 13 is used for sending corresponding alarm signals to operators when various overrun behaviors or faults occur in the operation process of the soybean harvesting and threshing integrated machine.

As shown in fig. 10, the intelligent control module 100 is connected with the hydraulic lifting mechanism 7, the first motor 5, the second motor 6, the displacement sensor 8, the weighing sensor 9 and the moisture content sensor 10; the first rotating speed sensor 11, the second rotating speed sensor 12 and the alarm module 13 are electrically connected; the intelligent control module 100 is used for sending control instructions to the hydraulic lifting mechanism 7, the first motor 5, the second motor 6 and the alarm module 13 according to the received detection results of the displacement sensor 8, the weighing sensor 9, the moisture content sensor 10, the first rotating speed sensor 11 and the second rotating speed sensor 12, and adjusting the operation parameters of the soybean harvesting and threshing integrated machine.

The working principle of the soybean harvesting and threshing integrated machine in the operation process is as follows:

when the harvesting machine runs, the displacement sensor 8 monitors the ground height of the cutting table 2 in real time, and the actual height of the cutting table 2 is adjusted by the hydraulic lifting mechanism 7, so that the cutting table 2 is not collided with the ground, harvesting operation is carried out at the height as low as possible, and soybeans are harvested from the root; thereby avoiding damage to soybean seed pods, causing soybean splash and influencing the harvest rate.

When harvesting, the first motor 5 drives the reel 22, the chain cutter 23 and the auger 24 in the header 2 to synchronously rotate, the reel 22 shifts soybean straws into the harvesting hopper 21, then the chain cutter 23 cuts off soybean plants along the root part, the soybean plants enter the rear side of the harvesting hopper 21 under the drive of the reel 22 and are extruded by the auger 24, the auger 24 extrudes the soybean straws while conveying the soybean straws to one side, and the pre-pressed straws are conveyed to one side of the harvesting hopper 21 by the auger 24 and enter the conveying bottom end of the conveying mechanism 3 along the first feeding opening 210.

The conveyor belt 31 conveys the primarily compressed soybean straws into the threshing mechanism 4, and the soybean straws enter the threshing box 41 along a second feeding opening 411 at the top of the threshing box 41 in the threshing mechanism 4. The soybean straw is further extruded by the crushing device in the threshing box 41, the seed pod is crushed, the soybeans are exposed, and the soybeans fall below the separation filter screen after being separated by the separation filter screen and flow out along the soybean outlet 413; the straw is positioned above the separation filter screen and flows out along the straw outlet 412; realizing accurate separation of soybean and straw.

As shown in fig. 3, in the present embodiment, the reel 22 includes a long shaft 221, a hub 222, a reel shaft 223, and a reel comb 224; the long axis 221 is parallel to the plane of the header 2 and perpendicular to the harvesting direction of the header 2; the number of the hubs 222 is two, and the hubs are respectively and fixedly installed at two ends of the long shaft 221; the hub 222 is a circular hub 222 with a cross, the length of a rod body of the cross in the structure of the hub 222 is larger than the diameter of the circular structure, the number of the reel shafts 223 is four, and the reel shafts 223 are respectively and rotatably connected between corresponding end points on the cross structure in the two hubs 222; the reel 223 is parallel to the long shaft 221; each reel shaft 223 is fixedly connected with a plurality of long rods which are parallel to each other, the long rods are vertically connected to the reel shafts 223 at equal intervals, and the long rods form a structure of a reel comb 224; the reel 22 is connected with the mounting guide rail 25 through a mounting slide block 225, and the mounting slide block 225 is rotatably connected with a long shaft 221 of the reel 22 through a bearing; the mounting slider 225 is also sleeved on the mounting rail 25 so that the reel 22 can slide along the inclined mounting rail 25, thereby adjusting the vertical height of the reel 22.

The mounting block 225 is used for adjusting the height of the reel 22 relative to the chain cutter 23, and different heights of the reel 22 can be adopted for different plants due to different growth vigor and heights of soybean plants in different fields, and the lowest height of the reel 22 is close to but not in contact with the chain cutter 23. Meanwhile, the working principle of the reel 22 is as follows: the reel shaft 223 and the reel comb 224 have a tendency to beat backwards by the continuous rotation of the long shaft 221 and the hub 222, so that the plants are pulled into the harvesting hopper 21. Wherein, the reel comb 224 always keeps the vertical downward state during the rotation of the reel 22.

