Self-propelled straw round bale bundling and film wrapping control method and system

Abstract

This invention discloses a self-propelled straw round bale baling and wrapping control method and system, belonging to the field of agricultural machinery technology. The method includes: when a rear frame tilting down signal and a movable compartment closing signal are simultaneously detected, controlling the hay box to feed straw into the round baler; controlling the fixed compartment belt and the movable compartment belt to rotate simultaneously to roll the straw into cylindrical bales; and controlling the wrapping mechanism to wrap the cylindrical bales with a net to obtain a netted bale; when a bale positioning signal is detected, controlling the front bale rotating roller and the rear bale rotating roller to rotate simultaneously to drive the netted bale to rotate; and controlling the rotating frame to rotate to drive the outer film to wrap the netted bale, obtaining a wrapped bale; the bale positioning signal is the signal generated when the netted bale falls into the gap between the front bale rotating roller and the rear bale rotating roller. This invention realizes the integrated operation of straw baling and wrapping during the movement of the agricultural integrated machine, improving the overall work efficiency.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to a method and system for controlling the baling and wrapping of self-propelled straw round bales. Background Technology

[0002] In existing technologies, typical integrated agricultural machinery can only separate the ears and stalks of plants. The separated ears are then collected in a collection box. However, the separated stalks, after being crushed, cannot be effectively recycled and utilized. Furthermore, existing straw balers and wrapping machines operate independently. Baling and wrapping can only be performed separately by these independent machines after the straw is completely crushed. Therefore, current technology cannot integrate straw baling and wrapping during the movement of an integrated agricultural machinery. Summary of the Invention

[0003] The purpose of this invention is to provide a self-propelled straw round bale baling and wrapping control method and system, which realizes the integrated work of straw baling and wrapping during the movement of the agricultural integrated machine, thereby improving the overall work efficiency.

[0004] To achieve the above objectives, embodiments of the present invention provide the following solutions:

[0005] In a first aspect, the present invention provides a self-propelled straw round bale baling and wrapping control method, the control method being applied to a self-propelled straw round bale baling and wrapping integrated machine, the self-propelled straw round bale baling and wrapping integrated machine comprising: a straw box, a round bale machine, a wrapping machine, and a programmable controller; the round bale machine comprising: a fixed compartment, a movable compartment, and a wrapping mechanism; the wrapping machine comprising: a fixed frame, a rear frame corresponding to the fixed frame, a straw receiving plate disposed on the fixed frame, a front bale rotating roller and a rear bale rotating roller disposed opposite to each other on the rear frame along the direction of the straw receiving plate, a rotating frame and a film clamping plate disposed opposite to each other on the rear frame perpendicular to the direction of the straw receiving plate, and an outer film disposed on the rotating frame;

[0006] The wrapping machine is located behind the round baler; the movable compartment is hinged to the outer opening of the fixed compartment; the hay box is located on the side of the fixed compartment away from the movable compartment; the bottom of the hay box is connected to the interior of the fixed compartment via a hay box conveyor belt; the top of the fixed compartment is connected to the wrapping mechanism; the wrapping mechanism is equipped with a clamping roller, a film net, and a cutting knife; a fixed compartment belt is installed inside the fixed compartment; a movable compartment belt is installed inside the movable compartment; the programmable controller is used to execute the self-propelled straw round bale wrapping control method;

[0007] The control method includes:

[0008] When the rear frame tilts down to position signal and the movable compartment close signal are detected simultaneously, the straw box is controlled to feed straw into the round baler, the fixed compartment belt and the movable compartment belt are controlled to rotate simultaneously to roll the straw into cylindrical bales, and the netting mechanism is controlled to wrap the cylindrical bales with netting to obtain netted bales.

[0009] When a bale positioning signal is detected, the front bale rotating roller and the rear bale rotating roller are controlled to rotate simultaneously to drive the netted bale to rotate, and the rotating frame is controlled to rotate to drive the outer film to wrap around the netted bale, thus obtaining a wrapped bale; the bale positioning signal is the signal generated when the netted bale falls into the gap between the front bale rotating roller and the rear bale rotating roller; the rotation direction of the netted bale is perpendicular to the rotation direction of the rotating frame.

[0010] Optionally, when both the rear frame tilting-down signal and the movable compartment closing signal are detected simultaneously, the system controls the hay box to feed straw into the round baler, controls the fixed compartment belt and the movable compartment belt to rotate simultaneously to roll the straw into cylindrical bales, and controls the winding mechanism to wind the cylindrical bales to obtain wind-wound bales, specifically including:

[0011] When the rear frame tilts down to position signal and the movable compartment close signal are detected simultaneously, the straw box conveyor belt is controlled to convey the straw in the straw box to the round baler, the clamping roller is controlled to clamp one end of the film net, the cutting blade is controlled to reset, and the fixed compartment belt and the movable compartment belt are controlled to rotate simultaneously to twist the straw into cylindrical straw bales.

[0012] When the diameter of the cylindrical hay bale reaches the set diameter length, the hay box conveyor belt is controlled to stop conveying the straw and hay in the hay box to the round baler, and the clamping roller is controlled to rotate and wrap the cylindrical hay bale with netting to obtain a netted hay bale.

[0013] Optionally, controlling the clamping roller to rotate and wrap the cylindrical hay bale with the net to obtain a netted hay bale specifically includes:

[0014] Obtain the number of times the cylindrical hay bale is wrapped in netting at the current moment;

[0015] If the number of wrapping turns at the current moment reaches the first set number of wrapping turns, then the clamping roller is controlled to loosen one end of the film net and stop rotating, and the cylindrical hay bale is controlled to continue wrapping by its own rotation; if the number of wrapping turns at the current moment has not reached the first set number of wrapping turns, then the clamping roller is controlled to continue clamping and rotating and wrapping the cylindrical hay bale with net;

[0016] If the current number of web wrapping turns reaches the second preset number of web wrapping turns, the cutting blade is controlled to extend and cut the membrane web, and the movable chamber is controlled to open to the preset position, so that the resulting web-wrapped hay bale rolls out from the movable chamber; if the current number of web wrapping turns reaches the first preset number of web wrapping turns but does not reach the second preset number of web wrapping turns, the cylindrical hay bale is controlled to continue to wrap the web by rotating on its own; the second preset number of web wrapping turns is greater than the first preset number of web wrapping turns.

