Automatic bale pickup and conveying device and method

Abstract

The present application belongs to the technical field of mechanical equipment for transportation, and provides an automatic bale picking and conveying device and a conveying method, wherein the conveying device comprises a main body, a top frame fixing beam fixed on the main body, a ring track assembly, a driving assembly and a bale grabbing arm; the ring track assembly is fixedly installed on the top frame fixing beam, and the driving assembly is installed on the main body; the bale grabbing arm is installed on the main body and located at the entrance of the conveying track, and is used for automatically picking bales. The conveying trolley is installed on the conveying track, and then the driving assembly is arranged to drive the conveying trolley to move on the conveying track, so that the bale can be moved to a target position with the conveying trolley, which improves the work efficiency and saves the labor cost; in addition, the bale grabbing arm is arranged at the opening of the conveying track, and the bale can be automatically picked by the bale grabbing arm, further improving the work efficiency.

Description

Technical Field

[0001] This invention belongs to the technical field of transportation machinery and equipment, and specifically relates to an automatic hay bale picking and conveying device and conveying method. Background Technology

[0002] Transportation machinery is widely used in various fields, especially in agricultural production, where it is crucial for reducing labor intensity and saving on labor costs. Therefore, promoting mechanized operations has become an inevitable trend in modern agriculture. Currently, after baling corn and wheat straw, manual labor is still primarily used for picking up bales in the field, transporting them, and loading them onto trucks. To improve production efficiency and reduce labor intensity and transportation costs, a square bale picker-loader, pulled by a tractor (50 horsepower or higher), automatically picks up small square bales wrapped in netting (including similarly sized tied bales) in the field. With a full load capacity of ≥90 bales (each weighing approximately 25kg), it effectively replaces manual picking and transportation, reducing damage to the land.

[0003] With rising labor costs, picking, moving, and loading now require at least three people to complete the task, and it is not sustainable to work efficiently. Summary of the Invention

[0004] To address the problems in the background art, this invention proposes an automatic hay bale picking and conveying device and conveying method.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] An automated bale picking and conveying device includes:

[0007] main body;

[0008] Several top frame fixing beams are fixedly installed on the main body;

[0009] The circular track assembly is fixedly installed on the top frame fixed beam, including the conveying track and the conveying trolley that slides along the conveying track;

[0010] A drive assembly is mounted on the main body and is provided with a drive wheel that is connected to the conveying trolley via a transmission. The drive wheel is used to drive the conveying trolley to slide along the conveying track via mechanical transmission.

[0011] A bale-grabbing arm, mounted on the main body and located at the entrance of the conveyor track, is used to automatically pick up bales of hay.

[0012] Preferably, the main body includes a chassis frame and a hydraulic control system;

[0013] The hydraulic control system is mounted on the chassis frame and connected to the drive assembly via hydraulic lines.

[0014] The bottom of the top frame fixing beam is fixedly connected to the chassis frame.

[0015] Preferably, in the annular track assembly:

[0016] The conveying track is fixedly connected to the top frame fixed beam, has an elliptical cross-section, and has an opening at the bottom;

[0017] Along the conveying path of the conveying track, there are several conveying trolleys, and adjacent conveying trolleys are connected by chains;

[0018] Along the conveying path of the conveying track, guard plates are provided on both sides of the conveying track, and the guard plates are fixedly connected to the top frame fixing beam.

[0019] Preferably, the guard plate includes a straight guard plate and a rotary guard plate;

[0020] The straight guard plate is located on both sides of the main body, and its ends are fixedly connected to the rotary guard plate.

[0021] The slewing guard plate is located at the end of the main body.

[0022] Preferably, the conveying track is a continuous U-shaped track;

[0023] Along the conveying path of the conveying track, the end of the i-th layer of the continuous U-shaped track is connected to the beginning of the (i+1)-th layer, until it connects from the first layer to the n-th layer, where n > i ≥ 1, and the end of the U-shaped track of the n-th layer is connected to the beginning of the first layer.

[0024] Preferably, the conveying trolley includes a connecting plate and a frame;

[0025] 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. The guide pulleys are in sliding cooperation with the conveying track.

