CN110774961A - Agricultural is with bundle automatic loading equipment of dress straw - Google Patents
Agricultural is with bundle automatic loading equipment of dress straw Download PDFInfo
- Publication number
- CN110774961A CN110774961A CN201911147019.8A CN201911147019A CN110774961A CN 110774961 A CN110774961 A CN 110774961A CN 201911147019 A CN201911147019 A CN 201911147019A CN 110774961 A CN110774961 A CN 110774961A
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- conveyor belt
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/36—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using endless chains or belts thereon
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/44—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading having a loading platform thereon raising the load to the level of the load-transporting element
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/44—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading having a loading platform thereon raising the load to the level of the load-transporting element
- B60P1/4485—Attaching the complete loading platform unit to the vehicle
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Abstract
The invention discloses an agricultural automatic loading device for bundling straws, which comprises: the straw bundle conveying device comprises a conveying device, a stacking device, a gripping device and a vehicle body, wherein the gripping device is installed at the front end of the conveying device, when the straw bundle conveying device is used, the vehicle body runs along one side of a straw bundle, the straw bundle is identified through a camera, the straw bundle is conveyed to a second transmission belt, the straw bundle is conveyed to a first transmission belt through the second transmission belt, and after the straw bundle is fully placed on the first transmission belt, the straw bundle is clamped through coordinated work of all parts of the stacking device and placed in a carriage of the vehicle body in sequence, so that the time for loading and stacking can be effectively saved, the loading efficiency is improved, the working intensity of people is greatly reduced, and automatic loading and stacking are realized.
Description
Technical Field
The invention relates to the technical field of agricultural automation, in particular to automatic loading equipment for bundling straws for agriculture.
Background
Along with the continuous development of national agriculture, the automation degree of agriculture is gradually improved, advanced equipment replaces manpower and is an irresistible trend, more and more modern machines are applied to agricultural production, and the development of agriculture is guaranteed. The traditional manual loading and stacking of straw bundles wastes time and labor, and multiple persons are required to work simultaneously to load the straw bundles, so that the manpower resource is wasted, and the machine for quickly loading and stacking the straw bundles instead of manpower is required to be invented.
Disclosure of Invention
Aiming at the problems, the invention provides agricultural automatic straw bundling and loading equipment, which aims to solve the problems that the traditional manual loading and stacking process is time-consuming and labor-consuming.
The technical scheme adopted by the invention is as follows: an agricultural is with automatic loading equipment of bundle dress straw, includes: the device comprises a conveying device, a stacking device, a grabbing device and a vehicle body;
the conveying device is arranged on the left side surface of the carriage of the vehicle body, the stacking device is arranged on the right side surface of the carriage of the vehicle body, the gripping device is arranged at the front end of the conveying device, and an automatic loading controller is arranged in a cab of the vehicle body;
the vehicle body runs along one side of the straw bundle, the grabbing device grabs the straw bundle and transports the straw bundle to the stacking device, and the stacking device puts the straw bundle into the carriage in sequence.
Further, the transportation device includes: the straw bundle conveying device comprises an inclined conveying module, a horizontal conveying module and an auxiliary grabbing module, wherein the auxiliary grabbing module assists in grabbing a part to grab a straw bundle, the inclined conveying module automatically conveys the straw bundle to the horizontal conveying module above a carriage, and the horizontal conveying module sequentially conveys the straw bundle horizontally to the side of a stacking position corresponding to the carriage.
Further, the horizontal conveyance module includes: the conveying device comprises a telescopic sleeve fixing frame, a first telescopic sleeve, a first conveying belt fixing frame, a first conveying belt baffle and a first conveying belt;
the side surface of the telescopic sleeve fixing frame is fixedly arranged on the left side surface of the carriage, the first telescopic sleeve is fixedly arranged on the telescopic sleeve fixing frame, the sleeve side surface of the first telescopic sleeve is fixedly connected with the left side surface of the carriage, and the telescopic rod end of the first telescopic sleeve is fixedly connected with the first conveyor belt fixing frame;
the first conveyor belt baffle is fixedly arranged on the first conveyor belt fixing frame, the first conveyor belt is rotatably arranged on the inner side of the first conveyor belt fixing frame, and the first conveyor belt wraps the driving wheel on the inner side of the first conveyor belt fixing frame.
Further, the inclined transport module includes: the second telescopic sleeve, the second conveyor belt fixing frame, the second conveyor belt baffle, the second conveyor belt and the straw baffle;
the sleeve bottom end of the second telescopic sleeve is fixedly arranged on the sleeve side face of the first telescopic sleeve, and a rotating shaft on the inner side of the telescopic rod end of the second telescopic sleeve is rotatably connected with the side face of the second conveyor belt fixing frame; the second conveyor belt baffle is fixedly arranged on the second conveyor belt fixing frame; the second transmission belt is rotatably arranged in the second transmission belt fixing frame, the second transmission belt coats the transmission wheel on the inner side of the second transmission belt fixing frame, and the second transmission belt is provided with a straw baffle.