[0017] Optionally, when a bale positioning signal is detected, the front bale rotating roller and the rear bale rotating roller are controlled to rotate simultaneously to drive the wrapped bale to rotate, and the rotating frame is controlled to rotate to drive the outer film to wrap around the wrapped bale, thereby obtaining a wrapped bale, specifically including:

[0018] When a bale positioning signal is detected, the movable compartment is closed, the fixed frame and the rear frame are raised to a set height, the front bale rotating roller and the rear bale rotating roller are simultaneously rotated at low speed to drive the wrapped bale to rotate at low speed, the film clamping plate clamps one end of the outer film, and the rotating frame is rotated at low speed to drive the outer film to wrap around the wrapped bale.

[0019] When the number of wrapping layers of the netted hay bale reaches the set number of wrapping layers, the front hay bale rotating roller and the rear hay bale rotating roller are controlled to stop rotating, the rotating frame is controlled to return to the horizontal position and stop rotating, and the fixed frame and the rear frame are controlled to descend to the initial position and the rear frame is controlled to flip upward, so that the wrapped hay bale falls off from the gap between the front hay bale rotating roller and the rear hay bale rotating roller;

[0020] Once the wrapped hay bales have completely detached, control the rear frame to tilt back to its initial position.

[0021] Optionally, when the number of wrapping layers of the wire-wound bale reaches a set number of wrapping layers, the front bale rotating roller and the rear bale rotating roller are controlled to stop rotating, the rotating frame is controlled to return to a horizontal position and stop rotating, and the fixed frame and the rear frame are controlled to descend to their initial positions and the rear frame is controlled to flip upwards, so that the resulting wrapped bale falls off from the gap between the front bale rotating roller and the rear bale rotating roller, specifically including:

[0022] Obtain the number of wrapping layers of the netted straw bale at the current moment;

[0023] If the current number of wrapping turns reaches the first preset number of wrapping turns, then the clamping plate is controlled to loosen one end of the outer film, the front bale rotating roller and the rear bale rotating roller are controlled to rotate simultaneously at high speed to drive the netted bale to rotate at high speed, and the rotating frame is controlled to rotate at high speed to drive the outer film to wrap around the netted bale; if the current number of wrapping turns does not reach the first preset number of outer film turns, then the front bale rotating roller and the rear bale rotating roller are controlled to rotate simultaneously at low speed to drive the netted bale to rotate at low speed, the clamping plate is controlled to clamp one end of the outer film, and the rotating frame is controlled to rotate at low speed to drive the outer film to wrap around the netted bale.

[0024] If the current number of wrapping turns reaches the second preset number of wrapping turns, then the front bale rotating roller and the rear bale rotating roller are controlled to rotate simultaneously at low speed to drive the netted bale to rotate at low speed, the rotating frame is controlled to rotate at low speed to drive the outer film to wrap around the netted bale, and the clamping plate is controlled to be pushed out from one side when the rotating frame rotates to a preset angle; if the current number of wrapping turns reaches the first preset number of wrapping turns but does not reach the second preset number of wrapping turns, then the clamping plate is controlled to loosen one end of the outer film, the front bale rotating roller and the rear bale rotating roller are controlled to rotate simultaneously at high speed to drive the netted bale to rotate at high speed, and the rotating frame is controlled to rotate at high speed to drive the outer film to wrap around the netted bale; the second preset number of wrapping turns is greater than the first preset number of wrapping turns;

[0025] If the current number of wrapping turns reaches the third preset number of wrapping turns, then the front bale rotating roller, the rear bale rotating roller, and the rotating frame are controlled to stop rotating, and the film clamping plate is controlled to retract the outer film to one side and cut the outer film; if the current number of wrapping turns reaches the second preset number of wrapping turns but does not reach the third preset number of wrapping turns, then the front bale rotating roller and the rear bale rotating roller are controlled to rotate forward at low speed simultaneously to drive the wrapped bale to rotate forward at low speed, the rotating frame is controlled to rotate forward at low speed to drive the outer film to wrap around the wrapped bale, and the film clamping plate is controlled to push out from one side when the rotating frame rotates to a preset angle; the third preset number of wrapping turns is greater than the second preset number of wrapping turns;

[0026] After the outer film is cut, the front bale rotating roller, the rear bale rotating roller, and the rotating frame are simultaneously reversed at low speed.

[0027] When the rotating frame reverses at low speed to the horizontal position, the front bale rotating roller, the rear bale rotating roller, and the rotating frame are controlled to stop rotating. The fixed frame and the rear frame are controlled to descend to the initial position and the rear frame is controlled to flip upward. The resulting wrapped bales fall out from the gap between the front bale rotating roller and the rear bale rotating roller.

[0028] Secondly, the present invention provides a self-propelled straw round bale baling and wrapping control system, comprising:

[0029] The round baler baling module is used to control the hay box to feed straw into the round baler when the rear frame tilts down and the movable compartment closes simultaneously, control the fixed compartment belt and the movable compartment belt to rotate simultaneously to twist the straw into cylindrical hay bales, and control the netting mechanism to net the cylindrical hay bales to obtain netted hay bales.

[0030] The wrapping module of the wrapping machine is used to control the front and rear bale rotating rollers to rotate simultaneously when a bale positioning signal is detected, thereby driving the wire-wrapped bale to rotate, and to control the rotating frame to rotate so that the outer film wraps around the wire-wrapped bale, thereby obtaining a wrapped bale; the bale positioning signal is the signal generated when the wire-wrapped bale falls into the gap between the front and rear bale rotating rollers; the rotation direction of the wire-wrapped bale is perpendicular to the rotation direction of the rotating frame.

