Straw picking and bundling machine with automatic boxing mechanism and control method

Abstract

The invention provides a straw picking and bundling machine with an automatic boxing mechanism and a control method. The straw picking and bundling machine comprises an up-down moving device, a telescopic pushing device, a box body, a conveying device, a laser radar, a cab, a crawler belt self-propelled chassis, a picking device, a feeding device, a compressing device, a knotting device and a control unit. The picking device, the feeding device, the conveying device, the up-down moving device, the box body and the cab are all mounted on the crawler self-propelled chassis; the control unit is used for controlling the telescopic pushing device to push the straw bundles into the box body according to signals of the laser radar, controlling the up-down moving device to adjust the height of the telescopic pushing device, and controlling the alarm to send out signals when the box body is fully filled. According to the straw bale packing and unloading device, automatic packing and unloading of straw bales can be achieved, the problem that after the straw bales are knotted, the straw bales still need to be stacked and placed manually is solved, manpower resource waste in the straw recycling process is reduced, and the manual labor intensity in the straw recycling process is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural automation, and in particular relates to a straw picking and baling machine with an automatic packing mechanism and a control method. Background Art

[0002] Straw is the main byproduct of crops and an important biological resource for industry and agriculture. Crop straw is rich in nutrients and can be used as fertilizer, feed, fuel for daily life and raw materials for industrial production. It has a wide range of uses. Since straw occupies a large area and has a low recycling rate, it is mostly burned by farmers, which not only causes serious air pollution, but also wastes resources and brings great inconvenience to society and people's lives. The relevant national and local departments have taken corresponding solutions. Among them, "crushing and returning to the field" requires a straw crusher, and a rotary tiller is also needed to turn the crushed straw into the soil. The cost is high and the return cycle is long, which brings inconvenience to farming; "making biofuels" cannot meet the preparation requirements because its organic matter content is too low, so enterprises cannot benefit from it. The high recycling cost and the precarious profits of enterprises have made the ban on straw burning, despite repeated orders, still continue. Straw recycling machine is an agricultural machinery that has gradually developed in recent years to reduce the recycling cost. It has the characteristics of scale and high efficiency, which reduces the labor intensity of farmers.

[0003] In recent years, with the continuous development of straw recycling machines, a self-collecting movable straw recycling machine authorized by Chinese invention patent CN104206124A can realize the integrated functions of straw collection and straw briquetting, effectively improving the efficiency of straw recycling and increasing the amount of straw recycling; the self-propelled corn straw recycling and baling combine harvester authorized by Chinese invention patent CN105191574A can complete the whole process of corn harvesting, picking ears, peeling, packing, and straw crushing, collecting, kneading, and automatically pressing into square bundles at one time, so as to achieve the simultaneous collection of corn ears and recycling of corn straw; an intelligent collection and packaging device for agricultural straw authorized by Chinese patent CN218022374U can automatically stack the packaged straw neatly on the vehicle board in sequence to avoid the collapse of a large amount of straw due to irregular stacking.

[0004] The above inventions can complete straw recycling under specific conditions. However, during the straw recycling process, there are still certain problems as to how to avoid the need for manpower to stack and place the straw bales, how to realize automatic packing and unloading of straw bales, and how to reduce the waste of human resources and the intensity of manual labor during the straw recycling process. Summary of the invention

[0005] In response to the above technical problems, the present invention provides a straw picking and baling machine with an automatic packing mechanism and a control method, which can realize automatic packing and unloading of straw bales, solving the problem that manpower is still needed to stack and place the straw bales after the straw bales are knotted, alleviating the waste of human resources in the straw recycling process and reducing the labor intensity during the straw recycling process.

[0006] Note that the description of these objectives does not prevent the existence of other objectives. One embodiment of the present invention does not need to achieve all of the above objectives. Objectives other than the above objectives can be extracted from the description of the specification, drawings, and claims.

[0007] The present invention achieves the above technical objectives through the following technical means.

[0008] A straw picking and baling machine with an automatic boxing mechanism, comprising an up-and-down moving device, a telescopic pushing device, a box body, a conveying device, a laser radar, a cab, a crawler self-propelled chassis, a picking device, a feeding device, a compression device, a knotting device and a control unit;

[0009] The picking device, feeding device, conveying device, up and down moving device, box body and cab are all installed on a crawler self-propelled chassis;

[0010] The picking device is arranged at the front position on the crawler self-propelled chassis, and is used to collect straw and transfer it to the feeding device at the rear. The feeding device is used to push the straw into the subsequent compression device. The compression device is used to compress the straw into straw bales. The knotting device is used to bundle the compressed straw bales. The conveying device is used to transfer the bundled straw bales to the up and down moving device; the telescopic pushing device is installed on the up and down moving device, and the laser radar is arranged on the up and down moving device to detect the position of the straw bale and transfer it to the control unit; the control unit is connected with the telescopic pushing device and the up and down moving device; the control unit is used to control the telescopic pushing device to push the straw bale into the box body according to the signal of the laser radar, and control the up and down moving device to adjust the height of the telescopic pushing device.

