Straw picking and bundling machine with automatic stacking and unloading functions

Abstract

The invention provides a straw picking and bundling machine with automatic stacking and unloading functions. The straw picking and bundling machine comprises an automatic conveying device, a pushing device, a stacking box, a control room master console, a knotting mechanism, a compressing mechanism, a conveying mechanism, a crawler chassis, a feeding mechanism, a picking mechanism, a station detection mechanism, a weight detection mechanism and a controller. The automatic conveying device is located between the conveying mechanism and the stacking box. The pushing device is arranged in the stacking box and used for pushing the straw out of the stacking box. The station detection mechanism is used for detecting whether straws exist at a carrying station of the conveying mechanism or not; the gravity detection mechanism is used for detecting the weight of straw in the stacking box; when the controller receives a signal sent by the station detection mechanism, the automatic conveying device is controlled to grab the straw on the conveying mechanism and convey the straw into the stacking box; when the weight detected by the gravity detection mechanism exceeds a preset value, the controller controls the automatic conveying device to stop moving and sends a weight signal to a master console of a control room. Labor is saved, and the working efficiency is greatly improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of agricultural automation, and particularly relates to a straw pick-up baler with automatic palletizing and unloading. Background Art

[0002] Straw has a high content of crude fiber and components such as lignin. In the past, most straw was burned by farmers, which would produce a large amount of harmful gases and particulate matter, exacerbating air pollution and increasing potential safety hazards. Therefore, it is particularly important to make reasonable agricultural resource utilization of straw. By means such as crushing straw and returning it to the field, baling, and making fuel and building material raw materials, the transformation of straw from "waste" to "green resources" can be promoted.

[0003] The use of pick-up balers has gradually realized the integrated recycling operation of picking up and feeding field waste straw of different varieties, transporting and compressing, and tying into bales, which can effectively promote the collection and transportation of field waste straw and promote the large-scale and comprehensive use of straw resources. Chinese invention patent CN119325824A discloses a self-propelled round hay baler. During the process of winding the net on the hay bale, a new hay core is regenerated in the core-forming area, realizing the parallelization of the operation and automatic continuous operation; Chinese invention patent CN118216236A discloses and authorizes a residual film pick-up baler, which can fully pick up the ground film on the ground and buried deep in the soil, and can also screen the picked-up ground film to improve the cleanliness of the ground film; Chinese patent CN221553989U solves the problem that when a person controls a tractor to move forward, it is impossible to pay attention to the operation status of the rear straw pick-up baler in real time. In addition, by integrating the driving console, conveying structure and baler, the straw pick-up baler can perform scissors baling in a narrow field.

[0004] The above-mentioned inventions have further research in different fields or certain parts of the baler, but problems such as the placement, palletizing and unloading of the final hay bales still need to be solved by manual labor, resulting in low operation efficiency. Summary of the Invention

[0005] In view of the above technical problems, the present invention provides a straw pick-up baler with automatic palletizing and unloading, which realizes automatic palletizing, stacking and unloading after straw baling, is conducive to subsequent mechanized collection and transfer, saves manpower, and greatly improves the operation efficiency.

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

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

[0008] A straw pick-up baler for automatic palletizing and unloading, comprising an automatic conveying device, a pushing device, a palletizing box, a general control console in the control room, a tying mechanism, a compressing mechanism, a conveying mechanism, a crawler chassis, a feeding mechanism, a picking mechanism, a station detection mechanism, a weight detection mechanism and a controller;

[0009] The automatic conveying device, the palletizing box, the general control console in the control room, the feeding mechanism and the compressing mechanism are installed on the crawler chassis; the picking mechanism is installed in front of the feeding mechanism for picking up straw and conveying it to the feeding mechanism; the feeding mechanism conveys the straw to the compressing mechanism, and the compressing mechanism is used for compressing the straw; the tying mechanism is installed on the compressing mechanism for tying the compressed straw; the conveying mechanism is arranged behind the compressing mechanism for conveying the baled straw backward; the automatic conveying device is located between the conveying mechanism and the palletizing box for transporting the straw on the conveying mechanism into the palletizing box; the pushing device is arranged in the palletizing box for pushing the straw out of the palletizing box;

[0010] The station detection mechanism is used for detecting whether there is straw at the handling station of the conveying mechanism and sending a signal to the controller; the gravity detection mechanism is used for detecting the weight of the straw in the palletizing box and transmitting the weight signal to the controller;

[0011] The controller is respectively connected with the automatic conveying device, the pushing device, the general control console in the control room, the infrared sensor and the gravity detection mechanism; when the controller receives the signal sent by the station detection mechanism, it controls the automatic conveying device to grab the straw on the conveying mechanism and transport it into the palletizing box; when the weight detected by the gravity detection mechanism exceeds the preset value, the controller controls the automatic conveying device to stop moving and sends the weight signal to the general control console in the control room.

[0012] In the above solution, the automatic conveying device includes a robotic arm and a clamping mechanism;

[0013] The clamping mechanism includes a connecting block, a first connecting rod, a second connecting rod, a third connecting rod, a limiting piece, a connecting member, a clamping claw and a first electric push rod;

[0014] One end of the first electric push rod is connected with the robotic arm, and the other end passes through the connecting member and is connected with the connecting block. Symmetrically arranged clamping claws are respectively arranged on both sides of the connecting member; one end of the clamping claw is hinged to one end of the second connecting rod, the other end of the second connecting rod is hinged to one end of the first connecting rod, and the other end of the first connecting rod is hinged to the connecting block; one end of the third connecting rod is hinged to the connecting member, and the other end is hinged to the clamping claw; the limiting piece is installed on the electric push rod for limiting the stroke of the first electric push rod; the first electric push rod pushes the connecting block to drive the clamping claw to convert the longitudinal movement of the first electric push rod into the opening and closing movement of the clamping claw.

[0015] In the above solution, the pushing device includes a pushing base, a pushing plate and a driving mechanism;

[0016] The pushing base is installed on the inner wall surface of the palletizing box. One end of the driving mechanism is installed on the pushing base, and the other end is connected to the pushing plate, which is used to drive the pushing plate to move linearly to push the straw out of the palletizing box.

[0017] In the above solution, the driving mechanism is a second electric push rod.

[0018] In the above solution, there are two groups of the second electric push rods, which are arranged in parallel.

[0019] Rollers are provided at the bottom of the pushing plate.

[0020] In the above solution, an auxiliary plate inclined downward is provided at the bottom of the unloading end of the palletizing box.

[0021] In the above solution, the station detection mechanism is an infrared sensor.

[0022] In the above solution, the gravity detection mechanism is a gravity sensor.

[0023] In the above solution, there are multiple gravity sensors, which are uniformly arranged at the bottom of the palletizing box. The collected data is transmitted to the controller. The controller calculates the average value and compares the average value with a preset value. When the weight exceeds the preset value, the controller controls the automatic conveying device to stop moving and sends the weight signal to the master console in the control room.

[0024] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0025] 1. The present invention can realize the mechanized collection, stacking and unloading of bales of straw after the integrated work process of a straw pick-up baler, replacing the steps of manual palletizing and unloading, saving a large amount of time and human resources, and reducing the intensity of manual labor.

[0026] 2. The present invention can directly and automatically transfer the bales of straw from the palletizing box of the baler to the collection point or the collection carriage, bringing convenience to the transfer of bales of straw.

[0027] 3. The present invention can stack the compressed and tied bales of straw neatly and temporarily, effectively avoiding the bales of straw being contaminated by water or mud on the ground, and ensuring the cleanliness and orderly stacking of the bales of straw to a certain extent.

[0028] 4. The present invention can prevent overloading through the gravity detection mechanism, improving safety.

[0029] Note that the description of these effects does not prevent the existence of other effects. One embodiment of the present invention does not necessarily have all of the above effects. Other effects than the above can be obviously seen and extracted from the descriptions in the specification, drawings, claims, etc. Description of the Drawings

[0030] Figure 1 It is a schematic structural diagram of a straw pick-up baler for automatic palletizing and unloading according to an embodiment of the present invention;

[0031] Figure 2 It is a schematic structural diagram of a robotic arm and a palletizing box according to an embodiment of the present invention;

[0032] Figure 3 It is a schematic structural diagram of a robotic arm according to an embodiment of the present invention;

[0033] Figure 4 It is a schematic structural diagram of the open structure of the clamping claw according to an embodiment of the present invention;

[0034] Figure 5 It is a schematic structural diagram of the closed structure of the clamping claw according to an embodiment of the present invention;

[0035] Figure 6 It is a schematic structural diagram of a connecting member according to an embodiment of the present invention;

[0036] Figure 7 It is a schematic structural diagram of the driving mechanism pushing the pushing plate according to an embodiment of the present invention.

[0037] In the figure: 1 - Automatic transportation device, 101 - Connecting block, 102 - First connecting rod, 103 - Second connecting rod, 104 - Third connecting rod, 105 - Limiting piece, 106 - Connecting member, 107 - Robotic arm, 108 - Clamping claw, 109 - First electric push rod, 2 - Pushing device, 201 - Pushing base, 202 - Pushing plate, 203 - Second electric push rod, 3 - Palletizing box, 4 - Control room, 5 - Baler, 6 - Compression mechanism, 7 - Conveyor mechanism, 8 - Crawler chassis, 9 - Feeding mechanism, 10 - Pick-up mechanism. Detailed implementation manners

[0038] The following details the embodiments of the present invention. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0039] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "front", "rear", "left", "right", "upper", "lower", "axial", "radial", "vertical", "horizontal", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings. These are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, the meaning of "a plurality of" is two or more unless otherwise specifically defined.

[0040] In the present invention, unless otherwise clearly specified and defined, the terms "mounted", "connected", "joined", "fixed", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] Figure 1-7 As shown, a preferred embodiment of the straw pick-up baler with automatic palletizing and unloading according to the present invention is provided. The straw pick-up baler with automatic palletizing and unloading includes an automatic conveying device 1, a pushing device 2, a palletizing box 3, a main control console 4 in the control room, a tying mechanism 5, a compressing mechanism 6, a conveying mechanism 7, a crawler chassis 8, a feeding mechanism 9, a picking mechanism 10, a station detection mechanism, a weight detection mechanism, and a controller. The automatic conveying device 1, the palletizing box 3, the main control console 4 in the control room, the feeding mechanism 9, and the compressing mechanism 6 are mounted on the crawler chassis 8.

[0042] The picking mechanism 10 is mounted in front of the feeding mechanism 9 and is used for picking up straw and conveying it to the feeding mechanism 9. The feeding mechanism 9 conveys the straw to the compressing mechanism 6, and the compressing mechanism 6 is used for compressing the straw. The tying mechanism 5 is mounted on the compressing mechanism 6 and is used for tying the compressed straw into bales. The conveying mechanism 7 is arranged behind the compressing mechanism 6 and is used for conveying the baled straw backward. The automatic conveying device 1 is located between the conveying mechanism 7 and the palletizing box 3 and is used for conveying the straw on the conveying mechanism 7 into the palletizing box 3. The pushing device 2 is arranged in the palletizing box 3 and is used for pushing the straw out of the palletizing box 3.

[0043] The station detection mechanism is used to detect whether there is straw at the handling station of the conveyor mechanism 7 and send a signal to the controller; the gravity detection mechanism is used to detect the weight of the straw in the stacking box 3 and transmit the weight signal to the controller;

[0044] The controller is respectively connected to the automatic conveying device 1, the pushing device 2, the master console 4 of the control room, the infrared sensor and the gravity detection mechanism; when the controller receives the signal sent by the station detection mechanism, it controls the automatic conveying device 1 to grab the straw on the conveyor mechanism 7 and transport it into the stacking box 3; when the weight detected by the gravity detection mechanism exceeds the preset value, the controller controls the automatic conveying device 1 to stop moving and sends the weight signal to the master console 4 of the control room.

[0045] The automatic conveying device 1 includes a robotic arm 107 and a clamping mechanism; the clamping mechanism includes a connecting block 101, a first connecting rod 102, a second connecting rod 103, a third connecting rod 104, a limiting piece 105, a connecting member 106, a clamping claw 108 and a first electric push rod 109; one end of the first electric push rod 109 is connected to the robotic arm 107, and the other end passes through the connecting member 106 and is connected to the connecting block 101. Symmetrically arranged clamping claws 108 are respectively provided on both sides of the connecting member 106; one end of the clamping claw 108 is hinged to one end of the second connecting rod 103, the other end of the second connecting rod 103 is hinged to one end of the first connecting rod 102, and the other end of the first connecting rod 102 is hinged to the connecting block 101; one end of the third connecting rod 104 is hinged to the connecting member 106, and the other end is hinged to the clamping claw 108; the limiting piece 105 is installed on the electric push rod 109 and is used to limit the stroke of the first electric push rod 109; the first electric push rod 109 pushes the connecting block 101 to drive the clamping claw 108 to convert the longitudinal movement of the first electric push rod 109 into the opening and closing movement of the clamping claw 108.

[0046] Preferably, the clamping claw 108 is made of a high-strength and wear-resistant material, which is beneficial to not being easily damaged during long-term operation. When clamping the bales of straw, the stacking sizes on the conveyor mechanism 7 are basically the same, and the clamping force of the clamping claw 108 can be preset according to the size of the stack.

[0047] The pushing device 2 includes a pushing base 201, a pushing plate 202 and a driving mechanism; the pushing base 201 is installed on the inner wall surface of the stacking box 3, one end of the driving mechanism is installed on the pushing base 201, and the other end is connected to the pushing plate 202 for driving the pushing plate 202 to perform a linear motion to push the straw out of the stacking box 3.

[0048] Preferably, the driving mechanism is a second electric push rod 203.

[0049] In a specific embodiment of the present invention, there are two groups of the second electric push rods 203 and they are arranged in parallel, which is more beneficial to pushing the pushing plate 202.

[0050] In a specific embodiment of the present invention, a roller is provided at the bottom of the pushing plate 202 , which is beneficial for the pushing plate 202 to move and push the straw out of the stacking box 3 .

[0051] The bottom of the unloading end of the stacking box 3 is provided with an auxiliary plate 11 inclined downward.

[0052] The workstation detection mechanism is an infrared sensor.

[0053] The gravity detection mechanism is a gravity sensor.

[0054] Preferably, there are multiple gravity sensors evenly arranged at the bottom of the palletizing box 3. The collected data is transmitted to the controller, which calculates the average and compares the average with the preset value. When the weight exceeds the preset value, the controller controls the automatic conveying device 1 to stop moving and sends the weight signal to the main control console 4 in the control room.

[0055] Working process of the automatic stacking and unloading straw picking and baling machine:

[0056] The picking mechanism 10 harvests the straw in front of the baler and twists it into the feeding mechanism 9 at the rear. The feeding mechanism 9 passes the straw to the compression mechanism 6 for compression. After being compressed into blocks, it is passed to the knotting mechanism 5 for bundling. After being bales, they are transferred to the handling station through the transmission mechanism 7. The infrared sensor detects whether there is bundled straw at the handling station of the transmission mechanism 7, and sends a signal to the controller; if the controller determines that there is straw at the handling station, it controls the mechanical arm 107 to move the clamping claw 108 to the top of the handling station, and after opening the preset angle a, it clamps the bundled straw on the handling station and transports it to the stacking box 3.

[0057] In a specific embodiment of the present invention, the bottom of the stacking box 3 is divided into position b, position c, position d, position e, position f, and position g in sequence, and the coordinates of the above positions of each layer are preset in the controller. The controller controls the mechanical arm 107 according to the preset coordinates so that the gripping claw 108 stacks the bundled straw from the lowest layer of the stacking box 3 in position b, position c, position d, position e, position f, and position g in sequence. After stacking one layer, stacking continues in sequence upwards in position b, position c, position d, position e, position f, and position g until all layers are stacked, and the controller controls the automatic conveying device 1 to stop moving. The driver presses the unloading button of the pushing device 2, and the pushing device 2 starts to work, and the driving mechanism drives the pushing plate 202 to push the straw bales in the stacking box 3 out to the collection vehicle docked behind the picking baler to complete the unloading work.

[0058] During the process of the robotic arm handling, when the gravity detection mechanism detects that the weight of the palletizing box 3 exceeds the preset value, the controller controls the automatic conveying device 1 to stop moving and sends a weight signal to the main console 4 in the control room to prevent overloading and improve safety.

[0059] The present invention solves the problem that after the bales are tied, manual palletizing and unloading and loading onto the vehicle are still required, saving a large amount of time and human resources, reducing the intensity of manual labor, bringing convenience to farmers in collecting bales, and at the same time effectively avoiding the dust, sludge, etc. that the bales may be contaminated with during manual transportation, improving the cleanliness of the straw bales.

[0060] It should be understood that although this specification is described according to various embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0061] The series of detailed descriptions listed above are only specific descriptions of the feasible embodiments of the present invention, and they are not intended to limit the protection scope of the present invention. Any equivalent embodiments or changes made without departing from the technical spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A straw picking and baling machine with automatic stacking and unloading, characterized in that: It comprises an automatic transport device (1), a pushing device (2), a stacking box (3), a control room main console (4), a knotting mechanism (5), a compression mechanism (6), a transmission mechanism (7), a crawler chassis (8), a feeding mechanism (9), a picking mechanism (10), a work station detection mechanism, a weight detection mechanism and a controller; The automatic transport device (1), the stacking box (3), the control room main console (4), the feeding mechanism (9) and the compression mechanism (6) are installed on a crawler chassis (8); the picking mechanism (10) is installed in front of the feeding mechanism (9) and is used to pick up straw and transfer it to the feeding mechanism (9); the feeding mechanism (9) transfers the straw to the compression mechanism (6), and the compression mechanism (6) is used to compress the straw; the knotting mechanism (5) is installed on the compression mechanism (6) and is used to bundle the compressed straw; the transport mechanism (7) is arranged behind the compression mechanism (6) and is used to transport the bundled straw backward; the automatic transport device (1) is located between the transport mechanism (7) and the stacking box (3) and is used to transport the straw on the transport mechanism (7) into the stacking box (3); the pushing device (2) is arranged in the stacking box (3) and is used to push the straw out of the stacking box (3); The station detection mechanism is used to detect whether there is straw at the transport station of the conveying mechanism (7) and send a signal to the controller; the gravity detection mechanism is used to detect the weight of the straw in the stacking box (3) and send a weight signal to the controller; The controller is respectively connected to the automatic transport device (1), the pushing device (2), the control room main console (4), the infrared sensor and the gravity detection mechanism; when the controller receives a signal sent by the workstation detection mechanism, it controls the automatic transport device (1) to grab the straw on the conveying mechanism (7) and transport it to the stacking box (3); when the weight detected by the gravity detection mechanism exceeds a preset value, the controller controls the automatic transport device (1) to stop moving and sends a weight signal to the control room main console (4).

2. The automatic stacking and unloading straw picking and baling machine according to claim 1 is characterized in that: The automatic transport device (1) comprises a mechanical arm (107) and a gripping mechanism; The clamping mechanism comprises a connecting block (101), a first connecting rod (102), a second connecting rod (103), a third connecting rod (104), a limiting plate (105), a connecting piece (106), a clamping claw (108) and a first electric push rod (109); One end of the first electric push rod (109) is connected to the mechanical arm (107), and the other end passes through the connecting piece (106) and is connected to the connecting block (101). Both sides of the connecting piece (106) are provided with symmetrically arranged clamping claws (108); one end of the clamping claw (108) is hinged to one end of the second connecting rod (103), the other end of the second connecting rod (103) is hinged to one end of the first connecting rod (102), and the other end of the first connecting rod (102) is hinged to the connecting block (101); one end of the third connecting rod (104) is hinged to the connecting piece (106), and the other end is hinged to the clamping claw (108); the limit plate (105) is installed on the first electric push rod (109) and is used to limit the travel of the first electric push rod (109); the first electric push rod (109) pushes the connecting block (101) to drive the clamping claw (108) to convert the longitudinal movement of the first electric push rod (109) into the opening and closing movement of the clamping claw (108).

3. The automatic stacking and unloading straw picking and baling machine according to claim 1 is characterized in that: The pushing device (2) comprises a pushing base (201), a pushing plate (202) and a driving mechanism; The pushing base (201) is mounted on the inner wall surface of the stacking box (3); one end of the driving mechanism is mounted on the pushing base (201) and the other end is connected to the pushing plate (202) for driving the pushing plate (202) to perform linear motion to push the straw out of the stacking box (3).

4. The automatic stacking and unloading straw picking and baling machine according to claim 3 is characterized in that: The driving mechanism is a second electric push rod (203).

5. The automatic stacking and unloading straw picking and baling machine according to claim 4, characterized in that: The second electric push rods (203) have two groups and are arranged in parallel.

6. The automatic stacking and unloading straw picking and baling machine according to claim 3, characterized in that: The bottom of the pushing plate (202) is provided with a roller.

7. The automatic stacking and unloading straw picking and baling machine according to claim 1, characterized in that: The bottom of the unloading end of the stacking box (3) is provided with a downwardly inclined auxiliary plate (11).

8. The automatic stacking and unloading straw picking and baling machine according to claim 1, characterized in that: The workstation detection mechanism is an infrared sensor.

9. The automatic stacking and unloading straw picking and baling machine according to claim 1, characterized in that: The gravity detection mechanism is a gravity sensor.

10. The automatic stacking and unloading straw picking and baling machine according to claim 9, characterized in that: There are multiple gravity sensors evenly arranged at the bottom of the stacking box (3). The collected data is transmitted to the controller, which calculates the average value and compares the average value with a preset value. When the weight exceeds the preset value, the controller controls the automatic conveying device (1) to stop moving and sends a weight signal to the main control console (4) in the control room.

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