Further, the auxiliary grabbing module comprises: the device comprises a fixed rod, a rotating shaft, a third telescopic sleeve, a first fixed hinged support, a sleeve angle adjusting hydraulic cylinder, a second fixed hinged support and a steering engine;
the lower end of the fixed rod is fixedly arranged on the side surface of the second conveyor belt fixing frame, and the upper end of the fixed rod is fixedly connected with the rotating shaft; the sleeve bottom end of the third telescopic sleeve is fixedly arranged on the rotating shaft;
the bottom end of the first fixed hinged support is fixedly arranged on the lower end face of the fixed rod, and a rotating shaft of the first fixed hinged support is fixedly connected with the bottom end of a cylinder body of the sleeve angle adjusting hydraulic cylinder; the bottom end of the second fixed hinged support is fixedly arranged on the lower end face of the sleeve of the third telescopic sleeve, and a rotating shaft of the second fixed hinged support is fixedly connected with a piston rod end of the sleeve angle adjusting hydraulic cylinder; the steering engine is fixedly installed on the side face of the end of the telescopic rod of the third telescopic sleeve, and a steering engine shaft of the steering engine is fixedly connected with the side face of the fixed plate of the grabbing part.
Further, the stacking device further comprises: the stacking device comprises a first sliding guide rail, an upper driving motor, a lower driving motor, a first sliding block, a second sliding guide rail, a left driving motor, a right driving motor, a second sliding block, a stacking clamp adjusting hydraulic cylinder fixing plate, a stacking clamp adjusting hydraulic cylinder, a stacking clamp plate driving hydraulic cylinder and a stacking clamp plate;
the left side surface of the first sliding guide rail is fixedly arranged on the right side surface of the carriage, the up-and-down driving motor is fixedly arranged on the first sliding guide rail, and a motor shaft of the up-and-down driving motor is fixedly connected with a rotating shaft of the first sliding guide rail;
the first sliding block is slidably arranged in a sliding groove of the first sliding guide rail; the right end of the second sliding guide rail is fixedly arranged on the side surface of the first sliding block; the left and right driving motors are fixedly arranged at the left end of the second sliding guide rail, and motor shafts of the left and right driving motors are fixedly connected with a rotating shaft in the second sliding guide rail;
the second sliding block is slidably arranged in a sliding groove of the second sliding guide rail; the upper end surface of the stacking clamp adjusting hydraulic cylinder fixing plate is fixedly connected with the lower end surface of the second sliding block; the bottom end of a cylinder body of the stacking clamp adjusting hydraulic cylinder is fixedly arranged on the side surface of a fixed plate of the stacking clamp adjusting hydraulic cylinder, and the end of a piston rod of the stacking clamp adjusting hydraulic cylinder is fixedly connected with an upper panel of the stacking clamp; the bottom end of a cylinder body of the stacking clamp plate driving hydraulic cylinder is fixedly arranged on the side face of the stacking clamp, and the piston rod end of the cylinder body is fixedly connected with the side face of the stacking clamp plate.
Further, the gripping device further comprises: the device comprises a grabbing part fixing plate, a first dovetail groove, a third sliding block, a rotary feeding fixing frame, a rotary motor, a rotary feeding plate, a sliding block driving electric cylinder, a fixing plate moving electric cylinder, a clamping fixing plate, a second dovetail groove, a camera, a sliding clamping plate and a clamping plate driving electric cylinder;
the grabbing part fixing plate is rotatably arranged on the inner side of the telescopic rod end of the third telescopic sleeve and is provided with a first dovetail groove; a boss on the third sliding block is slidably arranged in the first dovetail groove; the upper end of the rotary feeding fixing frame is fixedly arranged on the lower end surface of the fixed plate of the grabbing part;
the rotary motor is fixedly arranged on the side surface of the rotary feeding fixing frame, and a motor shaft of the rotary motor is fixedly connected with a middle rotating shaft of the rotary feeding plate; the bottom end of the cylinder body of the slide block driving electric cylinder is fixedly arranged on the side surface of the lower panel of the fixed plate of the grabbing part, and the piston rod end of the slide block driving electric cylinder is fixedly connected with the side surface of the third slide block;
the bottom end of the movable electric cylinder body of the fixed plate is fixedly arranged on the lower end surface of the third sliding block, and the piston rod end of the movable electric cylinder body of the fixed plate is fixedly connected with the upper end surface of the clamping fixed plate; a second dovetail groove is formed in the lower end face of the clamping fixing plate; the camera is fixedly arranged in the groove in the middle of the clamping fixing plate; the sliding table at the upper end of the sliding clamping plate is slidably arranged in the second dovetail groove; the bottom end of the cylinder body of the clamping plate driving electric cylinder is fixedly arranged on the inner side of the side plate of the clamping fixing plate, and the piston rod end of the clamping plate driving electric cylinder is fixedly connected with the sliding clamping plate.