[0011] In the above scheme, the control unit receives the signal of the laser radar; when the straw bale reaches the conveyor belt of the up-and-down moving device, the laser radar measures that the distance between the laser radar and the straw bale reaches a preset value a, and the control unit controls the telescopic pushing device to extend to push the straw bale into the box; when one layer of the box is full of straw bales, the laser radar measures that the distance between the laser radar and the outermost straw bale of the box reaches a preset value b, and the control unit controls the up-and-down moving device to rise to the upper layer of the box after receiving the straw bale; when the box is completely full, the control unit controls the alarm to send a signal.

[0012] In the above scheme, the up-and-down moving device includes a first driving mechanism, a first conveyor belt, a telescopic pushing device box, a conveyor belt frame and a track frame;

[0013] The telescopic push device box is installed on the track frame and is slidably connected to the track frame. The telescopic push device is installed on the telescopic push device box. The first driving mechanism is connected to the telescopic push device box through a rope and can drive the telescopic push device box to slide up and down along the track frame to adjust the height of the telescopic push device. The laser radar is arranged on the telescopic push device box.

[0014] The first conveyor belt is installed on a conveyor belt frame, and the conveyor belt frame is connected to the bottom of the telescopic pushing device box.

[0015] Further, the first driving mechanism includes a rotating shaft, a first motor and a bevel gear;

[0016] First motors are respectively arranged on both sides of the track frame, and the output shafts of the first motors are respectively connected to the first bevel gears. Second bevel gears are respectively arranged at both ends of the rotating shaft, and the first bevel gears are meshed with the second bevel gears. The rope is wound around the bearings of the second bevel gears.

[0017] Furthermore, it also includes a first baffle; the first baffle is installed on one side of the telescopic pushing device box.

[0018] Furthermore, the telescopic pushing device box is provided with a slider, the track frame is provided with a track, and the slider is slidably connected to the track.

[0019] In the above scheme, the telescopic pushing device includes a pushing plate, a pushing plate flange, a first spring, a telescopic part, and a power system;

[0020] One end of the telescopic part is connected to the power system, and the other end is connected to the propulsion plate through the propulsion plate flange; one end of the first spring is connected to the telescopic part, and the other end is connected to the propulsion plate flange; the propulsion plate is used to push the straw bale into the box.

[0021] In the above scheme, the box body includes a first transmission mechanism, a box body bottom frame, a box body roller, a box body movable side plate, a box body push plate, a box body crawler, and a box body side plate;

[0022] The box body comprises a plurality of box body units, and the box body units are longitudinally mounted on the box body chassis, and each box body unit is provided with a box body frame, and the box body frame is provided with at least one movable side panel of the box body and a box body push plate; the upper end of the movable side panel of the box body is rotatably connected with the box body frame through a rotating shaft, and a slide groove is provided at the bottom of the box body frame, and a slide plate is provided on the slide groove, and the slide plate is mounted on the box body crawler, and the box body push plate is connected with the slide plate, and the box body crawler is connected with the first transmission mechanism.

[0023] Furthermore, the first transmission mechanism includes a box connecting axle, a box transmission belt and a box driving shaft;

[0024] The box crawler is connected to the box roller of the transmission mechanism, the box roller is installed on the box driving shaft, the box driving shaft is connected to the box connecting axle through the box transmission belt, and the box connecting axle is connected to the second transmission mechanism.

[0025] In the above scheme, the conveying device includes a fixed frame, a second conveyor belt, a second baffle, and a second spring;

[0026] The second conveyor belt is installed on the fixed frame and is used to transport the straw bales processed by the knotting device to the up and down moving device. The second baffle is located between the fixed frame and the up and down moving device. One end of the second baffle is rotatably connected to the fixed frame, and the other end is connected to the telescopic pushing device box through a second spring.

[0027] The second baffle is used to raise the second baffle to prevent the straw bale from falling off the second conveyor belt when the first conveyor belt and the second conveyor belt are not on the same horizontal plane when the up and down moving device moves.