As shown in fig. 4 and 5, in the present example, the chain cutter 23 includes a fixed blade assembly and a movable blade assembly; the fixed cutter edge assembly comprises an elongated cover plate 2311, and the direction of the cover plate 2311 close to the front of the cutting platform 2 is defined as the front end; the front end of the cover plate 2311 is horizontal, and the rear section is bent upwards; the bending part is connected with an auger 24 in the harvesting hopper 21, and a plurality of fixed cutters 2312 with cutting edges on one side are uniformly distributed on the front side of the cover plate 2311; the left side and the right side of the cover plate 2311 are respectively provided with a first rotating shaft through hole 2313 and a second rotating shaft through hole 2314; the movable knife edge component is positioned below the fixed knife edge component and comprises a first single-row chain wheel 2321, a second single-row chain wheel 2322 and a knife chain 2323 connected to the first single-row chain wheel 2321 and the second single-row chain wheel 2322, and a plurality of rotary cutting knives 2324 with cutting edges on one side are uniformly arranged in the knife chain 2323; the first single-row chain wheel 2321 and the second single-row chain wheel 2322 are respectively connected with a first driving shaft 2325 and a second driving shaft 2326, and the first driving shaft 2325 and the second driving shaft 2326 respectively drive the first single-row chain wheel 2321 and the second single-row chain wheel 2322 to rotate; when the fixed blade assembly and the movable blade assembly are assembled, the upper parts of the first driving shaft 2325 and the second driving shaft 2326 respectively penetrate out along the first rotating shaft through hole 2313 and the second rotating shaft through hole 2314; the cutting edges of the fixed cutter 2312 and the rotary cutter 2324 are opposite, and when the movable blade assembly rotates, the fixed blade assembly and the movable blade assembly form a shearing structure.

The working principle of the chain cutter 23 is that when the first single-row chain wheel 2321 and the second single-row chain wheel 2322 in the movable blade assembly rotate, the cutter chain 2323 is driven to rotate, the rotary cutter 2324 continuously and horizontally moves, and when the rotary cutter 2324 moves, a shearing action can be formed between the rotary cutter 2324 and the fixed cutter 2312, so that the root of the soybean plant is cut off. The cover plate 2311 in the fixed cutter edge assembly can cover the movable cutter edge assembly below in the harvesting hopper 21, so that sundries are prevented from falling into the chain-chain wheel to block the chain cutter 23 and damage the chain cutter 23. Meanwhile, the bent cover plate 2311 can also guide cut straws, so that the straws naturally enter a rotating area of the packing auger 24.

As shown in fig. 6, the structure and connection relationship of the first motor 5 and its transmission mechanism are as follows:

a first belt pulley 51 is connected to an output shaft of the first motor 5; a second belt pulley 242 and a third single-row chain wheel 241 which are coaxially connected are arranged at one end of the packing auger 24 on the same side as the first belt pulley 51; the first belt pulley 51 and the second belt pulley 242 are in transmission connection through a first belt 52; the harvesting bucket 21 is also provided with a transmission transverse shaft 26 for driving the chain cutter 23 to run; the transmission transverse shaft 26 is parallel to the installation direction of the chain cutter 23; two bevel gears 261 are respectively arranged on the transmission transverse shaft 26, and the positions of the two bevel gears 261 on the transmission transverse shaft 26 respectively correspond to the positions of a first driving shaft 2325 and a second driving shaft 2326 in the movable knife edge assembly; the ends of the first driving shaft 2325 and the second driving shaft 2326 are also provided with matched bevel gears 261, and the bevel gears 261 on the first driving shaft 2325 and the second driving shaft 2326 are respectively in meshing transmission with the two bevel gears 261 on the transmission transverse shaft 26, so that the rotation state of the transmission transverse shaft 26 is converted into the rotation state of the first driving shaft 2325 and the second driving shaft 2326; one end of the transmission transverse shaft 26 on the same side as the first belt pulley 51 is connected with a first double-row chain wheel 260, and one row of chain wheels in the first double-row chain wheel 260 is in transmission connection with a third single-row chain wheel 241 through a first chain 53; a fourth single-row chain wheel 20 is arranged at one end of the long shaft 221 of the reel 22, which is on the same side with the first belt wheel 51; the fourth single-row chain wheel 20 is in transmission connection with the other row of chain wheels in the first double-row chain wheel 260 through a second chain 54; one ends of the long shaft 221 and the auger 24, which are connected with the transmission mechanism, penetrate through the side wall of the harvesting hopper 21, and the long shaft 221 and the auger 24 are connected with the side wall of the harvesting hopper 21 through bearings; the relevant components of the transmission are located outside the harvesting hopper 21.

