Cylindrical bale intelligent net removing machine

Abstract

This invention discloses a cylindrical intelligent straw bale net removal machine, including a frame on which an openable and closable straw grabber is mounted. A second phototube, a solenoid valve, a control cylinder, and a gripper assembly are respectively mounted on the front side of the frame. The control cylinder drives the gripper assembly to perform grabbing and releasing actions. A reduction motor, a oscillating saw blade, and a first phototube are mounted on the upper part of the straw grabber. The reduction motor is connected to the oscillating saw blade. This cylindrical intelligent straw bale net removal machine has a high degree of intelligence and achieves fully automatic operation. By setting the first and second phototubes as detection elements, the system can sense the position of the straw bale and the state of the netting in real time. Combined with the pneumatic control system of the solenoid valve and control cylinder, the entire process from "detection-cutting-grabbing-release" is automated, significantly improving work efficiency.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically to a cylindrical intelligent straw bale removal machine. Background Technology

[0002] With the rapid development of animal husbandry and the biomass energy industry, straw baling technology has been widely applied. Cylindrical straw bales (round straw bales) have become the mainstream form due to their high density and ease of transportation and storage. However, in subsequent feeding or processing stages, the plastic mesh or hemp rope wrapped around the straw bales must be removed.

[0003] The existing methods for bypassing the network mainly have the following problems:

[0004] Manual operation is inefficient and dangerous: Traditional manual net cutting is labor-intensive, and workers are easily injured by sharp cutters or rebounding net ropes during operation.

[0005] Low level of automation: Although some semi-automatic equipment has cutting function, it still relies on manual assistance in the key step of "grabbing the net rope" or uses a fixed mechanical structure, which cannot adapt to straw bags of different diameters or different winding tightness, resulting in a high failure rate of net grabbing.

[0006] Poor coordination between cutting and gripping: Existing automated equipment often struggles to precisely control the cutting depth and gripping timing, which can easily result in the netting not being cut or the internal straw being damaged. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to overcome the existing defects and provide a cylindrical intelligent straw bale removal machine that integrates automatic detection, precise cutting and intelligent grasping, thereby improving work efficiency and safety and effectively solving the problems in the background technology.

[0008] To achieve the above objectives, the present invention provides the following technical solution:

[0009] A cylindrical intelligent straw bale netting removal machine includes a frame on which an openable straw grabber is mounted. A second phototube, a solenoid valve, a control cylinder, and a grabber assembly are respectively mounted on the front side of the frame. The control cylinder is used to drive the grabber assembly to perform grabbing and releasing actions. A geared motor, a oscillating saw blade, and a first phototube are mounted on the upper part of the straw grabber. The geared motor is driven by the oscillating saw blade to drive the oscillating saw blade to oscillate and cut the outer netting of the straw bale.

[0010] Preferably, the air port of the solenoid valve is connected to the control cylinder through an air pipe, and the electronic control terminal of the solenoid valve is used to receive external control signals to control the air circuit opening and closing, thereby driving the control cylinder to move.

[0011] Preferably, the gripper assembly is specifically a plurality of mechanical fingers arranged in an array to accommodate the gripping requirements of cylindrical straw bags.

[0012] In the above technical solution, the technical effect provided by the present invention is:

[0013] 1. High level of intelligence, realizing fully automatic operation. By setting the first phototube and the second phototube as detection elements, the system can sense the position of the straw bale and the state of the net rope in real time. Combined with the pneumatic control system of solenoid valve and control cylinder, the entire process of "detection-cutting-grabbing-release" is fully automated, which greatly improves the work efficiency.

[0014] 2. The unique "rotation to linear" cutting mechanism ensures precise cutting. It adopts a structure design that uses a geared motor to drive the oscillating saw blade. The transmission mechanism converts the rotational motion of the motor into the linear reciprocating oscillation of the saw blade. This design is not only compact but also provides powerful instantaneous cutting force, ensuring that high-strength packing ropes can be cut quickly while avoiding saw blade jamming.

[0015] 3. Pneumatic flexible gripping with strong adaptability: The gripper assembly adopts a multi-set mechanical finger design and is driven by a control cylinder. The pneumatic control has a natural flexible buffering effect, which ensures that the mechanical fingers can maintain sufficient clamping force to prevent slippage when gripping the net rope, and will not damage the net rope or straw bag surface due to rigid impact. The multi-set finger design increases the contact area with the net rope and improves the reliability of gripping. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention.

[0017] Figure 2 This is a schematic diagram of another orientation of the present invention.

[0018] Figure 3 This is a schematic diagram of the gripper assembly structure of the present invention.

[0019] In the diagram: 1. Grass grabber; 2. Frame; 3. Gear motor; 4. Oscillating saw blade; 5. First photocell; 6. Second photocell; 7. Solenoid valve; 8. Control cylinder; 9. Grab assembly. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see Figure 1-3The present invention provides a technical solution:

[0022] A cylindrical intelligent straw bale netting removal machine includes a frame 2, on which an openable and closable straw grabber 1 is mounted. A second phototube 6, a solenoid valve 7, a control cylinder 8, and a gripper assembly 9 are respectively mounted on the front side of the frame 2. The control cylinder 8 is used to drive the gripper assembly 9 to grab and release. A reduction motor 3, a swing saw blade 4, and a first phototube 5 are mounted on the upper part of the straw grabber 1. The reduction motor 3 is connected to the swing saw blade 4 to drive the swing saw blade 4 to swing and cut the outer netting of the straw bale.

[0023] The air port of the solenoid valve 7 is connected to the control cylinder 8 through an air pipe, and the electronic control terminal of the solenoid valve 7 is used to receive external control signals to control the opening and closing of the air circuit and thus drive the control cylinder 8 to move.

[0024] The gripper assembly 9 consists of multiple sets of mechanical fingers arranged in an array to accommodate the gripping needs of cylindrical straw bags.

[0025] Overall structure and grass-grabbing function: The frame 2 is the supporting foundation of the entire equipment. The grass-grabbing machine 1 is installed on the frame 2. The grass-grabbing machine 1 is designed with an openable structure, such as a fork arm driven by hydraulic or electric motor, to firmly clamp the cylindrical straw bales and prevent them from rolling during the net removal process.

[0026] The cutting system rotates to linear motion: A reduction motor 3 is installed on the upper part of the grass grabber 1, and the output end of the reduction motor 3 is connected to an oscillating saw blade 4.

[0027] Working principle: The geared motor 3 provides power, and through the internal crank-connecting rod mechanism or cam mechanism, the continuous rotational motion of the motor is converted into the high-frequency linear reciprocating oscillation or arc oscillation of the oscillating saw blade 4.

[0028] Position detection: A first phototube 5 is provided next to the cutting component to detect whether the straw bag has reached the predetermined cutting position, or to detect the initial reset state of the saw blade, so as to ensure that the cutting action is carried out within a safe range.

[0029] Intelligent gripping system pneumatic control: The actuator is arranged on the front side of the frame 2, that is, the side near the straw bag net rope.

[0030] Detection unit: Equipped with a second phototube 6, used to accurately detect the specific location of the net rope or the state of the cut net rope ends. When phototube 6 senses a signal, it sends an electrical signal to the control system.

[0031] Control unit: Solenoid valve 7 receives signals from phototube 6.

[0032] Actuation unit: The air port of solenoid valve 7 is connected to control cylinder 8 via an air pipe. When solenoid valve 7 is activated, compressed air enters the cylinder, pushing the piston rod to extend or retract.

[0033] Operation process: The piston rod of the control cylinder 8 is connected to the gripper assembly 9, which consists of multiple sets of mechanical fingers. When the cylinder extends or retracts, it drives the mechanical fingers to close, tightly gripping the end of the net rope cut by the saw blade 4. Then, in conjunction with the action of the grass grabber 1 or the movement of the frame, the net rope is pulled out and released into the collection area.

[0034] Grass catcher 1 clamps the grass bale -> Gear motor 3 starts and drives saw blade 4 to swing -> First phototube 5 assists in positioning -> Saw blade cuts the net rope -> Second phototube 6 detects the broken net rope -> Signal triggers valve 7 -> Cylinder 8 actuates -> Mechanical finger 9 grabs the net rope -> Net removal is completed.

[0035] This cylindrical straw bale intelligent net removal machine is intelligently controlled by a PLC controller. A second set of mechanical fingers 9 can be added about 50cm below the first mechanical finger 9 to achieve secondary net removal.

[0036] During a single grabbing process, the net and a small amount of loose grass are simultaneously hooked. When the grabber 1 releases its grab bucket, 99.99% of the grass has sunk to the bottom, but 0.01% of the grass and net remain attached to the hooks of the first set of mechanical fingers 9. To prevent these loose grasses from being mixed into the net and discharged together, causing grass damage, a secondary separation is performed using the secondary hooks of the second set of mechanical fingers 9. First, the secondary hooks of the second set of mechanical fingers 9 hook the lower empty net from which the grass has been poured out. Then, the primary hooks of the first set of mechanical fingers 9 are released, causing the loose grasses to separate from the net and fall off on their own. The clean net is firmly hooked by the secondary hooks of the second set of mechanical fingers 9. Finally, the grabber moves to the net drop point and releases the secondary hooks to drop the clean net. This completes the process of cutting the rope and removing the net from a round bale of grass, achieving nearly 100% automated separation of grass and net.

[0037] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A cylindrical intelligent straw bale net removal machine, characterized in that, The machine includes a frame (2), on which a grass grabber (1) capable of opening and closing is mounted. A second phototube (6), a solenoid valve (7), a control cylinder (8), and a gripper assembly (9) are respectively mounted on the front side of the frame (2). The control cylinder (8) is used to drive the gripper assembly (9) to grab and release. A geared motor (3), a swing saw blade (4), and a first phototube (5) are mounted on the upper part of the grass grabber (1). The geared motor (3) is connected to the swing saw blade (4) in a transmission.

2. The cylindrical straw bale intelligent net removal machine according to claim 1, characterized in that, The air port of the solenoid valve (7) is connected to the control cylinder (8) through an air pipe, and the electronic control terminal of the solenoid valve (7) is used to receive external control signals to control the opening and closing of the air path and thus drive the control cylinder (8) to move.

3. The cylindrical straw bale intelligent net removal machine according to claim 1, characterized in that, The gripper assembly (9) is specifically composed of multiple sets of mechanical fingers, which are arranged in an array to accommodate the gripping requirements of cylindrical straw bags.

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