[0031] Optionally, the round baler bundling module specifically includes:

[0032] The first detection module is used to control the hay box conveyor belt to transport the straw in the hay box to the round baler when the rear frame tilts down and the movable compartment closes simultaneously, control the clamping roller to clamp one end of the film net, control the net cutter to reset, and control the fixed compartment belt and the movable compartment belt to rotate simultaneously to roll the straw into cylindrical hay bales.

[0033] An automatic netting module is used to control the straw box conveyor belt to stop conveying the straw in the straw box to the round baler when the diameter of the cylindrical straw bale reaches the set diameter length, and to control the netting roller to rotate and net the cylindrical straw bale to obtain a netted straw bale.

[0034] Optionally, the wrapping module of the wrapping machine specifically includes:

[0035] The second detection module is used to control the movable compartment to close, control the fixed frame and the rear frame to rise to a set height, control the front bale rotating roller and the rear bale rotating roller to rotate forward at low speed at the same time to drive the wrapped bale to rotate forward at low speed when the bale positioning signal is detected, control the clamping plate to clamp one end of the outer film, and control the rotating frame to rotate forward at low speed to drive the outer film to wrap the wrapped bale.

[0036] An automatic wrapping module is used to control the front bale rotating roller and the rear bale rotating roller to stop rotating when the number of wrapping layers of the netted bale reaches the set number of wrapping layers, control the rotating frame to return to the horizontal position and stop rotating, and control the fixed frame and the rear frame to descend to the initial position and control the rear frame to flip upward, so that the wrapped bale falls off from the gap between the front bale rotating roller and the rear bale rotating roller;

[0037] An automatic reset module is used to control the rear frame to tilt back to the initial position after the wrapped straw bales have completely fallen off.

[0038] According to the specific embodiments provided in this invention, the present invention discloses the following technical effects:

[0039] The self-propelled straw round bale baling and wrapping control method and system provided in this invention, during the movement of the self-propelled straw round bale baling and wrapping integrated machine, monitors in real time the rear frame tilting down signal and the movable compartment closing signal in the round bale machine. These two signals trigger the straw box to feed straw into the round bale machine, controlling the fixed compartment belt and the movable compartment belt to roll the straw into cylindrical bales, and controlling the wrapping mechanism to wrap the cylindrical bales with a net. Simultaneously, by monitoring in real time the bale positioning signal generated when the netted bales fall into the wrapping machine, this signal triggers the front bale rotating roller, the rear bale rotating roller, and the rotating frame to rotate, wrapping the netted bales in the wrapping machine. Finally, the wrapped bales are obtained, thus achieving integrated stalk baling and wrapping during the machine's movement, greatly improving overall work efficiency. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a schematic diagram of the structure of the self-propelled straw round bale baling and wrapping machine provided in an embodiment of the present invention;

[0042] Figure 2 This is a schematic diagram of the coating machine provided in an embodiment of the present invention;

[0043] Figure 3 A flowchart of a self-propelled straw round bale baling and wrapping control method provided in an embodiment of the present invention;

[0044] Figure 4A schematic diagram of the module structure of the self-propelled straw round bale baling and wrapping control system provided in an embodiment of the present invention;

[0045] Figure 5 The image shows a scene of the self-propelled straw round bale baling and wrapping machine provided in an embodiment of the present invention.

[0046] Figure 6 A flowchart illustrating the on-site operation of the self-propelled straw round bale baling and wrapping control method provided in an embodiment of the present invention;

[0047] Figure 7 This is a diagram of the main interface of the display screen provided in an embodiment of the present invention;

[0048] Figure 8 A diagram of the control interface of a round baler provided in an embodiment of the present invention;

[0049] Figure 9 This is a diagram of the control interface of the coating machine for a display screen provided in an embodiment of the present invention;

[0050] Figure 10 This is a picture of the final product after bundling and wrapping, provided in an embodiment of the present invention.

[0051] Symbol explanation:

[0052] Hay box-1, hay box conveyor belt-11, round baler-2, fixed bin-21, movable bin-22, netting mechanism-23, film net-24, wrapping machine-3, fixed frame-31, rear frame-32, front bale rotating roller-33, rear bale rotating roller-34, rotating frame-35, film clamping plate-36, outer film-37. Detailed Implementation

[0053] 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.

[0054] The purpose of this invention is to provide a self-propelled straw round bale baling and wrapping control method and system, which realizes the integrated work of straw baling and wrapping during the movement of the agricultural integrated machine, thereby improving the overall work efficiency.

[0055] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0056] Before introducing the control method for self-propelled straw round bale baling and wrapping, we will first introduce the self-propelled straw round bale baling and wrapping integrated machine. The self-propelled straw round bale baling and wrapping control method is applied to this self-propelled straw round bale baling and wrapping integrated machine.

[0057] Figure 1 The structural relationships of a self-propelled straw round bale baling and wrapping machine are shown. Figure 2 The structural relationship of the wrapping machine 3 in the self-propelled straw round bale wrapping machine is shown. The following is a detailed introduction to each part of the machine.

[0058] See Figure 1 and Figure 2 The self-propelled straw round bale baling and wrapping machine includes: a straw box 1, a round bale machine 2, a wrapping machine 3, and a programmable controller; the round bale machine 2 includes: a fixed compartment 21, a movable compartment 22, and a wrapping mechanism 23; the wrapping machine 3 includes: a fixed frame 31, a rear frame 32 corresponding to the fixed frame 31, a straw receiving plate on the fixed frame 31, a front bale rotating roller 33 and a rear bale rotating roller 34 arranged opposite to each other on the rear frame 32 along the direction of the straw receiving plate, a rotating frame 35 and a film clamping plate 36 arranged opposite to each other on the rear frame 32 perpendicular to the direction of the straw receiving plate, and an outer film 37 arranged on the rotating frame 35.