In this embodiment, when the output shaft of the first motor 5 rotates, the first belt pulley 51 drives the second belt pulley 242 to rotate through the first belt 52, so that the packing auger 24 rotates, and the third single-row chain wheel 241 also rotates synchronously when the packing auger 24 rotates. The third single-row chain wheel 241 and the first chain 53 drive the first double-row chain wheel 260 to rotate, so that the transmission transverse shaft 26 rotates; the transmission horizontal shaft 26 drives the first driving shaft 2325 and the second driving shaft to rotate through the bevel gear 261, so that the movable blade assembly runs, and the chain cutter 23 performs a cutting action. At the same time, the first double-row sprocket 260 also drives the fourth single-row sprocket 20 to rotate through the second chain 54, thereby rotating the reel 22. Through the analysis, the reel 22, the auger 24 and the chain cutter 23 are synchronously driven by the first motor 5. Meanwhile, the harvesting process of the soybeans is realized in the process.

In this embodiment, as shown in fig. 9, the separation filter net provided in the threshing box 41 of the threshing mechanism 4 is in a bent shape of a semi-cylindrical surface, a plurality of filter holes are uniformly distributed on the separation filter net, and the diameter of the filter holes is larger than that of the harvested soybeans; the filtering and separating net 43 divides the inner cavity of the threshing box 41 into a threshing chamber of the upper half part and a soybean collecting chamber of the lower half part; a crushing device is arranged in a threshing chamber of the threshing box 41, and comprises a stirring shaft 421 and stirring blades 422; two ends of the stirring shaft 421 penetrate through the side surface of the threshing box 41, and the stirring shaft 421 is connected with the side wall of the threshing box 41 through a bearing; a plurality of stirring blades 422 are uniformly arranged on the stirring shaft 421 along the shaft body direction, and the stirring blades 422 are used for extruding and crushing the soybean straws and bean pods; the motion track of the outer side of the stirring blade 422 is matched with the profile of the bent part of the separation filter screen; a straw outlet 412 is arranged on one side surface of the threshing box 41 connected with a stirring shaft 421; the bottom of the soybean collection chamber in the threshing box 41 is funnel-shaped, the bottom of the funnel-shaped structure is provided with a soybean outlet 413, and the soybean outlet 413 extends to the other side of the threshing box 41 opposite to the straw outlet 412 through an inclined downward slideway.

The operating principle of the threshing mechanism 4 is as follows: when soybean straw entered into threshing box 41 inside along first feed opening 210, soybean straw was located the threshing chamber, and in the threshing chamber, (mixing) shaft 421 drove stirring vane 422 and rotates, and stirring vane 422 constantly cuts and beats the straw for the straw is by preliminary smashing, and the kind of pod is damaged simultaneously, exposes the soybean, and the soybean falls into in a large amount of collection rooms of below along the separation filter screen. After the straws are continuously accumulated in the threshing chamber, the straws can be discharged from the straw outlet 412 when reaching a certain quantity; after the separated soybeans are accumulated in the soybean collection chamber, an operator can collect and pack the soybeans from the soybean outlet 413 through a packaging bag.

Further, the other end of the stirring shaft 421 opposite to the straw outlet 412 in this embodiment is further provided with a fan blade 423, the fan blade 423 is located in the threshing chamber, and when the fan blade 423 rotates along with the stirring shaft 421, the airflow direction generated around the fan blade 423 points to the straw outlet 412.

The action of fan blade 423 has two functions: one is that when the baffles at the straw outlet 412 are closed, an airflow is created within the threshing chamber, promoting the straw and soybeans to move relative to each other, making the soybeans more easily separated and fall along the filter holes into the soybean collection chamber below. Secondly, when the baffle at the straw outlet 412 is opened, the straw is blown out along the straw outlet 412 by the airflow.