Furthermore, the transportation device, the stacking device and the gripping device can change corresponding shapes according to different vehicle bodies, so that the vehicle bodies are adapted to facilitate loading and stacking.
Further, the vehicle body is a common agricultural vehicle comprising a cab, a frame, an engine and wheels.
Further, the automatic loading controller includes: an operation panel and a central processing unit;
the central processor can write a control program, and the operation panel can manually operate the equipment and can also enable the whole equipment to automatically work according to the set program.
The invention has the beneficial technical effects that:
(1) according to the straw bundle picking device, the camera is used for recognizing straw bundles, the fixed plate is moved by the fixed plate moving electric cylinder to drive the clamping fixed plate to move downwards to the position above the straw bundles, the clamping plate drives the electric cylinder to drive the sliding clamping plate to slide to clamp the straw bundles, the electric cylinder is driven by the sliding block to drive the third sliding block to slide so as to drive the clamping fixed plate with the straw bundles to move to the rotating feeding plate, the rotating feeding plate is driven by the third step of feeding electricity to rotate so as to transport the straw bundles to the second conveying belt, the straw bundles on the second conveying belt are transported to the first conveying belt through the rotation of the second conveying belt, so that the straw bundle picking is completed, the time for taking the straw bundles and loading the truck;
(2) according to the straw stacking device, the hydraulic cylinder is driven by the stacking clamp plate to drive the stacking clamp plate to move so as to enable the stacking clamp to clamp the straw bundle, the first sliding block drives the second sliding guide rail to slide so as to drive the stacking clamp adjusting hydraulic cylinder fixing plate and the stacking clamp adjusting hydraulic cylinder to move so as to drive the stacking clamp clamping the straw bundle to move from top to bottom, the straw bundle is sequentially placed in a carriage of the vehicle body, the second sliding block drives the stacking clamp adjusting hydraulic cylinder fixing plate to move so as to drive the stacking clamp adjusting hydraulic cylinder to move so as to drive the stacking clamp clamping the straw bundle to place the straw bundle in the carriage according to a set sequence, the stacking time is saved, the truck stacking efficiency is improved, the labor is saved, and automatic stacking is realized.
Drawings
Fig. 1, 2 and 3 are schematic overall structural diagrams of the present invention.
Fig. 4 and 5 are schematic structural views of the transportation device of the present invention.
Fig. 6 is a partially enlarged schematic view of the transportation device of the present invention.
Fig. 7 is a schematic view of the palletizing device according to the present invention.
Fig. 8 and 9 are schematic structural views of the grasping apparatus of the present invention.
Reference numerals:
1-a transportation device; 2-a stacking device; 3-a gripping device; 4-a vehicle body; 101-a telescopic sleeve fixing frame; 102-a first telescopic sleeve; 103-a first conveyor belt mount; 104-a first conveyor apron; 105-a first conveyor belt; 106-a second telescoping sleeve; 107-a second conveyor belt mount; 108-a second conveyor apron; 109-a second belt; 110-straw baffles; 111-fixing bars; 112-a rotating shaft; 113-a third telescopic sleeve; 114-a first fixed hinge mount; 115-sleeve angle adjustment hydraulic cylinder; 116-a second fixed hinge mount; 117-steering engine; 201-a first sliding guide; 202-up and down driving motor; 203-a first slider; 204-a second sliding guide; 205-left and right driving motors; 206-a second slider; 207-pallet clamp adjusting hydraulic cylinder fixing plate; 208-a pallet clamp adjusting hydraulic cylinder; 209-stacking clamp; 210-pallet clamp plate driving hydraulic cylinder; 211-pallet clamp plate; 301-gripping part fixing plate; 302-a first dovetail slot; 303-a third slider; 304-rotating the feeding fixing frame; 305-a rotating motor; 306-rotating the feed plate; 307-slide block driving electric cylinder; 308-fixed plate moving electric cylinder; 309-clamping a fixed plate; 310-a second dovetail slot; 311-a camera; 312-a sliding clamp plate; 313-clamp plate drive cylinder.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as broadly as the present invention is capable of modification in various respects, all without departing from the spirit and scope of the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description of the present invention, it should be further noted that the terms "upper", "lower", "front", "back", "left", "right", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that are conventionally placed when the products of the present invention are used, and are used for convenience of description and simplicity of description only, and do not indicate or imply that the devices or elements indicated must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Embodiments are shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, and fig. 9, and an automatic loading device for baled straws for agriculture includes: the device comprises a conveying device 1, a stacking device 2, a grabbing device 3 and a vehicle body 4;
the conveying device 1 is arranged on the left side surface of a carriage of the vehicle body 4, the stacking device 2 is arranged on the right side surface of the carriage of the vehicle body 4, the gripping device 3 is arranged at the front end of the conveying device 1, and an automatic loading controller is arranged in a cab of the vehicle body 4;
the transportation device 1 includes: a telescopic sleeve fixing frame 101, a first telescopic sleeve 102, a first conveyor belt fixing frame 103 and a third telescopic sleeve 113; specifically, straw bales are transported by the transport device 1;
the stacking device 2 comprises: a first slide rail 201; specifically, straw bundles are stacked in a carriage of a vehicle body 4 through a stacking device 2;
the gripping device 3 comprises: a grasping portion fixing plate 301; concretely, the straw bundles are grabbed onto the conveying device 1 through the grabbing device 3;