[0059] Specifically, the wrapping machine 3 is located behind the round baler 2; a movable compartment 22 is hinged to the outer opening of the fixed compartment 21; a straw box 1 is located on the side of the fixed compartment 21 away from the movable compartment 22; the bottom of the straw box 1 is connected to the interior of the fixed compartment 21 through the straw box conveyor belt 11; a netting mechanism 23 is connected to the top of the fixed compartment 21; the netting mechanism 23 is equipped with a net clamping roller, a film net 24 and a net cutting knife; a fixed compartment belt is installed inside the fixed compartment 21; a movable compartment belt is installed inside the movable compartment 22; and a programmable controller is used to execute a self-propelled straw round bale wrapping control method.

[0060] Figure 3 The specific process of the self-propelled straw round bale baling and wrapping control method is shown below. The steps of this control method are described in detail below.

[0061] Step S1: When the rear frame 32 is simultaneously detected to be tilted down and the movable compartment 22 is closed, the straw box 1 is controlled to feed straw into the round baler 2, the fixed compartment belt and the movable compartment belt are controlled to rotate simultaneously to roll the straw into cylindrical bales, and the netting mechanism 23 is controlled to wrap the cylindrical bales with netting to obtain netted bales.

[0062] Step S2: When the bale positioning signal is detected, the front bale rotating roller 33 and the rear bale rotating roller 34 are controlled to rotate simultaneously to drive the wrapped bale to rotate, and the rotating frame 35 is controlled to rotate to drive the outer film 37 to wrap the wrapped bale, thus obtaining a wrapped bale. The bale positioning signal is generated when the wrapped bale falls into the gap between the front bale rotating roller 33 and the rear bale rotating roller 34; the rotation direction of the wrapped bale is perpendicular to the rotation direction of the rotating frame 35.

[0063] In this embodiment, step S1 specifically includes:

[0064] Step S11: When the rear frame 32 is simultaneously detected to be tilted down and the movable compartment 22 is closed, the straw box conveyor belt 11 is controlled to convey the straw in the straw box 1 to the round baler 2, the clamping roller is controlled to clamp one end of the film net 24, the cutting blade is controlled to reset, and the fixed compartment belt and the movable compartment belt are controlled to rotate simultaneously to roll the straw into cylindrical bales.

[0065] Step S12: When the diameter of the cylindrical straw bale reaches the set diameter length, control the straw box conveyor belt 11 to stop conveying the straw and grass in the straw box 1 to the round baler 2, and control the clamping roller to rotate and wrap the cylindrical straw bale with netting to obtain a netted straw bale.

[0066] Furthermore, step S12 specifically includes:

[0067] Step S121: Obtain the number of times the cylindrical hay bale is wrapped in netting at the current moment.

[0068] Step S122: If the number of wrapping turns at the current moment reaches the first set number of wrapping turns, control the clamping roller to loosen one end of the film net 24 and stop rotating, and control the cylindrical straw bale to continue wrapping by its own rotation; if the number of wrapping turns at the current moment has not reached the first set number of wrapping turns, control the clamping roller to continue clamping and rotating and wrapping the cylindrical straw bale.

[0069] Step S123: If the current number of winding turns reaches the second preset number of winding turns, control the cutting blade to extend and cut the membrane web 24, and control the movable chamber 22 to open to the preset position, so that the resulting wound straw bale rolls out from the movable chamber 22; if the current number of winding turns reaches the first preset number of winding turns but does not reach the second preset number of winding turns, control the cylindrical straw bale to continue winding the web by rotating itself. The second preset number of winding turns is greater than the first preset number of winding turns.

[0070] In this embodiment, step S2 specifically includes:

[0071] Step S21: When the bale positioning signal is detected, control the movable compartment 22 to close, control the fixed frame 31 and the rear frame 32 to rise to the set height, control the front bale rotating roller 33 and the rear bale rotating roller 34 to rotate forward at low speed at the same time to drive the wrapped bale to rotate forward at low speed, control the clamping plate 36 to clamp one end of the outer film 37, and control the rotating frame 35 to rotate forward at low speed to drive the outer film 37 to wrap around the wrapped bale.

[0072] Step S22: When the number of wrapping layers of the straw bale reaches the set number of wrapping layers, control the front bale rotating roller 33 and the rear bale rotating roller 34 to stop rotating, control the rotating frame 35 to return to the horizontal position and stop rotating, and control the fixed frame 31 and the rear frame 32 to descend to the initial position and control the rear frame 32 to flip upward, so that the wrapped straw bale falls off from the gap between the front bale rotating roller 33 and the rear bale rotating roller 34.

[0073] Furthermore, step S22 specifically includes:

[0074] Step S221: Obtain the number of wrapping layers of the netted straw bale at the current moment.

[0075] Step S222: If the number of wrapping turns at the current moment reaches the first set number of wrapping turns, then control the clamping plate 36 to loosen one end of the outer film 37, control the front bale rotating roller 33 and the rear bale rotating roller 34 to rotate forward at high speed simultaneously to drive the netted bale to rotate forward at high speed, and control the rotating frame 35 to rotate forward at high speed to drive the outer film 37 to wrap around the netted bale; if the number of wrapping turns at the current moment does not reach the first set number of outer film turns, then control the front bale rotating roller 33 and the rear bale rotating roller 34 to rotate forward at low speed simultaneously to drive the netted bale to rotate forward at low speed, control the clamping plate 36 to clamp one end of the outer film 37, and control the rotating frame 35 to rotate forward at low speed to drive the outer film 37 to wrap around the netted bale.

[0076] Step S223: If the current number of wrapping turns reaches the second preset number of wrapping turns, then control the front bale rotating roller 33 and the rear bale rotating roller 34 to rotate simultaneously at low speed to drive the netted bale to rotate at low speed, control the rotating frame 35 to rotate at low speed to drive the outer film 37 to wrap around the netted bale, and control the clamping plate 36 to push out from one side when the rotating frame 35 rotates to a preset angle; if the current number of wrapping turns reaches the first preset number of wrapping turns but does not reach the second preset number of wrapping turns, then control the clamping plate 36 to loosen one end of the outer film 37, control the front bale rotating roller 33 and the rear bale rotating roller 34 to rotate simultaneously at high speed to drive the netted bale to rotate at high speed, and control the rotating frame 35 to rotate at high speed to drive the outer film 37 to wrap around the netted bale. The second preset number of wrapping turns is greater than the first preset number of wrapping turns.

