Automatic straw bale picking and conveying equipment and conveying method

Abstract

The invention belongs to the technical field of mechanical equipment for transportation, and provides automatic straw bale picking and conveying equipment and a conveying method.The conveying equipment comprises a main body, a top frame fixing beam fixed to the main body, an annular rail assembly, a driving assembly and a bale grabbing arm; wherein the annular rail assembly is fixedly mounted on the top frame fixing beam, and the driving assembly is mounted on the main body; the bale grabbing arm is installed on the main body, located at an inlet of the conveying track and used for automatically picking up bales. The conveying trolley is installed on the conveying track, then the driving assembly is arranged to drive the conveying trolley to move on the conveying track, the bales can move to the target position along with the conveying trolley, the working efficiency is improved in the process, and the labor cost is saved; in addition, the bale grabbing arm is further arranged at the opening of the conveying rail, bales can be automatically picked up through the bale grabbing arm, and the working efficiency is further improved.

Description

Technical Field

[0001] The invention belongs to the technical field of transportation machinery and equipment, and in particular relates to an automatic straw bale picking and conveying device and a conveying method. Background Art

[0002] Transportation machinery and equipment are widely used in various fields. For example, in agricultural production, it is particularly important to reduce labor intensity and save labor costs. Therefore, the promotion of mechanized operations has become an inevitable trend in modern agriculture. In order to solve the problem of corn, wheat and other straw baling, manpower is mainly used for field bale picking, transportation and loading. To improve production efficiency, reduce labor intensity and transportation costs. The square bale picking loader uses a tractor (50 horsepower and above) to automatically pick up small square bales wrapped with nets (including small square bales of the same size with ropes) in the field. The full load capacity is ≥90 bales (each bale weighs about 25kg), which can effectively replace manual picking and transportation and reduce damage to the land.

[0003] Now, with the increasing labor costs, it takes at least three people or more to complete the tasks of picking up, moving and loading, and it is impossible to work efficiently and sustainably. Summary of the invention

[0004] In order to solve the problems in the background technology, the present invention provides an automatic straw bale picking and conveying device and a conveying method.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: An automatic straw bale picking and conveying device, comprising: main body; A plurality of top frame fixing beams, fixedly installed on the main body; The annular track assembly is fixedly mounted on the top frame fixed beam, and includes a conveying track and a conveying trolley slidably arranged along the conveying track; A driving assembly is installed on the main body and is provided with a driving wheel that is transmission-connected to the conveying trolley, and the driving wheel is used to drive the conveying trolley to slide along the conveying track through mechanical transmission; A bag grabbing arm is mounted on the main body and is located at the entrance of the conveying track for automatically picking up the bales.

[0006] Preferably, the main body includes a chassis frame and a hydraulic control system; The hydraulic control system is installed on the chassis frame and connected to the drive assembly through hydraulic pipelines; The bottom of the top frame fixing beam is fixedly connected to the chassis frame.

[0007] Preferably, in the annular track assembly: The conveying track is fixedly connected to the top frame fixed beam, has an elliptical cross section, and is provided with an opening at the bottom; Along the conveying path of the conveying track, a plurality of conveying trolleys are provided, and chains are connected between adjacent conveying trolleys; Guard plates are arranged on both sides of the conveying track along the conveying path of the conveying track, and the guard plates are fixedly connected to the top frame fixed beams.

[0008] Preferably, the guard plate includes a straight guard plate and a rotary guard plate; The linear guard plates are located on both sides of the main body, and the ends are fixedly connected to the rotary guard plates; The rotating guard plate is located at the end of the main body.

[0009] Preferably, the conveying track is a continuous U-shaped track; Along the conveying path of the conveying track, the end end of the i-th layer of the continuous U-shaped track is bridged with the starting end of the i+1-th layer until it is connected from the first layer to the n-th layer, n>i≥1, and the end end of the U-shaped track of the n-th layer is bridged to the starting end of the first layer.

[0010] Preferably, the transport trolley comprises a connecting plate and a frame; The connecting plate is located inside the conveying track, and guide pulleys are installed at both ends of the bottom surface of the connecting plate, and the guide pulleys are slidably matched with the conveying track; Guide pillars are also installed at both ends of the connecting plate, and one end of the guide pillar away from the connecting plate passes through the bottom opening of the conveying track and extends to the outside of the conveying track; The bottom of the frame is fixedly connected to an end of the guide post away from the connecting plate, and a gap is left between the frame and the conveying track; A sprocket transmission is arranged between the driving wheel and the guide column.

[0011] Preferably, the bag grabbing arm comprises: A grabbing rotating arm, with a fixed arm mounted on one end and a rotatable swing arm mounted on the other end via a first rotating shaft; and the middle portion of the grabbing rotating arm is rotatably connected to a connecting rod mechanism via a driving shaft; The clamping cylinder is installed on the back of the grabbing arm, and the telescopic end is rotatably connected to one end of the swing arm; A first tilting oil cylinder is mounted on the connecting rod mechanism, and a telescopic end is rotatably connected to the middle part of the grabbing rotating arm through a second rotating shaft, and the second rotating shaft is located on one side of the driving shaft; A translation cylinder is installed on the connecting rod of the connecting rod mechanism; A second tilting oil cylinder is installed on the connecting arm, and the telescopic end of the second tilting oil cylinder is rotatably connected to a rotating support via a third rotating shaft; The middle section of the rotating support is rotatably connected to the connecting arm, and one end away from the third rotating shaft is fixedly connected to one end of the connecting rod mechanism away from the grabbing rotating arm.

[0012] Preferably, the drive assembly comprises: A hydraulic motor, fixedly mounted on the main body; A driving gear connected to an output end of the hydraulic motor; Transition gears are meshed on both sides of the driving gear, and the transition gears are rotatably mounted on the main body; The transition gears on both sides are respectively meshed with driven gears; The driven gears on both sides are mounted on the driving wheels via rotating shafts.

[0013] Preferably, the driving wheel comprises a first driving wheel and a second driving wheel; A plurality of the first driving wheels are coaxially arranged and mounted on a first driving shaft, and the first driving shaft is connected to a driven gear on one side of the driving gear; A plurality of the second driving wheels are coaxially arranged and mounted on a second driving shaft, and the second driving shaft is connected to a driven gear on the other side of the driving gear.

[0014] A method for automatically picking up and conveying straw bales, applied to the above-mentioned automatic straw bale picking up and conveying equipment, comprises the following steps: The bale is picked up by the bag grabbing arm and brought to the entrance of the conveying track; The conveying trolley is driven to slide along the conveying track by the driving assembly; Transport bales via a transport trolley; After all bales have been transported, the transport equipment is moved to the destination and the bales are unloaded.

[0015] Preferably, driving the conveying trolley to slide along the conveying track by the driving assembly comprises the following steps: The conveying trolley is slid along the conveying track by the driving wheel to form a continuous hairpin-shaped conveying path.

[0016] Beneficial effects of the present invention: 1. The present invention installs a conveying trolley on the conveying track, and then sets a driving component to drive the conveying trolley to move on the conveying track. The straw bale can be moved to the target position with the conveying trolley. This process improves work efficiency and saves labor costs. In addition, a bag grabbing arm is also set at the opening of the conveying track, and the straw bale can be automatically picked up by the bag grabbing arm, which further improves work efficiency. 2. In the conveying trolley of the present invention, the combined structure of the strips and the connecting plates fills the entire conveying track. At the position of the guide column, the driving wheel will be stuck in the gap between the frame and the conveying track, and then push the guide column to move along the conveying path. At this time, the driving wheel and the guide column are powered by the principle of sprocket transmission. This structure reasonably optimizes the structure of the conveying track, the conveying trolley and the driving wheel based on the principle of mechanical transmission, realizes the process of the conveying trolley moving with the conveying track, and provides technical support for the transportation of straw bales.

[0017] Other features and advantages of the present invention will be described in the following description, and partly become obvious from the description, or be understood by implementing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A schematic structural diagram of an automatic straw bale picking and conveying device of the present invention is shown; Figure 2 A schematic structural diagram of the main body of the present invention is shown; Figure 3 The present invention shows Figure 2 Magnified view of area A in the middle; Figure 4 The schematic diagram of the assembly of the conveying track and the driving assembly of the present invention is shown; Figure 5 A schematic cross-sectional view of the conveying track of the present invention is shown; Figure 6 The present invention shows Figure 4 Magnified view of area B; Figure 7 A side schematic diagram of the conveying trolley of the present invention is shown; Figure 8a A schematic diagram showing the initial state of the packet grabbing arm of the present invention is shown; Figure 8b A schematic diagram showing a bag clamping state of a bag grabbing arm of the present invention is shown; Figure 8c A schematic diagram showing the first flipping state of the bag grabbing arm of the present invention is shown; Figure 8d A schematic diagram showing the state of the second flipping of the bag grabbing arm of the present invention is shown; Figure 8e A schematic diagram showing the translation state of the packet grabbing arm of the present invention is shown; Fig. 9 A flow chart of a method for automatically picking up and conveying straw bales according to the present invention is shown.

[0020] In the figure: 1, main body; 101, chassis frame; 102, hydraulic control system; 2, top frame fixed beam; 3, linear guard plate; 4, rotary guard plate; 5, circular track assembly; 501, conveying track; 502, chain; 503, guide column; 504, connecting plate; 505, frame; 506, guide pulley; 6, bag grabbing arm; 601, swing arm; 602, first rotating shaft; 603, clamping oil cylinder; 604, grabbing rotating arm; 6041, flip shaft; 60 5. First flip cylinder; 606. Second rotating shaft; 607. Second flip cylinder; 608. Third rotating shaft; 609. Translation cylinder; 6010. Connecting rod mechanism; 6011. Connecting arm; 6012. Rotating support; 7. Driving assembly; 701. Hydraulic motor; 702. Driving gear; 703. Transition gear; 704. Driven gear; 705. First driving shaft; 706. First driving wheel; 707. Second driving shaft; 708. Second driving wheel. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] like Figure 1 As shown, it is an automatic bale picking and conveying device, which mainly includes a main body 1, a plurality of top frame fixed beams 2, a ring track assembly 5 and a bag grabbing arm 6. The top frame fixed beams 2 are fixedly installed on the main body 1 in sequence along the main body 1. The ring track assembly 5 is fixedly installed on the top frame fixed beam 2, which includes a conveying track 501 and a conveying trolley slidably arranged along the conveying track 501. The bag grabbing arm 6 is installed on the main body 1, located at the opening of the conveying track 501, and can automatically pick up the bale through equipment such as a cylinder. In addition, a driving component 7 is also installed on the main body 1, and the driving component 7 is provided with a driving wheel connected to the conveying trolley, and the driving wheel can drive the conveying trolley to slide along the conveying track 501 through mechanical transmission.

[0023] It should be noted that Figure 1The device picks up the bales through the bag grabbing arm 6 and transports them to the circular track assembly 5. The transport trolley on the circular track assembly 5 moves along the transport path of the circular track assembly 5 under the action of the driving assembly 7. At this time, the bales on the transport trolley will move with the track trolley until the bales fill the entire circular track assembly 5. Then the bales on the whole vehicle can be transported to other locations for centralized processing.

[0024] Combine the following Figure 2-Figure 7 right Figure 1 The structure is further described.

[0025] like Figure 2 As shown, the main body 1 includes a chassis frame 101 and a hydraulic control system 102. The hydraulic control system 102 is installed on the chassis frame 101 and connected to the drive assembly 7 through a hydraulic pipeline. The hydraulic control system 102 can control the working state of the drive assembly 7, thereby realizing precise control of the drive assembly 7. The bottom of the top frame fixed beam 2 is fixedly connected to the chassis frame 101, generally by welding, and structures such as reinforcing ribs can be configured at the connection to improve the stability of the top frame fixed beam 2.

[0026] like Figure 3 As shown, the driving assembly 7 includes a hydraulic motor 701, a driving gear 702, a transition gear 703, a driven gear 704 and symmetrical driving wheels. The hydraulic motor 701 is fixedly mounted at the end of the chassis frame 101 of the main body 1. The driving gear 702 is located at the lower side of the hydraulic motor 701 and is transmission-connected to the output end of the hydraulic motor 701. Two transition gears 703 are provided, which are rotationally connected to the chassis frame 101 of the main body 1 and are symmetrically mounted on both sides of the driving gear 702 and meshed with the driving gear 702. Similarly, the transition gears 703 on both sides are respectively meshed with the corresponding driven gears 704, and the driven gears 704 on both sides are respectively mounted with corresponding driving wheels through rotating shafts.

[0027] It should be noted that in Figure 3 In the structure, the hydraulic motor 701 transmits power to the corresponding driving wheel through gear transmission, and when the driving wheel rotates, it can drive the conveying trolley to move on the conveying track 501.

[0028] Furthermore, combined with Figure 2 and Figure 3 It can be seen that the driving wheels include a first driving wheel 706 and a second driving wheel 708. The four first driving wheels 706 are coaxially arranged and mounted on a first driving shaft 705, and the first driving shaft 705 is connected to a driven gear 704 on one side of the driving gear 702; the four second driving wheels 708 are coaxially arranged and mounted on a second driving shaft 707, and the second driving shaft 707 is connected to a driven gear 704 on the other side of the driving gear 702.

[0029] like Figure 4 As shown, the annular track assembly 5 is generally a continuous U-shaped track. Along the conveying path of the conveying track 501, the end of the continuous U-shaped track at the i-th layer is bridged with the starting end of the i+1-th layer, until it is connected from the first layer to the n-th layer, n>i≥1, and the end of the U-shaped track at the n-th layer is bridged to the starting end of the first layer. In addition, the first driving wheel 706 and the second driving wheel 708 are both located at the hairpin ends of the hairpin track. At this position, the first driving wheel 706 and the second driving wheel 708 are sprockets, which realize the movement of the conveying trolley on the conveying track 501 through sprocket transmission.

[0030] It should be noted that the above continuous U-shaped track can be regarded as a continuous hairpin track. Along the conveying path of the conveying track 501, the end of each layer of the hairpin track is connected to the start end of the next layer, until it is connected from the first layer to the nth layer. In particular, the end of the hairpin track of the nth layer is also connected to the start end of the first layer, forming a loop structure. This design is a bit like a continuous hairpin mountain road. The conveying trolley slides from the bottom along the conveying track 501 and gradually "climbs" upward in space.

[0031] Furthermore, combined with Figure 1 and Figure 5 It can be seen that in the annular track assembly 5, the conveying track 501 is fixedly connected to the top frame fixed beam 2, and its cross section is elliptical and has an opening at the bottom. In addition, along the conveying path of the conveying track 501, guard plates are provided on both sides of the conveying track 501, and the guard plates are fixedly connected to the top frame fixed beam 2, for example, by fixed pins. The guard plates include a straight guard plate 3 and a rotary guard plate 4, wherein the straight guard plate 3 is located on both sides of the main body 1, and the ends are fixedly connected to the rotary guard plate 4, and the rotary guard plate 4 is located at the ends of the main body 1; in addition, along the conveying path of the conveying track 501, a plurality of conveying trolleys are provided, and a chain 502 is connected between adjacent conveying trolleys.

[0032] It should be noted that when the bale moves with the transport trolley, the guard plate can prevent the bale from falling off the main body 1 and can also guide the bale. Therefore, in some optional solutions, the roughness of the surface of the guard plate facing the bale can be reduced to reduce the friction coefficient and reduce the resistance of the guard plate to the bale.

[0033] like Figure 6 As shown, the transport trolley includes a connecting plate 504 and a frame 505. The connecting plate 504 is located inside the transport track 501, and guide pulleys 506 are installed at both ends of the bottom surface of the connecting plate 504, and the guide pulleys 506 are slidably matched with the transport track 501. Figure 5 and Figure 7It can be seen that guide posts 503 are also installed at both ends of the connecting plate 504, and the end of the guide post 503 away from the connecting plate 504 extends to the outside through the bottom opening of the conveying track 501, and the bottom of the frame 505 is fixedly connected to the end of the guide post 503 away from the connecting plate 504, and a gap is left between the frame 505 and the conveying track 501. Along the conveying path of the conveying track 501, the chain 502 is connected to the upper part of the guide post 503.

[0034] It should be noted that through Figure 6 It can be seen that the combined structure of the chain 502 and the connecting plate 504 fills the entire conveying track 501, wherein at the position of the guide post 503, the driving wheel will be stuck in the gap between the frame 505 and the conveying track 501, and then push the guide post 503 to move along the conveying path, so at this time there is a sprocket transmission between the driving wheel and the guide post 503.

[0035] It should be further explained that, combined with Figure 5 and Figure 7 It can be seen that the cross section of the frame 505 wrapping the conveying track 501 is U-shaped, and the U-shaped opening faces the inner side of the conveying track 501, because the inner surface of the conveying track 501 needs to be connected to the top frame fixed beam 2. In addition, two vertical plates are arranged on the top of the frame 505, and the vertical plates are mainly used to increase the friction between the bale and the bale, so that the bale can move along the conveying path with the conveying trolley after being placed on the conveying trolley.

[0036] Combination Figure 8a-8e It can be seen that in the mechanical arm 6, a fixed arm is welded at one end of the grab arm 604, and a rotatable swing arm 601 is installed at the other end through a first rotating shaft 602, and the middle part of the grab arm 604 is rotatably connected to the connecting rod mechanism 6010 through a flip shaft 6041. The clamping cylinder 603 is installed on the back of the grab arm 604, and the telescopic end is rotatably connected to one end of the swing arm 601. The first flip cylinder 605 is installed on the connecting rod mechanism 6010, and the telescopic end is rotatably connected to the middle part of the grab arm 604 through a second rotating shaft 606, and the second rotating shaft 606 is located on one side of the flip shaft 6041. A translation cylinder 609 is installed on the connecting rod of the connecting rod mechanism 6010, which can perform translational movement through the hydraulic action of the translation cylinder 609. The second flip cylinder 607 is installed on the connecting arm 6011, and the telescopic end of the second flip cylinder 607 is rotatably connected to the rotating support 6012 through the third rotating shaft 608; the middle section of the rotating support 6012 is rotatably connected to the connecting arm 6011, and the end away from the third rotating shaft 608 is welded to the end of the connecting rod mechanism 6010 away from the grabbing rotating arm 604.

[0037] It should be noted that if Figure 8a As shown in FIG. 1 , it is the initial state of the bag grabbing arm 6, at which time the swing arm 601 has not clamped the bale. Figure 8bAs shown, at this time, the clamping cylinder 603 drives the swing arm 601 to swing inward until the bale is clamped. Figure 8c As shown, at this time, the first turning cylinder 605 drives the second rotating shaft 606 to rotate around the turning axis 6041, so that the grabbing rotating arm 604 is turned over by 90 degrees as a whole. Figure 8d As shown, the second turning cylinder 607 turns the connecting rod mechanism 6010 and the grabbing arm 604 upward as a whole, and the height of the straw bale is kept at the same level as the conveying track 501 or higher than the height of the conveying track 501. Figure 8e As shown, the translation cylinder 609 drives the connecting rod mechanism 6010 to translate, so as to transport the grass bale to the conveying track 501 .

[0038] like Fig. 9 As shown, a method for automatically picking up and conveying straw bales is applied to Figure 1-Figure 7 An automatic bale picking and conveying device comprises the following steps: S1: Pick up the bale to the entrance of the conveying track 501 through the bag grabbing arm 6.

[0039] S2: The conveying trolley is driven to slide along the conveying track 501 by the driving assembly 7. Specifically, the hydraulic motor 701 is started by the hydraulic control system 102, and then the hydraulic motor 701 drives the first driving wheel 706 and the second driving wheel 708 to rotate through gear transmission, and then the edge tooth surfaces of the two driving wheels push the guide column 503 of the conveying trolley to move along the conveying path, thereby driving the conveying trolley to slide along the conveying track 501 to form a U-shaped conveying path.

[0040] S3: Transporting the bale by the transport trolley. Specifically, after the bale is placed on the transport trolley, the friction between the bale and the vertical plate on the top of the frame 505 is increased, so that the transport trolley can drive the bale to move.

[0041] S4: After all the bales are transported, the transport device is moved to the target location and the bales are unloaded. Specifically, a discharge port may be provided on the top of the transport track 501, and then the bales can be unloaded from the discharge port.

[0042] It should be noted that when a bale is placed on the conveying track 501, a bale counter will be triggered, which can count the number of bales, thereby determining whether the bales fill the entire conveying track 501. When the square bales are full, the square bales automatically pick up the loader, and the full square bales are transported to a designated location or area, and then the wireless remote control is manually operated to unload and stack. To unload the bales, first use the wireless remote control to control the unloading cylinder to raise the bale outlet (located at the top of the conveying track 501) to a designated height, and then operate the hydraulic motor 701 to unload and stack the square bales in three modes: automatic, semi-automatic, and inching.

[0043] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein; and these modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic bale picking and conveying device, characterized in that: include: Subject (1); A plurality of top frame fixing beams (2) fixedly mounted on the main body (1); The annular track assembly (5) is fixedly mounted on the top frame fixed beam (2), and comprises a conveying track (501) and a conveying trolley slidably arranged along the conveying track (501); A driving assembly (7) is mounted on the main body (1) and is provided with a driving wheel that is transmission-connected to the conveying trolley, wherein the driving wheel is used to drive the conveying trolley to slide along the conveying track (501) through mechanical transmission; A bag grabbing arm (6) is mounted on the main body (1) and is located at the entrance of the conveying track (501) for automatically picking up bales.

2. The automatic bale picking and conveying device according to claim 1 is characterized in that: The main body (1) comprises a chassis frame (101) and a hydraulic control system (102); The hydraulic control system (102) is mounted on the chassis frame (101) and connected to the drive assembly (7) via a hydraulic pipeline; The bottom of the top frame fixed beam (2) is fixedly connected to the chassis frame (101).

3. The automatic bale picking and conveying device according to claim 2 is characterized in that: In the annular track assembly (5): The conveying track (501) is fixedly connected to the top frame fixed beam (2), has an elliptical cross section, and is provided with an opening at the bottom; Along the conveying path of the conveying track (501), a plurality of conveying trolleys are provided, and a chain (502) is connected between adjacent conveying trolleys; Guard plates are provided on both sides of the conveying track (501) along the conveying path of the conveying track (501), and the guard plates are fixedly connected to the top frame fixed beam (2).

4. The automatic bale picking and conveying device according to claim 3 is characterized in that: The guard plate comprises a straight guard plate (3) and a rotary guard plate (4); The linear guard plates (3) are located on both sides of the main body (1), and the ends thereof are fixedly connected to the rotary guard plates (4); The revolving guard plate (4) is located at the end of the main body (1).

5. The automatic bale picking and conveying device according to claim 3 is characterized in that: The conveying track (501) is a continuous U-shaped track; Along the conveying path of the conveying track (501), the end end of the i-th layer of the continuous U-shaped track is bridged with the starting end of the i+1-th layer until it is connected from the first layer to the n-th layer, n>i≥1, and the end end of the U-shaped track of the n-th layer is bridged to the starting end of the first layer.

6. The automatic bale picking and conveying device according to claim 3, characterized in that: The transport trolley comprises a connecting plate (504) and a frame (505); The connecting plate (504) is located inside the conveying track (501), and guide pulleys (506) are installed at both ends of the bottom surface of the connecting plate (504), and the guide pulleys (506) are slidably matched with the conveying track (501); Guide pillars (503) are also installed at both ends of the connecting plate (504), and one end of the guide pillar (503) away from the connecting plate (504) passes through the bottom opening of the conveying track (501) and extends to the outside of the conveying track (501); The bottom of the frame (505) is fixedly connected to an end of the guide column (503) away from the connecting plate (504), and a gap is left between the frame (505) and the conveying track (501); A sprocket transmission is provided between the driving wheel and the guide column (503).

7. The automatic bale picking and conveying device according to claim 1, characterized in that: The bag grabbing arm (6) comprises: A grabbing rotating arm (604) is provided with a fixed arm at one end and a rotatable swing arm (601) is provided at the other end via a first rotating shaft (602); and the middle part of the grabbing rotating arm (604) is rotatably connected to a connecting rod mechanism (6010) via a flip shaft (6041); The clamping oil cylinder (603) is installed on the back of the grabbing rotating arm (604), and the telescopic end is rotatably connected to one end of the swing arm (601); A first turning cylinder (605) is mounted on the connecting rod mechanism (6010), and a telescopic end is rotatably connected to the middle of the grabbing rotating arm (604) via a second rotating shaft (606), and the second rotating shaft (606) is located on one side of the turning shaft (6041); A translation cylinder (609) is installed on the connecting rod of the connecting rod mechanism (6010); A second tilting oil cylinder (607) is mounted on the connecting arm (6011), and a telescopic end of the second tilting oil cylinder (607) is rotatably connected to a rotating support (6012) via a third rotating shaft (608); The middle section of the rotating support (6012) is rotatably connected to the connecting arm (6011), and one end away from the third rotating shaft (608) is fixedly connected to one end of the connecting rod mechanism (6010) away from the grabbing rotating arm (604).

8. The automatic bale picking and conveying device according to claim 1, characterized in that: The driving assembly (7) comprises: A hydraulic motor (701) is fixedly mounted on the main body (1); A driving gear (702) connected to an output end of the hydraulic motor (701); Transition gears (703) are meshed on both sides of the driving gear (702), and the transition gears (703) are rotatably mounted on the main body (1); The transition gears (703) on both sides are respectively meshed with driven gears (704); The driven gears (704) on both sides are mounted on the driving wheels via rotating shafts.

9. The automatic bale picking and conveying device according to claim 8, characterized in that: The driving wheels include a first driving wheel (706) and a second driving wheel (708); A plurality of the first driving wheels (706) are coaxially arranged and mounted on a first driving shaft (705); the first driving shaft (705) is connected to a driven gear (704) on one side of the driving gear (702); A plurality of the second driving wheels (708) are coaxially arranged and mounted on a second driving shaft (707). The second driving shaft (707) is connected to a driven gear (704) on the other side of the driving gear (702).

10. A method for automatically picking up and conveying straw bales, characterized in that: An automatic bale picking and conveying device applied to any one of claims 1 to 9 comprises the following steps: The bale is picked up by the bag grabbing arm (6) and brought to the entrance of the conveying track (501); The conveying trolley is driven to slide along the conveying track (501) by a driving assembly (7); Transport bales via a transport trolley; After all bales have been transported, the transport equipment is moved to the destination and the bales are unloaded.

11. The method for automatically picking up and conveying straw bales according to claim 10, characterized in that: The conveying trolley is driven to slide along the conveying track (501) by a driving assembly (7), comprising the following steps: The conveying trolley is slid along the conveying track (501) by the driving wheel to form a continuous U-shaped conveying path.

Images