the side surface of the telescopic sleeve fixing frame 101 is fixedly arranged on the left side surface of a carriage of the vehicle body 4, the first telescopic sleeve 102 is fixedly arranged on the telescopic sleeve fixing frame 101, the sleeve side surface of the first telescopic sleeve 102 is fixedly connected with the left side surface of the carriage of the vehicle body 4, the telescopic rod end of the first telescopic sleeve 102 is fixedly connected with the first conveying belt fixing frame 103, and specifically, the first telescopic sleeve 102 pushes the first conveying belt fixing frame 103 to move, so that the height of the first conveying belt 105 is adapted to the carriage height of the vehicle body 4; the left side surface of the first sliding guide rail 201 is fixedly arranged on the right side surface of the carriage of the vehicle body 4; the fixed plate 301 for the grabbing part is rotatably arranged on the inner side of the telescopic rod end of the third telescopic sleeve 113;
the automatic loading controller includes: the operation panel and the central processing unit are used for controlling the automatic work of the whole equipment;
the during operation is with all automatic electrically controlled equipment and automatic loading controller electric connection for the loading, all motors and electric jar provide drive power by automobile body 4, all pneumatic cylinders are connected with the hydraulic power unit on the automobile body 4 through the pipeline, write control program in central processing unit as required, can manual operation operating panel come the control equipment during use, also can let whole equipment according to setting for the procedure automatic work, whole loading working process is through automatic loading controller automated control, grabbing device 3 picks up the straw bundle and transports pile up device 2, pile up device 2 puts the carriage with the straw bundle according to the order, thereby the automatic straw bundle loading pile up work of loading.
In an alternative implementation manner of the embodiment of the present invention, as shown in fig. 4, 5, and 6, the transportation device 1 further includes: the straw bundle feeding device comprises a first conveyor belt baffle 104, a first conveyor belt 105, a second telescopic sleeve 106, a second conveyor belt fixing frame 107, a second conveyor belt baffle 108, a second conveyor belt 109, a straw baffle 110, a fixing rod 111, a rotating shaft 112, a third telescopic sleeve 113, a first fixed hinged support 114, a sleeve angle adjusting hydraulic cylinder 115, a second fixed hinged support 116 and a steering engine 117, wherein the first conveyor belt baffle 104 is fixedly arranged on the first conveyor belt fixing frame 103, the front end of a side plate of the first conveyor belt baffle 104 is provided with an induction device, and whether a straw bundle on the first conveyor belt 105 is full is induced through the induction device; the first conveyor belt 105 is rotatably installed on the inner side of the first conveyor belt fixing frame 103, the first conveyor belt 105 wraps the driving wheel on the inner side of the first conveyor belt fixing frame 103, straw bundles on the first conveyor belt 105 are sequentially aligned through the rotation of the first conveyor belt 105, and the rotation is stopped after the straw bundles are fully placed on the first conveyor belt 105; the bottom end of the second telescopic sleeve 106 is fixedly arranged on the side face of the sleeve of the first telescopic sleeve 102, a rotating shaft on the inner side of a telescopic rod end of the second telescopic sleeve 106 is rotatably connected with the side face of the second conveyor belt fixing frame 107, specifically, the telescopic rods of the upper and lower parts of the second telescopic sleeve 106 cooperate to adjust the inclination angle of the second conveyor belt fixing frame 107, so that the upper end of the second conveyor belt 109 is level with the first conveyor belt 105; the second conveyor belt baffle 108 is fixedly arranged on the second conveyor belt fixing frame 107; the second transmission belt 109 is rotatably arranged in the second transmission belt fixing frame 107, the second transmission belt 109 coats the transmission wheel on the inner side of the second transmission belt fixing frame 107, the second transmission belt 109 is provided with a straw baffle 110, straw bundles on the second transmission belt 109 are transported to the first transmission belt 105 through rotation of the second transmission belt 109, and when the straw bundles on the first transmission belt 105 are fully placed, the second transmission belt 109 stops rotating; the lower end of the fixing rod 111 is fixedly arranged on the side surface of the second conveyor belt fixing frame 107, and the upper end of the fixing rod 111 is fixedly connected with the rotating shaft 112; the bottom end of the third telescopic sleeve 113 is fixedly arranged on the rotating shaft 112, and the gripping part 3 is driven to move by the telescopic rod of the third telescopic sleeve 113; the bottom end of the first fixed hinged support 114 is fixedly installed on the lower end surface of the fixed rod 111, and the rotating shaft of the first fixed hinged support is fixedly connected with the bottom end of the cylinder body of the sleeve angle adjusting hydraulic cylinder 115; the bottom end of the second fixed hinge base 116 is fixedly installed on the lower end face of the sleeve of the third telescopic sleeve 113, the rotating shaft of the second fixed hinge base is fixedly connected with the piston rod end of the sleeve angle adjusting hydraulic cylinder 115, and specifically, the third telescopic sleeve 113 is pushed to rotate by the sleeve angle adjusting hydraulic cylinder 115; when the second conveyor belt fixing frame 107 needs to switch the inclination angle, the grabbing part 3 is enabled to conveniently grab the straw bundle through the coordinated work of the third telescopic sleeve 113 and the sleeve angle adjusting hydraulic cylinder 115; steering wheel 117 is fixed mounting in the flexible rod end side of third telescopic tube 113, and its steering wheel axle and the side fixed connection of grabbing part fixed plate 301 drive through steering wheel 117 and snatch part 3 and rotate thereby make snatch part 3 keep vertical conveniently and snatch the straw bundle.