[0077] Step S224: If the current number of wrapping turns reaches the third preset number of wrapping turns, control the front bale rotating roller 33, the rear bale rotating roller 34, and the rotating frame 35 to stop rotating, and control the clamping plate 36 to retract the outer film 37 to one side and cut the outer film 37; if the current number of wrapping turns reaches the second preset number of wrapping turns but not the third preset number of wrapping turns, control the front bale rotating roller 33 and the rear bale rotating roller 34 to rotate forward at low speed simultaneously to drive the wrapped bale to rotate forward at low speed, control the rotating frame 35 to rotate forward at low speed to drive the outer film 37 to wrap around the wrapped bale, and control the clamping plate 36 to push out from one side when the rotating frame 35 rotates to a preset angle. The third preset number of wrapping turns is greater than the second preset number of wrapping turns.

[0078] Step S225: After the outer film 37 is cut, control the front bale rotating roller 33, the rear bale rotating roller 34 and the rotating frame 35 to simultaneously reverse at low speed.

[0079] Step S226: After the rotating frame 35 reverses at low speed to the horizontal position, control the front bale rotating roller 33, the rear bale rotating roller 34 and the rotating frame 35 to stop rotating, and control the fixed frame 31 and the rear frame 32 to descend to the initial position and control the rear frame 32 to flip upward, so that the resulting wrapped bale falls off from the gap between the front bale rotating roller 33 and the rear bale rotating roller 34.

[0080] Step S23: After the wrapped straw bales have completely fallen off, control the rear frame 32 to tilt down to the initial position.

[0081] To implement the aforementioned self-propelled straw round bale baling and wrapping control method and achieve the same or corresponding technical effects, this embodiment of the invention also provides a self-propelled straw round bale baling and wrapping control system, such as... Figure 4 As shown, the system specifically includes:

[0082] The round baler baling module 100 is used to control the straw box 1 to feed straw into the round baler 2 when the rear frame 32 is simultaneously detected to be tilted down and the movable compartment 22 is closed. It also controls the fixed compartment belt and the movable compartment belt to rotate simultaneously to twist the straw into cylindrical bales, and controls the netting mechanism 23 to wrap the cylindrical bales with netting to obtain netted bales.

[0083] The wrapping module 200 of the wrapping machine is used to control the front bale rotating roller 33 and the rear bale rotating roller 34 to rotate simultaneously when a bale positioning signal is detected, so as to drive the wrapped bale to rotate, and to control the rotating frame 35 to rotate so as to drive the outer film 37 to wrap the wrapped bale, thereby obtaining a wrapped bale; the bale positioning signal is the signal generated when the wrapped bale falls into the gap between the front bale rotating roller 33 and the rear bale rotating roller 34; the rotation direction of the wrapped bale is perpendicular to the rotation direction of the rotating frame 35.

[0084] In this embodiment, the round baler bundling module 100 specifically includes:

[0085] The first detection module 101 is used to control the straw box conveyor belt 11 to convey the straw in the straw box 1 to the round baler 2 when the rear frame 32 is flipped down and the movable compartment 22 is closed at the same time, control the clamping roller to clamp one end of the film net 24, control the net cutting knife to reset, and control the fixed compartment belt and the movable compartment belt to rotate at the same time to twist the straw into cylindrical straw bales.

[0086] The automatic netting module 102 is used to control the straw box conveyor belt 11 to stop conveying the straw in the straw box 1 to the round baler 2 when the diameter of the cylindrical straw bale reaches the set diameter length, and to control the netting roller to rotate and net the cylindrical straw bale to obtain a netted straw bale.

[0087] In this embodiment, the coating module 200 of the coating machine specifically includes:

[0088] The second detection module 201 is used to control the movable compartment 22 to close, control the fixed frame 31 and the rear frame 32 to rise to a set height, control the front bale rotating roller 33 and the rear bale rotating roller 34 to rotate forward at low speed at the same time to drive the wrapped bale to rotate forward at low speed, control the clamping plate 36 to clamp one end of the outer film 37, and control the rotating frame 35 to rotate forward at low speed to drive the outer film 37 to wrap the wrapped bale.

[0089] The automatic wrapping module 202 is used to control the front bale rotating roller 33 and the rear bale rotating roller 34 to stop rotating when the number of wrapping layers of the netted bale reaches the set number of wrapping layers, control the rotating frame 35 to return to the horizontal position and stop rotating, control the fixed frame 31 and the rear frame 32 to descend to the initial position and control the rear frame 32 to flip upward, so that the wrapped bale falls off from the gap between the front bale rotating roller 33 and the rear bale rotating roller 34.

[0090] The automatic reset module 203 is used to control the rear frame 32 to tilt back to the initial position after the wrapped straw bales have completely fallen off.

[0091] Example 1

[0092] This embodiment provides a practical application scenario for a self-propelled straw round bale baling and wrapping control method. Figure 5 The diagram illustrates a field operation scenario where the self-propelled straw round baler and wrapping machine utilizes the aforementioned control method. For example... Figure 6 As shown, the specific workflow is as follows:

[0093] Before starting the operation, the required technical parameters for the baler and wrapping machine need to be determined on the display screen of the programmable controller in the cab of the integrated machine. These technical parameters include: protective pressure, bale density, number of inner wire loops, number of outer film loops, manual / automatic mode, and start / stop status.

