300jk, I grew up on a farm picking up bales by hand off the ground and then later in high school my Dad bought a thrower after he stopped custom baling with a NH 77. I was trained as an Engineer and worked 37 years and helped the neighbor load wagons off the back of the baler when I had time. So I feel qualified to at least comment.
I have always thought the accumulator/grapple approach was interesting. Everyone seems to have a loader tractor or skid steer to handle the grapple. Use the 3pt to hitch and un-hitch the wagon or trailer so that tractor can be used at both ends, field and storage. There are YouTube videos showing people doing this.
The problem seems to be the accumulator. They are expensive and look like something Rube-Goldberg invented. What has occurred to me is the accumulators build a large pod of bales, with multiple rows. How about an accumulator that only makes one row of bales. The grapple has to travel the field anyway, how about the grapple builds a multiple row pod as the tractor/grapple travels the field. This seems like it could greatly simplify the accumulator.
The other thought is the accumulator that drags or pushes the bales. I think some of these are a combination accumulator/grapple. I think I have seen some of these on YouTube. What I don't know is how much does dragging or pushing the bale on the ground damage the bale or cause breakage.
Just some thoughts. I am going to look through YouTube a little.
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