In an alternative implementation of the embodiment of the present invention, as shown in fig. 7, the palletizing device 2 further includes: the automatic stacking device comprises an upper and lower driving motor 202, a first sliding block 203, a second sliding guide rail 204, a left and right driving motor 205, a second sliding block 206, a stacking clamp adjusting hydraulic cylinder fixing plate 207, a stacking clamp adjusting hydraulic cylinder 208, a stacking clamp 209, a stacking clamp plate driving hydraulic cylinder 210 and a stacking clamp plate 211, wherein the upper and lower driving motor 202 is fixedly arranged on the first sliding guide rail 201, a motor shaft of the upper and lower driving motor is fixedly connected with a rotating shaft of the first sliding guide rail 201, and the upper and lower driving motor 202 drives the rotating shaft of the first sliding guide rail 201 to rotate so as to drive the first sliding block 203 to slide up and; the first sliding block 203 is slidably mounted in the sliding groove of the first sliding guide rail 201; the right end of the second sliding guide 204 is fixedly arranged on the side surface of the first sliding block 203; the left and right driving motor 205 is fixedly installed at the left end of the second sliding guide rail 204, a motor shaft of the left and right driving motor 205 is fixedly connected with a rotating shaft in the second sliding guide rail 204, and the rotating shaft of the second sliding guide rail 204 is driven to rotate by the left and right driving motor 205 so as to drive the second sliding block 206 to slide left and right; the second sliding block 206 is slidably mounted in the sliding groove of the second sliding guide rail 204; the upper end surface of the stacking clamp adjusting hydraulic cylinder fixing plate 207 is fixedly connected with the lower end surface of the second sliding block 206; the bottom end of the cylinder body of the pallet clamp adjusting hydraulic cylinder 208 is fixedly arranged on the side surface of the pallet clamp adjusting hydraulic cylinder fixing plate 207, the piston rod end of the pallet clamp adjusting hydraulic cylinder 208 is fixedly connected with the upper panel of the pallet clamp 209, and the pallet clamp 209 is pushed by the pallet clamp adjusting hydraulic cylinder 208; the bottom end of the cylinder body of the pallet clamp driving hydraulic cylinder 210 is fixedly arranged on the side surface of the pallet clamp 209, the piston rod end of the pallet clamp driving hydraulic cylinder 210 is fixedly connected with the side surface of the pallet clamp 211, and the pallet clamp driving hydraulic cylinder 210 drives the pallet clamp 211 to move so as to enable the pallet clamp 209 to clamp or loosen the straw bundle; specifically, after sensing the straw bundle on the first conveyer belt 105 and putting it to full when the induction system of first conveyer belt baffle 104 side senses, thereby drive pile clamp plate 211 through pile clamp plate drive hydraulic cylinder 210 and remove and make pile clamp 209 press from both sides the straw bundle, then drive second sliding guide 204 through first slider 203 and slide thereby drive pile clamp adjustment hydraulic cylinder fixed plate 207 and pile clamp adjustment hydraulic cylinder 208 and remove and then drive the pile clamp 209 that accompanies the straw bundle from the top down the removal in proper order to put the straw bundle into the carriage of automobile body 4, thereby drive pile clamp adjustment hydraulic cylinder fixed plate 207 through second slider 206 and remove and thereby drive pile clamp adjustment hydraulic cylinder 208 and remove and then drive the pile clamp 209 that accompanies the straw bundle to put the pile into the carriage according to established order with the straw.