[0028] A control method for the straw picking and baling machine with an automatic packing mechanism comprises the following steps:

[0029] The picking device collects straw and transmits it to the feeding device at the rear, the feeding device pushes the straw into the subsequent compression device, the compression device compresses the straw into straw bales, the knotting device bundles the compressed straw bales, and the conveying device transfers the bundled straw bales to the up-and-down moving device; the laser radar detects the position of the straw bale and transmits it to the control unit; when the straw bale reaches the conveyor belt of the up-and-down moving device, the laser radar measures that the distance between the laser radar and the straw bale reaches a preset value a, and the control unit controls the telescopic pushing device to extend and push the straw bale into the box; when one layer of the box is full of straw bales, the laser radar measures that the distance between the laser radar and the outermost straw bale of the box reaches a preset value b, and the control unit controls the up-and-down moving device to rise to the upper layer of the box after receiving the straw bale; when the box is completely full, the control unit controls the alarm to send a signal to remind the driver that the box is full.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] 1. The present invention can realize automatic packing and unloading of straw bales, solves the problem that manpower is still needed to stack and place the straw bales after the straw bales are tied, reduces the waste of human resources in the straw recycling process and reduces the labor intensity in the straw recycling process.

[0032] 2. The picking device of the present invention is located at the front of the operating system, which avoids the problem that the picking device may press the straw into the mud during the forward movement, compared with the traction baler which is located at the rear. The front picking device greatly reduces the crushing of the straw caused by the baler during operation.

[0033] 3. The box of the present invention can temporarily store processed straw bales. In deep muddy ground with water, the straw bales will not fall into the ground, and the straw bales can be automatically unloaded when they reach the designated position.

[0034] Note that the description of these effects does not prevent the existence of other effects. One embodiment of the present invention does not necessarily have all of the above effects. Effects other than the above can be clearly seen and extracted from the description of the specification, drawings, claims, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a schematic structural diagram of a straw picking and baling machine with an automatic packing mechanism according to an embodiment of the present invention;

[0036] Figure 2 This is a schematic diagram of an automatic packing and unloading structure according to an embodiment of the present invention;

[0037] Figure 3 This is a schematic structural diagram of an up-and-down moving device according to an embodiment of the present invention;

[0038] Figure 4 This is a schematic structural diagram of a telescopic pushing device according to one embodiment of the present invention;

[0039] Figure 5 This is a schematic diagram of a box structure according to an embodiment of the present invention;

[0040] Figure 6 It is a partial schematic diagram of a box structure according to an embodiment of the present invention;

[0041] Figure 7 This is a schematic diagram of a box unit structure in a box according to an embodiment of the present invention;

[0042] Figure 8 This is a schematic structural diagram of a conveying device according to one embodiment of the present invention;

[0043] Fig. 9 The present invention is a flowchart of an automatic packing and unloading control method according to an embodiment of the present invention.

[0044] The following are the descriptions of the reference numerals:

[0045] 1-up and down moving device, 101-rotating shaft, 102-first motor, 103-rope, 104-first baffle, 105-conveyor belt roller, 106-slider, 107-track, 108-first conveyor belt, 109-telescopic driving device box, 1010-bevel gear, 1011-conveyor belt frame, 1012-track frame, 2-telescopic driving device, 201-propelling plate, 202-propelling plate flange, 203-first spring, 204-telescopic parts, 205-power system, 3-box, 301-box connecting wheel shaft, 3 02-box transmission belt, 303-box bottom frame, 304-box roller, 305-box driving shaft, 306-box movable side panel, 307-box push plate, 308-box crawler, 309-box side panel, 3010-box frame, 3011-slide plate, 4-conveying device, 401-fixed frame, 402-second conveyor belt, 403-second baffle, 404-second spring, 5-laser radar, 6-cab, 7-crawler self-propelled chassis, 8-picking device, 9-feeding device, 10-compression device, 11-knotting device. DETAILED DESCRIPTION

[0046] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0047] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "front", "back", "left", "right", "up", "down", "axial", "radial", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions 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 cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0048] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] Figure 1 and 2 The figure shows a preferred embodiment of the straw picking and baling machine with an automatic boxing mechanism, which comprises an up-and-down moving device 1, a telescopic pushing device 2, a box body 3, a conveying device 4, a laser radar 5, a cab 6, a crawler self-propelled chassis 7, a picking device 8, a feeding device 9, a compression device 10, a knotting device 11 and a control unit;

[0050] The picking device 8, feeding device 9, conveying device 4, up and down moving device 1, box 3 and cab 6 are all installed on a crawler self-propelled chassis 7;

[0051] The picking device 8 is arranged at the front position on the crawler self-propelled chassis 7, and is used to collect straw and transfer it to the feeding device 9 at the rear. The compression device 10 and the knotting device 11 are installed on the feeding device 9. The feeding device 9 is used to push the straw into the subsequent compression device 10, and the compression device 10 is used to compress the straw into straw bales. The knotting device 11 is used to bundle the compressed straw bales. The conveying device 4 is used to transfer the bundled straw bales to the up-and-down moving device 1; the telescopic pushing device 2 is installed on the up-and-down moving device 1, and the laser radar 5 is arranged on the up-and-down moving device 1, and is used to detect the position of the straw bale and transfer it to the control unit; the control unit is connected with the telescopic pushing device 2 and the up-and-down moving device 1; the control unit is used to control the telescopic pushing device 2 to push the straw bale into the box body 3 according to the signal of the laser radar 5, and control the up-and-down moving device 1 to adjust the height of the telescopic pushing device 2.