In the present embodiment, as shown in fig. 7 and 8, the structure and connection relationship of the second motor 6 and its transmission mechanism are as follows:

a fifth single-row chain wheel 61 is connected to an output shaft of the second motor 6, a sixth single-row chain wheel 4212 is connected to the end part of the stirring shaft 421 on the same side as the fifth single-row chain wheel 61, and the fifth single-row chain wheel 61 and the sixth single-row chain wheel 4212 are in transmission connection through a third chain 62; the other end of the stirring shaft 421 is connected with a seventh single-row chain wheel 4211; the conveying belt 31 of the conveying mechanism 3 is driven by a conveying shaft, an eighth single-row chain wheel 30 is connected to the end of the conveying shaft, and the eighth single-row chain wheel 30 and the seventh single-row chain wheel 4211 are in transmission connection through a fourth chain 63.

In this embodiment, when the second motor 6 rotates, the fifth single-row chain wheel 61 connected to the output shaft of the second motor drives the sixth single-row chain wheel 4212 to rotate through the third chain 62, so as to drive the stirring shaft 421 to rotate, thereby realizing the threshing action of the soybeans. Meanwhile, the seventh single-row chain wheel 4211 at the other end of the stirring shaft 421 drives the eighth single-row chain wheel 30 to rotate through the fourth communication, and when the eighth single-row chain wheel 30 rotates, the conveyer belt 31 on the conveyer starts to run, and the soybean straws in the header 2 are continuously conveyed to the threshing mechanism 4 to complete soybean threshing. In the device of the embodiment, the conveying mechanism 3 and the threshing mechanism 4 are synchronously driven by the second motor 6, which is very consistent with the operation logic of the device and reduces the use of the motor. The number of the motors is reduced, and the failure rate of the equipment is reduced while the cost is reduced.

In this embodiment, the conveyer belt 31 in the conveying mechanism 3 adopts the stepped conveyer belt 31 with the grooves, so that the soybeans burst when being primarily compressed by the header 2 can be accurately sent into the threshing mechanism 4, and the harvesting loss rate of the equipment is reduced.

Meanwhile, in the present embodiment, the threshing box 41 is of a detachable split structure, and the threshing box 41 is divided into an upper casing and a lower casing along the mounting surface of the separation filter net. Because there are a large amount of straws in the threshing box 41, and the separation of soybean and straw is needed through the separation filter screen, the trouble of blockage may occur, and the detachable structure of the split type is adopted, so that the maintenance can be conveniently carried out when the equipment is blocked.

The soybean harvesting and threshing all-in-one machine further comprises a display module 14, the display module 14 is electrically connected with an intelligent control module 100, and the intelligent automatic control module displays the man-machine interaction content of the operation process on the display module 14.

Example 2

The embodiment provides an automatic control method applied to a soybean harvesting and threshing integrated machine in embodiment 1, the method is realized by an intelligent control module 100, and the intelligent control module 100 mainly executes the following judgment and decision in the integrated operation process of the soybean harvesting and threshing device:

s1: the intelligent control module 100 obtains the detection results of the first rotation speed sensor 11 and the second rotation speed sensor 12, and uses the detection results as the basis for judging the current rotation speeds of the first motor 5 and the second motor 6; in the initial state, the first motor 5 and the second motor 6 both operate according to the standard rotating speed;

s2: the intelligent control module 100 acquires the detection result of the displacement sensor 8 and adjusts the height of the header 2 through the hydraulic lifting mechanism 7 according to the detection result; as shown in fig. 11, the decision of the adjustment process is as follows:

(1) when the actual ground height detected by the displacement sensor 8 is smaller than the lower threshold h1 of the header 2 height, the header 2 height is raised through a hydraulic lifting device;

(2) when the actual ground height detected by the displacement sensor 8 is greater than the upper limit h2 of the height threshold of the header 2, the height of the header 2 is reduced through a hydraulic lifting device;

(3) when the actual ground clearance height detected by the displacement sensor 8 is within the header 2 height threshold interval (h1, h 2); the hydraulic lifting device is not adjusted;

s3: the intelligent control module 100 collects the moisture content of the straw or the soybean through the moisture content sensor 10, and for the rate of the harvesting action and the threshing action based on the moisture content of the straw or the soybean, as shown in fig. 12, the decision of the adjustment process is as follows:

(1) when the actual water content is larger than the water content threshold value W0, judging that the soybeans and the straws are wet at the moment, and keeping the first motor 5 and the second motor 6 to operate at a low-speed module;

(2) when the actual water content is less than or equal to the water content threshold value W0, judging that the soybeans and the straws are dry at the moment, and keeping the first motor 5 and the second motor 6 to operate in a high-speed mode;

s4: the intelligent control module 100 calculates the mass acceleration rate of the materials in the threshing box 41 in unit time through the weighing sensor 9, so as to judge the sparsity of soybean crops in the field and adjust the harvesting speed of the soybeans according to the sparsity of the soybean crops; as shown in fig. 13, the decision to adjust the process is as follows:

(1) when the mass acceleration of the threshing box 41 is larger than the threshold value mv0, judging that the soybean crops are densely planted at the moment, reducing the rotating speed of the first motor 5 and keeping the first motor 5 to operate in a low rotating speed mode;

(2) when the mass acceleration of the threshing box 41 is less than or equal to the threshold mv0, judging that the soybean crops are sparsely planted at the moment, increasing the rotating speed of the first motor 5, and keeping the first motor 5 to operate in a high rotating speed mode;

s5: the intelligent control module 100 acquires the actual mass of the threshing box 41 through the weighing sensor 9, and adjusts the speed of harvesting action and threshing action when the mass of the threshing box 41 reaches the maximum threshold value; as shown in fig. 14, the decision to adjust the process is as follows:

(1) when the mass of the threshing box 41 is greater than the threshold value M0, judging that the threshing box 41 reaches or approaches the maximum processing tolerance at the moment, reducing the rotating speed of the first motor 5 and increasing the rotating speed of the second motor 6;

(2) when the mass of the threshing box 41 is less than or equal to the threshold value M0, the threshing box 41 is judged not to reach the maximum processing tolerance at the moment, and the first motor 5 and the second motor 6 are maintained to run at the standard rotating speed.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the technical solutions described in the foregoing embodiments. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a soybean reaps thresh all-in-one which characterized in that, soybean reaps thresh all-in-one includes:

the machine body is used as a walking carrying platform of the soybean harvesting and threshing integrated machine and is used for installing a related mechanism for harvesting and threshing soybeans;

the cutting table is used for cutting, collecting and prepressing soybean plants; the header is arranged in front of the machine body through a hydraulic lifting mechanism, and the hydraulic lifting mechanism is used for adjusting the horizontal height of the whole header; the header comprises a harvesting hopper, a reel, a chain cutter and a packing auger; the harvesting hopper is in a bucket shape with the bottom surface at the front end being a horizontal plane; the chain cutter is arranged in front of the harvesting bucket and is flush with the bottom surface of the harvesting bucket, the reel is arranged under the bucket, and the reel is fixedly connected to the harvesting bucket through an installation guide rail; the mounting guide rails are positioned at two sides of the harvesting hopper; the mounting guide rail is obliquely arranged so that the lowest position of the reel arranged on the mounting guide rail is close to but not in contact with the upper part of the chain cutter; the auger is arranged in the harvesting hopper and is positioned behind the chain cutter along the harvesting operation direction; a first feeding opening is formed in one side of the harvesting hopper, which is close to the tail end of the material conveying direction when the auger rotates;

the conveying mechanism is used for conveying the materials in the header to the threshing mechanism at a high position, and the conveying mechanism is arranged obliquely upwards; the bottom of the conveying mechanism is connected with a first feeding opening in the header, and the top of the conveying mechanism is connected with a second feeding opening in the rear-section threshing mechanism; the conveying mechanism is fixedly connected with the machine body through a bracket;

the threshing mechanism is used for receiving the mixture of the soybeans and the straws conveyed by the conveying mechanism, crushing the pods and separating the straws from the soybeans; the threshing mechanism comprises a threshing box, a crushing device and a filtering and separating net; the upper part of the threshing box is provided with a second feeding opening; the two sides of the threshing box are provided with a straw outlet and a soybean outlet, and the straw outlet and the soybean outlet are provided with openable baffles;

the first motor and the transmission mechanism thereof are used for simultaneously driving the reel, the chain cutter and the packing auger in the header to run so as to finish the harvesting action of the soybean straws;

the second motor and the transmission mechanism thereof are used for driving the conveying mechanism and the threshing mechanism to operate simultaneously so as to complete the threshing and separating actions of the soybeans and the straws;

the displacement sensor is arranged at the bottom of the header and used for detecting the ground height of the header;

the weighing sensor is arranged in the threshing mechanism and used for detecting the total mass of the threshing box and materials in the threshing box;

the moisture content sensor is arranged in the threshing mechanism and used for detecting the comprehensive moisture content of the straws and the soybeans in the threshing box;

a first rotation speed sensor mounted on the first motor for detecting an output rotation speed of the first motor;

a second rotation speed sensor mounted on the second motor for detecting an output rotation speed of the second motor;

the alarm module is used for sending corresponding alarm signals to operators when various overrun behaviors or faults occur in the operation process of the soybean harvesting and threshing integrated machine; and