[0094] Figure 7 The main human-machine interface of the display screen is shown. On the main interface, the operator can manually input the number of wire loops, film loops, bale density, and protective pressure. They can also observe the current wire wrapping status, straw feeding status, and total number of bales. Furthermore, the main interface allows selection of manual / automatic mode, start / stop status, manual interface for the round baler, and manual interface for the wrapping machine.

[0095] Figure 8 The display shows the control interface of the round baler. On the control interface, the operator can manually control actions such as starting / stopping straw feeding, extending / retracting the cutting net, opening / closing the bin, clamping / loosening the net, and winding the net by touching the buttons.

[0096] Figure 9 The display shows the control interface of the coating machine. On the control interface, the operator can manually control actions such as frame tilting up / down, film ejection / retraction, frame raising / lowering, motor forward / reverse rotation, and rotation reset by touching the buttons.

[0097] After setting the corresponding technical parameters on the main page of the display screen, the integrated machine is controlled to enter the automatic baling and wrapping operation mode. During actual operation: the programmable controller automatically detects the original signals of each mechanism. After obtaining the signal that the rear frame 32 is tilted down and the signal that the movable compartment 22 is closed, it controls the hydraulic cylinder of the feeding clutch to push out, the feeding clutch to engage, the straw box conveyor belt 11 starts to rotate and pushes the straw in the straw box 1 into the round baler 2. At the same time, it controls the hydraulic cylinder of the netting mechanism 23 to retract, the netting roller starts to clamp the net, and controls the hydraulic cylinder of the netting cutter to retract and the netting cutter to reset. The straw entering the round baler 2 is continuously twisted into cylindrical bales of increasing size by the continuous rotation of the fixed compartment belt and the movable compartment belt. When the diameter of the bale reaches the set value of the full compartment signal, the control... When the feeding clutch cylinder retracts, the hay box conveyor belt 11 stops rotating, and the round baler 2 stops feeding hay. The motor controlling the wrapping mechanism 23 is energized, the clamping roller rotates, and the film net 24 begins to be conveyed (a counting sensor is installed at one end of the feeding roller in the wrapping mechanism 23). When the number of wrapping turns of the hay bale reaches the first set number of wrapping turns, the clamping cylinder is pushed out, the clamping roller is released, the motor is de-energized, and the clamping roller stops rotating. At this time, the film net 24 has been wrapped around the hay bale. As the hay bale rotates, the film net 24 tightly covers the circumference of the hay bale. When the number of wrapping turns of the hay bale reaches the second set number of wrapping turns, the cutting cylinder is pushed out, the cutting knife cuts the film net 24, and at the same time, the opening cylinder is pushed out, the movable chamber 22 opens to the set position, and the wrapped hay bale exits the chamber.

[0098] As the wrapped straw bales roll backward between the front bale rotating roller 33 and the rear bale rotating roller 34 of the wrapping machine 3, upon detecting the bale positioning signal, the control cylinder for opening the compartment retracts, the movable compartment 22 closes, the control cylinder for feeding the straw clutch extends, the feeding clutch engages, and the straw box conveyor belt 11 begins to rotate, pushing the straw and forage in the straw box 1 into the round baler 2 to continue the baling operation. Simultaneously, the control cylinder for lifting the frame of the wrapping machine 3 extends, raising the rear frame 32 via a linkage mechanism. The front bale rotating roller 33 and the rear bale rotating roller 34 are driven by motors to rotate at low speed, causing the wrapped straw bales to rotate at low speed. The control motor for rotating the wrapping machine 3 rotates at low speed forward, driving the rotating frame 35 and the outer... The film 37 rotates at low speed forward, and the rotation direction of the wrapped straw bale is intersected with the rotation direction of the rotating frame 35, which can evenly wrap the outer film 37 layer by layer onto the wrapped straw bale, gradually pressing the end of the outer film 37 tightly. A counting sensor is set on the rear frame 32. When the number of rotations of the rotating frame 35 and the outer film 37 reaches the first set number of wrapping rotations, the clamping cylinder is pushed out, the clamping plate 36 is released, and after a delay, the clamping cylinder is retracted, the clamping plate 36 returns to its position, and the end of the outer film 37 is released. At this time, the front bale rotating roller 33 and the rear bale rotating roller 34 are driven by motors to rotate at high speed, driving the wrapped straw bale to rotate at high speed. The rotating motor of the wrapping machine 3 is controlled to rotate at high speed forward, driving the rotating frame 35 to rotate at high speed. The outer film 37 rotates at high speed, evenly wrapping the bundles layer by layer. The outer film 37 gradually and completely covers the bundles. When the rotating frame 35 and the outer film 37 reach the second set number of wrapping cycles, the rotating motor of the wrapping machine 3 switches to low-speed forward rotation, and the front bale rotating roller 33 and the rear bale rotating roller 34 rotate at low speed forward. When the rotating frame 35 and the outer film 37 rotate to a set angle, the clamping cylinder pushes out the clamping plate 36. When the rotating frame 35 and the outer film 37 reach the third set number of wrapping cycles, the rotating motor of the wrapping machine 3 stops rotating, the rotating frame 35 and the outer film 37 stop rotating, and the front bale rotating roller 33 and the rear bale rotating roller 34 stop rotating. The baling bales stop rotating, the clamping cylinder retracts, and the clamping plate 36 clamps and cuts the outer film 37. The front bale rotating roller 33 and the rear bale rotating roller 34 reverse at low speed, the baling bales reverse at low speed, the rotating motor of the wrapping machine 3 reverses at low speed, and the rotating frame 35 and outer film 37 reverse at low speed. When the rotating frame 35 reverses to the horizontal position set point, all motors stop rotating, the frame lifting cylinder of the wrapping machine 3 retracts, and the frame descends to its original position. At this time, the frame tilting cylinder retracts, the rear frame 32 tilts upward, and the finished wrapped bales fall. The frame tilting cylinder pushes out, and the rear frame 32 tilts down to its original position, thus completing the entire process of baling and wrapping. Figure 10 This refers to the final product after bundling and wrapping.

