A grass cutting and baling device and method

Abstract

The present invention discloses a grass cutting and baling device and method, including a box body, a controller and a base, the controller is embedded and fixedly arranged on the box body, the box body is provided with a feed port and a discharge port, the box body is installed with automatic sliding doors A at the positions of the feed port and the discharge port, and also includes: a baling mechanism, connected to the box body, for baling grass, the baling mechanism includes a baling module A and a baling module B; a cutting mechanism, connected to the box body, for cutting grass, the cutting mechanism includes a cutting bin, a cutting bracket, a cutting bracket, a cutter, a position detection component and an automatic sliding door B for dividing the cutting bin and the box body, the cutting bin is connected to the box body and passes through the box body, the automatic sliding door B is installed in the box body, and the bin size of the cutting bin is not less than the grass baling size; the present invention can divide the grass in time after baling it.

Description

Technical Field

[0001] The present invention belongs to the technical field of agricultural machinery, and in particular relates to a forage cutting and baling device and method. Background Art

[0002] At present, the balers in the prior art can compress straw, wheat straw, bean stalks, straw, forage grass and other forage into bales.

[0003] The baler discharge port is generally cylindrical with a rectangular cross-section. A cylindrical baling bag is sleeved on the outside of the baler discharge port. When the block hay is pushed out of the baler discharge port, the baling bag is put on the block hay to complete the baling of the block hay.

[0004] Although the above-mentioned hay baler can facilitate the transportation of hay, after the compressed hay is transported to the destination, it needs to be manually split into small pieces for use. On the one hand, this wastes manpower, and on the other hand, the splitting effect is poor and the accuracy is low. Therefore, a baling device with a cutting function is needed to solve the above-mentioned problems. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the present invention provides a device and method for cutting and baling grass to solve the above problems.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a grass cutting and baling device, comprising a box, a controller, and a base, wherein the controller is embedded and fixedly mounted on the box, the box is provided with a feed inlet and a discharge port, and the box is provided with automatic sliding doors A at the feed inlet and the discharge port, and further comprising:

[0007] A baling mechanism connected to the box body, used for baling the grass, the baling mechanism comprising a baling module A and a baling module B;

[0008] The cutting mechanism is connected to the box body and is used to cut the grass. The cutting mechanism includes a cutting chamber, a cutting bracket, a cutter, a position detection component and an automatic sliding door B for dividing the cutting chamber and the box body. The cutting chamber is connected to the box body and passes through the box body. The automatic sliding door B is installed in the box body. The size of the cutting chamber is not less than the size of the grass bale.

[0009] On the basis of the above technical solutions, the present invention also provides the following optional technical solutions:

[0010] Further technical solution: The bundling module A includes a hydraulic rod A, a pressure plate A and a weighing sensor A. The pressure plate A is connected to the hydraulic rod A, the hydraulic rod A is connected to the box body, and the weighing sensor A is embedded in the box body and arranged linearly with the feed port.

[0011] Further technical solution: The baling module B is located on one side of the baling module A. The baling module B includes a hydraulic rod B, a pressure plate B, a packing module and a weighing sensor B. The pressure plate B is connected to the hydraulic rod B, the hydraulic rod B is connected to the box body, and the weighing sensor B is fixedly installed in the box body and is located on one side of the weighing sensor A.

[0012] Further technical solution: The cutting bracket includes a longitudinal guide rail, a horizontal rotation mechanism and a cutter clamp, the longitudinal guide rail is installed with a transverse guide rail and a longitudinal telescopic bracket, the longitudinal telescopic bracket is installed with a horizontal rotation mechanism, the horizontal rotation mechanism is installed with a transverse telescopic mechanism, the cutter clamp is installed on the transverse telescopic mechanism, and the cutter is installed on the cutter clamp.

[0013] Further technical solution: The position detection component includes a laser ranging sensor and a position sensor B. The laser ranging sensor is installed on the cutter fixture, and the position sensor B is fixedly installed inside the box near the discharge port.

