Self-propelled square bale picking, stacking and loading integrated device

Abstract

The invention relates to the technical field of agricultural machinery, in particular to a self-propelled square bale picking, stacking and truck loading integrated device which comprises a self-propelled platform truck used for installing a bale lifting channel, a bale horizontal transferring mechanism, a bale automatic stacking mechanism and a shear fork type lifting platform. And an automatic straw bale loading box is arranged on the shear fork type lifting platform. Compared with the prior art, the device has the advantages that the self-propelled platform truck is adopted to realize independent operation, so that the device is not influenced by front-end equipment, the device can be applied to fields with different sizes and specifications, and the square bales are picked up through the square bale lifting channel; and the square bales are stacked into the automatic bale loading box through the horizontal bale transferring mechanism and the automatic bale stacking mechanism, so that automatic picking and automatic stacking are achieved, the square bales are pushed to the truck platform through cooperation of the shear fork type lifting platform and the conveying plate, and automatic loading of the bales is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and particularly relates to a self-propelled square bale picking, stacking, and loading integrated device. Background Art

[0002] Straw is the general term for the stems and leaves of mature crops. Currently, after the straw is harvested by a harvester, it needs to be picked up, then baled, and finally the square bales after baling are transported onto a truck.

[0003] The following problems exist in the actual use of existing stackers: Since most existing stackers need to be towed by a tractor, the stacker requires a large amount of space for turning during operation, making it impossible for the stacker to operate in small fields and only being able to operate in large fields, with great limitations. Moreover, most existing stackers do not have the function of loading and picking up. Square bales need to be directly picked up manually, and then the square bales are stacked by the stacker. Since most existing stackers are applied to large fields, the number of square bales is relatively large, which requires a lot of time and physical strength for the staff to carry these square bales. And the staff needs a certain rest time to recover physical strength after each operation, which has a great impact on the operation efficiency. Summary of the Invention

[0004] The purpose of the present invention is to solve the problems of great limitations and low operation efficiency in the prior art, and to propose a self-propelled square bale picking, stacking, and loading integrated device.

[0005] In order to achieve the above purpose, the present invention adopts the following technical solutions: A self-propelled square bale picking, stacking, and loading integrated device, the square bale picking, stacking, and loading integrated device includes: A self-propelled platform vehicle for installing a bale lifting channel, a bale horizontal transfer mechanism, a bale automatic stacking mechanism, and a scissor lift platform. The entrance of the bale horizontal transfer mechanism is connected to the exit of the bale lifting channel. The bale lifting channel is used to pick up and lift square bales. The bale horizontal transfer mechanism is used to transfer square bales onto the bale automatic stacking mechanism. A bale automatic loading box is arranged on the scissor lift platform. The bale automatic stacking mechanism is used to stack bales into the bale automatic loading box; A hydraulic rod arranged on the self-propelled platform vehicle and connected to the bale lifting channel. The hydraulic rod is used to control the lifting of the bale lifting channel to realize the switching between the working state and the non-working state.

[0006] Preferably, the self-propelled platform vehicle is composed of a power system, a frame platform and track wheels, the frame platform is used to carry and install the bale lifting channel, the bale horizontal transfer mechanism, the bale automatic stacking mechanism and the scissor-type lifting platform, and the track wheels are powered by the power system.

[0007] Preferably, the bale lifting channel is a slide structure, and the entrance of the bale lifting channel is in a trumpet shape.

[0008] Preferably, the bale lifting channel comprises: a first hydraulic motor disposed on the bale lifting channel; a first sprocket wheel disposed on the bale lifting channel, the first sprocket wheel drives the bale to be lifted via a hook chain, and the first sprocket wheel is driven by the first hydraulic motor; Baffles welded on both sides of the bale lifting channel; A lower bale stop bar and an upper bale stop bar are welded to the side walls of the baffle.

