A self-propelled square bale picking, stacking and loading integrated device

Abstract

The present application relates to the technical field of agricultural machinery, and particularly relates to a self-propelled square hay bale picking, stacking and loading integrated device, which comprises a self-propelled platform vehicle for mounting a hay bale lifting channel, a hay bale horizontal transfer mechanism, a hay bale automatic stacking mechanism and a scissor-type lifting platform, and a hay bale automatic loading box is arranged on the scissor-type lifting platform. Compared with the prior art, the self-propelled platform vehicle is used to realize independent operation, so that the device is not affected by the front-end equipment, and the device can be used in fields of different sizes, square hay bales are picked up through the square hay bale lifting channel, and the square hay bales are stacked into the hay bale automatic loading box through the hay bale horizontal transfer mechanism and the hay bale automatic stacking mechanism, so as to realize automatic picking and automatic stacking, and the square hay bales are pushed onto the platform of a truck through the scissor-type lifting platform and the conveying plate, so as to realize automatic loading of the hay bales.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural machinery technology, in particular to a self-propelled square bale picking, stacking and loading integrated device. BACKGROUND

[0002] Straw is the general term for the stem and leaf parts of mature crops. After being harvested by a harvester, the straw needs to be picked up, then baled, and finally the baled square bales are transported to a truck.

[0003] The existing stacking machine has the following problems in actual use:

[0004] Since most existing stacking machines need to be towed by a tractor, the stacking machine requires a large space for turning, making it impossible to work in small fields and only able to work in large fields, which has a large limitation. Moreover, most existing stacking machines do not have a loading function, and the square bales need to be picked up manually before being stacked by the stacking machine. Since most existing stacking machines are applied in large fields, the number of square bales is large, which requires a lot of time and effort for the workers to transport the square bales. Moreover, the workers need to rest for a certain period of time after each operation to recover their strength, which greatly affects the operation efficiency. SUMMARY

[0005] The present application aims to solve the problems of large limitation and low operation efficiency in the prior art, and provides a self-propelled square bale picking, stacking and loading integrated device.

[0006] In order to achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0007] A self-propelled square bale picking, stacking and loading integrated device, comprising:

[0008] A self-propelled platform vehicle for installing a bale lifting channel, a bale horizontal transfer mechanism, a bale automatic stacking mechanism and a scissor-type lifting platform. The bale horizontal transfer mechanism inlet is connected with the bale lifting channel outlet. The bale lifting channel is used for picking up and lifting square bales. The bale horizontal transfer mechanism is used for transferring square bales to the bale automatic stacking mechanism. The scissor-type lifting platform is provided with a bale automatic loading box. The bale automatic stacking mechanism is used for stacking bales into the bale automatic loading box.

[0009] A hydraulic rod provided on the self-propelled platform vehicle and connected with the bale lifting channel. The hydraulic rod is used for controlling the bale lifting channel to switch between working and non-working states.

[0010] Preferably, the self-propelled platform vehicle is composed of a power system, a vehicle platform and a track wheel, the vehicle platform is used to carry the bale lifting channel, the bale horizontal transfer mechanism, the bale automatic stacking mechanism and the scissor lifting platform, and the track wheel is powered by the power system.

[0011] Preferably, the bale lifting channel is a slide structure, and the bale lifting channel entrance is in a trumpet shape.

[0012] Preferably, the bale lifting channel comprises:

[0013] a first hydraulic motor arranged on the bale lifting channel;

[0014] a first chain wheel arranged on the bale lifting channel, the first chain wheel drives the bale lifting through a hook-type chain, and the first chain wheel is driven by the first hydraulic motor;

[0015] a baffle welded on both sides of the bale lifting channel;

[0016] a lower bale stopper and an upper bale stopper welded on the side wall of the baffle.

[0017] Preferably, the lower bale stopper and the upper bale stopper are both gantry structures, torsion springs are arranged on the lower bale stopper and the upper bale stopper, and the end of the torsion spring away from the lower bale stopper and the upper bale stopper is fixedly connected with a contact rod, the end of the contact rod on the lower bale stopper is bent upward, and the end of the contact rod on the upper bale stopper is bent downward.