[0014] Further technical solution: The pressing plate A and the pressing plate B are both impact-resistant high-density small-pore wire meshes, and their sizes fit the inner cavity of the box.

[0015] Further technical solution: Position sensor A is installed on both pressing plate A and pressing plate B.

[0016] Further technical solution: A feeding module for feeding fodder into the box body and a discharging module for discharging fodder out of the box body are installed on the base.

[0017] The method for cutting and baling grass based on the above device includes the following steps:

[0018] S1: Turn on the device and perform a self-test to check whether each module has returned to its default state. If not, a pop-up window will appear on the controller's built-in display to alert the operator that the device has an abnormality and the self-test has failed. If the self-test passes, the device will operate normally. The default state includes automatic sliding door A closed, automatic sliding door B closed, and pressure plates A and B moved to the starting position. The default state does not include the operating parameters set in the last operation. These operating parameters will be retained, including the set thresholds of load cells A and B, and the corresponding relationship table between hay bale weight and bale size.

[0019] S2: Based on the set bale size, the controller touch screen displays the bale of that size visually. The operator sets the number of segments and the segment size parameters. The right rear side of the box is used as the reference coordinate point, and the segments of each size are numbered from bottom to left. The cutting effect is also generated and displayed simultaneously. Errors in the segmentation parameter setting process will be prompted with a pop-up window until the segmentation parameter setting is completed.

[0020] S3: Start cutting and baling operation. At this time, the automatic sliding door of the feed port is opened, and the grass is transported into the box through the feed module and weighed by the weighing sensor A below the feed port. When the set threshold is reached, the pressure plate A of the baling module A is pushed to its end position, and then the pressure plate of the baling module B is pushed to its end position A. Then, the pressure plates of the baling module A and the baling module A are pushed to their respective starting positions. This process is repeated to compress the grass. It should be noted that the feeding of the feed module is stopped during this cycle. When the pressure plate of the baling module A returns to the starting position, the feeding of the feed module is resumed. At this time, the cycle is stopped, and the value of the weighing sensor A is read again and compared with the set threshold, and the steps are repeated.

[0021] S4: Read the value of the weighing sensor B installed on the right side of the bottom of the box and compare it with the set hay bale weight. When the absolute value of the difference between the two is not greater than the set threshold of the weighing sensor A below the feed port for the first time, the set threshold of the weighing sensor A below the feed port is temporarily changed to the absolute value of the difference. After the next feeding, it is changed back to the original set threshold.

[0022] S5: Carry out the next feeding according to the working method in step 3, stop the pressing plate A of the baling module A at its end position, stop the pressing plate B of the baling module B at its end position A, read the set number and size of the grass divisions, and automatically generate the upper right and lower left coordinate points of each numbered grass division with the right rear side of the box as the reference coordinate point. The coordinate system is then used to convert the horizontal movement coordinate points and longitudinal movement distance of the cutter corresponding to each numbered grass division, that is, the longitudinal height of the box. This longitudinal height is also the thickness of the grass bale, and the thickness of each grass division is the same;

[0023] S6: Read the horizontal movement coordinates of the cutter corresponding to each numbered forage to be segmented, and segment each numbered forage in turn.

[0024] First, open the automatic sliding door on the top right side of the box, and move the cutter on the horizontal and vertical guide rails to the horizontal movement coordinate point of the cutter corresponding to the upper right coordinate of number A. If the coordinate point cannot be reached, move it to the coordinate point with the help of the horizontal rotation mechanism and the horizontal telescopic bracket. With the help of the laser ranging sensor signal installed on the cutter clamp, move the cutter to the upper surface of the grass through the vertical telescopic bracket, and complete the cutting of the grass number A according to the horizontal movement coordinate point and the vertical movement distance of the cutter. In this process, the horizontal and vertical directions of the cutter are adjusted by the horizontal rotation mechanism.