In an alternative implementation manner of the embodiment of the present invention, as shown in fig. 8 and 9, the gripping device 3 further includes: the device comprises a first dovetail groove 302, a third slide block 303, a rotary feeding fixing frame 304, a rotary motor 305, a rotary feeding plate 306, a slide block driving electric cylinder 307, a fixed plate moving electric cylinder 308, a clamping fixed plate 309, a second dovetail groove 310, a camera 311 and a sliding clamping plate 312, wherein the first dovetail groove 302 is arranged on the fixed plate 301 of the grabbing part; the upper boss of the third slider 303 is slidably mounted in the first dovetail groove 302; the upper end of the rotary feeding fixing frame 304 is fixedly arranged on the lower end surface of the grabbing part fixing plate 301; the rotary motor 305 is fixedly arranged on the side surface of the rotary feeding fixing frame 304, a motor shaft of the rotary motor is fixedly connected with a middle rotating shaft of the rotary feeding plate 306, and the rotary motor 305 drives the rotary feeding plate 306 to rotate; the bottom end of the cylinder body of the electric cylinder 307 for driving the slide block is fixedly arranged on the side surface of the lower panel of the fixed plate 301 for grabbing part, the piston rod end of the electric cylinder 307 for driving the slide block is fixedly connected with the side surface of the third slide block 303, and the electric cylinder 307 for driving the slide block drives the third slide block 303 to slide; the bottom end of the cylinder body of the fixed plate moving electric cylinder 308 is fixedly arranged on the lower end surface of the third sliding block 303, the piston rod end of the fixed plate moving electric cylinder 308 is fixedly connected with the upper end surface of the clamping fixed plate 309, and the clamping fixed plate 309 is driven to move by the fixed plate moving electric cylinder 308; a second dovetail groove 310 is formed in the lower end surface of the clamping fixing plate 309; the camera 311 is fixedly arranged in a groove in the middle of the clamping fixing plate 309, and when the vehicle body moves, the straw bundles are identified through the camera 311 and then clamped by the clamping fixing plate 309; the upper sliding table of the sliding clamping plate 312 is slidably mounted in the second dovetail groove 310; the bottom end of the cylinder body of the clamping plate driving electric cylinder 313 is fixedly arranged on the inner side of the side plate of the clamping fixing plate 309, the piston rod end of the clamping plate driving electric cylinder 313 is fixedly connected with the sliding clamping plate 312, and the clamping fixing plate 309 clamps or loosens the straw bundle by driving the electric cylinder 313 to drive the sliding clamping plate 312 to slide through the clamping plate; specifically, when the straw bundle conveying device is used, the vehicle body 4 runs along one side of the straw bundle, the straw bundle is identified through the camera 311, the clamping fixing plate 309 is driven to move downwards to the upper side of the straw bundle by the fixing plate moving electric cylinder 308, the sliding clamping plate 312 is driven to slide and clamp the straw bundle by the clamping plate driving electric cylinder 313, the third sliding block 303 is driven to slide by the sliding block driving electric cylinder 307, the clamping fixing plate 309 with the straw bundle is driven to move to the rotating feeding plate 306, and the rotating feeding plate 306 is driven to rotate by the rotating motor 305 to convey the straw bundle to the second conveying belt 109.
Claims (10)
1. The utility model provides an agricultural is with automatic loading equipment of bundle dress straw which characterized in that includes: the device comprises a conveying device (1), a stacking device (2), a grabbing device (3) and a vehicle body (4);
the conveying device (1) is arranged on the left side surface of a carriage of the vehicle body (4), the stacking device (2) is arranged on the right side surface of the carriage of the vehicle body (4), the grabbing device (3) is arranged at the front end of the conveying device (1), and an automatic loading controller is arranged in a cab of the vehicle body (4);
the straw stacking vehicle is characterized in that the vehicle body (4) runs along one side of the straw bundle, the grabbing device (3) grabs the straw bundle and transports the straw bundle to the stacking device (2), and the stacking device (2) puts the straw bundle into a carriage in sequence.
2. The agricultural automatic loading equipment for bundled straws as claimed in claim 1, wherein the transportation device (1) comprises: the straw bundle conveying device comprises an inclined conveying module, a horizontal conveying module and an auxiliary grabbing module, wherein the auxiliary grabbing module assists in grabbing a part (3) to grab a straw bundle, the inclined conveying module automatically conveys the straw bundle to the horizontal conveying module above a carriage, and the horizontal conveying module sequentially horizontally conveys the straw bundle to the side of a stacking position corresponding to the carriage.
3. The agricultural automatic loading device for bundled straws as claimed in claim 2, wherein the horizontal conveying module comprises: the conveying device comprises a telescopic sleeve fixing frame (101), a first telescopic sleeve (102), a first conveying belt fixing frame (103), a first conveying belt baffle (104) and a first conveying belt 105;
the side face of the telescopic sleeve fixing frame (101) is fixedly arranged on the left side face of the carriage, the first telescopic sleeve (102) is fixedly arranged on the telescopic sleeve fixing frame (101), the sleeve side face of the first telescopic sleeve (102) is fixedly connected with the left side face of the carriage, and the telescopic rod end of the first telescopic sleeve (102) is fixedly connected with the first conveying belt fixing frame (103);
the first conveyor belt baffle (104) is fixedly arranged on the first conveyor belt fixing frame (103), the first conveyor belt (105) is rotatably arranged on the inner side of the first conveyor belt fixing frame (103), and the first conveyor belt (105) wraps the driving wheel on the inner side of the first conveyor belt fixing frame (103).