[0018] Preferably, the bale horizontal transfer mechanism comprises:

[0019] a horizontal transfer support welded on the vehicle platform;

[0020] a bale baffle welded on both sides of the horizontal transfer support;

[0021] a second hydraulic motor arranged on the horizontal transfer support;

[0022] a second chain wheel arranged on the horizontal transfer support, the second chain wheel drives the bale to move horizontally through a chain, and the second chain wheel is driven by the second hydraulic motor.

[0023] Preferably, the bale automatic stacking mechanism comprises:

[0024] a bale temporary storage platform support arranged on the vehicle platform;

[0025] a bale temporary storage platform arranged on the upper end of the bale temporary storage platform support;

[0026] A bale longitudinal baffle is installed on the bale temporary storage platform near one end of the bale horizontal transfer mechanism.

[0027] A bale transverse baffle is installed on the bale temporary storage platform far from the bale longitudinal baffle.

[0028] A movable push plate is installed on the bale temporary storage platform, and the movable push plate is used to push the bale to move to one side of the bale transverse baffle.

[0029] A slide rail is arranged on the frame platform.

[0030] A movable frame is slidably installed on the slide rail.

[0031] A third hydraulic motor is installed on the movable frame, and one end of the slide rail is provided with a rack, and the third hydraulic motor is fixedly connected with a gear wheel engaged with the rack.

[0032] A fourth hydraulic motor is installed on the top end of the movable frame.

[0033] A lead screw fixing plate is welded on the movable frame.

[0034] A lead screw is threadedly installed on the top end of the lead screw fixing plate, a first bevel gear is fixedly sleeved on the lead screw, and a second bevel gear engaged with the first bevel gear is fixedly sleeved on the output end of the fourth hydraulic motor.

[0035] A mechanical gripper is fixedly connected to the bottom end position of the lead screw.

[0036] Preferably, the bottom end of the movable frame is connected with a roller which is in movable abutment with the slide rail, a sensing assembly is arranged on the bale longitudinal baffle, the movable push plate is composed of a push plate and a push rod, the push plate is slidably sleeved on the bale temporary storage platform, the push rod is fixedly installed at the bottom end position of the bale temporary storage platform, the push plate is driven by the push rod, and the push rod is electrically connected with the sensing assembly.

[0037] Preferably, the inside of the clamping guava of the mechanical gripper is provided with a contact plate, and the contact plate is a right-angle sector structure.

[0038] Preferably, the bale automatic loading box is composed of an automatic loading box side plate and an automatic loading box rear door, the automatic loading box rear door can be opened and closed, a plurality of circular pipes are rotatably arranged at the bottom end of the bale automatic loading box, a movable sliding table is arranged on the bale automatic loading box, and a conveying plate driven by the movable sliding table is arranged in the bale automatic loading box.

[0039] Compared with the prior art, the present application has the following advantages:

[0040] 1、The self-propelled platform vehicle realizes independent operation, so the device is not affected by the front-end equipment, and thus the space required for turning is smaller, so that the device can be used in different size fields.

[0041] 2、The square bale lifting channel is used for picking up, and the square bale horizontal transfer mechanism and the automatic bale stacking mechanism are used for stacking the square bale into the automatic bale loading box, so as to realize automatic picking and automatic stacking, which helps to improve the automation degree of the device, and thus improves the picking and stacking efficiency, and the scissor-type lifting platform is used for vertically lifting the automatic bale loading box to correspond to the position of the truck, and the conveying plate is used for pushing the square bale onto the truck platform, so as to realize automatic loading of the bale. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 The overall structure schematic diagram of the present application is provided;

[0043] Figure 2 The bale lifting channel structure schematic diagram of the present application is provided;

[0044] Figure 3 The self-propelled square bale picking, stacking and loading integrated device of the present application is provided;

[0045] Figure 4 The bale horizontal transfer mechanism structure schematic diagram of the present application is provided;

[0046] Figure 5 The bale automatic loading box structure schematic diagram of the present application is provided.

[0047] In the drawings:

[0048] 1、Self-propelled platform vehicle; 101、Power system; 102、Frame platform; 103、Caterpillar wheel;

[0049] 2、Bale lifting channel; 201、First sprocket; 202、Lower bale stop lever; 203、Baffle; 204、Upper bale stop lever; 205、First hydraulic motor; 206、Hydraulic rod;

[0050] 3、Bale horizontal transfer mechanism; 301、Bale baffle; 302、Second sprocket; 303、Second hydraulic motor; 304、Horizontal transfer support;

[0051] 4, Automatic bale 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 support; 410, Bale transverse baffle; 411, Slide rail; 412, Mechanical gripper;

[0052] 5, Automatic bale loading box; 501, Automatic bale loading box side plate; 502, Automatic bale loading box rear door; 503, Round pipe; 504, Conveying plate; 505, Moving slide table; 506, Scissor lifting platform. DETAILED DESCRIPTION

[0053] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all.

[0054] REFERENCE Figures 1-5 A self-propelled square bale pickup, stacking, and loading integrated device, the square bale pickup, stacking, and loading integrated device comprising a self-propelled platform vehicle 1, a bale lifting channel 2, a bale horizontal transfer mechanism 3, an automatic bale stacking mechanism 4, a scissor lifting platform 506, and an automatic bale loading box 5, each component is set as follows:

[0055] The self-propelled platform vehicle 1 is composed of a power system 101, a vehicle platform 102, and a caterpillar wheel 103. The vehicle platform 102 is used to carry and install the bale lifting channel 2, the bale horizontal transfer mechanism 3, the automatic bale stacking mechanism 4, and the scissor lifting platform 506. The caterpillar wheel 103 is powered by the power system 101. Through the setting of the caterpillar wheel 103, the device can walk in the field without relying on the front-end equipment. Compared with the prior art, the device needs less turning space and moving space in the actual application process, so that the device can adapt to different sizes of fields.

[0056] The hydraulic rod 206 is arranged on the self-propelled platform vehicle 1 and connected with the bale lifting channel 2. The hydraulic rod 206 is used to control the bale lifting channel 2 to rise and fall 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 bale. The bale lifting channel 2 is a slide structure. 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 as to facilitate the square bale to enter the bale lifting channel 2 and avoid the square bale to be stuck at the entrance of the bale lifting channel 2. Referring to Figure 2 The bale lifting channel 2 comprises a first hydraulic motor 205, a first chain wheel 201, a baffle 203, a lower bale stop rod 202, and an upper bale stop rod 204. Each component is set as follows:

[0057] The first hydraulic motor 205 is provided on the bale lifting channel 2. The first sprocket 201 is provided on the bale lifting channel 2. The first sprocket 201 drives the bale to be lifted via a hook chain. The first sprocket 201 is driven by the first hydraulic motor 205.

[0058] Baffles 203 are welded on both sides of the bale lifting channel 2 to guide and limit the bale during the lifting process, preventing the bale from moving to the sides and falling out of the bale lifting channel 2;

[0059] The lower bale stop bar 202 and the upper bale stop bar 204 are welded to the side wall of the baffle 203. The lower bale stop bar 202 and the upper bale stop bar 204 are both gantry structures, and a torsion spring is provided on the lower bale stop bar 202 and the upper bale stop bar 204. The torsion spring is fixedly connected to a resistance rod at one end away from the lower bale stop bar 202 and the upper bale stop bar 204. The end of the resistance rod on the lower bale stop bar 202 is bent upward, and the end of the resistance rod on the upper bale stop bar 204 is bent downward. The bales are blocked by the lower bale stop bar 202 and the upper bale stop bar 204 to prevent the bales from falling due to gravity or failure of the first sprocket 201, which helps to ensure the picking effect of the device.

[0060] 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, a bale baffle 301, a second hydraulic motor 303 and a second sprocket 302. The components are arranged as follows:

[0061] The horizontal transfer bracket 304 is welded to the frame platform 102, the bale baffle 301 is welded to both sides of the horizontal transfer bracket 304, the second hydraulic motor 303 is installed on the horizontal transfer bracket 304, and the second sprocket 302 is installed on the horizontal transfer bracket 304. The second sprocket 302 drives the bale to move horizontally through the chain. The second sprocket 302 is driven by the second hydraulic motor 303, and the movement trajectory of the bale is changed through the second sprocket 302, so that the bale is transformed from an inclined conveying state to a horizontal conveying state.

[0062] refer to Figure 4 The automatic bale stacking mechanism 4 includes a bale temporary storage platform bracket 409, a bale temporary storage platform 408, a bale longitudinal baffle 407, a bale transverse baffle 410, a movable push plate 406, a slide rail 411, a movable frame 401, a third hydraulic motor 405, a fourth hydraulic motor 404, a screw fixing plate 402, a screw 403 and a mechanical gripper 412. The components are arranged as follows:

[0063] The bale temporary storage platform support 409 is installed on the vehicle frame platform 102, the bale temporary storage platform 408 is installed on the upper end of the bale temporary storage platform support 409, the bale longitudinal baffle 407 is installed on the bale temporary storage platform 408 close to one end of the bale horizontal transfer mechanism 3, and a sensing assembly is arranged on the bale longitudinal baffle 407. The sensing assembly adopts force sensing or photoelectric sensing.

[0064] Photoelectric sensing: a photoelectric sensor assembly is installed on the bale longitudinal baffle 407. When the bale enters the bale horizontal transfer mechanism 3, the light path is blocked. Since the closer the bale is to the photoelectric sensor assembly, the more obvious the detection signal change of the photoelectric sensor will be, the output signal change of the photoelectric sensor is monitored to determine whether the bale enters the bale temporary storage platform 408.

[0065] Force sensing: a force sensor is installed on the bale longitudinal baffle 407. When the bale touches the bale longitudinal baffle 407, a small force is applied, which can be detected by the force sensor. The output signal change of the force sensor is monitored to determine whether the bale enters the bale temporary storage platform 408.

[0066] The bale transverse baffle 410 is installed on the bale temporary storage platform 408 away from the bale longitudinal baffle 407. The bale transverse baffle 410 is used to limit the square bale to avoid excessive storage of the square bale.

[0067] The moving push plate 406 is installed on the bale temporary storage platform 408. The moving push plate 406 is used to push the bale to move to the side of the bale transverse baffle 410. The moving 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 position of the bale temporary storage platform 408. The push plate is driven by the push rod. The push rod is electrically connected with the sensing assembly. The control system is arranged between the push rod and the sensing assembly.

[0068] The sliding rail 411 is arranged on the vehicle frame platform 102. The moving frame 401 is slidably installed on the sliding rail 411. The moving frame 401 is connected with the roller which is in contact with the sliding rail 411, so as to reduce the friction generated when the moving frame 401 moves. The third hydraulic motor 405 is installed on the moving frame 401. The sliding rail 411 is provided with a rack at one end close to the third hydraulic motor 405. The output end of the third hydraulic motor 405 is fixedly connected with a gear which is engaged with the rack. Through the engagement connection of the rack and the gear, the moving frame 401 can continue to move in the horizontal direction.

[0069] The fourth hydraulic motor 404 is installed on the top end of the moving frame 401, the lead screw fixing plate 402 is welded on the moving frame 401, the lead screw 403 is screwed on the top end of the lead screw fixing plate 402, a first bevel gear is fixedly sleeved on the lead screw 403, a second bevel gear meshing with the first bevel gear is fixedly sleeved on the output end of the fourth hydraulic motor 404, and the mechanical gripper 412 is fixedly connected to the bottom end position of the lead screw 403; the fourth hydraulic motor 404 drives the lead screw 403 to rotate through the meshing connection of the first bevel gear and the second bevel gear, and in turn drives the mechanical gripper 412 to vertically ascend, so as to grasp the square bale.

[0070] The clamping guava inner side of the mechanical gripper 412 is provided with a resisting plate, and the resisting plate is a right-angle sector structure.

[0071] Reference Figure 5 The automatic bale loading box 5 is arranged on the scissor type lifting platform 506, the automatic bale stacking mechanism 4 is used for stacking the square bale into the automatic bale loading box 5, the automatic bale loading box 5 is composed of the automatic bale loading box side plate 501 and the automatic bale loading box rear door 502, the automatic bale loading box rear door 502 can be opened and closed, a plurality of round pipes 503 are rotatably arranged at the bottom end of the automatic bale loading box 5, so as to reduce the friction force generated when the square bale moves on the round pipe 503, the moving sliding table 505 is arranged on the automatic bale loading box 5, the moving sliding table 505 is composed of a motor, a lead screw and a nut, the conveying plate 504 driven by the moving sliding table 505 is arranged in the automatic bale loading box 5, the square bale in the automatic bale loading box 5 is actively arranged through the conveying plate 504, which helps to improve the space utilization rate of the automatic bale loading box 5, and when unloading is needed, the automatic unloading can be realized through the horizontal movement of the conveying plate 504.

[0072] The function principle of the present application can be described as follows:

[0073] The crawler wheel 103 is used to move the self-propelled platform vehicle 1 to the square bale stacking position, the hydraulic rod 206 is started, the hydraulic rod 206 drives the square bale lifting channel 2 to move downward, so that the square bale lifting channel 2 is converted into a working state, after the square bale enters the square bale lifting channel 2, the first hydraulic motor 205 is started to drive the first sprocket 201, the square bale is lifted by the first sprocket 201 and the hook type chain, the bale is guided and limited during the lifting process through the baffle 203, and the lower bale stopper 202 and the upper bale stopper 204 are used to prevent the square bale from falling due to accidental conditions.

[0074] 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, so that the second sprocket wheel 302 is started, and the chain driven by the second sprocket wheel 302 continues to move the bale horizontally, so that the bale contacts the bale longitudinal baffle 407, at this time the sensing assembly senses the position of the bale, and the push rod drives the push plate to move horizontally to push the bale to the end of the bale temporary storage platform 408 provided with the bale transverse baffle 410. After the square bale transported from the bale horizontal transfer mechanism 3 contacts the bale longitudinal baffle 407, the push plate 406 is moved to push the square bale, and the moving distance is one square bale width. After moving to the position, the moving push plate 406 is reset, and the next square bale is positioned, and the cycle is repeated. When the number of bales on the bale temporary storage platform 408 is consistent with the number of mechanical grippers 412, the mechanical gripper 412 is started to grab a row of bales, and the abutting plate is deformed under stress. Due to the special shape of the abutting plate, the abutting plate will generate a lifting force after deformation, so as to lift the depth of the square bale in the mechanical gripper 412. The fourth hydraulic motor 404 is started, and 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 gripper 412 to synchronously lift. The third hydraulic motor 405 is started, and the third hydraulic motor 405 drives the moving frame 401 to move horizontally through the rack and pinion, and then the square bale is placed in the bale automatic loading box 5 through the mechanical gripper 412. Start, repeat the above operation, until the storage space in the bale automatic loading box 5 is full.

[0075] After the square bale fills the bale automatic loading box 5, the crawler wheel 103 is used to move the self-propelled platform vehicle 1 to the side of the truck, the automatic loading box rear door 502 is opened, the bale automatic loading box 5 is lifted to a height corresponding to the truck platform through the scissor lifting platform 506, and the moving slide table 505 drives the conveying plate 504 to horizontally push the bale stack in the bale automatic loading box 5 to the truck platform.

[0076] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can make equivalent replacements or changes within the technical scope disclosed by the present application according to the technical solution and inventive concept of the present application, which should be covered within the protection scope of the present application.

Claims

1. A self-propelled integrated device for picking up, stacking and loading square straw bales, 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 self-propelled platform vehicle (1) is composed of a power system (101), a frame platform (102) and track wheels (103); 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); an automatic bale loading box (5) is provided on the scissor-type lifting platform (506); and the automatic bale stacking mechanism (4) is used to stack bales into the automatic bale loading box (5); A hydraulic rod (206) provided on the self-propelled platform vehicle (1) and connected to the bale lifting channel (2), the hydraulic rod (206) being 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; The bale lifting channel (2) comprises: Baffles (203) welded on both sides of the bale lifting channel (2); A lower bale stopper (202) and an upper bale stopper (204) welded to the side wall of the baffle (203); The lower bale stop bar (202) and the upper bale stop bar (204) are both gantry structures, and a torsion spring is provided on the lower bale stop bar (202) and the upper bale stop bar (204), and one end of the torsion spring away from the lower bale stop bar (202) and the upper bale stop bar (204) is fixedly connected to a resistance rod, the end of the resistance rod on the lower bale stop bar (202) is bent upward, and the end of the resistance rod on the upper bale stop bar (204) is bent downward; 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 longitudinal bale baffle (407) mounted on one end of the bale temporary storage platform (408) close to the bale horizontal transfer mechanism (3); a bale transverse baffle (410) mounted on one end of the bale temporary storage platform (408) away from the bale longitudinal baffle (407); a movable push plate (406) mounted on the straw bale temporary storage platform (408), the movable push plate (406) being used to push the straw bale toward the side of the straw bale transverse baffle (410); The longitudinal baffle plate (407) of the straw bale is provided with a sensor assembly. The movable push plate (406) is composed of a push plate and a push rod. The push plate is slidably mounted on the straw bale temporary storage platform (408). The push rod is fixedly installed at the bottom end of the straw bale temporary storage platform (408). The push plate is driven by the push rod, and the push rod is electrically connected to the sensor assembly.

2. The self-propelled integrated device for picking up, stacking and loading square straw bales according to claim 1, characterized in that: 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 wheel (103) is provided with a power source through the power system (101).

3. The self-propelled integrated device for picking up, stacking and loading square straw bales 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 integrated device for picking up, stacking and loading square straw bales according to claim 3, characterized in that: The bale lifting channel (2) comprises: a first hydraulic motor (205) provided on the bale lifting channel (2); A first sprocket (201) is provided on the bale lifting channel (2), the first sprocket (201) drives the bale to be lifted via a hook chain, and the first sprocket (201) is driven by the first hydraulic motor (205).

5. The self-propelled integrated device for picking up, stacking and loading square straw bales according to claim 2, characterized in that: The bale horizontal transfer mechanism (3) comprises: A horizontal transfer bracket (304) welded to the vehicle 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).

6. The self-propelled integrated device for picking up, stacking and loading square straw bales according to claim 2, characterized in that: The automatic straw bale stacking mechanism (4) comprises: A slide rail (411) provided on the vehicle frame platform (102); A movable frame (401) slidably mounted on the slide rail (411); A third hydraulic motor (405) is mounted on the mobile frame (401), a rack is provided at one end of the slide rail (411) close to the third hydraulic motor (405), and a gear meshing with the rack is fixedly connected to the output end of the third hydraulic motor (405); a fourth hydraulic motor (404) mounted on the top of the mobile frame (401); a screw fixing plate (402) welded to the movable frame (401); A screw rod (403) is threadedly mounted on the top of the screw rod fixing plate (402), a first bevel gear is fixedly sleeved on the screw rod (403), and a second bevel gear meshing with the first bevel gear is fixedly sleeved on the output end of the fourth hydraulic motor (404); A mechanical gripper (412) is fixedly connected to the bottom end of the screw rod (403).

7. The self-propelled integrated device for picking up, stacking and loading square straw bales according to claim 6, characterized in that: The bottom end of the movable frame (401) is connected to a roller that movably contacts the slide rail (411).

8. The self-propelled integrated device for picking up, stacking and loading square straw bales according to claim 6, characterized in that: A resistance plate is provided on the inner side of the melon-holding device used by the mechanical gripper (412), and the resistance plate is a right-angled fan-shaped structure.

9. The self-propelled integrated device for picking up, stacking and loading square straw bales 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 circular tubes (503) are rotatably provided at the bottom end of the automatic straw bale loading box (5). A movable slide (505) is provided on the automatic straw bale loading box (5). A conveying plate (504) driven by the movable slide (505) is provided in the automatic straw bale loading box (5).

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