[0025] Secondly, with the help of the laser ranging sensor signal installed on the cutter fixture, the cutter is moved to the upper surface of the grass and moved to the horizontal movement coordinate point of the cutter corresponding to the upper right coordinate of number B. The above process is repeated until the grass cutting of all numbers is completed.

[0026] Finally, move the cutter back to the cutting chamber and close the automatic sliding door B on the top right side of the box;

[0027] S7: Bale the grass through the baling module of the baling module B. After the baling is completed, the automatic sliding door A of the discharge port is opened, the pressing plate of the baling module B is opened and moved to its end position B, and the baled grass is pushed out to the discharge module, and the discharge module is opened for transportation;

[0028] S8: After all the forage is divided and baled, each module is restored to the default value or user-set value and the machine is shut down.

[0029] Beneficial effects

[0030] The present invention provides a device and method for cutting and baling grass, which have the following advantages compared with the prior art:

[0031] 1. The controller can set the segmentation parameters and control the cutter to cut the materials after being bundled by the baling mechanism. Since the cutter adopts the method of three-sided blade, it can complete the cutting during horizontal movement, which improves the cutting efficiency and ensures the neatness of the cutting.

[0032] 2. The motion trajectory of the cutter is controllable, flexible and convenient to use, and the motion trajectory of the cutter can be adjusted according to the needs of relevant technical personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0034] Figure 2 Schematic diagram of the structure of the cutting bracket of the present invention.

[0035] Notes on the accompanying drawings: 1. Box body; 101. Feed port; 102. Discharge port; 2. Controller; 3. Feed module; 4. Automatic sliding door A; 5. Discharge module; 6. Bundling module A; 601. Hydraulic rod A; 602. Pressing plate A; 603. Weighing sensor A; 7. Bundling module B; 701. Hydraulic rod B; 702. Pressing plate B; 703. Bundling module; 704. Weighing sensor B; 8. Cutting mechanism; 801. Cutting chamber; 802. Cutting bracket; 8021. Horizontal guide rail; 8022. Longitudinal guide rail; 8023. Longitudinal telescopic bracket; 8024. Horizontal rotation mechanism; 8025. Horizontal telescopic mechanism; 8026. Cutter clamp; 803. Cutter; 804. Laser ranging sensor; 9. Position sensor A. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0037] The specific implementation of the present invention is described in detail below with reference to specific embodiments.

[0038] See also Figures 1-2 , provided in one embodiment of the present invention, is a forage cutting and baling device, comprising a housing 1, a controller 2, and a base (not shown in the figure), wherein the controller 2 is embedded and fixedly mounted on the housing 1, and the housing 1 is provided with a feed inlet 101 (in the middle of the top of the housing 1) and a discharge port 102 (on the right side of the back of the housing 1). The housing 1 is connected to the base, and the feed inlet 101 is provided in the middle of one end of the housing 1 away from the base (in the middle of the top of the housing 1), and the discharge port 102 is provided on the side of the housing 1 (on the right side of the back of the housing 1), and further comprising:

[0039] The baling mechanism is connected to the box body 1 and is used to baling the grass. The baling mechanism includes a baling module A6 and a baling module B7;

[0040] The cutting mechanism 8 is connected to the box body 1 and is used to cut the grass. The cutting mechanism 8 includes a cutting chamber 801, a cutting bracket 802, a cutter 803, a position detection component, and an automatic sliding door B (not shown in the figure) for separating the cutting chamber 801 and the box body 1. The cutting chamber 801 is connected to the box body 1 (near the feed inlet 101, i.e., the top right side of the box body 1) and is connected to the box body 1. The automatic sliding door B is installed in the box body 1. The size of the cutting chamber 801 is not less than the size of the grass bale.