[0099] In summary, this embodiment of the invention enables the baler 2 and the wrapping machine 3 to work together continuously without stopping. This allows the entire corn plant to enter the vertical header for ear-stalk separation. The corn ears are then transported via an elevator to the peeling machine, where they are peeled and collected in the ear box. The stalks are then fed to the rear hay box 1 by a crusher and a blower. The round baler 2 completes the baling and netting process, while the wrapping machine 3 completes the wrapping process. The bales treated with netting and wrapping are easier to preserve, easier to transport, save manpower, and improve efficiency. This compensates for the shortage and low quality of livestock feed, resulting in higher commercial value.

[0100] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the method section.

[0101] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for controlling the baling and wrapping of self-propelled round straw bales, characterized in that, The control method is applied to a self-propelled straw round baler and wrapping machine. The self-propelled straw round baler and wrapping machine includes: a straw box, a round baler, a wrapping machine, and a programmable controller. The round baler includes: a fixed compartment, a movable compartment, and a wrapping mechanism. The wrapping machine includes: a fixed frame, a rear frame corresponding to the fixed frame, a straw receiving plate on the fixed frame, a front bale rotating roller and a rear bale rotating roller arranged opposite to each other on the rear frame along the direction of the straw receiving plate, a rotating frame and a film clamping plate arranged opposite to each other on the rear frame perpendicular to the direction of the straw receiving plate, and an outer film arranged on the rotating frame. The wrapping machine is located behind the round baler; the movable compartment is hinged to the outer opening of the fixed compartment; the hay box is located on the side of the fixed compartment away from the movable compartment; the bottom of the hay box is connected to the interior of the fixed compartment via a hay box conveyor belt; the top of the fixed compartment is connected to the wrapping mechanism; the wrapping mechanism is equipped with a clamping roller, a film net, and a cutting knife; a fixed compartment belt is installed inside the fixed compartment; a movable compartment belt is installed inside the movable compartment; the programmable controller is used to execute the self-propelled straw round bale wrapping control method; The control method includes: When both the rear frame tilting signal and the movable compartment closing signal are detected simultaneously, the system controls the hay box to feed straw into the round baler, controls the fixed compartment belt and the movable compartment belt to rotate simultaneously to roll the straw into cylindrical bales, and controls the netting mechanism to wrap the cylindrical bales with netting to obtain netted bales. Specifically, when both the rear frame tilting signal and the movable compartment closing signal are detected simultaneously, the system controls the hay box conveyor belt to convey the straw in the hay box to the round baler, controls the netting roller to clamp one end of the film net, controls the netting cutter to reset, and controls the fixed compartment belt and the movable compartment belt to rotate simultaneously to roll the straw into cylindrical bales; when the diameter of the cylindrical bale reaches the set diameter length, the system controls the hay box conveyor belt to stop conveying the straw in the hay box to the round baler, and controls the netting roller to rotate and wrap the cylindrical bales with netting to obtain netted bales. When a bale positioning signal is detected, the front bale rotating roller and the rear bale rotating roller are controlled to rotate simultaneously to drive the wrapped bale to rotate, and the rotating frame is controlled to rotate to drive the outer film to wrap the wrapped bale, thus obtaining a wrapped bale; the bale positioning signal is generated when the wrapped bale falls into the gap between the front bale rotating roller and the rear bale rotating roller; the rotation direction of the wrapped bale is perpendicular to the rotation direction of the rotating frame; Specifically, controlling the rotation of the clamping roller to clamp and wrap the cylindrical hay bale with the net to obtain a wrapped hay bale includes: Obtain the number of times the cylindrical hay bale is wrapped in netting at the current moment; If the number of wrapping turns at the current moment reaches the first set number of wrapping turns, then the clamping roller is controlled to loosen one end of the film net and stop rotating, and the cylindrical hay bale is controlled to continue wrapping by its own rotation; if the number of wrapping turns at the current moment has not reached the first set number of wrapping turns, then the clamping roller is controlled to continue clamping and rotating and wrapping the cylindrical hay bale with net; If the current number of web wrapping turns reaches the second preset number of web wrapping turns, the cutting blade is controlled to extend and cut the membrane web, and the movable chamber is controlled to open to the preset position, so that the resulting web-wrapped hay bale rolls out from the movable chamber; if the current number of web wrapping turns reaches the first preset number of web wrapping turns but does not reach the second preset number of web wrapping turns, the cylindrical hay bale is controlled to continue to wrap the web by rotating on its own; the second preset number of web wrapping turns is greater than the first preset number of web wrapping turns.

2. The self-propelled straw round bale baling and wrapping control method according to claim 1, characterized in that, When a bale positioning signal is detected, the front bale rotating roller and the rear bale rotating roller are controlled to rotate simultaneously to drive the wrapped bale to rotate, and the rotating frame is controlled to rotate to drive the outer film to wrap the wrapped bale, thereby obtaining a wrapped bale, specifically including: When a bale positioning signal is detected, the movable compartment is closed, the fixed frame and the rear frame are raised to a set height, the front bale rotating roller and the rear bale rotating roller are simultaneously rotated at low speed to drive the wrapped bale to rotate at low speed, the film clamping plate clamps one end of the outer film, and the rotating frame is rotated at low speed to drive the outer film to wrap around the wrapped bale. When the number of wrapping layers of the netted hay bale reaches the set number of wrapping layers, the front hay bale rotating roller and the rear hay bale rotating roller are controlled to stop rotating, the rotating frame is controlled to return to the horizontal position and stop rotating, and the fixed frame and the rear frame are controlled to descend to the initial position and the rear frame is controlled to flip upward, so that the wrapped hay bale falls off from the gap between the front hay bale rotating roller and the rear hay bale rotating roller; Once the wrapped hay bales have completely detached, control the rear frame to tilt back to its initial position.