[0026] The connecting plate is also equipped with guide posts at both ends, and the end of the guide post away from the connecting plate extends through the bottom opening of the conveying track to the outside of the conveying track;

[0027] The bottom of the frame is fixedly connected to the end of the guide post away from the connecting plate, and a gap is left between the frame and the conveying track;

[0028] The drive wheel and the guide post are connected by a sprocket drive.

[0029] Preferably, the bag-grabbing arm includes:

[0030] The gripping arm has a fixed arm installed at one end and a rotatable swing arm installed at the other end via a first rotating shaft; and the middle part of the gripping arm is rotatably connected to a linkage mechanism via a drive shaft.

[0031] The bag-clamping cylinder is installed on the back of the gripping rotating arm, and its telescopic end is rotatably connected to one end of the swing arm;

[0032] The first tilting cylinder is mounted on the linkage mechanism, and its telescopic end is rotatably connected to the middle of the gripping arm through a second rotating shaft, the second rotating shaft being located on one side of the drive shaft;

[0033] A translation cylinder is installed on the connecting rod of the linkage mechanism;

[0034] The second tilting cylinder is mounted on the connecting arm, and the telescopic end of the second tilting cylinder is rotatably connected to a rotating support via a third rotating shaft;

[0035] The middle section of the rotating support is rotatably connected to the connecting arm, and the end away from the third rotating shaft is fixedly connected to the end of the linkage mechanism away from the gripping rotating arm.

[0036] Preferably, the driving component includes:

[0037] The hydraulic motor is fixedly mounted on the main body;

[0038] The drive gear is connected to the output end of the hydraulic motor;

[0039] The driving gear is meshed with transition gears on both sides, and the transition gears are rotatably mounted on the main body.

[0040] The transition gears on both sides are respectively engaged with driven gears;

[0041] The driven gears on both sides are mounted on the drive wheel via a rotating shaft.

[0042] Preferably, the drive wheel includes a first drive wheel and a second drive wheel;

[0043] Several of the first drive wheels are coaxially arranged and mounted on the first drive shaft, which is connected to the driven gear on one side of the drive gear;

[0044] Several second drive wheels are coaxially arranged and mounted on a second drive shaft, which is connected to a driven gear on the other side of the drive gear.

[0045] An automatic bale picking and conveying method, applied to the aforementioned automatic bale picking and conveying equipment, includes the following steps:

[0046] The bales of straw are picked up by the grabbing arm and carried to the entrance of the conveyor track;

[0047] The conveyor trolley is driven to slide along the conveyor track by the drive component;

[0048] The straw bales are transported by a conveyor trolley;

[0049] Once all bales have been delivered, the conveying equipment will be moved to the target location and the bales will be unloaded.

[0050] Preferably, driving the conveyor trolley to slide along the conveyor track via a drive component includes the following steps:

[0051] The conveyor trolley is slid along the conveyor track by the drive wheels, forming a continuous hairpin-shaped conveyor path.

[0052] The beneficial effects of this invention are:

[0053] 1. The present invention installs a conveying trolley on a conveying track, and then sets a drive component to drive the conveying trolley to move on the conveying track. The bales can be moved to the target position with the conveying trolley. This process improves work efficiency and saves labor costs. In addition, a bale-grabbing arm is set at the opening of the conveying track. The bale-grabbing arm can automatically pick up the bales, which further improves work efficiency.

[0054] 2. In the conveying trolley of the present invention, the combined structure of the strip and the connecting plate fills the entire conveying track. At the position of the guide post, the drive wheel will be engaged in the gap between the frame and the conveying track, and then push the guide post to move along the conveying path. At this time, the drive wheel and the guide post are powered by the principle of chain drive. This structure is based on the principle of mechanical transmission and rationally optimizes the structure of the conveying track, the conveying trolley and the drive wheel, realizing the process of the conveying trolley moving with the conveying track, and providing technical support for the conveying of hay bales.

[0055] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures pointed out in the description and the drawings. Attached Figure Description

[0056] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0057] Figure 1 A schematic diagram of the structure of an automatic bale picking and conveying device according to the present invention is shown;

[0058] Figure 2 A schematic diagram of the main body of the present invention is shown;

[0059] Figure 3 The present invention is shown Figure 2 A magnified view of area A in the middle;

[0060] Figure 4 A schematic diagram of the assembly of the conveyor track and drive assembly of the present invention is shown;

[0061] Figure 5 A cross-sectional schematic diagram of the conveyor track of the present invention is shown;

[0062] Figure 6 The present invention is shown Figure 4 A magnified view of area B in the middle;

[0063] Figure 7 A side view of the conveying trolley of the present invention is shown;

[0064] Figure 8a A schematic diagram of the initial state of the grabbing arm of the present invention is shown;

[0065] Figure 8b A schematic diagram of the bag-gripping state of the bag-grabbing arm of the present invention is shown;

[0066] Figure 8c A schematic diagram showing the first flip of the gripping arm of the present invention is shown;

[0067] Figure 8d A schematic diagram showing the second flipping state of the grabbing arm of the present invention is shown;

[0068] Figure 8e A schematic diagram showing the translational state of the gripping arm of the present invention is shown;

[0069] Figure 9 A flowchart of an automatic hay bale picking and conveying method according to the present invention is shown.

[0070] In the diagram: 1. Main body; 101. Chassis frame; 102. Hydraulic control system; 2. Top frame fixing beam; 3. Straight 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. Bag clamping cylinder; 604. Grabbing rotating arm; 6041. Tilting shaft; 60 5. First tilting cylinder; 606. Second rotating shaft; 607. Second tilting cylinder; 608. Third rotating shaft; 609. Translation cylinder; 6010. Linkage mechanism; 6011. Connecting arm; 6012. Rotary support; 7. Drive assembly; 701. Hydraulic motor; 702. Drive gear; 703. Transition gear; 704. Driven gear; 705. First drive shaft; 706. First drive wheel; 707. Second drive shaft; 708. Second drive wheel. Detailed Implementation

[0071] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0072] like Figure 1 The diagram shows an automatic bale picking and conveying device, which mainly includes a main body 1, several top frame fixing beams 2, a circular track assembly 5, and a bale grabbing arm 6. The top frame fixing beams 2 are sequentially fixedly installed on the main body 1. The circular track assembly 5 is fixedly installed on the top frame fixing beams 2 and includes a conveying track 501 and a conveying trolley slidably arranged along the conveying track 501. The bale grabbing arm 6 is installed on the main body 1, located at the opening of the conveying track 501, and can automatically pick up bales using devices such as cylinders. Additionally, a drive assembly 7 is installed on the main body 1. This drive assembly 7 has a drive wheel that is kinetically connected to the conveying trolley, and this drive wheel can mechanically drive the conveying trolley to slide along the conveying track 501.

[0073] It should be noted that, Figure 1 The equipment uses a grabbing arm 6 to pick up bales of hay and transport them to a circular track assembly 5. A conveyor trolley on the circular track assembly 5 moves along the conveying path of the assembly under the action of a drive component 7. The bales on the trolley move along with the trolley until the entire circular track assembly 5 is filled. Then, the entire load of bales can be transported to another location for centralized processing.

[0074] The following is combined with Figures 2-7 right Figure 1 The structure will be further explained.

[0075] 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 mounted on the chassis frame 101 and connected to the drive assembly 7 via hydraulic lines. This hydraulic control system 102 can control the working state of the drive assembly 7, thereby achieving precise control of the drive assembly 7. The bottom of the top frame fixing beam 2 is fixedly connected to the chassis frame 101, typically by welding, and reinforcing ribs or other structures can be configured at the connection point to improve the stability of the top frame fixing beam 2.

[0076] like Figure 3As shown, the drive assembly 7 includes a hydraulic motor 701, a drive gear 702, a transition gear 703, a driven gear 704, and symmetrical drive wheels. The hydraulic motor 701 is fixedly mounted at the end of the chassis frame 101 of the main body 1. The drive gear 702 is located below the hydraulic motor 701 and is connected to its output end. Two transition gears 703 are provided, rotatably connected to the chassis frame 101 of the main body 1, and symmetrically mounted on both sides of the drive gear 702, meshing with it. Similarly, the transition gears 703 on both sides mesh with their corresponding driven gears 704, and the driven gears 704 on both sides are respectively mounted with their corresponding drive wheels via shafts.

[0077] It should be noted that, in Figure 3 In the structure, the hydraulic motor 701 transmits power to the corresponding drive wheel through gear transmission. When the drive wheel rotates, it can drive the conveying trolley to move on the conveying track 501.

[0078] Furthermore, combined Figure 2 and Figure 3 It is known that the drive wheels include first drive wheels 706 and second drive wheels 708. The four first drive wheels 706 are coaxially arranged and mounted on the first drive shaft 705, which is connected to the driven gear 704 on one side of the drive gear 702; the four second drive wheels 708 are coaxially arranged and mounted on the second drive shaft 707, which is connected to the driven gear 704 on the other side of the drive gear 702.

[0079] like Figure 4 As shown, the circular track assembly 5 is generally a continuous U-shaped track. Along the conveying path of the conveying track 501, the end of the i-th layer of the continuous U-shaped track connects to the beginning of the (i+1)-th layer, until it connects from the first layer to the n-th layer, where n > i ≥ 1, and the end of the U-shaped track of the n-th layer connects to the beginning of the first layer. Furthermore, the first drive wheel 706 and the second drive wheel 708 are both located at the hairpin end of the hairpin-shaped track. At this position, the first drive wheel 706 and the second drive wheel 708 are sprockets, which drive the conveying trolley to move on the conveying track 501 via sprocket transmission.

[0080] It should be noted that the aforementioned continuous U-shaped track can be viewed as a continuous hairpin track. Along the conveying path of the conveying track 501, the end of each layer of the hairpin track connects to the beginning of the next layer, until the first layer connects to the nth layer. In particular, the end of the hairpin track of the nth layer also crosses over to the beginning of the first layer, forming a loop structure. This design is somewhat like a continuous hairpin bend mountain road, with the conveying trolley sliding from the bottom along the conveying track 501, gradually "climbing" upwards in space.

[0081] Furthermore, combined Figure 1and Figure 5 As can be seen, in the circular track assembly 5, the conveying track 501 is fixedly connected to the top frame fixed beam 2, and its cross-section is elliptical with an opening at the bottom. Furthermore, 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 using fixing pins. These guard plates include straight guard plates 3 and rotating guard plates 4, wherein the straight guard plates 3 are located on both sides of the main body 1, and their ends are fixedly connected to the rotating guard plates 4, which are located at the ends of the main body 1. Additionally, along the conveying path of the conveying track 501, several conveying trolleys are provided, and adjacent conveying trolleys are connected by chains 502.

[0082] It should be noted that when the bales move with the conveyor trolley, the guard plate serves two purposes: preventing the bales from falling off the main body 1 and guiding the bales. Therefore, in some alternative solutions, the roughness of the surface of the guard plate facing the bales can be reduced to decrease the coefficient of friction and reduce the resistance of the guard plate on the bales.

[0083] like Figure 6 As shown, the conveying trolley includes 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, with the guide pulleys 506 slidingly engaging with the conveying track 501. Additionally, in conjunction with... Figure 5 and Figure 7 It is known that guide posts 503 are 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. 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.

[0084] It should be noted that, through Figure 6 It can be seen that the combined structure of chain 502 and connecting plate 504 fills the entire conveying track 501. At the position of guide post 503, the drive wheel will get into the gap between frame 505 and conveying track 501, and then push guide post 503 to move along the conveying path. Therefore, at this time, the drive wheel and guide post 503 are driven by a chain drive.

[0085] It needs to be further explained that, in combination Figure 5 and Figure 7It can be seen that the cross-section of the frame 505 enclosing the conveyor track 501 is U-shaped, with the U-shaped opening facing the inside of the conveyor track 501. This is because the inner surface of the conveyor track 501 needs to be connected to the top frame fixing beam 2. In addition, two vertical plates are also set on the top of the frame 505. These vertical plates are mainly used to increase the friction between the frame and the bales, so that the bales can move along the conveyor path with the conveyor trolley after being placed on it.

[0086] Combination Figures 8a-8e As can be seen, in the gripping arm 6, a fixed arm is welded to one end of the gripping rotating arm 604, and a rotatable swing arm 601 is mounted on the other end via a first rotating shaft 602. The middle part of the gripping rotating arm 604 is rotatably connected to the linkage mechanism 6010 via a flipping shaft 6041. The gripping cylinder 603 is mounted on the back of the gripping rotating arm 604, and its telescopic end is rotatably connected to one end of the swing arm 601. The first flipping cylinder 605 is mounted on the linkage mechanism 6010, and its telescopic end is rotatably connected to the middle part of the gripping rotating arm 604 via a second rotating shaft 606, which is located on one side of the flipping shaft 6041. A translation cylinder 609 is mounted on the connecting rod of the linkage mechanism 6010, which can perform translational movement through the hydraulic action of the translation cylinder 609. The second tilting cylinder 607 is mounted on the connecting arm 6011, and the telescopic end of the second tilting cylinder 607 is rotatably connected to the rotating support 6012 via 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 linkage mechanism 6010 away from the gripping rotating arm 604.

[0087] It should be noted that, as Figure 8a As shown, this is the initial state of the bale-gripping arm 6; at this point, the swing arm 601 has not yet clamped the bale. Figure 8b As shown, at this time, the clamping cylinder 603 drives the swing arm 601 to swing inward until the bale of straw is clamped. Figure 8c As shown, at this time, the first tilting cylinder 605 drives the second rotating shaft 606 to rotate around the tilting shaft 6041, causing the gripping rotating arm 604 to rotate 90° as a whole. Figure 8d As shown, the second tilting cylinder 607 tilts the linkage mechanism 6010 and the gripping arm 604 upwards as a whole, at which point the height of the bale is at the same level as or higher than the height of the conveyor track 501. Finally, as shown... Figure 8e As shown, the translation cylinder 609 drives the linkage mechanism 6010 to translate, transporting the bales of hay onto the conveyor track 501.

[0088] like Figure 9 As shown, an automatic bale picking and conveying method is applied to... Figures 1-7 An automatic bale picking and conveying device includes the following steps:

[0089] S1: Pick up the bales of grass using the grabbing arm 6 and bring them to the entrance of the conveyor track 501.

[0090] S2: The conveying trolley is driven to slide along the conveying track 501 by the drive assembly 7. Specifically, the hydraulic motor 701 is started by the hydraulic control system 102, and then the hydraulic motor 701 drives the first drive wheel 706 and the second drive wheel 708 to rotate through gear transmission. Subsequently, the edge teeth of the two drive wheels push the guide post 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.

[0091] S3: The bales are transported by a conveyor trolley. Specifically, after the bales are placed on the conveyor trolley, the vertical plate at the top of the frame 505 increases the friction between the bales and the conveyor trolley, thereby enabling the conveyor trolley to move the bales.

[0092] S4: After all bales have been conveyed, move the conveying equipment to the target location and unload the bales. Specifically, a discharge port can be provided at the top of the conveying track 501, from which the bales can be unloaded.

[0093] It should be noted that when bales are placed on conveyor track 501, a bale counter is triggered. This counter counts the number of bales to determine whether the conveyor track 501 is full. Once the bales are full, an automatic bale pick-up loader transports the bales to a designated location or area, after which manual or intermittent wireless remote control unloading and palletizing is performed. Unloading bales involves first using the wireless remote control to raise the bale outlet (located at the top of conveyor track 501) to a designated height, then activating the drive hydraulic motor 701 to unload and palletize the bales in automatic, semi-automatic, and intermittent modes.