[0052] The control unit receives the signal of the laser radar 5; when the straw bale reaches the conveyor belt of the up-and-down moving device 1, the laser radar 5 measures that the distance between the laser radar and the straw bale reaches a preset value a, and the control unit controls the telescopic pushing device 2 to extend and push the straw bale into the box 3; when one layer of the box 3 is full of straw bales, the laser radar 5 measures that the distance between the laser radar and the outermost straw bale of the box 3 reaches a preset value b, and the control unit controls the up-and-down moving device 1 to rise to the upper layer of the box 3 after receiving the straw bale; when the box 3 is completely full, the control unit controls the alarm to send a signal to remind the driver to control the transmission mechanism to push the straw bale out of the box 3.

[0053] like Figure 3 As shown, the up-and-down moving device 1 includes a first driving mechanism, a first conveyor belt 108, a telescopic pushing device box 109, a conveyor belt frame 1011 and a track frame 1012;

[0054] The telescopic push device box 109 is installed on the track frame 1012 and is slidably connected to the track frame 1012. The telescopic push device 2 is installed on the telescopic push device box 109. The first driving mechanism is connected to the telescopic push device box 109 through a rope 103, and can drive the telescopic push device box 109 to slide up and down along the track frame 1012 to adjust the height of the telescopic push device 2. The laser radar 5 is arranged on the telescopic push device box 109.

[0055] The first conveyor belt 108 is installed on a conveyor belt frame 1011, and the conveyor belt frame 1011 is connected to the bottom of the telescopic pushing device box 109.

[0056] According to this embodiment, preferably, the first driving mechanism includes a rotating shaft 101, a first motor 102 and a bevel gear 1010;

[0057] The first motors 102 are respectively disposed on both sides of the track frame 1012, and the output shafts of the first motors 102 are respectively connected to the first bevel gears 1010, and the second bevel gears are respectively disposed at both ends of the rotating shaft 101, and the first bevel gears 1010 are meshed with the second bevel gears, and the rope 103 is wound around the bearings of the second bevel gears.

[0058] According to the present embodiment, preferably, a first baffle 104 is further included; the first baffle 104 is installed on one side of the telescopic pushing device box 109 to prevent the straw bale from sliding off the first conveyor belt 108 .

[0059] According to this embodiment, preferably, the first conveyor belt 108 is installed on the conveyor belt roller 105, the conveyor belt roller 105 is installed on the conveyor belt frame 1011, and the conveyor belt roller 105 is connected to the second driving mechanism. The second driving mechanism drives the conveyor belt roller 105 to drive the first conveyor belt 108 to move, so as to transport the straw bales to the front of the telescopic pushing device box 109.

[0060] According to this embodiment, preferably, the telescopic pushing device box 109 is provided with a slider 106, and the slider 106 is installed at the four corners below the conveyor belt frame 1011, and a track 107 is provided on the track frame 1012, and the slider 106 is slidably connected to the track 107.

[0061] like Figure 4 As shown, the telescopic pushing device 2 includes a pushing plate 201, a pushing plate flange 202, a first spring 203, a telescopic part 204, and a power system 205;

[0062] One end of the telescopic part 204 is connected to the power system 205, and the other end is connected to the propulsion plate 201 through the propulsion plate flange 202. One end of the first spring 203 is connected to the telescopic part 204, and the other end is connected to the propulsion plate flange 202; the propulsion plate 201 is used to push the straw bale into the box body 3.

[0063] like Figure 5 , 6 As shown in FIG. 7 , the box body 3 includes a first transmission mechanism, a box body bottom frame 303 , a box body roller 304 , a box body movable side plate 306 , a box body push plate 307 , a box body crawler 308 , and a box body side plate 309 ;

[0064] The box body 3 includes several layers of box body units, and the box body units are longitudinally mounted on the box body base frame 303. Each box body unit is provided with a box body frame 3010, and the box body frame 3010 is provided with at least one box body movable side panel 306 and a box body push plate 307; the upper end of the box body movable side panel 306 is rotatably connected to the box body frame 3010 through a rotating shaft, and a slide groove is provided at the bottom of the box body frame 3010, and a slide plate 3011 is provided on the slide groove, and the slide plate 3011 is installed on the box body crawler 308. The box body push plate 307 is connected to the slide plate 3011, and the box body crawler 308 is connected to the first transmission mechanism.