[0041] The cutting bracket 802 includes a longitudinal guide rail 8022, a horizontal rotation mechanism 8024, and a cutter fixture 8026. The longitudinal guide rail 8022 is mounted with a transverse guide rail 8021 and a longitudinal telescopic bracket 8023. The longitudinal telescopic bracket 8023 is mounted with a horizontal rotation mechanism 8024. The horizontal rotation mechanism 8024 is mounted with a transverse telescopic mechanism 8025. The cutter fixture 8026 is mounted on the transverse telescopic mechanism 8025. The cutter 803 is mounted on the cutter fixture 8026.

[0042] The position detection component includes a laser ranging sensor 804 and a position sensor B805. The laser ranging sensor 804 is installed on the cutter fixture 8026, and the position sensor B805 is fixedly installed inside the box 1 near the discharge port 102 (the right rear side of the inner cavity of the box 1).

[0043] Preferably, the box body 1 is provided with automatic sliding doors A4 at the feed inlet 101 and the discharge outlet 102. The purpose of such a setting is to seal or penetrate the box body 1, that is, to control the entry and exit of the grass.

[0044] Preferably, the cutter 803 is a serrated alloy knife with blades on the left, right and lower sides, pointing vertically downward, and the installation direction is consistent with the horizontal telescopic bracket.

[0045] In an embodiment of the present invention, the baling module A6 compresses the grass entering the box 1 through the feed port 101 into blocks and pushes them into the baling module B7 for baling and packaging. At this time, the controller 2 activates the transverse guide rail 8021, the longitudinal guide rail 8022, the longitudinal telescopic bracket 8023, the horizontal rotation mechanism 8024 and the transverse telescopic mechanism 8025 respectively to move the cutter 803 clamp and the cutter clamp 8026 in the box 1. At the same time, the laser ranging sensor 804 and the position sensor B805 in the position detection component control the cutting size of the grass by adjusting the movement trajectory of the cutter 803, thereby achieving the technical effect of quantitative cutting and baling of the grass.

[0046] See also Figure 1As an embodiment of the present invention, the baling module A6 includes a hydraulic rod A601, a pressure plate A602 and a weighing sensor A603, the pressure plate A602 is connected to the hydraulic rod A601, the hydraulic rod A601 is connected to the box body 1, the weighing sensor A603 is embedded in the box body 1 and is linearly arranged with the feed port 101, the baling module B7 is located on one side of the baling module A6, the baling module B7 includes a hydraulic rod B701, a pressure plate B702, a packing module 703 and a weighing sensor B704, the pressure plate B702 is connected to the hydraulic rod B701, the hydraulic rod B701 is connected to the box body 1, and the weighing sensor B704 is fixedly installed in the box body 1 and is located on one side of the weighing sensor A603.

[0047] Preferably, the pressing plates A602 and B702 are both made of impact-resistant high-density small-aperture wire mesh and their sizes fit the inner cavity of the box 1. The purpose of this arrangement is to ensure that the grass will not leak through the pressing plates during the baling process.

[0048] Preferably, both pressing plates A602 and B702 are equipped with position sensors A9 for adjusting their respective pressing plate positions, including their respective starting and ending positions. The starting position of the baling module A6 is at the feed inlet 101, and the ending position of the baling module A6 is determined by debugging based on the size of the hay bale. The starting position of the baling module B7 is at the inner wall of the housing 1, and the ending position A of the baling module B7 is determined by debugging based on the size of the hay bale. The ending position B of the baling module B7 ensures that the baleed hay is pushed out to the discharge module 5.

[0049] Preferably, the base is equipped with a feeding module 3 for feeding fodder into the box body 1 and a discharging module 5 for discharging fodder out of the box body 1. The feeding module 3 and the discharging module 5 are either belt conveyors, roller conveyors or screw conveyors. The purpose of this arrangement is to input and output fodder.

[0050] In an embodiment of the present invention, the hydraulic rod A601 pushes the pressure plate A602 to perform linear movement in the box body 1 to compress the grass into blocks and push it to the baling module B7. The baling module B7 uses the hydraulic rod B701 to push the pressure plate B702 to push the block grass out of the discharge port 102. At the same time, the packaging module 703 puts the packaging bag on the block grass to complete the packaging of the block grass.