2. The soybean harvesting and threshing integrated machine of claim 1, wherein: the reel comprises a long shaft, a hub, a reel shaft and a reel comb; the long axis is parallel to the plane of the header and is vertical to the harvesting advancing direction of the header; the number of the hubs is two, and the hubs are fixedly arranged at two ends of the long shaft respectively; the reel is a circular hub with a cross, the length of a rod body of the cross in the hub structure is larger than the diameter of the circular structure, the number of reel shafts is four, and the reel shafts are respectively and rotatably connected between corresponding end points on the cross structures in the two hubs; the reel shaft is parallel to the long shaft; each reel shaft is fixedly connected with a plurality of long rods which are parallel to each other, the long rods are vertically connected to the reel shafts at equal intervals, and the long rods form a reel comb structure; the reel is connected with the mounting guide rail through a mounting sliding block, and the mounting sliding block is rotatably connected with a long shaft of the reel through a bearing; the mounting slide block is further sleeved on the mounting guide rail, so that the reel can slide along the inclined mounting guide rail, and the vertical height of the reel is adjusted.

3. The soybean harvesting and threshing integrated machine of claim 2, wherein: the chain cutter comprises a fixed cutter edge component and a movable cutter edge component; the fixed cutter edge assembly comprises a strip-shaped cover plate, and the direction of the cover plate close to the front of the header is defined as the front end; the front end of the cover plate is horizontal, and the rear section of the cover plate is bent upwards; the bending part is connected with the packing auger in the harvesting hopper, and a plurality of fixed cutters with cutting edges on one side are uniformly distributed on the front side of the cover plate; the left side and the right side of the cover plate are respectively provided with a first rotating shaft through hole and a second rotating shaft through hole; the movable cutter edge assembly is positioned below the fixed cutter edge assembly and comprises a first single-row chain wheel, a second single-row chain wheel and a cutter chain sleeved on the first single-row chain wheel and the second single-row chain wheel, and a plurality of rotary cutters with blades on one sides are uniformly arranged in the cutter chain; the first single-row chain wheel and the second single-row chain wheel are respectively connected with a first driving shaft and a second driving shaft, and the first driving shaft and the second driving shaft respectively drive the first single-row chain wheel and the second single-row chain wheel to rotate; when the fixed blade assembly and the movable blade assembly are assembled, the upper parts of the first driving shaft and the second driving shaft respectively penetrate out along the first rotating shaft through hole and the second rotating shaft through hole; the cutting edges of the fixed cutting knife and the rotary cutting knife are opposite, and when the movable blade assembly rotates, the movable blade assembly and the fixed blade assembly form a shearing structure.

4. The soybean harvesting and threshing integrated machine of claim 3, wherein: the first motor and the transmission mechanism thereof have the following structure and connection relationship: the output shaft of the first motor is connected with a first belt pulley; a second belt pulley and a third single-row chain wheel which are coaxially connected are arranged at one end of the packing auger, which is at the same side as the first belt pulley; the first belt pulley and the second belt pulley are in transmission connection through a first belt; a transmission transverse shaft for driving the chain cutting knife to run is also arranged in the harvesting hopper; the transmission transverse shaft is parallel to the installation direction of the chain cutter; two bevel gears are respectively arranged on the transmission transverse shaft, and the positions of the two bevel gears on the transmission transverse shaft respectively correspond to the positions of a first driving shaft and a second driving shaft in the movable knife edge assembly; the end parts of the first driving shaft and the second driving shaft are also provided with matched bevel gears, and the bevel gears on the first driving shaft and the second driving shaft are respectively in meshing transmission with the two bevel gears on the transmission transverse shaft, so that the rotating state of the transmission transverse shaft is converted into the rotating state of the first driving shaft and the second driving shaft; one end of the transmission transverse shaft, which is on the same side as the first belt pulley, is connected with a first double-row chain wheel, and one of the first double-row chain wheels is in transmission connection with the third single-row chain wheel through a first chain; a fourth single-row chain wheel is arranged at one end of the long shaft of the reel, which is on the same side with the first belt pulley; the fourth single-row chain wheel is in transmission connection with the other row of chain wheels in the first double-row chain wheel through a second chain; one ends of the long shaft and the auger, which are connected with the transmission mechanisms, penetrate through the side wall of the harvesting hopper, and the long shaft and the auger are connected with the side wall of the harvesting hopper through bearings; related components in the transmission mechanism are positioned outside the harvesting hopper.