[0094] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic hay bale picking and conveying device, characterized in that, include: Main body (1); Several top frame fixing beams (2) are fixedly installed on the main body (1); A circular track assembly (5) is fixedly installed on the top frame fixed beam (2), including a conveying track (501) and a conveying trolley that slides along the conveying track (501); a plurality of conveying trolleys are provided along the conveying path of the conveying track (501), and a chain (502) connects adjacent conveying trolleys; the conveying track (501) is a continuous U-shaped track; along the conveying path of the conveying track (501), the end of the i-th layer of the continuous U-shaped track is connected to the beginning 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 of the n-th layer is connected to the beginning of the first layer; A drive assembly (7) is mounted on the main body (1) and is provided with a drive wheel that is connected to the conveying trolley via mechanical transmission. The drive wheel is used to drive the conveying trolley to slide along the conveying track (501) via mechanical transmission. The driving component (7) includes: A hydraulic motor (701) is fixedly installed on the main body (1); The drive gear (702) is connected to the output end of the hydraulic motor (701); The drive gear (702) is meshed with transition gears (703) on both sides, and the transition gears (703) are rotatably mounted on the main body (1); The transition gears (703) on both sides are respectively engaged with driven gears (704); The driven gears (704) on both sides are mounted on the drive wheel via a rotating shaft; The drive wheel includes a first drive wheel (706) and a second drive wheel (708); A plurality of the first drive wheels (706) are coaxially arranged and mounted on the first drive shaft (705), and the first drive shaft (705) is connected to the driven gear (704) on one side of the drive gear (702); A plurality of second drive wheels (708) are coaxially arranged and mounted on a second drive shaft (707), the second drive shaft (707) being connected to a driven gear (704) on the other side of the drive gear (702); A bale-grabbing arm (6) is mounted on the main body (1) at the entrance of the conveying track (501) for automatically picking up bales of grass.

2. The automatic bale picking and conveying device according to claim 1, characterized in that, The main body (1) includes 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 hydraulic lines; The bottom of the top frame fixing beam (2) is fixedly connected to the chassis frame (101).

3. The automatic bale picking and conveying device according to claim 2, characterized in that, In the circular track assembly (5): The conveying track (501) is fixedly connected to the top frame fixing beam (2), has an elliptical cross section, and has an opening at the bottom; Along the conveying path of the conveying track (501), there are guard plates on both sides of the conveying track (501), and the guard plates are fixedly connected to the top frame fixing beam (2).

4. The automatic bale picking and conveying device according to claim 3, characterized in that, The guard plate includes a straight guard plate (3) and a rotary guard plate (4); The straight guard plate (3) is located on both sides of the main body (1), and its ends are fixedly connected to the rotating guard plate (4); The rotating 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, characterized in that, The conveying trolley includes 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). The guide pulleys (506) are in sliding cooperation with the conveying track (501). The connecting plate (504) is also equipped with guide posts (503) at both ends, and the end of the guide post (503) away from the connecting plate (504) extends through the bottom opening of the conveying track (501) to the outside of the conveying track (501). 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); The drive wheel and the guide post (503) are connected by a sprocket drive.

6. The automatic bale picking and conveying device according to claim 1, characterized in that, The grabbing arm (6) includes: The gripping arm (604) has a fixed arm installed at one end and a rotatable swing arm (601) installed at the other end via a first rotating shaft (602); and the middle part of the gripping arm (604) is rotatably connected to the linkage mechanism (6010) via a flipping shaft (6041); A bag-clamping cylinder (603) is installed on the back of the gripping rotating arm (604), and its telescopic end is rotatably connected to one end of the swing arm (601); The first tilting cylinder (605) is mounted on the linkage mechanism (6010), and its telescopic end is rotatably connected to the middle of the gripping rotating arm (604) through the second rotating shaft (606), the second rotating shaft (606) being located on one side of the tilting shaft (6041); A translation cylinder (609) is mounted on the connecting rod of the linkage mechanism (6010); The second tilting cylinder (607) is mounted on the connecting arm (6011). The telescopic end of the second tilting 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 fixedly connected to the end of the linkage mechanism (6010) away from the gripping rotating arm (604).

7. A method for automatically picking up and conveying hay bales, characterized in that, An automatic bale picking and conveying device according to any one of claims 1-6 includes the following steps: The bales are picked up by the grabbing arm (6) and placed at the entrance of the conveyor track (501); The conveying trolley is driven to slide along the conveying track (501) by the drive component (7); The straw bales are transported by a conveyor trolley; Once all bales have been delivered, the conveying equipment will be moved to the target location and the bales will be unloaded.

8. The method for automatically picking up and conveying hay bales according to claim 7, characterized in that, The conveying trolley is driven to slide along the conveying track (501) by the drive component (7), including the following steps: The conveying trolley is slid along the conveying track (501) by the drive wheels to form a continuous U-shaped conveying path.

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