[0065] Preferably, the first transmission mechanism includes a box connecting axle 301, a box transmission belt 302 and a box driving shaft 305;

[0066] The box crawler 308 is connected to the transmission mechanism box drum 304, the box drum 304 is installed on the box driving shaft 305, the box driving shaft 305 is connected to the box connecting axle 301 through the box transmission belt 302, and the box connecting axle 301 is connected to the second transmission mechanism. The second transmission mechanism transmits power to the box connecting axle 301, and the box connecting axle 301 drives the box driving shaft 305 to rotate through the box transmission belt 302, so that the box drum 304 drives the slide plate 3011 to slide along the slide groove, so that the box push plate 307 pushes the straw bale from one side of the box frame 3010 to the other side, and the moving straw bale causes the box movable side plate 306 to rotate and open along the rotating shaft, so that the straw bale is unloaded.

[0067] like Figure 8 As shown, the conveying device 4 includes a fixed frame 401, a second conveyor belt 402, a second baffle 403, and a second spring 404;

[0068] The second conveyor belt 402 is installed on the fixed frame 401, and is used to transport the straw bales processed by the knotting device 11 to the up and down moving device 1. The second baffle 403 is located between the fixed frame 401 and the up and down moving device 1. One end of the second baffle 403 is rotatably connected to the fixed frame 401, and the other end is connected to the telescopic pushing device box 109 through the second spring 404.

[0069] The second baffle 403 is used to raise the second baffle 403 to prevent the straw bale from falling off the second conveyor belt 402 when the up-and-down moving device 1 moves and the first conveyor belt 108 and the second conveyor belt 402 are not on the same horizontal plane.

[0070] The crawler self-propelled chassis 7 is self-powered and has a very small turning radius, and can turn on the spot. Compared with a traction baler, it can turn better on a small plot.

[0071] A control method for the straw picking and baling machine with an automatic packing mechanism comprises the following steps:

[0072] The picking device 8 collects the straw and transmits it to the feeding device 9 at the rear. The feeding device 9 pushes the straw into the subsequent compression device 10. The compression device 10 compresses the straw into straw bales. The knotting device 11 bundles the compressed straw bales. The conveying device 4 transfers the bundled straw bales to the up-and-down moving device 1. The laser radar 5 detects the position of the straw bale and transmits it to the control unit. When the straw bale reaches the conveyor belt of the up-and-down moving device 1, the laser radar 5 measures that the distance between the laser radar and the straw bale reaches a preset value a, and the control unit controls the telescopic pushing device 2 to extend and push the straw bale into the box 3. When one layer of the box 3 is full of straw bales, the laser radar 5 measures that the distance between the laser radar and the outermost straw bale of the box 3 reaches a preset value b, and the control unit controls the up-and-down moving device 1 to rise to the upper layer of the box 3 after receiving the straw bale. When the box 3 is completely full, the control unit controls the alarm to send a signal to remind the driver to control the transmission mechanism to push the straw bale out of the box 3.

[0073] In a specific embodiment of the present invention, the picking device 8 is arranged at the front position on the crawler self-propelled chassis 7, the box body 3 is installed at the upper right position of the crawler self-propelled chassis 7, the cab 6 is arranged in front of the box body 3, and is installed at the upper right position of the crawler self-propelled chassis 7, the feeding device 9 is installed at the upper left position of the crawler self-propelled chassis 7, the compression device 10 is installed at the upper middle position of the feeding device 9, the knotting device 11 is installed at the upper rear position of 9, the up and down moving device 1 is installed at the rear position of the box body 3, the telescopic pushing device 2 is installed on the up and down moving device 1, the conveying device 4 is arranged at the left position of the up and down moving device 1, and the laser radar 5 is arranged at the center position directly above the telescopic pushing device 2 for monitoring the position of the straw bale.

[0074] The up-and-down moving device 1 includes a rotating shaft 101, a first motor 102, a rope 103, a first baffle 104, a conveyor belt roller 105, a slider 106, a track 107, a first conveyor belt 108, a telescopic pushing device box 109, a bevel gear 1010, a conveyor belt frame 1011, and a track frame 1012; the telescopic pushing device box 109 is installed above the conveyor belt frame 1011, and is used to install the telescopic pushing device 2 on the up-and-down moving device 1, the conveyor belt roller 105 and the first conveyor belt 108 are installed on the conveyor belt frame 1011, and are used to transport the straw bales to the front of the telescopic pushing device box 109, and the first baffle 104 is installed on the upper right of the conveyor belt frame 1011. The first conveyor belt 101 is used to prevent the straw bale from sliding off the first conveyor belt 108. The sliders 106 are installed at the four corners below the conveyor belt frame 1011 and are connected to the track 107. The track 107 is installed on the track frame 1012 to adjust the height position of the up and down moving device 1. The first motor 102 is fixed above the conveyor belt frame 1011. The bevel gear 1010 is installed in front of the first motor 102. The rotating shaft 101 is installed at the center of the bevel gear 1010. The rope 103 is installed on both sides of the rotating shaft 101. One end of the rope 103 is wound around the bearing of the second bevel gear, and the other end is connected to the telescopic pushing device box 109, which is used to control the change in the height position of the telescopic pushing device box 109. In one embodiment of the present invention, the slider 106 is defined as 0mm at the starting position, and the movable range of the slider 106 on the track 107 is 0-1080mm, which can drive the up and down moving device 1 to adjust the height position. The width of the first conveyor belt 108 is 500mm, and a four-layer canvas belt design is adopted. The diameter of the conveyor belt roller 105 is 100mm.

[0075] The telescopic pushing device 2 comprises a pushing plate 201, a pushing plate flange 202, a first spring 203, a telescopic part 204, and a power system 205; the telescopic part 204 is installed in front of the power system 205, one side of one end of the telescopic part 204 is installed on the slideway in the power system 205, and can slide along the slideway, and the other side is connected to the slideway through a rotating shaft, and the telescopic part 204 on the slideway is driven by the second motor to move the cam mechanism to the left and right, driving the telescopic part 204 to extend and retract, thereby realizing the telescopic pushing device 2. The pushing plate flange 202 and the first spring 203 are installed in front of the telescopic part 204, and the pushing plate 201 is installed in front of the pushing plate flange 202, and is used to push the straw bale on the up and down moving device 1 into the box body 3. The pushing plate 201 has a size range of 400-500mm in length and 200-220mm in width, and can push the straw bale.

[0076] As shown in the figure, in one embodiment of the present invention, the box 3 includes four identical box units, which are stacked vertically and installed directly above the box chassis 303. The box connecting axle 301 and the box transmission belt 302 are installed on the left front of the box 3 to facilitate connection with the transmission mechanism. Each box unit is provided with a box roller 304, a box driving shaft 305, two box movable side panels 306, a box push plate 307, and a box crawler 308. When the driver receives a signal from the alarm, the driver pulls the joystick in the cab 6 to drive the engine to rotate, and the power is sent to the box connecting axle 301 and the box transmission belt 302 through the transmission mechanism on the crawler self-propelled chassis 7, driving the box driving shaft 305 and the box roller 304 to rotate, giving energy to the box crawler 308, and driving the box push plate 307 to push the straw bale forward, and the straw bale pushes open the two box movable side panels under its push. The side panel 306 leaves the box body 3, so that when the box body 3 is full of straw bales, the straw bales are automatically unloaded. After the box body push plate 307 completely pushes the straw bales out of the box body 3, the box body push plate 307 returns to the original position close to the box body side panel 309. In one embodiment of the present invention, the size range of the box body side panel 309 is 1400-1500mm in length and 340-360mm in width. The distance between the box body side panel 309 and the movable side panel 306 of the box body and between the two movable side panels 306 of the box body are both 620mm, which can determine the size and number of straw bales that each box body unit can accommodate.

[0077] The conveying device 4 is used to convey the straw bales processed by the knotting device 11 to the up-and-down moving device 1. The second baffle 403 is installed between the fixing frame 401 and the up-and-down moving device 1, and is connected to the telescopic pushing device box 109 through the second spring 404. When the up-and-down moving device 1 moves, when the first conveyor belt 108 and the second conveyor belt 402 are not on the same horizontal plane, the second baffle 403 is raised to prevent the straw bales from falling off the second conveyor belt 402. In one embodiment of the present invention, the second conveyor belt 402 is 500 mm wide and is designed with a four-layer canvas belt.

[0078] like Fig. 9As shown, in one embodiment of the present invention, the box body 3 is provided with four layers of box body units. When k=0, when the straw bale reaches the conveyor belt of the up-and-down moving device 1, the laser radar 5 measures that the distance between the laser radar and the straw bale reaches a preset value a. After the control unit controls the up-and-down moving device 1 to rise k layers of box body units, it controls the telescopic pushing device 2 to extend and push the straw bale into the box body 3; when one layer of the box body 3 is full of straw bales, the up-and-down moving device 1 is controlled to descend k layers of box body units to continue to receive the straw bales and pack them, and so on. When the laser radar 5 measures that the distance between the laser radar and the outermost straw bale of the box body 3 reaches a preset value b, the next step is to control the up-and-down moving device 1 to descend k layers of box body units. If k=4, the control unit controls the alarm to sound an alarm to remind the driver to prepare to unload the full straw bales in the box body 3.

[0079] The driver controls the transmission mechanism to push the straw bale out of the box 3, so that when the box 3 is full of straw bales, the driver is reminded to prepare to unload the straw bales. a is the distance from the two straw bales on the second conveyor belt 402 to the laser radar 5, and b is the distance from the two outermost straw bales to the laser radar 5 when the single-layer box unit of the box 3 is full.

[0080] In a specific implementation process of the present invention: the picking device 8 collects the straw scattered in the field and sends it to the feeding device 9; the feeding device 9 pushes the straw into the subsequent compression device 10; the compression device 10 compresses the loose straw bales into regular squares; the knotting device 11 ties up the compressed straw bales with thin ropes; the straw bales are transferred to the up-and-down moving device 1 by the conveying device 4; under the control of the laser radar 5, the telescopic pushing device 2 pushes the straw bales into the box 3 for neat stacking; when a layer of the box 3 is full, under the control of the laser radar 5, the up-and-down moving device 1 moves to a layer of empty boxes 3; this cycle repeats, and when the boxes 3 are all full, the laser radar 5 reminds the driver to drive the transmission mechanism on the box 3 through the transmission mechanism on the crawler self-propelled chassis 7 to push the straw bales out of the box 3.

[0081] The present invention solves the problem that manpower is still needed to stack and place the straw bales after the straw bales are tied, realizes automatic packing and unloading of the straw bales, reduces the waste of human resources in the straw recycling process, and reduces the labor intensity in the straw recycling process.

[0082] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0083] The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present invention. They are not intended to limit the scope of protection of the present invention. All equivalent embodiments or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A straw picking and baling machine with an automatic packing mechanism, It is characterized in that It comprises an up-and-down moving device (1), a telescopic pushing device (2), a box (3), a conveying device (4), a laser radar (5), a cab (6), a crawler self-propelled chassis (7), a picking device (8), a feeding device (9), a compression device (10), a knotting device (11) and a control unit; The picking device (8), feeding device (9), conveying device (4), up and down moving device (1), box (3) and cab (6) are all installed on a crawler self-propelled chassis (7); The picking device (8) is arranged at the front position on the crawler self-propelled chassis (7) and is used to collect straw and transfer it to the feeding device (9) at the rear. The feeding device (9) is used to push the straw into the subsequent compression device (10). The compression device (10) is used to compress the straw into straw bales. The knotting device (11) is used to bundle the compressed straw bales. The conveying device (4) is used to transfer the bundled straw bales to the up-and-down moving device (1). The telescopic pushing device (2) is installed on the up-and-down moving device (1). The laser radar (5) is arranged on the up-and-down moving device (1) and is used to detect the position of the straw bale and transfer it to the control unit. The control unit is connected to the telescopic pushing device (2) and the up-and-down moving device (1). The control unit is used to control the telescopic pushing device (2) to push the straw bale into the box (3) according to the signal of the laser radar (5), and control the up-and-down moving device (1) to adjust the height of the telescopic pushing device (2).

2. The straw picking and baling machine with automatic packing mechanism according to claim 1, It is characterized in that The control unit receives a signal from the laser radar (5); when a straw bale reaches the conveyor belt of the vertical moving device (1), the laser radar (5) measures that the distance between the laser radar and the straw bale reaches a preset value a, and the control unit controls the telescopic pushing device (2) to extend and push the straw bale into the box (3); when a layer of the box (3) is full of straw bales, the laser radar (5) measures that the distance between the laser radar and the outermost straw bale of the box (3) reaches a preset value b, and the control unit controls the vertical moving device (1) to rise to the upper layer of the box (3) after receiving the straw bale; when the box (3) is completely full, the control unit controls the alarm to send a signal.

3. A straw picking and baling machine with an automatic packing mechanism according to claim 1, It is characterized in that The up-and-down moving device (1) comprises a first driving mechanism, a first conveyor belt (108), a telescopic pushing device box (109), a conveyor belt frame (1011) and a track frame (1012); The telescopic pushing device box (109) is mounted on the track frame (1012) and is slidably connected to the track frame (1012); the telescopic pushing device (2) is mounted on the telescopic pushing device box (109); the first driving mechanism is connected to the telescopic pushing device box (109) via a rope (103) and is capable of driving the telescopic pushing device box (109) to slide up and down along the track frame (1012) to adjust the height of the telescopic pushing device (2); and the laser radar (5) is arranged on the telescopic pushing device box (109); The first conveyor belt (108) is installed on a conveyor belt frame (1011), and the conveyor belt frame (1011) is connected to the bottom of the telescopic pushing device box (109).

4. The straw picking and baling machine with automatic packing mechanism according to claim 3, It is characterized in that The first driving mechanism comprises a rotating shaft (101), a first motor (102) and a bevel gear (1010); First motors (102) are respectively provided on both sides of the track frame (1012), and the output shafts of the first motors (102) are respectively connected to the first bevel gears (1010). Second bevel gears are respectively provided on both ends of the rotating shaft (101), and the first bevel gears (1010) are meshed with the second bevel gears. The rope (103) is wound around the bearings of the second bevel gears.

5. The straw picking and baling machine with automatic packing mechanism according to claim 3, It is characterized in that It also includes a first baffle (104); the first baffle (104) is installed on one side of the telescopic pushing device box (109).

6. The straw picking and baling machine with automatic packing mechanism according to claim 1, It is characterized in that The telescopic pushing device (2) comprises a pushing plate (201), a pushing plate flange (202), a first spring (203), a telescopic part (204), and a power system (205); One end of the telescopic part (204) is connected to the power system (205), and the other end is connected to the propulsion plate (201) via the propulsion plate flange (202); one end of the first spring (203) is connected to the telescopic part (204), and the other end is connected to the propulsion plate flange (202); the propulsion plate (201) is used to push the straw bale into the box body (3).

7. The straw picking and baling machine with automatic packing mechanism according to claim 1, It is characterized in that The box (3) comprises a first transmission mechanism, a box bottom frame (303), a box roller (304), a box movable side plate (306), a box push plate (307), a box crawler (308), and a box side plate (309); The box body (3) comprises a plurality of box body units, each of which is longitudinally mounted on a box body bottom frame (303), each of which is provided with a box body frame (3010), the box body frame (3010) being provided with at least one box body movable side panel (306) and a box body push panel (307); the upper end of the box body movable side panel (306) is rotatably connected to the box body frame (3010) via a rotating shaft, a slide groove is provided at the bottom of the box body frame (3010), a slide plate (3011) is provided on the slide groove, the slide plate (3011) is mounted on a box body crawler (308), the box body push panel (307) is connected to the slide plate (3011), and the box body crawler (308) is connected to the first transmission mechanism.

8. The straw picking and baling machine with automatic packing mechanism according to claim 7, It is characterized in that The first transmission mechanism comprises a box connecting axle (301), a box transmission belt (302) and a box driving shaft (305); The box crawler (308) is connected to the box roller (304) of the transmission mechanism. The box roller (304) is installed on the box driving shaft (305). The box driving shaft (305) is connected to the box connecting axle (301) through the box transmission belt (302). The box connecting axle (301) is connected to the second transmission mechanism.

9. The straw picking and baling machine with automatic packing mechanism according to claim 1, It is characterized in that The conveying device (4) comprises a fixed frame (401), a second conveyor belt (402), a second baffle (403), and a second spring (404); The second conveyor belt (402) is installed on the fixed frame (401) and is used to transport the straw bales processed by the knotting device (11) to the up-and-down moving device (1). The second baffle (403) is located between the fixed frame (401) and the up-and-down moving device (1). One end of the second baffle (403) is rotatably connected to the fixed frame (401), and the other end is connected to the telescopic pushing device box (109) via a second spring (404). The second baffle (403) is used to raise the second baffle (403) to prevent the straw bale from falling off the second conveyor belt (402) when the first conveyor belt (108) and the second conveyor belt (402) are not on the same horizontal plane when the up-and-down moving device (1) moves.

10. A control method for a straw picking and baling machine with an automatic packing mechanism according to any one of claims 1 to 9, It is characterized in that The following steps are involved: The picking device (8) collects the straw and transfers it to the feeding device (9) at the rear. The feeding device (9) pushes the straw into the subsequent compression device (10). The compression device (10) compresses the straw into straw bales. The knotting device (11) bundles the compressed straw bales. The conveying device (4) transfers the bundled straw bales to the up-and-down moving device (1). The laser radar (5) detects the position of the straw bale and transmits it to the control unit. When the straw bale reaches the conveyor belt of the up-and-down moving device (1), , the laser radar (5) measures that the distance between the laser radar and the straw bale reaches a preset value a, and the control unit controls the telescopic push device (2) to extend to push the straw bale into the box (3); when one layer of the box (3) is full of straw bales, the laser radar (5) measures that the distance between the laser radar and the outermost straw bale of the box (3) reaches a preset value b, and the control unit controls the up-and-down moving device (1) to rise to the upper layer of the box (3) after receiving the straw bale; when the box (3) is completely full, the control unit controls the alarm to send a signal.

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