[0009] Preferably, the lower bale stop rod and the upper bale stop rod are both gantry structures, and torsion springs are provided on the lower bale stop rod and the upper bale stop rod, and one end of the torsion spring away from the lower bale stop rod and the upper bale stop rod is fixedly connected to a resistance rod, the end of the resistance rod on the lower bale stop rod is bent upward, and the end of the resistance rod on the upper bale stop rod is bent downward.

[0010] Preferably, the bale horizontal transfer mechanism comprises: A horizontal transfer bracket welded to the frame platform; bale baffles welded on both sides of the horizontal transfer bracket; a second hydraulic motor mounted on the horizontal transfer bracket; A second sprocket is installed on the horizontal transfer bracket, the second sprocket drives the straw bale to move horizontally through a chain, and the second sprocket is driven by the second hydraulic motor.

[0011] Preferably, the automatic bale stacking mechanism: A straw bale temporary storage platform bracket installed on the frame platform; A straw bale temporary storage platform installed on the upper end of the straw bale temporary storage platform bracket; A longitudinal baffle of a straw bale installed on one end of the straw bale temporary storage platform close to the straw bale horizontal transfer mechanism; A bale transverse baffle installed at one end of the bale temporary storage platform away from the bale longitudinal baffle; A movable push plate installed on the straw bale temporary storage platform, the movable push plate is used to push the straw bale to move to one side of the straw bale transverse baffle; A slide rail disposed on the frame platform; A mobile frame slidably mounted on the slide rail; A third hydraulic motor is installed on the mobile frame, a rack is provided at one end of the slide rail close to the third hydraulic motor, and a gear meshing with the rack is fixedly connected to the output end of the third hydraulic motor; a fourth hydraulic motor mounted on the top of the mobile frame; A screw rod fixing plate welded to the movable frame; A screw rod threadedly mounted on the top of the screw rod fixing plate, a first bevel gear fixedly sleeved on the screw rod, and a second bevel gear meshing with the first bevel gear fixedly sleeved on the output end of the fourth hydraulic motor; A mechanical gripper is fixedly connected to the bottom end of the screw rod.

[0012] Preferably, a roller movably abutting against the slide rail is connected to the bottom end of the movable frame, a sensor assembly is arranged on the longitudinal baffle plate of the straw bale, the movable push plate is composed of a push plate and a push rod, the push plate is slidably mounted on the straw bale temporary storage platform, the push rod is fixedly installed at the bottom end of the straw bale temporary storage platform, and the push plate is driven by the push rod, and the push rod is electrically connected to the sensor assembly.

[0013] Preferably, a resistance plate is provided on the inner side of the melon clamping device used by the mechanical gripper, and the resistance plate is a right-angle fan-shaped structure.

[0014] Preferably, the automatic bale loading box consists of an automatic loading box side panel and an automatic loading box rear door, the automatic loading box rear door can be opened and closed, a plurality of round tubes are rotatably arranged at the bottom end of the automatic bale loading box, a movable slide is arranged on the automatic bale loading box, and a conveying plate driven by the movable slide is arranged in the automatic bale loading box.

[0015] Compared with the prior art, the present invention has the following advantages: 1. Compared with the prior art, the present invention adopts a self-propelled platform vehicle to achieve independent operation, so the device is not affected by the front-end equipment. Therefore, there is no need to consider the front-end equipment when turning, and the space required for turning is small, so that the device can be used in fields of different sizes.

[0016] 2. In the present invention, the square bales are picked up through the lifting channel, and the square bales are stacked in the automatic bale loading box through the bale horizontal transfer mechanism and the bale automatic stacking mechanism, so as to realize automatic picking up and automatic stacking, which is helpful to improve the automation degree of the device, and then improve the picking up and stacking operation efficiency, and the vertical lifting of the automatic bale loading box is realized by the scissor-type lifting platform to correspond to the position of the truck, and the square bales are pushed to the truck platform by the conveyor plate, so as to realize the automatic loading of the bales. Brief Description of the Drawings

[0017] Figure 1 is the overall structural schematic diagram proposed by the present invention; Figure 2 is the structural schematic diagram of the bale lifting channel proposed by the present invention; Figure 3 is for a self-propelled square bale pickup, stacking, and loading integrated device proposed by the present invention; Figure 4 is the structural schematic diagram of the bale horizontal transfer mechanism proposed by the present invention; Figure 5 is the structural schematic diagram of the bale automatic loading box proposed by the present invention.