4. The agricultural automatic loading device for bundled straws as claimed in claim 3, wherein the inclined conveying module comprises: a second telescopic sleeve (106), a second conveyor belt fixing frame (107), a second conveyor belt baffle (108), a second conveyor belt (109) and a straw baffle (110);
the sleeve bottom end of the second telescopic sleeve (106) is fixedly arranged on the sleeve side face of the first telescopic sleeve (102), and a rotating shaft on the inner side of the telescopic rod end of the second telescopic sleeve (106) is rotatably connected with the side face of the second conveyor belt fixing frame (107); the second conveyor belt baffle (108) is fixedly arranged on the second conveyor belt fixing frame (107); the second transmission belt (109) is rotatably arranged in the second transmission belt fixing frame (107), the second transmission belt (109) coats the transmission wheel on the inner side of the second transmission belt fixing frame (107), and the second transmission belt (109) is provided with a straw baffle (110).
5. The agricultural automatic loading device for bundled straws as claimed in claim 4, wherein the auxiliary grabbing module comprises: the device comprises a fixed rod (111), a rotating shaft (112), a third telescopic sleeve (113), a first fixed hinged support (114), a sleeve angle adjusting hydraulic cylinder (115), a second fixed hinged support (116) and a steering engine (117);
the lower end of the fixing rod (111) is fixedly arranged on the side surface of the second conveyor belt fixing frame (107), and the upper end of the fixing rod (1111) is fixedly connected with the rotating shaft (112); the bottom end of the third telescopic sleeve (113) is fixedly arranged on the rotating shaft (112);
the bottom end of the first fixed hinged support (114) is fixedly arranged on the lower end face of the fixed rod (111), and a rotating shaft of the first fixed hinged support is fixedly connected with the bottom end of a cylinder body of the sleeve angle adjusting hydraulic cylinder (115); the bottom end of the second fixed hinged support (116) is fixedly arranged on the lower end face of the sleeve of the third telescopic sleeve (113), and a rotating shaft of the second fixed hinged support is fixedly connected with the piston rod end of the sleeve angle adjusting hydraulic cylinder (115); the steering engine (117) is fixedly arranged on the side surface of the end of the telescopic rod of the third telescopic sleeve (113), and the steering engine shaft of the steering engine is fixedly connected with the side surface of the grabbing part fixing plate (301) of the grabbing part (3).
6. The agricultural automatic loading equipment for bundled straws as claimed in claim 1, wherein the stacking device (2) further comprises: the automatic stacking device comprises a first sliding guide rail (201), an up-and-down driving motor (202), a first sliding block (203), a second sliding guide rail (204), a left-and-right driving motor (205), a second sliding block (206), a stacking clamp adjusting hydraulic cylinder fixing plate (207), a stacking clamp adjusting hydraulic cylinder (208), a stacking clamp (209), a stacking clamp plate driving hydraulic cylinder (210) and a stacking clamp plate (211);
the left side surface of the first sliding guide rail (201) is fixedly arranged on the right side surface of the carriage, the up-and-down driving motor (202) is fixedly arranged on the first sliding guide rail (201), and a motor shaft of the up-and-down driving motor is fixedly connected with a rotating shaft of the first sliding guide rail (201);
the first sliding block (203) is slidably arranged in a sliding groove of the first sliding guide rail (201); the right end of the second sliding guide rail (204) is fixedly arranged on the side surface of the first sliding block (203); the left and right driving motors (205) are fixedly arranged at the left end of the second sliding guide rail (204), and motor shafts of the left and right driving motors are fixedly connected with a rotating shaft in the second sliding guide rail (204).
The second sliding block (206) is slidably arranged in a sliding groove of the second sliding guide rail (204); the upper end surface of a stacking clamp adjusting hydraulic cylinder fixing plate (207) is fixedly connected with the lower end surface of a second sliding block (206); the bottom end of a cylinder body of the stacking clamp adjusting hydraulic cylinder (208) is fixedly arranged on the side surface of a fixing plate (207) of the stacking clamp adjusting hydraulic cylinder, and the piston rod end of the stacking clamp adjusting hydraulic cylinder is fixedly connected with an upper panel of a stacking clamp (209); the bottom end of a cylinder body of the pallet clamping plate driving hydraulic cylinder (210) is fixedly arranged on the side surface of the pallet clamp (209), and the piston rod end of the piston rod is fixedly connected with the side surface of the pallet clamping plate (211).
7. The agricultural automatic loading equipment for bundled straws as claimed in claim 1, wherein the gripping device (3) further comprises: the device comprises a grabbing part fixing plate (301), a first dovetail groove (302), a third sliding block (303), a rotary feeding fixing frame (304), a rotary motor (305), a rotary feeding plate (306), a sliding block driving electric cylinder (307), a fixing plate moving electric cylinder (308), a clamping fixing plate (309), a second dovetail groove (310), a camera (311), a sliding clamping plate (312) and a clamping plate driving electric cylinder (313);
the grabbing part fixing plate (301) is rotatably arranged on the inner side of the telescopic rod end of the third telescopic sleeve (113), and a first dovetail groove (302) is formed in the grabbing part fixing plate (301); the upper boss of the third sliding block (303) is arranged in the first dovetail groove (302) in a sliding mode; the upper end of the rotary feeding fixing frame (304) is fixedly arranged on the lower end surface of the grabbing part fixing plate (301);
the rotary motor (305) is fixedly arranged on the side surface of the rotary feeding fixing frame (304), and a motor shaft of the rotary motor is fixedly connected with a middle rotating shaft of the rotary feeding plate (306); the bottom end of the cylinder body of the slide block driving electric cylinder (307) is fixedly arranged on the side surface of the lower panel of the fixed plate (301) of the grabbing part, and the piston rod end of the slide block driving electric cylinder is fixedly connected with the side surface of the third slide block (303);
the bottom end of the cylinder body of the fixed plate moving electric cylinder (308) is fixedly arranged on the lower end surface of the third sliding block (303), and the piston rod end of the fixed plate moving electric cylinder is fixedly connected with the upper end surface of the clamping fixed plate (309); a second dovetail groove (310) is formed in the lower end face of the clamping fixing plate (309); the camera (311) is fixedly arranged in a groove in the middle of the clamping fixing plate (309); the upper sliding table of the sliding clamping plate (312) is slidably arranged in the second dovetail groove (310); the bottom end of the clamping plate driving electric cylinder (313) is fixedly arranged on the inner side of the side plate of the clamping fixing plate (309), and the piston rod end of the clamping plate driving electric cylinder is fixedly connected with the sliding clamping plate (312).
8. The agricultural automatic loading equipment for bundled straws as claimed in any one of claims 1-7, wherein the transporting device (1), the stacking device (2) and the gripping device (3) can be changed into corresponding shapes according to different vehicle bodies (4) so as to adapt to the vehicle bodies (4) for convenient loading and stacking.
9. The agricultural automatic loading equipment for bundled straws as claimed in claim 8, wherein the vehicle body (4) is a common agricultural vehicle comprising a cab, a frame, an engine and wheels.
10. The agricultural automatic loading device for bundled straws as claimed in claim 9, wherein the automatic loading controller comprises: an operation panel and a central processing unit;
the central processor can write a control program, and the operation panel can manually operate the equipment and can also enable the whole equipment to automatically work according to the set program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911147019.8A CN110774961A (en) | 2019-11-21 | 2019-11-21 | Agricultural is with bundle automatic loading equipment of dress straw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911147019.8A CN110774961A (en) | 2019-11-21 | 2019-11-21 | Agricultural is with bundle automatic loading equipment of dress straw |
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| Publication Number | Publication Date |
|---|---|
| CN110774961A true CN110774961A (en) | 2020-02-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911147019.8A Pending CN110774961A (en) | 2019-11-21 | 2019-11-21 | Agricultural is with bundle automatic loading equipment of dress straw |
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| Country | Link |
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| CN (1) | CN110774961A (en) |
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| CN107295861A (en) * | 2016-04-15 | 2017-10-27 | 内蒙古工业大学 | A kind of towed side's bale pickup stacking machine |
| CN207028982U (en) * | 2017-07-08 | 2018-02-23 | 重庆市永川区胜利路街道社区卫生服务中心 | A kind of Medical Devices transport vehicle |
| CN108908294A (en) * | 2018-07-09 | 2018-11-30 | 无锡南理工科技发展有限公司 | A kind of automated machine gripper equipment |
| CN209536486U (en) * | 2018-08-31 | 2019-10-25 | 天津农学院 | Square bale pickup stacking toter |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10351861A1 (en) * | 2003-11-06 | 2005-06-09 | Deere & Company, Moline | Method and steering system for automatically steering an agricultural machine |
| CN103042430A (en) * | 2013-01-04 | 2013-04-17 | 江苏天宏自动化科技有限公司 | Rotary shifting carrying gripper |
| CN205044609U (en) * | 2015-09-10 | 2016-02-24 | 深圳市宏钺智能科技有限公司 | But mobile robot who gets function is held in hand to tape unit tool |
| CN107295861A (en) * | 2016-04-15 | 2017-10-27 | 内蒙古工业大学 | A kind of towed side's bale pickup stacking machine |
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