3. The self-propelled straw round bale baling and wrapping control method according to claim 2, characterized in that, When the number of wrapping layers of the wrapped hay bale reaches the set number of wrapping layers, the front hay bale rotating roller and the rear hay bale rotating roller are controlled to stop rotating, the rotating frame is controlled to return to the horizontal position and stop rotating, and the fixed frame and the rear frame are controlled to descend to the initial position and the rear frame is controlled to flip upward, so that the wrapped hay bale falls off from the gap between the front hay bale rotating roller and the rear hay bale rotating roller, specifically including: Obtain the number of wrapping layers of the netted straw bale at the current moment; If the current number of wrapping turns reaches the first preset number of wrapping turns, then the clamping plate is controlled to loosen one end of the outer film, the front bale rotating roller and the rear bale rotating roller are controlled to rotate simultaneously at high speed to drive the netted bale to rotate at high speed, and the rotating frame is controlled to rotate at high speed to drive the outer film to wrap around the netted bale; if the current number of wrapping turns does not reach the first preset number of outer film turns, then the front bale rotating roller and the rear bale rotating roller are controlled to rotate simultaneously at low speed to drive the netted bale to rotate at low speed, the clamping plate is controlled to clamp one end of the outer film, and the rotating frame is controlled to rotate at low speed to drive the outer film to wrap around the netted bale. If the current number of wrapping turns reaches the second preset number of wrapping turns, then the front bale rotating roller and the rear bale rotating roller are controlled to rotate simultaneously at low speed to drive the netted bale to rotate at low speed, the rotating frame is controlled to rotate at low speed to drive the outer film to wrap around the netted bale, and the clamping plate is controlled to be pushed out from one side when the rotating frame rotates to a preset angle; if the current number of wrapping turns reaches the first preset number of wrapping turns but does not reach the second preset number of wrapping turns, then the clamping plate is controlled to loosen one end of the outer film, the front bale rotating roller and the rear bale rotating roller are controlled to rotate simultaneously at high speed to drive the netted bale to rotate at high speed, and the rotating frame is controlled to rotate at high speed to drive the outer film to wrap around the netted bale; the second preset number of wrapping turns is greater than the first preset number of wrapping turns; If the current number of wrapping turns reaches the third preset number of wrapping turns, then the front bale rotating roller, the rear bale rotating roller, and the rotating frame are controlled to stop rotating, and the film clamping plate is controlled to retract the outer film to one side and cut the outer film; if the current number of wrapping turns reaches the second preset number of wrapping turns but does not reach the third preset number of wrapping turns, then the front bale rotating roller and the rear bale rotating roller are controlled to rotate forward at low speed simultaneously to drive the wrapped bale to rotate forward at low speed, the rotating frame is controlled to rotate forward at low speed to drive the outer film to wrap around the wrapped bale, and the film clamping plate is controlled to push out from one side when the rotating frame rotates to a preset angle; the third preset number of wrapping turns is greater than the second preset number of wrapping turns; After the outer film is cut, the front bale rotating roller, the rear bale rotating roller, and the rotating frame are simultaneously reversed at low speed. When the rotating frame reverses at low speed to the horizontal position, the front bale rotating roller, the rear bale rotating roller, and the rotating frame are controlled to stop rotating. The fixed frame and the rear frame are controlled to descend to the initial position and the rear frame is controlled to flip upward. The resulting wrapped bales fall out from the gap between the front bale rotating roller and the rear bale rotating roller.

4. A self-propelled straw round bale baling and wrapping control system applying the method of any one of claims 1-3, characterized in that, The self-propelled straw round bale baling and wrapping control system includes: The round baler baling module is used to control the straw box to feed straw into the round baler when the rear frame tilts down and the movable compartment closes simultaneously. It also controls the fixed compartment belt and the movable compartment belt to rotate simultaneously to twist the straw into cylindrical bales, and controls the netting mechanism to wrap the cylindrical bales with netting to obtain netted bales. The wrapping module of the wrapping machine is used to control the front and rear bale rotating rollers to rotate simultaneously when a bale positioning signal is detected, so as to drive the wire-wrapped bale to rotate, and to control the rotating frame to rotate so as to drive the outer film to wrap around the wire-wrapped bale, thus obtaining a wrapped bale; the bale positioning signal is the signal generated when the wire-wrapped bale falls into the gap between the front and rear bale rotating rollers; the rotation direction of the wire-wrapped bale is perpendicular to the rotation direction of the rotating frame.

5. The self-propelled straw round bale baling and wrapping control system according to claim 4, characterized in that, The round baler baling module specifically includes: The first detection module is used to control the hay box conveyor belt to transport the straw and grass in the hay box to the round baler when the rear frame tilts down and the movable bin closes signal are detected at the same time, control the clamping roller to clamp one end of the film net, control the net cutting knife to reset, and control the fixed bin belt and the movable bin belt to rotate at the same time to twist the straw and grass into cylindrical hay bales. The automatic netting module is used to control the straw box conveyor belt to stop conveying the straw from the straw box to the round baler when the diameter of the cylindrical straw bale reaches the set diameter length, and to control the netting roller to rotate and net the cylindrical straw bale to obtain a netted straw bale.

6. The self-propelled straw round bale baling and wrapping control system according to claim 4, characterized in that, The coating module of the coating machine specifically includes: The second detection module is used to control the movable compartment to close, control the fixed frame and the rear frame to rise to the set height, control the front bale rotating roller and the rear bale rotating roller to rotate forward at low speed at the same time to drive the wrapped bale to rotate forward at low speed, control the clamping plate to clamp one end of the outer film, and control the rotating frame to rotate forward at low speed to drive the outer film to wrap around the wrapped bale. The automatic wrapping module is used to control the front and rear bale rotating rollers to stop rotating when the number of wrapping layers of the netted bale reaches the set number of wrapping layers, control the rotating frame to return to the horizontal position and stop rotating, and control the fixed frame and rear frame to descend to the initial position and control the rear frame to flip upward, so that the wrapped bale falls off from the gap between the front and rear bale rotating rollers. The automatic reset module is used to control the rear frame to tilt back to the initial position after the wrapped straw bales have completely fallen off.

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