[0018] In the figure: 1. Self-propelled platform vehicle; 101. Power system; 102. Frame platform; 103. Crawler wheels; 2. Bale lifting channel; 201. First sprocket; 202. Lower bale retaining bar; 203. Baffle; 204. Upper bale retaining bar; 205. First hydraulic motor; 206. Hydraulic rod; 3. Bale horizontal transfer mechanism; 301. Bale baffle; 302. Second sprocket; 303. Second hydraulic motor; 304. Horizontal transfer bracket; 4. Bale automatic stacking mechanism; 401. Moving frame; 402. Screw rod fixing plate; 403. Screw rod; 404. Fourth hydraulic motor; 405. Third hydraulic motor; 406. Moving push plate; 407. Bale longitudinal baffle; 408. Bale temporary storage platform; 409. Bale temporary storage platform bracket; 410. Bale transverse baffle; 411. Slide rail; 412. Mechanical gripper; 5. Bale automatic loading box; 501. Automatic loading box side plate; 502. Automatic loading box rear door; 503. Round tube; 504. Conveyor plate; 505. Moving slide; 506. Scissor lift platform. Detailed Embodiment

[0019] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0020] Refer to Figures 1 - 5 , a self-propelled square bale pickup, stacking, and loading integrated device, the square bale pickup, stacking, and loading integrated device includes a self-propelled platform vehicle 1, a bale lifting channel 2, a bale horizontal transfer mechanism 3, a bale automatic stacking mechanism 4, a scissor lift platform 506, and a bale automatic loading box 5, and each component is arranged as follows: The self-propelled platform vehicle 1 is composed of a power system 101, a frame platform 102 and track wheels 103. The frame platform 102 is used to carry and install a bale lifting channel 2, a bale horizontal transfer mechanism 3, a bale automatic stacking mechanism 4 and a scissor-type lifting platform 506. The track wheels 103 are powered by the power system 101. Through the setting of the track wheels 103, the device can travel in the field without relying on front-end equipment. Compared with the prior art, the device requires smaller turning space and moving space in actual application, so that the device can adapt to fields of different sizes.

[0021] The hydraulic rod 206 is arranged on the self-propelled platform vehicle 1 and connected to the bale lifting channel 2. The hydraulic rod 206 is used to control the lifting and lowering of the bale lifting channel 2 to realize the switching between the working state and the non-working state. The bale lifting channel 2 is used to pick up and lift the square bales. The bale lifting channel 2 is a slide structure, and the entrance of the bale lifting channel 2 is in a trumpet shape. It should be noted that the width of the entrance of the bale lifting channel 2 is greater than the width of the square bale, so that the square bale can enter the bale lifting channel 2 to avoid the square bale from getting stuck at the entrance of the bale lifting channel 2. Figure 2 The bale lifting channel 2 includes a first hydraulic motor 205, a first sprocket 201, a baffle 203, a lower bale lever 202 and an upper bale lever 204, and the components are arranged as follows: The first hydraulic motor 205 is arranged on the bale lifting channel 2, the first sprocket wheel 201 is arranged on the bale lifting channel 2, the first sprocket wheel 201 drives the bale to be lifted through the hook chain, and the first sprocket wheel 201 is driven by the first hydraulic motor 205; The baffles 203 are welded on both sides of the bale lifting channel 2 to guide and limit the bale during the lifting process, so as to prevent the bale from moving to both sides and falling out of the bale lifting channel 2; The lower bale stopper 202 and the upper bale stopper 204 are welded to the side wall of the baffle 203, and both the lower bale stopper 202 and the upper bale stopper 204 are gantry structures, and torsion springs are arranged on the lower bale stopper 202 and the upper bale stopper 204, and one end of the torsion spring away from the lower bale stopper 202 and the upper bale stopper 204 is fixedly connected with a resistance rod, the end of the resistance rod on the lower bale stopper 202 is bent upward, and the end of the resistance rod on the upper bale stopper 204 is bent downward, and the bale is blocked by the lower bale stopper 202 and the upper bale stopper 204, so as to prevent the bale from falling due to gravity or failure of the first sprocket 201, which helps to ensure the picking effect of the device.