5. The soybean harvesting and threshing integrated machine of claim 1, wherein: a separation filter screen arranged in a threshing box of the threshing mechanism is in a bent shape of a semi-cylindrical surface, a plurality of filter holes are uniformly distributed on the separation filter screen, and the diameter of each filter hole is larger than that of the harvested soybeans; the inner cavity of the threshing box is divided into a threshing chamber at the upper half part and a soybean collecting chamber at the lower half part by the filtering and separating net; a crushing device is arranged in a threshing chamber of the threshing box and comprises a stirring shaft and stirring blades, two ends of the stirring shaft penetrate through the side surface of the threshing box, and the stirring shaft is connected with the side wall of the threshing box through a bearing; a plurality of stirring blades are uniformly arranged on the stirring shaft along the shaft body direction, and the stirring blades are used for extruding and crushing soybean straws and bean pods; the motion trail of the outer side of the stirring blade is matched with the profile of the bent part of the separation filter screen; a straw outlet is arranged on one side surface of the threshing box connected with the stirring shaft; the bottom of room is collected to soybean in the threshing box is hourglass hopper-shaped, the bottom of funnel-shaped structure sets up the soybean export, the soybean export extends to the opposite side of relative straw export in the threshing box through slope decurrent slide.

6. The soybean harvesting and threshing integrated machine of claim 5, wherein: the other end of the stirring shaft, which is opposite to one side of the straw outlet, is also provided with a fan blade, the fan blade is positioned in the threshing chamber, and when the fan blade rotates along with the stirring shaft, the direction of airflow generated around the fan blade points to one side of the straw outlet.

7. The soybean harvesting and threshing integrated machine of claim 6, wherein: the structure and connection relationship of the second motor and the transmission mechanism thereof are as follows: a fifth single-row chain wheel is connected to an output shaft of the second motor, a sixth single-row chain wheel is connected to the end part of the stirring shaft, which is on the same side as the fifth single-row chain wheel, and the fifth single-row chain wheel and the sixth single-row chain wheel are in transmission connection through a third chain; the other end of the stirring shaft is connected with a seventh single-row chain wheel; the conveying belt of the conveying mechanism is driven by a conveying shaft, an eighth single-row chain wheel is connected to the end of the conveying shaft, and the eighth single-row chain wheel is in transmission connection with the seventh single-row chain wheel through a fourth chain.

8. The soybean harvesting and threshing integrated machine of claim 1, wherein: the threshing box adopts a detachable split structure, and is divided into an upper shell and a lower shell along the installation surface of the separation filter screen.

9. The soybean harvesting and threshing integrated machine of claim 1, wherein: the all-in-one machine further comprises a display module, the display module is electrically connected with the intelligent control module, and the intelligent control module displays the man-machine interaction content of the operation process on the display module.

10. A control method of a soybean harvesting and threshing integrated machine is characterized by comprising the following steps: the control method is applied to the soybean harvesting and threshing all-in-one machine as claimed in any one of claims 1-9, and is completed and realized by controlling other actuating mechanisms in the soybean harvesting and threshing all-in-one machine by an intelligent control module; the intelligent control module makes the following judgment and decision in the operation process of the soybean harvesting and threshing all-in-one machine:

s2: the intelligent control module acquires the detection result of the displacement sensor and adjusts the height of the header through the hydraulic lifting mechanism according to the detection result; the decision of the adjustment process is as follows:

s3: the intelligent control module collects the moisture content of the straws or the soybeans through the moisture content sensor, and the moisture content based on the straws or the soybeans is used for the speed of the harvesting action and the threshing action, and the decision of the adjusting process is as follows:

s4: the intelligent control module calculates the mass acceleration rate of the materials in the threshing box in unit time through the weighing sensor, so as to judge the sparsity of soybean crops in the field and adjust the harvesting speed of the soybeans according to the sparsity of the soybean crops; the decision of the adjustment process is as follows:

s5: the intelligent control module acquires the actual mass of the threshing box through a weighing sensor, and adjusts the speed of harvesting action and threshing action when the mass of the threshing box reaches a maximum threshold value; the decision of the adjustment process is as follows: