Versatile transport system for straw bale recovery

Abstract

A multifunctional transport system for straw bale recovery is provided, wherein a lifting drive device is provided on a flip-type storage frame and the lifting drive device is connected to a lifting frame arranged inside the flip-type storage frame, a transverse drive device is provided on the lifting frame and the transverse drive device is connected to a transfer manipulator device arranged in the lifting frame, a lifting transfer device and a lifting rotation device are provided in front of the flip-type storage frame, the lifting rotation device is connected to a picking manipulator device, the lifting rotation device drives the picking manipulator device holding the straw bale to rotate above the lifting transfer device, and the transfer manipulator device loads the straw bale on the lifting transfer device into the flip-type storage frame under the combined drive of the transverse drive device and the lifting drive device. The present invention realizes the integration of picking up and loading and stacking of straw bales, reduces the difficulty of picking up and loading and stacking of straw bales, improves the efficiency of picking up and loading of straw bales, and reduces the labor intensity of staff.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to a multifunctional transport system for recovering straw bales. Background Art

[0002] With the rapid development of agricultural mechanization, equipment for tillage, preparation, sowing, harvesting and straw utilization of crops has liberated the labor force in rural areas. Farmers' lives are getting better year by year, and the motherland is beaming with joy. However, the output of straw and grain is almost one to one. The habit of straw burning has caused air pollution. People whose lives are getting better day by day are eager to return blue sky and white clouds to mankind. The government supports farmers to use local materials and turn straw waste into new energy to replace coal. While using harvesters to equip balers, we developed the first generation of picking vehicles. The straw bales were picked up one by one with forks and loaded on the vehicle, and then placed in groups of three. The chain was used to pull the baling vehicle backwards. After the picking vehicles entered the market, farmers readily accepted them.

[0003] Scientific progress is changing with each passing day, and mechanical automation is the ultimate goal of any mechanical design. On the basis of affirming the first generation of pick-up vehicles, we further developed the pick-up vehicle. The pick-up vehicle moves forward under the traction of a tractor. It is still very difficult for agricultural machinery equipment at the current level to quickly complete the picking, stacking, transportation and unloading of straw bales under the premise of less existing labor. Moreover, there is currently no relevant equipment that can achieve the continuous and rapid completion of the above processes. Therefore, it is necessary to make improvements to the above problems. Summary of the invention

[0004] The technical problem solved by the present invention is: to provide a multifunctional transport system for recovering straw bales, by arranging a lifting frame which can move up and down along the height direction of the flip storage frame and a transfer robot device which is arranged in the lifting frame and moves along the length direction of the lifting frame, and arranging a lifting transfer device in front of the flip storage frame, a lifting and rotating device located on the outside in front of the lifting transfer device and a picking robot device, so as to integrate the picking up of straw bales and loading and stacking of straw bales, reduce the difficulty of picking up and loading and stacking of straw bales, improve the efficiency of picking up and loading of straw bales, reduce the labor intensity of staff, and have a high value of promotion and application.

[0005] The technical solution adopted by the present invention is a multifunctional carrying system for collecting straw bales, comprising a tiltable storage frame, the tiltable storage frame is provided with a lifting drive device, and the lifting drive device is connected to the lifting frame arranged inside the tiltable storage frame, and the lifting drive device drives the lifting frame to move up and down along the height direction of the tiltable storage frame; the lifting frame is provided with a transverse driving device, and the transverse driving device is connected to a transfer manipulator device arranged in the lifting frame, and the transverse driving device drives the transfer manipulator device to reciprocate along the length direction of the lifting frame; a lifting transfer device and a lifting rotating device located outside the front of the lifting transfer device are provided in front of the tiltable storage frame, the lifting rotating device is connected to a picking up manipulator device, and the lifting rotating device drives the picking up manipulator device holding the straw bale to rotate to the top of the lifting transfer device to complete the transfer of the straw bale under the vehicle to the lifting transfer device, and under the combined drive of the transverse driving device and the lifting driving device, the transfer manipulator device loads the straw bale on the lifting transfer device into the tiltable storage frame.

[0006] Among them, the rear end of the flip type material storage frame is hinged to the rear end of the frame of the power vehicle, and the frame of the power vehicle is provided with a power-assisting cylinder and a flipping cylinder. A positioning seat is fixed to the middle part of the bottom surface of the front cross beam of the flip type material storage frame, and the end of the piston rod of the power-assisting cylinder is located in the spherical groove of the positioning seat. The end of the piston rod of the flipping cylinder is hinged to the middle part of the bottom surface of the rear section of the cross beam of the flip type material storage frame. After the power-assisting cylinder lifts the flip type material storage frame to an inclined state, the flipping type material storage frame is lifted by the flipping cylinder until the end of the piston rod of the power-assisting cylinder is separated from the positioning seat, and the flipping type material storage frame is flipped to a position where the upper end frame opening faces backward.

[0007] Furthermore, pushing cylinders are provided on both sides of the rear end of the frame of the power vehicle and are located below the flip storage frame. A push rod located inside the rear end of the flip storage frame is fixedly connected to the end of the piston rod of the pushing cylinder. When the flip storage frame is flipped to a position where the upper end frame opening faces backward under the joint action of the power cylinder and the flip cylinder, the push rod is driven by the pushing cylinder to push out the straw bale in the flip storage frame.

[0008] Furthermore, a foldable positioning frame is provided at the straw picking position of the picking robot device; the foldable positioning frame includes an I-shaped positioning frame with an open end, two connecting arms with bending joints and a folding cylinder, one end of the two connecting arms is fixedly connected to the side wall of the I-shaped positioning frame, and the other end of the two connecting arms is located outside the lower end of the picking robot device and fixed to the front end side wall of the frame of the power vehicle, the folding cylinder is installed on the frame of the power vehicle and the piston rod end of the folding cylinder is hinged below the joint of the connecting arm, and the I-shaped positioning frame can be unfolded for use or folded for storage by the extension and retraction of the folding cylinder; V-shaped positioning blocks for positioning straw bales are provided on the inner walls on both sides of the I-shaped positioning frame.

[0009] Furthermore, the lifting drive device includes a lifting motor and a transmission shaft, the lifting motor is installed on the side wall of the inner longitudinal beam on one side of the front end of the flip material storage frame, and the transmission shaft is rotatably installed on the longitudinal beams on both sides of the flip material storage frame through bearing seats, one row of gears in the active double-row gears on the output shaft of the lifting motor is connected with one row of gears in the double-row driven gears arranged at the front end of one of the transmission shafts through a chain, the other row of gears in the active double-row gears is connected with one row of gears in the double-row gears I through a chain, the other row of gears in the double-row gears I is connected to the single-row gears through a chain via a row of gears in the double-row gears II, and the other row of gears in the double-row gears II is connected with one row of gears in the double-row driven gears at the front end of another transmission shaft through a chain. Two parallel plate seats are fixed between the inner longitudinal beam on the other side of the front end of the flip type storage frame and the left longitudinal beam, and the double-row gear I, the double-row gear II and the single-row gear are all installed on the plate seats through a rotating shaft; the other row of gears in the double-row driven gears at the front ends of the two transmission shafts and the transmission gears arranged at the rear ends of the two transmission shafts are connected to the single-row gear arranged on the top of the flip type storage frame through lifting chains disconnected at both ends, the upper end of the lifting chain is fixed to the upper end surface of the longitudinal beam of the lifting frame and the lower end of the lifting chain is fixed to the lower end surface of the longitudinal beam of the lifting frame, and guide hooks adapted to the guide ridges on the columns at the corresponding positions of the flip type storage frame are fixed on the outer wall surfaces of the longitudinal beams on both sides of the lifting frame, and the lifting frame moves up and down along the height direction of the flip type storage frame under the drive of the lifting motor.

[0010] Furthermore, the transverse driving device includes a transverse motor and a transmission shaft I, the transverse motor is fixed to the lifting frame through a support seat provided on a longitudinal beam on one side of the front end of the lifting frame, and two ends of the front transverse beam of the lifting frame are respectively fixed to the support seat and a support plate provided on the longitudinal beam on the other side of the front end of the lifting frame, the transmission shaft I is arranged along the width direction of the lifting frame and is rotatably installed on the bottom of the two longitudinal beams at the front end of the lifting frame through a bearing seat, the driving sprocket on the output shaft of the transverse motor is connected with a row of gears in the double-row driven gear I provided at one end of the transmission shaft I through a chain, the other row of gears in the double-row driven gear I and the single-row gear II provided at the other end of the transmission shaft I are each connected to the single-row gear III corresponding to the rear end of the lifting frame through transverse chains disconnected at both ends, one end of the transverse chain is connected to the front side of the frame end of the transfer robot device and the other end of the transverse chain is connected to the rear side of the frame end of the transfer robot device, and a plurality of guide sprockets adapted to the transverse chain and used to support the transverse chain are installed at the bottom of the longitudinal beams on both sides of the lifting frame.

[0011] Furthermore, the transfer robot device includes a frame, a transfer clamping cylinder, a clamping claw and a guide rail. Rollers adapted to the grooves of the longitudinal beams of the lifting frame are installed at both ends of the frame. The transfer clamping cylinder is installed on a mounting plate in the middle of the bottom surface of the frame, and the piston rod ends at both ends of the transfer clamping cylinder are fixedly connected to the middle of the clamping claws located on the front and rear sides of the frame. Guide rails are provided on the frames on both sides of the transfer clamping cylinder. The sliders fixed on the support plates on the inner side walls of the clamping claws are adapted to the guide rails, and the two clamping claws are moved in opposite or opposite directions along the length direction of the guide rails through the extension and retraction of the piston rod of the transfer clamping cylinder. The clamping claws are composed of a long rod and a plurality of clamping rods fixed on the bottom surface of the long rod, and the support plate is fixed on the inner side wall of the long rod.

[0012] Furthermore, the lifting transfer device includes a transfer basket with an open entrance, a lifting frame consisting of two columns and multiple cross bars, and a transfer lifting motor, the lower end of the lifting frame is fixed to the front section of the frame of the power vehicle, the transfer lifting motor is fixed to the frame of the power vehicle and the driving gear on the output shaft of the transfer lifting motor is connected to a row of gears in the double-row driven gears II arranged on one side of the frame through a chain, a transmission shaft II is rotatably installed on the top of the lifting frame through a bearing seat, and single-row gears IV are installed on both ends of the transmission shaft II, the other row of gears in the double-row driven gears II and the single-row gears I arranged on the other side of the frame are connected to the single-row gears IV on the corresponding side through a lifting chain I disconnected at both ends, one end of the lifting chain I is fixedly connected to the upper end of the lifting rod and the other end of the lifting chain I is fixedly connected to the lower end of the lifting rod, the lifting rod is fixedly connected to the transfer basket located between the lifting frame and the flip storage frame, and the transfer basket is driven to move up and down along the height direction of the lifting frame by the transfer lifting motor.

[0013] Furthermore, the lifting and rotating device includes a lifting frame I composed of two columns and multiple cross bars, a lifting motor I, a lifting mounting plate and a rotating arm. The upper and lower ends of the lifting frame I are rotatably mounted with a transmission shaft III through a bearing seat. Gears are installed at both ends of the two transmission shafts III, and the two gears on the same side are connected by a lifting chain II disconnected at both ends. One end of the two lifting chains II is fixedly connected to the upper end of the lifting mounting plate outside the lifting frame I, and the other end of the lifting chain II is fixedly connected to the lower end of the lifting mounting plate, and the lifting motor I arranged on the frame and adaptively meshed with one of the lifting chains II drives the lifting mounting plate to move up and down along the height direction of the lifting frame I; one end of the rotating arm is rotatably mounted on the lifting mounting plate through a support seat, one end of the rotating drive cylinder is hinged on the lifting mounting plate, and the end of the piston rod of the rotating drive cylinder is hinged to the rotating arm, and the rotating drive cylinder drives the rotating arm to rotate around the rotating connection as the center, so that the picking robot device installed at the other end of the rotating arm rotates to above the transfer basket of the lifting transfer device.

[0014] Furthermore, the picking robot device includes a support frame consisting of a flat plate and vertical plates arranged on both sides of the bottom surface of the flat plate, a connecting plate, a picking cylinder, a guide rail and a clamping claw I. The other end of the rotating arm in the lifting and rotating device is fixedly connected to the support frame, and the connecting plate fixes two parallel guide rails into one. The vertical plate at the lower end of the support frame is fixedly connected to the connecting plate. Two clamping claws I that are perpendicular to the guide rails are provided below the connecting plate, and a sliding block fixedly connected to the upper end of the clamping claw I is adapted to the guide rail at the corresponding position. The two ends of the picking cylinder located between the support frame and the connecting plate are respectively connected to the middle part of the upper end of the clamping claw I on the corresponding side, and the two clamping claws I that move towards each other can clamp the straw bale, or the two clamping claws I that move in opposite directions can release the clamped straw bale through the extension and retraction of the piston rod of the picking cylinder. The clamping claw I consists of a long rod and a plurality of clamping rods fixed on the bottom surface of the long rod.

[0015] The advantages of the present invention compared with the prior art are:

[0016] 1. This technical solution integrates the picking up and loading and stacking of straw bales by arranging a lifting frame that can move up and down along the height direction of the flip storage frame and a transfer manipulator device that is arranged in the lifting frame and moves along the length direction of the lifting frame, and arranging a lifting transfer device in front of the flip storage frame, a lifting and rotating device located outside the front of the lifting transfer device, and a picking manipulator device, thereby reducing the difficulty of picking up and loading and stacking straw bales, improving the efficiency of picking up and loading straw bales, and reducing the labor intensity of the staff;

[0017] 2. This technical solution provides unloading conditions for the stacked straw bales in the flip storage frame by arranging a booster oil cylinder and a flip oil cylinder on the frame of the power vehicle, and with the help of the booster oil cylinder, the flip storage frame is lifted by the flip oil cylinder until the piston rod of the booster oil cylinder is separated from the flip storage frame and the flip storage frame is flipped to a position where the upper frame opening faces backwards;

[0018] 3. This technical solution provides a push cylinder connected to a push rod located inside the rear end of the flip storage frame on both sides of the rear end of the power vehicle frame, and the push cylinder drives the push rod to push out the straw bales in the flip storage frame, thereby improving the unloading efficiency of the straw bales in the flip storage frame, freeing up labor, and eliminating the need for manual unloading;

[0019] 4. This technical solution provides a foldable positioning frame at the straw picking position, which facilitates the positioning of the picking robot device when picking up the straw bale at the picking position, thereby ensuring that the picking robot device can smoothly clamp the straw bale and improving the straw bale picking efficiency;

[0020] 5. This technical solution has a novel design and a high degree of integration. It can complete the picking, stacking, transportation and unloading of straw bales from the fields, which greatly reduces the labor intensity of the staff. It has diversified processing functions for straw bales and has a high value for promotion and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of the present invention;

[0022] Figure 2 It is a schematic diagram of the installation structure of the transverse driving device and the transfer robot device of the present invention;

[0023] Figure 3 It is a schematic diagram of the transmission structure of the lifting drive device of the present invention;

[0024] Figure 4 It is a schematic diagram of the installation structure of the lifting transfer device, the lifting and rotating device, the picking manipulator device and the foldable positioning frame of the present invention. DETAILED DESCRIPTION

[0025] The following is combined with Figure 1-4 An embodiment of the present invention is described to clearly and completely describe the technical solution. Obviously, the described embodiment is only a part of the embodiments of the present invention, rather than all the embodiments.

[0026] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore, should not be understood as a limitation on the present invention.

[0027] Versatile transport systems for straw bale recovery, e.g. Figure 1-4As shown, it includes a flip storage frame 1, on which a lifting drive device 3 is provided, and the lifting drive device 3 is connected to a lifting frame 2 arranged inside the flip storage frame 1, and the lifting drive device 3 drives the lifting frame 2 to move up and down along the height direction of the flip storage frame 1; the lifting frame 2 is provided with a transverse driving device 4, and the transverse driving device 4 is connected to a transfer manipulator device 5 arranged in the lifting frame 2, and the transverse driving device 4 drives the transfer manipulator device 5 to reciprocate along the length direction of the lifting frame 2; the front of the flip storage frame 1 is provided with a lifting transfer device 6 and a lifting and rotating device 7 located on the outside of the front of the lifting transfer device 6, the lifting and rotating device 7 is connected to a picking up manipulator device 8, and the lifting and rotating device 7 drives the picking up manipulator device 8 holding the straw bale to rotate to the lifting transfer device After the lifting device 6 is placed above the vehicle, the straw bale under the vehicle is transferred to the lifting transfer device 6. Under the combined drive of the lateral driving device 4 and the lifting driving device 3, the transfer robot device 5 loads the straw bale on the lifting transfer device 6 into the overturning storage frame 1; in the above structure, a lifting frame 2 that can move up and down along the height direction of the overturning storage frame 1 and a transfer robot device 5 that is arranged in the lifting frame 2 and moves along the length direction of the lifting frame 2 are arranged on the overturning storage frame 1, and a lifting transfer device 6, a lifting and rotating device 7 and a picking robot device 8 located on the front outside of the lifting transfer device 6 are arranged in front of the overturning storage frame 1, so that the picking up of straw bales and loading and stacking are integrated into one, which reduces the difficulty of picking up and loading and stacking of straw bales, improves the efficiency of picking up and loading of straw bales, and reduces the labor intensity of the staff;

[0028] The specific structure of the flip storage frame 1 is as follows: the rear end of the flip storage frame 1 is hinged to the rear end of the frame 12 of the power vehicle, and the frame 12 of the power vehicle is provided with a booster cylinder and a flip cylinder, a positioning seat 13 is fixed to the middle part of the bottom surface of the front cross beam of the flip storage frame 1 and the end of the piston rod of the booster cylinder is located in the spherical groove of the positioning seat 13, and the end of the piston rod of the flip cylinder is hinged to the middle part of the bottom surface of the rear section of the cross beam of the flip storage frame 1. After the booster cylinder lifts the flip storage frame 1 to an inclined state, the flip storage frame 1 is lifted by the flip cylinder until the end of the piston rod of the booster cylinder is separated from the positioning seat 13 and the flip storage frame 1 is flipped to a position where the upper end frame opening faces backward; in the above structure, by arranging a positioning seat 13 which is adapted to the bottom of the flip storage frame 1 on the frame 12 of the power vehicle The turning oil cylinder and the turning oil cylinder are connected, and with the help of the power-boosting oil cylinder, the turning oil cylinder lifts the turning storage frame 1 to the position where the power-boosting oil cylinder piston rod is separated from the turning storage frame 1 and turns the turning storage frame 1 to the position where the upper frame opening faces backward, thereby providing unloading conditions for the straw bales stacked in the turning storage frame 1; here, since the stroke is large when turning the turning storage frame 1 with the frame opening facing upward to the position where the frame opening faces the mouth, two oil cylinders (i.e., the power-boosting oil cylinder and the turning oil cylinder) are provided, and the function of the power-boosting oil cylinder is to provide power lifting assistance, firstly lift the turning storage frame 1 to the inclined state, and then, push and rotate it to the position where the frame opening of the turning storage frame 1 faces the mouth, and when the turning oil cylinder is lifting, the piston rod end of the power-boosting oil cylinder is separated from the turning storage frame 1;

[0029] In order to facilitate the unloading of the stacked straw bales inside the flip storage frame 1 after the flipping, the following connection is specially designed: the rear ends of the frame 12 of the power vehicle are provided with a pushing cylinder 10 located below the flip storage frame 1, and the push rod 11 located inside the rear end of the flip storage frame 1 is fixedly connected to the piston rod end of the pushing cylinder 10. When the flip storage frame 1 is flipped to the position where the upper frame opening faces backward under the joint action of the booster cylinder and the flip cylinder, the pushing cylinder 10 drives the push rod 11 to push out the straw bales in the flip storage frame 1; in the above structure, by providing the pushing cylinders 10 on both sides of the rear end of the frame 12 of the power vehicle, The push cylinder 10 connected to the push rod 11 located inside the rear end of the flip storage frame 1 is driven by the push cylinder 10 to push out the straw bale in the flip storage frame 1, thereby improving the unloading efficiency of the straw bale in the flip storage frame 1, liberating labor, and eliminating the need for manual unloading; when the flip storage frame 1 is lifted and flipped to a position where the frame opening faces the mouth, the push rod 11 is located at the front side of the flip storage frame 1 after the flipping, and after the push cylinder 10 is started, the push rod 11 is driven to push all the stacked straw bales out of the flip storage frame 1 from the front end, thereby realizing the rapid unloading of the straw bale, eliminating the need for manual operation, and achieving high unloading efficiency;

[0030] like Figure 4As shown, the specific structure of the picking robot device 8 is as follows: a foldable positioning frame 9 is provided at the straw picking position of the picking robot device 8; the foldable positioning frame 9 includes an "I"-shaped positioning frame 9-1 with an open end, two connecting arms 9-2 with bending joints and a folding cylinder 9-3, one end of the two connecting arms 9-2 is fixedly connected to the side wall of the "I"-shaped positioning frame 9-1, the other end of the two connecting arms 9-2 is located on the outer side of the lower end of the picking robot device 8 and fixed on the front side wall of the frame 12 of the power vehicle, the folding cylinder 9-3 is installed on the frame 12 of the power vehicle and the piston rod end of the folding cylinder 9-3 is hinged below the joint of the connecting arm 9-2, and through the extension and retraction of the folding cylinder 9-3 The "X"-shaped positioning frame 9-1 can be unfolded for use or folded for storage; V-shaped positioning blocks 9-4 for positioning the straw bale are provided on the inner walls on both sides of the "X"-shaped positioning frame 9-1; in the above structure, before the picking-up robot device 8 picks up the straw bale, the staff pushes the straw bale into the "X"-shaped positioning frame 9-1, and the two ends of the straw bale are positioned under the action of the V-shaped positioning blocks 9-4, and after the straw bale is positioned, the picking-up robot device 8 picks up the straw bale; by arranging a foldable positioning frame 9 at the straw picking position, it is convenient for the picking-up robot device 8 to position the straw bale at the picking position, thereby ensuring that the picking-up robot device 8 can smoothly clamp the straw bale, thereby improving the efficiency of picking up the straw bale;

[0031] like Figure 3As shown, the specific structure of the lifting drive device 3 is as follows: the lifting drive device 3 includes a lifting motor 3-1 and a transmission shaft 3-2, the lifting motor 3-1 is installed on the side wall of the inner longitudinal beam on one side of the front end of the flip material storage frame 1, and the transmission shaft 3-2 is rotatably installed on the longitudinal beams on both sides of the flip material storage frame 1 through a bearing seat, one row of gears in the active double-row gear 3-3 on the output shaft of the lifting motor 3-1 is connected with a row of gears in the double-row driven gear 3-4 arranged at the front end of one of the transmission shafts 3-2 through a chain, the other row of gears in the active double-row gear 3-3 is connected with a row of gears in the double-row gear I 3-6 through a chain, the other row of gears in the double-row gear I 3-6 is connected with a single-row gear 3-8 through a chain via a row of gears in the double-row gear II 3-7, the other row of gears in the double-row gear II 3-7 is connected with a row of gears in the double-row driven gear 3-4 at the front end of another transmission shaft 3-2 through a chain, and the inner longitudinal beam on the other side of the front end of the flip material storage frame 1 and the left longitudinal beam are connected. Two parallel plate seats 3-5 are fixed between the two transmission shafts 3-2, and the double-row gears Ⅰ3-6, the double-row gears Ⅱ3-7, and the single-row gears 3-8 are all installed on the plate seats 3-5 through rotating shafts; the other row of gears in the double-row driven gears 3-4 at the front end of the two transmission shafts 3-2 and the transmission gears 3-10 arranged at the rear end of the two transmission shafts 3-2 are connected to the single-row gears 3-8 arranged at the top of the flip storage frame 1 through lifting chains 3-9 disconnected at both ends, and the upper ends of the lifting chains 3-9 are fixed to the lifting frame 2 The lower end of the lifting chain 3-9 is fixed to the lower end of the longitudinal beam of the lifting frame 2. The guide hooks 15 adapted to the guide ridges 14 on the columns at the corresponding positions of the flip-type storage frame 1 are fixed on the outer wall surfaces of the longitudinal beams on both sides of the lifting frame 2. The lifting frame 2 moves up and down along the height direction of the flip-type storage frame 1 under the drive of the lifting motor 3-1; in the above structure, the lifting and lowering action of the lifting frame 2 can be realized under the drive of the lifting motor 3-1, thereby providing lifting conditions for the transfer manipulator device 5 to stack the straw bales;

[0032] like Figure 2As shown, the specific structure of the transverse driving device 4 is as follows: the transverse driving device 4 includes a transverse motor 4-1 and a transmission shaft I 4-2, the transverse motor 4-1 is fixed to the lifting frame 2 through a support seat 4-3 provided on a longitudinal beam on one side of the front end of the lifting frame 2, and the two ends of the front transverse beam of the lifting frame 2 are respectively fixed to the support seat 4-3 and a support plate provided on the longitudinal beam on the other side of the front end of the lifting frame 2, the transmission shaft I 4-2 is arranged along the width direction of the lifting frame 2 and is rotatably installed on the bottom of the two longitudinal beams at the front end of the lifting frame 2 through a bearing seat, the driving sprocket 4-4 on the output shaft of the transverse motor 4-1 is connected to one row of gears in the double-row driven gear I 4-5 provided at one end of the transmission shaft I 4-2 through a chain, and the other row of gears in the double-row driven gear I 4-5 is connected to the lifting frame 2 through a chain. The row of gears and the single-row gear II 4-6 arranged at the other end of the transmission shaft I 4-2 are connected to the corresponding single-row gear III 4-8 arranged at the rear end of the lifting frame 2 through the transverse chain 4-7 disconnected at both ends. One end of the transverse chain 4-7 is connected to the front side of the frame 5-1 end of the transfer robot device 5, and the other end of the transverse chain 4-7 is connected to the rear side of the frame 5-1 end of the transfer robot device 5. A plurality of guide sprockets 4-9 adapted to the transverse chain 4-7 and used to support the transverse chain 4-7 are installed at the bottom of the longitudinal beams on both sides of the lifting frame 2; in the above structure, under the drive of the transverse motor 4-1, the transfer robot device 5 reciprocates along the length direction of the lifting frame 2, thereby providing transverse movement conditions for the transfer robot device 5 to clamp the stack of straw bales;

[0033] like Figure 2 As shown, the specific structure of the transfer robot device 5 is as follows: the transfer robot device 5 includes a frame 5-1, a transfer clamping cylinder 5-2, a clamping claw 5-3 and a guide rail 5-4, both ends of the frame 5-1 are equipped with rollers 5-5 adapted to the groove of the longitudinal beam of the lifting frame 2, the transfer clamping cylinder 5-2 is installed on the mounting plate in the middle of the bottom surface of the frame 5-1, and the piston rod ends at both ends of the transfer clamping cylinder 5-2 are fixedly connected to the middle of the clamping claw 5-3 located on the front and rear sides of the frame 5-1, and guide rails 5-4 are provided on the frame 5-1 on both sides of the transfer clamping cylinder 5-2 , the slider fixed on the support plate on the inner side wall of the clamping claw 5-3 is adapted to the guide rail 5-4, and the two clamping claws 5-3 are moved in opposite or opposite directions along the length direction of the guide rail 5-4 by the extension and contraction of the piston rod of the transport clamping oil cylinder 5-2; the clamping claw 5-3 is composed of a long rod and a plurality of clamping rods fixed on the bottom surface of the long rod, and the support plate is fixed on the inner side wall of the long rod; in the above structure, when the two clamping claws 5-3 are driven to move towards each other by the extension and contraction of the transport clamping oil cylinder 5-2, the straw bale is clamped, and when the operation is reversed, the clamped straw bale is moved to the placement position to drop the material;

[0034] like Figure 4As shown, the specific structure of the lifting transfer device 6 is as follows: the lifting transfer device 6 includes a transfer basket 6-1 with an opening at the entrance, a lifting frame 6-2 composed of two columns and multiple cross bars, and a transfer lifting motor 6-3, the lower end of the lifting frame 6-2 is fixed to the front section of the frame 12 of the power vehicle, the transfer lifting motor 6-3 is fixed to the frame 12 of the power vehicle, and the driving gear 6-4 on the output shaft of the transfer lifting motor 6-3 is connected to one row of gears in the double-row driven gear II arranged on one side of the frame 12 through a chain, the top of the lifting frame 6-2 is rotatably installed with a transmission shaft II 6-6 through a bearing seat, and both ends of the transmission shaft II 6-6 are installed with single-row gears IV 6-7, the other row of gears in the double-row driven gear II and the gears arranged on the frame 1 The single-row gears I on the other side are connected to the single-row gears IV 6-7 on the corresponding side through the lifting chains I 6-5 disconnected at both ends, one end of the lifting chain I 6-5 is fixedly connected to the upper end of the lifting rod 6-8 and the other end of the lifting chain I 6-5 is fixedly connected to the lower end of the lifting rod 6-8, the lifting rod 6-8 is fixedly connected to the transfer basket 6-1 located between the lifting frame 6-2 and the flip-type storage frame 1, and the transfer basket 6-1 is driven to move up and down along the height direction of the lifting frame 6-2 by the transfer lifting motor 6-3; in the above structure, the lifting motor 6-3 provides driving conditions for the lifting of the transfer basket 6-1, ensuring that the straw bale placed on the transfer basket 6-1 is at a height synchronized with the transfer robot device 5, so as to facilitate the transfer robot device 5 to grab the straw bale;

[0035] like Figure 4As shown, the specific structure of the lifting and rotating device 7 is as follows: the lifting and rotating device 7 includes a lifting frame Ⅰ7-1 composed of two columns and multiple cross bars, a lifting motor Ⅰ7-2, a lifting mounting plate 7-3 and a rotating arm 7-4, the upper and lower ends of the lifting frame Ⅰ7-1 are rotatably mounted with a transmission shaft Ⅲ7-5 through a bearing seat, both ends of the two transmission shafts Ⅲ7-5 are mounted with gears, and the two gears on the same side are connected by a lifting chain Ⅱ7-6 disconnected at both ends, one end of the two lifting chains Ⅱ7-6 is fixedly connected to the upper end of the lifting mounting plate 7-3 outside the lifting frame Ⅰ7-1, and the other end of the lifting chain Ⅱ7-6 is fixedly connected to the lower end of the lifting mounting plate 7-3, and is provided on the frame 12 and connected to one of the lifting chains Ⅱ7 -6 The adapted meshing lifting motor Ⅰ7-2 drives the lifting mounting plate 7-3 to move up and down along the height direction of the lifting frame Ⅰ7-1; one end of the rotating arm 7-4 is rotatably mounted on the lifting mounting plate 7-3 through a support seat, one end of the rotating driving cylinder 7-7 is hinged on the lifting mounting plate 7-3, and the end of the piston rod of the rotating driving cylinder 7-7 is hinged to the rotating arm 7-4, and the rotating driving cylinder 7-7 drives the rotating arm 7-4 to rotate around the rotating connection as the center, so that the picking robot device 8 installed at the other end of the rotating arm 7-4 rotates to the top of the transfer basket 6-1 of the lifting transfer device 6; in the above structure, the lifting motor Ⅰ7-2 drives the lifting mounting plate 7-3 to move up and down reciprocatingly, providing lifting conditions for the picking robot device 8;

[0036] like Figure 4As shown, the specific structure of the picking-up robot device 8 is as follows: the picking-up robot device 8 includes a support frame 8-1 composed of a flat plate and vertical plates arranged on both sides of the bottom surface of the flat plate, a connecting plate 8-2, a picking-up cylinder 8-5, a guide rail 8-3 and a clamping claw I8-4. The other end of the rotating arm 7-4 in the lifting and rotating device 7 is fixedly connected to the support frame 8-1, and the connecting plate 8-2 fixes the two parallel guide rails 8-3 into one body. The vertical plate at the lower end of the support frame 8-1 is fixedly connected to the connecting plate 8-2. Two clamping claws I8-4 arranged vertically with the guide rails 8-3 are arranged below the connecting plate 8-2, and the slider fixedly connected to the upper end of the clamping claw I8-4 is adapted to the guide rail 8-3 at the corresponding position, and the slider located between the support frame 8-1 and the connecting plate 8- The two ends of the picking cylinder 8-5 between the two sides are respectively connected to the middle part of the upper end of the clamping claw Ⅰ8-4 on the corresponding side, and the two clamping claws Ⅰ8-4 moving in opposite directions can clamp the straw bale, or the two clamping claws Ⅰ8-4 moving in opposite directions can release the clamped straw bale through the extension and retraction of the piston rod of the picking cylinder 8-5. The clamping claw Ⅰ8-4 is composed of a long rod and a plurality of clamping rods fixed on the bottom surface of the long rod. In the above structure, under the drive of the picking cylinder 8-5, the two clamping claws Ⅰ8-4 are driven to move in opposite directions to clamp the straw bale located in the "X"-shaped positioning frame 9-1. When the straw bale rotates to the top of the transfer basket 6-1, the picking cylinder 8-5 drives the two clamping claws Ⅰ8-4 to move in opposite directions to release the straw bale, so that it falls on the transfer basket 6-1.

[0037] During operation, the folding cylinder 9-3 drives the “X”-shaped positioning frame 9-1 to fall on the ground, and then the straw bale is positioned in the “X”-shaped positioning frame 9-1, and the rotating arm 7-4 is driven to drive the picking robot device 8 to move down to the clamping claws Ⅰ8-4 to insert into both sides of the straw bale, and then the picking cylinder 8-5 drives the clamping claws Ⅰ8-4 to clamp the straw bale, and the lifting and rotating device 7 drives the picking robot device 8 to move up to the same height as the transfer robot device 5, and starts the rotating drive cylinder 7-7 to rotate the rotating arm 7-4 90°, and then the picking cylinder 8-5 drives the clamping claws Ⅰ8-4 to release the straw bale and make it fall on the transfer basket 6-1; the transfer clamping cylinder 5-2 drives the two clamping claws 5-3 to move toward each other along the length direction of the guide rail 5-4 to clamp the straw bale in the transfer basket 6-1, and then the transverse drive device 4 drives the transfer robot device 5 along the lifting frame 2 After moving to the stacking position in the length direction, the clamping cylinder 5-2 drives the two clamping claws 5-3 to move in the opposite direction to release the straw bale, and the straw bale falls to the stacking position, and the lifting and lowering of the transfer manipulator device 5 is achieved by the lifting drive device 3 driving the lifting frame 2 to move up and down in the height direction of the overturnable storage frame 1. The above process is repeated until the straw bales in the overturnable storage frame 1 are loaded into the vehicle, and the "X"-shaped positioning frame 9-1 is folded and put away, and the overturnable storage frame 1 filled with straw bales is transported to the straw bale storage position, and the overturnable storage frame 1 is lifted to an inclined state under the action of the power-assisted cylinder, and then pushed to a position where the frame mouth of the overturnable storage frame 1 faces the mouth by the overturning cylinder, and finally, the pushing cylinder 10 is started and drives the push rod 11 to push all the stacked straw bales out of the overturnable storage frame 1 from the front end of the stacked straw bale, and the whole process of picking up, loading, stacking, transporting, overturning and unloading of the straw bale is completed.

[0038] This technical solution has a novel design and a high degree of integration. It can complete the picking, stacking, transportation and unloading processes of straw bales from the fields, greatly reducing the labor intensity of the staff, and has diversified processing functions for straw bales, and has a high value for promotion and application.

[0039] The above embodiments are only preferred embodiments of the present invention and are not intended to limit the scope of implementation of the present invention. Therefore, all equivalent changes made to the contents described in the claims of the present invention should be included in the scope of the claims of the present invention.

Claims

1. Multifunctional transport system for straw bale recovery, characterized by: The invention comprises a flip material storage frame (1), wherein a lifting drive device (3) is provided on the flip material storage frame (1), and the lifting drive device (3) is connected to a lifting frame (2) arranged inside the flip material storage frame (1), and the lifting drive device (3) drives the lifting frame (2) to move up and down along the height direction of the flip material storage frame (1); a transverse driving device (4) is provided on the lifting frame (2), and the transverse driving device (4) is connected to a transfer robot device (5) arranged inside the lifting frame (2), and the transverse driving device (4) drives the transfer robot device (5) to reciprocate along the length direction of the lifting frame (2); the flip material storage frame (1) is provided with a lifting drive device (3), and the lifting drive device (3) drives the lifting frame (2) to move up and down along the height direction of the flip material storage frame (1); A lifting transfer device (6) and a lifting rotation device (7) located outside the front of the lifting transfer device (6) are provided in front of the frame (1); the lifting rotation device (7) is connected to a picking-up manipulator device (8), and the lifting rotation device (7) drives the picking-up manipulator device (8) holding the straw bale to rotate to the top of the lifting transfer device (6) to complete the transfer of the straw bale under the vehicle to the lifting transfer device (6); and the transfer manipulator device (5) loads the straw bale on the lifting transfer device (6) into the flip-type storage frame (1) under the combined drive of the transverse drive device (4) and the lifting drive device (3); The rear end of the flip material storage frame (1) is hinged to the rear end of the frame (12) of the power vehicle, and a booster oil cylinder and a flip oil cylinder are provided on the frame (12) of the power vehicle. A positioning seat (13) is fixed to the middle of the bottom surface of the front cross beam of the flip material storage frame (1), and the piston rod end of the booster oil cylinder is located in the spherical groove of the positioning seat (13). The piston rod end of the flip oil cylinder is hinged to the middle of the bottom surface of the rear cross beam of the flip material storage frame (1). After the booster oil cylinder lifts the flip material storage frame (1) to a tilted state, the flip material storage frame (1) is lifted by the flip oil cylinder until the piston rod end of the booster oil cylinder is separated from the positioning seat (13), and the flip material storage frame (1) is flipped to a position where the upper frame opening faces backwards. The lifting and rotating device (7) comprises a lifting frame I (7-1) composed of two columns and a plurality of cross bars, a lifting motor I (7-2), a lifting mounting plate (7-3) and a rotating arm (7-4), wherein the upper and lower ends of the lifting frame I (7-1) are both rotatably mounted with a transmission shaft III (7-5) through a bearing seat, and both ends of the two transmission shafts III (7-5) are mounted with gears, and the two gears on the same side are connected through a lifting chain II (7-6) disconnected at both ends, one end of the two lifting chains II (7-6) is fixedly connected to the upper end of the lifting mounting plate (7-3) outside the lifting frame I (7-1), and the other end of the lifting chain II (7-6) is fixedly connected to the lower end of the lifting mounting plate (7-3), and is connected to the frame (12 ) and a lifting motor I (7-2) adapted to mesh with one of the lifting chains II (7-6) drives the lifting mounting plate (7-3) to move up and down along the height direction of the lifting frame I (7-1); one end of the rotating arm (7-4) is rotatably mounted on the lifting mounting plate (7-3) through a support seat, one end of the rotating drive cylinder (7-7) is hinged on the lifting mounting plate (7-3) and the end of the piston rod of the rotating drive cylinder (7-7) is hinged to the rotating arm (7-4), and the rotating drive cylinder (7-7) drives the rotating arm (7-4) to rotate around the rotating connection as the center, so that the picking robot device (8) installed at the other end of the rotating arm (7-4) rotates to the top of the transfer basket (6-1) of the lifting transfer device (6).

2. The multifunctional transport system for straw bale recovery according to claim 1, characterized in that: Both sides of the rear end of the frame (12) of the power vehicle are provided with a pushing cylinder (10) located below the flip storage frame (1); a push rod (11) located inside the rear end of the flip storage frame (1) is fixedly connected to the end of the piston rod of the pushing cylinder (10); when the flip storage frame (1) is flipped to a position with the upper frame opening facing backwards under the joint action of the booster cylinder and the flip cylinder, the pushing cylinder (10) drives the push rod (11) to push out the straw bale in the flip storage frame (1).

3. The multifunctional transport system for straw bale recovery according to claim 1, characterized in that: A foldable positioning frame (9) is provided at the straw picking position of the picking robot device (8); the foldable positioning frame (9) comprises an "X"-shaped positioning frame (9-1) with an open end, two connecting arms (9-2) provided with bending joints, and a folding oil cylinder (9-3); one end of the two connecting arms (9-2) is fixedly connected to the side wall of the "X"-shaped positioning frame (9-1), and the other end of the two connecting arms (9-2) is located outside the lower end of the picking robot device (8) and is fixedly connected to the side wall of the "X"-shaped positioning frame (9-1). The folding oil cylinder (9-3) is fixed on the front end side wall of the frame (12) of the power vehicle, and the piston rod end of the folding oil cylinder (9-3) is hinged below the joint of the connecting arm (9-2), and the "X"-shaped positioning frame (9-1) can be unfolded for use or folded for storage by telescoping the folding oil cylinder (9-3); V-shaped positioning blocks (9-4) for positioning straw bales are provided on the inner walls on both sides of the "X"-shaped positioning frame (9-1).

4. The multifunctional transport system for straw bale recovery according to claim 1, characterized in that: The lifting drive device (3) comprises a lifting motor (3-1) and a transmission shaft (3-2); the lifting motor (3-1) is mounted on the inner longitudinal beam side wall at one side of the front end of the flip material storage frame (1); the transmission shaft (3-2) is rotatably mounted on the longitudinal beams on both sides of the flip material storage frame (1) via bearing seats; one row of gears in the active double-row gears (3-3) on the output shaft of the lifting motor (3-1) is connected to one row of gears in the double-row driven gears (3-4) provided at the front end of one of the transmission shafts (3-2) via a chain. The first gear (3-1) is connected to the first gear (3-2) by a chain, the second gear (3-2) is connected to the second gear (3-3) by a chain, the second gear (3-3) is connected to the first gear (3-6) by a chain, the second gear (3-6) is connected to the first gear (3-8) by a chain, the second gear (3-7) is connected to the second gear (3-4) by a chain, and the flip material storage frame is connected to the first gear (3-1) by a chain. (1) Two parallel plate seats (3-5) are fixed between the inner longitudinal beam on the other side of the front end and the left longitudinal beam, and the double-row gear I (3-6), the double-row gear II (3-7), and the single-row gear (3-8) are all installed on the plate seats (3-5) through a rotating shaft; the other row of gears in the double-row driven gears (3-4) at the front end of the two transmission shafts (3-2) and the transmission gears (3-10) arranged at the rear end of the two transmission shafts (3-2) are connected to the lifting chains (3-9) provided at the flip storage The lifting frame (1) is connected to a single row of gears (3-8) at the top of the material frame (1), the upper end of the lifting chain (3-9) is fixed to the upper end surface of the longitudinal beam of the lifting frame (2), and the lower end of the lifting chain (3-9) is fixed to the lower end surface of the longitudinal beam of the lifting frame (2), and guide hooks (15) adapted to guide ridges (14) on the columns at corresponding positions of the flip material storage frame (1) are fixed on the outer wall surfaces of the longitudinal beams on both sides of the lifting frame (2). The lifting frame (2) moves up and down along the height direction of the flip material storage frame (1) under the drive of the lifting motor (3-1).

5. The multifunctional transport system for straw bale recovery according to claim 1, characterized in that: The transverse driving device (4) comprises a transverse motor (4-1) and a transmission shaft I (4-2). The transverse motor (4-1) is fixed to the lifting frame (2) via a support seat (4-3) provided on a longitudinal beam on one side of the front end of the lifting frame (2). The two ends of the front transverse beam of the lifting frame (2) are respectively fixed to the support seat (4-3) and a support plate provided on the longitudinal beam on the other side of the front end of the lifting frame (2). The transmission shaft I (4-2) is arranged along the width direction of the lifting frame (2) and is rotatably mounted on the bottom of the two longitudinal beams at the front end of the lifting frame (2) through a bearing seat. The driving sprocket (4-4) on the output shaft of the transverse motor (4-1) is connected to a double-row driven gear I (4-5) provided at one end of the transmission shaft I (4-2) through a chain. ), the other row of gears in the double-row driven gear I (4-5) and the single-row gear II (4-6) arranged at the other end of the transmission shaft I (4-2) are each connected to the corresponding single-row gear III (4-8) arranged at the rear end of the lifting frame (2) through a transverse chain (4-7) disconnected at both ends, one end of the transverse chain (4-7) is connected to the front side of the frame (5-1) end of the transfer robot device (5) and the other end of the transverse chain (4-7) is connected to the rear side of the frame (5-1) end of the transfer robot device (5), and a plurality of guide sprockets (4-9) adapted to the transverse chain (4-7) and used to support the transverse chain (4-7) are installed at the bottom of the longitudinal beams on both sides of the lifting frame (2).

6. The multifunctional transport system for straw bale recovery according to claim 1, characterized in that: The transfer manipulator device (5) comprises a frame (5-1), a transfer clamping oil cylinder (5-2), a clamping claw (5-3) and a guide rail (5-4). Both ends of the frame (5-1) are equipped with rollers (5-5) adapted to fit in the groove of the longitudinal beam of the lifting frame (2). The transfer clamping oil cylinder (5-2) is installed on a mounting plate in the middle of the bottom surface of the frame (5-1), and the piston rod ends at both ends of the transfer clamping oil cylinder (5-2) are fixed to the middle of the clamping claws (5-3) located at the front and rear sides of the frame (5-1). The frames (5-1) on both sides of the transport clamping oil cylinder (5-2) are provided with guide rails (5-4), the sliders fixed on the support plates on the inner side walls of the clamping claws (5-3) are adapted to the guide rails (5-4), and the two clamping claws (5-3) can move in opposite directions or towards each other along the length direction of the guide rails (5-4) by extending and retracting the piston rod of the transport clamping oil cylinder (5-2); the clamping claws (5-3) are composed of a long rod and a plurality of clamping rods fixed on the bottom surface of the long rod, and the support plates are fixed on the inner side walls of the long rod.

7. The multifunctional transport system for straw bale recovery according to claim 1, characterized in that: The lifting transfer device (6) comprises a transfer basket (6-1) with an opening at the entrance, a lifting frame (6-2) composed of two columns and a plurality of cross bars, and a transfer lifting motor (6-3), wherein the lower end of the lifting frame (6-2) is fixed to the front section of the frame (12) of the power vehicle, the transfer lifting motor (6-3) is fixed to the frame (12) of the power vehicle, and the driving gear (6-4) on the output shaft of the transfer lifting motor (6-3) is connected to one row of gears in a double row of driven gears II arranged on one side of the frame (12) through a chain, and a transmission shaft II (6-6) is rotatably installed on the top of the lifting frame (6-2) through a bearing seat, and single-row driven gears (6-4) are installed at both ends of the transmission shaft II (6-6). Gear IV (6-7), the other row of gears in the double-row driven gear II and the single-row gear I arranged on the other side of the frame (12) are connected to the single-row gear IV (6-7) on the corresponding side through a lifting chain I (6-5) disconnected at both ends, one end of the lifting chain I (6-5) is fixedly connected to the upper end of the lifting rod (6-8) and the other end of the lifting chain I (6-5) is fixedly connected to the lower end of the lifting rod (6-8), the lifting rod (6-8) is fixedly connected to the transfer basket (6-1) located between the lifting frame (6-2) and the flip-type storage frame (1), and the transfer basket (6-1) is driven by the transfer lifting motor (6-3) to move up and down along the height direction of the lifting frame (6-2).

8. The multifunctional transport system for straw bale recovery according to claim 3, characterized in that: The picking robot device (8) comprises a support frame (8-1) composed of a flat plate and vertical plates arranged on both sides of the bottom surface of the flat plate, a connecting plate (8-2), a picking oil cylinder (8-5), a guide rail (8-3) and a clamping claw I (8-4), the other end of the rotating arm (7-4) in the lifting and rotating device (7) is fixedly connected to the support frame (8-1), the connecting plate (8-2) connects two parallel guide rails (8-3) into one body, the vertical plate at the lower end of the support frame (8-1) is fixedly connected to the connecting plate (8-2), and two clamping claws (8-4) arranged vertically to the guide rails (8-3) are arranged below the connecting plate (8-2). The invention relates to a holding claw I (8-4), and a slider fixedly connected to the upper end of the clamping claw I (8-4) is adapted to the guide rail (8-3) at the corresponding position. The two ends of the picking cylinder (8-5) located between the support frame (8-1) and the connecting plate (8-2) are respectively connected to the middle part of the upper end of the clamping claw I (8-4) on the corresponding side, and the two clamping claws I (8-4) moving towards each other can clamp the straw bale, or the two clamping claws I (8-4) moving in opposite directions can release the clamped straw bale, and the clamping claw I (8-4) is composed of a long rod and a plurality of clamping rods fixed on the bottom surface of the long rod.

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