[0022] The inlet of the bale horizontal transfer mechanism 3 is connected to the outlet of the bale lifting channel 2. The bale horizontal transfer mechanism 3 is used to transfer the square bales to the bale automatic stacking mechanism 4. Figure 3, the bale horizontal transfer mechanism 3 includes a horizontal transfer bracket 304, bale baffles 301, a second hydraulic motor 303, and a second sprocket 302. The components are arranged as follows: The horizontal transfer bracket 304 is welded to the vehicle frame platform 102. The bale baffles 301 are welded to both sides of the horizontal transfer bracket 304. The second hydraulic motor 303 is installed on the horizontal transfer bracket 304. The second sprocket 302 is installed on the horizontal transfer bracket 304. The second sprocket 302 drives the bale to move horizontally through a chain. The second sprocket 302 is driven by the second hydraulic motor 303. By changing the movement trajectory of the bale through the second sprocket 302, the bale is transformed from an inclined conveying state to a horizontal conveying state.

[0023] Reference Figure 4 , the bale automatic stacking mechanism 4 includes a bale temporary storage platform bracket 409, a bale temporary storage platform 408, bale longitudinal baffles 407, bale transverse baffles 410, a moving push plate 406, slide rails 411, a moving frame 401, a third hydraulic motor 405, a fourth hydraulic motor 404, a lead screw fixing plate 402, a lead screw 403, and a mechanical gripper 412. The components are arranged as follows: The bale temporary storage platform bracket 409 is installed on the vehicle frame platform 102. The bale temporary storage platform 408 is installed at the upper end of the bale temporary storage platform bracket 409. The bale longitudinal baffles 407 are installed at one end of the bale temporary storage platform 408 close to the bale horizontal transfer mechanism 3. A sensing component is provided on the bale longitudinal baffles 407. The sensing component adopts force sensing or photoelectric sensing; Photoelectric sensing: Install a photoelectric sensor component on the bale longitudinal baffle 407. When the bale enters the bale horizontal transfer mechanism 3, it will block the light path. Since the detection signal of the photoelectric sensor changes more significantly when the bale is closer to the photoelectric sensor component, by monitoring the change in the output signal of the photoelectric sensor, it is determined whether the bale enters the bale temporary storage platform 408.

[0024] Force sensing: Install a force sensor on the bale longitudinal baffle 407. When the bale touches the bale longitudinal baffle 407, a small force will be applied, and this force can be detected by the force sensor. By monitoring the change in the output signal of the force sensor, it is determined whether the bale enters the bale temporary storage platform 408.

[0025] The bale transverse baffle 410 is installed at one end of the bale temporary storage platform 408 away from the bale longitudinal baffle 407. The square bale is limited by the bale transverse baffle 410 to prevent excessive storage of the square bale.

[0026] The movable push plate 406 is installed on the bale temporary storage platform 408. The movable push plate 406 is used to push the bale towards the side of the bale transverse baffle 410. The movable push plate 406 is composed of a push plate and a push rod. The push plate is slidably sleeved on the bale temporary storage platform 408. The push rod is fixedly installed at the bottom end of the bale temporary storage platform 408. And the push plate is driven by the push rod. The push rod is electrically connected to the sensing component. A control system is arranged in a matching way between the push rod and the sensing component.