[0051] A method for cutting and baling grass based on the above device comprises the following steps:

[0052] S1: Turn on the device, perform a self-test, and check whether each module has returned to the default state. If not, a pop-up window alert will be displayed on the display screen of the controller 2 to remind the operator that the equipment has an abnormality and the self-test has failed. If the self-test passes, the device will operate normally. The default state includes the automatic sliding door A closed, the automatic sliding door B closed, the pressing plate A602 and the pressing plate B702 moving to the starting position, etc., excluding the working parameters set in the last operation. These working parameters will be retained, including the set thresholds of the weighing sensor A603 and the weighing sensor B704, and the corresponding relationship table between the hay bale weight and the bale size (this relationship table is given and pre-stored after debugging);

[0053] S2: Based on the set hay bale size, the hay bale of that size is visually displayed on the touch screen of the controller 2, and the operator sets the number of segments and segmentation size parameters (the hay segments of each size are numbered from bottom to left, with the right rear side of the box 1 as the reference coordinate point). The cutting effect is also generated and displayed simultaneously, and a pop-up window prompt is displayed for errors in the segmentation parameter setting process until the segmentation parameter setting is completed;

[0054] S3: Start cutting and baling operation. At this time, the automatic sliding door of the feed port 101 is opened, and the grass is transported into the box body 1 through the feed module 3 and weighed by the weighing sensor A603 below the feed port 101. When the set threshold is reached, the pressure plate A602 of the baling module A6 is pushed to its end position, and then the pressure plate of the baling module B7 is pushed to its end position A, and then the pressure plates of the baling module A6 and the baling module A6 are pushed to their respective starting positions. This process is repeated to compress the grass. It should be noted that the feeding of the feed module 3 is stopped during this cycle. When the pressure plate of the baling module A6 returns to the starting position, the feeding of the feed module 3 is continued. At this time, the cycle is stopped, and the value of the weighing sensor A603 is read again and compared with the set threshold, and step 3 is repeated.

[0055] S4: Read the value of the weighing sensor B704 installed on the right side of the bottom of the box body 1, and compare it with the set hay bale weight. When the absolute value of the difference between the two is not greater than the set threshold value of the weighing sensor A603 below the feed port 101 for the first time, the set threshold value of the weighing sensor A603 below the feed port 101 is temporarily changed to the absolute value of the difference, and then changed back to the original set threshold value after the next feeding.

[0056] S5: Carry out the next feeding according to the working method in step 3, stop the pressing plate A602 of the baling module A6 at its end position, stop the pressing plate B702 of the baling module B7 at its end position A, read the set number and size of forage divisions, and automatically generate the upper right and lower left coordinate points of each numbered forage division with the right rear side of the box body 1 as the reference coordinate point. Then, the coordinate system is used to convert the coordinate points and longitudinal movement distance of the cutter 803 corresponding to each numbered forage division (i.e., the longitudinal height of the box body 1, which is also the thickness of the forage bale, and the thickness of each forage division is the same);

[0057] S6: Read the horizontal movement coordinates of the cutter 803 corresponding to each numbered forage to be segmented after conversion, and segment each numbered forage in turn.

[0058] First, open the automatic sliding door at the top right position of the box body 1, and move the cutter 803 on the horizontal guide rail 8021 and the longitudinal guide rail 8022 to the horizontal movement coordinate point of the cutter 803 corresponding to the upper right coordinate of number A. If the coordinate point cannot be reached, the cutter 803 is moved to the coordinate point with the help of the horizontal rotation mechanism 8024 and the horizontal telescopic bracket. With the help of the laser ranging sensor 804 signal installed on the cutter 803 clamp, the cutter 803 is moved to the upper surface of the grass through the longitudinal telescopic bracket 8023, and the grass number A is divided according to the horizontal movement coordinate point and the longitudinal movement distance of the cutter 803. In this process, the horizontal and longitudinal directions of the cutter 803 are adjusted by the horizontal rotation mechanism 8024.

[0059] Secondly, with the help of the signal of the laser ranging sensor 804 installed on the cutter 803 fixture, the cutter 803 is moved to the upper surface of the grass, and moved to the horizontal movement coordinate point of the cutter 803 corresponding to the upper right coordinate of number B, and the above process is repeated until the cutting of all numbered grass is completed.

[0060] Finally, the cutter 803 is moved back to the cutting chamber, and the automatic sliding door B provided at the top right side of the box body 1 is closed;

[0061] S7: Baling is performed by the strapping module 703 of the baling module B7. After the baling is completed, the automatic sliding door A of the discharge port 102 is opened, the pressing plate of the baling module B7 is opened and moved to its end position B, and the baled divided forage is pushed out to the discharge module 5, which is then opened for transportation;

[0062] S8: After all the forage is divided and baled, each module is restored to the default value or user-set value and the machine is shut down.

[0063] Preferably, in S6, in order to further improve the segmentation efficiency, it is supported to use a neural network algorithm to optimize the movement route of the horizontal movement coordinate points of the cutter 803.

[0064] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0065] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A grass cutting and baling device, comprising a housing, a controller, and a base, wherein the controller is embedded and fixedly mounted on the housing, the housing is provided with a feed inlet and a discharge port, and automatic sliding doors A are installed at the feed inlet and the discharge port of the housing, characterized in that: Also includes: A baling mechanism connected to the box body, used for baling the grass, the baling mechanism comprising a baling module A and a baling module B; A cutting mechanism connected to the box body is used to cut the grass. The cutting mechanism includes a cutting chamber, a cutting bracket, a cutter, a position detection component, and an automatic sliding door B for separating the cutting chamber and the box body. The cutting chamber is connected to the box body and is connected to the box body. The automatic sliding door B is installed in the box body. The size of the cutting chamber is not less than the size of the grass bale. The baling module A includes a hydraulic rod A, a pressure plate A, and a weighing sensor A. The pressure plate A is connected to the hydraulic rod A, and the hydraulic rod A is connected to the box. The weighing sensor A is embedded in the box and is linearly arranged with the feed port. The baling module B is located on one side of the baling module A. The baling module B includes a hydraulic rod B, a pressure plate B, a packing module, and a load cell B. The pressure plate B is connected to the hydraulic rod B, and the hydraulic rod B is connected to the box. The load cell B is fixedly installed in the box and is located on one side of the load cell A. The cutting bracket includes a longitudinal guide rail, a horizontal rotation mechanism and a cutter clamp, the longitudinal guide rail is mounted on a transverse guide rail and a longitudinal telescopic bracket, the longitudinal telescopic bracket is mounted on a horizontal rotation mechanism, the horizontal rotation mechanism is mounted on a transverse telescopic mechanism, the cutter clamp is mounted on the transverse telescopic mechanism, and the cutter is mounted on the cutter clamp; The feed port is located in the middle of the box body away from one end of the base, and the discharge port is located on the side of the box body.

2. The grass cutting and baling device according to claim 1, characterized in that: The position detection component includes a laser distance sensor and a position sensor B. The laser distance sensor is installed on the cutter fixture, and the position sensor B is fixedly installed inside the box near the discharge port.

3. The grass cutting and baling device according to claim 2, characterized in that: The pressing plate A and the pressing plate B are both made of impact-resistant high-density small-pore wire mesh, and their sizes fit the inner cavity of the box.

4. The grass cutting and baling device according to claim 3, characterized in that: Position sensors A are installed on both the pressing plate A and the pressing plate B.

5. The grass cutting and baling device according to claim 4, characterized in that: A feeding module for feeding fodder into the box body and a discharging module for discharging fodder out of the box body are installed on the base.

6. The baling method of the grass cutting and baling device according to claim 5, characterized in that: The following steps are involved: S1: Turn on the device and perform a self-test to check whether each module has returned to its default state. If not, a pop-up window will appear on the controller's built-in display to alert the operator that the device has an abnormality and the self-test has failed. If the self-test passes, the device will operate normally. The default state includes automatic sliding door A closed, automatic sliding door B closed, and pressure plates A and B moved to the starting position. The default state does not include the operating parameters set in the last operation. These operating parameters will be retained, including the set thresholds of load cells A and B, and the corresponding relationship table between hay bale weight and bale size. S2: Based on the set bale size, the controller touch screen displays the bale of that size visually. The operator sets the number of segments and the segment size parameters. The right rear side of the box is used as the reference coordinate point, and the segments of each size are numbered from bottom to left. The cutting effect is also generated and displayed simultaneously. Errors in the segmentation parameter setting process will be prompted with a pop-up window until the segmentation parameter setting is completed. S3: Start cutting and baling operation. At this time, the automatic sliding door of the feed port is opened, and the grass is transported into the box through the feed module and weighed by the weighing sensor A below the feed port. When the set threshold is reached, the pressure plate A of the baling module A is pushed to its end position, and then the pressure plate of the baling module B is pushed to its end position A. Then, the pressure plates of the baling module A and the baling module A are pushed to their respective starting positions. This process is repeated to compress the grass. It should be noted that the feeding of the feed module is stopped during this cycle. When the pressure plate of the baling module A returns to the starting position, the feeding of the feed module is resumed. At this time, the cycle is stopped, and the value of the weighing sensor A is read again and compared with the set threshold, and the steps are repeated. S4: Read the value of the load cell B installed on the right side of the bottom of the box and compare it with the set hay bale weight. When the absolute value of the difference between the two is not greater than the set threshold of the load cell A below the feed inlet for the first time, the set threshold of the load cell A below the feed inlet is temporarily changed to the absolute value of the difference. After the next feeding, the threshold is changed back to the original set threshold. S5: Carry out the next feeding according to the working method in step 3, stop the pressing plate A of the baling module A at its end position, stop the pressing plate B of the baling module B at its end position A, read the set number and size of the grass divisions, and automatically generate the upper right and lower left coordinate points of each numbered grass division with the right rear side of the box as the reference coordinate point. The coordinate system is then used to convert the horizontal movement coordinate points and longitudinal movement distance of the cutter corresponding to each numbered grass division, that is, the longitudinal height of the box. This longitudinal height is also the thickness of the grass bale, and the thickness of each grass division is the same; S6: Read the horizontal movement coordinate points of the cutter corresponding to each numbered forage to be segmented, and segment each numbered forage in turn. Specifically: First, open the automatic sliding door on the top right side of the box, and move the cutter on the horizontal and vertical guide rails to the cutter's horizontal movement coordinate point corresponding to the upper right coordinate of number A. If it fails to reach this coordinate point, it is moved to this coordinate point with the help of the horizontal rotation mechanism and the horizontal telescopic bracket. With the help of the laser ranging sensor signal installed on the cutter fixture, the cutter is moved to the upper surface of the grass through the vertical telescopic bracket. The grass number A is split according to the cutter's horizontal movement coordinate point and the vertical movement distance. During this process, the horizontal and vertical directions of the cutter are adjusted by the horizontal rotation mechanism. Secondly, with the help of the laser range sensor signal installed on the cutter fixture, the cutter is moved to the upper surface of the grass and moved to the horizontal movement coordinate point of the cutter corresponding to the upper right coordinate of number B. The above process is repeated until all the numbered grasses are cut; Finally, move the cutter back to the cutting chamber and close the automatic sliding door B on the top right side of the box; S7: Bale the grass through the baling module of the baling module B. After the baling is completed, the automatic sliding door A of the discharge port is opened, the pressing plate of the baling module B is opened and moved to its end position B, and the baled grass is pushed out to the discharge module, and the discharge module is opened for transportation; S8: After all the forage is divided and baled, each module is restored to the default value or user-set value and the machine is shut down.

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