[0027] The slide rail 411 is arranged on the vehicle frame platform 102. The movable frame 401 is slidably installed on the slide rail 411. The bottom end of the movable frame 401 is connected with rollers that are movably abutted against the slide rail 411, so as to reduce the frictional force generated when the movable frame 401 moves. The third hydraulic motor 405 is installed on the movable frame 401. A rack is arranged at one end of the slide rail 411 close to the third hydraulic motor 405. The output end of the third hydraulic motor 405 is fixedly connected with a gear that meshes with the rack. Through the meshing connection of the rack and the gear, the movable frame 401 can continue to move horizontally.

[0028] The fourth hydraulic motor 404 is installed on the top end of the movable frame 401. The screw rod fixing plate 402 is welded on the movable frame 401. The screw rod 403 is threadedly installed on the top end of the screw rod fixing plate 402. A first bevel gear is fixedly sleeved on the screw rod 403. The output end of the fourth hydraulic motor 404 is fixedly sleeved with a second bevel gear that meshes with the first bevel gear. The mechanical gripper 412 is fixedly connected to the bottom end position of the screw rod 403. The fourth hydraulic motor 404 drives the screw rod 403 to rotate through the meshing connection of the first bevel gear and the second bevel gear, and then drives the mechanical gripper 412 to lift vertically, so as to grab the square bale.

[0029] A resisting plate is arranged inside the clamping jaw used by the mechanical gripper 412, and the resisting plate is of a right-angled sector structure. It should be noted that: the resisting plate is made of rubber.

[0030] Reference Figure 5, a hay bale automatic loading box 5 is provided on the scissor lift platform 506. The hay bale automatic palletizing mechanism 4 is used to palletize hay bales into the hay bale automatic loading box 5. The hay bale automatic loading box 5 is composed of an automatic loading box side plate 501 and an automatic loading box rear door 502. The automatic loading box rear door 502 can be opened and closed. A number of round tubes 503 are rotatably provided at the bottom end of the hay bale automatic loading box 5 to reduce the friction generated when the square hay bales move on the round tubes 503. A moving slide 505 is provided on the hay bale automatic loading box 5. The moving slide 505 is composed of a motor, a lead screw and a nut. A conveying plate 504 driven by the moving slide 505 is provided in the hay bale automatic loading box 5. The square hay bales in the hay bale automatic loading box 5 are actively sorted by the conveying plate 504, which helps to improve the space utilization rate of the hay bale automatic loading box 5 and directly realizes automatic unloading through the horizontal movement of the conveying plate 504 when unloading is required.

[0031] The functional principle of the present invention can be described through the following operation mode: Through the crawler wheels 103, the self-propelled platform vehicle 1 is moved to the hay bale stacking position. The hydraulic rod 206 is started, and the hydraulic rod 206 drives the hay bale lifting channel 2 to move downward, so that the hay bale lifting channel 2 is converted into a working state. After the hay bales enter the hay bale lifting channel 2, the first hydraulic motor 205 is started to drive the first sprocket 201, and the first sprocket 201 drives the hook-shaped chain to lift the hay bales, and the baffle 203 is used for guiding and limiting during the hay bale lifting process, and the lower hay bale stop rod 202 and the upper hay bale stop rod 204 are used to prevent the hay bales from falling due to unexpected situations.

[0032] After the bale is transferred to the bale horizontal transfer mechanism 3 through the first sprocket wheel 201, the second hydraulic motor 303 is started, causing the second sprocket wheel 302 to start. The chain is driven by the second sprocket wheel 302 to continue moving the bale horizontally, causing the bale to come into contact with the bale longitudinal baffle 407. At this time, the sensing component senses the position of the bale and starts the push rod to drive the push plate to move horizontally, so as to push the bale towards the end of the bale temporary storage platform 408 where there is a bale transverse baffle 410. After the rectangular bale conveyed from the direction of the bale horizontal transfer mechanism 3 contacts the bale longitudinal baffle 407, the rectangular bale is pushed to move by moving the push plate 406. The moving distance is the distance of the width of a rectangular bale. After moving in place, the moving push plate 406 returns to its original position and waits for the next rectangular bale to arrive. This cycle continues. When the number of bales on the bale temporary storage platform 408 is the same as the number of mechanical grippers 412, the mechanical grippers 412 are started to grab a row of bales. The contact plate is deformed under force. Due to the special shape of the contact plate itself, a lifting force will be generated after the contact plate is deformed, so as to lift the depth of the rectangular bale in the mechanical grippers 412. The fourth hydraulic motor 404 is started. The fourth hydraulic motor 404 drives the lead screw 403 to rotate through the first bevel gear and the second bevel gear, so that the lead screw 403 drives the mechanical grippers 412 to be lifted synchronously. The third hydraulic motor 405 is started. The third hydraulic motor 405 drives the moving frame 401 to move horizontally through the rack and the gear, and then the rectangular bale is placed in the bale automatic loading box 5 through the mechanical grippers 412. Start and repeat the above operations until the storage space in the bale automatic loading box 5 is full.

[0033] After the rectangular bales fill the bale automatic loading box 5, the crawler wheels 103 are used to move the self-propelled platform vehicle 1 to the side of the truck beside the road. The rear door 502 of the automatic loading box is opened. The scissor lift platform 506 is started to lift the bale automatic loading box 5 to a height corresponding to the level of the truck platform. The moving slide 505 is started. The moving slide 505 drives the conveying plate 504 to horizontally push the whole stack of bales in the bale automatic loading box 5 onto the truck platform.

[0034] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and all should be covered within the protection scope of the present invention.

Claims

1. A self-propelled square straw bale picking, stacking and loading integrated device, characterized in that: The integrated device for picking up, stacking and loading square straw bales comprises: A self-propelled platform vehicle (1) for installing a bale lifting channel (2), a bale horizontal transfer mechanism (3), an automatic bale stacking mechanism (4) and a scissor-type lifting platform (506), wherein the inlet of the bale horizontal transfer mechanism (3) is connected to the outlet of the bale lifting channel (2), the bale lifting channel (2) is used to pick up and lift square bales, the bale horizontal transfer mechanism (3) is used to transfer square bales to the automatic bale stacking mechanism (4), the scissor-type lifting platform (506) is provided with an automatic bale loading box (5), and the automatic bale stacking mechanism (4) is used to stack bales into the automatic bale loading box (5); A hydraulic rod (206) is provided on the self-propelled platform vehicle (1) and connected to the bale lifting channel (2), wherein the hydraulic rod (206) is used to control the lifting and lowering of the bale lifting channel (2) to achieve switching between a working state and a non-working state.

2. The self-propelled square straw bale picking, stacking and loading integrated device according to claim 1, characterized in that: The self-propelled platform vehicle (1) is composed of a power system (101), a frame platform (102) and track wheels (103); the frame platform (102) is used to carry and install the bale lifting channel (2), the bale horizontal transfer mechanism (3), the bale automatic stacking mechanism (4) and the scissor-type lifting platform (506); and the track wheels (103) are powered by the power system (101).

3. The self-propelled square straw bale picking, stacking and loading integrated device according to claim 2, characterized in that: The straw bale lifting channel (2) is a slide structure, and the entrance of the straw bale lifting channel (2) is in a trumpet shape.

4. The self-propelled square straw bale picking, stacking and loading integrated device according to claim 3, characterized in that: The bale lifting channel (2) comprises: A first hydraulic motor (205) disposed on the bale lifting channel (2); a first sprocket (201) disposed on the bale lifting channel (2), the first sprocket (201) driving the bale to be lifted via a hook chain, the first sprocket (201) being driven by the first hydraulic motor (205); Baffles (203) welded on both sides of the bale lifting channel (2); A lower bale stopper bar (202) and an upper bale stopper bar (204) are welded to the side wall of the baffle plate (203).

5. The self-propelled square straw bale picking, stacking and loading integrated device according to claim 4, characterized in that: The lower bale stopper (202) and the upper bale stopper (204) are both gantry structures, and torsion springs are provided on the lower bale stopper (202) and the upper bale stopper (204), and one end of the torsion spring away from the lower bale stopper (202) and the upper bale stopper (204) is fixedly connected to a resistance rod, and the end of the resistance rod on the lower bale stopper (202) is bent upward, and the end of the resistance rod on the upper bale stopper (204) is bent downward.

6. The self-propelled square straw bale picking, stacking and loading integrated device according to claim 2, characterized in that: The bale horizontal transfer mechanism (3) comprises: A horizontal transfer bracket (304) welded to the frame platform (102); bale baffles (301) welded to both sides of the horizontal transfer bracket (304); a second hydraulic motor (303) mounted on the horizontal transfer bracket (304); A second sprocket (302) is mounted on the horizontal transfer bracket (304), wherein the second sprocket (302) drives the straw bale to move horizontally via a chain, and the second sprocket (302) is driven by the second hydraulic motor (303).

7. The self-propelled square straw bale picking, stacking and loading integrated device according to claim 2, characterized in that: The automatic straw bale stacking mechanism (4) comprises: A straw bale temporary storage platform bracket (409) mounted on the vehicle frame platform (102); A straw bale temporary storage platform (408) mounted on the upper end of the straw bale temporary storage platform support (409); A bale longitudinal baffle (407) installed on one end of the bale temporary storage platform (408) close to the bale horizontal transfer mechanism (3); A straw bale transverse baffle (410) installed on one end of the straw bale temporary storage platform (408) away from the straw bale longitudinal baffle (407); a movable push plate (406) installed on the straw bale temporary storage platform (408), the movable push plate (406) being used to push the straw bale to move toward the side of the straw bale transverse baffle (410); A slide rail (411) arranged on the frame platform (102); A movable frame (401) slidably mounted on the slide rail (411); a third hydraulic motor (405) mounted on the mobile frame (401), a rack being provided at one end of the slide rail (411) close to the third hydraulic motor (405), and a gear meshing with the rack being fixedly connected to the output end of the third hydraulic motor (405); A fourth hydraulic motor (404) mounted on the top of the moving frame (401); A screw rod fixing plate (402) welded to the movable frame (401); A screw rod (403) threadedly mounted on the top of the screw rod fixing plate (402), a first bevel gear being fixedly sleeved on the screw rod (403), and a second bevel gear meshing with the first bevel gear being fixedly sleeved on the output end of the fourth hydraulic motor (404); A mechanical gripper (412) fixedly connected to the bottom end of the screw rod (403).

8. The self-propelled square straw bale picking, stacking and loading integrated device according to claim 7, characterized in that: The bottom end of the movable frame (401) is connected to a roller that is movably opposed to the slide rail (411); a sensor assembly is arranged on the longitudinal baffle plate (407); the movable push plate (406) is composed of a push plate and a push rod; the push plate is slidably mounted on the temporary storage platform (408); the push rod is fixedly mounted on the bottom end of the temporary storage platform (408); and the push plate is driven by the push rod; the push rod is electrically connected to the sensor assembly.

9. The self-propelled square straw bale picking, stacking and loading integrated device according to claim 7, characterized in that: A resistance plate is provided on the inner side of the melon-gripping device used by the mechanical gripper (412), and the resistance plate is a right-angled fan-shaped structure.

10. The self-propelled square straw bale picking, stacking and loading integrated device according to claim 1, characterized in that: The automatic straw bale loading box (5) is composed of an automatic straw bale loading box side panel (501) and an automatic straw bale loading box rear door (502); the automatic straw bale loading box rear door (502) can be opened and closed; a plurality of round tubes (503) are rotatably arranged at the bottom end of the automatic straw bale loading box (5); a movable slide (505) is arranged on the automatic straw bale loading box (5); and a conveying plate (504) driven by the movable slide (505) is arranged in the automatic straw bale loading box (5).

Images